Stability versus maneuverability in aquatic locomotion

The dictionary definition of stability as "Firmly established,not easily to be changed" immediately indicates the conflictbetween stability and maneuverability in aquatic locomotion.The present paper addresses several issues resulting from theseopposing requirements. Classical stability theory for bodiesmoving in fluids is based on developments in submarine and airshipmotions. These have lateral symmetry, in common with most animals.This enables the separation of the equations of motion intotwo sets of 3 each. The vertical (longitudinal) set, which includesmotions in the axial (surge), normal (heave) and pitching directions,can thus be separated from the lateral-horizontal plane whichincludes yaw, roll and sideslip motions. This has been founduseful in the past for longitudinal stability studies basedon coasting configurations but is not applicable to the analysisof turning, fast starts and vigorous swimming, where the lateralsymmetry of the fish body is broken by bending motions. Thepresent paper will also examine some of the aspects of the stabilityvs. maneuverability tradeoff for these asymmetric motions. Ananalysis of the conditions under which the separation of equationsof motions into vertical and horizontal planes is justified,and a definition of the equations to be used in cases wherethis separation is not accurate enough is presented.     

Biomechanics and allometric scaling in primate locomotion and morphology

Body size has a dominant influence on locomotor performance and the morphology of the locomotor apparatus. In locomotion under the influence of gravity, body mass acts as weight force and is a mechanical variable. Accordingly, the application of biomechanical principles and methods allows a functional understanding of scaling effects in locomotion. This is demonstrated here using leaping primates as an example. With increasing body size, the decreasing ratio of muscle force available for acceleration during takeoff to the body mass that has to be accelerated dictates both the movement pattern and the proportions of the hindlimbs. In an arm-swinging movement, the long, heavy arms of the large-bodied leapers are effectively used to gain additional momentum. A new perspective on decreasing size identifies the absolutely small acceleration distance and time available for propulsion as factors limiting leaping distance and extensively determining locomotor behavior and body proportions. As the mechanical constraints differ according to body size for a given mode of locomotion, a typological approach to morphology in relation to locomotor category is ruled out. Across locomotor categories, dynamic similarity (sensu Alexander) can be expected if the propulsive mechanisms as well as the selective pressures acting upon locomotion are the same.     

Relationship between osteology and aquatic locomotion in birds: determining modes of locomotion in extinct Ornithurae

The evolutionary history of aquatic invasion in birds would be incomplete without incorporation of extinct species. We show that aquatic affinities in fossil birds can be inferred by multivariate analysis of skeletal features and locomotion of 245 species of extant birds. Regularized discriminant analyses revealed that measurements of appendicular skeletons successfully separated diving birds from surface swimmers and flyers, while also discriminating among different underwater modes of swimming. The high accuracy of this method allows detection of skeletal characteristics that are indicative of aquatic locomotion and inference of such locomotion in bird species with insufficient behavioural information. Statistical predictions based on the analyses confirm qualitative assessments for both foot‐propelled (Hesperornithiformes) and wing‐propelled (Copepteryx) underwater locomotion in fossil birds. This is the first quantitative inference of underwater modes of swimming in fossil birds, enabling future studies of locomotion in extinct birds and evolutionary transitions among locomotor modes in avian lineage.     

The scaling and structure of aquatic animal wakes

Animal generated water movements are visualized and quantifiedusing two-dimensional particle image velocimetry (PIV). Theresulting vector flow fields allow for the study of the distributionof velocity, vorticity and vortices. Structural and temporalaspects of animal-induced flows covering a range of Reynolds(Re) numbers between less than 1 to more than 10⁴ are presented. Maps of flow induced by continuous foraging and intermittentescape responses of tethered nauplius and copepodid stages ofthe marine copepod Temora longicornis offer insight in viscosity-dominatedflow regimes. Fast escape responses of the equally sized largestnauplius stage and the smallest copepodid stage are compared.The nauplius moves by generating a viscous flow pattern withhigh velocities and vorticity; the copepodid moves by usinginertial effects to produce a vortex ring with a rearward jetthrough the center. Larvae and small adult fish (zebra danio) use a burst-and-coast-swimmingmode at Re numbers up to 6,000, shedding a vortex ring withthe associated jet at the tail during the burst phase. Flowpatterns during the coasting phase differ between the smalllarvae and larger adults due to the changes in importance ofviscosity. A 12 cm long mullet swimming in a continuous mode generatesa chain of vortex rings with a backward undulating jet throughthe centers of the rings at Re numbers of 4 x 10⁴ in inertia-dominatedregimes. Our empirical results provide realistic insight in the scaleeffects determining the morphology of the interactions betweenanimals and water.     

