Search Results (18)

The integration of biomimetic pectoral fins into robotic fish presents a promising approach to enhancing maneuverability, stability, and braking efficiency in underwater robotics. This study investigates a 1-DOF (degree of freedom) pectoral fin mechanism integrated into the SpineWave robotic fish. Through force measurements and particle image velocimetry (PIV), we optimized control parameters to improve braking and turning performances. The results show a 50% reduction in stopping distance, significantly enhancing agility and control. The fin-assisted braking and turning modes enable precise movements, making this approach valuable for autonomous underwater vehicles. This research lays the groundwork for adaptive fin designs and real-time control strategies, with applications in underwater exploration, environmental monitoring, and search-and-rescue operations. Full article

This study estimated the age and growth of reared Atlantic bluefin tuna by analyzing two calcified structures: the caudal vertebrae and the dorsal fin spines. The aim was to compare the two ageing methods. A total of 613 dorsal fin spines and 613 vertebrae were aged, with each pair of calcified structures derived from the same individual fish. The age of each fish was determined from the number of visible growth bands on the structures. The estimated ages ranged from 4 to 20 years for dorsal fin spines and from 5 to 17 years for caudal vertebrae. Both calcified structures were demonstrated to be suitable for ageing bluefin tuna. The percent agreement between the two methods was high in medium-sized fish but lower in larger fish. Additionally, the results showed a tendency to estimate fewer years in vertebrae than in dorsal fin spines for fish older than 11 years. For the samples where no bias was found between the two ageing methods (N = 215), the von Bertalanffy growth model was fitted to the mean lengths at estimated ages, with the growth parameters determined as follows: L_∞ = 372.3 cm, k = 0.075 yr⁻¹, and t₀ = −1.292 yr. This research makes a novel contribution to the field by conducting a direct, large-scale comparison of age estimates derived from two different calcified structures, addressing a notable gap in the literature and offering critical insights into the consistency and reliability of ageing methods used in stock assessment. Full article

The threadsail filefish, Stephanolepis cirrhifer, is an economically important marine species. However, wild catches have sharply decreased over the past 20 years, causing S. cirrhifer to be added to the IUCN Red List of Threatened Species. Accordingly, this study seeks to promote technological development for artificial breeding and early life-stage farming by defining the morphological characteristics of ontogenesis. The fertilized eggs, with a diameter of 0.62 ± 0.01 mm, were spherical and sticky and contained multiple oil globules of varying sizes. The embryonic development was observed and divided into eight phases, which were cleavage, blastocyst, gastrula, neurula, organogenesis, muscular contraction, heart pulsation, and hatching. At 3 days post-hatching (dph), the yolk sac was completely absorbed. The eye developed rapidly, and the mouth fissure and anus initially formed. Some larvae were fed on S-rotifers (Brachionus plicatilis). At 6–8 dph, the upper and lower jaws of larvae were gradually covered by leathery skin, and the head-to-body proportion increased. At 14–16 dph, the fin differentiation occurred in the dorsal, anal, and pectoral fins, with widespread distribution of yellow and melanin on the body surface. Swim bladder was clear. The swimming ability of larva was enhanced, resulting in an obvious clustering phenomenon. At 22–25 dph, the end of the notochord continued to tilt upwards, forming a tail fin. The trunk was evenly distributed with protruding circular punctate scales. The snout was covered with leathery epidermis, and the mouth began to round. At 40–45 dph, the juvenile completed metamorphosis, with horizontal dark stripes appearing on the trunk. Pigmented spots appeared on the tail fins. The counts of dorsal and anal fin spines were 34–36 and 32–34 dph, respectively. During the development of larvae and juveniles, the growth parameters, such as total length, standard length, body height, and body weight, were made as growth curves. The slopes of growth curves were calculated. We found two inflexion points occurring in the growth curves, which may be associated with metamorphosis and transitions in feeding habits. These results enrich the biological understanding of filefish species while providing guidance for artificial propagation and fry production in S. cirrhifer. Full article

