Calibration Method for Underwater Visual Ground-Truth System

This work presents an automatic calibration method for a vision based external underwater ground-truth positioning system. These systems are a relevant tool in benchmarking and assessing the quality of research in underwater robotics applications. A stereo vision system can in suitable environments such as test tanks or in clear water conditions provide accurate position with low cost and flexible operation. In this work we present a two step extrinsic camera parameter calibration procedure in order to reduce the setup time and provide accurate results. The proposed method uses a planar homography decomposition in order to determine the relative camera poses and the determination of vanishing points of detected lines in the image to obtain the global pose of the stereo rig in the reference frame. This method was applied to our external vision based ground-truth at the INESC TEC/Robotics test tank. Results are presented in comparison with an precise calibration performed using points obtained from an accurate 3D LIDAR modelling of the environment.

Drydock extension : a 1980 underwater technology survey for extension of time between drydockings /

"Report no. CD-D-15-81."

Macrofauna assemblages in a XVIIth century shipwreck: comparison with those on natural reefs and sandy bottoms

The macrofauna assemblages of a XVIIth century shipwreck off southern Portugal were studied and compared with those of nearby natural reefs and sandy bottoms, by underwater visual census. A total of 11 173 specimens of 224 different fauna taxa and 12 phyla were recorded. Natural reefs had the highest density of specimens (35 122 / 1000 m2) followed by the shipwreck (21 392 / 1000 m2) and the sandy bottoms (3771 / 1000 m2). Three biodiversity indices were estimated (Margalef, Shannon- Wiener and Pielou), with the natural reefs showing the highest values. However, the shipwreck presented values relatively similar to those of the natural reefs for the Shannon-Wiener and Pielou indices. The three habitats were clearly distinguishable by multivariate statistical analysis, with the average dissimilarity between sand and shipwreck, and between sand and natural reefs being much higher than that between the shipwreck and the natural reefs. The shipwreck had higher abundances of some commercially important species, such as the pouting Trisopterus luscus, European conger Conger conger, and common spider crab Maja squinado, as well as some vulnerable and threatened species such as the pink seafan Eunicella verrucosa. The results presented emphasize the importance of this habitat on the southern Portuguese coast.

International workshop on "Different survey methods for coral reef fish, including methods based on underwater video"

In September 2013, staff from the University of the South Pacific (USP) Honiara campus, the Secretariat of the Pacific Community (SPC) and IFREMER (UR LEADNC, AMBIO project) in New Caledonia, and the French Institute for Pacific Coral Reefs (IRCP) in Moorea, French Polynesia, co-facilitated a workshop entitled “Different survey methods of coral reef fish, including the methods based on underwater video”. The workshop was attended by students from USP, NGO and fisheries officers. They were trained to several underwater visual census techniques and to the STAVIRO video-based technique, including both field work and data analysis.

Underwater towed video: a useful tool to rapidly assess elasmobranch populations in large marine protected areas

Elasmobranch stock assessment studies are usually made through fisheries surveys data. However, in large marine protected areas (MPAs) the use of destructive techniques must be dismissed in order to avoid population impacts. In 2005, while conducting a marine habitat survey in two marine Special Areas of Conservation (Sebadales de Playa de Inglés and Franja Marina de Mogán) in south Gran Canary Island (Canary Islands, Spain) with underwater towed video (UTV) and underwater visual census (UVC) transects, we recognized the opportunity rose to assess elasmobranch populations through UTV. Number of observed species and specimens, overall field work effort and total surveyed area were determined and compared between methods. Mean observations per day per unit of time (MOPUT) and mean observations per day per unit of surveyed area (MOPUA) were also compared through Mann–Whitney rank sum statistical test (α=0.05). Data analysis demonstrated that UTV is a very useful tool to rapidly assess elasmobranch populations in large MPAs in good visibility underwater environments. It can assess larger areas than UVC with the same effort (statistically significant difference found for the MOPUT; p=<0.001), leading to more observed species (5 vs 2) and specimens (46 vs 3) per day of work, with no loss in resolution power (MOPUA values were not significantly different between UTV and UVC; p=0.104).

