Locomotion in diving elephant seals: physical and physiological constraints

Control surfaces of aquatic vertebrates: active and passive design and function

Aquatic vertebrates display a variety of control surfaces that are used for propulsion, stabilization, trim and maneuvering. Control surfaces include paired and median fins in fishes, and flippers and flukes in secondarily aquatic tetrapods. These structures initially evolved from embryonic fin folds in fishes and have been modified into complex control surfaces in derived aquatic tetrapods. Control surfaces function both actively and passively to produce torque about the center of mass by the generation of either lift or drag, or both, and thus produce vector forces to effect rectilinear locomotion, trim control and maneuvers. In addition to fins and flippers, there are other structures that act as control surfaces and enhance functionality. The entire body can act as a control surface and generate lift for stability in destabilizing flow regimes. Furthermore, control surfaces can undergo active shape change to enhance their performance, and a number of features act as secondary control structures: leading edge tubercles, wing-like canards, multiple fins in series, finlets, keels and trailing edge structures. These modifications to control surface design can alter flow to increase lift, reduce drag and enhance thrust in the case of propulsive fin-based systems in fishes and marine mammals, and are particularly interesting subjects for future research and application to engineered systems. Here, we review how modifications to control surfaces can alter flow and increase hydrodynamic performance.

Hydrodynamic role of longitudinal dorsal ridges in a leatherback turtle swimming

Leatherback sea turtles (Dermochelys coriacea) are known to have a superior diving ability and be highly adapted to pelagic swimming. They have five longitudinal ridges on their carapace. Although it was conjectured that these ridges might be an adaptation for flow control, no rigorous study has been performed to understand their hydrodynamic roles. Here we show that these ridges are slightly misaligned to the streamlines around the body to generate streamwise vortices, and suppress or delay flow separation on the carapace, resulting in enhanced hydrodynamic performances during different modes of swimming. Our results suggest that shapes of some morphological features of living creatures, like the longitudinal ridges of the leatherback turtles, need not be streamlined for excellent hydro- or aerodynamic performances, contrary to our common physical intuition.

Energy cost and optimisation in breath-hold diving

We present a new model for calculating locomotion costs in breath-hold divers. Starting from basic mechanics principles, we calculate the work that the diver must provide through propulsion to counterbalance the action of drag, the buoyant force and weight during immersion. Compared to those in previous studies, the model presented here accurately analyses breath-hold divers which alternate active swimming with prolonged glides during the dive (as is the case in mammals). The energy cost of the dive is strongly dependent on these prolonged gliding phases. Here we investigate the length and impacts on energy cost of these glides with respect to the diver characteristics, and compare them with those observed in different breath-hold diving species. Taking into account the basal metabolic rate and chemical energy to propulsion transformation efficiency, we calculate optimal swim velocity and the corresponding total energy cost (including metabolic rate) and compare them with observations. Energy cost is minimised when the diver passes through neutral buoyancy conditions during the dive. This generally implies the presence of prolonged gliding phases in both ascent and descent, where the buoyancy (varying with depth) is best used against the drag, reducing energy cost. This is in agreement with past results (Miller et al., 2012; Sato et al., 2013) where, when the buoyant force is considered constant during the dive, the energy cost was minimised for neutral buoyancy. In particular, our model confirms the good physical adaption of dolphins for diving, compared to other breath-hold diving species which are mostly positively buoyant (penguins for example). The presence of prolonged glides implies a non-trivial dependency of optimal speed on maximal depth of the dive. This extends previous findings (Sato et al., 2010; Watanabe et al., 2011) which found no dependency of optimal speed on dive depth for particular conditions. The energy cost of the dive can be further diminished by reducing the volume of gas-filled body parts in divers close to neutral buoyancy. This provides a possible additional explanation for the observed exhalation of air before diving in phocid seals to minimise dive energy cost. Until now the only explanation for this phenomenon has been a reduction in the risk of decompression sickness.

