The distinct ecological requirements of Microtus xanthognathus (yellow-cheeked vole or taiga vole) and M. pennsylvanicus (meadow vole) warrant accurate discrimination of their remains in studies of paleoecology and past biogeographical shifts. An occlusal length of the lower 1st molars (ml) that is >3.2 mm for M. xanthognathus is the method most frequently used to separate these 2 taxa in archaeological and paleontological samples. However, these measurements alone are unreliable because some specimens of M. pennsylvanicus overlap smaller individuals of M. xanthognathus in size. Therefore, I created and tested a morphometric technique that discriminates Recent lower 1st molars (mis) of M. pennsylvanicus from those of M. xanthognathus, and is applicable to other taxa (both modern and fossil). Despite overlapping occlusal length, my discriminant function based on landmark data correctly classified 100% (n = 53) of Recent m1s from the 2 taxa and 97.7% (43 of 44) of (assumed) m1s of M. pennsylvanicus from an archaeological site from about AD 1200 in central Nebraska. This landmark scheme is applicable to fossil and modern Microtus worldwide. © 2006 American Society of Mammalogists.

The paleobiology of the Pleistocene North American giant short-faced bear, Arctodus simus, has eluded paleontologists for decades. Its more gracile form has led past researchers to myriad intepretations of the locomotion and feeding ecology of this species. While earlier studies have focused on craniodental morphology and simple postcranial indices, it is forelimb morphology that represents a direct compromise between locomotor and foraging behavior. The study here uses traditional and 3D landmark morphometrics to more completely compare the 3-dimensional shape of the major forelimb elements and their muscle attachment sites between A. simus, extant ursids, and other carnivorans. Results herein agree well with previous studies and provide additional evidence for reduced abductor/adductor and supinator/pronator musculature, more restricted parasagittal motion, increased stride length, and lighter and more packed distal elements. Forelimb skeletal morphology therefore supports the hypothesis that A. simmus represents a bear in the early stages of cursorial evolution.

The artist discusses her Master of Fine Arts exhibition, Inside, Outside, In-Between, held at the Carroll Reece Museum on the campus of East Tennessee State University, Johnson City, Tennessee, from February 26 through March 13, 2008. The works included in this exhibition are a collection of paintings that employ the use of traditional and non-traditional materials to explore the connections between place and memory. These pieces are investigations into materiality and process, combining local beeswax, sticks, garden soil, charcoal, and ashes together with oil, shellac, oil pastel, pencil, and other traditional artist's materials. Ideas discussed include materiality, process, composition, cropping, collective and selective memory, landmarks, archaeology, gardening, borders and boundaries, parietal Paleolithic art and the art of the Abstract Expressionists, ritual, alchemy, time, liminality, and the influences of Michelle Stuart, Mary Frank, and Cai Guo-Qiang.

