Elizabeth L. Brainerd

X-ray reconstruction of moving morphology (XROMM): precision, accuracy and applications in comparative biomechanics research

X-Ray Reconstruction of Moving Morphology (XROMM) comprises a set of 3D X-ray motion analysis techniques that merge motion data from in vivo X-ray videos with skeletal morphology data from bone scans into precise and accurate animations of 3D bones moving in 3D space. XROMM methods include: (1) manual alignment (registration) of bone models to video sequences, i.e., Scientific Rotoscoping; (2) computer vision-based autoregistration of bone models to biplanar X-ray videos; and (3) marker-based registration of bone models to biplanar X-ray videos. Here, we describe a novel set of X-ray hardware, software, and workflows for marker-based XROMM. Refurbished C-arm fluoroscopes retrofitted with high-speed video cameras offer a relatively inexpensive X-ray hardware solution for comparative biomechanics research. Precision for our biplanar C-arm hardware and analysis software, measured as the standard deviation of pairwise distances between 1 mm tantalum markers embedded in rigid objects, was found to be +/-0.046 mm under optimal conditions and +/-0.084 mm under actual in vivo recording conditions. Mean error in measurement of a known distance between two beads was within the 0.01 mm fabrication tolerance of the test object, and mean absolute error was 0.037 mm. Animating 3D bone models from sets of marker positions (XROMM animation) makes it possible to study skeletal kinematics in the context of detailed bone morphology. The biplanar fluoroscopy hardware and computational methods described here should make XROMM an accessible and useful addition to the available technologies for studying the form, function, and evolution of vertebrate animals.

Biomechanics of the movable pretarsal adhesive organ in ants and bees

Hymenoptera attach to smooth surfaces with a flexible pad, the arolium, between the claws. Here we investigate its movement in Asian weaver ants (Oecophylla smaragdina) and honeybees (Apis mellifera).  When ants run upside down on a smooth surface, the arolium is unfolded and folded back with each step. Its extension is strictly coupled with the retraction of the claws. Experimental pull on the claw-flexor tendon revealed that the claw-flexor muscle not only retracts the claws, but also moves the arolium. The elicited arolium movement comprises (i) about a 90° rotation (extension) mediated by the interaction of the two rigid pretarsal sclerites arcus and manubrium and (ii) a lateral expansion and increase in volume. In severed legs of O. smaragdina ants, an increase in hemolymph pressure of 15 kPa was sufficient to inflate the arolium to its full size. Apart from being actively extended, an arolium in contact also can unfold passively when the leg is subject to a pull toward the body.  We propose a combined mechanical–hydraulic model for arolium movement: (i) the arolium is engaged by the action of the unguitractor, which mechanically extends the arolium; (ii) compression of the arolium gland reservoir pumps liquid into the arolium; (iii) arolia partly in contact with the surface are unfolded passively when the legs are pulled toward the body; and (iv) the arolium deflates and moves back to its default position by elastic recoil of the cuticle.

Variable gearing in pennate muscles

Muscle fiber architecture, i.e., the physical arrangement of fibers within a muscle, is an important determinant of a muscles mechanical function. In pennate muscles, fibers are oriented at an angle to the muscles line of action and rotate as they shorten, becoming more oblique such that the fraction of force directed along the muscles line of action decreases throughout a contraction. Fiber rotation decreases a muscles output force but increases output velocity by allowing the muscle to function at a higher gear ratio (muscle velocity/fiber velocity). The magnitude of fiber rotation, and therefore gear ratio, depends on how the muscle changes shape in the dimensions orthogonal to the muscles line of action. Here, we show that gear ratio is not fixed for a given muscle but decreases significantly with the force of contraction (P < 0.0001). We find that dynamic muscle-shape changes promote fiber rotation at low forces and resist fiber rotation at high forces. As a result, gearing varies automatically with the load, to favor velocity output during low-load contractions and force output for contractions against high loads. Therefore, muscle-shape changes act as an automatic transmission system allowing a pennate muscle to shift from a high gear during rapid contractions to low gear during forceful contractions. These results suggest that variable gearing in pennate muscles provides a mechanism to modulate muscle performance during mechanically diverse functions.

