Array Of Acoustic Receivers Research Articles

Does the presence of a pop-up satellite archival tag affect movement of Tanner crab (Chionoecetes bairdi) in an exposed Alaskan bay?

Fluctuating environmental conditions and crab population declines in the Bering Sea have elevated interest in pop-up satellite archival tags (PSATs) as a tool for investigating changes in crab spatial dynamics. However, PSATs are large relative to crab body sizes and may impact behavior which could limit their utility for informing management and conservation efforts. Accordingly, we tagged adult male Tanner crabs Chionoecetes bairdi with either a small acoustic tag (n = 20) or with both an acoustic tag and PSAT (n = 20) and monitored their movements within an acoustic receiver array in an exposed bay near Kodiak, Alaska. We evaluated several metrics intended to detect any between-group differences in movement or habitat use over the 78-day study. No group differences were observed, likely due to the small hydrodynamic forces acting on the PSAT relative to those acting on the crab. We encourage expanded use of PSATs in future crab research, but efforts should explore species-specific tag effects to help ensure accurate movement information is available for fishery management decisions.

Empirical observations of significant wave height and atmospheric acoustic transmission loss in a near-shore environment

Sound is influenced by meteorological conditions as it travels, which can have profound effect on transmission loss over long ranges. Conditions, such as wind speed, wind direction, and temperature, are primary atmospheric variables affecting transmission loss. At longer ranges, the surface roughness of the water is also an important factor to consider. Significant wave height is a typical metric to characterize the water surface roughness. A June 2024 field measurement campaign was completed in the Pamlico Sound adjacent to the East Carolina University Outer Banks campus. Measurement of meteorological conditions and concurrent acoustic transmission losses were performed over water only at ranges from 250 m to 2 km. A buoy that records three-dimensional wave motion was incorporated into the measurement process and deployed between the acoustic source and receiver array. The record of wave dynamics allows for the calculation of significant wave height. The approach to synchronizing wave height measurements to the acoustic measurements is discussed. Results are presented to show how water surface roughness relates to measured transmission loss.

Modeling regional occupancy of fishes using acoustic telemetry: a model comparison framework applied to lake trout

Acoustic telemetry is a common tool used in fisheries management to estimate fish space use (i.e., occupancy) from a local habitat scale to entire systems. Numerous analytical models have been developed to estimate different aspects of fish movement from telemetry datasets, yet evaluations of model performance and comparisons among models are limited. Here, we develop a framework to evaluate model estimates of regional occupancy in large and fragmented systems using an acoustic receiver array in Lake Champlain. We simulated the tracks of 100 acoustically tagged fish using a random walk function and created detection events based on receiver positions and distance-based detection probability. Regional occupancy for the simulated data was estimated by six movement models that ranged in analytical complexity, and results were compared to the true distributions for each simulated track to evaluate model error. The six movement models included: (1) a basic residency index using detections alone; (2) a residency index using last-observation-carried-forward; (3) a centers of activity model; (4) linear and non-linear interpolations (i.e., least-cost paths); and (5 and 6) two dynamic Brownian bridge movement models generated using separate packages in R. We developed a model selection process to compare model performance and select the optimal analysis based on simulation error. This process showed significant differences in model performance among the six movement models based on model error. Overall, the model generating least-cost paths using linear and non-linear interpolations consistently provided the most accurate regional occupancy estimates. Based on these simulation results, we applied this model to a case study that evaluated patterns in the regional distribution of stocked lake trout (Salvelinus namaycush) in Lake Champlain, which demonstrated distinct regional occupancy of two stocked lake trout groups. These results demonstrate potential for large variability in interpretation of acoustic telemetry data for describing regional fish distribution dependent on the analytical method used.

