Palaeoplethodon Hispaniolae Gen
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Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet
robotics Article Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet Saad Bin Abul Kashem 1,*, Shariq Jawed 2 , Jubaer Ahmed 2 and Uvais Qidwai 3 1 Faculty of Robotics and Advanced Computing, Qatar Armed Forces—Academic Bridge Program, Qatar Foundation, 24404 Doha, Qatar 2 Faculty of Engineering, Computing and Science, Swinburne University of Technology, 93350 Sarawak, Malaysia 3 Faculty of Computer Engineering Signal and Image Processing Qatar University, 24404 Doha, Qatar * Correspondence: [email protected] Received: 18 April 2019; Accepted: 27 August 2019; Published: 5 September 2019 Abstract: Roaming complexity in terrains and unexpected environments pose significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration, namely, walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates a webbed duck feet design to walk on different terrains, swim in the water, and tackle obstructions on its way. The designed robot is compact, easy to use, and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Because of the design, the webbed feet are able to open and close with the help of water pressure. Klann linkages have been used to convert rotational motion to walking and swimming for the animal’s gait. Because of its amphibian nature, the designed robot can be used for exploring tight caves, closed spaces, and moving on uneven challenging terrains such as sand, mud, or water. -
Insects in Amber
Annu. Rev. Entomol. 1993.46:145-59 Copyright © 1993 by Annual Reviews Inc. All righis reserved INSECTS IN AMBER George O. Poinar, Jr. Department of Entomological Sciences, University of California, Berkeley, California 94720 KEY WORDS: fossil insects, tissue preservation, paleoentomology, paleosymbiosis, paleoen vironments Introduction Aside from their beauty, insects in amber represent the finest fossil remains of the Insecta and offer numerous opportunities to study microevolution, biogeography, mimicry, behavior, environmental reconstruction, extinction, paleosymbiosis, and molecular phylogeny. Amberization (changes involved in the process of forming amber from fresh resin) is a gentle process inducive to the preservation of insects that are small, delicate, and soft-bodied. It is the most complete type of fossilization known for insects, and by preserving the three-dimensional form, color pattern, and minute details of the exoskeleton, such fossils can be easily compared with their extant descendants. The study of amber insects was initiated over 200 years ago with the fIrst investigation of the Baltic amber fauna and flora (10). Indeed, most of the descriptions of amber insects today pertain to Baltic deposits. However, in the past 50 years, workers have begun to explore additional amber deposits. These are listed in Table 1. Access provided by Oregon State University on 12/22/16. For personal use only. The oldest amber deposits containing insects are from the Middle East and Annu. Rev. Entomol. 1993.38:145-159. Downloaded from www.annualreviews.org are commonly known as Lebanese amber. They date from the Early Cretaceous and extend back 135 million years. In the past 20 years, attention has centered on the highly fossiliferous Tertiary amber deposits in the Dominican Republic, which are fairly extensive and provide a steady income for Dominican workers primarily through sale for use as jewelry. -
Water Reptiles of the Past and Present the Univeesity of Chicago Press Chicago, Illinois
WATER REPTILES OF THE PAST AND PRESENT THE UNIVEESITY OF CHICAGO PRESS CHICAGO, ILLINOIS Agrttts THE CAMBRIDGE UNIVERSITY PRESS LONDON AND EDINBURGH THE MARUZEN-KABUSHIKI-KAISHA TOKYO, OSAKA, KYOTO KARL W. HIERSEMANN LEIPZIG THE BAKER & TAYLOR COMPANY NEW YORK WATER REPTILES OF THE PAST AND PRESENT BY Samuel Wendell Williston Professor of Paleontology in the University of Chicago 3) 6 I THE UNIVERSITY OF CHICAGO PRESS CHICAGO, ILLINOIS 4 Copyright 1914 by The University of Chicago All Rights Reserved Published October 191 Composed and Printed By The University of Chicago Press Chicago, Illinois, U.S.A. : PREFACE It was just forty years ago that the writer of these lines, then an assistant of his beloved teacher, the late Professor B. F. Mudge, dug from