The kinematics of swimming and relocation jumps in copepod nauplii

Copepod nauplii move in a world dominated by viscosity. Their swimming-by-jumping propulsion mode, with alternating power and recovery strokes of three pairs of cephalic appendages, is fundamentally different from the way other microplankters move. Protozoans move using cilia or flagella, and copepodites are equipped with highly specialized swimming legs. In some species the nauplius may also propel itself more slowly through the water by beating and rotating the appendages in a different, more complex pattern. We use high-speed video to describe jumping and swimming in nauplii of three species of pelagic copepods: Temora longicornis, Oithona davisae and Acartia tonsa. The kinematics of jumping is similar between the three species. Jumps result in a very erratic translation with no phase of passive coasting and the nauplii move backwards during recovery strokes. This is due to poorly synchronized recovery strokes and a low beat frequency relative to the coasting time scale. For the same reason, the propulsion efficiency of the nauplii is low. Given the universality of the nauplius body plan, it is surprising that they seem to be inefficient when jumping, which is different from the very efficient larger copepodites. A slow-swimming mode is only displayed by T. longicornis. In this mode, beating of the appendages results in the creation of a strong feeding current that is about 10 times faster than the average translation speed of the nauplius. The nauplius is thus essentially hovering when feeding, which results in a higher feeding efficiency than that of a nauplius cruising through the water

Resonance and frequency-locking phenomena in spatially extended phytoplankton-zooplankton system with additive noise and periodic forces

In this paper, we present a spatial version of phytoplankton-zooplankton model that includes some important factors such as external periodic forces, noise, and diffusion processes. The spatially extended phytoplankton-zooplankton system is from the original study by Scheffer [M Scheffer, Fish and nutrients interplay determines algal biomass: a minimal model, Oikos \textbf{62} (1991) 271-282]. Our results show that the spatially extended system exhibit a resonant patterns and frequency-locking phenomena. The system also shows that the noise and the external periodic forces play a constructive role in the Scheffer's model: first, the noise can enhance the oscillation of phytoplankton species' density and format a large clusters in the space when the noise intensity is within certain interval. Second, the external periodic forces can induce 4:1 and 1:1 frequency-locking and spatially homogeneous oscillation phenomena to appear. Finally, the resonant patterns are observed in the system when the spatial noises and external periodic forces are both turned on. Moreover, we found that the 4:1 frequency-locking transform into 1:1 frequency-locking when the noise intensity increased. In addition to elucidating our results outside the domain of Turing instability, we provide further analysis of Turing linear stability with the help of the numerical calculation by using the Maple software. Significantly, oscillations are enhanced in the system when the noise term presents. These results indicate that the oceanic plankton bloom may partly due to interplay between the stochastic factors and external forces instead of deterministic factors. These results also may help us to understand the effects arising from undeniable subject to random fluctuations in oceanic plankton bloom.Comment: Some typos errors are proof, and some strong relate references are adde

Velarium control and visual steering in box jellyfish

Directional swimming in the box jellyfish Tripedalia cystophora (cubozoa, cnidaria) is controlled by the shape of the velarium, which is a thin muscular sheet that forms the opening of the bell. It was unclear how different patterns of visual stimulation control directional swimming and that is the focus of this study. Jellyfish were tethered inside a small experimental tank, where the four vertical walls formed light panels. All four panels were lit at the start of an experiment. The shape of the opening in the velarium was recorded in response to switching off different combinations of panels. We found that under the experimental conditions the opening in the velarium assumed three distinct shapes during a swim contraction. The opening was (1) centred or it was off-centred and pocketed out either towards (2) a rhopalium or (3) a pedalium. The shape of the opening in the velarium followed the direction of the stimulus as long as the stimulus contained directional information. When the stimulus contained no directional information, the percentage of centred pulses increased and the shape of the off-centred pulses had a random orientation. Removing one rhopalium did not change the directional response of the animals, however, the number of centred pulses increased. When three rhopalia were removed, the percentage of centred pulses increased even further and the animals lost their ability to respond to directional information

Estimation, planning, and mapping for autonomous flight using an RGB-D camera in GPS-denied environments

