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A new species (Marcopoloichthys mirigioliensis) of the stem teleosteomorph genus Marcopoloichthys is described from the lower Besano Formation (late Anisian at Monte San Giorgio, southern Switzerland), making this new species distinct from Marcopoloichthys furreri from the Prosanto Formation (early Ladinian at Ducanfurgga, southeastern Switzerland). Marcopoloichthys mirigioliensis n. sp. is smaller (ca. 32 mm standard length) than M. furreri (ca. 40 mm standard length), and in addition, the two species have some important differences in the caudal endoskeleton and fin, e.g., number of epaxial and hypaxial basal fulcra, uroneural structure, size of hypurals, and presence versus absence of urodermals. Marcopoloichthys mirigioliensis n. sp. is the smallest member of Marcopoloichthyidae which is currently known from at least five species living in the Triassic of China (one species), Italy (two and others that remain undescribed), and Switzerland and according to current information, with its ca. 32 mm standard length is candidate to be considered a miniature fish. Additionally, this size makes it the smallest known stem teleost. As in other marcopoloichthyids, the buccal and suspensorium anatomy of M. mirigiolensis n. sp. corresponds to that of suction-feeder fishes. [ABSTRACT FROM AUTHOR]

Grasping is a key task for robots to interact with humans and the environment. Soft grippers have been widely studied and some have been applied in industry and daily life. Typical soft grippers face two challenges: lack of stiffness and insufficient adaptability to various objects. Inspired by the human hand, this paper proposes a soft-rigid hybrid pneumatic gripper composed of fingers with soft skin and rigid endoskeletons, and an active palm. Through different combinations of the four joints' locking states within the rigid endoskeleton, each finger obtains 9 different postures in its inflating state and 13 different postures in its deflating state, endowing the gripper with the capability of adapting to a wider variety of objects. Simultaneously, due to the endoskeletons, the lateral stiffness of the gripper is significantly enhanced (load-to-weight ratio∼7.5 for lateral grasping). We also propose a series of grasping strategies for grasping objects with different sizes and shapes to utilize the versatile configurations of the gripper. Experiments demonstrated that the gripper conformed well to the surfaces of cylindrical and prismatic objects and successfully grasped all tool items and shape items in the Yale–CMU–Berkeley object set. [ABSTRACT FROM AUTHOR]

Musculoskeletal disorders are common occupational diseases that have become a major social problem. Mechanization has been promoted as a solution to this problem. However, several tasks still require manual labor, such as fruit harvesting in orchards, making the introduction of machinery difficult in many cases. Recently, from the viewpoint of worker protection and ergonomics, various wearable robots for work support have attracted attention. In Europe and the US, there has been much development of arm-lifting assistive devices that support upward work while holding tools in the hands for industrial applications. However, most of the devices currently on the market are expensive compared to their assistive capabilities. Against this background, we developed three types of arm-lifting assistive devices with different concepts (an exoskeleton arm-lifting assistive device utilizing a gas spring, an exoskeleton arm-lifting assistive device utilizing McKibben-type artificial muscles, and an arm-lifting assistive suit utilizing rubber) to develop inexpensive, high-power devices. Furthermore, comparative verification of the assist effectiveness of each device was conducted. [ABSTRACT FROM AUTHOR]

Recent in-vivo work showed the suitability of Pickering-stabilized antibubbles in harmonic imaging and ultrasound-guided drug delivery. To date, however, theoretical considerations of antibubble core properties and their effects on antibubble dynamics have been rather sparse. The purpose of this study was to investigate the influence of skeletal friction on the damping of a pulsating antibubble and the pulsation phase of an antibubble relative to the incident sound wave. Numerical simulations were performed to compute damping terms and pulsation phases of micron-sized antibubbles with thin elastic shells and 30% endoskeleton volume fraction. The simulations showed that the damping owing to skeleton presence dominates the damping mechanism for antibubbles of radii less than 2.5 μm, whilst it is negligible for greater radii. The pulsation phase of such small antibubbles was simulated to have a phase delay of up to 1/6 π with respect to pulsating free gas bubbles. Our findings demonstrate that the presence of an endoskeleton inside a bubble influences pulsation phase and damping of small antibubbles. Antibubbles of radii less than 3 μm are of interest for the use as ultrasound contrast agents.

Adipose fins of teleost fishes have been shown to function as mechanosensory organs that respond to minute bending forces created by turbulence in fast‐flowing streams. Nonetheless, adipose fins also exist in some fishes that occupy still waters, including lanternfish (Myctophidae) in the deep sea. The authors examined adipose fin structure in northern lampfish, Stenobrachius leucopsarus, from coastal British Columbia. After fixation, embedding and sectioning of the adipose and supporting tissue, it was evident that lanternfish adipose fins are stiffened by compound actinotrichia, acting like fin rays, that would create a higher aspect ratio. The actinotrichia converge at the base of the fin in a hinge point complex that anteriorly interacts with a cartilaginous endoskeletal rod, controlled by skeletal muscles. Afferent nerves enter the fin at this point and form fine branches as they track deeper alongside actinotrichia. The authors propose that the vertical nightly migration to surface waters, as well as predator evasion within large schools, results in microturbulence. In these circumstances, the adipose fin acts as a mechanosensor providing feedback to the caudal fin, as it occurs in salmonids and catfish. [ABSTRACT FROM AUTHOR]

Background: The caudal fin of teleosts is characterized by dorsoventral symmetry. Despite this external morphology, the principal rays of this appendage connect to bones below the notochord, indicating the ventral (hypochordal) identity of this organ. Results: Here, we report that this typical architecture of the caudal fin is not fully conserved in the platyfish (Xiphophorus maculatus) and the guppy (Poecilia reticulata), representatives of the Poeciliidae family. We show that in these species, 3–4 principal rays connect to bones above the notochord, suggesting an epichordal contribution. Consistently, as examined in platyfish, dorsal identity genes zic1/4 were highly expressed in these rays, providing molecular evidence of their epichordal origin. Developmental analysis revealed that the earliest rays above the notochord emerge at the 10‐ray stage of fin morphogenesis. In contrast to zebrafish and medaka, platyfish and guppies display a mirrored shape of dorsal and ventral processes of the caudal endoskeleton. Our study suggests that an ancestral bauplan expanded in poeciliids by advancing its symmetrical pattern. Conclusion: The platyfish evolved a fin architecture with the epichordal origin of its upper principal rays and a high level of symmetry in the caudal endoskeleton. This innovative architecture highlights the adaptation of the teleost skeleton. Key Findings: In platyfish, principal rays of the caudal fin are associated with endoskeletal elements not only below but also above the notochord.Dorsal identity markers zic1/4 are highly expressed in the three uppermost principal rays.The epichordal principal rays begin to form at the developmental stage with 10 caudal rays.The caudal fin of platyfish displays a striking internal symmetry of the endoskeleton. [ABSTRACT FROM AUTHOR]

