Collaborative SLAM using a swarm intelligence-inspired exploration method

Master's thesis in Mechatronics (MAS500)Efficient exploration in multi-robot SLAM is a challenging task. This thesis describes the design of algorithms that would enable Loomo robots to collaboratively explore an unknown environment. A pose graph-based SLAM algorithm using the on-board sensors of the Loomo was developed from scratch. A YOLOv3-tiny neural network has been trained to recognize other Loomos, and an exploration simulation has been developed to test exploration methods. The bots in the simulation are controlled using swarm intelligence inspired rules. The system is not finished, and further workis needed to combine the work done in the thesis into a collaborative SLAM system that runs on the Loomo robots

Timing of Calanus finmarchicus diapause in stochastic environments

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Diel vertical migration of Arctic zooplankton during the polar night

High-latitude environments show extreme seasonal variation in physical and biological variables. The classic paradigm of Arctic marine ecosystems holds that most biological processes slow down or cease during the polar night. One key process that is generally assumed to cease during winter is diel vertical migration (DVM) of zooplankton. DVM constitutes the largest synchronized movement of biomass on the planet, and is of paramount importance for marine ecosystem function and carbon cycling. Here we present acoustic data that demonstrate a synchronized DVM behaviour of zooplankton that continues throughout the Arctic winter, in both open and ice-covered waters. We argue that even during the polar night, DVM is regulated by diel variations in solar and lunar illumination, which are at intensities far below the threshold of human perception. We also demonstrate that winter DVM is stronger in open waters compared with ice-covered waters. This suggests that the biologically mediated vertical flux of carbon will increase if there is a continued retreat of the Arctic winter sea ice cover

Two hundred years of zooplankton vertical migration research

Vertical migration is a geographically and taxonomically widespread behaviour among zooplankton that spans across diel and seasonal timescales. The shorter-term diel vertical migration (DVM) has a periodicity of up to 1 day and was first described by the French naturalist Georges Cuvier in 1817. In 1888, the German marine biologist Carl Chun described the longer-term seasonal vertical migration (SVM), which has a periodicity of ca. 1 year. The proximate control and adaptive significance of DVM have been extensively studied and are well understood. DVM is generally a behaviour controlled by ambient irradiance, which allows herbivorous zooplankton to feed in food-rich shallower waters during the night when light-dependent (visual) predation risk is minimal and take refuge in deeper, darker waters during daytime. However, DVMs of herbivorous zooplankton are followed by their predators, producing complex predator–prey patterns that may be traced across multiple trophic levels. In contrast to DVM, SVM research is relatively young and its causes and consequences are less well understood. During periods of seasonal environmental deterioration, SVM allows zooplankton to evacuate shallower waters seasonally and take refuge in deeper waters often in a state of dormancy. Both DVM and SVM play a significant role in the vertical transport of organic carbon to deeper waters (biological carbon sequestration), and hence in the buffering of global climate change. Although many animal migrations are expected to change under future climate scenarios, little is known about the potential implications of global climate change on zooplankton vertical migrations and its impact on the biological carbon sequestration process. Further, the combined influence of DVM and SVM in determining zooplankton fitness and maintenance of their horizontal (geographic) distributions is not well understood. The contrasting spatial (deep versus shallow) and temporal (diel versus seasonal) scales over which these two migrations occur lead to challenges in studying them at higher spatial, temporal and biological resolution and coverage. Extending the largely population-based vertical migration knowledge base to individual-based studies will be an important way forward. While tracking individual zooplankton in their natural habitats remains a major challenge, conducting trophic-scale, high-resolution, year-round studies that utilise emerging field sampling and observation techniques, molecular genetic tools and computational hardware and software will be the best solution to improve our understanding of zooplankton vertical migrations

Seasonal vertical strategies in a high-Arctic coastal zooplankton community

We studied the larger (>1000 µm) size fraction of zooplankton in an Arctic coastal water community in Billefjorden, Svalbard (78°40’ N), Norway, in order to describe seasonal vertical distributions of the dominant taxa in relation to environmental variability. Calanus spp. numerically dominated the herbivores; Aglantha digitale, Mertensia ovum, Beroë cucumis, and Parasagitta elegans were the dominant carnivores. Omnivores and detritivores were numerically less important. Descent to deeper regions of the water column (>100 m) between August and October, and ascent to the shallower region (<100 m) between November and May was the overall seasonal pattern in this zooplankton community. In contrast to other groups, P. elegans did not exhibit pronounced vertical migrations. Seasonal vertical distributions of most species showed statistical associations with the availability of their main food source. The vertical distribution of later developmental stages of Calanus spp. was inversely associated with fluorescence, indicating that they descended from the shallower region while it was still relatively productive, and ascended before the primary production had started to increase. Strong associations between the vertical distributions of secondary consumer M. ovum and Calanus spp., and tertiary consumer B. cucumis and M. ovum indicated that these carnivores seasonally followed their prey through the water column. We conclude that seasonal vertical migrations are a widespread trait in the high Arctic community studied, and predator−prey interactions seem particularly central in shaping the associations between the seasonal vertical strategies of adjacent trophic levels