High postural costs and anaerobic metabolism during swimming support the hypothesis of a U-shaped metabolism-speed curve in fishes

Effects of social environment and energy efficiency on preferred swim speed in a marine generalist fish, pile perch (Phanerodon vacca)

Energy efficiency is a key component of movement strategy for many species. In fish, optimal swimming speed (Uopt) is the speed at which the mass-specific energetic cost to move a given distance is minimised. However, additional factors may influence an individual's preferred swimming speed (Upref). Activities requiring consistent sensory inputs, such as food finding, may require slower swimming speeds than Uopt. Further, although the majority of fish display some form of social behaviour, the influence of social interactions on Upref remains unclear. It is unlikely that all fish within a group will have the same Upref, and fish may therefore compromise individual Upref to swim with a conspecific. This study measured the Uopt, Upref and Upref in the presence of a conspecific (Upair) of pile perch, Phanerodon vacca, a non-migratory coastal marine generalist. Uopt was significantly higher than, and was not correlated with, Upref. Fish therefore chose to swim at speeds below their energetic optimum, possibly because slower swimming allows for greater awareness of surroundings. Mean Upair was significantly lower than the Upref of the faster fish in each pair but did not differ significantly from the Upref of the slower fish. Therefore, faster fish appear to slow their speed to remain with a slower conspecific. Our study suggests that environmental factors, including social surroundings, may be more important than energetic efficiency for determining swim speed in P. vacca. Further studies of fish species from various habitats will be necessary to elucidate the environmental and energetic factors underpinning Upref.

Swimming smarter, not harder: fishes exploit habitat heterogeneity to increase locomotor performance

Quantifying the intricate relationship between locomotion, energy expenditure and environmental heterogeneity is pivotal for elucidating the ecological and evolutionary changes in locomotor performance in fishes. This Commentary synthesizes existing research to offer a perspective on how fishes actively exploit complex environments to enhance their locomotor efficiency. Contrary to conventional portrayals of fishes as passive responders to environmental stressors, empirical evidence supports the idea that fishes employ sophisticated strategies to navigate diverse hydrodynamic landscapes. Here, we show clever ways fishes bend the rules of a non-linear speed-energetics curve to save energy below and above optimal cruising speeds. The findings from these behavioral adjustments hold broader implications for understanding fish performance under dynamic environments and conserving fish populations.

A Fast Online Elastic-Spine-Based Stiffness Adjusting Mechanism for Fishlike Swimming

Fish tunes fishtail stiffness by coordinating its tendons, muscles, and other tissues to improve swimming performance. For robotic fish, achieving a fast and online fishlike stiffness adjustment over a large-scale range is of great significance for performance improvement. This article proposes an elastic-spine-based variable stiffness robotic fish, which adopts spring steel to emulate the fish spine, and its stiffness is adjusted by tuning the effective length of the elastic spine. The stiffness can be switched in the maximum adjustable range within 0.26 s. To optimize the motion performance of robotic fish by adjusting fishtail stiffness, a Kane-based dynamic model is proposed, based on which the stiffness adjustment strategy for multistage swimming is constructed. Simulations and experiments are conducted, including performance measurements and analyses in terms of swimming speed, thrust, and so on, and online stiffness adjustment-based multistage swimming, which verifies the feasibility of the proposed variable stiffness robotic fish. The maximum speed and lowest cost of transport for robotic fish are 0.43 m/s (equivalent to 0.81 BL/s) and 7.14 J/(kg·m), respectively.

Inferring the metabolic rate of zebrafish from ventilation frequency

Fish schooling has attracted the interest of the scientific community for centuries. Energy savings have been long posited to be a key determinant for the emergence of schooling patterns. Yet, current methodologies do not allow the precise quantification of the metabolic rate of specific individuals within the school, typically leaving researchers with only a single, global measurement of metabolic rate for the collective. In this paper, we demonstrate the feasibility of inferring metabolic rate of swimming fish using the mouth-opening frequency, a simple proxy that can be scored utilizing video recordings in the laboratory or in the field, even for small fish. The mouth-opening frequency is independent of hydrodynamic interactions within the school, thereby mitigating potential confounding factors that arise when using locomotory measures associated with tail-beat motion. We assessed the reliability of mouth-opening frequency as a proxy for metabolic rate by conducting experiments on zebrafish (Danio rerio) using swimming respirometry. We varied the flow speed from 0.8 to 3.2 body lengths per second and extracted tail-beat motion and mouth opening from video recordings. Our results revealed a strong correlation between oxygen uptake and mouth-opening frequency for nonzero flow speeds but not in quiescent water. Contrary to our expectations, we did not find evidence in favor of the use of tail-beat frequency as a proxy for metabolic rate. Overall, our results open the door to the study of individual metabolic rates in fish schools without confounding factors related to hydrodynamic interactions.

Paleoinspired robotics as an experimental approach to the history of life

Paleontologists must confront the challenge of studying the forms and functions of extinct species for which data from preserved fossils are extremely limited, yielding only a fragmented picture of life in deep time. In response to this hurdle, we describe the nascent field of paleoinspired robotics, an innovative method that builds upon established techniques in bioinspired robotics, enabling the exploration of the biology of ancient organisms and their evolutionary trajectories. This Review presents ways in which robotic platforms can fill gaps in existing research using the exemplars of notable transitions in vertebrate locomotion. We examine recent case studies in experimental paleontology, highlighting substantial contributions made by engineering and robotics techniques, and further assess how the efficient application of robotic technologies in close collaboration with paleontologists and biologists can offer additional insights into the study of evolution that were previously unattainable.

