Unsteady hydrodynamic forces acting on a robotic arm and its flow field: Application to the crawl stroke

This study aims to clarify the mechanisms by which unsteady hydrodynamic forces act on the hand of a swimmer during a crawl stroke. Measurements were performed for a hand attached to a robotic arm with five degrees of freedom independently controlled by a computer. The computer was programmed so the hand and arm mimicked a human performing the stroke. We directly measured forces on the hand and pressure distributions around it at 200 Hz; flow fields underwater near the hand were obtained via 2D particle image velocimetry (PIV). The data revealed two mechanisms that generate unsteady forces during a crawl stroke. One is the unsteady lift force generated when hand movement changes direction during the stroke, leading to vortex shedding and bound vortex created around it. This bound vortex circulation results in a lift that contributes to the thrust. The other occurs when the hand moves linearly with a large angle of attack, creating a Kármán vortex street. This street alternatively sheds clockwise and counterclockwise vortices, resulting in a quasi-steady drag contributing to the thrust. We presume that professional swimmers benefit from both mechanisms. Further studies are necessary in which 3D flow fields are measured using a 3D PIV system and a human swimmer.     

Static habitat partitioning and dynamic selection by sympatric young Atlantic salmon and brown trout in south-west England streams

Direct underwater observation of micro‐habitat use by 1838 young Atlantic salmon Salmo salar [mean L_T 7·9 ± 3.1(s.d.) cm, range 3·19] and 1227 brown trout Salmo trutta (L_T 10·9 ± 5·0 cm, range 3·56) showed both species were selective in habitat use, with differences between species and fish size. Atlantic salmon and brown trout selected relatively narrow ranges for the two micro‐habitat variables snout water velocity and height above bottom, but with differences between size‐classes. The smaller fishes <7 cm held positions in slower water closer to the bottom. On a larger scale, the Atlantic salmon more often used shallower stream areas, compared with brown trout. The larger parr preferred the deeper stream areas. Atlantic salmon used higher and slightly more variable mean water velocities than brown trout. Substrata used by the two species were similar. Finer substrata, although variable, were selected at the snout position, and differences were pronounced between size‐classes. On a meso‐habitat scale, brown trout were more frequently observed in slow pool‐glide habitats, while young Atlantic salmon favoured the faster high‐gradient meso‐habitats. Small juveniles <7 cm of both species were observed most frequently in riffle‐chute habitats. Atlantic salmon and brown trout segregated with respect to use of habitat, but considerable niche overlap between species indicated competitive interactions. In particular, for small fishes <7 cm of the two species, there was almost complete niche overlap for use of water depth, while they segregated with respect to water velocity. Habitat suitability indices developed for both species for mean water velocity and water depth, tended to have their optimum at lower values compared with previous studies in larger streams, with Atlantic salmon parr in the small streams occupying the same habitat as favoured by brown trout in larger streams. The data indicate both species may be flexible in their habitat selection depending on habitat availability. Species‐specific habitat overlap between streams may be complete. However, between‐species habitat partitioning remains similar.     

Identifying keystone habitats with a mosaic approach can improve biodiversity conservation in disturbed ecosystems

Conserving native biodiversity in the face of human‐ and climate‐related impacts is a challenging and globally important ecological problem that requires an understanding of spatially connected, organismal‐habitat relationships. Globally, a suite of disturbances (e.g., agriculture, urbanization, climate change) degrades habitats and threatens biodiversity. A mosaic approach (in which connected, interacting collections of juxtaposed habitat patches are examined) provides a scientific foundation for addressing many disturbance‐related, ecologically based conservation problems. For example, if specific habitat types disproportionately increase biodiversity, these keystones should be incorporated into research and management plans. Our sampling of fish biodiversity and aquatic habitat along ten 3‐km sites within the Upper Neosho River subdrainage, KS, from June‐August 2013 yielded three generalizable ecological insights. First, specific types of mesohabitat patches (i.e., pool, riffle, run, and glide) were physically distinct and created unique mosaics of mesohabitats that varied across sites. Second, species richness was higher in riffle mesohabitats when mesohabitat size reflected field availability. Furthermore, habitat mosaics that included more riffles had greater habitat diversity and more fish species. Thus, riffles (<5% of sampled area) acted as keystone habitats. Third, additional conceptual development, which we initiate here, can broaden the identification of keystone habitats across ecosystems and further operationalize this concept for research and conservation. Thus, adopting a mosaic approach can increase scientific understanding of organismal‐habitat relationships, maintain natural biodiversity, advance spatial ecology, and facilitate effective conservation of native biodiversity in human‐altered ecosystems.     

