Structure, Kinematics, And Muscle Dynamics In Undulatory Swimming

Form and function of anguilliform swimming

Anguilliform swimmers are long and narrow animals that propel themselves by undulating their bodies. Observations in nature and recent investigations suggest that anguilliform swimming is highly efficient. However, understanding the underlying reasons for the efficiency of this type of locomotion requires interdisciplinary studies spanning from biology to hydrodynamics. Regrettably, these different fields are rarely discussed together, which hinders our ability to understand the repeated evolution of this swimming mode in vertebrates. This review compiles the current knowledge of the anatomical features that drive anguilliform swimming, compares the resulting kinematics across a wide range of anguilliform swimmers, and describes the resulting hydrodynamic interactions using data from both in vivo experiments and computational studies.

Biomimetic Soft Underwater Robot Inspired by the Red Muscle and Tendon Structure of Fish

Underwater robots are becoming increasingly important in various fields. Fish robots are attracting attention as an alternative to the screw-type robots currently in use. We developed a compact robot with a high swimming performance by mimicking the anatomical structure of fish. In this paper, we focus on the red muscles, tendons, and vertebrae used for steady swimming of fish. A robot was fabricated by replacing the red muscle structure with shape memory alloy wires and rigid body links. In our previous work, undulation motions with various phase differences and backward quadratically increasing inter-vertebral bending angles were confirmed in the air, while the swimming performance in insulating fluid was poor. To improve the swimming performance, an improved robot was designed that mimics the muscle contractions of mackerel using a pulley mechanism, with the robot named UEC Mackerel. In swimming experiments using the improved robot, a maximum swimming speed of 25.8 mm/s (0.11 BL/s) was recorded, which is comparable to that of other soft-swimming robots. In addition, the cost of transport (COT), representing the energy consumption required for robot movement, was calculated, and a minimum COT of 0.08 was recorded, which is comparable to that of an actual fish.

Role of the caudal peduncle in a fish-inspired robotic model: how changing stiffness and angle of attack affects swimming performance

In fish, the tail is a key element of propulsive anatomy that contributes to thrust during swimming. Fish possess the ability to alter tail stiffness, surface area and conformation. Specifically, the region at the base of the tail, the caudal peduncle, is proposed to be a key location of fish stiffness modulation during locomotion. Most previous analyses have focused on the overall body or tail stiffness, and not on the effects of changing stiffness specifically at the base of the tail in fish and robotic models. We used both computational fluid dynamics analysis and experimental measurements of propulsive forces in physical models with different peduncle stiffnesses to analyze the effect of altering stiffness on the tail angle of attack and propulsive force and efficiency. By changing the motion program input to the tail, we were able to alter the phase relationship between the front and back tail sections between 0° and 330°. Computational simulations showed that power consumption was nearly minimized and thrust production was nearly maximized at the kinematic pattern whereφ= 270°, the approximate phase lag observed in the experimental foils and in free swimming tuna. We observed reduced thrust and efficiency at high angles of attack, suggesting that the tail driven during these motion programs experiences stalling and loss of lift. However, there is no single peduncle stiffness that consistently maximizes performance, particularly in physical models. This result highlights the fact that the optimal caudal peduncle stiffness is highly context dependent. Therefore, incorporating the ability to control peduncle stiffness in future robotic models of fish propulsion promises to increase the ability of robots to approach the performance of fish.

The movement ecology of fishes

Movement of fishes in the aquatic realm is fundamental to their ecology and survival. Movement can be driven by a variety of biological, physiological and environmental factors occurring across all spatial and temporal scales. The intrinsic capacity of movement to impact fish individually (e.g., foraging) with potential knock-on effects throughout the ecosystem (e.g., food web dynamics) has garnered considerable interest in the field of movement ecology. The advancement of technology in recent decades, in combination with ever-growing threats to freshwater and marine systems, has further spurred empirical research and theoretical considerations. Given the rapid expansion within the field of movement ecology and its significant role in informing management and conservation efforts, a contemporary and multidisciplinary review about the various components influencing movement is outstanding. Using an established conceptual framework for movement ecology as a guide (i.e., Nathan et al., 2008: 19052), we synthesized the environmental and individual factors that affect the movement of fishes. Specifically, internal (e.g., energy acquisition, endocrinology, and homeostasis) and external (biotic and abiotic) environmental elements are discussed, as well as the different processes that influence individual-level (or population) decisions, such as navigation cues, motion capacity, propagation characteristics and group behaviours. In addition to environmental drivers and individual movement factors, we also explored how associated strategies help survival by optimizing physiological and other biological states. Next, we identified how movement ecology is increasingly being incorporated into management and conservation by highlighting the inherent benefits that spatio-temporal fish behaviour imbues into policy, regulatory, and remediation planning. Finally, we considered the future of movement ecology by evaluating ongoing technological innovations and both the challenges and opportunities that these advancements create for scientists and managers. As aquatic ecosystems continue to face alarming climate (and other human-driven) issues that impact animal movements, the comprehensive and multidisciplinary assessment of movement ecology will be instrumental in developing plans to guide research and promote sustainability measures for aquatic resources.

