Study of Obstacle-Crossing and Pitch Control Characteristic of a Novel Jumping Robot

In this study, we demonstrated a novel jumping robot that has the ability of accurate obstacle-crossing jumping and aerial pitch control. The novel robot can quickly leap high into the air with a powerful water jet thruster. The robot was designed to overcome multiple general obstacles via accurate jumping. Then a modified whale optimization algorithm (MWOA) was proposed to determine an optimized jumping trajectory according to the form of obstacles. By comparing with classical intelligent optimization algorithms, the MWOA revealed superiority in convergence rate and precision. Besides, the dynamics model of aerial pitch control was built and its effect was verified by the pitch control experiment. Lastly, the robot’s obstacle-crossing experiments were performed and the results validated the robot’s good ability of obstacle-crossing and aerial body righting. We believe the optimization of trajectory and the pitch control are of great help for the jumping robot’s complex jumping and obstacle-crossing performance.

Comparative Phylogeography of Veronica spicata and V. longifolia (Plantaginaceae) Across Europe: Integrating Hybridization and Polyploidy in Phylogeography

Climatic fluctuations in the Pleistocene caused glacial expansion-contraction cycles in Eurasia and other parts of the world. Consequences of these cycles, such as population expansion and subsequent subdivision, have been studied in many taxa at intraspecific population level across much of the Northern Hemisphere. However, the consequences for the potential of hybridization and polyploidization are poorly understood. Here, we investigated the phylogeographic structure of two widespread, closely related species, Veronica spicata and Veronica longifolia, across their European distribution ranges. We assessed the extent and the geographic pattern of polyploidization in both species and hybridization between them. We used genome-scale SNP data to clarify phylogenetic relationships and detect possible hybridization/introgression events. In addition, crossing experiments were performed in different combination between V. spicata and V. longifolia individuals of two ploidy levels and of different geographic origins. Finally, we employed ecological niche modeling to infer macroclimatic differences between both species and both ploidy levels. We found a clear genetic structure reflecting the geographical distribution patterns in both species, with V. spicata showing higher genetic differentiation than V. longifolia. We retrieved significant signals of hybridization and introgression in natural populations from the genetic data and corroborated this with crossing experiments. However, there were no clear phylogeographic patterns and unequivocal macroclimatic niche differences between diploid and tetraploid lineages. This favors the hypothesis, that autopolyploidization has happened frequently and in different regions. The crossing experiments produced viable hybrids when the crosses were made between plants of the same ploidy levels but not in the interploidy crosses. The results suggest that hybridization occurs across the overlapping areas of natural distribution ranges of both species, with apparently directional introgression from V. spicata to V. longifolia. Nevertheless, the two species maintain their species-level separation due to their adaptation to different habitats and spatial isolation rather than reproductive isolation.

Silence of the killers: discovery of male-killing suppression in a rearing strain of the small brown planthopper, Laodelphax striatellus

According to evolutionary theory, sex ratio distortions caused by reproductive parasites such as Wolbachia and Spiroplasma are predicted to be rapidly normalized by the emergence of host nuclear suppressors. However, such processes in the evolutionary arms race are difficult to observe because sex ratio biases will be promptly hidden and become superficially unrecognizable. The evolution of genetic suppressors has been reported in just two insect species so far. In the small brown planthopper, Laodelphax striatellus , female-biases caused by Spiroplasma , which is a ‘late’ male-killer, have been found in some populations. During the continuous rearing of L. striatellus , we noted that a rearing strain had a 1 : 1 sex ratio even though it harboured Spiroplasma . Through introgression crossing experiments with a strain lacking suppressors, we revealed that the L. striatellus strain had the zygotic male-killing suppressor acting as a dominant trait. The male-killing phenotype was hidden by the suppressor even though Spiroplasma retained its male-killing ability. This is the first study to demonstrate the existence of a late male-killing suppressor and its mode of inheritance. Our results, together with those of previous studies, suggest that the inheritance modes of male-killing suppressors are similar regardless of insect order or early or late male killing.

