Fused traditional and geometric morphometrics demonstrate pinniped whisker diversity

Spatial arrangement of the whiskers of harbor seals ( Phoca vitulina ) compared to whisker arrangements of mice ( Mus musculus ) and rats ( Rattus norvegicus )

Most mammals have specialized facial hairs known as vibrissae (whiskers), sensitive tactile structures that subserve both touch and flow sensing. Different animals have different numbers and geometric arrangements of whiskers, and it seems nearly self-evident that these differences would correlate with functional and behavioral use. To date, however, cross-species comparisons of three-dimensional (3D) whisker array geometry have been limited because standard morphometric techniques cannot be applied. Our laboratory recently developed a novel approach to enable quantitative, cross-species vibrissal array comparisons. Here we quantify the 3D morphology of the vibrissal array of the harbor seal ( Phoca vitulina ), construct a CAD model of the array, and compare array morphologies of harbor seals, mice ( Mus musculus ) and rats ( Rattus norvegicus ). In all three species whisker arclength decreases from caudal to rostral, whisker curvature increases from caudal to rostral, and whiskers emerge from the face in smooth orientation gradients. Two aspects of whisker orientation are strikingly consistent across species: the elevation angle is constant within a row, and the twist of the whisker about its own axis varies smoothly in a diagonal gradient across the array. We suggest that invariant whisker elevation within a row may aid localization behaviors, while variable twist-orientation may help the animal sense stimulus direction. We anticipate this work will serve as a starting point for quantitative comparisons of vibrissal arrays across species, help clarify the mechanical basis by which seal vibrissae enable efficient wake detection and following, and enable the creation of whole-body biomechanical models for neuroscience and robotics.

Undulating Seal Whiskers Evolved Optimal Wavelength-to-Diameter Ratio for Efficient Reduction in Vortex-Induced Vibrations

Seals are well-known for their remarkable hydrodynamic trail-following capabilities made possible by undulating flow-sensing whiskers that enable the seals to detect fish swimming as far as 180 m away. In this work, the form-function relationship in the undulating whiskers of two different phocid seal species, viz. harbor and gray seals, is studied. The geometry and material properties of excised harbor and grey seal whiskers are systematically characterized using blue light 3D scanning, optical and scanning electron microscopy, and nanoindentation. The effect of the undulating geometry on the whiskers' vibration in uniform water flow is studied using both experimental (piezoelectric MEMS and 3D-printed piezoresistive sensors developed in-house) and numerical (finite element method) techniques. The results indicate that the dimensionless ratio of undulation wavelength to mean whisker diameter (λ/Dm ) in phocid seals may have evolved to be in the optimal range of 4.4-4.6, enabling an order-of-magnitude reduction in vortex-induced vibrations (compared to a similarly-shaped circular cylinder) and, consequently, an enhanced flow sensing capability with minimal self-induced noise. The results highlight the importance of the dimensionless λ/Dm ratio in the biomimetic design of seal whisker-inspired vibration-resistant structures, such as marine risers and wake detection sensors for submarines.

Describing whisker morphology of the Carnivora

One of the largest ecological transitions in carnivoran evolution was the shift from terrestrial to aquatic lifestyles, which has driven morphological diversity in skulls and other skeletal structures. In this paper, we investigate the association between those lifestyles and whisker morphology. However, comparing whisker morphology over a range of species is challenging since the number of whiskers and their positions on the mystacial pads vary between species. Also, each whisker will be at a different stage of growth and may have incurred damage due to wear and tear. Identifying a way to easily capture whisker morphology in a small number of whisker samples would be beneficial. Here, we describe individual and species variation in whisker morphology from two-dimensional scans in red fox, European otter and grey seal. A comparison of long, caudal whiskers shows inter-species differences most clearly. We go on to describe global whisker shape in 24 species of carnivorans, using linear approximations of curvature and taper, as well as traditional morphometric methods. We also qualitatively examine surface texture, or the presence of scales, using scanning electron micrographs. We show that gross whisker shape is highly conserved, with whisker curvature and taper obeying simple linear relationships with length. However, measures of whisker base radius, length, and maybe even curvature, can vary between species and substrate preferences. Specifically, the aquatic species in our sample have thicker, shorter whiskers that are smoother, with less scales present than those of terrestrial species. We suggest that these thicker whiskers may be stiffer and able to maintain their shape and position during underwater sensing, but being stiffer may also increase wear.

Sympatric otariids increase trophic segregation in response to warming ocean conditions in Peruvian Humboldt Current System

Determining trophic habits of predator communities is essential to measure interspecific interactions and response to environmental fluctuations. South American fur seals, Arctocephalus australis (SAFS) and sea lions Otaria byronia (SASL), coexist along the coasts of Peru. Recently, ocean warming events (2014–2017) that can decrease and impoverish prey biomass have occurred in the Peruvian Humboldt Current System. In this context, our aim was to assess the effect of warming events on long-term inter- and intra-specific niche segregation. We collected whisker from SAFS (55 females and 21 males) and SASL (14 females and 22 males) in Punta San Juan, Peru. We used δ¹³C and δ¹⁵N values serially archived in otariid whiskers to construct a monthly time series for 2005–2019. From the same period we used sea level anomaly records to determine shifts in the predominant oceanographic conditions using a change point analysis. Ellipse areas (SIBER) estimated niche width of species-sex groups and their overlap. We detected a shift in the environmental conditions marking two distinct periods (P1: January 2005—October 2013; P2: November 2013—December 2019). Reduction in δ¹⁵N in all groups during P2 suggests impoverished baseline values with bottom-up effects, a shift towards consuming lower trophic level prey, or both. Reduced overlap between all groups in P2 lends support of a more redundant assemblage during the colder P1 to a more trophically segregated assemblage during warmer P2. SASL females show the largest variation in response to the warming scenario (P2), reducing both ellipse area and δ¹⁵N mean values. Plasticity to adapt to changing environments and feeding on a more available food source without fishing pressure can be more advantageous for female SASL, albeit temporary trophic bottom-up effects. This helps explain larger population size of SASL in Peru, in contrast to the smaller and declining SAFS population.

