Optimal feedback control for dynamic systems with state constraints: An exact penalty approach

In this paper, we consider a class of nonlinear dynamic systems with terminal state and continuous inequality constraints. Our aim is to design an optimal feedback controller that minimizes total system cost and ensures satisfaction of all constraints. We first formulate this problem as a semi-infinite optimization problem. We then show that by using a new exact penalty approach, this semi-infinite optimization problem can be converted into a sequence of nonlinear programming problems, each of which can be solved using standard gradient-based optimization methods.We conclude the paper by discussing applications of our work to glider control

Historical biogeography of the leopard (Panthera pardus) and its extinct Eurasian populations

Background: Resolving the historical biogeography of the leopard (Panthera pardus) is a complex issue, because patterns inferred from fossils and from molecular data lack congruence. Fossil evidence supports an African origin, and suggests that leopards were already present in Eurasia during the Early Pleistocene. Analysis of DNA sequences however, suggests a more recent, Middle Pleistocene shared ancestry of Asian and African leopards. These contrasting patterns led researchers to propose a two-stage hypothesis of leopard dispersal out of Africa: an initial Early Pleistocene colonisation of Asia and a subsequent replacement by a second colonisation wave during the Middle Pleistocene. The status of Late Pleistocene European leopards within this scenario is unclear: were these populations remnants of the first dispersal, or do the last surviving European leopards share more recent ancestry with their African counterparts? Results: In this study, we generate and analyse mitogenome sequences from historical samples that span the entire modern leopard distribution, as well as from Late Pleistocene remains. We find a deep bifurcation between African and Eurasian mitochondrial lineages (~ 710 Ka), with the European ancient samples as sister to all Asian lineages (~ 483 Ka). The modern and historical mainland Asian lineages share a relatively recent common ancestor (~ 122 Ka), and we find one Javan sample nested within these. Conclusions: The phylogenetic placement of the ancient European leopard as sister group to Asian leopards suggests that these populations originate from the same out-of-Africa dispersal which founded the Asian lineages. The coalescence time found for the mitochondrial lineages aligns well with the earliest undisputed fossils in Eurasia, and thus encourages a re-evaluation of the identification of the much older putative leopard fossils from the region. The relatively recent ancestry of all mainland Asian leopard lineages suggests that these populations underwent a severe population bottleneck during the Pleistocene. Finally, although only based on a single sample, the unexpected phylogenetic placement of the Javan leopard could be interpreted as evidence for exchange of mitochondrial lineages between Java and mainland Asia, calling for further investigation into the evolutionary history of this subspecies

Vertical relief facilitates spatial segregation of a high density large carnivore population

Quantifying the distribution and size of home ranges is critical for understanding animal spatial dynamics. This is particularly important for large carnivores in fragmented landscapes. Most studies that estimate home range consider only a bivariate frequency distribution represented by a two‐dimensional planimetric surface. The underlying assumption of these approaches is that the animals inhabit landscapes that are completely flat. Of course, this is rarely the case. Here we investigated the influence of vertical relief and three‐dimensional landscape features on the home range patterns of a high density carnivore. Via GPS telemetry‐tracking of a population of Persian leopards Panthera pardus saxicolor (n = 6), and globally‐available digital elevation models (DEMs), we calculated the surface area of home ranges in comparison to traditional planimetric estimates. We also investigated predation patterns of leopards across elevation gradients using GPS location data and kill site analysis. The topographic measurements exceeded planimetric estimates by up to 38% which suggests that planimetric modeling underestimates home range size, particularly when animals inhabit variable terrain. We also observed that resident leopards exhibit significant altitudinal partitioning of predation, suggesting that leopards that have overlapping home ranges may still utilize exclusive hunting territories. We discuss the ways in which planimetric approaches may be underestimating aspects of animal ranging behavior and ecology. We conclude that topography should be considered, not as an ancillary metric, but as an important aspect of home range calculation. Our approach can enhance understanding of spatial requirements, population density, intra‐guild sympatric competition and conflict management of large felids inhabiting rugged landscapes

Reply to: Can wolves suppress goodwill for leopards? Need for further evidence

In our recent paper (Farhadinia et al. 2017) we reported some observations concerning 23 attitudes to large predators in northeaster Iran. One of our findings was that attitudes to 24 leopards were more negative among respondents reporting more stock loss to wolves. We 25 speculated that measures to reduce conflict with wolves might therefore be beneficial for 26 leopard conservation. Ghasemi and Kyle (2017) argue that our interpretation is spurious, and 27 that our approach provides a ‘poor foundation for future research’

Persian leopard predation patterns and kill rates in the Iran–Turkmenistan borderland

Describing predation patterns and especially estimating kill and consumption rates is essential for understanding the functional responses of predators. An understanding of the carrying capacity of the landscape, based on prey availability, also helps to formulate recovery plans for persecuted species. We studied the feeding behavior of the Persian leopard (Panthera pardus saxicolor) in Tandoureh National Park (355 km2) in northeastern Iran, near the Turkmenistan border. Between September 2014 and May 2017, we collared and monitored 6 adult leopards (5 males and 1 female) using GPS-satellite Iridium collars. We investigated 310 clusters of fixes as likely to be kill sites. In total, 130 kills were identified to species, suggesting a mean kill rate of approximately 3.3 ± 0.3 (SE) kills/month per adult male leopard, which is higher than reported by most previous studies. The leopards varied considerably in the time they spent outside the national park; only 1 individual appeared to subsist mainly by raiding livestock. The availability of medium-sized ungulates at adequate densities is likely to be important for future leopard conservation efforts. The management of problem individuals also may promote coexistence of humans and leopards, even in prey-rich areas

