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I have the title for a map that shows point locations distributed across a beach where biologists will count the number of clams. The claims will be harvested and used as bait in a crab fishery. Should the title be Bait-Clam Survey or Bait Clam Survey?

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I would go with "Bait-Clam Survey". Generally you hyphenate when the two or more words coming before the noun form a compound adjective. Because "bait-clam" is acting as a single adjective they should be hyphenated.

For more information on hyphenation see: http://www.grammarbook.com/punctuation/hyphens.asp

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