New insights into the cardiorespiratory physiology of weaned southern elephant seals (Mirounga leonina)

Southern elephant seal (Mirounga leonina) pups must strike a balance between conserving energy during their post-weaning fast and simultaneously developing diving abilities to attain nutritional independence. Little is known about environmental influences on cardiorespiratory patterns, hence energy use, throughout the 6 week fast. Continuous heart rates were recorded for free-ranging, newly weaned southern elephant seals using heart rate time-depth recorders for 5-9 days at Sub-Antarctic Macquarie Island, during October 1994 (n = 1), 1995 (n = 4) and 1996 (n = 1). Daytime observations of respiration and behaviour were made throughout. We present the first instance of synchronous heart rate traces recorded simultaneously for individual weaners. Generalized additive models revealed that a sinusoidal pattern of diurnal heart rate elevation and nocturnal depression was evident in all seals and, on at least one occasion, a conspicuous break in this pattern coincided with an extreme cold weather event. Seals in this study were capable of considerable cardiorespiratory control and regularly demonstrated bradycardia during periods of resting apnoea. Apnoeic duration ranged from 33 to 291 s (mean 134 s). Apnoeic heart rates (mean 67 ± 15 beats min(-1), range 40-114 beats min(-1)) were on average 19.7% lower than those exhibited during periods of eupnoea (mean 83 ± 15 beats min(-1), range 44-124 beats min(-1)). The early development of the cardiorespiratory response is characterized by arrhythmic heart and respiration rates. The strong temporal patterns observed are being driven by the opposing requirements of maximizing time spent fasting in order to develop diving capabilities and of maximizing departure mass. This pilot study has highlighted a potentially large effect of ambient weather conditions on newly weaned southern elephant seal cardiorespiratory activity. Given the increasing westerlies and more erratic and increasing storminess associated with the Southern Annular Mode predicted in the Southern Ocean, the patterns observed here warrant further investigation.

Locomotion and the Cost of Hunting in Large, Stealthy Marine Carnivores

Foraging by large (>25 kg), mammalian carnivores often entails cryptic tactics to surreptitiously locate and overcome highly mobile prey. Many forms of intermittent locomotion from stroke-and-glide maneuvers by marine mammals to sneak-and-pounce behaviors by terrestrial canids, ursids, and felids are involved. While affording proximity to vigilant prey, these tactics are also associated with unique energetic costs and benefits to the predator. We examined the energetic consequences of intermittent locomotion in mammalian carnivores and assessed the role of these behaviors in overall foraging efficiency. Behaviorally-linked, three-axis accelerometers were calibrated to provide instantaneous locomotor behaviors and associated energetic costs for wild adult Weddell seals (Leptonychotes weddellii) diving beneath the Antarctic ice. The results were compared with previously published values for other marine and terrestrial carnivores. We found that intermittent locomotion in the form of extended glides, burst-and-glide swimming, and rollercoaster maneuvers while hunting silverfish (Pleuragramma antarcticum) resulted in a marked energetic savings for the diving seals relative to continuously stroking. The cost of a foraging dive by the seals decreased by 9.2-59.6%, depending on the proportion of time gliding. These energetic savings translated into exceptionally low transport costs during hunting (COTHUNT) for diving mammals. COTHUNT for Weddell seals was nearly six times lower than predicted for large terrestrial carnivores, and demonstrates the importance of turning off the propulsive machinery to facilitate cost-efficient foraging in highly active, air-breathing marine predators.

