Diving dinosaurs? Caveats on the use of bone compactness and pFDA for inferring lifestyle

The lifestyle of spinosaurid dinosaurs has been a topic of lively debate ever since the unveiling of important new skeletal parts for Spinosaurus aegyptiacus in 2014 and 2020. Disparate lifestyles for this taxon have been proposed in the literature; some have argued that it was semiaquatic to varying degrees, hunting fish from the margins of water bodies, or perhaps while wading or swimming on the surface; others suggest that it was a fully aquatic underwater pursuit predator. The various proposals are based on equally disparate lines of evidence. A recent study by Fabbri and coworkers sought to resolve this matter by applying the statistical method of phylogenetic flexible discriminant analysis to femur and rib bone diameters and a bone microanatomy metric called global bone compactness. From their statistical analyses of datasets based on a wide range of extant and extinct taxa, they concluded that two spinosaurid dinosaurs (S. aegyptiacus, Baryonyx walkeri) were fully submerged "subaqueous foragers," whereas a third spinosaurid (Suchomimus tenerensis) remained a terrestrial predator. We performed a thorough reexamination of the datasets, analyses, and methodological assumptions on which those conclusions were based, which reveals substantial problems in each of these areas. In the datasets of exemplar taxa, we found unsupported categorization of taxon lifestyle, inconsistent inclusion and exclusion of taxa, and inappropriate choice of taxa and independent variables. We also explored the effects of uncontrolled sources of variation in estimates of bone compactness that arise from biological factors and measurement error. We found that the ability to draw quantitative conclusions is limited when taxa are represented by single data points with potentially large intrinsic variability. The results of our analysis of the statistical method show that it has low accuracy when applied to these datasets and that the data distributions do not meet fundamental assumptions of the method. These findings not only invalidate the conclusions of the particular analysis of Fabbri et al. but also have important implications for future quantitative uses of bone compactness and discriminant analysis in paleontology.

Thrust production and chordal flexion of the flukes of bottlenose dolphins performing tail stands at different efforts

Dolphins have become famous for their ability to perform a wide variety of athletic and acrobatic behaviors including high-speed swimming, maneuverability, porpoising and tail stands. Tail stands are a behavior where part of the body is held vertically above the water's surface, achieved through thrust produced by horizontal tail fluke oscillations. Strong, efficient propulsors are needed to generate the force required to support the dolphin's body weight, exhibiting chordwise and spanwise flexibility throughout the stroke cycle. To determine how thrust production, fluke flexibility and tail stroke kinematics vary with effort, six adult bottlenose dolphins (Tursiops truncatus) were tested at three different levels based on the position of the center of mass (COM) relative to the water's surface: low (COM below surface), medium (COM at surface) and high (COM above surface) effort. Additionally, fluke flexibility was measured as a flex index (FI=chord length/camber length) at four points in the stroke cycle: center stroke up (CU), extreme top of stroke (ET), center stroke down (CD) and extreme bottom of stroke (EB). Video recordings were analyzed to determine the weight supported above the water (thrust production), peak-to-peak amplitude, stroke frequency and FI. Force production increased with low, medium and high efforts, respectively. Stroke frequency also increased with increased effort. Amplitude remained constant with a mean 33.8% of body length. Significant differences were seen in the FI during the stroke cycle. Changes in FI and stroke frequency allowed for increased force production with effort, and the peak-to-peak amplitude was higher compared with that for horizontal swimming.

Spin-leap performance by cetaceans is influenced by moment of inertia

Cetaceans are capable of extraordinary locomotor behaviors in both water and air. Whales and dolphins can execute aerial leaps by swimming rapidly to the water surface to achieve an escape velocity. Previous research on spinner dolphins demonstrated the capability of leaping and completing multiple spins around their longitudinal axis with high angular velocities. This prior research suggested the slender body morphology of spinner dolphins together with the shapes and positions of their appendages allowed for rapid spins in the air. To test whether greater moments of inertia reduced spinning performance, videos and biologging data of cetaceans above and below the water surface were obtained. The principal factors affecting the number of aerial spins a cetacean can execute were moment of inertia and use of control surfaces for subsurface corkscrewing. For spinner dolphin, Pacific striped dolphin, bottlenose dolphin, minke whale and humpback whale, each with swim speeds of 6-7 m s-1, our model predicted that the number of aerial spins executable was 7, 2, 2, 0.76 and 1, respectively, which was consistent with observations. These data implied that the rate of subsurface corkscrewing was limited to 14.0, 6.8, 6.2, 2.2 and 0.75 rad s-1 for spinner dolphins, striped dolphins, bottlenose dolphins, minke whales and humpback whales, respectively. In our study, the moment of inertia of the cetaceans spanned a 21,000-fold range. The greater moments of inertia for the last four species produced large torques on control surfaces that limited subsurface corkscrewing motion and aerial maneuvers compared with spinner dolphins.

Thrust generation and propulsive efficiency in dolphin-like swimming propulsion

Given growing interest in emulating dolphin morphology and kinematics to design high-performance underwater vehicles, the current research effort is dedicated to studying the hydrodynamics of dolphin-like oscillatory kinematics in forward propulsion. A computational fluid dynamics method is used. A realistic three-dimentional surface model of a dolphin is made with swimming kinematics reconstructed from video recording. The oscillation of the dolphin is found to enhance the attachment of the boundary layer to the posterior body, which then leads to body drag reduction. The flapping motion of the flukes is found to generate high thrust forces in both the downstroke and the upstroke, during which vortex rings are shed to produce strong thrust jets. The downstroke jets are found to be on average stronger than the upstroke jet, which then leads to net positive lift production. The flexion of the peduncle and flukes is found to be a crucial feature of dolphin-like swimming kinematics. Dolphin-inspired swimming kinematics were created by varying the flexion angle of the peduncle and flukes, which then resulted in significant performance variation. The thrust benefits and propulsive efficiency benefits are associated with a slight decrease and slight increase of the flexion of the peduncle and flukes, respectively.

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.

