A motion tracking system for simultaneous recording of rapid locomotion and neural activity from an insect

A terrain treadmill to study animal locomotion through large obstacles

A challenge to understanding locomotion in complex 3-D terrain with large obstacles is to create tools for controlled, systematic experiments. Recent terrain arenas allow observations at small spatiotemporal scales (∼10 body length or cycles). Here, we create a terrain treadmill to enable high-resolution observation of animal locomotion through large obstacles over large spatiotemporal scales. An animal moves through modular obstacles on an inner sphere, while a rigidly-attached, concentric, transparent outer sphere rotates with the opposite velocity via closed-loop feedback to keep the animal atop. During sustained locomotion, a discoid cockroach moved through pillar obstacles for up to 25 minutes (2500 cycles) over 67 m (1500 body lengths). Over 12 trials totaling∼1 hour, the animal was maintained within a radius of 1 body length (4.5 cm) on top of the sphere 90% of the time. The high-resolution observation enables study of diverse locomotor behaviors and quantification of animal-obstacle interaction.

Naturalistic path integration of Cataglyphis desert ants on an air-cushioned lightweight spherical treadmill

Air-cushioned spheres are widely used as treadmills to study behavioural and neurophysiological questions in numerous species. We describe an improved spherical treadmill design that reliably registers the path and walking behaviour of an animal walking on top of the sphere. The simple and robust set-up consists of a very light hollowed styrofoam ball supported by an air stream in a hollow half sphere and can be used indoors and outdoors. Two optical mouse sensors provided with lenses of 4.6 mm focal length detect the motion of the sphere with a temporal resolution of more than 200 frames s^-1 and a spatial resolution of less than 0.2 mm. The treadmill can be used in an open- or closed-loop configuration with respect to yaw of the animal. The tethering allows animals to freely adjust their body posture and in the closed-loop configuration to quickly rotate around their yaw axis with their own moment of inertia. In this account, we present the first evidence of naturalistic homing navigation on a spherical treadmill for two species of Cataglyphis desert ants. We were able to evaluate with good precision the walking speed and angular orientation at any time. During homing the ants showed a significant difference in walking speed between the approach and search phases; moreover, they slowed down significantly as soon as they reached zero vector state, the fictive nest position.

Effective Stimulus Parameters for Directed Locomotion in Madagascar Hissing Cockroach Biobot

Swarms of insects instrumented with wireless electronic backpacks have previously been proposed for potential use in search and rescue operations. Before deploying such biobot swarms, an effective long-term neural-electric stimulus interface must be established, and the locomotion response to various stimuli quantified. To this end, we studied a variety of pulse types (mono- vs. bipolar; voltage- vs. current-controlled) and shapes (amplitude, frequency, duration) to parameters that are most effective for evoking locomotion along a desired path in the Madagascar hissing cockroach (G. portentosa) in response to antennal and cercal stimulation. We identified bipolar, 2 V, 50 Hz, 0.5 s voltage controlled pulses as being optimal for evoking forward motion and turns in the expected contraversive direction without habituation in ≈50% of test subjects, a substantial increase over ≈10% success rates previously reported. Larger amplitudes for voltage (1–4 V) and current (50–150 μA) pulses generally evoked larger forward walking (15.6–25.6 cm; 3.9–5.6 cm/s) but smaller concomitant turning responses (149 to 80.0 deg; 62.8 to 41.2 deg/s). Thus, the radius of curvature of the initial turn-then-run locomotor response (≈10–25 cm) could be controlled in a graded manner by varying the stimulus amplitude. These findings could be used to help optimize stimulus protocols for swarms of cockroach biobots navigating unknown terrain.

FicTrac: a visual method for tracking spherical motion and generating fictive animal paths

Studying how animals interface with a virtual reality can further our understanding of how attention, learning and memory, sensory processing, and navigation are handled by the brain, at both the neurophysiological and behavioural levels. To this end, we have developed a novel vision-based tracking system, FicTrac (Fictive path Tracking software), for estimating the path an animal makes whilst rotating an air-supported sphere using only input from a standard camera and computer vision techniques. We have found that the accuracy and robustness of FicTrac outperforms a low-cost implementation of a standard optical mouse-based approach for generating fictive paths. FicTrac is simple to implement for a wide variety of experimental configurations and, importantly, is fast to execute, enabling real-time sensory feedback for behaving animals. We have used FicTrac to record the behaviour of tethered honeybees, Apis mellifera, whilst presenting visual stimuli in both open-loop and closed-loop experimental paradigms. We found that FicTrac could accurately register the fictive paths of bees as they walked towards bright green vertical bars presented on an LED arena. Using FicTrac, we have demonstrated closed-loop visual fixation in both the honeybee and the fruit fly, Drosophila melanogaster, establishing the flexibility of this system. FicTrac provides the experimenter with a simple yet adaptable system that can be combined with electrophysiological recording techniques to study the neural mechanisms of behaviour in a variety of organisms, including walking vertebrates.

