Field experiments were conducted in 1987 and 1988 to examine interference from a natural population of perennial sowthistle on soybean and dry edible bean. In 1987, an average of 78 and 90 perennial sowthistle shoots per m2 in 71-cm (wide) crop row spacing reduced soybean and dry edible bean yield by 49% and 36%, respectively. In 1988, a year of less precipitation, an average density of 96 and 88 shoots per m2 reduced soybean and dry bean yield by 87% and 83%, respectively. One cultivation 5 wk after planting increased crop yield and decreased perennial sowthistle density compared with no cultivation. Perennial sowthistle reduced seed weight, germination percentage, and seedling growth rate of seed produced by both crops. In the presence of perennial sowthistle, one cultivation resulted in improved seed quality compared with no cultivation.

Both 14C-clopyralid (3,6-dichloropicolinic acid) and 14C-chlorsulfuron {2-chloro-N-[[(4-methoxy-6-methyl-1,3,5-triazin-2-yl)amino]carbonyl]benzensulfonamide} were readily absorbed by Canada thistle [Cirsium arvense (L.) Scop. ♯ CIRAR] leaves, with 99 and 75%, respectively, of the applied doses absorbed 144 h after application. Absorbed 14C-clopyralid was rapidly exported from the treated leaves, whereas 14C-chlorsulfuron was translocated much more slowly. After 144 h, 29% of the applied 14C-clopyralid and 5% of the applied 14C-chlorsulfuron were recovered in the roots and developing root buds of Canada thistle plants. Smaller amounts of the two herbicides were absorbed and translocated in perennial sowthistle (Sonchus arvensis L. ♯ SONAR) than in Canada thistle. More 14C-clopyralid than 14C-chlorsulfuron was absorbed and translocated out of treated leaves of perennial sowthistle, but equal amounts, 3 to 4% of the applied doses, were recovered in the roots and root buds 144 h after application. Foliar applications of clopyralid, followed by removal of the treated shoot 24, 72, or 144 h after application, markedly reduced shoot regrowth in both Canada thistle and perennial sowthistle. Similar treatment with chlorsulfuron did not prevent shoot regrowth in either species.

Field studies were conducted in 1979 and 1980 to determine yield losses caused by perennial sowthistle (Sonchus arvensis L. # SONAR) in rapeseed (Brassica napus L., B. campestris L.) fields in Saskatchewan and Manitoba. The relationship between percentage yield loss and density of perennial sowthistle was expressed by the linear regression equation y = −3.81 + 13.76 rdx. Weed survey data indicated that perennial sowthistle occurred in 39% of the rapeseed fields but infested only 7% of the hectares surveyed. Using both the survey data and the yield loss equation, the average annual loss in rapeseed yield was estimated to be 9.4 million kg in Saskatchewan and 6.1 million kg in Manitoba, with a value of 2.6 million and 1.7 million dollars (Cdn.), respectively. Perennial sowthistle occurs with a similar frequency and density in other crops so that the total loss from this weed would be much greater.

The freezing resistance of overwintering buds of four perennial weed species was evaluated in artificial freezing experiments conducted in the winters of 1986 and 1987. Survival, dry weight of surviving shoots, and number of shoots produced/surviving section were determined at −4, −8, −12, −16, and −20 C for Canada thistle roots, leafy spurge roots, leafy spurge crowns, perennial sowthistle roots, and quackgrass rhizomes. The temperature required to reduce survival (LT50) and total dry weight (GR50) by 50% was determined. The response to freezing temperatures varied among species and in some cases between years. The LT50 was −7, −13, colder than −20, −17, and colder than −20, and the GR50 was −5, −11, −14, −15, and −13 for Canada thistle roots, leafy spurge roots, leafy spurge crowns, perennial sowthistle roots, and quackgrass rhizomes, respectively. The relative susceptibility to freezing among species appears to be directly related to the depth at which the overwintering buds generally are located.

