Medusan morphospace: phylogenetic constraints, biomechanical solutions, and ecological consequences

Abstract. Medusae were the earliest animals to evolve muscle‐powered swimming in the seas. Although medusae have achieved diverse and prominent ecological roles throughout the world's oceans, we argue that the primitive organization of cnidarian muscle tissue limits force production and, hence, the mechanical alternatives for swimming bell function. We use a recently developed model comparing the potential force production with the hydrodynamic requirements of jet propulsion, and conclude that jet production is possible only at relatively small bell diameters. In contrast, production of a more complex wake via what we term rowing propulsion permits much larger sizes but requires a different suite of morphological features. Analysis of morphometric data from all medusan taxa independently confirms size‐dependent patterns of bell forms that correspond with model predictions. Further, morphospace analysis indicates that various lineages within the Medusozoa have proceeded along either of two evolutionary trajectories. The first alternative involved restriction of jet‐propelled medusan bell diameters to small dimensions. These medusae may be either solitary individuals (characteristic of Anthomedusae and Trachymedusae) or aggregates of small individual medusan units into larger colonial forms (characteristic of the nectophores of many members of the Siphonophorae). The second trajectory involved use of rowing propulsion (characteristic of Scyphozoa and some hydromedusan lineages such as the Leptomedusae and Narcomedusae) that allows much larger bell sizes. Convergence on either of the differing propulsive alternatives within the Medusozoa has emerged via parallel evolution among different medusan lineages. The distinctions between propulsive modes have important ecological ramifications because swimming and foraging are interdependent activities for medusae. Rowing swimmers are characteristically cruising predators that select different prey types from those selected by jet‐propelled medusae, which are predominantly ambush predators. These relationships indicate that the different biomechanical solutions to constraints on bell function have entailed ecological consequences that are evident in the prey selection patterns and trophic impacts of contemporary medusan lineages.     

Ontogenetic changes in the bell morphology and kinematics and swimming behavior of rowing medusae: the special case of the limnomedusa Liriope tetraphylla

Swimming animals may experience significant changes in the Reynolds number (Re) of their surrounding fluid flows throughout ontogeny. Many medusae experience Re environments with significant viscous forces as small juveniles but inertially dominated Re environments as adults. These different environments may affect their propulsive strategies. In particular, rowing, a propulsive strategy with ecological advantages for large adults, may be constrained by viscosity for small juvenile medusae. We examined changes in the bell morphology and swimming kinematics of the limnomedusa Liriope tetraphylla at different stages of development. L. tetraphylla maintained an oblate bell (fineness ratio ≈ 0.5-0.6), large velar aperture ratio (R(v) ≈ 0.5-0.8), and rapid bell kinematics throughout development. These traits enabled it to use rowing propulsion at all stages except the very smallest sizes observed (diameter = 0.14 cm). During the juvenile stage, very rapid bell kinematics served to increase Re sufficiently for rowing propulsion. Other taxa that use rowing propulsion as adults, such as leptomedusae and scyphomedusae, typically utilize different propulsive strategies as small juveniles to function in low Re environments. We compared the performance values of the different propulsive modes observed among juvenile medusae.     

Reynolds number limits for jet propulsion: a numerical study of simplified jellyfish

