Hydrodynamic advantages of swimming by salp chains

Use of pelagic tunicate Salpa fusiformis as biological sampler to estimate in-situ density of microplastics smaller than 330 μm

While microplastics (MPs) have emerged as a significant threat, information on MPs <330 μm (SMPs) is limited by the lack of simple quantification methods. We examined the potential application of salps, non-selective filter-feeding tunicates, to estimate in-situ SMP densities. After collection, salp guts were dissected, dissolved, and filtered to analyze MPs using μFTIR. The results showed each gut samples contained 1.96 ± 1.49 MP particles; their polymer composition and size were consistent with those in ambient seawater. When the SMP quantity in salp gut was converted to in-situ densities using previously published feeding parameters, SMP densities ranged between 235 and 1209 particles/m3; they were strongly correlated with those in seawater. Importantly, this method, which is less labor intensive than other methods, could easily characterize in-situ SMP distribution of different marine environments, thus improve the monitoring of their pollution. Furthermore, it could be applied to examine historical contributions of SMPs using archived salp samples.

Spinning and corkscrewing of oceanic macroplankton revealed through in situ imaging

Helical motion is prevalent in nature and has been shown to confer stability and efficiency in microorganisms. However, the mechanics of helical locomotion in larger organisms (>1 centimeter) remain unknown. In the open ocean, we observed the chain forming salp, Iasis cylindrica, swimming in helices. Three-dimensional imaging showed that helicity derives from torque production by zooids oriented at an oblique orientation relative to the chain axis. Colonies can spin both clockwise and counterclockwise and longer chains (>10 zooids) transition from spinning around a linear axis to a helical swimming path. Propulsive jets are non-interacting and directed at a small angle relative to the axis of motion, thus maximizing thrust while minimizing destructive interactions. Our integrated approach reveals the biomechanical advantages of distributed propulsion and macroscale helical movement.

The hydrodynamics and kinematics of the appendicularian tail underpin peristaltic pumping

Planktonic organisms feed while suspended in water using various hydrodynamic pumping strategies. Appendicularians are a unique group of plankton that use their tail to pump water over mucous mesh filters to concentrate food particles. As ubiquitous and often abundant members of planktonic ecosystems, they play a major role in oceanic food webs. Yet, we lack a complete understanding of the fluid flow that underpins their filtration. Using high-speed, high-resolution video and micro particle image velocimetry, we describe the kinematics and hydrodynamics of the tail in Oikopleura dioica in filtering and free-swimming postures. We show that sinusoidal waves of the tail generate peristaltic pumping within the tail chamber with fluid moving parallel to the tail when filtering. We find that the tail contacts attachment points along the tail chamber during each beat cycle, serving to seal the tail chamber and drive pumping. When we tested how the pump performs across environmentally relevant temperatures, we found that the amplitude of the tail was invariant but tail beat frequency increased threefold across three temperature treatments (5°C, 15°C and 25°C). Investigation into this unique pumping mechanism gives insight into the ecological success of appendicularians and provides inspiration for novel pump designs.

Bio-inspired soft pneumatic actuator based on a kresling-like pattern with a rigid skeleton

INTRODUCTION

Biomimetic soft pneumatic actuators (SPA) with Kresling origami patterns have unique advantages over conventional rigid robots, owing to their adaptability and safety.

OBJECTIVES

Inspired by cloning and moving behaviors observed from salps, we proposed an SPA based on a Kresling-like pattern with a rigid skeleton. The elongation and output force were tested, and the effectiveness of the applications with the SPA was evaluated.

METHODS

The proposed SPA consists of rigid skeletons and a soft skin. The rigid skeletons are constructed using layers of Kresling-like patterns, while a novel extensible inserting structure is devised to replace the folds found in conventional Kresling patterns. This innovative approach ensures that the SPA exhibits axial contraction/expansion motion without any twisting movement. To mimic the bionic characteristics of swimming and ingesting progress of salps, the proposed SPA can perform an axial contraction motion without twisting and a controllable bending motion based on multi-layered Kresling-like patterns; to mimic the cloning and releasing life phenomena of salps, the number of layers of Kresling-like patterns is changeable by adding or reducing skeleton components according to the practical needs.