Capture and return of sexual genomes by hybridogenetic frogs provide clonal genome enrichment in a sexual species

Hybridogenesis is a reproductive tool for sexual parasitism. Hybridogenetic hybrids use gametes from their sexual host for their own reproduction, but sexual species gain no benefit from such matings as their genome is later eliminated. Here, we examine the presence of sexual parasitism in water frogs through crossing experiments and genome-wide data. We specifically focus on the famous Central-European populations where Pelophylax esculentus males (hybrids of P. ridibundus and P. lessonae) live with P. ridibundus. We identified a system where the hybrids commonly produce two types of clonal gametes (hybrid amphispermy). The haploid lessonae genome is clonally inherited from generation to generation and assures the maintenance of hybrids through a process, in which lessonae sperm fertilize P. ridibundus eggs. The haploid ridibundus genome in hybrids received from P. ridibundus a generation ago, is perpetuated as clonal ridibundus sperm and used to fertilize P. ridibundus eggs, yielding female P. ridibundus progeny. These results imply animal reproduction in which hybridogenetic taxa are not only sexual parasites, but also participate in the formation of a sexual taxon in a remarkable way. This occurs through a process by which sexual gametes are being captured, converted to clones, and returned to sexual populations in one generation.

Sexual Choice in Males of the Triatoma brasiliensis Complex: A Matter of Maintenance of the Species or Genetic Variability?

Background: Members of the Triatoma brasiliensis complex can produce experimental and natural hybrids. Crossing experiments performed in the laboratory, with several combinations between species of that complex, revealed a gradient of reproductive affinities among them. However, little is known about the reproductive males’ choices when they have the possibility of copulating with females of different species, including interspecific and conspecific females, at the same time. In this unprecedented experiment, the sexual choices of the T. brasiliensis complex and Triatoma infestans males were observed. Methods: Virgin males and females of T. b. brasiliensis, T. sherlocki, and T. infestans, and females of T. juazeirensis were used. The experiment was developed in an arena in which one male, one conspecific female, and two non-conspecific females were observed for 15 minutes. The following variables of mating behavior were observed: the male’s choice for a female; displacement time (the time it took the male to move from its stall until it reached the female); the copula itself (number of attempts and its occurrence); and the type of rejection of copula by the female. Results: Males of T. sherlocki were faster in finding the females (conspecific and non-conspecific) than T. b. brasiliensis and T. infestans. Males of T. b. brasiliensis and T. sherlocki were able to copulate with conspecific females and other female species: T. infestans and T. b. brasiliensis/T. juazeirensis, respectively. While T. infestans copulated with conspecific females, and T. juazeirensis and T. b. brasiliensis females. Conclusion: The results suggest that the choice for the copula is not always towards conspecific females. In fact, the males of the three different species tested were able to copulate with their conspecific females and also with other female species, which may induce the formation of hybrids and greater genetic diversity. These findings pose new challenges to the understanding of the reproductive behavior and the evolutionary aspects of the Triatominae. Therefore, in areas of sympatry, if no ecological barriers exist, there is the possibility of natural hybridization, which might reflect in the epidemiological risks since the species studied occur in endemic areas for the Chagas disease.

Evidence for a cryptic parasitoid species reveals its suitability as a biological control agent

Uncertainty about the taxonomic status and the specificity of a species commonly prevent its consideration as a candidate for biological control of pest organisms. Here we use a combination of molecular analysis and crossing experiments to gather evidence that the parasitoid wasp Ganaspis brasiliensis, a candidate for biological control of the invasive spotted wing drosophila Drosophila suzukii, is a complex of at least two cryptic species. Complementary experiments demonstrate that individuals from one genetic group readily parasitize several drosophila species regardless of their food source while individuals from the other one are almost exclusively specific to larvae feeding in ripening fruits. Because only D. suzukii attacks ripening fruits in its area of invasion, parasitoids from this second group appear to be well suited as a biological control agent. Our study demonstrates the need for a combination of biosystematics with biological and ecological investigations for the development of safe and efficient biological control programs.

