Selection and monitoring of navigation modes for an autonomous rover

Considering the wide spectrum of situations that it may encounter, a robot navigating autonomously in outdoor environments needs to be endowed with several operating modes, for robustness and efficiency reasons. Indeed, the terrain it has to traverse may be composed of flat or rough areas, low cohesive soils such as sand dunes, concrete road etc. . .Traversing these various kinds of environment calls for different navigation and/or locomotion functionalities, especially if the robot is endowed with different locomotion abilities, such as the robots WorkPartner, Hylos [4], Nomad or the Marsokhod rovers. Numerous rover navigation techniques have been proposed, each of them being suited to a particular environment context (e.g. path following, obstacle avoidance in more or less cluttered environments, rough terrain traverses...). However, seldom contributions in the literature tackle the problem of selecting autonomously the most suited mode [3]. Most of the existing work is indeed devoted to the passive analysis of a single navigation mode, as in [2]. Fault detection is of course essential: one can imagine that a proper monitoring of the Mars Exploration Rover Opportunity could have avoided the rover to be stuck during several weeks in a dune, by detecting non-nominal behavior of some parameters. But the ability to recover the anticipated problem by switching to a better suited navigation mode would bring higher autonomy abilities, and therefore a better overall efficiency. We propose here a probabilistic framework to achieve this, which fuses environment related and robot related information in order to actively control the rover operations.

Prospects for the biological control of Lantana camara (Verbenaceae) in New Zealand

Lantana camara is an environmental weed in the northern North Island of New Zealand. It is an increasingly observed problem in forest margins, coastal scrublands, dunes, plantations and island habitats, and its rapid, uncontrolled growth can create dense impenetrable thickets, suppressing vegetation and bush regeneration. Biological control options are being considered for its management. A strain of the Brazilian rust Prospodium tuberculatum was released against lantana in Australia in 2001. This rust was screened against invasive forms of the weed that occur in New Zealand and was found to be pathogenic under glasshouse conditions. A survey found no evidence that the rust occurs in New Zealand. It is concluded that P. tuberculatum is potentially a suitable agent for the biocontrol of lantana in New Zealand and further research should be carried out prior to importation of the organism.

Taxonomy, distribution and ecology of Zoysia macrantha desv., an Australian native species with turf breeding potential

Only three of the 11 species in the genus Zoysia Willd. have thus far contributed to commercially available turfgrass varieties. One of the neglected taxa is Z. macrantha Desv., an Australian native species further divided into two subspecies. The coarser Z. macrantha subsp. macrantha occurs on sand dunes, headlands and tidal areas along eastern and southeastern coasts from about 23 to 38°S latitude. The shorter, denser-growing Z. macrantha subsp. walshii M.E. Nightingale is found on the southern mainland (South Australia and Victoria from longitude 137° to 148°E and at latitudes higher than 36°S), adjacent offshore islands, and northern, eastern and central Tasmania to 43°S growing on the edges of coastal, sub-coastal and even inland salt lakes, in riverine environments, and from moist grassy depressions (both coastal and inland) to rocky headlands. The latter subspecies has the more discontinuous and specialised distribution, largely determined by the need for an appropriate level of peat, clay or silt in the soil to maintain adequate moisture during the dry summers in southern Australia while at the same time avoiding anything more than temporary waterlogging. It grows on low fertility soils ranging from strongly acid to neutral or mildly alkaline, and is often very closely grazed by marsupials. Both subspecies are salt and drought tolerant, but not notably shade tolerant. Their potential to add greater drought tolerance in particular to the Asian Zoysia material in current use through future breeding programs is discussed.

