Sucking Disc Research Articles

An improved chromosome-level genome assembly and annotation of Echeneis naucrates

Echeneis naucrates, as known as live sharksucker, is famous for the behavior of attaching to hosts using a highly modified dorsal fin with oval-shaped sucking disc. Here, we generated an improved high-quality chromosome-level genome assembly of E. naucrates using Illumina short reads, PacBio long reads and Hi-C data. Our assembled genome spans 572.85 Mb with a contig N50 of 23.19 Mb and is positioned to 24 pseudo-chromosomes. Additionally, at least one telomere was identified for 23 out of 24 chromosomes. Furthermore, we identified a total of 22,161 protein-coding genes, of which 21,402 genes (96.9%) were annotated successfully with functions. The combination of ab initio predictions and Repbase-based searches revealed that 15.57% of the assembled E. naucrates genome was identified as repetitive sequences. The completeness of the genome assembly and the gene annotation were estimated to be 97.5% and 95.4% with BUSCO analyses. This work enhances the utility of the live sharksucker genome and provides a valuable groundwork for the future study of genomics, biology and adaptive evolution in this species.

Spatial distribution, host specificity, and affinity of Branchiura for surface and macrohabitat types in fish species from the Brazilian Amazon.

This study investigated the spatial distribution, parasite interactions, and affinities of Branchiura parasites according to macrohabitat and surface type on fish from the Araguari River, Amapá State, in the Brazilian Amazon. This study presents novel information on the interactions of branchiuran species with host fish, and how the morphology of their attachment structures is associated with different host surface morphologies, with and without scales. A total of 558 fish specimens of 26 species were collected, of which 109 fish (10 species) were parasitized by at least one branchiuran parasite; these were selected for further study. The parasites were collected from the buccal cavity, gills, fins, and integument of the host fish. Parasites with suction discs (Argulus) were mainly associated to hosts with small scales and no scales, while parasites with hooks (Dolops) were mainly associated to hosts with large scales. Overall, parasites with suction discs were more specialized per site than those with hooks.

A bio-inspired expandable soft suction gripper for minimal invasive surgery—an explorative design study

Gripping slippery and flexible tissues during minimal invasive surgery (MIS) is often challenging using a conventional tissue gripper. A force grip has to compensate for the low friction coefficient between the gripper’s jaws and the tissue surface. This study focuses on the development of a suction gripper. This device applies a pressure difference to grip the target tissue without the need to enclose it. Inspiration is taken from biological suction discs, as these are able to attach to a wide variety of substrates, varying from soft and slimy surfaces to rigid and rough rocks. Our bio-inspired suction gripper is divided into two main parts: (1) the suction chamber inside the handle where vacuum pressure is generated, and (2) the suction tip that attaches to the target tissue. The suction gripper fits through a 10 mm trocar and unfolds in a larger suction surface when being extracted. The suction tip is structured in a layered manner. The tip integrates five functions in separate layers to allow for safe and effective tissue handling: (1) foldability, (2) air-tightness, (3) slideability, (4) friction magnification and (5) seal generation. The contact surface of the tip creates an air-tight seal with the tissue and enhances frictional support. The suction tip’s shape grip allows for the gripping of small tissue pieces and enhances its resistance against shear forces. The experiments illustrated that our suction gripper outperforms man-made suction discs, as well as currently described suction grippers in literature in terms of attachment force ( N on muscle tissue) and substrate versatility. Our bio-inspired suction gripper offers the opportunity for a safer alternative to the conventional tissue gripper in MIS.

