Small organisms use propulsive springs rather than muscles to repeatedly actuate high acceleration movements, even when constrained to tiny displacements and limited by inertial forces. Through integration of a large kinematic dataset, measurements of elastic recoil, energetic math modeling and dynamic math modeling, we tested how trap-jaw ants (Odontomachus brunneus) utilize multiple elastic structures to develop ultrafast and precise mandible rotations at small scales. We found that O. brunneus develops torque on each mandible using an intriguing configuration of two springs: their elastic head capsule recoils to push and the recoiling muscle-apodeme unit tugs on each mandible. Mandibles achieved precise, planar, circular trajectories up to 49,100 rad s-1 (470,000 rpm) when powered by spring propulsion. Once spring propulsion ended, the mandibles moved with unconstrained and oscillatory rotation. We term this mechanism a 'dual spring force couple', meaning that two springs deliver energy at two locations to develop torque. Dynamic modeling revealed that dual spring force couples reduce the need for joint constraints and thereby reduce dissipative joint losses, which is essential to the repeated use of ultrafast, small systems. Dual spring force couples enable multifunctionality: trap-jaw ants use the same mechanical system to produce ultrafast, planar strikes driven by propulsive springs and for generating slow, multi-degrees of freedom mandible manipulations using muscles, rather than springs, to directly actuate the movement. Dual spring force couples are found in other systems and are likely widespread in biology. These principles can be incorporated into microrobotics to improve multifunctionality, precision and longevity of ultrafast systems.

Dual spring force couples yield multifunctionality and ultrafast, precision rotation in tiny biomechanical systems.

Abstract The mesosoma is the power core of the ant, containing critical structural and muscular elements for the movement of the head, legs, and metasoma. It has been hypothesized that adaptation to ground locomotion and the loss of flight led to the substantial rearrangements in the mesosoma in worker ants and that it is likely the ant mesosoma has undergone functional modifications as ants diversified into different ecological and behavioral niches. Despite this importance, studies on the anatomy of the ant mesosoma are still scarce, and there is limited understanding of important variation of internal structures across the ant phylogeny. Recent advances in imaging techniques have made it possible to digitally dissect small insects, to document the anatomy efficiently and in detail, and to visualize these data in 3D. Here we document the mesosomal skeletomuscular system of workers of the red wood ant, Formica rufa Linnaeus, 1761, and use it to establish a 3D atlas of mesosomal anatomy that will serve as reference work for further studies. We discuss and illustrate the configuration of the skeletomuscular components and the function of the muscles in interaction with the skeletal elements. This anatomical evaluation of a ‘generalized’ ant provides a template for future studies of the mesosoma across the radiation of Formicidae, with the ultimate objective of synthesizing structural, functional, and transformational information to understand the evolution of a crucial body region of ants.

/pdf/the-skeletomuscular-system-of-the-mesosoma-of-formica-rufa-k3da0cw7.pdf

The Skeletomuscular System of the Mesosoma of Formica rufa Workers (Hymenoptera: Formicidae)

Fossils provide unique opportunity to understand the tempo and mode of evolution and are essential for modeling the history of lineage diversification. Here, we interrogate the Mesozoic fossil record of the Aculeata, with emphasis on the ants (Formicidae), and conduct an extended series of ancestral state estimation exercises on distributions of tip-dated combined-evidence phylogenies. We developed and illustrated from ground-up a series of 576 morphological characters which we scored for 144 extant and 431 fossil taxa, including all families of Aculeata, Trigonaloidea, Evanioidea, and †Ephialtitoidea. We used average posterior probability support to guide composition of a target matrix of 303 taxa, for which we integrated strongly filtered ultraconserved element (UCE) data for 115 living species. We also implemented reversible jump MCMC (rjMCMC) and hidden state methods to model complex behavioral characters to test hypotheses about the pathway to obligate eusociality. In addition to revising the higher classification of all sampled groups to family or subfamily level using estimated character polarities to diagnose nodes across the phylogeny, we find that the mid-Cretaceous genera †Camelomecia and †Camelosphecia form a clade which is robustly supported as sister to all living and fossil Formicidae. For this reason, we name this extinct clade as †@@@idae fam. nov. and provide a definition for the expanded Formicoidea. Based on our results, we recognize three major phases in the early evolution of the ants: (1) origin of Formicoidea as ground-adapted huntresses during the Late Jurassic in the “stinging aggressor” guild (Aculeata) among various lineages of “sneaking parasitoids” (non-aculeate Vespina); (2) the first formicoid radiation during the Early Cretaceous, by the end of which all major extant linages originated; and (3) turnover of the Formicoidea at the end-Cretaceous leading to the second formicoid radiation. We conclude with a concentrated series of considerations for future directions of study with this dataset and beyond.