The established soft pneumatic grippers have the benefit of flexible and compliant gripping, but they cannot withstand lateral loads, due to the low stiffness of soft material. This paper proposes an endoskeleton gripper. The soft action of the finger is performed by air chambers, and the gripping force is transferred by the rigid endoskeleton within the finger. The endoskeleton in the finger is similar to a wristwatch chain; the hinge mechanism permits relative rotation in the working plane but restricts out-of-plane bending, greatly increasing the finger stiffness. The endoskeleton and gripper holder can be 3D-printed with CR-PLA material. The finger was fabricated by molding of silicone gel. The gripper can perform enveloping grasping and pinch grasping operations depending on the object size, weight, and surrounding environment. The finger bending and gripper grasping performance were investigated by experiments and finite element analysis. The fingertip force of the endoskeleton gripper was about 1.45 times higher than that of the gripper without endoskeleton. It was found that the gripper can grasp objects with a maximum diameter of 80.5 mm and a weight of 450 g, which were 80.5% of the finger length and six times the finger self-weight, respectively. [ABSTRACT FROM AUTHOR]

Background: The development of the vertebrate limb skeleton requires a complex interaction of multiple factors to facilitate the correct shaping and positioning of bones and joints. Growth and differentiation factor 5 (Gdf5) is involved in patterning appendicular skeletal elements including joints. Expression of gdf5 in zebrafish has been detected in fin mesenchyme condensations and segmentation zones as well as the jaw joint, however, little is known about the functional role of Gdf5 outside of Amniota. Results: We generated CRISPR/Cas9 knockout of gdf5 in zebrafish and analyzed the resulting phenotype at different developmental stages. Homozygous gdf5 mutant zebrafish displayed changes in segmentation of the endoskeletal disc and, as a consequence, loss of posterior radials in the pectoral fins. Mutant fish also displayed disorganization and reduced length of endoskeletal elements in the median fins, while joints and mineralization seemed unaffected. Conclusions: Our study demonstrates the importance of Gdf5 in the development of the zebrafish pectoral and median fin endoskeleton and reveals that the severity of the effect increases from anterior to posterior elements. Our findings are consistent with phenotypes observed in the human and mouse appendicular skeleton in response to Gdf5 knockout, suggesting a broadly conserved role for Gdf5 in Osteichthyes. Key Findings: Generation of zebrafish knockout mutant for the gdf5 gene.The endoskeletal disc segmentation is disrupted, causing posterior radials in the pectoral fins to be lost.Endoskeletal elements in the median fins are disorganized and reduced in length.The severity of the effect increases from anterior to posterior elements. [ABSTRACT FROM AUTHOR]

Abstract Growing evidence indicates that reduced uterine perfusion pressure (RUPP) triggers the cascade of events leading to preeclampsia. Edaravone is a powerful free radical scavenger used for the treatment of ischemia/reperfusion diseases due to its anti-oxidative stress and anti-inflammatory properties. Here we investigate the effect of edaravone (3 mg/kg) on different maternal and fetal outcomes of RUPP-induced placental ischemia mice model. RUPP surgery was performed on gestation day (GD) 13 followed by edaravone injection from GD14 to GD18, sacrifice day. The results showed that edaravone injection significantly decreased the maternal blood pressure (113.2 ± 2.3 mmHg) compared with RUPP group (131.5 ± 1.9 mmHg). Edaravone increased fetal survival rate (75.4%) compared with RUPP group (54.4%), increased fetal length, weights, and feto-placental ratio (7.2 and 5.7 for RUPP and RUPP-Edaravone groups, respectively) compared with RUPP group. In addition, RUPP resulted in many fetal morphological abnormalities as well as severe delayed ossification, however edaravone decreased the morphological abnormalities and increased the ossification of the fetal endoskeleton. Edaravone improved the histopathological structure of the maternal kidney and heart as well as decreased the elevated blood urea and creatinine levels (31.5 ± 0.15 mg/dl (RUPP), 25.6 ± 0.1 mg/dl (RUPP+edaravone) for urea and 5.4 ± 0.1 mg/dl (RUPP), 3.5 ± 0.1 mg/dl (RUPP+edaravone) for creatinine) and decreased cleaved caspase-3 expression in the maternal kidney. In conclusion, this study demonstrated that our RUPP mice model recapitulated preeclampsia symptoms and edaravone injection ameliorated most of these abnormalities suggesting its effectiveness and potential application in preeclampsia treatment regimes.

Abstract Background Explanations for the ecological dominance of ants generally focus on the benefits of division of labour and cooperation during foraging. However, the principal innovation of ants relative to their wasp ancestors was the evolution of a new phenotype: a wingless worker caste optimized for ground labour. Ant workers are famous for their ability to lift and carry heavy loads, but we know surprisingly little about the morphological basis of their strength. Here we examine the consequences of the universal loss of flight in ant workers on skeletomuscular adaptations in the thorax for enhanced foraging on six legs. Results Using X-ray microcomputed tomography and 3D segmentation, we compared winged queens and wingless workers in Euponera sikorae (subfamily Ponerinae) and Cataglyphis savignyi (subfamily Formicinae). Workers are characterized by five major changes to their thorax: i) fusion of the articulated flight thorax (queens) into a rigid box optimized to support the muscles that operate the head, legs and abdomen, ii) redesign of internal cuticular structures for better bracing and muscle attachment, iii) substantial enlargement of the neck muscles for suspending and moving the head, iv) lengthening of the external trochanter muscles, predominant for the leg actions that lift the body off the ground, v) modified angle of the petiole muscles that are key for flexion of the abdomen. We measured volumes and pennation angles for a few key muscles to assess their increased efficacy. Our comparisons of additional workers across five genera in subfamilies Dorylinae and Myrmicinae show these modifications in the wingless thorax to be consistent. In contrast, a mutillid wasp showed a different pattern of muscle adaptations resulting from the lack of wing muscles. Conclusions Rather than simply a subtraction of costly flight muscles, we propose the ant worker thorax evolved into a power core underlying stronger mandibles, legs, and sting. This contrasts with solitary flightless insects where the lack of central place foraging generated distinct selective pressures for rearranging the thorax. Stronger emphasis is needed on morphological innovations of social insects to further our understanding of the evolution of social behaviours.

