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

Environmental impact on visual perception modulates behavioral responses of schooling fish to looming predators

Aggregation in social fishes has evolved to improve safety from predators. The individual interaction mechanisms that govern collective behavior are determined by the sensory systems that translate environmental information into behavior. In dynamic environments, shifts in conditions impede effective visual sensory perception in fish schools, and may induce changes in the collective response. Here, we consider whether environmental conditions that affect visual contrast modulate the collective response of schools to looming predators. By using a virtual environment to simulate four contrast levels, we tested whether the collective state of minnow fish schools was modified in response to a looming optical stimulus. Our results indicate that fish swam slower and were less polarized in lower contrast conditions. Additionally, schooling metrics known to be regulated by non-visual sensory systems tended to correlate better when contrast decreased. Over the course of the escape response, schools remained tightly formed and retained the capability of transferring social information. We propose that when visual perception is compromised, the interaction rules governing collective behavior are likely to be modified to prioritize ancillary sensory information crucial to maximizing chance of escape. Our results imply that multiple sensory systems can integrate to control collective behavior in environments with unreliable visual information.

River zebrafish combine behavioral plasticity and generalized morphology with specialized sensory and metabolic physiology to survive in a challenging environment

Phenotypes that allow animals to detect, weather, and predict changes efficiently are essential for survival in fluctuating environments. Some phenotypes may remain specialized to suit an environment perfectly, while others become more plastic or generalized, shifting flexibly to match current context or adopting a form that can utilize a wide range of contexts. Here, we tested the differences in behavior, morphology, sensory and metabolic physiology between wild zebrafish (Danio rerio) in highly variable fast-flowing rivers and still-water sites. We found that river zebrafish moved at higher velocities than did still-water fish, had lower oxygen demands, and responded less vigorously to small changes in flow rate, as we might expect for fish that are well-suited to high-flow environments. River zebrafish also had less streamlined bodies and were more behaviorally plastic than were still-water zebrafish, both features that may make them better-suited to a transitional lifestyle. Our results suggest that zebrafish use distinct sensory mechanisms and metabolic physiology to reduce energetic costs of living in fast-flowing water while relying on morphology and behavior to create flexible solutions to a challenging habitat. Insights on animals' reliance on traits with different outcomes provide a framework to better understand their survival in future environmental fluctuations.

Physiological responses of mechanosensory systems in the head of larval zebrafish (Danio rerio)

The lateral line system of zebrafish consists of the anterior lateral line, with neuromasts distributed on the head, and the posterior lateral line, with neuromasts distributed on the trunk. The sensory afferent neurons are contained in the anterior and posterior lateral line ganglia, respectively. So far, the vast majority of physiological and developmental studies have focused on the posterior lateral line. However, studies that focus on the anterior lateral line, especially on its physiology, are very rare. The anterior lateral line involves different neuromast patterning processes, specific distribution of synapses, and a unique role in behavior. Here, we report our observations regarding the development of the lateral line and analyze the physiological responses of the anterior lateral line to mechanical and water jet stimuli. Sensing in the fish head may be crucial to avoid obstacles, catch prey, and orient in water current, especially in the absence of visual cues. Alongside the lateral line, the trigeminal system, with its fine nerve endings innervating the skin, could contribute to perceiving mechanosensory stimulation. Therefore, we compare the physiological responses of the lateral line afferent neurons to responses of trigeminal neurons and responsiveness of auditory neurons. We show that anterior lateral line neurons are tuned to the velocity of mechanosensory ramp stimulation, while trigeminal neurons either only respond to mechanical step stimuli or fast ramp and step stimuli. Auditory neurons did not respond to mechanical or water jet stimuli. These results may prove to be essential in designing underwater robots and artificial lateral lines, with respect to the spectra of stimuli that the different mechanosensory systems in the larval head are tuned to, and underline the importance and functionality of the anterior lateral line system in the larval fish head.

A study on flow field characteristics of a self-propelled robot fish approaching static obstacles based on artificial lateral line

To perceive the static obstacles in still water, the flow field characteristics of a self-propelled robot fish approaching static obstacles were studied based on artificial lateral line (ALL). The pressure distribution on the fish body surface was calculated with different separation between the robot fish and the obstacle boundary, obstacle size and undulating frequency. Subsequently, an ALL system was established and five obstacle perception models were studied to analyze the perceptual characteristics of the ALL. Finally, the experiments were conducted to further reveal the effects of obstacles and motion parameters on the body surface pressure of robot fish. The results indicate that the obstacles have a significant effect on the pressure distribution of the surface of the fish body. Namely the parameters of separation, obstacle size and undulating frequency will affect the peak value of the amplitude envelope of the pressure signals. The obstacle size and distance between the obstacles can be predicted using the time parameters of the amplitude envelope of the pressure signals. Moreover, the self-propelled robot fish with a medium undulating frequency approach to the large obstacles with small separation has better perceptual performance. The findings could offer some insight into understanding the perception of complex underwater environment based on ALL.

Are superficial neuromasts proprioceptors underlying fast copulatory behavior?

