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    Continent-wide tree fecundity driven by indirect climate effects

    Elements of TA
    Identifying biogeographic trends within volatile data required several innovations in the MASTIF model20, building from multivariate state-space methods in previous applications41,52. Standard modeling options, such as generalized linear models and their derivatives, do not accommodate key features of the masting processes. First, multiple data types are not independent. Maturation status is binary with detection error, CCs are non-negative integers, also with detection error, and STs require a transport model (dispersal) linking traps to trees, and identification error in seed identification. Of course, a tree observed to bear seed, now or in the past, is known to be mature now. However, failure to observe seed does not mean that an individual is immature because there are detection errors and failed crop years41,64.
    Second, seed production is quasiperiodic within an individual (serial dependence), quasi-synchronous between individuals (“mast years”), [and] there is dependence on environmental variation, and massive variation within and between trees41,53,65. Autoregressive error structures (AR(p) for p lag terms) impose a rigid assumption of dependence that is not consistent with quasiperiodic variation that can drift between dominant cycles within the same individual over time43. It does not allow for individual differences in mast periodicity.
    Third, climate variables that affect fecundity operate both through interannual anomalies over time and as [a] geographic variation. The masting literature deals almost exclusively with the former, but our application must identify the latter: the potentially smooth variation of climate effects across regions must be extracted from the many individual time series, each dominated by local “noise.”
    Finally, model fitting is controlled by the size classes that dominate a given site and thus is insensitive to size classes that are poorly represented. Large trees are relatively rare in eastern forests, making it hard to identify potential declines in large, old individuals41,53. Conversely, the shade-intolerant species that dominate second-growth forests often lack the smaller size classes needed to estimate maturation and early stages where fecundity may be increasing rapidly.
    Several of the foregoing challenges are resolved in the MASTIF model by introducing latent states for individual maturation status and tree-year seed production. The dependent data types (maturation status, CCs, STs) become conditionally independent in the hierarchical MASTIF model (e.g., ref. 66). The serial dependence is handled as a conditional hidden Markov process for maturation that combines with CCs and STs by way of stochastic (latent) conditional fecundity. Maturation status and conditional fecundity must be estimated jointly, that is, not with separate models. The latent maturation/fecundity treatment avoids imposing a specific AR(p) structure. In the MASTIF model there is a posterior covariance in maturation/fecundity across all tree-year estimates that need not adhere to any specific assumption20. The dependence across individuals and years is automatic and available from the posterior distribution.
    Separating the spatial from temporal components of climate effects is possible here, not only because the entire network is analyzed together but also because predictors in the model include both climate norms for the individual sites and interannual anomalies across sites35,52. TA depends on both of these components.
    Extracting the trends from volatile data further benefits from random individual effects for each tree and the combination of climate anomalies and year effects over time. A substantial literature focuses on specific combinations of climate variables that best explain year-to-year fecundity variation, including combinations of temperature, moisture, and water balance during specific seasons over current and previous years19,25,41. Results vary for each study, presumably due to the differences in sites, species, size classes, duration, data type, and modeling assumptions. For TA, the goal is to accommodate the local interannual variation to optimize identification of trends in space and time. Thus, we include a small selection of important climate anomalies (spring minimum T of the current year, summer T of the current and previous year, and moisture D of the current and previous year). The climate anomalies considered here do not include every variable combination that could be important for all size classes of every species on every site. For this reason, we combine climate anomalies with year effects. Year effects in the model are fixed effects within an ecoregion and random between ecoregions (ecoregions are shown in Fig. 2 and listed in Supplementary Data 2). They are fixed within an ecoregion because they are not interpreted as exchangeable and drawn at random from a large population of possible years. They are random between ecoregions due to the uneven distribution of sites (Supplementary Data 1)20.
    To optimize inference on size effects, the sampling of coefficients in posterior simulation is implemented as a weighted regression. This means that the contribution of tree diameter to fecundity is inversely proportional to the abundance of that size class in the data. This approach has the effect of balancing the contributions of abundant and rare sizes. Identifying size effects further benefits from the introduction of opportunistic field sampling, which can target the large individuals that are typically absent from field study plots.
    MASTIF data network
    Data included in the analysis come from published and unpublished sources and offer one or both of the two data types, CCs and STs (Supplementary Data 1). Both data types inform tree-year fecundity; they are plotted by year in Fig. 6.
    Fig. 6: Distribution of observation trees by year in the North American region of the MASTIF network.

    Sites are listed by ecoregion in the Supplementary Data 2.

