Biomechanics and energetics in aquatic and semiaquatic mammals: platypus to whale

Osteological profiling of femoral diaphysis and neck in aquatic, semiaquatic, and terrestrial carnivores and rodents: effects of body size and locomotor habits

The increased limb bone density documented previously for aquatic tetrapods has been proposed to be an adaptation to overcome buoyancy during swimming and diving. It can be achieved by increasing the amount of bone deposition or by reducing the amount of bone resorption, leading to cortical thickening, loss of medullary cavity, and compaction of trabecular bone. The present study examined the effects of locomotor habit, body size, and phylogeny on the densitometric, cross-sectional, and biomechanical traits of femoral diaphysis and neck in terrestrial, semiaquatic, and aquatic carnivores, and in terrestrial and semiaquatic rodents (12 species) by using peripheral quantitative computed tomography, three-point bending, and femoral neck loading tests. Groupwise differences were analyzed with the univariate generalized linear model and the multivariate linear discriminant analysis supplemented with hierarchical clustering. While none of the individual features could separate the lifestyles or species adequately, the combinations of multiple features produced very good or excellent classifications and clusterings. In the phocid seals, the aquatic niche allowed for lower femoral bone mineral densities than expected based on the body mass alone. The semiaquatic mammals mostly had high bone mineral densities compared to the terrestrial species, which could be considered an adaptation to overcome buoyancy during swimming and shallow diving. Generally, it seems that different osteological properties at the levels of mineral density and biomechanics could be compatible with the adaptation to aquatic, semiaquatic, or terrestrial niches.

The influence of the land-to-sea macroevolutionary transition on vertebral column disparification in Pinnipedia

The repeated returns of vertebrates to the marine ecosystems since the Triassic serve as an evolutionary model to understand macroevolutionary change. Here we investigate the effects of the land-to-sea transition on disparity and constraint of the vertebral column in aquatic carnivorans (Carnivora; Pinnipedia) to assess how their functional diversity and evolutionary innovations influenced major radiations of crown pinnipeds. We use three-dimensional geometric morphometrics and multivariate analysis for high-dimensional data under a phylogenetic framework to quantify vertebral size and shape in living and extinct pinnipeds. Our analysis demonstrates an important shift in vertebral column evolution by 10-12 million years ago, from an unconstrained to a constrained evolutionary scenario, a point of time that coincides with the major radiation of crown pinnipeds. Moreover, we also demonstrate that the axial skeleton of phocids and otariids followed a different path of morphological evolution that was probably driven by their specialized locomotor strategies. Despite this, we found a significant effect of habitat preference (coastal versus pelagic) on vertebral morphology of crown taxa regardless of the family they belong. In summary, our analysis provides insights into how the land-to-sea transition influenced the complex evolutionary history of pinniped vertebral morphology.

Avoidance, confusion or solitude? Modelling how noise pollution affects whale migration

Many baleen whales are renowned for their acoustic communication. Under pristine conditions, this communication can plausibly occur across hundreds of kilometres. Frequent vocalisations may allow a dispersed migrating group to maintain contact, and therefore benefit from improved navigation via the "wisdom of the crowd". Human activities have considerably inflated ocean noise levels. Here we develop a data-driven mathematical model to investigate how ambient noise levels may inhibit whale migration. Mathematical models allow us to simultaneously simulate collective whale migration behaviour, auditory cue detection, and noise propagation. Rising ambient noise levels are hypothesised to influence navigation through three mechanisms: (i) diminished communication space; (ii) reduced ability to hear external sound cues and; (iii) triggering noise avoidance behaviour. Comparing pristine and current soundscapes, we observe navigation impairment that ranges from mild (increased journey time) to extreme (failed navigation). Notably, the three mechanisms induce qualitatively different impacts on migration behaviour. We demonstrate the model's potential predictive power, exploring the extent to which migration may be altered under future shipping and construction scenarios.

The Role of Locomotory Ancestry on Secondarily Aquatic Transitions

Land-to-sea evolutionary transitions are great transformations where terrestrial amniote clades returned to aquatic environments. These secondarily aquatic amniote clades include charismatic marine mammal and marine reptile groups, as well as countless semi-aquatic forms that modified their terrestrial locomotor anatomy to varying degrees to be suited for swimming via axial and/or appendicular propulsion. The terrestrial ancestors of secondarily aquatic groups would have started off swimming strikingly differently from one another given their evolutionary histories, as inferred by the way modern terrestrial amniotes swim. With such stark locomotor functional differences between reptiles and mammals, we ask if this impacted these transitions. Axial propulsion appears favored by aquatic descendants of terrestrially sprawling quadrupedal reptiles, with exceptions. Appendicular propulsion is more prevalent across the aquatic descendants of ancestrally parasagittal-postured mammals, particularly early transitioning forms. Ancestral terrestrial anatomical differences that precede secondarily aquatic invasions between mammals and reptiles, as well as the distribution of axial and appendicular swimming in secondarily aquatic clades, may indicate that ancestral terrestrial locomotor anatomy played a role, potentially in both constraint and facilitation, in certain aquatic locomotion styles. This perspective of the land-to-sea transition can lead to new avenues of functional, biomechanical, and developmental study of secondarily aquatic transitions.

A Highly Robust Amphibious Soft Robot with Imperceptibility Based on a Water-Stable and Self-Healing Ionic Conductor

Dielectric elastomer actuators (DEAs) are widely exploited for actuating soft machines and granting soft robots with capability to operate in both underwater and on-land environments is important to make them adapt to more complex situations. Here, a DEA-driven, highly robust, amphibious imperceptible soft robot (AISR) based on an all-environment stable ionic conductive material is presented. A soft, self-healable, all-environment stable ionic conductor is developed by introducing cooperative ion-dipole interactions to provide underwater stability as well as efficient suppression of ion penetration. By tuning molecular structures of the material, a 50-time device lifetime increase compared with unmodified [EMI][TFSI]-based devices and excellent underwater actuating performance is achieved. With the synthesized ionic electrode, the DEA-driven soft robot exhibits amphibious functionality to traverse hydro-terrestrial regions. When encountering damage, the robot shows good resilience and can self-heal underwater and it also exhibits imperceptibility to light, sound, and heat.

