Numerical implementation of a functional observability algorithm : a singular value decomposition approach

The paper outlines a numerical algorithm to implement the concept of Functional Observability introduced in [6] based on a Singular Value Decomposition approach. The key feature of this algorithm is in outputting a minimum number of additional linear functions of the state vector when the system is Functional Observable, these additional functions are required to design the smallest possible order functional observer as stated in [6].

Green bodies : training environmental educators

In this paper, we examine the “greening” of Outdoor & Environmental Education (OEE) students at an Australian regional university through three lenses: temporal, spatial & material. We are inspired by Grosz’ claim that “bodies are always understood within a spatial & temporal context, & space & time remain conceivable only insofar as corporeality provides the basis for our perception & representation of them” (1995, p. 84). As suggested by Grosz, these lenses are not discrete and, in the course of the paper, their intersections & reciprocity become apparent. We draw on interview responses & observations from a longitudinal cohort study undertaken by Preston in an attempt to trace the regulation and practice of “green” “outdoor Ed” subjectivities in the context of the materialities, time & spaces of this specific course. Grosz, E.A. (1995) Space, Time & Perversion: The Politics of Bodies, New York: Routledge

Factors influencing the winter haulout behaviour of Weddell seals : consequences for satellite telemetry

An understanding of pinniped haulout behaviour can provide information on how animals interact with their environment, their foraging strategies and the behaviour of their prey. For Weddell seals Leptonychotes weddelli, knowledge of haulout patterns and the environmental drivers of haulout is comprehensive for the austral spring and summer, but is poorly described outside this period. Pinniped behaviour is commonly examined using satellite telemetry; however, it is unclear whether the behavioural state of the seal can itself influence data acquisition. We examined haulout behaviour of female Weddell seals in eastern Antarctica over 3 winters (March to August, 2006–2008) using satellite-linked data loggers. Haulout behaviour followed a diel cycle with predominantly nocturnal haulouts. The environmental variables wind speed and temperature were influential on haulout, with seals tending to haul out more in lower winds and at higher temperatures. Haulout duration decreased across the winter, as did the number of satellite uplinks, suggesting that haulout duration played a role in data acquisition. There was no evidence of a decline in tag condition over this period, indicating that the decrease in uplinks was primarily the result of the winter behaviour of the seals. Overall, the number of haulout locations in the data set was over-represented, with more uplinks per hour occurring when the seals were hauled out than when they were at sea. For Weddell seals and other ice seals, tracking data that include haulout locations can bias spatial representations of foraging behaviour (e.g. haulout sites may be mistaken for regions of area-restricted search).

Trophic effects of fishing southern rock lobster Jasus edwardsii shown by combined fatty acid and stable isotope analyses

The southern rock lobster Jasus edwardsii is a commercial species that has benefited from the complete protection offered by no-take reserves, with higher abundances and larger animals recorded in reserves than in adjacent fished areas. What remains unclear is whether there is any change in the diet of lobsters in reserves, for example, as a result of increased intraspecific competition for food. We used combined chemical tracers to examine the diet of lobsters in fished and reserve areas in 2 bioregions in eastern Tasmania. δ15N values of lobsters were richer in fished than in reserve areas, indicating that lobsters eat a greater proportion of food items from higher trophic levels in fished areas. Mixing models suggest that ascidians, sea urchins and the turbinid gastropod were all important food sources for lobsters, but the importance of these food items differed between bioregions. This spatial variability may suggest that the small size of the reserve in one bioregion is inadequate at ensuring the diet of lobsters is protected from fishing pressure. Fatty acid profiles of lobsters supported the importance of these food sources to lobsters. Differences between bioregions, or inside and outside of reserves, were not apparent using fatty acids. The present study highlights that lobster fishing has the capacity to alter the trophic status of prey for generalist predators and suggests that fatty acid analyses may be limited in detecting changes in the dietary composition of such generalist feeders.

Differential mobilization of blubber fatty acids in lactating Weddell seals : evidence for selective use

A major source of energy during lactation in mammals is provided through the mobilization of blubber fatty acids (FAs). We investigated the extent to which FAs were mobilized to support both maternal metabolic requirements and milk production in the Weddell seal and how this was reflected in the FA composition of the pup’s blubber at the end of lactation (EL). FA composition of postpartum female blubber was similar in the 2 yr of study (2002 and 2003) but differed markedly by EL. Pup blubber FAs (at EL) were also different between years and did not match that of the mother’s milk or blubber. Milk FA composition changed during lactation, which may have been a reflection of an increase in pup energy demands at different stages of development. In addition, there was evidence of feeding by some females during lactation, with higher levels of some FAs in the milk than in the blubber. Our results indicate that differential mobilization of FAs occurred in lactating Weddell seals and that this was related to total body lipid stores at postpartum. Furthermore, growing pups did not store FAs unmodified, providing evidence that selective use does occur and also that using FA composition to elucidate dietary sources may be problematic in growing individuals.