Wolbachia infection in Argentinean populations of Anastrepha fraterculus sp1: preliminary evidence of sex ratio distortion by one of two strains

Background Wolbachia, one of the most abundant taxa of intracellular Alphaproteobacteria, is widespread among arthropods and filarial nematodes. The presence of these maternally inherited bacteria is associated with modifications of host fitness, including a variety of reproductive abnormalities, such as cytoplasmic incompatibility, thelytokous parthenogenesis, host feminization and male-killing. Wolbachia has attracted much interest for its role in biological, ecological and evolutionary processes as well as for its potential use in novel and environmentally-friendly strategies for the control of insect pests and disease vectors including a major agricultural pest, the South American fruit fly, Anastrepha fraterculus Wiedemann (Diptera: Tephritidae). Results We used wsp, 16S rRNA and a multilocus sequence typing (MLST) scheme including gatB, coxA, hcpA, fbpA, and ftsZ genes to detect and characterize the Wolbachia infection in laboratory strains and wild populations of A. fraterculus from Argentina. Wolbachia was found in all A. fraterculus individuals studied. Nucleotide sequences analysis of wsp gene allowed the identification of two Wolbachia nucleotide variants (named wAfraCast1_A and wAfraCast2_A). After the analysis of 76 individuals, a high prevalence of the wAfraCast2_A variant was found both, in laboratory (82%) and wild populations (95%). MLST analysis identified both Wolbachia genetic variants as sequence type 13. Phylogenetic analysis of concatenated MLST datasets clustered wAfraCast1/2_A in the supergroup A. Paired-crossing experiments among single infected laboratory strains showed a phenotype specifically associated to wAfraCast1_A that includes slight detrimental effects on larval survival, a female-biased sex ratio; suggesting the induction of male-killing phenomena, and a decreased proportion of females producing descendants that appears attributable to the lack of sperm in their spermathecae. Conclusions We detected and characterized at the molecular level two wsp gene sequence variants of Wolbachia both in laboratory and wild populations of A. fraterculus sp.1 from Argentina. Crossing experiments on singly-infected A. fraterculus strains showed evidence of a male killing-like mechanism potentially associated to the wAfraCast1_A - A. fraterculus interactions. Further mating experiments including antibiotic treatments and the analysis of early and late immature stages of descendants will contribute to our understanding of the phenotypes elicited by the Wolbachia variant wAfraCast1_A in A. fraterculus sp.1.

Breeding Systems in Diploid and Polyploid Hawthorns (Crataegus): Evidence from Experimental Pollinations of C. monogyna, C. subsphaerica, and Natural Hybrids

Background and Objectives: Polyploidisation and frequent hybridisation play an important role in speciation processes and evolutionary history and have a large impact on reproductive systems in the genus Crataegus. Reproductive modes in selected diploid and polyploid taxa in eastern Slovakia were investigated and analysed for the first time. Materials and Methods: Diploid, triploid, and tetraploid hawthorns were tested for self-pollination, self-compatibility, and self-fertilisation. Pollination experiments were performed within and between diploid and triploid species to determine the possibilities and directions of pollen transfer under natural conditions. Seeds from crossing experiments and open pollinations were analysed using the flow cytometric seed screen method. Results: These experiments demonstrated that sexual reproduction, cross-pollination, and self-incompatibility are typical of the diploid species Crataegus monogyna and C. kyrtostyla. Seeds produced by self-fertile tetraploid C. subsphaerica were derived from both meiotically reduced and unreduced megagametophytes. Conclusions: Experimental results concerning triploid C. subsphaerica and C. laevigata × C. subsphaerica are ambiguous but suggest that seeds are almost exclusively created through apomixis, although a few sexually generated seeds were observed. In the genus Crataegus, pseudogamy is a common feature of polyploid taxa, as in all cases pollination is essential for regular seed development. Research Highlights: We suggest that all studied Crataegus taxa produce reduced pollen irrespective of ploidy level. Moreover, we emphasise that triploids produce apparently aneuploid pollen grains as a result of irregular meiosis. They are also capable of utilising pollen from 2x, 3x, or 4x donors for pseudogamous formation of endosperm.