Comparative Genome Analysis Reveals the Genomic Basis of Semi-Aquatic Adaptation in American Mink (Neovison vison)

Simple Summary

In nature, every animal lives in its suitable environment to support life and reproduction. Due to survival pressure, the ancient ancestors of land animals changed from living in water to living on land through a long time of evolution. But as more and more animals live on land, the pressure to survive increases, and some animals continue to evolve and re-enter the water. Species evolved from water to land, fins became limbs, and re-entering organisms evolved webbing, all in an effort to better adapt to their environment. The American mink’s life is extremely dependent on the water environment, but its external changes are less pronounced than those of other water-dependent animals. Since the limited external changes are not sufficient to indicate that the American mink is a semi-aquatic mammal, we can explore the evidence of aquatic adaptation at the molecular level. Through comparative genomic analysis, we obtained that American mink has certain adaptive evolution to aquatic environment in olfactory, coagulation, immunity and other aspects. The results of this study have important reference significance for exploring biological evolution and species conservation.

Abstract

Although the American mink is extremely dependent on water and has evolved a range of aquatic characteristics, its structural adaptation to water is still less obvious than that of other typical semi-aquatic mammals, such as otters. Therefore, many scholars consider it not to be a semi-aquatic mammal. In order to make the point that minks are semi-aquatic mammals more convincing, we provide evidence at the micro (genome)-level. In particular, we used the genomes of the American mink and 13 mammalian species to reconstruct their evolutionary history, identified genes that affect aquatic adaptation, and examined the evolution of aquatic adaptation. By analyzing unique gene families, the expansion and contraction of gene families, and positive selection genes, we found that the American mink genome has evolved specifically for aquatic adaptation. In particular, we found that the main adaptive characteristics of the American mink include the external structural characteristics of bone and hair development, as well as the internal physiological characteristics of immunity, olfaction, coagulation, lipid metabolism, energy metabolism, and nitrogen metabolism. We also observed that the genomic characteristics of the American mink are similar to those of other aquatic and semi-aquatic mammals. This not only provides solid genomic evidence for the idea that minks are semi-aquatic mammals, but also leads to a clearer understanding of semi-aquatic species. At the same time, this study also provides a reference for the protection and utilization of the American mink.

Biomechanical Energetics of Terrestrial Locomotion in California Sea Lions (Zalophus californianus)

Pinnipedia, an order of semi-aquatic marine mammals, adapted a body design that allows for efficient aquatic locomotion but limited terrestrial locomotion. Otariids, like the California sea lion (Zalophus californianus), have enlarged forelimbs and can bring their hindlimbs under the body to locomote quadrupedally on land. Phocids (true seals) have reduced forelimbs and are unable to bring their hindlimbs beneath them during terrestrial locomotion. Due to these differences, phocids are expected have greater energetic costs when moving on land compared to otariids. The mechanical costs of transport and power outputs of terrestrial locomotion were first obtained from one male and two female adult California sea lions through video recording locomotion sequences across a level runway. The center of mass, along with six other anatomical points, were digitized to obtain variables such as velocity (V), amplitude of heave (A), and the frequency (f) of oscillations during the locomotion cycle. These variables represent the principal parameters of a biomechanical model that computes the power output of individuals. The three California sea lions in this study averaged a power output of 112.04 watts and a Cost of Transport of 0.63 J kg-1 m-1. This footage was compared against video footage previously recorded of three phocid species (harbor seal, gray seal, and northern elephant seal). Power output and mechanical Cost of Transport were compared between all four pinniped species following the animals' center of mass. The quadrupedal gait of sea lions showed lower vertical displacements of the center of mass, and higher velocities compared to the terrestrial gait of phocids. Northern elephant seals, gray seal, and the harbor seal showed significantly higher Costs of Transport and power outputs from the sea lions. California sea lions locomote with lower energetic costs, and thus higher efficiency compared to phocids, proving that they are a mechanically intermediate species on land between terrestrial mammals and phocids. This study provides novel information on the mechanical energy exerted by pinnipeds, particularly California sea lions, to then be used in future research to better understand the limitations of these aquatic mammals.

Large size in aquatic tetrapods compensates for high drag caused by extreme body proportions

Various Mesozoic marine reptile lineages evolved streamlined bodies and efficient lift-based swimming, as seen in modern aquatic mammals. Ichthyosaurs had low-drag bodies, akin to modern dolphins, but plesiosaurs were strikingly different, with long hydrofoil-like limbs and greatly variable neck and trunk proportions. Using computational fluid dynamics, we explore the effect of this extreme morphological variation. We find that, independently of their body fineness ratio, plesiosaurs produced more drag than ichthyosaurs and modern cetaceans of equal mass due to their large limbs, but these differences were not significant when body size was accounted for. Additionally, necks longer than twice the trunk length can substantially increase the cost of forward swimming, but this effect was cancelled out by the evolution of big trunks. Moreover, fast rates in the evolution of neck proportions in the long-necked elasmosaurs suggest that large trunks might have released the hydrodynamic constraints on necks thus allowing their extreme enlargement.

Comparative examination of pinniped craniofacial musculature and its role in aquatic feeding

Secondarily aquatic tetrapods have many unique morphologic adaptations for life underwater compared with their terrestrial counterparts. A key innovation during the land-to-water transition was feeding. Pinnipeds, a clade of air-breathing marine carnivorans that include seals, sea lions, and walruses, have evolved multiple strategies for aquatic feeding (e.g., biting, suction feeding). Numerous studies have examined the pinniped skull and dental specializations for underwater feeding. However, data on the pinniped craniofacial musculoskeletal system and its role in aquatic feeding are rare. Therefore, the objectives of this study were to conduct a comparative analysis of pinniped craniofacial musculature and examine the function of the craniofacial musculature in facilitating different aquatic feeding strategies. We performed anatomic dissections of 35 specimens across six pinniped species. We describe 32 pinniped craniofacial muscles-including facial expression, mastication, tongue, hyoid, and soft palate muscles. Pinnipeds broadly conform to mammalian patterns of craniofacial muscle morphology. Pinnipeds also exhibit unique musculoskeletal morphologies-in muscle position, attachments, and size-that likely represent adaptations for different aquatic feeding strategies. Suction feeding specialists (bearded and northern elephant seals) have a significantly larger masseter than biters. Further, northern elephant seals have large and unique tongue and hyoid muscle morphologies compared with other pinniped species. These morphologic changes likely help generate and withstand suction pressures necessary for drawing water and prey into the mouth. In contrast, biting taxa (California sea lions, harbor, ringed, and Weddell seals) do not exhibit consistent craniofacial musculoskeletal adaptations that differentiate them from suction feeders. Generally, we discover that all pinnipeds have well-developed and robust craniofacial musculature. Pinniped head musculature plays an important role in facilitating different aquatic feeding strategies. Together with behavioral and kinematic studies, our data suggest that pinnipeds' robust facial morphology allows animals to switch feeding strategies depending on the environmental context-a critical skill in a heterogeneous and rapidly changing underwater habitat.

