Four on-road studies were conducted in the Clifton area of Nottingham, UK, aiming to explore the relationships between driver workload and environmental engagement associated with ‘active’ and ‘passive’ navigation systems. In a between-subjects design, a total of 61 experienced drivers completed two experimental drives comprising the same three routes (with overlapping sections), staged one week apart. Drivers were provided with the navigational support of a commercially-available navigation device (‘satnav’), an informed passenger (a stranger with expert route knowledge), a collaborative passenger (an individual with whom they had a close, personal relationship) or a novel interface employing a conversational natural language ‘NAV-NLI’ (Navigation Natural Language Interface). The NAV-NLI was created by curating linguistic intercourse extracted from the earlier conditions and delivering this using a ‘Wizard-of-Oz’ technique. This term describes a research experiment in which subjects interact with a computer system that they believe to be autonomous, but which is actually being operated or partially operated by an unseen human being. The different navigational methods were notable for their varying interactivity and the preponderance of environmental landmark information within route directions. Participants experienced the same guidance on each of the two drives to explore changes in reported and observed behaviour. Results show that participants who were more active in the navigation task (collaborative passenger or NAV-NLI) demonstrated enhanced environmental engagement (landmark recognition, route-learning and survey knowledge) allowing them to reconstruct the route more accurately post-drive, compared to drivers using more passive forms of navigational support (SatNav or informed passenger). Workload measures (the Tactile Detection Task (TDT) and the National Aeronautical and Space Administration Task Load Index (NASA-TLX)) indicated no differences between conditions, although SatNav users and collaborative passenger drivers reported lower workload during their second drive. The research demonstrates clear benefits and potential for a navigation system employing two-way conversational language to deliver instructions. This could help support a long-term perspective in the development of spatial knowledge, enabling drivers to become less reliant on the technology and begin to re-establish associations between viewing an environmental feature and the related navigational manoeuvre.

New Zealand rattail fish are of great interest both to biologists who study their phylogenetics and in fisheries. In contrast, their morphological evolution is little studied and poorly understood. Geometric morphometric methods based on scale shape were applied in this study to determine differences among species and genera. Scale shapes were described using seven landmarks, the coordinates of which were subjected to a generalized Procrustes analysis, followed by a principal components analysis. A cross-validated discriminant analysis was applied to assess and compare the size-shape (centroid size plus shape variables) efficacy in the species and the discrimination of the genera. Two main phenetic groups were identified: cluster no. 1 with eight species and cluster no. 2 with six species. Coelorhinchus aspercephalus and Mesovagus antipodum were more separated from the other species in the first cluster. The cross-validated canonical discriminant analysis correctly classified 74% at the genus level, with most misclassifications occurring between Coelorhinchus and Coryphaenoides, whereas the best classified genera were Mesovagus and Trachyrincus. The discrimination of correctly classified species ranged from 41.2 to 100%. The highest correct classification rates were recorded for Coryphaenoides armatus, Coelorhinchus innotabilis, Trachyrincus longirostris and Mesovagus antipodum.

Diversity amongst the different populations is one of the problems in the control of medically important mosquitoes. Wing morphometry was used to identify within-species variation amongst some populations of Aedes aegypti in three areas of Lagos State, Nigeria. Ten landmarks on the right wing of adult female Ae. aegypti mosquitoes were digitized using TPSdig software. Relative distances of the veins and interpoints were calculated as well as the Euclidean distances based on these relative distances. In three (50%) of the interpoints, the relative distances were significant (P<0.05) to both the Brown–Forsythe F ratio and Welch ANOVA. The highest Euclidean distance of 7.738 was between Ebute Metta 2 and Badagry; the lowest of 4.426 was between Ikorodu and Ebute Metta 2. The distance between Ebute Metta 1 and Ebute Metta 2 was 5.867, which is more than the distance between Ebute Metta 2 and Ikorodu. Three groups of Ae. aegypti were identified, and the differences in lengths and interpoints observed on the wing veins suggest a possible morphological divergence amongst populations.

