Turning maneuvers in sharks: Predicting body curvature from axial morphology

Vertebral morphology in the tail-whipping common thresher shark, Alopias vulpinus

Thresher sharks (Alopias spp.) are characterized by an elongated, scythe-like caudal fin that is used in tail-whipping, a behaviour where the tail is thrown overhead to stun prey. Tail-whipping is performed via extreme dorsoventral bending of the vertebral column, and is dramatically different from lateral oscillatory motion used for swimming. Previous work has examined thresher shark vertebral morphology and mechanical properties, but in the context of swimming loads. Our goal was to assess centra morphometrics and microarchitecture for variations that may support extreme dorsoventral bending. We examined anterior and posterior body vertebrae from an embryo, five juvenile, and four adult thresher sharks using micro-computed tomography. We used principal component and landmark analyses to examine variables influencing vertebral morphology and mineral arrangement, respectively. We found that morphology and microstructure significantly varied across body regions and ontogeny. We hypothesize that anterior body vertebrae increase stability, while posterior body vertebrae support the caudal fin. Vertebral size and quantity of mineral structures (lamellae and nodes) increased across ontogeny, suggesting vertebrae adapt over development to support a larger body and tail. Based on our results, we hypothesize that thresher shark vertebrae vary in morphometrics and mineralization (amount and arrangement) supporting the mechanical needs for tail-whipping.

Aquatic Walking and Swimming Kinematics of Neonate and Juvenile Epaulette Sharks

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, 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.

Mosaic adaptive peak shifts underlie body shape diversification in pelagiarian fishes (Acanthomorpha: Percomorpha)

Extreme body elongation in fishes is a major evolutionary transformation that extends the boundaries of morphological diversity and alters aspects of function, behaviour and ecology. Prior studies have identified features of the cranial and axial skeleton that characterize elongate fishes, but a lack of detailed reconstructions of anatomical evolution has limited inferences about factors that underlie major shifts in body shape. In this study, we fitted multi-peak adaptive (Ornstein–Uhlenbeck) evolutionary models to species body shape and anatomical dimensions in Pelagiaria, a radiation of open-ocean fishes whose species span a continuum from deep bodied to highly elongate. We inferred an ancestral fusiform adaptive peak that is retained by several major pelagiarian lineages (e.g. Scombridae) and found robust support for multiple transitions to deep-bodied optima (in the families Stromateidae, Bramidae and Caristiidae) and elongate-bodied optima (within Trichiuroidei), including two instances of sequential shifts towards increasingly elongate optima that followed distinct paths of anatomical evolution. Within Trichiuridae, initial increases in head length and the number of vertebrae were followed by changes in head and vertebral shape. Within an elongate-bodied subclade of taxa traditionally identified as ‘gempylids’, changes in head and vertebral shape and in the number of precaudal vertebrae preceded an increase in the number of caudal vertebrae. Altogether, this mosaic of anatomical peak shifts suggests that body shape transformations were associated with differing selective demands and developmental changes.

From dorsomobility to dorsostability: A study of lumbosacral joint range of motion in artiodactyls

This study is the first analysis of mobility in the lumbosacral joint of even-toed ungulates covering the full range of body masses and running forms. In this study, we modified a previously developed osteometry-based method to calculate the available range of motion (aROM) in the lumbosacral joint in artiodactyls. We quantified all three directions of intervertebral mobility: sagittal bending (SB), lateral bending (LB), and axial rotation (AR). This research covers extant artiodactyls from 10 families, 57 genera, and 78 species. The lumbosacral joint in artiodactyls is on average almost twice as mobile in SB as the average intralumbar joint (aROM 15.68° vs 8.22°). In all artiodactyls, the first sacral prezygapophyses are equipped with postfacet fossae determining the available range of lumbosacral hyperextension. SB aROM in the lumbosacral joint in artiodactyls varies almost sevenfold (from 4.53° to 31.19°) and is closely related to the body mass and running form. An allometric equation was developed for the first time, for the joint angular amplitude of motion, exemplified by the artiodactyl lumbosacral SB aROMs, as a power function of body mass, the power coefficient value being close to -0.15. High SB aROM at the lumbosacral joint is characteristic of artiodactyls with at least one of the following characteristics: high cumulative and average SB aROM in the lumbar region (Pearson r = 0.467-0.617), small body mass (r = -0.531), saltatorial or saltatorial-cursorial running form (mean = 16.91-18.63°). The highest SB aROM in the lumbosacral joint is typical for small antelopes and Moschidae (mean = 20.24-20.27°). Among these artiodactyls SB aROMs in the lumbosacral joint are on par with various carnivores. Large and robust artiodactyls, adapted predominantly to mediportal and stilt (running on extremely tall limbs) running forms, have 2-3 times smaller SB aROMs in the lumbosacral joint. Adaptation to endurance galloping in open landscapes (cursorial running form) is accompanied by smaller lumbar and lumbosacral SB aROMs compared to that in saltatorial-cursorial artiodactyls of the same body mass. The wide range of species studied makes it possible to significantly expand the knowledge of relations of the mobility of the lumbosacral joint in artiodactyls to body mass and running form.

