How do cormorants counter buoyancy during submerged swimming?

The hydrodynamic performance of duck feet for submerged swimming resembles oars rather than delta-wings

Waterfowl use webbed feet to swim underwater. It has been suggested that the triangular shape of the webbed foot functions as a lift-generating delta wing rather than a drag-generating oar. To test this idea, we studied the hydrodynamic characteristics of a diving duck's (Aythya nyroca) foot. The foot's time varying angles-of-attack (AoAs) during paddling were extracted from movies of ducks diving vertically in a water tank. Lift and drag coefficients of 3D-printed duck-foot models were measured as a function of AoA in a wind-tunnel; and the near-wake flow dynamics behind the foot model was characterized using particle image velocimetry (PIV) in a flume. Drag provided forward thrust during the first 80% of the power phase, whereas lift dominated thrust production at the end of the power stroke. In steady flow, the transfer of momentum from foot to water peaked at 45° < AoA < 60°, due to an organized wake flow pattern (vortex street), whereas at AoAs > 60° the flow behind the foot was fully separated, generating high drag levels. The flow characteristics do not constitute the vortex lift typical of delta wings. Rather, duck feet seem to be an adaptation for propulsion at a wide range of AoAs, on and below the water surface.

High Wing-Loading Correlates with Dive Performance in Birds, Suggesting a Strategy to Reduce Buoyancy

Diving birds are regarded as a classic example of morphological convergence (Darwin 1859). Divers tend to have small wings extending from rotund bodies, requiring many volant species to fly with rapid wingbeats, and rendering others flightless (Darwin 1839; Simpson 1946). The high wing-loading of diving birds is frequently associated with the challenge of using forelimbs adapted for flight for locomotion in a "draggier" fluid, but this does not explain why species that rely exclusively on their feet to dive should have relatively small wings, as well. Therefore, others have hypothesized that ecological factors shared by wing-propelled and foot-propelled diving birds drive the evolution of high wing-loading. Following a reexamination of the aquatic habits of birds, we tested between hypotheses seeking to explain high wing-loading in divers using new comparative data and phylogenetically informed analyses. We found little evidence that wing-propelled diving selects for small wings, as wing-propelled and foot-propelled species share similar wing-loadings. Instead, our results suggest that selection to reduce buoyancy has driven high wing-loading in divers, offering insights for the development of bird-like aquatic robots.

Repeated evolution of drag reduction at the air-water interface in diving kingfishers

Piscivorous birds have a unique suite of adaptations to forage under the water. One method aerial birds use to catch fish is the plunge dive, wherein birds dive from a height to overcome drag and buoyancy in the water. The kingfishers are a well-known clade that contains both terrestrially foraging and plunge-diving species, allowing us to test for morphological and performance differences between foraging guilds in an evolutionary context. Diving species have narrower bills in the dorsoventral and sagittal plane and longer bills (size-corrected data, n = 71 species, p < 0.01 for all). Although these differences are confounded by phylogeny (phylogenetically corrected ANOVA for dorsoventral p = 0.26 and length p = 0.14), beak width in the sagittal plane remains statistically different ( p < 0.001). We examined the effects of beak morphology on plunge performance by physically simulating dives with three-dimensional printed models of beaks coupled with an accelerometer, and through computational fluid dynamics (CFD). From physically simulated dives of bill models, diving species have lower peak decelerations, and thus enter the water more quickly, than terrestrial and mixed-foraging species (ANOVA p = 0.002), and this result remains unaffected by phylogeny (phylogenetically corrected ANOVA p = 0.05). CFD analyses confirm these trends in three representative species and indicate that the morphology between the beak and head is a key site for reducing drag in aquatic species.

Investigations on the buckling and dynamics of diving-inspired systems when entering water

