Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up s...Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up side down, thus causing losses to the robot's expedition. Multi bodied mobile robots provide a solution to that problem. Using active joints between bodies, the robot can recover from turnover situation by itself. In this paper, the authors discuss the joint arrangements and the additional maneuverability resulted from joints between body segments.展开更多
The Chengjiang Lagerstatte has been celebrated for prolific soft-bodied fossils. Based on specimens recently excavated in the Chengjiang Lagerstatte by the Early Life Institute, Northwest University, Diandongia pista ...The Chengjiang Lagerstatte has been celebrated for prolific soft-bodied fossils. Based on specimens recently excavated in the Chengjiang Lagerstatte by the Early Life Institute, Northwest University, Diandongia pista Rong, 1974, is directly revealed to be a pediculate brachiopod, assigned to the Family Botsfordiidae, as is further confirmed by the exceptionally preserved vascular system including dorsal and ventral mantle canals. These specimens described herein exhibit some peculiarities, notably the extremely thin and long pedicles, which suggest that Diandongia is epifaunal rather than burrowing brachiopod. A study of this group of animals indicates that they may be vital to understand the relationship between the lingulids and the remaining brachiopods, and the character evolution of the early Cambrian brachiopods.展开更多
A new Chengjiang-type fossil assemblage is reported herein from the lower part of the Hongjingshao Formation at Xiazhuang village of Chenggong,Kunming,Yunnan.The fossil assemblage,named as Xiazhuang fossil assemblage,...A new Chengjiang-type fossil assemblage is reported herein from the lower part of the Hongjingshao Formation at Xiazhuang village of Chenggong,Kunming,Yunnan.The fossil assemblage,named as Xiazhuang fossil assemblage,yields predominantly soft-bodied fossils,including arthropods,brachiopods,priapulids,lobopods and some problematic taxa,with arthropods being the most dominant group.Preservation and composition of the fossil assemblage are very similar to the typical Chengjiang biota,which is preserved in the middle Yu’anshan Formation in the large area of eastern Yunnan.The associated trilobites demonstrate that the soft-bodied fossil assemblage belongs to the late Qiongzhusian in age(Stage 3,Cambrian),suggesting that the Hongjingshao Formation is probably a diachronous lithostratigraphic unit ranging from the upper Qiongzhusian to the lower Canglangpuan stages in eastern Yunnan.The fossil assemblage from the Xiazhuang area fills up the missing link between the typical older Chengjiang biota and the younger Malong and Guanshan biotas,making eastern Yunnan a unique area in the world to reveal the early evolutionary history of animals and palaeocommunity dynamics during the‘‘Cambrian explosion’’.展开更多
The Guanshan biota from eastern Yunnan(Cambrian Series 2,early Stage 4) is a Burgess Shale-type fossil biota with abundant exceptionally preserved soft-bodied fossils after the discovery of the well-known Cambrian Che...The Guanshan biota from eastern Yunnan(Cambrian Series 2,early Stage 4) is a Burgess Shale-type fossil biota with abundant exceptionally preserved soft-bodied fossils after the discovery of the well-known Cambrian Chengjiang fauna and Kaili biota in South China.The geological settings,sedimentology,taphonomy,and the fossil assemblage of the Guanshan biota are briefly summarized here.The Guanshan biota consists of about 60 taxa belonging to more than 10 metazoan groups and algae,among which the lobopods,eldonids,hyolithids with helens,and green algae are reported for the first time.The common occurrence of soft-bodied preservation in many groups,notably the trilobites and brachiopods,makes the Guanshan biota a significant fossil lagersttte for understanding the metazoan evolution during Cambrian explosion and taphonomy of the Burgess Shale-type fossils.展开更多