    Full size image

    CCs in the MASTIF network are obtained by one of three methods. Most common are counts with binoculars that are recorded with an estimate of the fraction of the crop that was observed. A second CC method makes use of seeds collected per ground surface area relative to the crown area. This method is used where conspecific crowns are isolated and wind dispersal is limited. The crop fraction is the ratio of ground area for traps relative to the projected crown area. Examples include HNHR67 and BCEF68.
    A third CC method is based on evidence for past cone production that is preserved on trees. This has been used for Abies balsamea at western Quebec sites69, Pinus ponderosa in the Rocky Mountains70, and for Pinus edulis at SW sites27.
    ST data include observations on individual trees that combine with seed counts from traps. Because individual studies can report different subcategories of seeds, and few conduct rigorous tests of viability, we had to combine them using the closest description to the concept of “viable”. For example, we do not include empty conifer seeds. A dispersion model provides estimates of seeds derived from each tree. ST and CC studies are listed in Supplementary Data 1. The likelihoods for CCs and STs are detailed in ref. 20. Individually and in combination, the two data types provide estimates, with full uncertainty, for fecundity across all tree-years.
    Fitted species had multiple years of observations from multiple sites, which included 211,146 trees and 2,566,594 tree-years from 123 species. Sites are shown in Fig. 2 of the main text by ecoregion, they are named in Fig. 1 and summarized in Supplementary Data 1. For TA the fits were applied to 7,723,671 trees on inventory plots. Mean estimates for the genus were used for inventory trees belonging to species for which there were not confident fits in the MASTIF model, which amounted to 7.2% of inventory trees. Detailed site information is available at the website MASTIF.
    Covariates
    Covariates in the model include as main effects tree diameter, tree canopy class (shading), and the climate variables in Fig. 1 of the main text and described in Table 1. A quadratic diameter term in the MASTIF model allows for changes in diameter response with size52. Shade classes follow the USDA Forest Inventory and Analysis (FIA)/National Ecological Observation Network (NEON) scheme that ranges from a fully exposed canopy that does not interact with canopies of other trees to fully shaded in the understory. Shading provides information on competition that has proved highly significant for fecundity in previous analyses41,52.
    Table 1 Predictors in the model, not all of which are important for all species.
    Full size table

    To distinguish between the effects of spatial variation versus interannual variability, spring T and moisture D are included in the model as site means and site anomalies35. Spring minimum T affect phenology and frost risk during flowering and early fruit initiation. Summer mean T (June–August) is included both as a linear and quadratic term. Mean summer T is linked to thermal energy availability during the growing season, with the quadratic term allowing for potential suppression due to extreme heat. Moisture D (cumulative monthly PET-P (potential evapotranspiration[-] minus precipitation) for January–August) is included as a site mean and an annual anomaly. Moisture D is important for carbon assimilation and fruit development during summer in the eastern continent and, additionally, from the preceding winter in the western continent. For species that develop over spring and summer, anomalies incorporate the current and previous year. We did not include longer lags in covariates. For species that disperse seed in spring (Ulmus spp. and some members of Acer), only the previous year was used. Temperature anomalies were included for spring, but not summer, simply to reduce the number of times that temperature variables enter the model, and these two variables tended to be correlated at many sites.
    Climate covariates were derived from gridded climate products and combined with local climate monitoring where it is available. Terraclimate71 provides monthly resolution, but it is spatially coarse. For both norms and trends, we used the period from 1990 to 2019 because global temperatures have been increasing consistently since the 1980s, and this span broadly overlaps with fecundity data (Fig. 6). CHELSA72 data are downscaled to a 1 km grid, but it does not extend to 2019. Our three-component climate scaling used regression to project CHELSA forward using Terraclimate, followed by downscaling to 1 km with CHELSA, with further downscaling to local climate data. Even where local climate data exist, they often do not span the full duration of field studies, making the link to gridded climate data important. Local climate data were especially important for mountainous sites in the Appalachians, Rockies, Sierra Nevada, and Cascades.
    Of the full list of variables, a subset was retained, depending on species (some have narrow geographic ranges) and deviance information criteria of the fitted model (Supplementary Data 2). Year effects in the model allow for the interannual variation that is not absorbed by anomalies20.
    Model fitting and TA
    As mentioned above, model fitting applied the hierarchical Bayes model of ref. 20 to the combination of time series and opportunistic observations summarized in Fig. 1. Posterior simulation was completed with Markov chain Monte Carlo based on direct sampling, Metropolis, and Hamiltonian Markov chain. Model fitting used 211,146 trees and 2,566,594 tree-years from 123 species (Supplementary Data 2). Only species with multiple observation years were included.
    The climate variable referenced as C in Eq. (1) of the main text is, in fact, a vector of climate variables described in the previous section, spring minimum T, summer mean T, and moisture D (Table 1). The anomalies and year effects in the fitted model contribute to the trends not explained by biogeographic variation as γ in Eq. (1). For main effects in the model, the partial derivatives are fitted coefficients, an example being the response to spring minimum temperature (partial f/partial {T}_{mathrm{sp}}={beta }_{{T}_{mathrm{sp}}}). For predictors involved in interactions, the partial derivatives are combinations of fitted coefficients and variables. For example, the response to moisture D, which interacts with tree size, is (partial [F], f/partial {D}={beta }_{{D}} + beta_{GD}G). The response to diameter G, which is quadratic and interacts with D, is (partial f/partial G={beta }_{G}+2{beta }_{{G}^{2}}G ,+{beta }_{GD}D).
    Trend decomposition applied the fitted model to every tree in forest inventories from the USDA FIA program, the Canada’s National Forest Inventory, the NEON, and our MASTIF collaboration. Each tree in these inventories has a species and diameter. For trees that lack a canopy class, regression was used to predict it from distances and tree diameters based on inventories that include both location and canopy class, including NEON, FIA, and the MASTIF network. Although inventories differ in the minimum diameter they record, few trees are reproductive at diameters below the lower diameter limits in these surveys, so the effect on fecundity estimates is negligible. For the indirect effects of climate coming through tree growth rates, the same covariates were fitted to growth as previously defined for fecundity, using the change in diameter observed over multiple inventories. A Tobit model was used to accommodate the fact that a second measurement can be smaller than an earlier measurement. The Tobit thus treats negative growth as censored at zero. TA to inventory plots used 7,717,677 trees. Because not all species in the inventory data are included in the MASTIF network, mean fecundity parameters for the genus were used for unfitted species. Species fitted in the MASTIF network accounted for >90% of trees in inventory plots (Supplementary Data 2).
    From the predictive distributions for every tree in the inventory data, we evaluated predictive mean trends aggregated to species and plot in Fig. 2b. We extracted specific terms that comprise the components in Fig. 4 and aggregated them too to the plot averages.
    General form for TA
    Equation 1 simplifies the model to highlight direct and indirect effects. Again, climate variables and tree size represent only a subset of the predictors in the model that are collected in a design vector ({{bf{x}}}_{t}=[{x}_{1,t},ldots ,{x}_{Q,t}]^{prime}), where the q = 1, …, Q predictors include shading from local competition, individual size, and climate and habitat variables (Table 1). On the proportionate scale, Eq. (1) can be written in terms of all predictors, including main effects and interactions, as