This work provides comparative modeling approaches to determine the velocities and natural frequencies of plunge-diving bird and bioinspired drone systems when entering water. These systems are chosen to further explain the survival of diving birds as they impact water and to provide insight into the design geometry and material choice of bioinspired diving drones. A nonlinear reduced-order model is developed and utilized to analyze the dive at impact considering both Timoshenko and Euler-Bernoulli beam theories. Using Hamilton's principle, the equations of motion are first derived. Then, static and dynamic buckling analyses are conducted. For this study, a geometrically simplified cone-beam system is considered, where the cone represents the head and the beam represents both the neck and body of the plunge-diving systems. The first study is to analyze the effects different diving drone materials and cone dimensions play on the sensitivity of the system. The second study applies geometric parameters to the cone-beam system representative of a plunge-diving bird (Northern gannet) and a surface-diving bird (Double-crested cormorant). The results show that choosing a material with a higher Young's modulus and a cone with a smaller half angle increase the velocity at which buckling occurs. The buckling velocities of the predicted Northern gannet model appear to be much greater than the average recorded diving speeds, suggesting that the bird is capable of plunge-diving at more extreme conditions. The natural frequencies are found for the aforementioned plunge-diving systems to predict failure if any external frequencies are known to act on the system while on a mission, such as conditions dependent on the climate or environment. It is shown in all buckling studies that the Euler-Bernoulli beam theory consistently overestimates the responses when compared with the Timoshenko beam theory. In the dynamic responses, Euler-Bernoulli beam theory overestimates for the pre-buckling region, then underestimates at the start of the post-buckling region until a point where the two theories cross paths. The amount of error with Euler-Bernoulli beam theory depends heavily on the slenderness ratio of the beam due to the theory being a simplification of the Timoshenko beam theory. It is noted that as the development of a more realistic bird model improves, the thickness will become significant and the use of Euler-Bernoulli beam theory at the point of impact will no longer be a valid assumption.

Rethinking the Effects of Body Size on the Study of Brain Size Evolution

Body size correlates with most structural and functional components of an organism’s phenotype – brain size being a prime example of allometric scaling with animal size. Therefore, comparative studies of brain evolution in vertebrates rely on controlling for the scaling effects of body size variation on brain size variation by calculating brain weight/body weight ratios. Differences in the brain size-body size relationship between taxa are usually interpreted as differences in selection acting on the brain or its components, while selection pressures acting on body size, which are among the most prevalent in nature, are rarely acknowledged, leading to conflicting and confusing conclusions. We address these problems by comparing brain-body relationships from across >1,000 species of birds and non-avian reptiles. Relative brain size in birds is often assumed to be 10 times larger than in reptiles of similar body size. We examine how differences in the specific gravity of body tissues and in body design (e.g., presence/absence of a tail or a dense shell) between these two groups can affect estimates of relative brain size. Using phylogenetic comparative analyses, we show that the gap in relative brain size between birds and reptiles has been grossly exaggerated. Our results highlight the need to take into account differences between taxa arising from selection pressures affecting body size and design, and call into question the widespread misconception that reptile brains are small and incapable of supporting sophisticated behavior and cognition.

Foot-propelled swimming kinematics and turning strategies in common loons

Loons (Gaviiformes) are arguably one of the most successful groups of swimming birds. As specialist foot-propelled swimmers, loons are capable of diving up to 70 meters, remaining underwater for several minutes, and capturing fish. Despite the swimming prowess of loons, their undomesticated nature has prevented prior quantitative analysis. Our study used high-speed underwater cameras to film healthy common loons (Gavia immer) at the Tufts Wildlife Clinic in order to analyze their swimming and turning strategies. Loons swim by synchronously paddling their feet laterally at an average of 1.8 Hz. Combining flexion-extension of the ankle with rotation at the knee, loon swimming resembles grebe swimming and likely generates lift forces for propulsion. Loons modulate swimming speed by altering power stroke duration and use head-bobbing to enhance underwater vision. We observed that loons execute tight but slow turns compared to other aquatic swimmers, potentially associated with hunting by flushing fish from refuges at short range. To execute turns, loons use several strategies. Loons increase the force produced on the outside of the turn by increasing the speed of the outboard foot, which also begins its power stroke before the inboard foot. During turns, loons bank their body away from the turn and alter the motion of the feet to maintain the turn. Our findings demonstrate that foot-propelled swimming has evolved convergently in loon and grebes, but divergently from cormorants. The swimming and turning strategies used by loons that allow them to capture fish could inspire robotic designs or novel paddling techniques.

