Large Environmental Variation Research Articles

World robot challenge 2020 – partner robot: a data-driven approach for room tidying with mobile manipulator

Tidying up a household environment using a mobile manipulator poses various challenges in robotics, such as adaptation to large real-world environmental variations, and safe and robust deployment in the presence of humans. The Partner Robot Challenge in World Robot Challenge (WRC) 2020, a global competition held in September 2021, benchmarked tidying tasks in real home environments, and, importantly, tested for full system performances. For this challenge, we developed an entire household service robot system, which leverages a data-driven approach to adapt to numerous edge cases that occur during the execution, instead of classical manual pre-programmed solutions. In this paper, we describe the core ingredients of the proposed robot system, including visual recognition, object manipulation, and motion planning. Our robot system won the second prize, verifying the effectiveness and potential of data-driven robot systems for mobile manipulation in home environments.

Grass species identity shapes communities of root and leaf fungi more than elevation

Fungal symbionts can buffer plants from environmental extremes and may affect host capacities to acclimate, adapt, or redistribute under environmental change; however, the distributions of fungal symbionts along abiotic gradients are poorly described. Fungal mutualists should be the most beneficial in abiotically stressful environments, and the structure of networks of plant-fungal interactions likely shift along gradients, even when fungal community composition does not track environmental stress. We sampled 634 unique combinations of fungal endophytes and mycorrhizal fungi, grass species identities, and sampling locations from 66 sites across six replicate altitudinal gradients in the western Colorado Rocky Mountains. The diversity and composition of leaf endophytic, root endophytic, and arbuscular mycorrhizal (AM) fungal guilds and the overall abundance of fungal functional groups (pathogens, saprotrophs, mutualists) tracked grass host identity more closely than elevation. Network structures of root endophytes become more nested and less specialized at higher elevations, but network structures of other fungal guilds did not vary with elevation. Overall, grass species identity had overriding influence on the diversity and composition of above- and belowground fungal endophytes and AM fungi, despite large environmental variation. Therefore, in our system climate change may rarely directly affect fungal symbionts. Instead, fungal symbiont distributions will most likely track the range dynamics of host grasses.

A High Reliability Damage Imaging Method Under Environmental Temperature Variations

Abstract In Lamb wave-based structural health monitoring (SHM), the environmental temperature variations can easily affect Lamb wave monitoring signals and seriously reduce the reliability of final damage detection results. To resolve the temperature effect problem, a temperature compensation method of improved baseline signal stretch (IBSS) is presented and applied for high reliability damage imaging under large environmental temperature variations in this paper. After the basic principle of IBSS is analyzed, the realization of IBSS is discussed. Then, a IBSS-based high reliability damage imaging method under temperature variation situation is developed. An experimental study is finally arranged.

Geospatial Distribution of the Quality of the Coffee of Minas Gerais by Methods of Data Mining Techniques

The state of Minas Gerais is located in one of the most privileged Brazilian regions for the production of high-quality coffees. Due to its large territorial extension and environmental variation, it favors the production of specialty coffees with a great diversity of flavor and aroma. These differences are related to the peculiar characteristics of each microregion, particulary climate variations, altitude, latitude and production systems. Although the relationship between environmental characteristics and coffee productivity in different biomes is already well explored, its relationship with beverage quality still requires research. Given the need for more information on areas with potential for special coffee production, this paper proposes to associate data concerning to sensorial quality of coffees in the Cafés of Minas Quality Contest, with climatic and geographical variations of each state region, applying association rules for data mining, used to understand the aptitude of the state through the generation of rules that describe the most relevant patterns in the data. The climatic, geographical and classificatory information of the coffee samples is the result of the database of the contest participants in 2007 and 2008. The results demonstrate that with data mining techniques it was possible to associate the regions with the greatest potential with the climatic and geographical characteristics of the environment.

A workflow for low-cost automated image analysis of myxomycete spore numbers, size and shape.

