Flock inspired area coverage using wireless boid-like sensor agents

Simulated flocking is achievable using three boid rules [13]. We propose an area coverage model inspired by Reynolds’ flocking algorithm, investigating strategies for achieving quality coverage using flocking rules. Our agents are identical and autonomous, using only local sensory information for indirect communication. Upon deployment, agents are in the default separation mode. The cohesion rule would then guarantee that agents remain within the swarm, covering spaces with explored neighbour spaces. Four experiments are conducted to evaluate our model in terms of coverage quality achieved. We firstly investigate agents’ separation speed before the speed with which isolated agents re-organizes is investigated. The third experiment compares coverage quality achieved using our model with coverage quality achieved using random guessing. Finally, we investigate fault tolerance in the event of agents’ failures. Our model exhibits good separation and cohesion speed, achieving high quality coverage. Additionally, the model is fault tolerant and adaptive to agents’ failures.

Bird flock

The work consists of a set of six, utilitarian wine glasses. Each glass features the engraving of a bird silhouette; the six engravings represent a flock of birds and also six key-poses in the animated flight-cycle of one bird. Beside the array of wine glasses sits a screen on which is displayed a looped animation of this same bird in flight. In a way, the six wine glasses represent the six animation cels of the displayed animation. Additionally, each engraved glass serves as a sight-trigger for a smart-phone or other mobile device. If one has the Aurasma app on their device and holds it up to ‘look at’ any one of the engravings, the animation of the flying bird will also be displayed on their device’s screen.

Manage one beach or two? Movements and space-use of the threatened hooded plover (Thinornis rubricollis) in south-eastern Australia

An understanding of space use and dispersal of a wildlife species is essential for effective management. We examined the movements of a beach-dwelling, threatened population of hooded plover (Thinornis rubricollis) in southern central Victoria, Australia, by analysing sightings of colour-banded birds (4897 sightings; 194 birds tracked for up to 9 years). Most movements were relatively short (5050 ± 305 m), with 61.4% <1 km and 95.3% <20 km; they lacked directional or sexual bias. The extent of coastline used by individual birds was 47.8 ± 58.0 km. Regional differences in average distances moved by adults were apparent. For adults, movement rates (mean distance per day) were higher during the non-breeding season than during the breeding season. Non-breeding adults generally remained close to their partners (non-breeding, 456.3 ± 163.9 m; breeding, 148.2 ± 45.3 m). Largest flock sizes were recorded during the non-breeding period, and flocking was not uniformly distributed along the coast but appeared to be concentrated in particular locations. The frequency of pair cohesion (i.e. when the distance between partners was zero on a given day) was similar during the breeding (69.6%) and non-breeding seasons (67.7%). Breeding territories (kernel analysis) were 36.7 ± 5.7 ha and overlapped from year to year in all cases (23 pairwise comparisons; 47.9 ± 7.1% overlap). The high fidelity and constancy of territories confirms they warrant ongoing management investment, although the species relies on a matrix of breeding and non-breeding sites. The latter appear to occur in specific parts of the coast and warrant enhanced protection and more research attention. Fragmentation of the breeding population might occur where habitat is rendered unsuitable for > ~50 km.

Variation of fibre diameter coefficient of variation and fibre curvature across mohair fleeces: Implications for animal selection, genetic selection and fleece evaluation

The presentwork aimed to determine howthe average fibre diameter coefficient of variation (CVD) and fibre curvature (FC) differences between nine sampling sites vary between sex and flock, to identify differences in variability between sampling sites as a result of between animal and between sire variability and to determine correlations between sampling sites in between animal and between sire variability. Australian Angoras (n = 313) from two farms in southern Australia were sampled at 12 and 18 months of age at nine sites (mid side, belly, brisket, hind flank, hip, hock, mid back, neck, shoulder). Staples were taken prior to shearing at skin level and CVD and FC determined. For each shearing, differences in CVD and FC between sampling sites, how these differences were affected by farm, sex, and sire, and the covariance between sites for sire and individual animal effects were investigated by restricted maximum likelihood (REML) analyses. The median mid side CVD at 12 and 18 months of age ranged from 23.6 to 25.1% but the actual range was 16.8–34.2%. The median mid side FC at 12 and 18 months of age ranged from 14.4 to 18.6◦/mm but the actual range was 10.5–26.3◦/mm. The general pattern for CVDwas for the mid back, hip and neck sites to have similar CVD, the brisket, hind flank and hock sites to have larger CVD and the belly to have smaller CVD than the mid side site. The between animal variation for CVD was lowest at the mid back site. This implies that the mid back would be the most effective site for between animal selection for CVD. Heritabilities for CVD (range at 18 months 0.18–0.30) were only about half the heritabilities for mean fibre diameter in the same study. There was a marked anterior–posterior increase in FC at both farms and with both ages. The results give no clear indication of the best site for between animal selection for FC, other than that the hock should be avoided. Heritabilities for FC are moderate to high (range at 18 months 0.44–0.77) and the genetic correlations are high except for the hock. Thus genetic selection for FC at any site, other than the hock, should be effective for changing FC over the entire fleece. There was more variability between animals than between sites and sires. These results are put into context with associated research on variation in mean fibre diameter and staple length.

