Common visual response properties of giant vertical cells in the lobula plate of the blowflyCalliphora

Model organisms and systems in neuroethology: one hundred years of history and a look into the future

The Journal of Comparative Physiology lived up to its name in the last 100 years by including more than 1500 different taxa in almost 10,000 publications. Seventeen phyla of the animal kingdom were represented. The honeybee (Apis mellifera) is the taxon with most publications, followed by locust (Locusta migratoria), crayfishes (Cambarus spp.), and fruitfly (Drosophila melanogaster). The representation of species in this journal in the past, thus, differs much from the 13 model systems as named by the National Institutes of Health (USA). We mention major accomplishments of research on species with specific adaptations, specialist animals, for example, the quantitative description of the processes underlying the axon potential in squid (Loligo forbesii) and the isolation of the first receptor channel in the electric eel (Electrophorus electricus) and electric ray (Torpedo spp.). Future neuroethological work should make the recent genetic and technological developments available for specialist animals. There are many research questions left that may be answered with high yield in specialists and some questions that can only be answered in specialists. Moreover, the adaptations of animals that occupy specific ecological niches often lend themselves to biomimetic applications. We go into some depth in explaining our thoughts in the research of motion vision in insects, sound localization in barn owls, and electroreception in weakly electric fish.

Optic flow enrichment via Drosophila head and retina motions to support inflight position regulation

Developing a functional description of the neural control circuits and visual feedback paths underlying insect flight behaviors is an active research area. Feedback controllers incorporating engineering models of the insect visual system outputs have described some flight behaviors, yet they do not explain how insects are able to stabilize their body position relative to nearby targets such as neighbors or forage sources, especially in challenging environments in which optic flow is poor. The insect experimental community is simultaneously recording a growing library of in-flight head and eye motions that may be linked to increased perception. This study develops a quantitative model of the optic flow experienced by a flying insect or robot during head yawing rotations (distinct from lateral peering motions in previous work) with a single other target in view. This study then applies a model of insect visuomotor feedback to show via analysis and simulation of five species that these head motions sufficiently enrich the optic flow and that the output feedback can provide relative position regulation relative to the single target (asymptotic stability). In the simplifying case of pure rotation relative to the body, theoretical analysis provides a stronger stability guarantee. The results are shown to be robust to anatomical neck angle limits and body vibrations, persist with more detailed Drosophila lateral-directional flight dynamics simulations, and generalize to recent retinal motion studies. Together, these results suggest that the optic flow enrichment provided by head or pseudopupil rotation could be used in an insect's neural processing circuit to enable position regulation.

Neuronal circuits integrating visual motion information in Drosophila melanogaster

The detection of visual motion enables sophisticated animal navigation, and studies on flies have provided profound insights into the cellular and circuit bases of this neural computation. The fly's directionally selective T4 and T5 neurons encode ON and OFF motion, respectively. Their axons terminate in one of the four retinotopic layers in the lobula plate, where each layer encodes one of the four directions of motion. Although the input circuitry of the directionally selective neurons has been studied in detail, the synaptic connectivity of circuits integrating T4/T5 motion signals is largely unknown. Here, we report a 3D electron microscopy reconstruction, wherein we comprehensively identified T4/T5's synaptic partners in the lobula plate, revealing a diverse set of new cell types and attributing new connectivity patterns to the known cell types. Our reconstruction explains how the ON- and OFF-motion pathways converge. T4 and T5 cells that project to the same layer connect to common synaptic partners and comprise a core motif together with bilayer interneurons, detailing the circuit basis for computing motion opponency. We discovered pathways that likely encode new directions of motion by integrating vertical and horizontal motion signals from upstream T4/T5 neurons. Finally, we identify substantial projections into the lobula, extending the known motion pathways and suggesting that directionally selective signals shape feature detection there. The circuits we describe enrich the anatomical basis for experimental and computations analyses of motion vision and bring us closer to understanding complete sensory-motor pathways.

Convergent evolution of optic lobe neuropil in Pancrustacea

A prevailing opinion since 1926 has been that optic lobe organization in malacostracan crustaceans and insects reflects a corresponding organization in their common ancestor. Support for this refers to malacostracans and insects both possessing three, in some instances four, nested retinotopic neuropils beneath their compound eyes. Historically, the rationale for claiming homology of malacostracan and insect optic lobes referred to those commonalities, and to comparable arrangements of neurons. However, recent molecular phylogenetics has firmly established that Malacostraca belong to Multicrustacea, whereas Hexapoda and its related taxa Cephalocarida, Branchiopoda, and Remipedia belong to the phyletically distinct clade Allotriocarida. Insects are more closely related to remipedes than are either to malacostracans. Reconciling neuroanatomy with molecular phylogenies has been complicated by studies showing that the midbrains of remipedes share many attributes with the midbrains of malacostracans. Here we review the organization of the optic lobes in Malacostraca and Insecta to inquire which of their characters correspond genealogically across Pancrustacea and which characters do not. We demonstrate that neuroanatomical characters pertaining to the third optic lobe neuropil, called the lobula complex, may indicate convergent evolution. Distinctions of the malacostracan and insect lobula complexes are sufficient to align neuroanatomical descriptions of the pancrustacean optic lobes within the constraints of molecular-based phylogenies.

The lobula plate is exclusive to insects

Just one superorder of insects is known to possess a neuronal network that mediates extremely rapid reactions in flight in response to changes in optic flow. Research on the identity and functional organization of this network has over the course of almost half a century focused exclusively on the order Diptera, a member of the approximately 300-million-year-old clade Holometabola defined by its mode of development. However, it has been broadly claimed that the pivotal neuropil containing the network, the lobula plate, originated in the Cambrian before the divergence of Hexapoda and Crustacea from a mandibulate ancestor. This essay defines the traits that designate the lobula plate and argues against a homologue in Crustacea. It proposes that the origin of the lobula plate is relatively recent and may relate to the origin of flight.

