Phenotypic plasticity in juvenile jellyfish medusae facilitates effective animal-fluid interaction

The Hydrodynamics of Jellyfish Swimming

Jellyfish have provided insight into important components of animal propulsion, such as suction thrust, passive energy recapture, vortex wall effects, and the rotational mechanics of turning. These traits are critically important to jellyfish because they must propel themselves despite severe limitations on force production imposed by rudimentary cnidarian muscular structures. Consequently, jellyfish swimming can occur only by careful orchestration of fluid interactions. Yet these mechanics may be more broadly instructive because they also characterize processes shared with other animal swimmers, whose structural and neurological complexity can obscure these interactions. In comparison with other animal models, the structural simplicity, comparative energetic efficiency, and ease of use in laboratory experimentation allow jellyfish to serve as favorable test subjects for exploration of the hydrodynamic bases of animal propulsion. These same attributes also make jellyfish valuable models for insight into biomimetic or bioinspired engineeringof swimming vehicles. Here, we review advances in understanding of propulsive mechanics derived from jellyfish models as a pathway toward the application of animal mechanics to vehicle designs.

Synchrony and symmetry-breaking in active flagellar coordination

Living creatures exhibit a remarkable diversity of locomotion mechanisms, evolving structures specialized for interacting with their environment. In the vast majority of cases, locomotor behaviours such as flying, crawling and running are orchestrated by nervous systems. Surprisingly, microorganisms can enact analogous movement gaits for swimming using multiple, fast-moving cellular protrusions called cilia and flagella. Here, I demonstrate intermittency, reversible rhythmogenesis and gait mechanosensitivity in algal flagella, to reveal the active nature of locomotor patterning. In addition to maintaining free-swimming gaits, I show that the algal flagellar apparatus functions as a central pattern generator that encodes the beating of each flagellum in a network in a distinguishable manner. The latter provides a novel symmetry-breaking mechanism for cell reorientation. These findings imply that the capacity to generate and coordinate complex locomotor patterns does not require neural circuitry but rather the minimal ingredients are present in simple unicellular organisms. This article is part of the Theo Murphy meeting issue 'Unity and diversity of cilia in locomotion and transport'.

Viscosity-Enhanced Fluid Drift around Hairy Structures

Hairy structures in nature function to sense smells and capture nutrients from surrounding fluid. Motivated by the complicated fluid transport processes observed in biological hairy structures, we numerically investigate the dynamics of fluid particles around multiple solid objects moving in a quiescent fluid, using simple two-dimensional cylinder models in the low-Reynolds-number regime ( R e = 1 –100). The behavior of fluid particles entrained by a moving cylinder array is analyzed by tracking particle trajectories and computing the drift volume, which indicates the amount of fluid particles transported by the moving cylinders. Hydrodynamic blockage of gaps within the cylinder array, which arises from the overlap of shear layers due to viscous diffusion, is critical in determining the overall fluid particle dynamics. As the number of cylinders increases, the deformation of the material line composed of fluid particles and the magnitude of the resultant drift volume show consistent patterns, despite undergoing drastic changes, and they converge to a specific configuration and magnitude, respectively. This study shows that visualization and quantification of collective fluid transport by multiple solid bodies are important to evaluate the efficiency of fluid transport for a collection of multiple bodies and to find its optimal configuration.

Multi-functional soft-bodied jellyfish-like swimming

The functionalities of the untethered miniature swimming robots significantly decrease as the robot size becomes smaller, due to limitations of feasible miniaturized on-board components. Here we propose an untethered jellyfish-inspired soft millirobot that could realize multiple functionalities in moderate Reynolds number by producing diverse controlled fluidic flows around its body using its magnetic composite elastomer lappets, which are actuated by an external oscillating magnetic field. We particularly investigate the interaction between the robot's soft body and incurred fluidic flows due to the robot's body motion, and utilize such physical interaction to achieve different predation-inspired object manipulation tasks. The proposed lappet kinematics can inspire other existing jellyfish-like robots to achieve similar functionalities at the same length and time scale. Moreover, the robotic platform could be used to study the impacts of the morphology and kinematics changing in ephyra jellyfish.