Synchrotron scanning reveals amphibious ecomorphology in a new clade of bird-like dinosaurs

Maniraptora includes birds and their closest relatives among theropod dinosaurs. During the Cretaceous period, several maniraptoran lineages diverged from the ancestral coelurosaurian bauplan and evolved novel ecomorphologies, including active flight, gigantism, cursoriality and herbivory. Propagation X-ray phase-contrast synchrotron microtomography of a well-preserved maniraptoran from Mongolia, still partially embedded in the rock matrix, revealed a mosaic of features, most of them absent among non-avian maniraptorans but shared by reptilian and avian groups with aquatic or semiaquatic ecologies. This new theropod, Halszkaraptor escuilliei gen. et sp. nov., is related to other enigmatic Late Cretaceous maniraptorans from Mongolia in a novel clade at the root of Dromaeosauridae. This lineage adds an amphibious ecomorphology to those evolved by maniraptorans: it acquired a predatory mode that relied mainly on neck hyperelongation for food procurement, it coupled the obligatory bipedalism of theropods with forelimb proportions that may support a swimming function, and it developed postural adaptations convergent with short-tailed birds.

Comparative hindlimb myology of foot-propelled swimming birds

Several groups of birds have convergently evolved the ability to swim using their feet despite facing trade-offs with walking. However, swimming relative to terrestrial performance varies across these groups. Highly specialized divers, such as loons and grebes, excel at swimming underwater but struggle to stand on land, whereas species that primarily swim on the water surface, such as Mallards, retain the ability to move terrestrially. The identification of skeletal features associated with a swimming style and conserved across independent groups suggests that the hindlimb of foot-propelled swimming birds has adapted to suit the physical challenges of producing propulsive forces underwater. But in addition to skeletal features, how do hindlimb muscles reflect swimming ability and mode? This paper presents the first comparative myology analysis associated with foot-based swimming. Our detailed dissections of 35 specimens representing eight species reveal trends in hindlimb muscle size and attachment location across four independent lineages of extant swimming birds. We expand upon our dissections by compiling data from historical texts and provide a key to any outdated muscle nomenclature used in these sources. Our results show that highly diving birds tuck the femur and proximal tibiotarsus next to the ribcage and under the skin covering the abdomen, streamlining the body. Several hindlimb muscles exhibit dramatic anatomical variation in diving birds, including the flexor cruris lateralis (FCL) and iliofibularis (IF), which reduce in size and shift distally along the tibiotarsus. The femorotibialis medius (FTM) extends along an expanded cnemial crest. The resulting increased moment arms of these muscles likely help stabilize the hip and knee while paddling. Additionally, distal ankle plantarflexors, including the gastrocnemius and digital flexors, are exceptionally large in diving birds in order to power foot propulsion. These patterns exist within distantly related lineages of diving birds and, to a lesser extent, in surface swimmers. Together, our findings verify conserved muscular adaptations to a foot-propelled swimming lifestyle. The association of muscle anatomy with skeletal features and biomechanical movement demands can inform functional interpretation of fossil birds and reveal selective pressures underlying avian diversification.

Diving physiology of seabirds and marine mammals: Relevance, challenges and some solutions for field studies

To fully understand how diving seabirds and marine mammals balance the potentially conflicting demands of holding their breath while living their lives underwater (and maintaining physiological homeostasis during exercise, feeding, growth, and reproduction), physiological studies must be conducted with animals in their natural environments. The purpose of this article is to review the importance of making physiological measurements on diving animals in field settings, while acknowledging the challenges and highlighting some solutions. The most extreme divers are great candidates for study, especially in a comparative and mechanistic context. However, physiological data are also required of a wide range of species for problems relating to other disciplines, in particular ecology and conservation biology. Physiological data help with understanding and predicting the outcomes of environmental change, and the direct impacts of anthropogenic activities. Methodological approaches that have facilitated the development of field-based diving physiology include the isolated diving hole protocol and the translocation paradigm, and while there are many techniques for remote observation, animal-borne biotelemetry, or "biologging", has been critical. We discuss issues related to the attachment of instruments, the retrieval of data and sensing of physiological variables, while also considering negative impacts of tagging. This is illustrated with examples from a variety of species, and an in-depth look at one of the best studied and most extreme divers, the emperor penguin (Aptenodytes forsteri). With a variety of approaches and high demand for data on the physiology of diving seabirds and marine mammals, the future of field studies is bright.