VERTEBRAL COLUMN MORPHOLOGY, C-START CURVATURE, AND THE EVOLUTION OF MECHANICAL DEFENSES IN TETRAODONTIFORM FISHES

Maximum body curvature during the initial phase of escape swimming (stage 1 of C-start) was measured in four species of tropical marine fishes. A linear correlation between maximum curvature and number of functional intervertebral joints was found (range for number of joints, 17-25). A biomechanical model of vertebral column bending predicts that, if intervertebral joint angles are held constant, increasing the number of joints should produce a linear decrease in the measured curvature coefficient (curvature coefficient is inversely related to curvature). The measured curvature coefficients fit this model closely, indicating that, within the range of 17-25 joints, vertebral number is an important determinant of vertebral column flexibility. The study species with the lowest vertebral number, a filefish, Monacanthus hispidus, is a member of the Tetraodontiformes, a group characterized by the lowest vertebral numbers found among fishes. Elaborate antipredator defenses, such as a carapace and the ability to inflate the body, have evolved six times within the Tetraodontiformes, and some form of mechanical defense is present in all families of this group. We propose an evolutionary scenario in which low vertebral number reduced the escape swimming performance of ancestral tetraodontiforms, thus increasing their vulnerability to predators and driving the repeated evolution of mechanical defenses in this group. Our finding that lower vertebral numbers are correlated with lower C-start curvature suggests that low vertebral number may impair escape performance; thus, one necessary condition for the proposed scenario is met.

Kinematics of aquatic and terrestrial prey capture in Terrapene carolina, with implications for the evolution of feeding in cryptodire turtles.

Studies of aquatic prey capture in vertebrates have demonstrated remarkable convergence in kinematics between diverse vertebrate taxa. When feeding in water, most vertebrates employ large-amplitude hyoid depression to expand the oral cavity and suck in water along with the prey. In contrast, vertebrates feeding on land exhibit little or no hyoid depression. In this study we compared the kinematics of terrestrial and aquatic prey capture within one species of turtle, Terrapene carolina, in order to determine whether an individual species can modulate the magnitude of hyoid depression between air and water. High-speed video (250 frames per second) showed that hyoid depression was over three times greater in aquatic than in terrestrial feedings, indicating that T. carolina is able to modulate hyoid depression magnitude depending on the medium in which feeding occurs. In addition, we observed medium-dependent modulation of hyoid depression in another turtle, Heosemys grandis, and large-amplitude hyoid depression during aquatic feeding in Kinosternon leucostomum, Platysternon megacephalum, and juvenile Chelydra serpentina. In all of these turtles, hyoid depression produced oral cavity expansion during aquatic feeding, but the earthworm prey were never sucked toward the predators. Prey were captured by neck extension (ram feeding), and we conclude that the function of hyoid depression during aquatic feeding in cryptodire turtles is to prevent the forward motion of the predator from pushing the prey away (compensatory suction). Aquatic feeding is probably the primitive condition for all extant turtles, and thus terrestrial feeding in T. carolina and other turtles is a secondarily derived characteristic. We conclude from this historical pattern that it is not appropriate to use extant turtles in attempts to reconstruct the terrestrial feeding mechanisms of primitive amniotes.

Swimming muscles power suction feeding in largemouth bass.

Significance Over one-half of all vertebrate species are ray-finned fishes. Across this extraordinary diversity, the most common feeding mode is suction feeding: rapid expansion of the mouth to suck in water and food. Here, we find that the power required for suction expansion is generated primarily by the axial swimming muscles. Rather than being restricted to the low power capacity of the small cranial muscles, suction-feeding fishes have co-opted the massive swimming muscles for this powerful feeding behavior. Therefore, the evolution of axial muscles in ray-finned fishes should now be considered in the context of feeding as well as locomotion, changing our perspective on musculoskeletal form and function in over 30,000 species. Most aquatic vertebrates use suction to capture food, relying on rapid expansion of the mouth cavity to accelerate water and food into the mouth. In ray-finned fishes, mouth expansion is both fast and forceful, and therefore requires considerable power. However, the cranial muscles of these fishes are relatively small and may not be able to produce enough power for suction expansion. The axial swimming muscles of these fishes also attach to the feeding apparatus and have the potential to generate mouth expansion. Because of their large size, these axial muscles could contribute substantial power to suction feeding. To determine whether suction feeding is powered primarily by axial muscles, we measured the power required for suction expansion in largemouth bass and compared it to the power capacities of the axial and cranial muscles. Using X-ray reconstruction of moving morphology (XROMM), we generated 3D animations of the mouth skeleton and created a dynamic digital endocast to measure the rate of mouth volume expansion. This time-resolved expansion rate was combined with intraoral pressure recordings to calculate the instantaneous power required for suction feeding. Peak expansion powers for all but the weakest strikes far exceeded the maximum power capacity of the cranial muscles. The axial muscles did not merely contribute but were the primary source of suction expansion power and generated up to 95% of peak expansion power. The recruitment of axial muscle power may have been crucial for the evolution of high-power suction feeding in ray-finned fishes.

