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Shen Y, Tanaka H. Experimental analysis of the sweepback angle effect on the thrust generation of a robotic penguin wing. BIOINSPIRATION & BIOMIMETICS 2023; 18:026007. [PMID: 36669204 DOI: 10.1088/1748-3190/acb521] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/27/2022] [Accepted: 01/20/2023] [Indexed: 06/17/2023]
Abstract
Penguins have evolved excellent swimming skills as diving birds, benefiting from their agile wings. This paper experimentally analyzes the effects of the wing sweepback angle on thrust generation using a robotic penguin wing. A developed wing mechanism that can realize penguin-like flapping and feathering motion was used for actuating five alternative wing models, with different sweepback angles ranging from 0° to 50°. Force measurements under a steady water flow were conducted for both fixed and flapping states for all wing models. The results showed that small sweepback angles of 30° or less in the fixed state caused a steep lift curve and a moderate sweepback angle of 30° produced the largest lift-to-drag ratio. In the flapping state, the smaller sweepback wings generated a larger net thrust for the same wing motion, whereas the larger-sweepback wings produced more thrust under the same Strouhal number. The findings also revealed that larger sweepback wings more easily achieve the maximum net thrust in terms of less angle-of-attack control. In contrast, the hydrodynamic efficiency was not greatly affected by the sweepback. Regardless of the sweepback, the trend of the efficiency increasing with increasing flow speed indicates that the penguin wings can be more suitable for high-speed locomotion for higher hydrodynamic efficiency.
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Affiliation(s)
- Yayi Shen
- College of Mechanical & Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, People's Republic of China
| | - Hiroto Tanaka
- Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan
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New insight into the swimming kinematics of wild Green sea turtles (Chelonia mydas). Sci Rep 2022; 12:18151. [PMID: 36316441 PMCID: PMC9622894 DOI: 10.1038/s41598-022-21459-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/28/2022] [Accepted: 09/27/2022] [Indexed: 12/31/2022] Open
Abstract
Biomechanically, sea turtles could be perceived as birds of the ocean as they glide and flap their forelimbs to produce the necessary forces required for locomotion, making sea turtles an interesting animal to study. However, being an endangered species makes studying the sea turtle's biomechanics a complex problem to solve, both technically and ethically, without causing disturbance. This work develops a novel, non-invasive procedure to develop full three-dimensional kinematics for wild sea turtles by filming the animals in Australia's Great Barrier Reef using underwater drones without disturbing them. We found that the wild animals had very different swimming patterns than previous studies on juveniles in captivity. Our findings show that the flipper goes through a closed-loop trajectory with extended sweeping of the flipper tip towards the centre of the carapace to create a clapping motion. We have named this the "sweep stroke" and in contrast to previously described four-stage models, it creates a five-stage cycle swimming locomotion model. The model presented here could lead to a better comprehension of the sea turtle propulsion methods and their fluid-structure interaction.
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Turtles in Malaysia: A Review of Conservation Status and a Call for Research. Animals (Basel) 2022; 12:ani12172184. [PMID: 36077905 PMCID: PMC9454601 DOI: 10.3390/ani12172184] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/05/2022] [Revised: 08/05/2022] [Accepted: 08/16/2022] [Indexed: 11/24/2022] Open
Abstract
Simple Summary Turtles are threatened all over the world. Malaysia has 24 species of turtles. This review focuses on current conservation status and some requirements for sustainability. We propose integrating concepts of ecology and molecular biology to provide almost comprehensive turtle reviews in Malaysia. Abstract Approximately 356 species of turtles inhabit saltwater and freshwater habitats globally, except in Antarctica. Twenty-four species of turtles have been reported in Malaysia, four of which are sea turtles. The state of Terengganu harbored the highest number of turtles, with 17 different reported species. Based on the IUCN Red List, 29% of turtle species in Malaysia are critically endangered. In comparison, another 25% are classified as endangered. Likewise, CITES reported that 67% of Malaysia’s turtles are threatened, while 25% are classified as critically endangered. This review discusses the checklists, molecular genetics work, conservation status, recent trends, and recommendations for future research. Factors contributing to their population declines and current endangered status are also discussed.