Dumbbell-Shaped Damage Effect of Closed Cylindrical Shell Subjected to Far-Field Side-On Underwater Explosion Shock Wave

In naval warfare, underwater explosion (UNDEX) shock waves significantly influence the stability and safety of the pressure hull structure of the equipment. This study investigated the unique dynamic buckling of a closed cylindrical shell subjected to a far-field side-on UNDEX shock wave using a three-dimensional numerical simulation based on acoustic–structural arithmetic. In particular, the flow-field response characteristics, plastic deformation, and yield characteristics of the cylindrical shell were determined under the influence of the UNDEX shock wave. Subsequently, the failure mode of the cylindrical shell was analyzed to propose the dumbbell-shaped damage effect. The results revealed that when the UNDEX shock wave encounters a finite cylindrical shell, the fluid exhibits a perturbation such as pressure division, stress wave deflection, and flow in the surroundings of the circular cylinder. However, the fluid cannot produce a sizeable instantaneous displacement that yields certain strong constraints at both ends of the cylindrical shell. These constraints generate an irregular distribution of the flow field pressure, and the cylindrical shell tends to exhibit an “arch” deformation along the direction of shock wave propagation. Owing to the flow surrounding the circular cylinder, a negative pressure zone is generated in the flow field at both ends of the cylindrical shell, which induces a “sucking disc” shape at both ends of the cylindrical shell and ultimately produces a dumbbell-shaped damage effect. The present findings will aid in the structural design and impact resistance of submarines, unmanned undersea vehicles, and additional equipment under the impact load of the UNDEX.

Enhanced Adhesion of Synthetic Discs with Micro-Patterned Margins.

Many aquatic creatures in nature have non-cooperative surface scaling abilities using suction organs; micro-/nano-scale structures found in different parts of the organs play an important role in this mechanism. Synthetic bioinspired suction devices have been developed, but the mechanisms of bioinspired suction system need further investigation. This paper presents the development of a synthetic adhesive disc inspired by the hillstream loach. The microscopic structures involved in adhesion of the hillstream loach were investigated. Bioinspired suction discs were designed with single-level or hierarchical micropatterned margins. Micro three-dimensional (3D) printing and micro electromechanical system (MEMs) technology were utilized in the fabrication of the discs, and the adhesion performance was tested on substrates with different roughness values. The engaging and disengaging processes of the margin were simulated by carrying out a peeling test on a submerged substrate. The interactions between the liquid film and the microstructures were observed using fluorescence microscopy. The enhanced adhesion forces due to the synergy of the hierarchically micro-patterned margin and the disc cavity were duplicated in the synthetic adhesion system.

Locomotion via Active Suction in a Sea Star-Inspired Soft Robot

Some marine animals, such as sea stars, have developed versatile adhesive appendages that can be used for a variety of behaviors including sticking to surfaces, manipulating objects, and locomoting. These appendages couple reversible adhesion capabilities with muscular structures that can do work on the world while still being soft enough to conform to various surfaces and to squeeze through tight spaces. We took inspiration from the hydraulic tube feet of sea star to create modules consisting of soft active suction discs and soft pneumatic linear actuators. Tube feet convert fluid motion into linear actuation using soft tubes that are constrained radially. In this work, we study the tradeoff between the stiffness of such radial constraints, and the ability of the linear actuators to apply axial forces. The adhesive force of the suction disc is dependent on both the pressure differential between the suction cavity and the environment and the deformation within the body of the disc while it is being loaded. We show that the tube foot modules are capable of creating locomotion over flat surfaces, up small steps, and in a confined space due to the redundancy caused by an array of actuators. We also show that active suction not only enables the use of softer tube foot actuators, but that sensing this active suction line provides feedback to increase the efficiency of locomotion over obstacles.

Sucker Shapes, Skeletons, and Bioinspiration: How Hard and Soft Tissue Morphology Generates Adhesive Performance in Waterfall Climbing Goby Fishes.

Many teleost fish, such as gobies, have fused their paired pelvic fins into an adhesive disc. Gobies can use their pelvic suckers to generate passive adhesive forces (as in engineered suction cups), and different species exhibit a range of adhesive performance, with some even able to climb waterfalls. Previous studies have documented that, in the Hawaiian Islands, species capable of climbing higher waterfalls produce the highest passive pull-off forces, and species found at higher elevation sites are likely to have more rounded suction discs than those found in the lowest stream segments. Morphology of the pelvic girdle also varies between species, with more robust skeletons in taxa with superior passive adhesion. To investigate what factors impact the passive adhesive performance of waterfall climbing gobies, we tested biomimetic suction cups designed with a range of shapes and embedded bioinspired "skeletons" based on micro-CT scans of goby pelvic girdles. We found that while the presence of an internal skeleton may provide some support against failure, the performance of suction cups may be more strongly affected by their external shape. Nonetheless, factors besides external shape and skeletal morphology may still have a stronger influence on sucker tenacity. Our results suggest that the relationship between suction disc morphology and adhesive performance may be influenced by a variety of physical factors, and live animal performance likely is further complicated by muscle activation and climbing behavior. These results have implications for the evolution of suction disc shape in adhesive fish and for improving the design of biomimetic suction cups.