Neutral buoyancy is optimal to minimize the cost of transport in horizontally swimming seals

Flying and terrestrial animals should spend energy to move while supporting their weight against gravity. On the other hand, supported by buoyancy, aquatic animals can minimize the energy cost for supporting their body weight and neutral buoyancy has been considered advantageous for aquatic animals. However, some studies suggested that aquatic animals might use non-neutral buoyancy for gliding and thereby save energy cost for locomotion. We manipulated the body density of seals using detachable weights and floats, and compared stroke efforts of horizontally swimming seals under natural conditions using animal-borne recorders. The results indicated that seals had smaller stroke efforts to swim a given speed when they were closer to neutral buoyancy. We conclude that neutral buoyancy is likely the best body density to minimize the cost of transport in horizontal swimming by seals.

From physiology to physics: are we recognizing the flexibility of biologging tools?

The remote measurement of data from free-ranging animals has been termed ‘biologging’ and in recent years this relatively small set of tools has been instrumental in addressing remarkably diverse questions – from ‘how will tuna respond to climate change?’ to ‘why are whales big?’. While a single biologging dataset can have the potential to test hypotheses spanning physiology, ecology, evolution and theoretical physics, explicit illustrations of this flexibility are scarce and this has arguably hindered the full realization of the power of biologging tools. Here we present a small set of examples from studies that have collected data on two parameters widespread in biologging research (depth and acceleration), but that have interpreted their data in the context of extremely diverse phenomena: from tests of biomechanical and diving-optimality models to identifications of feeding events, Lévy flight foraging strategies and expanding oxygen minimum zones. We use these examples to highlight the remarkable flexibility of biologging tools, and identify several mechanisms that may enhance the scope and dissemination of future biologging research programs.

King penguins adjust their diving behaviour with age

Increasing experience in long-lived species is fundamental to improving breeding success and ultimately individual fitness. Diving efficiency of marine animals is primarily determined by their physiological and mechanical characteristics. This efficiency may be apparent via examination of biomechanical performance (e.g. stroke frequency and amplitude, change in buoyancy or body angle, etc.), which itself may be modulated according to resource availability, particularly as a function of depth. We investigated how foraging and diving abilities vary with age in a long-lived seabird. During two breeding seasons, small accelerometers were deployed on young (5 year old) and older (8/9 year old) brooding king penguins (Aptenodytes patagonicus) at the Crozet Archipelago, Indian Ocean. We used partial dynamic body acceleration (PDBA) to quantify body movement during dive and estimate diving cost. During the initial part of the descent, older birds exerted more effort for a given speed but younger penguins worked harder in relation to performance at greater depths. Younger birds also worked harder per unit speed for virtually the whole of the ascent. We interpret these differences using a model that takes into account the upthrust and drag to which the birds are subjected during the dive. From this, we suggest that older birds inhale more at the surface but that an increase in the drag coefficient is the factor leading to the increased effort to swim at a given speed by the younger birds at greater depths. We propose that this higher drag may be the result of young birds adopting less hydrodynamic postures or less direct trajectories when swimming or even having a plumage in poorer condition.

Sink fast and swim harder! Round-trip cost-of-transport for buoyant divers

Efficient locomotion between prey resources at depth and oxygen at the surface is crucial for breath-hold divers to maximize time spent in the foraging layer, and thereby net energy intake rates. The body density of divers, which changes with body condition, determines the apparent weight (buoyancy) of divers, which may affect round-trip cost-of-transport (COT) between the surface and depth. We evaluated alternative predictions from external-work and actuator-disc theory of how non-neutral buoyancy affects round-trip COT to depth, and the minimum COT speed for steady-state vertical transit. Not surprisingly, the models predict that one-way COT decreases (increases) when buoyancy aids (hinders) one-way transit. At extreme deviations from neutral buoyancy, gliding at terminal velocity is the minimum COT strategy in the direction aided by buoyancy. In the transit direction hindered by buoyancy, the external-work model predicted that minimum COT speeds would not change at greater deviations from neutral buoyancy, but minimum COT speeds were predicted to increase under the actuator disc model. As previously documented for grey seals, we found that vertical transit rates of 36 elephant seals increased in both directions as body density deviated from neutral buoyancy, indicating that actuator disc theory may more closely predict the power requirements of divers affected by gravity than an external work model. For both models, minor deviations from neutral buoyancy did not affect minimum COT speed or round-trip COT itself. However, at body-density extremes, both models predict that savings in the aided direction do not fully offset the increased COT imposed by the greater thrusting required in the hindered direction.