Morphological peculiarities of a harbour seal (Phoca vitulina) whisker revealed by normal skeletonisation

Of all mammalian vibrissae, those of certain species of pinnipeds are exceptional. Researchers believe that their curious undulating form evolved for hydrodynamic detection. Our understanding of how these whiskers work depends on a geometrical model that captures the crucial pertinent features of the natural vibrissae including its tapering and curvature. It should also account for the form of the whisker when it flexes under external loading. We introduce and study a normal skeleton of a two-dimensional projection of a harbour seal whisker. The normal skeleton is a complete shape descriptor that involves reduction to the centreline equipped with a thickness function of the orthogonal cross-section. The contours of the whisker shape are extracted from a 2D greyscale scan. Our analysis reveals correspondence between the undulations of the width and oscillations of the centreline curvature as functions of arc length. We discuss two possible explanations for that remarkable feature: one based on consideration of growth and the other of plastic deformation. For the latter we employ a mechanical model to demonstrate appearance of curvature oscillations caused by extensive deflection of the undulating whisker due to external loading.

Creating underwater vision through wavy whiskers: a review of the flow-sensing mechanisms and biomimetic potential of seal whiskers

Seals are known to use their highly sensitive whiskers to precisely follow the hydrodynamic trail left behind by prey. Studies estimate that a seal can track a herring that is swimming as far as 180 m away, indicating an incredible detection apparatus on a par with the echolocation system of dolphins and porpoises. This remarkable sensing capability is enabled by the unique undulating structural morphology of the whisker that suppresses vortex-induced vibrations (VIVs) and thus increases the signal-to-noise ratio of the flow-sensing whiskers. In other words, the whiskers vibrate minimally owing to the seal's swimming motion, eliminating most of the self-induced noise and making them ultrasensitive to the vortices in the wake of escaping prey. Because of this impressive ability, the seal whisker has attracted much attention in the scientific community, encompassing multiple fields of sensory biology, fluid mechanics, biomimetic flow sensing and soft robotics. This article presents a comprehensive review of the seal whisker literature, covering the behavioural experiments on real seals, VIV suppression capabilities enabled by the undulating geometry, wake vortex-sensing mechanisms, morphology and material properties and finally engineering applications inspired by the shape and functionality of seal whiskers. Promising directions for future research are proposed.

Diversity of vibrissal follicle anatomy in cetaceans

Most cetaceans are born with vibrissae but they can be lost or reduced in adulthood, especially in odontocetes. Despite this, some species of odontocetes have been found to have functioning vibrissal follicles (including the follicle itself and any remaining vibrissal hair shaft) that play a role in mechanoreception, proprioception and electroreception. This reveals a greater diversity of vibrissal function in odontocetes than in any other mammalian group. However, we know very little about vibrissal follicle form and function across the Cetacea. Here, we qualitatively describe the gross vibrissal follicle anatomy of fetuses of three species of cetaceans, including two odontocetes: Atlantic white-sided dolphin (Lagenorhynchus acutus), harbour porpoise (Phocoena phocoena), and one mysticete: minke whale (Balaenoptera acutorostrata), and compared our findings to previous anatomical descriptions. All three species had few, short vibrissae contained within a relatively simple, single-part follicle, lacking in muscles. However, we observed differences in vibrissal number, follicle size and shape, and innervation distribution between the species. While all three species had nerve fibers around the follicles, the vibrissal follicles of Balaenoptera acutorostrata were innervated by a deep vibrissal nerve, and the nerve fibers of the odontocetes studied were looser and more branched. For example, in Lagenorhynchus acutus, branches of nerve fibers travelled parallel to the follicle, and innervated more superficial areas, rather than just the base. Our anatomical descriptions lend support to the observation that vibrissal morphology is diverse in cetaceans, and is worth further investigation to fully explore links between form and function.

Comparing vibrissal morphology and infraorbital foramen area in pinnipeds

Pinniped vibrissae are well-adapted to sensing in an aquatic environment, by being morphologically diverse and more sensitive than those of terrestrial species. However, it is both challenging and time-consuming to measure vibrissal sensitivity in many species. In terrestrial species, the infraorbital foramen (IOF) area is associated with vibrissal sensitivity and increases with vibrissal number. While pinnipeds are thought to have large IOF areas, this has not yet been systematically measured before. We investigated vibrissal morphology, IOF area, and skull size in 16 species of pinniped and 12 terrestrial Carnivora species. Pinnipeds had significantly larger skulls and IOF areas, longer vibrissae, and fewer vibrissae than the other Carnivora species. IOF area and vibrissal number were correlated in Pinnipeds, just as they are in terrestrial mammals. However, despite pinnipeds having significantly fewer vibrissae than other Carnivora species, their IOF area was not smaller, which might be due to pinnipeds having vibrissae that are innervated more. We propose that investigating normalized IOF area per vibrissa will offer an alternative way to approximate gross individual vibrissal sensitivity in pinnipeds and other mammalian species. Our data show that many species of pinniped, and some species of felids, are likely to have strongly innervated individual vibrissae, since they have high values of normalized IOF area per vibrissa. We suggest that species that hunt moving prey items in the dark will have more sensitive and specialized vibrissae, especially as they have to integrate between individual vibrissal signals to calculate the direction of moving prey during hunting.

