Combining multi-scale geophysical techniques for robust hydro-structural characterisation in catchments underlain by hard rock in post-glacial regions

Accurate conceptual models of groundwater systems are essential for correct interpretation of monitoring data in catchment studies. In surface-water dominated hard rock regions, modern ground and surface water monitoring programmes often have very high resolution chemical, meteorological and hydrological observations but lack an equivalent emphasis on the subsurface environment, the properties of which exert a strong control on flow pathways and interactions with surface waters. The reasons for this disparity are the complexity of the system and the difficulty in accurately characterising the subsurface, except locally at outcrops or in boreholes. This is particularly the case in maritime north-western Europe, where a legacy of glacial activity, combined with large areas underlain by heterogeneous igneous and metamorphic bedrock, make the structure and weathering of bedrock difficult to map or model. Traditional approaches which seek to extrapolate information from borehole to field-scale are of limited application in these environments due to the high degree of spatial heterogeneity. Here we apply an integrative and multi-scale approach, optimising and combining standard geophysical techniques to generate a three-dimensional geological conceptual model of the subsurface in a catchment in NE Ireland. Available airborne LiDAR, electromagnetic and magnetic data sets were analysed for the region. At field-scale surface geophysical methods, including electrical resistivity tomography, seismic refraction, ground penetrating radar and magnetic surveys, were used and combined with field mapping of outcrops and borehole testing. The study demonstrates how combined interpretation of multiple methods at a range of scales produces robust three-dimensional conceptual models and a stronger basis for interpreting groundwater and surface water monitoring data.

Nucleation-Induced Self-Assembly of Multiferroic BiFeO3-CoFe2O4 Nanocomposites

Large areas of perfectly ordered magnetic CoFe2O4 nanopillars embedded in a ferroelectric BiFeO3 matrix were successfully fabricated via a novel nucleation-induced self-assembly process. The nucleation centers of the magnetic pillars are induced before the growth of the composite structure using anodic aluminum oxide (AAO) and lithography-defined gold membranes as hard mask. High structural quality and good functional properties were obtained. Magneto-capacitance data revealed extremely low losses and magneto-electric coupling of about 0.9 mu C/cmOe. The present fabrication process might be relevant for inducing ordering in systems based on phase separation, as the nucleation and growth is a rather general feature of these systems.

High-resolution genetic analysis reveals extensive gene flow within the jellyfish Pelagia noctiluca (Scyphozoa) in the North Atlantic and Mediterranean Sea

Despite the importance of gelatinous zooplankton as components of marine ecosystems, both ecologically and socio-economically, relatively little is known about population persistence or connectivity in jellyfish. In the present study, we employed a combination of nuclear microsatellite markers and sequence data from the mitochondrial cytochrome oxidase I (COI) gene to determine levels and patterns of population genetic structuring in the holoplanktonic jellyfish Pelagia noctiluca across the northeast Atlantic Ocean and Mediterranean Sea. Our results indicate a high degree of connectivity in P. noctiluca, with little evidence of geographical structuring of genetic variation. A small but significant differentiation of Atlantic Ocean and Mediterranean stocks was detected based on the microsatellite data, but no evidence of differentiation was observed with the mtDNA, probably due to the higher power of the microsatellites to detect low levels of genetic structuring. Two clearly distinct groups of genotypes were observed within the mtDNA COI, which probably diverged in the early Pleistocene, but with no evidence of geographical structuring. Palaeodistribution modelling of P. noctiluca at the Last Glacial Maximum (LGM; ca. 21 KYA) indicated large areas of suitable habitat south of the species’ current-day distribution, with little reduction in area. The congruent evidence for minimal genetic differentiation from the nuclear microsatellites and the mtDNA, coupled with the results of the palaeodistribution modelling, supports the idea of long-term population stability and connectivity, thus providing key insights into the population dynamics and demography of this important species