Misleading Population Estimates: Biases and Consistency of Visual Surveys and Matrix Modelling in the Endangered Bearded Vulture

Conservation strategies for long-lived vertebrates require accurate estimates of parameters relative to the populations' size, numbers of non-breeding individuals (the “cryptic” fraction of the population) and the age structure. Frequently, visual survey techniques are used to make these estimates but the accuracy of these approaches is questionable, mainly because of the existence of numerous potential biases. Here we compare data on population trends and age structure in a bearded vulture (Gypaetus barbatus) population from visual surveys performed at supplementary feeding stations with data derived from population matrix-modelling approximations. Our results suggest that visual surveys overestimate the number of immature (<2 years old) birds, whereas subadults (3–5 y.o.) and adults (>6 y.o.) were underestimated in comparison with the predictions of a population model using a stable-age distribution. In addition, we found that visual surveys did not provide conclusive information on true variations in the size of the focal population. Our results suggest that although long-term studies (i.e. population matrix modelling based on capture-recapture procedures) are a more time-consuming method, they provide more reliable and robust estimates of population parameters needed in designing and applying conservation strategies. The findings shown here are likely transferable to the management and conservation of other long-lived vertebrate populations that share similar life-history traits and ecological requirements.

Planeamento espacial marinho das áreas marinhas protegidas: o caso de estudo da ára protegida de gestão de recursos: Caloura - ilhéu de Vila Franca do Campo

Tese de Doutoramento, Ciências do Mar (Ecologia Marinha), 26 de Novembro de 2013, Universidade dos Açores.

Estimating abundance and spatial distribution patterns of the bubble crab Dotilla fenestrata (Crustacea : Brachyura)

The bubble crab Dotilla fenestrata forms very dense populations on the sand flats of the eastern coast of Inhaca Island, Mozambique, making it an interesting biological model to examine spatial distribution patterns and test the relative efficiency of common sampling methods. Due to its apparent ecological importance within the sandy intertidal community, understanding the factors ruling the dynamics of Dotilla populations is also a key issue. In this study, different techniques of estimating crab density are described, and the trends of spatial distribution of the different population categories are shown. The studied populations are arranged in discrete patches located at the well-drained crests of nearly parallel mega sand ripples. For a given sample size, there was an obvious gain in precision by using a stratified random sampling technique, considering discrete patches as strata, compared to the simple random design. Density average and variance differed considerably among patches since juveniles and ovigerous females were found clumped, with higher densities at the lower and upper shore levels, respectively. Burrow counting was found to be an adequate method for large-scale sampling, although consistently underestimating actual crab density by nearly half. Regression analyses suggested that crabs smaller than 2.9 mm carapace width tend to be undetected in visual burrow counts. A visual survey of sampling plots over several patches of a large Dotilla population showed that crab density varied in an interesting oscillating pattern, apparently following the topography of the sand flat. Patches extending to the lower shore contained higher densities than those mostly covering the higher shore. Within-patch density variability also pointed to the same trend, but the density increment towards the lowest shore level varied greatly among the patches compared.

Pelvic floor muscle evaluation in incontinent patients

The aim of this study was to assess pelvic floor muscle (PFM) strength and perception and its correlation with stress urinary incontinence (SUI). One hundred and one women were divided into two groups according to the presence (G1=51 patients) or absence (G2=50 patients) of SUI. Subjective [urine stream interruption test (UST), visual survey of perineal contraction and transvaginal digital palpation to assess pelvic muscle contraction] and objective evaluations of pelvic floor muscles in all patients were performed (vaginal manometry). During the UST, 25.5% of G1 patients and 80% of G2 patients were able to interrupt the urine stream (p<0.05). Digital evaluation of pelvic muscular contraction showed higher strength in G2 than in G1 patients (p<0.0001). Perineometer evaluation of PFM strength was significantly higher in the continent group (p<0.001). Pelvic floor muscle weakness in incontinent patients demonstrates the importance of functional and objective evaluation of this group of muscles.

