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Research Article
Dynamics of the Oxygen, Carbon Dioxide, and Water
Interaction across the Insect Spiracle
Copyright © 2014 S. M. Simelane et al. This is an open access article distributed under the Creative Commons Attribution License,
which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
This paper explores the dynamics of respiratory gases interactions which are accompanied by the loss of water through an insect’s
spiracle. Here we investigate and analyze this interaction by deriving a system of ordinary differential equations for oxygen, carbon
dioxide, and water vapor. The analysis is carried out in continuous time. The purpose of the research is to determine bounds for the
gas volumes and to discuss the complexity and stability of the equilibria. Numerical simulations also demonstrate the dynamics of
our model utilizing the new conditions for stability and instability.
Antenna
Head
Elytra Thorax
Femur
Abdomen
Suture Tibia
Tarsus
Claws
(a) (b)
Figure 1: Summary figure showing two beetles. (a) Shows a dung beetle (photo: F.D. Duncan) and (b) shows the typical morphology of a
beetle (see [24]).
models have been developed for predicting respiratory water equilibrium solutions is also undertaken along with condi-
loss as a consequence of the opening of the spiracles (see tions that ensure nonnegativity of the equilibrium solutions
[12, 13]). The other group interested in respiratory physiology in Section 5. Asymptotic stability and instability for the five
focused on the sites of resistance to gas exchange, attempting equilibrium solutions are determined through linearization.
to determine as to where resistance lies and if gas exchange In Section 6, graphical display for the dynamics and pattern
occurs entirely by diffusion or convection [7, 9, 14]. of the gas volumes is shown by utilizing the conditions for
Cockroaches and locusts inhale air through the anterior stability and instability. Finally in Section 7, we summarize
spiracles and exhale through the more posterior spiracles [15]. our findings and explain how the conclusions are made.
Thus the coordinated action of spiracles can direct air flow
through an insect. Insects are also known to close their spira-
cles for periods of time resulting in no gas exchange taking 2. Gas Exchange in Insects
place. The intermittent opening and closing of spiracles is
referred to as discontinuous gas exchange (DGC) [16]. The Many beetles living in arid areas are flightless and have a
species used for this study is a flightless dung beetle, which subelytral cavity. The dung beetle is wingless and has a sealed
uses a single spiracle for gas exchange at rest [17]. airspace called the subelytral cavity beneath the wing covers
The purpose of this paper is to analyze and demonstrate (Figure 1). Dung beetles have only one pair of spiracles in the
the dynamics of various gases in our model system by head region and have 7 pairs of spiracles in the body region.
The 7 pairs of spiracles open into the subelytral cavity and are
(a) determining ultimate bounds for the interacting gas all positioned under the elytra. The spiracles are the sites of
volumes, gas exchange.
(b) exploring the stability and instability of the equilib- Gas exchange in insects is a continual conflict between
rium equations, the need to support aerobic need and the need to reduce
(c) obtaining numerical simulations for the pattern of the respiratory water loss [7, 9, 11]. The respiratory system of
dynamics for the interacting gases. insects consists of a highly branched system of cuticle-lined
tubes extending throughout the body. The tubes are filled with
In our research, we present a mathematical model that air, which greatly facilitates the transport of gases through
captures how the respiratory gases manage to move in oppo- the body [18]. The trachea opens to the external atmosphere
site directions simultaneously. The model should be applica- through valve-like spiracles on the surface of the abdomen
ble to terrestrial insects under any environmental conditions and thorax. The principal sites for gas exchange are the fine
to trace the DGC, cyclic, and continuous gas flux. It should branches (less than a micrometer in diameter) at the tip of
answer questions such as the following: how do respiratory the tracheal system, internal to the spiracles [18]. Insects lose
gases manage to move in opposite directions simultaneously?, water through the cuticle and through the open spiracles,
How does extended spiracle opening influence the influx of with respiratory water loss contributing a small proportion
the gases? and What factors are responsible for instability of of the overall water loss in most insect species [16].
the system?. To answer all the above questions, we need to Many insects exchange respiratory gases with the atmo-
study the dynamical behavior of the system and test it with sphere discontinuously, thus permitting gas exchange while
experimental data. minimizing water loss despite their relatively high metabolic
In Section 2, the discontinuous gas exchange across rates. While oxygen consumption and carbon dioxide pro-
the insect spiracles is summarized. In Section 3, the model duction are continuous, the external elimination of gases is
assumptions and the system model are presented. Pri- discontinuous [9, 18]. The classical pattern of DGC consists
mary results for the model and boundedness properties for of three phases [16, 19, 20], also observed in the beetle used
the respiratory gases are given in Section 4. The analysis of for this study.
