Katsufumi Sato

Can Ethograms Be Automatically Generated Using Body Acceleration Data from Free-Ranging Birds?

An ethogram is a catalogue of discrete behaviors typically employed by a species. Traditionally animal behavior has been recorded by observing study individuals directly. However, this approach is difficult, often impossible, in the case of behaviors which occur in remote areas and/or at great depth or altitude. The recent development of increasingly sophisticated, animal-borne data loggers, has started to overcome this problem. Accelerometers are particularly useful in this respect because they can record the dynamic motion of a body in e.g. flight, walking, or swimming. However, classifying behavior using body acceleration characteristics typically requires prior knowledge of the behavior of free-ranging animals. Here, we demonstrate an automated procedure to categorize behavior from body acceleration, together with the release of a user-friendly computer application, “Ethographer”. We evaluated its performance using longitudinal acceleration data collected from a foot-propelled diving seabird, the European shag, Phalacrocorax aristotelis. The time series data were converted into a spectrum by continuous wavelet transformation. Then, each second of the spectrum was categorized into one of 20 behavior groups by unsupervised cluster analysis, using k-means methods. The typical behaviors extracted were characterized by the periodicities of body acceleration. Each categorized behavior was assumed to correspond to when the bird was on land, in flight, on the sea surface, diving and so on. The behaviors classified by the procedures accorded well with those independently defined from depth profiles. Because our approach is performed by unsupervised computation of the data, it has the potential to detect previously unknown types of behavior and unknown sequences of some behaviors.

Factors affecting stroking patterns and body angle in diving Weddell seals under natural conditions

SUMMARY Aquatic animals use a variety of strategies to reduce the energetic cost of locomotion. Efficient locomotion is particularly important for breath-holding divers because high levels of exercise may quickly deplete oxygen reserves, leading to the termination of a dive. We investigated the swimming behavior of eight adult Weddell seals, which are proficient divers, in McMurdo Sound, Antarctica. A newly developed data logger was attached to free-ranging females at their own breeding sites to record swimming speed, depth, two-dimensional accelerations (stroke frequency and body angle) and temperature. All seals conducted multiple deep dives (the mean dive depth range for each animal was 223.3±66.5–297.9±164.7 m). Prolonged gliding while descending was observed with thinner females (N=5 seals). But the fatter females (N=3 seals) exhibited only swim-and-glide swimming, characterized by intermittent stroking and fluctuating swim speed, throughout their descent and ascent. The body angles of four of the seals were restricted to less than 30° by the location of breathing holes in the ice and the slope of local bathymetric features. Of these four, the three fatter seals adopted the stroke-and-glide method while the other thinner seal descended with prolonged periods of gliding. Prolonged gliding seems to be a more efficient method for locomotion because the surface time between dives of gliding seals was significantly less than that of stroking animals, despite their same stroke frequencies.

Stroke frequency, but not swimming speed, is related to body size in free-ranging seabirds, pinnipeds and cetaceans

It is obvious, at least qualitatively, that small animals move their locomotory apparatus faster than large animals: small insects move their wings invisibly fast, while large birds flap their wings slowly. However, quantitative observations have been difficult to obtain from free-ranging swimming animals. We surveyed the swimming behaviour of animals ranging from 0.5 kg seabirds to 30 000 kg sperm whales using animal-borne accelerometers. Dominant stroke cycle frequencies of swimming specialist seabirds and marine mammals were proportional to mass−0.29 (R2=0.99, n=17 groups), while propulsive swimming speeds of 1–2 m s−1 were independent of body size. This scaling relationship, obtained from breath-hold divers expected to swim optimally to conserve oxygen, does not agree with recent theoretical predictions for optimal swimming. Seabirds that use their wings for both swimming and flying stroked at a lower frequency than other swimming specialists of the same size, suggesting a morphological trade-off with wing size and stroke frequency representing a compromise. In contrast, foot-propelled diving birds such as shags had similar stroke frequencies as other swimming specialists. These results suggest that muscle characteristics may constrain swimming during cruising travel, with convergence among diving specialists in the proportions and contraction rates of propulsive muscles.

