Variable Recruitment in Bundles of Miniature Pneumatic Artificial Muscles and Space Qualified Pneumatic Artificial Muscles

The natural compliance and force generation properties of pneumatic artificial muscles (PAMs) allow them to operate like human muscles in anthropomorphic robotic manipulators. Traditionally, manipulators use a single PAM or multiple PAMs actuated in unison in place of a human muscle. However, these manipulators experience efficiency losses when operated outside their target performance ranges. The unidirectional actuation behavior of a miniature PAM bundle and bidirectional actuation behavior of an antagonistic pair of miniature PAM bundles are characterized and modeled. The results are used to motivate the application of a variable recruitment control strategy to a parallel bundle of miniature PAMs as an attempt to mimic the selective recruitment of motor units in a human muscle to improve the operating efficiency of the actuator. Additionally, the fabrication and quasi-static testing results for PAMs assembled from candidate space qualified bladder and braided sleeve materials for use in space robotics are assessed.

Species Trends in Sport Fisheries, Monterey Bay, Calif., 1959-86

Three surveys spanning 28 years were examined for changes in species caught by recreational fishermen from small boats (skiffs) and commercial passenger fishing vessels (CPFV's) in California's Monterey Bay region. As fishing effort increased, the catch of certain nearshore species of rockfish, Sebastes spp., declined. CPFV fishing was conducted farther from port and in deeper water to compensate for declining abundance while most skiffs remained in traditional areas close to port. The trend toward deeper water CPFV fishing has been interrupted only temporarily by increased availability of nearshore species. Life history characteristics of rockfish including residential behavior, variable recruitment, and natural longevity contribute to a vulnerability to localized overfishing for several species.

Genetically monomorphic brown trout (Salmo trutta L.) populations as revealed by mitochondrial DNA, multi-locus and single-locus minisatellite (VNTR) analyses.

Normally, populations of brown trout are genetically highly variable. Two adjacent populations from NW Scotland, which had previously been found to be monomorphic for 46 protein-coding loci, were studied by higher resolution techniques. Analyses of mitochondrial DNA, multilocus DNA fingerprints and eight specific minisatellite loci revealed no genetic variation among individuals or genetic differences between the two populations. Continual low effective population sizes or severe repeated bottlenecks, as a result of low or variable recruitment, probably explain the atypical absence of genetic variation in these trout populations. Growth data do not provide any evidence of a reduction in fitness in trout from these populations.

Population dynamics of blue mussels in a variable environment at the edge of their range

Spatial and temporal variation in the abundance of species can often be ascribed to spatial and temporal variation in the surrounding environment. Knowledge of how biotic and abiotic factors operate over different spatial and temporal scales in determining distribution, abundance, and structure of populations lies at the heart of ecology. The major part of the current ecological theory stems from studies carried out in central parts of the distributional range of species, whereas knowledge of how marginal populations function is inadequate. Understanding how marginal populations, living at the edge of their range, function is however in a key position to advance ecology and evolutionary biology as scientific disciplines. My thesis focuses on the factors affecting dynamics of marginal populations of blue mussels (Mytilus edulis) living close to their tolerance limits with regard to salinity. The thesis aims to highlight the dynamics at the edge of the range and contrast these with dynamics in more central parts of the range in order to understand the potential interplay between the central and the marginal part in the focal system. The objectives of the thesis are approached by studies on: (1) factors affecting regional patterns of the species, (2) long-term temporal dynamics of the focal species spaced along a regional salinity gradient, (3) selective predation by increasing populations of roach (Rutilus rutilus) when feeding on their main food item, the blue mussel, (4) the primary and secondary effects of local wave exposure gradients and (5) the role of small-scale habitat heterogeneity as determinants of large-scale pattern. The thesis shows that populations of blue mussels are largely determined by large scale changes in sea water salinity, affecting mainly recruitment success and longevity of local populations. In opposite to the traditional view, the thesis strongly indicate that vertebrate predators strongly affect abundance and size structure of blue mussel populations, and that the role of these predators increases towards the margin where populations are increasingly top-down controlled. The thesis also indicates that the positive role of biogenic habitat modifiers increases towards the marginal areas, where populations of blue mussels are largely recruitment limited. Finally, the thesis shows that local blue mussel populations are strongly dependent on high water turbulence, and therefore, dense populations are constrained to offshore habitats. Finally, the thesis suggests that ongoing sedimentation of rocky shores is detrimental for the species, affecting recruitment success and post-recruit survival, pushing stable mussel beds towards offshore areas. Ongoing large scale changes in the Baltic Sea, especially dilution processes with attendant effects, are predicted to substantially contract the distributional range of the mussel, but also affect more central populations. The thesis shows that in order to understand the functioning of marginal populations, research should (1) strive for multi-scale approaches in order to link ecosystem patterns with ecosystem processes, and (2) challenge the prevailing tenets that origin from research carried out in central areas that may not be valid at the edge.

