Pressure-induced silk spinning mechanism in webspinners (Insecta: Embioptera)

TriTrap: A Robotic Gripper Inspired by Insect Tarsal Chains

Gripping, holding, and moving objects are among the main functional purposes of robots. Ever since automation first took hold in society, optimizing these functions has been of high priority, and a multitude of approaches has been taken to enable cheaper, more reliable, and more versatile gripping. Attempts are ongoing to reduce grippers' weight, energy consumption, and production and maintenance costs while simultaneously improving their reliability, the range of eligible objects, working loads, and environmental independence. While the upper bounds of precision and flexibility have been pushed to an impressive level, the corresponding solutions are often dependent on support systems (e.g., sophisticated sensors and complex actuation machinery), advanced control paradigms (e.g., artificial intelligence and machine learning), and typically require more maintenance owed to their complexity, also increasing their cost. These factors make them unsuited for more modest applications, where moderate to semi-high performance is desired, but simplicity is required. In this paper, we attempt to highlight the potential of the tarsal chain principle on the example of a prototype biomimetic gripping device called the TriTrap gripper, inspired by the eponymous tarsal chain of insects. Insects possess a rigid exoskeleton that receives mobility due to several joints and internally attaching muscles. The tarsus (foot) itself does not contain any major intrinsic muscles but is moved by an extrinsically pulled tendon. Just like its biological counterpart, the TriTrap gripping device utilizes strongly underactuated digits that perform their function using morphological encoding and passive conformation, resulting in a gripper that is versatile, robust, and low cost. Its gripping performance was tested on a variety of everyday objects, each of which represented different size, weight, and shape categories. The TriTrap gripper was able to securely hold most of the tested objects in place while they were lifted, rotated, and transported without further optimization. These results show that the insect tarsus selected approach is viable and warrants further development, particularly in the direction of interface optimization. As such, the main goal of the TriTrap gripper, which was to showcase the tarsal chain principle as a viable approach to gripping in general, was achieved.

The promoting effects of pyriproxyfen on autophagy and apoptosis in silk glands of non-target insect silkworm, Bombyx mori

Pyriproxyfen is a juvenile hormone analogue. The physiological effects of its low-concentration drift during the process of controlling agricultural and forestry pests on non-target organisms in the ecological environment are unpredictable, especially the effects on organs that play a key role in biological function are worthy of attention. The silk gland is an important organ for silk-secreting insects. Herein, we studied the effects of trace pyriproxyfen on autophagy and apoptosis of the silk gland in the lepidopteran model insect, Bombyx mori (silkworm). After treating fifth instar silkworm larvae with pyriproxyfen for 24 h, we found significant shrinkage, vacuolization, and fragmentation in the posterior silk gland (PSG). In addition, the results of autophagy-related genes of ATG8 and TUNEL assay also demonstrated that autophagy and apoptosis in the PSG of the silkworm was induced by pyriproxyfen. RNA-Seq results showed that pyriproxyfen treatment resulted in the activation of juvenile hormone signaling pathway genes and inhibition of 20-hydroxyecdysone (20E) signaling pathway genes. Among the 1808 significantly differentially expressed genes, 796 were upregulated and 1012 were downregulated. Among them, 30 genes were identified for autophagy-related signaling pathways, such as NOD-like receptor signaling pathway and mTOR signaling pathway, and 30 genes were identified for apoptosis-related signaling pathways, such as P53 signaling pathway and TNF signaling pathway. Further qRT-PCR and in vitro gland culture studies showed that the autophagy-related genes Atg5, Atg6, Atg12, Atg16 and the apoptosis-related genes Aif, Dronc, Dredd, and Caspase1 were responsive to the treatment of pyriproxyfen, with transcription levels up-regulated from 24 to 72 h. In addition, ATG5, ATG6, and Dronc genes had a more direct response to pyriproxyfen treatment. These results suggested that pyriproxyfen treatment could disrupt the hormone regulation in silkworms, promoting autophagy and apoptosis in the PSG. This study provides more evidence for the research on the damage of juvenile hormone analogues to non-target organisms or organs in the environment, and provides reference information for the scientific and rational use of juvenile hormone pesticides.

