This document discusses excretion and osmoregulation. It describes how animals maintain homeostasis through excretion of metabolic wastes and regulation of salt and water concentrations. Various excretory organs are described across different phyla, including contractile vacuoles in protozoa, protonephridia in flatworms, metanephridia in annelids and molluscs, antennal glands in crustaceans, Malpighian tubules in insects, and kidneys in vertebrates. The nephron is described as the basic functional unit of the vertebrate kidney. Physiological processes in urine formation and regulation of excretion through hormones like ADH, renin-angiot