Flow over seal whiskers: Importance of geometric features for force and frequency response

The complex undulated geometry of seal whiskers has been shown to substantially modify the turbulent structures directly downstream, resulting in a reduction of hydrodynamic forces as well as modified vortex-induced-vibration response when compared with smooth whiskers. Although the unique hydrodynamic response has been well documented, an understanding of the fluid flow effects from each geometric feature remains incomplete. In this computational investigation, nondimensional geometric parameters of the seal whisker morphology are defined in terms of their hydrodynamic relevance, such that wavelength, aspect ratio, undulation amplitudes, symmetry and undulation off-set can be varied independently of one another. A two-factor fractional factorial design of experiments procedure is used to create 16 unique geometries, each of which dramatically amplifies or attenuates the geometric parameters compared with the baseline model. The flow over each unique topography is computed with a large-eddy simulation at a Reynolds number of 500 with respect to the mean whisker thickness and the effects on force and frequency are recorded. The results determine the specific fluid flow impact of each geometric feature which will inform both biologists and engineers who seek to understand the impact of whisker morphology or lay out a framework for biomimetic design of undulated structures.

Body dimensions of the extinct giant shark Otodus megalodon: a 2D reconstruction

Inferring the size of extinct animals is fraught with danger, especially when they were much larger than their modern relatives. Such extrapolations are particularly risky when allometry is present. The extinct giant shark †Otodus megalodon is known almost exclusively from fossilised teeth. Estimates of †O. megalodon body size have been made from its teeth, using the great white shark (Carcharodon carcharias) as the only modern analogue. This can be problematic as the two species likely belong to different families, and the position of the †Otodus lineage within Lamniformes is unclear. Here, we infer †O. megalodon body dimensions based on anatomical measurements of five ecologically and physiologically similar extant lamniforms: Carcharodon carcharias, Isurus oxyrinchus, Isurus paucus, Lamna ditropis and Lamna nasus. We first assessed for allometry in all analogues using linear regressions and geometric morphometric analyses. Finding no evidence of allometry, we made morphological extrapolations to infer body dimensions of †O. megalodon at different sizes. Our results suggest that a 16 m †O. megalodon likely had a head ~ 4.65 m long, a dorsal fin ~ 1.62 m tall and a tail ~ 3.85 m high. Morphometric analyses further suggest that its dorsal and caudal fins were adapted for swift predatory locomotion and long-swimming periods.

An Artificial Vibrissa-Like Sensor for Detection of Flows

In nature, there are several examples of sophisticated sensory systems to sense flows, e.g., the vibrissae of mammals. Seals can detect the flow of their prey, and rats are able to perceive the flow of surrounding air. The vibrissae are arranged around muzzle of an animal. A vibrissa consists of two major components: a shaft (infector) and a follicle-sinus complex (receptor), whereby the base of the shaft is supported by the follicle-sinus complex. The vibrissa shaft collects and transmits stimuli, e.g., flows, while the follicle-sinus complex transduces them for further processing. Beside detecting flows, the animals can also recognize the size of an object or determine the surface texture. Here, the combination of these functionalities in a single sensory system serves as paragon for artificial tactile sensors. The detection of flows becomes important regarding the measurement of flow characteristics, e.g., velocity, as well as the influence of the sensor during the scanning of objects. These aspects are closely related to each other, but, how can the characteristics of flow be represented by the signals at the base of a vibrissa shaft or by an artificial vibrissa-like sensor respectively? In this work, the structure of a natural vibrissa shaft is simplified to a slender, cylindrical/tapered elastic beam. The model is analyzed in simulation and experiment in order to identify the necessary observables to evaluate flows based on the quasi-static large deflection of the sensor shaft inside a steady, non-uniform, laminar, in-compressible flow.

Do sharks exhibit heterodonty by tooth position and over ontogeny? A comparison using elliptic Fourier analysis

Tooth morphology is often used to inform the feeding ecology of an organism as these structures are important to procure and process dietary resources. In sharks, differences in morphology may facilitate the capture and handling of prey with different physical properties. However, few studies have investigated differences in tooth morphology over ontogeny, throughout the jaws of a single species, or among species at multiple tooth positions. Bull (Carcharhinus leucas), blacktip (Carcharhinus limbatus), and bonnethead sharks (Sphyrna tiburo) are coastal predators that exhibit ontogenetic dietary shifts, but differ in their feeding ecologies. This study measured tooth morphology at six positions along the upper and lower jaws of each species using elliptic Fourier analysis to make comparisons within and among species over their ontogeny. Significant ontogenetic differences were detected at four of the six tooth positions in bull sharks, but only the posterior position on the lower jaw appeared to exhibit a functionally relevant shift in morphology. No ontogenetic changes in morphology were detected in blacktip or bonnethead sharks. Intraspecific comparisons found that most tooth positions significantly differed from one another across all species, but heterodonty was greatest in bull sharks. Additionally, interspecific comparisons found differences among all species at each tooth position except between bull and blacktip sharks at two positions. These morphological patterns within and among species may have implications for prey handling efficiency, as well as in providing insight for paleoichthyology studies and reevaluating heterodonty in sharks.

Morphological characteristics of harbor seal (Phoca vitulina) whiskers and their use in dietary reconstruction using stable isotope ratios

We investigated whether inferences about harbor seal (Phoca vitulina Linnaeus, 1758) whisker shed status and growth rates based on whisker morphology could improve dietary time series from whisker isotopic profiles. We identified morphometric characteristics of Alaskan harbor seal whiskers, including a smooth root section (SRS) and a bumpy section. The SRS was longer for spring versus fall-collected whiskers and matched the length of fully grown, shed whiskers. Thus, SRS length can differentiate whisker shed and growth status, and we used it to determine the sequence of whisker shedding by cohort in summer-captured harbor seals. The mean interbump length (IBL) correlated with whisker length, potentially providing a proxy for whisker growth rate. We compared carbon isotope ratios (expressed as δ13C values) along the three longest whiskers from 10 harbor seals, using two approaches for converting whisker position to date: (1) a standard growth rate constant based on captive studies and (2) individually adjusted growth rates based on whisker morphology. Intraindividual patterns of whisker δ13C values became more synchronous when expressed by deposition date rather than by position; however, adjusting growth rates based on IBL did not improve synchrony further. These findings suggest that whisker morphology can contribute whisker growth rate and shedding information for dietary reconstruction.