In male Poeciliid fishes, the modified anal fin (i.e., gonopodium) and its axial and appendicular support are repositioned within the axial skeleton, creating a novel sexually dimorphic ano-urogenital region. During copulation, the relative location of the gonopodium is crucial for successful insemination. Therefore, the repositioning of these structures and organ relied on the reorganization of the efferent circuitry that controls spinal motor neurons innervating appendicular muscles critical for the movement of the gonopodium, including the fast and synchronous torque-trust motion during insemination attempts. Copulation occurs when a male positions himself largely outside a female's field of view, circumducts his gonopodium, and performs a rapid, complex maneuver to properly contact the female urogenital sinus with the distal tip of the gonopodium and transfers sperm. Although understanding of the efferent circuitry has significantly increased in the last 24 years, nothing is known about the cutaneous receptors involved in gonopodium movement, or how the afferent signals are processed to determine the location of this organ during copulation. Using Western mosquitofish, Gambusia affinis, as our model, we attempt to fill this gap in knowledge. Preliminary data showed cutaneous nerves and sensory neurons innervating superficial neuromasts surrounding the base of adult male gonopodium; those cutaneous nerves projected ventrally from the spinal cord through the 14th dorsal root ganglion and its corresponding ventral root towards the base and fin rays of the gonopodium. We asked what role the cutaneous superficial neuromasts play in controlling the positioning and timing of the gonopodium's fast and synchronous movements for effective sperm transfer. First, we found a greater number of superficial neuromasts surrounding the base of the male's gonopodium compared to the base of the female's anal fin. Second, we systemically removed superficial neuromasts surrounding the gonopodium base and observed significant impairment of the positioning and timing of gonopodial movements. Our findings provide a first step to supporting the following hypothesis: during radical reorganization of the Poeciliid body plan, superficial neuromasts have been partially co-opted as proprioceptors that allow the gonopodium to control precise positioning and timing during copulatory attempts.

A comprehensive review on fish-inspired robots

Recently, the increasing interest in underwater exploration motivates the development of aquatic unmanned vehicles. To execute hazardous tasks in an unknown or even hostile environment, researchers have directed on developing biomimetic robots inspired by the extraordinary maneuverability, cruising speed, and propulsion efficiency of fish. Nevertheless, the performance of current prototypes still has gaps compared with that of real fishes. In this review, recent approaches in structure designs, actuators, and sensors are presented. In addition, the theoretical methods for modeling the robotic fishes are consolidated, and the control strategies are offered. Finally, the current challenges are summarized, and possible future directions are deeply discussed. It is expected that the emergence of new engineering and biological technologies will enhance the field of robotic fish for further advancement.

Comparison of Aminoglycoside Antibiotics and Cobalt Chloride for Ablation of the Lateral Line System in Giant Danios

The mechanoreceptive lateral line system in fish is composed of neuromasts containing hair cells, which can be temporarily ablated by aminoglycoside antibiotics and heavy metal ions. These chemicals have been used for some time in studies exploring the functional role of the lateral line system in many fish species. However, little information on the relative effectiveness and rate of action of these chemicals for ablation is available. In particular, aminoglycoside antibiotics are thought to affect canal neuromasts, which sit in bony or trunk canals, differently from superficial neuromasts, which sit directly on the skin. This assumed ablation pattern has not been fully quantified for commonly used lateral line ablation agents. This study provides a detailed characterization of the effects of two aminoglycoside antibiotics, streptomycin sulfate and neomycin sulfate, and a heavy metal salt, cobalt (II) chloride hexahydrate (CoCl2), on the ablation of hair cells in canal and superficial neuromasts in the giant danio (Devario aequipinnatus) lateral line system, as a model for adult teleost fishes. We also quantified the regeneration of hair cells after ablation using CoCl2 and gentamycin sulfate to verify the time course to full recovery, and whether the ablation method affects the recovery time. Using a fluorescence stain, 4-Di-2-ASP, we verified the effectiveness of each chemical by counting the number of fluorescing canal and superficial neuromasts present throughout the time course of ablation and regeneration of hair cells. We found that streptomycin and neomycin were comparably effective at ablating all neuromasts in less than 12 h using a 250 μM dosage and in less than 8 h using a 500 μM dosage. The 500 μM dosage of either streptomycin or neomycin can ablate hair cells in superficial neuromasts within 2–4 h, while leaving those in canal neuromasts mostly intact. CoCl2 (0.1 mM) worked the fastest, ablating all of the hair cells in less than 6 h. Complete regeneration of the neuromasts in the lateral line system took 7 days regardless of chemicals used to ablate the hair cells. This study adds to the growing knowledge in hearing research about how effective specific chemicals are at ablating hair cells in the acoustic system of vertebrates.

Small increases in group size improve small shoals' response to water flow in zebrafish

Social context may influence the perception of sensory cues and the ability to display refined behavioral responses. Previous work suggests that effective responses to environmental cues can be contingent on having a sufficient number of individuals in a group. Thus, the changes in group size may have profound impacts, particularly on the behavior of small social groups. Using zebrafish (Danio rerio), here we examined how changes in group size influence the ability to respond to changes in water flow. We found that fish in relatively larger groups displayed stronger rheotaxis even when comparing pairs of fish with groups of four fish, indicating that a small increase in group size can enhance the responsiveness to environmental change. Individual fish in relatively larger groups also spent less time in the energetically costly leading position compared to individuals in pairs, indicating that even a small increase in group size may provide energetic benefits. We also found that the shoal cohesion was dependent on the size of the group but within a given group size, shoal cohesion did not vary with flow rate. Our study highlights that even a small change in group size could significantly affect the way social fish respond to the changes in water flow, which could be an important attribute that shapes the resilience of social animals in changing environments.