Renewable fluid dynamic energy derived from aquatic animal locomotion

Aquatic animals swimming in isolation and in groups are known to extract energy from the vortices in environmental flows, significantly reducing muscle activity required for locomotion. A model for the vortex dynamics associated with this phenomenon is developed, showing that the energy extraction mechanism can be described by simple criteria governing the kinematics of the vortices relative to the body in the flow. In this way, we need not make direct appeal to the fluid dynamics, which can be more difficult to evaluate than the kinematics. Examples of these principles as exhibited in swimming fish and existing energy conversion devices are described. A benefit of the developed framework is that the potentially infinite-dimensional parameter space of the fluid-structure interaction is reduced to a maximum of eight combinations of three parameters. The model may potentially aid in the design and evaluation of unsteady aero- and hydrodynamic energy conversion systems that surpass the Betz efficiency limit of steady fluid dynamic energy conversion systems.     

Environmental constraints upon locomotion and predator-prey interactions in aquatic organisms: an introduction

Environmental constraints in aquatic habitats have become topics of concern to both the scientific community and the public at large. In particular, coastal and freshwater habitats are subject to dramatic variability in various environmental factors, as a result of both natural and anthropogenic processes. The protection and sustainable management of all aquatic habitats requires greater understanding of how environmental constraints influence aquatic organisms. Locomotion and predator-prey interactions are intimately linked and fundamental to the survival of mobile aquatic organisms. This paper summarizes the main points from the review and research articles which comprise the theme issue 'Environmental constraints upon locomotion and predator-prey interactions in aquatic organisms'. The articles explore how natural and anthropogenic factors can constrain these two fundamental activities in a diverse range of organisms from phytoplankton to marine mammals. Some major environmental constraints derive from the intrinsic properties of the fluid and are mechanical in nature, such as viscosity and flow regime. Other constraints derive from direct effects of factors, such as temperature, oxygen content of the water or turbidity, upon the mechanisms underlying the performance of locomotion and predator-prey interactions. The effect of these factors on performance at the tissue and organ level is reflected in constraints upon performance of the whole organism. All these constraints can influence behaviour. Ultimately, they can have an impact on ecological performance. One issue that requires particular attention is how factors such as temperature and oxygen can exert different constraints on the physiology and behaviour of different taxa and the ecological implications of this. Given the multiplicity of constraints, the complexity of their interactions, and the variety of biological levels at which they can act, there is a clear need for integration between the fields of physiology, biomechanics, behaviour, ecology, biological modelling and evolution in both laboratory and field studies. For studies on animals in their natural environment, further technological advances are required to allow investigation of how the prevailing physico-chemical conditions influence basic physiological processes and behaviour.     

Ants swimming in pitcher plants: kinematics of aquatic and terrestrial locomotion in Camponotus schmitzi

Camponotus schmitzi ants live in symbiosis with the Bornean pitcher plant Nepenthes bicalcarata. Unique among ants, the workers regularly dive and swim in the pitcher's digestive fluid to forage for food. High-speed motion analysis revealed that C.?schmitzi ants swim at the surface with all legs submerged, with an alternating tripod pattern. Compared to running, swimming involves lower stepping frequencies and larger phase delays within the legs of each tripod. Swimming ants move front and middle legs faster and keep them more extended during the power stroke than during the return stroke. Thrust estimates calculated from three-dimensional leg kinematics using a blade-element approach confirmed that forward propulsion is mainly achieved by the front and middle legs. The hind legs move much less, suggesting that they mainly serve for steering. Experiments with tethered C.?schmitzi ants showed that characteristic swimming movements can be triggered by submersion in water. This reaction was absent in another Camponotus species investigated. Our study demonstrates how insects can use the same locomotory system and similar gait patterns for moving on land and in water. We discuss insect adaptations for aquatic/amphibious lifestyles and the special adaptations of C.?schmitzi to living on an insect-trapping pitcher plant.     

Shape shifting predicts ontogenetic changes in metabolic scaling in diverse aquatic invertebrates

Metabolism fuels all biological activities, and thus understanding its variation is fundamentally important. Much of this variation is related to body size, which is commonly believed to follow a 3/4-power scaling law. However, during ontogeny, many kinds of animals and plants show marked shifts in metabolic scaling that deviate from 3/4-power scaling predicted by general models. Here, we show that in diverse aquatic invertebrates, ontogenetic shifts in the scaling of routine metabolic rate from near isometry (b_R = scaling exponent approx. 1) to negative allometry (b_R < 1), or the reverse, are associated with significant changes in body shape (indexed by b_L = the scaling exponent of the relationship between body mass and body length). The observed inverse correlations between b_R and b_L are predicted by metabolic scaling theory that emphasizes resource/waste fluxes across external body surfaces, but contradict theory that emphasizes resource transport through internal networks. Geometric estimates of the scaling of surface area (SA) with body mass (b_A) further show that ontogenetic shifts in b_R and b_A are positively correlated. These results support new metabolic scaling theory based on SA influences that may be applied to ontogenetic shifts in b_R shown by many kinds of animals and plants.     

