RoL: FELS: RAISE: A Phylogenomically-Based Bioinspired Robotic Model Approach to Addressing the Evolution of Terrestrial Locomotion

RoL：FELS：RAISE：一种基于系统发育学的仿生机器人模型方法来解决陆地运动的进化问题

基本信息

批准号：
1839915
负责人：
Brooke Flammang
金额：
$ 99.75万
依托单位：
New Jersey Institute of Technology
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2019
资助国家：
美国
起止时间：
2019-01-01 至 2024-12-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1839915&HistoricalAwards=false
关键词：
RoL FELS RAISE Phylogenomically Based

项目摘要

One clear example of a Rule of Life is evolutionary convergence, the occurrence of the same or extremely similar adaptations in independent lineages of species on the Tree of Life. The recent discovery of a blind cavefish that walks and climbs waterfalls with a salamander-like gait and has evolved a robust pelvic girdle (a kind of hip) offers an extraordinary opportunity to study, in living fishes, a pivotal event in evolutionary history. That event, the vertebrate invasion of land, hinged on the evolution of fins to limbs that enabled the first vertebrates to walk on land. The fossil record of this transition is scarce, and extant fishes were thought to lack the morphological features necessary for studying the origin of quadrupedal walking. This research will provide a unique opportunity to understand, through phylogenetic analysis and mathematical and robotic modeling, the mechanism underlying a major event in the history of life: how fishes were able to transition to a terrestrial lifestyle and evolve into the tetrapods. The broader impacts of this project will promote teaching, training, and learning for high school students in diverse and underprivileged communities. The project will also provide opportunities for graduate and undergraduate research training and make important contributions to public science education. This project was co-funded by the Biology Directorate and the Physics of Living Systems Program in the Physics Division. The proposed work will identify the genomic, morphological, and mechanical qualities that enable a fish to walk on land. Advancing previous work on the functional morphology and kinematics of terrestrial walking in the blind cave fish Cryptotora thamicola, the proposed research will examine the phylogenomic relationships, morphology, biomechanics, and walking performance from an evolutionary perspective among balitorid loaches. Genomic sequencing will determine convergent genetic markers known to be involved in pelvic girdle formation in other walking vertebrates. Morphological examinations will reveal how functional phenotypic adaptations can be formed by major genomic changes. A biorobotic model organism, validated through comparison with our experimental biomechanical data, will be used to take a modular approach to examining convergence and answering questions on the effect of pelvic morphology on walking performance in extinct fin-to-limb transitional forms and modern forms. The work proposed will discriminate the fundamental physical properties which are inherent to the transition to terrestrial walking from an aquatic form. The evolution of the terrestrial pelvic girdle was critical to the diversification of amphibians, reptiles, birds and mammals; the proposed work uses a convergent fish model to study the evolution of anatomical structures that support the vertebrate body against gravity and show how modulation of muscular control can produce a tetrapodal gait within a given range of skeletal morphologies. This research will inform scientific understanding of the mechanisms underlying the convergent evolution of morphological innovation, allowing development of a unifying principle for mass support in tetrapods based on the genomics, basic physics, and mechanics that define the pelvic girdle contribution to quadrupedal walking.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

生命规则的一个明确例子是进化融合，这是生命树中物种独立谱系中相同或非常相似的适应性的发生。最近发现了一种盲洞鱼，该山洞以类似sal的步态走路和攀登瀑布，并进化出了强大的骨盆腰带（一种髋关节），这为在生物鱼类中提供了非凡的学习机会，这是进化史上的关键事件。那个事件是脊椎动物的陆地入侵，取决于鳍的进化，使第一批脊椎动物能够在陆地上行走。这种过渡的化石记录很少，现存的鱼类被认为缺乏研究四足动物起源所需的形态特征。这项研究将提供一个独特的机会，通过系统发育分析以及数学和机器人建模，这是生命史上主要事件的基础机制：鱼类如何能够过渡到陆地生活方式并发展为四脚架。该项目的更广泛的影响将促进在多元化和贫困社区的高中学生的教学，培训和学习。该项目还将为研究生和本科研究培训提供机会，并为公共科学教育做出重要贡献。该项目是由生物学局和物理部门的生物学计划共同资助的。拟议的工作将确定使鱼在陆地上行走的基因组，形态和机械品质。拟议的研究将促进盲洞鱼隐孢子虫thamicola中陆地行走的功能形态和运动学的研究，拟议的研究将研究从巴利托利德（Balitorid Loaches）进化的角度来研究系统生成关系，形态学，生物力学和步行表现。基因组测序将确定已知参与其他行走脊椎动物中骨盆横梁形成的收敛遗传标记。形态学检查将揭示如何通过重大基因组变化来形成功能表型适应。通过与我们的实验性生物力学数据进行比较验证的生物生物模型生物将采用模块化方法来检查收敛性并回答有关骨盆形态对遗产的翅片鳍对限制性转变形式和现代形式的步行效果的影响。提出的工作将区分从水生形式过渡到陆地步行的基本物理特性。陆生骨盆腰带的演变对于两栖动物，爬行动物，鸟类和哺乳动物的多样化至关重要。拟议的工作使用收敛的鱼类模型来研究支持脊椎动物免受重力的解剖结构的演变，并显示肌肉控制的调节如何在给定的骨骼形态范围内产生四足步态。这项研究将为科学理解形态创新的融合演变的基础机制提供信息，从而允许发展基于基因组学，基本物理学和机制来定义骨盆束的统一原则，以在四足动物的基础上和机制来定义骨盆的贡献。更广泛的影响审查标准。