A Three-Dimensional Kinematics Analysis of a Koi Carp Pectoral Fin by Digital Image Processing

Pectoral fins fascinate researchers for their important role in fish maneuvers. By possessing a complicated flexible structure with several fin rays made by a thin film, the fin exhibits a three-dimensional (3D) motion. The complex 3D fin kinematics makes it challenging to study the performance of pectoral fin. Nevertheless, a detailed study on the 3D motion pattern of pectoral fins is necessary to the design and control of a bio-inspired fin rays. Therefore, a highspeed photography system is introduced in this paper to study the 3D motion of a Koi Carp by analyzing the two views of its pectoral fin simultaneously. The key motions of the pectoral fins are first captured in both hovering and retreating. Next, the 3D configuration of the pectoral fins is reconstructed by digital image processing, in which the movement of fin rays during fish retreating and hovering is obtained. Furthermore, the method of Singular Value Decomposition (SVD) is adopted to extract the basic motion patterns of pectoral fins from extensive image sequences, i.e. expansion, bending, cupping, and undulation. It is believed that the movement of the fin rays and the basic patterns of the pectoral fins obtained in the present work can provide a good foundation for the development and control of bionic flexible pectoral fins for underwater propeller.     

The structure and function of the dermal pectoral girdle in bony fishes with particular reference to ostariophysines

The structure of the dermal pectoral girdle of teleostean fishes is analyzed in relation to its functions. In bony fishes the vertebral column, with a horizontal axis, and the pectoral girdle, with a basically vertical axis, form the only skeletal links between the head and the body. The individual bones of the dermal girdle are considered as supporting units joined by a series of articulations that permit differential movement between adjacent bones. The movements mediated by this linkage system are: lateral swinging of the head relative to the body, expansion of the distance between the central areas of the two pectoral girdles to permit passage of large food items, and fore-and-aft movements of the anteroventral ends of the cleithra relative to the skull. Among other factors affecting the structure of the dermal pectoral girdle are the provision for the support of the pectoral fin base and the requirement for the effective operation of a sleeve valve between the girdle and the opercular cover.
Modifications of the dermal pectoral girdle in ostariophysine fishes are discussed. A brief history of the bony fish girdle in terms of its functional components is postulated.     

中国鲽形目鱼类骨骼的研究Ⅰ.肩带骨及腰带骨

本文比较了中国12属14种鲽形目鱼类的肩带骨及腰带骨,并参考了Ochiai(1963)有关日本钩嘴鳎等5属5种的研究;得知这些骨骼,特别是原始肩带骨与腰带骨,有退化趋势。这似因这些鱼类在向以体一侧侧卧,类似蝶泳姿势强化,偶鳍的功能逐渐变弱或消失,故支持偶鳍运动的这些骨骼也渐退化或消失。     

Description and scaling of pectoral muscles in ictalurid catfishes

The pectoral spine of catfishes is an antipredator adaptation that can be bound, locked, and rubbed against the cleithrum to produce stridulation sounds. We describe muscle morphology of the pectoral spines and rays in six species in four genera of North American ictalurid catfishes. Since homologies of catfish pectoral muscles have not been universally accepted, we designate them functionally as the spine abductor and adductor and the arrector dorsalis and ventralis. The four muscles of the remaining pectoral rays are the superficial and deep (profundal) abductors and adductors. The large spine abductor and spine adductor are responsible for large amplitude movements, and the smaller arrector dorsalis and arrector ventralis have more specialized functions, that is, spine elevation and depression, respectively, although they also contribute to spine abduction. Three of the four spine muscles were pennate (the abductor and two arrectors), the spine adductor can be pennate or parallel, and ray muscles have parallel fibers. Insertions of pectoral muscles are similar across species, but there is a shift of origins in some muscles, particularly of the superficial abductor of the pectoral rays, which assumes a midline position in Ictalurus and increasingly more lateral placement in Ameiurus (one quarter way out from the midline), and Pylodictis and Noturus (half way out). Coincident with this lateral shift, the attachments of the hypaxial muscle to the ventral girdle become more robust. Comparison with its sister group supports the midline position as basal and lateral migration as derived. The muscles of the pectoral spine are heavier than muscles of the remaining rays in all species but the flathead, supporting the importance of specialized spine functions above typical movement. Further, spine muscles were larger than ray muscles in all species but the flathead catfish, which lives in water with the fastest currents. J. Morphol., 2013. © 2012 Wiley Periodicals, Inc.     