Morphological and histochemical characterization of the pectoral fin muscle of batoids

Batoids differ from other elasmobranch fishes in that they possess dorsoventrally flattened bodies with enlarged muscled pectoral fins. Most batoids also swim using either of two modes of locomotion: undulation or oscillation of the pectoral fins. In other elasmobranchs (e.g., sharks), the main locomotory muscle is located in the axial myotome; in contrast, the main locomotory muscle in batoids is found in the enlarged pectoral fins. The pectoral fin muscles of sharks have a simple structure, confined to the base of the fin; however, little to no data are available on the more complex musculature within the pectoral fins of batoids. Understanding the types of fibers and their arrangement within the pectoral fins may elucidate how batoid fishes are able to utilize such unique swimming modes. In the present study, histochemical methods including succinate dehydrogenase (SDH) and immunofluoresence were used to determine the different fiber types comprising these muscles in three batoid species: Atlantic stingray (Dasyatis sabina), ocellate river stingray (Potamotrygon motoro) and cownose ray (Rhinoptera bonasus). All three species had muscles comprised of two muscle fiber types (slow-red and fast-white). The undulatory species, D. sabina and P. motoro, had a larger proportion of fast-white muscle fibers compared to the oscillatory species, R. bonasus. The muscle fiber sizes were similar between each species, though generally smaller compared to the axial musculature in other elasmobranch fishes. These results suggest that batoid locomotion can be distinguished using muscle fiber type proportions. Undulatory species are more benthic with fast-white fibers allowing them to contract their muscles quickly, as a possible means of escape from potential predators. Oscillatory species are pelagic and are known to migrate long distances with muscles using slow-red fibers to aid in sustained swimming.

Fast and Furious: Energetic Tradeoffs and Scaling of High-Speed Foraging in Rorqual Whales

Although gigantic body size and obligate filter feeding mechanisms have evolved in multiple vertebrate lineages (mammals and fishes), intermittent ram (lunge) filter feeding is unique to a specific family of baleen whales: rorquals. Lunge feeding is a high cost, high benefit feeding mechanism that requires the integration of unsteady locomotion (i.e., accelerations and maneuvers); the impact of scale on the biomechanics and energetics of this foraging mode continues to be the subject of intense study. The goal of our investigation was to use a combination of multi-sensor tags paired with UAS footage to determine the impact of morphometrics such as body size on kinematic lunging parameters such as fluking timing, maximum lunging speed, and deceleration during the engulfment period for a range of species from minke to blue whales. Our results show that, in the case of krill-feeding lunges and regardless of size, animals exhibit a skewed gradient between powered and fully unpowered engulfment, with fluking generally ending at the point of both the maximum lunging speed and mouth opening. In all cases, the small amounts of propulsive thrust generated by the tail were unable to overcome the high drag forces experienced during engulfment. Assuming this thrust to be minimal, we predicted the minimum speed of lunging across scale. To minimize the energetic cost of lunge feeding, hydrodynamic theory predicts slower lunge feeding speeds regardless of body size, with a lower boundary set by the ability of the prey to avoid capture. We used empirical data to test this theory and instead found that maximum foraging speeds remain constant and high (∼4 m s^–1) across body size, even as higher speeds result in lower foraging efficiency. Regardless, we found an increasing relationship between body size and this foraging efficiency, estimated as the ratio of energetic gain from prey to energetic cost. This trend held across timescales ranging from a single lunge to a single day and suggests that larger whales are capturing more prey—and more energy—at a lower cost.

Biomechanical Energetics of Terrestrial Locomotion in California Sea Lions (Zalophus californianus)

Pinnipedia, an order of semi-aquatic marine mammals, adapted a body design that allows for efficient aquatic locomotion but limited terrestrial locomotion. Otariids, like the California sea lion (Zalophus californianus), have enlarged forelimbs and can bring their hindlimbs under the body to locomote quadrupedally on land. Phocids (true seals) have reduced forelimbs and are unable to bring their hindlimbs beneath them during terrestrial locomotion. Due to these differences, phocids are expected have greater energetic costs when moving on land compared to otariids. The mechanical costs of transport and power outputs of terrestrial locomotion were first obtained from one male and two female adult California sea lions through video recording locomotion sequences across a level runway. The center of mass, along with six other anatomical points, were digitized to obtain variables such as velocity (V), amplitude of heave (A), and the frequency (f) of oscillations during the locomotion cycle. These variables represent the principal parameters of a biomechanical model that computes the power output of individuals. The three California sea lions in this study averaged a power output of 112.04 watts and a Cost of Transport of 0.63 J kg-1 m-1. This footage was compared against video footage previously recorded of three phocid species (harbor seal, gray seal, and northern elephant seal). Power output and mechanical Cost of Transport were compared between all four pinniped species following the animals' center of mass. The quadrupedal gait of sea lions showed lower vertical displacements of the center of mass, and higher velocities compared to the terrestrial gait of phocids. Northern elephant seals, gray seal, and the harbor seal showed significantly higher Costs of Transport and power outputs from the sea lions. California sea lions locomote with lower energetic costs, and thus higher efficiency compared to phocids, proving that they are a mechanically intermediate species on land between terrestrial mammals and phocids. This study provides novel information on the mechanical energy exerted by pinnipeds, particularly California sea lions, to then be used in future research to better understand the limitations of these aquatic mammals.

Slamming dynamics of diving and its implications for diving-related injuries

In nature, many animals dive into water at high speeds, e.g., humans dive from cliffs, birds plunge, and aquatic animals porpoise and breach. Diving provides opportunities for animals to find prey and escape from predators and is a source of great excitement for humans. However, diving from high platforms can cause severe injuries to a diver. In this study, we demonstrate how similarity in the morphology of diving fronts unifies the slamming force across diving animals and humans. By measuring a time-averaged impulse that increases linearly with the impact height, we are able to estimate the unsteady hydrodynamic forces that an average human body experiences during the slamming phase of a feet-first, hand-first, or head-first dive. We evaluate whether the unsteady forces put the diver at risk of muscle or bone injuries for a particular diving height. Therefore, this study sheds light on a hydrodynamics-based protocol for safe high diving and an evolutionary driver for animal morphology.

Scaling of maneuvering performance in baleen whales: larger whales outperform expectations

Despite their enormous size, whales make their living as voracious predators. To catch their much smaller, more maneuverable prey, they have developed several unique locomotor strategies that require high energetic input, high mechanical power output and a surprising degree of agility. To better understand how body size affects maneuverability at the largest scale, we used bio-logging data, aerial photogrammetry and a high-throughput approach to quantify the maneuvering performance of seven species of free-swimming baleen whale. We found that as body size increases, absolute maneuvering performance decreases: larger whales use lower accelerations and perform slower pitch-changes, rolls and turns than smaller species. We also found that baleen whales exhibit positive allometry of maneuvering performance: relative to their body size, larger whales use higher accelerations, and perform faster pitch-changes, rolls and certain types of turns than smaller species. However, not all maneuvers were impacted by body size in the same way, and we found that larger whales behaviorally adjust for their decreased agility by using turns that they can perform more effectively. The positive allometry of maneuvering performance suggests that large whales have compensated for their increased body size by evolving more effective control surfaces and by preferentially selecting maneuvers that play to their strengths.