A fish-like soft-robotic model generates a diversity of swimming patterns

Fish display a versatile array of swimming patterns, and frequently demonstrate the ability to switch between these patterns altering kinematics as necessary. Many hard and soft robotic systems have sought to understand a variety of aspects pertaining to undulatory swimming, but most have been built to focus solely on a subset of those swimming patterns. We have expanded upon a previous soft robotic model, the pneufish, so that it can now simulate a variety of swimming patterns, much like a real fish. We explore the performance space available for this longer soft robotic model, which we call the quad-pneufish, with particular attention to the effects on lateral forces and z-torques produced during locomotion. We show that the quad-pneufish is capable of achieving a variety of midline patterns - including more realistic, fish-like patterns - and introducing a slight amount of co-activation between the left and right sides maintains forward thrust while decreasing lateral forces, indicating an increase in swimming efficiency. Robotic systems that are capable of producing an array of swimming movement patterns hold promise as experimental platforms for studying the diversity of fish locomotor patterns.

Tunable stiffness enables fast and efficient swimming in fish-like robots

Fish maintain high swimming efficiencies over a wide range of speeds. A key to this achievement is their flexibility, yet even flexible robotic fish trail real fish in terms of performance. Here, we explore how fish leverage tunable flexibility by using their muscles to modulate the stiffness of their tails to achieve efficient swimming. We derived a model that explains how and why tuning stiffness affects performance. We show that to maximize efficiency, muscle tension should scale with swimming speed squared, offering a simple tuning strategy for fish-like robots. Tuning stiffness can double swimming efficiency at tuna-like frequencies and speeds (0 to 6 hertz; 0 to 2 body lengths per second). Energy savings increase with frequency, suggesting that high-frequency fish-like robots have the most to gain from tuning stiffness.

Exercise-induced lordosis in zebrafish Danio rerio (Hamilton, 1822)

The anabolic effect of exercise on muscles and bones is well documented. In teleost fish, exercise has been shown to accelerate skeletogenesis, to increase bone volume, and to change the shape of vertebral bodies. Still, increased swimming has also been reported to induce malformations of the teleost vertebral column, particularly lordosis. This study examines whether zebrafish (Danio rerio) develops lordosis as a result of continuous physical exercise. Zebrafish were subjected, for 1 week, to an increased swimming exercise of 5.0, 6.5 or 8.0 total body lengths (TL) per second. Control and exercise group zebrafish were examined for the presence of vertebral abnormalities, by in vivo examination, whole mount staining for bone and cartilage and histology and micro-computed tomography (CT) scanning. Exercise zebrafish developed a significantly higher rate of lordosis in the haemal part of the vertebral column. At the end of the experiment, the frequency of lordosis in the control groups was 0.5 ± 1.3% and that in the exercise groups was 7.5 ± 10.6%, 47.5 ± 10.6% and 92.5 ± 6.0% of 5.0, 6.5 and 8.0 TL∙s^-1 , respectively. Histological analysis and CT scanning revealed abnormal vertebrae with dorsal folding of the vertebral body end plates. Possible mechanisms that trigger lordotic spine malformations are discussed. This is the first study to report a quick, reliable and welfare-compatible method of inducing skeletal abnormalities in a vertebrate model during the post-embryonic period.

