Hydraulic control of tuna fins: A role for the lymphatic system in vertebrate locomotion

The relationship between the secondary vascular system and the lymphatic vascular system in fish

New technologies have resulted in a better understanding of blood and lymphatic vascular heterogeneity at the cellular and molecular levels. However, we still need to learn more about the heterogeneity of the cardiovascular and lymphatic systems among different species at the anatomical and functional levels. Even the deceptively simple question of the functions of fish lymphatic vessels has yet to be conclusively answered. The most common interpretation assumes a similar dual setup of the vasculature in zebrafish and mammals: a cardiovascular circulatory system, and a lymphatic vascular system (LVS), in which the unidirectional flow is derived from surplus interstitial fluid and returned into the cardiovascular system. A competing interpretation questions the identity of the lymphatic vessels in fish as at least some of them receive their flow from arteries via specialised anastomoses, neither requiring an interstitial source for the lymphatic flow nor stipulating unidirectionality. In this alternative view, the 'fish lymphatics' are a specialised subcompartment of the cardiovascular system, called the secondary vascular system (SVS). Many of the contradictions found in the literature appear to stem from the fact that the SVS develops in part or completely from an embryonic LVS by transdifferentiation. Future research needs to establish the extent of embryonic transdifferentiation of lymphatics into SVS blood vessels. Similarly, more insight is needed into the molecular regulation of vascular development in fish. Most fish possess more than the five vascular endothelial growth factor (VEGF) genes and three VEGF receptor genes that we know from mice or humans, and the relative tolerance of fish to whole-genome and gene duplications could underlie the evolutionary diversification of the vasculature. This review discusses the key elements of the fish lymphatics versus the SVS and attempts to draw a picture coherent with the existing data, including phylogenetic knowledge.

The development of early human lymphatic vessels as characterized by lymphatic endothelial markers

Lymphatic vessel development studies in mice and zebrafish models have demonstrated that lymphatic endothelial cells (LECs) predominantly differentiate from venous endothelial cells via the expression of the transcription factor Prox1. However, LECs can also be generated from undifferentiated mesoderm, suggesting potential diversity in their precursor cell origins depending on the organ or anatomical location. Despite these advances, recapitulating human lymphatic malformations in animal models has been difficult, and considering lymphatic vasculature function varies widely between species, analysis of development directly in humans is needed. Here, we examined early lymphatic development in humans by analyzing the histology of 31 embryos and three 9-week-old fetuses. We found that human embryonic cardinal veins, which converged to form initial lymph sacs, produce Prox1-expressing LECs. Furthermore, we describe the lymphatic vessel development in various organs and observe organ-specific differences. These characterizations of the early development of human lymphatic vessels should help to better understand the evolution and phylogenetic relationships of lymphatic systems, and their roles in human disease.

A new type of cell related to organ movement for selfing in plants

Many plants employ osmotic and hydrostatic pressure to generate movement for survival, but little is known about the cellular mechanisms involved. Here, we report a new cell type in angiosperms termed 'contractile cells' in the stigmas of the flowering plant Chirita pumila with a much-expanded rough endoplasmic reticulum (RER). Cryo-scanning electron microscopy and transmission electron microscopy analyses revealed that the RER is continuously distributed throughout the entirety of cells, confirmed by endoplasmic reticulum (ER)-specific fluorescent labeling, and is distinct from the common feature of plant ER. The RER is water-sensitive and extremely elongated with water absorption. We show that the contractile cells drive circadian stigma closing-bending movements in response to day-to-night moisture changes. RNA-seq analyses demonstrated that contractile cells have distinct molecular components. Furthermore, multiple microstructural changes in stigma movements convert an anti-selfing structure into a device promoting selfing-a unique cellular mechanism of reproductive adaptation for uncertain pollination environments.