A comparative analisys of pelvic floor muscle strength in women with stress and urge urinary incontinence

Aims: To assess pelvic floor muscle (PFM) strength in women with stress urinary incontinence (SUI) and urge urinary incontinence (UUI).Materials and Methods: 51 women were prospectively divided into two groups, according to the symptoms as SUI (G1 = 22) or UUI (G2 = 29). Demographic data, such as number of pads/ 24 hours, number of micturations/ 24 hours and nocturia, delay time of urgent void (i.e., the time period for which an urgent void could be voluntarily postponed), number of parity and vaginal deliveries were obtained using a clinical questionnaire. Objective urine loss was evaluated by 60-min. Pad Test, subjective urine stream interruption test (UST) and visual survey of perineal contraction. Objective evaluations of PFM were performed in all patients (vaginal manometry).Results: Median of age, mean number of pads/ 24 hours, nocturia and warning time were significantly higher in UUI comparing to SUI group. During UST, 45.45% in G1 and 3.44%, in G2, were able to interrupt the urine stream (p < 0.001). The 60-min. Pad Test was significantly higher in G2 compared to G1 women (2.7 +/- 2.4 vs 1.5 +/- 1.9 respectively, p = 0.049). Objective evaluation of PFM strength was significantly higher in the SUI than in the UUI patients. No statistical difference was observed regarding other studied parameters.Conclusion: Pelvic floor muscle weakness was significantly higher in women with UUI when compared to SUI.

Composição, riqueza e abundância de espécies de anfíbios na região do médio rio Xingú

Este estudo teve como objetivo inventariar a fauna de anfíbios nos diferentes hábitats da região do Médio Rio Xingu. Para tanto, foram selecionadas seis localidades, sendo as amostragens realizadas em três incursões, entre novembro de 2007 e março de 2008, totalizando 48 dias. Foram identificados seis tipos de hábitats na região amostrada: floresta de terra-firme, floresta sazonalmente alagável (várzea), margem do rio, “pedral”, lagoa e área alterada. Para a coleta de dados foram utilizadas duas metodologias: armadilhas de interceptação e queda e procura ativa. As armadilhas foram instaladas apenas nas áreas de floresta de terra-firme, enquanto a procura ativa foi empregada em todos os tipos de hábitats identificados. As amostragens resultaram no registro de 56 espécies de anfíbios e outras oito espécies foram identificadas e registradas em estudos anteriores na área. A diversidade e riqueza de espécies foram maiores na localidade Caracol, onde predominou a floresta de terra-firme, e menor na localidade Ilha Grande, dominada por floresta sazonalmente alagável. Foram registrados nove modos reprodutivos na área de estudo, sendo todos observados na floresta de terra-firme e apenas três nos “pedrais”, o que parece refletir a baixa heterogeneidade ambiental dessa área. Para comparar as localidades estudadas foram realizadas duas análises de similaridade, uma para cada metodologia de coleta utilizada. A análise de similaridade dos dados de procura ativa apontou maior semelhança na composição das espécies entre as áreas de floresta de terra-firme do que entre os outros hábitats. A análise de agrupamento realizada entre a composição de espécies obtida nesse estudo e outros levantamentos realizados na Amazônia agrupou esta área com outra também localizada no Médio Xingu.

Estimating abundance and spatial distribution patterns of the bubble crab Dotilla fenestrata (Crustacea : Brachyura)

The bubble crab Dotilla fenestrata forms very dense populations on the sand flats of the eastern coast of Inhaca Island, Mozambique, making it an interesting biological model to examine spatial distribution patterns and test the relative efficiency of common sampling methods. Due to its apparent ecological importance within the sandy intertidal community, understanding the factors ruling the dynamics of Dotilla populations is also a key issue. In this study, different techniques of estimating crab density are described, and the trends of spatial distribution of the different population categories are shown. The studied populations are arranged in discrete patches located at the well-drained crests of nearly parallel mega sand ripples. For a given sample size, there was an obvious gain in precision by using a stratified random sampling technique, considering discrete patches as strata, compared to the simple random design. Density average and variance differed considerably among patches since juveniles and ovigerous females were found clumped, with higher densities at the lower and upper shore levels, respectively. Burrow counting was found to be an adequate method for large-scale sampling, although consistently underestimating actual crab density by nearly half. Regression analyses suggested that crabs smaller than 2.9 mm carapace width tend to be undetected in visual burrow counts. A visual survey of sampling plots over several patches of a large Dotilla population showed that crab density varied in an interesting oscillating pattern, apparently following the topography of the sand flat. Patches extending to the lower shore contained higher densities than those mostly covering the higher shore. Within-patch density variability also pointed to the same trend, but the density increment towards the lowest shore level varied greatly among the patches compared.