Spinosaurus is not an aquatic dinosaur

A predominantly fish-eating diet was envisioned for the sail-backed theropod dinosaur Spinosaurus aegyptiacus when its elongate jaws with subconical teeth were unearthed a century ago in Egypt. Recent discovery of the high-spined tail of that skeleton, however, led to a bolder conjecture that S. aegyptiacus was the first fully aquatic dinosaur. The 'aquatic hypothesis' posits that S. aegyptiacus was a slow quadruped on land but a capable pursuit predator in coastal waters, powered by an expanded tail. We test these functional claims with skeletal and flesh models of S. aegyptiacus. We assembled a CT-based skeletal reconstruction based on the fossils, to which we added internal air and muscle to create a posable flesh model. That model shows that on land S. aegyptiacus was bipedal and in deep water was an unstable, slow-surface swimmer (<1 m/s) too buoyant to dive. Living reptiles with similar spine-supported sails over trunk and tail are used for display rather than aquatic propulsion, and nearly all extant secondary swimmers have reduced limbs and fleshy tail flukes. New fossils also show that Spinosaurus ranged far inland. Two stages are clarified in the evolution of Spinosaurus, which is best understood as a semiaquatic bipedal ambush piscivore that frequented the margins of coastal and inland waterways.

The role of California sea lion (Zalophus californianus) hindflippers as aquatic control surfaces for maneuverability

California sea lions (Zalophus californianus) are a highly maneuverable species of marine mammal. During uninterrupted, rectilinear swimming, sea lions oscillate their foreflippers to propel themselves forward without aid from the collapsed hindflippers, which are passively trailed. During maneuvers such as turning and leaping (porpoising), the hindflippers are spread into a delta-wing configuration. There is little information defining the role of otarrid hindflippers as aquatic control surfaces. To examine Z. californianus hindflippers during maneuvering, trained sea lions were video recorded underwater through viewing windows performing porpoising behaviors and banking turns. Porpoising by a trained sea lion was compared with sea lions executing the maneuver in the wild. Anatomical points of reference (ankle and hindflipper tip) were digitized from videos to analyze various performance metrics and define the use of the hindflippers. During a porpoising bout, the hindflippers were considered to generate lift when surfacing with a mean angle of attack of 14.6±6.3 deg. However, while performing banked 180 deg turns, the mean angle of attack of the hindflippers was 28.3±7.3 deg, and greater by another 8-12 deg for the maximum 20% of cases. The delta-wing morphology of the hindflippers may be advantageous at high angles of attack to prevent stalling during high-performance maneuvers. Lift generated by the delta-shaped hindflippers, in concert with their position far from the center of gravity, would make these appendages effective aquatic control surfaces for executing rapid turning maneuvers.

Future Tail Tales: A Forward-Looking, Integrative Perspective on Tail Research

Synopsis Tails are a defining characteristic of chordates and show enormous diversity in function and shape. Although chordate tails share a common evolutionary and genetic-developmental origin, tails are extremely versatile in morphology and function. For example, tails can be short or long, thin or thick, and feathered or spiked, and they can be used for propulsion, communication, or balancing, and they mediate in predator-prey outcomes. Depending on the species of animal the tail is attached to, it can have extraordinarily multi-functional purposes. Despite its morphological diversity and broad functional roles, tails have not received similar scientific attention as, for example, the paired appendages such as legs or fins. This forward-looking review article is a first step toward interdisciplinary scientific synthesis in tail research. We discuss the importance of tail research in relation to five topics: (1) evolution and development, (2) regeneration, (3) functional morphology, (4) sensorimotor control, and (5) computational and physical models. Within each of these areas, we highlight areas of research and combinations of long-standing and new experimental approaches to move the field of tail research forward. To best advance a holistic understanding of tail evolution and function, it is imperative to embrace an interdisciplinary approach, re-integrating traditionally siloed fields around discussions on tail-related research.

Tunable stiffness enables fast and efficient swimming in fish-like robots

Fish maintain high swimming efficiencies over a wide range of speeds. A key to this achievement is their flexibility, yet even flexible robotic fish trail real fish in terms of performance. Here, we explore how fish leverage tunable flexibility by using their muscles to modulate the stiffness of their tails to achieve efficient swimming. We derived a model that explains how and why tuning stiffness affects performance. We show that to maximize efficiency, muscle tension should scale with swimming speed squared, offering a simple tuning strategy for fish-like robots. Tuning stiffness can double swimming efficiency at tuna-like frequencies and speeds (0 to 6 hertz; 0 to 2 body lengths per second). Energy savings increase with frequency, suggesting that high-frequency fish-like robots have the most to gain from tuning stiffness.

Scaling of oscillatory kinematics and Froude efficiency in baleen whales

High efficiency lunate-tail swimming with high-aspect-ratio lifting surfaces has evolved in many vertebrate lineages, from fish to cetaceans. Baleen whales (Mysticeti) are the largest swimming animals that exhibit this locomotor strategy, and present an ideal study system to examine how morphology and the kinematics of swimming scale to the largest body sizes. We used data from whale-borne inertial sensors coupled with morphometric measurements from aerial drones to calculate the hydrodynamic performance of oscillatory swimming in six baleen whale species ranging in body length from 5 to 25 m (fin whale, Balaenoptera physalus; Bryde's whale, Balaenoptera edeni; sei whale, Balaenoptera borealis; Antarctic minke whale, Balaenoptera bonaerensis; humpback whale, Megaptera novaeangliae; and blue whale, Balaenoptera musculus). We found that mass-specific thrust increased with both swimming speed and body size. Froude efficiency, defined as the ratio of useful power output to the rate of energy input ( Sloop, 1978), generally increased with swimming speed but decreased on average with increasing body size. This finding is contrary to previous results in smaller animals, where Froude efficiency increased with body size. Although our empirically parameterized estimates for swimming baleen whale drag were higher than those of a simple gliding model, oscillatory locomotion at this scale exhibits generally high Froude efficiency as in other adept swimmers. Our results quantify the fine-scale kinematics and estimate the hydrodynamics of routine and energetically expensive swimming modes at the largest scale.