    $$frac{{mathrm{d}}f}{{mathrm{d}}t}=mathop{sum }limits_{q=1}^{Q}left(frac{partial f}{partial {x}_{q}}+sum _{q^{prime} in {I}_{q}}frac{partial f}{partial ({x}_{q}{x}_{q^{prime} })}{x}_{q^{prime} }right)frac{{mathrm{d}}{x}_{q}}{{mathrm{d}}t}+gamma$$
    (2)

    where Iq are variables that interact with xq. In this application, interactions include tree diameter with moisture deficit and diameter squared. Each term in the summation consists of a main effect of xq and interactions that are multiplied by the rate of change in variable xq. For the simple case of only two predictors, Eq. (2) is recognizable as Eq. (1) of the main text, where x1, x2 have been substituted for variables G and C. In our application, predictors include additional climate and shading (Table 1).
    Recognizing that environmental variables affect not only fecundity but also growth rate, we extract the size effect, that is, the xq that is G, and incorporate these indirect effects (through growth) by expanding g = dG/dt in Eq. (1) of the main text as

    $$g=mathop{sum }limits_{q=1}^{Q}left(frac{partial g}{partial {x}_{q}}+mathop{sum}limits _{q^{prime} in {I}_{q}}frac{partial g}{partial ({x}_{q}{x}_{q^{prime} })}{x}_{q^{prime} }right){x}_{q}+nu$$
    (3)

    where ν is the component of growth that is not accommodated by other terms. This expression allows us to evaluate the full effect of climate variables, including those coming indirectly through growth.
    Connecting fitted coefficients in MASTIF to TA
    This section connects the continuous, deterministic Eq. (1) to the MASTIF model20 with the interpretation of responses, direct effects, and full effects of Fig. 5. To summarize key elements of the fitted model20, consider a tree i at site j that grows to reproductive maturity and then produces seed depending on its size, local competitive environment, and climate. We wish to estimate the effects of its changing environment and condition on fecundity using a model that includes spatial variation in predictors that are tracked longitudinally over years t. Fecundity changes through maturation probability ρij(t), which increases as trees increase in size, and through conditional fecundity ψij(t), the annual seed production of a mature tree. Let zij(t) = 1 be the event that a randomly selected tree i is mature in year t. Then, ρij(t) is the corresponding probability that the tree is mature, E[zij(t)] = ρij(t)(ρ is not to be confused with the probability that a tree that is now immature will make the transition to the mature state in an interval dt = 1. That is a different quantity detailed in the Supplement to ref. 41). Fecundity has expected value Fij(t) = ρij(t)ψij(t). On a proportionate (log) scale,

    $${f}_{ij}(t)={mathrm{log}},{F}_{ij}(t)={mathrm{log}},{rho }_{ij}(t)+{mathrm{log}},{psi }_{it}(t)$$
    (4)

    The corresponding rate equation is

    $$frac{{mathrm{d}}f}{{mathrm{d}}t}=frac{{mathrm{d}},{mathrm{log}},rho }{{mathrm{d}}t}+frac{{mathrm{d}},{mathrm{log}},psi }{{mathrm{d}}t}$$
    (5)

    The discretized and stochasticized version of Eq. (1) is

    $$frac{{mathrm{d}}{F}_{ij}}{{mathrm{d}}t} = , frac{{F}_{ij,t+{mathrm{d}}t}-{F}_{ij,t}}{{mathrm{d}}t}+{epsilon }_{ij,t}\ = , {{Delta }}{F}_{ij,t}+{epsilon }_{ij,t}$$
    (6)

    where dt = 1 and ϵij,t is the integration error. When applied to a dynamic process model, this term further absorbs process error (see above), which is critical here to allow for conditional independence where observations are serially dependent. In simplest terms, ϵ is model miss-specification that allows for dependence in data.
    The MASTIF model that provides estimates for TA is detailed in ref. 20. Elements of central interest for TA are

    $${F}_{ij,t} = , {z}_{ij,t}{psi }_{ij,t}\ left[{z}_{ij,t}=1right] sim , {{Bernoulli}}left({rho }_{ij,t}right)\ {rho }_{ij,t} = , {{Phi }}({{boldsymbol{mu }}}_{ij,t})\ mathrm{log},{psi }_{ij,t} = ,{{bf{x}}}_{ij,t}^{prime}{boldsymbol{beta }}+{h}_{t}left(Tright)+{epsilon }_{ij,t}$$

