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1. Fish-inspired segment models for undulatory steady swimming

   https://doi.org/10.1088/1748-3190/ac6bd6  

   Akanyeti, Otar ; Di Santo, Valentina ; Goerig, Elsa ; Wainwright, Dylan K. ; Liao, James C. ; Castro-Santos, Theodore ; Lauder, George V. ( May 2022 , Bioinspiration & Biomimetics)

   Many aquatic animals swim by undulatory body movements and understanding the diversity of these movements could unlock the potential for designing better underwater robots. Here, we analyzed the steady swimming kinematics of a diverse group of fish species to investigate whether their undulatory movements can be represented using a series of interconnected multi-segment models, and if so, to identify the key factors driving the segment configuration of the models. Our results show that the steady swimming kinematics of fishes can be described successfully using parsimonious models, 83% of which had fewer than five segments. In these models, the anterior segments were significantly longer than the posterior segments, and there was a direct link between segment configuration and swimming kinematics, body shape, and Reynolds number. The models representing eel-like fishes with elongated bodies and fishes swimming at high Reynolds numbers had more segments and less segment length variability along the body than the models representing other fishes. These fishes recruited their anterior bodies to a greater extent, initiating the undulatory wave more anteriorly. Two shape parameters, related to axial and overall body thickness, predicted segment configuration with moderate to high success rate. We found that head morphology was a goodmore »predictor of its segment length. While there was a large variation in head segments, the length of tail segments was similar across all models. Given that fishes exhibited variable caudal fin shapes, the consistency of tail segments could be a result of an evolutionary constraint tuned for high propulsive efficiency. The bio-inspired multi-segment models presented in this study highlight the key bending points along the body and can be used to decide on the placement of actuators in fish-inspired robots, to model hydrodynamic forces in theoretical and computational studies, or for predicting muscle activation patterns during swimming.

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2. Aquatic Walking and Swimming Kinematics of Neonate and Juvenile Epaulette Sharks

   https://doi.org/10.1093/icb/icac127  

   Porter, Marianne E. ; Hernandez, Andrea V. ; Gervais, Connor R. ; Rummer, Jodie L. ( July 2022 , Integrative and Comparative Biology)

   The epaulette shark, Hemiscyllium ocellatum, is a small, reef-dwelling, benthic shark that—using its paired fins—can walk, both in and out of water. Within the reef flats, this species experiences short periods of elevated CO2 and hypoxia as well as fluctuating temperatures as reef flats become isolated with the outgoing tide. Past studies have shown that this species is robust (i.e., respiratory and metabolic performance, behavior) to climate change-relevant elevated CO2 levels as well as hypoxia and anoxia tolerant. However, epaulette shark embryos reared under ocean warming conditions hatch earlier and smaller, with altered patterns and coloration, and with higher metabolic costs than their current-day counterparts. Findings to date suggest that this species has adaptations to tolerate some, but perhaps not all, of the challenging conditions predicted for the 21st century. As such, the epaulette shark is emerging as a model system to understand vertebrate physiology in changing oceans. Yet, few studies have investigated the kinematics of walking and swimming, which may be vital to their biological fitness, considering their habitat and propensity for challenging environmental conditions. Given that neonates retain embryonic nutrition via an internalized yolk sac, resulting in a bulbous abdomen, while juveniles actively forage for worms, crustaceans,more »and small fishes, we hypothesized that difference in body shape over early ontogeny would affect locomotor performance. To test this, we examined neonate and juvenile locomotor kinematics during the three aquatic gaits they utilize—slow-to-medium walking, fast walking, and swimming—using 13 anatomical landmarks along the fins, girdles, and body midline. We found that differences in body shape did not alter kinematics between neonates and juveniles. Overall velocity, fin rotation, axial bending, and tail beat frequency and amplitude were consistent between early life stages. Data suggest that the locomotor kinematics are maintained between neonate and juvenile epaulette sharks, even as their feeding strategy changes. Studying epaulette shark locomotion allows us to understand this—and perhaps related—species’ ability to move within and away from challenging conditions in their habitats. Such locomotor traits may not only be key to survival, in general, as a small, benthic mesopredator (i.e., movements required to maneuver into small reef crevices to avoid aerial and aquatic predators), but also be related to their sustained physiological performance under challenging environmental conditions, including those associated with climate change—a topic worthy of future investigation.