Nanomaterials and their applications on bio-inspired wearable electronics

Wearable electronics featuring conformal attachment, sensitive perception and intellectual signal processing have made significant progress in recent years. However, when compared with living organisms, artificial sensory devices showed undeniable bulky shape, poor adaptability, and large energy consumption. To make up for the deficiencies, biological examples provide inspirations of novel designs and practical applications. In the field of biomimetics, nanomaterials from nanoparticles to layered two-dimensional materials are actively involved due to their outstanding physicochemical properties and nanoscale configurability. This review focuses on nanomaterials related to wearable electronics through bioinspired approaches on three different levels, interfacial packaging, sensory structure, and signal processing, which comprehensively guided recent progress of wearable devices in leveraging both nanomaterial superiorities and biorealistic functionalities. In addition, opinions on potential development trend are proposed aiming at implementing bioinspired electronics in multifunctional portable sensors, health monitoring, and intelligent prosthetics.

Behavioral Variation in the Pygmy Halfbeak Dermogenys collettei: Comparing Shoals With Contrasting Ecologies

Variation in biotic and abiotic factors among populations affects individual behaviors by transforming the social landscape and shaping mating systems. Consequently, describing behaviors in natural populations requires consideration of the biological and physical factors that different individuals face. Here, we examined variation in socio-sexual and locomotor behaviors in a small, livebearing, freshwater fish, the pygmy halfbeak Dermogenys collettei, across natural populations in Singapore. The pygmy halfbeak is a surface feeding fish that spends most of the time near the water surface, making it ideal for non-invasive behavioral observations. We compared behaviors between sexes among 26 shoals while simultaneously accounting for environmental variation. We demonstrated that sexual interactions and locomotor behaviors differed among shoals with varying levels of canopy cover and water flow. Specifically, in areas with greater canopy cover, sexual interactions decreased, whereas time spent in a stationary position increased. Sexual interactions were more numerous in still water, where fish spent less time swimming. Variation in the expression of socio-sexual and locomotor behaviors were not associated with differences in the amount of aquatic vegetation, water depth or halfbeak shoal size. Agonistic interactions were robust to environmental effects, showing little variation among environments. However, there were strong sex effects, with males performing more agonistic behaviors and spending less time in a stationary position compared to females, regardless of the environment. Moreover, sexual interactions, measured as actively performed by males and passively received by females, were on average more frequent in males than in females. Our findings help us explore the proximal causes of intraspecific behavioral variation and suggest that fundamental information on socio-sexual behaviors from wild populations can lead to a better understanding of how sexual selection operates when the strength of natural selection varies across environments.

Auditory environmental enrichment prevents anxiety-like behavior, but not cortisol responses, evoked by 24-h social isolation in zebrafish

The zebrafish (Danio rerio) is widely used as a promising translational model organism for studying various brain disorders. Zebrafish are also commonly used in behavioral and drug screening assays utilizing individually tested (socially isolated) fish. Various sounds represent important exogenous factors that may affect fish behavior. Mounting evidence shows that musical/auditory environmental enrichment can improve welfare of laboratory animals, including fishes. Here, we show that auditory environmental enrichment mitigates anxiogenic-like effects caused by acute 24-h social isolation in adult zebrafish. Thus, auditory environmental enrichment may offer an inexpensive, feasible and simple tool to improve welfare of zebrafish stocks in laboratory facilities, reduce unwanted procedural stress, lower non-specific behavioral variance and, hence, collectively improve zebrafish data reliability and reproducibility.

Schizothorax prenanti swimming behavior in response to different flow patterns in vertical slot fishways with different slot positions

Fish swimming behavior is a critical parameter for the design of vertical slot fishways. Although Schizothorax prenanti is a significant reproductive potamodromous migratory fish species in the upper reaches of the rivers in Southwest China, its swimming behavior has not been extensively researched. Therefore, in this study, a comparative experiment was conducted in vertical slot fishways to analyze the behavior of Schizothorax prenanti in response to different flow patterns, with respect to different slot positions. The experimental model was designed with a length scale of 1:4, and a method for selecting the appropriate fish size in the scaled physical model was proposed. Based on these experiments, it was found that the typical upstream trajectories of Schizothorax prenanti are traceable to the sidewall of the pool, which are characterized by low velocity and turbulent kinetic energy (TKE). The hydraulic variables exhibited an asymmetric distribution within the vertical slot, and the fish were found to pass through the area with the lowest velocity and TKE. A flow pattern with a guide wall length-to-pool width ratio of P/B = 0.25, in which Schizothorax prenanti can immediately find the sidewall, is suitable for fish migration. Therefore, this is the recommended value for the construction of effective vertical-slot fishway structures.

