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Theodolite Tracking Software

Welcome to Pythagoras.Pythagoras is a theodolite program designed to assist researchers in collecting, managing, and analyzing data. The program interfaces with a digital theodolite and provides a dynamic and user-friendly interface. It was developed to assist researchers in collecting, managing, and analyzing data for theodolite-based research.The system collects, manages and analyzes theodolite data and calculates distance, bearing, and location information in real-time. It was designed to store theodolite station information (such as the observation height, geographical position of the station, and reference azimuth) for multiple stations.Pythagoras allows researchers to define their “fix type” objects, such as dolphins, whales, and boats, and the behaviors associated with each defined object. Environmental and other data not related to the position of the object (“Non-Fix data”) are also user-defined.Options for focal behavioral data collection were incorporated to allow researchers to record behavioral events of a specified object.Tide height is also included due to its effects on distance estimation.Pythagoras provides various optional components to assist researchers to efficiently collect and observe newly entered data. The user can select options to include data collection on group dispersion, focal behavior, and observer roles.Tide height data can be imported a priori or post-hoc to be included in the distance calculations. GIS digital line maps (vector) of the researcher’s study area can be imported in Arc Info (ungenerated), Surfer, Map Info, and Surfer file formats to be used in the real time display of objects location. Data can also be exported to various GIS and popular database management programs.

For detailed information about Pythagoras, please download Pythagoras' manual ( Pythagoras Manual ).

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Theodolites, Computers Cetacean Research

A theodolite is a surveyor's instrument which placed on an elevated shore-based vantage point, can be successfully used as a research tool to obtain data on cetacean movement, behavior, distribution, and habitat use. These data are collected in a non-invasive manner, as described by Würsig et al. (1991).Both cetaceans and other objects, for instance boats, can be tracked, and interactions between them can be continually monitored. Theodolites allow researchers to determine "fixed" positions by measuring horizontal angles from some arbitrary reference point and vertical angles relative to a gravity-referenced level vector.Although this technique has been used for more than 20 years, and despite the increase in digital theodolite use for cetacean studies, relatively few computer-based theodolite programs exist to assist researchers in collecting, managing, and analyzing theodolite data. A computer-based system benefits theodolite-based studies in many ways. Vertical and horizontal angles to an object can be recorded accurately and efficiently.Real-time calculations of distance and location can be performed, and trackline can be visually displayed, allowing for rapid corrections of possible tracking errors. Once data are collected, a computer-based system reduces time to manage and analyze data.

Supported Theodolites

Most digital theodolites communicate via a RS-232 cable that is connected to the computer’s serial port.Currently, Pythagoras supports models of two manufacture types of theodolites: Topcon™ and Sokkia™. If the researcher does not have a digital theodolite or cannot successfully connect it to the computer, the data can be manually entered into the computer. In this case, the user must select “None” as the theodolite manufacturer. This option can also be used to analyze previously collected data.

Collecting Data

Distance, Bearing, Geographic Positions of Objects

Environmental Data

Non-Fix Data

Comment Data

Focal Behavior

Group Dispersion

Observer Data

Managing Data

The database management module of Pythagoras offers an easy way of displaying and managing recorded observation. Data can be viewed and edited with Pythagoras in an Excel-like spreadsheet format with labeled columns. The user can choose to view all records of a data category or only a specific portion of the data set (i.e. display only data for a particular day or object tracked). Functions for sorting and searching are available to structure and/or find data of interest. If station settings are updated (e.g. to include tide height), distance, bearing, and location can be recalculated for a selected portion or for all fixes. A visual display assists in evaluating data post-hoc.

Analyzing Data

Trackline

Trackline Distances

Behavior Analysis

Saving/Exporting Data

All data collected and analyzed by Pythagoras can be exported to various GIS and database management programs for further analysis. Vector latitude and longitude trackline information can be exported to ArcInfo, Map Info, Surfer, and Mat lab files. Data can be saved into Microsoft Excel, Microsoft Access, or comma/space delimited text files.

References

Lerczak, J. A. and R. C. Hobbs. 1998. Calculating sighting distances from angular readings during shipboard, aerial, and shore-based marine mammal surveys. Marine Mammal Science 14: 590-599.

Würsig, B., F. Cipriano and M. Würsig. 1991. Dolphin movement patterns: information from radio and theodolite tracking studies. Pages 79-112 in K. Pryor and K. S. Norris, ed. Dolphin Societies-discoveries and puzzles. University of California Press, Los Angeles, CA.

Pythagoras registers the vertical and horizontal angles reading from connected theodolite to the objects being tracked, to perform real-time distance, bearing, and location calculations. Distance calculation based on the approximation proposed by Lerczak and Hobbs (1998) and allows for hemisphere specification. Pythagoras stores date, time, fix type, group, behavior, vertical and horizontal angles, geographic position, and current station parameters for each fix.

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Visibility participates in symbol name lookup .

The const attribute changes the type of the declared symbol from T to const(T) , where T is the type specified (or inferred) for the introduced symbol in the absence of const .

The immutable attribute modifies the type from T to immutable(T) , the same way as const does.

The inout attribute modifies the type from T to inout(T) , the same way as const does.

The shared attribute modifies the type from T to shared(T) , the same way as const does.

By default, non-immutable global declarations reside in thread local storage. When a global variable is marked with the __gshared attribute, its value is shared across all threads.

__gshared may also be applied to member variables and local variables. In these cases, __gshared is equivalent to static , except that the variable is shared by all threads rather than being thread local.

Unlike the shared attribute, __gshared provides no safe-guards against data races or other multi-threaded synchronization issues. It is the responsibility of the programmer to ensure that access to variables marked __gshared is synchronized correctly.

__gshared is disallowed in safe mode.

A reference to a declaration marked with the @disable attribute causes a compile time error. This can be used to explicitly disallow certain operations or overloads at compile time rather than relying on generating a runtime error.

Disabling struct no-arg constructor disallows default construction of the struct.

Disabling struct postblit makes the struct not copyable.

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See Pure Functions .

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The override attribute applies to virtual functions. It means that the function must override a function with the same name and parameters in a base class. The override attribute is useful for catching errors when a base class's member function gets its parameters changed, and all derived classes need to have their overriding functions updated.

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