Tracing lateral subsurface flow in layered soils by undisturbed monolith sampling, targeted laboratory experiments, and model‐based analysis

AbstractLateral subsurface flow (LSF) is a phenomenon frequently occurring in the field induced by local water saturation along horizon boundaries under nonequilibrium conditions. However, observations of LSF in undisturbed soils under controlled irrigation in the laboratory are limited but needed for model improvement, prediction, and quantification of LSF. We present a method for extracting an undisturbed soil monolith along a soil horizon boundary and introduce an experimental setup for the measurement of LSF and an irrigation device for simulating rainfall. An experimental test run was simulated using HYDRUS 2D. Water infiltrating into the monolith and flowing either laterally along the horizon boundary or vertically through the bottom horizon could be separately captured by suction discs at the side and the bottom. Thus, a clear distinction between lateral and vertical flow was possible. Pressure heads and water contents were recorded by tensiometers and frequency domain reflectometry (FDR) sensors distributed across the monolith in a regular two‐dimensional, vertical, cross‐sectional pattern. Sensor readings indicated the presence of nonequilibrium conditions within the monolith. Modeling results could reproduce the lateral and vertical outflow of the monolith under constant irrigation, thus showing that water flow within the monolith under steady‐state conditions can be explained by the Richards equation and the van Genuchten–Mualem model. The presented method can be used to improve and verify models designed for the prediction of the onset of LSF including that induced by local nonequilibrium conditions.

A Two-Layer Heterogeneous Ant Colony System With Applications in Part-Picking Planning

Abstract The tape carrier packaging machine with multiple sucking discs is designed for modern, high-speed packaging production line, which is an important part of the electronic manufacturing process. The efficiency of the part-picking can directly affect the efficiency of the packaging production line. The problem involves at least three coupled sub-problems: the number of picking rounds, the matching relationship between the parts and sucking discs, and the picking order. Because the actual industrial production requires real-time or soft real-time scheduling, the challenge is how to efficiently solve this multi-dimensional combinatorial optimization problem within a fairly limited time. The existing advanced algorithms such as the genetic algorithm and the simulated annealing algorithm usually require complex and time-consuming encoding and decoding while solving this problem. In contrast, the ant colony algorithm has advantages in the convergence rate and parallel computing, especially for searching high dimensional paths in dynamic environments. In order to further improve the comprehensive performance of the ant colony algorithm in solving multi-dimensional coupled optimization problems in extremely limited time, we propose a novel two-layer heterogeneous ant colony system based on three strategies: (1) a bottom-up two-layer solution framework to decouple the original tightly coupled problem into a loosely coupled problem composed of two sub-problems; (2) a candidate cluster augmentation strategy based on the Delaunay triangulation to improve the diversity and quality of the clusters; (3) a co-evolution between a pair of heterogeneous colonies by mixing the high-quality pheromone properly as well as a co-evolution based on the prior knowledge. Finally, through a large set of comparisons, the average picking efficiency of Two-layer Heterogeneous Ant Colony System improved by the three proposed strategies is 13–16% higher than that of other popular heuristic algorithms.