Brain-Wide Mapping of Water Flow Perception in Zebrafish

Information about water flow, detected by lateral line organs, is critical to the behavior and survival of fish and amphibians. While certain aspects of water flow processing have been revealed through electrophysiology, we lack a comprehensive description of the neurons that respond to water flow and the network that they form. Here, we use brain-wide calcium imaging in combination with microfluidic stimulation to map out, at cellular resolution, neuronal responses involved in perceiving and processing water flow information in larval zebrafish. We find a diverse array of neurons responding to head-to-tail (h-t) flow, tail-to-head (t-h) flow, or both. Early in this pathway, in the lateral line ganglia, neurons respond almost exclusively to the simple presence of h-t or t-h flow, but later processing includes neurons responding specifically to flow onset, representing the accumulated displacement of flow during a stimulus, or encoding the speed of the flow. The neurons reporting on these more nuanced details are located across numerous brain regions, including some not previously implicated in water flow processing. A graph theory-based analysis of the brain-wide water flow network shows that a majority of this processing is dedicated to h-t flow detection, and this is reinforced by our finding that details like flow velocity and the total accumulated flow are only encoded for the h-t direction. The results represent the first brain-wide description of processing for this important modality, and provide a departure point for more detailed studies of the flow of information through this network.SIGNIFICANCE STATEMENT In aquatic animals, the lateral line is important for detecting water flow stimuli, but the brain networks that interpret this information remain mysterious. Here, we have imaged the activity of individual neurons across the entire brains of larval zebrafish, revealing all response types and their brain locations as water flow processing occurs. We find neurons that respond to the simple presence of water flow, and others attuned to the direction, speed, and duration of flow, or the accumulated displacement of water that has passed during the stimulus. With this information, we modeled the underlying network, describing a system that is nuanced in its processing of water flow simulating head-to-tail motion but rudimentary in processing flow in the tail-to-head direction.

A new genus of sinogaleaspids (Galeaspida, stem-Gnathostomata) from the Silurian Period in Jiangxi, China

Galeaspids are an endemic clade of jawless stem-gnathostomes known as ostracoderms. Their existence illuminates how specific characteristics developed in jawed vertebrates. Sinogaleaspids are of particular interest among the galeaspids but their monophyly is controversial because little is known about Sinogaleaspis xikengensis. Newly discovered sinogaleaspids from the Lower Silurian of Jiangxi, China provide a wealth of data and diagnostic features used to establish the new genus, Rumporostralis gen. nov., for Sinogaleaspis xikengensis. A morphological study showed that the sensory canal system of sinogaleaspids had mosaic features similar to those of three known galeaspids. There are 3–8 pairs of transverse canals in the Sinogaleaspidae, which suggests that the sensory canal system of galeaspid probably had a grid distribution with transverse canals arranged throughout the cephalic division. Phylogenetic analysis of Galeaspida supports the monophyly of the Sinogaleaspidae, consisting of Sinogaleaspis, Rumporostralis, and Anjiaspis. However, Shuyu and Meishanaspis form another monophyletic group, Shuyuidae fam. nov., which is outside all other eugaleaspidiforms. We propose a cladistically-based classification of Galeaspida based on our analysis.

Acidified water impairs the lateral line system of zebrafish embryos

Acidification of freshwater ecosystems is recognized as a global environmental problem. However, the influence of acidic water on the early stages of freshwater fish is still unclear. This study focused on the sublethal effects of acidic water on the lateral line system of zebrafish embryos. Zebrafish embryos were exposed to water at different pH values (pH 4, 5, 7, 9, and 10) for 96 (0-96 h post-fertilization (hpf)) and 48 h (48∼96 hpf). The survival rate, body length, and heart rate significantly decreased in pH 4-exposed embryos during the 96-h incubation. The number of lateral-line neuromasts and the size of otic vesicles/otoliths also decreased in pH 4-exposed embryos subjected to 96- and 48-h incubations. The number of neuromasts decreased in pH 5-exposed embryos during the 96-h incubation. Alkaline water (pH 9 and 10) did not influence embryonic development but suppressed the hatching process. The mechanotransducer channel-mediated Ca²⁺ influx was measured to reveal the function of lateral line hair cells. The Ca²⁺ influx of hair cells decreased in pH 5-exposed embryos subjected to the 48-h incubation, and both the number and Ca²⁺ influx of hair cells had decreased in pH 5-exposed embryos after 96 h of incubation. In addition, the number and function of hair cells were suppressed in H⁺-ATPase- or GCM2-knockdown embryos, which partially lost the ability to secrete acid into the ambient water. In conclusion, this study suggests that lateral line hair cells are sensitive to an acidic environment, and freshwater acidification could be a threat to the early stages of fishes.

How do red-eyed treefrog embryos sense motion in predator attacks? Assessing the role of vestibular mechanoreception

The widespread ability to alter timing of hatching in response to environmental cues can serve as a defense against threats to eggs. Arboreal embryos of red-eyed treefrogs, Agalychnis callidryas, can hatch up to 30% prematurely to escape predation. This escape-hatching response is cued by physical disturbance of eggs during attacks, including vibrations or motion, and thus depends critically on mechanosensory ability. Predator-induced hatching appears later in development than flooding-induced, hypoxia-cued hatching; thus, its onset is not constrained by the development of hatching ability. It may, instead, reflect the development of mechanosensor function. We hypothesize that vestibular mechanoreception mediates escape-hatching in snake attacks, and that the developmental period when hatching-competent embryos fail to flee from snakes reflects a sensory constraint. We assessed the ontogenetic congruence of escape-hatching responses and an indicator of vestibular function, the vestibulo-ocular reflex (VOR), in three ways. First, we measured VOR in two developmental series of embryos 3-7 days old to compare with the published ontogeny of escape success in attacks. Second, during the period of greatest variation in VOR and escape success, we compared hatching responses and VOR across sibships. Finally, in developmental series, we compared the response of individual embryos to a simulated attack cue with their VOR. The onset of VOR and hatching responses were largely concurrent at all three scales. Moreover, latency to hatch in simulated attacks decreased with increasing VOR. These results are consistent with a key role of the vestibular system in the escape-hatching response of A. callidryas embryos to attacks.

