EVALUATION OF THE JUVENILE SALMON ACOUSTIC … reports... · Executive Summary Past telemetry data...

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Run-to-run control with nonlinearity and delay uncertainty Charles-Henri Clerget * Jean-Philippe Grimaldi * eriam Ch` ebre ** Nicolas Petit *** * TOTAL Refining and Chemicals, Advanced Process Control Department, Technical Direction, Le Havre, France (e-mail: [email protected], [email protected]) ** TOTAL SA Scientific Development (DG/DS), Paris, France (e-mail: [email protected]) *** MINES ParisTech, PSL Research University, CAS - Centre automatique et syst` emes, 60 bd St Michel 75006 Paris, France, (e-mail: [email protected]) Abstract: In this paper, we study a simple single-input single output nonlinear system controlled by a Run-to-run algorithm. Besides the usually considered model uncertainty, the particularity of the system under consideration is that measurements available to the control algorithm suffer from large and varying measurement delays. The control algorithm is a nonlinear sampled model-based controller with successive model inversion and bias correction. The main contribution of this article is its proof of global convergence. In particular, the model error and the varying delays are treated using monotonicity of the system and a detailed analysis of the closed-loop behavior of the sampled dynamics, in an appropriate norm. Keywords: Run-to-run control, data-sampled system, varying time delays, stability analysis 1. INTRODUCTION In this article, we consider the effects of delay variability on the Run-to-run control of a nonlinear process. Run-to- run is a popular and efficient class of techniques, originally proposed in Sachs et al. [1991], specifically tailored for processes lacking in situ measurement for the quality of the production (see Wang et al. [2009]). Numerous examples of implementations have been reported in the semiconductor, and materials industry, in particular, see e.g. Wang et al. [2009], Moyne et al. [2000] and references therein. However, in applications, two practical problems often arise: model uncertainty and delay uncertainty. First, the interactions between the input and the system states can be rather complex, which, in turn, causes some non-negligible uncertainty on the quantitative effects of the input. These can be addressed as model mismatch. Second, the measurements are available after a long time lag covering the various tasks of sample collection, receipt, preparation, analysis and transfer of data through an in- formation technology (IT) system to the control system. Therefore, measurements are impacted by large delays, which can be varying to a large extent, and in some cases be state- or input-dependant. This variability of the delay builds up with the intrinsic information technology (IT) dating uncertainty, because, usually, no reliable timestamp can be associated to the measurements. The delay variabil- ity cannot be easily represented by Gaussian models, nor can it be fully described as deterministic input or state dependant delay, nor known varying delays that could be compensated for by predictor techniques (as done in e.g. Bresch-Pietri et al. [2012, 2014], Bekiaris-Liberis and Krstic [2013b,c,a]). As is well known, the uncertainty and the variability of delay may jeopardize closed-loop stabil- ity Krstic [2009] and references therein. In the particular context of Run-to-run control, it is known, see Wang et al. [2005], that such metrology delay coupled with inaccurate process model could lead to closed-loop instability. For these reasons, the problem under consideration in this article can be considered as challenging and of importance for applications. In this paper, we consider a simple single-input single- output problem of Run-to-run control. As is well known, such control problem can also be seen as an adaptive control scheme or a simple nonlinear implementation of an internal model controller (IMC, see e.g Morari and Zafiriou [1989]). Besides the usual model mismatch (both model and true system behavior are assumed to be monotonic), we address the effects of the discussed delay uncertainty. The nonlinearity does not cause too much difficulty. In the absence of delay, robust stability in the presence of model mismatch can be readily established, using the monotonicity of the system and model. The study of delay effects is more involved. Once expressed in the sampled time-scale, the control scheme exhibits a variable delay discrete-time dynamics. Hence, a simple Nyquist criterion analysis cannot be used to infer stability and some more specific investigations are required. In details, the control scheme involves an uncertain positive bounded delay. From there, a complete stability analysis in a space of sufficiently Preprint, 11th IFAC Symposium on Dynamics and Control of Process Systems, including Biosystems June 6-8, 2016. NTNU, Trondheim, Norway Copyright © 2016 IFAC 145

Transcript of EVALUATION OF THE JUVENILE SALMON ACOUSTIC … reports... · Executive Summary Past telemetry data...

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Technical Report 2011-6

IDAHO COOPERATIVE FISH AND WILDLIFE RESEARCH UNIT

EVALUATION OF THE JUVENILE SALMON ACOUSTIC TELEMETRY SYSTEM (JSATS) FOR MONITORING ADULT PACIFIC LAMPREY IN THE BONNEVILLE

RESERVOIR AND AT BONNEVILLE DAM, 2010

A report for Project

W912EF-08-0005 Task Order 0003

by

G.P. Naughton, D.C. Joosten, T.S. Clabough, M.A. Jepson, E.L. Johnson, and C.C. Caudill Idaho Cooperative Fish and Wildlife Research Unit

Department of Fish and Wildlife Resources University of Idaho, Moscow, Idaho 83844-1141

for

U.S. Army Corps of Engineers Portland District

2011

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Technical Report 2011-6

IDAHO COOPERATIVE FISH AND WILDLIFE RESEARCH UNIT

EVALUATION OF THE JUVENILE SALMON ACOUSTIC TELEMETRY SYSTEM (JSATS) FOR MONITORING ADULT PACIFIC LAMPREY IN THE BONNEVILLE

RESERVOIR AND AT BONNEVILLE DAM, 2010

A report for Project

W912EF-08-0005 Task Order 0003

by

G.P. Naughton, D.C. Joosten, T.S. Clabough, M.A. Jepson, E.L. Johnson, and C.C. Caudill Idaho Cooperative Fish and Wildlife Research Unit