Dimorphic Fluorescence in the Pacific Spiny Lumpsucker

Joining the ranks of vertebrates that glow is the Pacific Spiny Lumpsucker, Eumicrotremus orbis, a subtidal species widely distributed across the North Pacific Ocean. Aside from their charismatic appearance, the Pacific Spiny Lumpsucker is known for its ventral suction disc that is used to stick to substrates amid changing currents and tides. Here we show that red lumpsuckers, which are usually male and a deep red color under broad-spectrum light, fluoresce bright red under ultraviolet (UV) light and blue light (360–460 nm), while green color morphs (usually female) do not. In all color morphs, the suctorial disc glows green-yellow. The red glow of the males matches the red glow of encrusting algae in their nesting areas, while the suctorial disc may be a signaling system. The green and red fluorescence observed in red lumpsuckers is the rarest fluorescent pattern and is only seen in 17 families of marine fishes. Pacific Spiny Lumpsuckers are cryptically colored under broad-spectrum light; our observed fluorescence suggests a potential avenue of communication and camouflage in an environment where red light is absent or rare.

Tuning the Morphology of Suction Discs to Enable Directional Adhesion for Locomotion in Wet Environments.

Reversible adhesion provides robotic systems with unique capabilities, including wall climbing and walking underwater, and yet the control of adhesion continues to pose a challenge. Directional adhesives have begun to address this limitation by providing adhesion when loaded in one direction and releasing easily when loaded in the opposite direction. However, previous work has focused on directional adhesives for dry environments. In this work, we sought to address this need for directional adhesives for use in a wet environment by tuning the morphology of suction discs to achieve anisotropic adhesion. We developed a suction disc that exhibited significant directional preference in attachment and detachment without requiring active control. The suction discs exhibited morphological computation-that is, they were programmed based on their geometry and material properties to detach under specific angles of loading. We investigated two design parameters-disc symmetry and slits within the disc margin-as mechanisms to yield anisotropic adhesion, and through experimental characterizations, we determined that an asymmetric suction disc most consistently provided directional adhesion. We performed a parametric sweep of material stiffness to optimize for directional adhesion and found that the material composition of the suction disc demonstrated the ability to override the effect of body asymmetry on achieving anisotropic adhesion. We modeled the stress distributions within the different suction disc symmetries using finite element analysis, yielding insights into the differences in contact pressures between the variants. We experimentally demonstrated the utility of the suction discs in a simulated walking gait using linear actuators as one potential application of the directional suction disc.

The effects of substrate porosity, mechanical substrate properties and loading conditions on the attachment performance of the Mediterranean medicinal leech (Hirudo verbana).

The ectoparasitic lifestyle of the Mediterranean medicinal leech (Hirudo verbana) requires reliable functioning of its attachment organs (i.e. anterior and posterior suction discs) on multiple habitat- and host-specific surfaces under both normal and shear stresses. In addition to some intrinsic properties of the attachment devices, however, only a few extrinsic factors (e.g. substrate roughness and porosity) have been considered in previous studies on leech suckers. Using centrifugal force experiments, we analysed the attachment performance of H. verbana under different types of loading on artificial substrates differing in porosity and their mechanical properties. Whereas the substrate porosity significantly influenced leech attachment under normal and shear loading, the different mechanical properties did not noticeably affect attachment within the considered parameter limits. Furthermore, suction was confirmed to be the primary attachment mechanism independent of the prevailing loading condition. The question of whether the suction cups of H. verbana are adapted to a specific loading condition could not be answered. In any case, our results again highlight the high functional resilience of leech suckers guaranteeing a successful ectoparasitic lifestyle.

Vertical Fibrous Morphology and Structure-Function Relationship in Natural and Biomimetic Suction-Based Adhesion Discs

Summary Recent years have seen rapid development in bio-inspired materials for adhesion. However, it remains challenging to realize robust adhesion on rough aquatic surfaces. An inspiring natural model is the remora fish, which has evolved to retain powerful adhesion to hosts using a dorsal suction disc. We find that the remora suction disc has a unique fibrous architecture of vertically oriented collagen fibers that enable anisotropic mechanical properties and enhanced adhesion performance. In the engineered prototype, vertically oriented nylon fibers are embedded into the soft silicone matrix using electrostatic flocking. The anisotropic mechanical properties are validated in both natural and biomimetic suction discs. Furthermore, the biomimetic suction disc demonstrates an enhanced adhesion function with a maximum 62.5% increase in pull-off force and a 340% increase in attachment time compared with the silicone control. This work can shed light on natural adhesion mechanisms and inspire novel designs for aquatic soft adhesives and actuators.