The Indo-West Pacific scombrid genus Rastrelliger Jordan & Starks is reviewed. Formerly, the genus was considered to contain three valid species, viz., R. brachysoma (Bleeker, 1851) known from the south-east coast of India to Samoa Islands; R. faughni Matsui, 1967 reported from the south-east coast of India to Fiji; and R. kanagurta (Cuvier, 1816), the most widespread species known from the east coast of Africa and the Persian/Arabian Gulf east to Tonga. Herein, R. chrysozonus (Rüppell, 1836), restricted to the Red Sea, is resurrected from the synonymy with R. kanagurta and both species are redescribed in detail, based on an integrative morphological and molecular assessment. Consequently, Scomber microlepidotus Rüppell, 1836 is moved from the synonymy with R. kanagurta to synonymy with R. chrysozonus. Rastrelliger chrysozonus differs from R. kanagurta primarily by a longer upper jaw. Rastrelliger brachysoma differs from the other three species by a deeper body, a deeper caudal peduncle, and a very long intestine. Rastrelliger faughni differs from the other three species in having a more slender body, usually X spines in the first dorsal fin (versus IX spines), shorter and fewer gill rakers, a shorter maxilla, and a shorter intestine. The phylogenetic analysis of mitochondrial genes of all Rastrelliger species also demonstrated that R. chrysozonus forms a well divergent evolutionary lineage, with R. kanagurta being its closest relative. In addition to the redescriptions of R. chrysozonus and R. kanagurta, brief species accounts for R. brachysoma and R. faughni and the key to the four species are provided. Full article

We describe four new species of the fossil genus Dapalis (Ambassidae), Dapalis absconditus sp. nov., Dapalis octospinus sp. nov., Dapalis parvus sp. nov. and Dapalis quintus sp. nov., based on articulated skeletons with otoliths in situ from a freshwater habitat of the lower Oligocene of Raljin/Strelac (Serbia). Besides in body shape (e.g., body length, body depth, head length, preanal length), the species differ in morphological characters like, e.g., the serration of the preopercle, the length of the first two spines of the first dorsal and the anal fin and the morphology of the sagittal otoliths (e.g., ratio of otolith height to otolith length, ratio of otolith width to otolith length). Together with D. pauciserratus, also described from Raljin, these four species represent the most species-rich assemblage of freshwater Dapalis known so far. The compartmentalization of the internal structure of the spines reveals the close relationship of Dapalis and extant Ambassidae. Additionally, we discuss a new character from the ventral field of the otolith, a ventral depression, only found in species from Raljin. This new character is unique among the European Dapalis species and allows us to separate these five species into two species groups. Full article

Oscillating fins are devices designed to produce thrust through periodic undulating movements. However, these structures lack flexibility and often provide thrust in only one fixed direction. Observation and biological references suggest that the dorsal fin rays of seahorses can tilt longitudinally in the spine direction, changing the thrust direction. This study aims to analyze the dynamic effects of seahorse dorsal fin inclining and design a flexible bionic thruster based on this principle. Computational fluid dynamics analysis hypothesizes that fin inclination controls the net force direction in the vertical plane. A force sensor and pulley system test platform were constructed to examine the influences of wave features and the inclination angle on thrust in both vertical and horizontal directions, with discrete fin surfaces used to eliminate force interference. Force testing and snapshots indicate that wave velocity positively impacts net force magnitude, while fin inclination allows for control over force orientation. This tiltable oscillating fin thruster possesses more degrees of freedom, leading to better flexibility and providing controllable thrust orientation. Full article

We examine the distribution, habitat association, morphometrics, meristics, and reproductive attributes of Amblyraja radiata over much of its Canadian range, Grand Banks to Arctic waters. It is distributed widely on the shelf and upper slope between 30 and 1288 m, reaching highest density in 100–400 m and occupying most available temperatures, between −1.0 and 8.8 °C, but concentrating in 1.6–3.5 °C. The maximum (and average) size decreases with increasing latitude in a continuum from 102 cm (55 cm) in the south, to 45 cm (20 cm) in the north. The proportion of mature fish increases with depth (40% at 0–50 m to 80% at 1150–1200 m) and temperature (35% at <0 °C to 55% at 5+ °C). The size at maturity decreases south to north; size at onset of maturity in males—43 (south) to 19 (north) cm, in females—49 to 23 cm; length at 50% maturity in males—74 to 44 cm, in females—66 to 40 cm. A. radiata maturity is also reflected in the rapid increase in the size of secondary sexual characteristics. Some meristics were consistent over the entire study area (spines near the spiracles and shoulders) while others varied with latitude (teeth rows, midline spines, spines near the eyes, % dorsal fins joined, spines between dorsal fins) or by fish length/maturity; the tail length/total length as a proportion of total length decreased during Stage 1 then increased at onset of maturity. Full article