Measuring spore size is a standard method for the description of fungal taxa, but in manual microscopic analyses the number of spores that can be measured and information on their morphological traits are typically limited. To overcome this weakness we present a method to analyze the size and shape of large numbers of spherical bodies, such as spores or pollen, by using inexpensive equipment. A spore suspension mounted on a slide is treated with a low-cost, high-vibration device to distribute spores uniformly in a single layer without overlap. Subsequently, 10,000 to 50,000 objects per slide are measured by automated image analysis. The workflow involves (1) slide preparation, (2) automated image acquisition by light microscopy, (3) filtering to separate high-density clusters, (4) image segmentation by applying a machine learning software, Waikato Environment for Knowledge Analysis (WEKA), and (5) statistical evaluation of the results. The technique produced consistent results and compared favorably with manual measurements in terms of precision. Moreover, measuring spore size distribution yields information not obtained by manual microscopic analyses, as shown for the myxomycete Physarum albescens. The exact size distribution of spores revealed irregularities in spore formation resulting from the influence of environmental conditions on spore maturation. A comparison of the spore size distribution within and between sporocarp colonies showed large environmental and likely genetic variation. In addition, the comparison identified specimens with spores roughly twice the normal size. The successful implementation of the presented method for analyzing myxomycete spores also suggests potential for other applications.

Precipitation regime controls bryosphere carbon cycling similarly across contrasting ecosystems

In arctic and boreal ecosystems, ground bryophytes play an important role in regulating carbon (C) exchange between vast belowground C stores and the atmosphere. Climate is changing particularly fast in these high‐latitude regions, but it is unclear how altered precipitation regimes will affect C dynamics in the bryosphere (i.e. the ground moss layer including senesced moss, litter and associated biota) and the closely associated upper humus layer, and how these effects will vary across contrasting environmental conditions. Here, we set up a greenhouse experiment in which mesocosms were assembled containing samples of the bryosphere, dominated by the feather moss Hylocomium splendens, and the upper humus layer, that were collected from across a boreal forest chronosequence in northern Sweden which varies strongly in nutrient availability, productivity and soil biota. We tested the effect of variation in precipitation volume and frequency on CO2 exchange and dissolved organic carbon (DOC) export, and on moss growth. As expected, reduced precipitation volume and frequency lowered net CO2 efflux, DOC export and moss growth. However, by regulating moisture, the lower bryosphere and humus layers often mediated how precipitation volume and frequency interacted to drive C dynamics. For example, less frequent precipitation reduced moss growth only when precipitation volume was low. When volume was high, high moisture content of the humus layer helped avoid moss desiccation. Variation in precipitation regime affected C cycling consistently in samples collected across the chronosequence, despite large environmental variation along the sequence. This suggests that the bryosphere exerts a strong buffering effect on environmental variation at the forest floor, which leads to similar responses of C cycling to external perturbations across highly contrasting ecosystems. As such, our study indicates that projected increases in droughts and ground evapotranspiration in high‐latitude regions resulting from climate change will consistently reduce C losses from moss‐dominated ecosystems.

POP: A Generic Framework for Real-Time Pose Estimation of Planar Objects

Accurate pose estimation of planar objects is a key computation in visual localization tasks, with recent studies showing remarkable progress on a handful of baseline datasets. Nonetheless, achieving similar performance on sequences in unconstrained environments is still an ongoing quest to be accomplished, largely due to the existence of several sources of errors, which are correlated but often only partly tackled in the literature. In this article, we propose POP, a generic real-time planar-object pose-estimation framework which is designed to handle the aforementioned types of errors while not losing generality to a specific choice of keypoint detection or tracking algorithm. The essence of POP lies in activating keypoint detection module in the background as well as adding several refinement steps in order to reduce correlated sources of errors within the pipeline. We provide extensive experimental evaluations against state-of-the-art planar object tracking algorithms on baseline and more challenging datasets, empirically demonstrating the effectiveness of the POP framework for scenes with large environmental variations.