Sensory ecology of the fish lateral-line system: Morphological and physiological adaptations for the perception of hydrodynamic stimuli

Fishes are able to detect and perceive the hydrodynamic and physical environment they inhabit and process this sensory information to guide the resultant behaviour through their mechanosensory lateral-line system. This sensory system consists of up to several thousand neuromasts distributed across the entire body of the animal. Using the lateral-line system, fishes perceive water movements of both biotic and abiotic origin. The anatomy of the lateral-line system varies greatly between and within species. It is still a matter of debate as to how different lateral-line anatomies reflect adaptations to the hydrodynamic conditions to which fishes are exposed. While there are many accounts of lateral-line system adaptations for the detection of hydrodynamic signals in distinct behavioural contexts and environments for specific fish species, there is only limited knowledge on how the environment influences intra and interspecific variations in lateral-line morphology. Fishes live in a wide range of habitats with highly diverse hydrodynamic conditions, from pools and lakes and slowly moving deep-sea currents to turbulent and fast running rivers and rough coastal surf regions. Perhaps surprisingly, detailed characterisations of the hydrodynamic properties of natural water bodies are rare. In particular, little is known about the spatio-temporal patterns of the small-scale water motions that are most relevant for many fish behaviours, making it difficult to relate environmental stimuli to sensory system morphology and function. Humans use bodies of water extensively for recreational, industrial and domestic purposes and in doing so often alter the aquatic environment, such as through the release of toxicants, the blocking of rivers by dams and acoustic noise emerging from boats and construction sites. Although the effects of anthropogenic interferences are often not well understood or quantified, it seems obvious that they change not only water quality and appearance but also, they alter hydrodynamic conditions and thus the types of hydrodynamic stimuli acting on fishes. To date, little is known about how anthropogenic influences on the aquatic environment affect the morphology and function of sensory systems in general and the lateral-line system in particular. This review starts out by briefly describing naturally occurring hydrodynamic stimuli and the morphology and neurobiology of the fish lateral-line system. In the main part, adaptations of the fish lateral-line system for the detection and analysis of water movements during various behaviours are presented. Finally, anthropogenic influences on the aquatic environment and potential effects on the fish lateral-line system are discussed.

Methods for the effective study of collective behavior in a radial arm maze

Collective behaviors are observed throughout nature, from bacterial colonies to human societies. Important theoretical breakthroughs have recently been made in understanding why animals produce group behaviors and how they coordinate their activities, build collective structures, and make decisions. However, standardized experimental methods to test these findings have been lacking. Notably, easily and unambiguously determining the membership of a group and the responses of an individual within that group is still a challenge. The radial arm maze is presented here as a new standardized method to investigate collective exploration and decision-making in animal groups. This paradigm gives individuals within animal groups the opportunity to make choices among a set of discrete alternatives, and these choices can easily be tracked over long periods of time. We demonstrate the usefulness of this paradigm by performing a set of refuge-site selection experiments with groups of fish. Using an open-source, robust custom image-processing algorithm, we automatically counted the number of animals in each arm of the maze to identify the majority choice. We also propose a new index to quantify the degree of group cohesion in this context. The radial arm maze paradigm provides an easy way to categorize and quantify the choices made by animals. It makes it possible to readily apply the traditional uses of the radial arm maze with single animals to the study of animal groups. Moreover, it opens up the possibility of studying questions specifically related to collective behaviors.

A Polydimethylsiloxane (PDMS) Waveguide Sensor that Mimics a Neuromast to Measure Fluid Flow Velocity

Accurate flow measurement is a ubiquitous task in fields such as industry, medical technology, or chemistry; it remains however challenging due to small measurement ranges or erosive flows. Inspiration for possible measurement methods can come from nature, for example from the lateral line organ of fish, which is comprised of hair cells embedded in a gelatinous cupula. When the cupula is deflected by water movement, the hair cells generate neural signals from which the fish gains an accurate representation of its environment. We built a flow sensor mimicking a hair cell, but coupled it with an optical detection method. Light is coupled into a PDMS waveguide that consists of a core and a cladding with a low refractive index contrast to ensure high bending sensitivity. Fluid flow bends the waveguide; this leads to a measurable light loss. The design of our sensory system allows flow measurement in opaque and corrosive fluids while keeping production costs low. To prove the measurement concept, we evaluated the light loss while (a) reproducibly bending the fiber with masses, and (b) exposing the fiber to air flow. The results demonstrate the applicability of an optical fiber as a flow sensor.

A multidimensional concept for mercury neuronal and sensory toxicity in fish - From toxicokinetics and biochemistry to morphometry and behavior

BACKGROUND

Neuronal and sensory toxicity of mercury (Hg) compounds has been largely investigated in humans/mammals with a focus on public health, while research in fish is less prolific and dispersed by different species. Well-established premises for mammals have been governing fish research, but some contradictory findings suggest that knowledge translation between these animal groups needs prudence [e.g. the relative higher neurotoxicity of methylmercury (MeHg) vs. inorganic Hg (iHg)]. Biochemical/physiological differences between the groups (e.g. higher brain regeneration in fish) may determine distinct patterns. This review undertakes the challenge of identifying sensitive cellular targets, Hg-driven biochemical/physiological vulnerabilities in fish, while discriminating specificities for Hg forms.

