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https://github.com/edwardlavender/patter

Particle filters, smoothers and sampling algorithms for animal movement modelling, with a focus on passive acoustic telemetry systems.
https://github.com/edwardlavender/patter

biologging biotelemetry electronic-tagging-and-tracking flapper-algorithms julia movement-modelling particle-filter particle-smoother passive-acoustic-telemetry patter r r-package simulation two-filter-smoother

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Particle filters, smoothers and sampling algorithms for animal movement modelling, with a focus on passive acoustic telemetry systems.

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README 

        
---

output: github_document

---



```{r, include = FALSE}

knitr::opts_chunk$set(

  collapse = TRUE,

  comment = "#>",

  fig.path = "man/figures/README-",

  out.width = "100%"

)

op <- options(terra.pal = rev(terrain.colors(256)))

```



# `patter`: particle algorithms for animal movement

**Particle filters, smoothers and sampling algorithms for animal movement modelling in [`R`](https://www.r-project.org)**



```{r, include = FALSE}

# Compute statistics for package badges



# R CMD CHECK

# * This is currently handled by a CI 



# Test coverage

# * We compute test coverage locally, when:

#   - This readme is rendered

#   - If the time since the last check was >= 24 hours

# * The local computation of test coverage:

#   - Saves GitHub Action minutes

#   - Is simpler than using bespoke GitHub Actions for covr configured for Windows



# Determine whether or not to compute coverage

# * By default, TRUE

# * If previously computed < 24 hours ago, FALSE

cov_compute     <- TRUE

cov_cache_file  <- file.path("data-raw", "README", "coverage.rds")

if (file.exists(cov_cache_file)) {

  cov_cache     <- readRDS(cov_cache_file)

  cov_pc        <- cov_cache$pc

  cov_timestamp <- cov_cache$timestamp

  cov_difftime  <- difftime(Sys.time(), cov_timestamp, units = "secs")

  if (cov_difftime < 24 * 60 * 60) {

    cov_compute <- FALSE

  }

}



# Compute coverage (~100 s)

if (cov_compute) {

  # Get coverage %

  cov_pc <-

    covr::package_coverage() |>

    covr::percent_coverage()

  # Update cov_cache

  cov_cache <- list(pc = cov_pc, timestamp = Sys.time())

  try(saveRDS(cov_cache, cov_cache_file), silent = TRUE)

}



# Build badge

cov_pc    <- round(as.numeric(cov_pc))

cov_col   <- ifelse(cov_pc >= 90, "brightgreen",

                    ifelse(cov_pc >= 75, "orange", "red"))

cov_badge <- paste0("https://img.shields.io/badge/coverage-",

                    cov_pc, "%25-", cov_col)

```



[![Project Status: Active – The project has reached a stable, usable state and is being actively developed.](https://www.repostatus.org/badges/latest/active.svg)](https://www.repostatus.org/#active)

[![Lifecycle: experimental](https://img.shields.io/badge/lifecycle-experimental-orange.svg)](https://lifecycle.r-lib.org/articles/stages.html#experimental)

[![CRAN status](https://www.r-pkg.org/badges/version/patter)](https://CRAN.R-project.org/package=patter)

![Coverage](`r cov_badge`)

[![R-CMD-check](https://github.com/edwardlavender/patter/actions/workflows/R-CMD-check.yaml/badge.svg)](https://github.com/edwardlavender/patter/actions/workflows/R-CMD-check.yaml)



`patter` provides particle filtering, smoothing and sampling algorithms for animal movement modelling, with a focus on passive acoustic telemetry systems. This wraps and enhances a fast `Julia` backend ([`Patter.jl`](https://edwardlavender.github.io/Patter.jl)). The methodology enables the reconstruction of movement paths and patterns of space use. `patter` unifies a suite of methods formerly known as the [`flapper`](https://github.com/edwardlavender/flapper) algorithms  and supersedes the experimental [`flapper`](https://github.com/edwardlavender/flapper) package (Lavender et al., [2023](https://doi.org/10.1111/2041-210X.14193)).



> **Note:**

> `patter` is a new `R` package. Like all new packages, you should use it with a degree of caution. Please share feedback and issues.



# Highlights



`patter` is designed to reconstruct movement paths and emergent patterns of space use from animal tracking data. A powerful, flexible, process-orientated, particle-based framework is used for this purpose. This framework unifies the [`flapper`](https://github.com/edwardlavender/flapper) algorithms and provides important opportunities for development, which we exploit here. 