Rapid shifts in methanotrophic bacterial communities mitigate methane emissions from a tropical hydropower reservoir and its downstream river

Methane-oxidizing bacteria (MOB) present in the water column mitigate methane (CH4) emissions from hydropower complexes to the atmosphere. By creating a discontinuity in rivers, dams cause large environmental variations, including in CH4 and oxygen concentrations, between upstream, reservoir, and downstream segments. Although highest freshwater methanotrophic activity is often detected at low oxygen concentrations, CH4 oxidation in well-oxygenated downstream rivers below dams has also been reported. Here we combined DNA and RNA high-throughput sequencing with microscopic enumeration (by CARD-FISH) and biogeochemical data to investigate the abundance, composition, and potential activity of MOB taxa from upstream to downstream waters in the tropical hydropower complex Batang Ai (Malaysia). High relative abundance of MOB (up to 61% in 16S rRNA sequences and 19% in cell counts) and enrichment of stable isotopic signatures of CH4 (up to 0‰) were detected in the hypoxic hypolimnion of the reservoir and in the outflowing downstream river. MOB community shifts along the river-reservoir system reflected environmental sorting of taxa and an interrupted hydrologic connectivity in which downstream MOB communities resembled reservoir's hypolimnetic communities but differed from upstream and surface reservoir communities. In downstream waters, CH4 oxidation was accompanied by fast cell growth of particular MOB taxa. Our results suggest that rapid shifts in active MOB communities allow the mitigation of CH4 emissions from different zones of hydropower complexes, including in quickly re-oxygenated rivers downstream of dams.

Biotic stability mechanisms in Inner Mongolian grassland.

Biotic mechanisms associated with species diversity are expected to stabilize communities in theoretical and experimental studies but may be difficult to detect in natural communities exposed to large environmental variation. We investigated biotic stability mechanisms in a multi-site study across Inner Mongolian grassland characterized by large spatial variations in species richness and composition and temporal fluctuations in precipitation. We used a new additive-partitioning method to separate species synchrony and population dynamics within communities into different species-abundance groups. Community stability was independent of species richness but was regulated by species synchrony and population dynamics, especially of abundant species. Precipitation fluctuations synchronized population dynamics within communities, reducing their stability. Our results indicate generality of biotic stability mechanisms in natural ecosystems and suggest that for accurate predictions of community stability in changing environments uneven species composition should be considered by partitioning stabilizing mechanisms into different species-abundance groups.

Intraspecific variability drives functional changes in lichen epiphytic communities across Europe

Traditional approaches in trait-based community ecology typically expect that trait filtering across broad environmental gradients is largely due to replacement of species, rather than intraspecific trait adjustments. Recently, the role of intraspecific trait variability has been largely highlighted as an important contributor mediating the ability of communities to persist under changing conditions and determining the community-level trait variation, particularly across limited environmental gradients. Unfortunately, few studies quantify the relative importance of species turnover versus intraspecific variability mediating the response of communities different from vascular plants. Here, we studied the functional changes in epiphytic lichen communities within 23 beech forests across large latitudinal (ca. 3,000km) and environmental gradients in Europe to quantify the relative contribution of species turnover and intraspecific variability and the role of climate controlling community-level trait changes. For 58 lichen species, we focused on a set of 10 quantitative functional traits potentially affected by climatic conditions and related to photosynthetic performance (n=1,184 thalli), water use strategy (n=1,018 thalli), and nutrient uptake (n=1,179 thalli). Our results showed that intraspecific trait variability explained most of the functional changes in lichen communities in response to the latitudinal gradient. Further, such functional changes were determined by the covariation between intraspecific trait variability and species turnover, which varied in sign depending on the trait considered. Finally, different climatic predictors explained functional variation due to both intraspecific trait variability and species turnover. We propose that lichen communities cope with contrasting climatic conditions by adjusting the functional trait values of the most abundant species within the communities rather than by the replacement of the species. Consequently, intraspecific variability should be explicitly incorporated to understand the effect of environmental changes on lichen communities, even over large environmental variations, better. Our results challenge the universality of the hypothesis that species turnover chiefly drives functional trait changes across large environmental gradients and call for a wider test of such important assumptions in trait ecology in different organism types and ecosystems.