Descriptions of spawning of the pouched lamprey (Geotria australis) in tanks and of morphological changes leading up to and following spawning

The anadromous Geotria australis, one of only three lamprey species representing the early agnathan (jawless) stage of vertebrate evolution in Australia and New Zealand, is declining in abundance. Its adults were caught soon after they had entered rivers on their non-trophic upstream migration and maintained in laboratory tanks for 13–15 months through to spawning. As adult G. australis are susceptible to haemorrhagic septicaemia, they were treated prophylactically and maintained in 3-m3 aquaria supplied with a flow-through charcoal filtration system and UV steriliser. Air temperature and the light:dark regime were constantly adjusted to parallel those in the environment. Males developed the very large suctorial disc and gular pouch characteristic of maturity and both sexes matured at the same time as in the wild. While males frequently showed aggressive behaviour towards each other, the same male and female mated on several occasions. The male coiled around the female and, with his urogenital papilla close to the female’s cloaca, twisted and vibrated, leading to egg release. These eggs formed coagulated clusters as in the wild, with many progressing through to the eight-cell stage. Remarkably, numerous G. australis were still alive 95–392 days after the end of the short spawning period, and one male after a further 119 days. Postspawning survival would be facilitated inter alia by extensive proteolysis, reflected in a shortening of the body. The data in this paper emphasise that G. australis is a highly atypical lamprey and provides invaluable information for conserving this declining species.

Reversible adhesion to rough surfaces both in and out of water, inspired by the clingfish suction disc

Adhesion is difficult to achieve on rough surfaces both in air and underwater. In nature, the northern clingfish (Gobiesox maeandricus) has evolved the impressive ability to adhere onto substrates of various shapes and roughnesses, while subject to strong intertidal surges. The suction disc of the clingfish relies on suction and friction to achieve and maintain adhesion. Inspired by this mechanism of attachment, we designed an artificial suction disc and evaluated its adhesive stress on rough surfaces and non-planar geometries. The artificial suction disc achieved adhesion strengths of 10.1 ± 0.3 kPa in air on surfaces of moderate roughness (grain size, 68 µm), and 14.3 ± 1.5 kPa underwater on coarse surfaces (grain size, 269 µm). By comparison, a commercially available suction cup failed to exhibit any significant adhesion in both scenarios. The roughly 2 g heavy clingfish-inspired suction discs gripped concave surfaces with small radii of curvature (12.5 mm) and supported payloads up to 0.7 kg. We correlated the effect of key bioinspired features (i.e. slits, a soft outer layer, and body geometry) to adhesion performance using contact visualization techniques and finite element analysis (FEA). The suction discs were then tested on a remotely operated vehicle (ROV) to demonstrate their utility in the soft manipulation of fragile objects.

Comparative Functional and Phylogenomic Analyses of Host Association in the Remoras (Echeneidae), a Family of Hitchhiking Fishes.

SynopsisThe family Echeneidae consists of eight species of marine fishes that hitchhike by adhering to a wide variety of vertebrate hosts via a sucking disc. While several studies have focused on the interrelationships of the echeneids and the adhesion performance of a single species, no clear phylogenetic hypothesis has emerged and the morphological basis of adhesion remains largely unknown. We first set out to resolve the interrelationships of the Echeneidae by taking a phylogenomic approach using ultraconserved elements. Then, within this framework, we characterized disc morphology through µ-CT analysis, evaluated host specificity through an analysis of host phylogenetic distance, and determined which axes of disc morphological variation are associated with host diversity, skin surface properties, mean pairwise phylogenetic distance (MPD obs.), and swimming regime. We recovered an extremely well-supported topology, found that the specificity of host choice is more variable in a pelagic group and less variable in a reef-generalist group than previously proposed, and that axes of disc morphospace are best explained by models that include host skin surface roughness, host MPD obs., and maximum host Reynolds number. This suggests that ecomorphological diversification was driven by the selection pressures of host skin surface roughness, host specialization, and hydrodynamic regime.