Ventral motion parallax enhances fruit fly steering to visual sideslip

Flies and other insects use incoherent motion (parallax) to the front and sides to measure distances and identify obstacles during translation. Although additional depth information could be drawn from below, there is no experimental proof that they use it. The finding that blowflies encode motion disparities in their ventral visual fields suggests this may be an important region for depth information. We used a virtual flight arena to measure fruit fly responses to optic flow. The stimuli appeared below (n = 51) or above the fly (n = 44), at different speeds, with or without parallax cues. Dorsal parallax does not affect responses, and similar motion disparities in rotation have no effect anywhere in the visual field. But responses to strong ventral sideslip (206° s⁻¹) change drastically depending on the presence or absence of parallax. Ventral parallax could help resolve ambiguities in cluttered motion fields, and enhance corrective responses to nearby objects.

Responses of compass neurons in the locust brain to visual motion and leg motor activity

The central complex, a group of midline neuropils in the insect brain, plays a key role in spatial orientation and navigation. Work in locusts, crickets, dung beetles, bees, and butterflies suggests that it harbors a network of neurons which determines the orientation of the insect relative to the pattern of polarized light in the blue sky. In locusts, these compass cells also respond to simulated approaching objects. Here we investigate in the locust Schistocerca gregaria whether compass cells change their activity when the animal experiences large-field visual motion or when the animal is engaged in walking behavior. We recorded intracellularly from these neurons while the tethered animals were allowed to perform walking movements on a slippery surface. We concurrently presented moving grating stimuli from the side or polarized light through a rotating polarizer from above. Large-field motion was combined with the simulation of approaching objects to evaluate whether responses differed from those presented on a stationary background. Here we show for the first time that compass cells are sensitive to large-field motion. Responses to looming stimuli were often more conspicuous during large-field motion. Walking activity influenced spiking rates at all stages of the network. The strength of responses to the plane of polarized light was affected in some compass cells during leg motor activity. The data show that signaling in compass cells of the locust central complex is modulated by visual context and locomotor activity.

A biophysical mechanism for preferred direction enhancement in fly motion vision

Seeing the direction of motion is essential for survival of all sighted animals. Consequently, nerve cells that respond to visual stimuli moving in one but not in the opposite direction, so-called 'direction-selective' neurons, are found abundantly. In general, direction selectivity can arise by either signal amplification for stimuli moving in the cell's preferred direction ('preferred direction enhancement'), signal suppression for stimuli moving along the opposite direction ('null direction suppression'), or a combination of both. While signal suppression can be readily implemented in biophysical terms by a hyperpolarization followed by a rectification corresponding to the nonlinear voltage-dependence of the Calcium channel, the biophysical mechanism for signal amplification has remained unclear so far. Taking inspiration from the fly, I analyze a neural circuit where a direction-selective ON-cell receives inhibitory input from an OFF cell on the preferred side of the dendrite, while excitatory ON-cells contact the dendrite centrally. This way, an ON edge moving along the cell's preferred direction suppresses the inhibitory input, leading to a release from inhibition in the postsynaptic cell. The benefit of such a two-fold signal inversion lies in the resulting increase of the postsynaptic cell's input resistance, amplifying its response to a subsequent excitatory input signal even with a passive dendrite, i.e. without voltage-gated ion channels. A motion detector implementing this mechanism together with null direction suppression shows a high degree of direction selectivity over a large range of temporal frequency, narrow directional tuning, and a large signal-to-noise ratio.

Non-uniform weighting of local motion inputs underlies dendritic computation in the fly visual system

The fly visual system offers a unique opportunity to explore computations performed by single neurons. Two previous studies characterized, in vivo, the receptive field (RF) of the vertical system (VS) cells of the blowfly (calliphora vicina), both intracellularly in the axon, and, independently using Ca²⁺ imaging, in hundreds of distal dendritic branchlets. We integrated this information into detailed passive cable and compartmental models of 3D reconstructed VS cells. Within a given VS cell type, the transfer resistance (TR) from different branchlets to the axon differs substantially, suggesting that they contribute unequally to the shaping of the axonal RF. Weighting the local RFs of all dendritic branchlets by their respective TR yielded a faithful reproduction of the axonal RF. The model also predicted that the various dendritic branchlets are electrically decoupled from each other, thus acting as independent local functional subunits. The study suggests that single neurons in the fly visual system filter dendritic noise and compute the weighted average of their inputs.

Modeling visual-based pitch, lift and speed control strategies in hoverflies

To avoid crashing onto the floor, a free falling fly needs to trigger its wingbeats quickly and control the orientation of its thrust accurately and swiftly to stabilize its pitch and hence its speed. Behavioural data have suggested that the vertical optic flow produced by the fall and crossing the visual field plays a key role in this anti-crash response. Free fall behavior analyses have also suggested that flying insect may not rely on graviception to stabilize their flight. Based on these two assumptions, we have developed a model which accounts for hoverflies´ position and pitch orientation recorded in 3D with a fast stereo camera during experimental free falls. Our dynamic model shows that optic flow-based control combined with closed-loop control of the pitch suffice to stabilize the flight properly. In addition, our model sheds a new light on the visual-based feedback control of fly´s pitch, lift and thrust. Since graviceptive cues are possibly not used by flying insects, the use of a vertical reference to control the pitch is discussed, based on the results obtained on a complete dynamic model of a virtual fly falling in a textured corridor. This model would provide a useful tool for understanding more clearly how insects may or not estimate their absolute attitude.

On the basis of vision-based feedback control of optic flow occurring during insects’ flight, we developed a dynamic model that accounts for the pitch orientation and speed in plummeting flies. We compared the hoverflies’ responses with our model and showed that an optic-flow based control strategy can be used to correct the initial pitch misorientation caused by the free fall situation. To complete the model, we combined the closed-loop control of the vertical optic flow with an additional feedback control loop based on the value of the absolute pitch orientation. The need for this measurement to stabilize the pitch orientation raises the question as whether this is also the case in dipterans. After ruling out the possibility that insects may use gravity acceleration cues to control their flight, for which no experimental evidence has been found so far, we discussed the three main sensory processes possibly involved in in their ability to control their attitude. Our model provides a useful tool for studying the various sensory processes possibly involved in dipterans’ flight stabilization abilities as well as the interactions between these processes.

