Toral lateral line units of goldfish, Carassius auratus, are sensitive to the position and vibration direction of a vibrating sphere

The incomparable fascination of comparative physiology: 40 years with animals in the field and laboratory

This paper is not meant to be a review article. Instead, it gives an overview of the major research projects that the author, together with his students, colleagues and collaborators, has worked on. Although the main focus of the author's work has always been the fish lateral line, this paper is mainly about all the other research projects he did or that were done in his laboratory. These include studies on fishing spiders, weakly electric fish, seals, water rats, bottom dwelling sharks, freshwater rays, venomous snakes, birds of prey, fire loving beetles and backswimmers. The reasons for this diversity of research projects? Simple. The authors's lifelong enthusiasm for animals, and nature's ingenuity in inventing new biological solutions. Indeed, this most certainly was a principal reason why Karl von Frisch and Alfred Kühn founded the Zeitschrift für vergleichende Physiologie (now Journal of Comparative Physiology A) 100 years ago.

Touchless underwater wall-distance sensing via active proprioception of a robotic flapper

In this work, we explored a bioinspired method for underwater object sensing based on active proprioception. We investigated whether the fluid flows generated by a robotic flapper, while interacting with an underwater wall, can encode the distance information between the wall and the flapper, and how to decode this information using the proprioception within the flapper. Such touchless wall-distance sensing is enabled by the active motion of a flapping plate, which injects self-generated flow to the fluid environment, thus representing a form of active sensing. Specifically, we trained a long short-term memory (LSTM) neural network to predict the wall distance based on the force and torque measured at the base of the flapping plate. In addition, we varied the Rossby number (Ro, or the aspect ratio of the plate) and the dimensionless flapping amplitude (A∗) to investigate how the rotational effects and unsteadiness of self-generated flow respectively affect the accuracy of the wall-distance prediction. Our results show that the median prediction error is within 5% of the plate length for all the wall-distances investigated (up to 40 cm or approximately 2-3 plate lengths depending on theRo); therefore, confirming that the self-generated flow can enable underwater perception. In addition, we show that stronger rotational effects at lowerRolead to higher prediction accuracy, while flow unsteadiness (A∗) only has moderate effects. Lastly, analysis based on SHapley Additive exPlanations (SHAP) indicate that temporal features that are most prominent at stroke reversals likely promotes the wall-distance prediction.

Rheotaxis revisited: a multi-behavioral and multisensory perspective on how fish orient to flow

Here, we review fish rheotaxis (orientation to flow) with the goal of placing it within a larger behavioral and multisensory context. Rheotaxis is a flexible behavior that is used by fish in a variety of circumstances: to search for upstream sources of current-borne odors, to intercept invertebrate drift and, in general, to conserve energy while preventing downstream displacement. Sensory information available for rheotaxis includes water-motion cues to the lateral line and body-motion cues to visual, vestibular or tactile senses when fish are swept downstream. Although rheotaxis can be mediated by a single sense, each sense has its own limitations. For example, lateral line cues are limited by the spatial characteristics of flow, visual cues by water visibility, and vestibular and other body-motion cues by the ability of fish to withstand downstream displacement. The ability of multiple senses to compensate for any single-sense limitation enables rheotaxis to persist over a wide range of sensory and flow conditions. Here, we propose a mechanism of rheotaxis that can be activated in parallel by one or more senses; a major component of this mechanism is directional selectivity of central neurons to broad patterns of water and/or body motions. A review of central mechanisms for vertebrate orienting behaviors and optomotor reflexes reveals several motorsensory integration sites in the CNS that could be involved in rheotaxis. As such, rheotaxis provides an excellent opportunity for understanding the multisensory control of a simple vertebrate behavior and how a simple motor act is integrated with others to form complex behaviors.

Coping with flow: behavior, neurophysiology and modeling of the fish lateral line system

With the mechanosensory lateral line fish perceive water motions relative to their body surface and local pressure gradients. The lateral line plays an important role in many fish behaviors including the detection and localization of dipole sources and the tracking of prey fish. The sensory units of the lateral line are the neuromasts which are distributed across the surface of the animal. Water motions are received and transduced into neuronal signals by the neuromasts. These signals are conveyed by afferent nerve fibers to the fish brain and processed by lateral line neurons in parts of the brainstem, cerebellum, midbrain, and forebrain. In the cerebellum, midbrain, and forebrain, lateral line information is integrated with sensory information from other modalities. The present review introduces the peripheral morphology of the lateral line, and describes our understanding of lateral line physiology and behavior. It focuses on recent studies that have investigated: how fish behave in unsteady flow; what kind of sensory information is provided by flow; and how fish use and process this information. Finally, it reports new theoretical and biomimetic approaches to understand lateral line function.

Hydrodynamic perception in true seals (Phocidae) and eared seals (Otariidae)

Pinnipeds, that is true seals (Phocidae), eared seals (Otariidae), and walruses (Odobenidae), possess highly developed vibrissal systems for mechanoreception. They can use their vibrissae to detect and discriminate objects by direct touch. At least in Phocidae and Otariidae, the vibrissae can also be used to detect and analyse water movements. Here, we review what is known about this ability, known as hydrodynamic perception, in pinnipeds. Hydrodynamic perception in pinnipeds developed convergently to the hydrodynamic perception with the lateral line system in fish and the sensory hairs in crustaceans. So far two species of pinnipeds, the harbour seal (Phoca vitulina) representing the Phocidae and the California sea lion (Zalophus californianus) representing the Otariidae, have been studied for their ability to detect local water movements (dipole stimuli) and to follow hydrodynamic trails, that is the water movements left behind by objects that have passed by at an earlier point in time. Both species are highly sensitive to dipole stimuli and can follow hydrodynamic trails accurately. In the individuals tested, California sea lions were clearly more sensitive to dipole stimuli than harbour seals, and harbour seals showed a superior trail following ability as compared to California sea lions. Harbour seals have also been shown to derive additional information from hydrodynamic trails, such as motion direction, size and shape of the object that caused the trail (California sea lions have not yet been tested). The peculiar undulated shape of the harbour seals' vibrissae appears to play a crucial role in trail following, as it suppresses self-generated noise while the animal is swimming.