Assessing the potential of acoustic telemetry to underpin the regional management of basking sharks (Cetorhinus maximus)

Acoustic telemetry can provide valuable space-use data for a range of marine species. Yet the deployment of species-specific arrays over vast areas to gather data on highly migratory vertebrates poses formidable challenges, often rendering it impractical. To address this issue, we pioneered the use of acoustic telemetry on basking sharks (Cetorhinus maximus) to test the feasibility of using broadscale, multi-project acoustic receiver arrays to track the movements of this species of high conservation concern through the coastal waters of Ireland, Northern Ireland, and Scotland. Throughout 2021 and 2022, we tagged 35 basking sharks with acoustic transmitters off the west coast of Ireland; 27 of these were detected by 96 receiver stations throughout the study area (n = 9 arrays) with up to 216 detections of an individual shark (mean = 84, s.d. 65). On average, sharks spent ~ 1 day at each acoustic array, with discrete residency periods of up to nine days. Twenty-one sharks were detected at multiple arrays with evidence of inter-annual site fidelity, with the same individuals returning to the same locations in Ireland and Scotland over 2 years. Eight pairs of sharks were detected within 24 h of each other at consecutive arrays, suggesting some level of social coordination and synchronised movement. These findings demonstrate how multi-project acoustic telemetry can support international, cost-effective monitoring of basking sharks and other highly mobile species. Decision support tools such as these can consolidate cross-border management strategies, but to achieve this goal, collaborative efforts across jurisdictions are necessary to establish the required infrastructure and secure ongoing support.

Spawning run estimates and phenology for an extremely small population of Atlantic Sturgeon in the Marshyhope Creek–Nanticoke River system, Chesapeake Bay

AbstractObjectiveOnce thought to be extirpated from the Chesapeake Bay, fall spawning runs of Atlantic Sturgeon Acipenser oxyrinchus have been rediscovered in the Marshyhope Creek (MC)–Nanticoke River (NR) system of Maryland, United States. High recapture rates in past telemetry surveys suggested a small population in the two connected tributaries. This study aims to generate estimates of abundance and understand within system connectivity for spawning runs in 2020 and 2021.MethodsData from mobile side‐scan sonar surveys and detections of acoustically tagged adults on stationary telemetry receivers were analyzed in an integrated model to estimate spawning season abundance and examine run timing and system connectivity for this population. An array of acoustic receivers was deployed throughout the MC–NR system to monitor the movement of tagged fish during the spawning run period from mid‐August to late October. Side‐scan sonar surveys were conducted weekly in September in an area of high spawner aggregation to generate count data on spawning run abundance.ResultIn 2020 and 2021, 32 (95% credible interval [CRI] = 23–47) and 70 (95% CRI = 49–105) Atlantic Sturgeon, respectively, used the MC–NR system. The lower estimate for 2020 coincided with an earlier end to the spawning run related to cooler September temperatures in that year.ConclusionIn both years, high spawning run connectivity between MC and the upper NR was observed. Overall, run estimates supported previous hypotheses that the MC–NR system supports a very small population and that both MC and the upper NR serve as important areas for spawning activity.

Spatial connectivity of reef manta rays across the Raja Ampat archipelago, Indonesia.

The reef manta ray Mobula alfredi is present throughout most island groups that form the Raja Ampat archipelago, Indonesia. The species is protected regionally and nationally and is currently managed as a single homogeneous population within the 6.7 million ha archipelago. However, scientific evidence is currently lacking regarding the spatial connectivity and population structure of M. alfredi within this archipelago. Using network analysis and an array of 34 acoustic receivers deployed throughout Raja Ampat between February 2016 and September 2021, we examined the movements of 72 subadult and adult M. alfredi tagged in seven regions of Raja Ampat. A total of 1094 M. alfredi movements were recorded and were primarily concentrated between nearby receiver stations, highlighting frequent local movements within, and limited long-distance movements between regional acoustic receiver arrays. Network analysis revealed highly connected nodes acting as hubs important for M. alfredi movements. A community detection algorithm further indicated clusters within the network. Our results suggest the existence of a metapopulation comprising three demographically and geographically distinct subpopulations within the archipelago. They also reveal the importance of Eagle Rock as a critical node in the M. alfredi movement network, justifying the urgent inclusion of this site within the Raja Ampat marine protected area network.