Evolution of Biological Image Stabilization

The use of vision to coordinate behavior requires an efficient control design that stabilizes the world on the retina or directs the gaze towards salient features in the surroundings. With a level gaze, visual processing tasks are simplified and behaviorally relevant features from the visual environment can be extracted. No matter how simple or sophisticated the eye design, mechanisms have evolved across phyla to stabilize gaze. In this review, we describe functional similarities in eyes and gaze stabilization reflexes, emphasizing their fundamental role in transforming sensory information into motor commands that support postural and locomotor control. We then focus on gaze stabilization design in flying insects and detail some of the underlying principles. Systems analysis reveals that gaze stabilization often involves several sensory modalities, including vision itself, and makes use of feedback as well as feedforward signals. Independent of phylogenetic distance, the physical interaction between an animal and its natural environment - its available senses and how it moves - appears to shape the adaptation of all aspects of gaze stabilization.

A fly-locust based neuronal control system applied to an unmanned aerial vehicle: the invertebrate neuronal principles for course stabilization, altitude control and collision avoidance

The most versatile and robust flying machines are still those produced by nature through evolution. The solutions to the 6 DOF control problem faced by these machines are implemented in extremely small neuronal structures comprising thousands of neurons. Hence, the biological principles of flight control are not only very effective but also efficient in terms of their implementation. An important question is to what extent these principles can be generalized to man-made flying platforms. Here, this question is investigated in relation to the computational and behavioral principles of the opto-motor system of the fly and locust. The aim is to provide a control infrastructure based only on biologically plausible and realistic neuronal models of the insect opto-motor system. It is shown that relying solely on vision, biologically constrained neuronal models of the fly visual system suffice for course stabilization and altitude control of a blimp-based UAV. Moreover, the system is augmented with a collision avoidance model based on the Lobula Giant Movement Detector neuron of the Locust. It is shown that the biologically constrained course stabilization model is highly robust and that the combined model is able to perform autonomous indoor flight.

Common circuit design in fly and mammalian motion vision

Motion-sensitive neurons have long been studied in both the mammalian retina and the insect optic lobe, yet striking similarities have become obvious only recently. Detailed studies at the circuit level revealed that, in both systems, (i) motion information is extracted from primary visual information in parallel ON and OFF pathways; (ii) in each pathway, the process of elementary motion detection involves the correlation of signals with different temporal dynamics; and (iii) primary motion information from both pathways converges at the next synapse, resulting in four groups of ON-OFF neurons, selective for the four cardinal directions. Given that the last common ancestor of insects and mammals lived about 550 million years ago, this general strategy seems to be a robust solution for how to compute the direction of visual motion with neural hardware.

Complementary motion tuning in frontal nerve motor neurons of the blowfly

Flies actively turn their head during flight to stabilize their gaze and reduce motion blur. This optomotor response is triggered by wide-field motion indicating a deviation from a desired flight path. We focus on the neuronal circuit that underlies this behavior in the blowfly Calliphora, studying the integration of optic flow in neck motor neurons that innervate muscles controlling head rotations. Frontal nerve motor neurons (FNMNs) have been described anatomically and recorded from extracellularly before. Here, we assign for the first time to five anatomical classes of FNMNs their visual motion tuning. We measured their responses to optic flow, as produced by rotations around particular body axes, recording intracellularly from single axons. Simultaneous injection of Neurobiotin allowed for the anatomical characterization of the recorded cells and revealed coupling patterns with neighboring neurons. The five FNMN classes can be divided into two groups that complement each other, regarding their preferred axes of rotation. The tuning matches the pulling planes of their innervated neck muscles, serving to rotate the head around its longitudinal axis. Anatomical and physiological findings demonstrate a synaptic connection between one FNMN and a well-described descending neuron, elucidating one important step from visual motion integration to neck motor output.

Fly visual course control: behaviour, algorithms and circuits

Understanding how the brain controls behaviour is undisputedly one of the grand goals of neuroscience research, and the pursuit of this goal has a long tradition in insect neuroscience. However, appropriate techniques were lacking for a long time. Recent advances in genetic and recording techniques now allow the participation of identified neurons in the execution of specific behaviours to be interrogated. By focusing on fly visual course control, I highlight what has been learned about the neuronal circuit modules that control visual guidance in Drosophila melanogaster through the use of these techniques.

Relating neuronal to behavioral performance: variability of optomotor responses in the blowfly

Behavioral responses of an animal vary even when they are elicited by the same stimulus. This variability is due to stochastic processes within the nervous system and to the changing internal states of the animal. To what extent does the variability of neuronal responses account for the overall variability at the behavioral level? To address this question we evaluate the neuronal variability at the output stage of the blowfly's (Calliphora vicina) visual system by recording from motion-sensitive interneurons mediating head optomotor responses. By means of a simple modelling approach representing the sensory-motor transformation, we predict head movements on the basis of the recorded responses of motion-sensitive neurons and compare the variability of the predicted head movements with that of the observed ones. Large gain changes of optomotor head movements have previously been shown to go along with changes in the animals' activity state. Our modelling approach substantiates that these gain changes are imposed downstream of the motion-sensitive neurons of the visual system. Moreover, since predicted head movements are clearly more reliable than those actually observed, we conclude that substantial variability is introduced downstream of the visual system.

Neural action fields for optic flow based navigation: a simulation study of the fly lobula plate network

Optic flow based navigation is a fundamental way of visual course control described in many different species including man. In the fly, an essential part of optic flow analysis is performed in the lobula plate, a retinotopic map of motion in the environment. There, the so-called lobula plate tangential cells possess large receptive fields with different preferred directions in different parts of the visual field. Previous studies demonstrated an extensive connectivity between different tangential cells, providing, in principle, the structural basis for their large and complex receptive fields. We present a network simulation of the tangential cells, comprising most of the neurons studied so far (22 on each hemisphere) with all the known connectivity between them. On their dendrite, model neurons receive input from a retinotopic array of Reichardt-type motion detectors. Model neurons exhibit receptive fields much like their natural counterparts, demonstrating that the connectivity between the lobula plate tangential cells indeed can account for their complex receptive field structure. We describe the tuning of a model neuron to particular types of ego-motion (rotation as well as translation around/along a given body axis) by its ‘action field’. As we show for model neurons of the vertical system (VS-cells), each of them displays a different type of action field, i.e., responds maximally when the fly is rotating around a particular body axis. However, the tuning width of the rotational action fields is relatively broad, comparable to the one with dendritic input only. The additional intra-lobula-plate connectivity mainly reduces their translational action field amplitude, i.e., their sensitivity to translational movements along any body axis of the fly.