A long-term study was conducted at Lethbridge, Alberta, to determine the response of weed populations to various crop rotations and tillage treatments. Weed density and species composition differed with rotation, tillage, and date of sampling within years. Fewer weeds were found in winter wheat-fallow than continuous winter wheat, winter wheat-lentil, or winter wheat-canola rotations. A dense infestation of downy brome developed in the continuous winter wheat rotation. In all rotations, more weeds were present in zero tillage plots than in either minimum or conventional tillage plots. Dandelion and perennial sowthistle densities increased slightly over years in the minimum and zero tillage treatments. Flixweed, field pennycress, wild buckwheat, and common lambsquarters densities decreased in zero till but densities of downy brome, redroot pigweed, and Russian thistle increased. Russian thistle was not well controlled with trifluralin and its density increased in the winter wheat-canola rotation.

Improved fallow systems are needed to reduce the negative effects of increased soil erosion and reduced soil quality. Field experiments were conducted to determine weed suppression attained with yellow sweetclover grown as a green manure fallow replacement crop. Yellow sweetclover was undersown in field pea, flax, or Indian mustard and then killed in June of the following fallow year. Living yellow sweetclover competed strongly with weeds during the first fall and spring of fallow. Weed biomass accounted for <1 to 12% of the total plant biomass when yellow sweetclover was terminated in June. Yellow sweetclover residues remaining after termination of growth continued to provide excellent weed suppression. Weed densities in April before planting the succeeding wheat crop were 75 to 97% lower in yellow sweetclover than in untreated fallow treatments. Yellow sweetclover controlled the perennial weeds dandelion and perennial sowthistle, as well as the annuals kochia, flixweed, Russian thistle, and downy brome. Weed suppression was similar whether yellow sweetclover was harvested as hay or its residues were incorporated or left on the soil surface, suggesting that a portion of the weed suppression effect may be due to allelopathic compounds being released from decomposing yellow sweetclover. Results will be used to develop more sustainable agronomic practices in regions where fallow is still widely employed.

To identify the most commonly regulated weedy plants in the United States and southern Canada, we compiled a database of noxious weed lists obtained from the 48 continental states and six bordering provinces. The 10 most frequently listed weeds are Cirsium arvense, Carduus nutans, Lythrum spp. (includes purple loosestrife), Convolvulus arvensis, Euphorbia esula, Acroptilon repens, Sorghum spp. (includes johnsongrass and shattercane), Cardaria spp. (includes hoary cress, also called whitetop), Centaurea maculosa, and Sonchus arvensis. When genera are ranked, the top genus is Centaurea, which includes C. maculosa, C. diffusa, and C. solstitalis. Biological control programs have targeted many of the top dicotyledonous weeds of national concern, but none of the weedy grasses and sedges. We recommend that exploratory studies be initiated to determine the feasibility of developing biological control agents for the latter species. The complete database of noxious weed lists is available on the Internet at http://invader.dbs.umt.edu. This information may be useful to resource managers and regulatory officials in assessing which weeds are problematic in adjacent geographic areas and by researchers to help select which weeds to target with new management strategies.

Vessel traffic in the Arctic is expanding in volume both within and transiting the region, yet the infrastructure necessary to support modern ship navigation is lacking. This includes aids to navigation such as buoys and beacons that can be difficult to place and maintain in this hostile environment that stretches across vast distances. The results of research are described which determine whether virtual electronic Aids to Navigation (eAtoN) existing entirely as digital information objects can overcome the practical limitations of physical aids to navigation (AtoN) and Automatic Identification System (AIS) radio eAtoN. Capabilities unique to virtual eAtoN that are not available using either physical or AIS radio technologies are also examined including dynamic and real time properties and immunity to Global Navigation Satellite System (GNSS) and AIS spoofing, aliasing, denial of service attacks and service outages. Conclusions are provided describing potential methods of deployment based upon similar concepts already in use.

