Muscle dynamics in skipjack tuna: timing of red muscle shortening in relation to activation and body curvature during steady swimming

A comprehensive review of hydrodynamic studies on fish schooling

Collective motion of organisms is a widespread phenomenon exhibited by many species, most commonly associated with colonial birds and schools of fish. The benefits of schooling behavior vary from defense against predators, increased feeding efficiency, and improved endurance. Schooling motions can be energetically beneficial as schools allow for channeling and vortex-based interactions, creating a less demanding stroke rate to sustain high swimming velocities and increased movement efficiency. Biomimetics is a fast-growing field, and there have been several attempts to quantify the hydrodynamics behind group dynamics and the subsequent benefits of increased maneuverability, which can be applied to unmanned vehicles and devices traveling in a group or swarm-like scenarios. Earlier efforts to understand these phenomena have been composed of physical experimentation and numerical simulations. This literature review examines the existing studies performed to understand the hydrodynamics of group collective motion inspired by schooling habits. Both numerical simulation and physical experimentation are discussed, and the benefits and drawbacks of the two approaches are compared to help future researchers and engineers expand on these models and concepts. This paper also identifies some of the limitations associated with different approaches to studies on fish schooling and suggests potential directions for future work.

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

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

A new conceptual framework for the musculoskeletal biomechanics and physiology of ray-finned fishes

Suction feeding in ray-finned fishes requires substantial muscle power for fast and forceful prey capture. The axial musculature located immediately behind the head has been long known to contribute some power for suction feeding, but recent XROMM and fluoromicrometry studies found nearly all the axial musculature (over 80%) provides effectively all (90-99%) of the power for high-performance suction feeding. The dominance of axial power suggests a new framework for studying the musculoskeletal biomechanics of fishes: the form and function of axial muscles and bones should be analysed for power production in feeding (or at least as a compromise between swimming and feeding), and cranial muscles and bones should be analysed for their role in transmitting axial power and coordinating buccal expansion. This new framework is already yielding novel insights, as demonstrated in four species for which suction power has now been measured. Interspecific comparisons suggest high suction power can be achieved in different ways: increasing the magnitude of suction pressure or the rate of buccal volume change, or both (as observed in the most powerful of these species). Our framework suggests that mechanical and evolutionary interactions between the head and the body, and between the swimming and feeding roles of axial structures, may be fruitful areas for continued study.

Tunable stiffness in fish robotics: mechanisms and advantages

One of the emerging themes of fish-inspired robotics is flexibility. Adding flexibility to the body, joints, or fins of fish-inspired robots can significantly improve thrust and/or efficiency during locomotion. However, the optimal stiffness depends on variables such as swimming speed, so there is no one 'best' stiffness that maximizes efficiency in all conditions. Fish are thought to solve this problem by using muscular activity to tune their body and fin stiffness in real-time. Inspired by fish, some recent robots sport polymer actuators, adjustable leaf springs, or artificial tendons that tune stiffness mechanically. Models and water channel tests are providing a theoretical framework for stiffness-tuning strategies that devices can implement. The strategies can be thought of as analogous to car transmissions, which allow users to improve efficiency by tuning gear ratio with driving speed. We provide an overview of the latest discoveries about (1) the propulsive benefits of flexibility, particularlytunableflexibility, and (2) the mechanisms and strategies that fish and fish-inspired robots use to tune stiffness while swimming.

Mercury and selenium levels in archive samples of wild Atlantic bluefin tuna from the Mediterranean Sea

This study examined total mercury (THg) and selenium (Se) levels in archive samples (white and red muscles, liver, gills) of the wild Atlantic bluefin tuna (ABFT) (Thunnus thynnus) (n = 18) captured in the central Adriatic Sea. The influence of fish size, age, and tissue type on element distribution was examined. There were significant differences in THg and Se levels, and Se:THg molar ratios among tissues. THg levels were highest in liver and lowest in gills (liver > red muscle > white muscle > gills), while Se levels were also highest in liver but lowest in white muscle (liver > red muscle > gills > white muscle). Se:THg molar ratios were highest in gills (22-82), intermediate in liver (11-29) and red muscle (7-36), and lowest in white muscle (1.7-7.6). Concentrations of THg in all tissues and Se in liver and caudal muscle were positively correlated with tuna age and size, while the Se:THg molar ratio in gills and all white muscles was negatively correlated with tuna age and size, indicating that the protective role of Se against THg is reduced in older specimens. The selenium health benefit values (HBV_Se) were above zero in all tissues, indicating a small excess of Se after Hg sequestration. However, since the obtained HBV_Se for edible tissues were near zero (0.01-0.04), and more than 70% of white muscle samples and all red muscle samples exceeded the EU regulatory limit for THg in fish muscle, it would be advisable to limit their intake in adults to one meal per month.

Muscle-Tendon Interaction During Human Dolphin-Kick Swimming

Without high impact forces, it is not clear how humans can utilize tendon elasticity during low-impact activities. The purpose of the present study was to examine the muscle-tendon behavior together with the electromyographic (EMG) activities of the vastus lateralis (VL) muscle during the human dolphin-kicking. In a swimming pool, each subject (n = 11) swam the 25 m dolphin-kicking at two different speeds (NORMAL and FAST). Surface EMGs were recorded from the VL and biceps femoris (BF) muscles. Simultaneous recordings of the knee joint angle by electro-goniometer and of the VL fascicle length by ultrasonography were used to calculate the muscle-tendon unit and tendinous length of VL (LMTU and LTT, respectively). In the dolphin-kicking, the stretching and shortening amplitudes of VL LMTU did not differ significantly between the two kicking speed conditions. However, both stretching and shortening amplitudes of the VL fascicle length were lower at FAST than at NORMAL speed whereas the opposite was found for the VL LTT values. At FAST, the contribution of the VL tendinous length to the entire VLMTU length changes increased. The EMG analysis revealed at FAST higher agonist VL activation from the late up-beat (MTU stretching) to the early down-beat phases as well as increased muscle co-activation of VL and BF muscles from the late down-beat to early up-beat phases of dolphin-kicking. These results suggest that at increasing kicking speeds, the VL fascicles and tendinous tissues during aquatic movements can utilize tendon elasticity in a similar way than in terrestrial forms of locomotion. However, these activation profiles of VL and BF muscles may differ from their activation pattern in terrestrial locomotion.

Similarities and Differences for Swimming in Larval and Adult Lampreys

The spinal locomotor networks controlling swimming behavior in larval and adult lampreys may have some important differences. As an initial step in comparing the locomotor systems in lampreys, in larval animals the relative timing of locomotor movements and muscle burst activity were determined and compared to those previously published for adults. In addition, the kinematics for free swimming in larval and adult lampreys was compared in detail for the first time. First, for swimming in larval animals, the neuromechanical phase lag between the onsets or terminations of muscle burst activity and maximum concave curvature of the body increased with increasing distance along the body, similar to that previously shown in adults. Second, in larval lampreys, but not adults, absolute swimming speed (U; mm s(-1)) increased with animal length (L). In contrast, normalized swimming speed (U'; body lengths [bl] s(-1)) did not increase with L in larval or adult animals. In both larval and adult lampreys, U' and normalized wave speed (V') increased with increasing tail-beat frequency. Wavelength and mechanical phase lag did not vary significantly with tail-beat frequency but were significantly different in larval and adult animals. Swimming in larval animals was characterized by a smaller U/V ratio, Froude efficiency, and Strouhal number than in adults, suggesting less efficient swimming for larval animals. In addition, during swimming in larval lampreys, normalized lateral head movements were larger and normalized lateral tail movements were smaller than for adults. Finally, larval animals had proportionally smaller lateral surface areas of the caudal body and fin areas than adults. These differences are well suited for larval sea lampreys that spend most of the time buried in mud/sand, in which swimming efficiency is not critical, compared to adults that would experience significant selection pressure to evolve higher-efficiency swimming to catch up to and attach to fish for feeding as well as engage in long-distance migration during spawning. Finally, the differences in swim efficiency for larval and adult lampreys are compared to other animals employing the anguilliform mode of swimming.

