Ability To Swim Research Articles

Long-Jawed Spider Moves across Water with and without the Use of Silk

Among spiders, movement in aquatic environments, including below the water’s surface or on the surface film, is completed using a variety of techniques that do not involve the use of silk, including swimming, walking, and rowing. The use of silk to assist with aquatic locomotion has been explored only to a limited extent. In this study, we report on observations of a long-jawed spider (Family: Tetragnathidae) from Australia, Tetragnatha nitens, moving across the surface film in two different manners, one of which involves the use of silk. The first observation was of a female T. nitens walking across the water’s surface when prompted by a predation attempt: the spider used its front three pairs of legs for propulsion while the back pair remained motionless on the water, likely for stabilization. The second observation featured a male T. nitens utilizing a silk line to reel itself towards emergent vegetation while gliding across the water. Our findings support work on other long-jawed spiders, revealing that individual species can exploit several strategies for moving across water, including those that involve the use of silk. This study sheds light on the remarkable adaptability of spider silk and its potential use in aquatic systems.

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.

Multi‐colony tracking of two pelagic seabirds with contrasting flight capability illustrates how windscapes shape migratory movements at an ocean‐basin scale

Migration is a common trait among many animals allowing the exploitation of spatiotemporally variable resources. It often implies high energetic costs to cover large distances, for example between breeding and wintering grounds. For flying or swimming animals, the adequate use of winds and currents can help reduce the associated energetic costs. Migratory seabirds are good models because they dwell in habitats characterized by strong winds while undertaking very long migrations. We tested the hypothesis that seabirds migrate through areas with favourable winds. To that end, we used the SEATRACK dataset, a multi‐colony geolocator tracking dataset, for two North Atlantic seabirds with contrasting flight capabilities, the black‐legged kittiwake Rissa tridactyla and the Atlantic puffin Fratercula arctica, and wind data from the ERA5 climate reanalysis model. Both species had on average positive wind support during migration. Their main migratory routes were similar and followed seasonally prevailing winds. The general migratory movement had a loop‐shape at the scale of the North Atlantic, with an autumn route (southward) along the east coast of Greenland, and a spring route (northward) closer to the British Isles. While migrating, both species had higher wind support in spring than in autumn. Kittiwakes migrated farther and benefited from higher wind support than puffins on average. The variation in wind conditions encountered while migrating was linked to the geographical location of the colonies. Generally, northernmost colonies had a better wind support in autumn while the southernmost colonies had a better wind support in spring, with some exceptions. Our study helps understanding how the physical environment shapes animal migration, which is crucial to further predict how migrants will be impacted by ongoing environmental changes.

Design of an Amphibious Spherical Robot Driven by Twin Eccentric Pendulums With Flywheel-Based Inertial Stabilization

This article presents the design of an amphibious spherical robot with a sole focus on its mechanical design to achieve high torque, versatile motion modes, compact and lightweight structure, and high stability and traction, without relying on optimal control strategies. To achieve this, we unified the use of twin eccentric pendulums for high torque, flywheels for inertial stabilization and enhanced traction, and flywheel brakes for instantaneous torque to overcome obstacles. Dynamic analysis is performed, which gives an insight into the robot's motion and helps in making design decisions. High-level and low-level design decisions are discussed based on robot dynamics and intuition. Finally, a prototype of the designed spherical robot is assembled, and subjected to performance evaluation through terrestrial and aquatic locomotion experiments. The experimental results validated our design decisions, showing the design approach yields a spherical robot with stable and versatile locomotion, building the foundation for further improvements via optimal control and sensing.

Simultaneous Behavioral and Neuronal Imaging by Tracking Microscopy.