Pine wilt disease and the pinewood nematode

Pine wilt disease (PWD) is one of the most damaging events affecting conifer forests (in particular Pinus spp.), in the Far East (Japan, China and Korea), North America (USA and Canada) and, more recently, in the European Union (Portugal). In Japan it became catastrophic, damaging native pine species (Pinus thunbergii and P. densiflora), and becoming the main forest problem, forcing some areas to be totally replaced by other tree species. The pine wilt nematode (PWN) Bursaphelenchus xylophilus, endemic, with minor damage, to North America, was introduced in Japan in the early XX century and then spread to Asia (China and Korea) in the 1980s. In 1999 it was detected for the first time in Portugal, where, due to timely detection and immediate government action, it was initially (1999-2008) contained to a small area 30 km SE of Lisbon. In 2008, the PWN spread again to central Portugal, the entire country now being classified as “affected area”. Being an A1 quarantine pest, the EU acted to avoid further PWN spreading and to eradicate it, by actions including financial support for surveyes and eradication, annual inspections and research programs. Experience from control actions in Japan included aerial spraying of insecticides to control the insect vector (the Cerambycid beetle Monochamus alternatus), injection of nematicides to the trunk of infected trees, slashing and burning of large areas out of control, beetle traps, biological control and tree breeding programs. These actions allowed some positive results, but also unsuccessful cases due to the PWN spread and virulence. Other Asian countries also followed similar strategies, but the nematode is still spreading in many regions. In Portugal, despite lower damage than Asia, PWD is still significant with high losses to the forestry industry. New ways of containing PWD include preventing movement of contaminated wood, cutting symptomatic trees and monitoring. Despite a national and EU legislative body, no successful strategy to control and eventually eradicate the nematode and the disease will prevail without sound scientific studies regarding the nematode and vector(s) bioecology and genetics, the ecology and ecophysiology of the pine tree species, P. pinaster and P. pinea , as well as the genomics and proteomics of pathogenicity (resistance/ susceptibility).

Communication between nodes for autonomic and distributed management

Over the last decade, the most widespread approaches for traditional management were based on the Simple Network Management Protocol (SNMP) or Common Management Information Protocol (CMIP). However, they both have several problems in terms of scalability, due to their centralization characteristics. Although the distributed management approaches exhibit better performance in terms of scalability, they still underperform regarding communication costs, autonomy, extensibility, exibility, robustness, and cooperation between network nodes. The cooperation between network nodes normally requires excessive overheads for synchronization and dissemination of management information in the network. For emerging dynamic and large-scale networking environments, as envisioned in Next Generation Networks (NGNs), exponential growth in the number of network devices and mobile communications and application demands is expected. Thus, a high degree of management automation is an important requirement, along with new mechanisms that promote it optimally and e ciently, taking into account the need for high cooperation between the nodes. Current approaches for self and autonomic management allow the network administrator to manage large areas, performing fast reaction and e ciently facing unexpected problems. The management functionalities should be delegated to a self-organized plane operating within the network, that decrease the network complexity and the control information ow, as opposed to centralized or external servers. This Thesis aims to propose and develop a communication framework for distributed network management which integrates a set of mechanisms for initial communication, exchange of management information, network (re) organization and data dissemination, attempting to meet the autonomic and distributed management requirements posed by NGNs. The mechanisms are lightweight and portable, and they can operate in di erent hardware architectures and include all the requirements to maintain the basis for an e cient communication between nodes in order to ensure autonomic network management. Moreover, those mechanisms were explored in diverse network conditions and events, such as device and link errors, di erent tra c/network loads and requirements. The results obtained through simulation and real experimentation show that the proposed mechanisms provide a lower convergence time, smaller overhead impact in the network, faster dissemination of management information, increase stability and quality of the nodes associations, and enable the support for e cient data information delivery in comparison to the base mechanisms analyzed. Finally, all mechanisms for communication between nodes proposed in this Thesis, that support and distribute the management information and network control functionalities, were devised and developed to operate in completely decentralized scenarios.