Feast or famine : evidence for mixed capital–income breeding strategies in Weddell seals

Evolved patterns of resource expenditure for reproduction have resulted in a life history continuum across species. A strictly capital-breeding strategy relies extensively on stored energy for reproduction, whereas income breeding uses energy acquired throughout the reproductive period. However, facultative income breeding has been shown in some classically capital-breeding animals, and was originally thought to provide a nutritional refuge for smaller females incapable of securing sufficient reserves during pre-partum foraging. We examined milk composition and milk output for the Weddell seal to determine to what degree lactation was aided by food intake, and what factors contributed to its manifestation. Milk composition was independent of maternal post-partum mass and condition, but did change over lactation. Changes were most likely in response to energetic and nutritional demands of the pup at different stages of development. During early lactation, females fasted and devoted 54.9% of total energy loss to milk production. Later in lactation 30.5% more energy was devoted to milk production and evidence suggested that larger females fed more during lactation than smaller females. It appears that Weddell seals may exhibit a flexible strategy to adjust reproductive investment to local resource levels by taking advantage of periods when prey are occasionally abundant, although it is restricted to larger females possessing the physiological capacity to dive for longer and exploit different resources during lactation. This supports the assumption that although body mass and phylogenetic history explain most of the variation in lactation patterns (20–69%), the remaining variation has likely resulted from physiological adaptations to local environmental conditions. Our study confirms that Weddell seals use a mixed capital–income breeding strategy, and that considerable intraspecific variation exists. Questions remain as to the amount of energy gain derived from the income strategy, and the consequences for pup condition and survival.

Environmental and senescent related variations in Weddell seal body mass : implications for age-specific reproductive performance

Recent studies have found age-specific variations in reproductive performance amongst Weddell seals, Leptonychotes weddellii, and we hypothesized age-related variations in maternal body mass as a mechanism linking maternal age and the observed patterns of reproductive performance. We evaluated the effects of maternal traits such as age and reproductive experience and the effects of environmental variations on maternal body mass at parturition. Maternal body mass at parturition showed substantial age- and environmental-related variations. Maternal body mass increased with age through the young and middle ages, and evidence of senescent declines in body mass was found amongst the oldest ages. Additionally, body mass at parturition was strongly influenced by environmental variations during the pregnancy period, specifically sea-ice extent and the state of the El-Niño Southern Oscillation. Patterns of age-specific variations in body mass were consistent with age-specific patterns of offspring survival probability, which supported our hypothesis that changes in body mass link maternal age and reproductive performance in the Weddell seal. Further, environmental conditions during pregnancy may be an important component of Weddell seal reproductive performance.

Vocal individuality of in-air Weddell seal (Leptonychotes weddellii) pup "primary" calls

As a result of selective pressures faced during lactation, vocal recognition may play a crucial role in maintaining the phocid mother–pup bond during the period of dependence. To investigate this possibility, we examined whether Weddell seal (Leptonychotes weddellii) pups produce individually distinctive “primary” calls. One temporal, nine fundamental frequency features, and two spectral characteristics were measured. A discriminant function analysis (DFA) of 15 Vestfold Hills pups correctly classified 52% of calls, while the cross-validation procedure classified 29% of calls to the correct pup. A second DFA of 10 known-age McMurdo Sound pups correctly classified 44% of “test” calls. For novel calls, the probabilities of attaining such classification rates by chance are low. The relationship between age and call stereotypy indicated that pups 2 wk and older may be more vocally distinctive. Overall, findings suggest that Weddell seal pup “primary” calls are moderately distinctive and only exhibit sufficient stereotypy to aid maternal recognition by approximately two weeks of age.