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Krahl A, Lipphaus A, Sander PM, Witzel U. Determination of muscle strength and function in plesiosaur limbs: finite element structural analyses of Cryptoclidus eurymerus humerus and femur. PeerJ 2022; 10:e13342. [PMID: 35677394 PMCID: PMC9169670 DOI: 10.7717/peerj.13342] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/15/2021] [Accepted: 04/05/2022] [Indexed: 01/13/2023] Open
Abstract
Background The Plesiosauria (Sauropterygia) are secondary marine diapsids. They are the only tetrapods to have evolved hydrofoil fore- and hindflippers. Once this specialization of locomotion had evolved, it remained essentially unchanged for 135 Ma. It is still controversial whether plesiosaurs flew underwater, rowed, or used a mixture of the two modes of locomotion. The long bones of Tetrapoda are functionally loaded by torsion, bending, compression, and tension during locomotion. Superposition of load cases shows that the bones are loaded mainly by compressive stresses. Therefore, it is possible to use finite element structure analysis (FESA) as a test environment for loading hypotheses. These include muscle reconstructions and muscle lines of action (LOA) when the goal is to obtain a homogeneous compressive stress distribution and to minimize bending in the model. Myological reconstruction revealed a muscle-powered flipper twisting mechanism. The flippers of plesiosaurs were twisted along the flipper length axis by extensors and flexors that originated from the humerus and femur as well as further distal locations. Methods To investigate locomotion in plesiosaurs, the humerus and femur of a mounted skeleton of Cryptoclidus eurymerus (Middle Jurassic Oxford Clay Formation from Britain) were analyzed using FE methods based on the concept of optimization of loading by compression. After limb muscle reconstructions including the flipper twisting muscles, LOA were derived for all humerus and femur muscles of Cryptoclidus by stretching cords along casts of the fore- and hindflippers of the mounted skeleton. LOA and muscle attachments were added to meshed volumetric models of the humerus and femur derived from micro-CT scans. Muscle forces were approximated by stochastic iteration and the compressive stress distribution for the two load cases, "downstroke" and "upstroke", for each bone were calculated by aiming at a homogeneous compressive stress distribution. Results Humeral and femoral depressors and retractors, which drive underwater flight rather than rowing, were found to exert higher muscle forces than the elevators and protractors. Furthermore, extensors and flexors exert high muscle forces compared to Cheloniidae. This confirms a convergently evolved myological mechanism of flipper twisting in plesiosaurs and complements hydrodynamic studies that showed flipper twisting is critical for efficient plesiosaur underwater flight.
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Affiliation(s)
- Anna Krahl
- Institute of Geoscience, Section Paleontology, Rheinische Friedrich-Wilhelms Universität Bonn, Bonn, Germany,Biomechanics Research Group, Chair of Product Development, Faculty of Mechanical Engineering, Ruhr-Universität Bochum, Bochum, Germany,Paleontological Collection Fachbereich Geowissenschaften, Eberhard-Karls-Universität Tübingen, Tübingen, Germany
| | - Andreas Lipphaus
- Biomechanics Research Group, Chair of Product Development, Faculty of Mechanical Engineering, Ruhr-Universität Bochum, Bochum, Germany
| | - P. Martin Sander
- Institute of Geoscience, Section Paleontology, Rheinische Friedrich-Wilhelms Universität Bonn, Bonn, Germany
| | - Ulrich Witzel
- Biomechanics Research Group, Chair of Product Development, Faculty of Mechanical Engineering, Ruhr-Universität Bochum, Bochum, Germany
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Krahl A, Witzel U. Foreflipper and hindflipper muscle reconstructions of Cryptoclidus eurymerus in comparison to functional analogues: introduction of a myological mechanism for flipper twisting. PeerJ 2022; 9:e12537. [PMID: 35003916 PMCID: PMC8684327 DOI: 10.7717/peerj.12537] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/21/2021] [Accepted: 11/03/2021] [Indexed: 12/30/2022] Open
Abstract
BACKGROUND Plesiosaurs, diapsid crown-group Sauropterygia, inhabited the oceans from the Late Triassic to the Late Cretaceous. Their most exceptional characteristic are four hydrofoil-like flippers. The question whether plesiosaurs employed their four flippers in underwater flight, rowing flight, or rowing has not been settled yet. Plesiosaur locomotory muscles have been reconstructed in the past, but neither the pelvic muscles nor the distal fore- and hindflipper musculature have been reconstructed entirely. METHODS All plesiosaur locomotory muscles were reconstructed in order to find out whether it is possible to identify muscles that are necessary for underwater flight including those that enable flipper rotation and twisting. Flipper twisting has been proven by hydrodynamic studies to be necessary for efficient underwater flight. So, Cryptoclidus eurymerus fore- and hindflipper muscles and ligaments were reconstructed using the extant phylogenetic bracket (Testudines, Crocodylia, and Lepidosauria) and correlated with osteological features and checked for their functionality. Muscle functions were geometrically derived in relation to the glenoid and acetabulum position. Additionally, myology of functionally analogous Chelonioidea, Spheniscidae, Otariinae, and Cetacea is used to extract general myological adaptations of secondary aquatic tetrapods to inform the phylogenetically inferred muscle reconstructions. RESULTS A total of 52 plesiosaur fore- and hindflipper muscles were reconstructed. Amongst these are flipper depressors, elevators, retractors, protractors, and rotators. These muscles enable a fore- and hindflipper downstroke and upstroke, the two sequences that represent an underwater flight flipper beat cycle. Additionally, other muscles were capable of twisting fore- and hindflippers along their length axis during down- and upstroke accordingly. A combination of these muscles that actively aid in flipper twisting and intermetacarpal/intermetatarsal and metacarpodigital/metatarsodigital ligament systems, that passively engage the successive digits, could have accomplished fore-and hindflipper length axis twisting in plesiosaurs that is essential for underwater flight. Furthermore, five muscles that could possibly actively adjust the flipper profiles for efficient underwater flight were found, too.