Abstract and Applied Analysis 3
2.1. Closed Spiracle Phase (𝐶-Phase). This phase begins when O2 , (ii) Carbon dioxide denoted by CO2 . (iii) Water vapor
the spiracles are tightly closed and the insect is essentially denoted by H2 O.
hermetically sealed [7, 9]. Respiration occurs here and is Predator-prey models are an essential tool in mathemati-
driven by the oxygen stores in the cells. The partial pressure cal modeling and for our understanding of interacting species
of oxygen (𝑃O2 ) within the trachea declines and the partial in the natural environment. A better description of this model
pressure of carbon dioxide (𝑃CO2 ) increases. Owing to the is a competing species model. Thus throughout the paper we
high solubility of CO2 , the increase in 𝑃CO2 in the air within will refer to a competing species model. Traditional predator-
the trachea is less than the decline in 𝑃O2 . As a result, total prey models are based on the principle of mass action. The
atmospheric pressure in the tracheal lumina declines slightly mass action principle predicts that the rate at which an
during the closed phase [18]. individual predator consumes prey should depend only on
prey density. In applying the mass action principle there is
2.2. Flutter Phase (𝐹-Phase). The spiracles begin to flutter, also the implicit assumption that the system is well mixed
allowing large quantities of air down this pressure gradient. so that inhomogeneities do not develop. In developing our
Inward convection during the 𝐹-phase is an important model of the gas interaction, the principle of mass action was
means of restricting outward water movement [20, 21]. Here, the main driving principle. The rate at which respiring cells
convective influx of oxygen rich air into the tracheal system take in oxygen depends on the oxygen density in the trachea.
allows O2 uptake with minimal water loss. CO2 continues to This parallel analysis prompted the use of basic predator-prey
accumulate throughout the 𝐹-phase period. models in an attempt to trace the movement of the respiratory
gases. Assumptions in building the competing species model
are as follows:
2.3. Open Spiracle Phase (𝑂-Phase). During this phase, the
spiracles remain fully opened and the gases are exchanged (1) if one gas is moving, the rate of change of the gas
with the atmosphere. Oxygen gain and carbon dioxide loss follows a logistic model (model with tracheal size
happen during this time [22]. 𝑃O2 and 𝑃CO2 tend towards threshold);
levels present in the external atmosphere due to the diffusion
(2) the rate of change of each gas decreases at a rate
of these gases down their concentration gradients through the
proportional to the amount of gas flow (competition).
trachea and open spiracles [18, 23]. This phase is important
because water loss is high as long as the spiracles remain open These assumptions are reasonable because when the spiracle
[7–9]. opens, the rate of change of oxygen growth is an accelerating
In the following sections, we develop and analyze a function of oxygen until atmospheric pressure is reached.
model for the respiratory gases dynamics that considers the Again, the rate of change of oxygen once the spiracle closes
discontinuous exchange of these gases. The model includes decreases at a rate proportional to the amount of oxygen used
all of the above features. up for respiration and thus carbon dioxide production.
Many models that trace the movement of respiratory
3. The Model System gases exist in the literature. These models are based on both
Fick’s laws of diffusion, which use the fact that most insects
Internally within an insect, oxygen is taken into the cells and use both convective and diffusive exchanges. For instance,
through the process of cellular respiration carbon dioxide is Welch and Tracy [12] developed a model of convective gas
produced as a waste product. In insects, this CO2 is stored in flux as a function of the total gas, the inspired, and expired
the tissues and haemolymph (similar to blood in vertebrates). fractions of the gases. Even though the model is widely
When this storage is saturated the CO2 enters the trachea accepted, it ignores known complications to insect physiol-
(hollow tubes) in order to be expelled to the exterior of the ogists. This includes the effects of end diffusion, interference
insect. Air enters and leaves the insect through the spiracles, between adjacent respiratory tubes, and interactions between
which are the opening of the trachea tube to the exterior. water vapor leaving and gas entering through the tubes. It also
In insects using DGC the spiracles are closed while the fails to address the fact that carbon dioxide elimination takes
O2 is being used by the cells and CO2 is stored. When there is longer than the ingress of oxygen.