The impact of bio-logging on body weight change of the Eurasian beaver

Bio-logging is a common method to collect ecological data on wild animals, but might also induce stress, reduce body condition, and alter behavior. Eurasian beavers (Castor fiber) are a semi-aquatic and nocturnal species that are challenging to observe in the wild. Bio-loggers are hence useful tools to study their behaviour and movements, but this raises concerns of potential negative impacts of tagging. To investigate the potential negative impacts of glue-on tags, we compared body weight change for tagged and untagged Eurasian beavers. We hypothesized that tagged beavers would gain less body weight compared to untagged beavers, and that weight change might be affected by tagging length, tag weight, water temperature and the season of tagging. Daily percentage body weight change in relation to initial body weight during the first capture was compared during 57 tagging periods (18±7 days) and 32 controls periods (64±47 days). Body weight change varied between the two groups, with untagged beavers on average gaining daily weight whilst tagged beavers on average lost weight daily, indicating a negative effect of tagging. The average reduction in percentage body weight change per day for tagged beavers was small (0.1 ± 0.3%), and with large individual variation. Neither tag weight, number of tagging days, nor season were important in explaining body weight change of tagged animals. In other words, we found that tagging reduced daily body weight during the tagging period but were unable to determine the mechanism(s) responsible for this decline. Detrimental effects of tagging have important implications for animal welfare and can introduce bias in data that are collected. This calls for careful consideration in the use of tags. We conclude that studies investigating the effects of tagging should consider individual variation in the effects of tagging and, where possible, compare tagged animals with a control group.

Ecological drivers of eggshell wettability in birds

Complex and at times extreme environments have pushed many bird species to develop unique eggshell surface properties to protect the embryo from external threats. Because microbes are usually transmitted into eggs by moisture, some species have evolved hydrophobic shell surfaces that resist water absorption, while also regulating heat loss and the exchange of gases. Here, we investigate the relationship between the wettability of eggshells from 441 bird species and their life-history traits. We measured the initial contact angle between sessile water droplets and the shell surface, and how far the droplet spread. Using phylogenetic comparative methods, we show that body mass, annual temperature and eggshell maculation primarily explained variance in water contact angle across eggshells. Species nesting in warm climates were more likely to exhibit highly hydrophobic eggshells than those nesting in cold climates, potentially to reduce microbial colonization. In non-passerines, immaculate eggs were found to have more hydrophobic surfaces than maculate eggshells. Droplets spread more quickly on eggshells incubated in open nests compared to domed nests, likely to decrease heat transfer from the egg. Here, we identify clear adaptations of eggshell wettability across a diverse range of nesting environments, driven by the need to retain heat and prevent microbial adhesion.

The locomotion of extinct secondarily aquatic tetrapods

The colonisation of freshwater and marine ecosystems by land vertebrates has repeatedly occurred in amphibians, reptiles, birds and mammals over the course of 300 million years. Functional interpretations of the fossil record are crucial to understanding the forces shaping these evolutionary transitions. Secondarily aquatic tetrapods have acquired a suite of anatomical, physiological and behavioural adaptations to locomotion in water. However, much of this information is lost for extinct clades, with fossil evidence often restricted to osteological data and a few extraordinary specimens with soft tissue preservation. Traditionally, functional morphology in fossil secondarily aquatic tetrapods was investigated through comparative anatomy and correlation with living functional analogues. However, in the last two decades, biomechanics in palaeobiology has experienced a remarkable methodological shift. Anatomy-based approaches are increasingly rigorous, informed by quantitative techniques for analysing shape. Moreover, the incorporation of physics-based methods has enabled objective tests of functional hypotheses, revealing the importance of hydrodynamic forces as drivers of evolutionary innovation and adaptation. Here, we present an overview of the latest research on the locomotion of extinct secondarily aquatic tetrapods, with a focus on amniotes, highlighting the state-of-the-art experimental approaches used in this field. We discuss the suitability of these techniques for exploring different aspects of locomotory adaptation, analysing their advantages and limitations and laying out recommendations for their application, with the aim to inform future experimental strategies. Furthermore, we outline some unexplored research avenues that have been successfully deployed in other areas of palaeobiomechanical research, such as the use of dynamic models in feeding mechanics and terrestrial locomotion, thus providing a new methodological synthesis for the field of locomotory biomechanics in extinct secondarily aquatic vertebrates. Advances in imaging technology and three-dimensional modelling software, new developments in robotics, and increased availability and awareness of numerical methods like computational fluid dynamics make this an exciting time for analysing form and function in ancient vertebrates.

Scaling of oscillatory kinematics and Froude efficiency in baleen whales

High efficiency lunate-tail swimming with high-aspect-ratio lifting surfaces has evolved in many vertebrate lineages, from fish to cetaceans. Baleen whales (Mysticeti) are the largest swimming animals that exhibit this locomotor strategy, and present an ideal study system to examine how morphology and the kinematics of swimming scale to the largest body sizes. We used data from whale-borne inertial sensors coupled with morphometric measurements from aerial drones to calculate the hydrodynamic performance of oscillatory swimming in six baleen whale species ranging in body length from 5 to 25 m (fin whale, Balaenoptera physalus; Bryde's whale, Balaenoptera edeni; sei whale, Balaenoptera borealis; Antarctic minke whale, Balaenoptera bonaerensis; humpback whale, Megaptera novaeangliae; and blue whale, Balaenoptera musculus). We found that mass-specific thrust increased with both swimming speed and body size. Froude efficiency, defined as the ratio of useful power output to the rate of energy input ( Sloop, 1978), generally increased with swimming speed but decreased on average with increasing body size. This finding is contrary to previous results in smaller animals, where Froude efficiency increased with body size. Although our empirically parameterized estimates for swimming baleen whale drag were higher than those of a simple gliding model, oscillatory locomotion at this scale exhibits generally high Froude efficiency as in other adept swimmers. Our results quantify the fine-scale kinematics and estimate the hydrodynamics of routine and energetically expensive swimming modes at the largest scale.

