Muscular anatomy of the legs of the forward walking crab, Libinia emarginata (Decapoda, Brachyura, Majoidea)

Effects of Cymatocarpus solearis (Trematoda: Brachycoeliidae) on its second intermediate host, the Caribbean spiny lobster Panulirus argus

Many digenean trematodes require three hosts to complete their life cycle. For Cymatocarpus solearis (Brachycoeliidae), the first intermediate host is unknown; the Caribbean spiny lobster Panulirus argus is a second intermediate host, and the loggerhead turtle Caretta caretta, a lobster predator, is the definitive host. Trophically-transmitted parasites may alter the behavior or general condition of intermediate hosts in ways that increase the hosts' rates of consumption by definitive hosts. Here, we examined the effects of infection by C. solearis on P. argus by comparing several physiological and behavioral variables among uninfected lobsters (0 cysts) and lobsters with light (1-10 cysts), moderate (11-30 cysts), and heavy (>30 cysts) infections. Physiological variables were hepatosomatic index, growth rate, hemocyte count, concentration in hemolymph of cholesterol, protein, albumin, glucose, dopamine (DA) and serotonin (5-HT). Behavioral variables included seven components of the escape response (delay to escape, duration of swimming bout, distance traveled in a swimming bout, swim velocity, acceleration, force exerted, and work performed while swimming). There was no relationship between lobster size or sex and number of cysts. Significant differences among the four lobster groups occurred only in concentration of glucose (lower in heavily infected lobsters) and 5-HT (higher in heavily and moderately infected lobsters) in plasma. As changes in 5-HT concentration can modify the host's activity patterns or choice of microhabitat, our results suggest that infection with C. solearis may alter the behavior of spiny lobsters, potentially increasing the likelihood of trophic transmission of the parasite to the definitive host.

Crab-inspired compliant leg design method for adaptive locomotion of a multi-legged robot

Chinese mitten crabhas unique limb structures composed of a hard exoskeleton and flexible muscles. They enable the crab to locomote adaptively and safely on various terrains. In this work, we investigated the limb structures, motion principle, and gaits of the crab using a high-speed camera and a press machine. Then, a novel compliant robot leg design method is proposed, inspired by the crab limb. The leg comprises six hard scleromeres and a flexible thin-wall spring steel sheet (FSSS) mimicking the exoskeleton and muscle. The scleromeres connected one by one with rotational joints are designed with slots. The front end of the FSSS is fixed on the scleromere close to the ground. The rear end crosses the slots and is mounted at the shaft of a linear actuator installed at the rear scleromere. The leg bends and stretches when the actuator pushes and pulls the FSSS, respectively. The kinematic modeling, rigid-flexible coupling dynamic simulations, and leg prototype tests are conducted, which verify the leg design approach. Thirdly, we put forward a multi-legged robot with eight compliant legs and design its gait using the gaits of the crab. Finally, the robot's performance is evaluated, including the capabilities of walking on different terrains at adjustable speeds and body heights, traversing low channels, walking on slopes, and carrying loads. The results prove that the single-motor-actuated compliant legs and their dynamic coupling with the rigid robot body frame can enable them to have the ground clearance ability and realize the adaptive walking of the robot. The leg design methodology can be used to design multi-legged robots with the merits of compact, light, low mechanical complexity, high safety, and easy to control, for many applications, such as environmental monitoring, search and rescue.

Why "swimming crabs" are able to swim - The importance of the axial skeleton: A comparison between the "swimming crab" Liocarcinus depurator and two other brachyuran crabs (Cancer pagurus, Carcinus maenas) using μCT and 3D-reconstruction

Most brachyuran crabs use their pereiopods as walking legs, but there are also a number of species, in which the last (5^th) pair of pereiopods (P5) are specialized to permit a unique mode of swimming. One of these P5-swimming crabs is Liocarcinus depurator, commonly found on European shores. We present 3-dimensional μCT-based reconstructions of the axial skeletons and 5^th pereiopods (P5), including the intrinsic and extrinsic musculature of the P5, of L. depurator and of two other non-swimming brachyuran crabs, Cancer pagurus and Carcinus maenas. In Liocarcinus, we also present a reconstruction of the 4^th pereiopod (P4) together with its intrinsic musculature. We further use 3-dimensional prints of the reconstructed P5 coxa and basi-ischium of L. depurator as well as thoracal parts near the thoracal-coxal arthrodial cavity to build a model which can simulate the effects of muscular activity based on muscle insertions in our 3D reconstruction and under various simulated tensile vectors. This enables us to test muscular functions that had previously been speculated upon. Reconstructed morphological structures are compared to find differences that may explain why of the three species, only L. depurator is able to swim. Significant differences between Liocarcinus and the non-swimmers Cancer and Carcinus were found in the shape of the axial skeleton, external P5 morphology and the dimensions and origin sites of the extrinsic P5 musculature, but not in the intrinsic musculature of the P5. Inclination angle measurements of P1 thoracal-coxal articulation axes against P5 axes showed that in Cancer and Carcinus, angles in the longitudinal plane were smaller than in the lateral one, whereas in Liocarcinus, they were greater. Inclination angles in the longitudinal plane were also much greater in Liocarcinus than in Cancer and Carcinus. 3D print muscular activity simulation showed that muscles inserting at the basi-ischium, which are often referred to as "levator" or "depressor" muscles, may actually also function as promotors or remotors, depending on the tensile vector within which the muscle is acting.