The Ginglymodi are a group of ray-finned fishes that make up one of three major subdivisions of the infraclass Neopterygii.Ex- tant ginglymodians are represented by gars,which inhabit freshwater environments of North ...The Ginglymodi are a group of ray-finned fishes that make up one of three major subdivisions of the infraclass Neopterygii.Ex- tant ginglymodians are represented by gars,which inhabit freshwater environments of North and Central America and Cuba.Here, we report the discovery of well-preserved fossils of a new ginglymodian,Kyphosichthys grandei gen.et sp.nov.,from the Middle Triassic(Anisian)marine deposits(Guanling Formation)in Luoping,eastern Yunnan Province,China.The discovery documents the first known fossil record of highly deep-bodied ginglymodians,adding new information on the early morphological diversity of this group.The studies of functional morphology of extant deep-bodied fishes indicate that Kyphosichthys is not a fast swim- mer but has a good performance in precise maneuvering,representing a morphological adaptation to structurally complex habitats (e.g.thick macrophyte beds,rocky areas,or coral reefs),which differs from the other members of this group.A cladistic analysis with the new fish taxon included supports the hypothesis that the Ginglymodi are more closely related to the Halecomorphi than to the Teleostei.Represented by Felberia,Kyphosichthys,and Dapedium,a highly deep and short fish body type has inde- pendently evolved at least three times in the stem-group neopterygians,ginglymodians,and basal teleosts within the lower neop- terygians of the Triassic.展开更多
The Guole biota contains common shelly fossils and some exceptionally well-preserved softbodied fossils. Stratigraphically, it is located in the mudstones and siltstones of the Sandu Formation near Guole Town, Jingxi ...The Guole biota contains common shelly fossils and some exceptionally well-preserved softbodied fossils. Stratigraphically, it is located in the mudstones and siltstones of the Sandu Formation near Guole Town, Jingxi County, Guangxi, South China. It is the first Furongian （late Cambrian） Burgess Shale-type biota found in the world, thereby filling the gap between middle Cambrian and Lower Ordovician Burgess Shale-type Lagerstaitten. Preliminary studies suggest that the Guole biota includes approximately seven metazoan groups as well as algae. These will provide important new evolutionary and ecological information.展开更多
文摘Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up side down, thus causing losses to the robot's expedition. Multi bodied mobile robots provide a solution to that problem. Using active joints between bodies, the robot can recover from turnover situation by itself. In this paper, the authors discuss the joint arrangements and the additional maneuverability resulted from joints between body segments.
基金supported by the National Natural Science Foundation of China(Grant No.32070207)the Science and Technology Committee of Shaanxi Province
文摘The Chengjiang Lagerstatte has been celebrated for prolific soft-bodied fossils. Based on specimens recently excavated in the Chengjiang Lagerstatte by the Early Life Institute, Northwest University, Diandongia pista Rong, 1974, is directly revealed to be a pediculate brachiopod, assigned to the Family Botsfordiidae, as is further confirmed by the exceptionally preserved vascular system including dorsal and ventral mantle canals. These specimens described herein exhibit some peculiarities, notably the extremely thin and long pedicles, which suggest that Diandongia is epifaunal rather than burrowing brachiopod. A study of this group of animals indicates that they may be vital to understand the relationship between the lingulids and the remaining brachiopods, and the character evolution of the early Cambrian brachiopods.
基金supported by the Program of Chinese Academy of Sciences(KZZD-EW-02-2)the National Basic Research Program of China(2013CB835006)+2 种基金the National NaturalScience Foundation of China(41002002,41372021,J1210006)the Natural Science Foundation of Jiangsu Province(BK2012893)the National Science and Technology Major Project(2011ZX05008)
文摘A new Chengjiang-type fossil assemblage is reported herein from the lower part of the Hongjingshao Formation at Xiazhuang village of Chenggong,Kunming,Yunnan.The fossil assemblage,named as Xiazhuang fossil assemblage,yields predominantly soft-bodied fossils,including arthropods,brachiopods,priapulids,lobopods and some problematic taxa,with arthropods being the most dominant group.Preservation and composition of the fossil assemblage are very similar to the typical Chengjiang biota,which is preserved in the middle Yu’anshan Formation in the large area of eastern Yunnan.The associated trilobites demonstrate that the soft-bodied fossil assemblage belongs to the late Qiongzhusian in age(Stage 3,Cambrian),suggesting that the Hongjingshao Formation is probably a diachronous lithostratigraphic unit ranging from the upper Qiongzhusian to the lower Canglangpuan stages in eastern Yunnan.The fossil assemblage from the Xiazhuang area fills up the missing link between the typical older Chengjiang biota and the younger Malong and Guanshan biotas,making eastern Yunnan a unique area in the world to reveal the early evolutionary history of animals and palaeocommunity dynamics during the‘‘Cambrian explosion’’.