Scaling of maneuvering performance in baleen whales: larger whales outperform expectations

Despite their enormous size, whales make their living as voracious predators. To catch their much smaller, more maneuverable prey, they have developed several unique locomotor strategies that require high energetic input, high mechanical power output and a surprising degree of agility. To better understand how body size affects maneuverability at the largest scale, we used bio-logging data, aerial photogrammetry and a high-throughput approach to quantify the maneuvering performance of seven species of free-swimming baleen whale. We found that as body size increases, absolute maneuvering performance decreases: larger whales use lower accelerations and perform slower pitch-changes, rolls and turns than smaller species. We also found that baleen whales exhibit positive allometry of maneuvering performance: relative to their body size, larger whales use higher accelerations, and perform faster pitch-changes, rolls and certain types of turns than smaller species. However, not all maneuvers were impacted by body size in the same way, and we found that larger whales behaviorally adjust for their decreased agility by using turns that they can perform more effectively. The positive allometry of maneuvering performance suggests that large whales have compensated for their increased body size by evolving more effective control surfaces and by preferentially selecting maneuvers that play to their strengths.

Tunable stiffness in fish robotics: mechanisms and advantages

One of the emerging themes of fish-inspired robotics is flexibility. Adding flexibility to the body, joints, or fins of fish-inspired robots can significantly improve thrust and/or efficiency during locomotion. However, the optimal stiffness depends on variables such as swimming speed, so there is no one 'best' stiffness that maximizes efficiency in all conditions. Fish are thought to solve this problem by using muscular activity to tune their body and fin stiffness in real-time. Inspired by fish, some recent robots sport polymer actuators, adjustable leaf springs, or artificial tendons that tune stiffness mechanically. Models and water channel tests are providing a theoretical framework for stiffness-tuning strategies that devices can implement. The strategies can be thought of as analogous to car transmissions, which allow users to improve efficiency by tuning gear ratio with driving speed. We provide an overview of the latest discoveries about (1) the propulsive benefits of flexibility, particularlytunableflexibility, and (2) the mechanisms and strategies that fish and fish-inspired robots use to tune stiffness while swimming.

Bendy to the bone: Links between vertebral morphology and waterfall climbing in amphidromous gobioid fishes

Locomotor force production imposes strong demands on organismal form. Thus, the evolution of novel locomotor modes is often associated with morphological adaptations that help to meet those demands. In the goby lineage of fishes, most species are marine and use their fused pelvic fins to facilitate station holding in wave-swept environments. However, several groups of gobies have evolved an amphidromous lifecycle, in which larvae develop in the ocean but juveniles migrate to freshwater for their adult phase. In many of these species, the pelvic fins have been co-opted to aid in climbing waterfalls during upstream migrations to adult habitats. During horizontal swimming, forces are produced by axial musculature pulling on the vertebral column. However, during vertical climbing, gravity also exerts forces along the length of the vertebral column. In this study, we searched for novel aspects of vertebral column form that might be associated with the distinctive locomotor strategies of climbing gobies. We predicted that stiffness would vary along the length of the vertebral column due to competing demands for stability of the suction disk anteriorly and flexibility for axial thrust production posteriorly. We also predicted that derived, climbing goby species would require stiffer backbones to aid in vertical thrust production compared to non-climbing species. To test these predictions, we used microcomputed tomography scans to compare vertebral anatomy (centrum length, centrum width, and intervertebral space) along the vertebral column for five gobioid species that differ in climbing ability. Our results support our second prediction, that gobies are more flexible in the posterior portion of the body. However, the main variation in vertebral column form associated with climbing ability was the presence of larger intervertebral spaces in Sicyopterus stimpsoni, a species that uses a distinctive inching behavior to climb. These results build on past kinematic studies of goby climbing performance and lend insights into how the underlying vertebral structure of these fishes may enable their novel locomotion.