Morphological and Behavioral Adaptations of Silk-Lovers (Plokiophilidae: Embiophila) for Their Lifestyle in the Silk Domiciles of Webspinners (Embioptera)

The diversity of true bugs gave rise to various lifestyles, including gaining advantage from other organisms. Plokiophilidae are cimicomorphan bugs that live in the silk constructions of other arthropods. One group, Embiophila, exclusively settles in the silk colonies of webspinners (Embioptera). We investigated the lifestyle of Embiophila using microscopy to study the micromorphology and material composition of the leg cuticle, choice assays and retention time measurements based on different characteristics of the embiopteran galleries and tilting experiments with different substrates to quantify the attachment performance of the bugs. Embiophila neither explicitly preferred embiopteran presence, nor required silk for locomotion, but the bugs preferred fibrous substrates during the choice experiments. The hairy attachment pad on the tibia showed the best attachment performance on substrates, with an asperity size of 1 µm. Additionally, very rough substrates enabled strong attachment, likely due to the use of claws. Our findings suggest that Embiophila settle in galleries of webspinners to benefit from the shelter against weather and predators and to feed on mites and other intruders. The combination of behavioral and functional morphological experiments enables insights into the life history of these silk-associated bugs, which would be highly challenging in the field due to the minute size and specialized lifestyle of Embiophila.

Morphological transformation from fibers to sheets in embiopteran silk

Embioptera (webspinners) are insects that construct domiciles using silk produced from their front feet. This silk is the finest known with measured single fiber diameters in the 30-140 nm range. In the wild, some webspinner silk on trees is observed to have a clothlike or shiny sheetlike appearance. Both forms of silk shield the occupants from rain water effectively: presumably valuable in tropical environments. In this article we elucidate the mechanism by which silk fibers are transformed into these structures through interaction with water. We quantify the evaporation rates of single water droplets which have been suspended on unmodified as-spun silk for two Trinidadian arboreal species: Antipaluria urichi (Clothodidae) and Pararhagadochir trinitatis (Scelembiidae). These rates are compared to those of droplets suspended on rose petals due to similar wetting properties (both hydrophobicity and pinning). We observe that on sufficiently thick silk, droplet evaporation rates decrease with time. This behavior is a result of a thin soluble film developing on the drop surface that later becomes a solid residual film. Experimentally verified theoretical models are invoked to support the results.

Dispersal Risks and Decisions Shape How Non-kin Groups Form in a Tropical Silk-Sharing Webspinner (Insecta: Embioptera)

Relying on silk can promote sharing, especially when its presence means life and its absence, quick death. In the case of Embioptera, they construct silken tubes and coverings exposed on tree bark in humid and warm environments or in leaf litter and underground in dry habitats. These coverings protect occupants from rain and natural enemies. Of note, adult females are neotenous, wingless and must walk to disperse. Evidence is pulled together from two sources to explore mechanisms that promote the establishment of non-kin groups that typify the neotropical Antipaluria urichi (Clothodidae): (1) a review of relevant information from 40 years of research to identify potential drivers of the facultative colonial system and (2) experimental and observational data exploring how dispersal contributes to group formation. To determine risks of dispersal and decisions of where to settle, adult females were released into the field and their ability to survive in the face of likely predation was monitored. Additional captured dispersers were released onto bark containing silk galleries; their decision to join the silk or to settle was noted. An experiment tested which attributes of trees attract a disperser: vertical or horizontal boles in one test and small, medium, or large boles in another. While walking, experimentally released adult female dispersers experienced a risk of being killed of approximately 25%. Dispersers orient to large diameter trees and join silk of others if encountered. These results align with observations of natural colonies in that adults and late-stage nymphs join existing colonies of non-kin. Experiments further demonstrated that dispersing females orient to vertical and larger diameter tree-like objects, a behavior that matched the distribution of field colonies. The ultimate reason for the observed dispersion pattern is probably because large trees support more expansive epiphytic algae and lichens (the food for this species), although the impact of food resources on dispersion has not been tested. Finally, further research questions and other webspinner species (including parthenogenetic ones) that warrant a closer look are described. Given that this group of primitively social insects, with approximately 1,000 species known, has remained virtually unstudied, one hope is that this report can encourage more exploration.

Physical constraints lead to parallel evolution of micro- and nanostructures of animal adhesive pads: a review

