A hydrodynamic sensory antenna used by killifish for nocturnal hunting

Experiment for Effect of Attack Angle and Environmental Condition on Hydrodynamics of Near-Surface Swimming Fish-Like Robot

Fish-like robot is a special autonomous underwater vehicle with broad application prospects. Some previous studies concentrated on the hydrodynamics of free-swimming fish-like robots. But the hydrodynamic performance of fish-like robot swimming with a tilt angle in constrained space has not been well studied, and the influence of environmental wave and current on its is also still unclear. In this paper, the experiment devices, including a physical fish-like robot, a hydrodynamics measurement platform, and a six-axis force sensor, are used to study the effect of attack angle and environmental condition on the hydrodynamics of near-surface swimming fish-like robot. Nine attack angles, five oscillating amplitudes, and three environmental conditions are analyzed in the experiments. It shows that thrust force decreases when caudal fin passes above water surface, but the increased difference between gravity force and buoyancy force will compensate the decreased force generated by caudal fin when fish-like robot swims with certain dive angle. The extra reaction force generated by solid bottom boundary will promote the thrust force and vertical force. The surface water wave condition or surface water current condition also has obvious effects on hydrodynamic performance. This paper provides a new perspective to the research on the hydrodynamic performance of fish-like robot and will do favor in the development of fish-like robot.

A simple macro-scale artificial lateral line sensor for the detection of shed vortices

Underwater robot sensing is challenging due to the complex and noisy nature of the environment. The lateral line system in fish allows them to robustly sense their surroundings, even in turbid and turbulent environments, allowing them to perform tasks such as shoaling or foraging. Taking inspiration from the lateral line system in fish to design robot sensors could help to power underwater robots in inspection, exploration, or environmental monitoring tasks. Previous studies have designed systems that mimic both the design and the configuration of the lateral line and neuromasts, but at high cost or using complex procedures. Here, we present a simple, low cost, bio-inspired sensor, that can detect passing vortices shed from surrounding obstacles or upstream fish or robots. We demonstrate the importance of the design elements used, and show a minimum 20% reduction in residual error over sensors lacking these elements. Results were validated in reality using a prototype of the artificial lateral line sensor. These results mark an important step in providing alternate methods of control in underwater vehicles that are simultaneously inexpensive and simple to manufacture.

Behavioural responses of threespine stickleback with lateral line asymmetries to experimental mechanosensory stimuli

Behavioural asymmetry, typically referred to as laterality, is widespread among bilaterians and is often associated with asymmetry in brain structure. However, the influence of sensory receptor asymmetry on laterality has undergone limited investigation. Here we use threespine stickleback (Gasterosteus aculeatus) to investigate the influence of lateral line asymmetry on laterality during lab simulations of three mechanosensation-dependent behaviours: predator evasion, prey localization and rheotaxis. We recorded the response of stickleback to impacts at the water surface and water flow in photic conditions and low-frequency oscillations in the dark, across four repeat trials. We then compared individuals' laterality to asymmetry in the number of neuromasts on either side of their body. Stickleback hovered with their right side against the arena wall 57% of the time (P<0.001) in illuminated surface impact trials and 56% of the time in (P=0.085) dark low-frequency stimulation trials. Light regime modulated the effect of neuromast count on laterality, as fish with more neuromasts were more likely to hover with the wall on their right during illumination (P=0.007) but were less likely to do so in darkness (P=0.025). Population level laterality diminished in later trials across multiple behaviours and individuals did not show a consistent side bias in any behaviours. Our results demonstrate a complex relationship between sensory structure asymmetry and laterality, suggesting that laterality is modulated multiple sensory modalities and temporally dynamic.

Structural, ultrastructural, and functional aspects of the skin of the upper lip of silver carp (Hypophthalmichthys molitrix)

