Relationship between myological variables and different take-off and landing behaviours in frogs

Although landing behaviour in anurans differs significantly among species, a take-off behaviour seems to be largely conserved in the evolution of frogs and toads. The ancestral mode of landing is hypothesized to involve the body crash-landing on the substrate, after which the anuran cycles the limbs forward and then backward to their resting position. The part of the body that first contacts the substrate may vary among taxa. The limbs and pectoral girdle muscles as well as those of the caudopelvic region, involved with landing and take-off behaviours, are investigated. The existence of a relationship exists between myology and different take-off and landing behaviours is explored. The results suggest that most of the muscles involved in both take-off and landing are conserved morphologically, with only few differing, depending on the locomotor behaviour. Two muscles tend to be longer; the m. coracobrachialis, which is involved with landing, and the m. coccygeosacralis, related to the take-off.     

Development of a Bird-like Flapping-wing Aerial Vehicle with Autonomous Take-off and Landing Capabilities

The lack of autonomous take-off and landing capabilities of bird-like flapping-wing aerial vehicles(BFAVs)seriously restricts their further development and application.Thus,combined with the current research results on the autonomous take-off and landing technology of unmanned aerial vehicles,four types of technologies are studied,including jumping take-off and landing technology,taxiing take-off and landing technology,gliding take-off and landing technology,and vertical take-off and landing(VTOL)technology.Based on the analytic hierarchy process(AHP)-comprehensive evaluation method,a fuzzy comprehensive evaluation model for the autonomous take-off and landing scheme of a BFAV is established,and four schemes are evaluated concretely.The results show that under the existing technical conditions,the hybrid layout VTOL scheme is the best.Furthermore,the detailed design and development of the prototype of a BFAV with a four-rotor hybrid layout are carried out,and the vehicle performance is tested.The results prove that through the four-rotor hybrid layout design,the BFAV has good autonomous take-off and landing abilities.The power consumption analysis shows that for a fixed-point reconnaissance mission,when the mission radius is less than 3.38 km,the VTOL type exhibits longer mission duration than the hand-launched type.     

Comparative morphology of the pectoral fin spine of the Persian sturgeon Acipenser persicus,the Russian sturgeon Acipenser gueldenstaedtii,and the Starry sturgeon Acipenser stellatus in Iranian waters of the Caspian Sea

The morphological characteristics of the pectoral fin spine were compared in three species of sturgeon, the Persian sturgeon (Acipenser persicus), the Russian sturgeon (Acipenser gueldenstaedtii), and the Starry sturgeon (Acipenser stellatus), all sampled from the Caspian Sea. On the basis of morphological characters of the pectoral fin spine, 62.2% of the individuals were correctly classified into separate groups. The cluster analysis also divided the three species into two major subgroups. Acipenser persicus and A. gueldenstaedtii were grouped together, suggesting a similar evolutionary basis. Significant morphological heterogeneity in pectoral fin spine characteristics was observed among the three sturgeon species. Principal component analysis identified the largest differences were in the pectoral fin spine size and the angle between distal pectoral fin spine and the horizontal line (A°). The first and second principal components (PC1 and PC2) of all observations accounted for 64.19% and 14.33% of the total variation, respectively. The combination of all analyses showed the relevance of applying pectoral fin spine shape for interspecific distinction of the three species of sturgeons.     

Biological Jumping Mechanism Analysis and Modeling for Frog Robot

This paper presents a mechanical model of jumping robot based on the biological mechanism analysis of frog. By biological observation and kinematic analysis the frog jump is divided into take-offphase, aerial phase and landing phase. We find the similar trajectories of hindlimb joints during jump, the important effect of foot during take-off and the role of forelimb in supporting the body. Based on the observation, the frog jump is simplified and a mechanical model is put forward. The robot leg is represented by a 4-bar spring/linkage mechanism model, which has three Degrees of Freedom （DOF） at hip joint and one DOF （passive） at tarsometatarsal joint on the foot. The shoulder and elbow joints each has one DOF for the balancing function of arm. The ground reaction force of the model is analyzed and compared with that of frog during take-off. The results show that the model has the same advantages of low likelihood of premature lift-off and high efficiency as the frog. Analysis results and the model can be employed to develop and control a robot capable of mimicking the jumping behavior of frog.     

