Swimming in unsteady water flows: is turning in a changing flow an energetically expensive endeavor for fish?

Fish swimming mode and body morphology affect the energetics of swimming in a wave-surge water flow

Fish swimming modes and the shape of both the fins and body are expected to affect their swimming ability under different flow conditions. These swimming strategies and body morphologies often correspond to distributional patterns of distinct functional groups exposed to natural and variable water flows. In this study, we used a swimming-respirometer to measure energetic costs during prolonged, steady swimming and while station holding in a range of simulated oscillatory wave-surge water flows, within the natural range of flow speeds and wave frequencies on coral reefs. We quantified the net cost of swimming (NCOS, metabolic costs above resting) for four reef fish species with differences in swimming mode and morphologies of the fin and body: a body and caudal fin (BCF) swimmer, the Hawaiian flagtail, Kuhlia xenura, and three pectoral fin swimmers, the kole tang, Ctenochaetus strigosus, the saddle wrasse, Thalassoma duperrey, and the Indo-Pacific sergeant major, Abudefduf vaigiensis. We found that the BCF swimmer had the highest rates of increase in NCOS with increasing wave frequency (i.e. increased turning frequency) compared with the pectoral fin swimmers. The wrasse, with a more streamlined, higher body fineness, had lower rates of increase in NCOS with increasing swimming speeds than the low body fineness species, but overall had the highest swimming NCOS, which may be a result of a higher aerobic swimming capacity. The deep-bodied (low fineness) pectoral fin swimmers (A. vaigiensis and C. strigosus) were the most efficient at station holding in oscillating, wave-surge water flows.

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.

Soft dorsal/anal fins pairs for roll and yaw motion in robotic fish

Fish has primarily served as a model for many bio-inspired underwater robots. However, most of the work on fish-inspired robots is focused on propulsion and turning in the horizontal plane. In this paper, we present our work on the 3D motion of bio-inspired underwater robots. A pair of actuated soft fins, mimicking the soft dorsal and anal fins of a live fish, have been designed and tested to generate lateral thrusts that aim to produce both roll and yaw motions. Furthermore, they can be used to provide vertical stabilization of the forward motion in the robot. These fins comprise shape memory alloy wires embedded in silicone. We demonstrate that these fins can provide a means for 3D maneuvering. In this work, we focus on roll and yaw motions. A key feature of the proposed design is that it is lightweight, compact, and waterproof.

Effects of wave-driven water flow on the fast-start escape response of juvenile coral reef damselfishes

Fish often evade predators with a fast-start escape response. Studies typically examine this behaviour in still water despite water motion being an inherent feature of aquatic ecosystems. In shallow habitats, waves create complex flows that likely influence escape performance, particularly in small fishes with low absolute swimming speeds relative to environmental flows. I examined how wave-driven water flow affects the behaviour and kinematics of escape responses in juveniles of three coral reef damselfishes (Pomacentridae) with different body morphologies. Tropical damselfishes have similar fin and body shapes during early development, with the exception of body depth, a trait deemed important for postural control and stability. Wave-driven flow increased response latency in two of the three species tested: fish with a fusiform body responded 2.9 times slower in wave-driven flow than in still water, whereas this difference was less pronounced in fish with an intermediate body depth (1.9 times slower response) and absent in fish with a laterally compressed body. The effect of wave-driven flow on swimming performance (cumulative escape distance and turning rate) was variable and depended on the timing and trajectory of escape responses in relation to the wave phase. Given intense predation pressure on juvenile coral reef fishes during settlement, interspecific differences in how wave-driven flow affects their ability to escape predators could influence the distribution and abundance of species across spatial and temporal scales.

How zebrafish turn: analysis of pressure force dynamics and mechanical work

Whereas many fishes swim steadily, zebrafish regularly exhibit unsteady burst-and-coast swimming, which is characterized by repeated sequences of turns followed by gliding periods. Such a behavior offers the opportunity to investigate the hypothesis that negative mechanical work occurs in posterior regions of the body during early phases of the turn near the time of maximal body curvature. Here, we used a modified particle image velocimetry (PIV) technique to obtain high-resolution flow fields around the zebrafish body during turns. Using detailed swimming kinematics coupled with body surface pressure computations, we estimated fluid-structure interaction forces and the pattern of forces and torques along the body during turning. We then calculated the mechanical work done by each body segment. We used estimated patterns of positive and negative work along the body to evaluate the hypothesis (based on fish midline kinematics) that the posterior body region would experience predominantly negative work. Between 10% and 20% of the total mechanical work was done by the fluid on the body (negative work), and negative work was concentrated in the anterior and middle areas of the body, not along the caudal region. Energetic costs of turning were calculated by considering the sum of positive and negative work and were compared with previous metabolic estimates of turning energetics in fishes. The analytical workflow presented here provides a rigorous way to quantify hydrodynamic mechanisms of fish locomotion and facilitates the understanding of how body kinematics generate locomotor forces in freely swimming fishes.

Bidirectional cyclical flows increase energetic costs of station holding for a labriform swimming fish, Cymatogaster aggregata

Wave-induced surge conditions are found in shallow marine ecosystems worldwide; yet, few studies have quantified how cyclical surges may affect free swimming animals. Here, we used a recently adapted respirometry technique to compare the energetic costs of a temperate fish species (Cymatogaster aggregata) swimming against a steady flow versus cyclical unidirectional and bidirectional surges in which unsteady swimming (such as accelerating, decelerating and turning) occurs. Using oxygen uptake (ṀO2) as an estimate of energetic costs, our results reveal that fish swimming in an unsteady (i.e. cyclical) unidirectional flow showed no clear increase in costs when compared to a steady flow of the same average speed, suggesting that costs and savings from cyclical acceleration and coasting are near equal. Conversely, swimming in a bidirectional cyclical flow incurred significantly higher energetic costs relative to a steady, constant flow, likely due to the added cost of turning around to face the changing flow direction. On average, we observed a 50% increase in ṀO2 of fish station holding within the bidirectional flow (227.8 mg O2 kg-1 h-1) compared to a steady, constant flow (136.1 mg O2 kg-1 h-1) of the same mean velocity. Given wave-driven surge zones are prime fish habitats in the wild, we suggest the additional costs fish incur by station holding in a bidirectional cyclical flow must be offset by favourable conditions for foraging and reproduction. With current and future increases in abiotic stressors associated with climate change, we highlight the importance of incorporating additional costs associated with swimming in cyclical water flow in the construction of energy budgets for species living in dynamic, coastal habitats.