    where μij,t = α0 + αGGij,t describes the increase in maturation probability with size, Φ(⋅) is the standard normal distribution function (a probit), ϵij,t ~ N(0, σ2), and ht(T) can include year effects, h(T) = κt, or lagged effects, (h(T)=mathop{sum }nolimits_{k = 1}^{p}{kappa }_{k}{psi }_{ij,t-k}), that contribute to γ in Eq. (1) of the main text. If year effects are used, then γ includes the trend in year effects. (The generative version of this model writes individual states at t conditional on t − 1 and is given in the Supplement to ref. 20.). If an AR(p) model is used, then γ = κ1 (provided data are not detrended). Random individual effects in the fitted model are marginalized for prediction of trees that were not fitted, meaning that σ2 is the sum of model residual and random-effects variance. Again, the length-Q design vector xij,t includes individual attributes (e.g., diameter Gij,t), local competitive environment, and climate (Table 1). There is a corresponding coefficient vector β.
    Moving to a difference equation (rate of change) for conditional log fecundity,

    $${{Delta }}{f}_{ij,t}={{Delta }}mathrm{log},{rho }_{ij,t}+{{Delta }}mathrm{log},{psi }_{ij,t}$$

    where

    $${{Delta }}mathrm{log},{psi }_{ij,t} =mathrm{log},{psi }_{ij,t+1}-mathrm{log},{psi }_{ij,t}\ ={{Delta }}{{bf{x}}}_{ij,t}^{prime}{boldsymbol{beta }}+{gamma }_{ij,t}+{nu }_{ij,t}\ {{Delta }}{{bf{x}}}_{ij,t} ={{bf{x}}}_{i,t}-{{bf{x}}}_{ij,t-1}\ {nu }_{ij,t} sim N(0,2{sigma }^{2})$$

    The variance in the last line is the variance of the difference Δϵij,t.
    Elements of basic theory in Eq. (1) of the main text are linked to data through the modeling framework as

    $${{Delta }}{f}_{ij,t}= +{beta }_{{T}_{sp}}{{Delta }}{T}_{sp,j}\ +left({beta }_{T}+2{beta }_{{T}^{2}}{T}_{j}right){{Delta }}{T}_{j}\ +left({beta }_{D}+{beta }_{GD}{G}_{ij,t}right){{Delta }}{D}_{j}\ +left({alpha }_{G}frac{phi ({{boldsymbol{mu }}}_{ij,t})}{{{Phi }}({{boldsymbol{mu }}}_{ij,t})}+{beta }_{G}+2{beta }_{{G}^{2}}{G}_{ij,t}+{beta }_{GD}{D}_{j}right){{Delta }}{G}_{ij}\ +{gamma }_{ij,t}+{nu }_{ij,t}$$
    (7)

    where ϕ(⋅) is the standard normal density function that comes from the rate of progress toward maturation. Again, the anomalies do not appear in this expression for trends because trends in the anomalies and year effects enter through γ.
    The first four lines in Eq. (7) are, respectively, the effects of trends in spring minimum temperatures ΔTsp,j, summer mean temperature ΔTj, moisture deficit ΔDj, and size ΔGij, where the latter comes from growth on inventory plots. The contribution of maturation to change in fecundity is the first term in the fourth line, αGϕ(μij,t)/Φ(μij,t). A map of this term in Fig. 7b shows the strong contribution to fecundity in the East due to the young (Fig. 7a) and/or small (Fig. 4b) trees there. The sum of these terms dominates the patterns in Fig. 3c.
    Fig. 7: Size and maturation effects on fecundity.

    a Stand age variable in FIA data and b positive effect of maturation for increasing fecundity in the eastern continent. In the West, maturation does not contribute to rising fecundity because large trees are predominantly [mature] larger.

    Full size image

    All terms in Eq. (7) have units of mean change in proportionate fecundity, and these are mapped in figures of the main text. We focus on proportionate fecundity because it reflects the full effect of climate as opposed to total fecundity, which would often be dominated by one or a few trees of a single species. However, from proportionate fecundity we can obtain change in fecundity as ΔFij,t = Fij,t × Δfij. Stand-level effects on fecundity change at site j can be obtained from individual change as

    $${{Delta }}{F}_{j}=mathop{sum }limits_{i=1}^{{n}_{j}}{{Delta }}{F}_{ij}=mathop{sum }limits_{i=1}^{{n}_{j}}{F}_{ij}{{Delta }}{f}_{ij,t}$$

    Again, maps in Fig. 5 show mean proportionate effects for all trees on an inventory plot.
    Reporting summary
    Further information on research design is available in the Nature Research Reporting Summary linked to this article. More

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    Climate predicts geographic and temporal variation in mosquito-borne disease dynamics on two continents