Ephyra jellyfish as a new model for ecotoxicological bioassays

The aim of this study was a preliminary investigation on the possibility of using the ephyra of Scyphozoan jellyfish Aurelia aurita (Linnaeus, 1758), the common moon jellyfish, as an innovative model organism in marine ecotoxicology. A series of sequential experiments have been carried out in laboratory in order to investigate the influence of different culturing and methodological parameters (temperature, photoperiod, ephyrae density and age) on behavioural end-points (% of Frequency of Pulsations) and standardize a testing protocol. After that, the organisms have been exposed to two well known reference toxic compounds (Cadmium Nitrate and SDS) in order to analyse the acute and behavioural responses during static exposure. Results of this work indicate that the proposed behavioural end-point, frequency of pulsations (Fp), is an easily measurable one and can be used coupled with an acute one (immobilization) and that ephyrae of jellyfish are very promising model organisms for ecotoxicological investigation.

Compensatory escape mechanism at low Reynolds number

Despite high predation pressure, planktonic copepods remain one of the most abundant groups on the planet. Their escape response provides one of most effective mechanisms to maximize evolutionary fitness. Owing to their small size (100 µm) compared with their predators (>1 mm), increasing viscosity is believed to have detrimental effects on copepods' fitness at lower temperature. Using high-speed digital holography we acquire 3D kinematics of the nauplius escape including both location and detailed appendage motion. By independently varying temperature and viscosity we demonstrate that at natural thermal extremes, contrary to conventional views, nauplii achieve equivalent escape distance while maintaining optimal velocity. Using experimental results and kinematic simulations from a resistive force theory propulsion model, we demonstrate that a shift in appendage timing creates an increase in power stroke duration relative to recovery stroke duration. This change allows the nauplius to limit losses in velocity and maintain distance during escapes at the lower bound of its natural thermal range. The shift in power stroke duration relative to recovery stroke duration is found to be regulated by the temperature dependence of swimming appendage muscle groups, not a dynamic response to viscosity change. These results show that copepod nauplii have natural adaptive mechanisms to compensate for viscosity variations with temperature but not in situations in which viscosity varies independent of temperature, such as in some phytoplankton blooms. Understanding the robustness of escapes in the wake of environmental changes such as temperature and viscosity has implications in assessing the future health of performance compensation.

A tissue-engineered jellyfish with biomimetic propulsion

Reverse engineering of biological form and function requires hierarchical design over several orders of space and time. Recent advances in the mechanistic understanding of biosynthetic compound materials, computer-aided design approaches in molecular synthetic biology 4,5 and traditional soft robotics, and increasing aptitude in generating structural and chemical micro environments that promote cellular self-organization have enhanced the ability to recapitulate such hierarchical architecture in engineered biological systems. Here we combined these capabilities in a systematic design strategy to reverse engineer a muscular pump. We report the construction of a freely swimming jellyfish from chemically dissociated rat tissue and silicone polymer as a proof of concept. The constructs, termed 'medusoids', were designed with computer simulations and experiments to match key determinants of jellyfish propulsion and feeding performance by quantitatively mimicking structural design, stroke kinematics and animal-fluid interactions. The combination of the engineering design algorithm with quantitative benchmarks of physiological performance suggests that our strategy is broadly applicable to reverse engineering of muscular organs or simple life forms that pump to survive.

Biomechanics of larval morphology affect swimming: insights from the sand dollars Dendraster excentricus