Topographic Variations in Mobilization of Blubber in Relation to Changes in Body Mass in Short-Finned Pilot Whales (Globicephala macrorhynchus)

AbstractFat-level measurements used to indicate individual body condition and fitness are useful only when taken at a region along the body where fat responds to variations in caloric intake. Investigations to identify appropriate species-specific regions are limited, especially for cetaceans that have a specialized fat (blubber) that serves as an energy reserve and provides insulation. Over 18 mo, body mass of six pilot whales varied (range: 50-172 kg), and although caloric intake increased when water temperatures were lower, generally the best-fitting state-space model for length-adjusted mass was based on a single factor, caloric intake. After correcting for body length (range: 330-447 cm), the slope for blubber thickness and "blubber ring" thickness (average blubber thickness along a girth) in relation to body mass was positive and had a P value of <0.10 at six of 16 blubber measurement sites and one of five girth measurement sites, respectively. The slope for body girth (a reflection of changes in underlying blubber thickness) in relation to body mass was positive and had a lower P value ([Formula: see text]) at three of five girth measurement sites. Results indicate that blubber from the anterior insertion of the pectoral fins to the posterior insertion of the dorsal fin is the most metabolically active region. This region includes the midflank site, a location where blubber thickness measurements have historically been taken to monitor cetacean body condition. Conversely, blubber in the peduncle region was comparatively inert. These findings must be considered when measuring blubber thickness and body width (i.e., photogrammetry) to monitor the condition of free-ranging cetaceans.

Lipid signature of neural tissues of marine and terrestrial mammals: consistency across species and habitats

Marine mammals are exposed to O₂-limitation and increased N₂ gas concentrations as they dive to exploit habitat and food resources. The lipid-rich tissues (blubber, acoustic, neural) are of particular concern as N₂ is five times more soluble in lipid than in blood or muscle, creating body compartments that can become N₂ saturated, possibly leading to gas emboli upon surfacing. We characterized lipids in the neural tissues of marine mammals to determine whether they have similar lipid profiles compared to terrestrial mammals. Lipid profiles (lipid content, lipid class composition, and fatty acid signatures) were determined in the neural tissues of 12 cetacean species with varying diving regimes, and compared to two species of terrestrial mammals. Neural tissue lipid profile was not significantly different in marine versus terrestrial mammals across tissue types. Within the marine species, average dive depth was not significantly associated with the lipid profile of cervical spinal cord. Across species, tissue type (brain, spinal cord, and spinal nerve) was a significant factor in lipid profile, largely due to the presence of storage lipids (triacylglycerol and wax ester/sterol ester) in spinal nerve tissue only. The stability of lipid signatures within the neural tissue types of terrestrial and marine species, which display markedly different dive behaviors, points to the consistent role of lipids in these tissues. These findings indicate that despite large differences in the level of N₂ gas exposure by dive type in the species examined, the lipids of neural tissues likely do not have a neuroprotective role in marine mammals.

Foraging habitat of North Atlantic right whales has declined in the Gulf of St. Lawrence, Canada, and may be insufficient for successful reproduction

Climate-induced changes in calanoid copepod (Calanus spp.) availability in traditional feeding areas might explain why a large proportion of the North Atlantic right whale Eubalaena glacialis population has fed in the Gulf of St. Lawrence (Canada) in recent years. However, little is known about the distribution of copepods in the gulf, and whether their abundance is sufficient to energetically sustain right whales. We used a mechanistic modelling approach to predict areas within the gulf that have foraging potential for adult female right whales, based on the annual energetic needs of resting, pregnant and lactating females, and their theoretical prey density requirements. We identified suitable foraging areas for right whales by coupling a foraging bioenergetics model with a 12 yr data set (2006-2017) describing the abundance and 3-dimensional distribution of late-stage Calanus spp. in the gulf. Prey densities in the southern gulf (from Shediac Valley to the Magdalen Islands) supported all 3 reproductive states in most (≥6) years. However, foraging habitat became progressively sparse in the southern gulf over time, with noticeably less suitable habitat available after 2014. Few other potentially suitable foraging areas were identified elsewhere in the gulf. Overall, the availability of foraging habitat in the gulf varied considerably between years, and was higher for resting females than for pregnant and lactating females. Our findings are consistent with the recent low calving rates, and indicate that prey biomass in the Gulf of St. Lawrence may be insufficient in most years to support successful reproduction of North Atlantic right whales.

Physiological consequences of Arctic sea ice loss on large marine carnivores: unique responses by polar bears and narwhals

Rapid environmental changes in the Arctic are threatening the survival of marine species that rely on the predictable presence of the sea ice. Two Arctic marine mammal specialists, the polar bear (Ursus maritimus) and narwhal (Monodon monoceros), appear especially vulnerable to the speed and capriciousness of sea ice deterioration as a consequence of their unique hunting behaviors and diet, as well as their physiological adaptations for slow-aerobic exercise. These intrinsic characteristics limit the ability of these species to respond to extrinsic threats associated with environmental change and increased industrial activity in a warming Arctic. In assessing how sea ice loss may differentially affect polar bears that hunt on the ice surface and narwhals that hunt at extreme depths below, we found that major ice loss translated into elevated locomotor costs that range from 3- to 4-fold greater than expected for both species. For polar bears this instigates an energy imbalance from the combined effects of reduced caloric intake and increased energy expenditure. For narwhals, high locomotor costs during diving increase the risk of ice entrapment due to the unreliability of breathing holes. These species-specific physiological constraints and extreme reliance on the polar sea ice conspire to make these two marine mammal specialists sentinels of climate change within the Arctic marine ecosystem that may foreshadow rapid changes to the marine ecosystem.