RESULTS

The experimental elongation results on the SPA with multiple layers of Kresling-like patterns show that the elongation can increase to above 162% by adding layers; the experimental output force results show that the three-layer SPA can provide 6.36 N output force at an air flow rate of 10 L/min, and the output force will continue to increase as the number of layers of Kresling-like pattern increases or the air flow rate increases. Further, we demonstrate the applications of the SPA in soft grippers, scissor grippers, claw grippers and pipe crawlers.

CONCLUSION

Our proposed SPA can avoid twisting in the radial contraction motion with high elongation and output force, and provide the practical guidance for bio-inspired soft robotic applications.

A New Molecular Phylogeny of Salps (Tunicata: Thalicea: Salpida) and the Evolutionary History of Their Colonial Architecture

Salps are marine pelagic tunicates with a complex life cycle, including a solitary and colonial stage composed of asexually budded individuals. These colonies develop into species-specific architectures with distinct zooid orientations, including transversal, oblique, linear, helical, and bipinnate chains, as well as whorls and clusters. The evolutionary history of salp colony architecture has remained obscured due to the lack of an ontology to characterize architectures, as well as a lack of phylogenetic taxon sampling and resolution of critical nodes. We (1) collected and sequenced eight species of salps that had never been sequenced before, (2) inferred the phylogenetic relationships among salps, and (3) reconstructed the evolutionary history of salp colony architecture. We collected salp specimens via offshore SCUBA diving, dissected tissue samples, extracted their DNA, amplified their 18S gene, and sequenced them using Sanger technology. We inferred the phylogeny of Salpida based on 18S using both Maximum Likelihood and Bayesian approaches. Using this phylogeny, we reconstructed the ancestral states of colony architecture using a Bayesian ordered Markov model informed by the presence and absence of specific developmental mechanisms that lead to each architecture. We find that the ancestral salp architecture is either oblique or linear, with every other state being derived. Moreover, linear chains have evolved independently at least three times. While transversal chains are developmentally basal and hypothesized to be ancestral, our phylogenetic topology and reconstructions strongly indicate that they are evolutionarily derived through the loss of zooid torsion. These traits are likely critical to multijet locomotory performance and evolving under natural selection. Our work showcases the need to study the broader diversity of salp species to gain a comprehensive understanding of their organismal biology, evolutionary history, and ecological roles in pelagic ecosystems.

Nectophore coordination and kinematics by physonect siphonophores

Siphonophores are ubiquitous and often highly abundant members of pelagic ecosystems throughout the open ocean. They are unique among animal taxa in that many species use multiple jets for propulsion. Little is known about the kinematics of the individual jets produced by nectophores (the swimming bells of siphonophores) or whether the jets are coordinated during normal swimming behavior. Using remotely operated vehicles and SCUBA, we video recorded the swimming behavior of several physonect species in their natural environment. The pulsed kinematics of the individual nectophores that comprise the siphonophore nectosome were quantified and, based on these kinematics, we examined the coordination of adjacent nectophores. We found that, for the five species considered, nectophores located along the same side of the nectosomal axis (i.e. axially aligned) were coordinated and their timing was offset such that they pulsed metachronally. However, this level of coordination did not extend across the nectosome and no coordination was evident between nectophores on opposite sides of the nectosomal axis. For most species, the metachronal contraction waves of nectophores were initiated by the apical nectophores and traveled dorsally. However, the metachronal wave of Apolemia rubriversa traveled in the opposite direction. Although nectophore groups on opposite sides of the nectosome were not coordinated, they pulsed with similar frequencies. This enabled siphonophores to maintain relatively linear trajectories during swimming. The timing and characteristics of the metachronal coordination of pulsed jets affects how the jet wakes interact and may provide important insight into how interacting jets may be optimized for efficient propulsion.

