Form and function of anguilliform swimming

Anguilliform swimmers are long and narrow animals that propel themselves by undulating their bodies. Observations in nature and recent investigations suggest that anguilliform swimming is highly efficient. However, understanding the underlying reasons for the efficiency of this type of locomotion requires interdisciplinary studies spanning from biology to hydrodynamics. Regrettably, these different fields are rarely discussed together, which hinders our ability to understand the repeated evolution of this swimming mode in vertebrates. This review compiles the current knowledge of the anatomical features that drive anguilliform swimming, compares the resulting kinematics across a wide range of anguilliform swimmers, and describes the resulting hydrodynamic interactions using data from both in vivo experiments and computational studies.

Biphasic burrowing in Atlantic hagfish (Myxine limosa)

Myxine limosa is a burrowing species of hagfish that occurs in the western North Atlantic in areas with muddy substrate and at depths generally greater than 100 meters. Burrowing of M. limosa has been observed from submersibles, but little is known about the behavior of these animals within the substrate or the biomechanical mechanisms involved. Here, we investigated burrowing in M. limosa by observing individuals as they burrowed through transparent gelatin. A photoelastic setup using crossed polarizers allowed us to visualize stress development in the gelatin as the hagfish moved through it. We found that M. limosa created U-shaped burrows in gelatin using a stereotyped, two-phase burrowing behavior. In the first ('thrash') phase, hagfish drove their head and their anterior body into the substrate using vigorous sinusoidal swimming movements, with their head moving side-to-side. In the second ('wriggle') phase, swimming movements ceased, with propulsion coming exclusively from the anterior, submerged portion of body. The wriggle phase involved side-to-side head movements and movements of the submerged part of the body that resembled the internal concertina strategy used by caecilians and uropeltid snakes. The entire burrowing process took on average 7.6 min to complete and ended with the hagfish's head protruding from the substrate and the rest of its body generally concealed. Understanding the burrowing activities of hagfishes could lead to improved understanding of sediment turnover in marine benthic habitats, new insights into the reproductive behavior of hagfishes, or even inspiration for the design of burrowing robots.

Functional diversity of snake locomotor behaviors: A review of the biological literature for bioinspiration

Organismal solutions to natural challenges can spark creative engineering applications. However, most engineers are not experts in organismal biology, creating a potential barrier to maximally effective bioinspired design. In this review, we aim to reduce that barrier with respect to a group of organisms that hold particular promise for a variety of applications: snakes. Representing >10% of tetrapod vertebrates, snakes inhabit nearly every imaginable terrestrial environment, moving with ease under many conditions that would thwart other animals. To do so, they employ over a dozen different types of locomotion (perhaps well over). Lacking limbs, they have evolved axial musculoskeletal features that enable their vast functional diversity, which can vary across species. Different species also have various skin features that provide numerous functional benefits, including frictional anisotropy or isotropy (as their locomotor habits demand), waterproofing, dirt shedding, antimicrobial properties, structural colors, and wear resistance. Snakes clearly have much to offer to the fields of robotics and materials science. We aim for this review to increase knowledge of snake functional diversity by facilitating access to the relevant literature.

Radial Expansion Favors the Burrowing Behavior of Urechis unicinctus

Urechis unicinctus can utilize the ability of large deformation to advance in sands by radial expansion, just using a small force. However, the large deformation of U. unicinctus skin and the discrete nature of the sands make it hard to analyze this process quantitatively. In this study, we aim to uncover the burrowing mechanism of U. unicinctus in granular sediments by combining discrete and finite elements. We observe that U. unicinctus will expand radially at the head, and then the head will shrink to move forward. The radial expansion will collapse the sands and let them flow, making it easy to advance. U. unicinctus mainly relies on the skin's large deformation and sufficient pressure to achieve radial expansion. Thus, we first establish the large deformation constitutive model of the skin. The stress-strain relationship can be expressed by the Yeoh model. Meanwhile, the pressure required for radial expansion is indirectly measured by the balloon experiment. To study the effect of radial expansion on the burrowing behavior, we use the finite element method-discrete element method (FEM-DEM) coupling model to simulate the expansion process of burrowing. The simulated pressure for radial expansion is very close to the experimental data, verifying the reliability of the simulation. The results show that the expansion can drastically reduce the pressure of sand particles on the head front face by 97.1% ± 0.6%, significantly decreasing the difficulty of burrowing. This unique underwater burrow method of U. unicinctus can provide new ideas for engineering burrowing devices in soft soil, especially for granular sediments.

