Insights into the use of an unmanned aerial vehicle (UAV) to investigate the behavior of humpback whales (Megaptera novaeangliae) in Vava'u,Kingdom of Tonga

Vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) are becoming invaluable data collection platforms for cetacean research. In particular, multi-rotors can be used to measure whales and investigate their behavior. Moreover, VTOL UAVs are increasingly accessible for recreational and commercial pilots, and close encounters with whales are widely documented. Unfortunately, quantitative assessments of potential disturbance for the targeted animals are not yet published and guidelines for responsible use of UAVs around cetaceans are still under development. We conducted VTOL UAV surveys on humpback whales in Vava'u, Kingdom of Tonga. Interestingly, whale behaviors such as socializing and nurturing were not detected by trained observers on board the research vessel, but were evident from the UAV. Nevertheless, no significant differences were detected in diving and swim parameters between absence and presence of UAV flying at 30 m altitude. These results suggest that VTOL UAVs can be a noninvasive tool to gather morphometric and behavioral data on baleen whales. However, further research is necessary to establish whether applications that require flight altitudes lower than 30 m and targeting different species may elicit behavioral responses.     

Behaviour of coconut mites preceding take-off to passive aerial dispersal

For more than three decades the coconut mite Aceria guerreronis Keifer is one of the most important pests of coconut palms and has recently spread to many coconut production areas worldwide. Colonization of coconut palms is thought to arise from mites dispersing aerially after take-off from other plants within the same plantation or other plantations. The underlying dispersal behaviour of the mite at take-off, in the airborne state and after landing is largely unknown and this is essential to understand how they spread from tree to tree. In this article we studied whether take-off to aerial dispersal of coconut mites is preceded by characteristic behaviour, whether there is a correlation between the body position preceding aerial dispersal and the direction of the wind, and whether the substrate (outer surface of coconut bracts or epidermis) and the wind speed matter to the decision to take-off. We found that take-off can sometimes be preceded by a raised body stance, but more frequently take-off occurs while the mite is walking or resting on its substrate. Coconut mites that become airborne assumed a body stance that had no relation to the wind direction. Take-off was suppressed on a substrate providing food to coconut mites, but occurred significantly more frequently on the outer surface of coconut bracts than on the surface of the fruit. For both substrates, take-off frequency increased with wind speed. We conclude that coconut mites have at least some degree of control over take-off for aerial dispersal and that there is as yet no reason to infer that a raised body stance is necessary to become airborne.     

Relationship between myological variables and different take-off and landing behaviours in frogs

Although landing behaviour in anurans differs significantly among species, a take-off behaviour seems to be largely conserved in the evolution of frogs and toads. The ancestral mode of landing is hypothesized to involve the body crash-landing on the substrate, after which the anuran cycles the limbs forward and then backward to their resting position. The part of the body that first contacts the substrate may vary among taxa. The limbs and pectoral girdle muscles as well as those of the caudopelvic region, involved with landing and take-off behaviours, are investigated. The existence of a relationship exists between myology and different take-off and landing behaviours is explored. The results suggest that most of the muscles involved in both take-off and landing are conserved morphologically, with only few differing, depending on the locomotor behaviour. Two muscles tend to be longer; the m. coracobrachialis, which is involved with landing, and the m. coccygeosacralis, related to the take-off.     

Phytoseiid dispersal at plant to regional levels: a review with emphasis on management of Neoseiulus fallacis in diverse agroecosystems

Dispersal behaviors of phytoseiid and tetranychid mites are key factors in understanding predator-prey dynamics and biological control of pest mites at different spatial levels in agricultural and natural ecosystems. In this review, ambulatory and aerial dispersal of both mite groups are discussed at spatial levels of leaf, plant, crop and region. Emphasis is on dispersal of phytoseiids, and specifically, the specialist-predator, Neoseiulusfallacis (Garman), and two-spotted spider mite prey, Tetranychus urticae (Koch). Dispersal aspects that are discussed are ambulation on a leaf; plant or in a prey patch; aerial dispersal between plants; behavior and aerodynamics of aerial take-off; modeling vs. monitoring of dispersal distance; fates of dispersing mites that land on soil substrates; plants as take-off platforms and landing targets for dispersers; and regional dispersal patterns and integrated mite management.     

