In the world, research on autonomous navigation vehicles (AGV) is growing by the day. The goal with this project was to create an AGV and explore the possibility of using infrared reflections as a navigational method and how to achieve distinct reflection measurements from a surface. The thesis also discusses the possibility of using several units on a larger scale. In the progress of the project, a prototype vehicle was built to conduct the experiments to identify the suitability of infrared navigation. The testing of the prototype shows that navigation by IR can be very reliable under controlled circumstances. The project also explored how hierarchical software architecture stands in comparison to purely local or centralized software architecture. / I världen växer forskning på självgående fordon dagligen. Målet med detta projekt var att skapa ett självgående fordon och utforska möjligheterna att använda infraröda reflektioner som navigeringsmetod och hur man kan uppnå distinkta mätvärden. Avhandlingen diskuterar även möjligheterna att använda flera prototyper i en större skala. Under projektets gång byggdes ett prototypfordon för att genomföra experimenten angående lämpligheten med navigering via infrarött ljus. Tester med prototypen visar att navigering via infrarött ljus är väldigt pålitligt under kontrollerade omständigheter. Projektet utforskar även hur hierarkisk mjukvaruarkitektur står sig mot helt lokal eller centraliserad mjukvaruarkitektur.

No description available.

Blue Catfish Ictalurus furcatus are native to tributaries of the Mississippi River but are now invasive in several Atlantic slope drainages. This includes subestuaries of the Chesapeake Bay, where their feeding ecology and potential impact on native species was largely unknown. We collected stomach contents from 16,110 Blue Catfish at 698 sites in three large subestuaries of the Chesapeake Bay (James, York, Rappahannock rivers). Cumulative prey curves revealed that sample size was sufficient for diet description, though 1,000 – 1500 stomachs were needed per river. Blue Catfish are opportunistic generalists that feed on a broad array of plant and animal material. Logistic regression models reveal that Blue Catfish undergo significant ontogenetic diet shifts to piscivory at larger sizes (P<0.01) though the lengths at which these shifts occur varies by river system (500 – 900 mm total length; TL). Over 60% of Blue Catfish stomachs contained other invasive species, primarily Hydrilla verticillata and Asian clams Corbicula fluminea. Canonical Correspondence Analysis (CCA) revealed that salinity and season explained the most variation in Blue Catfish diet, while Generalized Additive Models (GAMs) demonstrated that there is considerable spatiotemporal and length-based variation in predation of species of concern. Species of concern include American Shad, American Eel, and river herring, which are imperiled, and blue crab, which support valuable fisheries in Chesapeake Bay. Predation of American Shad, American Eel, and river herring was rare (max predicted occurrence in Blue Catfish diets = 8%), while blue crab was much more common in the diet (max predicted occurrence =28%). Predation of American Shad and river herring peaks in freshwater areas in April, while predation of blue crab peaks in brackish areas in October. Predation of all species of concern is highest for large catfish (500 – 1000 mm TL). Field and laboratory-based estimates of consumption rate revealed that Blue Catfish feed at similar rates as Channel Catfish Ictalurus punctatus, and daily ration is estimated to be 2-5% bodyweight per day during warm temperatures, while peak feeding (maximum daily ration) can approach 10% bodyweight per day. While consumption of imperiled species is rare, Blue Catfish could still have negative impacts on these species due to dense catfish populations. / Ph. D.

Harmonia axyridis is a ladybird native to Asia, but introduced widely as a biocontrol agent. It is invasive and detrimental to native species in North America, which meant its arrival in Britain was met with concern. Establishment was seen as an opportunity to track the spread of an invasive alien species (IAS) whilst also monitoring impacts on native species. The aims of this thesis were to examine the responses of native British ladybirds to the arrival of H. axyridis, to establish the effect of the IAS on native ladybirds when compared to other drivers, and to investigate the possible facilitation of the H. axyridis invasion by natural enemy release. Modelling ladybird distributions with life-history and resource-use traits found that species predatory on a wide range of prey families had larger range sizes than those which ate fewer prey types. This suggests that the wide diet breadth of the IAS is likely to have played a critical role in the species’ rapid spread. Dietary niche overlap between H. axyridis and native ladybirds showed positive correlation with declines of native ladybirds. This indicates that the IAS is playing an important role, but the significance of urbanisation suggests habitat destruction is also significant. Abundance of H. axyridis was influenced by habitat type and aphid abundance, but not by the native ladybird community, suggesting the spread of the IAS will not be slowed by biotic resistance. Harmonia axyridis is attacked by native parasitoids, but at a much lower rate than is the native Coccinella septempunctata, in line with natural-enemy release theory. There was no evidence of attack rate increasing with time since arrival in an area. Overall, H. axyridis is an extremely successful IAS, with detrimental effects on native ladybirds which are likely to continue.