Comparing acoustic and satellite telemetry: an analysis quantifying the space use of Chelonia mydas in Bimini, Bahamas.

Passive acoustic and Argos satellite telemetry are common methods for tracking marine species and are often used similarly to quantify space use. However, data-driven comparisons of these methods and their associated ecological inferences are limited. To address this, we compared temporal durations, spatial resolutions, financial costs and estimates of occurrence and range distributions for each tracking approach using nine juvenile green turtles (Chelonia mydas) in Bimini, Bahamas. Tracking durations were similar, although acoustic tracking provided higher spatiotemporal resolution than satellite tracking. Occurrence distributions (95%) estimated from satellite telemetry were 12 times larger than those from acoustic telemetry, while satellite range distributions (95%) were 89 times larger. While individuals generally remained within the extent of the acoustic receiver array, gaps in coverage were identified. These gaps, combined with the lower accuracy of satellite telemetry, were likely drivers for the larger satellite distributions. Costs differed between telemetry methods, with acoustic telemetry being less expensive at larger sample sizes with a previously established array. Our results suggest that acoustic and satellite telemetry may not provide similar inferences of individual space use. As such, we provide recommendations to identify telemetry methods appropriate for specific study objectives and provide discussion on the biases of each.

Variability in estuarine habitat use of a threatened species in the northern Gulf of Mexico: implications for coastal restoration

Coastal restoration projects often require sediment resources borrowed from estuarine or marine ecosystems. A generalized additive modeling (GAM) framework was used to characterize fish-habitat relationships and predict spatiotemporal and ontogenetic shifts of Gulf sturgeon distribution within an impacted estuary in the northern Gulf of Mexico, Lake Pontchartrain. Habitat use and movement of Gulf sturgeon (n = 103) was monitored using an array of acoustic receivers (n = 81) from 2016 to 2019. Telemetry data was paired with environmental conditions hindcast from a high-resolution hydrodynamic model to develop GAMs for three life stages of Gulf sturgeon: juvenile, sub-adult, and adult. Model results demonstrated clear spatial, temporal, and ontogenetic shifts in habitat use for Gulf sturgeon in the Lake Pontchartrain estuary. The importance of spatial and temporal variables in the final models of all life stages suggests that distribution of Gulf sturgeon within the estuary is more likely driven by biology (prey distribution) rather than environment. Interestingly, dependence of Gulf sturgeon on the estuary for overwintering habitat declined with ontogeny. The northeastern shoreline of Lake Pontchartrain was identified as potential nursery habitat for overwintering juvenile sturgeon from the Pearl River, while eastern portions of the estuary and associated channels provide critical staging habitat and corridors of connectivity for migrating sub-adult and adult sturgeon. Given the clear need to prioritize conservation of Gulf sturgeon while restoring coastal marshes, findings from this study provide needed information to shape future coastal restoration and inform the siting and timing of future dredging operations in Lake Pontchartrain.

Tracking pygmy blue whales in the Perth Canyon using passive acoustic observatories

Eastern Indian Ocean pygmy blue (EIOPB) whales were localised and tracked through the Perth Canyon area utilising a passive acoustic tracking array. Vocalising animals were tracked using the Type II unit of the EIOPB whale song across recordings for an average of 109.3 min (95% CI ± 27 min), suggesting that animals move slowly through the array area. Comparisons of the distribution of animals between sample years revealed non-uniform distribution of animals suggesting that environmental variables may drive pygmy blue whale spatial distribution within foraging areas. Analysis of the movement patterns of acoustically tracked animals found that animals tracked between January and early March generally exhibited directional movement while singing animals tracked between March and May exhibited directional and milling movement patterns, indicating that they may be foraging, and thus that animals may sing between feeding bouts. Comparisons of visual and acoustic localisations found animals appeared to utilise similar areas around the passive acoustic receiver array on days where survey effort overlapped, though acoustic survey methods returned consistently higher numbers of detections. Further, acoustic and visual detections of animals within the same day were not within the same location highlighting the need for holistic studies of species habitat utilisation. The inclusion of in-situ environmental data collection in the design of future acoustic tracking studies would be valuable to understand whether there is a link between environmental factors at the local scale and the localised movement of whales around the listening area.