Foretelling the Flex-Vertebral Shape Predicts Behavior and Ecology of Fishes

We modeled swimming kinematics and body mechanics of several fish species of varying habitat and body shape based on measurements of internal vertebral morphology.

SYNOPSIS

One key evolutionary innovation that separates vertebrates from invertebrates is the notochord, a central element that provides the stiffness needed for powerful movements. Later, the notochord was further stiffened by the vertebrae, cartilaginous, and bony elements, surrounding the notochord. The ancestral notochord is retained in modern vertebrates as intervertebral material, but we know little about its mechanical interactions with surrounding vertebrae. In this study, the internal shape of the vertebrae-where this material is found-was quantified in 16 species of fishes with various body shapes, swimming modes, and habitats. We used micro-computed tomography to measure the internal shape. We then created and mechanically tested physical models of intervertebral joints. We also mechanically tested actual vertebrae of five species. Material testing shows that internal morphology of the centrum significantly affects bending and torsional stiffness. Finally, we performed swimming trials to gather kinematic data. Combining these data, we created a model that uses internal vertebral morphology to make predictions about swimming kinematics and mechanics. We used linear discriminant analysis (LDA) to assess the relationship between vertebral shape and our categorical traits. The analysis revealed that internal vertebral morphology is sufficient to predict habitat, body shape, and swimming mode in our fishes. This model can also be used to make predictions about swimming in fishes not easily studied in the laboratory, such as deep sea and extinct species, allowing the development of hypotheses about their natural behavior.

Form and function of the caudal fin throughout the phylogeny of fishes

Fishes are the longest persisting living vertebrates and as such, display an incredible array of diversity. Variation in the tail, or caudal fin, is often a reflection of a fish's environment, and affects movement, predation, defense, and reproduction. Previous literature has discussed many aspects of caudal fin form and function in particular taxonomic groups; however, no previous work has synthesized these studies in order to detail how the caudal fin is structured, and what purpose this structure serves, throughout the phylogeny of fishes. This review examines the caudal fin throughout the main lineages of fish evolution, and highlights where changes in shape and usage have occurred. Such novelties in form and function tend to have far-reaching evolutionary consequences. Through integration of past and present work, this review creates a coherent picture of caudal fin evolution. Patterns and outliers that demonstrate how form and function of this appendage are intertwined can further inform hypotheses that fill critical gaps in knowledge concerning the caudal fin.

Body shape transformations by alternate anatomical adaptive peak shifts in blenniiform fishes

Extreme body elongation has occurred repeatedly in the evolutionary history of ray-finned fishes. Lengthening of the anterior-posterior body axis relative to depth and width can involve changes in the cranial skeleton and vertebral column, but to what extent is anatomical evolution determined by selective factors and intrinsic constraints that are shared broadly among closely related lineages? In this study, we fit adaptive (Ornstein-Uhlenbeck) evolutionary models to body shape and its anatomical determinants and identified two instances of extreme elongation by divergent anatomical peak shifts in the Blenniiformes, a radiation of small-bodied substrate-associated marine teleost fishes. Species in the genus Xiphasia (hairtail blennies) evolved toward a peak defined by a highly elongated caudal vertebral region but ancestral cranial and precaudal vertebral morphology. In contrast, a clade that includes the genera Chaenopsis and Lucayablennius (pike and arrow blennies) evolved toward a peak with a long slender skull but ancestral axial skeletal anatomy. Neither set of anatomical peak shifts aligns closely with the major axis of anatomical diversification in other blenniiform fishes. These results provide little evidence that ancestral constraints have affected body shape transformation, and instead suggest that extreme elongation arose with distinct shifts in selective factors and development.

Volitional Swimming Kinematics of Blacktip Sharks, Carcharhinus limbatus, in the Wild