Opposing Responses to Scarcity Emerge from Functionally Unique Sociality Drivers

AbstractFrom biofilms to whale pods, organisms across taxa live in groups, thereby accruing numerous diverse benefits of sociality. All social organisms, however, pay the inherent cost of increased resource competition. One expects that when resources become scarce, this cost will increase, causing group sizes to decrease. Indeed, this occurs in some species, but there are also species for which group sizes remain stable or even increase under scarcity. What accounts for these opposing responses? We present a conceptual framework, literature review, and theoretical model demonstrating that differing responses to sudden resource shifts can be explained by which sociality benefit exerts the strongest selection pressure on a particular species. We categorize resource-related benefits of sociality into six functionally distinct classes and model their effect on the survival of individuals foraging in groups under different resource conditions. We find that whether, and to what degree, the optimal group size (or correlates thereof) increases, decreases, or remains constant when resource abundance declines depends strongly on the dominant sociality mechanism. Existing data, although limited, support our model predictions. Overall, we show that across a wide diversity of taxa, differences in how group size shifts in response to resource declines can be driven by differences in the primary benefits of sociality.

A Developmental Ontology for the Colonial Architecture of Salps

AbstractColonial animals are composed of clonal individuals that remain physically connected and physiologically integrated. Salps are tunicates with a dual life cycle, including an asexual solitary stage that buds sexual colonies composed of jet-propelling zooids that efficiently swim together as a single unit by multijet propulsion. Colonies from different species develop distinct architectures characterized by their zooid arrangement patterns, but this diversity has received little attention. Thus, these architectures have never been formally defined using a framework of variables and axes that would allow comparative analyses. We set out to define an ontology of the salp colony architecture morphospace and describe the developmental pathways that build the different architectures. To inform these definitions, we collected and photographed live specimens of adult and developing colonies through offshore scuba diving. Since all salp colonies begin their development as a transversal double chain, we characterized each adult colonial architecture as a series of developmental transitions, such as rotations and translations of zooids, relative to their orientation at this early shared stage. We hypothesize that all adult architectures are either final or intermediate stages within three developmental pathways toward bipinnate, cluster, or helical forms. This framework will enable comparative studies on the biomechanical implications, ecological functions, evolutionary history, and engineering applications of the diversity of salp colony architectures.

Distributed propulsion enables fast and efficient swimming modes in physonect siphonophores

Many fishes employ distinct swimming modes for routine swimming and predator escape. These steady and escape swimming modes are characterized by dramatically differing body kinematics that lead to context-adaptive differences in swimming performance. Physonect siphonophores, such as Nanomia bijuga, are colonial cnidarians that produce multiple jets for propulsion using swimming subunits called nectophores. Physonect siphonophores employ distinct routine and steady escape behaviors but-in contrast to fishes-do so using a decentralized propulsion system that allows them to alter the timing of thrust production, producing thrust either synchronously (simultaneously) for escape swimming or asynchronously (in sequence) for routine swimming. The swimming performance of these two swimming modes has not been investigated in siphonophores. In this study, we compare the performances of asynchronous and synchronous swimming in N. bijuga over a range of colony lengths (i.e., numbers of nectophores) by combining experimentally derived swimming parameters with a mechanistic swimming model. We show that synchronous swimming produces higher mean swimming speeds and greater accelerations at the expense of higher costs of transport. High speeds and accelerations during synchronous swimming aid in escaping predators, whereas low energy consumption during asynchronous swimming may benefit N. bijuga during vertical migrations over hundreds of meters depth. Our results also suggest that when designing underwater vehicles with multiple propulsors, varying the timing of thrust production could provide distinct modes directed toward speed, efficiency, or acceleration.