Fish-like aquatic propulsion studied using a pneumatically-actuated soft-robotic model

Fish locomotion is characterized by waves of muscle electrical activity that proceed from head to tail, and result in an undulatory pattern of body bending that generates thrust during locomotion. Isolating the effects of parameters like body stiffness, co-activation between the right and left sides of the body, and frequency on thrust generation has proven to be difficult in live fishes. We use a pneumatically-actuated fish-like model to investigate how these parameters affect locomotor force generation. We measure thrust as well as side forces and torques generated during propulsion. Using a statistical linear model we examine the effects of input parameter combinations on thrust generation. We show that both stiffness and frequency substantially affect swimming kinematics, and that there are complex interactive effects of these two parameters on thrust. The stiffer the backbone the more impact that increasing frequency has on thrust production. For stiffer models, increasing frequency resulted in higher values for both thrust and lateral forces. Large side forces reduce swimming efficiency but this effect could be mitigated by decreasing undulatory wavelength and allowing appropriate phasing of left and right body movements to reduce amplitudes of side force.

Tuna robotics: A high-frequency experimental platform exploring the performance space of swimming fishes

Tuna and related scombrid fishes are high-performance swimmers that often operate at high frequencies, especially during behaviors such as escaping from predators or catching prey. This contrasts with most fish-like robotic systems that typically operate at low frequencies (< 2 hertz). To explore the high-frequency fish swimming performance space, we designed and tested a new platform based on yellowfin tuna (Thunnus albacares) and Atlantic mackerel (Scomber scombrus). Body kinematics, speed, and power were measured at increasing tail beat frequencies to quantify swimming performance and to study flow fields generated by the tail. Experimental analyses of freely swimming tuna and mackerel allow comparison with the tuna-like robotic system. The Tunabot (255 millimeters long) can achieve a maximum tail beat frequency of 15 hertz, which corresponds to a swimming speed of 4.0 body lengths per second. Comparison of midline kinematics between scombrid fish and the Tunabot shows good agreement over a wide range of frequencies, with the biggest discrepancy occurring at the caudal fin, primarily due to the rigid propulsor used in the robotic model. As frequency increases, cost of transport (COT) follows a fish-like U-shaped response with a minimum at ~1.6 body lengths per second. The Tunabot has a range of ~9.1 kilometers if it swims at 0.4 meter per second or ~4.2 kilometers at 1.0 meter per second, assuming a 10-watt-hour battery pack. These results highlight the capabilities of high-frequency biological swimming and lay the foundation to explore a fish-like performance space for bio-inspired underwater vehicles.

3D computational models explain muscle activation patterns and energetic functions of internal structures in fish swimming

How muscles are used is a key to understanding the internal driving of fish swimming. However, the underlying mechanisms of some features of the muscle activation patterns and their differential appearance in different species are still obscure. In this study, we explain the muscle activation patterns by using 3D computational fluid dynamics models coupled to the motion of fish with prescribed deformation and examining the torque and power required along the fish body with two primary swimming modes. We find that the torque required by the hydrodynamic forces and body inertia exhibits a wave pattern that travels faster than the curvature wave in both anguilliform and carangiform swimmers, which can explain the traveling wave speeds of the muscle activations. Notably, intermittent negative power (i.e., power delivered by the fluid to the body) on the posterior part, along with a timely transfer of torque and energy by tendons, explains the decrease in the duration of muscle activation towards the tail. The torque contribution from the body elasticity further clarifies the wave speed increase or the reverse of the wave direction of the muscle activation on the posterior part of a carangiform swimmer. For anguilliform swimmers, the absence of the aforementioned changes in the muscle activation on the posterior part is consistent with our torque prediction and the absence of long tendons from experimental observations. These results provide novel insights into the functions of muscles and tendons as an integral part of the internal driving system, especially from an energy perspective, and they highlight the differences in the internal driving systems between the two primary swimming modes.

For undulatory swimming, fish form posteriorly traveling waves of body bending by activating their muscles sequentially along the body. However, experimental observations have shown that the muscle activation wave does not simply match the bending wave. Researchers have previously computed the torque required for muscles along the body based on classic hydrodynamic theories and explained the higher wave speed of the muscle activation compared to the curvature wave. However, the origins of other features of the muscle activation pattern and their variation among different species are still obscure after decades of research. In this study, we use 3D computational fluid dynamics models to compute the spatiotemporal distributions of both the torque and power required for eel-like and mackerel-like swimming. By examining both the torque and power patterns and considering the energy transfer, storage, and release by tendons and body viscoelasticity, we can explain not only the features and variations in the muscle activation patterns as observed from fish experiments but also how tendons and body elasticity save energy. We provide a mechanical picture in which the body shape, body movement, muscles, tendons, and body elasticity of a mackerel (or similar) orchestrate to make swimming efficient.