Variation of mohair staple length across Angora goat fleeces : implications for animal selection and fleece evaluation

The present study aimed to determine how the average mohair staple length (SL) differences between nine sampling sites vary between sex and flock, to identify differences in SL variability between sampling sites as a result of between-animal and between-sire variability and to determine SL correlations between sampling sites in between-animal and between-sire variability. Australian Angora goats (n=301) from two farms in southern Australia were sampled at 12 and 18 months of age at nine sites (mid side, belly, brisket, hind flank, hip, hock, mid back, neck and shoulder). Staples were taken prior to shearing at skin level and stretched SL determined. For each shearing, differences in SL between sampling sites, how these differences were affected by farm, sex and sire, and the covariance between sites for sire and individual animal effects were investigated by restricted maximum likelihood (REML) analyses. The median mid-side SL at 12 and 18 months of age was 110 and 130 mm, respectively, but the actual range in mid-side SL was 65–165 mm. There was an anterior–posterior decline in SL with the hock being particularly short. There was no evidence that the between-site correlation of the sire effects differed from 1, indicating that genetic selection for SL at one site will be reflected in SL over the whole fleece. However, low heritabilities of SL at the hock, belly and brisket or at any site at 12 months of age were obtained. There was more variability between sites than between sires, but the between-animal variation was greater. The hip and mid-back sites can be recommended for within-flock (culling) and genetic selection for SL due to their low sampling variability, moderate heritability and ease of location.

A review of cashmere nutrition experiments with suggestions for improving their design and conduct

The scientific literature contains divergent views about the effects of nutrition on cashmere. The consequences of ignoring nutrition will be an increase in the number of goats suffering lower production, increased welfare risks and premature mortality. This review evaluated published reports to identify current knowledge and best practice in regard to the design and management of cashmere nutrition experiments. The ability of experiments to distinguish between treatments was evaluated based on their statistical evidence. Many experiments had serious deficiencies in their design, conduct and reporting. Six of 16 papers did not provide statistical information that would enable a reader to verify differences between treatments. For most experiments to detect nutrition affects at P < 0.05, they required a difference between treatments of 0.2–0.8 μm in cashmere mean fibre diameter and 15–42 g in clean cashmere production. Government Research Institutes research was characterised by more experienced authors conducting longer (P < 0.05) and larger (P < 0.05) experiments than those conducted by Universities. Much of the “debate” regarding the affects of nutrition on cashmere production arises from the misinterpretation of both experiments that did not detect statistically significant effects and of experiments that did detect statistically significant effects. Based on a comparison between experiments reporting responses to nutrition with those reporting no response, 13 design and management features were identified that are related to the ability of experiments to detect significant treatment affects. Methods must be adopted to reduce the variance in cashmere production within treatments, by using sufficient animals per treatment, and having replication to provide sufficient degrees of freedom to reduce error terms in analysis. The power of experimental designs should be evaluated before experiments commence. Cashmere production records from a previous full production year could be used as co-variants during statistical analyses but this requires that potential experimental goats are managed in one flock, without variations resulting from different grazing, reproduction or other management for a year prior to an experiment. It is preferable to use more productive and older goats, and goats that are used to handling, and to the conditions and feed to be used. Allocation of animals to treatments must take into account live weight. Nutrition treatments need to be sufficiently different to produce different growth curves. An appropriate control is needed such as live weight maintenance. Evidence of both nutrition intake and growth curves must be published with cashmere production data so the claims made can be verified by the actual responses. As cashmere production is an order of magnitude less than fibre production of Merino sheep or Angora goats and is more difficult to measure, the requirements for measurement, sampling and testing cashmere fleeces are summarised. The use of mid side cashmere patches to determine cashmere growth and quality is seriously biased and must be avoided, preferably by shearing goats prior to and at the end of experiments. In order to obtain higher fleece growth responses and improve the ability of experiments to detect treatment effects it is preferable to start cashmere growth experiments by midsummer and conduct experiments for at least 4 months. These requirements make it difficult for many university students to plan, undertake and complete long-term cashmere nutrition experiments without considerable management support. It is not possible for experiments to disprove the Null hypothesis regarding the effects of nutrition on cashmere production as they can only report a failure to detect treatment effects. Researchers and journals need to be more rigorous in providing statistical information including: degrees of freedom for error terms, treatment variances, standard error of differences or similar to enable readers to compare treatment effects. Publications that do not provide sufficient statistical information should be disregarded from future discussions. Claims that an experiment shows no responses to nutrition should be subject to rigorous examination using the issues identified in this review.