Recruitment of pelagic fish populations is believed to be regulated during the planktonic larval stage due to high rates of mortality during the early life stages. Starvation is thought to be one of the main sources of mortality, despite the fact that there is rarely a strong correlation between the feeding success of larval fish and food availability as measured in the field. This lack of relationship may be caused in part by (i) inadequate sampling of larval fish prey and (ii) the use of total zooplankton abundance or biomass as proxies for larval food availability. Many feeding studies rely on measures of average prey abundance which do not adequately capture the variability, or patchiness, of the prey field as experienced by larval fish. Previous studies have shown that larvae may rely on these patches to increase their feeding success. I assess the variability in the availability of larval fish prey over a range of scales and model the small-scale distribution of prey in Conception Bay, Newfoundland. I show that the greatest variability in zooplankton abundance existed at the meter scale, and that larval fish prey were not randomly distributed within the upper mixed layer. This will impact both how well we can model the stochastic nature of larval fish cohorts, as well as how well we can study larval fish feeding from gut content analyses. Expanding on six years of previous lab and field studies on larval Radiated Shanny (Ulvaria subbifurcata) from Conception Bay, Newfoundland, I assess the feeding success, niche breadth (S) and weight-specific feeding rates (SPC, d-1) of the larvae to determine whether there are size-based patterns evident across the years. I found that both the amount of food in the guts and the niche breadth of larvae increased with larval size. There was a shift from low to high SPC with increasing larval size, suggesting that foraging success increases as the larvae grow. My results suggest that efforts should be made to estimate the variability of prey abundance at scales relevant to larval fish foraging rather than using large-scale average abundance estimates, since small-scale prey patchiness likely plays a role in larval fish feeding dynamics. In addition, the characteristics of zooplankton (density, size and behaviour) should be assessed as not all zooplankton are preyed upon equally by all sizes of larval fish. Overall, this thesis demonstrates that indices based on averages fail to account for the variability in the environment and in individual larval fish, which may be confounding the relationship between food availability and larval growth.

Recruitment of pelagic fish populations is believed to be regulated during the planktonic larval stage due to high rates of mortality during the early life stages. Starvation is thought to be one of the main sources of mortality, despite the fact that there is rarely a strong correlation between the feeding success of larval fish and food availability as measured in the field. This lack of relationship may be caused in part by (i) inadequate sampling of larval fish prey and (ii) the use of total zooplankton abundance or biomass as proxies for larval food availability. Many feeding studies rely on measures of average prey abundance which do not adequately capture the variability, or patchiness, of the prey field as experienced by larval fish. Previous studies have shown that larvae may rely on these patches to increase their feeding success. I assess the variability in the availability of larval fish prey over a range of scales and model the small-scale distribution of prey in Conception Bay, Newfoundland. I show that the greatest variability in zooplankton abundance existed at the meter scale, and that larval fish prey were not randomly distributed within the upper mixed layer. This will impact both how well we can model the stochastic nature of larval fish cohorts, as well as how well we can study larval fish feeding from gut content analyses. Expanding on six years of previous lab and field studies on larval Radiated Shanny (Ulvaria subbifurcata) from Conception Bay, Newfoundland, I assess the feeding success, niche breadth (S) and weight-specific feeding rates (SPC, d-1) of the larvae to determine whether there are size-based patterns evident across the years. I found that both the amount of food in the guts and the niche breadth of larvae increased with larval size. There was a shift from low to high SPC with increasing larval size, suggesting that foraging success increases as the larvae grow. My results suggest that efforts should be made to estimate the variability of prey abundance at scales relevant to larval fish foraging rather than using large-scale average abundance estimates, since small-scale prey patchiness likely plays a role in larval fish feeding dynamics. In addition, the characteristics of zooplankton (density, size and behaviour) should be assessed as not all zooplankton are preyed upon equally by all sizes of larval fish. Overall, this thesis demonstrates that indices based on averages fail to account for the variability in the environment and in individual larval fish, which may be confounding the relationship between food availability and larval growth.