Fungal Planet description sheets: 371-399

Novel species of fungi described in the present study include the following from Australia: Neoseptorioides eucalypti gen. & sp. nov. from Eucalyptus radiata leaves, Phytophthora gondwanensis from soil, Diaporthe tulliensis from rotted stem ends of Theobroma cacao fruit, Diaporthe vawdreyi from fruit rot of Psidium guajava, Magnaporthiopsis agrostidis from rotted roots of Agrostis stolonifera and Semifissispora natalis from Eucalyptus leaf litter. Furthermore, Neopestalotiopsis egyptiaca is described from Mangifera indica leaves (Egypt), Roussoella mexicana from Coffea arabica leaves (Mexico), Calonectria monticola from soil (Thailand), Hygrocybe jackmanii from littoral sand dunes (Canada), Lindgomyces madisonensis from submerged decorticated wood (USA), Neofabraea brasiliensis from Malus domestica (Brazil), Geastrum diosiae from litter (Argentina), Ganoderma wiiroense on angiosperms (Ghana), Arthrinium gutiae from the gut of a grasshopper (India), Pyrenochaeta telephoni from the screen of a mobile phone (India) and Xenoleptographium phialoconidium gen. & sp. nov. on exposed xylem tissues of Gmelina arborea (Indonesia). Several novelties are introduced from Spain, namely Psathyrella complutensis on loamy soil, Chlorophyllum lusitanicum on nitrified grasslands (incl. Chlorophyllum arizonicum comb. nov.), Aspergillus citocrescens from cave sediment and Lotinia verna gen. & sp. nov. from muddy soil. Novel foliicolous taxa from South Africa include Phyllosticta carissicola from Carissa macrocarpa, Pseudopyricularia hagahagae from Cyperaceae and Zeloasperisporium searsiae from Searsia chirindensis. Furthermore, Neophaeococcomyces is introduced as a novel genus, with two new combinations, N. aloes and N. catenatus. Several foliicolous novelties are recorded from La Réunion, France, namely Ochroconis pandanicola from Pandanus utilis, Neosulcatispora agaves gen. & sp. nov. from Agave vera-cruz, Pilidium eucalyptorum from Eucalyptus robusta, Strelitziana syzygii from Syzygium jambos (incl. Strelitzianaceae fam. nov.) and Pseudobeltrania ocoteae from Ocotea obtusata (Beltraniaceae emend.). Morphological and culture characteristics along with ITS DNA barcodes are provided for all taxa.

Prosopis, an Alien among the Sacred Trees of South India

The problematic of invasive species in an alien environment has aroused the attention of scientists all over the world for quite some time. One of the exotic tree species that has provoked special attention in the tropical drylands is Prosopis juliflora. Originating in South America, prosopis (hereafter referred to as prosopis) has been introduced in the hot and semi-arid zones of the world particularly to provide fuelwood, to stabilize sand dunes and to combat desertification. The tree has become an essential source for fuelwood and a provider of several other products and services in areas where it has become established. However, despite the numerous benefits the tree provides to rural people, in several regions prosopis has become a noxious weed with a negative impact on the environment and to the economy of farmers and landowners. In India, prosopis was introduced in Andhra Pradesh in 1877. The tree was then proclaimed as the precious child of the plant world by scientists and local people alike. The purpose of this study was to investigate the overall impact of prosopis on local rural livelihoods in the drylands of South India. Of particular interest was the examination of the different usages of the tree, especially as fuelwood, and people s perceptions of it. Furthermore, the study examined the negative impacts of the uncontrolled invasion of prosopis on croplands, and its occupation of the banks of irrigation canals and other water sources. As another central theme, this study analysed the Hindu classification system for nature and for trees in particular. In India, several tree species are regarded as sacred. This study examined the position of the exotic prosopis among sacred trees, such as the bodhi, banyan and neem trees. The principle method for collecting the field data was by using individual and thematic group interviews. These interviews were semi-structured with open ended questions. Moreover, unstructured interviews as well as general observations provided complementary information. The data were gathered during two fieldwork periods in the states of Andhra Pradesh and Tamil Nadu, in South India. The results confirmed that prosopis both provides benefits and causes hazards to different stakeholders. Farmers and agriculturalists suffer economic losses in areas where prosopis has invaded crop fields and competes with other plants for water and nutrients. On the other hand, for a significant number of poor rural people, prosopis has become an important source of livelihood benefits. This tree, which grows on government wastelands, is commonly a free resource for all and has thus become a major local source of fuelwood. It also provides several other goods and services and cash income that contributes to improve livelihoods in rural communities. Prosopis ranked lowest in the tree classificatioin system of the Hindus of South India. Although it is appreciated for many benefits it provides for poor people, it has remained an outsider compared with the indigenous tree species. On the other hand, the most sacred trees, such as the bodhi or the banyan, are completely excluded from extraction and it is seen as a sacrilege to even cut branches from any of these trees. An unexpected finding was that, in a few cases, prosopis had also been elevated to the status of a sacred tree. Goods and services from prosopis are not utilized in the most beneficial way. Silvicultural management practices are suggested that would provide additional income and employment opportunities. Interventions are recommended to control further invasion of the tree that might cause serious negative effects in the future. For Hindus, the sacred always ranks highest, even above economic gain. The conservation of sacred groves and sacred trees is a tradition that has its roots in ancient history. These socio-religious practices need to be respected and continued. Successful management of tree and forest resources depends on the willingness of the local people to manage their natural resources, and this willingness exists and has always existed in South India. Keywords: South India, drylands, livelihood, fuelwood, invasive, resource, silviculture.