Adhesive pads are functional systems with specific micro- and nanostructures which evolved as a response to specific environmental conditions and therefore exhibit convergent traits. The functional constraints that shape systems for the attachment to a surface are general requirements. Different strategies to solve similar problems often follow similar physical principles, hence, the morphology of attachment devices is affected by physical constraints. This resulted in two main types of attachment devices in animals: hairy and smooth. They differ in morphology and ultrastructure but achieve mechanical adaptation to substrates with different roughness and maximise the actual contact area with them. Species-specific environmental surface conditions resulted in different solutions for the specific ecological surroundings of different animals. As the conditions are similar in discrete environments unrelated to the group of animals, the micro- and nanostructural adaptations of the attachment systems of different animal groups reveal similar mechanisms. Consequently, similar attachment organs evolved in a convergent manner and different attachment solutions can occur within closely related lineages. In this review, we present a summary of the literature on structural and functional principles of attachment pads with a special focus on insects, describe micro- and nanostructures, surface patterns, origin of different pads and their evolution, discuss the material properties (elasticity, viscoelasticity, adhesion, friction) and basic physical forces contributing to adhesion, show the influence of different factors, such as substrate roughness and pad stiffness, on contact forces, and review the chemical composition of pad fluids, which is an important component of an adhesive function. Attachment systems are omnipresent in animals. We show parallel evolution of attachment structures on micro- and nanoscales at different phylogenetic levels, focus on insects as the largest animal group on earth, and subsequently zoom into the attachment pads of the stick and leaf insects (Phasmatodea) to explore convergent evolution of attachment pads at even smaller scales. Since convergent events might be potentially interesting for engineers as a kind of optimal solution by nature, the biomimetic implications of the discussed results are briefly presented.

Mesoscale structure development reveals when a silkworm silk is spun

Silk fibre mechanical properties are attributed to the development of a multi-scale hierarchical structure during spinning. By careful ex vivo processing of a B. mori silkworm silk solution we arrest the spinning process, freezing-in mesoscale structures corresponding to three distinctive structure development stages; gelation, fibrilization and the consolidation phase identified in this work, a process highlighted by the emergence and extinction of 'water pockets'. These transient water pockets are a manifestation of the interplay between protein dehydration, phase separation and nanofibril assembly, with their removal due to nanofibril coalescence during consolidation. We modeled and validated how post-draw improves mechanical properties and refines a silk's hierarchical structure as a result of consolidation. These insights enable a better understanding of the sequence of events that occur during spinning, ultimately leading us to propose a robust definition of when a silkworm silk is actually 'spun'.

Evolutionary morphology of the antennal heart in stick and leaf insects (Phasmatodea) and webspinners (Embioptera) (Insecta: Eukinolabia)

The morphology of the antennal hearts in the head of Phasmatodea and Embioptera was investigated with particular reference to phylogenetically relevant key taxa. The antennal circulatory organs of all examined species have the same basic construction: they consist of antennal vessels that are connected to ampullae located in the head near the antenna base. The ampullae are pulsatile due to associated muscles, but the points of attachment differ between the species studied. All examined Phasmatodea species have a Musculus (M.) interampullaris which extends between the two ampullae plus a M. ampulloaorticus that runs from the ampullae to the anterior end of the aorta; upon contraction, all these muscles dilate the lumina of both ampullae at the same time. In Embioptera, only the australembiid Metoligotoma has an M. interampullaris. All other studied webspinners instead have a M. ampullofrontalis which extends between the ampullae and the frontal region of the head capsule; these species do not have M. ampulloaorticus. Outgroup comparison indicates that an antennal heart with a M. interampullaris is the plesiomorphic character state among Embioptera and the likely ground pattern of the taxon Eukinolabia. Antennal hearts with a M. ampullofrontalis represent a derived condition that occurs among insects only in some embiopterans. These findings help to further clarify the controversially discussed internal phylogeny of webspinners by supporting the view that Australembiidae are the sister group of the remaining Embioptera.

Functional morphology of the raptorial forelegs in Mantispa styriaca (Insecta: Neuroptera)

The insect leg is a multifunctional device, varying tremendously in form and function within Insecta: from a common walking leg, to burrowing, swimming or jumping devices, up to spinning apparatuses or tools for prey capturing. Raptorial forelegs, as predatory striking and grasping devices, represent a prominent example for convergent evolution within insects showing strong morphological and behavioural adaptations for a lifestyle as an ambush predator. However, apart from praying mantises (Mantodea)—the most prominent example of this lifestyle—the knowledge on morphology, anatomy, and the functionality of insect raptorial forelegs, in general, is scarce. Here, we show a detailed morphological description of raptorial forelegs of Mantispa styriaca (Neuroptera), including musculature and the material composition in their cuticle; further, we will discuss the mechanism of the predatory strike. We could confirm all 15 muscles previously described for mantis lacewings, regarding extrinsic and intrinsic musculature, expanding it for one important new muscle—M24c. Combining the information from all of our results, we were able to identify a possible catapult mechanism (latch-mediated spring actuation system) as a driving force of the predatory strike, never proposed for mantis lacewings before. Our results lead to a better understanding of the biomechanical aspects of the predatory strike in Mantispidae. This study further represents a starting point for a comprehensive biomechanical investigation of the convergently evolved raptorial forelegs in insects.