The Role of the Tail or Lack Thereof in the Evolution of Tetrapod Aquatic Propulsion

Synopsis Secondary aquatic vertebrates exhibit a diversity of swimming modes that use paired limbs and/or the tail. Various secondarily aquatic tetrapod clades, including amphibians, reptiles, and mammals employ transverse undulations or oscillations of the tail for swimming. These movements have often been classified according to a kinematic gradient that was established for fishes, but may not be appropriate to describe the swimming motions of tetrapods. To understand the evolution of movements and design of the tail in aquatic tetrapods, we categorize the types of tails used for swimming and examine swimming kinematics and hydrodynamics. From a foundation of a narrow, elongate ancestral tail, the tails used for swimming by aquatic tetrapods are classified as tapered, keeled, paddle, and lunate. Tail undulations are associated with tapered, keeled, and paddle tails for a diversity of taxa. Propulsive undulatory waves move down the tail with increasing amplitude toward the tail tip, while moving posteriorly at a velocity faster than the anterior motion of the body indicating that the tail is used for thrust generation. Aquatic propulsion is associated with the transfer of momentum to the water from the swimming movements of the tail, particularly at the trailing edge. The addition of transverse extensions and flattening of the tail increases the mass of water accelerated posteriorly and affects vorticity shed into the wake for more aquatically adapted animals. DPIV (Digital Particle Image Velocimetry) reveals differences were exhibited in the vortex wake between the morphological and kinematic extremes of the alligator with a tapering undulating tail and the dolphin with oscillating wing-like flukes that generate thrust. In addition to exploring the relationship between shape of undulating tails and swimming performance across aquatic tetrapods, the role of tail reduction or loss of a tail in aquatic-tetrapod swimming was also explored. For aquatic tetrapods, reduction would have been due to factors including locomotor and defensive specializations and phylogenetic and physiological constraints. Possession of a thrust-generating tail for swimming, or lack thereof, guided various lineages of secondarily aquatic vertebrates into different evolutionary trajectories for effective aquatic propulsion (i.e., speed, efficiency, acceleration).

A 60:40 split: Differential mass support in dogs

Dogs have been bred for different sizes and functions, which can affect their locomotor biomechanics. As quadrupeds, dogs must distribute their mass between fore and hind legs when standing. The mass distribution in dogs was studied to determine if the proportion of supported mass on each limb couplet is dependent on body size. A total of 552 dogs from 123 breeds ranging in size from Chihuahua to Mastiff were examined. Each dog was weighed on a digital scale while standing, alternating foreleg, and hind leg support. The overall "grand" mean proportion of mass on the forelegs to the total mass was 60.4% (range: 47.6-74.4%). The data set indicated no significant change in the ratio with total mass but there was a significant difference by sex. When separated into American Kennel Club categories, no group was notably different from the grand mean or from each other, but when sex was also considered, there was a significant difference that was not specifically discerned by post hoc analysis. The mean for female Hounds was notably below the grand mean. For clades based on genetics, the mean for European origin mastiffs was notably greater than the grand mean and significantly different from UK origin herders and coursers. The mass of the head, chest, and musculature for propulsion could explain the mass support differential. Mass distribution and terrestrial locomotion in dogs shows substantial variation among breeds.

The "dog paddle": Stereotypic swimming gait pattern in different dog breeds

The term "dog paddle" has been applied to the swimming behavior of various terrestrial and aquatic species. Dog paddling refers to a form of drag-based, paddle propulsion in which the limbs are oriented underneath the body and moved through an arc. Despite the ubiquity of the term, there has been no analysis of the swimming kinematics of dogs. Underwater video was recorded of surface swimming dogs (velocity: 0.4-1.1 m/s) for eight individuals from six breeds, ranging in size from Yorkshire Terrier (3.6 kg) to Newfoundland dog (63.5 kg). The quadrupedal paddling stroke was analyzed to determine kinematics and coordination of the limbs. The paddling stroke represented a modified terrestrial gait, which was outside typical gaits for terrestrial locomotion by dogs. Stroke frequency decreased with increasing body size. The stroke cycle consisted of power and recovery phases. During the power phase, digits of the paw were abducted and the forelimb was swept posteriorly until perpendicular to the body. In the recovery phase, digits were adducted while the brachium was retracted anteriorly and the manus supinated. The power phase was about 34% of stroke cycle and shorter than the recovery phase for both fore and hindlimbs. Maximum velocity during the power phase was greater than the recovery phase. The modified terrestrial gait used for swimming by dogs appears to be stereotypic among breeds, whereas terrestrial locomotion in dogs shows substantial variation in gait. Without constraints imposed by gravity and substrate contact, swimming dogs can utilize a gait profile different from terrestrial gaits. SUMMARY STATEMENT: Despite the ubiquity of the term "dog paddle" to describe the swimming motions of animals, this is the first time that the swimming motions of dogs have been analyzed.

Energetic and physical limitations on the breaching performance of large whales

The considerable power needed for large whales to leap out of the water may represent the single most expensive burst maneuver found in nature. However, the mechanics and energetic costs associated with the breaching behaviors of large whales remain poorly understood. In this study we deployed whale-borne tags to measure the kinematics of breaching to test the hypothesis that these spectacular aerial displays are metabolically expensive. We found that breaching whales use variable underwater trajectories, and that high-emergence breaches are faster and require more energy than predatory lunges. The most expensive breaches approach the upper limits of vertebrate muscle performance, and the energetic cost of breaching is high enough that repeated breaching events may serve as honest signaling of body condition. Furthermore, the confluence of muscle contractile properties, hydrodynamics, and the high speeds required likely impose an upper limit to the body size and effectiveness of breaching whales.

Three-dimensional scaling laws of cetacean propulsion characterize the hydrodynamic interplay of flukes' shape and kinematics

Cetaceans convert dorsoventral body oscillations into forward velocity with a complex interplay between their morphological and kinematic features and the fluid environment. However, it is unknown to what extent morpho-kinematic features of cetaceans are intertwined to maximize their efficiency. By interchanging the shape and kinematic variables of five cetacean species, the interplay of their flukes morpho-kinematic features is examined by characterizing their thrust, power and propulsive efficiency. It is determined that the shape and kinematics of the flukes have considerable influence on force production and power consumption. Three-dimensional heaving and pitching scaling laws are developed by considering both added mass and circulatory-based forces, which are shown to closely model the numerical data. Using the scaling relations as a guide, it is determined that the added mass forces are important in predicting the trend between the efficiency and aspect ratio, however, the thrust and power are driven predominately by the circulatory forces. The scaling laws also reveal that there is an optimal dimensionless heave-to-pitch ratio h* that maximizes the efficiency. Moreover, the optimal h* varies with the aspect ratio, the amplitude-to-chord ratio and the Lighthill number. This indicates that the shape and kinematics of propulsors are intertwined, that is, there are specific kinematics that are tailored to the shape of a propulsor in order to maximize its propulsive efficiency.

Advantages of aquatic animals as models for bio-inspired drones over present AUV technology

Robotic systems are becoming more ubiquitous, whether on land, in the air, or in water. In the aquatic realm, aquatic drones including ROVs (remotely operated vehicles) and AUVs (autonomous underwater vehicles) have opened new opportunities to investigate the ocean depths. However, these technologies have limitations related to shipboard support, programing, and functionality in complex marine environments. A new form of AUV is being developed to become operational. These drones are based on animal designs and capabilities. Biological AUVs (BAUVs) promise to improve performance in the varied environments of the ocean. Comparison of animal swimming performance with conventional AUVs and BAUVs demonstrates that natural systems still have swimming capabilities beyond the current state of AUV technology. However, the performances of aquatic animals with respect to swimming speed, efficiency, maneuverability, and stealth can serve as benchmarks to direct the development of bio-inspired AUV technology with enhanced capabilities.