Possibilities offered by implantable miniaturized cuff-electrodes for insect neurophysiology

Recent advances in microsystems technology led to a miniaturization of cuff-electrodes, which suggests these electrodes not just for long-term neuronal recordings in mammalians, but also in medium-sized insects. In this study we investigated the possibilities offered by cuff-electrodes for neuroethology using insects as a model organism. The implantation in the neck of a tropical bushcricket resulted in high quality extracellular nerve recordings of different units responding to various acoustic, vibratory, optical and mechanical stimuli. In addition, multi-unit nerve activity related to leg movements was recorded in insects walking on a trackball. A drawback of bi-polar nerve recordings obtained during tethered flight was overlay of nerve activity with large amplitude muscle potentials. Interestingly, cuff-electrode recordings were robust to withstand walking and flight activity so that good quality nerve recordings were possible even three days after electrode implantation. Recording multi-unit nerve activity in intact insects required an elaborate spike sorting algorithm in order to discriminate neuronal units responding to external stimuli from background activity. In future, a combination of miniaturized cuff-electrodes and light-weight amplifiers equipped with a wireless transmitter will allow the investigation of neuronal processes underlying natural behavior in freely moving insects. By this means cuff-electrodes may contribute to the development of realistic neuronal models simulating neuronal processes underlying natural insect behavior, such like mate choice and predator avoidance.

Flexible split-ring electrode for insect flight biasing using multisite neural stimulation

We describe a flexible multisite microelectrode for insect flight biasing using neural stimulation. The electrode is made of two layers of polyimide (PI) with gold sandwiched in between in a split-ring geometry. The split-ring design in conjunction with the flexibility of the PI allows for a simple insertion process and provides good attachment between the electrode and ventral nerve cord of the insect. Stimulation sites are located at the ends of protruding tips that are circularly distributed inside the split-ring structure. These protruding tips penetrate into the connective tissue surrounding the nerve cord. We have been able to insert the electrode into pupae of the giant sphinx moth Manduca sexta as early as seven days before the adult moth emerges, and we are able to use the multisite electrode to deliver electrical stimuli that evoke multidirectional, graded abdominal motions in both pupae and adult moths. Finally, in loosely tethered flight, we have used stimulation through the flexible microelectrodes to alter the abdominal angle, thus causing the flying moth to deviate to the left or right of its intended path.

Interfacing insect brain for space applications

Insects exhibit remarkable navigation capabilities that current control architectures are still far from successfully mimic and reproduce. In this chapter, we present the results of a study on conceptualizing insect/machine hybrid controllers for improving autonomy of exploratory vehicles. First, the different principally possible levels of interfacing between insect and machine are examined followed by a review of current approaches towards hybridity and enabling technologies. Based on the insights of this activity, we propose a double hybrid control architecture which hinges around the concept of "insect-in-a-cockpit." It integrates both biological/artificial (insect/robot) modules and deliberative/reactive behavior. The basic assumption is that "low-level" tasks are managed by the robot, while the "insect intelligence" is exploited whenever high-level problem solving and decision making is required. Both neural and natural interfacing have been considered to achieve robustness and redundancy of exchanged information.

Tama-kugel: Hardware and software for measuring direction, distance, and velocity of locomotion by insects

We have developed an accurate and inexpensive system for recording the path taken by a moving insect. The system consists of a low-mass ball on which the loosely tethered insect runs, an optical sensor to detect rotation of the ball, and software written in Visual Basic 6.0 that interprets and records the hardware's output. The ball floats on a cushion of air. The optical sensor's output is encoded as changes in x, y coordinates. The software monitors this output continually, and records each new x, y pair and the time at which it occurred. Since the system records only those data that have changed, the output files are compact. In its present form, the system is calibrated to detect changes in the animal's position roughly equivalent to one body length. It can accurately record the details of paths hundreds of meters long. We have applied the system to measure the paths taken by female crickets in response to male calls that differ in their temporal structure.

A Radio-Telemetry System With a Shape Memory Alloy Microelectrode for Neural Recording of Freely Moving Insects

A radio frequency (RF) telemetry system with a shape memory alloy microelectrode was designed and fabricated. The total size and weight are 15 mm x 8 mm and 0.1 g, respectively. Since the telemeter is small and light enough to be loaded on a small animal such as an insect, the system can be used for the neural recording of a freely moving insect. The RF-telemeter can transmit signals by frequency modulation transmission at 80-90 MHz. The transmitted signals can be received up to about 16 meters away from the telemeter with a high signal-to-noise ratio. The neural activity can be detected without attenuation by using an instrumentation amplifier with its input impedance set to 2 Mohms at 1 kHz. The telemeter was loaded on a cockroach and the neural activity during a free-walk was successfully measured through this telemetry system.

