Search results for "Pose"
showing 10 items of 1189 documents
Social information use about novel aposematic prey is not influenced by a predator’s previous experience with toxins
2019
Aposematism is an effective antipredator strategy. However, the initial evolution and maintenance of aposematism are paradoxical because conspicuous prey are vulnerable to attack by naive predators. Consequently, the evolution of aposematic signal mimicry is also difficult to explain. The cost of conspicuousness can be reduced if predators learn about novel aposematic prey by observing another predator's response to that same prey. On the other hand, observing positive foraging events might also inform predators about the presence of undefended mimics, accelerating predation on both mimics and their defended models. It is currently unknown, however, how personal and social information combi…
Geographic mosaic of selection by avian predators on hindwing warning colour in a polymorphic aposematic moth
2020
AbstractWarning signals are predicted to develop signal monomorphism via positive frequency-dependent selection (+FDS) albeit many aposematic systems exhibit signal polymorphism. To understand this mismatch, we conducted a large-scale predation experiment in four locations, among which the frequencies of hindwing warning coloration of aposematic Arctia plantaginis differ. Here we show that selection by avian predators on warning colour is predicted by local morph frequency and predator community composition. We found +FDS to be strongest in monomorphic Scotland, and in contrast, lowest in polymorphic Finland, where different predators favour different male morphs. +FDS was also found in Geo…
Why aren't warning signals everywhere? : On the prevalence of aposematism and mimicry in communities
2021
Warning signals are a striking example of natural selection present in almost every ecological community - from Nordic meadows to tropical rainforests, defended prey species and their mimics ward off potential predators before they attack. Yet despite the wide distribution of warning signals, they are relatively scarce as a proportion of the total prey available, and more so in some biomes than others. Classically, warning signals are thought to be governed by positive density-dependent selection, i.e. they succeed better when they are more common. Therefore, after surmounting this initial barrier to their evolution, it is puzzling that they remain uncommon on the scale of the community. He…
Evaluating the potential for evolutionary mismatch in Batesian mimics: A case study in the endangered smooth snake (Coronella austriaca)
2018
Many harmless organisms gain a survival advantage by mimicking venomous species. This is the case of the endangered smooth snake (Coronella austriaca), which mimics venomous vipers. Although this may protect the smooth snake against most of its natural predators, it may render them at greater risk of mortality from humans, who are more inclined to kill species, such as vipers, that they consider dangerous. This may cause an evolutionary mismatch, whereby humans may counteract the natural advantage of mimicry. We explore this possibility of evaluating the willingness of humans to kill smooth snakes versus the adder (Vipera berus), as well as their ability to discern them in the Åland Islands…
Out in the open : behavior’s effect on predation risk and thermoregulation by aposematic caterpillars
2020
Abstract Warning coloration should be under strong stabilizing selection but often displays considerable intraspecific variation. Opposing selection on color by predators and temperature is one potential explanation for this seeming paradox. Despite the importance of behavior for both predator avoidance and thermoregulation, its role in mediating selection by predators and temperature on warning coloration has received little attention. Wood tiger moth caterpillars, Arctia plantaginis, have aposematic coloration, an orange patch on the black body. The size of the orange patch varies considerably: individuals with larger patches are safer from predators, but having a small patch is beneficia…
Social learning within and across predator species reduces attacks on novel aposematic prey
2020
Abstract To make adaptive foraging decisions, predators need to gather information about the profitability of prey. As well as learning from prey encounters, recent studies show that predators can learn about prey defences by observing the negative foraging experiences of conspecifics. However, predator communities are complex. While observing heterospecifics may increase learning opportunities, we know little about how social information use varies across predator species.Social transmission of avoidance among predators also has potential consequences for defended prey. Conspicuous aposematic prey are assumed to be an easy target for naïve predators, but this cost may be reduced if multipl…
Selective visual odometry for accurate AUV localization
2015
In this paper we present a stereo visual odometry system developed for autonomous underwater vehicle localization tasks. The main idea is to make use of only highly reliable data in the estimation process, employing a robust keypoint tracking approach and an effective keyframe selection strategy, so that camera movements are estimated with high accuracy even for long paths. Furthermore, in order to limit the drift error, camera pose estimation is referred to the last keyframe, selected by analyzing the feature temporal flow. The proposed system was tested on the KITTI evaluation framework and on the New Tsukuba stereo dataset to assess its effectiveness on long tracks and different illumina…
Accurate keyframe selection and keypoint tracking for robust visual odometry
2016
This paper presents a novel stereo visual odometry (VO) framework based on structure from motion, where a robust keypoint tracking and matching is combined with an effective keyframe selection strategy. In order to track and find correct feature correspondences a robust loop chain matching scheme on two consecutive stereo pairs is introduced. Keyframe selection is based on the proportion of features with high temporal disparity. This criterion relies on the observation that the error in the pose estimation propagates from the uncertainty of 3D points—higher for distant points, that have low 2D motion. Comparative results based on three VO datasets show that the proposed solution is remarkab…
Calibration of mobile manipulators using 2D positional features.
2018
International audience; Robotic manipulators are increasingly being attached to Automatic Ground Vehicles (AGVs) to aid in the efficiency of assembly for manufacturing systems. However, calibrating these mobile manipulators is difficult as the offset between the robotic manipulator and the AGV is often unknown. This paper provides a novel, simple, and low-cost method for calibrating and measuring the performance of mobile manipulators by using data collected from a laser retroreflector that digitally detects the horizontal two-dimensional (2D) position of reflectors on an artifact as well as a navigation system that provides the heading angle and 2D position of the AGV. The method is mathem…
Finding Software Bugs in Embedded Devices
2021
AbstractThe goal of this chapter is to introduce the reader to the domain of bug discovery in embedded systems which are at the core of the Internet of Things. Embedded software has a number of particularities which makes it slightly different to general purpose software. In particular, embedded devices are more exposed to software attacks but have lower defense levels and are often left unattended. At the same time, analyzing their security is more difficult because they are very “opaque”, while the execution of custom and embedded software is often entangled with the hardware and peripherals. These differences have an impact on our ability to find software bugs in such systems. This chapt…