Active touch in sea otters: in-air and underwater texture discrimination thresholds and behavioral strategies for paws and vibrissae

Sea otters (Enhydra lutris) are marine predators that forage on a wide array of cryptic, benthic invertebrates. Observational studies and anatomical investigations of the sea otter somatosensory cortex suggest that touch is an important sense for detecting and capturing prey. Sea otters have two well-developed tactile structures: front paws and facial vibrissae. In this study, we use a two-alternative forced choice paradigm to investigate tactile sensitivity of a sea otter subject's paws and vibrissae, both in air and under water. We corroborate these measurements by testing human subjects with the same experimental paradigm. The sea otter showed good sensitivity with both tactile structures, but better paw sensitivity (Weber fraction, c=0.14) than vibrissal sensitivity (c=0.24). The sea otter's sensitivity was similar in air and under water for paw (cair=0.12, cwater=0.15) and for vibrissae (cair=0.24, cwater=0.25). Relative to the human subjects we tested, the sea otter achieved similar sensitivity when using her paw and responded approximately 30-fold faster regardless of difficulty level. Relative to non-human mammalian tactile specialists, the sea otter achieved similar or better sensitivity when using either her paw or vibrissae and responded 1.5- to 15-fold faster near threshold. Our findings suggest that sea otters have sensitive, rapid tactile processing capabilities. This functional test of anatomy-based hypotheses provides a mechanistic framework to interpret adaptations and behavioral strategies used by predators to detect and capture cryptic prey in aquatic habitats.

Morphometrics of complex cell shapes: lobe contribution elliptic Fourier analysis (LOCO-EFA)

Quantifying cell morphology is fundamental to the statistical study of cell populations, and can help unravel mechanisms underlying cell and tissue morphogenesis. Current methods, however, require extensive human intervention, are highly parameter sensitive, or produce metrics that are difficult to interpret biologically. We therefore developed a method, lobe contribution elliptical Fourier analysis (LOCO-EFA), which generates from digitalised two-dimensional cell outlines meaningful descriptors that can be directly matched to morphological features. This is shown by studying well-defined geometric shapes as well as actual biological cells from plant and animal tissues. LOCO-EFA provides a tool to phenotype efficiently and objectively populations of cells, here demonstrated by applying it to the complex shaped pavement cells of Arabidopsis thaliana wild-type and speechless leaves, and Drosophila amnioserosa cells. To validate our method's applicability to large populations, we analysed computer-generated tissues. By controlling in silico cell shape, we explored the potential impact of cell packing on individual cell shape, quantifying through LOCO-EFA deviations between the specified shape of single cells in isolation and the resultant shape when they interact within a confluent tissue.

Characterization of seal whisker morphology: implications for whisker-inspired flow control applications

Seals with beaded whiskers-the majority of true seals (Phocids)-are able to trace even minute disturbance caused by prey fish in the ambient flow using only sensory input from their whiskers. The unique three-dimensional undulating morphology of seal whiskers has been associated with their capability of suppressing vortex-induced vibration and reducing drag. The exceptional hydrodynamic traits of seal whiskers are of great interest in renovating the design of aero-propulsion flow components and high-sensitivity flow sensors. It is essential to have well-documented data of seal whisker morphology with statistically meaningful generalization, as the solid foundation for whisker-inspired flow control applications. However, the available whisker morphology data is either incomplete, with measurements of only a few key parameters, or based on a very limited sample size in case studies. This work characterizes the morphology of 27 beaded seal whiskers (harbor seal and elephant seal), using high-resolution computer-tomography scanning at NASA's Glenn Research Center in Cleveland, OH. Over two thousand cross-sectional slices for every individual whisker sample are reconstructed, to generate three-dimensional morphology. This is followed by detailed statistical analysis of a set of key parameters, under an established framework (Hanke et al 2010 J. Exp. Biol. 213 2665-72). While the length parameters are generally consistent with previous studies, we note that the angle of incidence of elliptical cross-sections varies in a wide range, with a majority falling between [Formula: see text] and [Formula: see text]. Angles of incidence at both peaks and troughs appear to roughly follow a Gaussian distribution, but no clear preference of orientation is identified. We discuss the current knowledge of whisker-inspired flow studies, focusing on choices of morphology parameters. The new understanding of whisker morphology can better inform future design of high-sensitivity flow sensors and aero-propulsion flow structures.

Kinematic response in limb and body posture to sensory feedback from carpal sinus hairs in the rat (Rattus norvegicus)

One of the most challenging adaptations within the therians has been to ensure dynamic stability of the trunk during rapid locomotion in highly structured environments. A reorganization of limb mechanics and development of new sensors has taken place within their stem lineage. Rats, which have a similar lifestyle to the first therians, possess sinus hairs specialized for tactile sensing. It is supposed that carpal sinus hairs have a role in sensing substrate properties and can thus induce adjustments in limb kinematics and body posture according to the different surface diameters and structures detected. This implies a shared sensorimotor control loop of sinus hairs and body posture. To investigate the role of the carpal sinus hairs during locomotion and to explore a possible interaction between limb and spine motion, spatiotemporal and kinematic parameters as well as the contact mechanics of the hairs with regard to the surface were quantified. Locomotion on a treadmill with continuous and discontinuous substrates was compared in the presence/absence of the carpal sinus hairs across a speed range from 0.2m/s to 0.6m/s. Recordings were taken synchronously using x-ray fluoroscopy and normal-light high-speed cameras. Our investigation revealed that the three tactile hairs made a triangle-like contact with the ground approximately 30ms before touchdown of the forelimb. Within that time, it is likely that both the body posture and its oscillation are adjusted according to the different surface textures. The sensory input of the carpal sinus hairs induces a stabilization of the trajectory of the center of mass and, therefore, improves the dynamic stability of the trunk; conversely, the absence of the sensors results in a more crouched frontal body posture, similar to that seen in rats when they are moving in an unknown terrain. The carpal sinus hairs also sense the animal's speed during surface contact. This implicates an adjustment of the limb and spine kinematics, by increasing the speed-dependent effect or by increasing the distance between the trunk and the ground when the rat is walking faster.