Ecomorphological correlates in ten species of subtropical seagrass fishes: diet and microhabitat utilization

Synopsis Ecomorphological correlates were sought among ten species of distantly related subtropical seagrass fishes. Morphometric data associated with feeding and microhabitat utilization were compared by principal components analysis, cluster analysis, and canonical correspondence analysis to dietary data. Morphology was generally a poor predictor of diet except for a group of mid-water planktotrophic filter feeders. Separation of the species along morphological axes appears to be related more to microhabitat utilization resulting in three major groups: (1) a group of planktotrophic, mid-water fishes specialized for cruising and seeking out evasive prey characterized by a compressed fusiform body, forked caudal fin, long, closely spaced gill rakers, short to intermediate! length pectoral fin, pointed pectoral fin, large lateral eye, short head, and a terminal or subterminal mouth; (2) slow swimming, less maneuverable epibenthic fishes that pick or suck their prey off the substrate. They are united by more rounded caudal and pectoral fins, and short or no gill rakers; and (3) a group of more mobile and maneuverable epibenthic foragers characterized by a more compressed, sub-gibbose body, long, pointed pectoral fins, forked caudal fins, large lateral eyes, subterminal mouth, and greater jaw protrusibility. Cases of convergence in trophic and microhabitat utilization characters were apparent in some of the groups.     

The flight mechanism of the pigeon Columbia livia during take-off

High-speed film analysis of the mechanism of take-off of a pigeon ascending nearly vertically reveals the pattern of movements of the wing segments and the bones within them during each of the five phases of the wingbeat cycle. Differences in the type and extent of wing movements between the upstroke and downstroke portions of the first and successive wingbeat cycles are explained with reference to the upward vertical jump made during the first wingbeat cycle. The presence during pigeon take-off of a non-steady state pattern of airfoil action similar to that seen in some insects at the beginning of the downstroke was verified.     

The structure and function of the dermal pectoral girdle in bony fishes with particular reference to ostariophysines

The structure of the dermal pectoral girdle of teleostean fishes is analyzed in relation to its functions. In bony fishes the vertebral column, with a horizontal axis, and the pectoral girdle, with a basically vertical axis, form the only skeletal links between the head and the body. The individual bones of the dermal girdle are considered as supporting units joined by a series of articulations that permit differential movement between adjacent bones. The movements mediated by this linkage system are: lateral swinging of the head relative to the body, expansion of the distance between the central areas of the two pectoral girdles to permit passage of large food items, and fore-and-aft movements of the anteroventral ends of the cleithra relative to the skull. Among other factors affecting the structure of the dermal pectoral girdle are the provision for the support of the pectoral fin base and the requirement for the effective operation of a sleeve valve between the girdle and the opercular cover.
Modifications of the dermal pectoral girdle in ostariophysine fishes are discussed. A brief history of the bony fish girdle in terms of its functional components is postulated.     

Non-Jumping Take off Performance in Beetle Flight （Rhinoceros Beetle Trypoxylus dichotomus）

In recent decades, the take-off mechanisms of flying animals have received much attention in insect flight initiation. Most of previous works have focused on the jumping mechanism, which is the most common take-off mechanism found in flying animals. Here, we presented that the rhinoceros beetle, Trypoxylus dichotomus, takes offwithout jumping. In this study, we used 3-Dimensional （3D） high-speed video techniques to quantitatively analyze the wings and body kinematics during the initiation periods of flight. The details of the flapping angle, angle of attack of the wings and the roll, pitch and yaw angles of the body were investigated to understand the mechanism of take-off in T. dichotomus. The beetle took off gradually with a small velocity and small acceleration. The body kinematic analyses showed that the beetle exhibited stable take-off. To generate high lift force, the beetle modulated its hind wing to control the angle of attack; the angle of attack was large during the upstroke and small during the downstroke. The legs of beetle did not contract and strongly release like other insects. The hind wing could be con- sidered as a main source of lift for heavy beetle.     