RGB-D cameras provide both color images and per-pixel depth estimates. The richness of this data and the recent development of low-cost sensors have combined to present an attractive opportunity for mobile robotics research. In this paper, we describe a system for visual odometry and mapping using an RGB-D camera, and its application to autonomous flight. By leveraging results from recent state-of-the-art algorithms and hardware, our system enables 3D flight in cluttered environments using only onboard sensor data. All computation and sensing required for local position control are performed onboard the vehicle, reducing the dependence on an unreliable wireless link to a ground station. However, even with accurate 3D sensing and position estimation, some parts of the environment have more perceptual structure than others, leading to state estimates that vary in accuracy across the environment. If the vehicle plans a path without regard to how well it can localize itself along that path, it runs the risk of becoming lost or worse. We show how the belief roadmap algorithm prentice2009belief, a belief space extension of the probabilistic roadmap algorithm, can be used to plan vehicle trajectories that incorporate the sensing model of the RGB-D camera. We evaluate the effectiveness of our system for controlling a quadrotor micro air vehicle, demonstrate its use for constructing detailed 3D maps of an indoor environment, and discuss its limitations.United States. Office of Naval Research (Grant MURI N00014-07-1-0749)United States. Office of Naval Research (Science of Autonomy Program N00014-09-1-0641)United States. Army Research Office (MAST CTA)United States. Office of Naval Research. Multidisciplinary University Research Initiative (Grant N00014-09-1-1052)National Science Foundation (U.S.) (Contract IIS-0812671)United States. Army Research Office (Robotics Consortium Agreement W911NF-10-2-0016)National Science Foundation (U.S.). Division of Information, Robotics, and Intelligent Systems (Grant 0546467

Light in the Polar Night

How much light isa vailable for biological processes during Polar Night? This question appears simple enough. But the reality is that conventional light sen- sors for measuring visible light (~350 to ~700 nm) have not been sensitive enough to answer it. Beyond this technical challenge, “light” is a general term that must be qualified in terms of “light climate” before it has meaning for biological systems. In this chapter, we provide an answer to the question posed above and explore aspects of light climate during Polar Night with relevance to biology, specifically, how Polar Night is defined by solar elevation, atmospheric light in Polar Night and its propaga- tion underwater, bioluminescence in Polar Night and the concept of Polar Night as a deep-sea analogue, light pollution, and future perspectives. This chapter focuses on the quantity and quality of light present during Polar Night, while subsequent chapters in this volume focus on specific biological effects of this light for algae (Chap. “Marine Micro- and Macroalgae in the Polar Night”), zooplankton (Chaps.“Zooplankton in the Polar Night” and “Biological Clocks and Rhythms in Polar Organisms”), and fish (Chap. “Fish Ecology in the Polar Night”)

High Genetic Diversity and Fine-Scale Spatial Structure in the Marine Flagellate Oxyrrhis marina (Dinophyceae) Uncovered by Microsatellite Loci

Free-living marine protists are often assumed to be broadly distributed and genetically homogeneous on large spatial scales. However, an increasing application of highly polymorphic genetic markers (e.g., microsatellites) has provided evidence for high genetic diversity and population structuring on small spatial scales in many free-living protists. Here we characterise a panel of new microsatellite markers for the common marine flagellate Oxyrrhis marina. Nine microsatellite loci were used to assess genotypic diversity at two spatial scales by genotyping 200 isolates of O. marina from 6 broad geographic regions around Great Britain and Ireland; in one region, a single 2 km shore line was sampled intensively to assess fine-scale genetic diversity. Microsatellite loci resolved between 1–6 and 7–23 distinct alleles per region in the least and most variable loci respectively, with corresponding variation in expected heterozygosities (He) of 0.00–0.30 and 0.81–0.93. Across the dataset, genotypic diversity was high with 183 genotypes detected from 200 isolates. Bayesian analysis of population structure supported two model populations. One population was distributed across all sampled regions; the other was confined to the intensively sampled shore, and thus two distinct populations co-occurred at this site. Whilst model-based analysis inferred a single UK-wide population, pairwise regional FST values indicated weak to moderate population sub-division (0.01–0.12), but no clear correlation between spatial and genetic distance was evident. Data presented in this study highlight extensive genetic diversity for O. marina; however, it remains a substantial challenge to uncover the mechanisms that drive genetic diversity in free-living microorganisms

Autonomous helicopter hover using an artificial neural network

Details the developments to date of an unmanned air vehicle (UAV) based on a standard size 60 model helicopter. The design goal is to have the helicopter achieve stable hover with the aid of an INS and stereo vision. The focus of the paper is on the development of an artificial neural network (ANN) that makes use of only the INS data to generate hover commands, which are used to directly manipulate the flight servos. Current results show that networks incorporating some form of recurrency (state history) offer little advantage over those without. At this stage, the ANN has partially maintained periods of hover even with misaligned sensors