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    Experimental protocol
    Twenty healthy male adults participated in the study. To limit the effects of differences in the participants’ anthropometry, the volunteers were matched according to their height and weight.
    The leg and hand dominances of each participant was noted before running the experiment. The subjects were placed at random on the left ((#1—right hand holding the load) or the right (#2—left hand holding the load) side of the carried object. It happened by chance that three lefthanders were affected to #2. The individuals had an average height of (mean ± SD) 1.77 ± 0.07 m (#1), and 1.77 ± 0.05 m (#2), and an average weight of 74.78 ± 9.00 kg (#1), and 74.54 ± 12.38 kg (#2). The load was symmetrical in shape, and its weight was evenly balanced between the participants who were positioned randomly with respect to the object transported to counteract the effect of a dominant side (Fig. 1A).
    The study was carried out with healthy individuals who wrote their informed consent to participate in the experiment and to be filmed and photographed. The experiment was non-interventional, and the movements performed by the volunteers were no more risky than those they perform in daily activities. The study was approved by the Research Ethics Committee of the University of Toulouse, France (Number IRB00011835-2019-11-26-172, Université Fédérale de Toulouse IRB #1).
    The instructions given to the volunteers were: “Move the load together from point A to point B” and “Any communication between you is forbidden during the experiment”. Point A and point B laid 20 m apart. No explicit instruction was given as to how fast the volunteers should perform the task. The volunteers were tested with three conditions called CT20, CT30, and CT40 corresponding to a load representing on average 20%, 30%, and 40% of the sum of their body masses respectively. The three conditions were tested in random order for each pair. To avoid adaptations due to familiarization or learning, only one trial per pairs and condition was recorded.
    Kinematics and kinetics
    Thirteen MX3, and TS40 Vicon cameras (Vicon©, Oxford) were used to capture the positions of ninety-one retro-reflective markers taped on the system formed by the paired individuals and the load they carry (hereafter called Poly-Articulated Collective System—PACS): 42 markers on each individual31,32, and seven on the load (Fig. 1A). The acquisition frequency was set to 200 Hz. In order to record the walking patterns of the individuals at a stable speed, and thus to exclude the acceleration and deceleration phases at the beginning and end of each trial, the calibrated volume (30m3) corresponded to the central part of the walkway. This covered about two steps. Concerning kinematic analysis, the PACS was reconstructed with the Vicon Nexus™ 1.8.5 software. Reconstruction was impossible for one pair of individuals who had lost one reflective marker. The two lateral handles on each side of the load were equipped with a 6-axis force sensor (Sensix®, France) (Fig. 1B), allowing to record the reaction forces and moments at a sampling frequency of 2000 Hz. The kinematic and kinetic measurement errors were 1 mm for 1 m for the positions (Vicon system) and ± 0.01 N for the forces (Sensix sensors), respectively. The sensors frames were located with the help of screwed reflective markers. The data were filtered with 4th order Butterworth filters with a cut-off frequency of 5 Hz for the kinematic data, and of 10 Hz for the kinetic data. To ensure at least one complete walking cycle for each subject of a pair, the gait cycle of the PACS was defined from the first heel strike of individual #1 to the third heel strike of individual #2.
    COM determination and related parameters
    The carried object, which constituted the 33th segment of the PACS, was built in aluminum and was therefore extremely rigid. It was completely symmetrical about its sagittal plane (Fig. 1B) and therefore its weight was evenly balanced between the participants. The object was equipped with a rod at its center where standard cast iron discs could be slid to increase its weight. The CoM of the object was determined at the intersection point of the vertical lines obtained by hanging the object without discs with a thread fixed at different positions. When the object was loaded, the position of its CoM was then adjusted by taking into account the added cast iron discs and by considering a homogeneous mass distribution inside the discs.
    The De Leva Anthropometric table33 allowed us to estimate the mass mi as well as the CoM of each segment i (CoMi) of the PACS, and thus to compute its global CoM (CoMPACS) as follows:

    $${varvec{G}}{text{PACS}} = frac{1}{{m_{PACS} }}mathop sum limits_{i = 1}^{n = 33} m_{i} {varvec{G}}_{i}$$
    (1)

    with GPACS corresponding to the 3D position of the CoMPACS in the frame R (the global coordinate system), mPACS to the mass of the PACS, n the number of PACS segments (i.e. 16 segments per volunteer, plus one segment for the box), and Gi corresponding to the 3D position of the CoMi in R.
    The vertical amplitude (Az = Zmax − Zmin, in meters) of the CoMPACS trajectory along two consecutive steps, and the length of two consecutive steps by each individual were also computed.
    Assessment of energetic exchanges
    To assess energetic exchanges, forward kinetic work, vertical work, and external work of the forces applied to the CoMPACS were computed25.
    Forward kinetic work (Wkf) was defined as the positive work needed to move the CoMPACS forward, and it was calculated as the sum of the increments of forward kinetic energy (Ekf) along the time curve:

    $$E_{{{text{kf}}}} = { }frac{1}{2} m overrightarrow{V_{f}}left( {text{t}} right)^{{2}} _{/R}$$
    (2)

    with m being the mass of the individual, and (overrightarrow {{V_{f} }}) (t)/R the linear forward velocity of the CoMPACS in the frame R. The x-, y- and z-axis of the frame R, corresponding to the medio-lateral, antero-posterior, and vertical directions respectively, are illustrated in Fig. 1A.
    Vertical work (Wv) was defined as the positive work needed to move the CoMPACS against gravity, and it was calculated as the sum of the increments of the vertical kinetic energy (Ekv) plus the potential energy (Epot) along the time curve with:

    $$E_{{{text{kv}}}} = { }frac{1}{2} m overrightarrow{V_{v}}left( {text{t}} right)^{{2}} _{/R}$$
    (3)

    and

    $$E_{{{text{pot}}}} = mgh_{{/{text{R}}}}$$
    (4)

    where (overrightarrow {{V_{v} }}) (t)/R is the linear vertical velocity of the CoMPACS in R, g = 9.81 m s−2 is the acceleration due to gravity, and h/R is the height of the CoMPACS in R.
    The external work (Wext), corresponding to the positive external work needed to raise and accelerate the CoMPACS, was computed as the sum of the increments of the external mechanical energy (Eext) along the time curve with:

    $$E_{{{text{ext}}}} = E_{{{text{pot}}}} + E_{{{text{kv}}}} + E_{{{text{kf}}}}$$
    (5)