Computed Axial Lithography (CAL) is an emerging technology for manufacturing complex parts, all at once, by circumventing the traditional layered approach using tomography. Overprinting, a unique additive manufacturing capability of CAL, allows for a 3D geometry to be formed around a prepositioned insert where the occlusion of light is compensated for by the other angular projections. This method opens the door for novel applications within additive manufacturing for multi-material systems such as endoskeletal robots. Herein, this work presents one such application with a simple Gelatin Methacrylate (GelMA)hydrogel osmotic actuator with an embedded endoskeletal system. GelMA is an ideal material for this application as it is swellable and has reversible thermal gelation, enabling suspension of the endoskeleton during printing. By tuning the material formulation, the actuator design, and post-processing, swelling-induced bending actuation of 60 degrees is achieved. To aid in the printing process, a simple computational method for determining the absolute dose absorbed by the resin allowing for print time prediction is also proposed., (© 2024 The Author(s). Advanced Materials published by Wiley‐VCH GmbH.)

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The established soft pneumatic grippers have the benefit of flexible and compliant gripping, but they cannot withstand lateral loads, due to the low stiffness of soft material. This paper proposes an endoskeleton gripper. The soft action of the finger is performed by air chambers, and the gripping force is transferred by the rigid endoskeleton within the finger. The endoskeleton in the finger is similar to a wristwatch chain; the hinge mechanism permits relative rotation in the working plane but restricts out-of-plane bending, greatly increasing the finger stiffness. The endoskeleton and gripper holder can be 3D-printed with CR-PLA material. The finger was fabricated by molding of silicone gel. The gripper can perform enveloping grasping and pinch grasping operations depending on the object size, weight, and surrounding environment. The finger bending and gripper grasping performance were investigated by experiments and finite element analysis. The fingertip force of the endoskeleton gripper was about 1.45 times higher than that of the gripper without endoskeleton. It was found that the gripper can grasp objects with a maximum diameter of 80.5 mm and a weight of 450 g, which were 80.5% of the finger length and six times the finger self-weight, respectively.

Growing evidence indicates that reduced uterine perfusion pressure (RUPP) triggers the cascade of events leading to preeclampsia. Edaravone is a powerful free radical scavenger used for the treatment of ischemia/reperfusion diseases due to its anti-oxidative stress and anti-inflammatory properties. Here we investigate the effect of edaravone (3 mg/kg) on different maternal and fetal outcomes of RUPP-induced placental ischemia mice model. RUPP surgery was performed on gestation day (GD) 13 followed by edaravone injection from GD14 to GD18, sacrifice day. The results showed that edaravone injection significantly decreased the maternal blood pressure (113.2 ± 2.3 mmHg) compared with RUPP group (131.5 ± 1.9 mmHg). Edaravone increased fetal survival rate (75.4%) compared with RUPP group (54.4%), increased fetal length, weights, and feto-placental ratio (7.2 and 5.7 for RUPP and RUPP-Edaravone groups, respectively) compared with RUPP group. In addition, RUPP resulted in many fetal morphological abnormalities as well as severe delayed ossification, however edaravone decreased the morphological abnormalities and increased the ossification of the fetal endoskeleton. Edaravone improved the histopathological structure of the maternal kidney and heart as well as decreased the elevated blood urea and creatinine levels (31.5 ± 0.15 mg/dl (RUPP), 25.6 ± 0.1 mg/dl (RUPP+edaravone) for urea and 5.4 ± 0.1 mg/dl (RUPP), 3.5 ± 0.1 mg/dl (RUPP+edaravone) for creatinine) and decreased cleaved caspase-3 expression in the maternal kidney. In conclusion, this study demonstrated that our RUPP mice model recapitulated preeclampsia symptoms and edaravone injection ameliorated most of these abnormalities suggesting its effectiveness and potential application in preeclampsia treatment regimes. [ABSTRACT FROM AUTHOR]

Abstract Background Amongst the echinoderms the class Ophiuroidea is of particular interest for its phylogenetic position, ecological importance and developmental and regenerative biology. However, compared to other echinoderms, notably echinoids (sea urchins), relatively little is known about developmental changes in gene expression in ophiuroids. To address this issue, we have generated and assembled a large RNAseq data set of four key stages of development in the brittle star Amphiura filiformis and a de novo reference transcriptome of comparable quality to that of a model echinoderm—the sea urchin Strongylocentrotus purpuratus. Furthermore, we provide access to the new data via a web interface: http://www.echinonet.eu/shiny/Amphiura_filiformis/. Results We have identified highly conserved genes associated with the development of a biomineralised skeleton. We also identify important class-specific characters, including the independent duplication of the msp130 class of genes in different echinoderm classes and the unique occurrence of spicule matrix (sm) genes in echinoids. Using a new quantification pipeline for our de novo transcriptome, validated with other methodologies, we find major differences between brittle stars and sea urchins in the temporal expression of many transcription factor genes. This divergence in developmental regulatory states is more evident in early stages of development when cell specification begins, rather than when cells initiate differentiation. Conclusions Our findings indicate that there has been a high degree of gene regulatory network rewiring and clade-specific gene duplication, supporting the hypothesis of a convergent evolution of larval skeleton development in echinoderms.

Background: Explanations for the ecological dominance of ants generally focus on the benefits of division of labour and cooperation during foraging. However, the principal innovation of ants relative to their wasp ancestors was the evolution of a new phenotype: a wingless worker caste optimized for ground labour. Ant workers are famous for their ability to lift and carry heavy loads, but we know surprisingly little about the morphological basis of their strength. Here we examine the consequences of the universal loss of flight in ant workers on skeletomuscular adaptations in the thorax for enhanced foraging on six legs. Results: Using X-ray microcomputed tomography and 3D segmentation, we compared winged queens and wingless workers in Euponera sikorae (subfamily Ponerinae) and Cataglyphis savignyi (subfamily Formicinae). Workers are characterized by five major changes to their thorax: i) fusion of the articulated flight thorax (queens) into a rigid box optimized to support the muscles that operate the head, legs and abdomen, ii) redesign of internal cuticular structures for better bracing and muscle attachment, iii) substantial enlargement of the neck muscles for suspending and moving the head, iv) lengthening of the external trochanter muscles, predominant for the leg actions that lift the body off the ground, v) modified angle of the petiole muscles that are key for flexion of the abdomen. We measured volumes and pennation angles for a few key muscles to assess their increased efficacy. Our comparisons of additional workers across five genera in subfamilies Dorylinae and Myrmicinae show these modifications in the wingless thorax to be consistent. In contrast, a mutillid wasp showed a different pattern of muscle adaptations resulting from the lack of wing muscles. Conclusions: Rather than simply a subtraction of costly flight muscles, we propose the ant worker thorax evolved into a power core underlying stronger mandibles, legs, and sting. This contrasts with solitary flightless insects where the lack of central place foraging generated distinct selective pressures for rearranging the thorax. Stronger emphasis is needed on morphological innovations of social insects to further our understanding of the evolution of social behaviours. [ABSTRACT FROM AUTHOR]