SCOPE OF REVIEW

A functional neuroanatomical perspective was conceived, comprising: (i) Hg occurrence in the aquatic environment; (ii) toxicokinetics on central nervous system (CNS)/sensory organs; (iii) effects on neurotransmission; (iv) biochemical/physiological effects on CNS/sensory organs; (v) morpho-structural changes on CNS/sensory organs; (vi) behavioral effects. The literature was also analyzed to generate a multidimensional conceptualization translated into a Rubik's Cube where key factors/processes were proposed.

MAJOR CONCLUSIONS

Hg neurosensory toxicity was unequivocally demonstrated. Some correspondence with toxicity mechanisms described for mammals (mainly at biochemical level) was identified. Although the research has been dispersed by numerous fish species, 29 key factors/processes were pinpointed.

GENERAL SIGNIFICANCE

Future trends were identified and translated into 25 factors/processes to be addressed. Unveiling the neurosensory toxicity of Hg in fish has a major motivation of protecting ichtyopopulations and ecosystems, but can also provide fundamental knowledge to the field of human neurodevelopment.

The effects of lateral line ablation and regeneration in schooling giant danios

Fish use multiple sensory systems, including vision and their lateral line system, to maintain position and speed within a school. Although previous studies have shown that ablating the lateral line alters schooling behavior, no one has examined how the behavior recovers as the sensory system regenerates. We studied how schooling behavior changes in giant danios, Devario aequipinnatus, when their lateral line system is chemically ablated and after the sensory hair cells regenerate. We found that fish could school normally immediately after chemical ablation, but that they had trouble schooling 1-2 weeks after the chemical treatment, when the hair cells had fully regenerated. We filmed groups of giant danios with two high-speed cameras and reconstructed the three-dimensional positions of each fish within a group. One fish in the school was treated with gentamycin to ablate all hair cells. Both types of neuromasts (canal and superficial) were completely ablated after treatment, but fully regenerated after 1 week. We quantified the structure of the school using nearest neighbor distance, bearing, elevation, and the cross-correlation of velocity between each pair of fish. Treated fish maintained a normal position within the school immediately after the lateral line ablation, but could not school normally 1 or 2 weeks after treatment, even though the neuromasts had fully regenerated. By 4-8 weeks post-treatment, the treated fish could again school normally. These results demonstrate that the behavioral recovery after lateral line ablation is a longer process than the regeneration of the hair cells themselves.

Artificial lateral line based local sensing between two adjacent robotic fish

The lateral line system (LLS) is a mechanoreceptive organ system with which fish and aquatic amphibians can effectively sense the surrounding flow field. The reverse Kármán vortex street (KVS), known to be a typical thrust-producing wake, is commonly observed in fish-like locomotion and is known to be generated by fish's tails. The vortex street generally reflects the motion information of the fish. A fish can use LLS to detect such vortex streets generated by its neighboring fish, thus sensing its own state and the states of its neighbors in a school of fish. Inspired by this typical biological phenomenon, we design a robotic fish with an onboard artificial lateral line system (ALLS) composed of pressure sensor arrays and use it to detect the reverse KVS-like vortex wake generated by its adjacent robotic fish. Specifically, the vortex wake results in hydrodynamic pressure variations (HPVs) in the flow field. By measuring the HPV using the ALLS and extracting meaningful information from the pressure sensor readings, the oscillating frequency/amplitude/offset of the adjacent robotic fish, the relative vertical distance and the relative yaw/pitch/roll angle between the robotic fish and its neighbor are sensed efficiently. This work investigates the hydrodynamic characteristics of the reverse KVS-like vortex wake using an ALLS. Furthermore, this work demonstrates the effectiveness and practicability of an artificial lateral line in local sensing for adjacent underwater robots, indicating the potential to improve close-range interaction and cooperation within a group of underwater vehicles through the application of ALLSs in the near future.

Functional diversity of the lateral line system among populations of a native Australian freshwater fish

Fishes use their mechanoreceptive lateral line system to sense nearby objects by detecting slight fluctuations in hydrodynamic motion within their immediate environment. Species of fish from different habitats often display specialisations of the lateral line system, in particular the distribution and abundance of neuromasts, but the lateral line can also exhibit considerable diversity within a species. Here, we provide the first investigation of the lateral line system of the Australian western rainbowfish (Melanotaenia australis), a species that occupies a diversity of freshwater habitats across semi-arid northwest Australia. We collected 155 individuals from eight populations and surveyed each habitat for environmental factors that may contribute to lateral line specialisation, including water flow, predation risk, habitat structure and prey availability. Scanning electron microscopy and fluorescent dye labelling were used to describe the lateral line system in M. australis, and to examine whether the abundance and arrangement of superficial neuromasts (SNs) varied within and among populations. We found that the SNs of M. australis were present in distinct body regions rather than lines. The abundance of SNs within each body region was highly variable, and also differed among populations and individuals. Variation in SN abundance among populations was best explained by habitat structure and the availability of invertebrate prey. Our finding that specific environmental factors explain among-population variation in a key sensory system suggests that the ability to acquire sensory information is specialised for the particular behavioural needs of the animal.