Ecology and conservation of felids in the Brazilian pantanal

Habitat conversion and environmental degradation have reached alarming levels in the Pantanal, endangering all its biodiversity. This scenario is complicated by the fact that the biome relies on only a few protected areas, which combined do not exceed 10% of the territory. Felids, as predators, play a vital role in the maintenance of this ecosystem, but require large areas, have low population densities and, typically, are very sensitive to environmental disturbances. Amolar Mountain Ridge is considered an area of extreme importance and high priority for conservation within the biome. There are four species of felids in this region: the jaguar (Panthera onca), the puma (Puma concolor), the ocelot (Leopardus pardalis), and jaguarundi (Puma yagouaroundi). However, little is known about the ecology of these species in this region or the magnitude of interaction between the communities living around the protected areas and the animals. The goal of this study was to increase our knowledge about these felids and understand how people interact with them in order to contribute to their conservation in the network of parks within Amolar. Camera trapping surveys were carried out in two areas of the network, covering approximately 83,000 hectares, in order to identify the species of mammals occurring in the region, those that may be potential prey for the felids, and to obtain basic ecological data about both felids and prey. In addition, we conducted surveys in three riverside schools in order to assess the knowledge, perceptions and attitudes of schoolchildren regarding the four focal felids, and surveys among the adult population to assess their perceptions and attitudes towards the jaguar. We recorded a total of 33 species of mammals from both study areas. The large cats were cathemeral, reflecting the temporal activity of larger prey, whereas the ocelot was nocturnal, mirroring the activity of smaller prey. Jaguar occupancy was influenced by prey abundance, while puma occupancy was influenced by patch density in drier dense forest. Jaguars and pumas may be competitors over temporal and spatial scales, while no resource overlap was found for ocelots. Overall, both adults and children tended to have negative perceptions about the cats, which were related to the fear of being attacked. To increase awareness about the species and to maximize the effectiveness of protective measures in the network of reserves, it is recommended to develop and implement an Environmental Educational Program in the medium- to long-term in order to minimize the fear of these felids and to counsel locals on the role of felids in the maintenance of the Pantanal’s biodiversity.

Assessment of NDVI, land surface temperature and precipitation anomalies for drought monitoring in Bayankhongor province, Mongolia

During the last decade Mongolia’s region was characterized by a rapid increase of both severity and frequency of drought events, leading to pasture reduction. Drought monitoring and assessment plays an important role in the region’s early warning systems as a way to mitigate the negative impacts in social, economic and environmental sectors. Nowadays it is possible to access information related to the hydrologic cycle through remote sensing, which provides a continuous monitoring of variables over very large areas where the weather stations are sparse. The present thesis aimed to explore the possibility of using NDVI as a potential drought indicator by studying anomaly patterns and correlations with other two climate variables, LST and precipitation. The study covered the growing season (March to September) of a fifteen year period, between 2000 and 2014, for Bayankhongor province in southwest Mongolia. The datasets used were MODIS NDVI, LST and TRMM Precipitation, which processing and analysis was supported by QGIS software and Python programming language. Monthly anomaly correlations between NDVI-LST and NDVI-Precipitation were generated as well as temporal correlations for the growing season for known drought years (2001, 2002 and 2009). The results show that the three variables follow a seasonal pattern expected for a northern hemisphere region, with occurrence of the rainy season in the summer months. The values of both NDVI and precipitation are remarkably low while LST values are high, which is explained by the region’s climate and ecosystems. The NDVI average, generally, reached higher values with high precipitation values and low LST values. The year of 2001 was the driest year of the time-series, while 2003 was the wet year with healthier vegetation. Monthly correlations registered weak results with low significance, with exception of NDVI-LST and NDVI-Precipitation correlations for June, July and August of 2002. The temporal correlations for the growing season also revealed weak results. The overall relationship between the variables anomalies showed weak correlation results with low significance, which suggests that an accurate answer for predicting drought using the relation between NDVI, LST and Precipitation cannot be given. Additional research should take place in order to achieve more conclusive results. However the NDVI anomaly images show that NDVI is a suitable drought index for Bayankhongor province.