Launching the AquaMAV: bioinspired design for aerial-aquatic robotic platforms

Current Micro Aerial Vehicles (MAVs) are greatly limited by being able to operate in air only. Designing multimodal MAVs that can fly effectively, dive into the water and retake flight would enable applications of distributed water quality monitoring, search and rescue operations and underwater exploration. While some can land on water, no technologies are available that allow them to both dive and fly, due to dramatic design trade-offs that have to be solved for movement in both air and water and due to the absence of high-power propulsion systems that would allow a transition from underwater to air. In nature, several animals have evolved design solutions that enable them to successfully transition between water and air, and move in both media. Examples include flying fish, flying squid, diving birds and diving insects. In this paper, we review the biological literature on these multimodal animals and abstract their underlying design principles in the perspective of building a robotic equivalent, the Aquatic Micro Air Vehicle (AquaMAV). Building on the inspire-abstract-implement bioinspired design paradigm, we identify key adaptations from nature and designs from robotics. Based on this evaluation we propose key design principles for the design of successful aerial-aquatic robots, i.e. using a plunge diving strategy for water entry, folding wings for diving efficiency, water jet propulsion for water takeoff and hydrophobic surfaces for water shedding and dry flight. Further, we demonstrate the feasibility of the water jet propulsion by building a proof-of-concept water jet propulsion mechanism with a mass of 2.6 g that can propel itself up to 4.8 m high, corresponding to 72 times its size. This propulsion mechanism can be used for AquaMAV but also for other robotic applications where high-power density is of use, such as for jumping and swimming robots.

Effects of body condition on buoyancy in endangered North Atlantic right whales

Buoyancy is an important consideration for diving marine animals, resulting in specific ecologically relevant adaptations. Marine mammals use blubber as an energy reserve, but because this tissue is also positively buoyant, nutritional demands have the potential to cause considerable variation in buoyancy. North Atlantic right whales Eubalaena glacialis are known to be positively buoyant as a result of their blubber, and the thickness of this layer varies considerably, but the effect of this variation on buoyancy has not been explored. This study compared the duration and rate of ascending and descending glides, recorded with an archival tag, with blubber thickness, measured with an ultrasound device, in free-swimming right whales. Ascending whales with thicker blubber had shorter portions of active propulsion and longer passive glides than whales with thinner blubber, suggesting that blubber thickness influences buoyancy because the buoyant force is acting in the same direction as the animal's movement during this phase. Whales with thinner layers also used similar body angles and velocities when traveling to and from depth, while those with thicker layers used shallower ascent angles but achieved higher ascent velocities. Such alterations in body angle may help to reduce the cost of transport when swimming against the force of buoyancy in a state of augmented positive buoyancy, which represents a dynamic response to reduce the energetic consequences of physiological changes. These results have considerable implications for any diving marine animal during periods of nutritional stress, such as during seasonal migrations and annual variations in prey availability.

Development of a biologically inspired multi-modal wing model for aerial-aquatic robotic vehicles through empirical and numerical modelling of the common guillemot, Uria aalge

The common guillemot, Uria aalge, a member of the auk family of seabirds, exhibits locomotive capabilities in both aerial and aquatic substrates. Simplistic forms of this ability have yet to be achieved by robotic vehicle designs and offer significant potential as inspiration for future concept designs. In this investigation, we initially investigate the power requirements of the guillemot associated with different modes of locomotion, empirically determining the saving associated with the retraction of the wing during aquatic operations. A numerical model of a morphing wing is then created to allow power requirements to be determined for different wing orientations, taking into account the complex kinematic and inertial dynamics associated with the motion. Validation of the numerical model is achieved by comparisons with the actual behaviour of the guillemot, which is done by considering specific mission tasks, where by the optimal solutions are found utilizing an evolutionary algorithm, which are found to be in close agreement with the biological case.

Drag-based 'hovering' in ducks: the hydrodynamics and energetic cost of bottom feeding

Diving ducks use their webbed feet to provide the propulsive force that moves them underwater. To hold position near the bottom while feeding, ducks paddle constantly to resist the buoyant force of the body. Using video sequences from two orthogonal cameras we reconstructed the 3-dimensional motion of the feet through water and estimated the forces involved with a quasi-steady blade-element model. We found that during station holding, near the bottom, ducks use drag based propulsion with the webbed area of the foot moving perpendicular to the trajectory of the foot. The body was pitched at 76+/-3.47 degrees below the horizon and the propulsive force was directed 26+/-1.9 degrees ventral to the body so that 98% of the propulsive force in the sagittal plane of the duck worked to oppose buoyancy. The mechanical work done by moving both feet through a paddling cycle was 1.1+/-0.2 J which was equivalent to an energy expenditure of 3.7+/-0.5 W to hold position while feeding at 1.5 m depth. We conclude that in shallow water the high energetic cost of feeding in ducks is due to the need to paddle constantly against buoyancy even after reaching the bottom. The mechanical energy spent on holding position near the bottom, while feeding, is approximately 2 fold higher than previous estimates that were made for similar bottom depths but based on the presumed motion of the body instead of motion of the feet.