Recent work showed that two species of hammerhead sharks operated as a double oscillating system, where frequency and amplitude differed in the anterior and posterior parts of the body. We hypothesized that a double oscillating system would be present in a large, volitionally swimming, conventionally shaped carcharhinid shark. Swimming kinematics analyses provide quantification to mechanistically examine swimming within and among species. Here, we quantify blacktip shark (Carcharhinus limbatus) volitional swimming kinematics under natural conditions to assess variation between anterior and posterior body regions and demonstrate the presence of a double oscillating system. We captured footage of 80 individual blacktips swimming in the wild using a DJI Phantom 4 Pro aerial drone. The widespread accessibility of aerial drone technology has allowed for greater observation of wild marine megafauna. We used Loggerpro motion tracking software to track five anatomical landmarks frame by frame to calculate tailbeat frequency, tailbeat amplitude, speed, and anterior/posterior variables: amplitude and frequency of the head and tail, and the body curvature measured as anterior and posterior flexion. We found significant increases in tailbeat frequency and amplitude with increasing swimming speed. Tailbeat frequency decreased and tailbeat amplitude increased as posterior flexion amplitude increased. We found significant differences between anterior and posterior amplitudes and frequencies, suggesting a double oscillating modality of wave propagation. These data support previous work that hypothesized the importance of a double oscillating system for increased sensory perception. These methods demonstrate the utility of quantifying swimming kinematics of wild animals through direct observation, with the potential to apply a biomechanical perspective to movement ecology paradigms.

Experimental-numerical method for calculating bending moments in swimming fish shows that fish larvae control undulatory swimming with simple actuation

Most fish swim with body undulations that result from fluid-structure interactions between the fish's internal tissues and the surrounding water. Gaining insight into these complex fluid-structure interactions is essential to understand how fish swim. To this end, we developed a dedicated experimental-numerical inverse dynamics approach to calculate the lateral bending moment distributions for a large-amplitude undulatory swimmer that moves freely in three-dimensional space. We combined automated motion tracking from multiple synchronised high-speed video sequences, computation of fluid dynamic stresses on the swimmer's body from computational fluid dynamics, and bending moment calculations using these stresses as input for a novel beam model of the body. The bending moment, which represent the system's net actuation, varies over time and along the fish's central axis due to muscle actions, passive tissues, inertia, and fluid dynamics. Our three-dimensional analysis of 113 swimming events of zebrafish larvae ranging in age from 3 to 12 days after fertilisation shows that these bending moment patterns are not only relatively simple but also strikingly similar throughout early development and from fast starts to periodic swimming. This suggests that fish larvae may produce and adjust swimming movements relatively simply, yet effectively, while restructuring their neuromuscular control system throughout their rapid development.

Body forms in sharks (Chondrichthyes: Elasmobranchii) and their functional, ecological, and evolutionary implications

Sharks are among the oldest vertebrate lineages in which their success has been attributed to their diversity in body shape and locomotor design. In this study, we investigated the diversity of body forms in extant sharks using landmark-based geometric morphometric analyses on nearly all the known (ca. 470) extant sharks. We ran three different analyses: the 'full body,' 'precaudal body,' and 'caudal fin' analyses. Our study suggests that there are two basic body forms in sharks, a 'shallow-bodied' form (Group A) and 'deep-bodied' form (Group B), where all sharks essentially have one basic caudal fin design of a heterocercal tail despite some specializations. We found that swimming modes in sharks are highly correlated with body forms where Group A sharks are predominantly anguilliform swimmers and Group B sharks are represented by carangiform and thunniform swimmers. The majority of Group A sharks are found to be benthic whereas pelagic forms are relatively common among Group B sharks. Each of the two superorders of sharks, Squalomorphii and Galeomorphii, must have gone through complex evolutionary history where each superorder contains both Group A sharks and Group B sharks, possibly involving parallel evolution from one group to the other or at least one episode of evolutionary reversal.

Body Flexibility Enhances Maneuverability in the World's Largest Predator

Blue whales are often characterized as highly stable, open-ocean swimmers who sacrifice maneuverability for long-distance cruising performance. However, recent studies have revealed that blue whales actually exhibit surprisingly complex underwater behaviors, yet little is known about the performance and control of these maneuvers. Here, we use multi-sensor biologgers equipped with cameras to quantify the locomotor dynamics and the movement of the control surfaces used by foraging blue whales. Our results revealed that simple maneuvers (rolls, turns, and pitch changes) are performed using distinct combinations of control and power provided by the flippers, the flukes, and bending of the body, while complex trajectories are structured by combining sequences of simple maneuvers. Furthermore, blue whales improve their turning performance by using complex banked turns to take advantage of their substantial dorso-ventral flexibility. These results illustrate the important role body flexibility plays in enhancing control and performance of maneuvers, even in the largest of animals. The use of the body to supplement the performance of the hydrodynamically active surfaces may represent a new mechanism in the control of aquatic locomotion.

