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Phylum Tardigrada (water bears), well known for their cryptobiosis, includes small invertebrates with four paired limbs and is divided into two classes: Eutardigrada and Heterotardigrada. The evolutionary origin of Tardigrada is known to lie within the lobopodians, which are extinct soft-bodied worms with lobopodous limbs mostly discovered at sites of exceptionally well-preserved fossils. Contrary to their closest relatives, onychophorans and euarthropods, the origin of morphological characters of tardigrades remains unclear, and detailed comparison with the lobopodians has not been well explored. Here, we present detailed morphological comparison between tardigrades and Cambrian lobopodians, with a phylogenetic analysis encompassing most of the lobopodians and three panarthropod phyla. The results indicate that the ancestral tardigrades likely had a Cambrian lobopodian–like morphology and shared most recent ancestry with the luolishaniids. Internal relationships within Tardigrada indicate that the ancestral tardigrade had a vermiform body shape without segmental plates, but possessed cuticular structures surrounding the mouth opening, and lobopodous legs terminating with claws, but without digits. This finding is in contrast to the long-standing stygarctid-like ancestor hypothesis. The highly compact and miniaturized body plan of tardigrades evolved after the tardigrade lineage diverged from an ancient shared ancestor with the luolishaniids. 

Abstract A short stratigraphic interval near Bulin in western Hunan (China) yields multiple specimens of the ~514-Myr-old oryctocarine trilobite Oryctocarella duyunensis . Size data obtained from these specimens indicate that, from meraspid degree 1 onward, degrees represent successive instars. Meraspid growth persisted until a terminal stage was reached, providing the first example of determinate growth in trilobites and, notably, in an early Cambrian species. The sample contains three varieties of such terminal stages, recognized as holaspids, with 9, 10, or 11 thoracic segments, respectively. During the meraspid phase, growth rates were not constant in this species. The pattern of growth seen in the Bulin assemblage differs modestly from that reported in the same species from two other localities, attesting to microevolutionary variation in developmental patterns among these collections. 

Abstract Abundant articulated specimens of the oryctocarine trilobite Oryctocarella duyunensis from the lower Cambrian (Stage 4, Series 2) Balang Formation at the Bulin section in western Hunan Province, South China, permit the description of all meraspid degrees. The maximum number of thoracic segments observed in this collection is 11. Meraspid growth was accompanied by progressive and gradual change in overall form, and this animal showed an homonymously segmented trunk with variation in the number of pygidial segments during ontogeny. Such variation permits a variety of plausible explanations, but a model of successive instars defined by the number of thoracic segments, and in suborder by the number of pygidial segments, is highly unlikely to explain the growth pattern because it would result in the loss of trunk segments between some instars. Degree-based ontogenetic staging is compatible with the variation observed.