Tetrapod-like middle ear architecture in a Devonian fish

Few fossils show the incipient stages of complex morphological transformations. For example, the earliest stages in the remodelling of the spiracular tract and suspensorium (jaw suspension) of osteolepiform fishes into the middle ear of tetrapods have remained elusive. The most primitive known tetrapods show a middle ear architecture that is very different from osteolepiforms such as Eusthenopteron, with little indication of how this transformation took place. Here we present an analysis of tetrapod middle ear origins that is based on a detailed study of Panderichthys, the immediate sister taxon of tetrapods. We show that the spiracular region is radically transformed from osteolepiforms and represents the earliest stages in the origin of the tetrapod middle ear architecture. The posterior palatoquadrate of Panderichthys is completely tetrapod-like and defines a similarly tetrapod-like spiracular tract. The hyomandibula has lost its distal portion, representing a previously unrecognized advance towards a stapes-like morphology. This spiracular specialization suggests that the middle ear of early tetrapods evolved initially as part of a spiracular breathing apparatus.     

The pectoral fin of Panderichthys and the origin of digits

One of the identifying characteristics of tetrapods (limbed vertebrates) is the presence of fingers and toes. Whereas the proximal part of the tetrapod limb skeleton can easily be homologized with the paired fin skeletons of sarcopterygian (lobe-finned) fish, there has been much debate about the origin of digits. Early hypotheses interpreted digits as derivatives of fin radials, but during the 1990s the idea gained acceptance that digits are evolutionary novelties without direct equivalents in fish fin skeletons. This was partly based on developmental genetic data, but also substantially on the pectoral fin skeleton of the elpistostegid (transitional fish/tetrapod) Panderichthys, which appeared to lack distal digit-like radials. Here we present a CT scan study of an undisturbed pectoral fin of Panderichthys demonstrating that the plate-like 'ulnare' of previous reconstructions is an artefact and that distal radials are in fact present. This distal portion is more tetrapod-like than that found in Tiktaalik and, in combination with new data about fin development in basal actinopterygians, sharks and lungfish, makes a strong case for fingers not being a novelty of tetrapods but derived from pre-existing distal radials present in all sarcopterygian fish.     

An exceptional Devonian fish from Australia sheds light on tetrapod origins

The transition from fishes to tetrapods was one of the most dramatic events in the evolution of vertebrates, but many pivotal fossils are incomplete, resulting in gaps in the data that are used for phylogenetic reconstruction. Here we present new observations from the most complete, acid-prepared Devonian tetrapodomorph fish yet discovered, Gogonasus, which was previously placed just crownward of Kenichthys and rhizodontids, the most primitive taxa on the tetrapod lineage. Unexpectedly, Gogonasus shows a mosaic of plesiomorphic and derived tetrapod-like features. Whereas the braincase and dermal cranial skeleton exhibit generalized morphologies with respect to Eusthenopteron or Panderichthys, taxa that are traditionally considered to be phyletically close to tetrapods, the presence of a deeply invaginated, wide spiracle, advanced internal spiracular architecture and near-horizontal hyomandibula are specialized features that are absent from Eusthenopteron. Furthermore, the pectoral fin skeleton of Gogonasus shares several features with that of Tiktaalik, the most tetrapod-like fish. A new phylogenetic analysis places Gogonasus crownward of Eusthenopteron as the sister taxon to the Elpistostegalia. Aspects of the basic tetrapod limb skeleton and middle ear architecture can now be traced further back within the tetrapodomorph radiation.     

Ventastega curonica and the origin of tetrapod morphology

The gap in our understanding of the evolutionary transition from fish to tetrapod is beginning to close thanks to the discovery of new intermediate forms such as Tiktaalik roseae. Here we narrow it further by presenting the skull, exceptionally preserved braincase, shoulder girdle and partial pelvis of Ventastega curonica from the Late Devonian of Latvia, a transitional intermediate form between the 'elpistostegids' Panderichthys and Tiktaalik and the Devonian tetrapods (limbed vertebrates) Acanthostega and Ichthyostega. Ventastega is the most primitive Devonian tetrapod represented by extensive remains, and casts light on a part of the phylogeny otherwise only represented by fragmentary taxa: it illuminates the origin of principal tetrapod structures and the extent of morphological diversity among the transitional forms.     