Lizards of the Thar Desert - Resource partitioning and community composition

How similar species co-exist in nature is a fundamental question in community ecology. Resource partitioning has been studied in desert lizard communities across four continents, but data from South Asia is lacking. We used area-constrained visual encounter surveys to study community composition and spatial and temporal resource partitioning in a lizard community during summer in the Thar Desert, western India, addressing an important biogeographic gap in knowledge. Twelve one-hectare grids divided into 25 m x 25 m plots were placed across four habitats barren dunes, stabilized dunes, grassland, and rocky hills. We recorded 1039 sightings of 12 species during 84 sampling sessions. Lizard abundance decreased in the order stabilized dunes > grassland > barren dunes > rocky hills; richness was in roughly the opposite order. Resource partitioning was examined for the seven commonest species. Overall spatial overlap was low (<0.6) between species pairs. Overlap was higher within habitats, but species showed finer separation through use of different microhabitat categories and specific spatial resources, as well as by positioning at different distances to vegetation. Diurnal species were also separated by peak time of activity. Space appears to be an important resource dimension facilitating coexistence in this desert lizard community. (C) 2015 Elsevier Ltd. All rights reserved.

Assessing societal vulnerability of U.S. Pacific Northwest communities to storm induced coastal change

Progressive increases in storm intensities and extreme wave heights have been documented along the U.S. West Coast. Paired with global sea level rise and the potential for an increase in El Niño occurrences, these trends have substantial implications for the vulnerability of coastal communities to natural coastal hazards. Community vulnerability to hazards is characterized by the exposure, sensitivity, and adaptive capacity of human-environmental systems that influence potential impacts. To demonstrate how societal vulnerability to coastal hazards varies with both physical and social factors, we compared community exposure and sensitivity to storm-induced coastal change scenarios in Tillamook (Oregon) and Pacific (Washington) Counties. While both are backed by low-lying coastal dunes, communities in these two counties have experienced different shoreline change histories and have chosen to use the adjacent land in different ways. Therefore, community vulnerability varies significantly between the two counties. Identifying the reasons for this variability can help land-use managers make decisions to increase community resilience and reduce vulnerability in spite of a changing climate. (PDF contains 4 pages)

The island of Kauai, Hawaii's progressive shoreline setback and coastal protection ordinance