Behavioural state affects motion-sensitive neurones in the fly visual system

The strength of stimulus-induced responses at the neuronal and the behavioural level often depends on the internal state of an animal. Within pathways processing sensory information and eventually controlling behavioural responses, such gain changes can originate at several sites. Using motion-sensitive lobula plate tangential cells (LPTCs) of blowflies, we address whether and in which way information processing changes for two different states of motor activity. We distinguish between the two states on the basis of haltere movements. Halteres are the evolutionarily transformed hindwings of flies. They oscillate when the animals walk or fly. LPTCs mediate, amongst other behaviours, head optomotor responses. These are either of large or small amplitude depending on the state of motor activity. Here we find that LPTC responses also depend on the motor activity of flies. In particular, LPTC responses are enhanced when halteres oscillate. Nevertheless, the response changes of LPTCs do not account for the corresponding large gain changes of head movements. Moreover, haltere activity itself does not change the activity of LPTCs. Instead, we propose that a central signal associated with motor activity changes the gain of head optomotor responses and the response properties of LPTCs.

Active flight increases the gain of visual motion processing in Drosophila

We developed a technique for performing whole-cell patch-clamp recordings from genetically identified neurons in behaving Drosophila. We focused on the properties of visual interneurons during tethered flight, but this technique generalizes to different cell types and behaviors. We found that the peak-to-peak responses of a class of visual motion-processing interneurons, the vertical-system visual neurons (VS cells), doubled when flies were flying compared with when they were at rest. Thus, the gain of the VS cells is not fixed, but is instead behaviorally flexible and changes with locomotor state. Using voltage clamp, we found that the passive membrane resistance of VS cells was reduced during flight, suggesting that the elevated gain was a result of increased synaptic drive from upstream motion-sensitive inputs. The ability to perform patch-clamp recordings in behaving Drosophila promises to help unify the understanding of behavior at the gene, cell and circuit levels.

Nonlinear integration of visual and haltere inputs in fly neck motor neurons

Animals use information from multiple sensory organs to generate appropriate behavior. Exactly how these different sensory inputs are fused at the motor system is not well understood. Here we study how fly neck motor neurons integrate information from two well characterized sensory systems: visual information from the compound eye and gyroscopic information from the mechanosensory halteres. Extracellular recordings reveal that a subpopulation of neck motor neurons display "gating-like" behavior: they do not fire action potentials in response to visual stimuli alone but will do so if the halteres are coactivated. Intracellular recordings show that these motor neurons receive small, sustained subthreshold visual inputs in addition to larger inputs that are phase locked to haltere movements. Our results suggest that the nonlinear gating-like effect results from summation of these two inputs with the action potential threshold providing the nonlinearity. As a result of this summation, the sustained visual depolarization is transformed into a temporally structured train of action potentials synchronized to the haltere beating movements. This simple mechanism efficiently fuses two different sensory signals and may also explain the context-dependent effects of visual inputs on fly behavior.

Variability of blowfly head optomotor responses

Behavioural responses of an animal are variable even when the animal experiences the same sensory input several times. This variability can arise from stochastic processes inherent to the nervous system. Also, the internal state of an animal may influence a particular behavioural response. In the present study, we analyse the variability of visually induced head pitch responses of tethered blowflies by high-speed cinematography. We found these optomotor responses to be highly variable in amplitude. Most of the variability can be attributed to two different internal states of the flies with high and low optomotor gain, respectively. Even within a given activity state, there is some variability of head optomotor responses. The amount of this variability differs for the two optomotor gain states. Moreover, these two activity states can be distinguished on a fine timescale and without visual stimulation, on the basis of the occurrence of peculiar head jitter movements. Head jitter goes along with high gain optomotor responses and haltere oscillations. Halteres are evolutionary transformed hindwings that oscillate when blowflies walk or fly. Their main function is to serve as equilibrium organs by detecting Coriolis forces and to mediate gaze stabilisation. However, their basic oscillating activity was also suggested to provide a gain-modulating signal. Our experiments demonstrate that halteres are not necessary for high gain head pitch to occur. Nevertheless, we find the halteres to be responsible for one component of head jitter movements. This component may be the inevitable consequence of their function as equilibrium and gaze-stabilising organs.

The motion after-effect: local and global contributions to contrast sensitivity

Motion adaptation is a widespread phenomenon analogous to peripheral sensory adaptation, presumed to play a role in matching responses to prevailing current stimulus parameters and thus to maximize efficiency of motion coding. While several components of motion adaptation (contrast gain reduction, output range reduction and motion after-effect) have been described, previous work is inconclusive as to whether these are separable phenomena and whether they are locally generated. We used intracellular recordings from single horizontal system neurons in the fly to test the effect of local adaptation on the full contrast-response function for stimuli at an unadapted location. We show that contrast gain and output range reductions are primarily local phenomena and are probably associated with spatially distinct synaptic changes, while the antagonistic after-potential operates globally by transferring to previously unadapted locations. Using noise analysis and signal processing techniques to remove 'spikelets', we also characterize a previously undescribed alternating current component of adaptation that can explain several phenomena observed in earlier studies.

Visuomotor transformation in the fly gaze stabilization system

For sensory signals to control an animal's behavior, they must first be transformed into a format appropriate for use by its motor systems. This fundamental problem is faced by all animals, including humans. Beyond simple reflexes, little is known about how such sensorimotor transformations take place. Here we describe how the outputs of a well-characterized population of fly visual interneurons, lobula plate tangential cells (LPTCs), are used by the animal's gaze-stabilizing neck motor system. The LPTCs respond to visual input arising from both self-rotations and translations of the fly. The neck motor system however is involved in gaze stabilization and thus mainly controls compensatory head rotations. We investigated how the neck motor system is able to selectively extract rotation information from the mixed responses of the LPTCs. We recorded extracellularly from fly neck motor neurons (NMNs) and mapped the directional preferences across their extended visual receptive fields. Our results suggest that-like the tangential cells-NMNs are tuned to panoramic retinal image shifts, or optic flow fields, which occur when the fly rotates about particular body axes. In many cases, tangential cells and motor neurons appear to be tuned to similar axes of rotation, resulting in a correlation between the coordinate systems the two neural populations employ. However, in contrast to the primarily monocular receptive fields of the tangential cells, most NMNs are sensitive to visual motion presented to either eye. This results in the NMNs being more selective for rotation than the LPTCs. Thus, the neck motor system increases its rotation selectivity by a comparatively simple mechanism: the integration of binocular visual motion information.