Application of job shop scheduling approach in green patient flow optimization using a hybrid swarm intelligence

With the increasing demand for hospital services amidst the COVID-19 pandemic, allocation of limited public resources and management of healthcare services are of paramount importance. In the field of patient flow scheduling, previous research primarily focused on classical-based objective functions, while ignoring environmental-based objective functions. This study presents a flexible job shop scheduling problem to optimize patient flow and, thereby, minimize the total carbon footprint, as the sustainability-based objective function. Since flexible job shop scheduling is an NP-hard problem, a metaheuristic optimization algorithm, called Chaotic Salp Swarm Algorithm Enhanced with Opposition-Based Learning and Sine Cosine (CSSAOS), was developed. The proposed algorithm integrates the Salp Swarm Algorithm (SSA) with chaotic maps to update the position of followers, the sine cosine algorithm to update the leader position, and opposition-based learning for a better exploration of the search space. generating more accurate solutions. The proposed method was successfully applied in a real-world case study and demonstrated better performance than other well-known metaheuristic algorithms, including differential evolution, genetic algorithm, grasshopper optimization algorithm, SSA based on opposition-based learning, quantum evolutionary SSA, and whale optimization algorithm. In addition, it was found that the proposed method is scalable to different sizes and complexities.

Physics and applications of squid-inspired jetting

In the aquatic world jet propulsion is a highly successful locomotion method utilized by a variety of species. Among them cephalopods such as squids excel in their ability for high-speed swimming. This mechanism inspires the development of underwater locomotion techniques which are particularly useful in soft-bodied robots. In this overview we summarize existing studies on this topic, ranging from investigations on the underlying physics to the creation of mechanical systems utilizing this locomotion mode. Research directions that worth future investigation are also discussed.

Benthic jellyfish dominate water mixing in mangrove ecosystems

Water mixing is a critical mechanism in marine habitats that governs many important processes, including nutrient transport. Physical mechanisms, such as winds or tides, are primarily responsible for mixing effects in shallow coastal systems, but the sheltered habitats adjacent to mangroves experience very low turbulence and vertical mixing. The significance of biogenic mixing in pelagic habitats has been investigated but remains unclear. In this study, we show that the upside-down jellyfish Cassiopea sp. plays a significant role with respect to biogenic contributions to water column mixing within its shallow natural habitat ([Formula: see text] m deep). The mixing contribution was determined by high-resolution flow velocimetry methods in both the laboratory and the natural environment. We demonstrate that Cassiopea sp. continuously pump water from the benthos upward in a vertical jet with flow velocities on the scale of centimeters per second. The volumetric flow rate was calculated to be 212 L⋅h^-1 for average-sized animals (8.6 cm bell diameter), which translates to turnover of the entire water column every 15 min for a median population density (29 animals per m²). In addition, we found Cassiopea sp. are capable of releasing porewater into the water column at an average rate of 2.64 mL⋅h^-1 per individual. The release of nutrient-rich benthic porewater combined with strong contributions to water column mixing suggests a role for Cassiopea sp. as an ecosystem engineer in mangrove habitats.

Cool your jets: biological jet propulsion in marine invertebrates

Pulsatile jet propulsion is a common swimming mode used by a diverse array of aquatic taxa from chordates to cnidarians. This mode of locomotion has interested both biologists and engineers for over a century. A central issue to understanding the important features of jet-propelling animals is to determine how the animal interacts with the surrounding fluid. Much of our knowledge of aquatic jet propulsion has come from simple theoretical approximations of both propulsive and resistive forces. Although these models and basic kinematic measurements have contributed greatly, they alone cannot provide the detailed information needed for a comprehensive, mechanistic overview of how jet propulsion functions across multiple taxa, size scales and through development. However, more recently, novel experimental tools such as high-speed 2D and 3D particle image velocimetry have permitted detailed quantification of the fluid dynamics of aquatic jet propulsion. Here, we provide a comparative analysis of a variety of parameters such as efficiency, kinematics and jet parameters, and review how they can aid our understanding of the principles of aquatic jet propulsion. Research on disparate taxa allows comparison of the similarities and differences between them and contributes to a more robust understanding of aquatic jet propulsion.