The antennal system and cockroach evasive behavior. II. Stimulus identification and localization are separable antennal functions

Cockroaches ( Periplaneta americana) orient their antennae toward moving objects based on visual cues. Presumably, this allows exploration of novel objects by the antennal flagellum. We used videographic and electrophysiological methods to determine if receptors on the flagellum are essential for triggering escape, or if they enable cockroaches to discriminate threatening from non-threatening objects that are encountered. When a flagellum was removed, and replaced with a plastic fiber, deflection of a "prosthetic flagellum" still activated the descending mechanosensory interneurons associated with escape and produced typical escape responses. However, escape was essentially eliminated by constraining the movement of the scape and pedicel at the antennal base. When cockroaches approached and briefly explored the surface of a spider or another cockroach with the flagellum, they produced escape significantly more often in response to subsequent controlled contact from a spider than from a cockroach. This discrimination did not depend on visual or wind-sensory input, but required flagellar palpation of the surface. The crucial sensory cues appear to involve texture rather than surface chemicals. These results indicate that cockroaches acquire basic information on stimulus identity during exploration of surfaces with flagellar receptors, but that basal receptors are triggers for escape behavior.

The antennal system and cockroach evasive behavior. I. Roles for visual and mechanosensory cues in the response

Cockroaches escape from predators by turning and then running. This behavior can be elicited when stimuli deflect one of the rostrally located and highly mobile antennae. We analyzed the behavior of cockroaches, under free-ranging conditions with videography or tethered in a motion tracking system, to determine (1) how antennal positional dynamics influence escape turning, and (2) if visual cues have any influence on antennal mediated escape. The spatial orientation of the long antennal flagellum at the time of tactile stimulation affected the direction of resultant escape turns. However, the sign of flagellar displacement caused by touch stimuli, whether it was deflected medially or laterally for example, did not affect the directionality of turns. Responsiveness to touch stimuli, and escape turn performance, were not altered by blocking vision. However, because cockroaches first orient an antenna toward stimuli entering the peripheral visual field, turn direction can be indirectly influenced by visual input. Finally, when vision was blocked, the run phase of escape responses displayed reduced average velocities and distances traveled. Our results suggest that tactile and visual influences are integrated with previously known wind-sensory mechanisms to achieve multisensory control of the full escape response.

Implanted electrode recordings from a praying mantis auditory interneuron during flying bat attacks

Using an implanted electrode, we recorded the responses from the ultrasound-sensitive mantis interneuron 501-T3 during flying bat attacks in a large flight room where the mantis served as the target. 501-T3 responds to each vocalization emitted with multi-spike bursts when pulse repetition rates (PRRs) are below 55 pulses s–1. As PRR increases and pulse durations fall below 3 ms, 501-T3 ceases burst activity. On average, spike bursts cease 272 ms before contact (when the bat is 73 cm away from the preparation). The timing of cessation of activity in 501-T3 is similar to the latency for the diving portion of the response of the mantid (242 ms). Experiments using vocalizing stationary bats confirm that 501-T3 responds more reliably to longer pulse durations (⩾3 ms) when intensities are below 90 dB pe SPL. The cessation of 501-T3 activity is probably due both to the increasing PRR and to the decreasing pulse duration that occur in the terminal buzz phase of a bat attack. 501-T3 may be actively shut off at high PRRs and/or intensities to protect the interneuron from habituation while the mantis performs an escape response. The cessation of 501-T3 activity is consistent with the lack of a very late ultrasound-mediated evasive response by the mantis. However, cessation of 501-T3 activity may allow a true ‘last-chance’ response to be mediated by other neural systems.

Correspondence of escape-turning behavior with activity of descending mechanosensory interneurons in the cockroach, Periplaneta americana

Two bilaterally paired mechanosensory neurons that respond to antennal touch stimulation recently have been described in the cockroach Periplaneta americana. Here chronic recordings were used to describe the activity of these interneurons in relation to behavior. Parallel intra/extracellular recording experiments showed that both pairs of previously identified descending mechanosensory interneurons (DMIs) were activated after touch stimulation of the antennae and before initiation of escape. On a trial-by-trial basis, the bilateral pattern of their activity was correlated with sensory input and behavior: when one antenna was touched, the contralateral DMI axons displayed impulses earlier and in greater numbers than their ipsilateral homologs; turns were made toward the side with greater DMI activity, i.e., away from the touched antenna. One parameter of DMI activity (the bilateral difference in number of DMI impulses) was correlated with the angular amplitude of turning. In the absence of touch stimulation, unilateral electrical stimulation of a cervical connective via the chronic electrodes produced turning movements similar to natural escape turning and of appropriate directionality. These results support the hypothesis that neural activity in DMIs is involved in the control of antennal touch-evoked escape, and they provide a basis for a model of DMI specification of the direction of escape turning.