Temporally and regionally distinct morphogenetic processes govern zebrafish caudal fin blood vessel network expansion

Blood vessels form elaborate networks that depend on tissue-specific signalling pathways and anatomical structures to guide their growth. However, it is not clear which morphogenetic principles organize the stepwise assembly of the vasculature. We therefore performed a longitudinal analysis of zebrafish caudal fin vascular assembly, revealing the existence of temporally and spatially distinct morphogenetic processes. Initially, vein-derived endothelial cells (ECs) generated arteries in a reiterative process requiring vascular endothelial growth factor (Vegf), Notch and cxcr4a signalling. Subsequently, veins produced veins in more proximal fin regions, transforming pre-existing artery-vein loops into a three-vessel pattern consisting of an artery and two veins. A distinct set of vascular plexuses formed at the base of the fin. They differed in their diameter, flow magnitude and marker gene expression. At later stages, intussusceptive angiogenesis occurred from veins in distal fin regions. In proximal fin regions, we observed new vein sprouts crossing the inter-ray tissue through sprouting angiogenesis. Together, our results reveal a surprising diversity among the mechanisms generating the mature fin vasculature and suggest that these might be driven by separate local cues.

Multiple behaviors for turning performance of Pacific bluefin tuna (Thunnus orientalis)

Tuna are known for exceptional swimming speeds, which are possible because of their thunniform lift-based propulsion, large muscle mass and rigid fusiform body. A rigid body should restrict maneuverability with regard to turn radius and turn rate. To test if turning maneuvers by the Pacific bluefin tuna (Thunnus orientalis) are constrained by rigidity, captive animals were videorecorded overhead as the animals routinely swam around a large circular tank or during feeding bouts. Turning performance was classified into three different types: (1) glide turns, where the tuna uses the caudal fin as a rudder; (2) powered turns, where the animal uses continuous near symmetrical strokes of the caudal fin through the turn; and (3) ratchet turns, where the overall global turn is completed by a series of small local turns by asymmetrical stokes of the caudal fin. Individual points of the rostrum, peduncle and tip of the caudal fin were tracked and analyzed. Frame-by-frame analysis showed that the ratchet turn had the fastest turn rate for all points with a maximum of 302 deg s-1. During the ratchet turn, the rostrum exhibited a minimum global 0.38 body length turn radius. The local turn radii were only 18.6% of the global ratchet turn. The minimum turn radii ranged from 0.4 to 1.7 body lengths. Compared with the performance of other swimmers, the increased flexion of the peduncle and tail and the mechanics of turning behaviors used by tuna overcomes any constraints to turning performance from the rigidity of the anterior body morphology.

Hydrodynamic interaction of dorsal fin and caudal fin in swimming tuna

Tuna, which are known for high-performance swimming, possess a large crescent dorsal fin (DF) and a caudal fin (CF) that differ from those of other fishes. The hydrodynamic interaction between the DF and CF in tuna, which are represented by two tandem 3D flapping plates, is numerically explored in the present study. Hydrodynamic properties and wake structures of the models with and without a DF are compared to investigate the effects of the DF. The thrust on the CF is substantially enhanced by the DF, whereas the force on the DF is not affected by the CF. The constructive interaction between the leading-edge vortex (LEV) on the CF and the vortices shed from the dorsal fin (DFVs) is identified from 3D wake topology and 2D vorticity distributions. The circulation of spanwise vorticity quantitatively reveals that the LEV on the CF is strengthened by the same-signed DFV. The effect of the flapping phase of the CF is examined. The DF-CF interaction is sensitive to the flapping phase at a short spacing, whereas a long spacing between the two fins enables a robust constructive interaction in tuna swimming. A systematic study is carried out to explore the effects of the Strouhal number (St) and the Reynolds number (Re) on the interaction of the fins. The enhancement of thrust due to the DF is diminished at St = 0.63, whereas the Re does not substantially influence the constructive DF-CF interaction.