Plant ecological indicator values as predictors of fine‐root trait variations

Abstract Fine roots play key roles in the capacity of plants to face environmental constraints and their traits reflect adaptations to the environment, including soil structure, resource availability and climate. However, the inaccuracy of global soil and climate databases to account for the large environmental variation occurring at small spatial scale prevents accurate estimations of the linkages between environmental variables and fine‐root strategies. Here, using two global databases on fine‐root traits (Rhizopolis‐db) and species phylogenetic relatedness, and a regional database of species ecological indicator values (Baseflor), we quantified the predictive value of ecological indicator values, as an alternative to classical coarse soil and climate indicators, on the variation in four major fine‐root traits. A strong phylogenetic signal was found among species for fine‐root mean diameter, specific root length (SRL) and root tissue density (RTD), but less so for root nitrogen concentration (RNC). After accounting for this relatedness, ecological indicators still explained a large part of trait variation in our dataset for SRL, RTD and RNC. Multi‐indicators best model R2 reached .40 for SRL and RTD, and .44 for RNC, whereas it was only 0.10 for diameter. Ecological indicators of nutrient availability and soil texture were those that most strongly related to SRL, RTD and RNC. Specifically, plant fast resources use strategies characterized by high SRL, RNC and low RTD occurred more frequently in nutrient‐rich soils and in soils with light sandy textures. Additionally, light availability and atmospheric temperature were negatively related with SRL and continentality negatively influenced RNC. With respect to both nutrient and water availability ecological indicator values, opposite adaptations were observed between growth forms, particularly between woody and herbaceous species, limiting our ability to define simple, widely applicable patterns of trait–environment relationships. Synthesis. Our analysis demonstrates that species ecological indicator values are valuable predictors of plant below‐ground strategies. It provides original evidence that herbaceous species with fine‐root traits representative of fast resource use strategies typically occur in more favourable soil habitats (high nutrient and water availability); meanwhile, woody species may show the opposite trend. Other important environmental parameters concomitantly influence fine‐root trait variation in contrasting ways.

Ecological study of the aquatic carnivorous plant Utricularia australis R.Br. (Lentibulariaceae)

Utricularia australis is an aquatic rootless carnivorous plant that takes up nutrients through shoots or from trapped prey digested in its bladders. As the information on the ecology of this species is scarce, the main environmental factors which favour or limit its growth were analysed. Habitat characterization was carried out on 23 aquatic sites in Central Italy where U. australis occurred. Diverse water chemical and physical factors and aquatic plant dominants were sampled and compared to Utricularia coverage. Species response curves with respect to each analysed ecological factor were elaborated. Despite the large environmental variation among sites, U. australis did show some ecological preferences. Optimal growth of Utricularia was associated with sunny sites (~ 1500 µmol photon m−2 s−1) and shallow waters (< 20 cm) that were warm (~ 26 °C), alkaline (pH 8.3 median value), with moderate-high conductivity (700 µS cm−1) and with low aquatic inorganic phosphorus (< 10 µg L−1) but higher nitrogen (800–1600 µg L−1). Dissolved and particulate organic nutrients (mainly phosphorus) were highly important in determining U. australis ecology and its distribution. The knowing of the ecological preferences of U. australis, a plant that is becoming increasingly rare in Central Italy, could be very useful to identify and protect its habitats or to identify new potential sites and to avoid further population losses.