Biological Jumping Mechanism Analysis and Modeling for Frog Robot

This paper presents a mechanical model of jumping robot based on the biological mechanism analysis of frog. By biological observation and kinematic analysis the frog jump is divided into take-offphase, aerial phase and landing phase. We find the similar trajectories of hindlimb joints during jump, the important effect of foot during take-off and the role of forelimb in supporting the body. Based on the observation, the frog jump is simplified and a mechanical model is put forward. The robot leg is represented by a 4-bar spring/linkage mechanism model, which has three Degrees of Freedom （DOF） at hip joint and one DOF （passive） at tarsometatarsal joint on the foot. The shoulder and elbow joints each has one DOF for the balancing function of arm. The ground reaction force of the model is analyzed and compared with that of frog during take-off. The results show that the model has the same advantages of low likelihood of premature lift-off and high efficiency as the frog. Analysis results and the model can be employed to develop and control a robot capable of mimicking the jumping behavior of frog.     

Aerodynamic advantages of upside down take-off for aerial dispersal in <Emphasis Type="Italic">Tetranychus</Emphasis> spider mites

Aerial dispersal may be important for redistribution of spider mites into new habitats. Evidence for behavioral control of aerial take-off has been well documented for Tetranychus urticae Koch. Before aerial dispersal they exhibit the aerial take-off posture that involves lifting the forelegs upright and raising the forebody. However, whether the aerial take-off posture functions to increase drag has remained unclear. The objectives of this study were to clarify: (i) aerodynamic effects of the aerial take-off posture; and (ii) actual aerial take-off behavior in T. urticae. To evaluate the aerodynamic forces experienced by grounded spider mites in different postures, we constructed three-dimensional models of T. urticae, exhibiting the aerial take-off posture and the normal posture, using computer graphics. We found that the aerial take-off posture was effective in receiving greater rearward forces from wind rather than upward forces. As a result, aerial take-off from a horizontal platform is unlikely. Instead, inverted departure surfaces, e.g., lower leaf surfaces, with inclines are likely to be effective sites for take-off. Laboratory experiments and field observations indicated that the mites preferentially adopted such a position for orientation and take-off. Our findings provided a rationale for the take-off behavior of Tetranychus spider mites.     

The biomechanics of leaping in gibbons

Gibbons are skilled brachiators but they are also highly capable leapers, crossing distances in excess of 10 m in the wild. Despite this impressive performance capability, no detailed biomechanical studies of leaping in gibbons have been undertaken to date. We measured ground reaction forces and derived kinematic parameters from high-speed videos during gibbon leaps in a captive zoo environment. We identified four distinct leap types defined by the number of feet used during take-off and the orientation of the trunk, orthograde single-footed, orthograde two-footed, orthograde squat, and pronograde single-footed leaps. The center of mass trajectories of three of the four leap types were broadly similar, with the pronograde single-footed leaps exhibiting less vertical displacement of the center of mass than the other three types. Mechanical energy at take-off was similar in all four leap types. The ratio of kinetic energy to mechanical energy was highest in pronograde single-footed leaps and similar in the other three leap types. The highest mechanical work and power were generated during orthograde squat leaps. Take-off angle decreased with take-off velocity and the hind limbs showed a proximal to distal extension sequence during take-off. In the forelimbs, the shoulder joints were always flexed at take-off, while the kinematics of the distal joints (elbow and wrist joints) were variable between leaps. It is possible that gibbons may utilize more metabolically expensive orthograde squat leaps when a safe landing is uncertain, while more rapid (less expensive) pronograde single-footed leaps might be used during bouts of rapid locomotion when a safe landing is more certain.     