Gross margins in Australian mohair enterprises and relationships with farm inputs, productivity and mohair quality

In the absence of financial information on Australian mohair enterprises we aimed to determine the gross margins (per dry sheep equivalent, DSE) and their relationships with farm inputs, productivity and mohair quality in Australian mohair enterprises. Using established Victorian Farm and Sheep Monitor Project protocols we collected data for the financial years 200405, 200506 and 200607 from farmers in south-eastern Australia and made comparisons with data from wool enterprises of similar farm area. Over 3 years the financial returns from mohair exceeded that from wool in terms of $/DSE ($23.0 v. 11.3) and $/ha ($132 v. $116). This result was achieved despite the mohair enterprises grazing their goats far less intensively compared with the grazing intensity of sheep (5.9 v. 10.311.1 DSE/ha) and by using far less phosphate fertiliser than used in the wool enterprises (2.2 v. 4.66.1 kg P/ha). These differences were counterbalanced by higher prices for mohair compared with fine wool ($13.15/kg v. $8.35/kg clean fibre). Gross margin for the mohair enterprise did not increase as stocking rate increased. Income from mohair sales declined as the proportion of does in the flock increased. Increasing the proportion of does in the flock was associated with a decline in the average price of mohair ($16/kg greasy at 42% does to $8/kg greasy at 83% does in the flock). This decline was closely associated with the increasing proportion of the total amount of mohair coarser than 34.0 μm (either fine hair or hair) plus stained mohair. The variation in profitability between farms indicates significant scope for many mohair enterprises to increase profit. A focus on producing finer quality mohair will increase mohair profitability.

Variation in mohair staple length over the lifetime of Angora goats

Previous work has shown that, within an Angora goat flock, clean fleece weight is proportional to fleece-free liveweight (FFLwt)2/3 and for goats of the same age and cohort, the mean mohair fibre diameter is proportional to FFLwt1/3. This indicates that fibre length might not be related to the size of animals. This study examines how mohair staple length (SL) is related to FFLwt of Angora goats of different genetic origins over their lifetime and how the relationship varies with other lifetime factors. Measurements were made over 11 shearing periods on a population of Angora goats representing the current range and diversity of genetic origins in Australia, including South African, Texan and interbred admixtures of these and Australian sources. Records of breed, sire, dam, date of birth, dam age, birthweight, birth parity, weaning weight, liveweight, fleece growth and fleece quality were taken for castrated males (wethers) (n = 94 animals). FFLwt were determined for each goat at shearing time by subtracting the greasy fleece weight from the liveweight recorded immediately before shearing. The average of the FFLwt at the start of the period and the FFLWt at the end of the period was calculated. Liveweight change (LwtCh) was the change in FFLwt over the period between shearings. A restricted maximum likelihood model was developed for SL, which allowed the observations of the same animal at different ages to be correlated in an unstructured manner. Average SL differed from ~12.0 to ~14.5 cm, depending on age. There were no consistent effects of season. At any age, an increase of 10 kg LwtCh between animals results in about a 0.34 (s.e. = 0.087) cm increase in SL. There was no evidence of an effect of FFLwt on SL. The results confirm our hypothesis that within a single age cohort of Angora goats, there is very little, if any, relationship between the liveweight and SL of individual animals. This implies that the biological determinants of size of fibres related to cross-sectional area are substantially different to the size determinants of fibre length.