Variegated desert vegetation: Covariation of edaphic and fire variables provides a framework for understanding mulga‐spinifex coexistence

Abstract Mulga (Acacia aneura Mimosaceae) and spinifex (Triodia spp. Poaceae) habitats together characterize a large part of arid central Australia. Often very abrupt boundaries form between these two habitats, giving rise to a mosaic pattern of contrasting shrub‐grass alterations across the landscape. Reasons for such patterning remain poorly understood though current niche‐based views relate species' distributions to spatial resource gradients or to fire effects. Field survey work was conducted on central Australian mountain ranges to further quantify floristic, regeneration traits, and structural patterning across mulga‐spinifex transitions and to test resource‐ and disturbance‐models that explain these patterns. Compositional analysis demonstrated variability in transition type – in certain cases boundaries denoted true floristic discontinuity and in others, somewhat more of a structural shift. Moreover, it was shown that minimal between‐habitat floristic overlap coincided with the occurrence of distinct edaphic changes, while greater compositional commonality occurred when soil gradients were more diffuse. This indicated that floristic patterning cannot be ascribed to any one single process. In the case of strong soil gradients, between‐habitat segregation most likely resulted from resource‐based niche differentiation; for weaker gradients, fire‐frequency assumed greatest importance. Disturbance theory most readily accounted for the distribution of woody species' post‐fire regeneration traits across habitat boundaries. The results also suggested that biotic factors –viz competition, facilitation and animal‐mediated dispersal – may be of additional consequence for mulga‐spinifex coexistence. Overall, the study served to emphasize the importance of multi‐factor explanation for within‐ and between‐habitat patterning in these mosaics. It also highlighted the need for experimentation to facilitate distinction between cause and correlation.     

Detectability and visibility biases associated with using a consumer‐grade unmanned aircraft to survey nesting colonial waterbirds

Surveys of colonial‐nesting waterbirds are needed to assess population trends and gain insight into the health of wetland ecosystems. Use of unmanned aerial systems (UAS) for such surveys has increased over the past decade, but possible sources of bias in surveys conducted with UAS have not been examined. We examined possible visibility biases associated with using a UAS to survey waterbird colonies in cypress‐tupelo watersheds and coastal island habitats in Texas in 2016. We used known numbers of four waterbird decoy types, including Black Skimmers (Rynchops niger), terns, and white‐ and dark‐plumaged herons, to estimate their detectability in each habitat. Six observers independently counted decoys from aerial imagery mosaics taken with a consumer‐grade, off‐the‐shelf quadcopter drone. We used generalized linear mixed‐effects models to estimate detection probabilities of each decoy type. Black Skimmers at the coastal island had a detection probability of just 53%. Detectability of both white‐ and dark‐plumaged herons was lower in the canopied cypress‐tupelo habitat than the coastal island. In addition, cloud cover > 50% further reduced detectability of white heron decoys in cypress‐tupelo habitat. Use of the double‐count method yielded biased‐low abundance estimates for white‐ and dark‐plumaged herons in canopied sites, suggesting that habitat differences were a greater source of bias than observer error. Black Skimmers were the only decoy type to be imperfectly detected at the coastal island, a surprising result given the stark contrast of their plumage with their sand and shell nesting substrate. Our results indicate that UAS‐derived photographic surveys are prone to low detection probabilities at sites where vegetation occludes nests. In habitats without canopy, however, UAS surveys show promise for obtaining accurate counts of terns, white herons, and dark herons.     