Landing strategies in honeybees, and possible applications to autonomous airborne vehicles

Insects, being perhaps more reliant on image motion cues than mammals or higher vertebrates, are proving to be an excellent organism in which to investigate how information on optic flow is exploited to guide locomotion and navigation. This paper describes one example, illustrating how bees perform grazing landings on a flat surface. A smooth landing is achieved by a surprisingly simple and elegant strategy: image velocity is held constant as the surface is approached, thus automatically ensuring that flight speed is close to zero at touchdown. No explicit knowledge of flight speed or height above the ground is necessary. The feasibility of this landing strategy is tested by implementation in a robotic gantry, and its applicability to autonomous airborne vehicles is discussed.     

On the applicability of the decentralized control mechanism extracted from the true slime mold: a robotic case study with a serpentine robot

A systematic method for an autonomous decentralized control system is still lacking, despite its appealing concept. In order to alleviate this, we focused on the amoeboid locomotion of the true slime mold, and extracted a design scheme for the decentralized control mechanism that leads to adaptive behavior for the entire system, based on the so-called discrepancy function. In this paper, we intensively investigate the universality of this design scheme by applying it to a different type of locomotion based on a 'synthetic approach'. As a first step, we implement this design scheme to the control of a real physical two-dimensional serpentine robot that exhibits slithering locomotion. The experimental results show that the robot exhibits adaptive behavior and responds to the environmental changes; it is also robust against malfunctions of the body segments due to the local sensory feedback control that is based on the discrepancy function. We expect the results to shed new light on the methodology of autonomous decentralized control systems.     

Leaping behavior of Pithecia pithecia and Chiropotes satanas in eastern Venezuela

I observed leaping behavior in the white-faced saki (Pithecia pithecia) and the black-bearded saki (Chiropotes satanas satanas) for 15 and 10 months, respectively, as part of a larger study of positional behavior in the tribe Pitheciini. I used focal animal instantaneous sampling to observe the two species on separate islands in their natural habitat at Guri Lake, Venezuela. Leaping behavior correlates with patterns of forest use and body size, and differences between the species relate more to habitat preferences than to habitat differences per se. Pithecia usually chose vertical or highly angled supports of lower tree portions for take-off and landing, and took off from a stationary posture. Chiropotes took off from the main crown or terminal branches, gaining momentum from locomotor movement before performing a leaping take-off. Pithecia's vertical body orientation and longer leap distance allowed it to assume a mid-flight tuck to prepare for a hindlimb-first landing onto a solid support, and to absorb landing forces with its relatively longer hindlimbs. Chiropotes remained more pronograde throughout its leaps, and minimized landing forces by landing on all four limbs onto numerous flexible supports in the terminal branches. The smaller-bodied P. pithecia is specialized for vertical clinging and leaping, and exhibits behavioral and morphological parallels with other vertical clingers and leapers. The larger C. satanas is a generalized leaper that lacks morphological specializations for leaping. Pithecia's use of solid supports in the lower tree portions allows it to move quietly through the forest-one of a suite of behaviors related to predator avoidance. This example of variation within one behavioral category has implications for devising locomotor classifications and interpreting fossil remains.     

Falling with Style: Bats Perform Complex Aerial Rotations by Adjusting Wing Inertia

The remarkable maneuverability of flying animals results from precise movements of their highly specialized wings. Bats have evolved an impressive capacity to control their flight, in large part due to their ability to modulate wing shape, area, and angle of attack through many independently controlled joints. Bat wings, however, also contain many bones and relatively large muscles, and thus the ratio of bats’ wing mass to their body mass is larger than it is for all other extant flyers. Although the inertia in bat wings would typically be associated with decreased aerial maneuverability, we show that bat maneuvers challenge this notion. We use a model-based tracking algorithm to measure the wing and body kinematics of bats performing complex aerial rotations. Using a minimal model of a bat with only six degrees of kinematic freedom, we show that bats can perform body rolls by selectively retracting one wing during the flapping cycle. We also show that this maneuver does not rely on aerodynamic forces, and furthermore that a fruit fly, with nearly massless wings, would not exhibit this effect. Similar results are shown for a pitching maneuver. Finally, we combine high-resolution kinematics of wing and body movements during landing and falling maneuvers with a 52-degree-of-freedom dynamical model of a bat to show that modulation of wing inertia plays the dominant role in reorienting the bat during landing and falling maneuvers, with minimal contribution from aerodynamic forces. Bats can, therefore, use their wings as multifunctional organs, capable of sophisticated aerodynamic and inertial dynamics not previously observed in other flying animals. This may also have implications for the control of aerial robotic vehicles.     