Convergent evolution in locomotory patterns of flying and swimming animals

Locomotion is one of the major energetic costs faced by animals and various strategies have evolved to reduce its cost. Birds use interspersed periods of flapping and gliding to reduce the mechanical requirements of level flight while undergoing cyclical changes in flight altitude, known as undulating flight. Here we equipped free-ranging marine vertebrates with accelerometers and demonstrate that gait patterns resembling undulating flight occur in four marine vertebrate species comprising sharks and pinnipeds. Both sharks and pinnipeds display intermittent gliding interspersed with powered locomotion. We suggest, that the convergent use of similar gait patterns by distinct groups of animals points to universal physical and physiological principles that operate beyond taxonomic limits and shape common solutions to increase energetic efficiency. Energetically expensive large-scale migrations performed by many vertebrates provide common selection pressure for efficient locomotion, with potential for the convergence of locomotory strategies by a wide variety of species.

Fine-scale movements of the Broadnose Sevengill shark and its main prey, the Gummy shark

Information on the fine-scale movement of predators and their prey is important to interpret foraging behaviours and activity patterns. An understanding of these behaviours will help determine predator-prey relationships and their effects on community dynamics. For instance understanding a predator's movement behaviour may alter pre determined expectations of prey behaviour, as almost any aspect of the prey's decisions from foraging to mating can be influenced by the risk of predation. Acoustic telemetry was used to study the fine-scale movement patterns of the Broadnose Sevengill shark Notorynchus cepedianus and its main prey, the Gummy shark Mustelus antarcticus, in a coastal bay of southeast Tasmania. Notorynchus cepedianus displayed distinct diel differences in activity patterns. During the day they stayed close to the substrate (sea floor) and were frequently inactive. At night, however, their swimming behaviour continually oscillated through the water column from the substrate to near surface. In contrast, M. antarcticus remained close to the substrate for the entire diel cycle, and showed similar movement patterns for day and night. For both species, the possibility that movement is related to foraging behaviour is discussed. For M. antarcticus, movement may possibly be linked to a diet of predominantly slow benthic prey. On several occasions, N. cepedianus carried out a sequence of burst speed events (increased rates of movement) that could be related to chasing prey. All burst speed events during the day were across the substrate, while at night these occurred in the water column. Overall, diel differences in water column use, along with the presence of oscillatory behaviour and burst speed events suggest that N. cepedianus are nocturnal foragers, but may opportunistically attack prey they happen to encounter during the day.

Behaviour and buoyancy regulation in the deepest-diving reptile: the leatherback turtle

In the face of the physical and physiological challenges of performing breath-hold deep dives, marine vertebrates have evolved different strategies. Although behavioural strategies in marine mammals and seabirds have been investigated in detail, little is known about the deepest-diving reptile – the leatherback turtle (Dermochelys coriacea). Here, we deployed tri-axial accelerometers on female leatherbacks nesting on St Croix, US Virgin Islands, to explore their diving strategy. Our results show a consistent behavioural pattern within dives among individuals, with an initial period of active swimming at relatively steep descent angles (∼–40 deg), with a stroke frequency of 0.32 Hz, followed by a gliding phase. The depth at which the gliding phase began increased with the maximum depth of the dives. In addition, descent body angles and vertical velocities were higher during deeper dives. Leatherbacks might thus regulate their inspired air-volume according to the intended dive depth, similar to hard-shelled turtles and penguins. During the ascent, turtles actively swam with a stroke frequency of 0.30 Hz but with a low vertical velocity (∼0.40 ms–1) and a low pitch angle (∼+26 deg). Turtles might avoid succumbing to decompression sickness (‘the bends’) by ascending slowly to the surface. In addition, we suggest that the low body temperature of this marine ectotherm compared with that of endotherms might help reduce the risk of bubble formation by increasing the solubility of nitrogen in the blood. This physiological advantage, coupled with several behavioural and physical adaptations, might explain the particular ecological niche the leatherback turtle occupies among marine reptiles.