Heavy metals in marine fish meat and consumer health: a review

The numerous health benefits provided by fish consumption may be compromised by the presence of toxic metals and metalloids such as lead, cadmium, arsenic and mercury, which can have harmful effects on the human body if consumed in toxic quantities. The monitoring of metal concentrations in fish meat is therefore important to ensure compliance with food safety regulations and consequent consumer protection. The toxicity of these metals may be dependent on their chemical forms, which requires metal speciation processes for direct measurement of toxic metal species or the identification of prediction models in order to determine toxic metal forms from measured total metal concentrations. This review addresses various shortcomings in current knowledge and research on the accumulation of metal contaminants in commercially consumed marine fish globally and particularly in South Africa, affecting both the fishing industry as well as fish consumers.

Mercury accumulation in Yellowfin tuna (Thunnus albacares) with regards to muscle type, muscle position and fish size

The concentrations and relationships between individual mercury species and total mercury were investigated in different muscle parts and sizes of Yellowfin tuna (Thunnus albacares). Fourteen Yellowfin tuna caught in the South Atlantic off the coast of South Africa had an average total Hg (tHg) concentration of 0.77 mg/kg wet weight. No differences were detected (p > 0.05) in tHg, MethylHg (MeHg) or inorganic Hg (iHg) accumulation among the four white muscle portions across the carcass, but both tHg and iHg were found in higher concentrations (p < 0.001) in dark muscle than white muscle. Positive linear correlations with fish weight were found for both tHg (r = 0.79, p < 0.001) and MeHg (r = 0.75, p < 0.001) concentrations. A prediction model was formulated to calculate toxic MeHg concentrations from measured tHg concentrations and fish weight (cMeHg = 0.073 + 1.365 · tHg-0.008 · w). As sampling sites and subsampling methods could affect toxicity measurements, we provide recommendations for sampling guidelines.

Effects of temperature on power output and contraction kinetics in the locomotor muscle of the regionally endothermic common thresher shark (Alopias vulpinus)

The common thresher shark (Alopias vulpinus) is a pelagic species with medially positioned red aerobic swimming musculature (RM) and regional RM endothermy. This study tested whether the contractile characteristics of the RM are functionally similar along the length of the body and assessed how the contractile properties of the common thresher shark compare with those of other sharks. Contractile properties of the RM were examined at 8, 16 and 24 °C from anterior and posterior axial positions (0.4 and 0.6 fork length, respectively) using the work loop technique. Experiments were performed to determine whether the contractile properties of the RM are similar along the body of the common thresher shark and to document the effects of temperature on muscle power. Axial differences in contractile properties of RM were found to be small or absent. Isometric twitch kinetics of RM were ~fivefold slower than those of white muscle, with RM twitch durations of about 1 s at 24 °C and exceeding 5 s at 8 °C, a Q(10) of nearly 2.5. Power increased approximately tenfold with the 16 °C increase in temperature, while the cycle frequency for maximal power only increased from about 0.5-1.0 Hz over this temperature range. These data support the hypothesis that the RM is functionally similar along the body of the common thresher shark and corroborate previous findings from shark species both with and without medial RM. While twitch kinetics suggest the endothermic RM is not unusually temperature sensitive, measures of power suggest that the RM is not well suited to function at cool temperatures. The cycle frequency at which power is maximized appeared relatively insensitive to temperature in RM, which may reflect the relatively cooler temperature of the thresher RM compared to that observed in lamnid sharks as well as the relatively slow RM phenotype in these large fish.

Optimal shape and motion of undulatory swimming organisms

Undulatory swimming animals exhibit diverse ranges of body shapes and motion patterns and are often considered as having superior locomotory performance. The extent to which morphological traits of swimming animals have evolved owing to primarily locomotion considerations is, however, not clear. To shed some light on that question, we present here the optimal shape and motion of undulatory swimming organisms obtained by optimizing locomotive performance measures within the framework of a combined hydrodynamical, structural and novel muscular model. We develop a muscular model for periodic muscle contraction which provides relevant kinematic and energetic quantities required to describe swimming. Using an evolutionary algorithm, we performed a multi-objective optimization for achieving maximum sustained swimming speed U and minimum cost of transport (COT)--two conflicting locomotive performance measures that have been conjectured as likely to increase fitness for survival. Starting from an initial population of random characteristics, our results show that, for a range of size scales, fish-like body shapes and motion indeed emerge when U and COT are optimized. Inherent boundary-layer-dependent allometric scaling between body mass and kinematic and energetic quantities of the optimal populations is observed. The trade-off between U and COT affects the geometry, kinematics and energetics of swimming organisms. Our results are corroborated by empirical data from swimming animals over nine orders of magnitude in size, supporting the notion that optimizing U and COT could be the driving force of evolution in many species.

Red muscle function in stiff-bodied swimmers: there and almost back again

Fishes with internalized and endothermic red muscles (i.e. tunas and lamnid sharks) are known for a stiff-bodied form of undulatory swimming, based on unique muscle-tendon architecture that limits lateral undulation to the tail region even though the red muscle is shifted anteriorly. A strong convergence between lamnid sharks and tunas in these features suggests that thunniform swimming might be evolutionarily tied to this specialization of red muscle, but recent observations on the common thresher shark (Alopias vulpinus) do not support this view. Here, we review the fundamental features of the locomotor systems in lamnids and tunas, and present data on in vivo muscle function and swimming mechanics in thresher sharks. These results suggest that the presence of endothermic and internalized red muscles alone in a fish does not predict or constrain the swimming mode to be thunniform and, indeed, that the benefits of this type of muscle may vary greatly as a consequence of body size.

A review of fish swimming mechanics and behaviour in altered flows

Fishes suspended in water are subject to the complex nature of three-dimensional flows. Often, these flows are the result of abiotic and biotic sources that alter otherwise uniform flows, which then have the potential to perturb the swimming motions of fishes. The goal of this review is to highlight key studies that have contributed to a mechanistic and behavioural understanding of how perturbing flows affect fish. Most of our understanding of fish behaviour in turbulence comes from observations of natural conditions in the field and laboratory studies employing controlled perturbations, such as vortices generated in the wake behind simple geometric objects. Laboratory studies have employed motion analysis, flow visualization, electromyography, respirometry and sensory deprecation techniques to evaluate the mechanisms and physiological costs of swimming in altered flows. Studies show that flows which display chaotic and wide fluctuations in velocity can repel fishes, while flows that have a component of predictability can attract fishes. The ability to maintain stability in three-dimensional flows, either actively with powered movements or passively using the posture and intrinsic compliance of the body and fins, plays a large role in whether fish seek out or avoid turbulence. Fish in schools or current-swept habitats can benefit from altered flows using two distinct though not mutually exclusive mechanisms: flow refuging (exploiting regions of reduced flow relative to the earth frame of reference) and vortex capture (harnessing the energy of environmental vortices). Integrating how the physical environment affects organismal biomechanics with the more complex issue of behavioural choice requires consideration beyond simple body motions or metabolic costs. A fundamental link between these two ways of thinking about animal behaviour is how organisms sense and process information from the environment, which determines when locomotor behaviour is initiated and modulated. New data are presented here which show that behaviour changes in altered flows when either the lateral line or vision is blocked, showing that fish rely on multi-modal sensory inputs to negotiate complex flow environments. Integrating biomechanics and sensory biology to understand how fish swim in turbulent flow at the organismal level is necessary to better address population-level questions in the fields of fisheries management and ecology.