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3. Trends in Stroke Kinematics, Reynolds Number, and Swimming Mode in Shrimp-Like Organisms

   https://doi.org/10.1093/icb/icac067  

   Ruszczyk, Melissa ; Webster, Donald R. ; Yen, Jeannette ( June 2022 , Integrative and Comparative Biology)

   Metachronal propulsion is commonly seen in organisms with the caridoid facies body plan, that is, shrimp-like organisms, as they beat their pleopods in an adlocomotory sequence. These organisms exist across length scales ranging several orders of Reynolds number magnitude, from 10 to 104, during locomotion. Further, by altering their stroke kinematics, these organisms achieve three distinct swimming modes. To better understand the relationship between Reynolds number, stroke kinematics, and resulting swimming mode, Euphausia pacifica stroke kinematics were quantified using high-speed digital recordings and compared to the results for the larger E.superba. Euphausia pacifica consistently operate with a greater beat frequency and smaller stroke amplitude than E. superba for each swimming mode, suggesting that length scale may affect the kinematics needed to achieve similar swimming modes. To expand on this observation, these euphausiid data are used in combination with previously published stroke kinematics from mysids and stomatopods to identify broad trends across swimming mode and length scale in metachrony. Principal component analysis (PCA) reveals trends in stroke kinematics and Reynolds number as well as the variation among taxonomic order. Overall, larger beat frequencies, stroke amplitudes, between-cycle phase lags, and Reynolds numbers are more representative of the fast-forward swimming mode comparedmore »to the slower hovering mode. Additionally, each species has a unique combination of kinematics which result in metachrony, indicating that there are other factors, perhaps morphological, which affect the overall metachronal characteristics of an organism. Finally, uniform phase lag, in which the timing between power strokes of all pleopods is equal, in five-paddle systems is achieved at different Reynolds numbers for different swimming modes, highlighting the importance of taking into consideration stroke kinematics, length scale, and the resulting swimming mode.

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4. Scaling of oscillatory kinematics and Froude efficiency in baleen whales

   Gough, W. T. ( January 2021 , Journal of experimental biology)

   High efficiency lunate-tail swimming with high-aspect-ratio lifting surfaces has evolved in many vertebrate lineages, from fish to cetaceans. Baleen whales (Mysticeti) are the largest swimming animals that exhibit this locomotor strategy, and present an ideal study system to examine how morphology and the kinematics of swimming scale to the largest body sizes. We used data from whale-borne inertial sensors coupled with morphometric measurements from aerial drones to calculate the hydrodynamic performance of oscillatory swimming in six baleen whale species ranging in body length from 5 to 25 m (fin whale, Balaenoptera physalus; Bryde’s whale, Balaenoptera edeni; sei whale, Balaenoptera borealis; Antarctic minke whale, Balaenoptera bonaerensis; humpback whale, Megaptera novaeangliae; and blue whale, Balaenoptera musculus). We found that mass-specific thrust increased with both swimming speed and body size. Froude efficiency, defined as the ratio of useful power output to the rate of energy input (Sloop, 1978), generally increased with swimming speed but decreased on average with increasing body size. This finding is contrary to previous results in smaller animals, where Froude efficiency increased with body size. Although our empirically parameterized estimates for swimming baleen whale drag were higher than those of a simple gliding model, oscillatory locomotion at this scale exhibitsmore »generally high Froude efficiency as in other adept swimmers. Our results quantify the fine- scale kinematics and estimate the hydrodynamics of routine and energetically expensive swimming modes at the largest scale.« less
5. Vertebral Trabecular Bone Mechanical Properties Vary Among Functional Groups of Cetaceans

   https://doi.org/10.1093/iob/obab036  

   Ingle, D. N. ; Porter, M. E. ( January 2022 , Integrative Organismal Biology)

   Since their appearance in the fossil record 34 million years ago, modern cetaceans (dolphins, whales, and porpoises) have radiated into diverse habitats circumglobally, developing vast phenotypic variations among species. Traits such as skeletal morphology and ecologically linked behaviors denote swimming activity; trade-offs in flexibility and rigidity along the vertebral column determine patterns of caudal oscillation. Here, we categorized 10 species of cetaceans (families Delphinidae and Kogiidae; N = 21 animals) into functional groups based on vertebral centra morphology, swimming speeds, diving behavior, and inferred swimming patterns. We quantified trabecular bone mechanical properties (yield strength, apparent stiffness, and resilience) among functional groups and regions of the vertebral column (thoracic, lumbar, and caudal). We extracted 6 mm3 samples from vertebral bodies and tested them in compression in 3 orientations (rostrocaudal, dorsoventral, and mediolateral) at 2 mm min−1. Overall, bone from the pre-fluke/fluke boundary had the greatest yield strength and resilience, indicating that the greatest forces are translated to the tail during caudal oscillatory swimming. Group 1, composed of 5 shallow-diving delphinid species, had the greatest vertebral trabecular bone yield strength, apparent stiffness, and resilience of all functional groups. Conversely, Group 3, composed of 2 deep-diving kogiid species, had the least strong,more »stiff, and resilient bone, while Group 2 (3 deep-diving delphinid species) exhibited intermediate values. These data suggest that species that incorporate prolonged glides during deep descents in the water column actively swim less, and place relatively smaller loads on their vertebral columns, compared with species that execute shallower dives. We found that cetacean vertebral trabecular bone properties differed from the properties of terrestrial mammals; for every given bone strength, cetacean bone was less stiff by comparison. This relative lack of material rigidity within vertebral bone may be attributed to the non-weight-bearing locomotor modes of fully aquatic mammals.

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