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  • Disturbance  (2)
  • Mobile manipulation  (1)
  • Wiley  (3)
  • 1
    Publication Date: 2022-10-20
    Description: © The Author(s), 2022. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Walter, J. A., Castorani, M. C. N., Bell, T. W., Sheppard, L. W., Cavanaugh, K. C., & Reuman, D. C. Tail-dependent spatial synchrony arises from nonlinear driver-response relationships. Ecology Letters, 25, (2022): 1189– 1201, https://doi.org/10.1111/ele.13991.
    Description: Spatial synchrony may be tail-dependent, that is, stronger when populations are abundant than scarce, or vice-versa. Here, ‘tail-dependent’ follows from distributions having a lower tail consisting of relatively low values and an upper tail of relatively high values. We present a general theory of how the distribution and correlation structure of an environmental driver translates into tail-dependent spatial synchrony through a non-linear response, and examine empirical evidence for theoretical predictions in giant kelp along the California coastline. In sheltered areas, kelp declines synchronously (lower-tail dependence) when waves are relatively intense, because waves below a certain height do little damage to kelp. Conversely, in exposed areas, kelp is synchronised primarily by periods of calmness that cause shared recovery (upper-tail dependence). We find evidence for geographies of tail dependence in synchrony, which helps structure regional population resilience: areas where population declines are asynchronous may be more resilient to disturbance because remnant populations facilitate reestablishment.
    Description: This research was supported by NSF-OCE awards 2023555, 2023523, 2140335, 2023474, and the James S McDonnell Foundation. This project used data developed through the Santa Barbara Coastal Long Term Ecological Research project, funded through NSF-OCE 1831937.
    Keywords: Copula ; Disturbance ; Giant kelp ; Macrocystis pyrifera ; Nutrients ; Stability ; Synchrony ; Waves
    Repository Name: Woods Hole Open Access Server
    Type: Article
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  • 2
    Publication Date: 2022-10-20
    Description: © The Author(s), 2022. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Castorani, M. C. N., Bell, T. W., Walter, J. A., Reuman, D. C., Cavanaugh, K. C., & Sheppard, L. W. Disturbance and nutrients synchronise kelp forests across scales through interacting Moran effects. Ecology Letters, 25(8), (2022): 1854-1868, https://doi.org/10.1111/ele.14066.
    Description: Spatial synchrony is a ubiquitous and important feature of population dynamics, but many aspects of this phenomenon are not well understood. In particular, it is largely unknown how multiple environmental drivers interact to determine synchrony via Moran effects, and how these impacts vary across spatial and temporal scales. Using new wavelet statistical techniques, we characterised synchrony in populations of giant kelp Macrocystis pyrifera, a widely distributed marine foundation species, and related synchrony to variation in oceanographic conditions across 33 years (1987–2019) and 〉900 km of coastline in California, USA. We discovered that disturbance (storm-driven waves) and resources (seawater nutrients)—underpinned by climatic variability—act individually and interactively to produce synchrony in giant kelp across geography and timescales. Our findings demonstrate that understanding and predicting synchrony, and thus the regional stability of populations, relies on resolving the synergistic and antagonistic Moran effects of multiple environmental drivers acting on different timescales.
    Description: This study was funded by the U.S. National Science Foundation (NSF) through linked NSF-OCE awards 2023555, 2023523, 2140335, and 2023474 to M.C.N.C., K.C.C., T.W.B., and D.C.R., respectively. The research was initiated during a synthesis working group at the Long Term Ecological Research Network Office and National Center for Ecological Analysis and Synthesis funded under NSF-DEB award 1545288. D.C.R. and L.W.S. were also partly supported by NSF award 1714195, the McDonnell Foundation, and the California Department of Fish and Wildlife Delta Science Program. This project used data developed through the Santa Barbara Coastal Long Term Ecological Research project, funded through NSF-OCE award 1831937.
    Keywords: Coherence ; Disturbance ; Moran effect ; Nitrate ; North Pacific Gyre Oscillation ; Oceanography ; Population dynamics ; Remote sensing ; Spatial synchrony ; Wavelet transforms
    Repository Name: Woods Hole Open Access Server
    Type: Article
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  • 3
    Publication Date: 2022-10-20
    Description: © The Author(s), 2022. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Billings, G., Walter, M., Pizarro, O., Johnson-Roberson, M., & Camilli, R. Towards automated sample collection and return in extreme underwater environments. Journal of Field Robotics, 2(1), (2022): 1351–1385, https://doi.org/10.55417/fr.2022045.
    Description: In this report, we present the system design, operational strategy, and results of coordinated multivehicle field demonstrations of autonomous marine robotic technologies in search-for-life missions within the Pacific shelf margin of Costa Rica and the Santorini-Kolumbo caldera complex, which serve as analogs to environments that may exist in oceans beyond Earth. This report focuses on the automation of remotely operated vehicle (ROV) manipulator operations for targeted biological sample-collection-and-return from the seafloor. In the context of future extraterrestrial exploration missions to ocean worlds, an ROV is an analog to a planetary lander, which must be capable of high-level autonomy. Our field trials involve two underwater vehicles, the SuBastian ROV and the Nereid Under Ice (NUI) hybrid ROV for mixed initiative (i.e., teleoperated or autonomous) missions, both equipped seven-degrees-of-freedom hydraulic manipulators. We describe an adaptable, hardware-independent computer vision architecture that enables high-level automated manipulation. The vision system provides a three-dimensional understanding of the workspace to inform manipulator motion planning in complex unstructured environments. We demonstrate the effectiveness of the vision system and control framework through field trials in increasingly challenging environments, including the automated collection and return of biological samples from within the active undersea volcano Kolumbo. Based on our experiences in the field, we discuss the performance of our system and identify promising directions for future research.
    Description: This work was funded under a NASA PSTAR grant, number NNX16AL08G, and by the National Science Foundation under grants IIS-1830660 and IIS-1830500. The authors would like to thank the Costa Rican Ministry of Environment and Energy and National System of Conservation Areas for permitting research operations at the Costa Rican shelf margin, and the Schmidt Ocean Institute (including the captain and crew of the R/V Falkor and ROV SuBastian) for their generous support and making the FK181210 expedition safe and highly successful. Additionally, the authors would like to thank the Greek Ministry of Foreign Affairs for permitting the 2019 Kolumbo Expedition to the Kolumbo and Santorini calderas, as well as Prof. Evi Nomikou and Dr. Aggelos Mallios for their expert guidance and tireless contributions to the expedition.
    Keywords: Underwater robotics ; Mobile manipulation ; Marine robotics ; Exploration
    Repository Name: Woods Hole Open Access Server
    Type: Article
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