Sayre-McCord Thomas

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Sayre-McCord
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Thomas
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  • Article
    Climate change and the threat of novel marine predators in Antarctica
    (John Wiley & Sons, 2017-11-30) Smith, Kathryn E. ; Aronson, Richard B. ; Steffel, Brittan V. ; Amsler, Margaret O. ; Thatje, Sven ; Singh, Hanumant ; Anderson, Jeff ; Brothers, Cecilia ; Brown, Alastair ; Ellis, Daniel S. ; Havenhand, Jon N. ; James, William R. ; Moksnes, Per-Olav ; Randolph, Allison W. ; Sayre-McCord, Thomas ; McClintock, James B.
    Historically low temperatures have severely limited skeleton-breaking predation on the Antarctic shelf, facilitating the evolution of a benthic fauna poorly defended against durophagy. Now, rapid warming of the Southern Ocean is restructuring Antarctic marine ecosystems as conditions become favorable for range expansions. Populations of the lithodid crab Paralomis birsteini currently inhabit some areas of the continental slope off Antarctica. They could potentially expand along the slope and upward to the outer continental shelf, where temperatures are no longer prohibitively low. We identified two sites inhabited by different densities of lithodids in the slope environment along the western Antarctic Peninsula. Analysis of the gut contents of P. birsteini trapped on the slope revealed them to be opportunistic invertivores. The abundances of three commonly eaten, eurybathic taxa—ophiuroids, echinoids, and gastropods—were negatively associated with P. birsteini off Marguerite Bay, where lithodid densities averaged 4280 ind/km2 at depths of 1100–1499 m (range 3440–5010 ind/km2), but not off Anvers Island, where lithodid densities were lower, averaging 2060 ind/km2 at these depths (range 660–3270 ind/km2). Higher abundances of lithodids appear to exert a negative effect on invertebrate distribution on the slope. Lateral or vertical range expansions of P. birsteini at sufficient densities could substantially reduce populations of their benthic prey off Antarctica, potentially exacerbating the direct impacts of rising temperatures on the distribution and diversity of the contemporary shelf benthos.
  • Article
    Multi-modal survey of Adélie penguin mega-colonies reveals the Danger Islands as a seabird hotspot
    (Nature Publishing Group, 2018-03-02) Borowicz, Alex ; McDowall, Philip ; Youngflesh, Casey ; Sayre-McCord, Thomas ; Clucas, Gemma V. ; Herman, Rachael ; Forrest, Steven ; Rider, Melissa ; Schwaller, Mathew ; Hart, Tom ; Jenouvrier, Stephanie ; Polito, Michael J. ; Singh, Hanumant ; Lynch, Heather J.
    Despite concerted international effort to track and interpret shifts in the abundance and distribution of Adélie penguins, large populations continue to be identified. Here we report on a major hotspot of Adélie penguin abundance identified in the Danger Islands off the northern tip of the Antarctic Peninsula (AP). We present the first complete census of Pygoscelis spp. penguins in the Danger Islands, estimated from a multi-modal survey consisting of direct ground counts and computer-automated counts of unmanned aerial vehicle (UAV) imagery. Our survey reveals that the Danger Islands host 751,527 pairs of Adélie penguins, more than the rest of AP region combined, and include the third and fourth largest Adélie penguin colonies in the world. Our results validate the use of Landsat medium-resolution satellite imagery for the detection of new or unknown penguin colonies and highlight the utility of combining satellite imagery with ground and UAV surveys. The Danger Islands appear to have avoided recent declines documented on the Western AP and, because they are large and likely to remain an important hotspot for avian abundance under projected climate change, deserve special consideration in the negotiation and design of Marine Protected Areas in the region.
  • Thesis
    Perception-driven optimal motion planning under resource constraints
    (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2019-02) Sayre-McCord, Thomas
    Over the past few years there has been a new wave of interest in fully autonomous robots operating in the real world, with applications from autonomous driving to search and rescue. These robots are expected to operate at high speeds in unknown, unstructured environments using only onboard sensing and computation, presenting significant challenges for high performance autonomous navigation. To enable research in these challenging scenarios, the first part of this thesis focuses on the development of a custom high-performance research UAV capable of high speed autonomous flight using only vision and inertial sensors. This research platform was used to develop stateof-the-art onboard visual inertial state estimation at high speeds in challenging scenarios such as flying through window gaps. While this platform is capable of high performance state estimation and control, its capabilities in unknown environments are severely limited by the computational costs of running traditional vision-based mapping and motion planning algorithms on an embedded platform. Motivated by these challenges, the second part of this thesis presents an algorithmic approach to the problem of motion planning in an unknown environment when the computational costs of mapping all available sensor data is prohibitively high. The algorithm is built around a tree of dynamically feasible and free space optimal trajectories to the goal state in configuration space. As the algorithm progresses it iteratively switches between processing new sensor data and locally updating the search tree. We show that the algorithm produces globally optimal motion plans, matching the optimal solution for the case with the full (unprocessed) sensor data, while only processing a subset of the data. The mapping and motion planning algorithm is demonstrated on a number of test systems, with a particular focus on a six-dimensional thrust limited model of a quadrotor.