Sensory nerve endings of highly mobile structures in two marine teleost fishes

Summary With the use of a whole mount silver impregnation technique, sensory nerve endings were located in the connective tissue at the base of the modified pectoral fin ray in the gurnard,Aspitrigla cuculus, and within the perichondrium of the barbel in the goatfish,Mullus surmuletus. The location of these endings and their planar receptory fields in such highly mobile structures, suggests that the sensory endings are proprioceptive in nature and that they are associated in monitoring the positional state of the modified pectoral fin ray and barbel, respectively, during voluntary movement. This investigation addresses itself to the general problem of proprioception in teleost fishes and provides histological evidence for the presence of proprioceptive nerve endings.     

Pectoral fin beat frequency predicts oxygen consumption during spontaneous activity in a labriform swimming fish (Embiotoca lateralis)

The objective of this study was to identify kinematic variables correlated with oxygen consumption during spontaneous labriform swimming. Kinematic variables (swimming speed, change of speed, turning angle, turning rate, turning radius and pectoral fin beat frequency) and oxygen consumption (MO₂) of spontaneous swimming in Embiotoca lateralis were measured in a circular arena using video tracking and respirometry, respectively. The main variable influencing MO₂ was pectoral fin beat frequency (r ² = 0.71). No significant relationship was found between swimming speed and pectoral fin beat frequency. Complementary to other methods within biotelemetry such as EMG it is suggested that such correlations of pectoral fin beat frequency may be used to measure the energy requirements of labriform swimming fish such as E. lateralis in the field, but need to be taken with great caution since movement and oxygen consumption patterns are likely to be quite different in field situation compared to a small lab tank. In addition, our methods could be useful to measure metabolic costs of growth and development, or bioassays for possible toxicological effects on fish.     

On the osteology and myology of catfish pectoral girdle, with a reflection on catfish (Teleostei: Siluriformes) plesiomorphies

The configuration of the pectoral girdle bones and muscles of numerous catfishes was studied in detail and compared with that of other siluriforms, as well as of other teleosts, described in the literature. The pectoral girdle of catfishes is composed of only three bones, which probably correspond to the posttemporo-supracleithrum (posttemporal + supracleithrum), scapulo-coracoid (scapula + coracoid), and cleithrum of other teleosts. These latter two bones constitute the place of origin of the pectoral girdle muscles. Two of these muscles are related to the movements of the pectoral fin. These two muscles correspond, very likely, to the abductor superficialis and to the adductor superficialis of other teleostean fishes. In relation to the pectoral spine (thickened first pectoral fin ray), it is usually moved by three well-developed muscles, which are probably homologous with the arrector ventralis, arrector dorsalis, and abductor profundus of nonsiluriform teleosts. The morphological diversity and the plesiomorphic configuration of these muscles, as well as of the other catfish pectoral girdle structures, are discussed.     

The pectoral anatomy of selected Ostariophysi. I. The Characiniformes.

The muscles and bones of the pectoral fin of Serrasalmus nattereri, the piranha, resemble those of generalized, lower teleosts with specializations related to a body shape adapted for high-speed carnivory; the pectoral fins being highly mobile with strong ligaments to the rays. The presence of two occipital nerves appears primitive, while the emergence of the subclavian artery within the branchial cavity, as in Gasteropelecus sternicla, appears specialized. The muscles and bones of the latter fish, a fresh-water flying fish, are specialized for self-propelled, aerial flight in the fusion of the right and left girdles greatly expanded for insertions of complex appendicular (flight) muscles, and in the consolidation of the rays and radials into one functional unit moving vertically in flight through contraction of vertical, massive ventral flight muscles. The bony pectoral anatomy of Electrophorus electricus, the electric eel, is specialized in having a mobile joint between the primary girdle and the cleithrum, the former being suspended vertically from the cleithrum by ligaments. The proximal radials and rays are very numerous and vertically aligned. The cleithrum is shaped to accommodate the extensive sternohyoid and pharyngocleithral muscles. The sheet-like appendicular muscles extend beyond the special joint and control its movement. The deeper muscles do not cross this joint. The arterial system is specialized in lacking a deep brachial artery.     