The essential functions are `pf_filter()` and `pf_smoother_*()`: 



* **`pf_filter()`** is the particle filter. This simulates the possible locations of an individual moving forwards in time, accounting for all of the data (for example, acoustic observations, depth observations and any other observations) _up to_ each time point and the animal's movement (a partial marginal distribution). 

* **`pf_smoother_*()`** is a particle smoothing algorithm. At each time step, the smoother accounts for all of the data from both the past _and_ the future (the full marginal distribution) and substantially refines maps of space use. 



We hope to add backward sampling algorithms to the package in due course. 



# Evolution



`patter` evolved from the experimental [flapper](https://github.com/edwardlavender/flapper) package, but is:



* **More powerful**, with a substantially revised methodology;

* **Faster**, with overhauled internal routines;

* **Simpler** to use and maintain;

* **Stable**, with fewer dependencies and an upgraded spatial ecosystem;

* **Better tested**, with comprehensive unit tests (in progress!); 



See [`NEWS`](https://github.com/edwardlavender/patter/blob/main/NEWS.md) for a summary of the evolution of [`flapper`](https://github.com/edwardlavender/flapper) to `patter`. 



At the time of writing (May 2024), `patter` is more streamlined than [`flapper`](https://github.com/edwardlavender/flapper) and focuses on the implementation of fast particle-based algorithms for the reconstruction of movements and patterns of space use. Please get in touch if you would like to see additional functionality brought into `patter`. 



# Installation 



> **Note:**

> `patter` currently works on Windows and MacOS. On Windows, everything _should_ work if you follow the instructions below. On MacOS, some additional set up (such as compiler configuration) may be required, depending on your set up. In our (limited) experience, `patter` installs but crashes on Debian/Ubuntu. This is due to a conflict between the GDAL/GEOS/PROJ libraries used by `R` and `Julia` (which we hope to solve in due course). Please let us know your experiences if you are using other Linux distributions. In case of issues, you should be able to use `Patter.jl` directly, which on some systems may be simpler than getting `R` and `Julia` to play together!



1. **Install [`R`](https://www.r-project.org)**. This package requires `R` version ≥ 4.1 (but the most recent version is recommended). You can check your version from the `R` console using `R.version.string`. 



2. **Install build packages.** Package installation and configuration (may) require the [`devtools`](https://github.com/r-lib/devtools), [`pkgbuild`](https://github.com/r-lib/pkgbuild) and [`here`](https://github.com/r-lib/here) packages. Install them with:



``` r

install.packages(c("devtools", "pkgbuild", "here"))

```



3. **Install system libraries**. 



* **On Windows**, package building requires `RTools`. You can check whether `RTools` is installed with `pkgbuild::has_rtools()`. If `RTools` is not installed, it is necessary to download and install the appropriate version of `RTools` before proceeding by following the instructions [here](https://cran.r-project.org/bin/windows/RTools/). 

* **On MacOS**, some system-specific step up (e.g., compiler configuration) may be required. Follow the steps below and address any issues as required for your system.

* **On Linux**, our experience is currently limited---please share yours.



4. **Install [`Julia`](https://julialang.org)**. `Julia` is high-performance programming language that `patter` uses as a backend. If you do not have `Julia` installed on your system, you can install `Julia` via `R` using `JuliaCall`:



``` r

# Install the {JuliaCall} package:

install.packages("JuliaCall")



# Use the development version if the CRAN version is unavailable:

devtools::install_github("Non-Contradiction/JuliaCall",

                         dependencies = TRUE)

```



``` r

# Install `Julia` via {JuliaCall}:

library(JuliaCall)

julia <- julia_setup(installJulia = TRUE)

```



``` r

# Validate the Julia installation:

# * TRUE: `Julia` is working! 

# * FALSE: `Julia` is not working (see below)! 

isTRUE(try(julia_eval('true'), silent = TRUE))

```



If this doesn't work, download and install `Julia` from [JuliaLang](https://julialang.org/downloads/). Then retry `julia_setup()`:



``` r

julia <- julia_setup()

isTRUE(try(julia_eval('true'), silent = TRUE))

```



If you run into issues at this stage, it is likely that `Julia` has not been installed properly or `R` can't find it. You may need to tell `R` the location of the `Julia` binary via `JULIA_HOME` (see `?JuliaCall::julia_setup()` and the [`JuliaCall`](https://cran.r-project.org/web/packages/JuliaCall) [README](https://cran.r-project.org/web/packages/JuliaCall/readme/README.html) for troubleshooting and ways to get help).