    The energy recovered (called recovery rate (RR)10) by the CoMPACS in the sagittal plane was computed with the following formula17:

    $$RR = { 1}00frac{{W{text{kf}} + W{text{v}} – W{text{ext}}}}{{W{text{kf}} + W{text{v}}}}$$
    (6)

    RR is the percentage of kinetic energy converted into potential energy7,24,25,34,35 and vice versa.
    In the present study, internal work was also considered in order to encompass the coordination between all body segments. Based on the assumption of a conservative Poly-Articulated Model (PAM), internal work (Wint) was computed as the sum of the increments of the Eint,k along the time curve with:

    $$E_{{{text{int}},{text{k}}}} = frac{1}{2}~mathop sum limits_{{i = 1}}^{{33}} (m_{i} overrightarrow {{V_{{~i}} }} left( {text{t}} right)^{{text{2}}} _{{/{text{R}}*}} + m_{{text{i}}} K_{{i^{2} }} {text{ }} times vec{omega }^{2} _{i} /_{{{text{R}}*}} )$$
    (7)

    where mi is the mass of the ith segment, (overrightarrow {{V_{i} }})(t)/R* the linear velocity of its CoM in the sagittal plane of the barycentric coordinate system (R*), Ki its radius of gyration around its CoM, and (vec{omega }_{i})2/R* its angular velocity in R* 36.
    The total mechanical energy of the PACS (Etot) was computed as the sum of the internal kinetic energy (Eint,k) of each segment, plus the potential energy (Epot), and the forward (Ekf ) and vertical (Ekv ) kinetic energy of the CoMPACS in the sagittal plane21,25,37,38:

    $$E_{{{text{tot}}}} = E_{{{text{int}},{text{k}}}} + E_{{{text{pot}}}} + E_{{{text{kf}}}} + E_{{{text{kv}}}}$$
    (8)

    Finally, the total mechanical power (PmecaTot) was used to assess the amount of energy spent or gained by the CoMPACS per unit of time (Δt):

    $$P_{{{text{mecaTot}}}} = frac{{W{text{ext}}}}{Delta t} + frac{{{ }W{text{int}}}}{Delta t} = P_{{{text{ext}}}} + P_{{{text{int}}}}$$
    (9)

    Calculation of internal efforts
    The resultant joint moments at the wrist, elbow, shoulder, neck, and back joints were calculated using a bottom-up Newton–Euler recursive algorithm39. Cardanic angles were used to represent the rotation of the segments coordinate system relative to the global coordinate system40. The segment masses, inertia tensors, and center of mass locations were estimated for each subject according to the scaling equations proposed in Dumas et al. (2007)41. In order to estimate the muscular torque produced at all the joints of the upper-limbs, shoulders, neck, and back, the Moment Cost Function (MCF in kg m2 s−2, 42) was computed as follows:

    $${text{MCF}} = sqrt {M_{L_wt}^{2} } + sqrt {M_{R_wt}^{2} } + sqrt {M_{L_el}^{2} } + sqrt {M_{R_el}^{2} } + sqrt {M_{L_sh}^{2} } + sqrt {M_{R_sh}^{2} } + sqrt {M_{back}^{2} } + sqrt {M_{neck}^{2} }$$
    (10)

