Fossils document evolutionary changes of jaw joint to mammalian middle ear.

The dual jaw joint of Morganucodon1,2 consists of the dentary-squamosal joint laterally and the articular-quadrate one medially. The articular-quadrate joint and its associated post-dentary bones constitute the precursor of the mammalian middle ear. Fossils documenting the transition from such a precursor to the mammalian middle ear are poor, resulting in inconsistent interpretations of this hallmark apparatus in the earliest stage of mammaliaform evolution1-5. Here we report mandibular middle ears from two Jurassic mammaliaforms: a new morganucodontan-like species and a pseudotribosphenic shuotheriid species6. The morganucodontan-like species shows many previously unknown post-dentary bone morphologies1,2 and exhibits features that suggest a loss of load-bearing function in its articular-quadrate joint. The middle ear of the shuotheriid approaches the mammalian condition in that it has features that are suitable for an exclusively auditory function, although the post-dentary bones are still attached to the dentary. With size reduction of the jaw-joint bones, the quadrate shifts medially at different degrees in relation to the articular in the two mammaliaforms. These changes provide evidence of a gradual loss of load-bearing function in the articular-quadrate jaw joint-a prerequisite for the detachment of the post-dentary bones from the dentary7-12 and the eventual breakdown of the Meckel's cartilage13-15 during the evolution of mammaliaforms.

A new basal ichthyosauromorph from the Lower Triassic (Olenekian) of Zhebao, Guangxi Autonomous Region, South China.

Here we describe a newly discovered basal ichthyosauromorph from the Lower Triassic of South China, Baisesaurus robustus gen. et sp. nov. The only known specimen of this new species was collected from the Lower Triassic (Olenekian) Luolou Formation in the Zhebao region of Baise City, on the northwest margin of the Nanpanjiang Basin, and comprises a partial skeleton including the ribs, the gastralia, a limb element, 12 centra, and seven neural arches. Comparisons to a wide variety of Early Triassic marine reptiles show Baisesaurus robustus to be a basal ichthyosauromorph based on the following features: neural arches lack transverse processes; dorsal ribs are slender, and not pachyostotic even proximally; and median gastral elements have long, sharp anterior processes. The limb element is long and robust, and is most likely to be a radius. Baisesaurus robustus is large (estimated length more than 3 m) relative to early ichthyosauromorphs previously discovered in China, and shares noteworthy morphological similarities with Utatsusaurus hataii, particularly with regard to body size and the morphology of the probable radius. Baisesaurus robustus also represents the first record of an Early Triassic ichthyosauromorph from Guangxi Autonomous Region, extending the known geographic distribution of ichthyosauromorphs in South China.

Cylinder detection in large-scale point cloud of pipeline plant.

The huge number of points scanned from pipeline plants make the plant reconstruction very difficult. Traditional cylinder detection methods cannot be applied directly due to the high computational complexity. In this paper, we explore the structural characteristics of point cloud in pipeline plants and define a structure feature. Based on the structure feature, we propose a hierarchical structure detection and decomposition method that reduces the difficult pipeline-plant reconstruction problem in IR³ into a set of simple circle detection problems in IR². Experiments with industrial applications are presented, which demonstrate the efficiency of the proposed structure detection method.