Influence of mesoscale meteorological observations on near shore excess attenuation prediction

This work focuses on numerical modeling of atmospheric sound propagation in a near-shore environment that is informed by concurrent meteorological observations. The atmospheric acoustic measurement layout places the source approximately 500 m from shore with one acoustic receiver array at the shoreline and a second acoustic receiver array approximately 350 m inland. The space between the shoreline and the inland receiver array consists of highly uniform marsh grass vegetation. The concurrent meteorological observations include high resolution temperature profiling at two locations (one over land and one over water) along with scanning Doppler LIDAR wind profiling measurements in the source-to-receiver direction. These meteorological measurements inform the input parameters used in a parabolic equation solver. The numerical predictions are compared to the measured transmission loss values to evaluate model sensitivity to input parameters.

Towards Estimating Probability of Fish–Turbine Encounter: Using Drifters Equipped with Acoustic Tags to Verify the Efficacy of an Array of Acoustic Receivers

An area has been designated for demonstrating the utility of marine hydrokinetic turbines in Minas Passage, Bay of Fundy. Marine renewable energy may be useful for the transition from carbon-based energy sources, but there is concern for the safety of fish that might encounter turbines. Acoustic receivers that detect signals from acoustically tagged fish that pass through the tidal demonstration area and the detection efficiency of tag signals might be used to estimate the likelihood of fish encountering marine hydrokinetic turbines. The method requires that tagged fish passing through the development area will be reliably detected by a receiver array. The present research tests the reliability with which passing tags are detected by suspending tags beneath GPS-tracked drifters. Drifters carrying high residency Innovasea tags that transmitted every 2 s were usually detected by the receiver array even in fast currents during spring tides but pulse-position modulation tags were inadequate. Sometimes very few high residency tag signals were detected when fast tidal currents swept a drifter through the receiver array, so increasing the transmission interval degrades performance at the tidal energy development area. High residency tags suspended close to the sea surface were slightly less likely to be detected if they passed by during calm conditions. Previously measured detection efficiencies were found to slightly overestimate the chances of a high residency tag carried by a drifter being detected as it passed by a receiver. This works elucidates the effectiveness with which acoustically tagged fish are detected in fast, highly turbulent tidal currents and informs the application of detection efficiency measurements to calculate the probability that fish encounter a marine hydrokinetic turbine.

Year-round monitoring of Arctic species of sculpin to identify residency and seasonality of movement behavior

Environments change across space and time, often requiring organisms to exhibit behavioral responses. In the Arctic, migratory consumers are motivated by spring resources to follow receding ice; however, resident species’ responses to this ephemeral productivity are less well understood. We characterized the movement behaviors of relatively sedentary Arctic species of sculpin ( Myoxocephalus spp.) in Tremblay Sound, Nunavut, Canada. Movements of individuals ( n = 60) captured during the ice-free periods of 2017–2019 were monitored year-round via an array of acoustic telemetry receivers ( n = 37). Telemetry data confirmed year-round residency within the Sound, yet sculpins were consistently more active and wider ranging during the ice-free period versus the ice-covered winters. Sequence analysis revealed distinct patterns of activity differentiated primarily by regional associations. Together, these results indicate sculpins are highly sedentary, but move more during the ice-free season, suggesting the importance of the seasonal productivity pulse to these fishes. As resident species are adapted to exploit the conditions within their local environment, sculpins provide valuable indicator species to monitor coastal and benthic Arctic ecosystems that are experiencing rapid change.