    where ML_wt, MR_wt, ML_el, MR_el, ML_sh, MR_sh, Mback, and Mneck are the mean values over a PACS gait cycle of the three-dimensional left and right wrist, left and right elbow, left and right shoulder, top of the back and neck moments, respectively. (sqrt {{text{M}}^{2} }) represents the Euclidian norm of M, i.e. (sqrt {sumnolimits_{i = 1}^{3} {left( {M_{i} } right)^{2} } }), with Mi the i-th component of the vector M.
    We summed the MCF values of the two individuals of each pair to obtain the total moment cost function (TotMCF). The TotMCF allows to quantify the global muscular effort developed at the upper-limbs of the PACS during one gait cycle of the carrying of the load. The MCF difference (∆MCF) between the two individuals was also computed to investigate whether the volunteers developed the same efforts while carrying the object.
    Kinetic synergy analysis
    We extracted the synergies by using a principal component analysis (PCA) applied to the wrist, elbow, shoulder, back, and neck joint moment on the right and left sides of the body. The PCA was used to reduce data dimensionality13,35,43. It consisted in the eigen-decomposition of the co-variance matrix of the joint moment data (Matlab eig function). The joint moments data were arranged in time × joint moment matrices. We called the eigenvectors extracted from the PCA synergy vectors13. The number of synergies was determined from the VAF (Variance Accounted For), which corresponds to the cumulative sum of the eigenvalues, ordered from the greatest to the lowest value, normalized by the total variance computed as the sum of all eigenvalues. We defined the number of synergies as the first number for which the VAF was greater than 0.9. The synergy vectors retained were then rotated using a Varimax rotation method to improve interpretability44.
    We extracted the synergy vectors for each experimental condition separately. We first performed an analysis on each individual separately. In this analysis the initial data matrices were constituted of all available time frames in line, concatenated, and of eight columns corresponding to each joint moment, namely the right wrist, left wrist, right elbow, left elbow, right shoulder, left shoulder, back, and neck. The values in the matrix corresponded to the norm of the joint moment vector at a given time frame. We then performed a second analysis to identify possible co-variations between the joint moments of the two participants in each pair. The columns of the initial matrices were thus constituted of the joint moments of the two loaded arms, i.e., the right wrist, elbow, and shoulder joint moments of participant #1, plus the left wrist, elbow and shoulder joint moments of participant #2. The synergy vectors were compared across conditions by computing Pearson’s r correlations on their PCA weightings, after being matched together, also using Pearson’s r to identify the best matches.
    Statistical analysis
    We used generalized linear mixed models (GLMM)45 to compare the velocity and the vertical amplitude of the CoMPACS, the length and duration of the gait cycles, the recovery rate, the external, internal, and total mechanical power produced by the PACS, the TotMCF and ∆MCF, the number of synergies, as well as the Pearson’s r-values across conditions.
    The experimental condition was entered as a fixed factor in the model, and individuals as a random variable. We used a Gaussian GLMM for all variables, except for the comparison of the number of synergies across conditions, for which a Poisson GLMM was used. For Gaussian GLMMs we systematically inspected the normality of the model residuals with Q-Q plots. We used the functions lmer() and glmer() of the R package lme4 46 to run the Gaussian and the Poisson mixed models, respectively. The effect of experimental conditions was tested by comparing the deviance of the model with and without the fixed factor with a χ2 test. Multiple comparisons across experimental conditions were performed with the function glht() of the multcomp R package47 using the default Tukey test as post-hoc test. Pearson’s r were Fisher Z-transformed before running the analyses. The significance threshold was set to 0.05. All data in the text are given as mean ± SD. Since our sample size was low, which could lead to inflate the Type II error (not rejecting H0 when H0 is false), we followed the recommendations of Nakagawa & Foster (2004)49 and provide in the Supplemental Table S1 the value of Cohen d standardized effect size50, along with its 95% confidence interval51, for each studied parameter and each paired comparison between conditions. A confidence interval that largely extends on both sides of zero indicates an absence of effect that would probably not change with increasing the sample size.
    Ethics statement
    All methods used in this study were carried out in accordance with relevant guidelines and regulations. More

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    Simultaneous absolute quantification and sequencing of fish environmental DNA in a mesocosm by quantitative sequencing technique

    Aquarium experiment and sampling
    To examine the effect of changes in species composition on the behaviour of eDNA, we conducted aquarium experiments using two mock fish communities comprising H. neglectus, C. temminckii, O. latipes, R. flumineus, and M. anguillicaudatus. Mock community 1 (MC1) consisted of one individual of each of the five fish species, whereas mock community 2 (MC2) consisted of three H. neglectus individuals and one individual of each of the other four fish species (Fig. 2). We used two aquaria (A and B). Each aquarium was used four times, twice for each mock community, giving two replicates (R1 and R2). This resulted in eight experimental units (2 mock fish communities × 2 aquaria × 2 replicates). Figure 2 shows the experimental setup used in this study.
    Figure 2

    Experimental setup of the aquarium experiments.