Biodiversity is determined by a myriad of complex processes acting at different scales. Given the current rates of biodiversity loss and change, it is of paramount importance that we improve our understanding of the underlying structure of ecological communities. In this thesis, I focused on Species Abundance Distributions (SAD), as a synthetic measure of biodiversity and community structure, and on Beta (β) diversity patterns, as a description of the spatial variation of species composition. I systematically assessed the effect of scale on both these patterns, analysing a broad range of community data, including different taxa and habitats, from the terrestrial, marine and freshwater realms. Knowledge of the scaling properties of abundance and compositional patterns must be fully integrated in biodiversity research if we are to understand biodiversity and the processes underpinning it, from local to global scales. SADs depict the relative abundance of the species present in a community. Although typically described by unimodal logseries or lognormal distributions, empirical SADs can also exhibit multiple modes. However, the existence of multiple modes in SADs has largely been overlooked, assumed to be due to sampling errors or a rare pattern. Thus, we do not know how prevalent multimodality is, nor do we have an understanding of the factors leading to this pattern. Here, I provided the first global empirical assessment of the prevalence of multimodality across a wide range of taxa, habitats and spatial extents. I employed an improved method combining two model selection tools, and (conservatively) estimated that ~15% of the communities were multimodal with strong support. Furthermore, I showed that the pattern is more common for communities at broader spatial scales and with greater taxonomic diversity (i.e. more phylogenetically diverse communities, since taxonomic diversity was measured as number of families). This suggests a link between multimodality and ecological heterogeneity, broadly defined to incorporate the spatial, environmental, taxonomic and functional variability of ecological systems. Empirical understanding of how spatial scale affects SAD shape is still lacking. Here, I established a gradient in spatial scale spanning several orders of magnitude by decomposing the total extent of several datasets into smaller subsets. I performed an exploratory analysis of how SAD shape is affected by area sampled, species richness, total abundance and taxonomic diversity. Clear shifts in SAD shape can provide information about relevant ecological and spatial mechanisms affecting community structure. There was a clear effect of area, species richness and taxonomic diversity in determining SAD shape, while total abundance did not exhibit any directional effect. The results supported the findings of the previous analysis, with a higher prevalence of multimodal SADs for larger areas and for more taxonomically diverse communities, while also suggesting that species spatial aggregation patterns can be linked to SAD shape. On the other hand, there was a systematic departure from the predictions of two important macroecological theories for SAD across scales, specifically regarding logseries distributions being selected only for smaller scales and when species richness and number of families were proportionally much smaller than the total extent. β diversity quantifies the variation in species composition between sites. Although a fundamental component of biodiversity, its spatial scaling properties are still poorly understood. Here, I tested if two conceptual types of β diversity showed systematic variation with scale, while also explicitly accounting for the two β diversity components, turnover and nestedness (species replacement vs species richness differences). I provided the first empirical analysis of β diversity scaling patterns for different taxa, revealing remarkably consistent scaling curves. Total β diversity and turnover exhibit a power law decay with log area, while nestedness is largely insensitive to scale changes. For the distance decay of similarity analysis, while area sampled affected the overall dissimilarity values, rates of similarity were consistent across large variations in sampled area. Finally, in both these analyses, turnover was the main contributor to compositional change. These results suggest that species are spatially aggregated across spatial scales (from local to regional scales), while also illustrating that substantial change in community structure might occur, despite species richness remaining relatively stable. This systematic and comprehensive analysis of SAD and community similarity patterns highlighted spatial scale, ecological heterogeneity and species spatial aggregation patterns as critical components underlying the results found. This work expanded the range of scales at which both theories deriving SAD and community similarity studies have been developed and tested (from local plots to continents). The results here showed strong departures from two important macroecological theories for SAD at different scales. In addition, the overall findings in this thesis clearly indicate that unified theories of biodiversity (or assuming a set of synthetic minimal assumptions) are unable to accommodate the variability in SADs shape across spatial scales reported here, and cannot fully reproduce community similarity patterns across scales. Incorporating more realistic assumptions, or imposing scale dependent assumptions, may prove to be a fruitful avenue for ecological research regarding the scaling properties of SAD and community similarity patterns. This will allow deriving new predictions and improving the ability of theoretical models to incorporate the variability in abundance and similarity patterns across scales.

