Tail function during arboreal quadrupedalism in squirrel monkeys (Saimiri boliviensis) and tamarins (Saguinus oedipus)

Protein signaling and morphological development of the tail fluke in the embryonic beluga whale (Delphinapterus leucas)

BACKGROUND

During the land-to-sea transition of cetaceans (whales, dolphins, and porpoises), the hindlimbs were lost and replaced by an elaborate tail fluke that evolved 32 Ma. All modern cetaceans utilize flukes for lift-based propulsion, and nothing is known of this organ's molecular origins during embryonic development. This study utilizes immunohistochemistry to identify the spatiotemporal location of protein signals known to drive appendage outgrowth in other vertebrates (e.g., Sonic Hedgehog [SHH], GREMLIN [GREM], wingless-type family member 7a [WNT], and fibroblast growth factors [FGFs]) and to test the hypothesis that signals associated with outgrowth and patterning of the tail fluke are similar to a tetrapod limb. Specifically, this study utilizes an embryo of a beluga whale (Delphinapterus leucas) as a case study.

RESULTS

Results showed epidermal signals of WNT and FGFs, and mesenchymal/epidermal signals of SHH and GREM. These patterns are most consistent with vertebrate limb development. Overall, these data are most consistent with the hypothesis that outgrowth of tail flukes in cetaceans employs a signaling pattern that suggests genes essential for limb outgrowth and patterning shape this evolutionarily novel appendage.

CONCLUSIONS

While these data add insights into the molecular signals potentially driving the evolution and development of tail flukes in cetaceans, further exploration of the molecular drivers of fluke development is required.

The effect of tail stiffness on a sprawling quadruped locomotion

A distinctive feature of quadrupeds that is integral to their locomotion is the tail. Tails serve many purposes in biological systems, including propulsion, counterbalance, and stabilization while walking, running, climbing, or jumping. Similarly, tails in legged robots may augment the stability and maneuverability of legged robots by providing an additional point of contact with the ground. However, in the field of terrestrial bio-inspired legged robotics, the tail is often ignored because of the difficulties in design and control. In this study, we test the hypothesis that a variable stiffness robotic tail can improve the performance of a sprawling quadruped robot by enhancing its stability and maneuverability in various environments. In order to validate our hypothesis, we integrated a cable-driven, flexible tail with multiple segments into the underactuated sprawling quadruped robot, where a single servo motor working alongside a reel and cable mechanism regulates the tail's stiffness. Our results demonstrated that by controlling the stiffness of the tail, the stability of locomotion on rough terrain and the climbing ability of the robot are improved compared to the movement with a rigid tail and no tail. Our findings highlight that constant ground support provided by the flexible tail is key to maintaining stable locomotion. This ensured a predictable gait cycle, eliminating unexpected turning and slipping, resulting in an increase in locomotion speed and efficiency. Additionally, we observed the robot's enhanced climbing ability on surfaces inclined up to 20°. The flexibility of the tail enabled the robot to overcome obstacles without external sensing, exhibiting significant adaptability across various terrains.

Blood python (Python brongersmai) strike kinematics and forces are robust to variations in substrate geometry

Snake strikes are some of the most rapid accelerations in terrestrial vertebrates. Generating rapid body accelerations requires high ground reaction forces, but on flat surfaces snakes must rely on static friction to prevent slip. We hypothesize that snakes may be able to take advantage of structures in the environment to prevent their body from slipping, potentially allowing them to generate faster and more forceful strikes. To test this hypothesis, we captured high-speed video and forces from defensive strikes of juvenile blood pythons (Python brongersmai) on a platform that was either open on all sides or with two adjacent walls opposite the direction of the strike. Contrary to our predictions, snakes maintained high performance on open platforms by imparting rearward momentum to the posterior body and tail. This compensatory behavior increases robustness to changes in their strike conditions and could allow them to exploit variable environments.