Despite continuous efforts to improve shipping safety, groundings are still the prime cause of large scale oil pollution of the marine environment. As the bridge operator remains the most important part of navigation, the provision of tools which promote his understanding of the threats which lie ahead of the ship has become a permanent challenge. In this work, the use of a hull-mounted forward-looking sonar as a navigational aid for grounding avoidance and ultimately as an associated oil-spill risk control option for oil tankers is examined according to the Formal Safety Assessment (FSA) approach. In this context, the sonar's oil-spill risk reduction potential and its overall cost were estimated and assessed against the Cost of Averting a Ton of oil Spilled (CATS) criterion. It was found that the currently available sonar technology has a maximum detection range which is adequate for the avoidance of powered groundings in the case of small-sized oil tankers only. However, for this ship size category, the attained oil-spill risk reduction was found to be low and sonar use was proved to be cost ineffective. However, it was found that sonar technology will offer sizable oil-spill risk reduction in large-sized oil tankers and their requirement for longer sonar detection range can be easily met cost-effectively as an oil-spill risk control option for ships of this size.

This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a fiat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The sonar sensor, again, mounted on a pan-tilt device then receives the reflected pulses while scanning over a wide area. The geometric parameter set of beaconis acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensor with wide beam spread. From this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.

Surveys by digital side-scan sonar, RoxAnnTM acoustic ground discrimination systems, multibeam echosounder and a sub-bottom profiling system showed that a Modiolus modiolus reef, in the Irish Sea off Pen Llŷn, north-west Wales, had a distinctive morphology and acoustic characteristics. The extent of the reef could therefore be determined and the benthic structure reliably mapped. The biogenic reef is in an area with moderately strong tidal currents and overlays lag gravel and cobbles with patchy sand veneers. The mussels form an undulating surface, orientated perpendicular to the current, with an average wavelength of 11.7 m and amplitude of 0.24 m that is significantly different from the surrounding seabed. Reef deposits reach a thickness of 1 m on top of the underlying lag gravels. The characteristic reef surface morphology helps distinguish the reef from the surrounding seabed on side-scan sonar and multibeam echosounder records and the undulations create the spatial complexity that influences the small-scale distribution of the associated epifauna, and infauna, reported in papers II and III of this series. The M. modiolus reef was recorded in the same location 40 y ago and has probably persisted there for over 150 y. Monitoring implications are discussed.

Multibeam omnidirectional sonars are tools currently used by fishers, but also allow the monitoring of pelagic fish schools surrounding a platform. Multibeam processing methods now offer improved capacities for raw data storage. The Simrad SP90 sonar was used for the detection of fish schools associated with drifting fish aggregating devices (FADs), and digital systems developed for the acquisition and processing of volume backscattering echoes and position data. Data sampling methods were defined based on two modes: one for periods searching for FADs and associated schools, and one for school monitoring in drifting mode. Validation of the detection of several FAD-associated schooling species was made by simultaneous visual observations or/and cross-checking with echosounder recordings. The characteristics of schooling behaviour in the targeted fish species are fundamental for the correct interpretation of acoustic data. Sonar detection threshold is the result of a compromise between fish number, size, species and the nearest neighbour distance (NND) of individuals per dynamic structure (school or shoal). Tuna schooling dynamics mean that NND can sometimes be too large to allow the presence of these fish to be detected, despite their number. Sonar data should be analysed and interpreted in a holistic manner, in combination with behaviour pattern and dynamics of all species around the drifting FADs. An autonomous sonar buoy prototype equipped with 360° scanning sonar coupled to video cameras will increase our understanding of tuna behaviour around drifting or anchored objects. A similar methodology can be applied to different kinds of platforms, either anchored or in permanent positions. This would improve the monitoring of fish schools around artificial reefs, open sea aquaculture farms, and across estuaries, channels or straits; applications which are undoubtedly essential for progressive fisheries management.

This paper presents the Statistical Analysis of Passive Sonar Performance Prediction in Littoral Environments. Passive sonar performance and acoustic prediction mainly refer to the detection range. The inputs for estimating the sonar detection range include the Figure of Merit (FOM), Transmission Loss (TL), and Ambient Noise (NL) of the operation region. These inputs are directly related to the ocean environment; hence, the detection range is, too. A littoral environment is highly variable both in time and space. This paper proposes a methodology for analyzing the statistical properties of the detection range from measurements of ocean water column properties. It is found that the detection range of the southwestern region of Taiwan in the summer is 13.8km with 5.9km as the standard deviation and in the winter is 37.8km with 33.6km as the standard deviation.