Growing out of the fins: Implications of isometric and allometric scaling of morphology relative to increasing mass in blue sharks (Prionace glauca)

Disproportional changes (i.e. allometry) in shark morphology relative to increasing body size have been attributed to shifts in function associated with niche shifts in life history, such as in habitat and diet. Photographs of blue sharks (Prionace glauca, 26-145 kg) were used to analyze changes in parameters of body and fin morphology with increasing mass that are fundamental to swimming and feeding. We hypothesized that blue sharks would demonstrate proportional changes (i.e. isometry) in morphology with increasing mass because they do not undergo profound changes in prey and habitat type; accordingly, due to geometric scaling laws, we predicted that blue sharks would grow into bodies with greater turning inertias and smaller frontal and surface areas, in addition to smaller spans and areas of the fins relative to mass, which are parameters that are associated with the swimming performance in sharks. Many aspects of morphology increased with isometry. However, blue sharks demonstrated negative allometry in body density, whereas surface area, volume and roll inertia of the body, area, span and aspect ratio of both dorsal fins, span and aspect ratio of the ventral caudal fin, and span, length and area of the mouth increased with positive allometry. The dataset was divided in half based on mass to form two groups: smaller and larger sharks. Besides area of both dorsal fins, relative to mass, larger sharks had bodies with significantly greater turning inertia and smaller frontal and surface areas, in addition to fins with smaller spans and areas, compared to smaller sharks. In conclusion, isometric scaling does not necessarily imply functional similarity, and allometric scaling may sometimes be critical in maintaining, rather than shifting, function relative to mass in animals that swim through the water column.

Collective movement of schooling fish reduces the costs of locomotion in turbulent conditions

The ecological and evolutionary benefits of energy-saving in collective behaviors are rooted in the physical principles and physiological mechanisms underpinning animal locomotion. We propose a turbulence sheltering hypothesis that collective movements of fish schools in turbulent flow can reduce the total energetic cost of locomotion by shielding individuals from the perturbation of chaotic turbulent eddies. We test this hypothesis by quantifying energetics and kinematics in schools of giant danio (Devario aequipinnatus) and compared that to solitary individuals swimming under laminar and turbulent conditions over a wide speed range. We discovered that, when swimming at high speeds and high turbulence levels, fish schools reduced their total energy expenditure (TEE, both aerobic and anaerobic energy) by 63% to 79% compared to solitary fish (e.g., 228 versus 48 kj kg-1). Solitary individuals spend approximately 22% more kinematic effort (tail beat amplitude•frequency: 1.7 versus 1.4 BL s-1) to swim in turbulence at higher speeds than in laminar conditions. Fish schools swimming in turbulence reduced their three-dimensional group volume by 41% to 68% (at higher speeds, approximately 103 versus 33 cm3) and did not alter their kinematic effort compared to laminar conditions. This substantial energy saving highlights that schooling behaviors can mitigate turbulent disturbances by sheltering fish (within schools) from the eddies of sufficient kinetic energy that can disrupt locomotor gaits. Therefore, providing a more desirable internal hydrodynamic environment could be one of the ecological drivers underlying collective behaviors in a dense fluid environment.

Morphology and motor behavior of endemic fishes in the upper reaches of the Yangtze River basin

Dam construction alters the hydrodynamic conditions, consequently impacting the swimming behavior of fish. To explore the effect of flow hydrodynamics on fish swimming behavior, five endemic fish species in the upper Yangtze River basin were selected. Through high-speed video visualization and computer analysis, these species' swimming patterns under different flow velocities (0.1-1.2 m/s) were investigated. The kinematic and morphological characteristics of the fish were presented. The principal component analysis was used to analyse the main factors influencing the swimming ability of fish and to determine the correlation coefficients among fish behavior indicators. Fish exhibited three different swimming patterns under different flow velocities. Low velocity (0.1-0.3 m/s) corresponds to free motion, middle velocity (0.4-0.7 m/s) corresponds to cruising motion, and high velocity corresponds to stress motion (0.8-1.2 m/s). The fish kinematic index curves were obtained, and four of five fish species showed two extreme points, which means the optimal and adverse swimming strategies can be determined. With the increase in flow velocity, the tail-beat frequency showed an increasing trend, whereas the tail-beat angle and amplitude showed a decreasing trend. Morphological and kinematic parameters were the two main indexes that affect the swimming ability of fish, which accounts for 41.9% and 26.9%, respectively.

Energy conservation by collective movement in schooling fish

Many animals moving through fluids exhibit highly coordinated group movement that is thought to reduce the cost of locomotion. However, direct energetic measurements demonstrating the energy-saving benefits of fluid-mediated collective movements remain elusive. By characterizing both aerobic and anaerobic metabolic energy contributions in schools of giant danio (Devario aequipinnatus), we discovered that fish schools have a concave upward shaped metabolism-speed curve, with a minimum metabolic cost at ~1 body length s-1. We demonstrate that fish schools reduce total energy expenditure (TEE) per tail beat by up to 56% compared to solitary fish. When reaching their maximum sustained swimming speed, fish swimming in schools had a 44% higher maximum aerobic performance and used 65% less non-aerobic energy compared to solitary individuals, which lowered the TEE and total cost of transport by up to 53%, near the lowest recorded for any aquatic organism. Fish in schools also recovered from exercise 43% faster than solitary fish. The non-aerobic energetic savings that occur when fish in schools actively swim at high speed can considerably improve both peak and repeated performance which is likely to be beneficial for evading predators. These energetic savings may underlie the prevalence of coordinated group locomotion in fishes.

Energetics of collective movement in vertebrates

The collective directional movement of animals occurs over both short distances and longer migrations, and is a critical aspect of feeding, reproduction and the ecology of many species. Despite the implications of collective motion for lifetime fitness, we know remarkably little about its energetics. It is commonly thought that collective animal motion saves energy: moving alone against fluid flow is expected to be more energetically expensive than moving in a group. Energetic conservation resulting from collective movement is most often inferred from kinematic metrics or from computational models. However, the direct measurement of total metabolic energy savings during collective motion compared with solitary movement over a range of speeds has yet to be documented. In particular, longer duration and higher speed collective motion must involve both aerobic and non-aerobic (high-energy phosphate stores and substrate-level phosphorylation) metabolic energy contributions, and yet no study to date has quantified both types of metabolic contribution in comparison to locomotion by solitary individuals. There are multiple challenging questions regarding the energetics of collective motion in aquatic, aerial and terrestrial environments that remain to be answered. We focus on aquatic locomotion as a model system to demonstrate that understanding the energetics and total cost of collective movement requires the integration of biomechanics, fluid dynamics and bioenergetics to unveil the hydrodynamic and physiological phenomena involved and their underlying mechanisms.