Rugged adaptive landscapes shape a complex, sympatric radiation

Strong disruptive ecological selection can initiate speciation, even in the absence of physical isolation of diverging populations. Species evolving under disruptive ecological selection are expected to be ecologically distinct but, at least initially, genetically weakly differentiated. Strong selection and the associated fitness advantages of narrowly adapted individuals, coupled with assortative mating, are predicted to overcome the homogenizing effects of gene flow. Theoretical plausibility is, however, contrasted by limited evidence for the existence of rugged adaptive landscapes in nature. We found evidence for multiple, disruptive ecological selection regimes that have promoted divergence in the sympatric, incipient radiation of 'sharpfin' sailfin silverside fishes in ancient Lake Matano (Sulawesi, Indonesia). Various modes of ecological specialization have led to adaptive morphological differences between the species, and differently adapted morphs display significant but incomplete reproductive isolation. Individual fitness and variation in morphological key characters show that disruptive selection shapes a rugged adaptive landscape in this small but complex incipient lake fish radiation.

Tri-Variate Relationships among Vegetation, Soil, and Topography along Gradients of Fluvial Biogeomorphic Succession

This research investigated how the strength of vegetation-soil-topography couplings varied along a gradient of biogeomorphic succession in two distinct fluvial systems: a forested river floodplain and a coastal salt marsh creek. The strength of couplings was quantified as tri-variance, which was calculated by correlating three singular axes, one each extracted using three-block partial least squares from vegetation, soil, and topography data blocks. Within each system, tri-variance was examined at low-, mid-, and high-elevation sites, which represented early-, intermediate-, and late-successional phases, respectively, and corresponded to differences in ongoing disturbance frequency and intensity. Both systems exhibited clearly increasing tri-variance from the early- to late-successional stages. The lowest-lying sites underwent frequent and intense hydrogeomorphic forcings that dynamically reworked soil substrates, restructured surface landforms, and controlled the colonization of plant species. Such conditions led vegetation, soil, and topography to show discrete, stochastic, and individualistic behaviors over space and time, resulting in a loose coupling among the three ecosystem components. In the highest-elevation sites, in contrast, disturbances that might disrupt the existing biotic-abiotic relationships were less common. Hence, ecological succession, soil-forming processes, and landform evolution occurred in tight conjunction with one another over a prolonged period, thereby strengthening couplings among them; namely, the three behaved in unity over space and time. We propose that the recurrence interval of physical disturbance is important to-and potentially serves as an indicator of-the intensity and mechanisms of vegetation-soil-topography feedbacks in fluvial biogeomorphic systems.

Development of an artificial sensor for hydrodynamic detection inspired by a seal's whisker array

Nature has shaped effective biological sensory systems to receive complex stimuli generated by organisms moving through water. Similar abilities have not yet been fully developed in artificial systems for underwater detection and monitoring, but such technology would enable valuable applications for military, commercial, and scientific use. We set out to design a fluid motion sensor array inspired by the searching performance of seals, which use their whiskers to find and follow underwater wakes. This sensor prototype, called the Wake Information Detection and Tracking System (WIDTS), features multiple whisker-like elements that respond to hydrodynamic disturbances encountered while moving through water. To develop and test this system, we trained a captive harbor seal (Phoca vitulina) to wear a blindfold while tracking a remote-controlled, propeller-driven submarine. After mastering the tracking task, the seal learned to carry the WIDTS adjacent to its own vibrissal array during active pursuit of the target. Data from the WIDTS sensors describe changes in the deflection angles of the whisker elements as they pass through the hydrodynamic trail left by the submarine. Video performance data show that these detections coincide temporally with WIDTS-wake intersections. Deployment of the sensors on an actively searching seal allowed for the direct comparison of our instrument to the ability of the biological sensory system in a proof-of-concept demonstration. The creation of the WIDTS provides a foundation for instrument development in the field of biomimetic fluid sensor technology.

Follicle Microstructure and Innervation Vary between Pinniped Micro- and Macrovibrissae

Histological data from terrestrial, semiaquatic, and fully aquatic mammal vibrissa (whisker) studies indicate that follicle microstructure and innervation vary across the mystacial vibrissal array (i.e. medial microvibrissae to lateral macrovibrissae). However, comparative data are lacking, and current histological studies on pinniped vibrissae only focus on the largest ventrolateral vibrissae. Consequently, we investigated the microstructure, medial-to-lateral innervation, and morphometric trends in harp seal (Pagophilus groenlandicus) vibrissal follicle-sinus complexes (F-SCs). The F-SCs were sectioned either longitudinally or in cross-section and stained with a modified Masson's trichrome stain (microstructure) or Bodian's silver stain (innervation). All F-SCs exhibited a tripartite blood organization system. The dermal capsule thickness, the distribution of major branches of the deep vibrissal nerve, and the hair shaft design were more symmetrical in medial F-SCs, but these features became more asymmetrical as the F-SCs became more lateral. Overall, the mean axon count was 1,221 ± 422.3 axons/F-SC and mean axon counts by column ranged from 550 ± 97.4 axons/F-SC (medially, column 11) to 1,632 ± 173.2 axons/F-SC (laterally, column 2). These values indicate a total of 117,216 axons innervating the entire mystacial vibrissal array. The mean axon count of lateral F-SCs was 1,533 ± 192.9 axons/ F-SC, which is similar to values reported in the literature for other pinniped F-SCs. Our data suggest that conventional studies that only examine the largest ventrolateral vibrissae may overestimate the total innervation by ∼20%. However, our study also accounts for variation in quantification methods and shows that conventional analyses likely only overestimate innervation by ∼10%. The relationship between axon count and cross-sectional F-SC surface area was nonlinear, and axon densities were consistent across the snout. Our data indicate that harp seals exhibit microstructural and innervational differences between their microvibrissae (columns 8-11) and macrovibrissae (columns 1-7). We hypothesize that this feature is conserved among pinnipeds and may result in functional compartmentalization within their mystacial vibrissal arrays.