sufficient build-up of CO2 , this increase in CO2 concentration The failure of the existing models to provide general-
causes the spiracles to open. Upon opening CO2 rushes out ity and unification because of their taxon-specific design
of the tracheal system and O2 rushes in. Both these gases and prompted us to develop a novel general model. The assump-
water vapor have to leave or enter through the small spiracle tions in our model derivation are analogous to those in
opening. Thus these gases are competing for space [7]. predator-prey models. With these assumptions, we develop
The model presented looks at the movement of the a ratio-dependent model and derive a model for oxygen-
respiratory gases across the spiracle opening, across the carbon dioxide interactions with ratio-dependent interaction
tracheal system. We consider the standard predator-prey rate. Ratio-dependent functional response is a better starting
model which consists of two nonlinear ordinary differential point for modeling population dynamics. There is a legitimate
equations (see [1–6] for reviews). We extend this model predictive use of ratio-dependent models in the literature
to include a third nonlinear differential equation, hence a (see [25–28] for reviews). Evidence suggests that even when
system of three nonlinear ordinary differential equations. We functional responses are measured in the short term, they
assume there are three components. (i) Oxygen denoted by are closer to ratio-dependent than prey-dependent. This
4 Abstract and Applied Analysis
Theorem 2. The amount of oxygen, O2 , in our model system Proof. Define 𝑃 = CO2 + H2 O, then
satisfies
𝑑𝑃 𝑎O2 CO2 𝑎CO2 H2 O
1 𝑢 𝑢 −1 = − 𝜇CO2 + − 𝜇H2 O ≥ −𝜇𝑃,
[( + ) 𝑒𝑎𝑡 − ] ≤ 𝑂2 (𝑡) 𝑑𝑡 𝑎 + O2 𝑎 + CO2
𝑂2 (0) 𝑎𝐾 𝑎𝐾 (16)
1 1 1 −1
≤ [( − ) 𝑒−𝑢𝑡 + ] . where 𝜇 = 𝑠 × 𝑑maxCO . By the comparison argument in
𝑂2 (0) 𝐾 𝐾 2
Lemma 1, we have
(7)
Proof. From the nonnegativity of the gas quantities, we have CO2 (𝑡) + H2 O (𝑡) = 𝑃 (𝑡) ≥ (CO2 (0) + H2 O (0)) 𝑒−𝜇𝑡 . (17)
𝑑O2 𝑢O2 When 𝑁𝑗 (0) ≤ 𝐾 then 𝑁𝑗 (𝑡) ≤ 𝐾 for all 𝑡. It can also be seen
≥ − 2 − 𝑎O2 . (8)
from the model that
𝑑𝑡 𝐾
By the comparison argument in Lemma 1, we know that 𝑑𝑃 𝑎O2 CO2 𝑎CO2 H2 O
= − 𝜇CO2 + − 𝜇H2 O
𝑑𝑡 𝑎 + O2 𝑎 + CO2
1 𝑢 𝑢 −1
O2 (𝑡) ≥ [( + ) 𝑒𝑎𝑡 − ] , (9)
O2 (0) 𝑎𝐾 𝑎𝐾 CO2 HO 𝑎𝐾𝑃
≤ 𝑎𝐾 [ + 2 ]−𝜇 (CO2 + H2 O) = − 𝜇𝑃
𝑎+𝐾 𝑎+𝐾 𝑎+𝐾
which is the solution of the initial value problem
𝑎𝐾
2 ≤( − 𝜇) 𝑃.
𝑢] 𝑎+𝐾
] = − − 𝑏] in (0, ∞) , ] (0) = O2 (0) . (10) (18)
𝐾
On the other hand, for the upper bound of O2 (𝑡) we have Again by the comparison argument, we have
𝑑O2 𝑢O22
≤ 𝑢O2 − . (11) CO2 (𝑡) + H2 O (𝑡) = 𝑃 (𝑡)
𝑑𝑡 𝐾
≤ 𝑃 (0) 𝑒(𝑎𝐾/(𝑎+𝐾)−𝜇)𝑡
Once again from the comparison argument, we have
= (CO2 (0) + H2 O (0)) 𝑒(𝑎𝐾/(𝑎+𝐾)−𝜇)𝑡 .