Improvement of Concentration Inversion Model Based on Second Harmonic Valley Spacing in Wavelength Modulation Spectroscopy

In tunable diode laser absorption spectroscopy (TDLAS), the wavelength modulation spectroscopy (WMS) is widely employed. However, when measuring the gas concentration with the second harmonic signal, errors will occur and the inversion accuracy will be reduced, because the change of the modulation depth will lead to the change of the second harmonic peak value, and the value of modulation depth cannot be calculated directly in the absence of gas component. To improve the inversion accuracy of WMS technology, we calibrate the modulation depth and take it as a parameter to the concentration inversion model. In this article, the relationship between the modulation depth and the valley spacing of the second harmonic is first derived, and used to calibrate the modulation depth in the measurement; then, an improved concentration inversion model is established by adding the calibrated modulation depth to the traditional model. Through simulations in Simulink and gas concentration measurement experiments with carbon monoxide (CO), the effectiveness of modulation depth calibration using valley spacing and the accuracy of the improved model are verified. The gas concentration measurement error of the improved model (relative error $5.468\times 10^{-5}$ ) is reduced by nearly one order of magnitude compared to the traditional model without calibration of the modulation depth (relative error $2.178\times 10^{-4}$ ). The correction method of modulation depth in this article does not need the priori information of the gas component, and the improved model produces a better determination of gas concentration immune to the variations of modulation depth, which is important for field measurements especially those with large environmental variations.

Text Co-detection in Multi-view Scene.

Multi-view scene analysis has been widely explored in computer vision, including numerous practical applications. The texts in multi-view scenes are often detected by following the existing text detection method in a single image, which however ignores the multi-view corresponding constraint. The multi-view correspondences may contain structure, location information and assist difficulties induced by factors like occlusion and perspective distortion, which are deficient in the single image scene. In this paper, we address the corresponding text detection task and propose a novel text co-detection method to identify the cooccurring texts among multi-view scene images with compositions of detection and correspondence under large environmental variations. In our text co-detection method, the visual and geometrical correspondences are designed to explore texts holding high pairwise representation similarity and guide the exploitation of texts with geometrical correspondences, simultaneously. To guarantee the pairwise consistency among multiple images, we additionally incorporate the cycle consistency constraint, which guarantees alignments of text correspondences in the image set. Finally, text correspondence is represented by a permutation matrix and solved via positive semidefinite and low-rank constraints. Moreover, we also collect a new text co-detection dataset consisting of multi-view image groups obtained from the same scene with different photographing conditions. The experiments show that our text co-detection obtains satisfactory performance and outperforms the related state-of-the-art text detection methods.

Variability of coastal cephalopods in overexploited China Seas under climate change with implications on fisheries management

Cephalopods (squids, cuttlefish and octopus) have increased globally over the past decades, which may be attributed to their strong phenotypic plasticity, allowing them to adapt quickly to a changing ocean environment. The global proliferation of cephalopods may yield important ecosystem effects worldwide. However, information on cephalopods variability in Chinese waters is still scant. Coastal cephalopods, in spite of chronic overexploitation, form a vital component of the catch composition in China Seas. In this paper, we review the status and trends of coastal cephalopods in China Seas and explore their responses to environmental variability. We focus on four commercially-important coastal cephalopod species, including golden cuttlefish (Sepia esculenta Hoyle), Japanese loligo squid (Loligo japonica Steenstrup), common Chinese cuttlefish (Sepiella maindroni de Rochebrune) and swordtip squid (Uroteuthis edulis Hoyle). Even though spatial distributions of these four species partially overlap, their differing life history strategies with respect to factors such as growth, distribution, migration, and spawning patterns, have led to differing population responses to environmental variability. As a result, an overall increasing trend in cephalopod production has been apparent since the 1990s, accompanied by major changes in species composition. Catch trends of the four species show either decadal patterns of significant decline or increase in the late 1980s to mid-1990s. Statistical analysis indicates different responses to environmental warming, with Japanese loligo squid and swordtip squid seeming to benefit from warmer environment while golden cuttlefish and common Chinese cuttlefish seeming to respond negatively. Our study has allowed us to explore the impacts of environmental changes on Chinese coastal cephalopods in the overexploited ecosystems of the China Seas and to conclude that fluctuations of coastal cephalopods are mainly driven by large scale environmental variations associated with climate change and/or marine ecosystem regime shifts.