A Review of Artificial Lateral Line in Sensor Fabrication and Bionic Applications for Robot Fish

Lateral line is a system of sense organs that can aid fishes to maneuver in a dark environment. Artificial lateral line (ALL) imitates the structure of lateral line in fishes and provides invaluable means for underwater-sensing technology and robot fish control. This paper reviews ALL, including sensor fabrication and applications to robot fish. The biophysics of lateral line are first introduced to enhance the understanding of lateral line structure and function. The design and fabrication of an ALL sensor on the basis of various sensing principles are then presented. ALL systems are collections of sensors that include carrier and control circuit. Their structure and hydrodynamic detection are reviewed. Finally, further research trends and existing problems of ALL are discussed.

Collective responses of a large mackerel school depend on the size and speed of a robotic fish but not on tail motion

So far, actuated fish models have been used to study animal interactions in small-scale controlled experiments. This study, conducted in a semi-controlled setting, investigates robot⁵ interactions with a large wild-caught marine fish school (∼3000 individuals) in their natural social environment. Two towed fish robots were used to decouple size, tail motion and speed in a series of sea-cage experiments. Using high-resolution imaging sonar and sonar-video blind scoring, we monitored and classified the school's collective reaction towards the fish robots as attraction or avoidance. We found that two key releasers-the size and the speed of the robotic fish-were responsible for triggering either evasive reactions or following responses. At the same time, we found fish reactions to the tail motion to be insignificant. The fish evaded a fast-moving robot even if it was small. However, mackerels following propensity was greater towards a slow small robot. When moving slowly, the larger robot triggered significantly more avoidance responses than a small robot. Our results suggest that the collective responses of a large school exposed to a robotic fish could be manipulated by tuning two principal releasers-size and speed. These results can help to design experimental methods for in situ observations of wild fish schools or to develop underwater robots for guiding and interacting with free-ranging aggregated aquatic organisms.

From Biological Cilia to Artificial Flow Sensors: Biomimetic Soft Polymer Nanosensors with High Sensing Performance

We report the development of a new class of miniature all-polymer flow sensors that closely mimic the intricate morphology of the mechanosensory ciliary bundles in biological hair cells. An artificial ciliary bundle is achieved by fabricating bundled polydimethylsiloxane (PDMS) micro-pillars with graded heights and electrospinning polyvinylidenefluoride (PVDF) piezoelectric nanofiber tip links. The piezoelectric nature of a single nanofiber tip link is confirmed by X-ray diffraction (XRD) and Fourier transform infrared spectroscopy (FTIR). Rheology and nanoindentation experiments are used to ensure that the viscous properties of the hyaluronic acid (HA)-based hydrogel are close to the biological cupula. A dome-shaped HA hydrogel cupula that encapsulates the artificial hair cell bundle is formed through precision drop-casting and swelling processes. Fluid drag force actuates the hydrogel cupula and deflects the micro-pillar bundle, stretching the nanofibers and generating electric charges. Functioning with principles analogous to the hair bundles, the sensors achieve a sensitivity and threshold detection limit of 300 mV/(m/s) and 8 μm/s, respectively. These self-powered, sensitive, flexible, biocompatibale and miniaturized sensors can find extensive applications in navigation and maneuvering of underwater robots, artificial hearing systems, biomedical and microfluidic devices.

Electrolocation of objects in fluids by means of active sensor movements based on discrete EEVs

Weakly electric fish use self-generated electric fields for communication and for active electrolocation. The sensor part of the biological system consists of a vast amount of electroreceptors which are distributed across the skin of the electric fish. Fish utilise changes of their position and body geometry to aid in the extraction of sensory information. Inspired by the biological model, this study looks for a fixed, minimal scanning strategy compiled of active receptor-system movements that allows unique identification of the positions of objects in the vicinity. The localisation method is based on the superposition of numerical extracted contour-rings of rotated and/or linearly shifted EEVs (Solberg et al 2008 Int. J. Rob. Res. 27 529-48), simulated by means of FEM. For the evaluation of a movement sequence, matrices of unique intersection points and respective contrast functions are introduced. The resultant optimal scanning strategy consists of a combination of a linear shift and a rotation of the original EEV.

A bio-inspired real-time capable artificial lateral line system for freestream flow measurements

To enhance today's artificial flow sensing capabilities in aerial and underwater robotics, future robots could be equipped with a large number of miniaturized sensors distributed over the surface to provide high resolution measurement of the surrounding fluid flow. In this work we show a linear array of closely separated bio-inspired micro-electro-mechanical flow sensors whose sensing mechanism is based on a piezoresistive strain-gauge along a stress-driven cantilever beam, mimicking the biological superficial neuromasts found in the lateral line organ of fishes. Aiming to improve state-of-the-art flow sensing capability in autonomously flying and swimming robots, our artificial lateral line system was designed and developed to feature multi-parameter freestream flow measurements which provide information about (1) local flow velocities as measured by the signal amplitudes from the individual cantilevers as well as (2) propagation velocity, (3) linear forward/backward direction along the cantilever beam orientation and (4) periodicity of pulses or pulse trains determined by cross-correlating sensor signals. A real-time capable cross-correlation procedure was developed which makes it possible to extract freestream flow direction and velocity information from flow fluctuations. The computed flow velocities deviate from a commercial system by 0.09 m s(-1) at 0.5 m s(-1) and 0.15 m s(-1) at 1.0 m s(-1) flow velocity for a sampling rate of 240 Hz and a sensor distance of 38 mm. Although experiments were performed in air, the presented flow sensing system can be applied to underwater vehicles as well, once the sensors are embedded in a waterproof micro-electro-mechanical systems package.

