Scaling of swimming performance in baleen whales

The scale dependence of locomotor factors has long been studied in comparative biomechanics, but remains 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 (proportional to length(-0.5)(3)) while cruising speed remains roughly invariant (proportional to length(0.08)) at 2 m s(-1). We compared these measured results for oscillatory frequency against simplified models of an oscillating cantilever beam (proportional to length(-1)) and an optimized oscillating Strouhal vortex generator (proportional to 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 (proportional to length(-1)). 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

Drone-based photogrammetry reveals differences in humpback whale body condition and mass across North Atlantic foraging grounds

Baleen whales are key consumers in marine ecosystems and can serve as ecosystem sentinels. Body condition, defined as an individual’s energy stores relative to its structural size, can provide a useful proxy for health in baleen whales. As capital breeders, important life history events in baleen whales such as seasonal migrations and reproduction depend on having sufficient energy stores. Spatiotemporal variability of body condition of baleen whales can reflect differences in energy accumulated during the foraging season. Here we assess and compare the body condition and mass of humpback whales (Megaptera novaeangliae) across four different foraging areas from the West Indies distinct population segment in the Northwest Atlantic. Morphometric measurements of humpback whales were obtained using unoccupied aerial systems (UAS, or drones) from the New York Bight, the Gulf of Maine, Iceland, and Greenland. Uncertainty in morphometric estimates was incorporated and propagated using a bootstrapping approach. Measurements were used to estimate body volume and calculate a body condition index (BCI) for each individual whale. Since body mass is a key parameter for understanding animal physiology and bioenergetics, we further compared whale body mass to body size between foraging areas by converting body volume to body mass using estimates of tissue density from tagging studies. BCI showed significant differences between foraging areas with a large effect size (ANCOVA: mean η2 = 0.168; all p< 0.001) when incorporating day of year and year as covariates. Humpback whales in the Gulf of Maine showed significantly higher BCI than those in the New York Bight, Iceland, and Greenland. Standardized Major Axis (SMA) regressions comparing log-log relationships of both body volume and body mass, respectively, to total length reinforced these results. Humpback whales in the Gulf of Maine showed significantly higher elevation in the SMAs than those in the other study regions (p<0.001), implying that humpback whales foraging in the Gulf of Maine accumulated greater energy reserves for a given body size. Estimates of body mass indicate that for a given body length, humpback whales in the Gulf of Maine have an 18% greater body mass than those in the New York Bight, Iceland, or Greenland. Regional differences in prey availability or anthropogenic threats could contribute to the observed patterns in body condition. Our findings highlight the importance of regional environmental factors to the nutritional health of baleen whales

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.We thank the crews of many research vessels including the R/V John Martin, R/V Fluke, ARSV Laurence M. Gould, R/V Sanna, M/V Antonie, M/V Northern Song, the Cascadia Research Collective and the Shallow Marine Surveys Group; in particular, we thank John Douglas, Andrew Bell, Shaun Tomlinson, Steve Cartwright, Tony D'Aoust, Dennis Rogers, Kelly Newton, Heather Riley, Gina Rousa and Mark Rousa. We also thank Brandon L. Southall, Alison K. Stimpert and Stacy L. DeRuiter for their role in collecting data as part of the SOCAL-BRS project. We thank Matt S. Savoca, Julian Dale and Danuta M. Wisniewska for assistance with data collection. Finally, we thank John H. Kennedy, Michael A. Thompson and the NSF Office of Polar Programs.Ye