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Affiliation(s)
- Anna Krahl
- Biomechanics Research Group, Lehrstuhl für Produktentwicklung, Faculty of Mechanical Engineering, Ruhr-Universität Bochum, Bochum, Germany.,Section of Paleontology, Institute of Geoscience, Rheinische Friedrich-Wilhelms-Universität Bonn, Bonn, Germany.,Paläontologische Sammlung, Fachbereich Geowissenschaften, Eberhard-Karls-Universität Tübingen, Tübingen, Germany
| | - Ulrich Witzel
- Biomechanics Research Group, Lehrstuhl für Produktentwicklung, Faculty of Mechanical Engineering, Ruhr-Universität Bochum, Bochum, Germany
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Vega CM, Ashley-Ross MA. Turtling the Salamander: Tail Movements Mitigate Need for Kinematic Limb Changes during Walking in Tiger Salamanders ( Ambystoma tigrinum) with Restricted Lateral Movement. Integr Org Biol 2021; 3:obab029. [PMID: 34708185 PMCID: PMC8545788 DOI: 10.1093/iob/obab029] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/25/2020] [Revised: 07/07/2021] [Accepted: 10/04/2021] [Indexed: 11/14/2022] Open
Abstract
Lateral undulation and trunk flexibility offer performance benefits to maneuverability, stability, and stride length (via speed and distance traveled). These benefits make them key characteristics of the locomotion of tetrapods with sprawling posture, with the exception of turtles. Despite their bony carapace preventing lateral undulations, turtles are able to improve their locomotor performance by increasing stride length via greater limb protraction. The goal of this study was to quantify the effect of reduced lateral flexibility in a generalized sprawling tetrapod, the tiger salamander (Ambystoma tigrinum). We had two potential predictions: (1) either salamanders completely compensate by changing their limb kinematics, or (2) their performance (i.e., speed) will suffer due to the reduced lateral flexibility. This reduction was performed by artificially limiting trunk flexibility by attaching a 2-piece shell around the body between the pectoral and pelvic girdles. Adult tiger salamanders (n = 3; SVL = 9–14.5 cm) walked on a 1-m trackway under three different conditions: unrestricted, flexible shell (Tygon tubing), and rigid shell (PVC tubing). Trials were filmed in a single, dorsal view, and kinematics of entire midline and specific body regions (head, trunk, tail), as well as the fore and hind limbs, were calculated. Tygon individuals had significantly higher curvature than both PVC and unrestricted individuals for the body, but this trend was primarily driven by changes in tail movements. PVC individuals had significantly lower curvature in the trunk region compared with unrestricted individuals or Tygon; however, there was no difference between unrestricted and Tygon individuals suggesting the shells performed as expected. PVC and Tygon individuals had significantly higher curvature in the tails compared with unrestricted individuals. There were no significant differences for any limb kinematic variables among treatments including average, minimum, and maximum angles. Thus, salamanders respond to decreased lateral movement in their trunk by increasing movements in their tail, without changes in limb kinematics. These results suggest that tail undulations may be a more critical component to sprawling-postured tetrapod locomotion than previously recognized.
