Alejandro F. Rozenfeld

Network analysis identifies weak and strong links in a metapopulation system

The identification of key populations shaping the structure and connectivity of metapopulation systems is a major challenge in population ecology. The use of molecular markers in the theoretical framework of population genetics has allowed great advances in this field, but the prime question of quantifying the role of each population in the system remains unresolved. Furthermore, the use and interpretation of classical methods are still bounded by the need for a priori information and underlying assumptions that are seldom respected in natural systems. Network theory was applied to map the genetic structure in a metapopulation system by using microsatellite data from populations of a threatened seagrass, Posidonia oceanica, across its whole geographical range. The network approach, free from a priori assumptions and from the usual underlying hypotheses required for the interpretation of classical analyses, allows both the straightforward characterization of hierarchical population structure and the detection of populations acting as hubs critical for relaying gene flow or sustaining the metapopulation system. This development opens perspectives in ecology and evolution in general, particularly in areas such as conservation biology and epidemiology, where targeting specific populations is crucial.

Biogeography Revisited with Network Theory: Retracing the History of Hydrothermal Vent Communities

Defining biogeographic provinces to understand the history and evolution of communities associated with a given kind of ecosystem is challenging and usually requires a priori assumptions to be made. We applied network theory, a holistic and exploratory method, to the most complete database of faunal distribution available on oceanic hydrothermal vents, environments which support fragmented and unstable ecosystems, to infer the processes driving their worldwide biogeography. Besides the identification of robust provinces, the network topology allowed us to identify preferential pathways that had hitherto been overlooked. These pathways are consistent with the previously proposed hypothesis of a role of plate tectonics in the biogeographical history of hydrothermal vent communities. A possible ancestral position of the Western Pacific is also suggested for the first time. Finally, this work provides an innovative example of the potential of network tools to unravel the biogeographic history of faunal assemblages and to supply comprehensive information for the conservation and management of biodiversity.

Spectrum of genetic diversity and networks of clonal organisms

Clonal reproduction characterizes a wide range of species including clonal plants in terrestrial and aquatic ecosystems, and clonal microbes such as bacteria and parasitic protozoa, with a key role in human health and ecosystem processes. Clonal organisms present a particular challenge in population genetics because, in addition to the possible existence of replicates of the same genotype in a given sample, some of the hypotheses and concepts underlying classical population genetics models are irreconcilable with clonality. The genetic structure and diversity of clonal populations were examined using a combination of new tools to analyse microsatellite data in the marine angiosperm Posidonia oceanica. These tools were based on examination of the frequency distribution of the genetic distance among ramets, termed the spectrum of genetic diversity (GDS), and of networks built on the basis of pairwise genetic distances among genets. Clonal growth and outcrossing are apparently dominant processes, whereas selfing and somatic mutations appear to be marginal, and the contribution of immigration seems to play a small role in adding genetic diversity to populations. The properties and topology of networks based on genetic distances showed a ‘small-world’ topology, characterized by a high degree of connectivity among nodes, and a substantial amount of substructure, revealing organization in subfamilies of closely related individuals. The combination of GDS and network tools proposed here helped in dissecting the influence of various evolutionary processes in shaping the intra-population genetic structure of the clonal organism investigated; these therefore represent promising analytical tools in population genetics.

Coordinated path following for multiple underactuated AUVs

This paper addresses the problem of coordinated path following whereby multiple underactuated marine crafts are required to follow a prescribed paths while keeping a desired inter-vehicle formation pattern. We show how Lyapunov- based techniques and graph theory can be brought together to yield a decentralized control structure where the dynamics of the cooperating vehicles and the constraints imposed by the topology of the inter-vehicle communications network are explicitly taken into account. Path following for each vehicle consists of converging the geometric error at the origin. Vehicle coordination is achieved by adjusting the speed of each vehicle along its path according to information on the positions and speeds of a subset of the other vehicles of the group. We illustrate our design procedure for three underwater marine craft. Simulations results are presented and discussed.

Evaluation of an Efficient Approach for Target Tracking from Acoustic Imagery for the Perception System of an Autonomous Underwater Vehicle

This article describes the core algorithms of the perception system to be included within an autonomous underwater vehicle (AUV). This perception system is based on the acoustic data acquired from side scan sonar (SSS). These data should be processed in an efficient time, so that the perception system is able to detect and recognize a predefined target. This detection and recognition outcome is therefore an important piece of knowledge for the AUVs dynamic mission planner (DMP). Effectively, the DMP should propose different trajectories, navigation depths and other parameters that will change the robots behaviour according to the perception system output. Hence, the time in which to make a decision is critical in order to assure safe robot operation and to acquire good quality data; consequently, the efficiency of the on-line image processing from acoustic data is a key issue. Current techniques for acoustic data processing are time and computationally intensive. Hence, it was decided to process data coming from a SSS using a technique that is used for radars, due to its efficiency and its amenability to on-line processing. The engineering problem to solve in this case was underwater pipeline tracking for routine inspections in the off-shore industry. Then, an automatic oil pipeline detection system was developed borrowing techniques from the processing of radar measurements. The radar technique is known as Cell Average – Constant False Alarm Rate (CA – CFAR). With a slight variation of the algorithms underlying this radar technique, which consisted of the previous accumulation of partial sums, a great improvement in computing time and effort was achieved. Finally, a comparison with previous approaches over images acquired with a SSS from a vessel in the Salvador de Bahia bay in Brazil showed the feasibility of using this on-board technique for AUV perception.

Experimental results on smooth path tracking with application to pipe surveying on inexpensive AUV

This paper details the development aspects of a low cost AUV autonomous, designed for autonomous pipline inspections, describing: hardware, software and control aspects. The article details three of the mains stages of the project, that have been already achieved: (a) the simulation results of Lyapunov based path planning of torpedo shaped AUV on pipe searching; (b) the construction details of dual torpedo AUV for pipeline inspection and (c) the experimental results when using the prototype in path following using the line of sight (LOS) algorithm.

Smooth path planning for autonomous pipeline inspections

This paper details a control method, used to guide an autonomous underwater vehicle (AUV) in the task of locating and tracking underwater pipeline and cables. The article details the simulation and experimental results of the navigation when searching for simulated pipes on the seabed in shallow waters.

Evolutionary and Ecological Trees and Networks

Evolutionary relationships between species are usually represented in phylogenies, i.e. evolutionary trees, which are a type of networks. The terminal nodes of these trees represent species, which are made of individuals and populations among which gene flow occurs. This flow can also be represented as a network. In this paper we briefly show some properties of these complex networks of evolutionary and ecological relationships. First, we characterize large scale evolutionary relationships in the Tree of Life by a degree distribution. Second, we represent genetic relationships between individuals of a Mediterranean marine plant, Posidonia oceanica, in terms of a Minimum Spanning Tree. Finally, relationships among plant shoots inside populations are represented as networks of genetic similarity.

Clone size distributions in networks of genetic similarity

We build networks of genetic similarity in which the nodes are organisms sampled from biological populations. The procedure is illustrated by constructing networks from genetic data of a marine clonal plant. An important feature in the networks is the presence of clone subgraphs, i.e. sets of organisms with identical genotype forming clones. As a first step to understand the dynamics that has shaped these networks, we point up a relationship between a particular degree distribution and the clone size distribution in the populations. We construct a dynamical model for the population dynamics, focussing on the dynamics of the clones, and solve it for the required distributions. Scale free and exponentially decaying forms are obtained depending on parameter values, the first type being obtained when clonal growth is the dominant process. Average distributions are dominated by the power law behavior presented by the fastest replicating populations.