Tracking microscopy enables whole-brain cellular resolution imaging in freely swimming animals. This technique enables both structural and functional imaging without immobilizing the animal, and greatly expands the range of the behaviors accessible to neuroscientists. We use infrared imaging to track the target animal in a behavioral arena. Based on the predicted trajectory of the brain, we apply optimal control theory to a motorized stage system to cancel brain motion in three dimensions. We have combined this motion cancellation system with Differential Illumination Focal Filtering (DIFF), a form of structured illumination microscopy, which enables us to image the brain of a freely swimming larval zebrafish for over an hour. Here we describe the typical experimental procedure for data acquisition and processing using the tracking microscope.

A Review: From Aquatic Lives Locomotion to Bio-inspired Robot Mechanical Designations

A Review: From Aquatic Lives Locomotion to Bio-inspired Robot Mechanical Designations

The Role of Locomotory Ancestry on Secondarily Aquatic Transitions.

Land-to-sea evolutionary transitions are great transformations where terrestrial amniote clades returned to aquatic environments. These secondarily aquatic amniote clades include charismatic marine mammal and marine reptile groups, as well as countless semi-aquatic forms that modified their terrestrial locomotor anatomy to varying degrees to be suited for swimming via axial and/or appendicular propulsion. The terrestrial ancestors of secondarily aquatic groups would have started off swimming strikingly differently from one another given their evolutionary histories, as inferred by the way modern terrestrial amniotes swim. With such stark locomotor functional differences between reptiles and mammals, we ask if this impacted these transitions. Axial propulsion appears favored by aquatic descendants of terrestrially sprawling quadrupedal reptiles, with exceptions. Appendicular propulsion is more prevalent across the aquatic descendants of ancestrally parasagittal-postured mammals, particularly early transitioning forms. Ancestral terrestrial anatomical differences that precede secondarily aquatic invasions between mammals and reptiles, as well as the distribution of axial and appendicular swimming in secondarily aquatic clades, may indicate that ancestral terrestrial locomotor anatomy played a role, potentially in both constraint and facilitation, in certain aquatic locomotion styles. This perspective of the land-to-sea transition can lead to new avenues of functional, biomechanical, and developmental study of secondarily aquatic transitions.

First filter feeding in the Early Triassic: cranial morphological convergence between Hupehsuchus and baleen whales

Modern baleen whales are unique as large-sized filter feeders, but their roles were replicated much earlier by diverse marine reptiles of the Mesozoic. Here, we investigate convergence in skull morphology between modern baleen whales and one of the earliest marine reptiles, the basal ichthyosauromorph Hupehsuchus nanchangensis, from the Early Triassic, a time of rapid recovery of life following profound mass extinction. Two new specimens reveal the skull morphology especially in dorsal view. The snout of Hupehsuchus is highly convergent with modern baleen whales, as shown in a morphometric analysis including 130 modern aquatic amniotes. Convergences in the snout include the unfused upper jaw, specialized intermediate space in the divided premaxilla and grooves around the labial margin. Hupehsuchus had enlarged its buccal cavity to enable efficient filter feeding and probably used soft tissues like baleen to expel the water from the oral cavity. Coordinated with the rigid trunk and pachyostotic ribs suggests low speeds of aquatic locomotion, Hupehsuchus probably employed continuous ram filter feeding as in extant bowhead and right whales. The Early Triassic palaeoenvironment of a restrictive lagoon with low productivity drove Hupehsuchus to feed on zooplankton, which facilitated ecosystem recovery in the Nanzhang-Yuan’an Fauna at the beginning of the Mesozoic.

Raptorial appendages of the Cambrian apex predator Anomalocaris canadensis are built for soft prey and speed.