Interpreting nature's finest insect silks (Order Embioptera): hydropathy, interrupted repetitive motifs, and fiber-to-film transformation for two neotropical species

Silks produced by webspinners (Order Embioptera) interact with water by transforming from fiber to film, which then becomes slippery and capable of shedding water. We chose to explore this mechanism by analyzing and comparing the silk protein transcripts of two species with overlapping distributions in Trinidad but from different taxonomic families. The transcript of one, Antipaluria urichi (Clothodidae), was partially characterized in 2009 providing a control for our methods to characterize a second species: Pararhagadochir trinitatis (Scelembiidae), a family that adds to the taxon sampling for this little known order of insects. Previous reports showed that embiopteran silk protein (dubbed Efibroin) consists of a protein core of repetitive motifs largely composed of glycine (Gly), serine (Ser), and alanine (Ala) and a highly conserved C-terminal region. Based on mRNA extracted from silk glands, Next Generation sequencing, and de novo assembly, P. trinitatis silk can be characterized by repetitive motifs of Gly-Ser followed periodically by Gly-Asparagine (Asn-an unusual amino acid for Efibroins) and by a lack of Ala which is otherwise common in Efibroins. The putative N-terminal domain, composed mostly of polar, charged and bulky amino acids, is ten amino acids long with cysteine in the 10th position-a feature likely related to stabilization of the silk fibers. The 29 amino acids of the C-terminus for P. trinitatis silk closely resemble that of other Efibroin sequences, which show 74% shared identity on average. Examination of hydropathicity of Efibroins of both P. trinitatis and An. urichi revealed that these proteins are largely hydrophilic despite having a thin lipid coating on each nano-fiber. We deduced that the hydrophilic quality differs for the two species: due to Ser and Asn for P. trinitatis silk and to previously undetected spacers in An. urichi silk. Spacers are known from some spider and silkworm silks but this is the first report of such for Embioptera. Analysis of hydropathicity revealed the largely hydrophilic quality of these silks and this feature likely explains why water causes the transformation from fiber to film. We compared spun silk to the transcript and detected not insignificant differences between the two measurements implying that as yet undetermined post-translational modifications of their silk may occur. In addition, we found evidence for codon bias in the nucleotides of the putative silk transcript for P. trinitatis, a feature also known for other embiopteran silk genes.

Jurassic scorpionflies (Mecoptera) with swollen first metatarsal segments suggesting sexual dimorphism

BACKGROUND

Sexual dimorphism is widespread in insects. The certain specialized structures may be used as weapons in male-male combats or as ornaments to enhance mating opportunities.

RESULTS

We report striking swollen first tarsal segments in two families, four genera and six species of scorpionflies from the Middle Jurassic Yanliao Biota of Northeastern China. Swollen tarsal segments are restricted to male specimens and to hind leg tarsi. The geometric morphometric analyses reveal that the degree of swelling within the orthophlebiid species possessing swollen first metatarsal segments is species-specific, which can be used as a diagnostic character for taxonomic and phylogenetic studies.

CONCLUSIONS

The new findings indicate that swollen first metatarsal segments are relatively common in the family Orthophlebiidae during the Middle Jurassic. The tarsal swellings are considered to be sexually dimorphic, potentially associated with sexually display by males and/or camouflage of a "nuptial gift" in the mating process.

Fine structure of the silk spinning system in the caddisworm, Hydatophylax nigrovittatus (Trichoptera: Limnephilidae)

Silk is produced by a variety of insects, but only silk made by terrestrial arthropods has been examined in detail. To fill the gap, this study was designed to understand the silk spinning system of aquatic insect. The larvae of caddis flies, Hydatophylax nigrovittatus produce silk through a pair of labial silk glands and use raw silk to protect themselves in the aquatic environment. The result of this study clearly shows that although silk fibers are made under aquatic conditions, the cellular silk production system is quite similar to that of terrestrial arthropods. Typically, silk production in caddisworm has been achieved by two independent processes in the silk glands. This includes the synthesis of silk fibroin in the posterior region, the production of adhesive glycoproteins in the anterior region, which are ultimately accumulated into functional silk dope and converted to a silk ribbon coated with gluey substances. At the cellular level, each substance of fibroin and glycoprotein is specifically synthesized at different locations, and then transported from the rough ER to the Golgi apparatus as transport vesicles, respectively. Thereafter, the secretory vesicles gradually increase in size by vesicular fusion, forming larger secretory granules containing specific proteins. It was found that these granules eventually migrate to the apical membrane and are exocytosed into the lumen by a mechanism of merocrine secretion.