Cost of Transport of Undulating Fin Propulsion

Autonomous robots are used to inspect, repair and maintain underwater assets. These tasks require energy-efficient robots, including efficient movement to extend available operational time. To examine the suitability of a propulsion system based on undulating fins, we built two robots with one and two fins, respectively, and conducted a parametric study for combinations of frequency, amplitude, wavenumber and fin shapes in free-swimming experiments, measuring steady-state swimming speed, power consumption and cost of transport. The following trends emerged for both robots. Swimming speed was more strongly affected by frequency than amplitude across the examined wavenumbers and fin heights. Power consumption was sensitive to frequency at low wavenumbers, and increasingly sensitive to amplitude at high wavenumbers. This increasing sensitivity of amplitude was more pronounced in tall rather than short fins. Cost of transport showed a complex relation with fin size and kinematics and changed drastically across the mapped parameter space. At equal fin kinematics as the single-finned robot, the double-finned robot swam slightly faster (>10%) with slightly lower power consumption (<20%) and cost of transport (<40%). Overall, the robots perform similarly to finned biological swimmers and other bio-inspired robots, but do not outperform robots with conventional propulsion systems.

Evolutionary implications of size-selective mortality on the ontogenetic development of shoal cohesion: a neurochemical approach using a zebrafish, Danio rerio, harvest selection experiment

Abstract

Size-selective mortality may evolutionarily alter life-history as well as individual behavioral and physiological traits. Moreover, size-selective mortality can affect group behavioral traits, such as shoaling and collective properties (e.g., shoal cohesion), which are relevant for finding food and reducing risk of predation. Here, we present experimental evidence using selection lines of zebrafish (Danio rerio) that were exposed to positive (large-harvested), negative (small-harvested), and random (control) size-selective mortality for five generations, followed by eight generations during which harvesting was halted to remove maternal effects and to study evolutionarily fixed outcomes. We investigated changes in shoal cohesion and turnover in monoamines in zebrafish through ontogeny. To that end, we repeatedly measured inter-individual distance in groups of eight fish and the turnovers of dopamine and serotonin in brains of fish from juvenile to the adult stage at 40-day intervals. We, firstly, found that shoal cohesion was overall consistent through ontogeny at group levels suggesting the presence of collective personality. Secondly, we found a decrease in shoal cohesion through ontogeny in the small-harvested and control lines, while the large-harvested line did not show any ontogenetic change. Thirdly, the selection lines did not differ among each other in shoal cohesion at any ontogenetic stage. Fourthly, dopamine turnover increased through ontogeny in a similar way for all lines while the serotonin turnover decreased in the large-harvested and control lines, but not in the small-harvested line. The large-harvested line also had higher serotonin turnover than controls at specific time periods. In conclusion, intensive size-selective mortality left an evolutionary legacy of asymmetric selection responses in the ontogeny of shoal cohesion and the underlying physiological mechanisms in experimentally harvested zebrafish in the laboratory.

Significant statement

The evolution of animal behavior can be affected by human activities both at behavioral and physiological levels, but causal evidence is scarce and mostly focusing on single life-stages. We studied whether and to what extent size-selective harvesting, a common selection pattern in fisheries, can be an evolutionary driver of the development of shoal cohesion during ontogeny. We used a multi-generation experiment with zebrafish to study cause-and-effects of opposing size-selection patterns. We quantified shoal cohesion, and serotonin and dopamine turnover in the brain. We found that shoal cohesion emerged as a collective personality trait and that behavioral and physiological responses were asymmetrical with respect to the opposing selection patterns.

The Mineralocorticoid Receptor Functions as a Key Glucose Regulator in the Skeletal Muscle of Zebrafish

Glucocorticoids (GCs) are essential for maintaining energy homeostasis as part of the adaptive stress response. Most work to date has characterized the metabolic role of GCs via the activation of the glucocorticoid receptor (nr3c1; GR), which is activated under high GC conditions. However, GCs also bind to the mineralocorticoid receptor (nr3c2; MR), a high-affinity corticosteroid receptor active under basal GC conditions. Despite the expression of MR in skeletal muscles, almost nothing is known about its physiological role. Here we tested the hypothesis that the MR promotes anabolic processes during resting cortisol levels and curtails the catabolic actions of the GR during high (stressed) levels of cortisol. To determine the effect of MR, a zebrafish line with a ubiquitous MR knockout (MRca402/ca402) was utilized. The GR was activated in the same group by chronically treating fish with exogenous cortisol. In the muscle, MR primarily promoted nutrient storage, and restricted energy substrate mobilization under resting conditions, whereas GR activation resulted in increased nutrient utilization. Interestingly, MR loss improved GR-driven metabolic flexibility, suggesting that the activation state of these receptors is a key determinant of skeletal muscle ability to switch fuel sources. To determine if the anabolism-promoting nature of MR was due to an interaction with insulin, fish were co-injected with insulin and the fluorescent glucose analogue 2-NBDG. A loss of MR abolished insulin-stimulated glucose uptake in the skeletal muscle. Taken together, we postulate that MR acts as a key modulator of glucose metabolism in the musculature during basal and stress conditions.

Variations in cost of transport and their ecological consequences: a review

Movement is essential in the ecology of most animals, and it typically consumes a large proportion of individual energy budgets. Environmental conditions modulate the energetic cost of movement (cost of transport, COT), and there are pronounced differences in COT between individuals within species and across species. Differences in morphology affect COT, but the physiological mechanisms underlying variation in COT remain unresolved. Candidates include mitochondrial efficiency and the efficiency of muscle contraction-relaxation dynamics. Animals can offset increased COT behaviourally by adjusting movement rate and habitat selection. Here, we review the theory underlying COT and the impact of environmental changes on COT. Increasing temperatures, in particular, increase COT and its variability between individuals. Thermal acclimation and exercise can affect COT, but this is not consistent across taxa. Anthropogenic pollutants can increase COT, although few chemical pollutants have been investigated. Ecologically, COT may modify the allocation of energy to different fitness-related functions, and thereby influence fitness of individuals, and the dynamics of animal groups and communities. Future research should consider the effects of multiple stressors on COT, including a broader range of pollutants, the underlying mechanisms of COT and experimental quantifications of potential COT-induced allocation trade-offs.