Influence of maternal mass and condition on energy transfer in Weddell seals

* 1
Environmental variation influences food abundance and availability, which is reflected in the reproductive success of top predators. We examined maternal expenditure, offspring mass and condition for Weddell seals in 2 years when individuals exhibited marked differences in these traits.
* 2
For females weighing 355 kg there was a positive relationship between maternal post-partum mass (MPPM) and lactation length, but below this there was no relationship, suggesting that heavier females were able to increase lactation length but lighter females were restricted to a minimum lactation period of 33 days.
* 3
Overall, females were heavier in 2002, but in 2003 shorter females were lighter than similar-sized females in 2002 suggesting that the effects of environmental variability on foraging success and condition are more pronounced in smaller individuals.
* 4
There was no relationship between MPPM and pup birth mass, indicating pre-partum investment did not differ between years. However, there was a positive relationship between MPPM and pup mass gain. Mass and energy transfer efficiency were 10·2 and 5·4% higher in 2002 than 2003, which suggests costs associated with a putatively poor-resource year were delayed until lactation.
* 5
Heavier females lost a higher proportion of mass during lactation in both years, so smaller females may not have been able to provide more to their offspring to wean a pup of similar size to larger females.
* 6
MPPM had only a small influence on total body lipid; therefore, regardless of mass, females had the same relative body composition. Females with male pups lost a higher percentage of lipid than those with female pups, but by the end of lactation female pups had 4·5% higher lipid content than males.
* 7
It appears that for Weddell seals the consequences of environmentally induced variation in food availability are manifested in differences in maternal mass and expenditure during lactation. These differences translate to changes in pup mass and condition at weaning with potential consequences for future survival and recruitment.

Chemical immobilization of adult female Weddell seals with tiletamine and zolazepam: effects of age, condition and stage of lactation

Background

Chemical immobilization of Weddell seals (Leptonychotes weddellii) has previously been, for the most part, problematic and this has been mainly attributed to the type of immobilizing agent used. In addition to individual sensitivity, physiological status may play an important role. We investigated the use of the intravenous administration of a 1:1 mixture of tiletamine and zolazepam (Telazol®) to immobilize adult females at different points during a physiologically demanding 5–6 week lactation period. We also compared performance between IV and IM injection of the same mixture.
Results

The tiletamine:zolazepam mixture administered intravenously was an effective method for immobilization with no fatalities or pronounced apnoeas in 106 procedures; however, there was a 25 % (one animal in four) mortality rate with intramuscular administration. Induction time was slightly longer for females at the end of lactation (54.9 ± 2.3 seconds) than at post-parturition (48.2 ± 2.9 seconds). In addition, the number of previous captures had a positive effect on induction time. There was no evidence for effects due to age, condition (total body lipid), stage of lactation or number of captures on recovery time.
Conclusion

We suggest that intravenous administration of tiletamine and zolazepam is an effective and safe immobilizing agent for female Weddell seals. Although individual traits could not explain variation in recovery time, we suggest careful monitoring of recovery times during longitudinal studies (> 2 captures). We show that physiological pressures do not substantially affect response to chemical immobilization with this mixture; however, consideration must be taken for differences that may exist for immobilization of adult males and juveniles. Nevertheless, we recommend a mass-specific dose of 0.50 – 0.65 mg/kg for future procedures with adult female Weddell seals and a starting dose of 0.50 mg/kg for other age classes and other phocid seals.

Individual variation of in-air female ‘pup contact’ calls in Weddell seals, Leptonychotes weddellii

Vocal recognition may function as a critical factor in maintaining the phocid mother-pup bond during lactation. For vocal recognition to function, the caller must produce individually distinct calls that are recognised by their intended recipient. Mother-pup vocal recognition has been studied extensively in colonial otariids and appears to be characteristic of this family. Although less numerous, empirical studies of phocid species have revealed a range of recognition abilities. This study investigated whether Weddell seal (Leptonychotes weddellii) females produce individually distinct 'pup contact' calls that function during natural pair reunions. Fifteen calls from each of nine females recorded in the Vestfold Hills, Antarctica were analysed. One temporal, nine fundamental frequency and five spectral characteristics were measured. Results of the cross-validated Discriminant Function Analysis revealed that mothers produce individually distinct calls with 56% of calls assigned to the correct individual. The probability of achieving this level of discrimination on novel data by chance alone is highly improbable. Analysis of eight mother-pup reunions recorded near McMurdo Sound, Antarctica further demonstrated that these 'pup contact' calls function during natural pair reunions. Behavioural analysis also revealed that pups were chiefly responsible for establishing and maintaining close contact throughout the reunion process. Our study therefore demonstrates that Weddell seal females produce calls with sufficient stereotypy to allow pups to identify them during pair reunions, providing evidence of a functioning mother-pup vocal recognition system.

Functional observers for dynamical systems

In control theory, a state observer is an auxiliary dynamical system that mirrors the behaviour of a physical system, and it is driven by input and output measurements of the physical system in order to provide an estimate of internal states of the physical system. The primary consideration in the design of an observer is that the estimate of the states should be close to the actual value of the system states. On the other hand, the functional observation problem centers on the construction of an auxiliary dynamical system, known as the functional observer or functional reconstructor, driven by the available system inputs and outputs in order to estimate a linear function or functions of the system states. Obviously, a functional observer is a general form of the state observer because when the linear functions are chosen as the individual states of the system then the problem of functional observation reduces to the problem of state observation.