{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,27]],"date-time":"2026-09-27T09:18:39Z","timestamp":1790500719715,"version":"4.1.0"},"reference-count":92,"publisher":"The Company of Biologists","license":[{"start":{"date-parts":[[2019,1,1]],"date-time":"2019-01-01T00:00:00Z","timestamp":1546300800000},"content-version":"am","delay-in-days":0,"URL":"http:\/\/www.biologists.com\/user-licence-1-1\/"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["IOS-1656691"],"award-info":[{"award-number":["IOS-1656691"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000006","name":"Office of Naval Research","doi-asserted-by":"publisher","award":["N000141612477"],"award-info":[{"award-number":["N000141612477"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100010868","name":"School of Humanities and Sciences, Stanford University","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100010868","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"abstract":"<jats:p>The scale-dependence of locomotor factors have long been studied in comparative biomechanics, but remain 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 (\u221d length\u22120.53) while cruising speed remains roughly invariant (\u221d length0.08) at 2 m s\u22121. We compared these measured results for oscillatory frequency against simplified models of an oscillating cantilever beam (\u221d length\u22121) and an optimized oscillating Strouhal vortex generator (\u221d length\u22121). 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 (\u221d length0.07). 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.<\/jats:p>","DOI":"10.1242\/jeb.204172","type":"journal-article","created":{"date-parts":[[2019,9,26]],"date-time":"2019-09-26T18:16:20Z","timestamp":1569521780000},"source":"Crossref","is-referenced-by-count":59,"title":["Scaling of swimming performance in baleen whales"],"prefix":"10.1242","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2701-5299","authenticated-orcid":false,"given":"William T.","family":"Gough","sequence":"first","affiliation":[{"name":"Hopkins Marine Station, Stanford University, Pacific Grove, CA 93950, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2396-2670","authenticated-orcid":false,"given":"Paolo S.","family":"Segre","sequence":"additional","affiliation":[{"name":"Hopkins Marine Station, Stanford University, Pacific Grove, CA 93950, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"K. C.","family":"Bierlich","sequence":"additional","affiliation":[{"name":"Nicholas School of the Environment, Duke University, Beaufort, NC 28516, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3641-1242","authenticated-orcid":false,"given":"David E.","family":"Cade","sequence":"additional","affiliation":[{"name":"Hopkins Marine Station, Stanford University, Pacific Grove, CA 93950, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8071-8340","authenticated-orcid":false,"given":"Jean","family":"Potvin","sequence":"additional","affiliation":[{"name":"Department of Physics, Saint Louis University, St. Louis, MO 633103, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5973-3282","authenticated-orcid":false,"given":"Frank E.","family":"Fish","sequence":"additional","affiliation":[{"name":"Department of Biology, West Chester University, West Chester, PA 19383, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Julian","family":"Dale","sequence":"additional","affiliation":[{"name":"Nicholas School of the Environment, Duke University, Beaufort, NC 28516, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jacopo","family":"di Clemente","sequence":"additional","affiliation":[{"name":"Accademia del Leviatano, V.le dell'Astronomia \u2013 00144 \u2013 Rome \u2013 Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2822-233X","authenticated-orcid":false,"given":"Ari S.","family":"Friedlaender","sequence":"additional","affiliation":[{"name":"Institute of Marine Sciences, University of California Santa Cruz, Santa Cruz, CA 95064, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"David W.","family":"Johnston","sequence":"additional","affiliation":[{"name":"Nicholas School of the Environment, Duke University, Beaufort, NC 28516, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5208-1100","authenticated-orcid":false,"given":"Shirel R.","family":"Kahane-Rapport","sequence":"additional","affiliation":[{"name":"Hopkins Marine Station, Stanford University, Pacific Grove, CA 93950, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"John","family":"Kennedy","sequence":"additional","affiliation":[{"name":"Department of Physics, Saint Louis University, St. Louis, MO 633103, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9095-9770","authenticated-orcid":false,"given":"John H.","family":"Long","sequence":"additional","affiliation":[{"name":"Departments of Biology and Cognitive Science, Vassar College, Poughkeepsie, NY 12604, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Machiel","family":"Oudejans","sequence":"additional","affiliation":[{"name":"Kelp Marine Research, Hoorn, the Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0545-7723","authenticated-orcid":false,"given":"Gwenith","family":"Penry","sequence":"additional","affiliation":[{"name":"Department of Zoology, Institute for Coastal and Marine Research, Nelson Mandela University, Port Elizabeth, South Africa"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7318-4977","authenticated-orcid":false,"given":"Matthew S.","family":"Savoca","sequence":"additional","affiliation":[{"name":"Hopkins Marine Station, Stanford University, Pacific Grove, CA 93950, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Malene","family":"Simon","sequence":"additional","affiliation":[{"name":"Greenland Climate Research Centre, Greenland Institute of Natural Resources, Kivioq 2, 3900 Nuuk, Greenland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7563-2470","authenticated-orcid":false,"given":"Simone K. A.","family":"Videsen","sequence":"additional","affiliation":[{"name":"Zoophysiology, Department of Bioscience, Faculty of Science and Technology, Aarhus University, Aarhus 8000, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1024-3244","authenticated-orcid":false,"given":"Fleur","family":"Visser","sequence":"additional","affiliation":[{"name":"Kelp Marine Research, Hoorn, the Netherlands"},{"name":"Institute for Biodiversity and Ecosystem Dynamics \u2013 Freshwater and Marine Ecology, University of Amsterdam, the Netherlands"},{"name":"Royal Netherlands Institute for Sea Research, Texel, the Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"David N.","family":"Wiley","sequence":"additional","affiliation":[{"name":"US National Oceanic and Atmospheric Administration, Office of National Marine Sanctuaries, Stellwagen Bank National Marine Sanctuary, Scituate, MA 02066, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4170-7294","authenticated-orcid":false,"given":"Jeremy A.","family":"Goldbogen","sequence":"additional","affiliation":[{"name":"Hopkins Marine Station, Stanford University, Pacific Grove, CA 93950, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"237","published-online":{"date-parts":[[2019,1,1]]},"reference":[{"key":"2021042623514258300_JEB204172C1","doi-asserted-by":"publisher","first-page":"124","DOI":"10.1139\/Z08-144","article-title":"Optimal fineness ratio for minimum drag in large whales","volume":"87","author":"Ahlborn","year":"2009","journal-title":"Can. 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