George V. Lauder

Form and function; structural analysis in evolutionary morphology

A theoretical approach to the analysis of historical factors (Raup 1972) in evolutionary morphology is presented which addresses transformational hypotheses about structural systems. This (structural) approach to testing historical hypotheses about phylogenetic constraints on form and function and structural and functional versatility involves (1) the reconstruction of nested sets of structural features in monophyletic taxa, (2) the use of general or emergent organizational properties of structural and functional systems (as opposed to uniquely derived morphological features), and (3) the comparative examination of the consequences for structural and functional diversity of these general features in related monophyletic taxa. Three examples of emergent organizational properties are considered: structural complexity, repetition of parts, and the decoupling of primitively constrained systems. Two classes of hypotheses about the evolution of design are proposed. Transformational hypotheses concern historical pathways of change in form as a consequence of general organizational features which are primitive for a lineage. Relational hypotheses involve correlations between structure-function networks primitive for a clade and morphological diversity both between and within terminal taxa. To the extent that transformational and relational hypotheses about form are corroborated, they provide evidence of underlying regularity in the transformation of organic design that may be a consequence of the hierarchical organization of structural and functional patterns in organisms.

The Kármán gait: novel body kinematics of rainbow trout swimming in a vortex street

SUMMARY Most fishes commonly experience unsteady flows and hydrodynamic perturbations during their lifetime. In this study, we provide evidence that rainbow trout Oncorhynchus mykiss voluntarily alter their body kinematics when interacting with vortices present in the environment that are not self-generated. To demonstrate this, we measured axial swimming kinematics in response to changes in known hydrodynamic wake characteristics. We compared trout swimming in the Kármán street behind different diameter cylinders (2.5 and 5 cm) at two flow speeds (2.5 and 4.5 L s-1, where L is total body length) to trout swimming in the free stream and in the cylinder bow wake. Trout swimming behind cylinders adopt a distinctive, previously undescribed pattern of movement in order to hold station, which we term the Kármán gait. During this gait, body amplitudes and curvatures are much larger than those of trout swimming at an equivalent flow velocity in the absence of a cylinder. Tail-beat frequency is not only lower than might be expected for a trout swimming in the reduced flow behind a cylinder, but also matches the vortex shedding frequency of the cylinder. Therefore, in addition to choosing to be in the slower flow velocity offered behind a cylinder (drafting), trout are also altering their body kinematics to synchronize with the shed vortices (tuning), using a mechanism that may not involve propulsive locomotion. This behavior is most distinctive when cylinder diameter is large relative to fish length. While tuning, trout have a longer body wavelength than the prescribed wake wavelength, indicating that only certain regions of the body may need to be oriented in a consistent manner to the oncoming vortices. Our results suggest that fish can capture energy from vortices generated by the environment to maintain station in downstream flow. Interestingly, trout swimming in front of a cylinder display lower tail-beat amplitudes and body wave speeds than trout subjected to any of the other treatments, implying that the bow wake may be the most energetically favorable region for a fish to hold station near a cylinder.

The hydrodynamics of eel swimming: I. Wake structure.

SUMMARY Eels undulate a larger portion of their bodies while swimming than many other fishes, but the hydrodynamic consequences of this swimming mode are poorly understood. In this study, we examine in detail the hydrodynamics of American eels (Anguilla rostrata) swimming steadily at 1.4 L s-1 and compare them with previous results from other fishes. We performed high-resolution particle image velocimetry (PIV) to quantify the wake structure, measure the swimming efficiency, and force and power output. The wake consists of jets of fluid that point almost directly laterally, separated by an unstable shear layer that rolls up into two or more vortices over time. Previously, the wake of swimming eels was hypothesized to consist of unlinked vortex rings, resulting from a phase offset between vorticity distributed along the body and vorticity shed at the tail. Our high-resolution flow data suggest that the body anterior to the tail tip produces relatively low vorticity, and instead the wake structure results from the instability of the shear layers separating the lateral jets, reflecting pulses of high vorticity shed at the tail tip. We compare the wake structure to large-amplitude elongated body theory and to a previous computational fluid dynamic model and note several discrepancies between the models and the measured values. The wake of steadily swimming eels differs substantially in structure from the wake of previously studied carangiform fishes in that it lacks any significant downstream flow, previously interpreted as signifying thrust. We infer that the lack of downstream flow results from a spatial and temporal balance of momentum removal (drag) and thrust generated along the body, due to the relatively uniform shape of eels. Carangiform swimmers typically have a narrow caudal peduncle, which probably allows them to separate thrust from drag both spatially and temporally. Eels seem to lack this separation, which may explain why they produce a wake with little downstream momentum while carangiform swimmers produce a wake with a clear thrust signature.