5. **Install [`patter`](https://github.com/edwardlavender/patter).** To install `patter` from the `main` branch, use: 



``` r

devtools::install_github("edwardlavender/patter", 

                         dependencies = TRUE, 

                         build_vignettes = TRUE)

```



The `dependencies = TRUE` argument ensures that suggested packages are also installed, which are required for some functions and to build vignettes. This process may take several minutes. Set `build_vignettes = FALSE` for a faster installation.



To install `patter` from the development (`dev`) branch, if available, use:



``` r

devtools::install_github("edwardlavender/patter@dev", 

                         dependencies = TRUE, 

                         build_vignettes = TRUE)

```



This branch may include bug fixes and new features but should be used with caution. 



We recommend using [`renv`](https://rstudio.github.io/renv/articles/renv.html) (or similar) and [RStudio Projects](https://r4ds.had.co.nz/workflow-projects.html) to track the version of `patter` that you use in your projects. This will ensure that your code continues to work, even if we have to make breaking changes to `patter` as the package evolves in response to user feedback. 



6. **Connect to `Julia`**. At the start of every `R` session, you need to connect `R` to `Julia` (and `patter` to [`Patter.jl`](https://github.com/edwardlavender/Patter.jl)): 



``` r

# Load & attach {patter}:

library(patter)



# Option (A): Connect to `Julia` using default options: 

julia <- julia_connect()



#  Option (B): Connect to `Julia` within an RStudio Project (recommended):

julia <- julia_connect(JULIA_PROJ = here::here("Julia"))

```



The first time you run `julia_connect()`, it will connect to `Julia` and install (and pre-compile) [`Patter.jl`](https://github.com/edwardlavender/Patter.jl) and the additional `Julia` dependencies. This may take a few minutes. Subsequent `julia_connect()` calls will be faster. 



7. **Validate the `R`---`Julia` connection**. To validate that `patter` works on your system, run:



``` r

julia_validate()

```



This should return `NULL`, invisibly, in which case you are good to go. Otherwise, the function will return an error (or `R` may crash). Please report any [issues](https://github.com/edwardlavender/patter/issues) you experience during this process.



# Functionality 



## Vignettes



For an introduction to `patter`, use:



* `vignette("a-methodology", package = "patter")` for a conceptual introduction to the methodology;

* `vignette("b-workflow-outline", package = "patter")` for an overview of the workflow;



For a full list of all functions, see `help(package = 'patter')`.



For a glossary of key arguments, see `glossary`.



## Datasets



For example datasets from the Movement Ecology of Flapper Skate project (`datasets-mefs`), which inspired `patter`, see:



* `dat_moorings` for acoustic receiver deployments;

* `dat_acoustics` for acoustic time series;

* `dat_archival` for archival (depth) time series;

* `dat_gebco()` for a bathymetry grid;



To validate new datasets for use with `patter`, see `pat_setup_data()` and/or the `assemble_*()` function documentation.



For example algorithm outputs (`datasets-algorithms`), see:



* `dat_path()` for an example output from `sim_path_walk()`;

* `dat_coa()` for an example output from `coa()`;

* `dat_pff()` and `dat_pfb()` for an example output from `pf_filter()`;

* `dat_tff()` for an example output from `pf_smoother_two_filter()`;



## Set up `Julia`



To link `patter` and the [`Patter.jl`](https://edwardlavender.github.io/Patter.jl) `Julia` backend, use:



* `julia_connect()` to connect to `R` to `Julia`;

* `julia_validate()` to validate the `R`---`Julia` connection;

* `set_seed()` to set the seed in `R` and `Julia`;

* `set_map()` to make a `SpatRaster` of the study area available in `Julia`;



These functions should be run at the start of every `R` session.



## Abstract Types



`patter` is based on three Abstract Types, defined in `Julia`:



* `State` structures hold the state (location) of an animal at a given time step;

* `ModelMove` structures hold movement model, used to simulate new states;

* `ModelObs` structures hold observation model parameters, used to evaluate the correspondence between simulated states and observations;



## Simulation



To simulate animal movement time series, see:



* `sim_path_walk()` to simulate a movement path from a walk model (via `ModelMove`);

* `sim_array()` to simulate an acoustic array;

* `sim_observations()` to simulate observational time series (via `ModelObs`);



To evaluate model skill in reconstructing simulated patterns, see `skill_*()` functions:



* `skill_mb()` to calculate mean bias;

* `skill_me()` to calculate mean error;

* `skill_rmse()` to calculate root mean squared error;

* `skill_R()` to calculate Spearman's rank correlation coefficient;

* `skill_d()` to calculate the index of agreement;



## Data exploration



For help with data acquisition, processing, checking and preliminary analyses, see the [`flapper`](https://github.com/edwardlavender/flapper) package. This facilitates:



   * Data preparation;

   * Spatial operations;

   * Distance calculations;

   * Movement analyses;



Please submit a [feature request](https://github.com/edwardlavender/patter/issues) if you would like functions from [`flapper`](https://github.com/edwardlavender/flapper) in `patter`.