Buoyancy under control: underwater locomotor performance in a deep diving seabird suggests respiratory strategies for reducing foraging effort

BACKGROUND

Because they have air stored in many body compartments, diving seabirds are expected to exhibit efficient behavioural strategies for reducing costs related to buoyancy control. We study the underwater locomotor activity of a deep-diving species from the Cormorant family (Kerguelen shag) and report locomotor adjustments to the change of buoyancy with depth.

METHODOLOGY/PRINCIPAL FINDINGS

Using accelerometers, we show that during both the descent and ascent phases of dives, shags modelled their acceleration and stroking activity on the natural variation of buoyancy with depth. For example, during the descent phase, birds increased swim speed with depth. But in parallel, and with a decay constant similar to the one in the equation explaining the decrease of buoyancy with depth, they decreased foot-stroke frequency exponentially, a behaviour that enables birds to reduce oxygen consumption. During ascent, birds also reduced locomotor cost by ascending passively. We considered the depth at which they started gliding as a proxy to their depth of neutral buoyancy. This depth increased with maximum dive depth. As an explanation for this, we propose that shags adjust their buoyancy to depth by varying the amount of respiratory air they dive with.

CONCLUSIONS/SIGNIFICANCE

Calculations based on known values of stored body oxygen volumes and on deep-diving metabolic rates in avian divers suggest that the variations of volume of respiratory oxygen associated with a respiration mediated buoyancy control only influence aerobic dive duration moderately. Therefore, we propose that an advantage in cormorants--as in other families of diving seabirds--of respiratory air volume adjustment upon diving could be related less to increasing time of submergence, through an increased volume of body oxygen stores, than to reducing the locomotor costs of buoyancy control.

Consequences of buoyancy to the maneuvering capabilities of a foot-propelled aquatic predator, the great cormorant (Phalcrocorax carbo sinensis)

Great cormorants are foot-propelled aquatic divers utilizing a region of the water column where their underwater foraging behavior is affected by their buoyancy. While swimming horizontally underwater, cormorants use downward lift forces generated by their body and tail to overcome their buoyancy. Here we assess the potential of this swimming strategy for controlling maneuvers in the vertical plane. We recorded the birds swimming through a submerged obstacle course and analyzed their maneuvers. The birds reduced swimming speed by only 12% to maneuver and were able to turn upward and then downward in the sagittal plane at a minimal turning radius of 32±4 cm (40% body length). Using a quasi-steady approach, we estimated the time-line for hydrodynamic forces and the force-moments produced while maneuvering. We found that the tail is responsible for the pitch of the body while motions of the body, tail, neck and feet generate forces normal (vertically) to the swimming direction that interact with buoyancy to change the birds' trajectory. Vertical maneuvers in cormorants are asymmetric in energy cost. When turning upward, the birds use their buoyancy but they must work harder to turn downward. Lift forces generated by the body were always directed ventrally. Propulsion improves the ability to make tight turns when the center of the turn is ventral to the birds. The neck produced only a small portion (10%) of the normal vertical forces but its length may allow prey capture at the end of pursuit, within the minimum turning radius.

Optimal descent angles for shallow-diving cormorants

Air-breathing divers should attempt to maximize foraging efficiency under the constraint of limited oxygen availability. For diving water birds, high buoyancy (owing to the air in the plumage) and the associated change in buoyancy with diving depth impose further constraints on the adaptation to aquatic life. Diving birds are expected to descend as fast as possible to escape the higher buoyancy near the water surface, but in practice, shallow-diving cormorants (genus Phalacrocorax Brisson, 1760) are often observed descending the water column in relatively small angles with respect to the water surface. We derive a theoretical biomechanical model for the energetics of the descent phase of a dive of foot-propelled cormorants feeding on benthic prey at shallow depth. The model shows that visually guided benthic feeders benefit energetically from diving at small descent angles when optical conditions and bottom depth allow. The model also explains the high variation in descent angles observed in free-ranging birds, as well as the observed correlation between descent angle and bottom depth in cormorants.