Deepwater survey data and specimens collected from the Grand Banks to Baffin Bay in the Northwest Atlantic were used to examine the distribution, morphometrics, meristics and maturity of two siblings, Amblyraja hyperborea and A. jenseni. Our study confirmed that the two species occupy different locations, their distributions separated by Davis Strait, a biogeographic break separating Atlantic from Arctic waters. A. hyperborea with a smaller maximum size and size at maturity inhabited colder Arctic slope waters in Baffin Bay while larger A. jenseni were located in warmer Atlantic slope waters. Despite their distributional separation and thus reproductive isolation, spine counts and body morphology were almost indistinguishable between species. Only upper jaw teeth row count and difference in the size of spines on the mid-rear wings differentiated the two species. Also, for both species, the proportion of dorsal fins joined, disc shape and relative tail length changed with total length. Secondary reproductive anatomy, clasper length and vas deferens weight, shell gland and uterus weight underwent initial acceleration in growth when the gonads transitioned to stage 2 (adolescent, maturing). Also, YOY A. hyperborea were found to distribute at shallower depths than larger stages, constituting a nursery, which was not observed for A. jenseni. Full article

This paper presents a biomimetic fish robot featuring a flexible spine driven by cables, which integrates the cable-driven mechanism with a flexible spine. The drive system separates the body and tail fin drives for control, offering enhanced flexibility and ease in achieving phase difference control between the body and tail fin movements compared to the conventional servo motor cascaded structure. A prototype of the biomimetic fish robot was developed, accompanied by the establishment of a kinematic model. Based on this model, a control method for the biomimetic fish is proposed. Additionally, we introduce the concept of prestress to establish a numerical model for the biomimetic fish. Using multi-physical field simulation software, we simulate the two-dimensional autonomous swimming process of the biomimetic fish under different flapping frequencies and solve for its swimming characteristics as well as hydrodynamic properties. Both the simulation and experimental results validate the accuracy of our kinematic model. Full article

This study introduces a cybernetic control and architectural framework for a robotic fish avatar operated by a human. The behavior of the robot fish is influenced by the electromyographic (EMG) signals of the human operator, triggered by stimuli from the surrounding objects and scenery. A deep artificial neural network (ANN) with perceptrons classifies the EMG signals, discerning the type of muscular stimuli generated. The research unveils a fuzzy-based oscillation pattern generator (OPG) designed to emulate functions akin to a neural central pattern generator, producing coordinated fish undulations. The OPG generates swimming behavior as an oscillation function, decoupled into coordinated step signals, right and left, for a dual electromagnetic oscillator in the fish propulsion system. Furthermore, the research presents an underactuated biorobotic mechanism of the subcarangiform type comprising a two-solenoid electromagnetic oscillator, an antagonistic musculoskeletal elastic system of tendons, and a multi-link caudal spine composed of helical springs. The biomechanics dynamic model and control for swimming, as well as the ballasting system for submersion and buoyancy, are deduced. This study highlights the utilization of EMG measurements encompassing sampling time and $\mu$-volt signals for both hands and all fingers. The subsequent feature extraction resulted in three types of statistical patterns, namely, $\mathsf{\Omega },\gamma ,\lambda$, serving as inputs for a multilayer feedforward neural network of perceptrons. The experimental findings quantified controlled movements, specifically caudal fin undulations during forward, right, and left turns, with a particular emphasis on the dynamics of caudal fin undulations of a robot prototype. Full article

Atlantic Goliath Grouper, Epinephelus itajara, the largest grouper in the western North Atlantic, exhibits life history characteristics (e.g., it is slow-growing, long-lived, and late-maturing) that make it particularly susceptible to fishing pressure. Otoliths, the structure typically processed for age determination, are usually collected as part of fishery monitoring, but otoliths are not available from Goliath Grouper due to a harvest moratorium enacted in 1990 for United States waters. Alternative structures—such as dorsal fin rays or spines—can be acquired for ageing via nonlethal sampling and may provide reliable age estimates. Since 2006, the Florida Fish and Wildlife Conservation Commission (FWC) has been collecting incidental Goliath Grouper samples from mortality events including those from cold kills and red tides. Corresponding otolith, dorsal fin ray and dorsal fin spine samples were compared to determine the accuracy and precision of the external ageing structures. Marginal increment analyses indicated that annulus (translucent zone) deposition occurred primarily in March–June on spines and in April–June on rays. While ages determined from both rays and spines exhibited high precision, the accuracy compared to otolith ages was low as a result of systematic underageing of both external structures, particularly at the oldest age classes. A correction factor was applied to rays and spines that remedied the underageing, but the correction factor was more successful for spines. An analysis of ray and spine section accuracy based on nonlethal structure removal from the fish (i.e., comparing ages from sections at the base of the structure within the body to those sectioned from the external surface of the body) determined that spines can be accurately aged when sampled distal of the base of the structure, but that rays cannot. Nonlethal sampling and ageing of Goliath Grouper spines facilitated by public participation could address management goals and help determine the offshore population age structure. Simultaneously, it could contribute critical data needed for a traditional stock assessment, should such a path be warranted by the recovery or management of the species. Full article