The effects of viscosity on the axial motor pattern and kinematics of the African lungfish (Protopterus annectens) during lateral undulatory swimming

Separate studies of terrestrial and aquatic locomotion are abundant, but research addressing locomotion in transitional environments (e.g. mud) is scant. The African lungfish (Protopterus annectens) moves in a gradation of water to mud conditions during seasonal droughts, and breathes air. Thus, the lungfish was an ideal organism for our study to determine the effects of a wide range of viscosities on lateral undulatory swimming and to simulate some of the muddy conditions early tetrapods may have encountered. Regardless of viscosity, several aspects of lungfish swimming were similar to those of other swimming vertebrates including: posteriorly propagated muscle activity that was unilateral and alternated between the left and right sides at each longitudinal location, and posterior increases in the amount of bending, the amplitude of muscle activity and the timing differences between muscle activity and bending. With increased viscosity (1–1000 cSt),significant increases occurred in the amount of lateral bending of the vertebral column and the amplitude of muscle activity, particularly in the most anterior sites, but the distance the fish traveled per tail beat decreased. The magnitude of the phase shift between EMG onset relative to bending increased by as much as 13% of a cycle with increased viscosity, so that the muscles were increasingly active during lengthening rather than shortening. Therefore, with increased viscosity the relationship between axial muscle activity and bending in the lungfish became more dissimilar rather than converging on the motor pattern used by other ectothermic vertebrates when undulating in fully terrestrial environments.

Thunniform swimming: muscle dynamics and mechanical power production of aerobic fibres in yellowfin tuna (Thunnus albacares)

We studied the mechanical properties of deep red aerobic muscle of yellowfin tuna (Thunnus albacares), using both in vivo and in vitro methods. In fish swimming in a water tunnel at 1-3 L s(-1) (where L is fork length), muscle length changes were recorded by sonomicrometry, and activation timing was quantified by electromyography. In some fish a tendon buckle was also implanted on the caudal tendon to measure instantaneous muscle forces transmitted to the tail. Between measurement sites at 0.45 to 0.65 L, the wave of muscle shortening progressed along the body at a relatively high velocity of 1.7 L per tail beat period, and a significant phase shift (31+/-4 degrees ) occurred between muscle shortening and local midline curvature, both suggesting red muscle power is directed posteriorly, rather than causing local body bending, which is a hallmark of thunniform swimming. Muscle activation at 0.53 L was initiated at about 50 degrees of the tail beat period and ceased at about 160 degrees , where 90 degrees is peak muscle length and 180 degrees is minimum length. Strain amplitude in the deep red fibres at 0.5 L was +/-5.4%, double that predicted from midline curvature analysis. Work and power production were measured in isolated bundles of red fibres from 0.5 L by the work loop technique. Power was maximal at 3-4 Hz and fell to less than 50% of maximum after 6 Hz. Based on the timing of activation, muscle strain, tail beat frequencies and forces in the caudal tendon while swimming, we conclude that yellowfin tuna, like skipjack, use their red muscles under conditions that produce near-maximal power output while swimming. Interestingly, the red muscles of yellowfin tuna are slower than those of skipjack, which corresponds with the slower tail beat frequencies and cruising speeds in yellowfin.

Quantification of red myotomal muscle volume and geometry in the shortfin mako shark (Isurus oxyrinchus) and the salmon shark (Lamna ditropis) usingT1-weighted magnetic resonance imaging

T1-weighted magnetic resonance imaging (MRI) in conjunction with image and segmentation analysis (i.e., the process of digitally partitioning tissues based on specified MR image characteristics) was evaluated as a noninvasive alternative for differentiating muscle fiber types and quantifying the amounts of slow, red aerobic muscle in the shortfin mako shark (Isurus oxyrinchus) and the salmon shark (Lamna ditropis). MRI-determinations of red muscle quantity and position made for the mid-body sections of three mako sharks (73.5-110 cm fork length, FL) are in close agreement (within the 95% confidence intervals) with data obtained for the same sections by the conventional dissection method involving serial cross-sectioning and volumetric analyses, and with previously reported findings for this species. The overall distribution of salmon shark red muscle as a function of body fork length was also found to be consistent with previously acquired serial dissection data for this species; however, MR imaging revealed an anterior shift in peak red muscle cross-sectional area corresponding to an increase in body mass. Moreover, MRI facilitated visualization of the intact and anatomically correct relationship of tendon linking the red muscle and the caudal peduncle. This study thus demonstrates that MRI is effective in acquiring high-resolution three-dimensional digital data with high contrast between different fish tissue types. Relative to serial dissection, MRI allows more precise quantification of the position, volume, and other details about the types of muscle within the fish myotome, while conserving specimen structural integrity.

The musculotendinous system of an anguilliform swimmer: Muscles, myosepta, dermis, and their interconnections inAnguilla rostrata

Eel locomotion is considered typical of the anguilliform swimming mode of elongate fishes and has received substantial attention from various perspectives such as swimming kinematics, hydrodynamics, muscle physiology, and computational modeling. In contrast to the extensive knowledge of swimming mechanics, there is limited knowledge of the internal body morphology, including the body components that contribute to this function. In this study, we conduct a morphological analysis of the collagenous connective tissue system, i.e., the myosepta and skin, and of the red muscle fibers that sustain steady swimming, focusing on the interconnections between these systems, such as the muscle-tendon and myosepta-skin connections. Our aim is twofold: (1) to identify the morphological features that distinguish this anguilliform swimmer from subcarangiform and carangiform swimmers, and (2) to reveal possible pathways of muscular force transmission by the connective tissue in eels. To detect gradual morphological changes along the trunk we investigated anterior (0.4L), midbody (0.6L), and posterior body positions (0.75L) using microdissections, histology, and three-dimensional reconstructions. We find that eel myosepta have a mediolaterally oriented tendon in each the epaxial and hypaxial regions (epineural or epipleural tendon) and two longitudinally oriented tendons (myorhabdoid and lateral). The latter two are relatively short (4.5-5% of body length) and remain uniform along a rostrocaudal gradient. The skin and its connections were additionally analyzed using scanning electron microscopy (SEM). The stratum compactum of the dermis consists of approximately 30 layers of highly ordered collagen fibers of alternating caudodorsal and caudoventral direction, with fiber angles of 60.51 +/- 7.05 degrees (n = 30) and 57.58 +/- 6.92 degrees (n = 30), respectively. Myosepta insert into the collagenous dermis via fiber bundles that pass through the loose connective tissue of the stratum spongiosum of the dermis and either weave into the layers of the stratum compactum (weaving fiber bundles) or traverse the stratum compactum (transverse fiber bundles). These fiber bundles are evenly distributed along the insertion line of the myoseptum. Red muscles insert into lateral and myorhabdoid myoseptal tendons but not into the horizontal septum or dermis. Thus, red muscle forces might be distributed along these tendons but will only be delivered indirectly into the dermis and horizontal septum. The myosepta-dermis connections, however, appear to be too slack for efficient force transmission and collagenous connections between the myosepta and the horizontal septum are at obtuse angles, a morphology that appears inadequate for efficient force transmission. Though the main modes of undulatory locomotion (anguilliform, subcarangiform, and carangiform) have recently been shown to be very similar with respect to their midline kinematics, we are able to distinguish two morphological classes with respect to the shape and tendon architecture of myosepta. Eels are similar to subcarangiform swimmers (e.g., trout) but are substantially different from carangiform swimmers (e.g., mackerel). This information, in addition to data from kinematic and hydrodynamic studies of swimming, shows that features other than midline kinematics (e.g., wake patterns, muscle activation patterns, and morphology) might be better for describing the different swimming modes of fishes.