Maneuvering on non-Newtonian fluidic terrain: a survey of animal and bio-inspired robot locomotion techniques on soft yielding grounds

Frictionally yielding media are a particular type of non-Newtonian fluids that significantly deform under stress and do not recover their original shape. For example, mud, snow, soil, leaf litters, or sand are such substrates because they flow when stress is applied but do not bounce back when released. Some robots have been designed to move on those substrates. However, compared to moving on solid ground, significantly fewer prototypes have been developed and only a few prototypes have been demonstrated outside of the research laboratory. This paper surveys the existing biology and robotics literature to analyze principles of physics facilitating motion on yielding substrates. We categorize animal and robot locomotion based on the mechanical principles and then further on the nature of the contact: discrete contact, continuous contact above the material, or through the medium. Then, we extract different hardware solutions and motion strategies enabling different robots and animals to progress. The result reveals which design principles are more widely used and which may represent research gaps for robotics. We also discuss that higher level of abstraction helps transferring the solutions to the robotics domain also when the robot is not explicitly meant to be bio-inspired. The contribution of this paper is a review of the biology and robotics literature for identifying locomotion principles that can be applied for future robot design in yielding environments, as well as a catalog of existing solutions either in nature or man-made, to enable locomotion on yielding grounds.

Fundamentals of burrowing in soft animals and robots

Creating burrows through natural soils and sediments is a problem that evolution has solved numerous times, yet burrowing locomotion is challenging for biomimetic robots. As for every type of locomotion, forward thrust must overcome resistance forces. In burrowing, these forces will depend on the sediment mechanical properties that can vary with grain size and packing density, water saturation, organic matter and depth. The burrower typically cannot change these environmental properties, but can employ common strategies to move through a range of sediments. Here we propose four challenges for burrowers to solve. First, the burrower has to create space in a solid substrate, overcoming resistance by e.g., excavation, fracture, compression, or fluidization. Second, the burrower needs to locomote into the confined space. A compliant body helps fit into the possibly irregular space, but reaching the new space requires non-rigid kinematics such as longitudinal extension through peristalsis, unbending, or eversion. Third, to generate the required thrust to overcome resistance, the burrower needs to anchor within the burrow. Anchoring can be achieved through anisotropic friction or radial expansion, or both. Fourth, the burrower must sense and navigate to adapt the burrow shape to avoid or access different parts of the environment. Our hope is that by breaking the complexity of burrowing into these component challenges, engineers will be better able to learn from biology, since animal performance tends to exceed that of their robotic counterparts. Since body size strongly affects space creation, scaling may be a limiting factor for burrowing robotics, which are typically built at larger scales. Small robots are becoming increasingly feasible, and larger robots with non-biologically-inspired anteriors (or that traverse pre-existing tunnels) can benefit from a deeper understanding of the breadth of biological solutions in current literature and to be explored by continued research.

Burrowing constrains patterns of skull shape evolution in wrasses

The evolution of behavioral and ecological specialization can have marked effects on the tempo and mode of phenotypic evolution. Head-first burrowing has been shown to exert powerful selective pressures on the head and body shapes of many vertebrate and invertebrate taxa. In wrasses, burrowing behaviors have evolved multiple times independently, and are commonly used in foraging and predator avoidance behaviors. While recent studies have examined the kinematics and body shape morphology associated with this behavior, no study to-date has examined the macroevolutionary implications of burrowing on patterns of phenotypic diversification in this clade. Here, we use three-dimensional geometric morphometrics and phylogenetic comparative methods to study the evolution of skull shape in fossorial wrasses and their relatives. We test for skull shape differences between burrowing and non burrowing wrasses and evaluate hypotheses of shape convergence among the burrowing wrasses. We also quantify rates of skull shape evolution between burrowing and non burrowing wrasses to test for whether burrowing constrains or accelerates rates of skull shape evolution in this clade. We find that while burrowing and non burrowing wrasses exhibit similar degrees of morphological disparity, for burrowing wrasses, it took nearly twice as long to amass this disparity. Furthermore, while the disparities between groups are evenly matched, we find that most burrowing species are confined to a particular region of shape space with most species exhibiting narrower heads than many non-burrowing species. These results suggest head-first burrowing constrains patterns of skull shape diversification in wrasses by potentially restricting the range of phenotypes that can perform this behavior.