The postcranial anatomy of Whatcheeria deltae and its implications for the family Whatcheeriidae

Here we describe the postcranial skeleton and present the first full-body reconstruction of the early tetrapod Whatcheeria deltae from the Viséan of Iowa. The skeletal proportions, including an elongate neck and large limbs, are unlike those of other Devonian and Mississippian tetrapods. The robust limbs of Whatcheeria appear adapted for a walking gait, but the lateral lines of the cranium are fundamentally unsuited for sustained subaerial exposure. Thus, although Whatcheeria bears a general resemblance to certain terrestrially adapted Permian and Triassic members of crown tetrapod lineages, its unusual form signals a broader range of early amphibious morphologies and habits than previously considered. From the exceptionally rich collection it is evident that most Whatcheeria specimens represent immature individuals. Rare specimens suggest an adult body size of at least 2 m, over twice that of the holotype. Further comparison suggests that the Pederpes holotype might also be a juvenile and reveals a combination of hindlimb characters unique to Whatcheeria and Pederpes. These new data contribute to a revised diagnosis of the family Whatcheeriidae and a re-evaluation of fragmentary Devonian–Carboniferous fossils reported as ‘whatcheeriid’ but sharing no synapomorphies with the more precisely defined clade.

Exploring the functional meaning of head shape disparity in aquatic snakes

Phenotypic diversity, or disparity, can be explained by simple genetic drift or, if functional constraints are strong, by selection for ecologically relevant phenotypes. We here studied phenotypic disparity in head shape in aquatic snakes. We investigated whether conflicting selective pressures related to different functions have driven shape diversity and explore whether similar phenotypes may give rise to the same functional output (i.e., many-to-one mapping of form to function). We focused on the head shape of aquatically foraging snakes as they fulfill several fitness-relevant functions and show a large amount of morphological variability. We used 3D surface scanning and 3D geometric morphometrics to compare the head shape of 62 species in a phylogenetic context. We first tested whether diet specialization and size are drivers of head shape diversification. Next, we tested for many-to-one mapping by comparing the hydrodynamic efficiency of head shape characteristic of the main axes of variation in the dataset. We 3D printed these shapes and measured the forces at play during a frontal strike. Our results show that diet and size explain only a small amount of shape variation. Shapes did not fully functionally converge as more specialized aquatic species evolved a more efficient head shape than others. The shape disparity observed could thus reflect a process of niche specialization.

Evaluating cetacean body condition; a review of traditional approaches and new developments

The ability to accurately gauge the body condition of free-swimming cetaceans is invaluable in population and conservation biology, due to the direct implications that this measure has on individual fitness, survival, and reproductive success. Furthermore, monitoring temporal change in body condition offers insight into foraging success over time, and therefore the health of the supporting ecosystem, as well as a species' resilience. These parameters are particularly relevant in the context of widespread and accelerated, climate-induced habitat change. There are, however, significant logistical challenges involved with research and monitoring of large cetaceans, which often preclude direct measure of body condition of live individuals. Consequently, a wide variety of indirect approaches, or proxies, for estimating energetic stores have been proposed over past decades. To date, no single, standardized, approach has been shown to serve as a robust estimation of body condition across species, age categories, and in both live and dead individuals. Nonetheless, it is clear that streamlining and advancing body condition measures would carry significant benefits for diverse areas of cetacean research and management. Here, we review traditional approaches and new applications for the evaluation of cetacean energetic reserves. Specific attention is given to the criteria of measure performance (sensitivity and accuracy), level of invasiveness, cost and effort required for implementation, as well as versatility e.g. applicability across different species, age groups, as well as living versus deceased animals. Measures have been benchmarked against these criteria in an effort to identify key candidates for further development, and key research priorities in the field.

Fatty acid composition and N2 solubility in triacylglycerol-rich adipose tissue: the likely importance of intact molecular structure

Diving tetrapods (sea turtles, seabirds and marine mammals) are a biologically diverse group, yet all are under similar constraints: oxygen limitation and increased hydrostatic pressure at depth. Adipose tissue is important in the context of diving because nitrogen gas (N₂) is five times more soluble in fat than in blood, creating a potential N₂ sink in diving animals. Previous research demonstrates that unusual lipid composition [waxes and short-chained fatty acids (FA)] in adipose tissue of some whales leads to increased N₂ solubility. We evaluated the N₂ solubility of adipose tissue from 12 species of diving tetrapods lacking these unusual lipids to explore whether solubility in this tissue can be linked to lipid structure. Across all taxonomic groups, the same eight FA accounted for 70-80% of the entire lipid profile; almost all adipose tissues were dominated by monounsaturated FA (40.2-67.4 mol%). However, even with consistent FA profiles, there was considerable variability in N₂ solubility, ranging from 0.051±0.003 to 0.073±0.004 ml N₂ ml^-1 oil. Interestingly, differences in N₂ solubility could not be attributed to taxonomic group (P=0.06) or FA composition (P>0.10). These results lead to two main conclusions: (1) in triacylglycerol-only adipose tissues, the FA pool itself may not have a strong influence on N₂ solubility; and (2) samples with similar FA profiles can have different N₂ solubility values, suggesting that 3D arrangement of individual FA within a triacylglycerol molecule may have important roles in determining N₂ solubility.

Advantages of aquatic animals as models for bio-inspired drones over present AUV technology

Robotic systems are becoming more ubiquitous, whether on land, in the air, or in water. In the aquatic realm, aquatic drones including ROVs (remotely operated vehicles) and AUVs (autonomous underwater vehicles) have opened new opportunities to investigate the ocean depths. However, these technologies have limitations related to shipboard support, programing, and functionality in complex marine environments. A new form of AUV is being developed to become operational. These drones are based on animal designs and capabilities. Biological AUVs (BAUVs) promise to improve performance in the varied environments of the ocean. Comparison of animal swimming performance with conventional AUVs and BAUVs demonstrates that natural systems still have swimming capabilities beyond the current state of AUV technology. However, the performances of aquatic animals with respect to swimming speed, efficiency, maneuverability, and stealth can serve as benchmarks to direct the development of bio-inspired AUV technology with enhanced capabilities.

Effects of body plan evolution on the hydrodynamic drag and energy requirements of swimming in ichthyosaurs

Ichthyosaurs are an extinct group of fully marine tetrapods that were well adapted to aquatic locomotion. During their approximately 160 Myr existence, they evolved from elongate and serpentine forms into stockier, fish-like animals, convergent with sharks and dolphins. Here, we use computational fluid dynamics (CFD) to quantify the impact of this transition on the energy demands of ichthyosaur swimming for the first time. We run computational simulations of water flow using three-dimensional digital models of nine ichthyosaurs and an extant functional analogue, a bottlenose dolphin, providing the first quantitative evaluation of ichthyosaur hydrodynamics across phylogeny. Our results show that morphology did not have a major effect on the drag coefficient or the energy cost of steady swimming through geological time. We show that even the early ichthyosaurs produced low levels of drag for a given volume, comparable to those of a modern dolphin, and that deep 'torpedo-shaped' bodies did not reduce the cost of locomotion. Our analysis also provides important insight into the choice of scaling parameters for CFD applied to swimming mechanics, and underlines the great influence of body size evolution on ichthyosaur locomotion. A combination of large bodies and efficient swimming modes lowered the cost of steady swimming as ichthyosaurs became increasingly adapted to a pelagic existence.