The relationship of the incidence of medullated fibres to the dimensional properties of mohair over the lifetime of Angora goats

In a range of animals, increasing mean fibre diameter (MFD) of fibre is associated with an increasing incidence of medullated fibres (Med). It would thus be expected that Med in mohair fleeces, from animals in a flock, would be related to the MFD of those fleeces. MFD of mohair is not the only dimensional attribute of fibres. Med in mohair is phenotypically and genetically related to the size of animals. This study examined how Med is related to dimensional properties of mohair over the lifetime of Angora goats and how the relationship varies with other lifetime factors. The relationship found is then examined to determine the extent that the relationship can be explained by variations in animal size of the goats. Measurements were made over 11 shearing periods on a population of Angora goats representing the current range and diversity of genetic origins in Australia, including South African, Texan and interbred admixtures of these and Australian sources. Records of breed, sire, dam, date of birth, dam age, birth weight, birth parity, weaning weight, live weight, fleece growth and fleece attributes were taken for castrated males (wethers). Animals’ fleece-free live weight (FFLwt, kg) were determined for each goat at shearing time by subtracting the greasy fleece weight from the live weight recorded immediately prior to shearing. The average of the FFLwt at the start of the period and the FFLwt at the end of the period was calculated. Two restricted maximum likelihood (REML) models were developed to relate Med to MFD, staple length (SL) and other lifetime factors. One model allowed FFLwt in the model and the other excluded FFLwt. With the exception of the 1.5 years shearing, Med strongly increased with increasing MFD whether or not adjustments were made for FFLwt measurements. In particular Med increased by 2.0% for each 1 μm increase in MFD, with no adjustment for FFLwt measurements, and increased by 1.5% for each 1 μm increase in MFD, with adjustment for FFLwt measurements. Within each shearing interval increasing average FFLwt was associated with increasing incidence of Med in a similar way to that which has been previously reported without including MFD in the model. There was no evidence that SL needed to be included in the models for Med. Mohair grown by the goats of Mixed genetic background grew mohair which had a higher incidence of Med at ages 2 and 2.5 years and the trend was apparent in other shearing periods. We can conclude that there is both a large response of Med to live weight and a large response to MFD, and that these responses are largely functionally separate. While the response to MFD is in accord with earlier work, there is an unrelated and unreported physiological mechanism that favours the production of Med in larger Angora goats. Clearly, larger Angora goats are biologically different compared with smaller animals from the same flock, in ways that are not purely related to the allometrics of size.

The value of visual fleece assessment in addition to objective measurements in identifying Angora goats of greater clean mohair production

Visual assessment of the fleece of Merino sheep is an accepted method to aid genetic improvement but there is little evidence to support the use of visual assessment for improving mohair production. This paper examines the extent that visual traits, including staple length, character (staple crimp), staple definition, tippiness, style and staple entanglement, are related to clean fleece weight in animals of similar live weight and mean fibre diameter (MFD) from the same flock. Measurements were made over 9 shearing periods on a population of castrated Angora males (wethers) goats representing the current range and diversity of genetic origins in Australia, including South African, Texan and interbred admixtures of these and Australian sources (these different genetic origins are defined as Breed in this work). Data on genetic origin, sire, dam, lifetime characteristics (date of birth, dam age, birth weight, birth parity (single or twin), weaning weight), live weight, fleece growth and visual fleece attributes were recorded. A restricted maximum likelihood (REML) model was developed to relate clean fleece weight with age, MFD, average fleece-free live weight, lifetime characteristics and visual fleece attributes. There were separate linear responses of clean fleece weight to MFD and staple length for each age group, a quadratic response to the square root of average fleece-free live weight, an effect of sire breed and linear responses to dam age, staple definition score and character. Depending on age at shearing, the increase in clean fleece weight was between about 50 and 80. g for each increase of 1. μm in MFD. At similar MFD, clean fleece weight was generally greater at summer shearings compared with winter shearings. There was a strong increase in clean fleece weight with average fleece-free live weight up to around 50. kg but little response in clean fleece weight for animals larger than 50. kg. There was some evidence of a smaller increase in clean fleece weight as the age of dam increased. There was an effect of Breed in the model but this effect disappeared when a random sire effect was included in the model. There was a positive response to staple length at some age groups but the response did not differ from zero in other age groups. This response varied from negligible to about 70. g per 1. cm increase in staple length. Clean fleece weight increased about 40. g per unit increase in staple definition score and increased about 30. g for every 4 units increase in the number of staple crimps. There was no evidence that clean fleece weight was affected by staple style, staple tip score or staple entanglement score or lifetime factors such as birth weight, date of birth, birth parity, or weaning weight. The results show that using a combination of measuring MFD and visually assessing the fleece for staple length, staple definition and crimps can help identify the most profitable Angora goats. In this process, the objective measurement of MFD appears essential. Visual assessment will provide some extra benefit in identifying these animals above that provided by measuring MFD alone. Animal size should be considered by mohair producers when identifying more productive mohair producing animals. © 2014 Elsevier B.V.