Scaling of swimming performance in baleen whales

The scale-dependence of locomotor factors have long been studied in comparative biomechanics, but remain poorly understood for animals at the upper extremes of body size. Rorqual baleen whales include the largest animals, but we lack basic kinematic data about their movements and behavior below the ocean surface. Here we combined morphometrics from aerial drone photogrammetry, whale-borne inertial sensing tag data, and hydrodynamic modeling to study the locomotion of five rorqual species. We quantified changes in tail oscillatory frequency and cruising speed for individual whales spanning a threefold variation in body length, corresponding to an order of magnitude variation in estimated body mass. Our results showed that oscillatory frequency decreases with body length (∝ length−0.53) while cruising speed remains roughly invariant (∝ length0.08) at 2 m s−1. We compared these measured results for oscillatory frequency against simplified models of an oscillating cantilever beam (∝ length−1) and an optimized oscillating Strouhal vortex generator (∝ length−1). The difference between our length-scaling exponent and the simplified models suggests that animals are often swimming non-optimally in order to feed or perform other routine behaviors. Cruising speed aligned more closely with an estimate of the optimal speed required to minimize the energetic cost of swimming (∝ length0.07). Our results are among the first to elucidate the relationships between both oscillatory frequency and cruising speed and body size for free-swimming animals at the largest scale.

Weakening Pin Bone Attachment in Fish Fillets Using High-Intensity Focused Ultrasound

High Intensity Focused Ultrasound (HIFU) can be used for the localized heating of biological tissue through the conversion of sound waves into heat. Although originally developed for human medicine, HIFU may also be used to weaken the attachment of pin bones in fish fillets to enable easier removal of such bones. This was shown in the present study, where a series of experiments were performed on HIFU phantoms and fillets of cod and salmon. In thin objects such as fish fillets, the heat is mainly dissipated at the surfaces. However, bones inside the fillet absorb ultrasound energy more efficiently than the surrounding tissue, resulting in a “self-focusing” heating of the bones. Salmon skin was found to effectively block the ultrasound, resulting in a significantly lower heating effect in fillets with skin. Cod skin partly blocked the ultrasound, but only to a small degree, enabling HIFU treatment through the skin. The treatment of fillets to reduce the pin bone attachment yielded an average reduction in the required pulling force by 50% in cod fillets with skin, with little muscle denaturation, and 72% in skinned fillets, with significant muscle denaturation. Salmon fillets were treated from the muscle side of the fillet to circumvent the need for penetration through skin. The treatment resulted in a 30% reduction in the peak pulling force and 10% reduction in the total pulling work, with a slight denaturation of the fillet surface.

Not So Fast: Swimming Behavior of Sailfish during Predator-Prey Interactions using High-Speed Video and Accelerometry

Billfishes are considered among the fastest swimmers in the oceans. Despite early estimates of extremely high speeds, more recent work showed that these predators (e.g., blue marlin) spend most of their time swimming slowly, rarely exceeding 2 m s(-1). Predator-prey interactions provide a context within which one may expect maximal speeds both by predators and prey. Beyond speed, however, an important component determining the outcome of predator-prey encounters is unsteady swimming (i.e., turning and accelerating). Although large predators are faster than their small prey, the latter show higher performance in unsteady swimming. To contrast the evading behaviors of their highly maneuverable prey, sailfish and other large aquatic predators possess morphological adaptations, such as elongated bills, which can be moved more rapidly than the whole body itself, facilitating capture of the prey. Therefore, it is an open question whether such supposedly very fast swimmers do use high-speed bursts when feeding on evasive prey, in addition to using their bill for slashing prey. Here, we measured the swimming behavior of sailfish by using high-frequency accelerometry and high-speed video observations during predator-prey interactions. These measurements allowed analyses of tail beat frequencies to estimate swimming speeds. Our results suggest that sailfish burst at speeds of about 7 m s(-1) and do not exceed swimming speeds of 10 m s(-1) during predator-prey interactions. These speeds are much lower than previous estimates. In addition, the oscillations of the bill during swimming with, and without, extension of the dorsal fin (i.e., the sail) were measured. We suggest that extension of the dorsal fin may allow sailfish to improve the control of the bill and minimize its yaw, hence preventing disturbance of the prey. Therefore, sailfish, like other large predators, may rely mainly on accuracy of movement and the use of the extensions of their bodies, rather than resorting to top speeds when hunting evasive prey.