Background: The purpose of this study was to evaluate the changes in pulse wave velocity and left ventricular dimensions in patients undergoing stent-graft treatment for aortic arch aneurysm. Methods: From July 2008 to February 2019, 86 patients underwent thoracic endovascular aortic repair of an aortic arch aneurysm. Changes in pulse wave velocity (PWV), echocardiogram findings, and long-term outcomes were compared between endoskeleton type (n = 60) and exoskeleton type stent-graft (n = 26). Results: There was no significant difference in patient demographics except for diabetes which was more observed in endoskeleton type (p = 0.017). There was a significant increase in PWV in exoskeleton type after surgery, which further progressed at a median follow-up of 32 months (before: 2047 cm/s vs. after: 2259 cm/s vs. follow-up: 2486 cm/s, p = 0.010, p = 0.017). No significant difference was observed in endoskeleton type (before: 1980 cm/s vs. after: 2058 cm/s, vs. follow-up: 2042 cm/s, p = 0.25, p = 0.34). Echocardiogram performed at a median period of 46.3 months, revealed a significant increase in left ventricular diastolic volume (LVDV) (before: 107.4 ± 20.6 ml vs. follow-up: 127.7 ± 27.5 ml, p = 0.003) and decrease in e′ (before: 5.5 ± 1.78 cm/s vs. follow-up: 4.7 ± 1.72 cm/s, p = 0.012) in exoskeleton type, while no significant change was observed in endoskeleton type (LVDV: before: 102.6 ± 32.3 ml vs. follow-up: 96.9 ± 35.4 ml, p = 0.74; e′: before: 4.4 ± 1.21 cm/s vs. follow-up: 4.8 ± 1.40 cm/s, p = 0.68). At the median period of 61.3 months, there was no significant difference in long-term mortality (p = 0.89). However, the endoskeleton type was associated with a lower incidence of a cardiac event (p = 0.034) and cerebrovascular event (p = 0.029). Conclusion: Types of endoprosthesis might affect differently on physiological changes and its accommodated risk factors after surgery. [ABSTRACT FROM AUTHOR]

We show for the first time endoskeletal regeneration in the developing pectoral fin of zebrafish. The developing pectoral fin contains an aggregation plate of differentiated chondrocytes (endochondral disc; primordium for endoskeletal components, proximal radials). The endochondral disc can be regenerated after amputation in the middle of the disc. The regenerated disc sufficiently forms endoskeletal patterns. Early in the process of regenerating the endochondral disc, epithelium with apical ectodermal ridge (AER) marker expression rapidly covers the amputation plane, and mesenchymal cells start to actively proliferate. Taken together with re-expression of a blastema marker gene, msxb , and other developmental genes, it is likely that regeneration of the endochondral disc recaptures fin development as epimorphic limb regeneration does. The ability of endoskeletal regeneration declines during larval growth, and adult zebrafish eventually lose the ability to regenerate endoskeletal components such that amputated endoskeletons become enlarged. Endoskeletal regeneration in the zebrafish pectoral fin will serve as a new model system for successful appendage regeneration in mammals. • Endoskeletal regeneration in the developing pectoral fin of zebrafish is shown for the first time. • The endochondral disc can be regenerated after amputation in the middle of the disc. • Adult zebrafish eventually loses the ability to regenerate endoskeletal components. • msxb is re-expressed in the process of regeneration of the endochondral disc. [ABSTRACT FROM AUTHOR]

Echinoderms are an exceptional group of bilaterians that develop pentameral adult symmetry from a bilaterally symmetric larva. However, the genetic basis in evolution and development of this unique transformation remains to be clarified. Here we report newly sequenced genomes, developmental transcriptomes, and proteomes of diverse echinoderms including the green sea urchin (L. variegatus), a sea cucumber (A. japonicus), and with particular emphasis on a sister group of the earliest-diverged echinoderms, the feather star (A. japonica). We learned that the last common ancestor of echinoderms retained a well-organized Hox cluster reminiscent of the hemichordate, and had gene sets involved in endoskeleton development. Further, unlike in other animal groups, the most conserved developmental stages were not at the body plan establishing phase, and genes normally involved in bilaterality appear to function in pentameric axis development. These results enhance our understanding of the divergence of protostomes and deuterostomes almost 500 Mya. Li et al. investigate the evolution and genetic basis of the adult pentameral body plan in echinoderms using genomic, transcriptomic, and proteomic data. They determine that the last common ancestor of echinoderms contained an organized Hox cluster and endoskeleton genes, and suggest that cooption of bilateral development genes was involved in evolution of the pentameric body plan. [ABSTRACT FROM AUTHOR]

The monobasal pectoral fins of living coelacanths and lungfishes are homologous to the forelimbs of tetrapods and are thus critical to investigate the origin thereof. However, it remains unclear whether the similarity in the asymmetrical endoskeletal arrangement of the pectoral fins of coelacanths reflects the evolution of the pectoral appendages in sarcopterygians. Here, we describe for the first time the development of the pectoral fin and shoulder girdle in the extant coelacanth Latimeria chalumnae, based on the tomographic acquisition of a growth series. The pectoral girdle and pectoral fin endoskeleton are formed early in development with a radially outward growth of the endoskeletal elements. The visualization of the pectoral girdle during development shows a reorientation of the girdle between the fetus and pup 1 stages, creating a contact between the scapulocoracoids and the clavicles in the ventro‐medial region. Moreover, we observed a splitting of the pre‐ and post‐axial cartilaginous plates in respectively pre‐axial radials and accessory elements on one hand, and in post‐axial accessory elements on the other hand. However, the mechanisms involved in the splitting of the cartilaginous plates appear different from those involved in the formation of radials in actinopterygians. Our results show a proportional reduction of the proximal pre‐axial radial of the fin, rendering the external morphology of the fin more lobe‐shaped, and a spatial reorganization of elements resulting from the fragmentation of the two cartilaginous plates. Latimeria development hence supports previous interpretations of the asymmetrical pectoral fin skeleton as being plesiomorphic for coelacanths and sarcopterygians. [ABSTRACT FROM AUTHOR]

