Using Alternative Silvicultural Systems to Integrate Mountain Caribou and Timber Management in British Columbia

Even-aged forest management using the clearcutting silvicultural system as it is currently applied threatens mountain caribou habitat in British Columbia. Since neither complete preservation nor maximum development of timber resources are socially acceptable alternatives, forest managers are anxious to find integrated management options. We describe alternative silvicultural systems currently being tested, including single-tree and group selection. All the treatments have the goal of periodically extracting viable timber volumes while perpetually retaining stand characteristics necessary for caribou. The effects of these logging prescriptions on lichen biomass and growth rates are being tested. Alternative silvicultural systems may become part of a larger strategy to maintain caribou habitat in managed forests

Arboreal forage lichen response to partial cutting of high elevation mountain caribou range in the Quesnel Higland of east-central British Columbia

Group selection silvicultural systems have been recommended for managing mountain caribou (Rangifer tarandus caribou) habitat in high elevation Engelmann spruce – subalpine fir forests in east-central British Columbia. We measured the response of arboreal lichen (a key winter forage) to harvesting of 30% of the forested area using three partial cutting treatments, which created small (0.03 ha), medium (0.13 ha), and large (1.0 ha) openings, and a no-harvest treatment. Treatments were replicated on four sites, and monitored over a ten year post-harvest period. The short-term loss of lichen associated with removal of approximately one third of the trees was partially offset by a significant (P=0.01) increase in lichen abundance on trees in the caribou feeding zone (up to 4.5 m) in the three partial cutting treatments relative to trees in the uncut forest. Differences among treatments in the change in lichen composition, as measured by the percentage of Alectoria sarmentosa and Bryoria spp., were marginally significant (P=0.10). The partial cutting treatments showing a greater likelihood of shifting towards more Bryoria spp. than no-harvest treatment (P=0.04). In the year of harvest (1993), larger trees were found to hold more lichen than smaller trees (P=0.04), and live trees supported more lichen than dead trees (P=0.01), but lichen loading was similar among tree species (P=0.51). Tree fall rates were similar among treatments, based on the ten year average (0.6–0.8% of sample trees per year). The results indicate that caribou foraging habitat is maintained in the residual forest when group selection systems that remove only 30% of the trees are applied. Information on the distribution of lichen is useful for developing stand level prescriptions. Providing lichen bearing habitat meets just one of the needs of caribou. A comprehensive approach that considers all factors and their interactions is essential to maintain and recover the threatened mountain caribou

Interactive Force Control Based on Multimodal Robot Skin for Physical Human-Robot Collaboration

This work proposes and realizes a control architecture that can support the deployment of a large-scale robot skin in a Human-Robot Collaboration scenario. It is shown, how whole-body tactile feedback can extend the capabilities of robots during dynamic interactions by providing information about multiple contacts across the robot\u27s surface. Specifically, an uncalibrated skin system is used to implement stable force control while simultaneously handling the multi-contact interactions of a user. The system formulates control tasks for force control, tactile guidance, collision avoidance, and compliance, and fuses them with a multi-priority redundancy resolution strategy. The approach is evaluated on an omnidirectional mobile-manipulator with dual arms covered with robot skin. Results are assessed under dynamic conditions, showing that multi-modal tactile information enables robust force control while at the same time remaining responsive to a user\u27s interactions

Terrestrial lichen response to partial cutting in lodgepole pine forests on caribou winter range in west-central British Columbia