Fish locomotion: recent advances and new directions

Research on fish locomotion has expanded greatly in recent years as new approaches have been brought to bear on a classical field of study. Detailed analyses of patterns of body and fin motion and the effects of these movements on water flow patterns have helped scientists understand the causes and effects of hydrodynamic patterns produced by swimming fish. Recent developments include the study of the center-of-mass motion of swimming fish and the use of volumetric imaging systems that allow three-dimensional instantaneous snapshots of wake flow patterns. The large numbers of swimming fish in the oceans and the vorticity present in fin and body wakes support the hypothesis that fish contribute significantly to the mixing of ocean waters. New developments in fish robotics have enhanced understanding of the physical principles underlying aquatic propulsion and allowed intriguing biological features, such as the structure of shark skin, to be studied in detail.

The musculotendinous system of an anguilliform swimmer: Muscles, myosepta, dermis, and their interconnections inAnguilla rostrata

Eel locomotion is considered typical of the anguilliform swimming mode of elongate fishes and has received substantial attention from various perspectives such as swimming kinematics, hydrodynamics, muscle physiology, and computational modeling. In contrast to the extensive knowledge of swimming mechanics, there is limited knowledge of the internal body morphology, including the body components that contribute to this function. In this study, we conduct a morphological analysis of the collagenous connective tissue system, i.e., the myosepta and skin, and of the red muscle fibers that sustain steady swimming, focusing on the interconnections between these systems, such as the muscle-tendon and myosepta-skin connections. Our aim is twofold: (1) to identify the morphological features that distinguish this anguilliform swimmer from subcarangiform and carangiform swimmers, and (2) to reveal possible pathways of muscular force transmission by the connective tissue in eels. To detect gradual morphological changes along the trunk we investigated anterior (0.4L), midbody (0.6L), and posterior body positions (0.75L) using microdissections, histology, and three-dimensional reconstructions. We find that eel myosepta have a mediolaterally oriented tendon in each the epaxial and hypaxial regions (epineural or epipleural tendon) and two longitudinally oriented tendons (myorhabdoid and lateral). The latter two are relatively short (4.5-5% of body length) and remain uniform along a rostrocaudal gradient. The skin and its connections were additionally analyzed using scanning electron microscopy (SEM). The stratum compactum of the dermis consists of approximately 30 layers of highly ordered collagen fibers of alternating caudodorsal and caudoventral direction, with fiber angles of 60.51 +/- 7.05 degrees (n = 30) and 57.58 +/- 6.92 degrees (n = 30), respectively. Myosepta insert into the collagenous dermis via fiber bundles that pass through the loose connective tissue of the stratum spongiosum of the dermis and either weave into the layers of the stratum compactum (weaving fiber bundles) or traverse the stratum compactum (transverse fiber bundles). These fiber bundles are evenly distributed along the insertion line of the myoseptum. Red muscles insert into lateral and myorhabdoid myoseptal tendons but not into the horizontal septum or dermis. Thus, red muscle forces might be distributed along these tendons but will only be delivered indirectly into the dermis and horizontal septum. The myosepta-dermis connections, however, appear to be too slack for efficient force transmission and collagenous connections between the myosepta and the horizontal septum are at obtuse angles, a morphology that appears inadequate for efficient force transmission. Though the main modes of undulatory locomotion (anguilliform, subcarangiform, and carangiform) have recently been shown to be very similar with respect to their midline kinematics, we are able to distinguish two morphological classes with respect to the shape and tendon architecture of myosepta. Eels are similar to subcarangiform swimmers (e.g., trout) but are substantially different from carangiform swimmers (e.g., mackerel). This information, in addition to data from kinematic and hydrodynamic studies of swimming, shows that features other than midline kinematics (e.g., wake patterns, muscle activation patterns, and morphology) might be better for describing the different swimming modes of fishes.