Swimming Turned on Its Head: Stability and Maneuverability of the Shrimpfish (Aeoliscus punctulatus)

The typical orientation of a neutrally buoyant fish is with the venter down and the head pointed anteriorly with a horizontally oriented body. However, various advanced teleosts will reorient the body vertically for feeding, concealment, or prehension. The shrimpfish (Aeoliscus punctulatus) maintains a vertical orientation with the head pointed downward. This posture is maintained by use of the beating fins as the position of the center of buoyancy nearly corresponds to the center of mass. The shrimpfish swims with dorsum of the body moving anteriorly. The cross-sections of the body have a fusiform design with a rounded leading edge at the dorsum and tapering trailing edge at the venter. The median fins (dorsal, caudal, anal) are positioned along the venter of the body and are beat or used as a passive rudder to effect movement of the body in concert with active movements of pectoral fins. Burst swimming and turning maneuvers by yawing were recorded at 500 frames/s. The maximum burst speed was 2.3 body lengths/s, but when measured with respect to the body orientation, the maximum speed was 14.1 body depths/s. The maximum turning rate by yawing about the longitudinal axis was 957.5 degrees/s. Such swimming performance is in line with fishes with a typical orientation. Modification of the design of the body and position of the fins allows the shrimpfish to effectively swim in the head-down orientation.

Water entry impact dynamics of diving birds

Some seabirds (such as northern gannets and brown boobies) can dive from heights as high as 30 m reaching speeds of up to 24 m s^-1 as they impact the water surface. The physical geometry of plunge diving birds, particularly of the beak, allows them to limit high impact forces compared to non-diving birds. Numerically simulated data for one species (northern gannet) provides some insight into the impact forces experienced during diving, however, no reliable experimental data with real bird geometries exist for comparison purposes. This study utilizes eleven 3D printed diving bird models of three types of birds: plunge-diving (five), surface-diving (five) and dipper (one), with embedded accelerometers to measure water-entry impact accelerations for impact velocities ranging between 4.4-23.2 m s^-1. Impact forces for all bird types are found to be comparable under similar impact conditions and well within the safe zone characterized by neck strength as found in recent studies. However, the time that each bird requires to reach maximum impact acceleration from impact is different based on its beak and head shape and so is its effect, represented here by its derivative (i.e. jerk). We show that surface diving birds have high non-dimensional jerk, which exceed a safe limit estimated from human impact analysis, whereas those by plunge divers do not.

How smooth is a dolphin? The ridged skin of odontocetes

Dolphin skin has long been an inspiration for research on drag reduction mechanisms due to the presence of skin ridges that could reduce fluid resistance. We gathered in vivo three-dimensional surface data on the skin from five species of odontocetes to quantitatively examine skin texture, including the presence and size of ridges. We used these data to calculate k⁺ values, which relate surface geometry to changes in boundary layer flow. Our results showed that while ridge size differs among species, odontocete skin was surprisingly smooth compared to the skin of other swimmers (average roughness = 5.3 µm). In addition, the presence of ridges was variable among individuals of the same species. We predict that odontocete skin ridges do not alter boundary layer flows at cruising swimming speeds. By combining k⁺ values and morphological data, our work provides evidence that skin ridges are unlikely to be an adaptation for drag reduction and that odontocete skin is exceptionally smooth compared to other pelagic swimmers.

Body Flexibility Enhances Maneuverability in the World's Largest Predator

Blue whales are often characterized as highly stable, open-ocean swimmers who sacrifice maneuverability for long-distance cruising performance. However, recent studies have revealed that blue whales actually exhibit surprisingly complex underwater behaviors, yet little is known about the performance and control of these maneuvers. Here, we use multi-sensor biologgers equipped with cameras to quantify the locomotor dynamics and the movement of the control surfaces used by foraging blue whales. Our results revealed that simple maneuvers (rolls, turns, and pitch changes) are performed using distinct combinations of control and power provided by the flippers, the flukes, and bending of the body, while complex trajectories are structured by combining sequences of simple maneuvers. Furthermore, blue whales improve their turning performance by using complex banked turns to take advantage of their substantial dorso-ventral flexibility. These results illustrate the important role body flexibility plays in enhancing control and performance of maneuvers, even in the largest of animals. The use of the body to supplement the performance of the hydrodynamically active surfaces may represent a new mechanism in the control of aquatic locomotion.

Odontocete peduncle tendons for possible control of fluke orientation and flexibility

Dorso-ventral oscillations of cetacean caudal flukes generate lift-based thrust for swimming. Movements of the flukes are actuated by epaxial and hypaxial muscles through caudal tendons inserting onto vertebrate in the peduncle. To determine if the caudal tendons in the peduncle affect the flexibility of the flukes, we must understand how the tendons from axial muscles insert onto the caudal vertebrate. The purpose of this study was to provide a detailed description of the various tendons within the cetacean peduncle with regard to their role in swimming and flexibility. Dissection of the peduncle and flukes of multiple odontocete species showed that there were two distinct epaxial tendon sets within the peduncle: (1) extensor caudae medialis tendon (ECM) and (2) extensor caudae lateralis tendon (ECL). There is one distinct hypaxial tendon set, the medial tendon of the hypaxialis lumborum (MHL). The ECM and MHL tendons inserted serially onto caudal vertebrae while the ECL inserted exclusively onto the terminal vertebrae posterior to the fluke insertion. It is typical that tendons insert onto bone, however, the connection to the core fibrous layer of the flukes suggests an element of active control of the flexibility of the flukes via the axial muscles. Tension from muscular contraction transmitted through the tendons could affect both spanwise and chordwise flexibility. Changing flexibility could modulate thrust and efficiency over an extended operation range of swimming speeds in cetaceans.

