scholarly journals Feeding mechanics and bite force modelling of the skull of Dunkleosteus terrelli , an ancient apex predator

2006 ◽  
Vol 3 (1) ◽  
pp. 77-80 ◽  
Author(s):  
Philip S.L Anderson ◽  
Mark W Westneat
Keyword(s):  
High Speed ◽  
Prey Capture ◽  
Mouth Opening ◽  
Biomechanical Model ◽  
Bite Force ◽  
Rapid Expansion ◽  
Large Individual ◽  
Linkage Mechanism ◽  
Feeding Mechanics ◽  
Four Bar Linkage

Placoderms are a diverse group of armoured fishes that dominated the aquatic ecosystems of the Devonian Period, 415–360 million years ago. The bladed jaws of predators such as Dunkleosteus suggest that these animals were the first vertebrates to use rapid mouth opening and a powerful bite to capture and fragment evasive prey items prior to ingestion. Here, we develop a biomechanical model of force and motion during feeding in Dunkleosteus terrelli that reveals a highly kinetic skull driven by a unique four-bar linkage mechanism. The linkage system has a high-speed transmission for jaw opening, producing a rapid expansion phase similar to modern fishes that use suction during prey capture. Jaw closing muscles power an extraordinarily strong bite, with an estimated maximal bite force of over 4400 N at the jaw tip and more than 5300 N at the rear dental plates, for a large individual (6 m in total length). This bite force capability is the greatest of all living or fossil fishes and is among the most powerful bites in animals.

A biomechanical model of feeding kinematics forDunkleosteus terrelli(Arthrodira, Placodermi)

Paleobiology ◽  
2009 ◽  
Vol 35 (2) ◽  
pp. 251-269 ◽  
Author(s):  
Philip S. L. Anderson ◽  
Mark W. Westneat
Keyword(s):  
High Speed ◽  
Prey Capture ◽  
Biomechanical Model ◽  
Bite Force ◽  
Rapid Expansion ◽  
Morphological Data ◽  
Large Individual ◽  
Linkage Mechanism ◽  
Cross Sectional ◽  
Biomechanical Models

Biomechanical models illustrate how the principles of physics and physiology determine function in organisms, allowing ecological inferences and functional predictions to be based on morphology. Dynamic lever and linkage models of the mechanisms of the jaw and skull during feeding in fishes predict function from morphology and have been used to compare the feeding biomechanics of diverse fish groups, including fossil taxa, and to test ideas in ecological morphology. Here we perform detailed computational modeling of the four-bar linkage mechanism in the skull and jaw systems ofDunkleosteus terrelli, using software that accepts landmark morphological data to simulate the movements and mechanics of the skull and jaws during prey capture. The linkage system is based on the quadrate and cranio-thoracic joints: Cranial elevation around the cranio-thoracic joint forces the quadrate joint forward, which, coupled with a jaw depressor muscle connecting the jaw to the thoracic shield, causes the jaw to rotate downward during skull expansion. Results show a high speed transmission for jaw opening, producing a rapid expansion phase similar to that in modern fishes that use suction during prey capture. During jaw closing, the model computes jaw and skull rotation and a series of mechanical metrics including effective mechanical advantage of the jaw lever and kinematic transmission of the skull linkage system. Estimates of muscle cross-sectional area based on the largest of five specimens analyzed allow the bite force and strike speed to be estimated. Jaw-closing muscles ofDunkleosteuspowered an extraordinarily strong bite, with an estimated maximal bite force of over 6000 N at the jaw tip and more than 7400 N at the rear dental plates, for a large individual (10 m total length). This bite force capability is among the most powerful bites in animals. The combination of rapid gape expansion and powerful bite meant thatDunkleosteus terrellicould both catch elusive prey and penetrate protective armor, allowing this apex predator to potentially eat anything in its ecosystem, including other placoderms.

