The decoding of electrosensory systems

Sensorimotor adaptation to destabilizing dynamics in weakly electric fish

Humans and other animals can readily learn to compensate for changes in the dynamics of movement. Such changes can result from an injury or changes in the weight of carried objects. These changes in dynamics can lead not only to reduced performance but also to dramatic instabilities. We evaluated the impacts of compensatory changes in control policies in relation to stability and robustness in Eigenmannia virescens, a species of weakly electric fish. We discovered that these fish retune their sensorimotor control system in response to experimentally generated destabilizing dynamics. Specifically, we used an augmented reality system to manipulate sensory feedback during an image stabilization task in which a fish maintained its position within a refuge. The augmented reality system measured the fish's movements in real time. These movements were passed through a high-pass filter and multiplied by a gain factor before being fed back to the refuge motion. We adjusted the gain factor to gradually destabilize the fish's sensorimotor loop. The fish retuned their sensorimotor control system to compensate for the experimentally induced destabilizing dynamics. This retuning was partially maintained when the augmented reality feedback was abruptly removed. The compensatory changes in sensorimotor control improved tracking performance as well as control-theoretic measures of robustness, including reduced sensitivity to disturbances and improved phase margins.

Collective sensing in electric fish

A number of organisms, including dolphins, bats and electric fish, possess sophisticated active sensory systems that use self-generated signals (for example, acoustic or electrical emissions) to probe the environment1,2. Studies of active sensing in social groups have typically focused on strategies for minimizing interference from conspecific emissions2-4. However, it is well known from engineering that multiple spatially distributed emitters and receivers can greatly enhance environmental sensing (for example, multistatic radar and sonar)5-8. Here we provide evidence from modelling, neural recordings and behavioural experiments that the African weakly electric fish Gnathonemus petersii utilizes the electrical pulses of conspecifics to extend its electrolocation range, discriminate objects and increase information transmission. These results provide evidence for a new, collective mode of active sensing in which individual perception is enhanced by the energy emissions of nearby group members.

Collective Sensing in Electric Fish

A number of organisms, including dolphins, bats, and electric fish, possess sophisticated active sensory systems that use self-generated signals (e.g. acoustic or electrical emissions) to probe the environment1,2. Studies of active sensing in social groups have typically focused on strategies for minimizing interference from conspecific emissions2-4. However, it is well-known from engineering that multiple spatially distributed emitters and receivers can greatly enhance environmental sensing (e.g. multistatic radar and sonar)5-8. Here we provide evidence from modeling, neural recordings, and behavioral experiments that the African weakly electric fish Gnathonemus petersii utilizes the electrical pulses of conspecifics to extend electrolocation range, discriminate objects, and increase information transmission. These results suggest a novel, collective mode of active sensing in which individual perception is enhanced by the energy emissions of nearby group members.

Communication with self, friends and foes in active-sensing animals

Animals that rely on electrolocation and echolocation for navigation and prey detection benefit from sensory systems that can operate in the dark, allowing them to exploit sensory niches with few competitors. Active sensing has been characterized as a highly specialized form of communication, whereby an echolocating or electrolocating animal serves as both the sender and receiver of sensory information. This characterization inspires a framework to explore the functions of sensory channels that communicate information with the self and with others. Overlapping communication functions create challenges for signal privacy and fidelity by leaving active-sensing animals vulnerable to eavesdropping, jamming and masking. Here, we present an overview of active-sensing systems used by weakly electric fish, bats and odontocetes, and consider their susceptibility to heterospecific and conspecific jamming signals and eavesdropping. Susceptibility to interference from signals produced by both conspecifics and prey animals reduces the fidelity of electrolocation and echolocation for prey capture and foraging. Likewise, active-sensing signals may be eavesdropped, increasing the risk of alerting prey to the threat of predation or the risk of predation to the sender, or drawing competition to productive foraging sites. The evolutionary success of electrolocating and echolocating animals suggests that they effectively counter the costs of active sensing through rich and diverse adaptive behaviors that allow them to mitigate the effects of competition for signal space and the exploitation of their signals.