The Scallop theorem states that reciprocal methods of locomotion, such as jet propulsion or paddling, will not work in Stokes flow (Reynolds number=0). In nature the effective limit of jet propulsion is still in the range where inertial forces are significant. It appears that almost all animals that use jet propulsion swim at Reynolds numbers (Re) of about 5 or more. Juvenile squid and octopods hatch from the egg already swimming in this inertial regime. Juvenile jellyfish, or ephyrae, break off from polyps swimming at Re greater than 5. Many other organisms, such as scallops, rarely swim at Re less than 100. The limitations of jet propulsion at intermediate Re is explored here using the immersed boundary method to solve the 2D Navier-Stokes equations coupled to the motion of a simplified jellyfish. The contraction and expansion kinematics are prescribed, but the forward and backward swimming motions of the idealized jellyfish are emergent properties determined by the resulting fluid dynamics. Simulations are performed for both an oblate bell shape using a paddling mode of swimming and a prolate bell shape using jet propulsion. Average forward velocities and work put into the system are calculated for Re between 1 and 320. The results show that forward velocities rapidly decay with decreasing Re for all bell shapes when Re<10. Similarly, the work required to generate the pulsing motion increases significantly for Re<10. When compared to actual organisms, the swimming velocities and vortex separation patterns for the model prolate agree with those observed in Nemopsis bachei. The forward swimming velocities of the model oblate jellyfish after two pulse cycles are comparable to those reported for Aurelia aurita, but discrepancies are observed in the vortex dynamics between when the 2D model oblate jellyfish and the organism. This discrepancy is likely due to a combination of the differences between the 3D reality of the jellyfish and the 2D simplification, as well as the rigidity of the time varying geometry imposed by the idealized model.     

Fixational Eye Movements in the Earliest Stage of Metazoan Evolution

All known photoreceptor cells adapt to constant light stimuli, fading the retinal image when exposed to an immobile visual scene. Counter strategies are therefore necessary to prevent blindness, and in mammals this is accomplished by fixational eye movements. Cubomedusae occupy a key position for understanding the evolution of complex visual systems and their eyes are assumedly subject to the same adaptive problems as the vertebrate eye, but lack motor control of their visual system. The morphology of the visual system of cubomedusae ensures a constant orientation of the eyes and a clear division of the visual field, but thereby also a constant retinal image when exposed to stationary visual scenes. Here we show that bell contractions used for swimming in the medusae refresh the retinal image in the upper lens eye of Tripedalia cystophora. This strongly suggests that strategies comparable to fixational eye movements have evolved at the earliest metazoan stage to compensate for the intrinsic property of the photoreceptors. Since the timing and amplitude of the rhopalial movements concur with the spatial and temporal resolution of the eye it circumvents the need for post processing in the central nervous system to remove image blur.     

Cyanea capillata Bell Kinematics Analysis through Corrected In Situ Imaging and Modeling Using Strategic Discretization Techniques

Obtaining accurate kinematic data of animals is essential for many biological studies and bio-inspired engineering. Many animals, however, are either too large or too delicate to transport to controlled environments where accurate kinematic data can be easily obtained. Often, in situ recordings are the only means available but are often subject to multi-axis motion and relative magnification changes with time leading to large discrepancies in the animal kinematics. Techniques to compensate for these artifacts were applied to a large jellyfish, Cyanea capillata, freely swimming in ocean waters. The bell kinematics were captured by digitizing exumbrella profiles for two full swimming cycles. Magnification was accounted for by tracking a reference point on the ocean floor and by observing the C. capillata exumbrella arclength in order to have a constant scale through the swimming cycles. A linear fit of the top bell section was used to find the body angle with respect to the camera coordinate system. Bell margin trajectories over two swimming cycles confirmed the accuracy of the correction techniques. The corrected profiles were filtered and interpolated to provide a set of time-dependent points along the bell. Discrete models of the exumbrella were used to analyze the bell kinematics. Exumbrella discretization was conducted using three different methods. Fourier series were fitted to the discretized models and subsequently used to analyze the bell kinematics of the C. capillata. The analysis showed that the bell did not deform uniformly over time with different segments lagging behind each other. Looping of the bell trajectory between contraction and relaxation was also present through most of the exumbrella. The bell margin had the largest looping with an outer path during contraction and inner path during relaxation. The subumbrella volume was approximated based on the exumbrella kinematics and was found to increase during contraction.     