The morphology of the cephalic lobes and anterior pectoral fins in six species of batoids

Many benthic batoids utilize their pectoral fins for both undulatory locomotion and feeding. Certain derived, pelagic species of batoids possess cephalic lobes, which evolved from the anterior pectoral fins. These species utilize the pectoral fins for oscillatory locomotion while the cephalic lobes are used for feeding. The goal of this article was to compare the morphology of the cephalic lobes and anterior pectoral fins in species that possess and lack cephalic lobes. The skeletal elements (radials) of the cephalic lobes more closely resembled the radials in the pectoral fin of undulatory species. Second moment of area (I), calculated from cephalic lobe radial cross sections, and the number of joints revealed greater flexibility and resistance to bending in multiple directions as compared to pectoral fin radials of oscillatory species. The cephalic lobe musculature was more complex than the anterior pectoral fin musculature, with an additional muscle on the dorsal side, with fiber angles running obliquely to the radials. In Rhinoptera bonasus, a muscle presumably used to help elevate the cephalic lobes is described. Electrosensory pores were found on the cephalic lobes (except Mobula japonica) and anterior pectoral fins of undulatory swimmers, but absent from the anterior pectoral fins of oscillatory swimmers. Pore distributions were fairly uniform except in R. bonasus, which had higher pore numbers at the edges of the cephalic lobes. Overall, the cephalic lobes are unique in their anatomy but are more similar to the anterior pectoral fins of undulatory swimmers, having more flexibility and maneuverability compared to pectoral fins of oscillatory swimmers. The maneuverable cephalic lobes taking on the role of feeding may have allowed the switch to oscillatory locomotion and hence, a more pelagic lifestyle. J. Morphol. 274:1070–1083, 2013. © 2013 Wiley Periodicals, Inc.     

Functional Morphology of Aquatic Flight in Fishes: Kinematics, Electromyography, and Mechanical Modeling of Labriform Locomotion

Labriform locomotion is the primary swimming mode for many fishesthat use the pectoral fins to generate thrust across a broadrange of speeds. A review of the literature on hydrodynamics,kinematics, and morphology of pectoral fin mechanisms in fishesreveals that we lack several kinds of morphological and kinematicdata that are critical for understanding thrust generation inthis mode, particularly at higher velocities. Several needsinclude detailed three-dimensional kinematic data on speciesthat are pectoral fin swimmers across a broad range of speeds,data on the motor patterns of pectoral fin muscles, and thedevelopment of a mechanical model of pectoral fin functionalmorphology. New data are presented here on pectoral fin locomotionin Gomphosus varius, a labrid fish that uses the pectoral finsat speeds of 1 –6 total body lengths per second. Three-dimensionalkinematic data for the pectoral fins of G. varius show thata typical "drag-based" mechanism is not used in this species.Instead, the thrust mechanics of this fish are dominated bylift forces and acceleration reaction forces. The fin is twistedlike a propeller during the fin stroke, so that angles of attackare variable along the fin length. Electromyographic data onsix fin muscles indicate the sequence of muscle activity thatproduces antagonistic fin abduction and adduction and controlsthe leading edge of the fin. EMG activity in abductors and adductorsis synchronous with the start of abduction and adduction, respectively,so that muscle mechanics actuate the fin with positive work.A mechanical model of the pectoral fin is proposed in whichfin morphometrics and computer simulations allow predictionsof fin kinematics in three dimensions. The transmission of forceand motion to the leading edge of the fin depends on the mechanicaladvantage of fin ray levers. An integrative program of researchis suggested that will synthesize data on morphology, physiology,kinematics, and hydrodynamics to understand the mechanics ofpectoral fin swimming.     

Gait transition speed, pectoral fin-beat frequency and amplitude in Cymatogaster aggregata, Embiotoca lateralis and Damalichthys vacca

Surfperches are labriform swimmers and swim primarily with their pectoral fins, using the tail to assist only at higher speeds. The transition, from pectoral to pectoral and caudal fins, occurs at a threshold speed that has been termed physiologically and biomechanically 'equivalent' for fishes of different size. The gait transition ( U _P-C) of Cymatogaster aggregata occurred at a higher speed (measured in bodylengths s⁻¹) for smaller fish than larger fish. At U _P-C, pectoral fin-beat frequency was size-dependent: smaller fish have a higher pectoral fin-beat frequency than larger fish. In contrast, at low speeds (i.e. <60% of U _P-C) the pectoral fin-beat frequency was independent of the size of the fish. Inter-specific comparisons of U _P-C, pectoral fin-beat frequency and amplitude among C. aggregata, Embiotoca lateralis and Damalichthys vacca showed that C. aggregata had a higher U _P-C than E. lateralis and D. vacca . The pectoral fin-beat frequency at U _P-C showed no significant differences among species. Cymatogaster aggregata achieved higher U _P-C, in part, through increased fin beat amplitude rather than frequency. These differences in performance may be related to the different habitats in which these species live.     