Generation of specialized blood vessels via lymphatic transdifferentiation

The lineage and developmental trajectory of a cell are key determinants of cellular identity. In the vascular system, endothelial cells (ECs) of blood and lymphatic vessels differentiate and specialize to cater to the unique physiological demands of each organ^1,2. Although lymphatic vessels were shown to derive from multiple cellular origins, lymphatic ECs (LECs) are not known to generate other cell types^3,4. Here we use recurrent imaging and lineage-tracing of ECs in zebrafish anal fins, from early development to adulthood, to uncover a mechanism of specialized blood vessel formation through the transdifferentiation of LECs. Moreover, we demonstrate that deriving anal-fin vessels from lymphatic versus blood ECs results in functional differences in the adult organism, uncovering a link between cell ontogeny and functionality. We further use single-cell RNA-sequencing analysis to characterize the different cellular populations and transition states involved in the transdifferentiation process. Finally, we show that, similar to normal development, the vasculature is rederived from lymphatics during anal-fin regeneration, demonstrating that LECs in adult fish retain both potency and plasticity for generating blood ECs. Overall, our research highlights an innate mechanism of blood vessel formation through LEC transdifferentiation, and provides in vivo evidence for a link between cell ontogeny and functionality in ECs.

Bioinspired morphing fins to provide optimal maneuverability, stability, and response to turbulence in rigid hull AUVs

By adopting bioinspired morphing fins, we demonstrate how to achieve good directional stability, exceptional maneuverability, and minimal adverse response to turbulent flow, properties that are highly desirable for rigid hull AUVs, but are presently difficult to achieve because they impose contradictory requirements. We outline the theory and design for switching between operating with sufficient stability that ensures a steady course in the presence of disturbances, with low corrective control action; reverting to high maneuverability to execute very rapid course and depth changes, improving turning rate by 25% up to 50%; and ensuring at all times that angular responses to external turbulence are minimized. We then demonstrate the developments through tests on a 1 m long autonomous underwater vehicle, namedMorpheus. The vehicle is capable of dynamically changing its stability-maneuverability qualities by using tuna-inspired morphing fins, which can be deployed, deflected and retracted, as needed. A series of free-swimming experiments and maneuvering simulations, combined with mathematical analysis, led to the design of optimal retractable morphing fins.

Knifefish turning control and hydrodynamics during forward swimming

Rapid turning and swimming contribute to ecologically important behaviors in fishes such as predator avoidance, prey capture, mating, and the navigation of complex environments. For riverine species, such as knifefishes, turning behaviors may also be important for navigating locomotive perturbations caused by turbulent flows. Most research on fish maneuvering focuses on fish with traditional fin and body morphologies, which primarily use body bending and the pectoral fins during turning. However, it is uncertain how fishes with uncommon morphologies, are able to achieve sudden and controllable turns. Here we studied the turning performance and the turning hydrodynamics of the Black ghost knifefish (Apteronotus albifrons, N=6) which has an atypical elongated ribbon fin. Fish were filmed while swimming forward at ∼2 BL s-1 and feeding from a fixed feeder (control) and an oscillating feeder (75 Hz) at two different amplitudes. 3D kinematic analysis of the body revealed the highest pitch angles and lowest body bending coefficients occurred during steady swimming. Low pitch angle, high maximum yaw angles and large body bending coefficients were characteristic of small and large turns. Asynchrony in pectoral fin use was low during turning, however ribbon fin wavelength, frequency, and wave speed were greatest during large turns. Digital particle image velocimetry (DPIV) showed larger counter-rotating vortex pairs produced during turning by the ribbon-fin in comparison to vortices rotating in the same direction during steady swimming. Our results highlight the ribbon fin's role in controlled rapid turning through modulation of wavelength, frequency, and wave speed.