Body and Pectoral Fin Kinematics During Routine Yaw Turning in Bonnethead Sharks (Sphyrna tiburo)

Maneuvering is a crucial locomotor strategy among aquatic vertebrates, common in routine swimming, feeding, and escape responses. Combinations of whole body and fin movements generate an imbalance of forces resulting in deviation from an initial path. Sharks have elongate bodies that bend substantially and, in combination with pectoral fin rotation, play a role in yaw (horizontal) turning, but previous studies focus primarily on maximal turning performance rather than routine maneuvers. Routine maneuvering is largely understudied in fish swimming, despite observations that moderate maneuvering is much more common than the extreme behaviors commonly described in the literature. In this study, we target routine maneuvering in the bonnethead shark, Sphyrna tiburo. We use video reconstruction of moving morphology to describe three-dimensional pectoral fin rotation about three axes to compare to those previously described on yaw turning by the Pacific spiny dogfish. We quantify kinematic variables to understand the impacts of body and fin movements on routine turning performance. We also describe the anatomy of bonnethead pectoral fins and use muscle stimulation to confirm functional hypotheses about their role in actuating the fin. The turning performance metrics we describe for bonnethead sharks are comparable to other routine maneuvers described for the Pacific spiny dogfish and manta rays. These turns were substantially less agile and maneuverable than previously documented for other sharks, which we hypothesize results from the comparison of routine turning to maneuvering under stimulated conditions. We suggest that these results highlight the importance of considering routine maneuvering in future studies. Cinemática del Cuerpo y de las Aletas Pectorales Durante el giro en el eje Vertical en la Cabeza del Tiburón Pala (Sphyrna tiburo) (Body and Pectoral Fin Kinematics During Routine Yaw Turning in Bonnethead Sharks [Sphyrna tiburo]).

Flexibility of Heterocercal Tails: What Can the Functional Morphology of Shark Tails Tell Us about Ichthyosaur Swimming?

The similarities between ichthyosaurs and sharks are a text-book example of convergence, and similarities in tail morphology have led many to theorize that they had similar swimming styles. The variation of ichthyosaur tail shapes is encompassed within the diversity of shark families. In particular early ichthyosaurs have asymmetrical tails like the heterocercal tails of carcharhinid sharks, while later occurring ichthyosaurs have lunate tails similar to those of lamnid sharks. Because it is not possible to measure ichthyosaur tail function, the goal of this study is to measure and compare the flexibility and stiffness of lunate and heterocercal shark tails, and to measure skeletal and connective tissue features that may affect tail flexibility. We measured flexibility in 10 species and focused on five species in particular, for dissection: one pelagic and one bottom-associated individual from each order, plus the common thresher shark (Alopias vulpinus), a tail-slapping specialist. As expected, lunate tails were overall less flexible than heterocercal tails and had greater flexural stiffness. Our results suggest that the cross-sectional profile of the skeletally supported dorsal lobe dictates flexural stiffness, but that changing tissue composition dictates flexural stiffness in the ventral lobe. We also found structural differences that may enable the tail slapping behavior of the common thresher shark. Finally, we discuss how our morphological measurements compare to ichthyosaur measurements from the literature; noting that similarities in functional morphology suggest sharks may be a good analog for understanding ichthyosaur swimming biomechanics.

Three-dimensional movements of the pectoral fin during yaw turns in the Pacific spiny dogfish, Squalus suckleyi

Fish pectoral fins move in complex ways, acting as control surfaces to affect force balance during swimming and maneuvering. Though objectively less dynamic than their actinopterygian relatives, shark pectoral fins undergo complex conformational changes and movements during maneuvering. Asynchronous pectoral fin movement is documented during yaw turning in at least two shark species but the three-dimensional (3D) rotation of the fin about the body axes is unknown. We quantify the 3D actuation of the pectoral fin base relative to the body axes. We hypothesized that Pacific spiny dogfish rotate pectoral fins with three degrees of freedom relative to the body during volitional turning. The pectoral fin on the inside of the turn is consistently protracted, supinated and depressed. Additionally, turning angular velocity increased with increasing fin rotation. Estimated drag on the fin increased and the shark decelerated during turning. Based on these findings, we propose that Pacific spiny dogfish uses drag-based turning during volitional swimming. Post-mortem muscle stimulation revealed depression, protraction and supination of the pectoral fin through stimulation of the ventral and cranial pterygoideus muscles. These data confirm functional hypotheses about pectoral fin musculature and suggest that Pacific spiny dogfish actively rotate pectoral fins to facilitate drag-based turning.This article has an associated First Person interview with the first author of the paper.