Wolves can suppress goodwill for leopards: Patterns of human-predator coexistence in northeastern Iran

Mammalian carnivores often cause problems for people by preying on domestic stock. Exploring the factors that affect people's attitudes to predators, in particular the circumstances when some degree of loss is tolerated, is needed for developing predator management plans. When more than one species of predator is involved, there may be unexpected interactive effects in shaping people's tolerance. We addressed this hypothesis in a west Asian multi-predator montane landscape with high density of both wild ungulates and livestock harboring two large predators, Persian leopard and grey wolf. A semi-structured questionnaire survey of herders residing around Tandoureh, Salouk and Sarigol National Parks, northeastern Iran was carried out. The perceived role of leopards in depredation was negligible compared with that of wolves which were reported to be more frequent stock raiders and responsible for an average of 5.7 times more annual losses per herd by than were leopards. Non-predatory causes of mortality, particularly diseases, were clearly the major threat to livestock. Interviewed herders showed different attitudes toward each predator. Regardless of any recent occurrence of stock raiding by wolves, they were predominantly considered negatively. Although people showed mainly positive attitudes toward leopards, respondents who reported more wolf attacks tended to have more negative attitudes toward leopards. Hence, in multiple predator ecosystems, peoples' attitudes toward each species may be affected by the perceived activity of other predators. Often neglected in conservation programs, this phenomenon is clearly important in sustaining people tolerance particularly if endangered large predators are involved

Landscape connectivity for mammalian megafauna along the Iran-Turkmenistan-Afghanistan borderland

Habitat fragmentation threatens biodiversity, causes population isolation and reduces the availability of resources. When species ranges span geopolitical borders, management of transboundary populations and securing their connectivity can be compromised by different conservation priorities and juridical efforts. Using a combination of species distribution modelling and circuit theory, we modelled suitable habitats for four conservation-dependent mammalian megafauna in northeastern Iran, bordering Turkmenistan and Afghanistan which is part of the larger Kopet Dag Ecoregion in central Asia. Our multispecies approach aimed to identify key habitats and potential national and international corridors for Persian leopard (Panthera pardus), bezoar goat (Capra aegagrus), urial (Ovis orientalis) and goitered gazelle (Gazella subgutturosa) based on environmental variables. Between 18 to 34% of the study area was identified as suitable habitat for each species with a moderate variability in coverage by conservation network, ranging between 14 to 43%). Importantly, we identified three key landscapes which can enhance the connectivity between main populations of the species in northeastern Iran as well as neighboring countries. Most of the suitable landscapes along the Iran-Turkmenistan borderlands are protected on the Iranian side, providing a source for landscape connectivity across the border. In contrast, the main suitable landscapes for megafauna in northeastern Iran are located far from the Afghan border. Our multispecies approach provided an empirical framework for spatial conservation planning for the mammalian megafauna across the Kopet Dag Ecoregion and can direct future survey efforts to identify critical wildlife areas in Turkmenistan and Afghanistan, two countries with scarce data on biodiversity

Wolves can suppress goodwill for leopards: Patterns of human-predator coexistence in northeastern Iran

Mammalian carnivores often cause problems for people by preying on domestic stock. Exploring the factors that affect people's attitudes to predators, in particular the circumstances when some degree of loss is tolerated, is needed for developing predator management plans. When more than one species of predator is involved, there may be unexpected interactive effects in shaping people's tolerance. We addressed this hypothesis in a west Asian multi-predator montane landscape with high density of both wild ungulates and livestock harboring two large predators, Persian leopard and grey wolf. A semi-structured questionnaire survey of herders residing around Tandoureh, Salouk and Sarigol National Parks, northeastern Iran was carried out. The perceived role of leopards in depredation was negligible compared with that of wolves which were reported to be more frequent stock raiders and responsible for an average of 5.7 times more annual losses per herd by than were leopards. Non-predatory causes of mortality, particularly diseases, were clearly the major threat to livestock. Interviewed herders showed different attitudes toward each predator. Regardless of any recent occurrence of stock raiding by wolves, they were predominantly considered negatively. Although people showed mainly positive attitudes toward leopards, respondents who reported more wolf attacks tended to have more negative attitudes toward leopards. Hence, in multiple predator ecosystems, peoples' attitudes toward each species may be affected by the perceived activity of other predators. Often neglected in conservation programs, this phenomenon is clearly important in sustaining people tolerance particularly if endangered large predators are involved

Persian leopard predation patterns and kill rates in the Iran–Turkmenistan borderland

Describing predation patterns and especially estimating kill and consumption rates is essential for understanding the functional responses of predators. An understanding of the carrying capacity of the landscape, based on prey availability, also helps to formulate recovery plans for persecuted species. We studied the feeding behavior of the Persian leopard (Panthera pardus saxicolor) in Tandoureh National Park (355 km2) in northeastern Iran, near the Turkmenistan border. Between September 2014 and May 2017, we collared and monitored 6 adult leopards (5 males and 1 female) using GPS-satellite Iridium collars. We investigated 310 clusters of fixes as likely to be kill sites. In total, 130 kills were identified to species, suggesting a mean kill rate of approximately 3.3 ± 0.3 (SE) kills/month per adult male leopard, which is higher than reported by most previous studies. The leopards varied considerably in the time they spent outside the national park; only 1 individual appeared to subsist mainly by raiding livestock. The availability of medium-sized ungulates at adequate densities is likely to be important for future leopard conservation efforts. The management of problem individuals also may promote coexistence of humans and leopards, even in prey-rich areas