the chalk rocks of the Great Plains his first specimens of water reptiles, mosasaurs and plesiosaurs. To the youthful col- lector, whose first glimpse of ancient vertebrate life had been the result of accident, these specimens opened up a new world and diverted the course of his life. They were rudely collected, after the way of those times, for modern methods were impracticable with the rifle in one hand and the pick in the other. Nor was much known in those days of these or other ancient creatures, for the science of vertebrate paleontology was yet very young. There were few students of fossil vertebrates—Leidy, Cope, and Marsh were the only ones in the United States—and but few collectors, of whom the writer alone survives. Those broken and incomplete specimens, now preserved in the museum of Yale University, will best explain why this little book was written. -
The Origin and Early Evolution of the Legumes Are a Complex
bioRxiv preprint doi: https://doi.org/10.1101/577957; this version posted March 16, 2019. The copyright holder for this preprint (which was not certified by peer review) is the author/funder, who has granted bioRxiv a license to display the preprint in perpetuity. It is made available under aCC-BY-NC-ND 4.0 International license. 1 The Origin and Early Evolution of the Legumes are a 2 Complex Paleopolyploid Phylogenomic Tangle closely 3 associated with the Cretaceous-Paleogene (K-Pg) Boundary 4 5 Running head: 6 Phylogenomic complexity and polyploidy in legumes 7 8 Authors: 9 Erik J.M. Koenen1*, Dario I. Ojeda2,3, Royce Steeves4,5, Jérémy Migliore2, Freek T. 10 Bakker6, Jan J. Wieringa7, Catherine Kidner8,9, Olivier Hardy2, R. Toby Pennington8,10, 11 Patrick S. Herendeen11, Anne Bruneau4 and Colin E. Hughes1 12 13 1 Department of Systematic and Evolutionary Botany, University of Zurich, 14 Zollikerstrasse 107, CH-8008, Zurich, Switzerland 15 2 Service Évolution Biologique et Écologie, Faculté des Sciences, Université Libre de 16 Bruxelles, Avenue Franklin Roosevelt 50, 1050, Brussels, Belgium 17 3 Norwegian Institute of Bioeconomy Research, Høgskoleveien 8, 1433 Ås, Norway 18 4 Institut de Recherche en Biologie Végétale and Département de Sciences Biologiques, 19 Université de Montréal, 4101 Sherbrooke St E, Montreal, QC H1X 2B2, Canada 20 5 Fisheries & Oceans Canada, Gulf Fisheries Center, 343 Université Ave, Moncton, NB 21 E1C 5K4, Canada 22 6 Biosystematics Group, Wageningen University, Droevendaalsesteeg 1, 6708 PB, 23 Wageningen, The Netherlands 24 7 Naturalis Biodiversity Center, Leiden, Darwinweg 2, 2333 CR, Leiden, The Netherlands 25 8 Royal Botanic Gardens, 20a Inverleith Row, Edinburgh EH3 5LR, U.K. -
Fossil Species of Boehmerieae Gaudich. (Urticaceae)
Botany Fossil species of Boehmerieae Gaudich. (Urticaceae) in Dominican and Mexican amber: A new genus (Ekrixanthera) and two new species with anemophilous pollination by explosive pollen release, and possible lepidopteran herbivory Journal: Botany Manuscript ID cjb-2016-0006.R2 Manuscript Type: Article Date Submitted by the Author: 04-May-2016Draft Complete List of Authors: Poinar, Jr., George; Oregon State University, Department of Integrative Biology Kevan, Peter; Environmental Biology Jackes, Betsy; James Cook University palaeobotany, anemophily, Ekrixanthera hispaniolae, Ekrixanthera ehecatli, Keyword: paleoecology https://mc06.manuscriptcentral.com/botany-pubs Page 1 of 31 Botany Fossil species in Boehmerieae Gaudich. (Urticaceae) in Dominican and Mexican amber: A new genus ( Ekrixanthera ) and two new species with anemophilous pollination by explosive pollen release, and possible lepidopteran herbivory GEORGE POINAR, JR. 1 PETER G. KEVAN 2 AND BETSY R. JACKES 3 1Department of Integrative Biology, Oregon State University, Corvallis, Oregon, 97331 USA 2School of Environmental Sciences, University of Guelph, Guelph, Ontario N1G 2W1, Canada 3College of Marine and Environmental DraftSciences, James Cook University, Townsville, QLD 4811, Australia Corresponding Author: Peter G. Kevan [email protected] Received; revised; accepted for publication Running title: Fossil species of Boehmerieae (Ekrixanthera gen. nov.) https://mc06.manuscriptcentral.com/botany-pubs Botany Page 2 of 31 ABSTRACT The first fossil flowers of Neotropical Urticaceae (Boehmerieae) are described from the Dominican Republic and Mexico as belonging to a new genus, Ekrixanthera . Ekrixanthera hispaniolae sp. nov. from Dominican amber has pentamerous staminate flowers on short pedicels with a pilose pistillode and heteromorphic pilose tepals, two are clavate and three linear. Ekrixanthera ehecatli sp. nov. -