Approximately two-thirds of coastal and Great Lakes states have some type of shoreline construction setback or construction control line requiring development to be a certain distance from the shoreline or other coastal feature (OCRM, 2008). Nineteen of 30 coastal states currently use erosion rates for new construction close to the shoreline. Seven states established setback distances based on expected years from the shoreline: the remainder specify a fixed setback distance (Heinz Report, 2000). Following public hearings by the County of Kauai Planning Commission and Kauai County Council, the ‘Shoreline Setback and Coastal Protection Ordinance’ was signed by the Mayor of Kauai on January 25, 2008. After a year of experience implementing this progressive, balanced shoreline setback ordinance several amendments were recently incorporated into the Ordinance (#887; Bill #2319 Draft 3). The Kauai Planning Department is presently drafting several more amendments to improve the effectiveness of the Ordinance. The intent of shoreline setbacks is to establish a buffer zone to protect shorefront development from loss due to coastal erosion - for a period of time; to provide protection from storm waves; to allow the natural dynamic cycles of erosion and accretion of beaches and dunes to occur; to maintain beach and dune habitat; and, to maintain lateral beach access and open space for the enjoyment of the natural shoreline environment. In addition, a primary goal of the Kauai setback ordinance is to avoid armoring or hardening of the shore which along eroding coasts has been documented to ultimately eliminate the fronting beach. (PDF contains 4 pages)

Chrysosphaerella and the phytoplankton of the Little Sea, Dorset

The Little Sea is an 80-acre, shallow freshwater lake formed about a hundred years ago by sand-dunes cutting off a sea-inlet at Studland Bay, near Swanage. This work presents a general survey of the phytoplankton in the lake from October 1990 to December 1993. Many species were present throughout the year; others showed seasonal variations. Numerically, the diatoms, Monoraphidium and sometimes Rhodomonas, were the main constituents of the phytoplankton. One species of alga in the lake of particular interest is Chrysosphaerella longispina Lauterb. which, up to 1991, had only been recorded from five localities in Britain.

Plant nutrients and major ions in the Little Sea, Studland, Dorset

This short paper records some measurements made on the Little Sea, a shallow, coastal, acidic lake on Studland Heath, Dorset. The lake, formed about 100 years ago by dunes cutting off a sea inlet, has not received any input of agricultural fertilizers or other waste products for at least the last 30 years. It is a Site of Special Scientific Interest (SSSI). Samples of surface water were taken from the northern and southern ends of the lake at 3-monthly intervals, from July 1995 to April 1996. The first samples in July 1995 were taken during a period of drought; rain, sometimes very heavy, came in late September. With the exception of silicate, potassium and phosphate, there were no large changes in plant nutrient concentrations during the year. The concentration of nitrate-nitrogen was very low (close to the limits of analytical detection), but total phosphorus at ca. 30 mu g per litre was similar to concentrations found in some of the Cumbrian eutrophic lakes. The large number of algal species at low cell/colony concentrations suggested that the lake is mesotrophic. Sodium, chloride and magnesium in the lake water were close to the same proportions as those found in sea water. Dry and wet deposition of sea-salts on the lake surface and its catchment area probably is the major source of sodium, magnesium and chloride ions in the lake, and also accounts for about half of the mean potassium and sulphate concentrations.

A bacia hidrográfica Lagos-São João pós década de 1960: um estudo das transformações espaciais da região e suas influências sobre a qualidade ambiental