1 1 1 −1
O2 (𝑡) ≤ [( − ) 𝑒−𝑢𝑡 + ] , (12) (19)
O2 (0) 𝐾 𝐾
𝑢]2
] = 𝑢] − in (0, ∞) , ] (0) = 𝑂2 (0) . (13) The following corollary gives a condition for the extinc-
𝐾 tion of the opportunistic gases and will be used later for the
stability of a semitrivial equilibrium solution.
Equilibrium O2 CO2 H2 O
𝐸1 𝑁1 (𝑁𝑑 + 𝑁1 𝑊1 )/𝑁𝑓 0
𝐸2 𝑁1 (𝑁𝑑 + 𝑁1 𝑊1 )/𝑁𝑓 (𝑁𝑒 + 𝑁1 𝑊2 )/𝑁𝑔
𝐸3 𝑁2 (𝑁𝑑 + 𝑁2 𝑊1 )/𝑁𝑓 0
𝐸4 𝑁2 (𝑁𝑑 + 𝑁2 𝑊1 )/𝑁𝑓 (𝑁𝑒 + 𝑁2 𝑊2 )/𝑁𝑔
𝐸5 𝐾 0 0
The entries in Table 1 are defined as follows. For simplicity, Table 2: Conditions for a nonnegative equilibrium.
we define 𝑝 = 𝑑maxCO2 and 𝑞 = 𝛿CO2 , as follows:
Equilibrium Condition
(1) 𝑁 > 𝐾√𝑁𝑎 𝑁𝑏 & 𝑁𝑐 > 0
𝐸1 & 𝐸2 (2) 𝑁𝑑 > −𝑁1 𝑊1 & 𝑁𝑓 > 0
(𝑁 − 𝐾√𝑁𝑎 𝑁𝑏 ) (3) 𝑁𝑒 > −𝑁1 𝑊2 & 𝑁𝑔 > 0
𝑁1 = ,
2𝑁𝑐 (1) 𝑁 > −𝐾√𝑁𝑎 𝑁𝑏 & 𝑁𝑐 > 0
𝐸3 & 𝐸4 (2) 𝑁𝑑 > −𝑁2 𝑊1 & 𝑁𝑓 > 0
(𝑁 + 𝐾√𝑁𝑎 𝑁𝑏 ) (3) 𝑁𝑒 > −𝑁2 𝑊2 & 𝑁𝑔 > 0
𝑁2 = ,
2𝑁𝑐 𝐸5 (1) 𝐾 > 0
𝑁 = −𝑎2 𝑐𝑔𝐾𝑞𝑢 + 𝑎2 𝑔2 𝐾𝑝𝑞𝑢 + 𝑎2 (−𝑔) 𝐾𝑞2 𝑢
𝑧 = H2 O in this section only. The Jacobian matrix of our 𝐸5 is asymptotically stable when 𝑓 < 𝑠. For O2 (0) ≤ 𝐾;
system is Corollary 4 indicates that
𝜂1 𝜂2 𝜂3 lim (CO2 (𝑡) + H2 O (𝑡)) = 0.
𝑡→∞
(27)
𝜑1 𝜑2 𝜑3
𝐽=( ), (23)
Note that O2 (𝑡) converges (𝑡 → ∞) to 𝐾 which is the global
𝜉1 𝜉2 𝜉3 attracting equilibrium in the logistic equation
where, 𝑑O2 O
= 𝑢O2 (1 − 2 ) . (28)
𝑎𝑦 𝑎 (𝑥𝑦) 𝑎𝑥 𝑥+𝑦 𝑑𝑡 𝐾
𝜂1 = − + 2
− + 𝑢 (1 − ),
𝑏𝑦 + 𝑥 (𝑏𝑦 + 𝑥) 𝐾 𝐾
𝑎𝑏𝑥 𝑎𝑥 𝑎 (𝑥𝑦)
𝜂2 = − − + , The next theorems state new results concerning the sta-
𝐾 𝑏𝑦 + 𝑥 (𝑏𝑦 + 𝑥)2
bility of equilibrium solutions 𝐸1 –𝐸4 . Due to the complexity
of the eigenvalue problems associated with these equilibrium
𝜂3 = 0,
solutions, we only obtained conditions of instability.