Locomotion with flexible propulsors: I. Experimental analysis of pectoral fin swimming in sunfish

A full understanding of the mechanics of locomotion can be achieved by incorporating descriptions of (1) three-dimensional kinematics of propulsor movement, (2) material properties of the propulsor, (3) power input and control and (4) the fluid dynamics effects of propulsor motion into (5) a three-dimensional computational framework that models the complexity of propulsors that deform and change area. In addition, robotic models would allow for further experimental investigation of changes to propulsor design and for testing of hypothesized relationships between movement and force production. Such a comprehensive suite of data is not yet available for any flexible propulsor. In this paper, we summarize our research program with the goal of producing a comprehensive data set for each of the five components noted above through a study of pectoral fin locomotion in one species of fish: the bluegill sunfish Lepomis macrochirus. Many fish use pectoral fins exclusively for locomotion, and pectoral fins in most fish are integral to generating force during maneuvering. Pectoral fins are complex structures composed of jointed bony supports that are under active control via pectoral fin musculature. During propulsion in sunfish, the fin deforms considerably, has two leading edges, and sunfish can rotate the whole fin or just control individual sections to vector thrust. Fin material properties vary along the length of fin rays and among rays. Experimental fluid dynamic analysis of sunfish pectoral fin locomotion reveals that the fin generates thrust throughout the fin beat cycle, and that the upper and lower edges each produce distinct simultaneous leading edge vortices. The following companion paper provides data on the computational approach taken to understand locomotion using flexible pectoral fins.

Muscle fiber angle, segment bulging and architectural gear ratio in segmented musculature

The anatomical complexity of myomeres and myosepta has made it difficult to develop a comprehensive understanding of the relationship between muscle fiber architecture, connective tissue mechanics, and locomotor function of segmented axial musculature in fishes. The lateral hypaxial musculature (LHM) of salamanders is less anatomically complex and therefore a good system for exploring the basic mechanics of segmented musculature. Here, we derive a mathematical model of the LHM and test our model using sonomicrometry and electromyography during steady swimming in an aquatic salamander, Siren lacertina. The model predicts longitudinal segment strain well, with predicted and measured values differing by less than 5% strain over most of the range. Deviations between predicted and measured results are unbiased and probably result from the salamanders performing slight turns with associated body torsion in our unconstrained trackway swimming experiments. Model simulations of muscle fiber contraction and segment shortening indicate that longitudinal segment strain, for a given amount of muscle fiber strain, increases with increasing initial fiber angle. This increase in architectural gear ratio (AGR = longitudinal strain/fiber strain) is mediated by muscle fiber rotation; the higher the initial fiber angle, the more the fibers rotate during contraction and the higher the AGR. Muscle fiber rotation is additionally impacted by bulging in the dorsoventral (DV) and/or mediolateral (ML) dimensions during longitudinal segment shortening. In segments with obliquely oriented muscle fibers, DV bulging increases muscle fiber rotation, thereby increasing the AGR. Extending the model to include force and work indicates that force decreases with increasing initial muscle fiber angle and increasing DV bulging and that both longitudinal shortening and DV bulging must be included for accurate calculation of segment work.

Evolution of high-performance swimming in sharks: Transformations of the musculotendinous system from subcarangiform to thunniform swimmers

In contrast to all other sharks, lamnid sharks perform a specialized fast and continuous "thunniform" type of locomotion, more similar to that of tunas than to any other known shark or bony fish. Within sharks, it has evolved from a subcarangiform mode. Experimental data show that the two swimming modes in sharks differ remarkably in kinematic patterns as well as in muscle activation patterns, but the morphology of the underlying musculotendinous system (red muscles and myosepta) that drives continuous locomotion remains largely unknown. The goal of this study was to identify differences in the musculotendinous system of the two swimming types and to evaluate these differences in an evolutionary context. Three subcarangiform sharks (the velvet belly lantern shark, Etmopterus spinax, the smallspotted catshark, Scyliorhinus canicula, and the blackmouth catshark, Galeus melanostomus) from the two major clades (two galeans, one squalean) and one lamnid shark, the shortfin mako, Isurus oxyrhinchus, were compared with respect to 1) the 3D shape of myomeres and myosepta of different body positions; 2) the tendinous architecture (collagenous fiber pathways) of myosepta from different body positions; and 3) the association of red muscles with myoseptal tendons. Results show that the three subcarangiform sharks are morphologically similar but differ remarkably from the lamnid condition. Moreover, the "subcarangiform" morphology is similar to the condition known from teleostomes. Thus, major features of the "subcarangiform" condition in sharks have evolved early in gnathostome history: Myosepta have one main anterior-pointing cone and two posterior-pointing cones that project into the musculature. Within a single myoseptum cones are connected by longitudinally oriented tendons (the hypaxial and epaxial lateral and myorhabdoid tendons). Mediolaterally oriented tendons (epineural and epipleural tendons; mediolateral fibers) connect vertebral axis and skin. An individual lateral tendon spans only a short distance along the body (a fraction between 0.05 and 0.075 of total length, L, of the shark). This span is similar in all tendons along the body. Red muscles insert into the midregion of the lateral tendons. The shortfin mako differs substantially from this condition in several respects: Red muscles are internalized and separated from white muscles by a sheath of lubricative connective tissue. They insert into the anterior part of the hypaxial lateral tendon. Rostrocaudally, this tendon becomes very distinct and its span increases threefold (0.06L anteriorly to 0.19L posteriorly). Mediolateral fibers do not form distinct epineural/epipleural tendons in the mako. Since our morphological findings are in good accordance with experimental data it seems likely that the thunniform swimming mode has evolved along with the described morphological specializations.

Patterns of strain and activation in the thigh muscles of goats across gaits during level locomotion

Unlike homologous muscles in many vertebrates, which appear to function similarly during a particular mode of locomotion (e.g. red muscle in swimming fish, pectoralis muscle in flying birds, limb extensors in jumping and swimming frogs), a major knee extensor in mammalian quadrupeds, the vastus lateralis, appears to operate differently in different species studied to date. In rats, the vastus undergoes more stretching early in stance than shortening in later stance. In dogs, the reverse is true; more substantial shortening follows small amounts of initial stretching. And in horses, while the vastus strain trajectory is complex, it is characterized mainly by shortening during stance. In this study, we use sonomicrometry and electromyography to study the vastus lateralis and biceps femoris of goats,with three goals in mind: (1) to see how these muscles work in comparison to homologous muscles studied previously in other taxa; (2) to address how speed and gait impact muscle actions and (3) to test whether fascicles in different parts of the same muscle undergo similar length changes. Results indicate that the biceps femoris undergoes substantial shortening through much of stance,with higher strains in walking and trotting [32–33% resting length(L0)] than galloping (22% L0). These length changes occur with increasing biceps EMG intensities as animals increase speed from walking to galloping. The vastus undergoes a stretch–shorten cycle during stance. Stretching strains are higher during galloping (15% L0) than walking and trotting (9%L0). Shortening strains follow a reverse pattern and are greatest in walking (24% L0), intermediate in trotting(20% L0) and lowest during galloping (17%L0). As a result, the ratio of stretching to shortening increases from below 0.5 in walking and trotting to near 1.0 during galloping. This increasing ratio suggests that the vastus does relatively more positive work than energy absorption at the slower speeds compared with galloping,although an understanding of the timing and magnitude of force production is required to confirm this. Length-change regimes in proximal, middle and distal sites of the vastus are generally comparable, suggesting strain homogeneity through the muscle. When strain rates are compared across taxa, vastus shortening velocities exhibit the scaling pattern predicted by theoretical and empirical work: fascicles shorten relatively faster in smaller animals than larger animals (strain rates near 2 L s–1 have been reported for trotting dogs and were found here for goats, versus0.6–0.8 L s–1 reported in horses). Interestingly, biceps shortening strain rates are very similar in both goats and rats during walking (1–1.5 L s–1) and trotting (1.5–2.5 L s–1, depending on speed of trot), suggesting that the ratio of in vivo shortening velocities(V) to maximum shortening velocities (Vmax) is smaller in small animals (because of their higher Vmax).