Intraspecific variation in the cranial osteology of Diplometopon zarudnyi (Squamata: Amphisbaenia: Trogonophidae)

A snake-like body plan and burrowing lifestyle characterize numerous vertebrate groups as a result of convergent evolution. One such group is the amphisbaenians, a clade of limbless, fossorial lizards that exhibit head-first burrowing behavior. Correlated with this behavior, amphisbaenian skulls are more rigid and coossified than those of nonburrowing lizards. However, due to their lifestyle, there are many gaps in our understanding of amphisbaenian anatomy, including how their cranial osteology varies among individuals of the same species and what that reveals about constraints on the skull morphology of head-first burrowing taxa. We investigated intraspecific variation in the cranial osteology of amphisbaenians using seven individuals of the trogonophid Diplometopon zarudnyi. Variation in both skull and individual skull element morphology was examined qualitatively and quantitatively through three-dimensional (3D) models created from microcomputed tomography data. Qualitative examination revealed differences in the number and position of foramina, the interdigitation between the frontals and parietal, and the extent of coossification among the occipital complex, fused basioccipital and parabasisphenoid ("parabasisphenoid-basioccipital complex"), and elements X. We performed 3D landmark-based geometric morphometrics for the quantitative assessment, revealing shape differences in the skull, premaxilla, maxilla, frontal, and parietal. The observed intraspecific variation may be the result of different stages of ontogenetic development or biomechanical optimization for head-first burrowing. For example, variation in the coossification of the occipital region suggests a potential ontogenetic coossification sequence. Examination of these areas of variation across other head-first burrowing taxa will help determine if the variation is clade-specific or part of a broader macroevolutionary pattern of head-first burrowing.

Pivot burrowing of scarab beetle (Trypoxylus dichotomus) larva

Many organisms live in the soil but only a little is known about their ecology especially movement style. Scarab beetle larvae do not have appendages to shovel soil and their trunk is thick compared to their body length. Hence, their movement through the soil is perplexing. Here, we established the observation and analysis system of larval movement and found that the last larval instars of Trypoxylus dichotomus burrow in two different ways, depending on the hardness of the soil. If the soil is soft, the larvae keep their body in a straight line and use longitudinal expansion and contraction; if the soil is hard, they flex and rotate their body. It is thought that the larvae adapt to diverse soil conditions using two different excavation methods. These results are important for understanding the soil ecology and pose a challenge to engineer of newer excavation technology.

Continuous body 3-D reconstruction of limbless animals

Limbless animals such as snakes, limbless lizards, worms, eels and lampreys move their slender, long bodies in three dimensions to traverse diverse environments. Accurately quantifying their continuous body's 3-D shape and motion is important for understanding body-environment interactions in complex terrain, but this is difficult to achieve (especially for local orientation and rotation). Here, we describe an interpolation method to quantify continuous body 3-D position and orientation. We simplify the body as an elastic rod and apply a backbone optimization method to interpolate continuous body shape between end constraints imposed by tracked markers. Despite over-simplifying the biomechanics, our method achieves a higher interpolation accuracy (∼50% error) in both 3-D position and orientation compared with the widely used cubic B-spline interpolation method. Beyond snakes traversing large obstacles as demonstrated, our method applies to other long, slender, limbless animals and continuum robots. We provide codes and demo files for easy application of our method.