The first steps in Drosophila motion detection

The visual system, with its ability to perceive motion, is crucial for most animals to walk or fly steadily. Theoretical models of motion detection exist, but the underlying cellular mechanisms are still poorly understood. In this issue of Neuron, Rister and colleagues dissect the function of neuronal subtypes in the optic lobe of Drosophila to reveal their role in motion detection.

Direction-selective adaptation in fly visual motion-sensitive neurons is generated by an intrinsic conductance-based mechanism

Motion-sensitive neurons in the blowfly brain present an ideal model system to study the cellular mechanisms and functional significance of adaptation to visual motion. Various adaptation processes have been described, but it is still largely unknown which of these processes are generated in the motion-sensitive neurons themselves and which originate at more peripheral processing stages. By input resistance measurements I demonstrate that direction-selective adaptation is generated by an activity-dependent conductance increase in the motion-sensitive neurons. Based on correlations between dendritic Ca(2+) accumulation and slow hyperpolarizing after-potentials following excitatory stimulation, a regulation of direction-selective adaptation by Ca(2+) has previously been suggested. In the present study, however, adaptation phenomena are not evoked when the cytosolic Ca(2+) concentration is elevated by ultraviolet photolysis of caged Ca(2+) in single neurons rather than by motion stimulation. This result renders it unlikely, that adaptation in fly motion-sensitive neurons is regulated by bulk cytosolic Ca(2+).

Visual system of calliphorid flies: organization of optic glomeruli and their lobula complex efferents

Reconstructions of silver-stained brains revealed 27 optic glomeruli that occupy a major volume of the lateral protocerebrum. Axons from different morphological types of columnar output neurons from the lobula complex sort out to specific glomeruli. Glomeruli are partially enwrapped by glial processes and are invaded by the dendrites and terminals of local interneurons that connect different glomeruli in a manner analogous to local interneurons in the antennal lobes. Each type of columnar neuron contributes to a palisade-like ensemble that extends across the whole or a circumscribed area of the retinotopic mosaic. A second class of outputs from the lobula comprises wide-field neurons, the dendrites of which interact with planar fields or column-like patches of retinotopic inputs from the medulla. These neurons also send their axons to optic glomeruli. Dye fills demonstrate that lobula complex neurons supplying glomeruli do not generally terminate directly on descending neurons. Local interneurons and projection neurons provide integrative circuitry within and among glomeruli. As exemplified by the anterior optic tubercle, optic glomeruli can also have elaborate internal architectures. The results are discussed with respect to the identification of motion- and orientation-selective neurons at the level of the lobula and lateral protocerebrum and with respect to the evolutionary implications raised by the existence of neural arrangements serving the compound eyes, which are organized like neuropils serving segmental ganglia equipped with appendages.

Characterisation of a blowfly male-specific neuron using behaviourally generated visual stimuli

The pursuit system controlling chasing behaviour in male blowflies has to cope with extremely fast and dynamically changing visual input. An identified male-specific visual neuron called Male Lobula Giant 1 (MLG1) is presumably one major element of this pursuit system. Previous behavioural and modelling analyses have indicated that angular target size, retinal target position and target velocity are relevant input variables of the pursuit system. To investigate whether MLG1 specifically represents any of these visual parameters we obtained in vivo intracellular recordings while replaying optical stimuli that simulate the visual signals received by a male fly during chasing manoeuvres. On the basis of these naturalistic stimuli we find that MLG1 shows distinct direction sensitivity and is depolarised if the target motion contains an upward component. The responses of MLG1 are jointly determined by the retinal position, the speed and direction, and the duration of target motimotion. Coherence analysis reveals that although retinal target size and position are in some way inherent in the responses of MLG1, we find no confirmation of the hypothesis that MLG1 encodes any of these parameters exclusively.

Encoding of Naturalistic Optic Flow by a Population of Blowfly Motion-Sensitive Neurons

In sensory systems information is encoded by the activity of populations of neurons. To analyze the coding properties of neuronal populations sensory stimuli have usually been used that were much simpler than those encountered in real life. It has been possible only recently to stimulate visual interneurons of the blowfly with naturalistic visual stimuli reconstructed from eye movements measured during free flight. Therefore we now investigate with naturalistic optic flow the coding properties of a small neuronal population of identified visual interneurons in the blowfly, the so-called VS and HS neurons. These neurons are motion sensitive and directionally selective and are assumed to extract information about the animal's self-motion from optic flow. We could show that neuronal responses of VS and HS neurons are mainly shaped by the characteristic dynamical properties of the fly's saccadic flight and gaze strategy. Individual neurons encode information about both the rotational and the translational components of the animal's self-motion. Thus the information carried by individual neurons is ambiguous. The ambiguities can be reduced by considering neuronal population activity. The joint responses of different subpopulations of VS and HS neurons can provide unambiguous information about the three rotational and the three translational components of the animal's self-motion and also, indirectly, about the three-dimensional layout of the environment.

Implications of functionally different synaptic inputs for neuronal gain and computational properties of fly visual interneurons

Neurons embedded in networks are thought to receive synaptic inputs that do not drive them on their own, but modulate the responsiveness to driving input. Although studies on brain slices have led to detailed knowledge of how nondriving input affects dendritic integration, its origin and functional implications remain unclear. We tackle this issue using an ensemble of fly wide-field visual interneurons. These neurons offer the opportunity not only to combine in vivo recording techniques and natural sensory stimulation but also to interpret electrophysiological results in a behavioral context. By targeted manipulation of the animal's visual input we find a pronounced modulating impact of nondriving input, whereas functionally important cellular properties like direction tuning and the coding of pattern velocity are left almost unaffected. We propose that the integration of functionally different synaptic inputs is a mechanism that immanently equalizes the ensemble's sensitivity irrespective of the specific stimulus conditions.