Life-stage recruitment models for Atlantic cod (Gadus morhua) and haddock (Melanogrammus aeglefinus) on Georges Bank

Ichthyoplankton surveys have been used to provide an independent estimate of adult spawning biomass of commercially exploited species and to further our understanding of the recruitment processes in the early life stages. However, predicting recruitment has been difficult because of the complex interaction of physical and biological processes operating at different spatial and temporal scales that can occur at the different life stages. A model of first-year life-stage recruitment was applied to Georges Bank Atlantic cod (Gadus morhua) and haddock (Melanogrammus aeglefinus) stocks over the years 1977–2004 by using environmental and densitydependent relationships. The best lifestage mortality relationships for eggs, larvae, pelagic juveniles, and demersal juveniles were first determined by hindcasting recruitment estimates based on egg and larval abundance and mortality rates derived from two intensive sampling periods, 1977–87 and 1995–99. A wind-driven egg mortality relationship was used to estimate losses due to transport off the bank, and a wind-stress larval mortality relationship was derived from feeding and survival studies. A simple metric for the density-dependent effects of Atlantic cod was used for both Atlantic cod and haddock. These life stage proxies were then applied to the virtual population analysis (VPA) derived annual egg abundances to predict age-1 recruitment. Best models were determined from the correlation of predicted and VPA-derived age-1 abundance. The larval stage was the most quantifiable of any stage from surveys, whereas abundance estimates of the demersal juvenile stage were not available because of undersampling. Attempts to forecast recruitment from spawning stock biomass or egg abundance, however, will always be poor because of variable egg survival.

The role of substrate, flow and larval supply to recruitment of the red abalone (Haliotis rufescens)

Precipitous declines in wild populations of the red abalone Haliotis rufescens and the eventual closure of the commercial and southern recreational fishery have led to renewed interest in supplementing wild stocks with hatchery-raised individuals. Most work to date has focused on releasing small juveniles and has had limited success. Although much is known about larval settlement, juvenile survivorship and growth of abalone, there is scanty information on natural processes in the field. The failure of many regulated fisheries worldwide suggests that both the larval and juvenile stages may be important in determining the future population, and that early juvenile mortality is more important than previously believed. This paper presents a series of experiments designed to examine factors and mechanisms that could affect settlement, survivorship, and growth of larvae and early post-settlers in the field. Laboratory trials under different flow regimes showed that red abalone larvae settled preferentially on substrates encrusted with coralline algae, and that settlement was rapid when exposed to crusts compared to other surfaces. Urchin grazing of films appeared to facilitate abalone settlement but only when urchins were removed. Initial field experiments showed that released larvae settled on natural cobble rock, and that settlement was at least one order of magnitude greater when settlement habitats were tented. I then examined post-settlement survivorship at one and two days after settlement, and found that although there was a large amount of variation, on average 10% of released larvae were found as newly-settled recruits after 1 day. Survivorship and growth of recruits were followed over at least one month in both Spring and Fall. Abalone settled at higher densities, survived better and grew faster in the warmer Fall months than in the Spring. The density of month-old abalone recruits was correlated with density of naturally-occurring gastropods in the Spring, but not in the Fall. These results suggest that settlement and survivorship can be extremely variable across space and time, and that oceanographic and local biotic conditions play a role and should be considered when planning larval seeding.