Optimal Control of a Flexible Mechanism Using a Combined Feedforward-Feedback Strategy: Simulation and Experiment

1999 ◽  
Author(s):  
Hubertus v. Stein ◽  
Heinz Ulbrich
Keyword(s):  
Optimal Control ◽  
Control Strategy ◽  
System Performance ◽  
High Speed ◽  
Time Varying ◽  
Linkage Mechanism ◽  
Additional Degree ◽  
Control Approach ◽  
Feedback Optimal Control ◽  
Four Bar Linkage

Abstract Due to the elasticity of the links in modern high speed mechanisms, increasing operating speeds often lead to undesirable vibrations, which may render a required accuracy unattainable or, even worse, lead to a failure of the whole process. The dynamic effects e.g. may lead to intolerable deviations from the reference path or even to the instability of the system. Instead of suppressing the vibration by a stiffer design, active control methods may greatly improve the system performance and lead the way to a reduction of the mechanism’s weight. We investigate a four-bar-linkage mechanism and show that by introducing an additional degree of freedom for a controlled actuator and providing a suitable control strategy, the dynamically induced inaccuracies can be substantially reduced. The modelling of the four-bar-linkage mechanism as a hybrid multi body system and the modelling of the complete system (including the actuator) is briefly explained. From the combined feedforward-feedback optimal control approach presented in (v. Stein, Ulbrich, 1998) a time-varying output control law is derived that leads to a very good system performance for this linear discrete time-varying system. The experimental results show the effectiveness of the applied control strategy.

A New Method for Determining the Effects of Structural Flexibility on the Dynamic Behavior of High Speed Mechanisms

1999 ◽  
Author(s):  
L. Yuan ◽  
J. Rastegar
Keyword(s):  
Dynamic Behavior ◽  
High Speed ◽  
New Method ◽  
Structural Flexibility ◽  
Structural Elements ◽  
Dynamics Modeling ◽  
Linkage Mechanism ◽  
Active Materials ◽  
Response Characteristics ◽  
Four Bar Linkage

Abstract A new method for the analysis of the effects of structural flexibility on the dynamic behavior of mechanical systems is presented. The developed method is in most part based on “tracing” the “propagation” of the effects of the high frequency motion requirements on the dynamic response characteristics of machines with structural flexibilities, particularly those with closed-loop kinematic structures. The method considers the “filtering” action of structural elements with flexibility. Such filtering of higher frequency motions is shown to have a predictable effect on the steady state motion of such mechanical system. The main advantage of the developed method is that the effects of such flexibilities can be determined without the need to perform the usual dynamics modeling and computer simulations. The method is shown to be very simple and readily implementable. The method is applied to a four-bar linkage mechanism with a longitudinally flexible coupler link. The obtained results are shown to be highly accurate as compared to those obtained by computer simulation. The application of the method to systematic design of machines with structural flexibility for high speed and precision operation, optimal integration of smart (active) materials into the structure of such machines, and some related issues are discussed.

Variation in the feeding kinematics of mole salamanders (Ambystomatidae: Ambystoma)

1995 ◽  
Vol 73 (2) ◽  
pp. 353-366 ◽  
Author(s):  
John T. Beneski Jr. ◽  
John H. Larsen Jr. ◽  
Brian T. Miller
Keyword(s):  
Feeding Behavior ◽  
High Speed ◽  
Prey Capture ◽  
Mouth Opening ◽  
General Increase ◽  
Feeding Kinematics ◽  
High Speed Cinematography ◽  
Mode A ◽  
General Reduction

High-speed cinematography was used to investigate the prey-capture kinematics of six species of mole salamanders (Ambystomatidae). We compared the feeding behavior of the subgenus Ambystoma (A. californiense and A. macrodactylum) with that of the subgenus Linguaelapsus (A. mabeei, A. texanum, A. annulatum, and A. cingulatum). Prey capture by all six species is characterized by a 3-part gape cycle (a period of rapid mouth opening prior to extraoral tongue protraction, followed by a period of relatively stable gape angle during extraoral tongue protraction and retraction, followed by a period of rapid mouth closure), a tongue-extension cycle (protraction and retraction), and anterior head–body displacement. Among the six species, two distinct modes of prey capture are evident: (1) the Ambystoma mode (A. californiense, A. macrodactylum, A. mabeei, and A. texanum), and (2) the Linguaelapsus mode (A. annulatum and A. cingulatum). Most differences in prey-capture kinematics between the two modes are primarily differences of degree rather than the addition or loss of unique behaviors, and include a general reduction in the gape angles and a general increase in the elapsed times associated with specific events in the Linguaelapsus mode. We hypothesize that these differences are primarily the result of a prolonged period of tongue protraction in the Linguaelapsus mode during which the glandular tongue pad is fitted to the prey. In addition to differing from each other, the gape profiles of the ambystomatid subgenera differ markedly from the 4-part gape profiles of plethodontids and salamandrids.