Energetic costs of diving and thermal status in European shags (Phalacrocorax aristotelis)

Diving is believed to be very costly in cormorants (Phalacrocoracidae) when compared with other avian divers because of their poor insulation and less-efficient foot propulsion. It was therefore suggested that cormorants might employ a behavioural strategy to reduce daily energy expenditure by minimizing the amount of time spent in water. However, European shags (Phalacrocorax aristotelis) have been observed to spend up to 7 h day(-1) diving in water of around 5-6 degrees C. To gain a better understanding of the energetic requirements in European shags, we measured their metabolic rates when resting in air/water and during shallow diving using respirometry. To investigate the effects of water temperature and feeding status on metabolic rate, birds dived at water temperatures ranging from 5 to 13 degrees C in both post-absorptive and absorptive states. In parallel with respirometry, stomach temperature loggers were deployed to monitor body temperature. Basal metabolic rate (BMR) was almost identical to allometric predictions at 4.73 W kg(-1). Metabolic rate when resting on water, during diving and after feeding was significantly elevated when compared with the resting-in-air rate. During diving, the metabolic rate of post-absorptive shags increased to 22.66 W kg(-1), which corresponds to 4.8x BMR. Minimum cost of transport (COT) was calculated at 17.8 J kg(-1) m(-1) at a swim speed of 1.3 m s(-1). Feeding before diving elevated diving metabolic rate by 13% for up to 5 h. There was a significant relationship between diving metabolic rate and water temperature, where metabolic rate increased as water temperature declined. Thermal conductance when resting in air at 10-19 degrees C was 2.05 W m(-2) degrees C(-1) and quadrupled during diving (7.88 W m(-2) degrees C(-1)). Stomach temperature when resting in air during the day was 40.6 degrees C and increased during activity. In dive trials lasting up to 50 min, stomach temperature fluctuated around a peak value of 42.0 degrees C. Hence, there is no evidence that European shags might employ a strategy of regional hypothermia. The energetic costs during shallow diving in European shags are considerably lower than has previously been reported for great cormorants (Phalacrocorax carbo) and are comparable to other foot-propelled divers. The lower dive costs in shags might be the consequence of a more streamlined body shape reducing hydrodynamic costs as well as a greater insulative plumage air layer (estimated to be 2.71 mm), which reduces thermoregulatory costs. The latter might be of great importance for shags especially during winter when they spend extended periods foraging in cold water.

Adjustment of submerged swimming to changes in buoyancy in cormorants

Waterbirds are buoyant because of volumes of air in their plumage and respiratory tract. When they are submerged, their buoyancy is reduced, owing to compression of these volumes of air with depth. We tested how the horizontal submerged swimming of cormorants (Phalacrocorax carbo sinensis (Blumelbach, 1798)) changed when their buoyancy was artificially reduced. Birds were filmed swimming under water once with lead weights (density 11 000 kg·m–3) and again with "dummy" weights (density 1100 kg·m–3) attached to their body. The dummy weights had negligible weight under water and served as control for the increased drag in the experiment. Cormorants swimming with weights tilted their bodies at an angle of 3°–7° below the swimming direction, whereas the body of birds in the control groups was tilted at 14°–16°. The tilt of the body affected the orientation and trajectory of the tail and feet during swimming. A hydrodynamic analysis showed that the lesser tilt of the body (while swimming with weights equivalent to 26% of body weight) resulted in a 55%–57% reduction of the vertical hydrodynamic forces (lift, drag, and thrust) generated by the birds to overcome buoyancy. When more weights were added and the birds became negatively buoyant, these vertical forces changed direction to prevent sinking. Thus, by adjusting the tilt of the body, the birds may dynamically control their buoyancy to maintain straight horizontal swimming despite changes in buoyancy.

Submerged swimming of the great cormorantPhalacrocorax carbo sinensisis a variant of the burst-and-glide gait

Cormorants are water birds that forage by submerged swimming in search and pursuit of fish. Underwater they swim by paddling with both feet simultaneously in a gait that includes long glides between consecutive strokes. At shallow swimming depths the birds are highly buoyant as a consequence of their aerial lifestyle. To counter this buoyancy cormorants swim underwater with their body at an angle to the swimming direction. This mechanical solution for foraging at shallow depth is expected to increase the cost of swimming by increasing the drag of the birds. We used kinematic analysis of video sequences of cormorants swimming underwater at shallow depth in a controlled research setup to analyze the swimming gait and estimate the resultant drag of the birds during the entire paddling cycle. The gliding drag of the birds was estimated from swimming speed deceleration during the glide stage while the drag during active paddling was estimated using a mathematical`burst-and-glide' model. The model was originally developed to estimate the energetic saving from combining glides with burst swimming and we used this fact to test whether the paddling gait of cormorants has similar advantages.