Organization of optic lobes that support motion detection in a semiterrestrial crab

There is a mismatch between the documentation of the visually guided behaviors and visual physiology of decapods (Malacostraca, Crustacea) and knowledge about the neural architecture of their visual systems. The present study provides a description of the neuroanatomical features of the four visual neuropils of the grapsid crab Chasmagnathus granulatus, which is currently used as a model for investigating the neurobiology of learning and memory. Visual memory in Chasmagnathus is thought to be driven from within deep retinotopic neuropil by large-field motion-sensitive neurons. Here we describe the neural architecture characterizing the Chasmagnathus lobula, in which such neurons are found. It is shown that, unlike the equivalent region of insects, the malacostracan lobula is densely packed with columns, the spacing of which is the same as that of retinotopic units of the lamina. The lobula comprises many levels of strata and columnar afferents that supply systems of tangential neurons. Two of these, which are known to respond to movement across the retina, have orthogonally arranged dendritic fields deep in the lobula. They also show evidence of dye coupling. We discuss the significance of commonalties across taxa with respect to the organization of the lamina and medulla and contrasts these with possible taxon-specific arrangements of deeper neuropils that support systems of matched filters.

Sign-conserving amacrine neurons in the fly's external plexiform layer

Amacrine cells in the external plexiform layer of the fly's lamina have been intracellulary recorded and dye-filled for the first time. The recordings demonstrate that like the lamina's short photoreceptors R1-R6, type 1 lamina amacrine neurons exhibit nonspiking, "sign-conserving" sustained depolarizations in response to illumination. This contrasts with the sign-inverting responses that typify first-order retinotopic relay neurons: monopolar cells L1-L5 and the T1 efferent neuron. The contrast frequency tuning of amacrine neurons is similar to that of photoreceptors and large lamina monopolar cells. Initial observations indicate that lamina amacrine receptive fields are also photoreceptor-like, suggesting either that their inputs originate from a small number of neighboring visual sampling units (VSUs), or that locally generated potentials decay rapidly with displacement. Lamina amacrines also respond to motion, and in one recording these responses were selective for the orientation of moving edges. This functional organization corresponds to the anatomy of amacrine cells, in which postsynaptic inputs from several neighboring photoreceptor endings are linked by a network of very thin distal processes. In this way, each VSU can receive convergent inputs from a surround of amacrine processes. This arrangement is well suited for relaying responses to local intensity fluctuations from neighboring VSUs to a central VSU where amacrines are known to be presynaptic to the dendrites of the T1 efferent. The T1 terminal converges at a deeper level with that of the L2 monopolar cell relaying from the same optic cartridge. Thus, the localized spatial responses and receptor-like temporal response properties of amacrines are consistent with possible roles in lateral inhibition, motion processing, or orientation processing.

Population Coding of Self-Motion: Applying Bayesian Analysis to a Population of Visual Interneurons in the Fly

Coding of sensory information often involves the activity of neuronal populations. We demonstrate how the accuracy of a population code depends on integration time, the size of the population, and noise correlation between the participating neurons. The population we study consists of 10 identified visual interneurons in the blowfly Calliphora vicina involved in optic flow processing. These neurons are assumed to encode the animal's head or body rotations around horizontal axes by means of graded potential changes. From electrophysiological experiments we obtain parameters for modeling the neurons' responses. From applying a Bayesian analysis on the modeled population response we draw three major conclusions. First, integration of neuronal activities over a time period of only 5 ms after response onset is sufficient to decode accurately the rotation axis. Second, noise correlation between neurons has only little impact on the population's performance. And third, although a population of only two neurons would be sufficient to encode any horizontal rotation axis, the population of 10 vertical system neurons is advantageous if the available integration time is short. For the fly, short integration times to decode neuronal responses are important when controlling rapid flight maneuvers.

Ca2+ Clearance in Visual Motion-Sensitive Neurons of the Fly Studied In Vivo by Sensory Stimulation and UV Photolysis of Caged Ca2+

In motion-sensitive visual neurons of the fly, excitatory visual stimulation elicits Ca2+ accumulation in dendrites and presynaptic arborizations. Following the cessation of motion stimuli, decay time courses of the cytosolic Ca2+ concentration signals measured with fluorescent dyes were faster in fine arborizations compared with the main branches. When indicators with low Ca2+ affinity were used, the decay of the Ca2+ signals appeared slightly faster than with high affinity dyes, but the dependence of decay kinetics on branch size was preserved. The most parsimonious explanation for faster Ca2+ concentration decline in thin branches compared with thick ones is that the velocity of Ca2+ clearance is limited by transport mechanisms located in the outer membrane and is thus dependent on the neurite's surface-to-volume ratio. This interpretation was corroborated by UV flash photolysis of caged Ca2+ to systematically elicit spatially homogeneous step-like Ca2+ concentration increases of varying amplitude. Clearance of Ca2+ liberated by this method depended on branch size in the same way as Ca2+ accumulated during visual stimulation. Furthermore, the decay time courses of Ca2+ signals were only little affected by the amount of Ca2+ released by photolysis. Thus Ca2+ efflux via the outer membrane is likely to be the main reason for the spatial differences in Ca2+ clearance in visual motion-sensitive neurons of the fly.

Sensorimotor control of navigation in arthropod and artificial systems

Arthropods exhibit highly efficient solutions to sensorimotor navigation problems. They thus provide a source of inspiration and ideas to robotics researchers. At the same time, attempting to re-engineer these mechanisms in robot hardware and software provides useful insights into how the natural systems might work. This paper reviews three examples of arthropod sensorimotor control systems that have been implemented and tested on robots. First we discuss visual control mechanisms of flies, such as the optomotor reflex and collision avoidance, that have been replicated in analog VLSI (very large scale integration) hardware and used to produce corrective behavior in robot vehicles. Then, we present a robot model of auditory localization in the cricket; and discuss integration of this behavior with the optomotor behavior previously described. Finally we present a model of olfactory search in the moth, which makes use of several sensory cues, and has also been tested using robot hardware. We discuss some of the similarities and differences of the solutions obtained.