Fossil fishes from china provide first evidence of dermal pelvic girdles in osteichthyans

Background

The pectoral and pelvic girdles support paired fins and limbs, and have transformed significantly in the diversification of gnathostomes or jawed vertebrates (including osteichthyans, chondrichthyans, acanthodians and placoderms). For instance, changes in the pectoral and pelvic girdles accompanied the transition of fins to limbs as some osteichthyans (a clade that contains the vast majority of vertebrates – bony fishes and tetrapods) ventured from aquatic to terrestrial environments. The fossil record shows that the pectoral girdles of early osteichthyans (e.g., Lophosteus, Andreolepis, Psarolepis and Guiyu) retained part of the primitive gnathostome pectoral girdle condition with spines and/or other dermal components. However, very little is known about the condition of the pelvic girdle in the earliest osteichthyans. Living osteichthyans, like chondrichthyans (cartilaginous fishes), have exclusively endoskeletal pelvic girdles, while dermal pelvic girdle components (plates and/or spines) have so far been found only in some extinct placoderms and acanthodians. Consequently, whether the pectoral and pelvic girdles are primitively similar in osteichthyans cannot be adequately evaluated, and phylogeny-based inferences regarding the primitive pelvic girdle condition in osteichthyans cannot be tested against available fossil evidence.

Methodology/Principal Findings

Here we report the first discovery of spine-bearing dermal pelvic girdles in early osteichthyans, based on a new articulated specimen of Guiyu oneiros from the Late Ludlow (Silurian) Kuanti Formation, Yunnan, as well as a re-examination of the previously described holotype. We also describe disarticulated pelvic girdles of Psarolepis romeri from the Lochkovian (Early Devonian) Xitun Formation, Yunnan, which resemble the previously reported pectoral girdles in having integrated dermal and endoskeletal components with polybasal fin articulation.

Conclusions/Significance

The new findings reveal hitherto unknown similarity in pectoral and pelvic girdles among early osteichthyans, and provide critical information for studying the evolution of pelvic girdles in osteichthyans and other gnathostomes.     

Life in the flow lane: differences in pectoral fin morphology suggest transitions in station-holding demand across species of marine sculpin

Aquatic organisms exposed to high flow regimes typically exhibit adaptations to decrease overall drag and increase friction with the substrate. However, these adaptations have not yet been examined on a structural level. Sculpins (Scorpaeniformes: Cottoidea) have regionalized pectoral fins that are modified for increasing friction with the substrate, and morphological specialization varies across species. We examined body and pectoral fin morphology of 9 species to determine patterns of body and pectoral fin specialization. Intact specimens and pectoral fins were measured, and multivariate techniques determined the differences among species. Cluster analysis identified 4 groups that likely represent differences in station-holding demand, and this was supported by a discriminant function analysis. Primarily, the high-demand group had increased peduncle depth (specialization for acceleration) and larger pectoral fins with less webbed ventral rays (specialization for mechanical gripping) compared to other groups; secondarily, the high-demand group had a greater aspect ratio and a reduced number of pectoral fin rays (specialization for lift generation) than other groups. The function of sculpin pectoral fins likely shifts from primarily gripping where demand is likely low, to an equal dependence on gripping and negative lift generation where demand is likely high. Specialization of the ventral pectoral fin region for gripping likely contributes to the recent diversification of some species into high-demand habitats.     

Pectoral fins and paternal quality in sticklebacks

Sexual selection through female mate choice exerts a strong selection pressure on males' sexual traits, particularly when direct benefits are involved. In species with male parental care, one would expect sexual selection to favour paternal quality, for instance through selection on morphological structures which promote quality. We experimentally studied the influence of pectoral fins on paternal quality in male three-spined sticklebacks (Gasterosteus aculeatus L.). After reductions of fin area to different degrees, similar-sized males had to perform a complete reproductive cycle in enclosures in the field. The collected data on fanning behaviour and egg development showed that a reduction in pectoral fin size affected paternal quality probably through an increased beat frequency of the pectorals. Thus, pectoral fins can potentially signal paternal quality to choosy females.     

The ocellate river stingray (Potamotrygon motoro) exploits vortices of sediment to bury into the substrate

Particle image velocimetry and video analysis were employed to determine the pectoral-fin mechanism used by the stingray Potamotrygon motoro to bury into sand. Rapid oscillations of the body and folding motions of the posterior portion of the pectoral fin suspended sediment beneath the pectoral disc and directed vortices of sediment onto the dorsal surface, where they dissipated and the sediment settled. Body coverage was increased by increased fin displacement and speed and also by the occasional collision of vortices that redirected sediment flow towards the head and tail.     