Stroke and glide of wing-propelled divers: deep diving seabirds adjust surge frequency to buoyancy change with depth

In order to increase locomotor efficiency, breath–holding divers are expected to adjust their forward thrusts in relation to changes of buoyancy with depth. Wing propulsion during deep diving by Brünnichs guillemots (Uria lomvia) was measured in the wild by high–speed (32 Hz) sampling of surge (tail–to–head) and heave (ventral–to–dorsal) accelerations with bird–borne data loggers. At the start of descent, the birds produced frequent surges (3.2 Hz) during both the upstroke and the downstroke against buoyancy to attain a mean speed of 1.2–1.8 m s–1 that was close to the expected optimal swim speed. As they descended deeper, the birds decreased the frequency of surges to 2.4 Hz, relaying only on the downstroke. During their ascent, they stopped stroking at 18 m depth, after which the swim speed increased to 2.3 m s–1, possibly because of increasing buoyancy as air volumes expanded. This smooth change of surge frequency was achieved while maintaining a constant stroke duration (0.4–0.5 s), presumably allowing efficient muscle contraction.

Key Questions in Marine Megafauna Movement Ecology

It is a golden age for animal movement studies and so an opportune time to assess priorities for future work. We assembled 40 experts to identify key questions in this field, focussing on marine megafauna, which include a broad range of birds, mammals, reptiles, and fish. Research on these taxa has both underpinned many of the recent technical developments and led to fundamental discoveries in the field. We show that the questions have broad applicability to other taxa, including terrestrial animals, flying insects, and swimming invertebrates, and, as such, this exercise provides a useful roadmap for targeted deployments and data syntheses that should advance the field of movement ecology.

Penguin–mounted cameras glimpse underwater group behaviour

Marine birds and mammals spend most of their lives in the open ocean far from human observation, which makes obtaining information about their foraging behaviour difficult. Here, we show, by use of a miniaturized digital camera system, the first direct evidence (to our knowledge) of underwater group behaviour in free–ranging penguins. Penguins swim closely accompanied by other bird(s) during 24% of their possible foraging dives. This finding confirms that such miniaturized camera technology has broad applicability for advancing our knowledge about the previously unknown social interactions of marine animals at depth.

Swim speeds and stroke patterns in wing-propelled divers: a comparison among alcids and a penguin

SUMMARY In diving birds, the volume and resulting buoyancy of air spaces changes with dive depth, and hydrodynamic drag varies with swim speed. These factors are important in the dive patterns and locomotion of alcids that use their wings both for aerial flight and underwater swimming and of penguins that use their wings only for swimming. Using small data-loggers on free-ranging birds diving to 20–30 m depth, we measured depth at 1 Hz and surge and heave accelerations at 32–64 Hz of four species of alcids (0.6–1.0 kg mass) and the smallest penguin species (1.2 kg). Low- and high-frequency components of the fluctuation of acceleration yielded estimates of body angles and stroke frequencies, respectively. Swim speed was estimated from body angle and rate of depth change. Brünnichs (Uria lomvia) and common (Uria aalge) guillemots descended almost vertically, whereas descent of razorbills (Alca torda), rhinoceros auklets (Cerorhinca monocerata) and little penguins (Eudyptula minor) was more oblique. For all species, swim speed during descent was within a relatively narrow range. Above depths of 20–30 m, where they were all positively buoyant, all species ascended without wing stroking. During descent, little penguins made forward accelerations on both the upstroke and downstroke regardless of dive depth. By contrast, descending alcids produced forward accelerations on both upstroke and downstroke at depths of <10 m but mainly on the downstroke at greater depths; this change seemed to correspond to the decrease of buoyancy with increasing depth. The magnitude of surge (forward) acceleration during downstrokes was smaller, and that during upstrokes greater, in little penguins than in alcids. This pattern presumably reflected the proportionally greater mass of upstroke muscles in penguins compared with alcids and may allow little penguins to swim at less variable instantaneous speeds.