Patterns of red muscle strain/activation and body kinematics during steady swimming in a lamnid shark, the shortfin mako (Isurus oxyrinchus)

The dynamics of steady swimming were examined in the shortfin mako(Isurus oxyrinchus), a member of the cartilaginous fish family Lamnidae, a family known for their morphological adaptations for high-performance locomotion and their similarity in hydromechanical design to tunas. Patterns of red muscle (RM) strain (i.e. relative length change) and activation were quantified at two axial positions (∼0.4 and 0.6L,where L is total body length), using sonomicrometry and electromyography (EMG), and correlated with simultaneous measurements of dorsal midline kinematics during steady swimming (∼0.5–1 Ls–1). RM strain varied longitudinally with strain amplitudes ranging from 5.5±1.1% (s.e.m.) in the anterior to 8.7±0.9% in the posterior. We found no significant longitudinal variation in patterns of RM activation, with mean onset of activation occurring at 83–84° (90° is peak length) and offset at 200–210° at both body positions. Likewise, duty cycles were similar:35.5±1.0% in the anterior and 32.2±1.6% in the posterior. Comparison of the timing of waves of dorsal midline curvature and predicted strain relative to measured RM strain revealed a phase shift between RM shortening and local body bending. Furthermore, when the body is bent passively, RM shortens synchronously with the surrounding white muscle (WM)and skin, as expected. During active swimming, peaks in RM strain were delayed relative to peaks in WM strain by a mean of ∼10% of the tailbeat cycle,with one individual as high as ∼17% in the anterior and nearly 50% in the posterior. The longitudinal consistency in the EMG/strain phase relationship in the mako is similar to that in the leopard shark, suggesting a consistent trend among sharks using different locomotor modes. However, unlike in the leopard shark, RM shortening in the mako is physically uncoupled from deformation of the surrounding body during steady swimming, a characteristic shared between the mako and tunas.

Fast-start muscle dynamics in the rainbow trout Oncorhynchus mykiss: phase relationship of white muscle shortening and body curvature

Muscle length changes of the lateral myotomal fast fibers of rainbow trout (Oncorhynchus mykiss) were measured using sonomicrometry during induced fast-starts. Simultaneous high-speed videography allowed for the analysis of midline kinematics to estimate the degree of muscle strain that occurs during body deformation. Comparison of these data was used to examine the phase relationship between local muscle shortening and local body bending during unsteady, large amplitude maneuvers. Our analysis finds that muscle shortening is temporally decoupled from body bending, probably due to the influence of hydrodynamic forces. The phase shift was such that midline curvature lagged behind muscle shortening at both the anterior (0.4 L, where L is fork length) and posterior (0.7 L) axial positions. Stronger escape responses were correlated with high peak strains and rapid strain-wave velocities, but not faster curvature-wave velocities. Under these conditions of high strain, the phase shift at the posterior position is significantly increased, whereas the anterior position fails to be affected. Curvature lag was still observed at both axial locations under conditions of low strain, suggesting that hydrodynamic forces are still significant during weaker escape responses. These data support a previous model that suggests fast-start body bending is determined by the interaction between muscle torque and hydrodynamic resistance along the body.

Tuna comparative physiology

Thunniform swimming, the capacity to conserve metabolic heat in red muscle and other body regions (regional endothermy), an elevated metabolic rate and other physiological rate functions, and a frequency-modulated cardiac output distinguish tunas from most other fishes. These specializations support continuous, relatively fast swimming by tunas and minimize thermal barriers to habitat exploitation, permitting niche expansion into high latitudes and to ocean depths heretofore regarded as beyond their range.

Convergent evolution in mechanical design of lamnid sharks and tunas

The evolution of 'thunniform' body shapes in several different groups of vertebrates, including whales, ichthyosaurs and several species of large pelagic fishes supports the view that physical and hydromechanical demands provided important selection pressures to optimize body design for locomotion during vertebrate evolution. Recognition of morphological similarities between lamnid sharks (the most well known being the great white and the mako) and tunas has led to a general expectation that they also have converged in their functional design; however, no quantitative data exist on the mechanical performance of the locomotor system in lamnid sharks. Here we examine the swimming kinematics, in vivo muscle dynamics and functional morphology of the force-transmission system in a lamnid shark, and show that the evolutionary convergence in body shape and mechanical design between the distantly related lamnids and tunas is much more than skin deep; it extends to the depths of the myotendinous architecture and the mechanical basis for propulsive movements. We demonstrate that not only have lamnids and tunas converged to a much greater extent than previously known, but they have also developed morphological and functional adaptations in their locomotor systems that are unlike virtually all other fishes.

Swimming of larval zebrafish: ontogeny of body waves and implications for locomotory development

Fish larvae, like most adult fish, undulate their bodies to propel themselves. A detailed kinematic study of the larval body wave is a prerequisite to formulate a set of functional requirements that the locomotor system must fulfil to generate the observed swimming kinematics. Lateral displacement and curvature profiles were obtained for zebrafish (Danio rerio) larvae at 2-21 days post-fertilisation for three swimming behaviours (cyclic swimming, slow starts and fast startle responses) using high-speed video. During cyclic swimming, fish larvae maintain tail beat frequencies of up to 100 Hz. The corresponding longitudinal strains, estimated from the peak curvatures of the midline, reach up to 0.19 in superficial tissue. The strain rate can reach 120 s(-1). The wave of curvature travels along the body at a near-constant rate. Posterior to the stiff head, body-length-specific curvature is high and rises gently along the entire trunk to a maximum value of 6. Burst-and-coast swimming generates similar peak curvatures to cyclic swimming, but curvature rises more steeply from head to tail. Fish larvae exhibit phase shifts of 57-63 degrees between the wave of lateral displacement and the wave of curvature, resulting in a 1:1.2 ratio of body wave length to curvature wave length. During C-starts, muscle strain can reach 0.19 and superficial longitudinal strain rates approach 30 s(-1). Fish larvae do not initiate their escape response with a standing wave of curvature, although their C-starts approach a standing wave as the larvae grow older. The performance demands derived from swimming kinematics suggest that larval axial muscles have very short contraction cycles (10 ms), experience considerable strains (up to 0.2) and strain rates (up to 30 s(-1) in white muscle fibres) yet are able to power swimming for several seconds.

The myoseptal system in Chimaera monstrosa: collagenous fiber architecture and its evolution in the gnathostome stem lineage

Recent studies have revealed the 3D morphology and collagen fiber architecture of myosepta in teleostome fishes. Here we present the first data set on the myoseptal structure of a representative of the chondrichthyan clade. We investigate the series of myosepta in the ratfish Chimaera monstrosa (Holocephali) from the anterior to the posterior body using microdissections of cleared and stained specimens, polarized light microscopy of excised myosepta, and histology. The features of the myoseptal system of Chimaera are compared to data from closely related vertebrate groups and are mapped onto a phylogenetic tree to further clarify the characteristics of the myoseptal series in the gnathostome ancestor. The 3D morphology and collagen fiber architecture of the myoseptal series in C. monstrosa resembles that of Teleostomi (Actinopterygii+Sarcopterygii) with regard to several features. Our comparative analysis reveals that some of them have evolved in the gnathostome stem lineage. (1) A series of epineural and epaxial lateral tendons (LTs) along the whole body, and a series of epipleural and hypaxial LTs in the postanal region evolved in the gnathostome stem lineage. (2) The LTs increase in length towards the posterior body (three-fold in Chimaera). Data on Chimaera and some comparative data on actinopterygian fishes indicate that LTs also increase in thickness towards the posterior body, but further data are necessary to test whether this holds true generally. (3) Another conspicuous apomorphic gnathostome feature is represented by multi-layer structures of myosepta. These are formed along the vertebral column by converging medial regions of successive sloping parts of myosepta. (4) The dorsalmost and ventralmost flanking parts of myosepta bear a set of mediolaterally oriented collagen fibers that are present in all gnathostomes but are lacking in outgroups. Preanal hypaxial myosepta are clearly different from epaxial myosepta and postanal hypaxial myosepta in terms of their collagen fiber architecture. In Chimaera, preanal hypaxial myosepta consist of an array of mediolaterally oriented collagen fibers closely resembling the condition in other gnathostome groups and in petromyzontids. Only one series of tendons, the myorhabdoid tendons of the flanking parts of myosepta, have evolved in the stem lineage of Myopterygii (Gnathostomata+Petromyzontida). Similar to LTs, the tendons of this series also increase in length towards the posterior body. In combination with other studies, the present study provides a framework for the design of morphologically based experiments and modeling to further address the function of myosepta and myoseptal tendons in gnathostomes.