Department of Fish and Wildlife Resources University of Idaho, Moscow, Idaho 83844-1141

for

U.S. Army Corps of Engineers Portland District

2011

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Acknowledgements Many people provided assistance for this study. Chuck Boggs, Steve Lee, Mark Morasch, Mike Jepson, Chris Noyes, and Dennis Quaempts (University of Idaho), Hilary Griffin (PSMFC) and Howard Pennington (PSMFC) installed and maintained HD/radiotelemetry equipment and tagged lampreys. Sean Tackley, Brad Eppard, Ben Hausmann, Tammy Mackey, Jon Rerecich, and Kasey Welch (USACE) provided assistance for this project. Mark Weiland, Jessica Carter, and Kenneth Ham (PNNL) also provided assistance during this project.

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Table of Contents

Acknowledgements ........................................................................................................................ iii Executive Summary .........................................................................................................................v Introduction ......................................................................................................................................1 Study area.........................................................................................................................................2 Methods............................................................................................................................................3 Fish capture and tagging .........................................................................................................3 Telemetry monitoring .............................................................................................................3 Acoustic mobile tracking system ............................................................................................4 Boat modification..............................................................................................................4 Range testing and mobile tracking ....................................................................................5 Data downloading and processing ..........................................................................................6 Data analysis ...........................................................................................................................6 Fishway testing .......................................................................................................................6 Results ..............................................................................................................................................7 Fish capture and tagging .........................................................................................................7 Telemetry monitoring .............................................................................................................7 Travel times and migration rates .............................................................................................7 Range testing and mobile tracking ........................................................................................11 Final distribution ...................................................................................................................12 Fishway testing .....................................................................................................................12 Discussion ......................................................................................................................................14 Testing the mobile tracking system ......................................................................................14 Fishway testing .....................................................................................................................14 Biological results ..................................................................................................................15 References ......................................................................................................................................17 Appendix ........................................................................................................................................20

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Executive Summary

Past telemetry data and adult Pacific lamprey counts at dams indicate considerable attrition between Bonneville and The Dalles dams. Little is known about the fate and distribution of lamprey that do not pass The Dalles Dam, and there is a need for improved monitoring in this river reach. In 2010, we evaluated the effectiveness of an array of stationary Acoustic Juvenile Salmon Acoustic Telemetry System (JSATS) receivers and a mobile tracking device for monitoring the migration and determining final locations of JSATS-tagged adult Pacific lampreys in Bonneville reservoir. We also tested the effectiveness of the JSAT system in the Bradford Island fishway to see if JSATS-tagged lamprey could be monitored in the relatively noisy fishway environments.

We tagged 30 adult lampreys with JSAT transmitters from 20 July through 30 August 2010. All fish were trapped at Bonneville Dam (rkm 235.1) and released upstream at the Stevenson boat launch (rkm 242.7). The mean length was 64.2 cm (range = 56.5-69.5 cm) and mean weight was 420.5 g (range = 236-598 g). We deployed three telemetry gates, each consisting of two receivers in Bonneville reservoir: at the Stevenson release site, Wind Mountain (rkm 253), and upstream from the mouth of the Klickitat River (rkm 292). We evaluated a new acoustic mobile-tracking system using test transmitters and the tagged adult lamprey released into Bonneville reservoir. Two test transmitters were lowered to set depths (2 m from the surface and 2 from the bottom of the reservoir) while the boat simulated a tracking pattern.

All lampreys were recorded by the receiver proximal to the Stevenson boat launch release site, while only 8 (27%) fish were recorded by the Stevenson receiver position near the Oregon shore opposite of the release site. Of the 30 fish released, 23 (77%) were recorded by the Klickitat gate receivers. No fish were recorded by receivers at the Wind Mountain site due to equipment failure. Mean travel time from the release site to the receivers near the Klickitat River site was 1.8 d (median = 0.9 d, range = 0.6-11.9 d). Mean migration rates between the release site and Klickitat River receivers were approximately 27.0 km/d.

Range testing of the prototype mobile tracking system revealed that detection efficiencies of test transmitters deployed 2 m from the surface and bottom of the reservoir were highest when the boat was less than 60 m from the transmitters but decreased substantially beyond 100 m. Evaluation of the mobile tracking system also included tracking two lampreys for approximately 30 minutes before losing the signals.

In the Bradford Island fishway, we detected the test transmitters at all seven locations tested, including those that corresponded to previous radiotelemetry sites. The highest detection efficiencies (defined as the percentage of transmitted records that were successfully decoded) were at the ladder exit (95%) followed by Powerhouse 1 north entrance (27-31%), while the lowest detection efficiencies were in the transition pool (3%).

Although this pilot study was limited in scope, we think that JSATs technology is a viable option for monitoring Pacific lamprey migration in Columbia River reservoirs. While further refinement is necessary, preliminary results also suggest that it may be feasible to monitor lamprey passage at dam fishways using JSAT technology.

