Habituation of the motion detectors of the crayfish optic nerve: their relationship to the visually evoked defense reflex

A Looming Spatial Localization Neural Network Inspired by MLG1 Neurons in the Crab Neohelice

Similar to most visual animals, the crab Neohelice granulata relies predominantly on visual information to escape from predators, to track prey and for selecting mates. It, therefore, needs specialized neurons to process visual information and determine the spatial location of looming objects. In the crab Neohelice granulata, the Monostratified Lobula Giant type1 (MLG1) neurons have been found to manifest looming sensitivity with finely tuned capabilities of encoding spatial location information. MLG1s neuronal ensemble can not only perceive the location of a looming stimulus, but are also thought to be able to influence the direction of movement continuously, for example, escaping from a threatening, looming target in relation to its position. Such specific characteristics make the MLG1s unique compared to normal looming detection neurons in invertebrates which can not localize spatial looming. Modeling the MLG1s ensemble is not only critical for elucidating the mechanisms underlying the functionality of such neural circuits, but also important for developing new autonomous, efficient, directionally reactive collision avoidance systems for robots and vehicles. However, little computational modeling has been done for implementing looming spatial localization analogous to the specific functionality of MLG1s ensemble. To bridge this gap, we propose a model of MLG1s and their pre-synaptic visual neural network to detect the spatial location of looming objects. The model consists of 16 homogeneous sectors arranged in a circular field inspired by the natural arrangement of 16 MLG1s' receptive fields to encode and convey spatial information concerning looming objects with dynamic expanding edges in different locations of the visual field. Responses of the proposed model to systematic real-world visual stimuli match many of the biological characteristics of MLG1 neurons. The systematic experiments demonstrate that our proposed MLG1s model works effectively and robustly to perceive and localize looming information, which could be a promising candidate for intelligent machines interacting within dynamic environments free of collision. This study also sheds light upon a new type of neuromorphic visual sensor strategy that can extract looming objects with locational information in a quick and reliable manner.

Escape response of the crab Neohelice to computer generated looming and translational visual danger stimuli

Historically, arthropod behavior has been considered to be a collection of simple, automaton-like routines commanded by domain-specific brain modules working independently. Nowadays, it is evident that the extensive behavioral repertoire of these animals and its flexibility necessarily imply far more complex abilities than originally assumed. For example, even what was thought to be a straightforward behavior of crabs, the escape response to visual danger stimuli, proved to involve a number of sequential stages, each of which implying decisions made on the bases of stimulus and contextual information. Inspired in previous observations on how the stimulus trajectory can affect the escape response of crabs in the field, we investigated the escape response to images of objects approaching directly toward the crab (looming stimuli: LS) or moving parallel to it (translational stimuli: TS) in the laboratory. Computer simulations of moving objects were effective to elicit escapes. LS evoked escapes with higher probability and intensity (speed and distance of escape) than TS, but responses started later. In addition to the escape run, TS also evoked a defensive response of the animal with its claws. Repeated presentations of TS or LS were both capable of inducing habituation. Results are discussed in connection with the possibilities offered by crabs to investigate the neural bases of behaviors occurring in the natural environment.

Organization of columnar inputs in the third optic ganglion of a highly visual crab

Motion information provides essential cues for a wide variety of animal behaviors such as mate, prey, or predator detection. In decapod crustaceans and pterygote insects, visual codification of object motion is associated with visual processing in the third optic neuropile, the lobula. In this neuropile, tangential neurons collect motion information from small field columnar neurons and relay it to the midbrain where behavioral responses would be finally shaped. In highly ordered structures, detailed knowledge of the neuroanatomy can give insight into their function. In spite of the relevance of the lobula in processing motion information, studies on the neuroarchitecture of this neuropile are scant. Here, by applying dextran-conjugated dyes in the second optic neuropile (the medulla) of the crab Neohelice, we mass stained the columnar neurons that convey visual information into the lobula. We found that the arborizations of these afferent columnar neurons lie at four main lobula depths. A detailed examination of serial optical sections of the lobula revealed that these input strata are composed of different number of substrata and that the strata are thicker in the centre of the neuropile. Finally, by staining the different lobula layers composed of tangential processes we combined the present characterization of lobula input strata with the previous characterization of the neuroarchitecture of the crab's lobula based on reduced-silver preparations. We found that the third lobula input stratum overlaps with the dendrites of lobula giant tangential neurons. This suggests that columnar neurons projecting from the medulla can directly provide visual input to the crab's lobula giant neurons.