Integration of ground survey and remote sensing derived data: Producing robust indicators of habitat extent and condition

The availability of suitable habitat is a key predictor of the changing status of biodiversity. Quantifying habitat availability over large spatial scales is, however, challenging. Although remote sensing techniques have high spatial coverage, there is uncertainty associated with these estimates due to errors in classification. Alternatively, the extent of habitats can be estimated from ground‐based field survey. Financial and logistical constraints mean that on‐the‐ground surveys have much lower coverage, but they can produce much higher quality estimates of habitat extent in the areas that are surveyed. Here, we demonstrate a new combined model which uses both types of data to produce unified national estimates of the extent of four key habitats across Great Britain based on Countryside Survey and Land Cover Map. This approach considers that the true proportion of habitat per km² (Z_i) is unobserved, but both ground survey and remote sensing can be used to estimate Z_i. The model allows the relationship between remote sensing data and Z_i to be spatially biased while ground survey is assumed to be unbiased. Taking a statistical model‐based approach to integrating field survey and remote sensing data allows for information on bias and precision to be captured and propagated such that estimates produced and parameters estimated are robust and interpretable. A simulation study shows that the combined model should perform best when error in the ground survey data is low. We use repeat surveys to parameterize the variance of ground survey data and demonstrate that error in this data source is small. The model produced revised national estimates of broadleaved woodland, arable land, bog, and fen, marsh and swamp extent across Britain in 2007.     

Landscape partitioning by nocturnal rodent assemblages in the Llanos de Ojuelos,in Mexico’s Central High Plateau

Aim The Llanos de Ojuelos in Mexico’s Central High Plateau supports unique Opuntia scrublands and the southernmost Chihuahuan grasslands. Although human activities have modified strongly its landscape and impacted its biodiversity at an unknown scale, such impacts are poorly known. We aimed at understanding how nocturnal rodent species distributed across the landscape and formed assemblages and on the role and integration of the different habitats at the landscape level. Location The study was carried out at 43 sites in a study area of approximately 3350 km² in the Llanos de Ojuelos. Methods During the Spring of 2008, we surveyed nocturnal rodents, through live‐trapping. We redefined habitat classes based on log‐linear multinomial regressions of rodent captures. Species rarefaction curves and true alpha, beta and gamma diversities were calculated for the different habitat classes. A map of the different habitats was constructed based on Landsat imagery. Results We captured 458 individuals of 20 rodent species. Multinomial regressions caused the merger of 11 a priori defined habitat classes into 7. Leguminous scrub and mixed nopaleras, both secondary habitats, had the highest alpha and gamma diversity values. Closed arboreal nopaleras and grasslands had the highest within‐habitat variability (¹D_β) and the lowest area coverage. Within‐habitat ¹D_β was larger than landscape ¹D_β, because of the great overlap in rodent assemblage composition between the habitats. Main conclusions There are no ‘typical’ rodent assemblages per habitat class, but they are organized loosely and have fuzzy borders. Rodent community organization was highly species‐centred. At the landscape level, secondary habitats have a profound effect on rodent diversity and should be included in management schemes for biological conservation. The most endangered habitats seem to be the closed arboreal nopaleras and grasslands. Any conservation efforts must consider their conservation and an increase in the size of remaining patches.     

Integrating field survey and orthophoto information to monitor coastal habitats — A pilot study to develop methods and resolve key issues

Implementation of mapping and monitoring is necessary to supply sufficient information to guide an effective management of species, habitats and landscapes. Coastal ecosystems can be difficult to monitor effectively in the field due to spatially discontinuous and unpredictable processes such as encroachment, erosion and succession, while coverage of large extents is very expensive. Remote sensing-based monitoring provides an alternative, but satellite image data is often too expensive or too coarse in spatial resolution to detect fine-scale habitat structures. Using Danish coastal habitats as a case, a method is presented for monitoring habitat types and fine-scale structures, based on integration of field-acquired habitat characteristics with the habitat information interpreted from sub-meter RGB/NIR aerial imagery and digital elevation model data. Initial pilot studies show good correspondence between field-observed structure elements and structures delineated through object-based image analysis, while initial classifications results suggest possibilities of discriminating between different types of shrubs, herb communities and non-vegetated structures.     