Beached Bird Guide for Northern Lake Michigan
Beached Bird Guide for Northern Lake Michigan Prepared by Common Coast Research & Conservation In association with the Grand Traverse Bay Botulism Network © 2008 Common Coast Research & Conservation How to use this guide This guide was developed to aid with the field identification of the most common waterbird species implicated in botulism E die-offs on northern Lake Michigan. The guide is not intended to be a comprehensive treatment of all species you may encounter in the field. For birds not treated in this guide please document with photographs and/or submit carcasses to the nearest Michigan Department of Natural Resources Field Office for identification and/or testing for botulism (see manual). The emphasis of this guide is on differences in bill structure among the various waterbird species. The bill plates are drawn to actual size - we recommend laminating the guide for use in the field. Placing the bills of unknown species directly on the plates will facilitate identification. Please keep in mind some variation among individuals is to be expected. Photographs of unknown species are helpful for later identification. Bird Topography tarsus crown bill (upper and lower mandibles) foot bill margin cheek throat wing coverts (lesser) secondaries webbed foot lobed foot primaries (loons, ducks, gulls) (grebes) Loons and Grebes Birds with dagger-like bills Description: Adult Common Loon bill large, dagger-like, mandible edges smooth feet webbed tarsus narrow, flat Plumage variation (adult vs. juvenile): Look at wing coverts: Adult – well-defined white "windows" (see photo) Juvenile - lacks defined white "windows" Similar species: Red-throated Loon – bill smaller (rarely found) Red-necked Grebe – feet lobed, bill smaller Description: Red-throated Loon bill dagger-like, slightly upturned, mandible edges smooth feet webbed tarsus narrow, flat Similar species: Common Loon - larger; bill heavier, not upturned Red-necked Grebe – feet lobed , bill yellowish NOTE: Rarely encountered. -
Two New Ripidiine Species in Dominican Amber with Evidence of Aggregative Behaviour of Males “Frozen” in the Fossil Record (Coleoptera: Ripiphoridae)
Eur. J. Entomol. 108: 275–286, 2011 http://www.eje.cz/scripts/viewabstract.php?abstract=1617 ISSN 1210-5759 (print), 1802-8829 (online) Two new ripidiine species in Dominican amber with evidence of aggregative behaviour of males “frozen” in the fossil record (Coleoptera: Ripiphoridae) JAN BATELKA1, MICHAEL S. ENGEL2, ZACHARY H. FALIN2 and JAKUB PROKOP 3 1Nad vodovodem 16, CZ-100 00, Praha 10, Czech Republic; e-mail: [email protected] 2 Divison of Entomology (Paleoentomology), Natural History Museum, and Department of Ecology & Evolutionary Biology, 1501 Crestline Drive – Suite 140, University of Kansas, Lawrence, Kansas 66049-2811, USA; e-mail: [email protected] 3Department of Zoology, Faculty of Science, Charles University in Prague, Viniþná 7, 128 44 Praha 2, Czech Republic; e-mail: [email protected] Key words. Taxonomy, Coleoptera, Ripiphoridae, Ripidiinae, Neorrhipidius, Quasipirhidius, new species, Tertiary, Miocene, Dominican amber, Central America, paleoethology, aggregative behaviour Abstract. Ten amber inclusions of male Ripidiinae (Coleoptera: Ripiphoridae) are reported from Early Miocene deposits of the Dominican Republic and compared with extant species of Neorrhipidius Viana, 1958 from Argentina and Paraguay and Quasipir- hidius Zaragoza Caballero, 1991 from Mexico. Neorrhipidius seicherti sp. n. and Quasipirhidius luzziae sp. n. are described and illustrated. Both species are characterised by 11-segmented antennae with eight distal antennomeres uniflabellate, mouthparts reduced to maxillary palpi represented by long styli with fused basal palpomeres, by metathoracic wings without crossveins and tarsal formula of 5-5-4. Neorrhipidius seicherti sp. n. differs from Quasipirhidius luzziae sp. n. by the presence of postocular omma- tidia and by the shape of metascutellum. -
12 October.Indd
