An adhesive locomotion model for the rock-climbing fish, Beaufortia kweichowensis

Holding in the stream: convergent evolution of suckermouth structures in Loricariidae (Siluriformes)

Suckermouth armoured catfish (Loricariidae) are a highly speciose and diverse freshwater fish family, which bear upper and lower lips forming an oral disc. Its hierarchical organisation allows the attachment to various natural surfaces. The discs can possess papillae of different shapes, which are supplemented, in many taxa, by small horny projections, i.e. unculi. Although these attachment structures and their working mechanisms, which include adhesion and interlocking, are rather well investigated in some selected species, the loricariid oral disc is unfortunately understudied in the majority of species, especially with regard to comparative aspects of the diverse oral structures and their relationship to the ecology of different species. In the present paper, we investigated the papilla and unculi morphologies in 67 loricariid species, which inhabit different currents and substrates. We determined four papilla types and eight unculi types differing by forms and sizes. Ancestral state reconstructions strongly suggest convergent evolution of traits. There is no obvious correlation between habitat shifts and the evolution of specific character states. From handling the structures and from drying artefacts we could infer some information about their material properties. This, together with their shape, enabled us to carefully propose hypotheses about mechanisms of interactions of oral disc structures with natural substrates typical for respective fish species.

Adhesion Behavior in Fish: From Structures to Applications

In nature, some fish can adhere tightly to the surface of stones, aquatic plants, and even other fish bodies. This adhesion behavior allows these fish to fix, eat, hide, and migrate in complex and variable aquatic environments. The adhesion function is realized by the special mouth and sucker tissue of fish. Inspired by adhesion fish, extensive research has recently been carried out. Therefore, this paper presents a brief overview to better explore underwater adhesion mechanisms and provide bionic applications. Firstly, the adhesion organs and structures of biological prototypes (e.g., clingfish, remora, Garra, suckermouth catfish, hill stream loach, and goby) are presented separately, and the underwater adhesion mechanisms are analyzed. Then, based on bionics, it is explained that the adhesion structures and components are designed and created for applications (e.g., flexible gripping adhesive discs and adhesive motion devices). Furthermore, we offer our perspectives on the limitations and future directions.

Uncover rock-climbing fish's secret of balancing tight adhesion and fast sliding for bioinspired robots

The underlying principle of the unique dynamic adaptive adhesion capability of a rock-climbing fish (Beaufortia kweichowensis) that can resist a pull-off force of 1000 times its weight while achieving simultaneous fast sliding (7.83 body lengths per second (BL/S)) remains a mystery in the literature. This adhesion-sliding ability has long been sought for underwater robots. However, strong surface adhesion and fast sliding appear to contradict each other due to the need for high surface contact stress. The skillfully balanced mechanism of the tight surface adhesion and fast sliding of the rock-climbing fish is disclosed in this work. The Stefan force (0.1 mN/mm2) generated by micro-setae on pectoral fins and ventral fins leads to a 70 N/m2 adhesion force by conforming the overall body of the fish to a surface to form a sealing chamber. The pull-off force is neutralized simultaneously due to the negative pressure caused by the volumetric change of the chamber. The rock-climbing fish's micro-setae hydrodynamic interaction and sealing suction cup work cohesively to contribute to low friction and high pull-off-force resistance and can therefore slide rapidly while clinging to the surface. Inspired by this unique mechanism, an underwater robot is developed with incorporated structures that mimic the functionality of the rock-climbing fish via a micro-setae array attached to a soft self-adaptive chamber, a setup which demonstrates superiority over conventional structures in terms of balancing tight underwater adhesion and fast sliding.

Directional Transport of Underwater Bubbles on Solid Substrates: Principles and Applications

The manipulation of underwater bubbles on substrates has received extensive research interest from both the scientific community and industry, including the chemical industry, machinery, biology, medicine, and other fields. Recent advances in "smart" substrates have enabled the bubbles to be transported on demand. Herein, the progress in the directional transport of underwater bubbles on various types of substrates is summarized, including planes, wires, and cones. The transport mechanism can be classified as buoyancy-driven, Laplace-pressure-difference-driven, and external-force-driven according to the driven force of the bubble. Moreover, the wide applications of directional bubble transport are reported, ranging from gas collection, microbubble reaction, bubble detection and classification, bubble switch, and bubble microrobots. Lastly, the advantages and challenges of various directional bubble transportation methods are discussed, and the current challenges and future prospects in this field are also discussed. This Review outlines the fundamental mechanisms of underwater bubble transportation on solid substrates and helps to understand the methods of optimizing bubble transportation performances.