Automated otolith image classification with multiple views: an evaluation on Sciaenidae

Combined multiple 2D views (proximal, anterior and ventral aspects) of the sagittal otolith are proposed here as a method to capture shape information for fish classification. Classification performance of single view compared with combined 2D views show improved classification accuracy of the latter, for nine species of Sciaenidae. The effects of shape description methods (shape indices, Procrustes analysis and elliptical Fourier analysis) on classification performance were evaluated. Procrustes analysis and elliptical Fourier analysis perform better than shape indices when single view is considered, but all perform equally well with combined views. A generic content-based image retrieval (CBIR) system that ranks dissimilarity (Procrustes distance) of otolith images was built to search query images without the need for detailed information of side (left or right), aspect (proximal or distal) and direction (positive or negative) of the otolith. Methods for the development of this automated classification system are discussed.

Repeatability, Reproducibility, Separative Power and Subjectivity of Different Fish Morphometric Analysis Methods

We compared the repeatability, reproducibility (intra- and inter-measurer similarity), separative power and subjectivity (measurer effect on results) of four morphometric methods frequently used in ichthyological research, the "traditional" caliper-based (TRA) and truss-network (TRU) distance methods and two geometric methods that compare landmark coordinates on the body (GMB) and scales (GMS). In each case, measurements were performed three times by three measurers on the same specimen of three common cyprinid species (roach Rutilus rutilus (Linnaeus, 1758), bleak Alburnus alburnus (Linnaeus, 1758) and Prussian carp Carassius gibelio (Bloch, 1782)) collected from three closely-situated sites in the Lake Balaton catchment (Hungary) in 2014. TRA measurements were made on conserved specimens using a digital caliper, while TRU, GMB and GMS measurements were undertaken on digital images of the bodies and scales. In most cases, intra-measurer repeatability was similar. While all four methods were able to differentiate the source populations, significant differences were observed in their repeatability, reproducibility and subjectivity. GMB displayed highest overall repeatability and reproducibility and was least burdened by measurer effect. While GMS showed similar repeatability to GMB when fish scales had a characteristic shape, it showed significantly lower reproducability (compared with its repeatability) for each species than the other methods. TRU showed similar repeatability as the GMS. TRA was the least applicable method as measurements were obtained from the fish itself, resulting in poor repeatability and reproducibility. Although all four methods showed some degree of subjectivity, TRA was the only method where population-level detachment was entirely overwritten by measurer effect. Based on these results, we recommend a) avoidance of aggregating different measurer's datasets when using TRA and GMS methods; and b) use of image-based methods for morphometric surveys. Automation of the morphometric workflow would also reduce any measurer effect and eliminate measurement and data-input errors.

The better to eat you with: the comparative feeding morphology of phocid seals (Pinnipedia, Phocidae)

One adaptation crucial to the survival of mammalian lineages that secondarily transitioned from land to water environments was the ability to capture and consume prey underwater. Phocid seals have evolved diverse feeding strategies to feed in the marine environment, and the objectives of this study were to document the specialized feeding morphologies and identify feeding strategies used by extant phocids. This study used principal component analysis (PCA) to determine the major axes of diversification in the skull for all extant phocid taxa and the recently extinct Caribbean monk seal (n = 19). Prey data gathered from the literature and musculoskeletal data from dissections were included to provide a comprehensive description of each feeding strategy. Random Forest analysis was used to determine the morphological, ecological and phylogenetic variables that best described each feeding strategy. There is morphological evidence for four feeding strategies in phocids: filter; grip and tear; suction; and pierce feeding. These feeding strategies are supported by quantitative cranial and mandibular characters, dietary information, musculoskeletal data and, for some species, behavioral observations. Most phocid species are pierce feeders, using a combination of biting and suction to opportunistically catch prey. Grip and tear and filter feeding are specialized strategies with specific morphological adaptations. These unique adaptations have allowed leopard seals (Hydrurga leptonyx) and crabeater seals (Lobodon carcinophaga) to exploit novel ecological niches and prey types. This study provides the first cranial and mandibular morphological evidence for the use of specialized suction feeding in hooded seals (Cystophora cristata), northern elephant seals (Mirounga angustirostris) and southern elephant seals (Mirounga leonina). The most important variables in determining the feeding strategy of a given phocid species were cranial and mandibular shape, diet, and phylogeny. These results provide a framework for understanding the evolution and adaptability of feeding strategies employed by extant phocid species, and these findings can be applied to other pinniped lineages and extinct taxa.