The pectoral fin of Tiktaalik roseae and the origin of the tetrapod limb

Wrists, ankles and digits distinguish tetrapod limbs from fins, but direct evidence on the origin of these features has been unavailable. Here we describe the pectoral appendage of a member of the sister group of tetrapods, Tiktaalik roseae, which is morphologically and functionally transitional between a fin and a limb. The expanded array of distal endochondral bones and synovial joints in the fin of Tiktaalik is similar to the distal limb pattern of basal tetrapods. The fin of Tiktaalik was capable of a range of postures, including a limb-like substrate-supported stance in which the shoulder and elbow were flexed and the distal skeleton extended. The origin of limbs probably involved the elaboration and proliferation of features already present in the fins of fish such as Tiktaalik.     

Mechanical design and implementation of a new biomimetic robot fish

A mechanical design method of robot fish is introduced in this paper.Based on this method an antonomous 3-Dimension(3D)locomotion robot fish with two pectoral fins and a caudal fin is developed.The pectoral fin mechanism has 3 degrees of freedom(3-DOFs),which enables the robot fish to realize yawing and pitching motions by controlling two pectoral fins.And the caudal fin mechanism is designed based on fish body wave curve fitting.The forward velocity can be adjusted by changing the caudal mechanism's oscillating frequency.Finally a physical implementation of the robot fish and experimental results are given.     

贵州省洞穴高原鳅属一新种

描记采于贵州省盘县保田镇一地下洞穴高原鳅属一新种,命名保田高原鳅Triplophysa baotianensis sp. nov..新种是贵州省南盘江水系的首个高原鳅发现.与贵州已记载的5种高原鳅比较,新种与北盘江水系的贞丰高原鳅性状相近,但有明显特征可区别.（1）新种胸腹鳍平展与躯体呈“十”字形,贞丰高原鳅胸腹鳍走向正常;（2）新种背鳍起点在腹鳍起点之前上方,贞丰高原鳅在腹鳍起点之后上方;（3）新种体表裸露无鳞,贞丰高原鳅体被明显细鳞;（4）新种鼻瓣发育成短须状,贞丰高原鳅鼻瓣不呈须状;（5）新种属于南盘江水系,贞丰高原鳅属于北盘江水系.     

A Devonian tetrapod-like fish and the evolution of the tetrapod body plan

The relationship of limbed vertebrates (tetrapods) to lobe-finned fish (sarcopterygians) is well established, but the origin of major tetrapod features has remained obscure for lack of fossils that document the sequence of evolutionary changes. Here we report the discovery of a well-preserved species of fossil sarcopterygian fish from the Late Devonian of Arctic Canada that represents an intermediate between fish with fins and tetrapods with limbs, and provides unique insights into how and in what order important tetrapod characters arose. Although the body scales, fin rays, lower jaw and palate are comparable to those in more primitive sarcopterygians, the new species also has a shortened skull roof, a modified ear region, a mobile neck, a functional wrist joint, and other features that presage tetrapod conditions. The morphological features and geological setting of this new animal are suggestive of life in shallow-water, marginal and subaerial habitats.     

云南省洞穴盲金线鲃一新种——额凸盲金线鲃

2015年10月,在云南省丘北县温浏乡一喀斯特洞穴因山洪爆发形成的小湖泊中,捕到1尾无眼盲金线鲃标本.经研究系一新种,以头上额前有一短粗凸起命名额凸盲金线鲃Sinocyclocheilus convexiforeheadus Li Yang et Li sp,nov.新种与透明金线鲃S. hylinus Chen et Yang（1994）、鹰喙角金线鲃S. aquihornes Li et Yang（2007）的区别是,额部凸起短粗VS棒状长角或鹰喙状长角,胸鳍不达腹鳍起点VS胸鳍超过腹鳍起点,背鳍起点在腹鳍起点之前VS背鳍起点在腹鳍起点之后.     