Collective Pulsing in Xeniid Corals: Part I-Using Computer Vision and Information Theory to Search for Coordination

Xeniid corals (Cnidaria: Alcyonacea), a family of soft corals, include species displaying a characteristic pulsing behavior. This behavior has been shown to increase oxygen diffusion away from the coral tissue, resulting in higher photosynthetic rates from mutualistic symbionts. Maintaining such a pulsing behavior comes at a high energetic cost, and it has been proposed that coordinating the pulse of individual polyps within a colony might enhance the efficiency of fluid transport. In this paper, we test whether patterns of collective pulsing emerge in coral colonies and investigate possible interactions between polyps within a colony. We video recorded different colonies of Heteroxenia sp. in a laboratory environment. Our methodology is based on the systematic integration of a computer vision algorithm (ISOMAP) and an information-theoretic approach (transfer entropy), offering a vantage point to assess coordination in collective pulsing. Perhaps surprisingly, we did not detect any form of collective pulsing behavior in the colonies. Using artificial data sets, however, we do demonstrate that our methodology is capable of detecting even weak information transfer. The lack of a coordination is consistent with previous work on many cnidarians where coordination between actively pulsing polyps and medusa has not been observed. In our companion paper, we show that there is no fluid dynamic benefit of coordinated pulsing, supporting this result. The lack of coordination coupled with no obvious fluid dynamic benefit to grouping suggests that there may be non-fluid mechanical advantages to forming colonies, such as predator avoidance and defense.

Collective Pulsing in Xeniid Corals: Part II-Using Computational Fluid Dynamics to Determine if There are Benefits to Coordinated Pulsing

Coordinated movements have been shown to enhance the speed or efficiency of swimming, flying, and pumping in many organisms. Coordinated pulsing has not been observed in many cnidarians (jellyfish, anemones, corals), as is the case for the xeniid corals considered in our corresponding paper. This observation opens the question as to whether xeniid corals, and cnidarians in general, do not coordinate their pulsing behavior for lack of a hydrodynamic advantage or for other reasons. For example, a diffuse nervous system with lack of substantial sensory input may not be capable of such coordination. Similarly, grouping may serve a defensive role rather than a fluid dynamic role. In this paper, the immersed boundary method is used to quantify the volumetric flux of fluid generated by an individual xeniid coral polyp in comparison with a pair of polyps. Both the distances between the polyps and the phase difference between each polyp are considered. More specifically, the fully coupled fluid-structure interaction problem of a coral polyp driving fluid flow is solved using a hybrid version of the immersed boundary method where the Navier-Stokes equations are solved using a finite differences and the elasticity equations describing the coral are solved using finite elements. We explore three possible hypotheses: (1) pulsing in pairs increases upward flow above the polyps and is thus beneficial, (2) these benefits vary with the polyps' pulsing phase difference, and (3) these benefits vary with the distance between the polyps. We find that there is no substantial hydrodynamic advantage to pulsing in a pair for any phase difference. The volumetric flux of fluid generated by each coral also decreases as the distance between polyps is decreased. This surprising result is consistent with measurements taken from another cnidarian with similar behavior, the upside down jellyfish, in which each medusa drives less flow when in a group.

Propulsive design principles in a multi-jet siphonophore

Coordination of multiple propulsors can provide performance benefits in swimming organisms. Siphonophores are marine colonial organisms that orchestrate the motion of multiple swimming zooids for effective swimming. However, the kinematics at the level of individual swimming zooids (nectophores) have not been examined in detail. We used high speed, high resolution microvideography and particle image velocimetry (PIV) of the physonect siphonophore, Nanomia bijuga, to study the motion of the nectophores and the associated fluid motion during jetting and refilling. The integration of nectophore and velum kinematics allow for a high-speed (maximum ∼1 m s−1), narrow (1-2 mm) jet and rapid refill as well as a 1:1 ratio of jetting to refill time. Scaled to the 3 mm nectophore length, jet speeds reach &gt;300 lengths s−1. Overall swimming performance is enhanced by velocity gradients produced in the nectophore during refill, which lead to a high pressure region that produces forward thrust. Generating thrust during both the jet and refill phases augments the distance travelled by 17% over theoretical animals, which generate thrust only during the jet phase. The details of velum kinematics and associated fluid mechanics elucidate how siphonophores effectively navigate three-dimensional space and could be applied to exit flow parameters in multijet underwater vehicles.