Gait transition speed, pectoral fin-beat frequency and amplitude in Cymatogaster aggregata, Embiotoca lateralis and Damalichthys vacca

Surfperches are labriform swimmers and swim primarily with their pectoral fins, using the tail to assist only at higher speeds. The transition, from pectoral to pectoral and caudal fins, occurs at a threshold speed that has been termed physiologically and biomechanically 'equivalent' for fishes of different size. The gait transition ( U _P-C) of Cymatogaster aggregata occurred at a higher speed (measured in bodylengths s⁻¹) for smaller fish than larger fish. At U _P-C, pectoral fin-beat frequency was size-dependent: smaller fish have a higher pectoral fin-beat frequency than larger fish. In contrast, at low speeds (i.e. <60% of U _P-C) the pectoral fin-beat frequency was independent of the size of the fish. Inter-specific comparisons of U _P-C, pectoral fin-beat frequency and amplitude among C. aggregata, Embiotoca lateralis and Damalichthys vacca showed that C. aggregata had a higher U _P-C than E. lateralis and D. vacca . The pectoral fin-beat frequency at U _P-C showed no significant differences among species. Cymatogaster aggregata achieved higher U _P-C, in part, through increased fin beat amplitude rather than frequency. These differences in performance may be related to the different habitats in which these species live.     

Functional Morphology of Aquatic Flight in Fishes: Kinematics, Electromyography, and Mechanical Modeling of Labriform Locomotion

Labriform locomotion is the primary swimming mode for many fishesthat use the pectoral fins to generate thrust across a broadrange of speeds. A review of the literature on hydrodynamics,kinematics, and morphology of pectoral fin mechanisms in fishesreveals that we lack several kinds of morphological and kinematicdata that are critical for understanding thrust generation inthis mode, particularly at higher velocities. Several needsinclude detailed three-dimensional kinematic data on speciesthat are pectoral fin swimmers across a broad range of speeds,data on the motor patterns of pectoral fin muscles, and thedevelopment of a mechanical model of pectoral fin functionalmorphology. New data are presented here on pectoral fin locomotionin Gomphosus varius, a labrid fish that uses the pectoral finsat speeds of 1 –6 total body lengths per second. Three-dimensionalkinematic data for the pectoral fins of G. varius show thata typical "drag-based" mechanism is not used in this species.Instead, the thrust mechanics of this fish are dominated bylift forces and acceleration reaction forces. The fin is twistedlike a propeller during the fin stroke, so that angles of attackare variable along the fin length. Electromyographic data onsix fin muscles indicate the sequence of muscle activity thatproduces antagonistic fin abduction and adduction and controlsthe leading edge of the fin. EMG activity in abductors and adductorsis synchronous with the start of abduction and adduction, respectively,so that muscle mechanics actuate the fin with positive work.A mechanical model of the pectoral fin is proposed in whichfin morphometrics and computer simulations allow predictionsof fin kinematics in three dimensions. The transmission of forceand motion to the leading edge of the fin depends on the mechanicaladvantage of fin ray levers. An integrative program of researchis suggested that will synthesize data on morphology, physiology,kinematics, and hydrodynamics to understand the mechanics ofpectoral fin swimming.     

Design and Implementation of Paired Pectoral Fins Locomotion of Labriform Fish Applied to a Fish Robot

In present,there are increasing interests in the research on mechanical and control system of underwater vehicles.Theseongoing research efforts are motivated by more pervasive applications of such vehicles including seabed oil and gas explorations,scientific deep ocean surveys,military purposes,ecological and water environmental studies,and also entertainments.However,the performance of underwater vehicles with screw type propellers is not prospective in terms of its efficiency andmaneuverability.The main weaknesses of this kind of propellers are the production of vortices and sudden generation of thrustforces which make the control of the position and motion difficult.On the other hand,fishes and other aquatic animals are efficient swimmers,posses high maneuverability,are able to followtrajectories,can efficiently stabilize themselves in currents and surges,create less wakes than currently used underwater vehicle,and also have a noiseless propulsion.The fish’s locomotion mechanism is mainly controlled by its caudal fin and paired pectoralfins.They are classified into Body and/or Caudal Fin(BCF)and Median and/or paired Pectoral Fins(MPF).The study of highlyefficient swimming mechanisms of fish can inspire a better underwater vehicles thruster design and its mechanism.There are few studies on underwater vehicles or fish robots using paired pectoral fins as thruster.The work presented in thispaper represents a contribution in this area covering study,design and implementation of locomotion mechanisms of pairedpectoral fins in a fish robot.The performance and viability of the biomimetic method for underwater vehicles are highlightedthrough in-water experiment of a robotic fish.     