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Introduction

The Pacific lamprey (Lampetra tridentata) is an ecologically and culturally important native species that has exhibited declines in recent decades (e.g., Close et al. 2002). Adult daytime counts at Bonneville Dam in 2010 were lower than any other year in the last decade (DART 2009). Beginning in 1996, radiotelemetry (RT) studies funded by the U.S. Army Corps of Engineers (USACE) have examined lamprey passage in the lower Columbia River. The early focus was at Bonneville Dam (e.g., Moser et al. 2002a, 2002b, 2003, 2005; Clabough et al. 2009; Johnson et al. 2009a, 2009b) and later expanded to include The Dalles, John Day, McNary and Ice Harbor dams (Cummings et al. 2008; Boggs et al. 2008, 2009; Daigle et al. 2008; Keefer et al. 2009b, 2009c). Starting in 2005, half-duplex passive integrated transponder (HD-PIT) transmitters have been used at Columbia and Snake River dams to improve the monitoring of Pacific lamprey movements and distribution in the basin and to complement continuing RT evaluations (Cummings et al. 2008; Daigle et al. 2008; Keefer et al. 2009c).

Results from both RT and HD-PIT studies have indicated that Pacific lampreys do not readily

pass dams and their poor passage performance likely represents a critical limitation to their migration success (e.g., Moser et al. 2002b; Keefer et al. 2009c, 2011). Specifically, Moser et al. (2002a, 2002b, 2003, 2005), Johnson et al. (2009b), and Clabough et al. (2011) found that fishway entrances, collection channel/transition pool areas, count stations, diffuser gratings, and serpentine weirs impeded adult Pacific lamprey dam passage at lower Columbia River dams. These data have been used to design, implement, and test a number of passage improvements including Lamprey Passage Structures (Moser et al. 2011), and modified nighttime operations (e.g., Johnson et al. 2009b). Lamprey counts at Bonneville and The Dalles dams, limited observations of lamprey spawning or harvest in Bonneville reservoir tributaries, and RT and HD-PIT results all suggest considerable potential loss of adult lampreys in Bonneville reservoir. The difference in adult counts between Bonneville Dam and The Dalles Dam could result from: (1) prespawn mortality of adult migrants in the reservoir or at The Dalles Dam (below the count stations); (2) migration into tributaries of Bonneville reservoir (e.g., the Klickitat River); and/or (3) systematic overcounting at Bonneville Dam or undercounting at The Dalles Dam. Unfortunately, the bathymetry of FCRPS reservoirs and the river below Bonneville Dam, generally characterized as being deep and wide, limits the ability to detect radio and HD-PIT transmitters and thereby limits the ability to determine final fates of tagged lampreys in these locations.

Acoustic telemetry has several advantages over RT and PIT transmitter technologies,

including the ability to detect signals in deep water (>10 m). Acoustic transmitters also do not require a trailing antenna which may affect behavior and ultimately survival (Keefer et al. 2009d). However, until recently transmitter design and battery size have precluded use of acoustic transmitters on smaller species. Because of these limitations, the USACE initiated the development of a new juvenile salmonids acoustic telemetry system (JSATS; see McMichael et al. 2010 for complete description). The relatively small transmitter size and design of acoustic transmitters for salmonid smolts may also make them suitable for other species.

In this study, we evaluated the use of JSATS for adult Pacific lamprey as an initial step in

determining adult lamprey behavior and fate in Bonneville Reservoir and other deep-water

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Methods Fish capture and tagging

Pacific lampreys were captured at night using two traps installed in the Washington-shore fishway that collected fish as they passed over weirs and also by a trap located at the Washington-shore fishway entrance. We also deployed two portable pot traps between the two fixed traps in the fishway. A complete description of the collection and tagging methods is presented in Moser et al. (2002b) and Keefer et al. (2009c). We captured 30 lampreys from 20 July through 30 August 2010. Collected fish were anesthetized with 60 ppm (3 mL/50 L) clove oil, measured (length and girth to the nearest mm), weighed (nearest g), and surgically implanted with a JSATS transmitter (Advanced Telemetry Systems, Isanti, MN, Model SS 130L). The JSAT transmitters were 3.0 mm × 5.0 mm × 17 mm and weighed 550 mg in the air and had an estimated battery life of 60 d. Fish were also tagged with a 4-mm × 32-mm glass-encapsulated HD-PIT transmitter (134.2 kHz; Texas Instruments, Dallas, Texas).

Both the JSAT and HD-PIT transmitters were inserted through a small (<1 cm) incision in the body cavity along the ventral midline, in line with the anterior insertion of the first dorsal fin. Fish were tagged opportunistically as they were captured. Tagged adults were allowed to recover and were released at the Stevenson, WA boat ramp. The site was selected as the nearest site to the dam that also minimized the potential for fallback of tagged fish over Bonneville Dam. All fish were released between 11:00-15:00 hours. Telemetry monitoring

JSATS-tagged fish were monitored with autonomous receivers provided by USACE (Advanced Telemetry Systems, Trident SR5000) which contain an internal lithium battery pack (rated for 73 d), an externally-mounted hydrophone, water temperature sensor, and pressure sensor and analog and digital circuit boards (see McMichael et al. 2010 for complete system description).

The receivers were deployed to position the hydrophone about 3 to 4 m above the river or reservoir bottom (Figure 2). The standard deployment configuration consisted of the receiver affixed to a single point to a short section of rope (10 mm, Samson Tenex) with three small floats for additional buoyancy and to an acoustic release mechanism (Teledyne Model 111; Figure 2, also see McMichael et al 2010). JSATS receivers (n = 6) were deployed on 20-Juy 2010 to form gates across Bonneville reservoir which allowed us to calculate reach-specific travel times and to partition final fish locations within the reservoir. Receivers were deployed by three-person crews in a boat by lowering the system to the bottom of the reservoir. Data obtained from the fixed receivers were primarily used to estimate travel times of tagged fish.