Terrestrial locomotion of the northern elephant seal (Mirounga angustirostris): limitation of large aquatically adapted seals on land?

The aquatic specializations of phocid seals have restricted their ability to locomote on land. The amphibious northern elephant seal, Mirounga angustirostris, is the second largest phocid seal in the world, with males reaching 2700 kg. Although elephant seals are proficient swimmers and deep divers, their extreme size and aquatic specializations limit terrestrial movement. The kinematics of terrestrial locomotion in northern elephant seals were analyzed from video recordings of animals observed on the beach of Año Nuevo State Reserve, CA, USA. The seals moved using a series of rhythmic undulations produced by dorsoventral spinal flexion. The traveling spinal wave moved anteriorly along the dorsal margin of the body with the chest, pelvic region and foreflippers serving as the main points of contact with the ground. The hindflippers were not used. The spinal wave and foreflippers were used to lift the chest off the ground as the body was pushed forward from the pelvis as the foreflippers were retracted to pull the body forward. Seals moved over land at 0.41-2.56 m s^-1 (0.12-0.71 body lengths s^-1). The frequency and amplitude of spinal flexions both displayed a direct increase with increasing speed. The duty factor for the pelvic region decreased with increasing velocity while the duty factor of the foreflipper remained constant. Kinematic data for elephant seals and other phocids were used in a biomechanical model to calculate the mechanical energy expended during terrestrial locomotion. The elephant seals were found to expend more energy when traveling over land for their size than smaller phocids. The unique method of terrestrial movement also exhibited greater energy expenditure on land than values for large quadrupeds. The trade-off for the northern elephant seal is that its massive size and morphology have well adapted it to an aquatic existence but limited its locomotor performance (i.e. speed, endurance) on land.

Diving behavior in a free-living, semi-aquatic herbivore, the Eurasian beaver Castor fiber

Semi-aquatic mammals have secondarily returned to the aquatic environment, although they spend a major part of their life operating in air. Moving both on land, as well as in, and under water is challenging because such species are considered to be imperfectly adapted to both environments. We deployed accelerometers combined with a depth sensor to study the diving behavior of 12 free-living Eurasian beavers Castor fiber in southeast Norway between 2009 and 2011 to examine the extent to which beavers conformed with mass-dependent dive capacities, expecting them to be poorer than wholly aquatic species. Dives were generally shallow (<1 m) and of short duration (<30 s), suggesting that the majority of dives were aerobic. Dive parameters such as maximum diving depth, dive duration, and bottom phase duration were related to the effort during different dive phases and the maximum depth reached. During the descent, mean vectorial dynamic body acceleration (VeDBA-a proxy for movement power) was highest near the surface, probably due to increased upthrust linked to fur- and lung-associated air. Inconsistently though, mean VeDBA underwater was highest during the ascent when this air would be expected to help drive the animals back to the surface. Higher movement costs during ascents may arise from transporting materials up, the air bubbling out of the fur, and/or the animals' exhaling during the bottom phase of the dive. In a manner similar to other homeotherms, beavers extended both dive and bottom phase durations with diving depth. Deeper dives tended to have a longer bottom phase, although its duration was shortened with increased VeDBA during the bottom phase. Water temperature did not affect diving behavior. Overall, the beavers' dive profile (depth, duration) was similar to other semi-aquatic freshwater divers. However, beavers dived for only 2.8% of their active time, presumably because they do not rely on diving for food acquisition.

Energy Homeostasis in Monotremes

In 1803, the French anatomist Étienne Geoffroy Saint-Hilaire decided that the newly described echidna and platypus should be placed in a separate order, the monotremes, intermediate between reptiles and mammals. The first physiological observations showed monotremes had low body temperatures and metabolic rates, and the consensus was that they were at a stage of physiological development intermediate between "higher mammals" and "lower vertebrates." Subsequent studies demonstrated that platypuses and echidnas are capable of close thermoregulation in the cold although less so under hot conditions. Because the short-beaked echidna Tachyglossus aculeatus, may show very large daily variations in body temperature, as well as seasonal hibernation, it has been suggested that it may provide a useful model of protoendotherm physiology. Such analysis is complicated by the very significant differences in thermal relations between echidnas from different climates. In all areas female echidnas regulate Tb within 1°C during egg incubation. The lactation period is considered to be the most energetically expensive time for most female mammals but lactating echidnas showed no measurable difference in field metabolic rate from non-lactating females, while the lactation period is more than 200 days for Kangaroo Island echidnas but only 150 days in Tasmania. In areas with mild winters echidnas show reduced activity and shallow torpor in autumn and early winter, but in areas with cold winters echidnas enter true hibernation with Tb falling as low as 4.5°C. Monotremes do not possess brown adipose tissue and maximum rates of rewarming from hibernation in echidnas were only half those of marmots of the same mass. Although echidnas show very large seasonal variations in fat stores associated with hibernation there is no relationship between plasma leptin and adiposity. Leptin levels are lowest during post-reproductive fattening, supporting suggestions that in evolutionary terms the anorectic effects of leptin preceded the adiposity signal. BMR of platypuses is twice that of echidnas although maximum metabolism is similar. High levels of thyroid hormones in platypuses may be driving metabolism limited by low body temperature. Monotremes show a mosaic of plesiomorphic and derived features but can still inform our understanding of the evolution of endothermy.