EcoPhysioMechanics: Integrating energetics and biomechanics to understand fish locomotion under climate change

Ecological physiologists and biomechanists have been broadly investigating swimming performance in a diversity of fishes, however the connection between form, function and energetics of locomotion has been rarely evaluated in the same system and under climate change scenarios. In this perspective I argue that working within the framework of 'EcoPhysioMechanics', i.e., integrating energetics and biomechanics tools, to measure locomotor performance and behavior under different abiotic factors, improves our understanding of the mechanisms, limits and costs of movement. To demonstrate how ecophysiomechanics can be applied to locomotor studies, I outline how linking biomechanics and physiology allows us to understand how fishes may modulate their movement to achieve high speeds or reduce the costs of locomotion. I also discuss how the framework is necessary to quantify swimming capacity under climate change scenarios. Finally, I discuss current dearth of integrative studies and gaps in empirical datasets that are necessary to understand fish swimming under changing environments.

Swimming behaviour of silver carp (Hypophthalmichthys molitrix) in response to turbulent flow induced by a D-cylinder

Turbulence is a complex hydraulic phenomenon which commonly occurs in natural streams and fishways. Riverine fish are subjected to heterogeneous flow velocities and turbulence, which may affect their movements and ability to pass the fishways. However, studies focusing on fish response to turbulent flows are lacking for many species. Here we investigate the effects of the turbulence created by a vertical half-cylinder of various diameters (1.9, 2.5, 3.2 and 5.0 cm) on the swimming ability and behaviour of silver carp, Hypophthalmichthys molitrix. The large D-cylinders (3.0 and 5.0 cm) create specific vorticity and reduced velocities areas in their vicinity, which favours flow refuging behaviours (FRBs) and thus increased relative critical swimming speeds (U_rcrit , BL/s) of silver carp, by comparison to free-flow conditions and cylinders of smaller diameter (1.9 and 2.5 cm). The flow speed at which silver carp maximized FRBs such as Karman gaiting downstream of the cylinder, holding position in the bow wake or entraining on the side ranged from 40 to 70 cm s^-1 , depending on fish body size. When holding station near a cylinder under optimal flow speeds, the distance between the fish and the cylinder is related to the size of the fish, but also to the size of the cylinder and the produced vortices. The optimal holding region in the drag wake of the cylinder ranged from 28 to 40 cm downstream of the centre of the cylinder, depending on the size of the fish. Smaller fish, however, tend to use the reduced velocities areas located in the bow wake of the large cylinders. We hypothesize that fish will display FRBs, including maintaining a Karman gait in turbulent flow, when the ratio of the cylinder diameter to their body length is between 1:3 and 1:4. They also match their tail beat frequency to the vortex shedding frequency of the cylinder. Our results provide a better understanding of how silver carp respond to turbulent flows around physical structures, with implications for the design of nature-like fishways or exclusion devices in both its native and invasive ranges.

Fishes regulate tail-beat kinematics to minimize speed-specific cost of transport

Energetic expenditure is an important factor in animal locomotion. Here we test the hypothesis that fishes control tail-beat kinematics to optimize energetic expenditure during undulatory swimming. We focus on two energetic indices used in swimming hydrodynamics, cost of transport and Froude efficiency. To rule out one index in favour of another, we use computational-fluid dynamics models to compare experimentally observed fish kinematics with predicted performance landscapes and identify energy-optimized kinematics for a carangiform swimmer, an anguilliform swimmer and larval fishes. By locating the areas in the predicted performance landscapes that are occupied by actual fishes, we found that fishes use combinations of tail-beat frequency and amplitude that minimize cost of transport. This energy-optimizing strategy also explains why fishes increase frequency rather than amplitude to swim faster, and why fishes swim within a narrow range of Strouhal numbers. By quantifying how undulatory-wave kinematics affect thrust, drag, and power, we explain why amplitude and frequency are not equivalent in speed control, and why Froude efficiency is not a reliable energetic indicator. These insights may inspire future research in aquatic organisms and bioinspired robotics using undulatory propulsion.

Convergence of undulatory swimming kinematics across a diversity of fishes

Fishes exhibit an astounding diversity of locomotor behaviors from classic swimming with their body and fins to jumping, flying, walking, and burrowing. Fishes that use their body and caudal fin (BCF) during undulatory swimming have been traditionally divided into modes based on the length of the propulsive body wave and the ratio of head:tail oscillation amplitude: anguilliform, subcarangiform, carangiform, and thunniform. This classification was first proposed based on key morphological traits, such as body stiffness and elongation, to group fishes based on their expected swimming mechanics. Here, we present a comparative study of 44 diverse species quantifying the kinematics and morphology of BCF-swimming fishes. Our results reveal that most species we studied share similar oscillation amplitude during steady locomotion that can be modeled using a second-degree order polynomial. The length of the propulsive body wave was shorter for species classified as anguilliform and longer for those classified as thunniform, although substantial variability existed both within and among species. Moreover, there was no decrease in head:tail amplitude from the anguilliform to thunniform mode of locomotion as we expected from the traditional classification. While the expected swimming modes correlated with morphological traits, they did not accurately represent the kinematics of BCF locomotion. These results indicate that even fish species differing as substantially in morphology as tuna and eel exhibit statistically similar two-dimensional midline kinematics and point toward unifying locomotor hydrodynamic mechanisms that can serve as the basis for understanding aquatic locomotion and controlling biomimetic aquatic robots.

The performance of a flapping foil for a self-propelled fishlike body

Several fish species propel by oscillating the tail, while the remaining part of the body essentially contributes to the overall drag. Since in this case thrust and drag are in a way separable, most attention was focused on the study of propulsive efficiency for flapping foils under a prescribed stream. We claim here that the swimming performance should be evaluated, as for undulating fish whose drag and thrust are severely entangled, by turning to self-propelled locomotion to find the proper speed and the cost of transport for a given fishlike body. As a major finding, the minimum value of this quantity corresponds to a locomotion speed in a range markedly different from the one associated with the optimal efficiency of the propulsor. A large value of the feathering parameter characterizes the minimum cost of transport while the optimal efficiency is related to a large effective angle of attack. We adopt here a simple two-dimensional model for both inviscid and viscous flows to proof the above statements in the case of self-propelled axial swimming. We believe that such an easy approach gives a way for a direct extension to fully free swimming and to real-life configurations.

