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.     

Propulsion in Cubomedusae: Mechanisms and Utility

Evolutionary constraints which limit the forces produced during bell contractions of medusae affect the overall medusan morphospace such that jet propulsion is limited to only small medusae. Cubomedusae, which often possess large prolate bells and are thought to swim via jet propulsion, appear to violate the theoretical constraints which determine the medusan morphospace. To examine propulsion by cubomedusae, we quantified size related changes in wake dynamics, bell shape, swimming and turning kinematics of two species of cubomedusae, Chironex fleckeri and Chiropsella bronzie. During growth, these cubomedusae transitioned from using jet propulsion at smaller sizes to a rowing-jetting hybrid mode of propulsion at larger sizes. Simple modifications in the flexibility and kinematics of their velarium appeared to be sufficient to alter their propulsive mode. Turning occurs during both bell contraction and expansion and is achieved by generating asymmetric vortex structures during both stages of the swimming cycle. Swimming characteristics were considered in conjunction with the unique foraging strategy used by cubomedusae.     

Swimming dynamics and propulsive efficiency of squids throughout ontogeny

Squids encounter vastly different flow regimes throughout ontogeny as they undergo critical morphological changes to their two locomotive systems: the fins and jet. Squid hatchlings (paralarvae) operate at low and intermediate Reynolds numbers (Re) and typically have rounded bodies, small fins, and relatively large funnel apertures, whereas juveniles and adults operate at higher Re and generally have more streamlined bodies, larger fins, and relatively small funnel apertures. These morphological changes and varying flow conditions affect swimming performance in squids. To determine how swimming dynamics and propulsive efficiency change throughout ontogeny, digital particle image velocimetry (DPIV) and kinematic data were collected from an ontogenetic range of long-finned squid Doryteuthis pealeii and brief squid Lolliguncula brevis swimming in a holding chamber or water tunnel (Re = 20-20 000). Jet and fin wake bulk properties were quantified, and propulsive efficiency was computed based on measurements of impulse and excess kinetic energy in the wakes. Paralarvae relied predominantly on a vertically directed, high frequency, low velocity jet as they bobbed up and down in the water column. Although some spherical vortex rings were observed, most paralarval jets consisted of an elongated vortical region of variable length with no clear pinch-off of a vortex ring from the trailing tail component. Compared with paralarvae, juvenile and adult squid exhibited a more diverse range of swimming strategies, involving greater overall locomotive fin reliance and multiple fin and jet wake modes with better defined vortex rings. Despite greater locomotive flexibility, jet propulsive efficiency of juveniles/adults was significantly lower than that of paralarvae, even when juvenile/adults employed their highest efficiency jet mode involving the production of periodic isolated vortex rings with each jet pulse. When the fins were considered together with the jet for several juvenile/adult swimming sequences, overall propulsive efficiency increased, suggesting that fin contributions are important and should not be overlooked in analyses of the swimming performance of squids. The fins produced significant thrust and consistently had higher propulsive efficiency than did the jet. One particularly important area of future study is the determination of coordinated jet/fin wake modes that have the greatest impact on propulsive efficiency. Although such research would be technically challenging, requiring new, powerful, 3D approaches, it is necessary for a more comprehensive assessment of propulsive efficiency of the squid dual-mode locomotive system.     

Opening the Social Gateway: Early Vocal and Social Sensitivities in Brown-Headed Cowbirds (Molothrus ater)

The organization of cowbird ( Molothrus ater ) social groups affords individuals living in the groups different opportunities for learning and also structures trajectories of social development. Here, we studied the influence of adults on social organization of very young cowbirds. In three experiments, we housed juvenile birds in large, seminatural environments that either contained or did not contain adult conspecifics. We then observed the social associations and vocalizations of juveniles in each environment. The presence of adults in the social environment influenced the assortment and singing patterns of juveniles, although throughout the three experiments adults rarely interacted physically with juveniles. Juveniles housed with adults interacted with other juveniles more often and sang significantly less often than juveniles housed without adults. Effects of adult presence or absence on social organization and singing patterns emerged extremely rapidly and could be reversed quickly. Taken as a whole, the experiments revealed that very young cowbirds, in the first days of independence from their hosts, were sensitive to, and reacted rapidly to, the composition of their social environment. Specifically, presence of other age classes of individuals within the group increased juvenile associations and delayed production of vocalizations by juvenile males. Self-organization within the social group produced different social environments, which could in turn create different gateways for social learning and vocal development.     