Peculiar relationships among morphology, burrowing performance and sand type in two fossorial microteiid lizards

Associations among ecology, morphology and locomotor performance have been intensively investigated in several vertebrate lineages. Knowledge on how phenotypes evolve in natural environments likely benefits from identification of circumstances that might expand current ecomorphological equations. In this study, we used two species of Calyptommatus lizards from Brazilian Caatingas to evaluate if specific soil properties favor burrowing performance. As a derived prediction, we expected that functional associations would be easily detectable at the sand condition that favors low-resistance burrowing. We collected two endemic lizards and soil samples in their respective localities, obtained morphological data and recorded performance of both species in different sand types. As a result, the two species burrowed faster at the fine and homogeneous sand, the only condition where we detected functional associations between morphology and locomotion. In this sand type, lizards from both Calyptommatus species that have higher trunks and more concave heads were the ones that burrowed faster, and these phenotypic traits did not morphologically discriminate the two Calyptommatus populations studied. We discuss that integrative approaches comprising manipulation of environmental conditions clearly contribute to elucidate processes underlying phenotypic evolution in fossorial lineages.

Recovery of Burrowing Behavior After Spinal Cord Injury in the Larval Sea Lamprey

AbstractFollowing traumatic spinal cord injury, most mammalian species are unable to achieve substantial neuronal regeneration and often experience loss of locomotor function. In contrast, larval sea lampreys (Petromyzon marinus) spontaneously recover normal swimming behaviors by 10-12 weeks post-injury, which is supported by robust regeneration of spinal axons. While recovery of swimming behavior is well established, the lamprey's ability to recover more complex behaviors, such as burrowing, is unknown. Here we evaluated the lamprey's ability to burrow into a sand substrate over the typical time course of functional recovery (1-11 weeks post-injury). Compared to uninjured control lampreys, which burrow rapidly and completely, spinal-transected animals did not attempt burrowing until 2 weeks post-injury; and they often did not succeed in fully covering their entire body in the sand. Burrowing behavior gradually improved over post-injury time, with most animals burrowing partially or completely by 9-11 weeks post-injury. Burrowing behavior has two components: the initial component that resembles swimming with propagated body undulations and the final component that pulls the tail under the sand. While the duration of the initial component did not differ between control and spinal-transected animals across the entire recovery period, the duration of the final component in spinal-transected animals was significantly longer at all time points measured. These data indicate that, after spinal cord injury, lampreys are able to recover burrowing behaviors, though some deficits persist.

Burrowing behaviour of the European eel (Anguilla anguilla): Effects of life stage

The European eel (Anguilla anguilla) is a fascinating species, exhibiting a complex life cycle. The species is, however, listed as critically endangered on the IUCN Red List due to an amalgam of factors, including habitat loss. This study investigated the burrowing behaviour and substrate preference of glass, elver and yellow stages of A. anguilla. Preference was determined by introducing eels in aquaria with different substrates and evaluating the chosen substrate for burrowing. In addition, burrowing was recorded using a camera in all substrate types and analysed for kinematics. The experiments showed that all of these life stages sought refuge in the sediments with particle sizes ranging from sand to coarse gravel. Starting from a resting position, they shook their head horizontally in combination with rapid body undulations until half of their body was within the substrate. High-speed X-ray videography revealed that once partly in the sediment, eels used only horizontal head sweeps to penetrate further, without the use of their tail. Of the substrates tested, burrowing performance was highest in fine gravel (diameter 1-2 mm; lower burrowing duration, less body movements and/or lower frequency of movements), and all eels readily selected this substrate for burrowing. However, glass eels and elvers were able to use coarse gravel (diameter >8 mm) because their smaller size allowed manoeuvring through the spaces between the grains. Further, burrowing performance increased with body size: glass eels required more body undulations compared to yellow eels. Interestingly, the urge to hide within the sediment was highest for glass eels and elvers. Documentation of substrate preference and burrowing behaviour of A. anguilla provides new information about their potential habitat use. Considering that habitat alterations and deteriorations are partly responsible for the decline of the eel, this information can contribute to the development of more effective conservation measures.