Habitat size and number in multi-habitat landscapes: a model approach based on species-area curves

This paper discusses species diversity in simple multi-habitat environments. Its main purpose is to present simple mathematical and graphical models on how landscape patterns affect species numbers. The idea is to build models of species diversity in multi-habitat landscapes by combining species-area curves for different habitats. Predictions are made about how variables such as species richness and species overlap between habitats influence the proportion of the total landscape each habitat should constitute, and how many habitats it should be divided into in order to be able to sustain the maximal number of species. Habitat size and numbers are the only factors discussed here, not habitat spatial patterns. Among the predictions are: 1) where there are differences in species diversity between habitats, optimal landscape patterns contain larger proportions of species rich habitats. 2) Species overlap between habitats shifts the optimum further towards larger proportions of species rich habitat types. 3) Species overlap also shifts the optimum towards fewer habitat types. 4) Species diversity in landscapes with large species overlap is more resistant to changes in landscape (or reserve) size. This type of model approach can produce theories useful to nature and landscape management in general, and the design of nature reserves and national parks in particular.     

Habitat associations of imperilled fishes after conservation intervention in the Cape Fold Ecoregion,South Africa

The aim of this study was to examine the habitat associations of a native cyprinid community of the recovering Rondegat River in the Cape Fold Ecoregion of South Africa as part of a long-term native fish abundance monitoring project. Relative abundance data were extracted from underwater video camera footage across the longitudinal gradient of the river in three sampling instances. Using multivariate methods the authors assessed community composition with respect to habitat, its overlap with a protected area and species-specific abiotic predictors of relative abundance. Distance from the uppermost site in the river was the most significant predictor of species abundance, indicating spatial segregation and varying overlap between species. The protected status of sites in the upper reaches, vegetated substrates and the size of individual sites were the most impactful on the relative abundance of the endangered fiery redfin Pseudobarbus phlegethon. The results of this study indicate that underwater video monitoring is an effective and low-cost approach that can inform conservation recommendations. Reducing agricultural runoff and sedimentation in the lower reaches may be useful further interventions to maintain key habitats of submerged vegetation.     

Differentiating geological fertility derived vegetation zones in Kruger National Park,South Africa,using Landsat and MODIS imagery

Spatial technologies present possibilities for producing frequently updated and accurate habitat maps, which are important in biodiversity conservation. Assemblages of vegetation are equivalent to habitats. This study examined the use of satellite imagery in vegetation differentiation in South Africa's Kruger National Park (KNP). A vegetation classification scheme based on dominant tree species but also related to the park's geology was tested, the geology generally consisting of high and low fertility lithology. Currently available multispectral satellite imagery is broadly either of high spatial but low temporal resolution or low spatial but high temporal resolution. Landsat TM/ETM+ and MODIS images were used to represent these broad categories. Rain season dates were selected as the period when discrimination between key habitats in KNP is most likely to be successful. Principal Component Analysis enhanced vegetated areas on the Landsat images, while NDVI vegetation enhancement was employed on the MODIS image. The images were classified into six field sampling derived classes depicting a vegetation density and phenology gradient, with high (about 89%) indicative classification accuracy. The results indicate that, using image processing procedures that enhance vegetation density, image classification can be used to map the park's vegetation at the high versus low geological fertility zone level, to accuracies above 80% on high spatial resolution imagery and slightly lower accuracy on lower spatial resolution imagery. Rainfall just prior to the image date influences herbaceous vegetation and, therefore, success at image scene vegetation mapping, while cloud cover limits image availability. Small scale habitat differentiation using multispectral satellite imagery for large protected savanna areas appears feasible, indicating the potential for use of remote sensing in savanna habitat monitoring. However, factors affecting successful habitat mapping need to be considered. Therefore, adoption of remote sensing in vegetation mapping and monitoring for large protected savanna areas merits consideration by conservation agencies.     