Factors that influence selection of coding resumption sites in translational bypassing: minimal conventional peptidyl-tRNA:mRNA pairing can suffice

This study investigates bypassing initiated from codons immediately 5' of a stop codon. The mRNA slips and is scanned by the peptidyl-tRNA for a suitable landing site, and standard decoding resumes at the next 3' codon. This work shows that landing sites with potentially strong base pairing between the peptidyl-tRNA anticodon and mRNA are preferred, but sites with little or no potential for Watson-Crick or wobble base pairing can also be utilized. These results have implications for re-pairing in ribosomal frameshifting. Shine-Dalgarno sequences in the mRNA can alter the distribution of landing sites observed. The bacteriophage T4 gene 60 nascent peptide, known to influence take-off in its native context, imposes stringent P-site pairing requirements, thereby limiting the number of suitable landing sites.     

Heart Rate and Respiration Responses to Real Traffic Pattern Flight

The purpose of this study was to observe heart rate and respiration responses to real traffic pattern flight. Nine experienced and nine less-experienced military pilots on active flying status participated in four uninterrupted traffic patterns flight missions with F-7 jet trainer. The heart rates and respiration waves were continuously recorded using a small recording device strapped around the chest. As compared with baseline values, significant increases in heart rates of the two groups (for experienced pilots group, F (11, 88) = 4.636, p = 0.000; for less-experienced, F (11, 88) = 4.437, p = 0.000) and mean respiration rates of less-experienced group (F (11, 88) = 4.488, p = 0.000) were obtained during the phases of take-off, final approach and landing. Heart rates of less-experienced pilots were significant higher than those of experienced pilots during the take-off phase (p < 0.05). There were no significant differences in respiration rates between the two groups at each phase of the whole flight. The results show that take-off, final approach and landing are the most mental workload phases in-flight, and less-experienced pilots show more mental workload than experienced pilots in take-off phase in-flight.     

绿化覆盖率频数曲线模式—— 一种评估城市绿化水平的新方法

 本文首次探讨并提出了应用航空遥感和计算机技术建立以绿化覆盖率频数曲线为特征的城市绿化水平评估模式,并通过上海市12个区和144条街道的绿化覆盖率频数曲线模式分析评估了全市各区、各街道的绿化水平,提出了存在问题和改进设想。实践证明,该模式兼有绿化水平评估、绿化整体布局优化设计、预测绿化未来发展等多种绿化规划功能。它的提出,使绿化覆盖水平的评估从传统的数学统计(面积覆盖率)上升到模式评估阶段,而使绿化水平的评估方式有了一个飞跃;同时,它又为绿化规划提供了一种新的技术手段。     

基于无人机航拍的校园植物景观美景度评价——以华南农业大学为例

基于无人机航拍摄影技术,结合植物现状调查和问卷调查,应用美景度评判法对华南农业大学八类植物景观进行评价。结果表明,基于无人机的航拍影像,华南农业大学植物群落复层结构清晰可见,空间布局层次丰富,植物景观质量整体水平良好;植物色彩丰富度和植物多样性与美景度值有显著相关性,是影响校园植物景观美景度值的有效影响因子。     

A virtual environment for learning to view during aerial movements

Training the gymnasts to view the landing area when learning aerial skills may lead to more consistent landings but can be problematic and potentially dangerous. A virtual environment allowing gymnasts to get introduced to viewing techniques safely is presented. The system is based on existing simulation models and visualisation software, and is implemented using client-server technology to allow reuse with new simulation models in the future.     

A virtual environment for learning to view during aerial movements

Training the gymnasts to view the landing area when learning aerial skills may lead to more consistent landings but can be problematic and potentially dangerous. A virtual environment allowing gymnasts to get introduced to viewing techniques safely is presented. The system is based on existing simulation models and visualisation software, and is implemented using client–server technology to allow reuse with new simulation models in the future.     