Soft actuators are suitable for gripping fragile and delicate objects with irregular shapes and sizes owing to their high flexibility and have become a current research focus. But current soft actuators have a general problem of insufficient gripping force. To grip objects with different mass and sizes on assembly line safely and reliably, a novel pneumatic soft actuator with jointed endoskeleton structure was developed which separated the actuation and force bearing function. The bending action of the actuator was performed by the soft rubber with embedded radial-restrained fiber through pneumatic actuating, while the gripping force was bore and transferred by means of the jointed endoskeleton. To obtain the pose of free-end of the soft actuator, the theoretical model was built up. Firstly, the strain energy function of silicon rubber (Yeoh model) was used for deducing the stress and strain. Secondly, the relation between bending angle and input pressure was analyzed. Then the pot matrix of the free-end could be acquired through D-H method. Moreover, to determine the size parameters to facilitate the prototype, the sectional radius, the sectional height, the axial length and the wall thickness were chosen as the design parameters to analyze. The influences for bending of the actuator were discussed. The results showed that the input pressure reduced along with the increase of the sectional radius and the axial length while increased with the increase of the sectional height and the wall thickness. Furthermore, an optimization design algorithm was developed based on the theoretical model. At first, the strain-stress curve of the silicon rubber was measured by tensile test and the coefficients of Yeoh model were obtained. The determined pressure and the expected pose of the free-end were defined as the input while the minimum weight was the optimization target. Then 4 key design parameters could be calculated by the algorithm. With the obtained design parameters, the soft actuator was fabricated and relevant experiments were conducted. An experimental platform was developed to test the bending angle of the soft actuator. Through the experiment, the bending angle of the free-end pressurized by each finger-segment only was measured. The variation trend of experimental data was consistent with that of theoretical ones. When the input pressure was below 100 kPa, the theoretical curves coincided with the experimental curves. But when the input pressure was larger than 100 kPa, the theoretical curves were above the experimental curves. The reason was that the silicon rubber presented a high nonlinearity at a large deformation. The maximum difference was less than 9% with maximum working pressure 150 kPa. The modeling error was mainly originated from the friction damping of the endoskeleton joints and the fabrication precision of the soft finger. Therefore, the friction damping term should be considered to improve the theoretical model and a correction coefficient should be added. Another test platform was put up to measure the bending stiffness of the soft actuator. The tip of the actuator could generate maximum output force while it was entirely constrained without bending motion. Then the bending stiffness was defined as the radio of the maximum output force and the bending angle without external force. From the experiment, it indicated that the bending stiffness increases with the increase of the pressure and it could reach up to 4.5 N/rad at the largest working pressure. The bending stiffness was improved significantly and the flexibility was remained. The soft actuator is successful and promising in future development and application. [ABSTRACT FROM AUTHOR]

Starfish (order: Asteroidea) possess a complex endoskeleton composed of thousands of calcareous ossicles. These ossicles are embedded in a body wall mostly consisting of a complex collagen fiber array. The combination of soft and hard tissue provides a challenge for detailed morphological and histological studies. As a consequence, very little is known about the general biomechanics of echinoderm endoskeletons and the possible role of ossicle shape in enabling or limiting skeletal movements. In this study, we used high‐resolution X‐ray microscopy to investigate individual ossicle shape in unprecedented detail. Our results show the variation of ossicle shape within ossicles of marginal, reticular and carinal type. Based on these results we propose an additional classification to categorize ossicles not only by shape but also by function into 'connecting' and 'node' ossicles. We also used soft tissue staining with phosphotungstic acid successfully and were able to visualize the ossicle ultrastructure at 2‐μm resolution. We also identified two new joint types in the aboral skeleton (groove‐on‐groove joint) and between adambulacral ossicles (ball‐and‐socket joint). To demonstrate the possibilities of micro‐computed tomographic methods in analyzing the biomechanics of echinoderm skeletons we exemplarily quantified changes in ossicle orientation for a bent ray for ambulacral ossicles. This study provides a first step for future biomechanical studies focusing on the interaction of ossicles and soft tissues during ray movements. [ABSTRACT FROM AUTHOR]

Graphical abstract Abstract Bone is a defining characteristic of the vertebrate skeleton, and while chondrichthyans (sharks, skates, and other cartilaginous fishes) are vertebrates, they are hypothesized to have lost the ability to make bone during their evolution. Multiple descriptions of a bone-like tissue in neural arches of vertebrae in various shark species (selachians), however, challenge this hypothesis. Here, we extend this argument by analyzing vertebrae of two members of the batoids (the little skate Leucoraja erinacea and Eaton's skate Bathyraja eatonii), the sister group to selachians within elasmobranchs. Micro-CT images showed a bone-like mineralization pattern in neural arches of each skate species, and histological analyses confirmed that this bone-like tissue surrounded a cartilage core, exactly as described in sharks. Another mineralization pattern identified in skate vertebrae was distinct from the polygonal tesseral and areolar patterns that classically are associated with the chondrichthyan endoskeleton. Many regions of the vertebrae, including the neural spine and transverse processes, showed this perichondral mineralization pattern, termed here trabecular tesseral. Other than the cartilage core of the neural arch, all mineralized tissues in skate vertebrae had flattened cells surrounded by matrix with bone-like histology. Analyses of quantitative microstructural parameters revealed that, compared to rat vertebrae, the bone-like mineralization pattern in the neural arches of skate vertebrae was more similar to compact bone than trabecular bone. In contrast, the thickness of the trabecular tesseral pattern was more similar to trabecular bone than compact bone of rat vertebrae. In conclusion, a bone-like tissue in neural arches of skate vertebrae appears to be a novel elasmobranch synapomorphy. We propose that the trabecular tesseral mineralization pattern in the skate might have deep homology to the mineralization pattern utilized in trabecular bone. Statement of Significance Mineralization patterns of skeletal tissues have not been investigated thoroughly in all vertebrate clades. Despite their designation as 'cartilaginous fish', chondrichthyans clearly evolved from ancestral vertebrates that made bone. The consensus that chondrichthyans lost the ability to make bone during their evolution, however, is challenged by reports of bone and bone-like tissues in the neural arches of vertebrae in extant sharks (selachians). Here, we provide evidence from micro-CT imaging and histological analyses to support our hypothesis that a bone-like tissue is present in the neural arches of batoids (the sister group to selachians within elasmobranchs). These results argue strongly that the neural arch bone-like tissue is a previously unknown synapomorphy of elasmobranchs. In addition to the bone-like mineralization pattern identified in the neural arches, micro-CT images also showed a novel mineralization pattern which we described as trabecular tesseral. Quantitative microstructural features shared between trabecular tesseral pattern and trabecular bone (from homologous rat vertebrae) suggest that both patterns might derive from an ancestral gene network driving trabecular mineralization (i.e., deep homology). [ABSTRACT FROM AUTHOR]

