Ammonium piperidine-1-carbodithio­ate

The title compound, NH4 +·C6H10NS2 −, is composed of an ammonium cation and a piperidine-1-carbodithio­ate anion which exhibits positional disorder. The atoms of the ring have a structural disorder and they are divided into two sites, with occupancy factors of 0.584 and 0.426.. In the crystal, the cation and anion are linked by N—H⋯S hydrogen bonds to form an infinite two-dimensional network

Observers Data Only Fault Detection

Abstract: Most fault detection algorithms are based on residuals, i.e.the difference between a measured signal and the corresponding model based prediction. However, in many more advanced sensors the raw measurements are internally processed before refined information is provided to the user. The contribution of this paper is to study the problem of fault detection when only the state estimate from an observer/Kalman filter is available and not the direct measured quantities. The idea is to look at an extended state space model where the true states and the observer states are combined. This extended model is then used to generate residuals viewing the observer outputs as measurements. Results for fault observability of such extended models are given. The approach is rather straightforward in case the internal structure of the observer is exactly known. For the Kalman filter this corresponds to knowing the observer gain. If this is not the case certain model approximations can be done to generate a simplified model to be used for standard fault detection. The corresponding methods are evaluated on a DC motor example. The next step is a real data robotics demonstrator

Generalised zonal modes in stationary axisymmetric plasmas

The MHD model enables derivation and analysis of the rich structure of geodesic acoustic modes (GAMs) and zonal modes in axisymmetric magnetic confined plasmas. The modes are identifiable from a single dispersion relation as two branches of slow magnetosonic continua. The lower frequency branch can be identified as a zonal flow (ZF), which in the simplified limit of static plasmas, has vanishing magnetic component. It is shown in this contribution that axisymmetric, and lesser known non-axisymmetric, zonal modes can be derived from MHD and kinetic models. The work provides a comprehensive derivation of the GAMs and ZF continua in stationary toroidally rotating plasmas, and investigates the exact solution and structure of a generalised family of zonal modes in static equilibria

Environmentally driven extinction and opportunistic origination explain fern diversification patterns.

Combining palaeontological and neontological data offers a unique opportunity to investigate the relative roles of biotic and abiotic controls of species diversification, and the importance of origination versus extinction in driving evolutionary dynamics. Ferns comprise a major terrestrial plant radiation with an extensive evolutionary history providing a wealth of modern and fossil data for modelling environmental drivers of diversification. Here we develop a novel Bayesian model to simultaneously estimate correlations between diversification dynamics and multiple environmental trajectories. We estimate the impact of different factors on fern diversification over the past 400 million years by analysing a comprehensive dataset of fossil occurrences and complement these findings by analysing a large molecular phylogeny. We show that origination and extinction rates are governed by fundamentally different processes: originations depend on within-group diversity but are largely unaffected by environmental changes, whereas extinctions are strongly affected by external factors such as climate and geology. Our results indicate that the prime driver of fern diversity dynamics is environmentally driven extinction, with origination being an opportunistic response to diminishing ecospace occupancy

Systematics and historical biogeography of the old world butterfly subtribe Mycalesina (Lepidoptera: Nymphalidae: Satyrinae).