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Figure 2. Anchoring and acoustic release system for JSATS autonomous node receivers (image courtesy of B. Smith). The autonomous nodes were deployed approximately 3-4 m off the bottom of the reservoir. Acoustic mobile tracking system Boat modification

We mounted four hydrophones (Advanced Telemetry Systems, 2009) and supporting electronics, including integrated GPS and digital bathymetry maps, on a 21-foot jet boat. The mobile tracking system and hydrophones were part of a prototype mobile tracking system comprised of a modified cabled array system developed by Pacific Northwest National Laboratories. Hydrophones had differing capabilities which included: (1) an omni-directional hydrophone which operated “wide-open” for detecting presence/absence of transmitters, (2) a directional hydrophone for determining more precise location, and (3) port and starboard mounted hydrophones for directionality. The omni-directional and directional hydrophones were attached to existing brackets on the end of 3.2 m booms on each side of the boat while the port- and starboard-mounted hydrophones were attached to approximately 1.5 m above the directional- and omni-directional hydrophones (Figure 3).

The boat used for mobile tracking fish was also outfitted with a Hummingbird 957CNVB (Hummingbird Inc, Eufaula, AL) fish finder equipped with sonar and GPS to locate fish and structure to the left and right and below the boat. Boat movements were tracked by recording

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Data downloading and processing Data from all tasks were loaded into a database maintained at the University of Idaho. Autonomous nodes were downloaded on 28 September, 2010 by transferring data to a portable computer. Clocks on all receivers and readers were synchronized to assure comparability between data collected with fixed-site and mobile tracking systems and between different sites. Records were screened to remove obvious error (noise) records and detections that occurred before fish were released. Records were then inspected for accuracy, assigned codes summarizing the movements of tagged fish, and imported to spreadsheets or databases for analyses. After the study season, we exchanged data with other researchers (e.g., PNNL, USGS) using JSATS transmitters and receivers to provide the most complete migration histories for all JSATS-tagged fish. Data analysis

Lamprey travel times (d) and migration rates (km/d) were calculated from the last record at the Stevenson, WA release site to the first record at upstream autonomous nodes. We also estimated residence times at individual receivers and described the final records of fish that did not pass upstream. We estimated detection efficiency for each detection gate using detections at the site for all lampreys detected on HD-PIT antennas at upstream sites. Fishway testing

We used test transmitters to estimate detection efficiencies of the JSAT system at the following locations in Bradford Island fishway at Bonneville Dam: (1) powerhouse 1 south entrance; (2) powerhouse 1 north entrance; (3) “B” branch spillway entrance; (4) “A” branch ladder transition pool; (5) junction pool; (6) auxiliary water channel; and (7) ladder exit. See appendix for specific locations within the fishway.

At each location we lowered a baffled hydrophone and two beacon transmitters with 15-s burst rates into the fishway at varying distances from the hydrophone (~2-120 feet; Table 1). The hydrophone was attached to a ~30 m cable and affixed to a rope (1.2 cm diameter) weighted with 10-20 kg weights. The hydrophone was positioned ~0.6 m above the bottom of the fishway. The test transmitters were attached to a braided nylon rope (60 mm diameter) rope with a 5 kg weight. The transmitters were positioned ~0.5 m from the bottom of the rope. In general, transmitters were deployed for approximately 5 min at each location but times varied depending on the acoustic and hydraulic environment.

We calculated hydrophone detection efficiencies (DE) at each location using the following equation:

DE = number of JSAT transmitter transmissions decoded × 100 total number of actual JSAT transmitter transmissions

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Individual acoustic burst signals could be detected more than once due to multipath- the propagation of underwater sound energy from the source transmitter to the receiving hydrophone via paths other than the direct path (analogous to an echo). Consequently, the number of detected transmissions coded as valid could exceed the total number of original transmissions and could result in DEs greater than 100% (Ploskey et al. 2008). The use of duplicate records does not affect comparison among locations (Ploskey et al. 2008) but we chose to delete duplicate records, as the results are easier to interpret.

Results

Fish capture and tagging

Mean length of the 30 JSATS-tagged lampreys was 64.2 cm (range = 56.5-69.5; Figure 4) and mean weight was 420.5 g (range = 236-598; Figure 4). Mean girth was 10.5 cm (range = 7.8-12.6 cm) and mean body fat was 7.5% (range = 3.9-11%). Size of JSATS-tagged lampreys was similar to size of radio-HD-PIT double tagged lamprey collected and released during 2010 (mean length 67 cm, mean weight 482 g; Keefer et al. in prep). The mean surgery time was 7.8 min (range = 5.8 – 11.2 min). Telemetry monitoring All fish (n = 30) were recorded by the Stevenson, Washington-shore node and 8 (27%) were recorded on the Stevenson, Oregon-shore node (Figure 5). Of the 30 fish released, 7 (23%) only had one record at a single receiver. These fish were not used in travel time and migration rate calculations. No fish were recorded on either of the Wind Mountain nodes. These receivers also did not have any records from JSATS-tagged juvenile salmonids. Systems checks indicated these nodes were operational at the time of deployment, but wed we presume that they failed at the time of deployment or shortly thereafter. Of the 30 tagged fish, 17 (57%) and 22 (73%) were recorded on the Klickitat River, Washington and Oregon shore nodes, respectively. Sixteen tagged adult lampreys were detected at both Klickitat River nodes (Figure 5). Travel times and migration rates

Mean travel time from the release site to the Washington or Oregon shore receivers near the Klickitat River was 1.8 d (median = 0.9 d, range = 0.6-11.9 d). Mean migration rates from the release site to either the Washington or Oregon shore receivers near the Klickitat River were approximately 27.0 km/d (range 4.1-76.3). Mean residence times at the individual receivers were 0.14 h at both the Klickitat receivers, 0.17 h at the Stevenson, Oregon shore receiver, and 0.51 h at the Stevenson, Washington shore receiver (Figure 6).