Axial morphology and 3D neurocranial kinematics in suction-feeding fishes

Many suction-feeding fish use neurocranial elevation to expand the buccal cavity for suction feeding, a motion necessarily accompanied by the dorsal flexion of joints in the axial skeleton. How much dorsal flexion the axial skeleton accommodates and where that dorsal flexion occurs may vary with axial skeletal morphology, body shape and the kinematics of neurocranial elevation. We measured three-dimensional neurocranial kinematics in three species with distinct body forms: laterally compressed Embiotoca lateralis, fusiform Micropterus salmoides, and dorsoventrally compressed Leptocottus armatus The area just caudal to the neurocranium occupied by bone was 42±1.5%, 36±1.8% and 22±5.5% (mean±s.e.m.; N=3, 6, 4) in the three species, respectively, and the epaxial depth also decreased from E. lateralis to L. armatus Maximum neurocranial elevation for each species was 11, 24 and 37°, respectively, consistent with a hypothesis that aspects of axial morphology and body shape may constrain neurocranial elevation. Mean axis of rotation position for neurocranial elevation in E. lateralis, M. salmoides and L. armatus was near the first, third and fifth intervertebral joints, respectively, leading to the hypothesis of a similar relationship with the number of intervertebral joints that flex. Although future work must test these hypotheses, our results suggest the relationships merit further inquiry.

Automatic control: the vertebral column of dogfish sharks behaves as a continuously variable transmission with smoothly shifting functions

During swimming in dogfish sharks, Squalus acanthias, both the intervertebral joints and the vertebral centra undergo significant strain. To investigate this system, unique among vertebrates, we cyclically bent isolated segments of 10 vertebrae and nine joints. For the first time in the biomechanics of fish vertebral columns, we simultaneously characterized non-linear elasticity and viscosity throughout the bending oscillation, extending recently proposed techniques for large-amplitude oscillatory shear (LAOS) characterization to large-amplitude oscillatory bending (LAOB). The vertebral column segments behave as non-linear viscoelastic springs. Elastic properties dominate for all frequencies and curvatures tested, increasing as either variable increases. Non-linearities within a bending cycle are most in evidence at the highest frequency, 2.0 Hz, and curvature, 5 m−1. Viscous bending properties are greatest at low frequencies and high curvatures, with non-linear effects occurring at all frequencies and curvatures. The range of mechanical behaviors includes that of springs and brakes, with smooth transitions between them that allow for continuously variable power transmission by the vertebral column to assist in the mechanics of undulatory propulsion.

Ontogenetic Allometry in Shape and Flexibility Underlies Life History Patterns of Labrid Cleaning Behavior

Body shape plays a crucial role in the movement of organisms. In the aquatic environment, the shape of the body, fins, and the underlying axial skeleton reflect the ability of organisms to propel and maneuver through water. Ontogenetic changes in body shape and flexibility of the axial skeleton may coincide with shifts in ecology (e.g., changes in habitat or feeding mode). We use the evolution of cleaning behavior in the Labridae (wrasses and parrotfishes) as a case study. Cleaner fishes are species that remove and consume ectoparasites from other organisms. In many cases, cleaning involves a high degree of maneuverability, as cleaners on the hunt for parasites may continuously dart around the body of their clients. In labrids, at least 58 species are known to clean. Over two-thirds of these species, however, clean predominately as juveniles, exhibiting an ontogenetic shift away from cleaning as they enter adulthood. Using a phylogenetic comparative framework, we examined features of the axial skeleton, overall body shape, and pectoral fin shape in 31 species of labrids spread across four major clades to assess how scaling patterns in these systems are associated with the ontogeny of cleaning behavior. We find that across wrasses, the ontogeny of body shape shows evolutionary concordance with the degree of flexibility across the vertebral column. A key driver of this relationship is that species that shift away from cleaning over ontogeny show stronger positive allometry for body depth and vertebral moment of inertia than other taxa. Species that clean throughout their life histories show a more elongate body and vertebral column, and tend to maintain the combination of these characteristics over ontogeny. Cleaning behavior in labrid fishes is thus an excellent model with which to investigate morphological patterns as they relate to evolution, development, and ecology.