Recruitment patterns and processes of coastal fish species in a temperate rocky reef

Tese de Doutoramento, Ciências do Mar, da Terra e do Ambiente, Ramo: Ciências do Mar, Especialização em Ecologia Marinha, Faculdade de Ciências e Tecnologia, Universidade do Algarve, 2016

A conservation trade-off? Interspecific differences in seahorse responses to experimental changes in fishing effort

1. A 2-year experimental seining programme and underwater visual censuses were undertaken to quantify the direct effects of active demersal fishing on the population structure and relative abundance of two sympatric seahorse species of conservation concern: the European long-snouted seahorse, Hippocampus guttulatus Cuvier 1829 and the short-snouted seahorse, Hippocampus hippocampus L. The influence of habitat preference on population-level responses to changes in habitat structure following a reduction in fishing effort was also investigated. 2. It was predicted that the benthic habitat would be more structurally complex after fishing ceased and that seahorse densities would increase in response to reduced fishing mortality. Furthermore, it was predicted that the magnitude of the increase in density would be greater for H. guttulatus than for H. hippocampus, because the former species prefers complex vegetated habitats while the latter species uses sparsely vegetated habitats. 3. As predicted, the amount of habitat cover increased significantly when seining ceased, primarily through increases in the abundance of drifting macroalgae and unattached invertebrates. Despite similarities in life histories, the two seahorse species responded differently in terms of magnitude and direction to reduced fishing effort: the abundance of H. guttulatus increased significantly while H. hippocampus decreased in abundance. 4. Results suggest that active demersal fishing may influence the magnitude and direction of the responses of benthic marine fishes to exploitation through its impacts on habitat structure. An increase in habitat cover appeared to favour higher densities of H. guttulatus when seining effort was reduced. By contrast, repeated seining, which maintained less complex habitats, appeared to favour greater abundances of H. hippocampus. 5. Given differences in habitat preference among benthic marine fishes subject to incidental capture in fisheries, simultaneous attempts to manage populations of sympatric species may require complementary strategies that support the persistence of diverse habitat types. Copyright (c) 2006 John Wiley & Sons, Ltd.

'Reserve effect' within a temperate marine protected area in the north-eastern Atlantic (Arrabida Marine Park, Portugal)

Benefits of marine protected areas depend on local ecological and socio-cultural aspects which are critical to the success of the protection measures. In particular, before-after comparisons are indispensable to disentangle the effects of protection from those of different physical and ecological characteristics among areas. Using underwater visual surveys, we assessed whether biomass and abundance of temperate reef fish assemblages and target invertebrates increased inside a no-take area in the Arrabida Marine Park (Portugal) 3 to 4 yr after its establishment. Data were compared to a previous study, conducted 10 yr before protection was effective. Control-effect comparisons after reserve establishment showed a positive response of legal-size demersal fish and below legal-size target invertebrates. The first evidence of protection was found in biomass but not in numbers. Non-target groups and below legal-size demersal fish had a significant interaction among reserve and habitat complexity indices for either density or biomass, suggesting a lack of a reserve effect. Before-after comparisons revealed non-significant patterns of increase in numbers of target species compared to non-target ones. The most important commercial species showed the largest increase in density after protection was established. Significantly higher abundances and proportionally heavier individuals of these species were also found inside the reserve in the control-effect comparisons. These findings are reinforced by an increasing trend in landings which are consistent with the early detection of a reserve effect.