Collective motion diminishes, but variation between groups emerges, through time in fish shoals

Despite extensive interest in the dynamic interactions between individuals that drive collective motion in animal groups, the dynamics of collective motion over longer time frames are understudied. Using three-spined sticklebacks, Gasterosteus aculeatus, randomly assigned to 12 shoals of eight fish, we tested how six key traits of collective motion changed over shorter (within trials) and longer (between days) timescales under controlled laboratory conditions. Over both timescales, groups became less social with reduced cohesion, polarization, group speed and information transfer. There was consistent inter-group variation (i.e. collective personality variation) for all collective motion parameters, but groups also differed in how their collective motion changed over days in their cohesion, polarization, group speed and information transfer. This magnified differences between groups, suggesting that over time the 'typical' collective motion cannot be easily characterized. Future studies are needed to understand whether such between-group differences in changes over time are adaptive and represent improvements in group performance or are suboptimal but represent a compromise between individuals in their preferences for the characteristics of collective behaviour.

Tunable stiffness enables fast and efficient swimming in fish-like robots

Fish maintain high swimming efficiencies over a wide range of speeds. A key to this achievement is their flexibility, yet even flexible robotic fish trail real fish in terms of performance. Here, we explore how fish leverage tunable flexibility by using their muscles to modulate the stiffness of their tails to achieve efficient swimming. We derived a model that explains how and why tuning stiffness affects performance. We show that to maximize efficiency, muscle tension should scale with swimming speed squared, offering a simple tuning strategy for fish-like robots. Tuning stiffness can double swimming efficiency at tuna-like frequencies and speeds (0 to 6 hertz; 0 to 2 body lengths per second). Energy savings increase with frequency, suggesting that high-frequency fish-like robots have the most to gain from tuning stiffness.

Anguilliform Swimming Performance of an Eel-Inspired Soft Robot

In this article, we propose a soft eel robot design using soft pneumatic actuators that mimic eel muscles. Four pairs of soft actuators are used to construct the eel robot body. Pulse signals with suitable shifting phases are utilized to control delivery of compressed air to the actuators in sequence to create a sinusoidal wave from head to tail of the robot body. A model of hydrodynamic forces acting on an anguilliform swimmer when moving in fluid was built to estimate the thrust force generated by the robot at different tail beat frequencies. Experimental data revealed that the generated thrust force was positively correlated with the beat frequency. Measured data showed that swimming efficiency depended on both generated thrust force and body posture in situ. At the beat frequency of 1.25 Hz, and air pressure at three segments from head to tail of 65, 50, and 30 kPa, respectively, the eel robot body showed the best cost of transport (COT) of 19.21 with velocity of 10.5 cm/s (or 0.198 body length per second [BL/s]), compared to the other's values of operation frequency and air pressure. We also found that control shifting phase strongly affects the swimming speed and COT. The robot body reached the highest velocity at around 19 cm/s (0.36 BL/s) with the COT of 10.72. Obtained result in this research would contribute to development of soft elongated swimming robot and enhance the knowledge on swimming performance of both robot and natural eels.

Tunabot Flex: a tuna-inspired robot with body flexibility improves high-performance swimming

Tunas are flexible, high-performance open ocean swimmers that operate at high frequencies to achieve high swimming speeds. Most fish-like robotic systems operate at low frequencies (≤3 Hz) resulting in low swim speeds (≤1.5 body lengths per second), and the cost of transport (COT) is often one to four orders of magnitude higher than that of tunas. Furthermore, the impact of body flexibility on high-performance fish swimming remains unknown. Here we design and test a research platform based on yellowfin tuna (Thunnus albacares) to investigate the role of body flexibility and to close the performance gap between robotic and biological systems. This single-motor platform, termed Tunabot Flex, measures 25.5 cm in length. Flexibility is varied through joints in the tail to produce three tested configurations. We find that increasing body flexibility improves self-propelled swimming speeds on average by 0.5 body lengths per second while reducing the minimum COT by 53%. The most flexible configuration swims 4.60 body lengths per second with a tail beat frequency of 8.0 Hz and a COT measuring 18.4 J kg^-1m^-1. We then compare these results in addition to the midline kinematics, stride length, and Strouhal number with yellowfin tuna data. The COT of Tunabot Flex's most flexible configuration is less than a half-order of magnitude greater than that of yellowfin tuna across all tested speeds. Tunabot Flex provides a new baseline for the development of future bio-inspired underwater vehicles that aim to explore a fish-like, high-performance space and close the gap between engineered robotic systems and fish swimming ability.

Fish-like three-dimensional swimming with an autonomous, multi-fin, and biomimetic robot

Fish migrate across considerable distances and exhibit remarkable agility to avoid predators and feed. Fish swimming performance and maneuverability remain unparalleled when compared to robotic systems, partly because previous work has focused on robots and flapping foil systems that are either big and complex, or tethered to external actuators and power sources. By contrast, we present a robot-the Finbot-that combines high degrees of autonomy, maneuverability, and biomimicry with miniature size (160 cm³). Thus, it is well-suited for controlled three-dimensional experiments on fish swimming in confined laboratory test beds. Finbot uses four independently controllable fins and sensory feedback for precise closed-loop underwater locomotion. Different caudal fins can be attached magnetically to reconfigure Finbot for swimming at top speed (122 mm s^-1≡ 1 BL s^-1) or minimal cost of transport (CoT = 8.2) at Strouhal numbers as low as 0.53. We conducted more than 150 experiments with 12 different caudal fins to measure three key characteristics of swimming fish: (i) linear speed-frequency relationships, (ii) U-shaped CoT, and (iii) reverse Kármán wakes (visualized with particle image velocimetry). More fish-like wakes appeared where the CoT was low. By replicating autonomous multi-fin fish-like swimming, Finbot narrows the gap between fish and fish-like robots and can address open questions in aquatic locomotion, such as optimized propulsion for new fish robots, or the hydrodynamic principles governing the energy savings in fish schools.