Genomic analyses of wild argali, domestic sheep, and their hybrids provide insights into chromosome evolution, phenotypic variation, and germplasm innovation

Understanding the genetic mechanisms of phenotypic variation in hybrids between domestic animals and their wild relatives may aid germplasm innovation. Here, we report the high-quality genome assemblies of a male Pamir argali (O ammon polii, 2n = 56), a female Tibetan sheep (O aries, 2n = 54), and a male hybrid of Pamir argali and domestic sheep, and the high-throughput sequencing of 425 ovine animals, including the hybrids of argali and domestic sheep. We detected genomic synteny between Chromosome 2 of sheep and two acrocentric chromosomes of argali. We revealed consistent satellite repeats around the chromosome breakpoints, which could have resulted in chromosome fusion. We observed many more hybrids with karyotype 2n = 54 than with 2n = 55, which could be explained by the selfish centromeres, the possible decreased rate of normal/balanced sperm, and the increased incidence of early pregnancy loss in the aneuploid ewes or rams. We identified genes and variants associated with important morphological and production traits (e.g., body weight, cannon circumference, hip height, and tail length) that show significant variations. We revealed a strong selective signature at the mutation (c.334C > A, p.G112W) in TBXT and confirmed its association with tail length among sheep populations of wide geographic and genetic origins. We produced an intercross population of 110 F2 offspring with varied number of vertebrae and validated the causal mutation by whole-genome association analysis. We verified its function using CRISPR-Cas9 genome editing. Our results provide insights into chromosomal speciation and phenotypic evolution and a foundation of genetic variants for the breeding of sheep and other animals.

Inertial Tail Effects during Righting of Squirrels in Unexpected Falls: From Behavior to Robotics

Arboreal mammals navigate a highly three dimensional and discontinuous habitat. Among arboreal mammals, squirrels demonstrate impressive agility. In a recent "viral" YouTube video, unsuspecting squirrels were mechanically catapulted off of a track, inducing an initially uncontrolled rotation of the body. Interestingly, they skillfully stabilized themselves using tail motion, which ultimately allowed the squirrels to land successfully. Here we analyze the mechanism by which the squirrels recover from large body angular rates. We analyzed from the video that squirrels first use their tail to help stabilizing their head to visually fix a landing site. Then the tail starts to rotate to help stabilizing the body, preparing themselves for landing. To analyze further the mechanism of this tail use during mid-air, we built a multibody squirrel model and showed the righting strategy based on body inertia moment changes and active angular momentum transfer between axes. To validate the hypothesized strategy, we made a squirrel-like robot and demonstrated a fall-stabilizing experiment. Our results demonstrate that a squirrel's long tail, despite comprising just 3% of body mass, can inertially stabilize a rapidly rotating body. This research contributes to better understanding the importance of long tails for righting mechanisms in animals living in complex environments such as trees.

Tail Length Evolution in Deer Mice: Linking Morphology, Behavior, and Function

Determining how variation in morphology affects animal performance (and ultimately fitness) is key to understanding the complete process of evolutionary adaptation. Long tails have evolved many times in arboreal and semi-arboreal rodents; in deer mice, long tails have evolved repeatedly in populations occupying forested habitat even within a single species (Peromyscus maniculatus). Here, we use a combination of functional modeling, laboratory studies, and museum records to test hypotheses about the function of tail-length variation in deer mice. First, we use computational models, informed by museum records documenting natural variation in tail length, to test whether differences in tail morphology between forest and prairie subspecies can influence performance in behavioral contexts relevant for tail use. We find that the deer- mouse tail plays little role in statically adjusting center of mass or in correcting body pitch and yaw, but rather it can affect body roll during arboreal locomotion. In this context, we find that even intraspecific tail-length variation could result in substantial differences in how much body rotation results from equivalent tail motions (i.e., tail effectiveness), but the relationship between commonly-used metrics of tail-length variation and effectiveness is non-linear. We further test whether caudal vertebra length, number, and shape are associated with differences in how much the tail can bend to curve around narrow substrates (i.e., tail curvature) and find that, as predicted, the shape of the caudal vertebrae is associated with intervertebral bending angle across taxa. However, although forest and prairie mice typically differ in both the length and number of caudal vertebrae, we do not find evidence that this pattern is the result of a functional trade-off related to tail curvature. Together, these results highlight how even simple models can both generate and exclude hypotheses about the functional consequences of trait variation for organismal-level performance.