/pdf/evolution-and-systematics-of-the-aculeata-and-kin-2dpued8b.pdf

Evolution and systematics of the Aculeata and kin (Hymenoptera), with emphasis on the ants (Formicoidea: †@@@idae fam. nov., Formicidae)

Recent studies of insect anatomy evince a trend towards a comprehensive and integrative investigation of individual traits and their evolutionary relationships. The abdomen of ants, however, remains critically understudied. To address this shortcoming, we describe the abdominal anatomy of Amblyopone australis Erichson, using a multimodal approach combining manual dissection, histology, and microcomputed tomography. We focus on skeletomusculature, but additionally describe the metapleural and metasomal exocrine glands, and the morphology of the circulatory, digestive, reproductive, and nervous systems. We describe the muscles of the dorsal vessel and the ducts of the venom and Dufour's gland, and characterize the visceral anal musculature. Through comparison with other major ant lineages, apoid wasps, and other hymenopteran outgroups, we provide a first approximation of the complete abdominal skeletomuscular groundplan in Formicidae, with a nomenclatural schema generally applicable to the hexapod abdomen. All skeletal muscles were identifiable with their homologs, while we observe potential apomorphies in the pregenital skeleton and the sting musculature. Specifically, we propose the eighth coxocoxal muscle as an ant synapomorphy; we consider possible transformation series contributing to the distribution of states of the sternal apodemes in ants, Hymenoptera, and Hexapoda; and we address the possibly synapomorphic loss of the seventh sternal–eighth gonapophyseal muscles in the vespiform Aculeata. We homologize the ovipositor muscles across Hymenoptera, and summarize demonstrated and hypothetical muscle functions across the abdomen. We also give a new interpretation of the proximal processes of gonapophyses VIII and the ventromedial processes of gonocoxites IX, and make nomenclatural suggestions in the context of evolutionary anatomy and ontology. Finally, we discuss the utility of techniques applied and emphasize the value of primary anatomical research.

https://publikationen.bibliothek.kit.edu/1000146068/148761738

The ant abdomen: The skeletomuscular and soft tissue anatomy of Amblyopone australis workers (Hymenoptera: Formicidae)

Abstract The fossil record allows a unique glimpse into the evolutionary history of organisms living on Earth today. We discovered a specimen of the stem group ant †Gerontoformica gracilis (Barden and Grimaldi, 2014) in Kachin amber with near-complete preservation of internal head structures, which we document employing µ-computed-tomography-based 3D reconstructions. We compare †Gerontoformica to four outgroup taxa and four extant ant species, employing parsimony and Bayesian ancestral state reconstruction to identify morphological differences and similarities between stem and crown ants and thus improve our understanding of ant evolution through the lens of head anatomy. Of 149 morphological characters, 87 are new in this study, and almost all applicable to the fossil. †Gerontoformica gracilis shares shortened dorsal tentorial arms, basally angled pedicels, and the pharyngeal gland as apomorphies with other total clade Formicidae. Retained plesiomorphies include mandible shape and features of the prepharynx. Implications of the reconstructed transitions especially for the ant groundplan are critically discussed based on our restricted taxon sampling, emphasizing the crucial information derived from internal anatomy which is applied to deep time for the first time. Based on the falcate mandible in †Gerontoformica and other Aculeata, we present hypotheses for how the shovel-shaped mandibles in crown Formicidae could have evolved. Our results support the notion of †Gerontoformica as ‘generalized’ above-ground predator missing crucial novelties of crown ants which may have helped the latter survive the end-Cretaceous extinction. Our study is an important step for anatomical research on Cretaceous insects and a glimpse into the early evolution of ant heads. Graphical Abstract

The First Reconstruction of the Head Anatomy of a Cretaceous Insect, †Gerontoformica gracilis (Hymenoptera: Formicidae), and the Early Evolution of Ants

Ants are highly polyphenic Hymenoptera, with at least three distinct adult forms in the vast majority of species. Their sexual dimorphism, however, is overlooked to the point of being a nearly forgotten phenomenon. Using a multimodal approach, we interrogate the near total head microanatomy of the male of Dorylus helvolus, the "sausagefly," and compare it with the conspecific or near-conspecific female castes, the "driver ants." We found that no specific features were shared uniquely between the workers and males to the exclusion of the queens, indicating independence of male and worker development; males and queens, however, uniquely shared several features. Certain previous generalizations about ant sexual dimorphism are confirmed, while we also discover discrete muscular presences and absences, for which reason we provide a coarse characterization of functional morphology. Based on the unexpected retention of a medial carinate line on the structurally simplified mandible of the male, we postulate a series of developmental processes to explain the patterning of ant mandibles. We invoke functional and anatomical principles to classify sensilla. Critically, we observe an inversion of the expected pattern of male-queen mandible development: male Dorylus mandibles are extremely large while queen mandibles are poorly developed. To explain this, we posit that the reproductive-limited mandible phenotype is canalized in Dorylus, thus partially decoupling the queen and worker castes. We discuss alternative hypotheses and provide further comparisons to understand mandibular evolution in army ants. Furthermore, we hypothesize that the expression of the falcate phenotype in the queen is coincidental, that is, a "spandrel," and that the form of male mandibles is also generally coincidental across the ants. We conclude that the theory of ant development and evolution is incomplete without consideration of the male system, and we call for focused study of male anatomy and morphogenesis, and of trait limitation across all castes.

Anatomy and evolution of the head of Dorylus helvolus (Formicidae: Dorylinae): Patterns of sex- and caste-limited traits in the sausagefly and the driver ant.

Olivia Tikuma Diana Moosdorf

Papers

Anatomy and evolution of the head of Dorylus helvolus (Formicidae: Dorylinae): Patterns of sex- and caste-limited traits in the sausagefly and the driver ant.