The interplay between aerobic metabolism and antipredator performance: vigilance is related to recovery rate after exercise

When attacked by a predator, fish respond with a sudden fast-start motion away from the threat. Although this anaerobically-powered swimming necessitates a recovery phase which is fueled aerobically, little is known about links between escape performance and aerobic traits such as aerobic scope (AS) or recovery time after exhaustive exercise. Slower recovery ability or a reduced AS could make some individuals less likely to engage in a fast-start response or display reduced performance. Conversely, increased vigilance in some individuals could permit faster responses to an attack but also increase energy demand and prolong recovery after anaerobic exercise. We examined how AS and the ability to recover from anaerobic exercise relates to differences in fast-start escape performance in juvenile golden gray mullet at different acclimation temperatures. Individuals were acclimated to either 18, 22, or 26°C, then measured for standard and maximal metabolic rates and AS using intermittent flow respirometry. Anaerobic capacity and the time taken to recover after exercise were also assessed. Each fish was also filmed during a simulated attack to determine response latency, maximum speed and acceleration, and turning rate displayed during the escape response. Across temperatures, individuals with shorter response latencies during a simulated attack are those with the longest recovery time after exhaustive anaerobic exercise. Because a short response latency implies high preparedness to escape, these results highlight the trade-off between the increased vigilance and metabolic demand, which leads to longer recovery times in fast reactors. These results improve our understanding of the intrinsic physiological traits that generate inter-individual variability in escape ability, and emphasize that a full appreciation of trade-offs associated with predator avoidance and energy balance must include energetic costs associated with vigilance and recovery from anaerobic exercise

The role of physiological traits in assortment among and within fish shoals

Individuals of gregarious species often group with conspecifics to which they are phenotypically similar. This among-group assortment has been studied for body size, sex and relatedness. However, the role of physiological traits has been largely overlooked. Here, we discuss mechanisms by which physiological traits—particularly those related to metabolism and locomotor performance—may result in phenotypic assortment not only among but also within animal groups. At the among-group level, varying combinations of passive assortment, active assortment, phenotypic plasticity and selective mortality may generate phenotypic differences among groups. Even within groups, however, individual variation in energy requirements, aerobic and anaerobic capacity, neurological lateralization and tolerance to environmental stressors are likely to produce differences in the spatial location of individuals or associations between group-mates with specific physiological phenotypes. Owing to the greater availability of empirical research, we focus on groups of fishes (i.e. shoals and schools). Increased knowledge of physiological mechanisms influencing among- and within-group assortment will enhance our understanding of fundamental concepts regarding optimal group size, predator avoidance, group cohesion, information transfer, life-history strategies and the evolutionary effects of group membership. In a broader perspective, predicting animal responses to environmental change will be impossible without a comprehensive understanding of the physiological basis of the formation and functioning of animal social groups. This article is part of the themed issue ‘Physiological determinants of social behaviour in animals’

Transcriptional control of behaviour: engrailed knockout changes cockroach escape trajectories

The cerci of the cockroach are covered with identified sensory hairs that detect air movements. The sensory neurons that innervate these hairs synapse with giant interneurons in the terminal ganglion that in turn synapse with interneurons and leg motor neurons in thoracic ganglia. This neural circuit mediates the animal's escape behavior. The transcription factor Engrailed (En) is expressed only in the medially born sensory neurons, which suggested that it could work as a positional determinant of sensory neuron identity. Previously, we used double-stranded RNA interference to abolish En expression and found that the axonal arborization and synaptic outputs of an identified En-positive sensory neuron changed so that it came to resemble a nearby En-negative cell, which was itself unaffected. We thus demonstrated directly that En controls synaptic choice, as well as axon projections. Is escape behavior affected as a result of this miswiring? We showed recently that adult cockroaches keep each escape unpredictable by running along one of a set of preferred escape trajectories (ETs) at fixed angles from the direction of the threatening stimulus. The probability of selecting a particular ET is influenced by wind direction. In this present study, we show that early instar juvenile cockroaches also use those same ETs. En knock-out significantly perturbs the animals' perception of posterior wind, altering the choice of ETs to one more appropriate for anterior wind. This is the first time that it has been shown that knock-out of a transcription factor controlling synaptic connectivity can alter the perception of a directional stimulus