From absolutes to aesthetics : John Dewey and the art of experience /

In this thesis I sought to capture something of the integrity of John Dewey's larger vision. While recognizing this to be a difficult challenge, I needed to clear some of the debris of an overly narrow reading of Dewey's works by students of education. The tendency of reducing Dewey's larger philosophical vision down to neat theoretical snap shots in order to prop up their particular social scientific research, was in my estimation slowly damaging the larger integrity of Dewey's vast body of work. It was, in short, killing off the desire to read big works, because doing so was not necessary to satisfying the specialized interests of social scientific research. In this thesis then I made a plea for returning the Humanities to the center of higher education. It is there that students learn how to read and to think—skills required to take on someone of Dewey's stature. I set out in this thesis to do just that. I took Dewey's notion of experience as the main thread connecting all of his philosophy, and focused on two large areas of inquiry, science and its relation to philosophy, and aesthetic experience. By exploring in depth Dewey's understanding of human experience as it pertains to day-to-day living, my call was for a heightened mode of artful conduct within our living contexts. By calling on the necessity of appreciating the more qualitative dimensions of lived experience, I was hoping that students engaged in the Social Sciences might begin to bolster their research interests with more breadth and depth of reading and critical insight. I expressed this as being important to the survival and intelligent flourishing of democratic conduct.

Comportements alimentaires de jeunes utilisateurs de boîte à lunch, selon des mères québécoises

Objectif. Étudier les comportements alimentaires des enfants utilisateurs de boîte à lunch tels que décrits par les mères, en s’inspirant des descripteurs de comportements alimentaires de Jean-Pierre Poulain. Méthodes. Des entrevues individuelles et de groupes eurent lieu avec 18 mères. Une analyse de données qualitatives a été réalisée en utilisant les dimensions de Poulain comme cadre de référence. Une considération additionnelle fut intégrée dans l’analyse, celle de la dimension matérielle de la boîte à lunch. Résultats. Dimension spatiale : Les repas ont lieu dans des classes ou dans de grandes salles communes. Dimension temporelle : Le moment et la durée de la consommation du repas varient selon différents facteurs. Le moment de préparation de la boîte est aussi d’intérêt. Environnement social : Les pairs et les médias ont une grande influence dans les comportements liés à la boîte à lunch. Logique de choix : La mère est le principal décideur et acteur à l’égard du contenu. Structure de la prise : Les mères précisent des contenus associés aux repas de la veille ou des mets froids. Des desserts et des à-côtés accompagnent le repas principal. L’étude de la dimension matérielle de la boîte révèle que la facilité d’entretien est le principal critère de choix des boîtes alors que l’apparence visuelle est celui de l’enfant. L’écologie devient de plus en plus une priorité. Conclusion. Cette nouvelle approche pour l’étude des comportements alimentaires du jeune utilisateur de boîte à lunch fournit aux intervenants une autre perspective selon laquelle étudier cette activité quotidienne et/ou élaborer des projets promotionnels en santé publique.

Régionalisation et synthèse des patrons de la végétation du Québec : utilisation d'indices de patrons à l'échelle provinciale.

Le Québec est une immense province à l’intérieur de laquelle existe une grande diversité de conditions bioclimatiques et où les perturbations anthropiques et naturelles du couvert végétal sont nombreuses. À l’échelle provinciale, ces multiples facteurs interagissent pour sculpter la composition et la distribution des paysages. Les objectifs généraux de cette recherche visaient à explorer et comprendre la distribution spatiale des patrons des paysages du Québec, de même qu’à caractériser les patrons observés à partir d’images satellitaires. Pour ce faire, les patrons des paysages ont été quantifiés avec un ensemble complet d’indices calculés à partir d’une cartographie de la couverture végétale. Plusieurs approches ont été développées et appliquées pour interpréter les valeurs d’indices sur de vastes étendues et pour cartographier la distribution des patrons des paysages québécois. Les résultats ont révélé que les patrons de la végétation prédits par le Ministère des Ressources naturelles du Québec divergent des patrons de la couverture végétale observée. Ce mémoire dresse un portrait des paysages québécois et les synthétise de manière innovatrice, en plus de démontrer le potentiel d’utilisation des indices comme attributs biogéographiques à l’échelle nationale.