First detections at the Stevenson, Washington receiver near the release site exhibited a bimodal pattern with approximately 10 (33%) fish detected between 11:00-14:00 and 20 (67%) detected between 19:00-23:00 (Figure 7). Most of the detections on the Klickitat receivers were

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between 12:00 and 22:00. Most (24/30) of the last detections at the release site receiver occurred between 21:00 and midnight (Figure 8). Last detections at the Klickitat River receivers exhibited a similar pattern to first detections with most detections occurring between 12:00-22:00, corresponding with the short residence times observed at this location. Figure 4. Length (A) and weight (B) frequency distributions of Pacific lamprey tagged with JSAT transmitters at Bonneville Dam, 2010

Weight (g)

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Figure 5. Percent of adult Pacific lamprey detected by JSAT receivers at Washington and Oregon at Stevenson (A) and Klickitat River sites (B).

Receiver location

Oregon Both Washington

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Figure 6. Median residence times (h) of adult Pacific lamprey at Washington and Oregon shore receivers at the Stevenson and Klickitat receiver sites

Figure 7. Distribution of first detections of tagged lampreys on JSAT receivers at the

Stevenson, Washington shore (A), Stevenson, Oregon shore (B), Klickitat River, Washington shore (C) and Klickitat River, Oregon shore receivers (D).

0 2 4 6 8 10 12 14 16 18 20 22

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Stevenson-WA Stevenson-OR Klickitat-WA Klickitat-OR

Cum

ulat

ive

resi

denc

e tim

e (h

)

0.0

0.2

1.0

2.0

3.0

4.0

5.0

6.0

7.0

n=30

n=8n=17 n=22

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Figure 8. Distribution of last detections of tagged lampreys on JSAT receivers at the Stevenson, Washington shore (A), Stevenson, Oregon shore (B), Klickitat River, Washington shore (C) and Klickitat River, Oregon shore receivers (D). Range testing and mobile tracking The simulated tracking patterns revealed that the maximum effective range of the mobile tracking hydrophones was about 150 m for the transmitters deployed 1.8 m from the surface and approximately 130-150 m for the transmitter located 1.8 from the bottom. In general, we were able to detect the test transmitters with a 15-sec burst more easily than transmitters with 5-sec burst rates. The number of detections declined rapidly beyond 110 m for transmitters near the surface and beyond 70 m for transmitters near the reservoir bottom. Because we were unable to locate any of the first 28 lampreys released at the Stevenson boat launch during later mobile tracks, we released two fish directly from the mobile-tracking boat (proximal to the fixed receiver at the release site) and initiated tracking immediately. These fish were released on 29-Aug and 30-Aug and tracked for 30 min and 17 min, respectively. The fish released on 29-August moved from near the autonomous node at the release laterally to about mid-channel before the signal was lost. The lamprey released on 30-Aug moved approximately 200 m downstream before the signal was lost.

0 2 4 6 8 10 12 14 16 18 20 22

Cou

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8

10

12

14

16

Hour

0 2 4 6 8 10 12 14 16 18 20 22

Cou

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A)

B)

0 2 4 6 8 10 12 14 16 18 20 22

Cou

nt

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0 2 4 6 8 10 12 14 16 18 20 22

Cou

nt

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D)

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Final Distribution Of the 30 tagged lamprey, 23% (n = 7) were last recorded on the Stevenson receivers, and 33% (n = 10) were last recorded on the Klickitat River receivers. Based on half-duplex PIT antenna detections at dams, 7% (n = 2) passed The Dalles Dam, 23% (n = 7) passed The Dalles Dam, and one fish each was recorded at McNary and Priest dams (Figure 9). All of the fish detected on upstream HD-PIT antennas were also detected at the Klickitat gate. Fishway testing

Overall, we detected JSAT test transmitters at all of the seven locations tested in the Bradford Island fishway (Table 1), though distance and orientation of the transmitter in relation to the hydrophone affected detection efficiencies. Detection efficiencies were highest at the top-of-ladder site (95%) and lowest in the transition pool (3%; Table 1). Detection efficiencies were >25% at the Powerhouse 1 south entrance but only 5% at the spillway entrance and Powerhouse 1 north entrance. Depending on the location of the test transmitter, detection efficiencies in the junction pool ranged from 0-17% (Table 1). Detection efficiencies were about 25% in the auxiliary water channel when the test transmitters were located near the hydrophone but transmitters could not be detected when moved to approximately 37 m downstream.

Figure 9. Final recorded distribution of adult Pacific lamprey tagged with JSAT transmitters at Bonneville Dam, 2010. Distributions were based on JSAT receiver and HDX-PIT records.

BON

TDA

JDA

MCN

PRD

Klickitat R.

Stevenson

IHD

Wind R.

Hood R.