Preparing for escape: anti-predator posture and fast-start performance in gobies

SUMMARYThe adoption of postures as a response to threats is often interpreted in terms of predator detection or signalling (e.g. vigilance and defence display). The possibility that an alternative or additional function of anti-predator postures might be to enhance the subsequent escape has been largely unexplored. Here, we use black goby (Gobius niger) to test the hypothesis that a postural curvature caused by a bending response (i.e. a slow muscle contraction which bends the body with no forward displacement)induced by a weak stimulus (WS) may affect escape responses. Three experiments were carried out. (1) Control and WS-stimulated fish were startled using lateral mechanical stimuli, to test whether the orientation of the postural C-bend affected escape direction and performance. Postural curvature was defined as positive when escapes were towards the convex side of the postural C-shape, and negative when they were towards the concave side. Locomotor performance increased with postural curvature, although fish showed a preference for escaping away from the stimulus regardless of postural curvature. (2) Control and WS-stimulated fish were startled from above, hence minimising the directionality of the threat on the horizontal plane. WS-stimulated fish showed a bias towards escaping from a positive curvature,thereby enhancing their locomotor performance. (3) Field observations with stimuli coming from above showed that gobies escape most often towards the convex side of the postural C-shape. By escaping from positively curved postures, most of the initial tailsweep is directed backwards and may provide more thrust than when starting from straight or negatively curved postures. Hence, the anti-predator posture adopted by alerted benthic fishes may`prepare' them for their subsequent escape response because it conveys an advantage when they are attacked from above (a likely occurrence), although when gobies are stimulated horizontally, escape direction may be favoured over high locomotor performance when the two trade off

A PVS-Simulink Integrated Environment for Model-Based Analysis of Cyber-Physical Systems

This paper presents a methodology, with supporting tool, for formal modeling and analysis of software components in cyber-physical systems. Using our approach, developers can integrate a simulation of logic-based specifications of software components and Simulink models of continuous processes. The integrated simulation is useful to validate the characteristics of discrete system components early in the development process. The same logic-based specifications can also be formally verified using the Prototype Verification System (PVS), to gain additional confidence that the software design complies with specific safety requirements. Modeling patterns are defined for generating the logic-based specifications from the more familiar automata-based formalism. The ultimate aim of this work is to facilitate the introduction of formal verification technologies in the software development process of cyber-physical systems, which typically requires the integrated use of different formalisms and tools. A case study from the medical domain is used to illustrate the approach. A PVS model of a pacemaker is interfaced with a Simulink model of the human heart. The overall cyber-physical system is co-simulated to validate design requirements through exploration of relevant test scenarios. Formal verification with the PVS theorem prover is demonstrated for the pacemaker model for specific safety aspects of the pacemaker design

Modeling communication network requirements for an integrated clinical environment in the Prototype Verification System

Health care practices increasingly rely on complex technological infrastructure, and new approaches to the integration of information and communication technology in those practices lead to the development of such concepts as integrated clinical environments and smart intensive care units. These concepts refer to hospital settings where therapy relies heavily on inter-operating medical devices, supervised by clinicians assisted by advanced monitoring and co-ordinating software. In order to ensure safety and effectiveness of patient care, it is necessary to specify the requirements of such socio-technical systems in the most rigorous and precise way. This paper presents an approach to the formalization of system requirements for communication networks deployed in integrated clinical environment, based on the higher-order logic language of a theorem-proving environment, the Prototype Verification System

Towards a Formalization of System Requirements for an Integrated Clinical Environment