This study was carried out to analyze the architecture of the skin of the upper lip region in silver carp fishes using light, scanning, and transmission electron microscopies. The skin was composed of epidermis, dermis, and hypodermis. The epidermis of the upper lip was characterized by the presence of large number of metachromatic mucous goblet cells, which showed positive reaction with Periodic Acid-Schiff (PAS), Alcian blue (AB), and toluidine blue. The electroreceptive lateral line system was organized into ampullary and tuberous organs. The scanning electron microscopy showed that the surface of the skin of upper lip was covered by microridges and characterized by the presence of taste buds and openings of lateral line system. As observed by transmission electron microscopy, the cytoplasm of the epidermal layers appeared electron-dense except for the superficial layer, where the cytoplasm was electron-lucent and contained many vacuoles and few profiles of rER. Moreover, the epidermis contained rodlet cells and stem cells. Few organelles were found within the cytoplasm of club cells. Neutrophils and eosinophilic granular cells were also demonstrated as important immune cells in the epidermis of the upper lip. Furthermore, lymphocytes and basophils could be identified with macrophage in the epidermal layer of the upper lip. Numerous telocytes were demonstrated between the collagen fibers of the dermis and bundles of myelinated nerve fibers. In conclusion, the skin of the upper lip region of silver carp displayed many sensory and immunological characteristic features.

Sensory ecology of the fish lateral-line system: Morphological and physiological adaptations for the perception of hydrodynamic stimuli

Fishes are able to detect and perceive the hydrodynamic and physical environment they inhabit and process this sensory information to guide the resultant behaviour through their mechanosensory lateral-line system. This sensory system consists of up to several thousand neuromasts distributed across the entire body of the animal. Using the lateral-line system, fishes perceive water movements of both biotic and abiotic origin. The anatomy of the lateral-line system varies greatly between and within species. It is still a matter of debate as to how different lateral-line anatomies reflect adaptations to the hydrodynamic conditions to which fishes are exposed. While there are many accounts of lateral-line system adaptations for the detection of hydrodynamic signals in distinct behavioural contexts and environments for specific fish species, there is only limited knowledge on how the environment influences intra and interspecific variations in lateral-line morphology. Fishes live in a wide range of habitats with highly diverse hydrodynamic conditions, from pools and lakes and slowly moving deep-sea currents to turbulent and fast running rivers and rough coastal surf regions. Perhaps surprisingly, detailed characterisations of the hydrodynamic properties of natural water bodies are rare. In particular, little is known about the spatio-temporal patterns of the small-scale water motions that are most relevant for many fish behaviours, making it difficult to relate environmental stimuli to sensory system morphology and function. Humans use bodies of water extensively for recreational, industrial and domestic purposes and in doing so often alter the aquatic environment, such as through the release of toxicants, the blocking of rivers by dams and acoustic noise emerging from boats and construction sites. Although the effects of anthropogenic interferences are often not well understood or quantified, it seems obvious that they change not only water quality and appearance but also, they alter hydrodynamic conditions and thus the types of hydrodynamic stimuli acting on fishes. To date, little is known about how anthropogenic influences on the aquatic environment affect the morphology and function of sensory systems in general and the lateral-line system in particular. This review starts out by briefly describing naturally occurring hydrodynamic stimuli and the morphology and neurobiology of the fish lateral-line system. In the main part, adaptations of the fish lateral-line system for the detection and analysis of water movements during various behaviours are presented. Finally, anthropogenic influences on the aquatic environment and potential effects on the fish lateral-line system are discussed.

Nighttime Ecology: The "Nocturnal Problem" Revisited

The existence of a synthetic program of research on what was then termed the "nocturnal problem" and that we might now call "nighttime ecology" was declared more than 70 years ago. In reality, this failed to materialize, arguably as a consequence of practical challenges in studying organisms at night and instead concentrating on the existence of circadian rhythms, the mechanisms that give rise to them, and their consequences. This legacy is evident to this day, with consideration of the ecology of the nighttime markedly underrepresented in ecological research and literature. However, several factors suggest that it would be timely to revive the vision of a comprehensive research program in nighttime ecology. These include (i) that the study of the ecology of the night is being revolutionized by new and improved technologies; (ii) suggestions that, far from being a minor component of biodiversity, a high proportion of animal species are active at night; (iii) that fundamental questions about differences and connections between the ecology of the daytime and the nighttime remain largely unanswered; and (iv) that the nighttime environment is coming under severe anthropogenic pressure. In this article, I seek to reestablish nighttime ecology as a synthetic program of research, highlighting key focal topics and questions and providing an overview of the current state of understanding and developments.