Estimation of walrus populations on sea ice with infrared imagery and aerial photography

Population sizes of ice‐associated pinnipeds have often been estimated with visual or photographic aerial surveys, but these methods require relatively slow speeds and low altitudes, limiting the area they can cover. Recent developments in infrared imagery and its integration with digital photography could allow substantially larger areas to be surveyed and more accurate enumeration of individuals, thereby solving major problems with previous survey methods. We conducted a trial survey in April 2003 to estimate the number of Pacific walruses (Odobenus rosmarus divergens) hauled out on sea ice around St. Lawrence Island, Alaska. The survey used high altitude infrared imagery to detect groups of walruses on strip transects. Low altitude digital photography was used to determine the number of walruses in a sample of detected groups and calibrate the infrared imagery for estimating the total number of walruses. We propose a survey design incorporating this approach with satellite radio telemetry to estimate the proportion of the population in the water and additional low‐level flights to estimate the proportion of the hauled‐out population in groups too small to be detected in the infrared imagery. We believe that this approach offers the potential for obtaining reliable population estimates for walruses and other ice‐associated pinnipeds.     

Analysis of the effect of swimmer's head position on swimming performance using computational fluid dynamics

The aim of this numerical work is to analyze the effect of the position of the swimmer's head on the hydrodynamic performances in swimming. In this initial study, the problem was modeled as 2D and in steady hydrodynamic state. The geometry is generated by the CAD software CATIA and the numerical simulation is carried out by the use of the CFD Fluent code. The standard k-epsilon turbulence model is used with a specific wall law. Three positions of the head were studied, for a range of Reynolds numbers about 10(6). The obtained numerical results revealed that the position of the head had a noticeable effect on the hydrodynamic performances, strongly modifying the wake around the swimmer. The analysis of these results made it possible to propose an optimal position of the head of a swimmer in underwater swimming.     

Monitoring program design for data‐limited marine biogenic habitats: A structured approach

Marine biogenic habitats—habitats created by living organisms—provide essential ecosystem functions and services, such as physical structuring, nutrient cycling, biodiversity support, and increases in primary, secondary, and tertiary production. With the growing trend toward ecosystem approaches to marine conservation and fisheries management, there is greater emphasis on rigorously designed habitat monitoring programs. However, such programs are challenging to design for data‐limited habitats for which underlying ecosystem processes are poorly understood. To provide guidance in this area, we reviewed approaches to benthic assessments across well‐studied marine biogenic habitats and identified common themes related to indicator selection, sampling methods, and survey design. Biogenic habitat monitoring efforts largely focus on the characteristics, distribution, and ecological function of foundation species, but may target other habitat‐forming organisms, especially when community shifts are observed or expected, as well as proxies of habitat status, such as indicator species. Broad‐scale methods cover large spatial areas and are typically used to examine the spatial configuration of habitats, whereas fine‐scale methods tend to be laborious and thus restricted to small survey areas, but provide high‐resolution data. Recent, emerging methods enhance the capabilities of surveying large areas at high spatial resolution and improve data processing efficiency, bridging the gap between broad‐ and fine‐scale methods. Although sampling design selection may be limited by habitat characteristics and available resources, it is critically important to ensure appropriate matching of ecological, observational, and analytical scales. Drawing on these common themes, we propose a structured, iterative approach to designing monitoring programs for marine biogenic habitats that allows for rigorous data collection to inform management strategies, even when data and resource limitations are present. A practical application of this approach is illustrated using glass sponge reefs—a recently discovered and data‐limited habitat type—as a case study.     

Herbivore control in connected seascapes: habitat determines when population regulation occurs in the life history of a key herbivore