Spawning Migrations of the Atlantic Goliath Grouper along the Florida Atlantic Coast

Atlantic goliath grouper (Epinephelus itajara), the largest reef fish in the Western Atlantic, exhibit high site fidelity to home reefs but also undertake annual migrations to distant spawning sites. Once relatively common throughout Florida and the Caribbean, the species; is now considered vulnerable (i.e., threatened with extinction) due to overfishing and loss of juvenile mangrove habitat. Goliath grouper in the southeastern US form annual spawning aggregations on high-relief reefs located offshore of both the Gulf and Atlantic coasts of Florida, US. To determine spawning site fidelity and describe migration patterns to aggregations, we implanted 50 adult goliath grouper with acoustic transmitter tags from 2010 to 2013. Fish were tagged at known spawning sites off the Florida Atlantic coast and tracked as they moved through the FACT Network array of acoustic receivers. From 2010 to 2020, we collected ~7 million detections from tagged goliath grouper at 153 sites along the southeastern US Atlantic coast. Results of this long-term tracking indicate that adult goliath grouper are relatively sedentary during non-spawning months (Nov to June) but move significantly more prior to, during, and immediately after spawning (July to Oct). Inter-annual spawning site fidelity was high: between 80–93% of tagged fish returned to the same spawning sites each year. Arrival timing at spawning sites coincided with the August new moon, with males arriving earlier than females. Some individuals migrated distances greater than 400-km per year, with observed migration rates of up to 44-km per day prior to spawning. Long-term tagging data are critical for understanding movement patterns and developing management strategies for this species of special conservation concern.

Environmental factors influencing detection efficiency of an acoustic telemetry array and consequences for data interpretation

BackgroundAcoustic telemetry is a commonly used technology to monitor animal occupancy and infer movement in aquatic environments. The information that acoustic telemetry provides is vital for spatial planning and management decisions concerning aquatic and coastal environments by characterizing behaviors and habitats such as spawning aggregations, migrations, corridors, and nurseries, among others. However, performance of acoustic telemetry equipment and resulting detection ranges and efficiencies can vary as a function of environmental conditions, leading to potentially biased interpretations of telemetry data. Here, we characterize variation in detection performance using an acoustic telemetry receiver array deployed in Wellfleet Harbor, Massachusetts, USA from 2015 to 2017. The array was designed to study benthic invertebrate movements and provided an in situ opportunity to identify factors driving variation in detection probability.ResultsThe near-shore location proximate to environmental monitoring allowed for a detailed examination of factors influencing detection efficiency in a range-testing experiment. Detection ranges varied from < 50 to 1,500 m and efficiencies varied from 0 to 100% within those detection ranges. Detection efficiency was affected by distance, wind speed and direction, wave height and direction, water temperature, water depth, and water quality.ConclusionsPerformance of acoustic telemetry systems is strongly contingent on environmental conditions. Our study found that wind, waves, water temperature, water quality, and depth all affected performance to an extent that could seriously compromise a study if these effects were not taken into consideration. Other unmeasured factors may also be important, depending on the characteristics of each site. This information can help guide future telemetry study designs by helping researchers anticipate the density of receivers required to achieve study objectives. Researchers can further refine and document the reliability of their data by incorporating continuously deployed range-testing tags and prior knowledge on varying detection efficiency into movement and occupancy models.

Are smallmouth bass more mobile in large lakes than once thought?