Laterality of tail wrapping in golden snub-nosed monkeys (Rhinopithecus roxellana)

Behavioural laterality in nonhuman primates has been commonly studied in paired limb organs, and studies in unpaired organs such as tails are less common. The very limited investigations on tail laterality have focused on New World primates. We firstly investigated the lateral bias of tail wrapping in an Old World primate. From a wild group of one hundred of golden snub-nosed monkeys (Rhinopithecus roxellana), 14 adult monkeys, 7 males and 7 females, were chosen as focus animals. The data of tail wrapping in two different postures that were resting on the ground and climbing the tree trunk were collected and analyzed. The results demonstrated (1) that, when resting on the ground, the focus animals, 3 showed right-side tail-wrapping preference and 11 were ambipreferent; (2) that there was a population-level right tail-wrapping preference in climbing, and 9 of them showed right-side preference, 1 left-side preference and 4 were ambipreferent; (3) and that there were no significant sex differences on the direction and strength of tail wrapping laterality. These findings provide significant evidence for a difference of cerebral asymmetries in tail-wrapping control and would be valuable for further understanding the important function of tails in Old World primates.

Substrate use drives the macroevolution of mammalian tail length diversity

External length is one of the most conspicuous aspects of mammalian tail morphological diversity. Factors that influence the evolution of tail length diversity have been proposed for particular taxa, including habitat, diet, locomotion and climate. However, no study to date has investigated such factors at a large phylogenetic scale to elucidate what drives tail length evolution in and across mammalian lineages. We use phylogenetic comparative methods to test a priori hypotheses regarding proposed factors influencing tail length, explore possible interactions between factors using evolutionary best-fit models, and map evolutionary patterns of tail length for specific mammalian lineages. Across mammals, substrate use is a significant factor influencing tail length, with arboreal species maintaining selection for longer tails. Non-arboreal species instead exhibit a wider range of tail lengths, secondarily influenced by differences in locomotion, diet and climate. Tail loss events are revealed to occur in the context of both long and short tails and influential factors are clade dependent. Some mammalian groups (e.g. Macaca; primates) exhibit elevated rates of tail length evolution, indicating that morphological evolution may be accelerated in groups characterized by diverse substrate use, locomotor modes and climate.

Segmental Volume Changes that Occur in Nonhuman Primates During Short Term Head Up (HUT) and Head Down (HDT) Tilt

Nonhuman primates are often used in biomedical research and to investigate physiologic processes that occur in man. Impedance plethysmography was used to measure calf, thigh, pelvic, abdominal, and thoracic volume changes in ten Rhesus and eight squirrel monkeys during five-minute exposures to HUT and HDT at angles of 5, 10, and 20 degrees. Calf, rump and tail measurements were made in three squirrel monkeys at 10 and 20 degrees of HUT and HDT. Fluid volume changes in all segments of the Rhesus monkeys were found to change during HUT an HDT in direct relation to the angle of tilt used. However, the volume changes that occurred in the squirrel monkeys were found to be quite different. Their calf, thigh, and pelvic segments lost volume during both HUT and HDT while their abdominal and thoracic segments responded similarly to those of the Rhesus monkeys. These results and those of the calf/tail measurements of the squirrel monkeys suggest that they may utilize their tails as a compensatory reservoir during postural changes and therefore, may not be an appropriate animal model for man under some orthostatic test conditions.