The paired appendages (fins or limbs) of jawed vertebrates contain an endoskeleton consisting of nodules, bars and, in some groups, plates of cartilage, or bone arising from replacement of cartilaginous templates. The generation of the endoskeletal elements occurs by processes involving production and diffusion of morphogens, with, variously, positive and negative feedback circuits, adhesion, and receptor dynamics with similarities to the mechanism for chemical pattern formation proposed by Alan Turing. This review presents a unified interpretation of the evolution and functioning of these mechanisms. Studies are described indicating that protocondensations, compacted mesenchymal cell aggregates that prefigure the appendicular skeleton, arise through the adhesive activity of galectin-1, a matricellular protein with skeletogenic homologs in all jawed vertebrates. In the cartilaginous and lobe-finned fishes (and to a variable extent in ray-finned fishes) it additionally cooperates with an isoform of galectin-8 to constitute a self-organizing network capable of generating arrays of preskeletal nodules, bars and plates. Further, in the tetrapods, a putative galectin-8 control module was acquired that may have enabled proximodistal increase in the number of protocondensations. In parallel to this, other self-organizing networks emerged that acted, via Bmp, Wnt, Sox9 and Runx2, as well as transforming factor-β and fibronectin, to convert protocondensations into skeletal tissues. The progressive appearance and integration of these skeletogenic networks over evolution occurred in the context of an independently evolved system of Hox protein and Shh gradients that interfaced with them to tune the spatial wavelengths and refine the identities of the resulting arrays of elements. [ABSTRACT FROM AUTHOR]

The Maastrichtian sediments of northern Iraq are rich in larger benthic foraminifera. Among them, the genus Loftusia is well-known one because of its significant palaeogeographic distribution across the Mediterranean and Middle East. In this study, observations of abnormal test shapes, species recognition criteria and endoskeleton characteristics of Loftusia are discussed, based on the new material from north-eastern Iraq. The following species of Loftusia are described: Loftusia elongata Cox, L. persica Brady, Loftusia morgani Douvillé, L. anatolica Meriç, L. matsumarui Meriç and Görmüs, L. minor B Cox, L. ketini B Meriç and L. kahtaensis Meriç, Loftusia minor A Cox, L. oktayi Meriç and L. baykali Meriç. The predominant species are Loftusia elongata, L. morgani and L. baykali. Skewed abnormal individuals and epidermal parts of the endoskeleton structure are also interesting aspects to note. Quantitative data obtained for Loftusia allow us to better understand and interpret species identification criteria, abnormal occurrences and the endoskeleton structure. [ABSTRACT FROM AUTHOR]

Abstract: Insect head shapes are remarkably variable, but the influences of these changes on biomechanical performance are unclear. Among ‘basal’ winged insects, such as dragonflies, mayflies, earwigs and stoneflies, some of the most prominent anatomical changes are the general mouthpart orientation, eye size and the connection of the endoskeleton to the head. Here, we assess these variations as well as differing ridge and sclerite configurations using modern engineering methods including multibody dynamics modelling and finite element analysis in order to quantify and compare the influence of anatomical changes on strain in particular head regions and the whole head. We show that a range of peculiar structures such as the genal/subgenal, epistomal and circumocular areas are consistently highly loaded in all species, despite drastically differing morphologies in species with forward‐projecting (prognathous) and downward‐projecting (orthognathous) mouthparts. Sensitivity analyses show that the presence of eyes has a negligible influence on head capsule strain if a circumocular ridge is present. In contrast, the connection of the dorsal endoskeletal arms to the head capsule especially affects overall head loading in species with downward‐projecting mouthparts. Analysis of the relative strains between species for each head region reveals that concerted changes in head substructures such as the subgenal area, the endoskeleton and the epistomal area lead to a consistent relative loading for the whole head capsule and vulnerable structures such as the eyes. It appears that biting‐chewing loads are managed by a system of strengthening ridges on the head capsule irrespective of the general mouthpart and head orientation. Concerted changes in ridge and endoskeleton configuration might allow for more radical anatomical changes such as the general mouthpart orientation, which could be an explanation for the variability of this trait among insects. In an evolutionary context, many‐to‐one mapping of strain patterns onto a relatively similar overall head loading indeed could have fostered the dynamic diversification processes seen in insects. [ABSTRACT FROM AUTHOR]

Abstract: In this research, the possibility of simultaneous removal of lead, cadmium and copper divalent ions from water samples through the use of Sepia pharaonis endoskeleton powder (SPEB) as bio‐material, was investigated. The bio‐sorbent was characterised by Fourier transform infrared spectrum (FT‐IR), atomic force microscopy (AFM) and X‐ray fluorescence (XRF). The different factors affecting the bio‐sorption process were studied. Langmuir and Freundlich isotherm models were applied to analyse the experimental data. The kinetic studies showed that the pseudo‐second order model kinetics were compatible with the investigated systems. It was found that under optimal conditions, this bio‐sorbent was efficient in the uptake of these heavy metal ions from both mono and multi‐metal solutions, and high removal percentages were achieved. This study verified the potential ability of SPEB as an efficient natural adsorbent for removal of Pb(II), Cd(II) and Cu(II) ions from river, tap and mineral water samples. [ABSTRACT FROM AUTHOR]

Oil-in-water emulsion droplets, containing an elastic endoskeleton that holds the droplets in various non-spherical shapes, are formed by crystallizing a portion of the oil phase into a network of wax crystals. Such structures have recently been found to provide enhanced active ingredient delivery and shape-changing responsiveness, but robust methods of producing such droplets are needed that enable control of droplet size and shape. A continuous microfluidic flow is used here to produce endoskeleton droplets whose size is controlled by fluid flow rate and whose shape is varied between spheres, ellipsoids, and rods by control of exit temperature. A wide range of anisotropic shapes is produced using a single flow channel geometry by allowing the endoskeleton droplet to relax its deformation by varying degrees in response to fluid interfacial tension. Flexible production of shaped endoskeleton droplets will expand their application in enhanced delivery, deposition testing, and additive manufacturing processes. [ABSTRACT FROM AUTHOR]

The regeneration of paired appendages in certain fish and amphibian lineages is a well established and extensively studied regenerative phenomenon. The teleost fin is comprised of a proximal endoskeletal part (considered homologous to the Tetrapod limb) and a distal exoskeletal one, and these two parts form their bony elements through different ossification processes. In the past decade, a significant body of literature has been generated about the biology of exoskeletal regeneration in zebrafish. However, it is still not clear if this knowledge can be applied to the regeneration of endoskeletal parts. To address this question, we decided to compare endo- and exoskeletal regenerative capacity in zebrafish (Danio rerio) and mudskippers (Periophthalmus barbarous). In contrast to the reduced endoskeleton of zebrafish, Periophthalmus has well developed pectoral fins with a large and easily accessible endoskeleton. We performed exo- and endoskeletal amputations in both species and followed the regenerative processes. Unlike the almost flawless exoskeletal regeneration observed in zebrafish, regeneration following endoskeletal amputation is often impaired in this species. This difference is even more pronounced in Periophthalmus where we could observe no regeneration in endoskeletal structures. Therefore, regeneration is regulated differentially in the exo- and endoskeleton of teleost species.