The present Thesis explored spatial reorientation behaviour of three species of fish (the zebrafish Danio rerio, the redtail splitfin fish Xenotoca eiseni, the goldfish Carassius auratus) and one species of reptiles (the Hermann tortoise Testudo hermanni) to widely assess three issues: 1) the use of environmental geometry with and without landmarks; 2) the role of two geometric tasks, one driven by spontaneous behaviour (“social-cued memory task”) and the other by learning processes (“rewarded exit task”); 3) the involvement of extra-visual sensory channels in visual transparency conditions, and motion patterns. The present Thesis applied behavioural assessments and analyses to pursue a line of comparison, across species, methodologies, and sensory systems. As regards environmental geometry and landmarks in fish and tortoises (Chapter 2), the studies were carried out within several apparatuses, that is, a rectangular opaque arena or two different sized square opaque arenas or a transparent square arena, with conspicuous or local landmarks: Study 1, Conspicuous landmark (blue wall) in zebrafish; Study 2: Local landmarks (corner panels) in zebrafish; Study 3, Environmental geometry in tortoises; Study 4, Conspicuous landmark (blue wall) in tortoises. As regards spontaneous vs. acquired geometric spatial reorientation in fishes (Chapter 3), the studies were carried out within a rectangular or square transparent arena, with or without geometric cues or a 3D landmark: Study 5, Nonvisual environmental geometry in zebrafish, redtail splitfin fish, and goldfish; Study 6, Isolated environmental geometric cues in zebrafish; Study 7, 3D outside landmark (blue cylinder) in zebrafish. As regards extra-visual sensory systems and motion patterns in fish (Chapter 4), one study was carried out within a rectangular transparent arena: Study 8, Lateral line pharmacological ablation in zebrafish. In respect of comparisons among species, overall results suggested that zebrafish, redtail splitfin fish, and goldfish reoriented similarly through transparent surfaces, which defined a distinctive global shape, supporting spatial reorientation under undefined situations (e.g., seek out food within a visually lacking and unenriched environment) as a shared skill among teleosts, despite ecological specificities. Likewise, the Hermann tortoise reoriented within a geometric environment with precision to meet a survival need, suggesting that even non-nomadic species that hibernate for long can benefit from orientation by extended terrain surfaces. In respect of memory tests (“working” vs. “reference”, spontaneous vs. acquired), overall results indicated that the rewarded exit task designed to train fish and tortoise to reorient required learning processes allowing them to overcome natural predispositions to improve other related abilities, such as landmark-use. The dissociation between working and reference memory in spatial domain must be considered highly dependent on task’s demands where attentional factors determine short-term memories and motivational states long-term ones. In respect of sensory channels and motion patterns, overall results revealed that fish and tortoises used modalities driven by touch, in synch with sight, to determine geometric parameters during spatial reorientation. Therefore, a promising link between other vertebrates and humans takes place, in consideration of orientation mechanisms used to face situations of visual deprivation or impairments. The present Thesis may even contribute to a general understanding of reorientation behaviour in phylogenetically remote vertebrate species, thus supporting the widespread use of geometry-grounded tools in everyday activities. This also provides comparative support among species that inhabit on Earth and share cognitive adaptations to deal with similar requests.

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京都大学 / 新制・課程博士 / 博士(医学) / 甲第23785号 / 医博第4831号 / 新制||医||1057(附属図書館) / 京都大学大学院医学研究科医学専攻 / (主査)教授 伊達 洋至, 教授 中本 裕士, 教授 鈴木 実 / 学位規則第4条第1項該当 / Doctor of Medical Science / Kyoto University / DFAM

To navigate successfully in a previously unexplored environment, a mobile robot must be able to estimate the spatial relationships of the objects of interest accurately. A Simultaneous Localization and Mapping (SLAM) sys- tem employs its sensors to build incrementally a map of its surroundings and to localize itself in the map simultaneously. The aim of this research project is to develop a SLAM system suitable for self propelled household lawnmowers. The proposed bearing-only SLAM system requires only an omnidirec- tional camera and some inexpensive landmarks. The main advantage of an omnidirectional camera is the panoramic view of all the landmarks in the scene. Placing landmarks in a lawn field to define the working domain is much easier and more flexible than installing the perimeter wire required by existing autonomous lawnmowers. The common approach of existing bearing-only SLAM methods relies on a motion model for predicting the robot’s pose and a sensor model for updating the pose. In the motion model, the error on the estimates of object positions is cumulated due mainly to the wheel slippage. Quantifying accu- rately the uncertainty of object positions is a fundamental requirement. In bearing-only SLAM, the Probability Density Function (PDF) of landmark position should be uniform along the observed bearing. Existing methods that approximate the PDF with a Gaussian estimation do not satisfy this uniformity requirement. This thesis introduces both geometric and proba- bilistic methods to address the above problems. The main novel contribu- tions of this thesis are: 1. A bearing-only SLAM method not requiring odometry. The proposed method relies solely on the sensor model (landmark bearings only) without relying on the motion model (odometry). The uncertainty of the estimated landmark positions depends on the vision error only, instead of the combination of both odometry and vision errors. 2. The transformation of the spatial uncertainty of objects. This thesis introduces a novel method for translating the spatial un- certainty of objects estimated from a moving frame attached to the robot into the global frame attached to the static landmarks in the environment. 3. The characterization of an improved PDF for representing landmark position in bearing-only SLAM. The proposed PDF is expressed in polar coordinates, and the marginal probability on range is constrained to be uniform. Compared to the PDF estimated from a mixture of Gaussians, the PDF developed here has far fewer parameters and can be easily adopted in a probabilistic framework, such as a particle filtering system. The main advantages of our proposed bearing-only SLAM system are its lower production cost and flexibility of use. The proposed system can be adopted in other domestic robots as well, such as vacuum cleaners or robotic toys when terrain is essentially 2D.