Surface tension dominates insect flight on fluid interfaces

Flight on the 2D air-water interface, with body weight supported by surface tension, is a unique locomotion strategy well adapted for the environmental niche on the surface of water. Although previously described in aquatic insects like stoneflies, the biomechanics of interfacial flight has never been analysed. Here, we report interfacial flight as an adapted behaviour in waterlily beetles (Galerucella nymphaeae) which are also dexterous airborne fliers. We present the first quantitative biomechanical model of interfacial flight in insects, uncovering an intricate interplay of capillary, aerodynamic and neuromuscular forces. We show that waterlily beetles use their tarsal claws to attach themselves to the interface, via a fluid contact line pinned at the claw. We investigate the kinematics of interfacial flight trajectories using high-speed imaging and construct a mathematical model describing the flight dynamics. Our results show that non-linear surface tension forces make interfacial flight energetically expensive compared with airborne flight at the relatively high speeds characteristic of waterlily beetles, and cause chaotic dynamics to arise naturally in these regimes. We identify the crucial roles of capillary-gravity wave drag and oscillatory surface tension forces which dominate interfacial flight, showing that the air-water interface presents a radically modified force landscape for flapping wing flight compared with air.

Detection of artificial water flows by the lateral line system of a benthic feeding cichlid fish

The mechanosensory lateral line system of fishes detects water motions within a few body lengths of the source. Several types of artificial stimuli have been used to probe lateral line function in the laboratory, but few studies have investigated the role of flow sensing in benthic feeding teleosts. In this study, we used artificial flows emerging from a sandy substrate to assess the contribution of flow sensing to prey detection in the peacock cichlid, Aulonocara stuartgranti, which feeds on benthic invertebrates in Lake Malawi. Using a positive reinforcement protocol, we trained fish to respond to flows lacking the visual and chemical cues generated by tethered prey in prior studies with A. stuartgranti. Fish successfully responded to artificial flows at all five rates presented (characterized using digital particle image velocimetry), and showed a range of flow-sensing behaviors, including an unconditioned bite response. Immediately after lateral line inactivation, fish rarely responded to flows and the loss of vital fluorescent staining of hair cells (with 4-di-2-ASP) verified lateral line inactivation. Within 2 days post-treatment, some aspects of flow-sensing behavior returned and after 7 days, flow-sensing behavior and hair cell fluorescence both returned to pre-treatment levels, which is consistent with the reported timing of hair cell regeneration in other vertebrates. The presentation of ecologically relevant water flows to assess flow-sensing behaviors and the use of a positive reinforcement protocol are methods that present new opportunities to study the role of flow sensing in the feeding ecology of benthic feeding fishes.

Lateral line layout correlates with the differential hydrodynamic pressure on swimming fish

The lateral line of fish includes the canal subsystem that detects hydrodynamic pressure gradients and is thought to be important in swimming behaviors such as rheotaxis and prey tracking. Here, we explore the hypothesis that this sensory system is concentrated at locations where changes in pressure are greatest during motion through water. Using high-fidelity models of rainbow trout, we mimic the flows encountered during swimming while measuring pressure with fine spatial and temporal resolution. The variations in pressure for perturbations in body orientation and for disturbances to the incoming stream are seen to correlate with the sensory network. These findings support a view of the lateral line as a "hydrodynamic antenna" that is configured to retrieve flow signals and also suggest a physical explanation for the nearly universal sensory layout across diverse species.

Comparative development and evolution of two lateral line phenotypes in lake Malawi cichlids

A comparison of the pattern and timing of development of cranial lateral line canals and canal neuromasts in three species of Lake Malawi cichlids, Labeotropheus fuelleborni and Metriaclima zebra (narrow lateral line canals), and Aulonocara baenschi (widened lateral line canals) was used to test the hypothesis that the evolution of widened canals (thought to be an adaptive phenotype in the lateral line system) from narrow canals is the result of heterochrony. Using histological analysis and scanning electron microscopy, this study has provided the first detailed and quantitative description of the development of widened lateral line canals in a teleost, and has demonstrated that: 1) canal neuromast number and the pattern of canal morphogenesis are conserved among species with different adult canal phenotypes, 2) heterochrony ("dissociated heterochrony" in particular) can explain the evolution of widened canals and variation in morphology between canals within a species with respect to canal diameter and neuromast size, and 3) the morphology of the lateral line canals and the dermal bones in which they are found (e.g., the mandibular canal the dentary and anguloarticular bones of the mandible) can evolve independently of each other, thus requiring the addition of another level of complexity to discussions of modularity and integration in the skull of bony fishes.