The stem-group euarthropod Anomalocaris canadensis is one of the largest Cambrian animals and is often considered the quintessential apex predator of its time. This radiodont is commonly interpreted as a demersal hunter, responsible for inflicting injuries seen in benthic trilobites. However, controversy surrounds the ability of A. canadensis to use its spinose frontal appendages to masticate or even manipulate biomineralized prey. Here, we apply a new integrative computational approach, combining three-dimensional digital modelling, kinematics, finite-element analysis (FEA) and computational fluid dynamics (CFD) to rigorously analyse an A. canadensis feeding appendage and test its morphofunctional limits. These models corroborate a raptorial function, but expose inconsistencies with a capacity for durophagy. In particular, FEA results show that certain parts of the appendage would have experienced high degrees of plastic deformation, especially at the endites, the points of impact with prey. The CFD results demonstrate that outstretched appendages produced low drag and hence represented the optimal orientation for speed, permitting acceleration bursts to capture prey. These data, when combined with evidence regarding the functional morphology of its oral cone, eyes, body flaps and tail fan, suggest that A. canadensis was an agile nektonic predator that fed on soft-bodied animals swimming in a well-lit water column above the benthos. The lifestyle of A. canadensis and that of other radiodonts, including plausible durophages, suggests that niche partitioning across this clade influenced the dynamics of Cambrian food webs, impacting on a diverse array of organisms at different sizes, tiers and trophic levels.

Bioaccumulation characteristics of typical pollutants in seafood from coastal waters of Jiangsu, China

With the increasing human activities, marine ecosystems and biodiversity are under serious threat, in particular, pollutants in the environment can be enriched in organisms and transmitted along the food chain, potentially posing a health risk to humans. Accordingly, with the common economic swimming animals in the coastal waters of Jiangsu as the research samples, this study analyzed the content and distribution characteristics of typical pollutants (heavy metals and polycyclic aromatic hydrocarbons (PAHs)) enriched in their bodies, and assessed their dietary exposure and health risks to humans. We showed that the bioaccumulation capacity of swimming animals for Zn and Cu was high, with the lowest accumulated content of Hg, and that crustaceans were more easily enriched with heavy metals than fish. The overall evaluation results showed that the heavy metal content in Jiangsu coastal swimming animals was relatively safe, but the health risk of some swimming animals was high and warranted certain attention. Additionally, PAHs was more enriched in inshore swimming animals than in marine ranch area and was consistent with the enrichment characteristics of swimming animals for heavy metals, with crustaceans being more enriched in PAHs. PAHs in swimming animals had the highest proportion of 2–3 ring PAHs, accounting for 75.82%, and their incremental lifetime carcinogenic risks (ILCR) in swimming animals were all within the acceptable risk values. These findings shed light on the effects of typical pollutants on swimming animals in the coastal waters of Jiangsu, provide a scientific basis for accurately assessing the effects of marine environmental pollution on marine fishery resources and food quality and safety, and contribute to new data support for regional fisheries management and environmental pollution monitoring.

Locomotion Optimization of a Tendon-Driven Robotic Fish With Variable Passive Tail Fin

This paper explores a set of locomotion optimization methods for a novel tendon-driven robotic fish. With the typical features of the dual tendon driving active tail and variable stiffness passive caudal fin, a fully functioning tendon-drive robotic fish is developed. Next, a practical dynamic model for the tendon-driven robotic fish is established with full consideration of variable stiffness passive caudal fin, and the model parameters are accurately identified via data-driven methods. More importantly, to improve the motion performances, an asymmetric central pattern generator (CPG) is particularly proposed, and an adjustment rule of passive stiffness is explored to fit different motion states of the robotic fish. Finally, extensive simulations and aquatic experiments verify the feasibility of the proposed prototype and locomotion optimization methods. The obtained results show that the improvements of steering radius and forward swimming velocity are 36.3&#x0025; and 29&#x0025;, respectively. At present, our robotic fish can achieve maximum forward swimming as 1.04 BL/s (BL for the Body Length), maximum turning rate as 153.3<inline-formula><tex-math notation="LaTeX">$^\circ$</tex-math></inline-formula>/s, and the minimum turning radius reaches to 0.31 BL, providing a valuable reference for bio-inspired research of aquatic mechanical design and locomotion control.

The travel speeds of large animals are limited by their heat-dissipation capacities.