Rechenmodelle und Informationssysteme zur Integration großer Windleistungen in die elektrische Energieversorgung

In dieser Arbeit werden verschiedene Computermodelle, Rechenverfahren und Methoden zur Unterstützung bei der Integration großer Windleistungen in die elektrische Energieversorgung entwickelt. Das Rechenmodell zur Simulation der zeitgleich eingespeisten Windenergie erzeugt Summenganglinien von beliebig zusammengestellten Gruppen von Windenergieanlagen, basierend auf gemessenen Wind- und Leistungsdaten der nahen Vergangenheit. Dieses Modell liefert wichtige Basisdaten für die Analyse der Windenergieeinspeisung auch für zukünftige Szenarien. Für die Untersuchung der Auswirkungen von Windenergieeinspeisungen großräumiger Anlagenverbünde im Gigawattbereich werden verschiedene statistische Analysen und anschauliche Darstellungen erarbeitet. Das im Rahmen dieser Arbeit entwickelte Modell zur Berechnung der aktuell eingespeisten Windenergie aus online gemessenen Leistungsdaten repräsentativer Windparks liefert wertvolle Informationen für die Leistungs- und Frequenzregelung der Netzbetreiber. Die zugehörigen Verfahren zur Ermittlung der repräsentativen Standorte und zur Überprüfung der Repräsentativität bilden die Grundlage für eine genaue Abbildung der Windenergieeinspeisung für größere Versorgungsgebiete, basierend auf nur wenigen Leistungsmessungen an Windparks. Ein weiteres wertvolles Werkzeug für die optimale Einbindung der Windenergie in die elektrische Energieversorgung bilden die Prognosemodelle, die die kurz- bis mittelfristig zu erwartende Windenergieeinspeisung ermitteln. In dieser Arbeit werden, aufbauend auf vorangegangenen Forschungsarbeiten, zwei, auf Künstlich Neuronalen Netzen basierende Modelle vorgestellt, die den zeitlichen Verlauf der zu erwarten Windenergie für Netzregionen und Regelzonen mit Hilfe von gemessenen Leistungsdaten oder prognostizierten meteorologischen Parametern zur Verfügung stellen. Die softwaretechnische Zusammenfassung des Modells zur Berechnung der aktuell eingespeisten Windenergie und der Modelle für die Kurzzeit- und Folgetagsprognose bietet eine attraktive Komplettlösung für die Einbindung der Windenergie in die Leitwarten der Netzbetreiber. Die dabei entwickelten Schnittstellen und die modulare Struktur des Programms ermöglichen eine einfache und schnelle Implementierung in beliebige Systemumgebungen. Basierend auf der Leistungsfähigkeit der Online- und Prognosemodelle werden Betriebsführungsstrategien für zu Clustern im Gigawattbereich zusammengefasste Windparks behandelt, die eine nach ökologischen und betriebswirtschaftlichen Gesichtspunkten sowie nach Aspekten der Versorgungssicherheit optimale Einbindung der geplanten Offshore-Windparks ermöglichen sollen.

