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Habitat fragmentation can negatively impact wildlife populations by simplification of ecological interactions, but little is known about how these impacts extend to host-associated symbiotic communities. The symbiotic communities of amphibians play important roles in anti-pathogen defences, particularly against the amphibian chytrid fungus Batrachochytrium dendrobatidis (Bd). In this study, we analyse the role of macroparasitic helminth communities in concert with microbial communities in defending the host against Bd infection within the context of forest fragmentation. We found that skin microbial and helminth communities are disrupted at fragmented habitats, while gut microbiomes appear more resilient to environmental change. We also detected potential protective roles of helminth diversity and anti-pathogen microbial function in limiting Bd infection. Microbial network analysis revealed strong patterns of structure in both skin and gut communities, with helminths playing central roles in these networks. We reveal consistent roles of microbial and helminth diversity in driving host–pathogen interactions and the potential implications of fragmentation on host fitness. 

Skin microbial communities are an essential part of host health and can play a role in mitigating disease. Host and environmental factors can shape and alter these microbial communities and, therefore, we need to understand to what extent these factors influence microbial communities and how this can impact disease dynamics. Microbial communities have been studied in amphibian systems due to skin microbial communities providing some resistance to the amphibian chytrid fungus, Batrachochytrium dendrobatidis . However, we are only starting to understand how host and environmental factors shape these communities for amphibians. In this study, we examined whether amphibian skin bacterial communities differ among host species, host infection status, host developmental stage, and host habitat. We collected skin swabs from tadpoles and adults of three Ranid frog species ( Lithobates spp.) at the Mianus River Gorge Preserve in Bedford, New York, USA, and used 16S rRNA gene amplicon sequencing to determine bacterial community composition. Our analysis suggests amphibian skin bacterial communities change across host developmental stages, as has been documented previously. Additionally, we found that skin bacterial communities differed among Ranid species, with skin communities on the host species captured in streams or bogs differing from the communities of the species captured on land. Thus, habitat use of different species may drive differences in host-associated microbial communities for closely-related host species. 

The use of carrier phase data is the main driver for high-precision Global Navigation Satellite Systems (GNSS) positioning solutions, such as Real-Time Kinematic (RTK). However, carrier phase observations are ambiguous by an unknown number of cycles, and their use in RTK relies on the process of mapping real-valued ambiguities to integer ones, so-called Integer Ambiguity Resolution (IAR). The main goal of IAR is to enhance the position solution by virtue of its correlation with the estimated integer ambiguities. With the deployment of new GNSS constellations and frequencies, a large number of observations is available. While this is generally positive, positioning in medium and long baselines is challenging due to the atmospheric residuals. In this context, the process of solving the complete set of ambiguities, so-called Full Ambiguity Resolution (FAR), is limiting and may lead to a decreased availability of precise positioning. Alternatively, Partial Ambiguity Resolution (PAR) relaxes the condition of estimating the complete vector of ambiguities and, instead, finds a subset of them to maximize the availability. This article reviews the state-of-the-art PAR schemes, addresses the analytical performance of a PAR estimator following a generalization of the Cramér–Rao Bound (CRB) for the RTK problem, and introduces Precision-Driven PAR (PD-PAR). The latter constitutes a new PAR scheme which employs the formal precision of the (potentially fixed) positioning solution as selection criteria for the subset of ambiguities to fix. Numerical simulations are used to showcase the performance of conventional FAR and FAR approaches, and the proposed PD-PAR against the generalized CRB associated with PAR problems. Real-data experimental analysis for a medium baseline complements the synthetic scenario. The results demonstrate that (i) the generalization for the RTK CRB constitutes a valid lower bound to assess the asymptotic behavior of PAR estimators, and (ii) the proposed PD-PAR technique outperforms existing FAR and PAR solutions as a non-recursive estimator for medium and long baselines. 

Global navigation satellite systems (GNSSs) play a key role in intelligent transportation systems such as autonomous driving or unmanned systems navigation. In such applications, it is fundamental to ensure a reliable precise positioning solution able to operate in harsh propagation conditions such as urban environments and under multipath and other disturbances. Exploiting carrier phase observations allows for precise positioning solutions at the complexity cost of resolving integer phase ambiguities, a procedure that is particularly affected by non-nominal conditions. This limits the applicability of conventional filtering techniques in challenging scenarios, and new robust solutions must be accounted for. This contribution deals with real-time kinematic (RTK) positioning and the design of robust filtering solutions for the associated mixed integer- and real-valued estimation problem. Families of Kalman filter (KF) approaches based on robust statistics and variational inference are explored, such as the generalized M-based KF or the variational-based KF, aiming to mitigate the impact of outliers or non-nominal measurement behaviors. The performance assessment under harsh propagation conditions is realized using a simulated scenario and real data from a measurement campaign. The proposed robust filtering solutions are shown to offer excellent resilience against outlying observations, with the variational-based KF showcasing the overall best performance in terms of Gaussian efficiency and robustness.