Cytological analysis of integumentary and muscular adaptations in three sand-dwelling marine teleosts, Ammodytes tobianus (Ammodytidae), Gorgasia preclara (Congridae) and Heteroconger hassi (Congridae) (Teleostei; Actinopterygii)

Sandy bottoms are a ubiquitous environment found from sea bottoms to intertidal and freshwater zones. They are inhabited by many invertebrates and vertebrates which have developed morphological and physiological adaptations to sustain life under these particular conditions. Sandy habitats exhibit three potential constraints: abrasion, hypoxia and mechanical resistance. Here, three teleost species living in sandy environments were investigated: Ammodytes tobianus (Ammodytidae), Gorgasia preclara and Heteroconger hassi (Congridae). These teleost fishes were studied for their integument and muscular systems, which are potentially subject to sand abrasion and hypoxia, respectively. Based on histochemistry and transmission electron microscopy, we found the complex mucus system of G. preclara and H. hassi consists of two types of goblet cells and one type of sacciform cell. The secretions of both species are made of complex polysaccharides. In contrast, the scaly integument of A. tobianus has only a few goblet cells and no sacciform cells. We also highlighted, by immunohistochemistry, that the epidermal cell proliferation was much higher for this latter species, potentially resulting from the high rate of sand abrasion when A. tobianus buries itself quickly in the substrate. For all species, the major muscle fibre type was revealed by histoenzymology and corresponds to fast glycolytic fibres followed by intermediate fibres with slow fibres in the lowest proportion. Ammodytes tobianus possesses the highest fast fibre proportion (about 87% for A. tobianus and 75-78% for both garden eels). Our results provide new insights into the previously poorly studied teleost species, such as G. preclara, and allow us to highlight the complex skin histology of both garden eel species. Furthermore, the previously unknown muscle typing of these three species was determined.

Saving the European Eel: How Morphological Research Can Help in Effective Conservation Management

The European eel (Anguilla anguilla) is a critically endangered species, whose recruitment stocks have declined to nearly 1% compared to the late 70s. An amalgam of factors is responsible for this, among them migration barriers, pollution, habitat loss, parasite infection, and overfishing. A lot of recent studies focus on aspects that can increase the mature silver eel escapement rate, such as identifying migration barriers and developing passageways or addressing the impact of pollution on the eel's health. However, little attention is given to the eel's morphology in function of management measures. Worryingly, less than 50% of the currently installed management plans reach their goals, strongly indicating that more information is needed about the eel's ecology and behavior. Functional morphological studies provide insights on how species perform behaviors crucial for survival, such as feeding and locomotion, but also in how environmental changes can affect or limit such behaviors. Consequently, functional morphology represents an important biotic component that should be taken into account when making conservation decisions. Hence, here, we provide an overview of studies on the eel's morphology that do not only demonstrate its relation with ecology and behavior, but also provide information for developing and installing proper and more specific management measures.

SBOR: a minimalistic soft self-burrowing-out robot inspired by razor clams

We observe that the Atlantic razor clam (Ensis directus) burrows out of sand rapidly by simply extending and contracting its muscular foot. This is notably different from its well-known downward burrowing strategy or the dual-anchor mechanism, where closing/opening of the shell and dilation of the foot are also involved. Inspired by this burrowing-out strategy, we design a simple self-burrowing-out robot (SBOR) consisting of a single segment of fiber-reinforced silicone tube actuator and an external control board. The reinforcing fibers limit the motion of the actuator to axial extension/contraction under inflation/deflation. For an actuator that is vertically buried in the sand, cyclic inflation and deflation naturally drives it out of the sand, mimicking the motion of a razor clam. We characterize the burrowing-out behavior of the actuator by varying the actuation period and the relative density (packing) of the sand. Each burrowing cycle features an initial upward advancement during inflation, followed by a downward slip during deflation, resulting in a net upward stride. During the burrowing-out process, the stride length first increases due to a drop in the overburden pressure, the end pull-out resistance, and the side frictional resistance; the stride length then decreases after the top of the actuator moves out of the sand layer, due to a reduction in the effective length of the actuator. The results also indicate that the average burrowing-out speed decreases with the relative density of the sand and changes with the actuation pressure. We developed a simplified model based on soil mechanics to predict the burrowing-out processes in relatively loose dry sands, and the modeling results match well with the experiment results. From this model, the burrowing-out behavior is readily explained by the asymmetric nature of the resistant forces on the two ends of the actuator and the flowing nature of sand upon yielding. Our findings imply that razor clams leverage the natural stress gradient of sand deposits to burrow upward. Another insight is that in order to burrow downward into the sand, additional symmetry-breaking features such as asymmetric geometry, friction, stress state or external load are needed to increase the resistant force (anchorage) in the upward direction and to reduce the resistant force (drag) in the downward direction.