Most planktonic larvae of marine invertebrates are denser than sea water, and rely on swimming to locate food, navigate advective currents, and avoid predators. Therefore, swimming behaviors play important roles in larval survival and dispersal. Larval bodies are often complex and highly variable across developmental stages and environmental conditions. These complex morphologies reflect compromises among multiple evolutionary pressures, including maintaining the ability to swim. Here, I highlight metrics of swimming performance, their relationships with morphology, and the roles of behavior in modulating larval swimming within biomechanical limits. Sand dollars have a representative larval morphology using long ciliated projections for swimming and feeding. Observed larval sand dollars fell within a narrow range of key morphological parameters that maximized their abilities to maintain directed upward movement over the most diverse flow fields, outperforming hypothetical alternatives in a numerical model. Ontogenetic changes in larval morphology also led to different vertical movements in simulated flow fields, implying stage-dependent vertical distributions and lateral transport. These model outcomes suggest a tight coupling between larval morphology and swimming. Environmental stressors, such as changes in temperature and pH, can therefore affect larval swimming through short-term behavioral adjustments and long-term changes in morphology. Larval sand dollars reared under elevated pCO(2) conditions had significantly different morphology, but not swimming speeds or trajectories. Geometric morphometric analysis showed a pH-dependent, size-mediated change in shape, suggesting a coordinated morphological adjustment to maintain swimming performance under acidified conditions. Quantification of the biomechanics and behavioral aspects of swimming improves predictions of larval survival and dispersal under present-day and future environmental conditions.

Micro- and macrorheology of jellyfish extracellular matrix

Mechanical properties of the extracellular matrix (ECM) play a key role in tissue organization and morphogenesis. Rheological properties of jellyfish ECM (mesoglea) were measured in vivo at the cellular scale by passive microrheology techniques: microbeads were injected in jellyfish ECM and their Brownian motion was recorded to determine the mechanical properties of the surrounding medium. Microrheology results were compared with macrorheological measurements performed with a shear rheometer on slices of jellyfish mesoglea. We found that the ECM behaved as a viscoelastic gel at the macroscopic scale and as a much softer and heterogeneous viscoelastic structure at the microscopic scale. The fibrous architecture of the mesoglea, as observed by differential interference contrast and scanning electron microscopy, was in accord with these scale-dependent mechanical properties. Furthermore, the evolution of the mechanical properties of the ECM during aging was investigated by measuring microrheological properties at different jellyfish sizes. We measured that the ECM in adult jellyfish was locally stiffer than in juvenile ones. We argue that this stiffening is a consequence of local aggregations of fibers occurring gradually during aging of the jellyfish mesoglea and is enhanced by repetitive muscular contractions of the jellyfish.

Ontogenetic changes in the bell morphology and kinematics and swimming behavior of rowing medusae: the special case of the limnomedusa Liriope tetraphylla

Swimming animals may experience significant changes in the Reynolds number (Re) of their surrounding fluid flows throughout ontogeny. Many medusae experience Re environments with significant viscous forces as small juveniles but inertially dominated Re environments as adults. These different environments may affect their propulsive strategies. In particular, rowing, a propulsive strategy with ecological advantages for large adults, may be constrained by viscosity for small juvenile medusae. We examined changes in the bell morphology and swimming kinematics of the limnomedusa Liriope tetraphylla at different stages of development. L. tetraphylla maintained an oblate bell (fineness ratio ≈ 0.5-0.6), large velar aperture ratio (R(v) ≈ 0.5-0.8), and rapid bell kinematics throughout development. These traits enabled it to use rowing propulsion at all stages except the very smallest sizes observed (diameter = 0.14 cm). During the juvenile stage, very rapid bell kinematics served to increase Re sufficiently for rowing propulsion. Other taxa that use rowing propulsion as adults, such as leptomedusae and scyphomedusae, typically utilize different propulsive strategies as small juveniles to function in low Re environments. We compared the performance values of the different propulsive modes observed among juvenile medusae.

A moving topic: control and dynamics of animal locomotion

Animal locomotion arises from complex interactions among sensory systems, processing of sensory information into patterns of motor output, the musculo-skeletal dynamics that follow motor stimulation, and the interaction of appendages and body parts with the environment. These processes conspire to produce motions and forces that permit stunning manoeuvres with important ecological and evolutionary consequences. Thus, the habitats that animals may exploit, their ability to escape predators or attack prey, their capacity to manoeuvre and turn, or the use of their available energy all depend upon the processes that determine locomotion. Here, we summarize a series of 10 papers focused on this integrative research topic.