## Algorithms



The main thrust of `patter` is the provision of fast, integrated modelling workflow based on particle filtering for reconstructing animal movement paths and emergent patterns of space use from observational time series (with a focus on passive acoustic telemetry systems).



**To assemble datasets for particle filtering**, use `assemble_*()` functions:



* `assemble_timeline()` assembles a timeline;

* `assemble_acoustics()` assembles an acoustic time series;

* `assemble_archival()` assembles an archival time series;



Ancillary time series should be structured in the same way for inclusion in the particle filter.



**To implement particle filtering (PF) routines**, use:



* `pf_filter()` to implement the particle filter;

* `pf_smoother_two_filter()` to implement the two-filter smoother;



These functions return `pf_particles-class` objects. 



**For convenience plotting functions**, see:



* `pf_plot_xy()` to plot particle locations;



**For mapping utilisation distributions**, use:



* `map_pou()` to map probability-of-use;

* `map_dens()` to create smooth maps using `spatstat`, plus the supporting functions:

    * `as.im.SpatRaster()`, to convert `SpatRaster`s to pixel images;

    * `as.owin.SpatRaster()`, to convert  `SpatRaster`s to observation windows;

    * `as.owin.sf()`, to convert `sf` objects to observation windows;

* `map_hr_*()` to map home ranges, specifically: 

    * `map_hr_prop()` for a custom range;

    * `map_hr_core()` for the 'core' range;

    * `map_hr_home()` for the 'home' range;

    * `map_hr_full()` for the full range;

 

## Options



For additional options in `patter`, see:



* `patter-progress` to monitor function progress;

 

# Usage



## Set up 



This is the basic `patter` workflow to reconstruct movement paths and patterns of space use from animal tracking data. First, we load some essential packages:



```{r}

library(patter)

library(data.table)

library(dtplyr)

library(dplyr, warn.conflicts = FALSE)

options(patter.verbose = FALSE)

```



Second, we connect `R` to `Julia` and set the seed in `R` and `Julia` to ensure reproducibility of our simulations:



```{r, results = "hide"}

julia_connect()

julia_validate()

set_seed()

```



Third, we define the properties of our study area; namely, a `SpatRaster` of our study area that defines the area within which movements are possible and the timeline over which we will model movements:



```{r}

# Define map 

map <- dat_gebco()

set_map(map)



# Define timeline 

timeline <- seq(as.POSIXct("2016-03-17 01:50:00", tz = "UTC"),

                as.POSIXct("2016-03-18 01:48:00", tz = "UTC"), 

                by = "2 mins")

```



## Movement 



We will reconstruct the movements of a tagged flapper skate (_Dipturus intermedius_) within a study area off the west coast of Scotland, based on electronic tagging and tracking data. To do so, we need a model for the individual's movements and a series of observation models that connect movements to observations. In this example, we are interested in the two-dimensional (x, y) location of our animal through time (that is, the animal's 'state' is an object of type `StateXY`). The animal can move up to 750 m in two minutes, which is the resolution at which we will model movement, and we formulate a random walk model accordingly based on step lengths and turning angles:



```{r}

# Define the animal's state:

state      <- "StateXY"



# Formulate a corresponding movement model:

mobility   <- 750.0

model_move <- move_xy(dbn_length = glue::glue("truncated(Gamma(1, 250.0), upper = {mobility})"),

                      dbn_angle = "Uniform(-pi, pi)")



# Visualise realisations of the movement model:

map |> 

  sim_path_walk(.timeline = timeline,

                .state = state,

                .model_move = model_move, 

                .n_path = 4L, .one_page = TRUE) |> 

  invisible()



```



## Observations



We have collected acoustic and archival (depth) observations from tagged flapper skate. Let's pull out the time series for a selected individual: 



```{r}

# Define acoustic detections

acc <-

  dat_acoustics |>

  filter(individual_id == 25L) |>

  mutate(individual_id = NULL) |>

  as.data.table()



# Define archival (depth) observations

arc <-

  dat_archival |>

  filter(individual_id == 25L) |>

  mutate(individual_id = NULL,

         depth_sigma = 50,

         depth_deep_eps = 30) |>

  rename(obs = depth) |>

  as.data.table()