23% 33%

7%23% 7%

3%

3%

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Table 1. Detection efficiency of JSAT system tested in the Bradford Island fishway, Bonneville Dam, 2011. The number of transmissions is in parenthesesHydrophone Tag Minutes Number of DetectionLocation Location Deployed Records Efficiency (%)Top-of-ladder in forebay Forebay, 2 feet from hydrophone 3 23(24) 96 Top-of-ladder, inside fishway 5ft from exit orifice 3 0(24) 0 Forebay, 25 feet from hydrophone 3 4(24) 17 AWS channel AWS channel 15ft downstream from hydrophone 5 10(40) 25 At picket leads, approximately 120 ft from hydrophone 4 0(32) 0 Serpentine section directly opposite from hydrophone 3 0(24) 0 Junction pool pier nose B-branch, downstream side of first weir 5 0(40) 0 A-branch, above first weir 5 6(40) 15 B-branch, upstream side of first weir 5 7(40) 17 Downstream of first weir in junction pool 5 2(40) 5 Spillway entrance Downstream end of transition pool 12 0(96) 0 (B branch) Between first and second weirs 5 5(40) 0 Between first and second weirs, opposite side from hydrophone 8 8(64) 0 Approximately three feet from hydrophone 10 4(80) 5 Transition pool Between weir 18 and 19, far side of ladder from hydrophone 6 0(48) 0 Between weir 18 and 19, middle of ladder next to hydrophone 5 1(40) 3 PH1 North entrance Mid-channel approximately 5-feet inside the entrance 1 0(8) 0 (tailrace side) Directly across from hydrophone, powerhouse side of channel 7 3(56) 5 PH1South entrance Pool at end of collection channel, 30 ft from hydrophone 6 13(48) 27 Pool at end of collection channel, 20 ft from hydrophone 4 10(32) 31

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Discussion

In this study, we evaluated the effectiveness of an array of stationary acoustic JSATS receivers and a mobile tracking device for monitoring the migration JSATS-tagged adult Pacific lampreys in Bonneville reservoir. Although this pilot study was limited in scope, the results suggest that the JSATS technology may provide a valuable tool to monitoring the migration of Pacific lamprey in Columbia River reservoirs and other open-river habitats. We also tested the JSAT system in the Bradford Island fishway at Bonneville Dam. While further refinement is necessary, the preliminary results suggest that it may be feasible to monitor adult fish movements in and around fishways with JSATS technology. While limited by sample size, the field results also provide several biological results that bear further investigation. Testing the mobile tracking system

Range testing of the prototype mobile tracking system in the Bonneville pool revealed that

detection efficiencies of transmitters deployed 2 m from the surface and bottom of the reservoir were highest when the boat was less than 60 m from the transmitters but decreased substantially after 100 m. Further range testing in Lower Granite Reservoir also suggested that detections efficiency of the surface transmitter were higher than the transmitter 1.8 m from the bottom of the reservoir. However, detections of the two transmitters among the four hydrophones were highly variable. When driving the boat in a counter-clockwise direction most of the detections of both the surface and bottom transmitters were by the “wide open” hydrophone, particularly for the transmitter at the surface. However, the transmitter at the surface was not recorded by either narrow or starboard hydrophones whereas the transmitter near the bottom of the reservoir was detected by both the narrow hydrophones. Neither the surface nor bottom transmitter was recorded by the starboard hydrophone, which is not surprising because the boat was travelling counter-clockwise thus the starboard hydrophone was pointed away from the transmitters. The causes for these patterns are currently unknown, and may have been related to differences in performance in the individual hydrophones, an asymmetrical acoustic environment created by the boat, or by other hardware or software issues. Fishway testing

Acoustic transmitters have not been used in fishways historically because acoustic signals are

attenuated by entrained bubbles and dams have high levels of background noise, both of which can swamp the acoustic signal. Nonetheless, we evaluated the detection efficiency of JSATS transmitters within the Bradford Island fishway because we reasoned that signal-to-noise ratios and detection efficiencies may be acceptably high in areas where the required detection range is relatively low (meters to tens of meters), e.g., fishways. Overall, we were able to detect the test transmitters at all seven locations tested in the Bradford Island Fishway, including three primary locations historically used to calculate dam and fishway passage metrics: fishway entrances, the junction pool, and the ladder exit. As expected, the highest detection rates were at the ladder exit (95%), an environment with relatively little turbulence and no entrained air. Areas with high turbulence and entrained air had lower detection efficiencies, but some detections were made at all sites using the single hydrophone. Based on the results of the testing we believe it is feasible to monitor fishways with JSAT technology. We believe our estimates are conservative because

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the hydrophone was partially baffled (potentially shielding the hydrophone from transmitter records as well as noise) and was not affixed to a structure. Furthermore, our test tags were only deployed for several minutes at each location, whereas lampreys are often present for extended periods of time at these locations. Therefore, the likelihood of detecting a fish in the vicinity will likely be higher than the test tag transmission detection efficiencies. Monitoring of the fishway entrances will present the biggest challenge because of higher flow volumes and velocities and increased noise. A fixed hydrophone mounting system with optimized beam angles mounted on a trolley (analogous to the system used for the acoustic deterrent devices at Bonneville Dam) could help ameliorate some of the noise at fishway entrances and increase detection efficiencies at those sites. In addition, further optimization at many locations can be achieved by limiting interference to the JSAT system by placing hydrophones upstream of other sound sources, baffling to protect them from sounds echoing from downstream, and reducing sound transmission levels from active sources (Ploskey et al. 2008). The detection efficiencies here are based on single hydrophone sites, and/or the use of multiple hydrophones to form gates, and used of multiple gates, similar to the configuration of full-duplex antenna systems within fishways, would further increase the probability that a tagged adult lamprey would be detected moving upstream. Biological results

The use of JSAT tags did not appear to negatively affect lampreys behavior in our study

relative to other telemetry methods (comparisons to unhandled and untagged fish would be ideal, but were not feasible). Overall, the migration rates of JSAT tagged lamprey were higher than those reported for radio-tagged lamprey. In our study, migration rates between the Stevenson release site and the Klickitat River receivers was 27.0 km/d (range 4.1-76.3 d). Median migration rates for JSAT tagged lamprey. In previous radiotelemetry studies, median lamprey passage times ranged from 2.7-3.9 d between Bonneville and The Dalles dams with migration rates ranging from 2.8-13.4 km/d (Keefer et al. 2008, 2009c, 2010, 2011 in prep). The slower estimates for the radio tagged groups may reflect slowed movement by radio-tagged adults as they moved through the river reaches that we did not monitor using JSATS (Bonneville Dam to Stevenson, Klickitat to The Dalles tailrace radio receivers) and/or effects of tag type.