Herbivore outbreaks often trigger catastrophic overgrazing events in marine macrophyte ecosystems. The sea urchin Paracentrotus lividus, the dominant herbivore of shallow Mediterranean seascapes, is capable of precipitating shifts to barrens when its populations explode. Paracentrotus lividus is found ubiquitously in rocky macroalgal communities and in sandy seagrass meadows of Posidonia oceanica, two of the most important subtidal habitats in the Mediterranean. We explored if habitat‐specific regulation across the principal stages of the urchin life cycle could help explain the persistence of these populations in connected mosaics. We measured each of three relevant ecological processes (i.e. settlement, post‐settlement survival and predation) across a wide stretch of the Mediterranean coast (ca 600 km). Our results show that habitat‐specific regulation is critical in determining urchin populations: each habitat limited urchin sub‐populations at different life stages. Settlement was never limiting; urchins settled at similar rates in both habitats across the coast. Post‐settlement survival was a clear bottleneck, particularly in seagrass meadows where no juvenile urchins were recorded. Despite this bottleneck in seagrasses, adult urchin populations were very similar in both seagrass and macroalgal habitats indicating that other processes (potentially migration) could be key in determining adult distributions across the mosaic. The fact that population regulation is clearly habitat‐specific suggests that sea urchin populations may be significantly buffered from bottlenecks in mixed seascapes where both habitats co‐occur. Sea urchin populations can therefore persist across the seascape despite strong habitat‐specific regulation either by maintaining reproductive output in one habitat or by migrating between them. By affording these regulatory escapes to habitat‐modifying species, patchy mosaics may be much more prone to herbivore outbreaks and a host of cascading effects that come in their wake.     

Fish community composition and diversity at restored estuarine habitats in Tampa Bay,Florida, United States

Estuary restoration in Tampa Bay, Florida, United States, is an ongoing focus of natural resource managers because of pressure from an increasing coastal population, historic habitat loss, and restoration's importance to economic development, recreational activities, and fish habitat. A growing population can also limit future large‐scale restorations due to associations with cost and land availability. This limitation might be overcome by applying the habitat mosaic approach to restoration, which creates distinct habitat types at small spatial scales. This approach was applied to create three types of estuarine habitat, reconnected tidal creek, salt marsh, and tidal pond. The objectives of this study were to (1) initiate monitoring of a restored wetland mosaic and (2) determine how fish diversity and community structure vary among restored habitat types. Replicated sampling using a 3‐mm mesh seine was used to characterize the fish communities. Our results indicate that the habitat mosaic approach creates suitable habitat for a variety of fish species where 37% of fish species were captured in just one habitat type. In particular, the recreationally important Centropomus undecimalis (common snook) was more common in the mangrove‐lined creek and the non‐native Sarotherodon melanotheron (blackchin tilapia) was common in the tidal pond. Greater emphasis should be placed on applied restoration research to identify how habitat types within a larger restoration mosaic contribute to local species diversity and recreationally and commercially important fishes, while limiting non‐natives. This emphasis could reveal how restoration approaches can be modified to include habitat mosaics, maximizing their contribution to productive fish habitat.     

Genomics meets applied ecology: Characterizing habitat quality for sloths in a tropical agroecosystem

Understanding how habitat quality in heterogeneous landscapes governs the distribution and fitness of individuals is a fundamental aspect of ecology. While mean individual fitness is generally considered a key to assessing habitat quality, a comprehensive understanding of habitat quality in heterogeneous landscapes requires estimates of dispersal rates among habitat types. The increasing accessibility of genomic approaches, combined with field‐based demographic methods, provides novel opportunities for incorporating dispersal estimation into assessments of habitat quality. In this study, we integrated genomic kinship approaches with field‐based estimates of fitness components and approximate Bayesian computation (ABC) procedures to estimate habitat‐specific dispersal rates and characterize habitat quality in two‐toed sloths (Choloepus hoffmanni) occurring in a Costa Rican agricultural ecosystem. Field‐based observations indicated that birth and survival rates were similar in a sparsely shaded cacao farm and adjacent cattle pasture–forest mosaic. Sloth density was threefold higher in pasture compared with cacao, whereas home range size and overlap were greater in cacao compared with pasture. Dispersal rates were similar between the two habitats, as estimated using ABC procedures applied to the spatial distribution of pairs of related individuals identified using 3,431 single nucleotide polymorphism and 11 microsatellite locus genotypes. Our results indicate that crops produced under a sparse overstorey can, in some cases, constitute lower‐quality habitat than pasture–forest mosaics for sloths, perhaps because of differences in food resources or predator communities. Finally, our study demonstrates that integrating field‐based demographic approaches with genomic methods can provide a powerful means for characterizing habitat quality for animal populations occurring in heterogeneous landscapes.