    Full size image

    To set up the aquaria, 20 L of tap water was added into each aquarium (GEX Co. Ltd., Osaka, Japan) and heated with a heater (Spectrum Brands, Wisconsin, US) until the water temperature reached 25 °C. Water in the two aquaria was maintained at 25 °C and constantly circulated with an aeration device. Before adding fish to the aquaria, the water was sampled for the negative control. The first experimental samples (day 0) were taken 1 h after adding the fish and subsequent samples were taken each day until day 4. At each sampling, two 1-L samples of surface water were collected from each aquarium and then 2 L of tap water was added to each aquarium to maintain the volume of water. The weight of individual fish species was measured using an electronic balance immediately after the final sampling. After each experiment, the two aquaria were bleached before being reused.
    In Japan, experiments on fish do not require any legal procedures or permission. However, in order to avoid causing pain to the specimens, the experiments in this study were conducted in accordance with the ARRIVE guidelines, Japanese laws and guidelines for mammals, birds, and reptiles as below; Act on Welfare and Management of Animals (Notice of the Ministry of the Environment No. 105 of October 1, 1973), Standards relating to the Care and Keeping and Reducing Pain of Laboratory Animals (Notice of the Ministry of the Environment No. 88 of 2006), Fundamental Guidelines for Proper Conduct of Animal Experiment and Related Activities in Academic Research Institutions under the jurisdiction of the Ministry of Education (Notice of Ministry of Education No. 71, 2006), and Guidelines for Proper Conduct of Animal Experiments (established by the Science Council of Japan on June 1, 2006).
    DNA extraction
    Each 1-L water sample was filtered immediately through a GF/F glass fibre filter (nominal pore size = 0.7 μm, diameter = 47 mm; GE Healthcare Japan Corporation, Tokyo, Japan). Filter funnels and measuring cups were bleached after filtration to prevent cross-contamination among the water samples. All filters were stored separately at − 20 °C until DNA extraction. Total eDNA was extracted from each filter using a DNeasy Blood and Tissue Kit (QIAGEN, Hilden, Germany) and Salivette tubes (Sarstedt AG & Co. KG, Nümbrecht, Germany). Extraction methods were as previously described18 with modifications. A filter sample was placed in the upper part of the Salivette tube and 220 μL of solution containing Buffer AL (200 μL) and Proteinase K (20 μL) was added. The tube containing the filter was incubated at 56 °C for 30 min, then centrifuged at 5000 × g for 3 min, and the solution was collected in the base of the tube. To increase eDNA yield, 220 μL Tris-EDTA (TE) buffer was added to the filter sample and centrifuged at 5000 × g for 1 min. Then, ethanol (200 μL) was added to the collected solution, and the mixture was transferred to a spin column. Total eDNA was eluted in buffer AE (100 μL), following the manufacturer’s instructions. All eDNA samples were stored at − 20 °C prior to qSeq and dPCR.
    Quantitative sequencing
    Simultaneous quantification and sequencing of the extracted eDNA were performed by qSeq as previously described15,16. First, SPE was performed. The SPE reaction mixture (20 µL) consisted of 1 × PrimeSTAR Max premix (Takara Bio Inc., Kusatsu, Japan), 300 nM of the primer qSeq-MiFish-U-F (Table 1), and extracted DNA (2 µL). The SPE primer qSeq-MiFish-U-F contains an eight-base length random sequence tag, which creates 65,536 different variations, enabling the quantification of up to approximately 1.0 × 105 copies of DNA15. This amount of variation was sufficient to quantify the abundance of eDNA in this study. SPE was initiated by denaturation at 94 °C for 1 min, followed by cooling to 60 °C at 0.3 °C/s, incubation at 60 °C for 1 min, and final extension at 70 °C for 10 min. Subsequently, the excess primer was completely digested by adding exonuclease I (4 µL, 5 U/µL; Takara Bio Inc.) to the SPE mixture. The digestion was performed at 37 °C for 120 min, followed by inactivation of the exonuclease I at 80 °C for 30 min. The first-round PCR mixture (25 µL) contained PrimeSTAR Max premix (12.5 µL), primers qSeq-MiFish-U-R and F2 (300 nM each; Table 1), and the SPE product (2 µL). Following 40 cycles of amplification at 98 °C for 10 s, 55 °C for 5 s, and 72 °C for 5 s, the amplification product was subjected to agarose gel electrophoresis, and the band of the expected size was removed and purified using Nucleospin Gel and PCR Clean-up column (Takara Bio Inc.). The qSeq-MiFish-U-R primer also contains eight N bases to increase the complexity, which improves the sequencing quality, and thus PhiX was not added in this study. Finally, a 2nd-round PCR was performed to add an index for Illumina sequencing as described elsewhere15. The indexed PCR amplicon was purified using AMPure XP beads (Beckman Coulter, Indianapolis, IN) followed by sequencing using a MiSeq platform with MiSeq Reagent Kit v3 for 600 cycles (Illumina). The sequence data obtained in this study were deposited in the DDBJ database under accession numbers SAMD00219124–SAMD00219214.
    Table 1 Oligonucleotide sequences used in this study.
    Full size table

    Data analysis
    First, all sequences were assembled and screened by length and quality of reads using the mothur software package (v1.39.5)22. The processed sequence reads were classified using the MiFish pipeline (http://mitofish.aori.u-tokyo.ac.jp/mifish/), with the parameters as previously described23. Subsequently, the representative sequences of individual operational taxonomic units (OTUs) were extracted using the Usearch program (http://www.drive5.com/usearch/). The random sequence tags (RST) at the end of sequences in the OTUs were counted to quantify the environmental DNA from each fish species as described elsewhere16. For comparison, the relative proportion of eDNA from individual species in each sample was calculated from the composition of the sequences of the fish species obtained by qSeq.
    Microfluidic digital PCR
    Quantification of eDNA was also performed by microfluidic dPCR using the BioMark Real-time System and 12.765 Digital Array (Fluidigm Corporation, South San Francisco, CA, United States) as previously described13. For each sample, the PCR mixture (6 µL) contained 2 × Probe qPCR mix (3.0 µL; Takara Bio Inc.), 20 × binding dye sample loading reagent (0.6 µL; Fluidigm Corporation), forward and reverse primers (900 nM), TaqMan probe (125 nM), ROX solution (0.015 µL), and sample DNA (1.0 µL). We used three sets of primers and probes to quantify the eDNA of H. neglectus, O. latipes, and M. anguillicaudatus (Table 1). PCR was initiated at 98 °C for 2 min, followed by 50 cycles of 98 °C for 10 s and 60 °C for 1 min. The amplification curves obtained from individual reaction chambers of the microfluidic chip were analysed using Fluidigm Digital PCR analysis software (Fluidigm Corporation) to obtain abundance of DNA molecules.
    Statistical analysis
    We employed Gaussian Type II regression models with the standardised major axis method to determine the relationship between the log10 eDNA abundances obtained from qSeq and dPCR analyses with the “sma” function of the “smatr” ver. 3.4.8 package in R ver. 3.6.024. Zero values were disregarded for the modelling. We employed the Gaussian Type II model because our preliminary evaluation showed higher R2 values for Type II regression models with a Gaussian distribution than for those with a logarithmic distribution in all cases. We compared the differences in the coefficient values by overlapping the 95% confidence interval (CI) ranges. More