A Bacia Hidrográfica Lagos São João, localizada no sudoeste do Estado do Rio de Janeiro, abrange 13 municípios que abrigam cerca de 520 mil habitantes. Na temporada de férias esse número sobe para mais de 1 milhão de pessoas. A pastagem constitui o principal tipo de uso do solo, em seguida vem as áreas urbanas e as salinas. A partir da década de 1960 essa região passou a receber maior contingente populacional, tanto de veranistas quanto de moradores fixos, beneficiados pela implantação de novas vias de acesso, como a Ponte Rio-Niteroi e pela construção da represa de Juturnaíba, que ampliou o abastecimento de água dos municípios. Surge neste contexto a especulação imobiliária, que acelera a ocupação das terras próximas a Lagoa de Araruama. Rapidamente essas terras foram loteadas e o setor da construção civil foi ganhando força. Entretanto, a região não contou com adequado planejamento, e os investimentos em saneamento básico e outras infraestruturas urbanas não acompanharam o ritmo da construção civil, que cada vez mais investia em casas, prédios e condomínios, que ampliaram consideravelmente a área urbana e a ocupação da zona costeira. Sendo assim, ficou visível o aumento da malha urbana e a ocupação de áreas impróprias, como as margens dos corpos hídricos, os manguezais, dunas e restingas, além da redução da cobertura vegetal. Dessa forma, foi substancial a perda de qualidade ambiental na região, sobretudo, com relação a água da lagoa e dos rios, que passaram a receber maior volume de efluentes sem tratamento. O potencial turístico da região tem sido explorado e provocado altos investimentos dos agentes de especulação imobiliária, entretanto além de promover a ocupação em áreas irregulares, leva a privatização de espaços públicos e incentiva o fenômeno da segunda residência. A chegada de novos turistas iniciou o processo de desenvolvimento do turismo e, consequentemente, a redução da produção salineira. Com isso, o espaço local ganhou novos significados, inseridos pela lógica da urbanização turística. Foi essa nova lógica transformadora que, gradativamente, valorizou a paisagem local, ampliando e encarecendo o seu consumo. Além de ampliar as transformações espaciais, tendo em vista a expansão da malha urbana verificada nas imagens de satélites, atuais, que foram comparadas com fotografias aéreas de décadas anteriores. Todas as transformações ocorridas na região apresentam alguma relação com o desencadeamento de novos problemas ambientais identificados nos seus ecossistemas, sobretudo a Lagoa de Araruama, ou a ampliação de problemas anteriormente existentes.

Faixa marginal de proteção de lagoas costeiras - O estudo de caso da Lagoa de Araruama.

A Lagoa de Araruama é reconhecida como a maior laguna hipersalina do mundo, cercada por dunas e vegetação de restinga que, emoldurando a sua decantada beleza natural, configura uma condição de cartão postal internacional. Isso associado à sua grande importância ecológica, faz com que ela se caracterize como um ambiente ímpar, dentro do contexto ambiental. Todavia a degradação de suas margens, ensejada pela sua ocupação desordenada, inclusive através da implantação de salinas, que vem ocorrendo há mais de um século, teve como consequência o desmatamento dessas áreas de preservação permanente, que se constituem na Faixa Marginal de Proteção (FMP). A fundamentação dessa proposta se pauta no fato de que a FMP vigente da lagoa, demarcada e aprovada através de Decreto n 42.694, de 11de novembro de 2010, não levou em conta esse aspecto de extrema relevância ambiental. Nessas condições, faz-se necessária a implementação de política voltada para ações com o objetivo de revitalizar o entorno da lagoa, de sorte a assegurar a preservação desse ecossistema localizado nas áreas limítrofes à orla da Lagoa de Araruama e garantir a sustentabilidade ambiental. O presente estudo se ateve ao levantamento das áreas em que se verificou a ocorrência de vegetação, com o intuito de ordenar a sua classificação, precipuamente com interesse em delimitar as áreas de restinga, que são consideradas Áreas de Preservação Permanente pela Resolução CONAMA 303/2002 e como parte integrante da FMP pelo Código Florestal, quando fixadoras de dunas e estabilizadoras de mangue. Em função dos resultados desse levantamento, propôs-se a inclusão, na Faixa Marginal de Proteção (FMP), das áreas em que ocorre a presença de vegetação de restinga, com respaldo no Código Florestal (Lei Federal n 4771/65) que, atualmente, disciplina o assunto, de sorte a preservar o corpo hídrico como um todo e garantir a sustentabilidade ambiental.