Scaling of swimming performance in baleen whales

The scale-dependence of locomotor factors have long been studied in comparative biomechanics, but remain poorly understood for animals at the upper extremes of body size. Rorqual baleen whales include the largest animals, but we lack basic kinematic data about their movements and behavior below the ocean surface. Here we combined morphometrics from aerial drone photogrammetry, whale-borne inertial sensing tag data, and hydrodynamic modeling to study the locomotion of five rorqual species. We quantified changes in tail oscillatory frequency and cruising speed for individual whales spanning a threefold variation in body length, corresponding to an order of magnitude variation in estimated body mass. Our results showed that oscillatory frequency decreases with body length (∝ length−0.53) while cruising speed remains roughly invariant (∝ length0.08) at 2 m s−1. We compared these measured results for oscillatory frequency against simplified models of an oscillating cantilever beam (∝ length−1) and an optimized oscillating Strouhal vortex generator (∝ length−1). The difference between our length-scaling exponent and the simplified models suggests that animals are often swimming non-optimally in order to feed or perform other routine behaviors. Cruising speed aligned more closely with an estimate of the optimal speed required to minimize the energetic cost of swimming (∝ length0.07). Our results are among the first to elucidate the relationships between both oscillatory frequency and cruising speed and body size for free-swimming animals at the largest scale.

Terrestrial locomotion of the northern elephant seal (Mirounga angustirostris): limitation of large aquatically adapted seals on land?

The aquatic specializations of phocid seals have restricted their ability to locomote on land. The amphibious northern elephant seal, Mirounga angustirostris, is the second largest phocid seal in the world, with males reaching 2700 kg. Although elephant seals are proficient swimmers and deep divers, their extreme size and aquatic specializations limit terrestrial movement. The kinematics of terrestrial locomotion in northern elephant seals were analyzed from video recordings of animals observed on the beach of Año Nuevo State Reserve, CA, USA. The seals moved using a series of rhythmic undulations produced by dorsoventral spinal flexion. The traveling spinal wave moved anteriorly along the dorsal margin of the body with the chest, pelvic region and foreflippers serving as the main points of contact with the ground. The hindflippers were not used. The spinal wave and foreflippers were used to lift the chest off the ground as the body was pushed forward from the pelvis as the foreflippers were retracted to pull the body forward. Seals moved over land at 0.41-2.56 m s^-1 (0.12-0.71 body lengths s^-1). The frequency and amplitude of spinal flexions both displayed a direct increase with increasing speed. The duty factor for the pelvic region decreased with increasing velocity while the duty factor of the foreflipper remained constant. Kinematic data for elephant seals and other phocids were used in a biomechanical model to calculate the mechanical energy expended during terrestrial locomotion. The elephant seals were found to expend more energy when traveling over land for their size than smaller phocids. The unique method of terrestrial movement also exhibited greater energy expenditure on land than values for large quadrupeds. The trade-off for the northern elephant seal is that its massive size and morphology have well adapted it to an aquatic existence but limited its locomotor performance (i.e. speed, endurance) on land.

Control surfaces of aquatic vertebrates: active and passive design and function

Aquatic vertebrates display a variety of control surfaces that are used for propulsion, stabilization, trim and maneuvering. Control surfaces include paired and median fins in fishes, and flippers and flukes in secondarily aquatic tetrapods. These structures initially evolved from embryonic fin folds in fishes and have been modified into complex control surfaces in derived aquatic tetrapods. Control surfaces function both actively and passively to produce torque about the center of mass by the generation of either lift or drag, or both, and thus produce vector forces to effect rectilinear locomotion, trim control and maneuvers. In addition to fins and flippers, there are other structures that act as control surfaces and enhance functionality. The entire body can act as a control surface and generate lift for stability in destabilizing flow regimes. Furthermore, control surfaces can undergo active shape change to enhance their performance, and a number of features act as secondary control structures: leading edge tubercles, wing-like canards, multiple fins in series, finlets, keels and trailing edge structures. These modifications to control surface design can alter flow to increase lift, reduce drag and enhance thrust in the case of propulsive fin-based systems in fishes and marine mammals, and are particularly interesting subjects for future research and application to engineered systems. Here, we review how modifications to control surfaces can alter flow and increase hydrodynamic performance.

Kinematics of swimming of the manta ray: three-dimensional analysis of open-water maneuverability

For aquatic animals, turning maneuvers represent a locomotor activity that may not be confined to a single coordinate plane, making analysis difficult, particularly in the field. To measure turning performance in a three-dimensional space for the manta ray (Mobula birostris), a large open-water swimmer, scaled stereo video recordings were collected. Movements of the cephalic lobes, eye and tail base were tracked to obtain three-dimensional coordinates. A mathematical analysis was performed on the coordinate data to calculate the turning rate and curvature (1/turning radius) as a function of time by numerically estimating the derivative of manta trajectories through three-dimensional space. Principal component analysis was used to project the three-dimensional trajectory onto the two-dimensional turn. Smoothing splines were applied to these turns. These are flexible models that minimize a cost function with a parameter controlling the balance between data fidelity and regularity of the derivative. Data for 30 sequences of rays performing slow, steady turns showed the highest 20% of values for the turning rate and smallest 20% of turn radii were 42.65±16.66 deg s^-1 and 2.05±1.26 m, respectively. Such turning maneuvers fall within the range of performance exhibited by swimmers with rigid bodies.

Morphology of the core fibrous layer of the cetacean tail fluke

The cetacean tail fluke blades are not supported by any vertebral elements. Instead, the majority of the blades are composed of a densely packed collagenous fiber matrix known as the core layer. Fluke blades from six species of odontocete cetaceans were examined to compare the morphology and orientation of fibers at different locations along the spanwise and chordwise fluke blade axes. The general fiber morphology was consistent with a three-dimensional structure comprised of two-dimensional sheets of fibers aligned tightly in a laminated configuration along the spanwise axis. The laminated configuration of the fluke blades helps to maintain spanwise rigidity while allowing partial flexibility during swimming. When viewing the chordwise sectional face at the leading edge and mid-chord regions, fibers displayed a crossing pattern. This configuration relates to bending and structural support of the fluke blade. The trailing edge core was found to have parallel fibers arranged more dorso-ventrally. The fiber morphology of the fluke blades was dorso-ventrally symmetrical and similar in all species except the pygmy sperm whale (Kogia breviceps), which was found to have additional core layer fiber bundles running along the span of the fluke blade. These additional fibers may increase stiffness of the structure by resisting tension along their long spanwise axis.

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.