Analysis of Neuronal Spike Trains, Deconstructed

As information flows through the brain, neuronal firing progresses from encoding the world as sensed by the animal to driving the motor output of subsequent behavior. One of the more tractable goals of quantitative neuroscience is to develop predictive models that relate the sensory or motor streams with neuronal firing. Here we review and contrast analytical tools used to accomplish this task. We focus on classes of models in which the external variable is compared with one or more feature vectors to extract a low-dimensional representation, the history of spiking and other variables are potentially incorporated, and these factors are nonlinearly transformed to predict the occurrences of spikes. We illustrate these techniques in application to datasets of different degrees of complexity. In particular, we address the fitting of models in the presence of strong correlations in the external variable, as occurs in natural sensory stimuli and in movement. Spectral correlation between predicted and measured spike trains is introduced to contrast the relative success of different methods.

Setal morphology of grooming appendages in the spider crab, Libinia dubia

In crustaceans, grooming behaviors decrease fouling by removing debris from the exoskeleton and body structures; these grooming behaviors improve respiration, sensory reception, movement, and reproduction. Setal morphologies of the following grooming appendages in the decapod crustacean spider crab Libinia dubia are examined including the first pereiopod (cheliped), first, second, and third maxillipeds (mouthparts), and first, second, and third epipods (internal extensions of the maxillipeds). The objective of this study was to describe setal morphologies of these grooming appendages and to elucidate possible functions and efficiencies of setal structures. Spider crabs are hypothesized to have elaborate setal morphologies, mainly for cleaning specialized decorating setae as well as for cleaning inside the gill chamber, which has a higher likelihood of becoming fouled compared to other decapods such as shrimps. Fourteen setal types are documented and included several varieties of serrate and pappose setae as well as simple setae, cuspidate setae, papposerrate setae, and canoe setae. Maxillipodal epipods in the gill chamber are free of fouling, suggesting the setation on the third maxilliped protopod has an efficient functional morphology in removing debris before water enters the gill chamber. Serrate setae may function for detangling and separating structures whereas pappose setae may function for fine detailed grooming. The cheliped is the only grooming appendage that can reach decorating setae and it contains only pappose setae; thus decorating setae is not likely groomed in a manner that would greatly decrease fouling. J. Morphol. 277:1045-1061, 2016. © 2016 Wiley Periodicals, Inc.

The evolutionary transition to sideways-walking gaits in brachyurans was accompanied by a reduction in the number of motor neurons innervating proximal leg musculature

The forwards-walking portly crab, Libinia emarginata is an ancient brachyuran. Its phylogenetic position and behavioral repertoire make it an excellent candidate to reveal the adaptations, which were required for brachyuran crabs to complete their transition to sideways-walking from their forwards-walking ancestors. Previously we showed that in common with other forwards-walking (but distantly related) crustaceans, L. emarginata relies more heavily on its more numerous proximal musculature to propel itself forward than its sideways-walking closer relatives. We investigated if the proximal musculature of L. emarginata is innervated by a greater number of motor neurons than that of sideways-walking brachyurans. We found the distal musculature of spider crabs is innervated by a highly conserved number of motor neurons. However, innervation of its proximal musculature is more numerous than in closely-related (sideways-walking) species, resembling in number and morphology those described for forwards-walking crustaceans. We propose that transition from forward- to sideways-walking in crustaceans involved a decreased role for the proximal leg in favor of the more distal merus-carpus joint.

Kinematics of walking in the hermit crab, Pagurus pollicarus

Hermit crabs are decapod crustaceans that have adapted to life in gastropod shells. Among their adaptations are modifications to their thoracic appendages or pereopods. The 4th and 5th pairs are adapted for shell support; walking is performed with the 2nd and 3rd pereopods, with an alternation of diagonal pairs. During stance, the walking legs are rotated backwards in the pitch plane. Two patterns of walking were studied to compare them with walking patterns described for other decapods, a lateral gait, similar to that in many brachyurans, and a forward gait resembling macruran walking. Video sequences of free walking and restrained animals were used to obtain leg segment positions from which joint angles were calculated. Leading legs in a lateral walk generated a power stroke by flexion of MC and PD joints; CB angles often did not change during slow walks. Trailing legs exhibited extension of MC and PD with a slight levation of CB. The two joints, B/IM and CP, are aligned at 90° angles to CB, MC and PD, moving dorso-anteriorly during swing and ventro-posteriorly during stance. A forward step was more complex; during swing the leg was rotated forward (yaw) and vertically (pitch), due to the action of TC. At the beginning of stance, TC started to rotate posteriorly and laterally, CB was depressed, and MC flexed. As stance progressed and the leg was directed laterally, PD and MC extended, so that at the end of stance the dactyl tip was quite posterior. During walks of the animal out of its shell, the legs were extended more anterior-laterally and the animal often toppled over, indicating that during walking in a shell its weight stabilized the animal. An open chain kinematic model in which each segment was approximated as a rectangular solid, the dimensions of which were derived from measurements on animals, was developed to estimate the CM of the animal under different load conditions. CM was normally quite anterior; removal of the chelipeds shifted it caudally. Application of forces simulating the weight of the shell on the 5th pereopods moved CM just anterior to the thoracic-abdominal junction. However, lateral and vertical coordinates were not altered under these different load conditions. The interaction of the shell aperture with proximal leg joints and with the CM indicates that the oblique angles of the legs, due primarily to the rotation of the TC joints, is an adaptation that confers stability during walking.