In vivo two-photon laser-scanning microscopy of Ca2+ dynamics in visual motion-sensitive neurons

We applied two-photon laser-scanning microscopy (TPLSM) to motion-sensitive visual interneurons of the fly to study Ca(2+) dynamics in vivo at a higher spatial and temporal resolution than possible with conventional fluorescence microscopy. Based on a custom-built two-photon microscope, we performed line scans to measure changes in presynaptic Ca(2+) concentrations elicited by visual stimulation. We used a fast avalanche photodiode (APD) with a high quantum efficiency to detect even low levels of emitted fluorescence. Our experiments show that our in vivo preparation is amenable to TPLSM: with excitation intensities low enough not to cause photodamage, activity-dependent fluorescence changes of Ca(2+)-sensitive dyes can be detected in small neuronal branches. The performance of two-photon and conventional Ca(2+) imaging carried out consecutively at the same neuron is compared and it is demonstrated that two-photon imaging allows us to detect differences in Ca(2+) dynamics between individual neurites.

Golgi analysis of tangential neurons in the lobula plate ofDrosophila melanogaster

The lobula plate (LP), which is the third order optic neuropil of flies, houses wide-field neurons which are exquisitely sensitive to motion. Among Diptera, motion-sensitive neurons of larger flies have been studied at the anatomical and physiological levels. However, the neurons of Drosophila lobula plate are relatively less explored. As Drosophila permits a genetic analysis of neural functions, we have analysed the organization of lobula plate of Drosophila melanogaster. Neurons belonging to eight anatomical classes have been observed in the present study. Three neurons of the horizontal system (HS) have been visualized. The HS north (HSN) neuron, occupying the dorsal lobula plate is stunted in its geometry compared to that of larger flies. Associated with the HS neurons, thinner horizontal elements known as h-cells have also been visualized in the present study. Five of the six known neurons of the vertical system (VS) have been visualized. Three additional neurons in the proximal LP comparable in anatomy to VS system have been stained. We have termed them as additional VS (AVS)-like neurons. Three thinner tangential cells that are comparable to VS neurons, which are elements of twin vertical system (tvs); and two cells with wide dendritic fields comparable to CH neurons of Diptera have been also observed. Neurons comparable to VS cells but with 'tufted' dendrites have been stained. The HSN and VS1-VS2 neurons are dorsally stunted. This is possibly due to the shape of the compound eye of Drosophila which is reduced in the fronto-dorsal region as compared to larger flies.

Anatomical organization of retinotopic motion-sensitive pathways in the optic lobes of flies

Anatomical methods have identified conserved neuronal morphologies and synaptic relationships among small-field retinotopic neurons in insect optic lobes. These conserved cell shapes occur across many species of dipteran insects and are also shared by Lepidoptera and Hymenoptera. The suggestion that such conserved neurons should participate in motion computing circuits finds support from intracellular recordings as well as older studies that used radioactive deoxyglucose labeling to reveal strata with motion-specific activity in an achromatic neuropil called the lobula plate. While intracellular recordings provide detailed information about the motion-sensitive or motion-selective responses of identified neurons, a full understanding of how arrangements of identified neurons compute and integrate information about visual motion will come from a multidisciplinary approach that includes morphological circuit analysis, the use of genetic mutants that exhibit specific deficits in motion processing, and biomimetic models. The latter must be based on the organization and connections of real neurons, yet provide output properties similar to those of more traditional theoretical models based on behavioral observations that date from the 1950s. Microsc. Res. Tech. 62:132-150, 2003.

Synaptic transfer of dynamic motion information between identified neurons in the visual system of the blowfly

Synaptic transmission is usually studied in vitro with electrical stimulation replacing the natural input of the system. In contrast, we analyzed in vivo transfer of visual motion information from graded-potential presynaptic to spiking postsynaptic neurons in the fly. Motion in the null direction leads to hyperpolarization of the presynaptic neuron but does not much influence the postsynaptic cell, because its firing rate is already low during rest, giving only little scope for further reductions. In contrast, preferred-direction motion leads to presynaptic depolarizations and increases the postsynaptic spike rate. Signal transfer to the postsynaptic cell is linear and reliable for presynaptic graded membrane potential fluctuations of up to approximately 10 Hz. This frequency range covers the dynamic range of velocities that is encoded with a high gain by visual motion-sensitive neurons. Hence, information about preferred-direction motion is transmitted largely undistorted ensuring a consistent dependency of neuronal signals on stimulus parameters, such as motion velocity. Postsynaptic spikes are often elicited by rapid presynaptic spike-like depolarizations which superimpose the graded membrane potential. Although the timing of most of these spike-like depolarizations is set by noise and not by the motion stimulus, it is preserved at the synapse with millisecond precision.

Robustness of the tuning of fly visual interneurons to rotatory optic flow

The sophisticated receptive field organization of motion-sensitive tangential cells in the visual system of the blowfly Calliphora vicina matches the structure of particular optic flow fields. Hypotheses on the tuning of particular tangential cells to rotatory self-motion are based on local motion measurements. So far, tangential cells have never been tested with global optic flow stimuli. Therefore we measured the responses of an identifiable neuron, the V1 tangential cell, to wide-field motion stimuli mimicking optic flow fields similar to those the fly encounters during particular self-motions. The stimuli were generated by a "planetarium-projector," casting a pattern of moving light dots on a large spherical projection screen. We determined the tuning curves of the V1-cell to optic flow fields as induced by the animal during 1) rotation about horizontally aligned body axes, 2) upward/downward translation, and 3) a combination of both components. We found that the V1-cell does not respond as specifically to self-rotations, as had been concluded from its receptive field organization. The neuron responds strongly to upward translation and its tuning to rotations is much coarser than expected. The discrepancies between the responses to global optic flow and the predictions based on the receptive field organization are likely due to nonlinear integration properties of tangential neurons. Response parameters like orientation, shape, and width of the tuning curve are largely unaffected by changes in rotation velocity or a superposition of rotational and translational optic flow.