The effect of Reynolds number on the propulsive efficiency of a biomorphic pulsed-jet underwater vehicle

The effect of Reynolds number on the propulsive efficiency of pulsed-jet propulsion was studied experimentally on a self-propelled, pulsed-jet underwater vehicle, dubbed Robosquid due to the similarity of its propulsion system with squid. Robosquid was tested for jet slug length-to-diameter ratios (L/D) in the range 2-6 and dimensionless frequency (St(L)) in the range 0.2-0.6 in a glycerin-water mixture. Digital particle image velocimetry was used for measuring the impulse and energy of jet pulses from the velocity and vorticity fields of the jet flow to calculate the pulsed-jet propulsive efficiency, and compare it with an equivalent steady jet system. Robosquid's Reynolds number (Re) based on average vehicle velocity and vehicle diameter ranged between 37 and 60. The current results for propulsive efficiency were compared to the previously published results in water where Re ranged between 1300 and 2700. The results showed that the average propulsive efficiency decreased by 26% as the average Re decreased from 2000 to 50 while the ratio of pulsed-jet to steady jet efficiency (η(P)/η(P, ss)) increased up to 0.15 (26%) as the Re decreased over the same range and for similar pulsing conditions. The improved η(P)/η(P, ss) at lower Re suggests that pulsed-jet propulsion can be used as an efficient propulsion system for millimeter-scale propulsion applications. The Re = 37-60 conditions in the present investigation, showed a reduced dependence of η(P) and η(P)/η(P, ss)on L/D compared to higher Re results. This may be due to the lack of clearly observed vortex ring pinch-off as L/D increased for this Re regime.     

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.     

Recruiting juvenile damselfish: the process of recruiting into adult colonies in the damselfish Stegastes nigricans

Juveniles of Stegastes nigricans occur in adult colonies, solitarily, and occasionally in juvenile colonies. We concentrated on solitary juveniles and those in adult colonies. We examined the costs and benefits of different settlement strategies, quantified the territory requirements of adults, and investigated the process of how juveniles make the transition to adult territorial fish. An adequate adult territory lies next to those of other adults, is proportional in area to the size of the adult, and contains a refuge tunnel whose entrance is sufficiently large. Compared with solitary juveniles, those <4 cm total length inhabiting adult colonies experienced reduced heterospecific competition for algal food and consequently benefited from a greater density of algae. A cost of recruiting into an adult colony, however, was increased attacks by adults. Juveniles that settled in adult colonies avoided attacks by retreating into small holes inaccessible to adults. As juveniles in adult colonies grew, they were chased less often by adults, whereas they themselves chased adults and heterospecific fish more often. Because territory size correlated with fish size in adult colonies, its area had to expand as the young fish grew, and that expansion was done at the expense of neighbors. Obtaining the space needed by an adult may be possible only when the juvenile settles directly into an adult colony. Juveniles that first settle down solitarily, or in juvenile colonies, may later attempt to enter adult colonies. However, because they do so as larger juveniles, they would have difficulty insinuating themselves into small refuges, which is essential for retreat from the adults. Received in revised form: 4 January 2001 Electronic Publication     

The rowing-to-flapping transition: ontogenetic changes in gill-plate kinematics in the nymphal mayfly Centroptilum triangulifer (Ephemeroptera, Baetidae)