Temporal and tissue-specific expression of myosin heavy chain isoforms in developing and adult avian muscle

We have raised monoclonal antibodies (Mabs) to myosin heavy chain isoforms (MHCs) that have specific patterns of temporal expression during the development of quail pectoral muscle and that are expressed in very restricted, tissue-specific patterns in adult birds. We find that an early embryonic, a perinatal, and an adult-specific, fast myosin heavy chain are co-expressed at different levels in the pectoral muscle of 8-12 day quail embryos. The early embryonic MHC disappears from the pectoral muscle at approximately 14 days in ovo, whereas the perinatal MHC persists until 26 days post-hatching. The adult-specific MHC accumulates preferentially and eventually completely replaces the other isoforms. These Mabs cross-react with the homologous isoforms of the chick and detect a similar pattern of MHC expression in the pectoral muscle of developing chicks. Although the early embryonic and perinatal MHC isoforms recognized by our Mabs are expressed in the pectoral muscle only during distinct developmental stages, our Mabs also recognize MHC isoforms present in the heart and extraocular muscle of adult quail. Immunofingerprinting using Staphylococcus aureus protease V8 suggests that the early embryonic and perinatal MHC isoforms that we see are strongly homologous with the adult ventricular and extraocular muscle isoforms, respectively. These observations suggest that at least three distinct MHC isoforms, which are normally expressed in adult muscles, are co-expressed during the early development of the pectoral muscle in birds. In this respect, the pattern of expression of the MHCs recognized by our Mabs in developing, fast muscle is very similar to the patterns described for other muscle contractile proteins.     

Pectoral Fin of the Megamouth Shark: Skeletal and Muscular Systems,Skin Histology,and Functional Morphology

This is the first known report on the skeletal and muscular systems, and the skin histology, of the pectoral fin of the rare planktivorous megamouth shark Megachasma pelagios. The pectoral fin is characterized by three features: 1) a large number of segments in the radial cartilages; 2) highly elastic pectoral fin skin; and 3) a vertically-rotated hinge joint at the pectoral fin base. These features suggest that the pectoral fin of the megamouth shark is remarkably flexible and mobile, and that this flexibility and mobility enhance dynamic lift control, thus allowing for stable swimming at slow speeds. The flexibility and mobility of the megamouth shark pectoral fin contrasts with that of fast-swimming sharks, such as Isurus oxyrhinchus and Lamna ditropis, in which the pectoral fin is stiff and relatively immobile.     

Wake dynamics and locomotor function in fishes: interpreting evolutionary patterns in pectoral fin design

The great anatomical diversification of paired fins within theActinopterygii (ray-finned fishes) can be understood as a suiteof evolutionary transformations in design. At a broad taxonomicscale, two clear trends exist in the morphology of the anteriorlysituated pectoral fins. In comparing basal to more derived clades,there are general patterns of (i) reorientation of the pectoralfin base from a nearly horizontal to more vertical inclination,and (ii) migration of the pectoral fin from a ventral to mid-dorsalbody position. As yet, the functional significance of thesehistorical trends in pectoral fin design remains largely untestedby experiment. In this paper we test the proposal that variationin pectoral fin structure has an important influence on themagnitude and orientation of fluid forces generated during maneuveringlocomotion. Using digital particle image velocimetry for quantitativewake visualization, we measure swimming forces in ray-finnedfishes exhibiting the plesiomorphic and apomorphic pectoralfin anatomy. Our experiments focus on rainbow trout (Oncorhynchusmykiss), a lower teleost with pectoral fins positioned ventrallyand with nearly horizontally inclined fin bases, and bluegillsunfish (Lepomis macrochirus), a relatively derived perciformfish with more vertically oriented pectoral fins positionedmid-dorsally on the body. In support of hypotheses arising fromour prior wake studies and previously untested models in theliterature, we find that the pectoral fins of sunfish generatesignificantly higher forces for turning and direct braking forcescloser to the center of mass of the body than the pectoral finsof trout. These results provide insight into the hydrodynamicimportance of major evolutionary transformations in pectoralfin morphology within the Actinopterygii.     