𝑎𝑐𝑦 𝑎𝑐 ((𝑎𝑔 + 1) (𝑥𝑦))
𝜑1 = − Theorem 6. Assume 𝐾 > 𝑁 > 0, where 𝑁 is as defined earlier.
𝑥 (𝑎𝑔 + 1) + 𝑏𝑦 (𝑥 (𝑎𝑔 + 1) + 𝑏𝑦)2 The equilibrium solutions 𝐸1 and 𝐸3 are unstable if
𝑎𝑞𝑦 𝑎𝑞 (𝑥𝑦)
+ − , 𝑓 − 𝑠 𝑁𝑑 + 𝑁𝑗 𝑊1
𝑏𝑦 + 𝑥 (𝑏𝑦 + 𝑥)2 > , (29)
𝑒 ℎ𝑁𝑓
(24)
𝑎𝑐𝑥 𝑎𝑏𝑐 (𝑥𝑦)
𝜑2 = − where 𝑗 = 1, 2 and ℎ > 0.
𝑥 (𝑎𝑔 + 1) + 𝑏𝑦 (𝑥 (𝑎𝑔 + 1) + 𝑏𝑦)2
Proof. By substituting 𝐸1 into the Jacobian matrix, 𝐽, and
𝑎𝑞𝑥 𝑎𝑏𝑞 (𝑥𝑦) then simplifying the resulting eigenvalue problem, one of the
+ − − 𝑝,
𝑏𝑦 + 𝑥 (𝑏𝑦 + 𝑥)2 eigenvalues is given by
𝜑3 = 0, 𝑁𝑑 + 𝑁1 𝑊1
𝜆=𝑓−𝑠−𝑒 . (30)
ℎ𝑁𝑓
𝜉1 = 0,
𝑒𝑧 Now, 𝜆 > 0 implies
𝜉2 = − ,
ℎ+𝑧
𝑁𝑑 + 𝑁1 𝑊1
𝑒𝑦 𝑒 (𝑦𝑧) 𝑓−𝑠−𝑒 > 0. (31)
𝜉3 = − + + (𝑓 − 𝑠) . ℎ𝑁𝑓
ℎ + 𝑧 (ℎ + 𝑧)2
The stability analysis here is carried out on the water Hence
vapor differential equation parameters: 𝑓, 𝑠, 𝑒, and ℎ. This is
𝑓 − 𝑠 𝑁𝑑 + 𝑁1 𝑊1
motivated by the fact that insect survival solely depends on its > . (32)
ability to minimize water loss to resist dessication. Hence, the 𝑒 ℎ𝑁𝑓
model system stability depends heavily on these parameters.
2.0
4
1.5
1.0 2
0.5 1
0
0.0 0 5 10 15 20 25 30
0 5 10 15 20 25 30
Time (t)
Time (t)
O2
O2
CO2
CO2
H2 O
H2 O
Figure 3: This figure illustrates the case when equilibria 𝐸1 and 𝐸3
Figure 2: This figure shows the stability of equilibrium 𝐸5 when 𝑓 <
are both unstable. The condition for instability is (𝑓 − 𝑠)/𝑒 > (𝑁𝑑 +
𝑠, which is given in Theorem 5. We choose 𝑓 = 0.5 and 𝑠 = 1. As
𝑁𝑗 𝑊1 )/ℎ𝑁𝑓 . For this case we choose 𝐾 = 5, 𝑢 = 0.7, 𝑓 = 0.5,
can be seen from the graph, the oxygen volume goes to equilibrium
𝑠 = 0.03974, 𝑒 = 0.8, and ℎ = 2.7.
𝐾 = 1.9 and the carbon dioxide and water-vapor go to equilibrium
0.
2.0
1.5
1.5
1.0
1.0
0.5
0.5
0.0
0.0 0 5 10 15 20 25 30
0 5 10 15 20 25 30
Time (t)
Time (t)
e = 0.5
O2
CO2 e=1
H2 O e=2
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Abstract and Applied Analysis 11
International
Journal of Journal of
Mathematics and
Mathematical
Discrete Mathematics
Sciences