Transitions in morphology, nematocyst distribution, fluid motions, and prey capture during development of the scyphomedusa Cyanea capillata

Like that of most scyphozoans, the ontogeny of Cyanea capillata medusae involves substantive alterations in feeding structures and mechanics. We used video and optical microscopy approaches to quantify these ontogenetic changes in morphology, flow, and feeding of C. capillata medusae. We found that alterations in gross morphology and nematocyst distributions coincided with a shift from prey capture on the manubrium or lappets of ephyrae (bell diameter 0.2-0.4 cm) to capture primarily on the tentacles in adult medusae (diameter >1.0 cm). These changes occurred within a hydrodynamic framework that itself changed due to medusan growth. Viscous forces were important in flows around small ephyrae (maximum Re <10(1)), whereas viscosity was less influential in the inertially dominated flows around adult medusae (Re > 10(2)). The relative timing of these events indicates that ontogenetic processes are closely synchronized with alterations in the hydrodynamic environment within which C. capillata medusae develop.     

Field observations of four Aurelia labiata jellyfish behaviours: swimming down in response to low salinity pre-empted swimming up in response to touch,but animal and plant materials were captured equally

Jellyfish live in complex environments and must continually make behavioural choices. In field observations, adult Aurelia labiata were confronted with a conflict between swimming up elicited by touch of the manubrium and swimming down elicited by low salinity. Following a touch, downward-swimming medusae (1.5–2.0 m deep) turned and swam to within 0.5 m of the surface when the salinity in the top 1.5 m of the water column was greater than 20 ppt but medusae uniformly refused to swim up into the top 1.25 m when the salinity was less than 20 ppt even after being touched three times. The central nervous system of A. labiata appears to have neural circuitry that specifies their response when medusae encounter stimuli that elicit incompatible behaviours. Upward-swimming adult medusae had animal, vegetable or cellulose (paper) material dispersed ahead of them. Medusae captured each material on the bell margin and transported it to a gastric pouch. Medusae displayed only minor behavioural differences in the process. Having sensory, neural and muscular systems organized to capture and pass to the stomach, a huge variety of materials allows medusae to survive in different seasons and environments.     

The Kinematics of Swimming and Relocation Jumps in Copepod Nauplii

Copepod nauplii move in a world dominated by viscosity. Their swimming-by-jumping propulsion mode, with alternating power and recovery strokes of three pairs of cephalic appendages, is fundamentally different from the way other microplankters move. Protozoans move using cilia or flagella, and copepodites are equipped with highly specialized swimming legs. In some species the nauplius may also propel itself more slowly through the water by beating and rotating the appendages in a different, more complex pattern. We use high-speed video to describe jumping and swimming in nauplii of three species of pelagic copepods: Temora longicornis, Oithona davisae and Acartia tonsa. The kinematics of jumping is similar between the three species. Jumps result in a very erratic translation with no phase of passive coasting and the nauplii move backwards during recovery strokes. This is due to poorly synchronized recovery strokes and a low beat frequency relative to the coasting time scale. For the same reason, the propulsion efficiency of the nauplii is low. Given the universality of the nauplius body plan, it is surprising that they seem to be inefficient when jumping, which is different from the very efficient larger copepodites. A slow-swimming mode is only displayed by T. longicornis. In this mode, beating of the appendages results in the creation of a strong feeding current that is about 10 times faster than the average translation speed of the nauplius. The nauplius is thus essentially hovering when feeding, which results in a higher feeding efficiency than that of a nauplius cruising through the water.     

Ammonite aptychi: Functions and role in propulsion

Seven previous proposals of aptychus (sensu stricto) function are reviewed: lower mandible, protection of gonads of females, protective operculum, ballasting, flushing benthic prey, filtering microfauna and pump for jet propulsion. An eighth is introduced: aptychi functioned to actively stabilize the rocking produced by the pulsating jet during forward foraging and backward swimming. Experiments with in-air models suggest that planispiral ammonites could lower their aperture by the forward shift of a mobile cephalic complex. In the experiments, the ventral part of the peristome is lowered from the lateral resting (neutral) position by the added “ballast” of a relatively thin Laevaptychus to an angle < 25° from horizontal with adequate stability to withstand the counter-force produced by the jet of the recurved hyponome. However, of the shell forms tested, only brevidomes with thick aptychi, e.g., the Upper Jurassic Aspidoceratidae with Laevaptychus and average whorl expansion rates, were stable enough to swim forward by jet propulsion at about Nautilus speed (∼ 25 cm/s). We propose that aptychus function most commonly combined feeding (jaw, flushing, filtering) with protection (operculum), and, more rarely, with locomotion (ballast, pump, diving and stabilizing plane). Aptychi may thus have been multi-functional.     