A New Approach for the Reduction of Vibrational Excitation in Kinematics Synthesis of High Speed Linkages

2000 ◽  
Author(s):  
L. Yuan ◽  
J. Rastegar
Keyword(s):  
High Speed ◽  
Closed Loop ◽  
Vibrational Excitation ◽  
High Harmonic ◽  
Harmonic Component ◽  
Primary Source ◽  
Linkage Mechanism ◽  
New Approach ◽  
Function Generation ◽  
Four Bar Linkage

Abstract A new method is presented for the modification of the output motion of linkage mechanisms with closed-loop chains using cams positioned at one or more of its joints. In particular, the method is applied to a four-bar linkage mechanism that is synthesized for function generation for the purpose of eliminating the high harmonic component of the output link motion. By eliminating the high harmonic component of the output motion of a mechanism, the potential vibrational excitation that the mechanism can impart on the overall system, including its own structure, is greatly reduced. The resulting system should therefore be capable of operating at higher speeds with increased precision. For mechanisms with rigid links, the primary source of high harmonic motions is the nonlinearity of the kinematics of closed-loop chains. With the present method, the higher harmonic motions generated due to such nonlinearities are eliminated by the integration of appropriately designed cams that are used to vary the effective link lengths. A numerical example is provided together with a discussion of the related topics of interest.

Prey capture in the chain pickerel, Esox niger: correlations between feeding and locomotor behavior

1981 ◽  
Vol 59 (6) ◽  
pp. 1072-1078 ◽  
Author(s):  
David M. Rand ◽  
George V. Lauder
Keyword(s):  
High Speed ◽  
Prey Capture ◽  
Mouth Opening ◽  
Predatory Behavior ◽  
Jaw Movements ◽  
Suction Velocity ◽  
Locomotor Pattern ◽  
Mechanical Unit ◽  
High Speed Cinematography ◽  
Locomotor Patterns

The predatory behavior of the chain pickerel Esox niger was studied by high-speed cinematography to correlate patterns of jaw bone movement with locomotor patterns. Pattern B strikes were initiated at significantly shorter distances from the prey, had higher acceleration rates, and the velocity of mouth opening and suspensorial abduction was greater than for pattern A strikes. No difference was found in the excursion amplitudes of jaw movements between pattern A and pattern B strikes. Significant differences were found between midwater and corner strikes in the amplitude of mouth opening and hyoid depression: both were smaller in corner attacks and suction velocity was higher. Both velocity and amplitude of each mechanical unit in the head can be varied depending on the locomotor pattern and the position of the prey.

scholarly journals Development of a hinge compatible with the kinematics of the knee joint

2007 ◽  
Vol 31 (4) ◽  
pp. 371-383 ◽  
Author(s):  
José María Baydal Bertomeu ◽  
Juan Manuel Belda Lois ◽  
Ricard Barberà Guillem ◽  
Álvaro Page Del Pozo ◽  
Javiersanchez Lacuesta ◽  
...  
Keyword(s):  
Knee Joint ◽  
Lower Limb ◽  
Measurement Techniques ◽  
Knee Kinematics ◽  
Biomechanical Model ◽  
Human Movement ◽  
Helical Axis ◽  
Linkage Mechanism ◽  
Human Knee ◽  
Four Bar Linkage