Recruitment of larval Atlantic menhaden (Brevoortia tyrannus) to North Carolina and New Jersey estuaries: evidence for larval transport northward along the east coast of the United States

Age, size, abundance, and birthdate distributions were compared for larval Atlantic menhaden (Brevoortia tyrannus) collected weekly during their estuarine recruitment seasons in 1989–90, 1990–91, and 1992–93 in lower estuaries near Beaufort, North Carolina, and Tuckerton, New Jersey, to determine the source of these larvae. Larval recruitment in New Jersey extended for 9 months beginning in October but was discontinuous and was punctuated by periods of no catch that were associated with low water temperatures. In North Carolina, recruitment was continuous for 5–6 months beginning in November. Total yearly larval density in North Carolina was higher (15–39×) than in New Jersey for each of the 3 years. Larvae collected in North Carolina generally grew faster than larvae collected in New Jersey and were, on average, older and larger. Birthdate distributions (back-calculated from sagittal otolith ages) overlapped between sites and included many larvae that were spawned in winter. Early spawned (through October) larvae caught in the New Jersey estuary were probably spawned off New Jersey. Larvae spawned later (November–April) and collected in the same estuary were probably from south of Cape Hatteras because only there are winter water temperatures warm enough (≥16°C) to allow spawning and larval development. The percentage contribution of these late-spawned larvae from south of Cape Hatteras were an important, but variable fraction (10% in 1992–93 to 87% in 1989–90) of the total number of larvae recruited to this New Jersey estuary. Thus, this study provides evidence that some B. tyrannus spawned south of Cape Hatteras may reach New Jersey estuarine nurseries.

Computer modelling and estimation of recruitment patterns of non-branching coral colonies at three sites in Wakatobi Marine Park, S.E. Sulawesi, Indonesia; implications for coral reef conservation

We have studied growth and estimated recruitment of massive coral colonies at three sites, Kaledupa, Hoga and Sampela, separated by about 1.5 km in the Wakatobi Marine National Park, S.E. Sulawesi, Indonesia. There was significantly higher species richness (P<0.05), coral cover (P<0.05) and rugosity (P<0.01) at Kaledupa than at Sampela. A model for coral reef growth has been developed based on a rational polynomial function, where dx/dt is an index of coral growth with time; W is the variable (for example, coral weight, coral length or coral area), up to the power of n in the numerator and m in the denominator; a1……an and b1…bm are constants. The values for n and m represent the degree of the polynomial, and can relate to the morphology of the coral. The model was used to simulate typical coral growth curves, and tested using published data obtained by weighing coral colonies underwater in reefs on the south-west coast of Curaçao [‘Neth. J. Sea Res. 10 (1976) 285’]. The model proved an accurate fit to the data, and parameters were obtained for a number of coral species. Surface area data was obtained on over 1200 massive corals at three different sites in the Wakatobi Marine National Park, S.E. Sulawesi, Indonesia. The year of an individual's recruitment was calculated from knowledge of the growth rate modified by application of the rational polynomial model. The estimated pattern of recruitment was variable, with little numbers of massive corals settling and growing before 1950 at the heavily used site, Sampela, relative to the reef site with little or no human use, Kaledupa, and the intermediate site, Hoga. There was a significantly greater sedimentation rate at Sampela than at either Kaledupa (P<0.0001) or Hoga (P<0.0005). The relative mean abundance of fish families present at the reef crests at the three sites, determined using digital video photography, did not correlate with sedimentation rates, underwater visibility or lack of large non-branching coral colonies. Radial growth rates of three genera of non-branching corals were significantly lower at Sampela than at Kaledupa or at Hoga, and there was a high correlation (r=0.89) between radial growth rates and underwater visibility. Porites spp. was the most abundant coral over all the sites and at all depths followed by Favites (P<0.04) and Favia spp. (P<0.03). Colony ages of Porites corals were significantly lower at the 5 m reef flat on the Sampela reef than at the same depth on both other reefs (P<0.005). At Sampela, only 2.8% of corals on the 5 m reef crest are of a size to have survived from before 1950. The Scleractinian coral community of Sampela is severely impacted by depositing sediments which can lead to the suffocation of corals, whilst also decreasing light penetration resulting in decreased growth and calcification rates. The net loss of material from Sampela, if not checked, could result in the loss of this protective barrier which would be to the detriment of the sublittoral sand flats and hence the Sampela village.