Discovery of the earliest-known tetrapod stapes

The evolution of the middle ear is central to the discussion of how the first tetrapods adapted to life on land as well as their phylogeny. Here I report the discovery of the stapes of Acanthostega gunnari, from the Upper Devonian of east Greenland. This is the earliest tetrapod stapes so far described, and it throws new light on both these aspects of early tetrapod biology. It has been assumed that the common inheritance of all early tetrapods was a light, rod-like stapes associated with a temporal notch in the otic region that was thought to have supported a tympanum, or eardrum. The stapes would have conducted vibrations from the tympanum to the otic capsule. By contrast, the stapes of Acanthostega was stout with a broad distal ramus associated with the temporal notch. I suggest that the temporal notch of Acanthostega and other early tetrapods supported a spiracular opening rather than a tympanum, and that the stapes controlled palatal and spiracular movements in ventilation.     

一种新型微型仿生机器鱼控制系统的设计

针对ICPF（ionic conducting polymer film）驱动的微型智能仿生机器鱼进行研究.以鱼类为仿生对象,通过对鱼类游动机理的仿生学研究,设计了鱼形结构的主体框架、两自由度的胸鳍和尾鳍推进机构及基于AVR单片机的机器鱼硬件控制系统.针对微型仿生鱼运动特点,设计了直线巡游和转弯运动等运动模式及自动避障功能.最后建立了仿生机器鱼实验系统,进行了仿生机器鱼驱动性能测试和推进实验,实现了仿生机器鱼的避障功能,验证了系统设计的可行性.     

A uniquely specialized ear in a very early tetrapod

The Late Devonian genus Ichthyostega was for many decades the earliest known tetrapod, and the sole representative of a transitional form between a fish and a land vertebrate. However, despite being known since 1932 (ref. 1) from a large collection of specimens, its morphology remained enigmatic and not what was expected of a very primitive tetrapod. Its apparent specializations led it to be considered as a "blind offshoot" or "sidebranch" off the tetrapod family tree, and recent cladistic analyses have disagreed about its exact phylogenetic position within the tetrapod stem group. In particular, its braincase and ear region defied interpretation, such that conventional anatomical terms seemed inapplicable. Using new material collected in 1998 (ref. 9), preparation of earlier-collected material, and high-resolution computed tomography scanning, here we identify and interpret these problematic anatomical structures. They can now be seen to form part of a highly specialized ear, probably a hearing device for use in water. This represents a structurally and functionally unique modification of the tetrapod otic region, unlike anything seen in subsequent tetrapod evolution. The presence of deeply grooved gill bars as in its contemporary Acanthostega suggest that Ichthyostega may have been more aquatically adapted than previously believed.     

The axial skeleton of the Devonian tetrapod Ichthyostega

Ichthyostega was the first Devonian tetrapod to be subject to a whole-body reconstruction. It remains, together with Acanthostega, one of only two Devonian tetrapods for which near-complete postcranial material is available. It is thus crucially important for our understanding of the earliest stages of tetrapod evolution and terrestrialization. Here we show a new reconstruction of Ichthyostega based on extensive re-examination of original material and augmented by recently collected specimens. Our reconstruction differs substantially from those previously published and reveals hitherto unrecognized regionalization in the vertebral column. Ichthyostega is the earliest vertebrate to show obvious adaptations for non-swimming locomotion. Uniquely among early tetrapods, the presacral vertebral column shows pronounced regionalization of neural arch morphology, suggesting that it was adapted for dorsoventral rather than lateral flexion.     