Divergent Skull Morphology Supports Two Trophic Specializations in Otters (Lutrinae)

Variation in terrestrial mammalian skull morphology is known to constrain feeding performance, which in turn influences dietary habits and ultimately fitness. Among mustelids, otters have evolved two feeding specializations: underwater raptorial capture of prey (mouth-oriented) and capture of prey by hand (hand-oriented), both of which have likely associations with morphology and bite performance. However, feeding biomechanics and performance data for otters are sparse. The first goal of this study was to investigate the relationships between feeding morphology and bite performance among two mouth-oriented piscivores (Pteronura brasiliensis and Lontra canadensis) and two hand-oriented invertebrate specialists (Enhydra lutris and Aonyx cinerea). Since other vertebrate taxa that are mouth-oriented piscivores tend to possess longer skulls and mandibles, with jaws designed for increased velocity at the expense of biting capability, we hypothesized that mouth-oriented otters would also possess long, narrow skulls indicative of high velocity jaws. Conversely, hand-oriented otters were expected to possess short, blunt skulls with adaptations to increase bite force and crushing capability. Concomitant with these skull shapes we hypothesized that sea otters would possess a greater mandibular bluntness index, providing for a greater mechanical advantage compared to other otter species investigated. A second goal was to examine morphological variation at a finer scale by assessing variation in cranial morphology among three sea otter subspecies. Since diet varies among these subspecies, and their populations are isolated, we hypothesized that the magnitude of mandibular bluntness and concomitant mechanical advantage, as well as occlusal surface area would also vary within species according to their primary food source (fish versus hard invertebrates). Functional expectations were met for comparisons among and within species. Among species the phylogeny suggests a deeply rooted transition to alternative foraging types. Yet within foraging types alternative species were also strongly variable, suggesting either selective differences in the extent or nature of realized foraging mode, or an accumulation of non-adaptive changes during the long independent evolutionary history. At the finest scale, variation among subspecies indicates that trophic adaptation occurred rapidly, making it interesting that we happened to find both deeply and shallowly-rooted transformations associated with diet type in otter species and subspecies.

Comparative Analysis of the Flexural Stiffness of Pinniped Vibrissae

Vibrissae are important components of the mammalian tactile sensory system and are used to detect vibrotactile stimuli in the environment. Pinnipeds have the largest and most highly innervated vibrissae among mammals, and the hair shafts function as a biomechanical filter spanning the environmental stimuli and the neural mechanoreceptors deep in the follicle-sinus complex. Therefore, the material properties of these structures are critical in transferring vibrotactile information to the peripheral nervous system. Vibrissae were tested as cantilever beams and their flexural stiffness (EI) was measured to test the hypotheses that the shape of beaded vibrissae reduces EI and that vibrissae are anisotropic. EI was measured at two locations on each vibrissa, 25% and 50% of the overall length, and at two orientations to the point force. EI differed in orientations that were normal to each other, indicating a functional anisotropy. Since vibrissae taper from base to tip, the second moment of area (I) was lower at 50% than 25% of total length. The anterior orientation exhibited greater EI values at both locations compared to the dorsal orientation for all species. Smooth vibrissae were generally stiffer than beaded vibrissae. The profiles of beaded vibrissae are known to decrease the amplitude of vibrations when protruded into a flow field. The lower EI values of beaded vibrissae, along with the reduced vibrations, may function to enhance the sensitivity of mechanoreceptors to detection of small changes in flow from swimming prey by increasing the signal to noise ratio. This study builds upon previous morphological and hydrodynamic analyses of vibrissae and is the first comparative study of the mechanical properties of pinniped vibrissae.

Elaboration and Innervation of the Vibrissal System in the Rock Hyrax (Procavia capensis)

Mammalian tactile hairs are commonly found on specific, restricted regions of the body, but Florida manatees represent a unique exception, exhibiting follicle-sinus complexes (FSCs, also known as vibrissae or tactile hairs) on their entire body. The orders Sirenia (including manatees and dugongs) and Hyracoidea (hyraxes) are thought to have diverged approximately 60 million years ago, yet hyraxes are among the closest relatives to sirenians. We investigated the possibility that hyraxes, like manatees, are tactile specialists with vibrissae that cover the entire postfacial body. Previous studies suggested that rock hyraxes possess postfacial vibrissae in addition to pelage hair, but this observation was not verified through histological examination. Using a detailed immunohistochemical analysis, we characterized the gross morphology, innervation and mechanoreceptors present in FSCs sampled from facial and postfacial vibrissae body regions to determine that the long postfacial hairs on the hyrax body are in fact true vibrissae. The types and relative densities of mechanoreceptors associated with each FSC also appeared to be relatively consistent between facial and postfacial FSCs. The presence of vibrissae covering the hyrax body presumably facilitates navigation in the dark caves and rocky crevices of the hyrax's environment where visual cues are limited, and may alert the animal to predatory or conspecific threats approaching the body. Furthermore, the presence of vibrissae on the postfacial body in both manatees and hyraxes indicates that this distribution may represent the ancestral condition for the supraorder Paenungulata.

Vibrissal sensitivity in a harbor seal (Phoca vitulina)

Prior efforts to characterize the capabilities of the vibrissal system in seals have yielded conflicting results. Here we measured the sensitivity of the vibrissal system of a harbor seal (Phoca vitulina) to directly coupled sinusoidal stimuli delivered by a vibrating plate. A trained seal was tested in a psychophysical paradigm to determine the smallest velocity that was detectable at nine frequencies ranging from 10 Hz to 1000 Hz. The stimulus plate was driven by a vibration shaker and the velocity of the plate at each frequency-amplitude combination was calibrated with a laser vibrometer. To prevent cueing from other sensory stimuli, the seal was fitted with a blindfold and headphones playing broadband masking noise. The seal was sensitive to vibrations across the range of frequencies tested, with best sensitivity of 0.09 mm/s at 80 Hz. Velocity thresholds as a function of frequency showed a characteristic U-shaped curve with decreasing sensitivity below 20 Hz and above 250 Hz. To ground-truth the experimental setup, four human subjects were tested in the same paradigm using their thumb to contact the vibrating plate. Threshold measurements for the humans were similar to those of the seal, demonstrating comparable tactile sensitivity for their structurally different mechanoreceptive systems. The thresholds measured for the harbor seal in this study were about 100 times more sensitive than previous in-air measures of vibrissal sensitivity for this species. The results were similar to those reported by others for the detection of waterborne vibrations, but show an extended range of frequency sensitivity.

Are vibrissae viable sensory structures for prey capture in northern elephant seals, Mirounga angustirostris?