We found that swimming speed was correlated with paddling frequency(r=0.56, P&lt;0.001, N=95) where the increase in paddling frequency was achieved mainly by shortening the glide stage(r=–0.86, P&lt;0.001, N=95). The drag coefficient of the birds during paddling was higher on average by two- to threefold than during gliding. However, the magnitude of the drag coefficient during the glide was positively correlated with the tilt of the body(r=0.5, P&lt;0.003, N=35) and negatively correlated with swimming speed (r=–0.65, P&lt;0.001, N=35), while the drag coefficient during the stroke was not correlated with tilt of the body (r=–0.11, P&gt;0.5, N=35) and was positively correlated with swimming speed(r=0.41, P&lt;0.015, N=35). Therefore, the difference between the drag coefficient during the glide and during propulsion diminished at lower speeds and larger tilt. The mean drag of the birds for a single paddling cycle at an average swimming speed of 1.5 m s–1 was 5.5±0.68 N. The burst-and-glide model predicts that energy saving from using burst-and-glide in the paddling cycle is limited to relatively fast swimming speeds (&gt;1.5 m s–1), but that as the birds dive deeper (&gt;1 m where buoyancy is reduced), the burst-and-glide gait may become beneficial even at lower speeds.

To What Extent Is the Foraging Behaviour of Aquatic Birds Constrained by Their Physiology?

Aquatic birds have access to limited amounts of usable oxygen when they forage (dive) underwater, so the major physiological constraint to their behaviour is the need to periodically visit the water surface to replenish these stores and remove accumulated carbon dioxide. The size of the oxygen stores and the rate at which they are used (V dot o2) or carbon dioxide accumulates are the ultimate determinants of the duration that aquatic birds can remain feeding underwater. However, the assumption that the decision to terminate a dive is governed solely by the level of the respiratory stores is not always valid. Quantification of an optimal diving model for tufted ducks (Aythya fuligula) shows that while they dive efficiently by spending a minimum amount of time on the surface to replenish the oxygen used during a dive, they dive with nearly full oxygen stores and surface well before these stores are exhausted. The rates of carbon dioxide production during dives and removal during surface intervals are likely to be at least as important a constraint as oxygen; thus, further developments of optimal diving models should account for their effects. In the field, diving birds will adapt to changing environmental conditions and often maximise the time spent submerged during diving bouts. However, other factors influence the diving depths and durations of aquatic birds, and in some circumstances they are unable to forage sufficiently well to provide food for their offspring. The latest developments in telemetry have demonstrated how diving birds can make physiological decisions based on complex environmental factors. Diving penguins can control their inhaled air volume to match the expected depth, likely prey encounter rate, and buoyancy challenges of the following dive.

Regulation of stroke and glide in a foot-propelled avian diver

Bottom-feeding, breath-hold divers would be expected to minimize transit time between the surface and foraging depth, thus maximizing the opportunities for prey capture during the bottom phase of the dive. To achieve this they can potentially adjust a variety of dive parameters, including dive angle and swim speed. However, because of predictable changes in buoyancy with depth,individuals would also be expected to adjust dive behavior according to dive depth. To test these predictions we deployed miniature, dorsally attached data-loggers that recorded surge and heave accelerations at 64 Hz to obtain the first detailed measurements of a foot-propelled diving bird, the European shag Phalacrocorax aristotelis, in the wild. The results were used to investigate biomechanical changes during the descent, ascent and bottom phases for dives varying between 7 m and 43 m deep. Shags descended and ascended almost vertically (60–90° relative to the sea surface). During descent, swim speed varied between 1.2–1.8 m s–1 and the frequency of the foot stroke used for propulsion decreased significantly with depth, mainly due to a fivefold increase in the duration of the glide between strokes. Birds appeared to maintain the duration and the maximum strength of power stroke and thus optimize muscle contraction efficiency.