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Affiliation(s)
- Christine M Vega
- Department of Biology, Wake Forest University, 1834 Wake Forest Road, Winston-Salem, NC 27109, USA
| | - Miriam A Ashley-Ross
- Department of Biology, Wake Forest University, 1834 Wake Forest Road, Winston-Salem, NC 27109, USA
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Gutarra S, Rahman IA. The locomotion of extinct secondarily aquatic tetrapods. Biol Rev Camb Philos Soc 2021; 97:67-98. [PMID: 34486794 DOI: 10.1111/brv.12790] [Citation(s) in RCA: 13] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/11/2021] [Revised: 08/14/2021] [Accepted: 08/18/2021] [Indexed: 02/06/2023]
Abstract
The colonisation of freshwater and marine ecosystems by land vertebrates has repeatedly occurred in amphibians, reptiles, birds and mammals over the course of 300 million years. Functional interpretations of the fossil record are crucial to understanding the forces shaping these evolutionary transitions. Secondarily aquatic tetrapods have acquired a suite of anatomical, physiological and behavioural adaptations to locomotion in water. However, much of this information is lost for extinct clades, with fossil evidence often restricted to osteological data and a few extraordinary specimens with soft tissue preservation. Traditionally, functional morphology in fossil secondarily aquatic tetrapods was investigated through comparative anatomy and correlation with living functional analogues. However, in the last two decades, biomechanics in palaeobiology has experienced a remarkable methodological shift. Anatomy-based approaches are increasingly rigorous, informed by quantitative techniques for analysing shape. Moreover, the incorporation of physics-based methods has enabled objective tests of functional hypotheses, revealing the importance of hydrodynamic forces as drivers of evolutionary innovation and adaptation. Here, we present an overview of the latest research on the locomotion of extinct secondarily aquatic tetrapods, with a focus on amniotes, highlighting the state-of-the-art experimental approaches used in this field. We discuss the suitability of these techniques for exploring different aspects of locomotory adaptation, analysing their advantages and limitations and laying out recommendations for their application, with the aim to inform future experimental strategies. Furthermore, we outline some unexplored research avenues that have been successfully deployed in other areas of palaeobiomechanical research, such as the use of dynamic models in feeding mechanics and terrestrial locomotion, thus providing a new methodological synthesis for the field of locomotory biomechanics in extinct secondarily aquatic vertebrates. Advances in imaging technology and three-dimensional modelling software, new developments in robotics, and increased availability and awareness of numerical methods like computational fluid dynamics make this an exciting time for analysing form and function in ancient vertebrates.
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Affiliation(s)
- Susana Gutarra
- School of Earth Sciences, University of Bristol, Life Sciences Building, 24 Tyndall Avenue, Bristol, BS8 1TQ, U.K.,Department of Earth Sciences, the Natural History Museum, Cromwell Road, London, U.K
| | - Imran A Rahman
- Department of Earth Sciences, the Natural History Museum, Cromwell Road, London, U.K.,Oxford University Museum of Natural History, Parks Road, Oxford, OX1 3PW, U.K
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Joyce WG, Mäuser M, Evers SW. Two turtles with soft tissue preservation from the platy limestones of Germany provide evidence for marine flipper adaptations in Late Jurassic thalassochelydians. PLoS One 2021; 16:e0252355. [PMID: 34081728 PMCID: PMC8174742 DOI: 10.1371/journal.pone.0252355] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/01/2021] [Accepted: 05/12/2021] [Indexed: 01/07/2023] Open
Abstract
Late Jurassic deposits across Europe have yielded a rich fauna of extinct turtles. Although many of these turtles are recovered from marine deposits, it is unclear which of these taxa are habitually marine and which may be riverine species washed into nearby basins, as adaptations to open marine conditions are yet to be found. Two new fossils from the Late Jurassic of Germany provide unusually strong evidence for open marine adaptations. The first specimen is a partial shell and articulated hind limb from the Late Jurassic (early Tithonian) platy limestones of Schernfeld near Eichstätt, which preserves the integument of the hind limb as an imprint. The skin is fully covered by flat, polygonal scales, which stiffen the pes into a paddle. Although taxonomic attribution is not possible, similarities are apparent with Thalassemys. The second specimen is a large, articulated skeleton with hypertrophied limbs referable to Thalassemys bruntrutana from the Late Jurassic (early Late Kimmeridgian) platy limestone of Wattendorf, near Bamberg. Even though the skin is preserved as a phosphatic film, the scales are not preserved. This specimen can nevertheless be inferred to have had paddles stiffened by scales based on the pose in which they are preserved, the presence of epibionts between the digits, and by full morphological correspondence to the specimen from Schernfeld. An analysis of scalation in extant turtles demonstrated that elongate flippers stiffed by scales are a marine adaptation, in contrast to the elongate but flexible flippers of riverine turtles. Phylogenetic analysis suggests that Thalassemys bruntrutana is referable to the mostly Late Jurassic turtle clade Thalassochelydia. The marine adapted flippers of this taxon therefore evolved convergently with those of later clades of marine turtles. Although thalassochelydian fossils are restricted to Europe, with one notable exception from Argentina, their open marine adaptations combined with the interconnectivity of Jurassic oceans predict that the clade must have been even more wide-spread during that time.