Regulation of stroke and glide in a foot-propelled avian diver.

SUMMARY Bottom-feeding, breath-hold divers would be expected to minimize transit time between the surface and foraging depth, thus maximizing the opportunities for prey capture during the bottom phase of the dive. To achieve this they can potentially adjust a variety of dive parameters, including dive angle and swim speed. However, because of predictable changes in buoyancy with depth, individuals would also be expected to adjust dive behavior according to dive depth. To test these predictions we deployed miniature, dorsally attached data-loggers that recorded surge and heave accelerations at 64 Hz to obtain the first detailed measurements of a foot-propelled diving bird, the European shag Phalacrocorax aristotelis, in the wild. The results were used to investigate biomechanical changes during the descent, ascent and bottom phases for dives varying between 7 m and 43 m deep. Shags descended and ascended almost vertically (60–90° relative to the sea surface). During descent, swim speed varied between 1.2–1.8 m s–1 and the frequency of the foot stroke used for propulsion decreased significantly with depth, mainly due to a fivefold increase in the duration of the glide between strokes. Birds appeared to maintain the duration and the maximum strength of power stroke and thus optimize muscle contraction efficiency.

Three-dimensional resting behaviour of northern elephant seals: drifting like a falling leaf

During their long migrations through the Pacific, northern elephant seals, Mirounga angustirostris, never haul out on land and they rarely spend more than a few minutes at a time at the surface. They are almost constantly making repetitive, deep dives, raising the question of when do they rest? One type of dive, the drift dive, characterized by a time-depth profile with a phase of lower than average descent speed is believed to be a resting dive. To examine the behaviour of seals during drift dives, we measured body position and three-dimensional diving paths of six juvenile seals. We found that seals rolled over and sank on their backs during the drift phase, wobbling periodically so that they resembled a falling leaf. This enabled seals to drastically slow their descent rate, possibly so that negatively buoyant seals can rest without ending up in the abyss. This reduces the work required to return to the surface to breath, and allows them time to rest, process food or possibly sleep during the descent phase of these dives where they are probably less susceptible to predation.

Body density affects stroke patterns in Baikal seals

SUMMARY Buoyancy is one of the primary external forces acting on air-breathing divers and it can affect their swimming energetics. Because the body composition of marine mammals (i.e. the relative amounts of lower-density lipid and higher-density lean tissue) varies individually and seasonally, their buoyancy also fluctuates widely, and individuals would be expected to adjust their stroke patterns during dives accordingly. To test this prediction, we attached acceleration data loggers to four free-ranging Baikal seals Phoca sibirica in Lake Baikal and monitored flipper stroking activity as well as swimming speed, depth and inclination of the body axis (pitch). In addition to the logger, one seal (Individual 4) was equipped with a lead weight that was jettisoned after a predetermined time period so that we had a set of observations on the same individual with different body densities. These four data sets revealed the general diving patterns of Baikal seals and also provided direct insights into the influence of buoyancy on these patterns. Seals repeatedly performed dives of a mean duration of 7.0 min (max. 15.4 min), interrupted by a mean surface duration of 1.2 min. Dive depths were 66 m on average, but varied substantially, with a maximum depth of 324 m. The seals showed different stroke patterns among individuals; some seals stroked at lower rates during descent than ascent, while the others had higher stroke rates during descent than ascent. When the lead weight was detached from Individual 4, the seal increased its stroke rate in descent by shifting swimming mode from prolonged glides to more stroke-and-glide swimming, and decreased its stroke rate in ascent by shifting from continuous stroking to stroke-and-glide swimming. We conclude that seals adopt different stroke patterns according to their individual buoyancies. We also demonstrate that the terminal speed reached by Individual 4 during prolonged glide in descent depended on its total buoyancy and pitch, with higher speeds reached in the weighted condition and at steeper pitch. A simple physical model allowed us to estimate the body density of the seal from the speed and pitch (1027-1046 kg m-3, roughly corresponding to 32-41% lipid content, for the weighted condition; 1014-1022 kg m-3, 43-47% lipid content, for the unweighted condition).