Evolution of the feeding mechanism in primitive actionopterygian fishes: A functional anatomical analysis of Polypterus, Lepisosteus, and Amia

The comparative functional anatomy of feeding in Polypterus senegalus, Lepisosteus oculatus, and Amia calva, three primitive actinopterygian fishes, was studied by high‐speed cinematography (200 frames per second) synchronized with electromyographic recordings of cranial muscle activity. Several characters of the feeding mechanism have been identified as primitive for actinopterygian fishes: (1) Mandibular depression is mediated by the sternohyoideus muscle via the hyoid apparatus and mandibulohyoid ligament. (2) The obliquus inferioris and sternohyoideus muscles exhibit synchronous activity at the onset of the expansive phase of jaw movement. (3) Activity in the adductor operculi occurs in a double burst pattern—an initial burst at the onset of the expansive phase, followed by a burst after the jaws have closed. (4) A median septum divides the sternohyoideus muscle into right and left halves which are asymmetrically active during chewing and manipulation of prey. (5) Peak hyoid depression occurs only after peak gape has been reached and the hyoid apparatus remains depressed after the jaws have closed. (6) The neurocranium is elevated by the epaxial muscles during the expansive phase. (7) The adductor mandibulae complex is divided into three major sections—an anterior (suborbital) division, a medial division, and a posterolateral division.

Morphology and experimental hydrodynamics of fish fin control surfaces

Over the past 520 million years, the process of evolution has produced a diversity of nearly 25000 species of fish. This diversity includes thousands of different fin designs which are largely the product of natural selection for locomotor performance. Fish fins can be grouped into two major categories: median and paired fins. Fins are typically supported at their base by a series of segmentally arranged bony or cartilaginous elements, and fish have extensive muscular control over fin conformation. Recent experimental hydrodynamic investigation of fish fin function in a diversity of freely swimming fish (including sharks, sturgeon, trout, sunfish, and surfperch) has demonstrated the role of fins in propulsion and maneuvering. Fish pectoral fins generate either separate or linked vortex rings during propulsion, and the lateral forces generated by pectoral fins are of similar magnitudes to thrust force during slow swimming. Yawing maneuvers involve differentiation of hydrodynamic function between left and right fins via vortex ring reorientation. Low-aspect ratio pectoral fins in sharks function to alter body pitch and induce vertical maneuvers through conformational changes of the fin trailing edge. The dorsal fin of fish displays a diversity of hydrodynamic function, from a discrete thrust-generating propulsor acting independently from the body, to a stabilizer generating only side forces. Dorsal fins play an active role in generating off-axis forces during maneuvering. Locomotor efficiency may be enhanced when the caudal fin intercepts the dorsal fin wake. The caudal fin of fish moves in a complex three-dimensional manner and evidence for thrust vectoring of caudal fin forces is presented for sturgeon which appear to have active control of the angle of vortices shed from the tail. Fish are designed to be unstable and are constantly using their control surfaces to generate opposing and balancing forces in addition to thrust. Lessons from fish for autonomous underwater vehicle (AUV) design include: 1) location of multiple control surfaces distributed widely about the center of mass, 2) design of control surfaces that have a high degree of three-dimensional motion through a flexible articulation with the body, 3) the ability to modulate fin surface conformation, and 4) the simultaneous use of numerous control surfaces including locating some fin elements in the downstream wake generated by other fins. The ability to manufacture an AUV that takes advantage of these design features is currently limited by the nature of available materials and mechanical drive trains. But future developments in polymer artificial muscle technology will provide a new approach to propulsor design that will permit construction of biomimetic propulsors with conformational and articulational flexibility similar to that of fish fins.

Fish biorobotics: kinematics and hydrodynamics of self-propulsion

SUMMARY As a result of years of research on the comparative biomechanics and physiology of moving through water, biologists and engineers have made considerable progress in understanding how animals moving underwater use their muscles to power movement, in describing body and appendage motion during propulsion, and in conducting experimental and computational analyses of fluid movement and attendant forces. But it is clear that substantial future progress in understanding aquatic propulsion will require new lines of attack. Recent years have seen the advent of one such new avenue that promises to greatly broaden the scope of intellectual opportunity available to researchers: the use of biorobotic models. In this paper we discuss, using aquatic propulsion in fishes as our focal example, how using robotic models can lead to new insights in the study of aquatic propulsion. We use two examples: (1) pectoral fin function, and (2) hydrodynamic interactions between dorsal and caudal fins. Pectoral fin function is characterized by considerable deformation of individual fin rays, as well as spanwise (along the length) and chordwise (across the fin) deformation and area change. The pectoral fin can generate thrust on both the outstroke and instroke. A robotic model of the pectoral fin replicates this result, and demonstrates the effect of altering stroke kinematics on the pattern of force production. The soft dorsal fin of fishes sheds a distinct vortex wake that dramatically alters incoming flow to the tail: the dorsal fin and caudal fin act as dual flapping foils in series. This design can be replicated with a dual-foil flapping robotic device that demonstrates this phenomenon and allows examination of regions of the flapping performance space not available to fishes. We show how the robotic flapping foil device can also be used to better understand the significance of flexible propulsive surfaces for locomotor performance. Finally we emphasize the utility of self-propelled robotic devices as a means of understanding how locomotor forces are generated, and review different conceptual designs for robotic models of aquatic propulsion.