The sea urchin larval embryo elaborates two calcitic endoskeletal elements called spicules. Spicules are synthesized by the primary mesenchyme cells (PMCs) and begin to form at early gastrula stage. It is known that the calcium comprising the spicules comes from the seawater and we wish to further consider the mode of calcium transport from the extracellular seawater to the PMCs and then onto the forming spicules. We used PMC in vitro cultures, calcein, fluorescently labeled dextran, and fluorescently labeled Wheat Germ Agglutinin (WGA) to track calcium transport from the seawater into PMCs and spicules and to determine how molecules from the surface of PMCs interact with the incoming calcium. Labeling of PMC endocytic vesicles and forming spicules by both calcein and fluorescently tagged dextran indicate that calcium is taken up from the seawater by endocytosis and directly incorporated into spicules. Calcein labeling studies also indicate that calcium from the extracellular seawater begins to be incorporated into spicules within 30 min of uptake. In addition, we demonstrate that fluorescently labeled WGA and calcein are taken up by many of the same endocytic vesicles and are incorporated into growing spicules. These findings suggest that PMC specific surface molecules accompany calcium ions as they enter PMCs via endocytosis and are incorporated together in the growing spicule. Using anti-spicule matrix protein antibodies, we pinpoint a subset of spicule matrix proteins that may accompany calcium ions from the surface of the PMCs until they are incorporated into spicules. Msp130 is identified as one of these spicule matrix proteins. [ABSTRACT FROM AUTHOR]

The ichnogenus Tremichnus Brett was established for small round pits in echinoderm endoskeletons, principally crinoids. It is morphologically identical to Oichnus Bromley. It is significant that infestation of the echinoderm test is an integral part of any diagnosis of Tremichnus. This is an unacceptable ichnotaxobase; the diagnosis should only define morphology and, with reservation, substrate, such as unlithified (= soft), lithic or wood. From a recent revival of Tremichnus, Tremichnus paraboloides Brett is a junior homonym of Oichnus paraboloides Bromley; both share a similar morphology. Tremichnus puteolus Brett is more correctly referred to Lacrimichnus Santos et al. Tremichnus excavatus (Donovan and Jagt) could only be force-fitted into Tremichnus following a drastic revision of the original diagnosis and is here reassigned to Oichnus, as originally described. Copyright © 2016 John Wiley & Sons, Ltd. [ABSTRACT FROM AUTHOR]

Purpose: Pulse wave velocity (PWV), which measures vascular stiffness, is a powerful predictor of cardiovascular event. Treatment of aneurysms with endovascular prosthesis has been reported to increase PWV. The purpose of this study was to evaluate whether an endoskeleton stent graft design has less effect on PWV than the exoskeleton stent graft design. Methods: Between July 2008 and September 2016, 74 patients underwent endovascular treatment of aortic arch aneurysm in our institution. PWV before and after surgery were compared between those who underwent treatment with Najuta, an endoskeleton stent graft ( n = 51), and those treated with other commercially available exoskeleton stent grafts ( n = 23). Results: Preoperative PWV (endoskeleton: 2004 ± 379.2 cm/s vs. exoskeleton: 2083 ± 454.5 cm/s, p = 0.47) was similar between the two groups. Factors that were associated with preoperative PWV were age ( r = 0.37, 95% CI 0.15-0.56, p = 0.002) and mean arterial pressure ( r = 0.53, 95% CI 0.34-0.68, p < 0.001). There was a significant increase in PWV in patients treated by exoskeleton stent grafts (before: 2083 ± 454.5 cm/s vs. after: 2305 ± 479.7 cm/s, p = 0.023) while endoskeleton stent graft showed no change in PWV (before: 2003 ± 379.2 vs. after: 2010 ± 521.1, p = 0.56). In a multivariate analysis, mean arterial pressure (coef 17.5, 95% CI 6.48-28.59, p = 0.002) and exoskeleton stent graft (coef 359.4, 95% CI 89.36-629.43, p = 0.010) were independently associated with PWV after surgery. Conclusions: Physiological changes after endovascular treatment should be considered including effect on vascular stiffness. Endoskeleton stent graft may provide aneurysm repair with minimum effect in PWV after surgery. [ABSTRACT FROM AUTHOR]

Application of soft and compliant joints in grasping mechanisms received an increasing attention during recent years. This article suggests the design and development of a novel bio-inspired compliant finger which is composed of a 3D printed rigid endoskeleton covered by a soft matter. The overall integrated system resembles a biological structure in which a finger presents an anthropomorphic look. The mechanical properties of such structure are enhanced through optimization of the repetitive geometrical structures that constructs a flexure bearing as a joint for the fingers. The endoskeleton is formed by additive manufacturing of such geometries with rigid materials. The geometry of the endoskeleton was studied by finite element analysis (FEA) to obtain the desired properties: high stiffness against lateral deflection and twisting, and low stiffness in the desired bending axis of the fingers. Results are validated by experimental analysis. [ABSTRACT FROM AUTHOR]

The vertebrate endoskeleton is not a mere frame for muscle attachment to facilitate locomotion, but is a massive organ integrated with many physiologic functions including mineral and energy metabolism. Mineral balance is maintained by tightly controlled ion fluxes that are external (intestine and kidney) and internal (between bone and other organs), and are regulated and coordinated by many endocrine signals between these organs. The endocrine fibroblast growth factors (FGFs) and Klotho gene families are complex systems that co-evolved with the endoskeleton. In particular, FGF23 and αKlotho which are primarily derived from bone and kidney respectively, are critical in maintaining mineral metabolism where each of these proteins serving highly diverse roles; abound with many unanswered questions regarding their upstream regulation and downstream functions. Genetic lesions of components of this network produce discreet disturbances in many facets of mineral metabolism. One acquired condition with colossal elevations of FGF23 and suppression of αKlotho is chronic kidney disease where multiple organ dysfunction contributes to the morbidity and mortality. However, the single most important group of derangements that encompasses the largest breadth of complications is mineral metabolism disorders. Mineral metabolic disorders in CKD impact negatively and significantly on the progression of renal disease as well as extra-renal complications. Knowledge of the origin, nature, and impact of phosphate, FGF23, and αKlotho derangements is pivotal to understanding the pathophysiology and treatment of CKD. [ABSTRACT FROM AUTHOR]

The evolutionary origin of the autopod involved a loss of the fin-fold and associated dermal skeleton with a concomitant elaboration of the distal endoskeleton to form a wrist and digits. Developmental studies, primarily from teleosts and amniotes, suggest a model for appendage evolution in which a delay in the AER-to-fin-fold conversion fuelled endoskeletal expansion by prolonging the function of AER-mediated regulatory networks. Here, we characterize aspects of paired fin development in the paddlefish Polyodon spathula (a non-teleost actinopterygian) and catshark Scyliorhinus canicula (chondrichthyan) to explore aspects of this model in a broader phylogenetic context. Our data demonstrate that in basal gnathostomes, the autopod marker HoxA13 co-localizes with the dermoskeleton component And1 to mark the position of the fin-fold, supporting recent work demonstrating a role for HoxA13 in zebrafish fin ray development. Additionally, we show that in paddlefish, the proximal fin and fin-fold mesenchyme share a common mesodermal origin, and that components of the Shh/LIM/Gremlin/Fgf transcriptional network critical to limb bud outgrowth and patterning are expressed in the fin-fold with a profile similar to that of tetrapods. Together these data draw contrast with hypotheses of AER heterochrony and suggest that limb-specific morphologies arose through evolutionary changes in the differentiation outcome of conserved early distal patterning compartments. [ABSTRACT FROM AUTHOR]