Comparative studies encompassing a wide range of aquatic animals have shown that rowing is exclusively used at low Reynolds numbers ( Re  < 1), whereas flapping is predominantly used at Re  > 100, although few studies have been undertaken to document the transition in individual species that traverse the intermediate Re regime using a single set of appendages. Thus, it is not generally known whether a gradual increase in Re within a system results in a gradual or sudden shift between rowing and flapping. In the present study, we document ventilatory kinematics of a nymphal mayfly Centroptilum triangulifer that develops using a serial array of seven pairs of abdominal gill plates and operates at Reynolds numbers in the range 2–22 during ontogeny. We found that some kinematic variables (stroke frequency and metachronal phase lag) did not change during ontogeny but that others changed substantially. Specifically, gill kinematics in small instars used strokes with large pitch and stroke-plane deviations, whereas larger instars used strokes with minimal pitch and minimal stroke-plane deviation. Gills in larger instars also acquired an intrinsic hinge that allowed passive asymmetric movement between half strokes. Net flow in small animals was directed ventrally and essentially parallel to the stroke plane (i.e. rowing), whereas net flow in large animals was directed dorsally and essentially transverse to the stroke plane (i.e. flapping). The change in whole-gill kinematics from rowing to flapping occurred across a narrow Re range (3–8), which suggests a possible hydrodynamic demarcation between rowing and flapping.  © 2009 The Linnean Society of London, Biological Journal of the Linnean Society , 2009, 98 , 540–555.     

The relationship between consistency of propulsive cycles and maximum angular velocity during wheelchair racing

The purposes of this study were to examine the consistency of wheelchair athletes' upper-limb kinematics in consecutive propulsive cycles and to investigate the relationship between the maximum angular velocities of the upper arm and forearm and the consistency of the upper-limb kinematical pattern. Eleven elite international wheelchair racers propelled their own chairs on a roller while performing maximum speeds during wheelchair propulsion. A Qualisys motion analysis system was used to film the wheelchair propulsive cycles. Six reflective markers placed on the right shoulder, elbow, wrist joints, metacarpal, wheel axis, and wheel were automatically digitized. The deviations in cycle time, upper-arm and forearm angles, and angular velocities among these propulsive cycles were analyzed. The results demonstrated that in the consecutive cycles of wheelchair propulsion the increased maximum angular velocity may lead to increased variability in the upper-limb angular kinematics. It is speculated that this increased variability may be important for the distribution of load on different upper-extremity muscles to avoid the fatigue during wheelchair racing.     

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 impact of larval predators and competitors on the morphology and fitness of juvenile treefrogs

Studies of phenotypic plasticity typically focus on traits in single ontogenetic stages. However, plastic responses can be induced in multiple ontogenetic stages and traits induced early in ontogeny may have lasting effects. We examined how gray treefrog larvae altered their morphology in four different larval environments and whether different larval environments affected the survival, growth, development, and morphology of juvenile frogs at metamorphosis. We then reared these juveniles in terrestrial environments under high and low intraspecific competition to determine whether the initial differences in traits at metamorphosis affected subsequent survival and growth, whether the initial phenotypic differences converged over time, and whether competition in the terrestrial environment induced further phenotypic changes. Larval and juvenile environments both affected treefrog traits. Larval predators induced relatively deep tail fins and short bodies, but there was no impact on larval development. In contrast, larval competitors induced relatively short tails and long bodies, reduced larval growth, and slowed larval development. At metamorphosis, larval predators had no effect on juvenile growth or relative morphology while larval competitors produced juveniles that were smaller and possessed relatively shorter limbs and shorter bodies. After 1 month of terrestrial competition among the juvenile frogs, the initial differences in juvenile morphology did not converge. There were no differences in growth due to larval treatment but there were differences in survival. Individuals that experienced low competition as tadpoles experienced near perfect survival as juvenile frogs but individuals that experienced high competition as tadpoles suffered an 18% decrease in survival as juvenile frogs. There were also morphological responses to juvenile competition, but these changes appear to be due, at least in part, to allometric effects. Collectively, these results demonstrate that larval environments can have profound impacts on the traits and fitness of organisms later in ontogeny.     