Feasibility of cyanobacterial inoculation for biological soil crusts formation in desert area

Practical testing of the feasibility of cyanobacterial inoculation to speed up the recovery of biological soil crusts in the field was conducted in this experiment. Results showed that cyanobacterial and algal cover climbed up to 48.5% and a total of 14 cyanobacterial and algal species were identified at the termination of inoculation experiment; biological crusts' thickness, compressive and chlorophyll a content increased with inoculation time among 3 years; moss species appeared in the second year; cyanobacterial inoculation increased organic carbon and total nitrogen of the soil; total salt, calcium carbonate and electrical conductivity in the soil also increased after inoculation. Diverse vascular plant communities composed of 10 and 9 species are established by cyanobacterial inoculation on the windward and leeward surface of the dunes, respectively, after 3 years. The Simpson index for the above two communities are 0.842 and 0.852, while the Shannon-Weiner index are 2.097 and 2.053, respectively. In conclusion, we suggest that cyanobacterial inoculation would be a suitable and effective technique to recover biological soil crusts, and may further restore the ecological system. (C) 2008 Published by Elsevier Ltd.

Effects of sand burial on biomass, chlorophyll fluorescence and extracellular polysaccharides of man-made cyanobacterial crusts under experimental conditions

Soil cyanobacterial crusts occur throughout the world, especially in the semiarid and arid regions. It always encounters sand burial, which is an important feature of mobile sand dunes. A greenhouse 41 study was conducted to determine the effects of sand burial on biomass, chlorophyll fluorescence and extracellular polysaccharides of man-made cyanobacterial crusts in six periods of time (0, 5, 10, 15, 20 and 30 d after burying) and at five depths (0, 0.2, 0.5, 1 and 2cm). The results indicated that with the increase of the burial time and burial depth extracellular polysaccharides content and Fv/Fm decreased correspondingly and there were no significant differences between 20 and 30 burial days under different burial depths. The degradation of chlorophyll a content appeared only at 20 and 30 burial days and there was also no significant difference between them under different burial depths. It was also observed a simultaneous decrease of the values of the Fv/Fm and the content of extracellular polysaccharides happened in the crusted cyanobacterium Microcoleus vaginatus Gom. It may suggest that there exists a relationship between extracellular polysaccharides and recovery of the activity of photosystem II (PS II) after rehydration.

有性繁殖在沙丘植被恢复中的作用

有性繁殖是植物适应干扰的重要机制。目前，人们对于植物如何从有性繁殖方面适应风沙环境还知之甚少。本论文以半干旱草原区的科尔沁沙地为对象，采用实验室分析、模拟试验、野外调查等方法，研究了种子形态及其功能意义、种子传播与植物沙生适应性的关系、埋藏种子萌发与沙丘植物更新的关系，探讨了沙丘土壤种子库时空格局、土壤种子库持久性与沙丘植被恢复的关系，揭示了生殖物候对植物沙生适应性的影响，探索了有性繁殖在多年生沙生植物适应风蚀中的作用。 研究结果表明：（1）沙生植物通过调节种子重量和形状降低种子位移，增大幼苗补充几率；（2）沙生植物通过将种子脱落推迟至“风季结束、雨季来临”时期，或者通过种子遇水溶出粘液粘沙增大重量，分摊干旱和风沙干扰给幼苗补充带来的风险，维持种群繁衍；（3）埋藏能调节沙生植物种子萌发时间和萌发率；（4）沙生植物通过生殖物候可塑性和延长结实期增强沙生适应性；（5）沙生植物具有持久种子库，能提供稳定种源；（6）多年生沙生植物可通过有性繁殖适应风蚀，入侵流动沙丘区。本研究为植物有性繁殖研究提供了方法论借鉴。根据研究结果我们提出了沙丘植被恢复和管理建议。