Indirect evidence for elastic energy playing a role in limb recovery during toad hopping

Elastic energy is critical for amplifying muscle power during the propulsive phase of anuran jumping. In this study, we use toads (Bufo marinus) to address whether elastic recoil is also involved after take-off to help flex the limbs before landing. The potential for such spring-like behaviour stems from the unusually flexed configuration of a toad''s hindlimbs in a relaxed state. Manual extension of the knee beyond approximately 90° leads to the rapid development of passive tension in the limb as underlying elastic tissues become stretched. We hypothesized that during take-off, the knee regularly extends beyond this, allowing passive recoil to help drive limb flexion in mid-air. To test this, we used high-speed video and electromyography to record hindlimb kinematics and electrical activity in a hindlimb extensor (semimembranosus) and flexor (iliofibularis). We predicted that hops in which the knees extended further during take-off would require less knee flexor recruitment during recovery. Knees extended beyond 90° in over 80% of hops, and longer hops involved greater degrees of knee extension during take-off and more intense semimembranosus activity. However, knee flexion velocities during recovery were maintained despite a significant decrease in iliofibularis intensity in longer hops, results consistent with elastic recoil playing a role.     

Starvation affects pre-dispersal behaviour of Erigone spiders

Population studies often focus on demographic and genetic consequences of dispersal strategies, generally within an evolutionary framework. Adaptive investment in dispersal is generally assessed from single types of (pre-)dispersal behaviour that are presumed to reliably reflect the dispersal strategy adopted. Various spider families show a striking and quantifiable display, known as tiptoe behaviour that prepares individuals for take-off prior to (passive) aerial dispersal (ballooning). The lack of efficient control mechanisms during ballooning prevents individuals from actively selecting a suitable habitat for landing. Ballooning dispersal is therefore often regarded as a wind lottery preceded by individual-based risk assessment. Our laboratory experiments showed that the duration of tiptoe behaviour can be used as an indicator of silk thread length, which is related to the potential dispersal distance. For two related species, Erigone arctica and E. dentiplapis, tiptoe duration decreased independently of sex after starvation, while more complex reaction norms were observed for tiptoe frequency.

Because these two aspects of dispersal behaviours show different responses towards a simple stress-factor (starvation) in two related spider species, we conclude that the level of plasticity in dispersal investment can be subject to selective forces affecting different dispersal properties in different ways. Our results, hence, plead for a more holistic approach when addressing evolutionary and applied questions related to dispersal.     

Effects of Different Types of Jump Impact on Trabecular Bone Mass and Microarchitecture in Growing Rats

Substantial evidence from animal studies indicates that jumping increases bone mass and strength. However, most studies have focused on the take-off, rather than the landing phase of jumps. Thus, we compared the effects of landing and upward jump impact on trabecular bone mass and microarchitecture. Male Wistar rats aged 10 weeks were randomly assigned to the following groups: sedentary control (CON), 40-cm upward jumps (40UJ); 40-cm drop jumps (40DJ); and 60-cm drop jumps (60DJ) (n = 10 each). The upward jump protocol comprised 10 upward jumps/day, 5 days/week for 8 weeks to a height of 40 cm. The drop jump protocol comprised dropping rats from a height of 40 or 60 cm at the same frequency and time period as the 40UJ group. Trabecular bone mass, architecture, and mineralization at the distal femoral metaphysis were evaluated using microcomputed tomography. Ground reaction force (GRF) was measured using a force platform. Bone mass was significantly higher in the 40UJ group compared with the DJ groups (+49.1% and +28.3%, respectively), although peak GRF (−57.8% and −122.7%, respectively) and unit time force (−21.6% and −36.2%, respectively) were significantly lower in the 40UJ group. These results showed that trabecular bone mass in growing rats is increased more effectively by the take-off than by the landing phases of jumps and suggest that mechanical stress accompanied by muscle contraction would be more important than GRF as an osteogenic stimulus. However, the relevance of these findings to human bone physiology is unclear and requires further study.