Movement is critical to animal survival and, thus, biodiversity in fragmented landscapes. Increasing fragmentation in the Anthropocene necessitates predictions about the movement capacities of the multitude of species that inhabit natural ecosystems. This requires mechanistic, trait-based animal locomotion models, which are sufficiently general as well as biologically realistic. While larger animals should generally be able to travel greater distances, reported trends in their maximum speeds across a range of body sizes suggest limited movement capacities among the largest species. Here, we show that this also applies to travel speeds and that this arises because of their limited heat-dissipation capacities. We derive a model considering how fundamental biophysical constraints of animal body mass associated with energy utilisation (i.e., larger animals have a lower metabolic energy cost of locomotion) and heat-dissipation (i.e., larger animals require more time to dissipate metabolic heat) limit aerobic travel speeds. Using an extensive empirical dataset of animal travel speeds (532 species), we show that this allometric heat-dissipation model best captures the hump-shaped trends in travel speed with body mass for flying, running, and swimming animals. This implies that the inability to dissipate metabolic heat leads to the saturation and eventual decrease in travel speed with increasing body mass as larger animals must reduce their realised travel speeds in order to avoid hyperthermia during extended locomotion bouts. As a result, the highest travel speeds are achieved by animals of intermediate body mass, suggesting that the largest species are more limited in their movement capacities than previously anticipated. Consequently, we provide a mechanistic understanding of animal travel speed that can be generalised across species, even when the details of an individual species' biology are unknown, to facilitate more realistic predictions of biodiversity dynamics in fragmented landscapes.

Using quantile regression and relative entropy to assess the period of anomalous behavior of marine mammals following tagging.

Tagging of animals induces a variable stress response which following release will obscure natural behavior. It is of scientific relevance to establish methods that assess recovery from such behavioral perturbation and generalize well to a broad range of animals, while maintaining model transparency. We propose two methods that allow for subdivision of animals based on covariates, and illustrate their use on narwhals (Monodon monoceros) and bowhead whales (Balaena mysticetus), captured and instrumented with Acousonde™ behavioral tags, but with a framework that easily generalizes to other marine animals and sampling units. The narwhals were divided into two groups based on handling time, short ( min) and long ( min), to measure the effect on recovery. Proxies for energy expenditure (VeDBA) and rapid movement (jerk) were derived from accelerometer data. Diving profiles were characterized using two metrics (target depth and dive duration) derived from depth data. For accelerometer data, recovery was estimated using quantile regression (QR) on the log-transformed response, whereas depth data were addressed using relative entropy (RE) between hourly distributions of dive duration (partitioned into three target depth ranges) and the long-term average distribution. Quantile regression was used to address location-based behavior to accommodate distributional shifts anticipated in aquatic locomotion. For all narwhals, we found fast recovery in the tail of the distribution (<3 h) compared with a variable recovery at the median (∼1-10 h) and with a significant difference between groups separated by handling time. Estimates of bowhead whale recovery times showed fast median recovery (<3 h) and slow recovery at the tail (>6 h), but were affected by substantial uncertainty. For the diving profiles, as characterized by the component pair (target depth, dive duration), the recovery was slower (narwhals-long: h; narwhals-short: h; bowhead whales: <9h) and with a difference between narwhals with short vs long handling times. Using simple statistical concepts, we have presented two transparent and general methods for analyzing high-resolution time series data from marine animals, addressing energy expenditure, activity, and diving behavior, and which allows for comparison between groups of animals based on well-defined covariates.

Laser-assisted failure recovery for dielectric elastomer actuators in aerial robots.