Swimming metabolic rates vary by sex and development stage, but not by species, in three species of Australian otariid seals

Physiology may limit the ability for marine mammals to adapt to changing environments. Depth and duration of foraging dives are a function of total available oxygen stores, which theoretically increase as animals grow, and metabolic costs. To evaluate how physiology may influence the travelling costs for seals to foraging patches in the wild, we measured metabolic rates of a cross-section of New Zealand fur seals, Australian fur seals and Australian sea lions representing different foraging strategies, development stages, sexes and sizes. We report values for standard metabolic rate, active metabolic rate (obtained from submerged swimming), along with estimates of cost of transport (COT), measured via respirometry. We found a decline in mass-specific metabolic rate with increased duration of submerged swimming. For most seals mass-specific metabolic rate increased with speed and for all seals mass-specific COT decreased with speed. Mass-specific metabolic rate was higher for subadult than adult fur seals and sea lions, corresponding to an overall higher minimum COT. Some sex differences were also apparent, such that female Australian fur seals and Australian sea lions had higher mass-specific metabolic rates than males. There were no species differences in standard or active metabolic rates for adult males or females. The seals in our study appear to operate at their physiological optimum during submerged swimming. However, the higher metabolic rates of young and female fur seals and sea lions may limit their scope for increasing foraging effort during times of resource limitation.

Adaptive Patterns in Aquatic Amniote Bone Microanatomy-More Complex than Previously Thought

Numerous amniote groups adapted to an aquatic life. This change of habitat naturally led to numerous convergences. The various adaptive traits vary depending on the degree of adaptation to an aquatic life, notably between shallow water taxa still able to occasionally locomote on land and open-marine forms totally independent from the terrestrial environment, but also between surface swimmers and deep divers. As a consequence, despite convergences, there is a high diversity within aquatic amniotes in e.g., shape, size, physiology, swimming mode. Bone microanatomy is considered to be strongly associated with bone biomechanics and is thus a powerful tool to understand bone adaptation to functional constraints and to make functional inferences on extinct taxa. Two opposing major microanatomical specializations have been described in aquatic amniotes, referred to as bone mass increase and a spongious organization, respectively. They are assumed to be essentially linked with the hydrostatic or hydrodynamic control of buoyancy and body trim and with swimming abilities and velocity. However, between extremes in these specializations, a wide range of intermediary patterns occurs. The present study provides a state-of-the-art review of these inner bone adaptations in semi-aquatic and aquatic amniotes. The analysis of the various microanatomical patterns observed in long bones, vertebrae, and ribs of a large sample of (semi-)aquatic extant and extinct amniotes reveals the wide diversity in microanatomical patterns and the variation in combination of these different patterns within a single skeleton. This enables us to discuss the link between microanatomical features and habitat, swimming abilities, and thus functional requirements in the context of amniote adaptation to an aquatic lifestyle.

Axial allometry in a neutrally buoyant environment: effects of the terrestrial-aquatic transition on vertebral scaling

Ecological diversification into new environments presents new mechanical challenges for locomotion. An extreme example of this is the transition from a terrestrial to an aquatic lifestyle. Here, we examine the implications of life in a neutrally buoyant environment on adaptations of the axial skeleton to evolutionary increases in body size. On land, mammals must use their thoracolumbar vertebral column for body support against gravity and thus exhibit increasing stabilization of the trunk as body size increases. Conversely, in water, the role of the axial skeleton in body support is reduced, and, in aquatic mammals, the vertebral column functions primarily in locomotion. Therefore, we hypothesize that the allometric stabilization associated with increasing body size in terrestrial mammals will be minimized in secondarily aquatic mammals. We test this by comparing the scaling exponent (slope) of vertebral measures from 57 terrestrial species (23 felids, 34 bovids) to 23 semi-aquatic species (pinnipeds), using phylogenetically corrected regressions. Terrestrial taxa meet predictions of allometric stabilization, with posterior vertebral column (lumbar region) shortening, increased vertebral height compared to width, and shorter, more disc-shaped centra. In contrast, pinniped vertebral proportions (e.g. length, width, height) scale with isometry, and in some cases, centra even become more spool-shaped with increasing size, suggesting increased flexibility. Our results demonstrate that evolution of a secondarily aquatic lifestyle has modified the mechanical constraints associated with evolutionary increases in body size, relative to terrestrial taxa.

Biochemical adaptations to dive-derived hypoxia/reoxygenation in semiaquatic rodents

To meet the challenges presented by dive-derived hypoxia/reoxygenation transition, the aquatic mammals possess multi-level adaptations. However, the adjustments of the semiaquatic animals as modern analogs of evolutionary intermediates between ancestral terrestrial mammals and their fully aquatic descendants are still not fully elucidated. The aim of this study was to analyze the total lactate dehydrogenase (LDH) activity (in the lactate to pyruvate direction), the LDH patterns and the antioxidant defense in the tissues (heart, kidney, liver, lung, muscle, spleen) of semiaquatic rodents such as Eurasian beaver (Castor fiber), muskrat (Ondatra zibethicus) and nutria (Myocastor coypus). Samples from Wistar rat were used for comparison. Semiaquatic rodents had higher catalase activity compared to rats. The superoxide dismutase activity was higher and the catalase activity was lower in almost all tissues of muskrat than of both beaver and nutria. Comparing beaver and nutria, no significant differences in the antioxidant enzyme activities were found for the heart, kidney and liver. In beaver, most of the examined tissues (heart, kidney, lung and spleen) use lactate as preference to glucose as a substrate but in muskrat the heart, liver and skeletal muscle showed the increased LDH activity. Nutria had the unusual LDH properties that are needed to be further investigated. Our results suggest that beaver, nutria and muskrat have distinct mechanisms of adaptation to diving hypoxia/reoxygenation and support the hypothesis that semiaquatic mammals are the intermediate animals that help to define which potential selection factors and mechanical constraints may have directed the evolution of the aquatic forms.

A comparison of locomotor performance of the semiarboreal Pacific marten (Martes caurina) and semiaquatic mustelids

The relatively long body and short limbs of mustelids allow them to exploit resources from a diversity of habitat types. This body plan also has important implications for energetics because of increased heat loss from a high surface to volume ratio and muscular support of an elongated spine. Past research suggests that dorsal flexion of the spine enables semiaquatic mustelids to be relatively economical runners at faster speeds. We evaluated locomotor performance in a semiarboreal mustelid, the Pacific marten (Martes caurina (Merriam, 1890)), and compared our results from three females and one male to those previously observed in semiaquatic mustelids. At slower speeds, when martens used a walking or trotting gait, they were less economical than predicted; at higher speeds, martens were as economical as predicted. Nonetheless, martens did not switch to a bounding gait earlier than expected based on an allometric relationship between body mass, running speed, and gait. At the highest speed, martens increased stride length and decreased stride frequency. These observations suggest that unlike the semiaquatic river otters (Lontra canadensis (Schreber, 1777)) and mink (Neovison vison (Schreber, 1777)), martens do not use spinal flexion but instead employ other adaptations that result in energy savings at high speeds.