Detections of lampreys on JSAT receivers exhibited a bimodal pattern with most detections

occurring between sunset and sunrise. This pattern is consistent with radio-telemetry and HD-PIT data which has showed that a majority of lamprey passage events at the four lower Columbia River dams were between sunrise and sunset, though some fish passed during almost all hours (Keefer et al. 2009c). Similarly, Moser et al. (2002) found that lamprey approached Bonneville Dam during all hours of the day but activity peaked at night. Approximately one-third of the fish were recorded between 11:00-14:00 which corresponds to the time fish were released (all fish were released between 11:00-15:00 h). Interestingly, two-thirds (n=20) of the fish released during the day were first detected between 1930 and 2400 h at Stevenson, suggestion adults hid in acoustically silent environments (rip-rap or mud) post-release prior to initiating movement at nightfall.

Although the study reaches were not directly comparable, last records indicate a higher

percentage of JSAT-tagged fish were recorded at the Klickitat River or upstream than in previous

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radio-telemetry studies. In our study, approximately 77% (n = 23) were recorded by the Klickitat River receivers or at upstream HD-PIT sites compared to 30-38% of radio-tagged fish (Keefer et al. 2009, 2010, 2011 in prep). The higher percentage of fish reaching the Klickitat sites is not surprising because, in contrast to the radio-telemetry studies, fish in our study were released upstream from Bonneville Dam and differences in the location of the upper monitoring site between JSATS and radio monitoring studies. Nevertheless, these findings further indicate that use of JSAT tags did not adversely affect lamprey behavior. Overall, the JSAT system was effective for monitoring Pacific lamprey and has potential to be effective in fishways. In 2011, we plan to continue season-wide tagging and tracking of Pacific lamprey, attempt to determine fate downstream from Bonneville Dam, refine escapement estimates for the Bonneville pool, further refine and test mobile tracking systems and the JSAT system in fishways, and initiate monitoring of tributary confluences in the Bonneville pool.

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References

Boggs, C. T., M. L. Keefer, C. A. Peery, and M. L. Moser. 2008. Evaluation of adult Pacific lamprey migration and behavior at McNary and Ice Harbor dams, 2007. Technical Report for the U.S. Corps of Engineers, Walla Walla District, Walla Walla, Washington.

Boggs, C. T., M. L. Keefer, C. A. Peery, M. L. Moser, and F. Loge. 2009. Evaluation of adult

Pacific lamprey migration and behavior at McNary Dam with effects of night-time fishway flow reduction, 2009 and Detection and behavior of transported adult Pacific lamprey. Technical Report 2010-6 for the U.S. Corps of Engineers, Walla Walla District, Walla Walla, Washington.

Clabough, T. S., E. L. Johnson, M. L. Keefer, C. C. Caudill, and M. L. Moser. 2011. General

passage and fishway use summaries for adult Pacific lamprey at Bonneville, The Dalles, and John Day Dams, 2010. Technical Report 2011- 5 of Idaho Cooperative Fish and Wildlife Research Unit to U.S. Army Corps of Engineers, Portland District.

Clabough, T. S., M. L. Keefer, C. C. Caudill, E. L. Johnson, and C. A. Peery. 2009. Use of

night video to quantify adult lamprey passage at Bonneville and The Dalles dams in 2007-2009. Technical Report 2009-9 of Idaho Cooperative Fish and Wildlife Research Unit, to US Army Corps of Engineers, Portland District, Portland, OR.

Close, D. A., M. Fitzpatrick, and H. Li. 2002. The ecological and cultural importance of a

species at risk of extinction, Pacific Lamprey. Fisheries 27:19-25. Cummings, D. L., W. R. Daigle and C. A. Peery. 2008. Direct and indirect barriers to

migration-Pacific lamprey at McNary and Ice Harbor dams in the Columbia River basin. Final Report for the U.S. Corps of Engineers, Walla Walla District, Walla Walla, WA.

Daigle, W. R., M. L. Keefer, C. A. Peery, and M. L. Moser. 2008. Evaluation of adult Pacific

lamprey passage rates and survival through the lower Columbia River Hydrosystem:2005-2006 PIT-tag studies. Technical Report 2008-12 of Idaho Cooperative Fish and Wildlife Research Unit to U.S. Army Corps of Engineers, Portland District, Portland, OR.

DART (Columbia River Data Access in Real Time). 2009. http://www.cbr.washington.edu/dart/ Johnson, E. L., C. A. Peery, M. L. Keefer, C. C. Caudill, and M. L. Moser. 2009a. Effects of

lowered nighttime velocities on fishway entrance success by Pacific lamprey at Bonneville Dam and fishway use summaries for lamprey at Bonneville and The Dalles dams, 2007. Technical Report 2009-2 of Idaho Cooperative Fish and Wildlife Research Unit, to U.S. Army Corps of Engineers, Portland District, Portland, OR.