artwork by Steven D’Amato Volume 46 #2 October 2012 A Gift of the Morning by Larry Tobiska, Wenatchee One morning in the early summer, I was sculling up torn from its struggles. Suddenly the line tightened and the Columbia River along the west shore just above squeezed the duck as if to cut through it. I realized that the confl uence of the Wenatchee and Columbia Rivers. as the boat drifted downstream the line was tightening It was a storybook morning with calm conditions and around the desperate bird because the line was caught on golden light of the new sun on the river. Geese and ducks the bottom of the river. The duck was being constricted and swam cautiously away or occasionally took to fl ight as dragged out of the boat and back into the river. Quickly, I I approached. I felt I was part of the scene as the craft rowed a few strokes upstream and attempted to maintain responded to my pull on the oars. my position off the bank and over the place where the line Moving along about fi fty feet from the shore I noticed a was embedded while I tried to disentangle the struggling duck that seemed to swim away and then dive beneath young duck. I lifted it and bit the fi shing line with my the surface. As I approached, the duck reappeared and teeth while holding the boat steady with one hand on both again seemed to dive; but something was wrong. The duck oars. Finally I was able to bite through the line. -
Rbcl and Legume Phylogeny, with Particular Reference to Phaseoleae, Millettieae, and Allies Tadashi Kajita; Hiroyoshi Ohashi; Yoichi Tateishi; C
rbcL and Legume Phylogeny, with Particular Reference to Phaseoleae, Millettieae, and Allies Tadashi Kajita; Hiroyoshi Ohashi; Yoichi Tateishi; C. Donovan Bailey; Jeff J. Doyle Systematic Botany, Vol. 26, No. 3. (Jul. - Sep., 2001), pp. 515-536. Stable URL: http://links.jstor.org/sici?sici=0363-6445%28200107%2F09%2926%3A3%3C515%3ARALPWP%3E2.0.CO%3B2-C Systematic Botany is currently published by American Society of Plant Taxonomists. Your use of the JSTOR archive indicates your acceptance of JSTOR's Terms and Conditions of Use, available at http://www.jstor.org/about/terms.html. JSTOR's Terms and Conditions of Use provides, in part, that unless you have obtained prior permission, you may not download an entire issue of a journal or multiple copies of articles, and you may use content in the JSTOR archive only for your personal, non-commercial use. Please contact the publisher regarding any further use of this work. Publisher contact information may be obtained at http://www.jstor.org/journals/aspt.html. Each copy of any part of a JSTOR transmission must contain the same copyright notice that appears on the screen or printed page of such transmission. The JSTOR Archive is a trusted digital repository providing for long-term preservation and access to leading academic journals and scholarly literature from around the world. The Archive is supported by libraries, scholarly societies, publishers, and foundations. It is an initiative of JSTOR, a not-for-profit organization with a mission to help the scholarly community take advantage of advances in technology. For more information regarding JSTOR, please contact [email protected]. -
Historical Biology: an International Journal of Paleobiology
This article was downloaded by: [The Library, University of Witwatersrand] On: 07 August 2014, At: 05:12 Publisher: Taylor & Francis Informa Ltd Registered in England and Wales Registered Number: 1072954 Registered office: Mortimer House, 37-41 Mortimer Street, London W1T 3JH, UK Historical Biology: An International Journal of Paleobiology Publication details, including instructions for authors and subscription information: http://www.tandfonline.com/loi/ghbi20 Paleotrichius dominicanus n. gen., n. sp. (Coleoptera; Cetoniidae), a flower beetle in Dominican amber George Poinar Jr. a a Department of Zoology , Oregon State University , Corvallis, OR, 97331, USA Published online: 28 Jun 2010. To cite this article: George Poinar Jr. (2011) Paleotrichius dominicanus n. gen., n. sp. (Coleoptera; Cetoniidae), a flower beetle in Dominican amber, Historical Biology: An International Journal of Paleobiology, 23:02-03, 109-113, DOI: 10.1080/08912963.2010.482417 To link to this article: http://dx.doi.org/10.1080/08912963.2010.482417 PLEASE SCROLL DOWN FOR ARTICLE Taylor & Francis makes