Pinnules are the peculiar, impaired spines that carry each of the numerous finlets that constitute the dorsal fins of polypterid fishes (Cladistia and Polypteriformes). Previous studies, including a recent detailed paper on the comparative analysis of the morphology of pinnules in most of the extant species (genera Polypterus and Erpetoichthys), suggest that they display unique characteristics that allow for species identification. Since most of the polypterid fossil records are composed of scales that lack specific characteristics and isolated pinnules, this work aims to test their taxonomic relevance before comparing the fossil pinnule morphologies across the fossil records in order to evaluate polypterid paleodiversity. Therefore, we describe the intra-individual and intra-specific morphological variations of the pinnules in the extant species Polypterus bichir. Furthermore, we compared it with the various morphologies described in the Polypteridae family. We report intra-individual variability related to the anteroposterior axis of the dorsal fin. We also report morphological differences in the pinnules among specimens that overlap those anticipated among different species, concluding that the pinnule morphology cannot support taxonomic purposes in polypterid fishes in their current state. Full article

Given the identification of the new species Johnius taiwanesis, the Johnius genus in Taiwanese water is here reviewed through a collection of field samples, museum specimens, and a review of the Taiwanese scientific literature. Seven valid Johnius species were successfully identified and distinguished based on gill raker length, tip of upper jaw to mouth hinge length, tip of lower jaw to mouth hinge length, and length of second spine of anal fin. Our phylogenetic tree based on cytochrome oxidase subunit I (COI) showed the existence of high interspecific genetic diversity within the genus Johnius forming a monophyletic group. The Johnius species in Taiwan are mainly distributed in a latitude ranging from Xingda (22.4° N) to Hsinchu (24.8° N) with J. taiwanensis, J. distinctus, and J. belangerii representing the most abundant species caught throughout the year. Johnius amblycephalus and J. borneensis were only caught in the summer, while J. trewavasae was rarely caught. In conclusion, we provide a dichotomous key for the genus Johnius in Taiwan waters. Full article

The relation between specific sport practice and possible spine modifications is unclear. The aim of this study was to investigate the effects of different sports on the spine in adult varsity athletes across a six month sports season. Forty-four athletes (24.5 ± 3 years) were divided into two groups according to the typology of the sport practiced: the symmetric sports group (S, 22 athletes: track and field running, n = 14; cycling, n = 8), and the asymmetric sports group (A, 22 athletes: tennis, n = 22). The participants’ spines were evaluated with Formetric^® 4D rasterstereographic analysis at the beginning (BL), in the middle (INT), and at the end (FIN) of the season. Twenty-five parameters were measured in an average 4D modality. The results showed that the intervention factor (BL vs. FIN) had a significant effect on dimple distance (p < 0.05) and on left lateral deviation (BL vs. FIN and INT vs. FIN, p < 0.01 and p < 0.01, respectively). Statistical differences were found for the sport typology factor for pelvic antero-retroversion and right lateral deviation. For left lateral deviation, no modulation was found for the sport typology. Asymmetric versus symmetric sport loads showed small statistical differences in a non-professional sample of adult athletes. The practice of asymmetric sports should also be encouraged without exceeding the total number of hours per week. Full article

Two fluorescent dyes, alizarin red S (ARS) and calcein (CAL), were applied to evaluate the marking effects on the juveniles of Acanthopagrus schlegelii. The total mortality rates of the experimental groups were significantly lower (p < 0.05) than those of control groups, but no significant difference was detected between those of the two staining methods. The fluorescence microscopy observation results showed that the marking quality of ARS was better than that of CAL, with fin spines and fin rays being the best marking tissues. The optimal concentration for ARS and CAL was 200 mg/L and 350 mg/L, respectively. To ensure mark quality, the recommended dye grade was above 3, and the most suitable marking conditions were suggested to be fluorescence labeling with ARS dye at a concentration of 200 mg/L, with immersion for 24 h. The results will provide useful data information for future research on stock enhancement using the chemical marking method. Full article