Interoperability of medical devices, and their interface to clinicians and patients, are critical issues for the safety and effectiveness of patient care. Ongoing efforts strive at establishing standards for integrated clinical environments, which may connect and co-ordinate several medical devices and interface them to patients, clinicians, and hospital information systems. In this paper, an approach to the formalization of system requirements for an integrated clinical environment is presented. The formalization relies on the higher-order logic language of the Prototype Verification System

Fish swimming in schools save energy regardless of their spatial position

For animals, being a member of a group provides various advantages, such as reduced vulnerability to predators, increased foraging opportunities and reduced energetic costs of locomotion. In moving groups such as fish schools, there are benefits of group membership for trailing individuals, who can reduce the cost of movement by exploiting the flow patterns generated by the individuals swimming ahead of them. However, whether positions relative to the closest neighbours (e.g. ahead, sided by side or behind) modulate the individual energetic cost of swimming is still unknown. Here, we addressed these questions in grey mullet Liza aurata by measuring tail-beat frequency and amplitude of 15 focal fish, swimming in separate schools, while swimming in isolation and in various positions relative to their closest neighbours, at three speeds. Our results demonstrate that, in a fish school, individuals in any position have reduced costs of swimming, compared to when they swim at the same speed but alone. Although fish swimming behind their neighbours save the most energy, even fish swimming ahead of their nearest neighbour were able to gain a net energetic benefit over swimming in isolation, including those swimming at the front of a school. Interestingly, this energetic saving was greatest at the lowest swimming speed measured in our study. Because any member of a school gains an energetic benefit compared to swimming alone, we suggest that the benefits of membership in moving groups may be more strongly linked to reducing the costs of locomotion than previously appreciated

Animal escapology II: escape trajectory case studies

Escape trajectories (ETs; measured as the angle relative to the direction of the threat) have been studied in many taxa using a variety of methodologies and definitions. Here, we provide a review of methodological issues followed by a survey of ET studies across animal taxa, including insects, crustaceans, molluscs, lizards, fish, amphibians, birds and mammals. Variability in ETs is examined in terms of ecological significance and morpho-physiological constraints. The survey shows that certain escape strategies (single ETs and highly variable ETs within a limited angular sector) are found in most taxa reviewed here, suggesting that at least some of these ET distributions are the result of convergent evolution. High variability in ETs is found to be associated with multiple preferred trajectories in species from all taxa, and is suggested to provide unpredictability in the escape response. Random ETs are relatively rare and may be related to constraints in the manoeuvrability of the prey. Similarly, reports of the effect of refuges in the immediate environment are relatively uncommon, and mainly confined to lizards and mammals. This may be related to the fact that work on ETs carried out in laboratory settings has rarely provided shelters. Although there are a relatively large number of examples in the literature that suggest trends in the distribution of ETs, our understanding of animal escape strategies would benefit from a standardization of the analytical approach in the study of ETs, using circular statistics and related tests, in addition to the generation of large data sets.Escape trajectories (ETs; measured as the angle relative to the direction of the threat) have been studied in many taxa using a variety of methodologies and definitions. Here, we provide a review of methodological issues followed by a survey of ET studies across animal taxa, including insects, crustaceans, molluscs, lizards, fish, amphibians, birds and mammals. Variability in ETs is examined in terms of ecological significance and morpho-physiological constraints. The survey shows that certain escape strategies (single ETs and highly variable ETs within a limited angular sector) are found in most taxa reviewed here, suggesting that at least some of these ET distributions are the result of convergent evolution. High variability in ETs is found to be associated with multiple preferred trajectories in species from all taxa, and is suggested to provide unpredictability in the escape response. Random ETs are relatively rare and may be related to constraints in the manoeuvrability of the prey. Similarly, reports of the effect of refuges in the immediate environment are relatively uncommon, and mainly confined to lizards and mammals. This may be related to the fact that work on ETs carried out in laboratory settings has rarely provided shelters. Although there are a relatively large number of examples in the literature that suggest trends in the distribution of ETs, our understanding of animal escape strategies would benefit from a standardization of the analytical approach in the study of ETs, using circular statistics and related tests, in addition to the generation of large data sets