Little is known about the tactics northern elephant seals (NES) use to capture prey due to the difficulties in observing these animals underwater. NES forage on vertically migrating prey at depths >500 m during day and at night where light levels are negligible. Although NES have increased visual sensitivity in deep water, vision is likely a limited sensory modality. Still images of NES foraging show that the mystacial vibrissae are protracted before prey capture. As a representative phocid, harbor seals can follow hydrodynamic trails using their vibrissae, and are highly sensitive to water velocity changes. In lieu of performance data, vibrissal innervation can be used as a proxy for sensitivity. Although comparative data are few, seals average 1,000 to 1,600 axons per vibrissa (five to eight times more than terrestrial mammals). To test the hypothesis that NES have increased innervation as other pinnipeds, vibrissae from the ventral-caudal mystacial field from nine individuals were sectioned and stained for microstructure (trichrome) and innervation (Bodian silver stain). Follicles were tripartite and consisted of lower and upper cavernous sinuses separated by a ring sinus containing an asymmetrical ringwulst. The deep vibrissal nerve penetrated the follicular capsule at the base, branched into several bundles, and coursed through the lower cavernous sinus to the ring sinus. Axons in the ring sinus terminated in the ringwulst and along the inner conical body. NES averaged 1,584 axons per vibrissa. The results add to the growing body of evidence that phocids, and perhaps all pinnipeds, possess highly sensitive mystacial vibrissae that detect prey.

Innervation patterns of sea otter (Enhydra lutris) mystacial follicle-sinus complexes

Sea otters (Enhydra lutris) are the most recent group of mammals to return to the sea, and may exemplify divergent somatosensory tactile systems among mammals. Therefore, we quantified the mystacial vibrissal array of sea otters and histologically processed follicle-sinus complexes (F - SCs) to test the hypotheses that the number of myelinated axons per F - SC is greater than that found for terrestrial mammalian vibrissae and that their organization and microstructure converge with those of pinniped vibrissae. A mean of 120.5 vibrissae were arranged rostrally on a broad, blunt muzzle in 7-8 rows and 9-13 columns. The F-SCs of sea otters are tripartite in their organization and similar in microstructure to pinnipeds rather than terrestrial species. Each F-SC was innervated by a mean 1339 ± 408.3 axons. Innervation to the entire mystacial vibrissal array was estimated at 161,313 axons. Our data support the hypothesis that the disproportionate expansion of the coronal gyrus in somatosensory cortex of sea otters is related to the high innervation investment of the mystacial vibrissal array, and that quantifying innervation investment is a good proxy for tactile sensitivity. We predict that the tactile performance of sea otter mystacial vibrissae is comparable to that of harbor seals, sea lions and walruses.

Effect of angle on flow-induced vibrations of pinniped vibrissae

Two types of vibrissal surface structures, undulated and smooth, exist among pinnipeds. Most Phocidae have vibrissae with undulated surfaces, while Otariidae, Odobenidae, and a few phocid species possess vibrissae with smooth surfaces. Variations in cross-sectional profile and orientation of the vibrissae also exist between pinniped species. These factors may influence the way that the vibrissae behave when exposed to water flow. This study investigated the effect that vibrissal surface structure and orientation have on flow-induced vibrations of pinniped vibrissae. Laser vibrometry was used to record vibrations along the whisker shaft from the undulated vibrissae of harbor seals (Phoca vitulina) and northern elephant seals (Mirounga angustirostris) and the smooth vibrissae of California sea lions (Zalophus californianus). Vibrations along the whisker shaft were measured in a flume tank, at three orientations (0°, 45°, 90°) to the water flow. The results show that vibration frequency and velocity ranges were similar for both undulated and smooth vibrissae. Angle of orientation, rather than surface structure, had the greatest effect on flow-induced vibrations. Vibration velocity was up to 60 times higher when the wide, flat aspect of the whisker faced into the flow (90°), compared to when the thin edge faced into the flow (0°). Vibration frequency was also dependent on angle of orientation. Peak frequencies were measured up to 270 Hz and were highest at the 0° orientation for all whiskers. Furthermore, CT scanning was used to quantify the three-dimensional structure of pinniped vibrissae that may influence flow interactions. The CT data provide evidence that all vibrissae are flattened in cross-section to some extent and that differences exist in the orientation of this profile with respect to the major curvature of the hair shaft. These data support the hypothesis that a compressed cross-sectional profile may play a key role in reducing self-noise of the vibrissae.

Hydrodynamic perception in true seals (Phocidae) and eared seals (Otariidae)

Pinnipeds, that is true seals (Phocidae), eared seals (Otariidae), and walruses (Odobenidae), possess highly developed vibrissal systems for mechanoreception. They can use their vibrissae to detect and discriminate objects by direct touch. At least in Phocidae and Otariidae, the vibrissae can also be used to detect and analyse water movements. Here, we review what is known about this ability, known as hydrodynamic perception, in pinnipeds. Hydrodynamic perception in pinnipeds developed convergently to the hydrodynamic perception with the lateral line system in fish and the sensory hairs in crustaceans. So far two species of pinnipeds, the harbour seal (Phoca vitulina) representing the Phocidae and the California sea lion (Zalophus californianus) representing the Otariidae, have been studied for their ability to detect local water movements (dipole stimuli) and to follow hydrodynamic trails, that is the water movements left behind by objects that have passed by at an earlier point in time. Both species are highly sensitive to dipole stimuli and can follow hydrodynamic trails accurately. In the individuals tested, California sea lions were clearly more sensitive to dipole stimuli than harbour seals, and harbour seals showed a superior trail following ability as compared to California sea lions. Harbour seals have also been shown to derive additional information from hydrodynamic trails, such as motion direction, size and shape of the object that caused the trail (California sea lions have not yet been tested). The peculiar undulated shape of the harbour seals' vibrissae appears to play a crucial role in trail following, as it suppresses self-generated noise while the animal is swimming.