Distribution of life cycle stages in a lithophytic and epiphytic orchid

Density-dependent processes may have multiple effects on populations, which among other things include the regulation of population abundance and of the relative distribution of life-cycle stages within populations. The epiphytic habitat is often characterized as highly ephemeral and therefore epiphytic orchid populations may never achieve density-dependent regulation. In this study, we investigated the potential for density-dependent regulation in epiphytic and lithophytic orchids by examining the association between seedlings, juvenile and adult life-history stages in the Caribbean endemic orchid,Lepanthes rupestris in a cross-sectional study of 179 populations surveyed in the Luquillo National Forest along a riparian area where it is locally abundant. Under density-dependent regulation we expected a negative association between the ratio of seedling/adults and juveniles/adults and total population density. Population density was in the range of 140 individuals per m², however patch sizes were small and mostly limited to less than 0.5 m² with a maximum of 3 m². We found no evidence of reduction of the ratio of seedlings or juveniles to adults as population size increased in either tree or boulder populations suggesting negative density dependence for population regulation inL. rupestris is either rare or occurs at even higher densities than those measured here. Moreover, we found positive (although weak) relationship between the ratio of seedlings and juveniles to adults and population size, suggesting that facilitation may be occurring.     

A comparison of swimming structures and kinematics in three species of crustacean larvae

Crustacean larvae swim with paired rowing appendages that rotate around the body of the animal. The number of paired rowing appendages varies from one species of larvae to another. In addition, the size of the crustacean larvae is different between species and increases as they grow. The nature of the fluid forces changes as size increases, so the morphology and mechanics of swimming in these animals will change during increases in size. This article demonstrates the changing kinematics of locomotion between three species of crustacean larvae, which swim with one (Artemia franciscana), two (Carcinus maenas) or five (Homarus americanus) pairs of propulsive limbs. The relative change in the surface area and volume ratios of the locomotor structures are also demonstrated.     

Investigation of biomechanical factors affecting rowing performance

It was hypothesized that a crew's rowing performance was predictable based on their total propulsive power, synchrony (a real-time comparison of rower propulsive force magnitudes) and total drag contribution (a measure of the rowers' effect on shell drag forces during the recovery), quantities calculated from individual rower's force-time profiles and recovery kinematics. A rowing pair was equipped with transducers to gather shell velocity, propulsive blade force, oar angular position and seat displacement. Eight subjects (four port, four starboard) participated in two rounds of data collection. The first round pairings were random, while the second round pairings were assigned based on Round 1 results. Regression analysis and ANCOVA were used to test the validity of assumptions inherent in the predictive model and, if applicable, explore a linear model predicting rowing performance based on total propulsive power, synchrony and total drag contribution. Total propulsive power, synchrony and total drag contribution were correlated and further were affected by pairing, violating assumptions inherent in the linear model. The original hypothesis was not supported based on these violations. Important findings include (1) performance cannot be predicted using the simple linear model proposed, (2) rowers' force-time profiles are repeatable between trials, with some but not all rowers adapting their force-time profile dependent on their pair partner, presumably in an effort to increase the level of synchrony between the two, and (3) subtle biomechanical factors may play a critical role in performance.     