A Prototype of a Biomimetic Mantle Jet Propeller Inspired by Cuttlefish Actuated by SMA Wires and a Theoretical Model for Its Jet Thrust

The cuttlefish have higher swimming speed and more maneuverability than most of the fish mainly benefiting from their unique jet propulsion mechanism, which is realized by the contraction and expansion of their flexible mantle. However it is difficult to mimic this jet propulsion mechanism using conventional electro-mechanical structures. In this paper, the musculature of the cuttlefish mantle and how the mantle flexibly contracts and expands were analyzed first. Then the Shape Memory Alloy（SMA） wires were chosen as the actuators and the soft silica gel was chosen as the body materials to develop a biomimetic mantle jet propeller. The SMA wires were embedded within the soft silica gel formed with cuttlefish mantle shape along the annular direction to mimic the circular muscles of cuttlefish mantle. The water was squeezed out the mantle cavity to form rear jets when the biomimetic mantle was contracted by SMA wires. A mechanical model and a thermal model were established to analyze the jet thrust and the jetting frequency. Theoretical analysis shows that the jet thrust is proportional to the square of the rate of change of SMA strain. Increasing the driving voltage can improve the rate of change of SMA strain, thus can improve both the jet thrust and the jetting frequency. However the j etting frequency is mainly restricted by the cooling of SMA wires. To maximize the jetting frequency, the optimal driving parameters for different driving voltage were calculated. The propulsion performance was tested and the results show that the jet thrust can increase with the driving voltage as predicted and the maximum average jet thrust is 0.14 N when the driving voltage is 25 V. The swimming test was carried out to verify the feasibility of the novel design. It is shown that the biomimetic jet propeller can swim with higher speed as the jet thrust and jetting frequency increase and the maximum speed can reach 8.76 cm·s^-1 （0.35 BL·s^-1） at a jetting frequency of 0.83 Hz.     

The locomotory function of the fins in the squid Loligo pealei

Kinematic data of high spatial and temporal resolution, acquired from image sequences of adult long-finned squid, Loligo pealei, during steady swimming in a flume, were used to examine the role of fins and the coordination between fin and jet propulsion in squid locomotion. Fin shape and body outlines were digitized and used to calculate fin wave speed, amplitude, frequency, angle of attack, body deformation, speed, and acceleration. L. pealei were observed to have two fin gait patterns with a transition at 1.4-1.8 mantle lengths per second (Lm s-1) marked by alternation between the two patterns. Fin motion in L. pealei exhibited characteristics of both traveling waves and flapping wings. At low speeds, fin motion was more wave-like; at high speeds, fin motion was more flap-like and was marked by regular periods during which the fins were wrapped tightly against the mantle. Fin cycle frequencies were dependent on swimming speed and gait, and obvious coordination between the fins and jet were observed. Fin wave speed, angle of attack, and body acceleration confirmed the role of fins in thrust production and revealed a role of fins at all swimming speeds by a transition from drag-based to lift-based thrust when fin wave speed dropped below swimming speed. Estimates of peak fin thrust were as high as 0.44-0.96 times peak jet thrust in steady swimming over the range of swimming speeds observed. Fin downstrokes generally contributed more to thrust than did upstrokes, especially at high speeds.     