Biomechanical model of batoid (skates and rays) pectoral fins predicts the influence of skeletal structure on fin kinematics: implications for bio-inspired design

Growing interest in the development of bio-inspired autonomous underwater vehicles (AUVs) has motivated research in understanding the mechanisms behind the propulsion systems of marine animals. For example, the locomotive behavior of rays (Batoidea) by movement of the pectoral fins is of particular interest due to their superior performance characteristics over contemporary AUV propulsion systems. To better understand the mechanics of pectoral fin propulsion, this paper introduces a biomechanical model that simulates how batoid skeletal structures function to achieve the swimming locomotion observed in nature. Two rays were studied, Dasyatis sabina (Atlantic ray), and Rhinoptera bonasus (cownose ray). These species were selected because they exhibit very different swimming styles (undulation versus oscillation), but all use primarily their pectoral fins for propulsion (unlike electric rays or guitarfishes). Computerized tomography scans of each species were taken to image the underlying structure, which reveal a complex system of cartilaginous joints and linkages. Data collected from these images were used to quantify the complete skeletal morphometry of each batoid fin. Morphological differences were identified in the internal cartilage arrangement between each species including variations in the orientation of the skeletal elements, or radials, and the joint patterns between them, called the inter-radial joint pattern. These data were used as the primary input into the biomechanical model to couple a given ray skeletal structure with various swimming motions. A key output of the model is an estimation of the uniaxial strain that develops in the skeletal connective tissue in order for the structure to achieve motions observed during swimming. Tensile load tests of this connective tissue were conducted to further investigate the implications of the material strain predictions. The model also demonstrates that changes in the skeletal architecture (e.g., joint positioning) will effect fin deformation characteristics. Ultimately, the results of this study can be used to guide the design of optimally performing bio-inspired AUVs.

Introduction to the Symposium-Unsteady Aquatic Locomotion with Respect to Eco-Design and Mechanics

The importance of unsteadiness in the aquatic environment has come to the forefront in understanding locomotor mechanics in nature. The impact of unsteadiness, starting with control of posture and trajectories during aquatic locomotion, is ultimately expressed in energy costs, morphology, and fitness. Unsteadiness from both internal and external perturbations for aquatic animals is important at scales ranging from micro to macro to global.

Aquatic burst locomotion by hydroplaning and paddling in common eiders (Somateria mollissima)

Common eiders (Somateria mollissima) are heavy sea-ducks that spend a large portion of their time swimming at the water surface. Surface swimming generates a bow and hull wave that can constructively interfere and produce wave drag. The speed at which the wavelengths of these waves equal the waterline length of the swimming animal is the hull speed. To increase surface swimming speed beyond the hull speed, an animal must overtake the bow wave. This study found two distinct behaviors that eider ducks used to exceed the hull speed: (1) “steaming,” which involved rapid oaring with the wings to propel the duck along the surface of the water, and (2) “paddle-assisted flying,” during which the ducks lifted their bodies out of the water and used their hind feet to paddle against the surface while flapping their wings in the air. An average hull speed (0.732±0.046 ms−1) was calculated for Somateria mollissima by measuring maximum waterline length from museum specimens. On average, steaming ducks swam 5.5 times faster and paddle-assisted flying ducks moved 6.8 times faster than the hull speed. During steaming, ducks exceeded the hull speed by increasing their body angle and generating dynamic lift to overcome wave drag and hydroplane along the water surface. During paddle-assisted flying, ducks kept their bodies out of the water, thereby avoiding the limitations of wave drag altogether. Both behaviors provided alternatives to flight for these ducks by allowing them to exceed the hull speed while staying at or near the water surface.

Measurement of hydrodynamic force generation by swimming dolphins using bubble DPIV

Attempts to measure the propulsive forces produced by swimming dolphins have been limited. Previous uses of computational hydrodynamic models and gliding experiments have provided estimates of thrust production by dolphins, but these were indirect tests that relied on various assumptions. The thrust produced by two actively swimming bottlenose dolphins (Tursiops truncatus) was directly measured using digital particle image velocimetry (DPIV). For dolphins swimming in a large outdoor pool, the DPIV method used illuminated microbubbles that were generated in a narrow sheet from a finely porous hose and a compressed air source. The movement of the bubbles was tracked with a high-speed video camera. Dolphins swam at speeds of 0.7 to 3.4 m s−1 within the bubble sheet oriented along the midsagittal plane of the animal. The wake of the dolphin was visualized as the microbubbles were displaced because of the action of the propulsive flukes and jet flow. The oscillations of the dolphin flukes were shown to generate strong vortices in the wake. Thrust production was measured from the vortex strength through the Kutta–Joukowski theorem of aerodynamics. The dolphins generated up to 700 N during small amplitude swimming and up to 1468 N during large amplitude starts. The results of this study demonstrated that bubble DPIV can be used effectively to measure the thrust produced by large-bodied dolphins.

Fused traditional and geometric morphometrics demonstrate pinniped whisker diversity

Vibrissae (whiskers) are important components of the mammalian tactile sensory system, and primarily function as detectors of vibrotactile information from the environment. Pinnipeds possess the largest vibrissae among mammals and their vibrissal hair shafts demonstrate a diversity of shapes. The vibrissae of most phocid seals exhibit a beaded morphology with repeating sequences of crests and troughs along their length. However, there are few detailed analyses of pinniped vibrissal morphology, and these are limited to a few species. Therefore, we comparatively characterized differences in vibrissal hair shaft morphologies among phocid species with a beaded profile, phocid species with a smooth profile, and otariids with a smooth profile using traditional and geometric morphometric methods. Traditional morphometric measurements (peak-to-peak distance, crest width, trough width and total length) were collected using digital photographs. Elliptic Fourier analysis (geometric morphometrics) was used to quantify the outlines of whole vibrissae. The traditional and geometric morphometric datasets were subsequently combined by mathematically scaling each to true rank, followed by a single eigendecomposition. Quadratic discriminant function analysis demonstrated that 79.3, 97.8 and 100% of individuals could be correctly classified to their species based on vibrissal shape variables in the traditional, geometric and combined morphometric analyses, respectively. Phocids with beaded vibrissae, phocids with smooth vibrissae, and otariids each occupied distinct morphospace in the geometric morphometric and combined data analyses. Otariids split into two groups in the geometric morphometric analysis and gray seals appeared intermediate between beaded- and smooth-whiskered species in the traditional and combined analyses. Vibrissal hair shafts modulate the transduction of environmental stimuli to the mechanoreceptors in the follicle-sinus complex (F-SC), which results in vibrotactile reception, but it is currently unclear how the diversity of shapes affects environmental signal modulation.