Passive propulsion in vortex wakes

A dead fish is propelled upstream when its flexible body resonates with oncoming vortices formed in the wake of a bluff cylinder, despite being well outside the suction region of the cylinder. Within this passive propulsion mode, the body of the fish extracts sufficient energy from the oncoming vortices to develop thrust to overcome its own drag. In a similar turbulent wake and at roughly the same distance behind a bluff cylinder, a passively mounted high-aspect-ratio foil is also shown to propel itself upstream employing a similar flow energy extraction mechanism. In this case, mechanical energy is extracted from the flow at the same time that thrust is produced. These results prove experimentally that, under proper conditions, a body can follow at a distance or even catch up to another upstream body without expending any energy of its own. This observation is also significant in the development of low-drag energy harvesting devices, and in the energetics of fish dwelling in flowing water and swimming behind wake-forming obstacles.

Function without purpose

Philosophers of evolutionary biology favor the so-called “etiological concept” of function according to which the function of a trait is its evolutionary purpose, defined as the effect for which that trait was favored by natural selection. We term this the selected effect (SE) analysis of function. An alternative account of function was introduced by Robert Cummins in a non-evolutionary and non-purposive context. Cumminss account has received attention but little support from philosophers of biology. This paper will show that a similar non-purposive concept of function, which we term causal role (CR) function, is crucial to certain research programs in evolutionary biology, and that philosophical criticisms of Cumminss concept are ineffective in this scientific context. Specifically, we demonstrate that CR functions are a vital and ineliminable part of research in comparative and functional anatomy, and that biological categories used by anatomists are not defined by the application of SE functional analysis. Causal role functions are non-historically defined, but may themselves be used in an historical analysis. Furthermore, we show that a philosophical insistence on the primary of SE functions places practicing biologists in an untenable position, as such functions can rarely be demonstrated (in contrast to CR functions). Biologists who study the form and function of organismal design recognize that it is virtually impossible to identify the past action of selection on any particular structure retrospectively, a requirement for recognizing SE functions.

WHAT DOES THE COMPARATIVE METHOD REVEAL ABOUT ADAPTATION

It has been suggested recently that new quantitative methods for analyzing comparative data permit the identification of evolutionary processes. Specifically, it has been proposed that new comparative methods can distinguish the direct effects of natural selection on the distribution of a trait within a clade from the effects of drift, indirect selection, genotype-by-environment interaction, and uncontrolled environmental variation. Such methods can supposedly unravel the relative importance of these factors by the phylogenetic analysis of traits, performance attributes, and habitats. We argue that they cannot. We show that many different evolutionary mechanisms can, in principle, account for any one interspecific pattern, and we illustrate our case using examples from the comparative literature. We argue that these confounded mechanisms can only be unraveled if patterns of selection or genetic variation and covariation are directly measured in many species within a clade. Even though comparative methods are valuable for examining the evolutionary history of traits, they will often mislead in the study of adaptive processes.

Red and white muscle activity and kinematics of the escape response of the bluegill sunfish during swimming

SummaryWe quantified midline kinematics with synchronized electromyograms (emgs) from the red and white muscles on both sides of bluegill sunfish (Lepomis macrochirus) during escape behaviors which were elicited from fish both at a standstill and during steady speed swimming. Analyses of variance determined whether or not kinematic and emg variables differed significantly between muscle fiber types, among longitudinal positions, and between swimming versus standstill trials.At a given longitudinal location, both the red and white muscle were usually activated synchronously during both stages of the escape behavior. Stage 1 emg onsets were synchronous; however, the mean durations of stage 1 emgs showed a significant increase posteriorly from about 11 to 15 ms. Stage 2 emgs had significant posterior propagation, but the duration of the stage 2 emgs was constant (17 ms). Posterior emgs from both stages occurred during lengthening of the contractile tissue (as indicated by lateral bending). Steady swimming activity was confined to red muscle bursts which were propagated posteriorly and had significant posterior decrease in duration from about 50% to 37% of a cycle. Fish performed escape responses during all phases of the steady swimming motor pattern. All kinematic events were propagated posteriorly. Furthermore, no distinct kinematic event corresponded to the time intervals of the stage 1 and 2 emgs. The rate of propagation of kinematic events was always slower than that of the muscle activity. The phase relationship between lateral displacement and lateral bending also changed along the length of the fish. Escape responses performed during swimming averaged smaller amplitudes of stage 2 posterior lateral displacement; however, most other kinematic and emg variables did not vary significantly between these two treatments.