Stranding events provide indirect insights into the seasonality and persistence of jellyfish medusae (Cnidaria: Scyphozoa)

It is becoming increasingly evident that jellyfish (Cnidaria: Scyphozoa) play an important role within marine ecosystems, yet our knowledge of their seasonality and reproductive strategies is far from complete. Here, we explore a number of life history hypotheses for three common, yet poorly understood scyphozoan jellyfish (Rhizostoma octopus; Chrysaora hysoscella; Cyanea capillata) found throughout the Irish and Celtic Seas. Specifically, we tested whether (1) the bell diameter/wet weight of stranded medusae increased over time in a manner that suggested a single synchronised reproductive cohort; or (2) whether the range of sizes/weights remained broad throughout the stranding period suggesting the protracted release of ephyrae over many months. Stranding data were collected at five sites between 2003 and 2006 (n = 431 surveys; n = 2401 jellyfish). The relationship between bell diameter and wet weight was determined for each species (using fresh specimens collected at sea) so that estimates of wet weight could also be made for stranded individuals. For each species, the broad size and weight ranges of stranded jellyfish implied that the release of ephyrae may be protracted (albeit to different extents) in each species, with individuals of all sizes present in the water column during the summer months. For R. octopus, there was a general increase in both mean bell diameter and wet weight from January through to June which was driven by an increase in the variance and overall range of both variables during the summer. Lastly, we provide further evidence that rhizostome jellyfish may over-wintering as pelagic medusa which we hypothesise may enable them to capitalise on prey available earlier in the year. Handling editor: K. Martens     

Spiroplasma swim by a processive change in body helicity

Microscopic organisms must rely on very different strategies than their macroscopic counterparts to swim through liquid. To date, the best understood method for prokaryotic swimming employs the rotation of flagella. Here, we show that Spiroplasma, tiny helical bacteria that infect plants and insects, use a very different approach. By measuring cell kinematics during free swimming, we find that propulsion is generated by the propagation of kink pairs down the length of the cell body. A processive change in the helicity of the body creates these waves and enables directional movement.     

Scaling of ctenes and consequences for swimming performance in the ctenophore Pleurobrachia bachei

Ctenophores coordinate large macrociliary structures called ctenes to propel themselves through the water. The morphology and kinematics of the ctenes mediate swimming performance. We investigated morphological and kinematic factors affecting swimming performance in free‐swimming ctenophores (Pleurobrachia bachei) using high speed videography. Our morphological results showed that the relationship between body size and ctene morphology and arrangement in P. bachei were well described using linear (i.e., isometric) relationships, which suggests functional limitations of ctenes that vary among individuals of different sizes. Our kinematic results showed that isometric constraints on swimming performance can potentially be overcome by alterations in kinematics: (a) swimming speed in P. bachei increased with ctene beat frequency over a range of body lengths, and (b) the separation of ctenes into clumps of cilia allowed the ctene to increase in width during the effective stroke and decrease in width during recovery. Separation increases the surface area of the ctene during the effective stroke, likely increasing the thrust produced. The finding that ctenes are not monoliths and instead are separated into clumps of cilia has not been previously described, and we subsequently observed this trait in three other ctenophore species: Euplokamis dunlapae, Bolinopsis infundibulum, and Beroe mitrata. Flexibility in function may be a necessary corollary to isometric development of the ctenes as propulsive structures.     

Maneuvering and stability performance of a robotic tuna

The Draper Laboratory Vorticity Control Unmanned Undersea Vehicle(VCUUV) is the first mission-scale, autonomous underwater vehiclethat uses vorticity control propulsion and maneuvering. Builtas a research platform with which to study the energetics andmaneuvering performance of fish-swimming propulsion, the VCUUVis a self-contained free swimming research vehicle which followsthe morphology and kinematics of a yellowfin tuna. The forwardhalf of the vehicle is comprised of a rigid hull which housesbatteries, electronics, ballast and hydraulic power unit. Theaft section is a freely flooded articulated robot tail whichis terminated with a lunate caudal fin. Utilizing experimentallyoptimized body and tail kinematics from the MIT RoboTuna, theVCUUV has demonstrated stable steady swimming speeds up to 1.2m/sec and aggressive maneuvering trajectories with turning ratesup to 75 degrees per second. This paper summarizes the vehiclemaneuvering and stability performance observed in field trialsand compares the results to predicted performance using theoreticaland empirical techniques.     