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Johnson, E. L., T. S. Clabough, M. L. Keefer, C. C. Caudill, C. A. Peery, and M. L. Moser. 2009b. Effects of lowered nighttime velocities on fishway entrance success by Pacific lamprey at Bonneville Dam and fishway use summaries for lamprey at Bonneville and The Dalles dams, 2008. Technical Report 2009-10 of Idaho Cooperative Fish and Wildlife Research Unit, to U.S. Army Corps of Engineers, Portland District, Portland, OR.

Keefer, M. L., C. T. Boggs, C. A. Peery, M. L. Moser. 2009a. Adult Pacific lamprey migration

in the lower Columbia River: 2007 radiotelemetry and half-duplex PIT tag studies. Technical Report 2009-1 of Idaho Cooperative Fish and Wildlife Research Unit to U.S. Army Corps of Engineers, Portland District.

Keefer, M. L., M. L. Moser, C. T. Boggs, W. R. Daigle, and C. A. Peery. 2009b. Variability in

migration timing of adult Pacific lamprey (Lampetra tridentata) in the Columbia River, U.S.A. Environmental Biology of Fishes 85:253-264.

Keefer, M. L., M. L. Moser, C. T. Boggs, W. R. Daigle, and C. A. Peery. 2009c. Effects of

body size and river environment on the upstream migration of adult Pacific lampreys. North American Journal of Fisheries Management 29:1214-1224.

Keefer, M. L., C. A. Peery, C. C. Caudill, E. L. Johnson, C. T. Boggs, B. Ho, and M. L. Moser.

2009d. Adult Pacific lamprey migration in the lower Columbia River: 2008 radiotelemetry and half-duplex PIT tag studies. Technical Report 2009-8 of Idaho Cooperative Fish and Wildlife Research Unit, to U.S. Army Corps of Engineers, Portland District, Portland, OR.

Keefer, M. L., C. C. Caudill, E. L. Johnson, C. T. Boggs, B. Ho, T. S. Clabough, M. A. Jepson,

and M. L. Moser. 2010. Adult Pacific lamprey migration in the lower Columbia River: 2009 radiotelemetry and half-duplex PIT tag studies. Technical Report 2010-3 of Idaho Cooperative Fish and Wildlife Research Unit to U.S. Army Corps of Engineers, Portland District.

Keefer, M. L., C. A. Peery, S. R. Lee, W. R. Daigle, E. L. Johnson, and M. L. Moser. 2011.

Behavior of adult Pacific lampreys in near-field flow and fishway design experiments. Fisheries Management and Ecology 18:177-189.

McMichael, G. A., M. B Eppard, T. J. Carlson, J. A. Carter, B. D. Epparts, R. S. Brown, M.

Weiland, G. R. Ploskey, R. A. Harnish, and Z. D. Deng. 2010. The juvenile salmon acoustic telemetry system: a new tool. Fisheries 23:9-22.

Moser, M. L., A. L. Matter, L. C. Stuehrenberg, T. C. Bjornn. 2002a. Use of an extensive radio

receiver network to document Pacific lamprey (Lampetra tridentata) entrance efficiency at fishways in the Lower Columbia River, USA. Hydrobiologia 483: 45-53.

Moser, M. L., P. A. Ocker, L. C. Stuehrenberg, and T. C. Bjornn. 2002b. Passage

efficiency of adult Pacific lamprey at hydropower dams on the lower Columbia River, USA. Transactions of the American Fisheries Society 131: 956-965.

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Moser, M. L., D. A. Ogden, S. G. McCarthy, and T. C. Bjornn. 2003. Migration behavior of adult Pacific lamprey in the lower Columbia River and evaluation of Bonneville Dam modifications to improve passage, 2001. Final Report to the U.S. Army Corps of Engineers, Portland District, Portland, OR.

Moser, M. L., D. A. Ogden, and C. A. Peery. 2005. Migration behavior of adult

Pacific lamprey in the lower Columbia River and evaluation of Bonneville Dam modifications to improve passage, 2002. Final Report to the U.S. Army Corps of Engineers, Portland District, Portland, OR.

Moser, M. L., M. L. Keefer, H. T. Pennington, D. A. Ogden, and J. E. Simonson. 2011.

Development of lamprey-specific fishways at a hydropower dam. Fisheries Management and Ecology 18:190-200.

Ploskey, G. R., and 13 co-authors. 2008. Optimization of concurrent deployments of the

juvenile salmon acoustic telemetry system and other hydroacoustic equipment at John Day Dam. Pacific Northwest National Laboratory, report to the U.S. Army Corps of Engineers, Portland District, Portland, OR.

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Appendix

Figure A.1. Diagram illustrating location of JSAT hydrophone (green triangles) and tags

(red dots) tested in the Powerhouse 1 fishway at Bonneville Dam, 2011.

Bonneville Dam - 2011 Fishway TestPowerhouse I Entrances

Bradford Island

Flow

Forebay

Tailrace

Hydrophone Tag

Hydrophone

Tag

Tag

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Figure A.2. Diagram illustrating location of JSAT hydrophone (green triangles) and tags (red dots) tested in the Bradford Island fishway at Bonneville Dam, 2011.

Tailrace of spillway

Bradford Island

Powerhouse I Forebay

Pow

erho

use

I

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Flow

10

15

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25

30

35

4045 50

50

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45 40 35 30 2520 15

Bonneville Dam - 2011 JSATFishway Test Overview

HydrophoneTag

Tag

Hydrophone

Hydrophone

Hydrophone

Hydrophone

Tag Tag

Tag

Tag Tag

Tag

Hydrophone Tag

Tag

Tag

Tag

Tag

Tag