Advanced Bionic Attachment Equipment Inspired by the Attachment Performance of Aquatic Organisms: A Review

In nature, aquatic organisms have evolved various attachment systems, and their attachment ability has become a specific and mysterious survival skill for them. Therefore, it is significant to study and use their unique attachment surfaces and outstanding attachment characteristics for reference and develop new attachment equipment with excellent performance. Based on this, in this review, the unique non-smooth surface morphologies of their suction cups are classified and the key roles of these special surface morphologies in the attachment process are introduced in detail. The recent research on the attachment capacity of aquatic suction cups and other related attachment studies are described. Emphatically, the research progress of advanced bionic attachment equipment and technology in recent years, including attachment robots, flexible grasping manipulators, suction cup accessories, micro-suction cup patches, etc., is summarized. Finally, the existing problems and challenges in the field of biomimetic attachment are analyzed, and the focus and direction of biomimetic attachment research in the future are pointed out.

Sucker Shapes, Skeletons and Bioinspiration: How Hard and Soft Tissue Morphology Generates Adhesive Performance in Waterfall Climbing Goby Fishes

Many teleost fishes, such as gobies, have fused their paired pelvic fins into an adhesive disc. Gobies can use their pelvic suckers to generate passive adhesive forces (as in engineered suction cups) and different species exhibit a range of adhesive performance, with some even able to climb waterfalls. Previous studies have documented that, in the Hawaiian Islands, species capable of climbing higher waterfalls produce the highest passive pull-off forces, and species found at higher elevation sites are likely to have more rounded suction discs than those found in the lowest stream segments. Morphology of the pelvic girdle also varies between species, with more robust skeletons in taxa with superior passive adhesion. To investigate what factors impact the passive adhesive performance of waterfall climbing gobies, we tested biomimetic suction cups designed with a range of shapes and embedded bioinspired "skeletons" based on micro-CT scans of goby pelvic girdles. We found that while the presence of an internal skeleton may provide some support against failure, the performance of suction cups may be more strongly affected by their external shape. Nonetheless, factors besides external shape and skeletal morphology may still have a stronger influence on sucker tenacity. Our results suggest that the relationship between suction disc morphology and adhesive performance may be influenced by a variety of physical factors, and live animal performance likely is further complicated by muscle activation and climbing behavior. These results have implications for the evolution of suction disc shape in adhesive fishes and for improving the design of biomimetic suction cups.

More than Breathing Air: Evolutionary Drivers and Physiological Implications of an Amphibious Lifestyle in Fishes

Amphibious and aquatic air-breathing fishes both exchange respiratory gasses with the atmosphere, but these fishes differ in physiology, ecology, and possibly evolutionary origins. We introduce a scoring system to characterize interspecific variation in amphibiousness and use this system to highlight important unanswered questions about the evolutionary physiology of amphibious fishes.

Genome of the butterfly hillstream loach provides insights into adaptations to torrential mountain stream life

Butterfly hillstream loach (Beaufortia kweichowensis), a benthic fish in the torrential mountain streams, possesses a totally flat ventrum, flattened craniofacial and body skeletons, and enlarged paired fins covered by substantially small keratinous structures. However, little is known about the genetic basis of these specialized morphological adaptations. Here we present a 448.52-Mb genome assembly with contig N50 length of 5.53 Mb by integrating Illumina short-read sequencing, Nanopore long-read sequencing and HiC-based chromatin map. Demographic history reconstruction of the butterfly hillstream loach reveals that the population dynamics is correlated with the different stages of uplifting of the Tibetan Plateau. Comparative genomic analysis finds evidence of six keratin genes in butterfly hillstream loach evolving under positive selection. Within these genes, two keratin genes exhibit species-specific and divergent amino acid changes, suggesting a role in the formation of the unculi. Additionally, a series of positively selected genes, rapid evolving genes, specific variant genes and expanded gene families are found, including genes related to Hedgehog, Notch and BMP pathways, which may be involved in craniofacial development. These findings may have important implications for understanding the genetic basis of phenotypic adaptation to torrential mountain stream life.