High-resolution behavioral mapping of electric fishes in Amazonian habitats

The study of animal behavior has been revolutionized by sophisticated methodologies that identify and track individuals in video recordings. Video recording of behavior, however, is challenging for many species and habitats including fishes that live in turbid water. Here we present a methodology for identifying and localizing weakly electric fishes on the centimeter scale with subsecond temporal resolution based solely on the electric signals generated by each individual. These signals are recorded with a grid of electrodes and analyzed using a two-part algorithm that identifies the signals from each individual fish and then estimates the position and orientation of each fish using Bayesian inference. Interestingly, because this system involves eavesdropping on electrocommunication signals, it permits monitoring of complex social and physical interactions in the wild. This approach has potential for large-scale non-invasive monitoring of aquatic habitats in the Amazon basin and other tropical freshwater systems.

Feedback control as a framework for understanding tradeoffs in biology

Control theory arose from a need to control synthetic systems. From regulating steam engines to tuning radios to devices capable of autonomous movement, it provided a formal mathematical basis for understanding the role of feedback in the stability (or change) of dynamical systems. It provides a framework for understanding any system with regulation via feedback, including biological ones such as regulatory gene networks, cellular metabolic systems, sensorimotor dynamics of moving animals, and even ecological or evolutionary dynamics of organisms and populations. Here, we focus on four case studies of the sensorimotor dynamics of animals, each of which involves the application of principles from control theory to probe stability and feedback in an organism's response to perturbations. We use examples from aquatic (two behaviors performed by electric fish), terrestrial (following of walls by cockroaches), and aerial environments (flight control by moths) to highlight how one can use control theory to understand the way feedback mechanisms interact with the physical dynamics of animals to determine their stability and response to sensory inputs and perturbations. Each case study is cast as a control problem with sensory input, neural processing, and motor dynamics, the output of which feeds back to the sensory inputs. Collectively, the interaction of these systems in a closed loop determines the behavior of the entire system.

Perception and coding of envelopes in weakly electric fishes

Natural sensory stimuli have a rich spatiotemporal structure and can often be characterized as a high frequency signal that is independently modulated at lower frequencies. This lower frequency modulation is known as the envelope. Envelopes are commonly found in a variety of sensory signals, such as contrast modulations of visual stimuli and amplitude modulations of auditory stimuli. While psychophysical studies have shown that envelopes can carry information that is essential for perception, how envelope information is processed in the brain is poorly understood. Here we review the behavioral salience and neural mechanisms for the processing of envelopes in the electrosensory system of wave-type gymnotiform weakly electric fishes. These fish can generate envelope signals through movement, interactions of their electric fields in social groups or communication signals. The envelopes that result from the first two behavioral contexts differ in their frequency content, with movement envelopes typically being of lower frequency. Recent behavioral evidence has shown that weakly electric fish respond in robust and stereotypical ways to social envelopes to increase the envelope frequency. Finally, neurophysiological results show how envelopes are processed by peripheral and central electrosensory neurons. Peripheral electrosensory neurons respond to both stimulus and envelope signals. Neurons in the primary hindbrain recipient of these afferents, the electrosensory lateral line lobe (ELL), exhibit heterogeneities in their responses to stimulus and envelope signals. Complete segregation of stimulus and envelope information is achieved in neurons in the target of ELL efferents, the midbrain torus semicircularis (Ts).

Statistics of the electrosensory input in the freely swimming weakly electric fish Apteronotus leptorhynchus

The neural computations underlying sensory-guided behaviors can best be understood in view of the sensory stimuli to be processed under natural conditions. This input is often actively shaped by the movements of the animal and its sensory receptors. Little is known about natural sensory scene statistics taking into account the concomitant movement of sensory receptors in freely moving animals. South American weakly electric fish use a self-generated quasi-sinusoidal electric field for electrolocation and electrocommunication. Thousands of cutaneous electroreceptors detect changes in the transdermal potential (TDP) as the fish interact with conspecifics and the environment. Despite substantial knowledge about the circuitry and physiology of the electrosensory system, the statistical properties of the electrosensory input evoked by natural swimming movements have never been measured directly. Using underwater wireless telemetry, we recorded the TDP of Apteronotus leptorhynchus as they swam freely by themselves and during interaction with a conspecific. Swimming movements caused low-frequency TDP amplitude modulations (AMs). Interacting with a conspecific caused additional AMs around the difference frequency of their electric fields, with the amplitude of the AMs (envelope) varying at low frequencies due to mutual movements. Both AMs and envelopes showed a power-law relationship with frequency, indicating spectral scale invariance. Combining a computational model of the electric field with video tracking of movements, we show that specific swimming patterns cause characteristic spatiotemporal sensory input correlations that contain information that may be used by the brain to guide behavior.