Insects maintain remarkable agility after incurring severe injuries or wounds. Although robots driven by rigid actuators have demonstrated agile locomotion and manipulation, most of them lack animal-like robustness against unexpected damage. Dielectric elastomer actuators (DEAs) are a class of muscle-like soft transducers that have enabled nimble aerial, terrestrial, and aquatic robotic locomotion comparable to that of rigid actuators. However, unlike muscles, DEAs suffer local dielectric breakdowns that often cause global device failure. These local defects severely limit DEA performance, lifetime, and size scalability. We developed DEAs that can endure more than 100 punctures while maintaining high bandwidth (>400 hertz) and power density (>700 watt per kilogram)-sufficient for supporting energetically expensive locomotion such as flight. We fabricated electroluminescent DEAs for visualizing electrode connectivity under actuator damage. When the DEA suffered severe dielectric breakdowns that caused device failure, we demonstrated a laser-assisted repair method for isolating the critical defects and recovering performance. These results culminate in an aerial robot that can endure critical actuator and wing damage while maintaining similar accuracy in hovering flight. Our work highlights that soft robotic systems can embody animal-like agility and resilience-a critical biomimetic capability for future robots to interact with challenging environments.

Bmp-signaling and the finfold size in zebrafish: implications for the fin-to-limb transition.

In tetrapods, BMP-signaling coordinates limb outgrowth, skeleton patterning, and apoptosis during the formation of their typical autopod structures, the digits. In addition, inhibition of BMP signaling during mouse limb development leads to the persistence and enlargement of an important signaling center, the apical ectodermal ridge (AER), and consequent digit defects. Interestingly, during fish fin development there is a natural elongation of the AER, rapidly converted into an apical finfold (FF), in which osteoblasts differentiate into dermal fin-rays used in aquatic locomotion. Previous reports have led us to suggest that upregulation of Hox13 genes in the distal fin mesenchyme, caused by the origin of novel enhancer modules, may have caused an increment of the BMP signaling potentially leading to the apoptosis of these osteoblasts precursors of the fin-rays. To explore this hypothesis, we characterized the expression of several components of the BMP signaling in zebrafish lines with distinct FF sizes (bmp2b, smad1, smoc1, smoc2, grem1a, msx1b, msx2b, Psamd1/5/9). Our data suggest that the BMP signaling is enhanced in shorter FFs and inhibited in longer FFs, as implied by the differential expression of several components of this network. In addition, we detected an earlier expression of several of these BMP-signaling components associated with the development of short FFs and the opposite tendency during the development of longer FFs. Thus, our results suggest that a heterochronic shift, involving enhanced Hox13 expression and BMP signaling may have caused the reduction of the FF size during the evolutionary transition from fish fins to tetrapod limbs.

Welcome Matt and farewell Ken.

Welcome Matt and farewell Ken.

Volumetric measurements of wake impulse and kinetic energy for evaluating swimming performance

Volumetric flow measurements are a valuable tool for studies of aquatic locomotion. In addition to visualizing complex propulsive behaviors (e.g., highly three-dimensional kinematics or multi-propulsor interactions), volumetric wake measurements can enable direct calculation of metrics for locomotive performance including the hydrodynamic impulse and wake kinetic energy. These metrics are commonly used in PIV and PTV studies of swimming organisms, but derivations from planar data often rely on simplifying assumptions about the wake (e.g., geometry, orientation, or interactions). This study characterizes errors in deriving wake impulse and kinetic energy directly from volumetric data in relation to experimental parameters including the level of noise, the flow feature resolution, processing parameters, and the calculation domain. We consider three vortex ring-like test cases: a synthetic spherical vortex with exact solutions for its impulse and energy, volumetric PIV measurements of a turbulent vortex ring, and volumetric PIV measurements of a turning fish. We find that direct calculations of hydrodynamic impulse are robust when derived from a volumetric experiment. We also show that kinetic energy estimates are feasible at experiment resolutions, but are more sensitive to experiment design and processing parameters, which may limit efficiency estimates or comparisons between studies or organisms.Graphical abstract

Morphological Correlates of Locomotion in the Aquatic and the Terrestrial Phases of Pleurodeles waltl Newts from Southwestern Iberia