Barnacle bonding: morphology of attachment of Xenobalanus globicipitis to its host Tursiops truncatus

Xenobalanus globicipitis, a unique type of small pseudo-stalked barnacle occurs on the appendages of cetaceans, including the common bottlenose dolphin Tursiops truncatus. In this study, we examined attachment structures of X. globicipitis and modifications to the skin of T. truncatus in areas of attachment compared to skin nearby an attachment site. Barnacles and their six calcareous footplates were measured for their length and width. There was a positive correlation of barnacle width and length to footplate width and length. The thickness of the stratum corneum increased significantly in areas of attachment compared to skin nearby a footplate. The mitotic stratum germinativum at the base of the dermal papillae did not change significantly in areas of attachment compared to skin nearby a footplate. The stratum germinativum lining the lateral walls of the dermal papillae was significantly thicker in areas of skin nearby a footplate compared to in areas of attachment. Skin of T. truncatus nearby a footplate, displayed dermal papillae extending from the dermis and pointing roughly perpendicular to the epidermal stratum corneum. At sites of X. globicipitis attachment, the dermal papillae were forced to extend laterally, parallel to the stratum corneum, and the dermal papillae length to width ratio at an attachment site was significantly higher than on skin near an attachment site. Our results show that attachment of X. globicipitis through production of footplates organized into calcareous rings, leads to a thickened stratum corneum of the epidermis, a thinner lateral mitotic stratum germinativum and displaced structures of the upper dermis. These resulting modifications to the epidermis and dermis of the host may add to securing barnacle attachment to its host.

Comparison of real and idealized cetacean flippers

When a phenomenon in nature is mimicked for practical applications, it is often done so in an idealized fashion, such as representing the shape found in nature with convenient, piece-wise smooth mathematical functions. The aim of idealization is to capture the advantageous features of the natural phenomenon without having to exactly replicate it, and it is often assumed that the idealization process does in fact capture the relevant geometry. We explored the consequences of the idealization process by creating exact scale models of cetacean flippers using CT scans, creating corresponding idealized versions and then determining the hydrodynamic characteristics of the models via water tunnel testing. We found that the majority of the idealized models did not exhibit fluid dynamic properties that were drastically different from those of the real models, although multiple consequences resulting from the idealization process were evident. Drag performance was significantly improved by idealization. Overall, idealization is an excellent way to capture the relevant effects of a phenomenon found in nature, which spares the researcher from having to painstakingly create exact models, although we have found that there are situations where idealization may have unintended consequences such as one model that exhibited a decrease in lift performance.

Lift and drag performance of odontocete cetacean flippers

Cetaceans (whales, dolphins and porpoises) have evolved flippers that aid in effective locomotion through their aquatic environments. Differing evolutionary pressures upon cetaceans, including hunting and feeding requirements, and other factors such as animal mass and size have resulted in flippers that are unique among each species. Cetacean flippers may be viewed as being analogous to modern engineered hydrofoils, which have hydrodynamic properties such as lift coefficient, drag coefficient and associated efficiency. Field observations and the collection of biological samples have resulted in flipper geometry being known for most cetacean species. However,the hydrodynamic properties of cetacean flippers have not been rigorously examined and thus their performance properties are unknown. By conducting water tunnel testing using scale models of cetacean flippers derived via computed tomography (CT) scans, as well as computational fluid dynamic (CFD) simulations, we present a baseline work to describe the hydrodynamic properties of several cetacean flippers. We found that flippers of similar planform shape had similar hydrodynamic performance properties. Furthermore, one group of flippers of planform shape similar to modern swept wings was found to have lift coefficients that increased with angle of attack nonlinearly, which was caused by the onset of vortex-dominated lift. Drag coefficient versus angle of attack curves were found to be less dependent on planform shape. Our work represents a step towards the understanding of the association between performance, ecology, morphology and fluid mechanics based on the three-dimensional geometry of cetacean flippers.

Hydrodynamic performance of the minke whale (Balaenoptera acutorostrata) flipper

Minke whales (Balaenoptera acutorostrata) are the smallest member of balaenopterid whales and little is known of their kinematics during feeding maneuvers. These whales have narrow and elongated flippers that are small relative to body size compared to related species such as right and gray whales. No experimental studies have addressed the hydrodynamic properties of minke whale flippers and their functional role during feeding maneuvers. This study integrated wind tunnel, locomotion and anatomical range of motion data to identify functional parameters of the cambered minke whale flipper. A full-sized cast of a minke whale flipper was used in wind tunnel testing of lift, drag and stall behavior at six speeds, corresponding to swimming speeds of 0.7-8.9 m s(-1). Flow over the model surface stalled between 10 degrees and 14 degrees angle of attack (alpha) depending on testing speed. When the leading edge was rotated ventrally, loss in lift occurred around -18 degrees alpha regardless of speed. Range of mobility in the fresh limb was approximately 40% greater than the range of positive lift-generating angles of attack predicted by wind tunnel data (+14 degrees alpha). Video footage, photographs and observations of swimming, engulfment feeding and gulping minke whales showed limb positions corresponding to low drag in wind tunnel tests, and were therefore hydrodynamically efficient. Flippers play an important role in orienting the body during feeding maneuvers as they maintain trim of the body, an action that counters drag-induced torque of the body during water and prey intake.

Energetics of swimming by the ferret: Consequences of forelimb paddling

The domestic ferret (Mustela putorius furo) swims by alternate strokes of the forelimbs. This pectoral paddling is rare among semi-aquatic mammals. The energetic implications of swimming by pectoral paddling were examined by kinematic analysis and measurement of oxygen consumption. Ferrets maintained a constant stroke frequency, but increased swimming speed by increasing stroke amplitude. The ratio of swimming velocity to foot stroke velocity was low, indicating a low propulsive efficiency. Metabolic rate increased linearly with increasing speed. The cost of transport decreased with increasing swimming speed to a minimum of 3.59+/-0.28 J N(-1) m(-1) at U=0.44 m s(-1). The minimum cost of transport for the ferret was greater than values for semi-aquatic mammals using hind limb paddling, but lower than the minimum cost of transport for the closely related quadrupedally paddling mink. Differences in energetic performance may be due to the amount of muscle recruited for propulsion and the interrelationship hydrodynamic drag and interference between flow over the body surface and flow induced by propulsive appendages.

Hydrodynamic flow control in marine mammals

The ability to control the flow of water around the body dictates the performance of marine mammals in the aquatic environment. Morphological specializations of marine mammals afford mechanisms for passive flow control. Aside from the design of the body, which minimizes drag, the morphology of the appendages provides hydrodynamic advantages with respect to drag, lift, thrust, and stall. The flukes of cetaceans and sirenians and flippers of pinnipeds possess geometries with flexibility, which enhance thrust production for high efficiency swimming. The pectoral flippers provide hydrodynamic lift for maneuvering. The design of the flippers is constrained by performance associated with stall. Delay of stall can be accomplished passively by modification of the flipper leading edge. Such a design is exhibited by the leading edge tubercles on the flippers of humpback whales (Megaptera novaeangliae). These novel morphological structures induce a spanwise flow field of separated vortices alternating with regions of accelerated flow. The coupled flow regions maintain areas of attached flow and delay stall to high angles of attack. The delay of stall permits enhanced turning performance with respect to both agility and maneuverability. The morphological features of marine mammals for flow control can be utilized in the biomimetic design of engineered structures for increased power production and increased efficiency.