Structure and co-occurrence patterns in microbial communities under acute environmental stress reveal ecological factors fostering resilience

Understanding the factors that modulate bacterial community assembly in natural soils is a longstanding challenge in microbial community ecology. In this work, we compared two microbial co-occurrence networks representing bacterial soil communities from two different sections of a pH, temperature and humidity gradient occurring along a western slope of the Andes in the Atacama Desert. In doing so, a topological graph alignment of co-occurrence networks was used to determine the impact of a shift in environmental variables on OTUs taxonomic composition and their relationships. We observed that a fraction of association patterns identified in the co-occurrence networks are persistent despite large environmental variation. This apparent resilience seems to be due to: (1) a proportion of OTUs that persist across the gradient and maintain similar association patterns within the community and (2) bacterial community ecological rearrangements, where an important fraction of the OTUs come to fill the ecological roles of other OTUs in the other network. Actually, potential functional features suggest a fundamental role of persistent OTUs along the soil gradient involving nitrogen fixation. Our results allow identifying factors that induce changes in microbial assemblage configuration, altering specific bacterial soil functions and interactions within the microbial communities in natural environments.

Vertical distribution and diurnal migration of atlantid heteropods

Understanding the vertical distribution and migratory behaviour of shelled holoplanktonic gastropods is essential in determining the environmental conditions to which they are exposed. This is increasingly important in understanding the effects of ocean acidification and climate change. Here we investigated the vertical distribution of atlantid heteropods by collating data from publications and collections and using the oxygen isotope (?18O) composition of single aragonitic shells. Data from publications and collections show 2 patterns of migration behaviour: small species that reside in shallow water at all times, and larger species that make diurnal migrations from the surface at night to deep waters during the daytime. The ?18O data show that all species analysed (n = 16) calcify their shells close to the deep chlorophyll maximum. This was within the upper 110 m of the ocean for 15 species, and down to 146 m for a single species. These findings confirm that many atlantid species are exposed to large environmental variations over a diurnal cycle and may already be well adapted to face ocean changes. However, all species analysed rely on aragonite supersaturated waters in the upper <150 m of the ocean to produce their shells, a region that is projected to undergo the earliest and greatest changes in response to increased anthropogenic CO2.

Genetic parameters of milk production and reproduction traits of Girolando cattle in Brazil

The objective of this study was to estimate the heritability and genetic, phenotypic, and environmental correlations between 305-day milk yield (305MY), age at first calving (AFC), calving interval (CI) and dry period length (DPL), as well as to compare the productive and reproductive performances of several groups of Girolando cows during their first, second and third parturitions in Brazil. Genetic parameters were estimated using uni- and bi-trait analyses via restricted maximum likelihood (REML). Heritability estimates were similar between uni- and bi-trait analyses and varied from 0.20 to 0.28, 0.00 to 0.08 and 0.07 to 0.14 for 305MY, CI and DPL, respectively, whereas AFC was 0.20. Genetic correlations between 305MY and AFC (–0.49) or DPL (–0.40 to –0.79) show a favourable association. However, an unfavourable genetic association was verified between 305MY and CI (0.59) in the first calving. Environmental and phenotypic correlations between 305MY and CI or DPL showed a favourable association (–0.25 to –0.42 and –0.14 to –0.44). Concerning the cow breed group, a decrease in 305MY was observed as the fraction of the Gyr breed increased, whereas animals from the 1/2 Holstein +1/2 Gyr crossbreeding group yielded better performances for AFC and CI. These results reveal large genetic, phenotypic and environmental variations that could be used in selection programmes.