Computation of object approach by a system of visual motion-sensitive neurons in the crab Neohelice

Similar to most visual animals, crabs perform proper avoidance responses to objects directly approaching them. The monostratified lobula giant neurons of type 1 (MLG1) of crabs constitute an ensemble of 14-16 bilateral pairs of motion-detecting neurons projecting from the lobula (third optic neuropile) to the midbrain, with receptive fields that are distributed over the extensive visual field of the animal's eye. Considering the crab Neohelice (previously Chasmagnathus) granulata, here we describe the response of these neurons to looming stimuli that simulate objects approaching the animal on a collision course. We found that the peak firing time of MLG1 acts as an angular threshold detector signaling, with a delay of δ = 35 ms, the time at which an object reaches a fixed angular threshold of 49°. Using in vivo intracellular recordings, we detected the existence of excitatory and inhibitory synaptic currents that shape the neural response. Other functional features identified in the MLG1 neurons were phasic responses at the beginning of the approach, a relation between the stimulus angular velocity and the excitation delay, and a mapping between membrane potential and firing frequency. Using this information, we propose a biophysical model of the mechanisms that regulate the encoding of looming stimuli. Furthermore, we found that the parameter encoded by the MLG1 firing frequency during the approach is the stimulus angular velocity. The proposed model fits the experimental results and predicts the neural response to a qualitatively different stimulus. Based on these and previous results, we propose that the MLG1 neuron system acts as a directional coding system for collision avoidance.

Behavioral and neural responses of juvenile crayfish to moving shadows

One of the most important decisions any animal has to make is how to respond to sensory cues that suggest an imminent attack by a predator. We measured behavioral and neural responses of juvenile crayfish to moving shadows of different velocities while the animals were searching for food. In all experiments, and independent of shadow velocity, each crayfish produced one of two discrete behavioral outputs: it either tail-flipped backwards by rapid flexion of its abdomen or it immediately stopped its forward locomotion. The probability of each behavioral response was dependent on the velocity of the shadows that were presented. While most animals responded with tail-flips to slow-moving shadows and stops were rarely observed, the number of tail-flips decreased as shadow velocity increased. Tail-flips were almost absent for very fast-moving shadows and stopping behavior became the dominating response. By using a non-invasive technique to record neural activity, we were able to identify the underlying neural circuit that controlled the observed tail-flips. All tail-flips were mediated by activation of the medial giant neurons, which are part of a hardwired neural circuit previously described to produce reflexive responses to tactile stimulation.

Identification of individual neurons reflecting short- and long-term visual memory in an arthropodo

Ideally, learning-related changes should be investigated while they occur in vivo, but physical accessibility and stability limit intracellular studies. Experiments with insects and crabs demonstrate their remarkable capacity to learn and memorize visual features. However, the location and physiology of individual neurons underlying these processes is unknown. A recently developed crab preparation allows stable intracellular recordings from the optic ganglia to be performed in the intact animal during learning. In the crab Chasmagnathus, a visual danger stimulus (VDS) elicits animal escape, which declines after a few stimulus presentations. The long-lasting retention of this decrement is mediated by an association between contextual cues of the training site and the VDS, therefore, called context-signal memory (CSM). CSM is achieved only by spaced training. Massed training, on the contrary, produces a decline of the escape response that is short lasting and, because it is context independent, is called signal memory (SM). Here, we show that movement detector neurons (MDNs) from the lobula (third optic ganglion) of the crab modify their response to the VDS during visual learning. These modifications strikingly correlate with the rate of acquisition and with the duration of retention of both CSM and SM. Long-term CSM is detectable from the response of the neuron 1 d after training. In contrast to MDNs, identified neurons from the medulla (second optic ganglion) show no changes. Our results indicate that visual memory in the crab, and possibly other arthropods, including insects, is accounted for by functional changes occurring in neurons originating in the optic lobes.

Evoked potentials elicited by natural stimuli in the brain of unanesthetized crayfish

Experiments were conducted to test some characteristics of vision by crayfish underwater and in air, and determine possible motion reactions elicited in response to naturalistic or quasi-ethological visual stimuli. Chronically implanted electrodes on the brain were used to record visually evoked potentials in response to moving bars at different speeds or to fish of different sizes. Electroretinograms were also recorded to detect when an object or a shadow appeared in the crayfish visual field. Ongoing brain activity is mild under basal conditions, but increases in RMS by approximately 6% in response to bar passage and 12 to 53% in response to fish motionless or swimming in front of the crayfish. When crayfish are free to move, fish swimming in front of them elicit intense brain activity, together with displacement toward them and an attempt to grab them. Visual evoked potentials are elicited by moving objects as small as 1 degree at a distance of 30 cm in air as well as underwater. None of the stimuli used induced evident behavioral responses under our conditions. We conclude that vision-action activities can be divided into (a) vision of irrelevant objects with short lasting electrical activity and no motion in response to it; (b) vision of mildly interesting objects with long-lasting electrical effects, but no motion in response to it; and (c) vision of relevant objects with appropriate motion reaction.