Extreme hypoxemic tolerance and blood oxygen depletion in diving elephant seals

Species that maintain aerobic metabolism when the oxygen (O(2)) supply is limited represent ideal models to examine the mechanisms underlying tolerance to hypoxia. The repetitive, long dives of northern elephant seals (Mirounga angustirostris) have remained a physiological enigma as O(2) stores appear inadequate to maintain aerobic metabolism. We evaluated hypoxemic tolerance and blood O(2) depletion by 1) measuring arterial and venous O(2) partial pressure (Po(2)) during dives with a Po(2)/temperature recorder on elephant seals, 2) characterizing the O(2)-hemoglobin (O(2)-Hb) dissociation curve of this species, 3) applying the dissociation curve to Po(2) profiles to obtain %Hb saturation (So(2)), and 4) calculating blood O(2) store depletion during diving. Optimization of O(2) stores was achieved by high venous O(2) loading and almost complete depletion of blood O(2) stores during dives, with net O(2) content depletion values up to 91% (arterial) and 100% (venous). In routine dives (>10 min) Pv(O(2)) and Pa(O(2)) values reached 2-10 and 12-23 mmHg, respectively. This corresponds to So(2) of 1-26% and O(2) contents of 0.3 (venous) and 2.7 ml O(2)/dl blood (arterial), demonstrating remarkable hypoxemic tolerance as Pa(O(2)) is nearly equivalent to the arterial hypoxemic threshold of seals. The contribution of the blood O(2) store alone to metabolic rate was nearly equivalent to resting metabolic rate, and mean temperature remained near 37 degrees C. These data suggest that elephant seals routinely tolerate extreme hypoxemia during dives to completely utilize the blood O(2) store and maximize aerobic dive duration.

Environmental constraints upon locomotion and predator-prey interactions in aquatic organisms: an introduction

Environmental constraints in aquatic habitats have become topics of concern to both the scientific community and the public at large. In particular, coastal and freshwater habitats are subject to dramatic variability in various environmental factors, as a result of both natural and anthropogenic processes. The protection and sustainable management of all aquatic habitats requires greater understanding of how environmental constraints influence aquatic organisms. Locomotion and predator-prey interactions are intimately linked and fundamental to the survival of mobile aquatic organisms. This paper summarizes the main points from the review and research articles which comprise the theme issue 'Environmental constraints upon locomotion and predator-prey interactions in aquatic organisms'. The articles explore how natural and anthropogenic factors can constrain these two fundamental activities in a diverse range of organisms from phytoplankton to marine mammals. Some major environmental constraints derive from the intrinsic properties of the fluid and are mechanical in nature, such as viscosity and flow regime. Other constraints derive from direct effects of factors, such as temperature, oxygen content of the water or turbidity, upon the mechanisms underlying the performance of locomotion and predator-prey interactions. The effect of these factors on performance at the tissue and organ level is reflected in constraints upon performance of the whole organism. All these constraints can influence behaviour. Ultimately, they can have an impact on ecological performance. One issue that requires particular attention is how factors such as temperature and oxygen can exert different constraints on the physiology and behaviour of different taxa and the ecological implications of this. Given the multiplicity of constraints, the complexity of their interactions, and the variety of biological levels at which they can act, there is a clear need for integration between the fields of physiology, biomechanics, behaviour, ecology, biological modelling and evolution in both laboratory and field studies. For studies on animals in their natural environment, further technological advances are required to allow investigation of how the prevailing physico-chemical conditions influence basic physiological processes and behaviour.