The phenotypic shell shape variation of Mactra isabelleana was tested using the geometric morphometric method. Four localities were sampled along the Río de la Plata estuary and the coast of Buenos Aires province. Principal component analysis and canonical variates analysis of the first principal components were performed to reveal the shell variation and differences among localities, respectively. The specimens from different microhabitats mostly overlapped, although differences in shape were observed in the development of the umbo, the enlargement of the dorsoventral axes and the elongation of the posterior end. The ecological and physical parameters that could influence shell shape variation are discussed.

This paper presents an overview of results from the two year REGIONAL project. The aims of REGIONAL were to undertake research to enable landmarks to be an integral feature of future vehicle navigation systems. Results from the project, including five empirical road-based trials, are summarised. The main findings were: landmarks were widely used by drivers as key navigation cues; the incorporation of good landmarks within navigation instructions has the potential to considerably enhance vehicle navigation systems; although a wide range of landmarks are potentially useful to a driver, only a limited set, which displayed key characteristics, were consistently effective as navigation cues.

To limit cumulative errors due to the odometer, we propose an absolute location method based on the extraction and the use of geometrical landmarks. This method also avoids the need of prior knowledge of the robot environment (no training steps) and its specified fitting (no beacons). If different measurements of the environment around the robot taken by an ultrasonic telemeter are merged, geometrical primitives appear. They are then discriminated and rebuilt. Those primitives are the landmarks used by the locating system. Hence a set of definitions and laws have been established to conjointly use few landmarks, in order to obtain the mobile robot absolute location by triangulation.

We tested the hypothesis that echolocating bats use landscape elements as acoustic landmarks. We predicted that bats should be able to perceive distant landscape elements using echolocation and hence change their echolocation behaviour in relation to these elements. Echolocation parameters of commuting pond bats Myotis dasycneme (Boie, 1825) were related to the bats' distance from banks of different sized canals. Pulse durations emitted while bats flew over canals of 13, 19, and 25 m wide increased successively. Interpulse intervals were equally long at 13, 19, and 25 m wide canals, but significantly longer at a 30 m wide canal. The mean interpulse interval used by bats flying along the midline of the 30 m wide canal was just sufficiently long to prevent overlap of an echo from the canal bank and a new outgoing pulse. The results indicate that pond bats perceive the canal banks by gradually adapting their pulse emissions to the distance to the banks. This suggests a role for the banks as acoustic landmarks.

The paper considers the bias of Bookstein's mean estimator for shape under the isotropic normal model. This work depends on certain distributional properties of shape variables. An alternative unbiased modified estimator is proposed and its performance is compared with various estimators, including Procrustes and the exact maximum likelihood estimator, in a simulation study.

The density for the shapes of random configurations of N independent Gaussian-distributed landmarks in the plane with unequal means was first derived by Mardia and Dryden (1989a). Kendall (1984), (1989) describes a hierarchy of spaces for landmarks, including Euclidean figure space containing the original configuration, preform space (with location removed), preshape space (with location and scale removed), and shape space. We derive the joint density of the landmark points in each of these intermediate spaces, culminating in confirmation of the Mardia–Dryden result in shape space. This three-step derivation is an appealing alternative to the single-step original derivation, and also provides strong geometrical motivation and insight into Kendall's hierarchy. Preform space and preshape space are respectively Euclidean space with dimension 2(N–1) and the sphere in that space, and thus the first two steps are reasonably familiar. The third step, from preshape space to shape space, is more interesting. The quotient by the rotation group partitions the preshape sphere into equivalence classes of preshapes with the same shape. We introduce a canonical system of preshape coordinates that include 2(N–2) polar coordinates for shape and one coordinate for rotation. Integration over the rotation coordinate gives the Mardia–Dryden result. However, the usual geometrical intuition fails because the set of preshapes keeping the rotation coordinate (however chosen) fixed is not an integrable manifold. We characterize the geometry of the quotient operation through the relationships between distances in preshape space and distances among the corresponding shapes.

The paper obtains the exact distribution of Bookstein's shape variables under his plausible model for landmark data. We consider its properties including invariances, marginal distributions and the relationship with Kendall's uniform measure. Particular cases for triangles and quadrilaterals are highlighted. A normal approximation to the distribution is obtained, extending Bookstein's result for three landmarks. The adequacy of these approximations is also studied.