Mendel’s pea crosses: varieties, traits and statistics

A controversy arose over Mendel’s pea crossing experiments after the statistician R.A. Fisher proposed how these may have been performed and criticised Mendel’s interpretation of his data. Here we re-examine Mendel’s experiments and investigate Fisher’s statistical criticisms of bias. We describe pea varieties available in Mendel’s time and show that these could readily provide all the material Mendel needed for his experiments; the characters he chose to follow were clearly described in catalogues at the time. The combination of character states available in these varieties, together with Eichling’s report of crosses Mendel performed, suggest that two of his F3 progeny test experiments may have involved the same F2 population, and therefore that these data should not be treated as independent variables in statistical analysis of Mendel’s data. A comprehensive re-examination of Mendel’s segregation ratios does not support previous suggestions that they differ remarkably from expectation. The χ2 values for his segregation ratios sum to a value close to the expectation and there is no deficiency of extreme segregation ratios. Overall the χ values for Mendel’s segregation ratios deviate slightly from the standard normal distribution; this is probably because of the variance associated with phenotypic rather than genotypic ratios and because Mendel excluded some data sets with small numbers of progeny, where he noted the ratios “deviate not insignificantly” from expectation.

Wolbachia infection in Argentinean populations of Anastrepha fraterculus sp1: preliminary evidence of sex ratio distortion by one of two strains

ABSTRACTBackgroundWolbachia, one of the most abundant taxa of intracellular Alphaproteobacteria, is widespread among arthropods and filarial nematodes. The presence of these maternally inherited bacteria is associated with modifications of host fitness, including a variety of reproductive abnormalities, such as cytoplasmic incompatibility, thelytokous parthenogenesis, host feminization and male-killing. Wolbachia has attracted much interest for its role in biological, ecological and evolutionary processes as well as for its potential use in novel and environmentally-friendly strategies for the control of insect pests and disease vectors including a major agricultural pest, the South American fruit fly, Anastrepha fraterculus Wiedemann (Diptera: Tephritidae).ResultsWe used wsp, 16S rRNA and a multilocus sequence typing (MLST) scheme including gatB, coxA, hcpA, fbpA, and ftsZ genes to detect and characterize the Wolbachia infection in laboratory strains and wild populations of A. fraterculus from Argentina. Wolbachia was found in all A. fraterculus individuals studied. Nucleotide sequences analysis of wsp gene allowed the identification of two Wolbachia nucleotide variants (named wAfraCast1_A and wAfraCast2_A). After the analysis of 76 individuals, a high prevalence of the wAfraCast2_A variant was found both, in laboratory (82%) and wild populations (95%). MLST analysis identified both Wolbachia genetic variants as sequence type 13. Phylogenetic analysis of concatenated MLST datasets clustered wAfraCast1/2_A in the supergroup A. Paired-crossing experiments among single infected laboratory strains showed a phenotype specifically associated to wAfraCast1_A that includes slight detrimental effects on larval survival, a female-biased sex ratio; suggesting the induction of male-killing phenomena, and a decreased proportion of females producing descendants that appears attributable to the lack of sperm in their spermathecae.ConclusionsWe detected and characterized at the molecular level two wsp gene sequence variants of Wolbachia both in laboratory and wild populations of A. fraterculus sp.1 from Argentina. Crossing experiments on singly-infected A. fraterculus strains showed evidence of a male killing-like mechanism potentially associated to the wAfraCast1_A - A. fraterculus interactions. Further mating experiments including antibiotic treatments and the analysis of early and late immature stages of descendants will contribute to our understanding of the phenotypes elicited by the Wolbachia variant wAfraCast1_A in A. fraterculus sp.1.