An autonomous mobile robot operating in an unknown indoor environment often needs to map the environment while localizing within the map. Feature-based world models including line and point features are widely used by researchers. This paper presents a novel delayed-classi-fication algorithm to categorize these features using a recently developed high-performance sonar ring within a simultaneous localization and map-building (SLAM) process. The sonar ring sensor accurately measures range and bearing to multiple targets at near real-time repetition rates of 11.5 Hz to 6 m range, and uses 24 simultaneously fired transmitters, 48 receivers and multiple echoes per receiver. The proposed algorithm is based on hypothesis generation and verification using the advanced sonar ring data and an extended Kalman filter (EKF) approach. It is capable of initiating new geometric features and classifying them within a short distance of travel of about 10 cm. For each new sonar reading not matching an existing feature, we initiate a pair of probational line and point features resulting from accurate range and bearing measurements. Later measurements are used to confirm or remove the probational features using EKF validation gates. The odometry error model of the filter allows for variations in effective wheel separation required by pneumatic robot tyres. The implementation of the novel classification and SLAM algorithm is discussed in this paper and experimental results using real sonar data are presented.

Fish schools are aggregative structures encountered in all types of aquatic environments but have as yet been little studied in freshwaters except at small spatial scales. This study represents the three dimensional description of juvenile fish schools (Perca fluviatilis and Rutilus rutilus) in a lake environment using high resolution multibeam sonar system operating at a frequency of 455 kHz, composed of 60 beams of 1.5° allowing a 90° observation plane. The in situ diurnal schooling behaviour of young-of-the-year fish of both species is confirmed. The morphological, energetic and spatial variables of these schools are described and related to one another. The structures described are of the same order of magnitude as those described in the marine environment. The school shape is elliptical, they are shallow and they display a temporal and spatial stability over the course of a day but a highly variable morphology. The number of vacuoles, a descriptor of the internal morphology of the schools, was found to be significantly (p < 0.01) correlated with the volume of the school, and showed two distinct relationships, with proportions similar to the percentage occurrence of both species sampled by a pelagic trawl. The relation may be efficient for fish species discrimination by 3-D acoustics methods in this lake with two main aggregative fish species.

This paper describes an on-going project to develop robotic systems for locating chemical sources in constrained environments. There is increasing interest in applying chemical sensing to mobile robots. Locating the source of a chemical plume is seen as an important use for a chemical sensing robot. Current research tends to concentrate on source location in open and relatively obstacle free environments. Many of the applications for this technology will be areas where airflow is constrained and deflected by obstacles such as inside buildings, mines and subway tunnels. It is this kind of situation that this project aims to address.

In this paper, an AEKF algorithm is used to localize a mobile robot equipped with eight Polaroid sonars in an indoor structured environment. The system state equation and sonar measurement models used for locating the mobile robot are set up. The localization process based on the AEKF algorithm is given. Four criteria used to judge the validity of predictive measurements of sonars are presented, which can increase the probability of the matching between predictive measurements and actual measurements. Experiments show that the localization precision based on our methods is greater than that using the conventional EKF algorithm.

Two independent surveys showed that aquatic insects can generate echoes comparable with the echoes of small fish. In the open water of two fishless mountain acidic waters of the Czech Republic, a very distinct population of well-defined single targets resembling fish (target strength –66 to –50 dB at 120 kHz) was discovered. These targets were found in the depth range of 5–7 m during the day (June–July 1997). At night, most targets were recorded by horizontal beaming (depth < 3 m). Towing of ichthyoplankton nets in these horizons revealed the presence of ‘water bugs’, Corixidae (Hemiptera), mostly genus Glaenocorisa. Target strengths of corixids was also verified by direct observations in an experimental tank, where it was possible to track side, dorsal and ventral aspects. In three Dutch reservoirs, Petrusplaat, Honderd-en-Dertig and De Gijster (area 100–300 ha, maximum depth 15–28 m, with fish presence) the targets of ascending dipteran pupae (Chironomidae, Procladius signatus) with target strength of –74 to –65 dB were observed by vertical beaming. The presence of pupae was verified by horizontally towed ichthyoplankton nets and by vertical plankton hauls inside the echosounder beam. The contribution of aquatic insects to the fish biomass was small but they can interfere in juvenile fish assessment.