BACKGROUND: Butterflies of the subtribe Mycalesina have radiated successfully in almost all habitat types in Africa, Madagascar, the Indian subcontinent, Indo-China and Australasia. Studies aimed at understanding the reasons behind the evolutionary success of this spectacular Old World butterfly radiation have been hampered by the lack of a stable phylogeny for the group. Here, we have reconstructed a robust phylogenetic framework for the subtribe using 10 genes from 195 exemplar taxa. RESULTS: We recovered seven well supported clades within the subtribe corresponding to the five traditional genera (Lohora, Heteropsis, Hallelesis, Bicyclus, Mycalesis), one as recently revised (Mydosama) and one newly revised genus (Culapa). The phylogenetic relationships of these mycalesine genera have been robustly established for the first time. Within the proposed phylogenetic framework, we estimated the crown age of the subtribe to be 40 Million years ago (Mya) and inferred its ultimate origin to be in Asia. Our results reveal both vicariance and dispersal as factors responsible for the current widespread distribution of the group in the Old World tropics. We inferred that the African continent has been colonized at least twice by Asian mycalesines within the last 26 and 23 Mya. In one possible scenario, an Asian ancestor gave rise to Heteropsis on continental Africa, which later dispersed into Madagascar and most likely back colonised Asia. The second colonization of Africa by Asian ancestors resulted in Hallelesis and Bicyclus on continental Africa, the descendants of which did not colonise other regions but rather diversified only in continental Africa. The genera Lohora and Mydosama are derivatives of ancestors from continental Asia. CONCLUSION: Our proposed time-calibrated phylogeny now provides a solid framework within which we can implement mechanistic studies aimed at unravelling the ecological and evolutionary processes that culminated in the spectacular radiation of mycalesines in the Old World tropics

Phylogenetics and biogeography of a spectacular Old World radiation of butterflies: the subtribe Mycalesina (Lepidoptera: Nymphalidae: Satyrini)

Background: Butterflies of the subtribe Mycalesina (Nymphalidae: Satyrinae) are important model organisms in ecology and evolution. This group has radiated spectacularly in the Old World tropics and presents an exciting opportunity to better understand processes of invertebrate rapid radiations. However, the generic-level taxonomy of the subtribe has been in a constant state of flux, and relationships among genera are unknown. There are six currently recognized genera in the group. Mycalesis, Lohora and Nirvanopsis are found in the Oriental region, the first of which is the most speciose genus among mycalesines, and extends into the Australasian region. Hallelesis and Bicyclus are found in mainland Africa, while Heteropsis is primarily Madagascan, with a few species in Africa. We infer the phylogeny of the group with data from three genes (total of 3139 bp) and use these data to reconstruct events in the biogeographic history of the group. Results: The results indicate that the group Mycalesina radiated rapidly around the Oligocene-Miocene boundary. Basal relationships are unresolved, but we recover six well-supported clades. Some species of Mycalesis are nested within a primarily Madagascan clade of Heteropsis, while Nirvanopsis is nested within Lohora. The phylogeny suggests that the group had its origin either in Asia or Africa, and diversified through dispersals between the two regions, during the late Oligocene and early Miocene. The current dataset tentatively suggests that the Madagascan fauna comprises two independent radiations. The Australasian radiation shares a common ancestor derived from Asia. We discuss factors that are likely to have played a key role in the diversification of the group. Conclusions: We propose a significantly revised classification scheme for Mycalesina. We conclude that the group originated and radiated from an ancestor that was found either in Asia or Africa, with dispersals between the two regions and to Australasia. Our phylogeny paves the way for further comparative studies on this group that will help us understand the processes underlying diversification in rapid radiations of invertebrates.13 page(s

Predation on migrating eels (Anguilla anguilla L.) from the Western Mediterranean

Nineteen female silver European eels (Anguilla anguilla L.) were tagged with satellite tags and released in the Gulf of Lion in the Mediterranean during the migration seasons 2013 and 2015. Sixteen tags transmitted data: five in the Atlantic Ocean, and eleven in the Mediterranean. Of those, 50% of migrating eels were consumed by marine mammals in each year, all in the Mediterranean. The diving behaviour recorded by the tags after the eels were consumed indicated that the most likely predators were deep diving toothed whales. Measurements of the acoustic target strength of the tag showed a negligible effect on the detectability by whale biosonar. Overall, the observed predation rate was similar to that reported for eels escaping into the Atlantic. However, unlike eels in the Atlantic, which are most vulnerable to predators in the first week of escapement as they traverse the continental shelf and before they reach the refuge of the deep ocean, eels escaping from the Mediterranean were predated in deep water, months after release, likely as a consequence of their migration within a relatively narrow and deep corridor in the Alboran Sea. This emphasises the challenge of accounting for natural mortality in management plans for the long-term recovery of the European eel