From head to tail: The myoseptal system in basal actinopterygians

Experimental studies indicated that myomeres play several functional roles during swimming. Some of the functions in question are thought to change rostrocaudally, e.g., anterior myomeres are thought to generate forces, whereas posterior myomeres are thought to transmit forces. In order to determine whether these putative functions are reflected in myoseptal morphology we carried out an analysis of the myoseptal system that includes epaxial and hypaxial myosepta of all body regions for the first time. We combined clearing and staining, microdissections, polarized light microscopy, SEM technique, and length measurements of myoseptal parts to reveal the spatial arrangement, collagen fiber architecture, and rostrocaudal gradients of myosepta. We included representatives of the four basal actinopterygian clades to evaluate our findings in an evolutionary and in a functional context. Our comparison revealed a set of actinopterygian groundplan features. This includes a set of specifically arranged myoseptal tendons (epineural, epipleural, lateral, and myorhabdoid tendons) in all epaxial and postanal hypaxial myosepta. Only preanal hypaxial myosepta lack tendons and exclusively consist of mediolateral fibers. Laterally, myosepta generally align with the helically wound fibers of the dermis in order not to limit the body's maximum curvature. Medially, the relationship of myosepta to vertebrae clearly differs from a 1:1 relationship: a myoseptum attaches to the anterior margin of a vertebra, turns caudally, and traverses at least three vertebrae in an almost horizontal orientation in all body regions. By this arrangement, horizontal multiple layers of myosepta are formed along the trunk dorsal and ventral to the horizontal septum. Due to their reinforcement by epineural or epipleural tendons, these multiple layers are hypothesized to resist the radial expansion of underlying muscle fibers and thus contribute to modulation of body stiffness. Rostrocaudally, a dorsoventral symmetry of epaxial and hypaxial myosepta in terms of spatial arrangement and collagen fiber architecture is gradually developed towards the postanal region. Furthermore, the rostrocaudal extension of myosepta measured between anterior and posterior cones gradually increases. This myoseptal region is reinforced by longitudinal fibers of lateral tendons. Furthermore, the percentage of connective tissue in a cross section increases. These morphological data indicate that posterior myosepta are equipped for multisegmental force transmission towards the caudal fin. Anteriormost myosepta have reinforced and elongated dorsal posterior cones. They are adequately designed to transmit epaxial muscular forces to the neurocranium in order to cause its elevation during suction feeding.

Comparative studies of high performance swimming in sharks I. Red muscle morphometrics, vascularization and ultrastructure

Tunas (family Scombridae) and sharks in the family Lamnidae are highly convergent for features commonly related to efficient and high-performance (i.e. sustained, aerobic) swimming. High-performance swimming by fishes requires adaptations augmenting the delivery, transfer and utilization of O(2) by the red myotomal muscle (RM), which powers continuous swimming. Tuna swimming performance is enhanced by a unique anterior and centrally positioned RM (i.e. closer to the vertebral column) and by structural features (relatively small fiber diameter, high capillary density and greater myoglobin concentration) increasing O(2) flux from RM capillaries to the mitochondria. A study of the structural and biochemical features of the mako shark (Isurus oxyrinchus) RM was undertaken to enable performance-capacity comparisons of tuna and lamnid RM. Similar to tunas, mako RM is positioned centrally and more anterior in the body. Another lamnid, the salmon shark (Lamna ditropis), also has this RM distribution, as does the closely related common thresher shark (Alopias vulpinus; family Alopiidae). However, in both the leopard shark (Triakis semifasciata) and the blue shark (Prionace glauca), RM occupies the position where it is typically found in most fishes; more posterior and along the lateral edge of the body. Comparisons among sharks in this study revealed no differences in the total RM quantity (approximately 2-3% of body mass) and, irrespective of position within the body, RM scaling is isometric in all species. Sharks thus have less RM than do tunas (4-13% of body mass). Relative to published data on other shark species, mako RM appears to have a higher capillary density, a greater capillary-to-fiber ratio and a higher myoglobin concentration. However, mako RM fiber size does not differ from that reported for other shark species and the total volume of mitochondria in mako RM is similar to that reported for other sharks and for tunas. Lamnid RM properties thus suggest a higher O(2) flux capacity than in other sharks; however, lamnid RM aerobic capacity appears to be less than that of tuna RM.

Swimming performance studies on the eastern Pacific bonito Sarda chiliensis, a close relative of the tunas (family Scombridae) II. Kinematics

The swimming kinematics of the eastern Pacific bonito Sarda chiliensis at a range of sustained speeds were analyzed to test the hypothesis that the bonito's swimming mode differs from the thunniform locomotor mode of tunas. Eight bonito (fork length FL 47.5+/-2.1 cm, mass 1.25+/-0.15 kg) (mean +/- S.D.) swam at speeds of 50-130 cm s(-1) at 18+/-2 degrees C in the same temperature-controlled water tunnel that was used in previous studies of tunas. Kinematics variables, quantified from 60 Hz video recordings and analyzed using a computerized, two-dimensional motion analysis system, were compared with published data for similar sized tunas at comparable speeds. Bonito tailbeat frequency, tailbeat amplitude and stride length all increased significantly with speed. Neither yaw (6.0+/-0.6%FL) nor propulsive wavelength (120+/-65% fish total length) varied with speed, and there were no mass or body-length effects on the kinematics variables for the size range of bonitos used. Relative to similar sized yellowfin (Thunnus albacares) and skipjack (Katsuwonus pelamis) tunas at similar speeds, the bonito has a lower tailbeat frequency, a higher yaw and a greater stride length. The lateral displacement and bending angle of each intervertebral joint during a complete tailbeat cycle were determined for the bonito at a swimming speed of 90 cm s(-1). The pattern of mean maximum lateral displacement (z(max)) and mean maximum bending angle (beta(max)) along the body in the bonito differed from that of both chub mackerel Scomber japonicus and kawakawa tuna Euthynnus affinis; z(max) was highest in the bonito. This study verifies that S. chiliensis is a carangiform swimmer and supports the hypothesis that the thunniform locomotor mode is a derived tuna characteristic associated with changes in this group's myotomal architecture. The finding that yaw and z(max) were greater in the bonito than in both mackerels and tunas suggests that swimming kinematics in the bonito is not intermediate between that of tunas and mackerels, as would be predicted on the basis of morphological characteristics.

Evolutionary transformations of myoseptal tendons in gnathostomes

Axial undulations in fishes are powered by a series of three-dimensionally folded myomeres separated by sheets of connective tissue, the myosepta. Myosepta have been hypothesized to function as transmitters of muscular forces to axial structures during swimming, but the difficulty of studying these delicate complex structures has precluded a more complete understanding of myoseptal mechanics. We have developed a new combination of techniques for visualizing the three-dimensional morphology of myosepta, and here we present their collagen-fibre architecture based on examination of 62 species representing all of the major clades of notochordates. In all gnathostome fishes, each myoseptum bears a set of six specifically arranged tendons. Because these tendons are not present outside the gnathostomes (i.e. they are absent from lampreys, hagfishes and lancelets), they represent evolutionary novelties of the gnathostome ancestor. This arrangement has remained unchanged throughout 400 Myr of gnathostome evolution, changing only on the transition to land. The high uniformity of myoseptal architecture in gnathostome fishes indicates functional significance and may be a key to understanding general principles of fish swimming mechanics. In the design of future experiments or biomechanical models, myosepta have to be regarded as tendons that can distribute forces in specific directions.