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Affiliation(s)
- Walter G. Joyce
- Departement für Geowissenschaften, Universität Freiburg, Freiburg, Switzerland
| | - Matthias Mäuser
- Staatliche Naturwissenschaftliche Sammlungen Bayerns, Naturkunde-Museum Bamberg, Bamberg, Germany
| | - Serjoscha W. Evers
- Departement für Geowissenschaften, Universität Freiburg, Freiburg, Switzerland
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Thinking Inside the Box: Comparative Limb Bone Shape in Emydid Turtles. J HERPETOL 2021. [DOI: 10.1670/20-086] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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10
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Zurman-Nasution AN, Ganapathisubramani B, Weymouth GD. Fin sweep angle does not determine flapping propulsive performance. J R Soc Interface 2021; 18:20210174. [PMID: 34034533 PMCID: PMC8157821 DOI: 10.1098/rsif.2021.0174] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/01/2021] [Accepted: 05/04/2021] [Indexed: 12/04/2022] Open
Abstract
The importance of the leading-edge sweep angle of propulsive surfaces used by unsteady swimming and flying animals has been an issue of debate for many years, spurring studies in biology, engineering, and robotics with mixed conclusions. In this work, we provide results from three-dimensional simulations on single-planform finite foils undergoing tail-like (pitch-heave) and flipper-like (twist-roll) kinematics for a range of sweep angles covering a substantial portion of animals while carefully controlling all other parameters. Our primary finding is the negligible 0.043 maximum correlation between the sweep angle and the propulsive force and power for both tail-like and flipper-like motions. This indicates that fish tails and mammal flukes with similar range and size can have a large range of potential sweep angles without significant negative propulsive impact. Although there is a slight benefit to avoiding large sweep angles, this is easily compensated by adjusting the fin's motion parameters such as flapping frequency, amplitude and maximum angle of attack to gain higher thrust and efficiency.
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Affiliation(s)
- Andhini N. Zurman-Nasution
- Faculty of Engineering and Physical Sciences, University of Southampton, Southampton Boldrewood Innovation Campus, UK
| | - Bharathram Ganapathisubramani
- Faculty of Engineering and Physical Sciences, University of Southampton, Southampton Boldrewood Innovation Campus, UK
| | - Gabriel D. Weymouth
- Faculty of Engineering and Physical Sciences, University of Southampton, Southampton Boldrewood Innovation Campus, UK
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Krahl A, Lipphaus A, Sander MP, Maffucci F, Hochscheid S, Witzel U. Humerus osteology, myology, and finite element structure analysis of Cheloniidae. Anat Rec (Hoboken) 2019; 303:2177-2191. [PMID: 31674155 DOI: 10.1002/ar.24311] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/23/2018] [Revised: 09/13/2019] [Accepted: 09/16/2019] [Indexed: 12/19/2022]
Abstract
Adaptation of osteology and myology lead to the formation of hydrofoil foreflippers in Cheloniidae (all recent sea turtles except Dermochelys coriacea) which are used mainly for underwater flight. Recent research shows the biomechanical advantages of a complex system of agonistic and antagonistic tension chords that reduce bending stress in bones. Finite element structure analysis (FESA) of a cheloniid humerus is used to provide a better understanding of morphology and microanatomy and to link these with the main flipper function, underwater flight. Dissection of a Caretta caretta gave insights into lines of action, that is, the course that a muscle takes between its origin and insertion, of foreflipper musculature. Lines of action were determined by spanning physical threads on a skeleton of Chelonia mydas. The right humerus of this skeleton was micro-CT scanned. Based on the scans, a finite element (FE) model was built and muscle force vectors were entered. Muscle forces were iteratively approximated until a uniform compressive stress distribution was attained. Two load cases, downstroke and upstroke, were computed. We found that muscle wrappings (m. coracobrachialis magnus and brevis, several extensors, humeral head of m. triceps) are crucial in addition to axial loading to obtain homogenous compressive loading in all bone cross-sections. Detailed knowledge on muscle disposition leads to compressive stress distribution in the FE model which corresponds with the bone microstructure. The FE analysis of the cheloniid humerus shows that bone may be loaded mainly by compression if the bending moments are minimized.
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Affiliation(s)
- Anna Krahl
- Biomechanics Research Group, Lehrstuhl für Produktentwicklung, Faculty of Mechanical Engineering, Ruhr-University Bochum, Bochum, Germany
| | - Andreas Lipphaus
- Biomechanics Research Group, Lehrstuhl für Produktentwicklung, Faculty of Mechanical Engineering, Ruhr-University Bochum, Bochum, Germany
| | - Martin P Sander
- Institute of Geosciences, Division of Paleontology, University of Bonn, Bonn, Germany
| | - Fulvio Maffucci
- Research Infrastructures for Marine Biological Resources, Stazione Zoologica Anton Dohrn, Naples, Italy
| | - Sandra Hochscheid
- Marine Turtle Research Center, Stazione Zoologica Anton Dohrn, Portici, Italy
| | - Ulrich Witzel
- Biomechanics Research Group, Lehrstuhl für Produktentwicklung, Faculty of Mechanical Engineering, Ruhr-University Bochum, Bochum, Germany
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12
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Dickson BV, Pierce SE. Functional performance of turtle humerus shape across an ecological adaptive landscape. Evolution 2019; 73:1265-1277. [PMID: 31008517 DOI: 10.1111/evo.13747] [Citation(s) in RCA: 26] [Impact Index Per Article: 5.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/17/2019] [Revised: 03/11/2019] [Accepted: 04/08/2019] [Indexed: 01/24/2023]
Abstract
The concept of the adaptive landscape has been invaluable to evolutionary biologists for visualizing the dynamics of selection and adaptation, and is increasingly being used to study morpho-functional data. Here, we construct adaptive landscapes to explore functional trade-offs associated with variation in humerus morphology among turtles adapted to three different locomotor environments: marine, semiaquatic, and terrestrial. Humerus shape from 40 species of cryptodire turtles was quantified using a pseudolandmark approach. Hypothetical shapes were extracted in a grid across morphospace and four functional traits (strength, stride length, mechanical advantage, and hydrodynamics) measured on those shapes. Quantitative trait modeling was used to construct adaptive landscapes that optimize the functional traits for each of the three locomotor ecologies. Our data show that turtles living in different environments have statistically different humeral shapes. The optimum adaptive landscape for each ecology is defined by a different combination of performance trade-offs, with turtle species clustering around their respective adaptive peak. Further, species adhere to pareto fronts between marine-semiaquatic and semiaquatic-terrestrial optima, but not between marine-terrestrial. Our study demonstrates the utility of adaptive landscapes in informing the link between form, function, and ecological adaptation, and establishes a framework for reconstructing turtle ecological evolution using isolated humeri from the fossil record.