```



Individual movements are connected to the observations by models of the observation process for each dataset. Without going into details, here we bundle together the observations with the parameters of the observation models:



```{r}

model_1   <- "ModelObsAcousticLogisTrunc"

acoustics <- assemble_acoustics(.timeline = timeline,

                                .acoustics = acc,

                                .moorings = dat_moorings)



model_2  <- "ModelObsDepthNormalTrunc"

archival <- assemble_archival(.timeline = timeline,

                              .archival = arc)

```



Of course, you do not need acoustic and archival data to implement the algorithms (these are just the data we have collected from flapper skate)---other datasets can be used just as easily. To simulate observations instead, see `sim_observations()`. 



## Particle filter



We are now in a position to run the particle filter. This runs a simulation forwards (or backwards) in time, sampling states (locations, termed 'particles') that are consistent with the movement model and the observations up to and including each time point. We end up with a time series (`data.table`) of particles that approximate the partial marginal distribution for the location of the animal, at each time step:



```{r}

# List filter arguments

args <- list(.map = map,

             .timeline = timeline,

             .state = state,

             .xinit_pars = list(mobility = mobility),

             .yobs = list(acoustics, archival),

             .model_obs = c(model_1, model_2),

             .model_move = model_move,

             .n_record = 500L,

             .n_particle = 1e5L)



# Forward run

fwd <- do.call(pf_filter, args, quote = TRUE)

head(fwd$states)



# Backward run

args$.direction <- "backward"

bwd <- do.call(pf_filter, args, quote = TRUE)

```



```{r, include = FALSE}

# Check the ranges of initial locations from the forward & backward runs

# (for the Patter.jl README)

range(bwd$xinit$x)

range(bwd$xinit$y)

range(bwd$xinit$x)

range(bwd$xinit$y)

```



## Particle smoother



Particle smoothers refine the outputs from the particle filter. Smoothed particles approximate the full marginal distribution for the location of the individual at each time step (accounting for all of the data before and after each step). 



```{r}

smo <- pf_smoother_two_filter(.n_particle = 100L, .n_sim = 100L)

```



## Mapping



Particles can be used to reconstruct movement paths and patterns of space use. We can estimate a utilisation distribution from our particle samples as follows:



```{r}

# Estimate UD

ud <- map_dens(.map = map,

               .coord = smo$states,

               sigma = spatstat.explore::bw.diggle)$ud



# Add home range

map_hr_home(ud, .add = TRUE)

mtext(side = 4, "Probability density", line = -3)

```



This basic workflow is highly customisable. You have the flexibility to define species-specific movement models, include any type of observational dataset and implement system-specific observation models. See the vignettes and function examples for further details and reach out with queries. 



```{r, include = FALSE}

options(op)

```

 



# Resources

 

**For full details on the methods**, see the references below. 

 

**For further information of the `patter` package**, see:



* `?patter::patter` for an overview of package functions;

* `?patter::pf_filter `for information on specific functions (such as `pf_filter()`);

 

**For further code examples**, see:



  * [`patter-eval`](https://github.com/edwardlavender/patter-eval) for an extensive simulation-based workflow and analysis;

  * [`patter-flapper`](https://github.com/edwardlavender/patter-flapper) for a complete real-world analysis;

 

# Disclaimer and troubleshooting 



`patter` is a new `R` package. All routines are experimental. Researchers interested in using the package are encouraged to get in touch while the methods and package remain at an early stage of evolution ([email protected]). 



# Citation 



To cite `patter` in publications, please use:



* Lavender, E. et al. (2023). An integrative modelling framework for passive acoustic telemetry. Methods in Ecology and Evolution. https://doi.org/10.1111/2041-210X.14193 

* Lavender, E. et al. (in prep). Particle algorithms for animal movement modelling in autonomous receiver networks.

* Lavender, E. et al. (in prep). Particle algorithms for animal tracking in `R` and `Julia`. https://doi.org/10.1101/2024.07.30.605733

* Lavender, E. et al. (in prep). Particle algorithms reveal patterns of space use in a Critically Endangered elasmobranch.



---



Please note that `patter` is released with a [Contributor Code of Conduct](https://contributor-covenant.org/version/2/1/CODE_OF_CONDUCT.html). By contributing to this project, you agree to abide by its terms.