Functional Characterization of Hexacorallia Phagocytic Cells

Phagocytosis is the cellular defense mechanism used to eliminate antigens derived from dysregulated or damaged cells, and microbial pathogens. Phagocytosis is therefore a pillar of innate immunity, whereby foreign particles are engulfed and degraded in lysolitic vesicles. In hexacorallians, phagocytic mechanisms are poorly understood, though putative anthozoan phagocytic cells (amoebocytes) have been identified histologically. We identify and characterize phagocytes from the coral Pocillopora damicornis and the sea anemone Nematostella vectensis. Using fluorescence-activated cell sorting and microscopy, we show that distinct populations of phagocytic cells engulf bacteria, fungal antigens, and beads. In addition to pathogenic antigens, we show that phagocytic cells engulf self, damaged cells. We show that target antigens localize to low pH phagolysosomes, and that degradation is occurring within them. Inhibiting actin filament rearrangement interferes with efficient particle phagocytosis but does not affect small molecule pinocytosis. We also demonstrate that cellular markers for lysolitic vesicles and reactive oxygen species (ROS) correlate with hexacorallian phagocytes. These results establish a foundation for improving our understanding of hexacorallian immune cell biology.

Fluid mechanics and rheology of the jumping spider body fluid

Spiders use their inner body fluid ("blood" or hemolymph) to drive hydraulic extension of their legs. In hydraulic systems, performance is highly dependent on the working fluid, which needs to be chosen according to the required operating speed and pressure. Here, we provide new insights into the fluid mechanics of spider locomotion. We present the three-dimensional structure of one of the crucial joints in spider hydraulic actuation, elucidate the fluid flow inside the spider leg, and quantify the rheological properties of hemolymph under physiological conditions. We observe that hemolymph behaves as a shear-thinning non-Newtonian fluid with a fluid behavior index n = 0.5, unlike water (n = 1.0).

Exploration of underwater life with an acoustically controlled soft robotic fish

Closeup exploration of underwater life requires new forms of interaction, using biomimetic creatures that are capable of agile swimming maneuvers, equipped with cameras, and supported by remote human operation. Current robotic prototypes do not provide adequate platforms for studying marine life in their natural habitats. This work presents the design, fabrication, control, and oceanic testing of a soft robotic fish that can swim in three dimensions to continuously record the aquatic life it is following or engaging. Using a miniaturized acoustic communication module, a diver can direct the fish by sending commands such as speed, turning angle, and dynamic vertical diving. This work builds on previous generations of robotic fish that were restricted to one plane in shallow water and lacked remote control. Experimental results gathered from tests along coral reefs in the Pacific Ocean show that the robotic fish can successfully navigate around aquatic life at depths ranging from 0 to 18 meters. Furthermore, our robotic fish exhibits a lifelike undulating tail motion enabled by a soft robotic actuator design that can potentially facilitate a more natural integration into the ocean environment. We believe that our study advances beyond what is currently achievable using traditional thruster-based and tethered autonomous underwater vehicles, demonstrating methods that can be used in the future for studying the interactions of aquatic life and ocean dynamics.

Hydrodynamic Analysis for the Morphing Median Fins of Tuna during Yaw Motions

Tuna can change the area and shape of the median fins, including the first dorsal, second dorsal, and anal fins. The morphing median fins have the ability of adjusting the hydrodynamic forces, thereby affecting the yaw mobility of tuna to a certain extent. In this paper, the hydrodynamic analysis of the median fins under different morphing states is carried out by the numerical method, so as to clarify the influence of the erected median fins on the yaw maneuvers. By comparing the two morphing states of erected and depressed, it can be concluded that the erected median fins can increase their own hydrodynamic forces during the yaw movement. However, the second dorsal and anal fins have limited influence on the yaw maneuverability, and they tend to maintain the stability of tuna. The first dorsal fin has more lift increment in the erection state, which can obviously affect the hydrodynamic performance of tuna. Moreover, as the median fins are erected, the hydrodynamic forces of the tuna's body increase synchronously due to the interaction between the body and the median fins, which is also very beneficial to the yaw motion. This study indicates that tuna can use the morphing median fins to adjust its mobility and stability, which provides a new idea for the design of robotic fish.