On the serial homology of the pectoral and pelvic girdles of tetrapods

While fore‐ and hindlimbs are commonly assumed to be serially homologous, the serial homology of the pectoral and pelvic girdles is more ambiguous. We investigate the degree to which a common history, developmental program, and gene network are shared between the girdles relative to the rest of the appendicular skeleton. Paleontological data indicate that pectoral appendages arose millions of years before pelvic appendages. Recent embryological and genetic data suggest that the anatomical similarity between the fore‐ and hindlimbs arose through the sequential, derived deployment of similar developmental programs and gene networks, and is therefore not due to ancestral serial homology. Much less developmental work has however been published about the girdles. Here, we provide the first detailed review of the developmental programs and gene networks of the pectoral and pelvic girdles. Our review shows that, with respect to these programs and networks, there are fewer similarities between pelvic and pectoral girdles than there are between the limbs. The available data therefore support recent hypotheses that the anatomical similarities between the fore‐ and hindlimbs arose during the fin‐to‐limb transition through the derived co‐option of similar developmental mechanisms, while the phylogenetically older pectoral and pelvic girdles have remained more distinct since their evolutionary origin.     

A somitic contribution to the pectoral girdle in the axolotl revealed by long-term fate mapping

The pectoral girdle is a unique skeletal element that underwent drastic morphological changes during its evolution, especially in association with the fin-to-limb transition. Comparative studies of its development are needed to gain a deeper understanding of its evolution. Transplantation experiments using the quail-chick chimeric system have revealed that not only lateral plate mesoderm but also somites contribute to the pectoral girdle in birds. Studies in mice and turtles also document somitic contributions to the pectoral girdle, but extirpation experiments in a salamander did not affect shoulder girdle development. Somitic contributions to the pectoral girdle therefore have been interpreted as a feature unique to amniotes. Here, we present a long-term fate map of single somites in the Mexican axolotl, based on transplantations of somites two to six from GFP-transgenic donors into wild-type hosts, as well as injections of fluorescein dextran into single somites. The results show a somitic derivation of the dorsal region of the suprascapula, demonstrating that somitic contributions to the pectoral girdle are not restricted to amniotes. Comparison with the few other species studied so far leads us to suggest a position-dependent origin of the pectoral girdle. We propose that embryonic origin is determined by the proximity of the developing pectoral girdle to the somites or to the lateral plate mesoderm, respectively. This position-dependent origin and the diversity of the anatomy of the pectoral girdle among vertebrates implies that the embryonic origin of the pectoral girdle is too variable to be useful for defining homologies or for phylogenetic analysis.     

Geographical variation of protein reserves in birds: the pectoral muscle mass of Dunlins Calidris alpina in winter

Pectoral muscle size (as an index of protein reserves) was measured in Dunlins during midwinter on five British estuaries, and examined in relation to latitude and midwinter air temperature. In adults, pectoral muscle size was greater on more northerly and colder estuaries. Pectoral muscle size of juveniles varied less than that of adults between estuaries. For both ages, pectoral muscle size correlations were stronger with temperature than with latitude. The size of protein reserves in the pectoral muscles differed by 26% (adults) and 14% (juveniles) between warmest (Menai Straits) and coldest (Firth of Forth) sites studied. Both pectoralis major and supracoracoideus muscles contributed to the protein store, but the supracoracoideus formed only 12% of the total pectoral muscle mass. The age-difference appeared not to arise through the selective death of some juveniles. We propose that juveniles have a set-point for pectoral muscle size in winter adapted to the broad geographical area within which they may settle. The set-point may then be altered according to the weather conditions experienced at the site where they settle and return as adults.