Ontogeny of osmoregulation in the crayfish Astacus leptodactylus

Osmoregulation was studied during the postembryonic development of Astacus leptodactylus Eschscholtz 1823 in juvenile stages 1-8 and in adults. Juveniles hatch and later stages develop in freshwater or in moderately saline waters. The time of acclimation from freshwater to a saline medium increased from early juveniles to adults. At all stages, it was longer than in comparable stages of marine crustaceans, reflecting the high impermeability of the teguments to water and ions. All stages were able to hyperisoosmoregulate. In freshwater, the ability to hyperosmoregulate was established at hatching and increased during development. The hemolymph osmolality increased from 286 mosm kg-1 in stage 1 juveniles to 419 mosm kg-1 in adults. All stages also hyperregulated at low salinities (7 per thousand and 13 per thousand salinity) and were osmoconformers at higher salinities up to 21 per thousand salinity. The lowest isosmotic salinity tended to increase with the developmental stages. The ability to osmoregulate at hatch and throughout postembryonic development is probably a key physiological adaptation in this and other freshwater crayfish.     

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.     

A comparison of swimming structures and kinematics in three species of crustacean larvae

Crustacean larvae swim with paired rowing appendages that rotate around the body of the animal. The number of paired rowing appendages varies from one species of larvae to another. In addition, the size of the crustacean larvae is different between species and increases as they grow. The nature of the fluid forces changes as size increases, so the morphology and mechanics of swimming in these animals will change during increases in size. This article demonstrates the changing kinematics of locomotion between three species of crustacean larvae, which swim with one (Artemia franciscana), two (Carcinus maenas) or five (Homarus americanus) pairs of propulsive limbs. The relative change in the surface area and volume ratios of the locomotor structures are also demonstrated.     

Comparison of microridges in juvenile and adult sunfish,Lepomis gibbosus

Microridges are F-actin-based surface protrusions of the superficial layer cells of fish epidermis. Microridge patterns progress in complexity during fish embryogenesis, often transitioning from abundant surface microvilli to the classical fingerprint arrangement. This progression suggests pattern changes may also occur during later stages of fish development. Fluorescent labelling of F-actin and morphometric analysis were therefore used to assess changes in epidermal microridge patterns in juvenile and adult sunfish (Lepomis gibbosus). The microridge patterns found in adult pumpkinseed were similar to that described for many fishes, consisting of whorls or complex multi-branched ridges. The microridge patterns of the scales from three different-sized groups of juvenile pumpkinseed were distinctly different from that of adult, however, and were present mainly as unbranched concentric or nearly concentric rings in the two larger juvenile groups. In the smallest juveniles, microridges were often apparent as fragmented ridges with abundant actin puncta. Larger juveniles sometimes displayed mixed patterns, with some microridges similar to that of both adult and juvenile patterns. The results show a transition from simple microridge patterns in juvenile pumpkinseeds to distinctly different, diverse and more complex patterns in adults. The different pattern types may reflect particular microridge functions relevant to fish size and age.     

Life-stage specific environments in a cichlid fish: implications for inducible maternal effects

Through environmentally induced maternal effects females may fine-tune their offspring’s phenotype to the conditions offspring will encounter after birth. If juvenile and adult ecologies differ, the conditions mothers experienced as juveniles may better predict their offspring’s environment than the adult females’ conditions. Maternal effects induced by the environment experienced by females during their early ontogeny should evolve when three ecological conditions are met: (1) Adult ecology does not predict the postnatal environmental conditions of offspring; (2) Environmental conditions for juveniles are correlated across successive generations; and (3) Juveniles occasionally settle in conditions that differ from the juvenile habitat of their mothers. By combining size-structured population counts, ecological surveys and a genetic analysis of population structure we provide evidence that all three conditions hold for Simochromis pleurospilus, a cichlid fish in which mothers adjust offspring quality to their own juvenile ecology. In particular we show (1) that the spatial niches and the habitat quality differ between juveniles and adults, and we provide genetic evidence (2) that usually fish of successive generations grow up in similar habitats, and (3) that occasional dispersal in populations with a different habitat quality is likely to occur. As adults of many species cannot predict their offspring’s environment from ambient cues, life-stage specific maternal effects are likely to be common in animals. It will therefore be necessary to incorporate parental ontogeny in the study of parental effects when juveniles and adults inhabit different environments.