Drone-Based Tracking of the Fine-Scale Movement of a Coastal Stingray (Bathytoshia brevicaudata)

Coastal ecosystems are under threat from a range of anthropogenic impacts that disrupt habitat connectivity and the ability for animals to move within them. Understanding fine-scale animal movement provides insight into how animals are responding to these pressures, and underpins effective ecological management and conservation strategies. This study used drones to investigate the drivers of the fine-scale movement of rays in coastal estuaries using the short-tail stingray (Bathytoshia brevicaudata) as a model species. Smaller rays swam with more regular bursts of speed and greater sinuosity than larger individuals, indicating that rays of different sizes alter their fine-scale movement behavior to maintain energetic efficiency. Rays were less likely to spend time resting and swam faster on the high tide compared to the outgoing tide. They were also more likely to exhibit bursts of speed at noon (11 am to 1 pm) than at other times of day. Body size, tide and time of day all influenced ray movement. Understanding the ecological variables that influence the fine-scale movement of rays and the potential for human activities to alter natural behaviors is integral to the implementation of effective management strategies for this group of animals and their ecosystems.

Individual Repeatability of Locomotor Kinematics and Swimming Performance in a Gymnotiform Swimmer

AbstractGymnotiform swimming is a specialized form of swimming wherein thrust is produced by the ribbonlike motion of an elongate anal fin, while the body is held relatively stiff. This form of swimming has been extensively examined in relation to the biomechanics of thrust production, the kinematics of the anal fin, and neuromuscular control, whereas few studies have examined whole-animal performance parameters of this swimming mode. The goals of this research were to (1) assess the maximum abilities and repeatability of two swimming performance measures, sprinting and prolonged swimming, which would indicate that these performance measures in a gymnotiform swimmer may be a target for selection, similar to body-caudal fin-swimming fish; (2) examine how a gymnotiform swimmer modulates swimming speed; and (3) determine whether modulatory behavior is consistent across different-sized fish and within individuals across time. Sprinting and prolonged swimming were examined in black ghost knifefish (Apteronotus albifrons; N=15), multiple times on the same day, and were measured again 4 wk later. Sprinting ability was measured by chasing a fish down a photocell-lined racetrack and obtaining the fastest speed between any 8-cm span. Prolonged swimming abilities were measured in a constant acceleration test (U_cat) in a Brett-style swim tunnel by measuring the maximum speed the fish could attain against a steadily increasing water velocity. We determined frequency, wavelength, and amplitude of the anal fin sine wave in fish swimming at different speeds during the U_cat trials. We found repeatable measures of sprint speed and U_cat performance over short (day) and medium (4 wk) time periods for both tests. Neither sprint nor U_cat performance was significantly dependent on size, suggesting that the primary driver of performance variation was individual differences in physiology. Most modulation of swimming speed occurred through changes in the frequency of the wave train processing down the anal fin, with only modest changes to the wavelength and minimal changes to amplitude. Finally, we compare our measures of swimming performance in this gymnotiform swimmer to published values of body-caudal fin swimmers to demonstrate that this form of locomotion results in comparable sprint and constant-acceleration values.

How zebrafish turn: analysis of pressure force dynamics and mechanical work

Whereas many fishes swim steadily, zebrafish regularly exhibit unsteady burst-and-coast swimming, which is characterized by repeated sequences of turns followed by gliding periods. Such a behavior offers the opportunity to investigate the hypothesis that negative mechanical work occurs in posterior regions of the body during early phases of the turn near the time of maximal body curvature. Here, we used a modified particle image velocimetry (PIV) technique to obtain high-resolution flow fields around the zebrafish body during turns. Using detailed swimming kinematics coupled with body surface pressure computations, we estimated fluid-structure interaction forces and the pattern of forces and torques along the body during turning. We then calculated the mechanical work done by each body segment. We used estimated patterns of positive and negative work along the body to evaluate the hypothesis (based on fish midline kinematics) that the posterior body region would experience predominantly negative work. Between 10% and 20% of the total mechanical work was done by the fluid on the body (negative work), and negative work was concentrated in the anterior and middle areas of the body, not along the caudal region. Energetic costs of turning were calculated by considering the sum of positive and negative work and were compared with previous metabolic estimates of turning energetics in fishes. The analytical workflow presented here provides a rigorous way to quantify hydrodynamic mechanisms of fish locomotion and facilitates the understanding of how body kinematics generate locomotor forces in freely swimming fishes.

Diel osmorespiration rhythms of juvenile marble goby (Oxyeleotris marmorata)

Oxyeleotris marmorata is an ambush predator. It is known for slow growth rate and high market demand. Farming of O. marmorata still remains a challenge. In order to establish a proper feeding practice to stimulate growth, knowledge of its metabolic processes and cost should be examined. Therefore, this study was designed to investigate the diel osmorespiration rhythms of O. marmorata in response to feeding challenge by using an osmorespirometry assay. The results have shown that oxygen consumption rate of the fed fish was approximately 3 times higher than that of the unfed fish in early evening to support specific dynamic action. Digestion and ingestion processes were likely to be completed within 18-20 h in parallel with the ammonia excretion noticeable in early morning. Under resting metabolism, metabolic oxygen consumption was influenced by diel phase, but no effect was noted in ammonia excretion. As a nocturnal species, O. marmorata exhibited standard aerobic metabolic mode under dark phase followed by light phase, with high oxygen consumption rate found in either fed or unfed fish. It can be confirmed that both the diel phase and feeding have a significant interactive impact on oxygen consumption rate, whereas ammonia metabolism is impacted by feeding state. High metabolic rate of O. marmorata supports the nocturnal foraging activity in this fish. This finding suggested that feeding of O. marmorata should be performed during nighttime and water renewal should be conducted during daytime.