Animals capable of moving in different environments might face conflicting selection on morphology, thus posing trade-offs on the relationships between morphology and locomotor performance in each of these environments. Moreover, given the distinct ecological roles of the sexes, these relationships can be sexually dimorphic. In this article, I studied the relationships between morphological traits and locomotor performance in male and female semiaquatic Pleurodeles waltl newts in their aquatic and their terrestrial stages. Morphology was sexually dimorphic: males have proportionally longer limbs and tails, as well as a better body condition (only in the aquatic phase), whereas females were larger and had greater body mass in both phases. Nonetheless, these morphological differences did not translate into sexual divergence in locomotor performance in either stage. This finding suggests other functions for the morphological traits measured, among which only SVL showed a positive relationship with locomotor performance in both stages, whereas the effect of SMI was negative only in the terrestrial stage, and that of tail length was positive only in the aquatic stage. In any case, the morphological correlates of terrestrial and aquatic locomotion did not conflict, which suggests no trade-off between both locomotory modes in the newts studied.

Functional and Behavioral Trade-Offs between Terrestrial and Aquatic Locomotion in the Amphibious Fish Kryptolebias marmoratus.

The mangrove rivulus (Kryptolebias marmoratus) is a phenotypically plastic teleost fish that can spend considerable time on land and traverse the terrestrial realm through a behavior termed the tail-flip jump. The tail-flip jump is a transitional stage between fully aquatic and terrestrial lifestyles. Therefore, understanding this behavior can provide insight into how organisms adapt to new environments over evolutionary time. Studies of K. marmoratus show that terrestrial acclimation and exercise improve tail-flip jumping performance due to muscle remodeling, but the implications of these muscular changes on aquatic locomotion are unknown. In the present study, we hypothesized that (1) terrestrial acclimation and exercise lead to physiological changes, such as changes to muscle fiber type, muscle mass distribution, or body shape, that optimize tail-flip jump distance and endurance while negatively impacting swimming performance in K. marmoratus, and (2) plasticity of the brain (which has been demonstrated in response to a variety of stimuli in K. marmoratus) allows terrestrial emersion and exercise to cause behavioral changes that promote survival and long-term reproductive success. To test these hypotheses, we measured the critical swimming speed (Ucrit), tail-flip jump distance, terrestrial endurance, and undisturbed aquatic behavior of age- and size-matched K. marmoratus before and after a terrestrial exercise period. This period consisted of six 3-min exercise sessions spread over 12 days, during which the fish were prompted to jump continuously. To isolate the effects of air exposure, a separate group was exposed to air for an equivalent period but not allowed to jump. Air exposure improved maximum jump distance but negatively affected swimming performance (Ucrit). Terrestrial endurance (number of jumps) improved in the exercised group, but Ucrit showed no significant change. Contrary to our first hypothesis, a trade-off exists between jump distance and Ucrit but not between jump endurance and Ucrit. Exercised individuals were more active following exercise, resulting either from the onset of dispersion behavior or a heightened stress response.

Covariation in Shapes Between the Sternum and Pelvis in Aquatic Birds with Different Locomotor Modes

Birds associated with aquatic environments have diverse locomotor and foraging strategies. We hypothesize that aquatic birds have different covariation patterns in the shapes of the sternum and pelvis depending on the locomotor mode and the predominant use of wings or hind limbs when moving through the water. The study was conducted on 26 bird species, among which we identified three ecological categories: surface swimmers, wing- and foot-propelled divers. The last two categories included only species that dive from the water surface. Geometric morphometric methods were applied to analyze shapes, and covariance was investigated with two-block PLS analysis. We show that wing- and foot-propelled divers have different patterns of covariation between sternum and pelvis shapes. A narrower, elongated and flattened sternum correlates with a shortened postacetabular region of a pelvis in wing-propelled divers. A widened and shortened sternum with a deep keel correlates with an elongated post-acetabular region of a pelvis in foot-propelled divers. Surface swimmers have a wide variety of combinations of sternum and pelvis shapes, which is apparently explained by their lower specialization for specific aquatic locomotion, and by the influence of diverse ecological factors.