Tuna locomotion: a computational hydrodynamic analysis of finlet function

Finlets are a series of small non-retractable fins common to scombrid fishes (mackerels, bonitos and tunas), which are known for their high swimming speed. It is hypothesized that these small fins could potentially affect propulsive performance. Here, we combine experimental and computational approaches to investigate the hydrodynamics of finlets in yellowfin tuna (Thunnus albacares) during steady swimming. High-speed videos were obtained to provide kinematic data on the in vivo motion of finlets. High-fidelity simulations were then carried out to examine the hydrodynamic performance and vortex dynamics of a biologically realistic multiple-finlet model with reconstructed kinematics. It was found that finlets undergo both heaving and pitching motion and are delayed in phase from anterior to posterior along the body. Simulation results show that finlets were drag producing and did not produce thrust. The interactions among finlets helped reduce total finlet drag by 21.5%. Pitching motions of finlets helped reduce the power consumed by finlets during swimming by 20.8% compared with non-pitching finlets. Moreover, the pitching finlets created constructive forces to facilitate posterior body flapping. Wake dynamics analysis revealed a unique vortex tube matrix structure and cross-flow streams redirected by the pitching finlets, which supports their hydrodynamic function in scombrid fishes. Limitations on modelling and the generality of results are also discussed.

Biomimetic design of dorsal fins for AUVs to enhance maneuverability

We demonstrate that shape-changing or morphing fins provide a new paradigm for improving the ability of vehicles to maneuver and move rapidly underwater. An ingenuous solution is employed by fish to accommodate both the need for stability of locomotion and the ability to perform tight maneuvers: Retractable fins can alter the stability properties of a vehicle to suit their particular goals. Tunas, for example, are large fish that are fast swimmers and yet they need rapid turning agility to track the smaller fish they pursue; they have perfected the use of their dorsal and ventral fins to ensure stability when retracted and rapid turning when erected. Although fish employ unsteady propulsors rather than propellers, we show that engineering rigid-hull underwater vehicles can also exploit similar solutions. We explore the basic flow mechanisms and design considerations of employing morphing fins to alter the stability and maneuvering qualities of vehicles and apply unsteady forces and moments under active control. We also show results from maneuvering simulations and experiments on a model of an underwater vehicle.

Effects of fish caudal fin sweep angle and kinematics on thrust production during low-speed thunniform swimming

Scombrid fish lunate caudal fins are characterized by a wide range of sweep angles. Scombrid that have small sweep-angle caudal fins move at higher swimming speeds, suggesting that smaller angles produce more thrust. Furthermore, scombrids occasionally use high angles of attack (AoA) suggesting this also has some thrust benefit. This work examined the hypothesis that a smaller sweep angle and higher AoA improved thrust in swimmers by experimentally analyzing a robophysical model. The robophysical model was tested in a water tunnel at speeds between 0.35 and 0.7 body lengths per second. Three swept caudal fins were analyzed at three different AoA, three different freestream velocities, and four different Strouhal numbers, for a total of 108 cases. Results demonstrated that the fin with the largest sweep angle of 50° resulted in lower thrust production than the 40° and 30° fins, especially at higher Strouhal numbers. Larger AoA up to 25° increased thrust production at the higher Strouhal numbers, but at lower Strouhal numbers, produced less thrust. Differences in thrust production due to fin sweep angle and AoA were attributed to the variation in spanwise flow and leading edge vortex dynamics.

Summary: The study examines the impact of scombrid fish caudal fin sweep angle and angle of attack on thrust production across a range of Strouhal numbers using a robophysical model.

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.

Lymphangiogenesis guidance by paracrine and pericellular factors

This review by Vaahtomeri et al. discusses the mechanisms by which the lymphatic vasculature network is formed, remodeled, and adapted to physiological and pathological challenges. It describes how the lymphatic vasculature network is controlled by an intricate balance of growth factors and biomechanical cues.

Lymphatic vessels are important for tissue fluid homeostasis, lipid absorption, and immune cell trafficking and are involved in the pathogenesis of several human diseases. The mechanisms by which the lymphatic vasculature network is formed, remodeled, and adapted to physiological and pathological challenges are controlled by an intricate balance of growth factor and biomechanical cues. These transduce signals for the readjustment of gene expression and lymphatic endothelial migration, proliferation, and differentiation. In this review, we describe several of these cues and how they are integrated for the generation of functional lymphatic vessel networks.