Sensorische Erfassung von Grünlandbiomassen als Grundlage für ein teilflächenspezifisches Management im Ökologischen Landbau

Vor dem Hintergund der Integration des wissensbasierten Managementsystems Precision Farming in den Ökologischen Landbau wurde die Umsetzung bestehender sowie neu zu entwickelnder Strategien evaluiert und diskutiert. Mit Blick auf eine im Precision Farming maßgebende kosteneffiziente Ertragserfassung der im Ökologischen Landbau flächenrelevanten Leguminosen-Grasgemenge wurden in zwei weiteren Beiträgen die Schätzgüten von Ultraschall- und Spektralsensorik in singulärer und kombinierter Anwendung analysiert. Das Ziel des Precision Farming, ein angepasstes Management bezogen auf die flächeninterne Variabilität der Standorte umzusetzen, und damit einer Reduzierung von Betriebsmitteln, Energie, Arbeit und Umwelteffekten bei gleichzeitiger Effektivitätssteigerung und einer ökonomischen Optimierung zu erreichen, deckt sich mit wesentlichen Bestrebungen im Ökogischen Landbau. Es sind vorrangig Maßnahmen zur Erfassung der Variabilität von Standortfaktoren wie Geländerelief, Bodenbeprobung und scheinbare elektrische Leitfähigkeit sowie der Ertragserfassung über Mähdrescher, die direkt im Ökologischen Landbau Anwendung finden können. Dagegen sind dynamisch angepasste Applikationen zur Düngung, im Pflanzenschutz und zur Beseitigung von Unkräutern aufgrund komplexer Interaktionen und eines eher passiven Charakters dieser Maßnahmen im Ökologischen Landbau nur bei Veränderung der Applikationsmodelle und unter Einbindung weiterer dynamischer Daten umsetzbar. Beispiele hiefür sind einzubeziehende Mineralisierungsprozesse im Boden und organischem Dünger bei der Düngemengenberechnung, schwer ortsspezifisch zuzuordnende präventive Maßnamen im Pflanzenschutz sowie Einflüsse auf bodenmikrobiologische Prozesse bei Hack- oder Striegelgängen. Die indirekten Regulationsmechanismen des Ökologischen Landbaus begrenzen daher die bisher eher auf eine direkte Wirkung ausgelegten dynamisch angepassten Applikationen des konventionellen Precision Farming. Ergänzend sind innovative neue Strategien denkbar, von denen die qualitätsbezogene Ernte, der Einsatz hochsensibler Sensoren zur Früherkennung von Pflanzenkrankheiten oder die gezielte teilflächen- und naturschutzorientierte Bewirtschaftung exemplarisch in der Arbeit vorgestellt werden. Für die häufig große Flächenanteile umfassenden Leguminosen-Grasgemenge wurden für eine kostengünstige und flexibel einsetzbare Ertragserfassung die Ultraschalldistanzmessung zur Charakterisierung der Bestandeshöhe sowie verschiedene spektrale Vegetationsindices als Schätzindikatoren analysiert. Die Vegetationsindices wurden aus hyperspektralen Daten nach publizierten Gleichungen errechnet sowie als „Normalized Difference Spectral Index“ (NDSI) stufenweise aus allen möglichen Wellenlängenkombinationen ermittelt. Die Analyse erfolgte für Ultraschall und Vegetationsindices in alleiniger und in kombinierter Anwendung, um mögliche kompensatorische Effekte zu nutzen. In alleiniger Anwendung erreichte die Ultraschallbestandeshöhe durchweg bessere Schätzgüten, als alle einzelnen Vegetationsindices. Bei den letztgenannten erreichten insbesondere auf Wasserabsorptionsbanden basierende Vegetationsindices eine höhere Schätzgenauigkeit als traditionelle Rot/Infrarot-Indices. Die Kombination beider Sensorda-ten ließ eine weitere Steigerung der Schätzgüte erkennen, insbesondere bei bestandesspezifischer Kalibration. Hierbei kompensieren die Vegetationsindices Fehlschätzungen der Höhenmessung bei diskontinuierlichen Bestandesdichtenänderungen entlang des Höhengradienten, wie sie beim Ährenschieben oder durch einzelne hochwachsende Arten verursacht werden. Die Kombination der Ultraschallbestandeshöhe mit Vegetationsindices weist das Potential zur Entwicklung kostengünstiger Ertragssensoren für Leguminosen-Grasgemenge auf. Weitere Untersuchungen mit hyperspektralen Vegetationsindices anderer Berechnungstrukturen sowie die Einbindung von mehr als zwei Wellenlängen sind hinsichtlich der Entwicklung höherer Schätzgüten notwendig. Ebenso gilt es, Kalibrierungen und Validationen der Sensorkombination im artenreichen Grasland durchzuführen. Die Ertragserfassung in den Leguminosen-Grasgemengen stellt einen wichtigen Beitrag zur Erstellung einer Ertragshistorie in den vielfältigen Fruchtfolgen des Ökologischen Landbaus dar und ermöglicht eine verbesserte Einschätzung von Produktionspotenzialen und Defizitarealen für ein standortangepasstes Management.