Anterior lateral line nerve encoding to tones and play back vocalisations in free swimming oyster toadfish, Opsanus tau

In the underwater environment, sound propagates both as a pressure wave and particle motion, with particle motions dominating close to the source. At the receptor level, the fish ear and the neuromast hair cells act as displacement detectors, and both are potentially stimulated by the particle motion component of sound. The encoding of the anterior lateral line nerve to acoustic stimuli in freely behaving oyster toadfish, Opsanus tau, was examined. Nerve sensitivity and directional responses were determined using spike rate and vector strength analysis, a measure of phase-locking of spike times to the stimulus waveform. All units showed greatest sensitivity to 100 Hz stimulus. While sensitivity was independent of stimulus orientation, the neuron's ability to phase-lock was correlated with stimuli origin. Two different types of units were classified, Type 1 (tonic), and Type 2 (phasic). The Type 1 fibers were further classified into two sub-types based on their frequency response (Type 1-1 and Type 1-2), which was hypothesised to be related to canal (Type 1-1) and superficial (Type 1-2) neuromast innervation. Lateral line units also exhibited sensitivity and phase locking to boatwhistle vocalisations, with greatest spike rates exhibited at the onset of the call. These results provide direct evidence that oyster toadfish can use their lateral line to detect behaviourally relevant acoustic stimuli, which could provide a sensory pathway to aid in sound source localisation.

Genetic architecture of variation in the lateral line sensory system of threespine sticklebacks

Vertebrate sensory systems have evolved remarkable diversity, but little is known about the underlying genetic mechanisms. The lateral line sensory system of aquatic vertebrates is a promising model for genetic investigations of sensory evolution because there is extensive variation within and between species, and this variation is easily quantified. In the present study, we compare the lateral line sensory system of threespine sticklebacks (Gasterosteus aculeatus) from an ancestral marine and a derived benthic lake population. We show that lab-raised individuals from these populations display differences in sensory neuromast number, neuromast patterning, and groove morphology. Using genetic linkage mapping, we identify regions of the genome that influence different aspects of lateral line morphology. Distinct loci independently affect neuromast number on different body regions, suggesting that a modular genetic structure underlies the evolution of peripheral receptor number in this sensory system. Pleiotropy and/or tight linkage are also important, as we identify a region on linkage group 21 that affects multiple aspects of lateral line morphology. Finally, we detect epistasis between a locus on linkage group 4 and a locus on linkage group 21; interactions between these loci contribute to variation in neuromast pattern. Our results reveal a complex genetic architecture underlying the evolution of the stickleback lateral line sensory system. This study further uncovers a genetic relationship between sensory morphology and non-neural traits (bony lateral plates), creating an opportunity to investigate morphological constraints on sensory evolution in a vertebrate model system.

Feeding in the dark: lateral-line-mediated prey detection in the peacock cichlid Aulonocara stuartgranti

The cranial lateral line canal system of teleost fishes is morphologically diverse and is characterized by four patterns. One of these, widened lateral line canals, has evolved convergently in a wide range of teleosts, including the Lake Malawi peacock cichlids (Aulonocara), and has been attributed to its role in prey detection. The ability to study Aulonocara in the laboratory provides an opportunity to test the hypothesis that their reported ability to feed on invertebrate prey living in sandy substrates in their natural habitat is the result of lateral-line-mediated prey detection. The goal of this study was to determine whether Aulonocara stuartgranti could detect hydrodynamic stimuli generated by tethered brine shrimp (visualized using digital particle image velocimetry) under light and dark conditions, with and without treatment with cobalt chloride, which is known to temporarily inactivate the lateral line system. Fish were presented with six pairs of tethered live and dead adult brine shrimp and feeding behavior was recorded with HD digital video. Results demonstrate that A. stuartgranti: (1) uses the same swimming/feeding strategy as they do in the field; (2) detects and consumes invertebrate prey in the dark using its lateral line system; (3) alters prey detection behavior when feeding on the same prey under light and dark conditions, suggesting the involvement of multiple sensory modalities; and (4) after treatment with cobalt chloride, exhibits a reduction in their ability to detect hydrodynamic stimuli produced by prey, especially in the dark, thus demonstrating the role of the lateral line system in prey detection.