We examined the planktonic dinoflagellate Achradina pulchra by light and scanning electron microscopies from the South and North Atlantic oceans. The basket-like skeleton has been interpreted as a thick cell covering or pellicle of organic composition, or as a siliceous endoskeleton. The skeleton of Achradina is known only from fresh material, being absent in preserved samples, sediments or the fossil record. X-ray microanalysis revealed that the endoskeleton of Achradina is composed of celestite (strontium sulfate) with traces of barite (barium sulfate), two minerals that readily dissolve after cell death. To date, Acantharia and polycystine radiolarians (Retaria) were the only known organisms with a skeleton of this composition. We can now add a dinoflagellate to the list of such mineralized skeletons, which influence on the biogeochemical fluxes of strontium and barium in the oceans. Moreover, we provided the first molecular data for a skeleton-bearing dinoflagellate. Molecular phylogeny based on the SSU rRNA gene sequences revealed that Achradina and several environmental clones branched as an independent lineage within the short-branching dinokaryotic dinoflagellates. To date, seven clades of dinokaryotic dinoflagellates are known living as symbionts in the endoplasm of Acantharia and polycystine radiolarians. Because celestite built skeletons were unknown outside radiolarians, we suggested that the ancestors of Achradina acquired the genes implicated in the deposition of strontium and barium from radiolarian hosts though a horizontal gene transfer event between microbial eukaryotes. [ABSTRACT FROM AUTHOR]

The cartilaginous endoskeletons of elasmobranchs (sharks and rays) are reinforced superficially by minute, mineralized tiles, called tesserae. Unlike the bony skeletons of other vertebrates, elasmobranch skeletons have limited healing capability and their tissues’ mechanisms for avoiding damage or managing it when it does occur are largely unknown. Here we describe an aberrant type of mineralized elasmobranch skeletal tissue called endophytic masses (EPMs), which grow into the uncalcified cartilage of the skeleton, but exhibit a strikingly different morphology compared to tesserae and other elasmobranch calcified tissues. We use materials and biological tissue characterization techniques, including computed tomography, electron and light microscopy, X-ray and Raman spectroscopy and histology to characterize the morphology, ultrastructure and chemical composition of tesserae-associated EPMs in different elasmobranch species. EPMs appear to develop between and in intimate association with tesserae, but lack the lines of periodic growth and varying mineral density characteristic of tesserae. EPMs are mineral-dominated (high mineral and low organic content), comprised of birefringent bundles of large calcium phosphate crystals (likely brushite) aligned end to end in long strings. Both tesserae and EPMs appear to develop in a type-2 collagen-based matrix, but in contrast to tesserae, all chondrocytes embedded or in contact with EPMs are dead and mineralized. The differences outlined between EPMs and tesserae demonstrate them to be distinct tissues. We discuss several possible reasons for EPM development, including tissue reinforcement, repair, and disruptions of mineralization processes, within the context of elasmobranch skeletal biology as well as damage responses of other vertebrate mineralized tissues. [ABSTRACT FROM AUTHOR]

Doliodus problematicus (NBMG 10127), from the Lower Devonian of New Brunswick, Canada (approx. 397-400 Mya) is the earliest sharklike jawed vertebrate (gnathostome) in which the pectoral girdle and fins are well preserved. Its pectoral endoskeleton included sharklike expanded paired coracoids, but Doliodus also possessed an 'acanthodian-like' array of dermal spines, described here for the first time. Doliodus provides the strongest anatomical evidence to date that chondrichthyans arose from 'acanthodian' fishes by exhibiting an anatomical mosaic of 'acanthodian' and sharklike features. [ABSTRACT FROM AUTHOR]

The endoskeleton of elasmobranchs (sharks and rays) is comprised largely of unmineralized cartilage, differing fundamentally from the bony skeletons of other vertebrates. Elasmobranch skeletons are further distinguished by a tessellated surface mineralization, a layer of minute, polygonal, mineralized tiles called tesserae. This 'tessellation' has defined the elasmobranch group for more than 400 million years, yet the limited data on development and ultrastructure of elasmobranch skeletons (e.g. how tesserae change in shape and mineral density with age) have restricted our abilities to develop hypotheses for tessellated cartilage growth. Using high-resolution, two-dimensional and three-dimensional materials and structural characterization techniques, we investigate an ontogenetic series of tessellated cartilage from round stingray Urobatis halleri, allowing us to define a series of distinct phases for skeletal mineralization and previously unrecognized features of tesseral anatomy. We show that the distinct tiled morphology of elasmobranch calcified cartilage is established early in U. halleri development, with tesserae forming first in histotroph embryos as isolated, globular islets of mineralized tissue. By the sub-adult stage, tesserae have increased in size and grown into contact with one another. The intertesseral contact results in the formation of more geometric (straight-edged) tesseral shapes and the development of two important features of tesseral anatomy, which we describe here for the first time. The first, the intertesseral joint, where neighboring tesserae abut without appreciable overlapping or interlocking, is far more complex than previously realized, comprised of a convoluted bearing surface surrounded by areas of fibrous attachment. The second, tesseral spokes, are lamellated, high-mineral density features radiating outward, like spokes on a wheel, from the center of each tessera to its joints with its neighbors, likely acting as structural reinforcements of the articulations between tesserae. As tesserae increase in size during ontogeny, spokes are lengthened via the addition of new lamellae, resulting in a visually striking mineralization pattern in the larger tesserae of older adult skeletons when viewed with scanning electron microscopy ( SEM) in backscatter mode. Backscatter SEM also revealed that the cell lacunae in the center of larger tesserae are often filled with high mineral density material, suggesting that when intratesseral cells die, cell-regulated inhibition of mineralization is interrupted. Many of the defining ultrastructural details we describe relate to local variation in tissue mineral density and support previously proposed accretive growth mechanisms for tesserae. High-resolution micro-computed tomography data indicate that some tesseral anatomical features we describe for U. halleri are common among species of all major elasmobranch groups despite large variation in tesseral shape and size. We discuss hypotheses about how these features develop, and compare them with other vertebrate skeletal tissue types and their growth mechanisms. [ABSTRACT FROM AUTHOR]