Smallmouth bass Micropterus dolomieu are generally considered to be a sedentary species. Previous tagging studies in lentic systems have found low annual movements based on fishery-dependent tag returns or limited detections from electronic transmitters, though occasional long-distance movements have been observed (i.e., >30 km). In this study, we implanted 23 smallmouth bass sampled from a recreational tournament in Lake Erie with acoustic transmitters and monitored their movements for two years (September 2018–September 2020) using a large-scale array of passive acoustic receivers. We documented 42 percent (8/19) of the at-large fish making long-distance movements throughout Lake Erie; these fish moved an average distance of 109.9 ± 26.6 km (mean ± SE; ranging 3.5–355.1 km) per year. Importantly, six of eight fish crossed jurisdictional boundaries (five into Ontario waters and one into Michigan waters). One individual moved a total of 505.3 km over the two years, the furthest distance an individual smallmouth bass has been documented moving across the literature. While observed movements may have been initially biased due to tournament displacement and capture method, tagged fish continued to make long-distance movements in the second-year post-release. Previous movement studies may have underestimated smallmouth bass movement scope in large, lentic systems due to low spatial and temporal coverage of recapture effort (including receiver coverage) relative to system size. Our results suggest that some smallmouth bass can make consistent long-distance movements in large systems like the Laurentian Great Lakes, indicating this species’ spatial ecology remains understudied in large lentic systems.

Let them go free: Spatial behaviour following the experimental release of hatchery-reared juveniles Sciaena umbra and Dentex dentex

As marine stocks and biodiversity are rapidly declining, the release of hatchery-reared individuals into the wild is a species conservation measure aiming at replenishing stocks of freshwater, anadromous and marine fish species. The aim of this study is to assess for the first time the post-release exploration behaviours, survival and dispersal in the wild of released hatchery-reared juveniles of D. dentex and S. umbra. For this purpose, twenty fish from each species were tagged with acoustic transmitters and released in a marine no-take zone located in Corsica (France). Most individuals were considered alive until their last detection (95% of S. umbra and 74% of D. dentex detected individuals). Fish were detected within the receiver array on average up to 11.3 (± 20.7) and 10.3 (± 10.3) days after being released for juveniles of D. dentex and S.umbra, respectively. Dentex dentex juveniles dispersed mostly southward along the shore whereas S. umbra juveniles tended to disperse along the shore both northward and southward from the acoustic receiver array. Before their rapid dispersion (i.e. within a few days) outside the studied zone, juveniles of both species displayed increasing cumulative MCP areas and increased their vertical niche revealing their gradual coverage and exploration of deeper habitats in the area. The results from our study highlighted that hatchery-reared juveniles of both species did not settle inside the studied area but seemed to start to acclimate to the natural environment. This work is a first step towards the assessment of the viability of restocking for both species.

Overwintering behaviour of yellow-stage European eel (Anguilla anguilla) in a natural marine fjord system

Like many animals, northern temperate eel can enter a hibernation-like state and become dormant during the winter. Knowledge of overwintering behaviour in eel is sparse and mainly based on anecdotal observations and a few experimental studies on thermal tolerance. We studied European eel (Anguilla anguilla) overwintering behaviour in a Skagerrak fjord in Southern Norway, during three consecutive years, using an array of acoustic receivers and acoustic tags with depth and temperature sensors. We obtained results from 55 yellow eel, of which 19 were studied for one winter, 35 for two winters and one for three winters. Dormancy was inferred to begin in September for the earliest individuals and lasted until May for the last, with the majority of eel dormant from at least late October–November until mid-April. The timing of dormancy was mainly related to photoperiod and less to temperature. More than 50% of eel became dormant when day length was <9 h and became active when day length was >14 h. Approximately 10% of eel remained active during the winter and 31% of eel changed their pattern between consecutive years. Some dormant individuals exhibited activity periods that interrupted their dormancy. Eel in the outer fjord nearer the open sea became dormant before eel in the inner more freshwater part of the fjord, and were dormant longer.