Orientation tuning of motion-sensitive neurons shaped by vertical-horizontal network interactions

We measured the orientation tuning of two neurons of the fly lobula plate (H1 and H2 cells) sensitive to horizontal image motion. Our results show that H1 and H2 cells are sensitive to vertical motion, too. Their response depended on the position of the vertically moving stimuli within their receptive field. Stimulation within the frontal receptive field produced an asymmetric response: upward motion left the H1/H2 spike frequency nearly unaltered while downward motion increased the spike frequency to about 40% of their maximum responses to horizontal motion. In the lateral parts of their receptive fields, no such asymmetry in the responses to vertical image motion was found. Since downward motion is known to be the preferred direction of neurons of the vertical system in the lobula plate, we analyzed possible interactions between vertical system cells and H1 and H2 cells. Depolarizing current injection into the most frontal vertical system cell (VS1) led to an increased spike frequency, hyperpolarizing current injection to a decreased spike frequency in both H1 and H2 cells. Apart from VS1, no other vertical system cell (VS2-8) had any detectable influence on either H1 or H2 cells. The connectivity of VS1 and H1/H2 is also shown to influence the response properties of both centrifugal horizontal cells in the contralateral lobula plate, which are known to be postsynaptic to the H1 and H2 cells. The vCH cell receives additional input from the contralateral VS2-3 cells via the spiking interneuron V1.

Retinotopic pathways providing motion-selective information to the lobula from peripheral elementary motion-detecting circuits

Recordings from afferent channels from the medulla supplying deep neuropils of the fly's optic lobes reveal different filter properties among the three classes of afferent neurons: transmedullary cells, T2 neurons, and Y cells. Whereas transmedullary cells respond to local flicker stimuli without discriminating these from directional or oriented motion, the T2 afferent neurons show clear motion orientation selectivity, which corresponds closely with a morphological bias in the orientation of their dendrites and could also be influenced by systems of local recurrent neurons in the medulla. A Y cell having a clearly defined terminal in the lobula, but having dendrite-like processes in the medulla and, possibly, the lobula plate, discriminates the direction of motion and its orientation. These results demonstrate unambiguously that the lobula receives information about motion and that the channels carrying it are distinct from those supplying wide-field motion-selective neurons in the lobula plate. Furthermore, recordings from a newly identified recurrent neuron linking the lobula back to the inner medulla demonstrate that the lobula discriminates nondirectional edge motion from flicker, thereby reflecting a property of this neuropil that is comparable with that of primary visual cortex in cats. The present findings support the proposal that elementary motion detecting circuits supply several parallel channels through the medulla, which segregate to, but are not shared by, the lobula and the lobula plate. The results are discussed in the context of other intracellular recordings from retinotopic neurons and with analogous findings from mammalian visual systems.

Chemical neuroanatomy of the fly's movement detection pathway

In Diptera, subsets of small retinotopic neurons provide a discrete channel from achromatic photoreceptors to large motion-sensitive neurons in the lobula complex. This pathway is distinguished by specific affinities of its neurons to antisera raised against glutamate, aspartate, gamma-aminobutyric acid (GABA), choline acetyltransferase (ChAT), and a N-methyl-D-aspartate type 1 receptor protein (NMDAR1). Large type 2 monopolar cells (L2) and type 1 amacrine cells, which in the external plexiform layer are postsynaptic to the achromatic photoreceptors R1-R6, express glutamate immunoreactivity as do directionally selective motion-sensitive tangential neurons of the lobula plate. L2 monopolar cells ending in the medulla are accompanied by terminals of a second efferent neuron T1, the dendrites of which match NMDAR1-immunoreactive profiles in the lamina. L2 and T1 endings visit ChAT and GABA-immunoreactive relays (transmedullary neurons) that terminate from the medulla in a special layer of the lobula containing the dendrites of directionally selective retinotopic T5 cells. T5 cells supply directionally selective wide-field neurons in the lobula plate. The present results suggest a circuit in which initial motion detection relies on interactions among amacrines and T1, and the subsequent convergence of T1 and L2 at transmedullary cell dendrites. Convergence of ChAT-immunoreactive and GABA-immunoreactive transmedullary neurons at T5 dendrites in the lobula, and the presence there of local GABA-immunoreactive interneurons, are suggested to provide excitatory and inhibitory elements for the computation of motion direction. A comparable immunocytological organization of aspartate- and glutamate-immunoreactive neurons in honeybees and cockroaches further suggests that neural arrangements providing directional motion vision in flies may have early evolutionary origins.

Structure of the vertical and horizontal system neurons of the lobula plate in Drosophila

The lobula plate in the optic lobe of the fly brain is a high-order processing center for visual information. Within the lobula plate lie a small number of giant neurons that are responsible for the detection of wide field visual motion. Although the structure and motion sensitivity of these cells have been extensively described in large flies, the system has not been described systematically in Drosophila. Here, we use the mosaic analysis with a repressible cell marker (MARCM) system to analyze a subset of these cells, the horizontal and vertical systems. Our results suggest that the Drosophila horizontal system is similar to those described in larger flies, with three neurons fanning their dendrites over the lobula plate. We found that there are six neurons in the Drosophila vertical system, a figure that compares with 9-11 neurons in large flies. Even so, the Drosophila vertical system closely resembles the systems of larger flies, with each neuron in Drosophila having an approximate counterpart in large flies. This anatomical similarity implies that the inputs to the vertical system are similarly organized in these various fly species, and that it is likely that the Drosophila neurons respond to motions similar to those sensed by their specific structural counterparts in large flies. Additionally, the similar appearance of vertical system cells in multiple cell clones demonstrates that they share a common developmental lineage. Access to these cells in Drosophila should allow for the use of genetic tools in future studies of horizontal and vertical system function.

PC-based visual stimuli for behavioural and electrophysiological studies of optic flow field detection

A PC-based visual-stimulus-generation package for behavioural and electrophysiological studies of responses to optic flow is described. Developed for studies of crab vision, the package is particularly well suited for use with animals that have very large fields of view, i.e. +/-120 degrees. Programs, written in the Borland Delphi language, use the OpenGL graphics library to create realistic representations of motion in a three dimensional environment. Large-field stimuli include simulations of self-motion (rotation and translation, separately or in combination) relative to a square-wave grating or other, user-selected, background. The package also includes representations of approaching and receding objects, and rotating spiral patterns for the investigation of neural responses to looming/anti-looming. Additionally, the package provides local motion stimuli, translating or rotating targets presented at many points in the receptive field, which can be used to derive response maps of large-field motion-sensitive interneurones. In all these stimuli, inconsistencies in animation timing that have hitherto hindered the use of standard PCs running Microsoft Windows for such applications have been minimised by using an improved real-time clock to control the animation cycle.