On the serial homology of the pectoral and pelvic girdles of tetrapods

While fore‐ and hindlimbs are commonly assumed to be serially homologous, the serial homology of the pectoral and pelvic girdles is more ambiguous. We investigate the degree to which a common history, developmental program, and gene network are shared between the girdles relative to the rest of the appendicular skeleton. Paleontological data indicate that pectoral appendages arose millions of years before pelvic appendages. Recent embryological and genetic data suggest that the anatomical similarity between the fore‐ and hindlimbs arose through the sequential, derived deployment of similar developmental programs and gene networks, and is therefore not due to ancestral serial homology. Much less developmental work has however been published about the girdles. Here, we provide the first detailed review of the developmental programs and gene networks of the pectoral and pelvic girdles. Our review shows that, with respect to these programs and networks, there are fewer similarities between pelvic and pectoral girdles than there are between the limbs. The available data therefore support recent hypotheses that the anatomical similarities between the fore‐ and hindlimbs arose during the fin‐to‐limb transition through the derived co‐option of similar developmental mechanisms, while the phylogenetically older pectoral and pelvic girdles have remained more distinct since their evolutionary origin.     

Evolution of touch and proprioception of the limbs: Insights from fish and humans

The function of the hands is inextricably linked to cutaneous mechanosensation, both in touch and in how hand movement and posture (proprioception) are controlled. The structure and behavior of hands and distal forelimbs of other vertebrates have been evolutionarily shaped by these mechanosensory functions. The distal forelimb of tetrapod vertebrates is homologous to the pectoral fin rays and membrane of fishes. Fish fins demonstrate similar mechanosensory abilities to hands and other distal tetrapod forelimbs in touch and proprioception. These results indicate that vertebrates were using the core mechanosensory inputs, such as fast adapting and slow adapting nerve responses, to inform fin and limb function and behavior before their diversification in fish and tetrapod lineages.     

Myoglobin levels and mATPase activity in pectoral muscles of spruce and ruffed grouse (Aves: Tetraoninae)

Myoglobin concentration and myosin ATPase activity were measured in the pectoral muscle of wild spruce grouse (Dendragapus canadensis) and ruffed grouse (Bonasa umbellus), together with the weight of the Mm. pectoralis, supracoracoideus and heart. mATPase activities were similar in both species, but spruce grouse contained 15 times more myoglobin in the pectoralis muscle and the heart was three times heavier than that of the ruffed grouse. The relative mass of the flight muscles and wing loading were similar between species. Characteristics of the pectoral muscle of both grouse species reflect adaptations to predation and advertising displays. The glycolytic nature of the ruffed grouse pectoral muscle and small heart size is an adaptation to a sedentary existence within a small home range. The more oxidative pectoral muscle of spruce grouse together with its larger heart are adaptations to seasonal dispersals requiring more sustained flight.     

Externally attached radio transmitters do not affect the parental care behaviour of rock bass

Turning, pectoral fin and caudal fin rates and time spent on the nest of male rock bass Ambloplites rupestris , engaged in parental care, were not affected after the attachment of external radio transmitters. Reproductive success was similar between treatment and control fish. Micro external radio transmitters can be used on small fishes for studying parental care duration and post-care movement without altering their behaviour.     

Locomotory abilities and habitat of the Cretaceous bird Gansus yumenensis inferred from limb length proportions

The relative length proportions of the three bony elements of the pelvic (femur, tibiotarsus and tarsometatarsus) and pectoral (humerus, ulna and manus) limbs of the early Cretaceous bird Gansus yumenensis, a well‐represented basal ornithuromorph from China, are investigated and compared to those of extant taxa. Ternary plots show that the pectoral limb length proportions of Gansus are most similar to Apodiformes (swifts and hummingbirds), which plot away from all other extant birds. In contrast, the pelvic limb length proportions of Gansus fall within the extant bird cluster and show similarities with the neornithine families Podicipedidae (grebes), Diomedeidae (albatross) and Phalacrocoracidae (cormorants). Although it does have some of the pelvic limb features of grebes and cormorants, the femur of Gansus is more gracile and is thus more consistent with an albatross‐like shallow‐diving mode of life than a strong foot‐propelled diving movement pattern. The position of Gansus in pectoral limb ternary morphospace is largely due to its elongated manus. In contrast to apodiformes, where the humerus and ulna are short and robust, an adaptation, which provides a stiff wing for their demanding fast agile and hovering flight (respectively), the wing‐bones of Gansus are slender, indicating a less vigorous flapping flight style. The suite of characters exhibited by Gansus mean it is difficult to completely interpret its likely ecology. Nevertheless, our analyses suggest that it is probable that this bird was both volant and capable of diving to some degree using either foot‐propelled or, perhaps, both its wings and its feet for underwater locomotion.