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / This dissertation presents information on (1) the advertisement and aggressive calls of Crossodactylus schmidti and on (2) the species diet and its relationship with prey availability. The study was conducted with populations from the Parque Estadual do Turvo, located in the northwestern region of Rio Grande do Sul, Brazil. The park has an area of 17,491.4 ha and constitutes the largest preserved remnant of Mesophytic Semideciduous Forest in the state of Rio Grande do Sul. The advertisement and aggressive calls of C. schmidti were described based on vocalizations of seven individuals recorded between October 2009 and February 2010. Compared to the advertisement calls described for other species of the genus, the advertisement call of C. schmidti differs in the temporal structure by having fewer notes per call and longer intervals between notes, and in the spectral structure by having lower values of dominant frequency. The aggressive call of C. schmidti is a variation of the advertisement call, which is similar to this in the note duration and dominant frequency values, but is a longer call, having fewer notes with longer intervals between them. The advertisement and aggressive calls of C. schmidti may be emitted separately, or the aggressive call may be followed by the advertisement call. The diet of C. schmidti was evaluated from September 2009 to March 2010, based on 93 stomach contents obtained by the technique of regurgitation (n= 80) and analysis of stomach contents of collected specimens (n= 13). In this study we determined the diet niche breadth, evaluated the relationship of diet composition with prey availability in the environment, and we also looked for ontogenetic and sexual changes and composition differences in the diet. Nineteen categories of prey were consumed, and ants, beetles and flies presented the highest importance values. Despite the varied diet, the diet niche breadth was low, with few prey categories predominantly consumed. Ants, flies and spiders were consumed in similar proportion to that estimated in the environment. There was no relationship between mouth width and length and/or volume of prey consumed, but the differences in diet composition between males and females, and between adults and juveniles, were significant. Considering the varied diet, the relationship between the most important items of diet with their availability in the environment, and the narrow niche breadth found, C. schmidti seems to be an opportunistic forager with feeding habits similar to other species of the genus. The similarities in the importance of items such as ants, beetles, flies and insect larvae in diet of C. schmidti and other species of the genus suggest a strong phylogenetic influence. / A presente dissertação apresenta informações sobre (1) o canto de anúncio e o canto agressivo de Crossodactylus schmidti, e sobre (2) a dieta da espécie e sua relação com a disponibilidade de presas. O estudo foi conduzido com populações do Parque Estadual do Turvo, localizado na região noroeste do Rio Grande do Sul, Brasil. O parque possui uma área de 17.491,4 ha e constitui o maior remanescente preservado de Floresta Estacional Semidecídua do estado do Rio Grande do Sul. Os cantos de anúncio e agressivo de C. schmidti foram descritos a partir de vocalizações de sete indivíduos gravadas entre outubro de 2009 e fevereiro de 2010. Comparado aos cantos de anúncio descritos para outras espécies do gênero, o de C. schmidti difere na estrutura temporal por apresentar menor número de notas por canto e maior intervalo entre as notas, e, na estrutura espectral, difere por apresentar menores valores de frequência dominante. O canto agressivo de C. schmidti é uma variação do canto de anúncio, sendo semelhante a este na duração das notas e nos valores de freqüência dominante, mas é um canto mais longo, possuindo menor número de notas e maior intervalo entre elas. O canto de anúncio e o canto agressivo de C. schmidti podem ser emitidos isoladamente ou pode ser emitido o canto agressivo seguido do canto de anúncio. A dieta de C. schmidti foi avaliada de setembro de 2009 a março de 2010, a partir de 93 conteúdos estomacais obtidos através da técnica de regurgitação (n= 80) e da análise dos conteúdos estomacais de espécimes coletados (n= 13). Nesse trabalho, determinamos a amplitude do nicho alimentar da espécie, avaliamos a relação da dieta com a disponibilidade de presas no ambiente e testamos as diferenças ontogenéticas e sexuais na composição da dieta. Dezenove categorias de presas foram consumidas, sendo formigas, besouros e dípteros as que apresentaram os maiores valores de importância. Apesar da dieta variada, a amplitude alimentar foi baixa, com poucas categorias de presas consumidas predominantemente. Formigas, dípteros e aranhas foram consumidas em proporção semelhante à estimada no ambiente. Não houve relação entre a largura da boca e o comprimento médio e/ou volume das presas consumidas, mas as diferenças na composição da dieta entre machos e fêmeas e entre adultos e juvenis foram significativas. Considerando a dieta variada, a relação entre os itens mais importantes da dieta com sua disponibilidade e a estreita amplitude do nicho alimentar, C. schmidti parece ser um forrageador oportunista de hábito alimentar similar aos de outras espécies do gênero. As semelhanças na importância de itens como formigas, besouros, dípteros e larvas de insetos na dieta C. schmidti e na de outras espécies do gênero sugere uma forte influência filogenética.

Nondeterministic finite automaton is an important tool, which is used to process strings in many different areas of programming. It is important to try to reduce its size for increasing programs' effectiveness. However, this problem is computationally hard, so we need to search for new techniques. Basics of finite automata are described in this work. Some methods for their reduction are then introduced. Usable reduction algorithms are described in greater detail. Then they are implemented and tested. The test results are finally evaluated.

No description available.