Hydrodynamic function of biomimetic shark skin: effect of denticle pattern and spacing

The structure of shark skin has been the subject of numerous studies and recently biomimetic shark skin has been fabricated with rigid denticles (scales) on a flexible substrate. This artificial skin can bend and generate thrust when attached to a mechanical controller. The ability to control the manufacture of biomimetic shark skin facilitates manipulation of surface parameters and understanding the effects of changing denticle patterns on locomotion. In this paper we investigate the effect of changing the spacing and arrangement of denticles on the surface of biomimetic shark skin on both static and dynamic locomotor performance. We designed 3D-printed flexible membranes with different denticle patterns and spacings: (1) staggered-overlapped, (2) linear-overlapped, and (3) linear-non-overlapped, and compared these to a 3D-printed smooth-surfaced control. These 3D printed shark skin models were then tested in a flow tank with a mechanical flapping device that allowed us to either hold the models in a stationary position or move them dynamically. We swam the membranes at a frequency of 1 Hz with different heave amplitudes (from ±1 cm to ±3 cm) while measuring forces, torques, self-propelled swimming speed, and cost of transport (COT). Static tests revealed drag reduction of denticle patterns compared to a smooth control at low speeds, but increased drag at speeds above 25 cm s(-1). However, during dynamic (swimming) tests, the staggered-overlapped pattern produced the fastest swimming speeds with no significant increase in the COT at lower heave values. For instance, at a heave frequency of 1 Hz and amplitude of ±1 cm, swimming speed of the staggered-overlapped pattern increased by 25.2% over the smooth control. At higher heave amplitudes, significantly faster self-propelled swimming speeds were achieved by the staggered-overlapped pattern, but with higher COT. Only the staggered-overlapped pattern provides a significant swimming performance advantage over the smooth control and the other two denticle patterns. Quantitative hydrodynamic comparisons among skin models where control over manufacture allows alteration of design parameters provides a useful experimental tool for future work on the considerable natural diversity of shark skin denticles both among species and on different body locations.

Axial systems and their actuation: new twists on the ancient body of craniates

Craniate animals--vertebrates and their jawless sister taxa--have evolved a body axis with powerful muscles, a distributed nervous system to control those muscles, and an endoskeleton that starts at the head and ends at the caudal fin. The body axis undulates, bends, twists, or holds firm, depending on the behavior. In this introduction to the special issue on axial systems and their actuation, we provide an overview of the latest research on how the body axis functions, develops, and evolves. Based on this research, we hypothesize that the body axis of craniates has three primary, post-cranial modules: precaudal, caudal, and tail. The term "module" means a portion of the body axis that functions, develops, and evolves in relative independence from other modules; "relative independence" means that structures and processes within a module are more tightly correlated in function, development, and behavior than the same processes are among modules.

The effects of caudal fin loss and regeneration on the swimming performance of three cyprinid fish with different swimming capacities

In nature, the caudal fins of fish species are frequently lost to some extent by aggressive behaviour, predation and diseases. To test whether the swimming performance of fish with different swimming capacities would be differentially affected due to caudal fin loss and regeneration, we investigated the critical swimming speed (Ucrit), the swimming metabolic rate (MO2), the tail beat frequency (TBF) and the tail beat amplitude (TBA) after caudal fin loss and regeneration (20 days) in juveniles of three cyprinid fish species: the qingbo (Spinibarbus sinensis) (strong swimmer), the common carp (Cyprinus carpio) (intermediate) and the goldfish (Carassius auratus) (poor swimmer). The Ucrits of the caudal-fin-lost qingbo, common carp and goldfish were 49%, 32% and 35% significantly lower than those of the control groups, respectively. The maximum tail beat amplitude (TBAmax) (all three fishes), the maximum tail beat frequency (TBFmax) (only the common carp and the goldfish) and/or the active metabolic rate (MO2active) (only the common carp) of the caudal-fin-lost fish were significantly higher than those of the control groups. After 20 days of recovery, the caudal fins recovered to 41%, 47% and 24% of those of the control groups for the qingbo, the common carp and the goldfish, respectively. However, the Ucrit values of the fin-regenerated qingbo, common carp and goldfish recovered to 86%, 91% and 95% of those of the control group, respectively. The caudal-fin-regenerated qingbo and common carp showed a significantly higher TBAmax and TBFmax, respectively, compared with those of the control groups. The qingbo had a higher TBFmax but a lower TBAmax than the common carp and the goldfish, which suggested that a strong swimmer may maintain swimming speed primarily by maintaining a greater TBFmax, for which the caudal fin plays a more important role during swimming, than a poor swimmer. The MO2active of fish (common carp) with a redundant respiratory capacity could increase due to caudal fin loss to meet the increase in energy expenditure required by an increase in TBFmax. In addition, the sustain swimming performance may not be the only selective pressure acting on caudal fin size in the qingbo, the common carp and the goldfish and the present caudal fin size of these three fish species may be a trade-off between sustain swimming performance and other factors (e. g. sexual selection; escape responses).

