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Morphological characteristics and distribution of the antennal sensilla of female and male Coeloides qinlingensis.
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Coeloides qinlingensis Dang et Yang, 1989 (Hymenoptera: Braconidae) is a biocontrol agent of several scolytid pine pests in Southwest China. We examined the fine morphology of the antennae of adult C. qinlingensis, as well as the type, shape, and distribution of antennal sensilla, via scanning electron microscopy. The antennae of female and male C....
Contexts in source publication
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... surface of the antennae, especially the antennal flagellum, is densely covered with various types of sensilla ( Figure 2B). According to external morphology, presence or absence of pores, pore distribution, and the type of cuticular attachment (flexible or inflexible), nine types of sensilla were identified: sensilla trichodea (St), sensilla chaetica (Sch), sensilla basiconica (Sb), sensilla placodea (Sp), dome-shaped sensilla (Ds), sensilla auricillica (Sa), and sensilla coeloconica (Sco), with Sch and Sp each subdivided into two subtypes (Table 2). Additionally, cuticular pores (Cp) are present on the antennae. ...Context 2
... the types of sensilla and their fine morphology and cuticular pore structure are described in detail. St are slender, straight or slightly curved, ribbed hairs that vary in length (Table 2). They are aporous and arise from flexible cuticular sockets (Figures 4A and 5). ...Context 3
... are stiff, straight, ribbed (subtype 1, Sch1), or smooth (subtype 2, Sch2) bristlelike structures, but they are stronger and thicker than St ( Figure 5; Table 2). Sch are aporous and arise from a cuticle with a flexible cuticular socket ( Figure 6C,D). ...Context 4
... are ribbed pegs that project slightly more perpendicular to the antennae than St and Sch described above ( Figure 7A; Table 2). They range from 23.56 to 35.35 μm in length and 2.07 to 4.10 μm in basal width. ...Context 5
... are sausage-like structures that are slightly elevated above the antennae surface, but there is no grooved gap separating them from the antennae surface (Figures 7A and 8A,B; Table 2). There are two sub-types that differ in their external shape and the density of surface pores; Sp1 ( Figure 8C,E) and Sp2 ( Figure 8D,F). ...Context 6
... Sensilla Auricillica (Sa) Sa on C. qinlingensis are ear-expanded structures that slightly protrude from the antennal surface (Table 2). The outward-facing aspect of Sa is located in a flexible cuticular socket and is concave, with a rough surface and a round pore in the center of the ear (Fig- ure 10A,B). ...Context 7
... consist of a cupola-like peg with a blunt tip, which is clearly wider than it is long ( Figure 4B; Table 2). The wall of Ds is a thick, multiple-layer structure with slightly longitudinal grooves and some pores (Figure 11 inset). ...Context 8
... are short pegs in the pit sensilla that have a terminal finger-like projection and are embedded in an inflexible socket ( Figure 12A; Table 2). Sco obviously grow over the cavity and range from 2.76 to 4.81 μm in length and from 0.85 to 2.07 μm in basal width. ...Context 9
... with this, the results of previous studies have shown that sensillar function is determined by the number and position of pores [23,32,33]. St show great variation in shape and size and densely cover the antennae, except on the basal segments ( Table 2). The socket-like base of St is mobile [20], and it can sense mechanical stimuli when touched, moved, or distorted. ...Citations
... In addition, the cribriform plates of two individuals were imaged using scanning electron microscopy (Sigma 300, Carl Zeiss Microscopy GmbH, Jena, Germany) at an accelerating voltage of 5 kV and a working distance of 7-8 mm. The cleaning, fixation and sputter coating of these specimens followed the methodology of Yang et al. (2022). ...
The Cosmococcus species (Hemiptera: Coccomorpha: Lecanodiaspididae) found in China are reviewed. Based on morphological and molecular data, C. albizziae Borchsenius, 1960 syn. nov. and C. euphorbiae Borchsenius, 1959 syn. nov. are placed as junior synonyms of C. erythrinae Borchsenius, 1959. The wax tests of both sexes and the slide-mounted adult female of C. erythrinae Borchsenius are redescribed.
... The main idea behind tentacle-based navigation is to simulate the behavior of arthropods such as insects, which have antennae on their heads used for olfaction, touch, and taste thanks to sensory structures called "sensilla" [24]. In the context of autonomous vehicle navigation, the principle is to generate virtual antennae called "tentacles" that extend into the robot's environment to detect obstacles and find collision-free paths. ...
The basic functions of an autonomous vehicle typically involve navigating from one point to another in the world by following a reference path and analyzing the traversability along this path to avoid potential obstacles. What happens when the vehicle is subject to uncertainties in its localization? All its capabilities, whether path following or obstacle avoidance, are affected by this uncertainty, and stopping the vehicle becomes the safest solution. In this work, we propose a framework that optimally combines path following and obstacle avoidance while keeping these two objectives independent, ensuring that the limitations of one do not affect the other. Absolute localization uncertainty only has an impact on path following, and in no way affects obstacle avoidance, which is performed in the robot’s local reference frame. Therefore, it is possible to navigate with or without prior information, without being affected by position uncertainty during obstacle avoidance maneuvers. We conducted tests on an EZ10 shuttle in the PAVIN experimental platform to validate our approach. These experimental results show that our approach achieves satisfactory performance, making it a promising solution for collision-free navigation applications for mobile robots even when localization is not accurate.