Moving in two worlds: aquatic and terrestrial locomotion in sea snakes (Laticauda colubrina,Laticaudidae)

Yellow‐lipped sea kraits (Laticauda colubrina) are amphibious in their habits. We measured their locomotor speeds in water and on land to investigate two topics: (1) to what degree have adaptations to increase swimming speed (paddle‐like tail etc.) reduced terrestrial locomotor ability in sea kraits?; and (2) do a sea krait’s sex and body size influence its locomotor ability in these two habitats, as might be expected from the fact that different age and sex classes of sea kraits use the marine and terrestrial environments in different ways? To estimate ancestral states for locomotor performance, we measured speeds of three species of Australian terrestrial elapids that spend part of their time foraging in water. The evolutionary modifications of Laticauda for marine life have enhanced their swimming speeds by about 60%, but decreased their terrestrial locomotor speed by about 80%. Larger snakes moved faster than smaller individuals in absolute terms but were slower in terms of body lengths travelled per second, especially on land. Male sea kraits were faster than females (independent of the body‐size effect), especially on land. Prey items in the gut reduced locomotor speeds both on land and in water. Proteroglyphous snakes may offer exceptional opportunities to study phylogenetic shifts in locomotor ability, because (1) they display multiple independent evolutionary shifts from terrestrial to aquatic habits, and (2) one proteroglyph lineage (the laticaudids) displays considerable intraspecific and interspecific diversity in terms of the degree to which they use terrestrial vs. aquatic habitats.     

How muscles accommodate movement in different physical environments: aquatic vs. terrestrial locomotion in vertebrates.

Representatives of nearly all vertebrate classes are capable of coordinated movement through aquatic and terrestrial environments. Though there are good data from a variety of species on basic patterns of muscle recruitment during locomotion in a single environment, we know much less about how vertebrates use the same musculoskeletal structures to accommodate locomotion in physically distinct environments. To address this issue, we have gathered data from a broad range of vertebrates that move successfully through water and across land, including eels, toads, turtles and rats. Using high-speed video in combination with electromyography and sonomicrometry, we have quantified and compared the activity and strain of individual muscles and the movements they generate during aquatic vs. terrestrial locomotion. In each focal species, transitions in environment consistently elicit alterations in motor output by major locomotor muscles, including changes in the intensity and duration of muscle activity and shifts in the timing of activity with respect to muscle length change. In many cases, these alterations likely change the functional roles played by muscles between aquatic and terrestrial locomotion. Thus, a variety of forms of motor plasticity appear to underlie the ability of many species to move successfully through different physical environments and produce diverse behaviors in nature.     

Algal biomass and biogeochemistry in catchments and aquatic ecosystems: scaling of processes,models and empirical tests

Sterile substrates seeded with FPOM derived from one of twodifferent riparian leaf types (maple or cedar) were insertedintoperforated metal pipes permanently installed in the hyporheiczoneof the Speed River, Ontario. After 8 weeks in the river, atotal of42 taxa had colonised; however taxon richness was greater inthemaple-detritus substrates than in the cedar-detritussubstrates (35taxa vs 22). In the cedar substrates, the highest overalldensityoccurred at 10–30 cm depth, but invertebrate densities werehighto 50 cm in the maple substrates. Overall, significantly morehyporheic organisms colonised the maple substrates, and thiswaslargely due to greater numbers of mayflies and chironomidsbelonging to the subfamily Chironominae. There were nodifferencesin the densities of the two other most common taxa, the elmidbeetles and tanypodine chironomids, between the two detritustypes.Some visual differences in the two detritus types were evidentafter their time in the river, but there were no numericaldifferences between associated bacterial populations.Although, themean total organic carbon content of the two detritus typeswas thesame, the C/N ratio, a measure of potential nutritional value,wassignificantly higher in maple (42:1 vs 30:1).     