Regional variation in the mechanical properties of the vertebral column during lateral bending in Morone saxatilis

Unlike mammalian, disc-shaped intervertebral joints (IVJs), the IVJs in fishes are biconid structures, filled with fluid and thought to act as hydrostatic hinge joints during swimming. However, it remains unclear which IVJ structures are dominant in mechanical resistance to forces in fishes, and whether variation in these tissues might impact the function of the vertebral column along its length. Here, we measured the dynamic mechanical behaviour of IVJs from striped bass, Morone saxatilis. During lateral bending, angular stiffness was significantly lower in the caudal and cervical regions, relative to the abdominal region. The neutral zone, defined as the range of motion (ROM) at bending moments less than 0.001 Nm, was longer in the caudal relative to the abdominal IVJs. Hysteresis was 30-40% in all regions, suggesting that IVJs may play a role in energy dissipation during swimming. Cutting the vertical septum had no statistically significant effect, but cutting the encapsulating tissues caused a sharp decline in angular stiffness and a substantial increase in ROM and hysteresis. We conclude that stiffness decreases and ROM increases from cranial to caudal in striped bass, and that the encapsulating tissues play a prominent role in mechanical variation along the length of the vertebral column.

Vertebral evolution and the diversification of squamate reptiles

Taxonomic, morphological, and functional diversity are often discordant and independent components of diversity. A fundamental and largely unanswered question in evolutionary biology is why some clades diversify primarily in some of these components and not others. Dramatic variation in trunk vertebral numbers (14 to >300) among squamate reptiles coincides with different body shapes, and snake-like body shapes have evolved numerous times. However, whether increased evolutionary rates or numbers of vertebrae underlie body shape and taxonomic diversification is unknown. Using a supertree of squamates including 1375 species, and corresponding vertebral and body shape data, we show that increased rates of evolution in vertebral numbers have coincided with increased rates and disparity in body shape evolution, but not changes in rates of taxonomic diversification. We also show that the evolution of many vertebrae has not spurred or inhibited body shape or taxonomic diversification, suggesting that increased vertebral number is not a key innovation. Our findings demonstrate that lineage attributes such as the relaxation of constraints on vertebral number can facilitate the evolution of novel body shapes, but that different factors are responsible for body shape and taxonomic diversification.

Go reconfigure: how fish change shape as they swim and evolve

The bodies of fish change shape over propulsive, behavioral, developmental, and evolutionary time scales, a general phenomenon that we call "reconfiguration". Undulatory, postural, and form-reconfiguration can be distinguished, studied independently, and examined in terms of mechanical interactions and evolutionary importance. Using a combination of live, swimming fishes and digital robotic fish that are autonomous and self-propelled, we examined the functional relation between undulatory and postural reconfiguration in forward swimming, backward swimming, and yaw turning. To probe how postural and form reconfiguration interact, the yaw turning of leopard sharks was examined using morphometric and kinematic analyses. To test how undulatory reconfiguration might evolve, the digital robotic fish were subjected to selection for enhanced performance in a simulated ecology in which each individual had to detect and move towards a food source. In addition to the general issue of reconfiguration, these investigations are united by the fact that the dynamics of undulatory and postural reconfigurations are predicted to be determined, in part, by the structural stiffness of the fish's body. Our method defines undulatory reconfiguration as the combined, point-by-point periodic motion of the body, leaving postural reconfiguration as the combined deviations from undulatory reconfiguration. While undulatory reconfiguration appears to be the sole or primary propulsive driver, postural reconfiguration may contribute to propulsion in hagfish and it is correlated with differences in forward, and backward, swimming in lamprey. Form reconfigures over developmental time in leopard sharks in a manner that is consistent with an allometric scaling theory in which structural stiffness of the body is held constant. However, correlation of a form proxy for structural stiffness of the body suggests that body stiffness may scale in order to limit maximum postural reconfiguration during routine yaw turns. When structural stiffness and undulatory frequency are modeled as determining the tail's undulatory wave speed, both factors evolve under selection for enhanced foraging behavior in the digital fish-like robots. The methods used in making these distinctions between kinds of reconfiguration have broad applicability in fish biology, especially for quantifying complex motor behaviors in the wild and for simulating selection on behavior that leads to directional evolution of functional phenotypes.