Kinematics of swimming in two burrowing anguilliform fishes

Anguilliform or eel-like fishes are typically bottom dwellers, some of which are specialized burrowers. Although specializations for burrowing are predicted to affect the kinematics of swimming, it remains unknown to what extent this is actually the case. Here we examine swimming kinematics and efficiency of two burrowing anguilliform species, Pisodonophis boro and Heteroconger hassi, with different degrees of specialization for burrowing. Our data suggest that differences in the swimming kinematics may indeed be related to the differences in burrowing specialization and style between both species. The resemblance between the swimming kinematics of P. boro and previously published data for Anguilla anguilla and Anguilla rostrata may be linked with the relatively limited burrowing specialization of P. boro and suggests an overall stereotypy in anguilliform forward-swimming patterns. The body of H. hassi, in contrast, is more specialized for tail-first burrowing and backward swimming bears a striking resemblance to the backward burrowing motions observed in this species. These motions differ significantly from backward swimming in Anguilla and in P. boro. The kinematics of forward swimming are, however, comparable across species. Thus, our data suggest that specializations for burrowing may affect swimming kinematics in anguilliform fishes, but also that forward swimming and burrowing are not necessarily incompatible. Future studies comparing the kinematics and mechanics of burrowing in these and other anguilliform fishes are needed to better understand how specializations for burrowing constrain backward swimming in H. hassi.     

Telomerase activity is not related to life history stage in the jellyfish Cassiopea sp.

The polyp (scyphistoma) of the jellyfish Cassiopea sp. can be maintained in culture for a long time, as polyps repeatedly reproduce asexually via formation of vegetative buds or propagules. The medusa, which is the sexually reproducing stage, typically has a relatively short life span. As a first step to understand the difference in life spans of the polyp and medusa stages of Cassiopea sp., we measured telomerase activity in different life cycle stages. We found telomerase activity in tissues of aposymbiotic polyps and propagules and symbiotic ephyrae (newly budded medusae) and adult medusae. No significant difference in telomerase activity was found between polyps and the bell region of the medusae. The cloned elongation products of the stretch PCR contained the TTAGGG repeats suggesting that the jellyfish has the ‘vertebrate’ telomere motif (TTAGGG)_n. This is the first study to show that somatic tissues of both polyp and medusa stages of a cnidarian had telomerase activity. Telomerase activity in somatic tissues may be related to the presence of multipotent interstitial cells and high regenerative capacity of cnidarians.     

The locomotory function of the fins in the squid Loligo pealei

Kinematic data of high spatial and temporal resolution, acquired from image sequences of adult long-finned squid, Loligo pealei, during steady swimming in a flume, were used to examine the role of fins and the coordination between fin and jet propulsion in squid locomotion. Fin shape and body outlines were digitized and used to calculate fin wave speed, amplitude, frequency, angle of attack, body deformation, speed, and acceleration. L. pealei were observed to have two fin gait patterns with a transition at 1.4-1.8 mantle lengths per second (L_m s^-1) marked by alternation between the two patterns. Fin motion in L. pealei exhibited characteristics of both traveling waves and flapping wings. At low speeds, fin motion was more wave-like; at high speeds, fin motion was more flap-like and was marked by regular periods during which the fins were wrapped tightly against the mantle. Fin cycle frequencies were dependent on swimming speed and gait, and obvious coordination between the fins and jet were observed. Fin wave speed, angle of attack, and body acceleration confirmed the role of fins in thrust production and revealed a role of fins at all swimming speeds by a transition from drag-based to lift-based thrust when fin wave speed dropped below swimming speed. Estimates of peak fin thrust were as high as 0.44-0.96 times peak jet thrust in steady swimming over the range of swimming speeds observed. Fin downstrokes generally contributed more to thrust than did upstrokes, especially at high speeds.