Efficient 3D scene modeling and mosaicing

El modelat d'escenes és clau en un gran ventall d'aplicacions que van des de la generació mapes fins a la realitat augmentada. Aquesta tesis presenta una solució completa per a la creació de models 3D amb textura. En primer lloc es presenta un mètode de Structure from Motion seqüencial, a on el model 3D de l'entorn s'actualitza a mesura que s'adquireix nova informació visual. La proposta és més precisa i robusta que l'estat de l'art. També s'ha desenvolupat un mètode online, basat en visual bag-of-words, per a la detecció eficient de llaços. Essent una tècnica completament seqüencial i automàtica, permet la reducció de deriva, millorant la navegació i construcció de mapes. Per tal de construir mapes en àrees extenses, es proposa un algorisme de simplificació de models 3D, orientat a aplicacions online. L'eficiència de les propostes s'ha comparat amb altres mètodes utilitzant diversos conjunts de dades submarines i terrestres.

Selective submap joining SLAM for autonomous vehicles

Simultaneous Localization and Mapping (SLAM) do not result in consistent maps of large areas because of gradual increase of the uncertainty for long term missions. In addition, as the size of the map grows the computational cost increases, making SLAM solutions unsuitable for on-line applications. This thesis surveys SLAM approaches paying special attention to those approaches aimed to work on large scenarios. Special focus is given to existing underwater SLAM applications. A technique based on using independent local maps together with a global stochastic map is presented. This technique is called Selective Submap Joining SLAM (SSJS). A global map contains relative transformations between local maps, which are updated once a new loop is detected. Maps sharing several features are fused, maintaining the correlation between landmarks and vehicle's pose. The use of local maps reduces computational costs and improves map consistency as compared to state of the art techniques.

Habitat Use Patterns of Bobolinks and Savannah Sparrows in the Northeastern United States

In the northeastern United States, grassland birds regularly use agricultural fields as nesting habitat. However, birds that nest in these fields regularly experience nest failure as a result of agricultural practices, such as mowing and grazing. Therefore, information on both spatial and temporal patterns of habitat use is needed to effectively manage these species. We addressed these complex habitat use patterns by conducting point counts during three time intervals between May 21, 2002 and July 2, 2002 in agricultural fields across the Champlain Valley in Vermont and New York. Early in the breeding season, Bobolinks (Dolichonyx oryzivorus) used fields in which the landscape within 2500 m was dominated by open habitats. As mowing began, suitable habitat within 500 m became more important. Savannah Sparrows (Passerculus sandwichensis) initially used fields that contained a high proportion of suitable habitat within 500 m. After mowing, features of the field (i.e., size and amount of woody edge) became more important. Each species responded differently to mowing: Savannah Sparrows were equally abundant in mowed and uncut fields, whereas Bobolinks were more abundant in uncut fields. In agricultural areas in the Northeast, large areas (2000 ha) that are mostly nonforested and undeveloped should be targeted for conservation. Within large open areas, smaller patches (80 ha) should be maintained as high-quality, late-cut grassland habitat.