基金supported by National Basic Research Program of China (Grant No. 2006CB806401)National Natural Science Foundation of China (Grant Nos. 40772020,40725005,40930211)
文摘The Guanshan biota from eastern Yunnan(Cambrian Series 2,early Stage 4) is a Burgess Shale-type fossil biota with abundant exceptionally preserved soft-bodied fossils after the discovery of the well-known Cambrian Chengjiang fauna and Kaili biota in South China.The geological settings,sedimentology,taphonomy,and the fossil assemblage of the Guanshan biota are briefly summarized here.The Guanshan biota consists of about 60 taxa belonging to more than 10 metazoan groups and algae,among which the lobopods,eldonids,hyolithids with helens,and green algae are reported for the first time.The common occurrence of soft-bodied preservation in many groups,notably the trilobites and brachiopods,makes the Guanshan biota a significant fossil lagersttte for understanding the metazoan evolution during Cambrian explosion and taphonomy of the Burgess Shale-type fossils.
基金supported by the National Natural Science Foundation of China(40902010)the Key Laboratory of Evolutionary Systematics of Vertebrates,IVPP,Chinese Academy of Sciences(2011LESV009)the State Key Laboratory of Palaeobiology and Stratigraphy(NIGP,CAS)(093103)
文摘The Ginglymodi are a group of ray-finned fishes that make up one of three major subdivisions of the infraclass Neopterygii.Ex- tant ginglymodians are represented by gars,which inhabit freshwater environments of North and Central America and Cuba.Here, we report the discovery of well-preserved fossils of a new ginglymodian,Kyphosichthys grandei gen.et sp.nov.,from the Middle Triassic(Anisian)marine deposits(Guanling Formation)in Luoping,eastern Yunnan Province,China.The discovery documents the first known fossil record of highly deep-bodied ginglymodians,adding new information on the early morphological diversity of this group.The studies of functional morphology of extant deep-bodied fishes indicate that Kyphosichthys is not a fast swim- mer but has a good performance in precise maneuvering,representing a morphological adaptation to structurally complex habitats (e.g.thick macrophyte beds,rocky areas,or coral reefs),which differs from the other members of this group.A cladistic analysis with the new fish taxon included supports the hypothesis that the Ginglymodi are more closely related to the Halecomorphi than to the Teleostei.Represented by Felberia,Kyphosichthys,and Dapedium,a highly deep and short fish body type has inde- pendently evolved at least three times in the stem-group neopterygians,ginglymodians,and basal teleosts within the lower neop- terygians of the Triassic.
基金supported by the Chinese Academy of Sciences(2015FY310100)the Natural Science Foundation of China(41330101, 41221001,41290260,40602002,40872010,41521061, and 41072018)+2 种基金SZ is supported by a Ramon y Cajal grant (RYC-2012-10576)project CGL2013-48877-P from Spanish MINECO and EU-FEDERa contribution of the ANR(Agence Nationale de la Recherche) project RALI "Rise of Animal Life (Cambrian-Ordovician-organization and tempo:evidence from exceptionally preserved biota"
文摘The Guole biota contains common shelly fossils and some exceptionally well-preserved softbodied fossils. Stratigraphically, it is located in the mudstones and siltstones of the Sandu Formation near Guole Town, Jingxi County, Guangxi, South China. It is the first Furongian （late Cambrian） Burgess Shale-type biota found in the world, thereby filling the gap between middle Cambrian and Lower Ordovician Burgess Shale-type Lagerstaitten. Preliminary studies suggest that the Guole biota includes approximately seven metazoan groups as well as algae. These will provide important new evolutionary and ecological information.
