New data on tail lengths and variation along the caudal series in the non-avialan dinosaurs

Neural canal ridges: A novel osteological correlate of postcranial neuroanatomy in dinosaurs

In this article, we document the widespread presence of bony ridges in the neural canals of non-avian dinosaurs, including a wide diversity of sauropods, two theropods, a thyreophoran, and a hadrosaur. These structures are present only in the caudal vertebrae. They are anteroposteriorly elongate, found on the lateral walls of the canal, and vary in size and position both taxonomically and serially. Similar bony projections into the neural canal have been identified in extant teleosts, dipnoans, and urodelans, in which they are recognized as bony spinal cord supports. In most non-mammals, the dura mater that surrounds the spinal cord is fused to the periosteum of the neural canal, and the denticulate ligaments that support the spinal cord can pass through the dura and periosteum to anchor directly to bone. The function of these structures in dinosaurs remains uncertain, but in sauropods they might have stabilized the spinal cord during bilateral movement of the tail and use of the tail as a weapon. Of broader significance, this study emphasizes that important new discoveries at the gross anatomical level can continue to be made in part by closely examining previously overlooked features of known specimens.

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.

Unusual lesions seen in the caudals of the hadrosaur, Edmontosaurus annectens

The study of pathologies in the fossil record allows for unique insights into the physiology, immunology, biomechanics, and daily life history of extinct organisms. This is especially important in organisms that have body structures dissimilar to those of extant organisms as well as transitional groups whose extant relatives may have very dissimilar physiologies. Comparisons between modern groups and their fossil ancestors are further complicated by the fact that fossil groups may have experienced unique biomechanical stresses as well as possessing a mixture of anatomical features seen in their related extant groups. In this study, we present lesions in the caudal vertebrae of the hadrosaur, Edmontosaurus annectens from the Ruth Mason Dinosaur Quarry of South Dakota, which exhibit unique morphologies. X-ray microtomography was performed on the most extreme example of this morphology to allow for both a detailed and more accurate diagnosis of the pathologic condition as well as virtual conservation of the specimen. Based on the location, the overall morphology of the lesion, and the relative "normal" appearance of the internal microstructure, the most probable cause is postulated as long-term biomechanical stresses exerted on this section of the tail by both lateral and dorsoventral motions of the tail. This deduction was based on a process of elimination for a variety of known osteological conditions; however, future work is needed to determine the nature of the stresses and why this condition has not been recorded in more hadrosaurian specimens.

A new theropod dinosaur from the early cretaceous (Barremian) of Cabo Espichel, Portugal: Implications for spinosaurid evolution

Spinosaurids are some of the most enigmatic Mesozoic theropod dinosaurs due to their unique adaptations to aquatic environments and their relative scarcity. Their taxonomy has proven to be especially problematic. Recent discoveries from Western Europe in general, specifically Iberia, provide some of the best specimens for the understanding of their phylogeny, leading to the description of the spinosaurid Vallibonavenatrix cani and the recognition of the Iberian dinosaur Camarillasaurus cirugedae as one of them. Portuguese associated spinosaurid remains (ML1190) from the Papo Seco Formation (early Barremian) were previously assigned to Baryonyx walkeri but new material recovered in 2020 along with new phylogenetic analyses suggests a different phylogenetic placement, making their revision necessary. Here we show that these remains are not attributable to Baryonyx walkeri, but to a new genus and species, Iberospinus natarioi, gen. et sp. nov. The new taxon is characterized by the presence of a single Meckelian foramen in the Meckelian sulcus, a straight profile of the ventral surface of the dentary and a distal thickening of the acromion process of the pubis between other characters. Iberospinus natarioi is recovered as a sister taxon of the clade formed by Baryonyx and Suchomimus, and outside Spinosaurinae when Vallibonaventrix cani is excluded from the analysis. The description of this taxon reinforces Iberia as a hotspot for spinosaur biodiversity, with several endemic taxa for the region. As expected for the clade, the dentary displays a highly vascularized neurovascular network. The morphometric analysis of parts of the skeleton (pedal phalanx and caudal vertebrae, among others) shows an intermediate condition between basal tetanurans and spinosaurines.