Pinocytosis and locomotion in amoebae

Summary Different methods were used to demonstrate the existence of Ca⁺⁺-binding sites (Ca⁺⁺-bs) at the plasma membrane ofAmoeba proteus. In pinocytoting animals the number (indicated by the average distanced in nm) and size (average longitudinal axiss in nm) of Ca⁺⁺-bs at the cytoplasmic surface of the cell membrane were significantly increased (d=162±15;n=41 ands=93±5;n=47) in comparison to controls (d=208 ±21;n=37 ands=59±8;n=45). The ratio of P: Ca obtained by X-ray microanalysis was in the range of 1.5. The differences observed in the two experimental groups of amoebae are explained by conformational changes in the molecular structure and an increased Ca⁺⁺-permeability of the plasma membrane during induced pinocytosis.Microplasmodia of the acellular slime moldPhysarum polycephalum investigated for comparison were found to have no Ca⁺⁺-bs at the interior cell surface.     

Terrestrial locomotion in pterosaurs

On the basis of a well‐preserved pelvis of Anhanguera sp. from the Lower Cretaceous (Aptian) of the Chapada do Araripe, Brazil, the problem of terrestrial locomotion in pterosaurs is discussed. A three‐dimensional reconstruction of the pelvis led to a lateral, dorsal and posterior orientation of the acetabula. By use of the preserved proximal ends of the femora of the same individual, the articulation in the hip socket could be tested. The normal articulation of the femur resulted in a horizontal position of the femur shaft, probably during flight. For constructional reasons the femur could not be brought down to a vertical position. Therefore, a parasagittal swing of the femora necessary for a bird‐like stance and gait must have been impossible. It is suggested that in pterosaurs the wing membrane was attached to the upper leg, which helped in stretching, steering and cambering.

Moreover, on the basis of comparisons of the fossil preservation of pterosaurs Compsognathus and Archaeopteryx in the Solnhofen limestone, it is concluded that the femora of pterosaurs were splayed out laterally, and that they had a semi‐erect gait. They were not bipedal animals, but had to use their fore limbs as well on the ground. Nevertheless, as vertebrates extremely adapted to flight, they could not have been able quadrupeds, either.     

Fast locomotion in caterpillars

The maximum forward crawling speeds of caterpillars are limited by the hydraulic design of the body and the peristaltic mode of operation of the segmental muscles. High speed locomotory manoeuvers can be achieved by reversing the direction of the normal peristaltic wave (from posterior-anterior to anterior-posterior) although the penalty is a dramatically reduced duty factor of the legs and potential instability. This study describes the suite of reverse gaits available to caterpillars, from reverse walking (the kinematic inverse of normal forward walking), through to reverse galloping (in which all the legs save the claspers are wrenched free of the ground with each step) to recoil-and-roll, a unique form of locomotion in which the insect free-wheels backwards at high-speed. These reverse forms of locomotion are produced primarily in response to threat, involve bilateral activation of the intersegmental muscles and are relatively simple in terms of neural control. The ecological roles of high-speed locomotion are considered in the light of potential predators and the normal habitat and terrain.     

Terrestrial locomotion in arachnids

In this review, we assess the current state of knowledge on terrestrial locomotion in Arachnida. Arachnids represent a single diverse (>100,000 species) clade containing well-defined subgroups (at both the order and subordinal levels) that vary morphologically around a basic body plan, yet exhibit highly disparate limb usage, running performance, and tarsal attachment mechanisms. Spiders (Araneae), scorpions (Scorpiones), and harvestmen (Opiliones) have received the most attention in the literature, while some orders have never been subject to rigorous mechanical characterization. Most well-characterized taxa move with gaits analogous to the alternating tripod gaits that characterize fast-moving Insecta - alternating tetrapods or alternating tripods (when one pair of legs is lifted from the ground for some other function). However, between taxa, there is considerable variation in the regularity of phasing between legs. Both large and small spiders appear to show a large amount of variation in the distribution of foot-ground contact, even between consecutive step-cycles of a single run. Mechanisms for attachment to vertical surfaces also vary, and may depend on tufts of adhesive hairs, fluid adhesives, silks, or a combination of these. We conclude that Arachnida, particularly with improvements in microelectronic force sensing technology, can serve as a powerful study system for understanding the kinematics, dynamics, and ecological correlates of sprawled-posture locomotion.     

Stability in legged locomotion

Stability is a key element in a gait synthesis. Static stability margins are widely adopted in crawlers, while no similar approach has been developed for dynamically stable systems. Utilizing an analytical approach, we developed a set of easy-to-calculate stability indices to describe instantaneous static and dynamic (In)stability for a certain group of walking systems. The analysis is based on a thorough analysis of the interaction between ground reaction forces and the walking system. The indices are applicable to walking systems regardless of the number of legs or mechanical/biological design. We show that static and dynamic stability are independent of each other. We suggest a possible categorization of gait modes based on stability. Stability characteristics are analyzed in a healthy and highly pathological human gait. Finally, we discuss the applicability of the proposed methods.