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Affiliation(s)
- Blake V Dickson
- Museum of Comparative Zoology and Department of Organismic and Evolutionary Biology, Harvard University, Cambridge, Massachusetts, 02138
| | - Stephanie E Pierce
- Museum of Comparative Zoology and Department of Organismic and Evolutionary Biology, Harvard University, Cambridge, Massachusetts, 02138
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Young VKH, Vest KG, Rivera ARV, Espinoza NR, Blob RW. One foot out the door: limb function during swimming in terrestrial versus aquatic turtles. Biol Lett 2017; 13:rsbl.2016.0732. [PMID: 28123109 DOI: 10.1098/rsbl.2016.0732] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/12/2016] [Accepted: 12/21/2016] [Indexed: 11/12/2022] Open
Abstract
Specialization for a new habitat often entails a cost to performance in the ancestral habitat. Although aquatic lifestyles are ancestral among extant cryptodiran turtles, multiple lineages, including tortoises (Testudinidae) and emydid box turtles (genus Terrapene), independently specialized for terrestrial habitats. To what extent is swimming function retained in such lineages despite terrestrial specialization? Because tortoises diverged from other turtles over 50 Ma, but box turtles did so only 5 Ma, we hypothesized that swimming kinematics for box turtles would more closely resemble those of aquatic relatives than those of tortoises. To test this prediction, we compared high-speed video of swimming Russian tortoises (Testudo horsfieldii), box turtles (Terrapene carolina) and two semi-aquatic emydid species: sliders (Trachemys scripta) and painted turtles (Chrysemys picta). We identified different kinematic patterns between limbs. In the forelimb, box turtle strokes most resemble those of tortoises; for the hindlimb, box turtles are more similar to semi-aquatic species. Such patterns indicate functional convergence of the forelimb of terrestrial species, whereas the box turtle hindlimb exhibits greater retention of ancestral swimming motions.
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Affiliation(s)
| | - Kaitlyn G Vest
- Department of Biological Sciences, Clemson University, Clemson, SC 29634, USA
| | | | - Nora R Espinoza
- Department of Biological Sciences, Clemson University, Clemson, SC 29634, USA
| | - Richard W Blob
- Department of Biological Sciences, Clemson University, Clemson, SC 29634, USA
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Mayerl CJ, Blob RW. A novel, bounding gait in swimming turtles: implications for aquatic locomotor diversity. ACTA ACUST UNITED AC 2017; 220:3611-3615. [PMID: 28807934 DOI: 10.1242/jeb.164103] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/02/2017] [Accepted: 08/08/2017] [Indexed: 11/20/2022]
Abstract
Turtles are an iconic lineage in studies of animal locomotion, typifying the use of slow, alternating footfalls during walking. Alternating movements of contralateral limbs are also typical during swimming gaits for most freshwater turtles. Here, we report a novel gait in turtles, in which the pleurodire Emydura subglobosa swims using a bounding gait that coordinates bilateral protraction of both forelimbs with bilateral retraction of both hindlimbs. Use of this bounding gait is correlated with increased limb excursion and decreased stride frequency, but not increased velocity when compared with standard swimming strokes. Bounding by E. subglobosa provides a second example of a non-mammalian lineage that can use bounding gaits, and may give insight into the evolution of aquatic flapping. Parallels in limb muscle fascicle properties between bounding turtles and crocodylids suggest a possible musculoskeletal mechanism underlying the use of bounding gaits in particular lineages.