Tunas as a high-performance fish platform for inspiring the next generation of autonomous underwater vehicles

Tunas of the genus Thunnus are a group of high-performance pelagic fishes with many locomotor traits that are convergently shared with other high-performance fish groups. Because of their swimming abilities, tunas continue to be an inspiration for both comparative biomechanics and the design of biomimetic autonomous underwater vehicles (AUVs). Despite the strong history of studies in tuna physiology and current interest in tuna biomechanics and bio-inspired design, we lack quantitative data on the function of many features of tunas. Here we present data on the morphology, behavior, and function of tunas, focusing especially on experimentally examining the function of tuna lateral keels, finlets, and pectoral fins by using simple physical models. We find that both triangular lateral keels and flexible finlets decrease power requirements during swimming, likely by reducing lateral forces and yaw torques (compared to models either without keels or with rectangular keels, and models with stiff finlets or strip fins of equal area, respectively). However, both triangular keels and flexible finlets generate less thrust than other models either without these features or with modified keels or finlets, leading to a tradeoff between power consumption and thrust. In addition, we use micro computed tomography (µCT) to show that the flexible lateral keels possess a lateral line canal, suggesting these keels have a sensory function. The curved and fully-attached base of tuna pectoral fins provides high lift-to-drag ratio at low angles of attack, and generates the highest torques across speeds and angles of attack. Therefore, curved, fully-attached pectoral fins grant both better gliding and maneuvering performance compared to flat or curved, partially-attached designs. We provide both 3D models of tuna morphology derived from µCT scans and conclusions about the performance effects of tuna-like features as a resource for future biological and engineering work for next-generation tuna-inspired AUV designs.

Hypoxia tolerance is unrelated to swimming metabolism of wild, juvenile striped bass (Morone saxatilis)

Juvenile striped bass residing in Chesapeake Bay are likely to encounter hypoxia that could affect their metabolism and performance. The ecological success of this economically valuable species may depend on their ability to tolerate hypoxia and perform fitness-dependent activities in hypoxic waters. We tested whether there is a link between hypoxia tolerance (HT) and oxygen consumption rate (ṀO2 ) of juvenile striped bass measured while swimming in normoxic and hypoxic water, and to identify the interindividual variation and repeatability of these measurements. HT (loss of equilibrium) of fish (N=18) was measured twice collectively, 11 weeks apart, between which ṀO2  was measured individually for each fish while swimming in low flow (10.2 cm s-1) and high flow (∼67% of critical swimming speed, Ucrit) under normoxia and hypoxia. Both HT and ṀO2  varied substantially among individuals. HT increased across 11 weeks while the rank order of individual HT was significantly repeatable. Similarly, ṀO2  increased in fish swimming at high flow in a repeatable fashion, but only within a given level of oxygenation. ṀO2  was significantly lower when fish were swimming against high flow under hypoxia. There were no clear relationships between HT and ṀO2  while fish were swimming under any conditions. Only the magnitude of increase in HT over 11 weeks and an individual's ṀO2  under low flow were correlated. The results suggest that responses to the interacting stressors of hypoxia and exercise vary among individuals, and that HT and change in HT are not simple functions of aerobic metabolic rate.

Ocean acidification and warming affect skeletal mineralization in a marine fish

Ocean acidification and warming are known to alter, and in many cases decrease, calcification rates of shell and reef building marine invertebrates. However, to date, there are no datasets on the combined effect of ocean pH and temperature on skeletal mineralization of marine vertebrates, such as fishes. Here, the embryos of an oviparous marine fish, the little skate ( Leucoraja erinacea), were developmentally acclimatized to current and increased temperature and CO₂ conditions as expected by the year 2100 (15 and 20°C, approx. 400 and 1100 µatm, respectively), in a fully crossed experimental design. Using micro-computed tomography, hydroxyapatite density was estimated in the mineralized portion of the cartilage in jaws, crura, vertebrae, denticles and pectoral fins of juvenile skates. Mineralization increased as a consequence of high CO₂ in the cartilage of crura and jaws, while temperature decreased mineralization in the pectoral fins. Mineralization affects stiffness and strength of skeletal elements linearly, with implications for feeding and locomotion performance and efficiency. This study is, to my knowledge, the first to quantify a significant change in mineralization in the skeleton of a fish and shows that changes in temperature and pH of the oceans have complex effects on fish skeletal morphology.

Tuna robotics: A high-frequency experimental platform exploring the performance space of swimming fishes

Tuna and related scombrid fishes are high-performance swimmers that often operate at high frequencies, especially during behaviors such as escaping from predators or catching prey. This contrasts with most fish-like robotic systems that typically operate at low frequencies (< 2 hertz). To explore the high-frequency fish swimming performance space, we designed and tested a new platform based on yellowfin tuna (Thunnus albacares) and Atlantic mackerel (Scomber scombrus). Body kinematics, speed, and power were measured at increasing tail beat frequencies to quantify swimming performance and to study flow fields generated by the tail. Experimental analyses of freely swimming tuna and mackerel allow comparison with the tuna-like robotic system. The Tunabot (255 millimeters long) can achieve a maximum tail beat frequency of 15 hertz, which corresponds to a swimming speed of 4.0 body lengths per second. Comparison of midline kinematics between scombrid fish and the Tunabot shows good agreement over a wide range of frequencies, with the biggest discrepancy occurring at the caudal fin, primarily due to the rigid propulsor used in the robotic model. As frequency increases, cost of transport (COT) follows a fish-like U-shaped response with a minimum at ~1.6 body lengths per second. The Tunabot has a range of ~9.1 kilometers if it swims at 0.4 meter per second or ~4.2 kilometers at 1.0 meter per second, assuming a 10-watt-hour battery pack. These results highlight the capabilities of high-frequency biological swimming and lay the foundation to explore a fish-like performance space for bio-inspired underwater vehicles.