Coastal infrastructure alters behavior and increases predation mortality of threatened Puget Sound steelhead smolts

AbstractFundamental movements of migratory species can be substantially influenced by marine habitat disruptions caused by coastal infrastructure. The Hood Canal Bridge (HCB) spans the northern outlet of Hood Canal in the Salish Sea, extends 4.6 m (15 ft) underwater, and forms a partial barrier for steelhead migrating from Hood Canal to the Pacific Ocean. Spatial mark–recapture survival models using acoustic telemetry data indicate that only 49% (2017; 95% confidence interval (CI) = 40%–58%) and 56% (2018; 95% CI = 48%–65%) of the steelhead smolts encountering the HCB survived past the bridge and 7 km to the next array. We studied fine‐scale movements of more than 300 steelhead smolts to understand how migration behavior was affected across the entire length of the HCB and to quantify spatial and temporal patterns of mortality. Individually coded acoustic telemetry transmitters implanted in juvenile steelhead were used in conjunction with an extensive array of acoustic receivers surrounding the HCB to obtain approximations of the path each steelhead took as they encountered the bridge structure. Steelhead survival past the HCB appeared unaffected by tidal stage, population‐of‐origin, approach location, current velocity, or time of day, but was influenced by week of bridge encounter. Behavioral data from transmitters with temperature and depth sensors ingested by predators are consistent with high levels of marine mammal predation. This study confirms the considerable impact of the HCB on Endangered Species Act‐listed steelhead smolt survival, and provides detailed information on the behavior of steelhead smolts and their predators at the HCB for use in planning recovery actions.

Synchronous-Clock Range-Angle Relative Acoustic Navigation: A Unified Approach to Multi-AUV Localization, Command, Control, and Coordination

This paper presents a scalable acoustic navigation approach for the unified command, control, and coordination of multiple autonomous underwater vehicles (AUVs). Existing multi-AUV operations typically achieve coordination manually by programming individual vehicles on the surface via radio communications, which becomes impractical with large vehicle numbers; or they require bi-directional intervehicle acoustic communications to achieve limited coordination when submerged, with limited scalability due to the physical properties of the acoustic channel. Our approach utilizes a single, periodically broadcasting beacon acting as a navigation reference for the group of AUVs, each of which carries a chip-scale atomic clock and fixed ultrashort baseline array of acoustic receivers. One-way travel-time from synchronized clocks and time-delays between signals received by each array element allow any number of vehicles within receive distance to determine range, angle, and thus determine their relative position to the beacon. The operator can command different vehicle behaviors by selecting between broadcast signals from a predetermined set, while coordination between AUVs is achieved without intervehicle communication by defining individual vehicle behaviors within the context of the group. Vehicle behaviors are designed within a beacon-centric moving frame of reference, allowing the operator to control the absolute position of the AUV group by repositioning the navigation beacon to survey the area of interest. Multiple deployments with a fleet of three miniature, low-cost SandShark AUVs performing closed-loop acoustic navigation in real-time provide experimental results validated against a secondary long-baseline positioning system, demonstrating the capabilities and robustness of our approach with real-world data.

Impacts of biomedical bleeding on locomotion and mating behavior in the horseshoe crab Limulus polyphemus

Every year, more than 600000 horseshoe crabs are bled to produce Limulus amoebocyte lysate, which is used to detect Gram-negative bacteria in biomedical products. While numerous studies have shown that some horseshoe crabs die after being bled, less is known about what happens to those that are returned to their natural habitat. In this study, we used an array of VR2W acoustic receivers to track 10 bled and 10 control females during the mating season in the Great Bay Estuary, NH, USA. Animals were bled, or not, released where they had been initially captured, and tracked from 22 May to 26 June 2019. Bled and control females moved comparable distances at similar speeds during the weeks after they were released (controls: 90.3 m h-1; bled: 89.7 m h-1). The longer horseshoe crabs remained within the virtual positioning system array, the longer we were able to track them and the more beach approaches and mating attempts we were able to identify. When this relationship between the duration of time we were able to track a horseshoe crab and how many apparent mating attempts it expressed was taken into account, we found that bled females attempted to spawn half as often as control females, and this difference was significant. Overall, these data are consistent with previous findings indicating that females that are released back into their natural habitat after bleeding express similar levels of activity and seasonal movements but attempt to mate less than control animals, at least in the first few weeks after being bled.