Multi-modal locomotion: from animal to application

The majority of robotic vehicles that can be found today are bound to operations within a single media (i.e. land, air or water). This is very rarely the case when considering locomotive capabilities in natural systems. Utility for small robots often reflects the exact same problem domain as small animals, hence providing numerous avenues for biological inspiration. This paper begins to investigate the various modes of locomotion adopted by different genus groups in multiple media as an initial attempt to determine the compromise in ability adopted by the animals when achieving multi-modal locomotion. A review of current biologically inspired multi-modal robots is also presented. The primary aim of this research is to lay the foundation for a generation of vehicles capable of multi-modal locomotion, allowing ambulatory abilities in more than one media, surpassing current capabilities. By identifying and understanding when natural systems use specific locomotion mechanisms, when they opt for disparate mechanisms for each mode of locomotion rather than using a synergized singular mechanism, and how this affects their capability in each medium, similar combinations can be used as inspiration for future multi-modal biologically inspired robotic platforms.

Purine nucleoside phosphorylase and xanthine oxidase activities in erythrocytes and plasma from marine, semiaquatic and terrestrial mammals

Purine nucleoside phosphorylase (PNP) and xanthine oxidase (XO) are key enzymes involved in the purine salvage pathway. PNP metabolizes purine bases to synthetize purine nucleotides whereas XO catalyzes the oxidation of purines to uric acid. In humans, PNP activity is reported to be high in erythrocytes and XO activity to be low in plasma; however, XO activity increases after ischemic events. XO activity in plasma of northern elephant seals has been reported during prolonged fasting and rest and voluntary associated apneas. The objective of this study was to analyze circulating PNP and XO activities in marine mammals adapted to tolerate repeated cycles of ischemia/reperfusion associated with diving (bottlenose dolphin, northern elephant seal) in comparison with semiaquatic (river otter) and terrestrial mammals (human, pig). PNP activities in plasma and erythrocytes, as well as XO activity in plasma, from all species were quantified by spectrophotometry. No clear relationship in circulating PNP or XO activity could be established between marine, semiaquatic and terrestrial mammals. Erythrocytes from bottlenose dolphins and humans are highly permeable to nucleosides and glucose, intraerythrocyte PNP activity may be related to a release of purine nucleotides from the liver. High-energy costs will probably mean a higher ATP degradation rate in river otters, as compared to northern elephant seals or dolphins. Lower erythrocyte PNP activity and elevated plasma XO activity in northern elephant seal could be associated with fasting and/or sleep- and dive-associated apneas.

Interplay between postcranial morphology and locomotor types in Neotropical sigmodontine rodents

Sigmodontine rats are one of the most diverse components of the Neotropical mammal fauna. They exhibit a wide ecological diversity and a variety of locomotor types that allow them to occupy different environments. To explore the relationship between morphology and locomotor types, we analyzed traits of the postcranial osteology (axial and appendicular skeletons) of 329 specimens belonging to 51 species and 29 genera of sigmodontines exhibiting different locomotor types. In this work, postcranial skeletal characters of these rats are considered in an ecomorphological study for the first time. Statistical analyses showed that of the 34 osteological characters considered, 15 were related to the locomotor types studied, except for ambulatory. However, character mapping showed that climbing and jumping sigmodontines are the only taxa exhibiting clear adaptations in their postcranial osteology, which are highly consistent with the tendencies described in many other mammal taxa. Climbing, digging and swimming rats presented statistically differences in traits associated with their vertebral column and limbs, whereas jumping rats showed modifications associated with all the skeletal regions. Our data suggest that sigmodontine rats retain an all-purpose morphology that allows them to use a variety of habitats. This versatility is particularly important when considering the lack of specialization of sigmodontines for a specific locomotor mode. Another possible interpretation is that our dataset probably did not consider relevant information about these groups and should be increased with other types of characters (e.g. characters from the external morphology, myology, etc.).

High flight costs, but low dive costs, in auks support the biomechanical hypothesis for flightlessness in penguins

Flight is a key adaptive trait. Despite its advantages, flight has been lost in several groups of birds, notably among seabirds, where flightlessness has evolved independently in at least five lineages. One hypothesis for the loss of flight among seabirds is that animals moving between different media face tradeoffs between maximizing function in one medium relative to the other. In particular, biomechanical models of energy costs during flying and diving suggest that a wing designed for optimal diving performance should lead to enormous energy costs when flying in air. Costs of flying and diving have been measured in free-living animals that use their wings to fly or to propel their dives, but not both. Animals that both fly and dive might approach the functional boundary between flight and nonflight. We show that flight costs for thick-billed murres (Uria lomvia), which are wing-propelled divers, and pelagic cormorants (Phalacrocorax pelagicus) (foot-propelled divers), are the highest recorded for vertebrates. Dive costs are high for cormorants and low for murres, but the latter are still higher than for flightless wing-propelled diving birds (penguins). For murres, flight costs were higher than predicted from biomechanical modeling, and the oxygen consumption rate during dives decreased with depth at a faster rate than estimated biomechanical costs. These results strongly support the hypothesis that function constrains form in diving birds, and that optimizing wing shape and form for wing-propelled diving leads to such high flight costs that flying ceases to be an option in larger wing-propelled diving seabirds, including penguins.

Turning semicircular canal function on its head: dinosaurs and a novel vestibular analysis

Previous investigations have correlated vestibular function to locomotion in vertebrates by scaling semicircular duct radius of curvature to body mass. However, this method fails to discriminate bipedal from quadrupedal non-avian dinosaurs. Because they exhibit a broad range of relative head sizes, we use dinosaurs to test the hypothesis that semicircular ducts scale more closely with head size. Comparing the area enclosed by each semicircular canal to estimated body mass and to two different measures of head size, skull length and estimated head mass, reveals significant patterns that corroborate a connection between physical parameters of the head and semicircular canal morphology. Head mass more strongly correlates with anterior semicircular canal size than does body mass and statistically separates bipedal from quadrupedal taxa, with bipeds exhibiting relatively larger canals. This morphologic dichotomy likely reflects adaptations of the vestibular system to stability demands associated with terrestrial locomotion on two, versus four, feet. This new method has implications for reinterpreting previous studies and informing future studies on the connection between locomotion type and vestibular function.