Combined effects of ocean acidification and temperature on larval and juvenile growth, development and swimming performance of European sea bass (Dicentrarchus labrax)

Ocean acidification and ocean warming (OAW) are simultaneously occurring and could pose ecological challenges to marine life, particularly early life stages of fish that, although they are internal calcifiers, may have poorly developed acid-base regulation. This study assessed the effect of projected OAW on key fitness traits (growth, development and swimming ability) in European sea bass (Dicentrarchus labrax) larvae and juveniles. Starting at 2 days post-hatch (dph), larvae were exposed to one of three levels of PCO2 (650, 1150, 1700 μatm; pH 8.0, 7.8, 7.6) at either a cold (15°C) or warm (20°C) temperature. Growth rate, development stage and critical swimming speed (Ucrit) were repeatedly measured as sea bass grew from 0.6 to ~10.0 (cold) or ~14.0 (warm) cm body length. Exposure to different levels of PCO2 had no significant effect on growth, development or Ucrit of larvae and juveniles. At the warmer temperature, larvae displayed faster growth and deeper bodies. Notochord flexion occurred at 0.8 and 1.2 cm and metamorphosis was completed at an age of ~45 and ~60 days post-hatch for sea bass in the warm and cold treatments, respectively. Swimming performance increased rapidly with larval development but better swimmers were observed in the cold treatment, reflecting a potential trade-off between fast grow and swimming ability. A comparison of the results of this and other studies on marine fish indicates that the effects of OAW on the growth, development and swimming ability of early life stages are species-specific and that generalizing the impacts of climate-driven warming or ocean acidification is not warranted.

Finding the peak of dynamic oxygen uptake during fatiguing exercise in fish

As fish approach fatigue at high water velocities in a critical swimming speed (U _crit) test, their swimming mode and oxygen cascade typically move to an unsteady state because they adopt an unsteady, burst-and-glide swimming mode despite a constant, imposed workload. However, conventional rate of oxygen uptake (Ṁ _O2 ) sampling intervals (5-20 min) tend to smooth any dynamic fluctuations in active Ṁ _O2  (Ṁ _O2active) and thus likely underestimate the peak Ṁ _O2active Here, we used rainbow trout (Oncorhynchus mykiss) to explore the dynamic nature of Ṁ _O2active near U _crit using various sampling windows and an iterative algorithm. Compared with a conventional interval regression analysis of Ṁ _O2active over a 10-min period, our new analytical approach generated a 23% higher peak Ṁ _O2active Therefore, we suggest that accounting for such dynamics in Ṁ _O2active with this new analytical approach may lead to more accurate estimates of maximum Ṁ _O2  in fishes.

Cost of transport is a repeatable trait but is not determined by mitochondrial efficiency in zebrafish (Danio rerio)

The energy used to move a given distance (cost of transport; CoT) varies significantly between individuals of the same species. A lower CoT allows animals to allocate more of their energy budget to growth and reproduction. A higher CoT may cause animals to adjust their movement across different environmental gradients to reduce energy allocated to movement. The aim of this project was to determine whether CoT is a repeatable trait within individuals, and to determine its physiological causes and ecological consequences. We found that CoT is a repeatable trait in zebrafish (Danio rerio). We rejected the hypothesis that mitochondrial efficiency (P/O ratios) predicted CoT. We also rejected the hypothesis that CoT is modulated by temperature acclimation, exercise training or their interaction, although CoT increased with increasing acute test temperature. There was a weak but significant negative correlation between CoT and dispersal, measured as the number of exploration decisions made by fish, and the distance travelled against the current in an artificial stream. However, CoT was not correlated with the voluntary speed of fish moving against the current. The implication of these results is that CoT reflects a fixed physiological phenotype of an individual, which is not plastic in response to persistent environmental changes. Consequently, individuals may have fundamentally different energy budgets as they move across environments, and may adjust movement patterns as a result of allocation trade-offs. It was surprising that mitochondrial efficiency did not explain differences in CoT, and our working hypothesis is that the energetics of muscle contraction and relaxation may determine CoT. The increase in CoT with increasing acute environmental temperature means that warming environments will increase the proportion of the energy budget allocated to locomotion unless individuals adjust their movement patterns.

Could resistance to lactate accumulation contribute to the better swimming performance of Brycon amazonicus when compared to Colossoma macropomum?

Background

In the wild, matrinchã (Brycon amazonicus) and tambaqui (Colossoma macropomum) rely strongly on their swimming capacity to perform feeding, migration and reproductive activities. Sustained swimming speed in fishes is performed almost exclusively by aerobic red muscles. The white muscle has high contraction power, but fatigue quickly, being used mainly in sprints and bursts, with a maximum duration of few seconds. The Ucrit test, an incremental velocity procedure, is mainly a measure of the aerobic capacity of a fish, but with a high participation of anaerobic metabolism close to the velocity of fatigue. Our previous study has indicated a high swimming performance of matrinchã (Ucrit) after hypoxia exposure, despite increased levels of lactate in plasma. In contrast, tambaqui with high lactate levels in plasma presented very low swimming performance. Therefore, we aimed to study the resistance of matrinchã and tambaqui to the increased lactate levels in muscle over an incremental velocity test (Ucrit). As a secondary aim, we analyzed the differences in anaerobic metabolism in response to environmental hypoxia, which could also support the better swimming performance of matrinchã, compared to tambaqui.

Methods

We measured, over incremented velocities in both species, the metabolic rate (the oxygen consumption by the fish; MO₂), and the concentrations of lactate and nitrites and nitrates (NOx) in muscles. NOx was measured as an indicator of nitric oxide and its possible role in improving cardiorespiratory capacity in these fishes, which could postpone the use of anaerobic metabolism and lactate production during the swimming test. Also, we submitted fishes until fatigue and hypoxia (0.5 mg L⁻¹) and measured, in addition to the previous parameters, lactate dehydrogenase activity (LDH; the enzyme responsible for lactate production), since that swimming performance could also be explained by the anaerobic capacity of producing ATP.

Results

Matrinchã exhibited a better swimming performance and higher oxygen consumption rates. Lactate levels were higher in matrinchã only at the moment of fatigue. Under hypoxia, LDH activity increased in the white muscle only in tambaqui, but averages were always higher in matrinchã.

Discussion and conclusions

The results suggest that matrinchã is more resistant than tambaqui regarding lactate accumulation in muscle at the Ucrit test, but it is not clear how much it contributes to postpone fatigue. The higher metabolic rate possibly allows the accumulated lactate to be used as aerobic fuel by the matrinchã, improving swimming performance. More studies are needed regarding matrinchã’s ability to oxidize lactate, the effects of exercise on muscle acidification, and the hydrodynamics of these species, to clarify why matrinchã is a better swimmer than tambaqui.