every effort to ensure the accuracy of all the information (the “Content”) contained in the publications on our platform. However, Taylor & Francis, our agents, and our licensors make no representations or warranties whatsoever as to the accuracy, completeness, or suitability for any purpose of the Content. Any opinions and views expressed in this publication are the opinions and views of the authors, and are not the views of or endorsed by Taylor & Francis. The accuracy of the Content should not be relied upon and should be independently verified with primary sources of information. Taylor and Francis shall not be liable for any losses, actions, claims, proceedings, demands, costs, expenses, damages, and other liabilities whatsoever or howsoever caused arising directly or indirectly in connection with, in relation to or arising out of the use of the Content. -
Updating the Natural Science Exhibits at the Maria Mitchell Association, Nantucket, MA
Updating the Natural Science Exhibits at the Maria Mitchell Association, Nantucket, MA An Interactive Qualifying Report submitted to faculty of Worcester Polytechnic Institute in partial requirements for the Degree of Bachelor of Science. By Molly Congdon, Alex Tutone, & Victoria Valencia Dated December 19, 2008 Submitted to: Dr. Michael B. Elmes Worcester Polytechnic Institute Nantucket Project Center Dr. Janet Schulte & Dr. Bob Kennedy Maria Mitchell Association Abstract This report, prepared for the Maria Mitchell Association, explored ways to update the existing exhibits and increase kindergarten through fifth grade visitation to the Natural Science Museum. The current exhibits were evaluated based on content and aspects of exhibit design. We developed and modified six interactive prototypes regarding erosion and bird adaptations. By working together with local schools, we determined key obstacles preventing class visitation. Through our analysis of surveys, observations, and interviews we developed recommendations for the Association. Authorship Every aspect of this report was written and edited by all three members of the group. Molly Congdon contributed heavily in the planning and scheduling of many logistics within the project, with help from Victoria Valencia. For most interviews with teachers, Victoria represented the group as lead interviewer, while Molly and Alex took notes and made sure the interview went along smoothly. While building prototypes, each group member was in charge of a couple of prototypes. Molly not only conceptualized how to do the Erosion Book, but also did most of its construction. Victoria oversaw the building and presentation of the Bird Feet Adaptation prototype, while Alex built and managed the various Bird Beak Adaptation prototypes. -
The Behaviour of the White-Backed Duck
White-backed Duck Behaviour 71 The behaviour of the White-backed Duck A. C LARK Introduction up instantly when a Marsh Harrier Circus These observations on the White-backed ranivorus flies near, or move away from Duck Thalassomis leuconotus were under an approaching Coot Fulica cristata. taken to check and extend those which Maccoa, Southern Pochard Netta erythro- Johnsgard (1967) made on captive birds, phthalma and Red-billed Pintail Anas because of the apparent lack o f informa erythroryncha have also been seen tion on this species in the wild. They amongst the White-backed Duck. Often were made on ducks which were present when disturbed from their sleep the latter for varying periods at three dams and one push their heads up and will often Wing- natural pan situated in the vicinity of the flap. The sequence, Nibbling - preen, Witwatersrand, Transvaal, South Africa. Shake and Wing-flap is not unusual at The waters were relatively shallow, with this time and Leg-wave, Wing-and-leg- maximum depths varying from two to six stretch and Head-scratch may also be seen. feet. Although sedges and other aquatic The break up of sleeping parties takes plants provided suitable nesting sites, no place gradually. Single birds or small breeding took place during the period of groups will leave and go on their way to observation, i.e. July 1968 to April 1969. feed. Flights just above the water surface The names of the various comfort move for distances of ten feet to fifty yards are ments described are taken from M c occasionally taken.