This study aims to present a new concept of a knee hinge based on a crossed four-bar linkage mechanism which has been designed to optimally follow a motion curve representing the knee kinematics in the position at which the knee hinge should be placed. The methodology used to determine the optimal knee hinge is based on the optimization of certain variables of the crossed four-bar mechanism using genetic algorithms in order to follow a certain motion curve, which was determined using a biomechanical model of the knee motion. Two current, commercially available knee hinges have been used to theoretically determine their motion by means of the path performed by their instantaneous helical axis. Comparison between these two different knee hinges, Optimal Knee Hinge and the theoretical motion performed by a human knee reveals that a common monocentric hinge has a maximum misalignment of up to 27.2 mm; a polycentric hinge has a maximum misalignment of 23.9 mm. In contrast, the maximum misalignment produced by the Optimal Knee Hinge is 1.99 mm. The orthotic joint presented significantly improves the kinematical compatibility and the adjustment between orthotic and human joint motion, and should provide several advantages in terms of comfort and safety. Furthermore, the determination of the instantaneous helical axis for a particular user, by means of human movement measurement techniques, will enable the optimal crossed four-bar mechanisms to be determined in a customized and personalized manner. As a consequence, this new concept of orthotic knee joint design may improve the adaptability of lower limb orthoses for the user, and may lead to significant advantages in the field of orthotics for the lower limb.

scholarly journals Kinematics of prey capture in a flatfish, Pleuronichthys verticalis

1995 ◽  
Vol 198 (5) ◽  
pp. 1173-1183 ◽  
Author(s):  
A Gibb
Keyword(s):  
High Speed ◽  
Prey Capture ◽  
Mouth Opening ◽  
Significant Degree ◽  
The Body ◽  
Bilateral Asymmetry ◽  
Ocular Side ◽  
Functional Features ◽  
Prey Capture Behavior ◽  
Pleuronichthys Verticalis

Hornyhead turbot, Pleuronichthys verticalis (Pleuronectiformes: Pleuronectidae), are morphologically asymmetrical teleosts with substantial bilateral asymmetry in the neurocranium, suspensorium and anterior jaws. In order to quantify the kinematics of prey capture and to test for functional bilateral asymmetries, four individuals of this species were video-taped feeding using a high-speed video system at 200 fields s-1. Frame-by-frame analysis revealed several features not commonly found in prey capture behavior of previously studied ray-finned fishes. These features include (1) extreme lateral compression of the suspensorium and opercular series prior to mouth opening, indicating the consistent presence of a preparatory phase during feeding, (2) apparent dissociation of hyoid retraction and lower jaw depression, (3) prolonged hyoid retraction throughout much of the feeding cycle, and (4) concomitant dorsal rotation of the neurocranium and closing of the jaws. P. verticalis also demonstrate a significant degree of functional bilateral asymmetry during prey capture. When approaching prey, fish flex their heads towards the ocular (anatomically the right) side of the body. During prey capture, their jaws bend out of the midline towards the blind (left) side. Comparisons of the displacement and timing for movements of homologous anatomical features on the ocular and blind sides of the head reveal that maximum gape is always larger on the blind side of the head than on the ocular side. In contrast, other kinematic variables measured are similar on both sides of the head. These results suggest that P. verticalis possess unique functional features of prey capture behavior and that morphological bilateral asymmetry of the head and jaws is associated with, and perhaps causally related to, the functional bilateral asymmetry present during feeding.

A Systematic Method for Kinematics Synthesis of High-Speed Mechanisms With Optimally Integrated Smart Materials

2000 ◽  
Author(s):  
J. Rastegar ◽  
L. Yuan
Keyword(s):  
Smart Materials ◽  
High Speed ◽  
Vibrational Excitation ◽  
High Harmonic ◽  
Harmonic Component ◽  
Linkage Mechanism ◽  
Output Link ◽  
Mechanism Synthesis ◽  
Systematic Method ◽  
Four Bar Linkage

Abstract A systematic method is presented for kinematics synthesis of high-speed mechanisms with optimally integrated smart materials based actuators for the purpose of modifying the output link motion. As an example, the method is applied to a four-bar linkage mechanism that is synthesized for function generation to eliminate the high harmonic component of the output link motion. For mechanisms with rigid links, the high harmonic motions are generated due to the nonlinearity of the kinematics of their closed-loop chains. By eliminating the high harmonic component of the output motion, the potential vibrational excitation that the mechanism can impart on the overall system and its own structure is greatly reduced. The resulting system should therefore be capable of operating at higher speeds with increased precision. A numerical example is provided together with a discussion of the application of the method to other mechanism synthesis problems and some related topics of interest.

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