Steady swimming muscle dynamics in the leopard shark Triakis semifasciata

Patterns of red muscle strain and activation were examined at three positions along the body (0.42, 0.61 and 0.72 L, where L is total body length) and correlated with simultaneous measurements of midline kinematics during steady swimming (approx. 1.0 L s(-1)) in the leopard shark Triakis semifasciata. Analysis of lateral displacement along the body indicates that the leopard shark is a subcarangiform swimmer. Longitudinal variation in red muscle strain was observed with strain amplitudes ranging from +/-3.9% in the anterior, +/-6.6% in the mid, to +/-4.8% in the posterior body position. Strain was in-phase with local midline curvature. In addition, strain amplitude calculated from a bending beam model closely matched strain measured using sonomicrometry at all three body positions. There is a high degree of similarity in red muscle activation patterns along the body between the leopard shark and many fish species, in that the onset of activation occurs during muscle lengthening while offset occurs during muscle shortening. However, we found no significant longitudinal variation in the EMG/strain phase relationship and duty cycles, with onset of muscle activation occurring at 51.4-61.8 degrees and offset at 159.7-165.2 degrees (90 degrees is peak length). This consistent pattern of activation suggests that red muscle along the entire length of the body contributes to positive power production. Thus, sharks such as Triakis may have no regional specialization in red muscle function like that seen in many teleosts, which may indicate that the evolution of differential muscle function along the body occurred after the divergence of cartilaginous and bony fishes.

Cruising specialists and accelerators – Are different types of fish locomotion driven by differently structured myosepta?

Locomotor specialists, such as accelerators and cruisers, have clearly differing body designs. For physical reasons these designs are mutually exclusive, i.e. cruisers necessarily have poor accelerating capabilities and vice versa. For the first time, we examine whether differences in the anatomy of the musculo-tendinous system of the trunk are present in addition to the differences in external body design. We investigated the myoseptal series of two closely related locomotor specialists, the cruiser Scomber scombrus and the accelerator Channa obscura, by microdissections combined with polarized light microscopy and histology. Our comparison includes 3D-morphology of myosepta, spatial arrangement and length of myoseptal tendons, their relation to red and white muscles, rostrocaudal changes in all these aspects and the musculo-tendinous system of the caudal fin. Regarding all these features, Channa has retained the plesiomorphic condition of its actinopterygian ancestor. In contrast, the derived morphology of Scomber is characterized by (i) lateral (LT) and myorhabdoid tendons (MT) that are lengthened to up to 20% of body length (compared to a maximum of 8.2% in Channa), (ii) posterior myoseptal cones that are subsequently linked by horizontal projections of merged LTs and MTs, (iii) an increased area of red muscle fibers that insert to LTs of myosepta, (iv) the reduction of epineural (ENTs) and epipleural tendons (EPTs) that connect backbone and skin, (v) specific caudal tendons that are identified to be serial homologues of LTs and MTs of more anterior myosepta, (vi) and a partial reduction of intrinsic caudal muscles. These results suggest the following functional adaptations in the cruiser Scomber. Red muscle forces may be transmitted through LTs and posterior cones to the prominent tendons of the caudal fin. The length of LTs and the intersegmental connections along the posterior cones may facilitate posterior force transmission and may be correlated with the long propulsive wavelength generally observed in cruising carangiform swimmers. Epineural and epipleural tendons are interpreted to minimize lateral backbone displacement during high body curvatures. This is consistent with the lack of these tendons in Scomber, because high body curvatures are not displayed in stiffer-bodied carangiform swimmers. It remains to be tested whether the specializations revealed in this initial study for Scomber represent general specializations of carangiform swimmers. Taking into account the geometry of myoseptal tendons and the horizontal septum we evaluate how local bending according to beam-theory can be generated by white or red muscle activity in Channa and Scomber. In both species, the musculo-tendinous anatomy of the caudal fin explains the functional asymmetry of the caudal fin that was experimentally revealed in previous studies.

Morphology and mechanics of myosepta in a swimming salamander (Siren lacertina)

In contrast to the complex, three-dimensional shape of myomeres in teleost fishes, the lateral hypaxial muscles of salamanders are nearly planar and their myosepta run in a roughly straight line from mid-lateral to mid-ventral. We used this relatively simple system as the basis for a mathematical model of segmented musculature. Model results highlight the importance of the mechanics of myosepta in determining the shortening characteristics of a muscle segment. We used sonomicrometry to measure the longitudinal deformation of myomeres and the dorsoventral deformation of myosepta in a swimming salamander (Siren lacertina). Sonomicrometry results show that the myosepta allow some dorsoventral lengthening, indicating an amplification of myomere shortening that is greater than that produced by muscle fiber angle alone (10% muscle fiber shortening produces 28.7% myomere shortening). Polarized light and DIC microscopy of isolated hypaxial myosepta revealed that the collagen fiber orientation in hypaxial myomeres is primarily mediolateral. The mediolateral collagen fiber orientation, combined with our finding that the hypaxial myosepta lengthen dorsoventrally during swimming, suggests that one possible function of hypaxial myosepta in S. lacertina is to increase the strain amplification of the muscle fibers by reducing the mediolateral bulging of the myomeres and redirecting the bulging toward the dorsoventral direction.

Force transmission via axial tendons in undulating fish: a dynamic analysis

Sonomicrometrics of in vivo axial strain of muscle has shown that the swimming fish body bends like a homogenous, continuous beam in all species except tuna. This simple beam-like behavior is surprising because the underlying tendon structure, muscle structure and behavior are complex. Given this incongruence, our goal was to understand the mechanical role of various myoseptal tendons. We modeled a pumpkinseed sunfish, Lepomis gibbosus, using experimentally-derived physical and mechanical attributes, swimming from rest with steady muscle activity. Axially oriented muscle-tendons, transverse and axial myoseptal tendons, as suggested by current morphological knowledge, interacted to replicate the force and moment distribution. Dynamic stiffness and damping associated with muscle activation, realistic muscle force generation, and force distribution following tendon geometry were incorporated. The vertebral column consisted of 11 rigid vertebrae connected by joints that restricted bending to the lateral plane and endowed the body with its passive viscoelasticity. In reaction to the acceleration of the body in an inviscid fluid and its internal transmission of moment via the vertebral column, the model predicted the kinematic response. Varying only tendon geometry and stiffness, four different simulations were run. Simulations with only intrasegmental tendons produced unstable axial and lateral tail forces and body motions. Only the simulation that included both intra- and intersegmental tendons, muscle-enhanced segment stiffness, and a stiffened caudal joint produced stable and large lateral and axial forces at the tail. Thus this model predicts that axial tendons function within a myomere to (1) convert axial force to moment (moment transduction), (2) transmit axial forces between adjacent myosepta (segment coupling), and, intersegmentally, to (3) distribute axial forces (force entrainment), and (4) stiffen joints in bending (flexural stiffening). The fact that all four functions are needed to produce the most realistic swimming motions suggests that axial tendons are essential to the simple beam-like behavior of fish.