Structural and environmental constraints on reduction of paired appendages among vertebrates

Burrowing habits or complex environments have generally been considered as potential drivers acting on reduction and loss of the appendicular skeleton among vertebrates. Herein, we suggest that this might be the case for lissamphibians and squamates, but that fin loss in fishes is usually prevented by important structural constraints, because pectoral fins are commonly used to control rolling and pitching. We provide an overview of the distribution of paired appendage reduction across vertebrates while examining the ecological affinities of finless and limbless clades. We analysed the correlation between lifestyle and fin or limb loss using the discrete comparative analysis. The resulting Bayesian factors indicate strong evidence of correlation between: (1) pectoral-fin loss and coexistence of anguilliform elongation and burrowing habits or complex habitat in teleost fishes; and (2) limb loss and a burrowing or grass-swimming lifestyle in squamate reptiles and lissamphibians. These correlations suggest that a complex environment or a fossorial habit is a driving force leading to appendage loss. The only style of locomotion that is functional even in the absence of paired appendages is the undulatory one, which is typical of all elongated reptiles and lissamphibians, but certainly less common in teleost fishes.

Burrowing fishes: Kinematics, morphology and phylogeny of sand-diving wrasses (Labridae)

Burrowing through the substrate is a common behaviour in many organisms, both invertebrate and vertebrate. Sand-diving, a burrowing behaviour in the fish family Labridae, consists of a quick and forceful headfirst plunge into the sediment followed by undulatory axial body movements until the fish is completely concealed beneath the surface. This study determined that sand-diving of the slippery dick wrasse Halichoeres bivittatus is composed of two distinct phases of undulatory axial body movements. In the first phase, body undulations occur at high frequencies and wave speeds and low amplitudes, while in the second phase, frequencies and wave speeds decrease while amplitude increases. Furthermore, this study examined several morphological features of sand-diving labrids, including narrow, elongated bodies and lengthened neural spines that overlap with the dorsal pterygiophores, that may be anatomical traits that contribute to burrowing ability. Finally, ancestral state reconstruction showed that sand-diving occurs exclusively in the upper half of the labrid phylogenetic tree with an evolutionary history indicating that sand-diving may have evolved once and then been lost three to five times or may have evolved independently at least three times in family Labridae.

Kinematics of burrowing by peristalsis in granular sands

Peristaltic burrowing in muds applies normal forces to burrow walls, which extend by fracture, but the kinematics and mechanics of peristaltic burrowing in sands has not been explored. The opheliid polychaete, Thoracophelia mucronata, uses direct peristalsis to burrow in beach sands, using kinematics consistent with the “dual anchor system” of burrowing used by diverse organisms. In addition to expansions associated with a constrictive direct peristaltic wave, worms alternately expand the head region, which is separated by septa from the open body cavity, and expansible lateral ridges that protrude from the 10th setiger. Tracking of fluorescent-dyed chaetae showed that the body wall advances while segments are thin, then stationary segments expand, applying normal forces to burrow walls. These normal forces likely compact burrow walls and serve as anchors. Perhaps more importantly, peristaltic movements minimize friction with the burrow wall, which would expand dilatant sands. Considerable slipping of worms burrowing in a lower-density sand analog suggests that this dual-anchor peristaltic burrowing may be limited to a narrow range of mechanical properties of substrata, consistent with the limited habitat of T. mucronata in a narrow swash zone on dissipative beaches.