大鳍鳠臀鳍和脂鳍的比较组织学研究

大鳍鳠臀鳍和脂鳍均是皮肤特化的产物．臀鳍的组织结构可分为表皮层、胶原纤维层、胶原下层和鳍条４部分；脂鳍可分为表皮层、胶原纤维层和脂肪层．臀鳍和脂鳍的表层均与皮肤的表皮相似，而发达的胶原纤维层与皮肤真皮的致密层相当．臀鳍的胶原下层、脂鳍的脂肪层与皮下层相当，而鳍条则是矿化的结缔组织．从特化程度来看，脂鳍的特化程度不如臀鳍高，表明脂鳍应是奇鳍褶的痕迹器官．     

尾鳍形状对摆动尾鳍推进性能的影响

研究了尾鳍形状对摆动尾鳍推进性能的影响. 设计了一套摆尾仿生推进装置,实验分析了仿金枪鱼、仿海豚、仿白鲸3种尾鳍的推进性能. 同时采用数值方法对尾鳍的水动力性能进行了计算. 实验和数值结果表明,仿金枪鱼尾鳍的平均推力系数和输入功率系数最小,推进效率最高. 对尾涡的分析表明,仿金枪鱼尾鳍尾涡强度最弱,分布范围最小.     

Multimodal swimming control of a robotic fish with pectoral fins using a CPG network

The neural-based approaches inspired by biological neural mechanisms of locomotion are becoming increasingly popular in robot control.This paper investigates a systematic method to formulate a Central Pattern Generator(CPG) based control model for mul-timodal swimming of a multi-articulated robotic fish with flexible pectoral fins.A CPG network is created to yield diverse swim-ming in three dimensions by coupling a set of nonlinear neural oscillators using nearest-neighbor interactions.In particular,a sensitivity analysis of characteristic parameters and a stability proof of the CPG network are given.Through the coordinated con-trol of the joint CPG,caudal fin CPG,and pectoral fin CPG,a diversity of swimming modes are defined and successfully imple-mented.The latest results obtained demonstrate the effectiveness of the proposed method.It is also confirmed that the CPG-based swimming control exhibits better dynamic invariability in preserving rhythm than the conventional body wave method.     

An autopodial-like pattern of Hox expression in the fins of a basal actinopterygian fish

Comparative analyses of Hox gene expression and regulation in teleost fish and tetrapods support the long-entrenched notion that the distal region of tetrapod limbs, containing the wrist, ankle and digits, is an evolutionary novelty. Data from fossils support the notion that the unique features of tetrapod limbs were assembled over evolutionary time in the paired fins of fish. The challenge in linking developmental and palaeontological approaches has been that developmental data for fins and limbs compare only highly derived teleosts and tetrapods; what is lacking are data from extant taxa that retain greater portions of the fin skeletal morphology considered primitive to all bony fish. Here, we report on the expression and function of genes implicated in the origin of the autopod in a basal actinopterygian, Polyodon spathula. Polyodon exhibits a late-phase, inverted collinear expression of 5' HoxD genes, a pattern of expression long considered a developmental hallmark of the autopod and shown in tetrapods to be controlled by a 'digit enhancer' region. These data show that aspects of the development of the autopod are primitive to tetrapods and that the origin of digits entailed the redeployment of ancient patterns of gene activity.     

基于单刃-圆锥面刀具的三维整体外翅片成形机理

采用单刃-圆锥面刀具加工三维整体外翅片管,研究了翅片成形过程及圆锥面半径对翅片成形的影响,分析了翅片微观形貌的形成机理及加工参数对翅片形貌的影响.翅片成形机理在于单刃-圆锥面刀具切削时能将工件表层金属与基体分离但并不去除,被分离的金属在圆锥面的挤压下形成翅片.翅片成形过程可分为犁切分离、滑动挤压和成翅3个阶段,较大的圆弧半径有利于翅片的成形.翅片顶部有一条贯穿整个翅片的微裂缝,使翅片在微观上成为双翅片;随着犁切深度的增加,翅片厚度增加;随着进给量的增大,翅片间距增加.     

仿生机器鱼胸鳍的三维设计及数控加工

胸鳍是机器鱼实现沉浮、变向、倒退和推进的关键部件,胸鳍的三维设计及型面质量直接影响机器鱼实现稳定的各种运动.本文运用Soildworks2007对仿生机器鱼的胸鳍进行三维设计,通过CAM功能生成了胸鳍数控加工的代码,并用数控机床实现了机器鱼胸鳍的数控加工.