Spatial arrangement of white muscle fibers and myoseptal tendons in fishes

We describe the arrangement of white muscle fibers and tendinous myoseptal structures and the relation of these structures to each other in order to provide an anatomical framework for discussions and experimental research on fish swimming mechanics. For the three major craniate groups, the petromyzontids, myxinids and gnathostomes, we identify three conditions that differ remarkably. Myxinids are characterized by asymmetrical myosepta with long cones. Within a single myoseptum these are connected by collagenous fibers that are almost oriented longitudinally. Distinct tendons are absent in myxinid myosepta. Petromyzontid myosepta lack cones and distinct myoseptal tendons, whereas gnathostomes bear cones and distinct tendinous structures: the lateral band, epineural (epipleural) tendon and myhabdoid tendon. Myoseptal fibers of petromyzontids and myoseptal tendons of gnathostome myosepta are firmly anchored in the skin. Myxinids lack firm myoseptal-skin-connections. Their muscular arrangement is neither comparable to that of petromyzontids nor to that of gnathostomes. The latter two bear archlike arrangements of muscle fibers spanning several segments that are hypothesized to play a role during bending. In gnathostomes, archlike helical muscle fiber arrangements (HMFAs) are present that span the length of several body segments and are multiply intersected by myosepta. Hence, a series of tendinous lateral bands of myosepta is embedded in HMFAs. The posterodorsally oriented HMFAs are underlain by posteroventrally oriented crossing muscle fibers (CMFs). Bending may be generated by contraction of the muscle fibers belonging to an HMFA and the simultaneous counteraction of CMFs. Moving caudally, this anterior muscle fiber arrangement gradually changes, eventually becoming the posterior muscle fiber arrangement. This pattern suggests that the function of the myomeres will also change. Three additional putative roles of myoseptal tendons can be deduced from their relations to white muscle fibers in gnathostomes (and in part in petromyzontids): (1) Posterior transmission of anteriorly generated muscular forces via lateral bands and/or myorhabdoid tendons. These tendons are more robust posteriorly. Anterior and posterior cones appear to play an important role in force transmission. (2) Pulling on collagen fibers of the skin via lateral bands and myorhabdoid tendons, suggesting a transmission of muscular forces that puts the skin into tension. (3) Resisting radial expansion of contracting muscle fibers by epineural (epipleural) tendons. By the latter two mechanisms modulation of body stiffness is likely to be achieved.

Structure and function of tuna tail tendons

The caudal tendons in tunas and other scombrid fish link myotomal muscle directly to the caudal fin rays, and thus serve to transfer muscle power to the hydrofoil-like tail during swimming. These robust collagenous tendons have structural and mechanical similarity to tendons found in other vertebrates, notably the leg tendons of terrestrial mammals. Biochemical studies indicate that tuna tendon collagen is composed of the (alpha1)(2),alpha2 heterotrimer that is typical of vertebrate Type I collagen, while tuna skin collagen has the unusual alpha1,alpha2,alpha3 trimer previously described in the skin of some other teleost species. Tuna collagen, like that of other fish, has high solubility due to the presence of an acid-labile intermolecular cross-link. Unlike collagen in mammalian tendons, no differences related to cross-link maturation were detected among tendons in tuna ranging from 0.05 to 72 kg (approx. 0.25-6 years). Tendons excised post-mortem were subjected to load cycling to determine the modulus of elasticity and resilience (mean of 1.3 GPa and 90%, respectively). These material properties compare closely to those of leg tendons from adult mammals that can function as effective biological springs in terrestrial locomotion, but the breaking strength is substantially lower. Peak tendon forces recorded during steady swimming appear to impose strains of much less than 1% of tendon length, and no more than 1.5% during bursts. Thus, the caudal tendons in tunas do not appear to function as elastic storage elements, even at maximal swimming effort.

Tendon elasticity and muscle function

Vertebrate animals exploit the elastic properties of their tendons in several different ways. Firstly, metabolic energy can be saved in locomotion if tendons stretch and then recoil, storing and returning elastic strain energy, as the animal loses and regains kinetic energy. Leg tendons save energy in this way when birds and mammals run, and an aponeurosis in the back is also important in galloping mammals. Tendons may have similar energy-saving roles in other modes of locomotion, for example in cetacean swimming. Secondly, tendons can recoil elastically much faster than muscles can shorten, enabling animals to jump further than they otherwise could. Thirdly, tendon elasticity affects the control of muscles, enhancing force control at the expense of position control.

Future directions for the analysis of musculoskeletal design and locomotor performance

New techniques and conceptual frameworks offer new challenges and exciting opportunities for research on the biomechanics and physiology of vertebrate musculoskeletal design and locomotor performance. Past research based on electromyography and two-dimensional kinematics has greatly advanced the field of vertebrate functional morphology. Studies using these approaches have revealed much about vertebrate structure and function and have emphasized the importance of incorporating historical and developmental constraint and ecological context. Continued use of these experimental tools, but with greater emphasis on three-dimensional analysis of body movement, in combination with 3D kinetics and flow visualization of fluid movement past moving organisms, can now take advantage of the considerable advances in computing power and digital video technology. Indeed, surprisingly few detailed 3D analyses of movement for many locomotor modes and differing organisms are presently available. A challenge of 3D analyses will be to reduce the complexity of the data obtained in order to identify general principles of movement and biomechanics. New techniques and approaches for measuring muscle forces and length changes, together with activation patterns and movement, under dynamic conditions of more varied motor behavior are now also available. These provide the opportunity to study the mechanics and physiology of muscle function at greater depth and under more realistic conditions than has been previously possible. The importance of studying intact, behaving organisms under a broader range of locomotor conditions (other than steady state) and in the context of their natural environment remains a critical need for vertebrate biologists. This provides the much-needed opportunity for placing advances at more cellular and molecular levels into the context of whole organism function. Hence, studies at the organismal level remain paramount.

Effects of longitudinal body position and swimming speed on mechanical power of deep red muscle from skipjack tuna (Katsuwonus pelamis)

The mechanical power output of deep, red muscle from skipjack tuna (Katsuwonus pelamis) was studied to investigate (i) whether this muscle generates maximum power during cruise swimming, (ii) how the differences in strain experienced by red muscle at different axial body locations affect its performance and (iii) how swimming speed affects muscle work and power output. Red muscle was isolated from approximately mid-way through the deep wedge that lies next to the backbone; anterior (0.44 fork lengths, ANT) and posterior (0.70 fork lengths, POST) samples were studied. Work and power were measured at 25°C using the work loop technique. Stimulus phases and durations and muscle strains (±5.5 % in ANT and ±8 % in POST locations) experienced during cruise swimming at different speeds were obtained from previous studies and used during work loop recordings. In addition, stimulus conditions that maximized work were determined. The stimulus durations and phases yielding maximum work decreased with increasing cycle frequency (analogous to tail-beat frequency), were the same at both axial locations and were almost identical to those used by the fish during swimming, indicating that the muscle produces near-maximal work under most conditions in swimming fish. While muscle in the posterior region undergoes larger strain and thus produces more mass-specific power than muscle in the anterior region, when the longitudinal distribution of red muscle mass is considered, the anterior muscles appear to contribute approximately 40 % more total power. Mechanical work per length cycle was maximal at a cycle frequency of 2–3 Hz, dropping to near zero at 15 Hz and by 20–50 % at 1 Hz. Mechanical power was maximal at a cycle frequency of 5 Hz, dropping to near zero at 15 Hz. These fish typically cruise with tail-beat frequencies of 2.8–5.2 Hz, frequencies at which power from cyclic contractions of deep red muscles was 75–100 % maximal. At any given frequency over this range, power using stimulation conditions recorded from swimming fish averaged 93.4±1.65 % at ANT locations and 88.6±2.08 % at POST locations (means ± s.e.m., N=3–6) of the maximum using optimized conditions. When cycle frequency was held constant (4 Hz) and strain amplitude was increased, work and power increased similarly in muscles from both sample sites; work and power increased 2.5-fold when strain was elevated from ±2 to ±5.5 %, but increased by only approximately 12 % when strain was raised further from ±5.5 to ±8 %. Taken together, these data suggest that red muscle fibres along the entire body are used in a similar fashion to produce near-maximal mechanical power for propulsion during normal cruise swimming. Modelling suggests that the tail-beat frequency at which power is maximal (5 Hz) is very close to that used at the predicted maximum aerobic swimming speed (5.8 Hz) in these fish.