Heparan Sulfate Proteoglycans Regulate Fgf Signaling and Cell Polarity during Collective Cell Migration

Collective cell migration is a highly regulated morphogenetic movement during embryonic development and cancer invasion that involves the precise orchestration and integration of cell-autonomous mechanisms and environmental signals. Coordinated lateral line primordium migration is controlled by the regulation of chemokine receptors via compartmentalized Wnt/β-catenin and fibroblast growth factor (Fgf) signaling. Analysis of mutations in two exostosin glycosyltransferase genes (extl3 and ext2) revealed that loss of heparan sulfate (HS) chains results in a failure of collective cell migration due to enhanced Fgf ligand diffusion and loss of Fgf signal transduction. Consequently, Wnt/β-catenin signaling is activated ectopically, resulting in the subsequent loss of the chemokine receptor cxcr7b. Disruption of HS proteoglycan (HSPG) function induces extensive, random filopodia formation, demonstrating that HSPGs are involved in maintaining cell polarity in collectively migrating cells. The HSPGs themselves are regulated by the Wnt/β-catenin and Fgf pathways and thus are integral components of the regulatory network that coordinates collective cell migration with organ specification and morphogenesis.

Pleiotropic effects of a single gene on skeletal development and sensory system patterning in sticklebacks

Background

Adaptation to a new environment can be facilitated by co-inheritance of a suite of phenotypes that are all advantageous in the new habitat. Although experimental evidence demonstrates that multiple phenotypes often map to the same genomic regions, it is challenging to determine whether phenotypes are associated due to pleiotropic effects of a single gene or to multiple tightly linked genes. In the threespine stickleback fish (Gasterosteus aculeatus), multiple phenotypes are associated with a genomic region around the gene Ectodysplasin (Eda), but only the presence of bony lateral plates has been conclusively shown to be caused by Eda.

Results

Here, we ask whether pleiotropy or linkage is responsible for the association between lateral plates and the distribution of the neuromasts of the lateral line. We first identify a strong correlation between plate appearance and changes in the spatial distribution of neuromasts through development. We then use an Eda transgene to induce the formation of ectopic plates in low plated fish, which also results in alterations to neuromast distribution. Our results also show that other loci may modify the effects of Eda on plate formation and neuromast distribution.

Conclusions

Together, these results demonstrate that Eda has pleiotropic effects on at least two phenotypes, highlighting the role of pleiotropy in the genetic basis of adaptation.

Structure and possible functions of constant-frequency calls in Ariopsis seemanni (Osteichthyes, Ariidae)

In the 1970s, Tavolga conducted a series of experiments in which he found behavioral evidence that the vocalizations of the catfish species Ariopsis felis may play a role in a coarse form of echolocation. Based on his findings, he postulated a similar function for the calls of closely related catfish species. Here, we describe the physical characteristics of the predominant call-type of Ariopsis seemanni. In two behavioral experiments, we further explore whether A. seemanni uses these calls for acoustic obstacle detection by testing the hypothesis that the call-emission rate of individual fish should increase when subjects are confronted with novel objects, as it is known from other vertebrate species that use pulse-type signals to actively probe the environment. Audio-video monitoring of the fish under different obstacle conditions did not reveal a systematic increase in the number of emitted calls in the presence of novel objects or in dependence on the proximity between individual fish and different objects. These negative findings in combination with our current understanding of directional hearing in fishes (which is a prerequisite for acoustic obstacle detection) make it highly unlikely that A. seemanni uses its calls for acoustic obstacle detection. We argue that the calls are more likely to play a role in intra- or interspecific communication (e.g. in school formation or predator deterrence) and present results from a preliminary Y-maze experiment that are indicative for a positive phonotaxis of A. seemanni towards the calls of conspecifics.

Flow-relative control of an underwater robot

This paper describes flow-relative and flow-aided navigation of a biomimetic underwater vehicle using an artificial lateral line for flow sensing. Most of the aquatic animals have flow sensing organs, but there are no man-made analogues to those sensors currently in use on underwater vehicles. Here, we show that artificial lateral line sensing can be used for detecting hydrodynamic regimens and for controlling the robot’s motion with respect to the flow. We implement station holding of an underwater vehicle in a steady stream and in the wake of a bluff object. We show that lateral line sensing can provide a speed estimate of an underwater robot thus functioning as a short-term odometry for robot navigation. We also demonstrate navigation with respect to the flow in periodic turbulence and show that controlling the position of the robot in the reduced flow zone in the wake of an object reduces a vehicle’s energy consumption.

Developmental and architectural principles of the lateral-line neural map

The transmission and central representation of sensory cues through the accurate construction of neural maps is essential for animals to react to environmental stimuli. Structural diversity of sensorineural maps along a continuum between discrete- and continuous-map architectures can influence behavior. The mechanosensory lateral line of fishes and amphibians, for example, detects complex hydrodynamics occurring around the animal body. It triggers innate fast escape reactions but also modulates complex navigation behaviors that require constant knowledge about the environment. The aim of this article is to summarize recent work in the zebrafish that has shed light on the development and structure of the lateralis neural map, which is helping to understand how individual sensory modalities generate appropriate behavioral responses to the sensory context.