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

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

Static and Dynamic Error of a Biplanar Videoradiography System Using Marker-Based and Markerless Tracking Techniques

The use of biplanar videoradiography technology has become increasingly popular for evaluating joint function in vivo. Two fundamentally different methods are currently employed to reconstruct 3D bone motions captured using this technology. Marker-based tracking requires at least three radio-opaque markers to be implanted in the bone of interest. Markerless tracking makes use of algorithms designed to match 3D bone shapes to biplanar videoradiography data. In order to reliably quantify in vivo bone motion, the systematic error of these tracking techniques should be evaluated. Herein, we present new markerless tracking software that makes use of modern GPU technology, describe a versatile method for quantifying the systematic error of a biplanar videoradiography motion capture system using independent gold standard instrumentation, and evaluate the systematic error of the W.M. Keck XROMM Facilitys biplanar videoradiography system using both marker-based and markerless tracking algorithms under static and dynamic motion conditions. A polycarbonate flag embedded with 12 radio-opaque markers was used to evaluate the systematic error of the marker-based tracking algorithm. Three human cadaveric bones (distal femur, distal radius, and distal ulna) were used to evaluate the systematic error of the markerless tracking algorithm. The systematic error was evaluated by comparing motions to independent gold standard instrumentation. Static motions were compared to high accuracy linear and rotary stages while dynamic motions were compared to a high accuracy angular displacement transducer. Marker-based tracking was shown to effectively track motion to within 0.1 mm and 0.1 deg under static and dynamic conditions. Furthermore, the presented results indicate that markerless tracking can be used to effectively track rapid bone motions to within 0.15 deg for the distal aspects of the femur, radius, and ulna. Both marker-based and markerless tracking techniques were in excellent agreement with the gold standard instrumentation for both static and dynamic testing protocols. Future research will employ these techniques to quantify in vivo joint motion for high-speed upper and lower extremity impacts such as jumping, landing, and hammering.

Sound production during feeding in Hippocampus seahorses (Syngnathidae)

While there have been many anecdotal reports of sounds produced by Hippocampus seahorses, little is known about the mechanisms of sound production. We investigated clicking sounds produced during feeding strikes in H. zosterae and H. erectus. Descriptions of head morphology support the idea that feeding clicks may represent stridulatory sounds produced by a bony articulation between the supraoccipital ridge of the neurocranium and the grooved anterior margin of the coronet. Analysis of high-speed video and synchronous sound recordings of H. erectus indicate that the feeding click begins within 1-2 msec of the onset of the rapid feeding strike (4 msec mean duration). Surgical manipulations of the supraoccipital-coronet articulation resulted in a decreased proportion of feeding strikes that produced clicks. This study provides several lines of evidence in support of the hypothesis that feeding clicks in Hippocampus seahorses are stridulatory in origin and are produced by the supraoccipital-coronet articulation. Our results are not consistent with previous suggestions that sounds may be produced by cavitation due to rapid pressure changes within the buccal cavity during the feeding strike.

Patterns of genome size evolution in tetraodontiform fishes

Abstract We used flow cytometry to measure genome size in 15 species from seven families and subfamilies of tetraodontiform fishes. Previous studies have found that smooth pufferfishes (Tetraodontidae) have the smallest genome of any vertebrate measured to date (0.7–1.0 picograms diploid). We found that spiny pufferfishes (Diodontidae, sister group to the smooth puffers) possess a genome that is about two times larger (1.6–1.8 pg). Mola mola, a member of the sister group to Diodontidae and Tetraodontidae, also has a relatively large genome (1.7 pg). Parsimony analysis of this pattern indicates that the plesiomorphic condition for Molidae (Diodontidae, Tetraodontidae) is a genome size of 1.6–1.8 pg, and that tiny genome size is a derived character unique to smooth puffers. However, an alternative explanation is that the ancestor of Tetraodontidae acquired a heritable tendency toward decreasing genome size, such as a new or modified deletion mechanism, and genome size in all of the tetraodontid lineages has been decreasing in parallel since the split from Diodontidae. Small genome size (1.1–1.3 pg) also appears to have evolved independently in some members of Balistoidea (triggerfishes and filefishes) within Tetraodontiformes.