In west-central British Columbia, terrestrial lichens located in older, lodgepole pine (Pinus contorta) forests are important winter forage for woodland caribou (Rangifer tarandus caribou). Clearcut harvesting effectively removes winter forage habitat for decades, so management approaches based on partial cutting were designed to maintain continuous lichen-bearing habitat for caribou. This study tested a group selection system, based on removal of 33% of the forest every 80 years in small openings (15 m diameter), and two irregular shelterwood treatments (whole-tree and stem-only harvesting methods) where 50% of the stand area is cut every 70 years in 20 to 30 m diameter openings. The abundance of common terrestrial lichens among the partial cutting and no-harvest treatments was compared across five replicate blocks, pre-harvest (1995) and post-harvest (1998, 2000 and 2004). The initial loss of preferred forage lichens (Cladonia, Cladina, Cetraria and Stereocaulon) was similar among harvesting treatments, but there was greater reduction in these lichens in the openings than in the residual forest. After eight years, forage lichens in the group selection treatment recovered to pre-harvest amounts, while lichen in the shelterwood treatments steadily increased from 49 to 57% in 1998 to about 70% of pre-harvest amounts in 2004. Although not part of the randomized block design, there was substantially less lichen in three adjacent clearcut blocks than in the partial cuts. Regression analysis pre- and post-harvest indicated that increased cover of trees, shrubs, herbs, woody debris and logging slash corresponded with decreased forage lichen abundance. In the short-term, forestry activities that minimize inputs of woody debris, control herb and shrub development, and moderate the changes in light and temperatures associated with canopy removal will lessen the impact on lichen. Implementation of stand level prescriptions is only one aspect of caribou habitat management. A comprehensive approach should consider all factors and their interactions to maintain a viable population of woodland caribou in west-central British Columbia

Human-robot collaborative task planning using anticipatory brain responses

Human-robot interaction (HRI) describes scenarios in which both human and robot work as partners, sharing the same environment or complementing each other on a joint task. HRI is characterized by the need for high adaptability and flexibility of robotic systems toward their human interaction partners. One of the major challenges in HRI is task planning with dynamic subtask assignment, which is particularly challenging when subtask choices of the human are not readily accessible by the robot. In the present work, we explore the feasibility of using electroencephalogram (EEG) based neuro-cognitive measures for online robot learning of dynamic subtask assignment. To this end, we demonstrate in an experimental human subject study, featuring a joint HRI task with a UR10 robotic manipulator, the presence of EEG measures indicative of a human partner anticipating a takeover situation from human to robot or vice-versa. The present work further proposes a reinforcement learning based algorithm employing these measures as a neuronal feedback signal from the human to the robot for dynamic learning of subtask-assignment. The efficacy of this algorithm is validated in a simulation-based study. The simulation results reveal that even with relatively low decoding accuracies, successful robot learning of subtask-assignment is feasible, with around 80% choice accuracy among four subtasks within 17 minutes of collaboration. The simulation results further reveal that scalability to more subtasks is feasible and mainly accompanied with longer robot learning times. These findings demonstrate the usability of EEG-based neuro-cognitive measures to mediate the complex and largely unsolved problem of human-robot collaborative task planning

Toward an Identification of Resources Influencing Habitat Use in a Multi-Specific Context

Interactions between animal behaviour and the environment are both shaping observed habitat use. Despite the importance of inter-specific interactions on the habitat use performed by individuals, most previous analyses have focused on case studies of single species. By focusing on two sympatric populations of large herbivores with contrasting body size, we went one step beyond by studying variation in home range size and identifying the factors involved in such variation, to define how habitat features such as resource heterogeneity, resource quality, and openness created by hurricane or forest managers, and constraints may influence habitat use at the individual level. We found a large variability among individual's home range size in both species, particularly in summer. Season appeared as the most important factor accounting for observed variation in home range size. Regarding habitat features, we found that (i) the proportion of area damaged by the hurricane was the only habitat component that inversely influenced roe deer home range size, (ii) this habitat type also influenced both diurnal and nocturnal red deer home range sizes, (iii) home range size of red deer during the day was inversely influenced by the biomass of their preferred plants, as were both diurnal and nocturnal core areas of the red deer home range, and (iv) we do not find any effect of resource heterogeneity on home range size in any case. Our results suggest that a particular habitat type (i.e. areas damaged by hurricane) can be used by individuals of sympatric species because it brings both protected and dietary resources. Thus, it is necessary to maintain the openness of these areas and to keep animal density quite low as observed in these hunted populations to limit competition between these sympatric populations of herbivores