Recruitment dynamics of the grove-dominant tree Microberlinia bisulcata in African rain forest: extending the light response versus adult longevity trade-off concept

In groves of ectomycorrhizal caesalpiniaceous species in the Atlantic coastal forest of Central Africa the dominant tree Microberlinia bisulcata, which is shade-intolerant as a seedling but highly light-responding as a sapling, shows very limited regeneration. M. bisulcata saplings were mapped in an 82.5-ha plot at Korup and found to be located significantly far (>40 m) away from adults, a result confirmed by direct testing in a second 56-ha plot. Sapling growth over 6 years, the distribution of newly emerging seedlings around adults, recruitment of saplings in a large opening and the outward extent of seedlings at the grove edge were also investigated. Two processes appear to have been operating: (1) a very strong and consistent restriction of the very numerous seedlings establishing after masting close to adults, and (2) a strong but highly spatially variable promotion of distant survivors by increased light from the deaths of large trees of species other than M. bisulcata (which itself has very low mortality rate). This leads to an apparent escape-from-adults effect. To maintain saplings in the shade between multiple short periods of release ectomycorrhizal connections to other co-occurring caesalp species may enable a rachet-type mechanism. The recorded sapling dynamics currently contribute an essential part of the long-term cycling of the groves. M. bisulcata is an interesting example of an important group of tropical trees, particularly in Africa, which are both highly light-demanding when young yet capable also of forming very large forest emergents. To more comprehensively explain tropical tree responses, the case is made for adding a new dimension to the trade-off concept of early tree light-response versus adult longevity.

Can seed production and restricted dispersal limit recruitment in Pinus pinaster Aiton from the Spanish Northern Plateau?

Natural regeneration faces increasing difficulties in dry forests from the Mediterranean basin, including for normally well-regenerating species such as maritime pine (Pinus pinaster Aiton). In this paper, we studied female fertility, seed dispersal and spread rates in P. pinaster from the Spanish Northern Plateau, where natural regeneration failure is a main concern for forest managers. For this purpose we periodically collected data from seed traps and trees located at two core locations across several years. We found significant variation in interannual cone production, with the best seed trees being the same across years. In addition, we found highly skewed distributions of female reproductive effort and large fertility differences across stands located few kilometres away. Annual seed dispersal kernels fitted lognormal or 2Dt models depending on the stand analysed, with median dispersal distances between 14 and 25 m. Kernels fitted for maximum dispersal periods showed an outstanding intraseasonal variation of median dispersal distances, from 10 to 54 m, in association to variable patterns of rainfall and maximum wind speed. The amount of seed produced appeared to be enough to guarantee the natural regeneration of the stands during the typical 20-year regeneration period. Colonisation simulations concluded that Mediterranean maritime pine has a notable dispersion capacity, which is strongly influenced by levels of fecundity and, especially, by the number and frequency of long-distance dispersal events. The latter play a key role in tree dispersion processes through enlarging the occupied area and fostering the invasion of abandoned crop land.

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