The population and habitat of mungkus fish (Sicyopterus cynocephalus) in Bengkenang Waters South of Bengkulu

Sicyopterus cynocephalus is a high-value consumption and is one of the freshwater fish species with special characteristics. It has united belly fins forming a sucking disk to attach it self to its position in a fast-current river with rocky substrate. The habitat of mungkus is currently threatened due to the decreasing environmental quality and productivity caused by pollution of household waste, siltation of the river, fishing with forbidden equipment and the high demand for mungkus meat. This report aims to determine structure of population and habitat of mungkus in waters Bengkenang and Nelengau rivers, South of Bengkulu using catched method per unit of effort with four stations. The results showed that 115 mungkus, consist of 37 males, 78 females. Meanwile, it was shown that three mungkus habitat types; the most favored one is rocky waters with the heavy current, the water quality was suitable for living of mungkus fish. It is expected that the results of this study can be used as a first step to support the success of the process of ex-situ conservation of mungkus fish through domestication activities.

First record of the red clingfish, Pherallodus indicus (Gobiesociformes: Gobiesocidae) from Jeju Island, Korea

A single specimen of Pherallodus indicus was collected for the first time from a tidal pool on the eastern coast of Jeju Island, Korea, in June 2017. This species is characterized by the division of the sucking disc formed from the pelvic fin into two portions, a lower jaw without mandibular canal pores, a head without preopercular canal pores, and eight dorsal and seven anal fin rays. The newly proposed Korean name for Pherallodus is “Eol-ruk-hak-chi-sok”, and the species name is “Eol-ruk-hak-chi”.

A new commensal ostracod Asterositus ohtsukai n. g., n. sp. (Paradoxostomatidae) on the sea star Sclerasterias euplecta (Fisher) (Asteriidae) and its feeding habits.

A new commensal ostracod Asterositus ohtsukai n. g., n. sp. (Podocopida: Cytheroidea: Paradoxostomatidae) is described. This new taxon occurs on the ambulacral grooves and wreath of pedicellariae around superomarginal spines of the sea star Sclerasterias euplecta (Fisher) (Asteroidea: Forcipulatida: Asteriidae). Although the family Paradoxostomatidae Brady & Norman, 1889 contains four ectoparasitic or commensal genera, the association with asteroideans has never hitherto been reported. Morphological observations suggested that A. ohtsukai n. g., n. sp. is closely associated with the host sea star as it typically has distal hooks on the antenna and fifth to seventh limbs, and specialised mandibula and maxillula structures that are considered adaptations to a commensal life-style. In addition, this study discussed the feeding habits of A. ohtsukai n. g., n. sp. based on comparison with previous works. The extremely reduced palp and endites of maxillula of A. ohtsukai n. g., n. sp. imply that they have unique feeding habits that are not based on the feeding function of maxillula. From morphological comparisons with siphonostomatoid copepods, we suggest that A. ohtsukai n. g., n. sp. may feed on the body of host sea star by injuring them with styliform needle-like mandibular coxa and sucking the tissues, body fluid, or mucus with the suctorial disc on the oral cone.

Functional morphology of suction discs and attachment performance of the Mediterranean medicinal leech (Hirudo verbana Carena).

Medicinal leeches use their suction discs for locomotion, adhesion to the host and, in the case of the anterior disc, also for blood ingestion. The biomechanics of their suction-based adhesion systems has been little understood until now. We investigated the functional morphology of the anterior and posterior suckers ofH irudo verbena by using light and scanning electron microscopy. Furthermore, we analysed the adhesion qualitatively and quantitatively by conducting behavioural and mechanical experiments. Our high-speed video analyses provide new insights into the attachment and detachment processes and we present a detailed description of the leech locomotion cycle. Pull-off force measurements of the anterior and posterior suction organs on seven different substrates under both aerial and water-submersed conditions reveal a significant influence of the surrounding medium, the substrate surface roughness and the tested organ on attachment forces and tenacities.