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Affiliation(s)
| | - Richard W Blob
- Department of Biological Sciences, Clemson University, Clemson, SC 29634, USA
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15
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Blob RW, Mayerl CJ, Rivera ARV, Rivera G, Young VKH. "On the Fence" versus "All in": Insights from Turtles for the Evolution of Aquatic Locomotor Specializations and Habitat Transitions in Tetrapod Vertebrates. Integr Comp Biol 2016; 56:1310-1322. [PMID: 27940619 DOI: 10.1093/icb/icw121] [Citation(s) in RCA: 19] [Impact Index Per Article: 2.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Though ultimately descended from terrestrial amniotes, turtles have deep roots as an aquatic lineage and are quite diverse in the extent of their aquatic specializations. Many taxa can be viewed as "on the fence" between aquatic and terrestrial realms, whereas others have independently hyperspecialized and moved "all in" to aquatic habitats. Such differences in specialization are reflected strongly in the locomotor system. We have conducted several studies to evaluate the performance consequences of such variation in design, as well as the mechanisms through which specialization for aquatic locomotion is facilitated in turtles. One path to aquatic hyperspecialization has involved the evolutionary transformation of the forelimbs from rowing, tubular limbs with distal paddles into flapping, flattened flippers, as in sea turtles. Prior to the advent of any hydrodynamic advantages, the evolution of such flippers may have been enabled by a reduction in twisting loads on proximal limb bones that accompanied swimming in rowing ancestors, facilitating a shift from tubular to flattened limbs. Moreover, the control of flapping movements appears related primarily to shifts in the activity of a single forelimb muscle, the deltoid. Despite some performance advantages, flapping may entail a locomotor cost in terms of decreased locomotor stability. However, other morphological specializations among rowing species may enhance swimming stability. For example, among highly aquatic pleurodiran turtles, fusion of the pelvis to the shell appears to dramatically reduce motions of the pelvis compared to freshwater cryptodiran species. This could contribute to advantageous increases in aquatic stability among predominantly aquatic pleurodires. Thus, even within the potential constraints of a body plan in which the body is encased by a shell, turtles exhibit diverse locomotor capacities that have enabled diversification into a wide range of aquatic habitats.
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Affiliation(s)
- Richard W Blob
- *Department of Biological Sciences, Clemson University, Clemson, SC, 29634, USA
| | | | | | - Gabriel Rivera
- Department of Biology, Creighton University, Omaha, NE, 68178, USA
| | - Vanessa K H Young
- *Department of Biological Sciences, Clemson University, Clemson, SC, 29634, USA
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Davenport J, Davenport J, Diong CH, Low K. Swimming and bipedal bottom-running in the pig-nosed turtle Carettochelys insculpta Ramsay, 1886. J NAT HIST 2016. [DOI: 10.1080/00222933.2016.1180720] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/21/2022]
Affiliation(s)
- John Davenport
- School of Biological, Earth and Environmental Sciences, University College Cork, Cork, Ireland
| | - Julia Davenport
- School of Biological, Earth and Environmental Sciences, University College Cork, Cork, Ireland
| | - Cheong-Hoong Diong
- Division of Natural Sciences and Science Education, Nanyang Technological University, Singapore
| | - K.H. Low
- School of Mechanical and Aerospace Engineering, Division of Mechatronics and Design, Nanyang Technological University, Singapore
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Mayerl CJ, Brainerd EL, Blob RW. Pelvic girdle mobility of cryptodire and pleurodire turtles during walking and swimming. ACTA ACUST UNITED AC 2016; 219:2650-8. [PMID: 27340204 DOI: 10.1242/jeb.141622] [Citation(s) in RCA: 19] [Impact Index Per Article: 2.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/07/2016] [Accepted: 06/15/2016] [Indexed: 11/20/2022]
Abstract
Movements of the pelvic girdle facilitate terrestrial locomotor performance in a wide range of vertebrates by increasing hind limb excursion and stride length. The extent to which pelvic movements contribute to limb excursion in turtles is unclear because the bony shell surrounding the body presents a major obstacle to their visualization. In the Cryptodira, which are one of the two major lineages of turtles, pelvic anatomy indicates the potential for rotation inside the shell. However, in the Pleurodira, the other major suborder, the pelvis shows a derived fusion to the shell, preventing pelvic motion. In addition, most turtles use their hind limbs for propulsion during swimming as well as walking, and the different locomotor demands between water and land could lead to differences in the contributions of pelvic rotation to limb excursion in each habitat. To test these possibilities, we used X-ray reconstruction of moving morphology (XROMM) to compare pelvic mobility and femoral motion during walking and swimming between representative species of cryptodire (Pseudemys concinna) and pleurodire (Emydura subglobosa) turtles. We found that the pelvis yawed substantially in cryptodires during walking and, to a lesser extent, during swimming. These movements contributed to greater femoral protraction during both walking and swimming in cryptodires when compared with pleurodires. Although factors related to the origin of pelvic-shell fusion in pleurodires are debated, its implications for their locomotor function may contribute to the restriction of this group to primarily aquatic habits.