A Large-Scale Pattern of Ontogenetic Shape Change in Ray-Finned Fishes

Fishes exhibit a remarkable diversity of body shape as adults; however, it is unknown whether this diversity is reflected in larval stage morphology. Here we investigate the relationship between larval and adult body shape as expressed by body elongation. We surveyed a broad range of ray-finned fish species and compared body shape at larval and adult stages. Analysis shows that the vast majority of fish are more elongate at the larval stage than at the adult stage, and that adults display greater interspecies variation than larvae. We found that the superorder Elompomorpha is unique because many species within the group do not follow the observed elongation trends. These results indicate that much of the diversity observed in adults is achieved in post-larval stages. We suggest that larval morphology is subject to common constraints across the phylogeny.

Environmental interaction influences muscle activation strategy during sand-swimming in the sandfish lizard Scincus scincus

Animals like the sandfish lizard (Scincus scincus) that live in desert sand locomote on and within a granular medium whose resistance to intrusion is dominated by frictional forces. Recent kinematic studies revealed that the sandfish utilizes a wave of body undulation during swimming. Models predict that a particular combination of wave amplitude and wavelength yields maximum speed for a given frequency, and experiments have suggested that the sandfish targets this kinematic waveform. To investigate the neuromechanical strategy of the sandfish during walking, burial and swimming, here we use high-speed X-ray and visible light imaging with synchronized electromyogram (EMG) recordings of epaxial muscle activity. While moving on the surface, body undulation was not observed and EMG showed no muscle activation. During subsurface sand-swimming, EMG revealed an anterior-to-posterior traveling wave of muscle activation which traveled faster than the kinematic wave. Muscle activation intensity increased as the animal swam deeper into the material but was insensitive to undulation frequency. These findings were in accord with empirical force measurements, which showed that resistance force increased with depth but was independent of speed. The change in EMG intensity with depth indicates that the sandfish targets a kinematic waveform (a template) that models predict maximizes swimming speed and minimizes the mechanical cost of transport as the animal descends into granular media. The differences in the EMG pattern compared with EMG of undulatory swimmers in fluids can be attributed to the friction-dominated intrusion forces of granular media.

Meandering worms: mechanics of undulatory burrowing in muds

Recent work has shown that muddy sediments are elastic solids through which animals extend burrows by fracture, whereas non-cohesive granular sands fluidize around some burrowers. These different mechanical responses are reflected in the morphologies and behaviours of their respective inhabitants. However, Armandia brevis, a mud-burrowing opheliid polychaete, lacks an expansible anterior consistent with fracturing mud, and instead uses undulatory movements similar to those of sandfish lizards that fluidize desert sands. Here, we show that A. brevis neither fractures nor fluidizes sediments, but instead uses a third mechanism, plastically rearranging sediment grains to create a burrow. The curvature of the undulating body fits meander geometry used to describe rivers, and changes in curvature driven by muscle contraction are similar for swimming and burrowing worms, indicating that the same gait is used in both sediments and water. Large calculated friction forces for undulatory burrowers suggest that sediment mechanics affect undulatory and peristaltic burrowers differently; undulatory burrowing may be more effective for small worms that live in sediments not compacted or cohesive enough to extend burrows by fracture.

Escherichia coli ATCC 8739 Adapts to the Presence of Sodium Chloride, Monosodium Glutamate, and Benzoic Acid after Extended Culture

Escherichia coli is commonly found in intestine of human, and any changes in their adaptation or evolution may affect the human body. The relationship between E. coli and food additives is less studied as compared to antibiotics. E. coli within our human gut are consistently interacting with the food additives; thus, it is important to investigate this relationship. In this paper, we observed the evolution of E. coli cultured in different concentration of food additives (sodium chloride, benzoic acid, and monosodium glutamate), singly or in combination, over 70 passages. Adaptability over time was estimated by generation time and cell density at stationary phase. Polymerase chain reaction (PCR)/restriction fragments length polymorphism (RFLP) using 3 primers and restriction endonucleases, each was used to characterize adaptation/evolution at genomic level. The amplification and digestion profiles were tabulated and analyzed by Nei-Li dissimilarity index. Our results demonstrate that E. coli in every treatment had adapted over 465 generations. The types of stress were discovered to be different even though different concentrations of same additives were used. However, RFLP shows a convergence of genetic distances, suggesting the presence of global stress response. In addition, monosodium glutamate may be a nutrient source and support acid resistance in E. coli.