The spatial distribution of African savannah herbivores: species associations and habitat occupancy in a landscape context.

Herbivores play an important role in determining the structure and function of tropical savannahs. Here, we (i) outline a framework for how interactions among large mammalian herbivores, carnivores and environmental variation influence herbivore habitat occupancy in tropical savannahs. We then (ii) use a Bayesian hierarchical model to analyse camera trap data to quantify spatial patterns of habitat occupancy for lions and eight common ungulates of varying body size across an approximately 1100 km(2) landscape in the Serengeti ecosystem. Our results reveal strong positive associations among herbivores at the scale of the entire landscape. Lions were positively associated with migratory ungulates but negatively associated with residents. Herbivore habitat occupancy differed with body size and migratory strategy: large-bodied migrants, at less risk of predation and able to tolerate lower quality food, were associated with high NDVI, while smaller residents, constrained to higher quality forage, avoided these areas. Small herbivores were strongly associated with fires, likely due to the subsequent high-quality regrowth, while larger herbivores avoided burned areas. Body mass was strongly related to herbivore habitat use, with larger species more strongly associated with riverine and woodlands than smaller species. Large-bodied migrants displayed diffuse habitat occupancy, whereas smaller species demonstrated fine-scale occupancy reflecting use of smaller patches of high-quality habitat. Our results demonstrate the emergence of strong positive spatial associations among a diverse group of savannah herbivores, while highlighting species-specific habitat selection strongly determined by herbivore body size.This article is part of the themed issue 'Tropical grassy biomes: linking ecology, human use and conservation'.

Molecular diversity and distribution pattern of ciliates in sediments from deep-sea hydrothermal vents in the Okinawa Trough and adjacent sea areas

In comparison with the macrobenthos and prokaryotes, patterns of diversity and distribution of microbial eukaryotes in deep-sea hydrothermal vents are poorly known. The widely used high-throughput sequencing of 18S rDNA has revealed a high diversity of microeukaryotes yielded from both living organisms and buried DNA in marine sediments. More recently, cDNA surveys have been utilized to uncover the diversity of active organisms. However, both methods have never been used to evaluate the diversity of ciliates in hydrothermal vents. By using high-throughput DNA and cDNA sequencing of 18S rDNA, we evaluated the molecular diversity of ciliates, a representative group of microbial eukaryotes, from the sediments of deep-sea hydrothermal vents in the Okinawa Trough and compared it with that of an adjacent deep-sea area about 15km away and that of an offshore area of the Yellow Sea about 500km away. The results of DNA sequencing showed that Spirotrichea and Oligohymenophorea were the most diverse and abundant groups in all the three habitats. The proportion of sequences of Oligohymenophorea was the highest in the hydrothermal vents whereas Spirotrichea was the most diverse group at all three habitats. Plagiopyleans were found only in the hydrothermal vents but with low diversity and abundance. By contrast, the cDNA sequencing showed that Plagiopylea was the most diverse and most abundant group in the hydrothermal vents, followed by Spirotrichea in terms of diversity and Oligohymenophorea in terms of relative abundance. A novel group of ciliates, distinctly separate from the 12 known classes, was detected in the hydrothermal vents, indicating undescribed, possibly highly divergent ciliates may inhabit this environment. Statistical analyses showed that: (i) the three habitats differed significantly from one another in terms of diversity of both the rare and the total ciliate taxa, and; (ii) the adjacent deep sea was more similar to the offshore area than to the hydrothermal vents. In terms of the diversity of abundant taxa, however, there was no significant difference between the hydrothermal vents and the adjacent deep sea, both of which differed significantly from the offshore area. As abundant ciliate taxa can be found in several sampling sites, they are likely adapted to large environmental variations, while rare taxa are found in specific habitat and thus are potentially more sensitive to varying environmental conditions.