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Affiliation(s)
| | - Elizabeth L Brainerd
- Department of Ecology and Evolutionary Biology, Brown University, Providence, RI 02912, USA
| | - Richard W Blob
- Department of Biological Sciences, Clemson University, Clemson, SC 29634, USA
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18
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Rivera ARV, Blob RW. Forelimb muscle function in pig-nosed turtles, Carettochelys insculpta: testing neuromotor conservation between rowing and flapping in swimming turtles. Biol Lett 2013; 9:20130471. [PMID: 23966596 DOI: 10.1098/rsbl.2013.0471] [Citation(s) in RCA: 7] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
Changes in muscle activation patterns can lead to new locomotor modes; however, neuromotor conservation-the evolution of new forms of locomotion through changes in structure without concurrent changes to underlying motor patterns-has been documented across diverse styles of locomotion. Animals that swim using appendages do so via rowing (anteroposterior oscilations) or flapping (dorsoventral oscilations). Yet few studies have compared motor patterns between these swimming modes. In swimming turtles, propulsion is generated exclusively by limbs. Kinematically, turtles swim using multiple styles of rowing (freshwater species), flapping (sea turtles) and a unique hybrid style with superficial similarity to flapping by sea turtles and characterized by increased dorsoventral motions of synchronously oscillated forelimbs that have been modified into flippers (Carettochelys insculpta). We compared forelimb motor patterns in four species of turtle (two rowers, Apalone ferox and Trachemys scripta; one flapper, Caretta caretta; and Carettochelys) and found that, despite kinematic differences, motor patterns were generally similar among species with a few notable exceptions: specifically, presence of variable bursts for pectoralis and triceps in Trachemys (though timing of the non-variable pectoralis burst was similar), and the timing of deltoideus activity in Carettochelys and Caretta compared with other taxa. The similarities in motor patterns we find for several muscles provide partial support for neuromotor conservation among turtles using diverse locomotor styles, but the differences implicate deltoideus as a prime contributor to flapping limb motions.
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Affiliation(s)
- Angela R V Rivera
- Department of Biological Sciences, Clemson University, Clemson, SC 29634, USA.
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Kawano SM, Blob RW. Propulsive Forces of Mudskipper Fins and Salamander Limbs during Terrestrial Locomotion: Implications for the Invasion of Land. Integr Comp Biol 2013; 53:283-94. [DOI: 10.1093/icb/ict051] [Citation(s) in RCA: 78] [Impact Index Per Article: 7.1] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/14/2022] Open
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Evolutionary novelty versus exaptation: oral kinematics in feeding versus climbing in the waterfall-climbing Hawaiian Goby Sicyopterus stimpsoni. PLoS One 2013; 8:e53274. [PMID: 23308184 PMCID: PMC3537660 DOI: 10.1371/journal.pone.0053274] [Citation(s) in RCA: 16] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/27/2012] [Accepted: 11/27/2012] [Indexed: 11/21/2022] Open
Abstract
Species exposed to extreme environments often exhibit distinctive traits that help meet the demands of such habitats. Such traits could evolve independently, but under intense selective pressures of extreme environments some existing structures or behaviors might be coopted to meet specialized demands, evolving via the process of exaptation. We evaluated the potential for exaptation to have operated in the evolution of novel behaviors of the waterfall-climbing gobiid fish genus Sicyopterus. These fish use an “inching” behavior to climb waterfalls, in which an oral sucker is cyclically protruded and attached to the climbing surface. They also exhibit a distinctive feeding behavior, in which the premaxilla is cyclically protruded to scrape diatoms from the substrate. Given the similarity of these patterns, we hypothesized that one might have been coopted from the other. To evaluate this, we filmed climbing and feeding in Sicyopterus stimpsoni from Hawai’i, and measured oral kinematics for two comparisons. First, we compared feeding kinematics of S. stimpsoni with those for two suction feeding gobiids (Awaous guamensis and Lentipes concolor), assessing what novel jaw movements were required for algal grazing. Second, we quantified the similarity of oral kinematics between feeding and climbing in S. stimpsoni, evaluating the potential for either to represent an exaptation from the other. Premaxillary movements showed the greatest differences between scraping and suction feeding taxa. Between feeding and climbing, overall profiles of oral kinematics matched closely for most variables in S. stimpsoni, with only a few showing significant differences in maximum values. Although current data cannot resolve whether oral movements for climbing were coopted from feeding, or feeding movements coopted from climbing, similarities between feeding and climbing kinematics in S. stimpsoni are consistent with evidence of exaptation, with modifications, between these behaviors. Such comparisons can provide insight into the evolutionary mechanisms facilitating exploitation of extreme habitats.
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