Sensory flow shaped by active sensing: sensorimotor strategies in electric fish

Goal-directed behavior in most cases is composed of a sequential order of elementary motor patterns shaped by sensorimotor contingencies. The sensory information acquired thus is structured in both space and time. Here we review the role of motion during the generation of sensory flow focusing on how animals actively shape information by behavioral strategies. We use the well-studied examples of vision in insects and echolocation in bats to describe commonalities of sensory-related behavioral strategies across sensory systems, and evaluate what is currently known about comparable active sensing strategies in electroreception of electric fish. In this sensory system the sensors are dispersed across the animal's body and the carrier source emitting energy used for sensing, the electric organ, is moved while the animal moves. Thus ego-motions strongly influence sensory dynamics. We present, for the first time, data of electric flow during natural probing behavior in Gnathonemus petersii (Mormyridae), which provide evidence for this influence. These data reveal a complex interdependency between the physical input to the receptors and the animal's movements, posture and objects in its environment. Although research on spatiotemporal dynamics in electrolocation is still in its infancy, the emerging field of dynamical sensory systems analysis in electric fish is a promising approach to the study of the link between movement and acquisition of sensory information.

Closed-loop stabilization of the jamming avoidance response reveals its locally unstable and globally nonlinear dynamics

The jamming avoidance response, or JAR, in the weakly electric fish has been analyzed at all levels of organization, from whole-organism behavior down to specific ion channels. Nevertheless, a parsimonious description of the JAR behavior in terms of a dynamical system model has not been achieved at least in part due to the fact that 'avoidance' behaviors are both intrinsically unstable and nonlinear. We overcame the instability of the JAR in Eigenmannia virescens by closing a feedback loop around the behavioral response of the animal. Specifically, the instantaneous frequency of a jamming stimulus was tied to the fish's own electrogenic frequency by a feedback law. Without feedback, the fish's own frequency diverges from the stimulus frequency, but appropriate feedback stabilizes the behavior. After stabilizing the system, we measured the responses in the fish's instantaneous frequency to various stimuli. A delayed first-order linear system model fit the behavior near the equilibrium. Coherence to white noise stimuli together with quantitative agreement across stimulus types supported this local linear model. Next, we examined the intrinsic nonlinearity of the behavior using clamped-frequency-difference experiments to extend the model beyond the neighborhood of the equilibrium. The resulting nonlinear model is composed of competing motor return and sensory escape terms. The model reproduces responses to step and ramp changes in the difference frequency (dF)and predicts a 'snap-through' bifurcation as a function of dF that we confirmed experimentally.

Kinematics of the ribbon fin in hovering and swimming of the electric ghost knifefish

Weakly electric knifefish are exceptionally maneuverable swimmers. In prior work, we have shown that they are able to move their entire body omnidirectionally so that they can rapidly reach prey up to several centimeters away. Consequently, in addition to being a focus of efforts to understand the neural basis of sensory signal processing in vertebrates, knifefish are increasingly the subject of biomechanical analysis to understand the coupling of signal acquisition and biomechanics. Here, we focus on a key subset of the knifefish's omnidirectional mechanical abilities: hovering in place, and swimming forward at variable speed. Using high speed video and a markerless motion capture system to capture fin position, we show that hovering is achieved by generating two traveling waves, one from the caudal edge of the fin, and one from the rostral edge, moving toward each other. These two traveling waves overlap at a nodal point near the center of the fin, cancelling fore-aft propulsion. During forward swimming at low velocities, the caudal region of the fin continues to have counter-propagating waves, directly retarding forward movement. The gait transition from hovering to forward swimming is accompanied by a shift in the nodal point toward the caudal end of the fin. While frequency varies significantly to increase speed at low velocities, beyond about one body length per second, the frequency stays near 10~Hz, and amplitude modulation becomes more prominent despite its higher energetic costs. A coupled central pattern generator model is able to reproduce qualitative features of fin motion and suggest hypotheses regarding the fin's neural control.

We're the Same... but Different: Addressing Academic Divides in the Study of Brain and Behavior

How the brain mediates behavior is a question relevant to a broad range of disciplines including evolutionary biology, basic neuroscience, psychiatry, and population health. Experiments in animals have traditionally used two distinct approaches to explore brain–behavior relationships; one uses naturally existing behavioral models while the other focuses on the creation and investigation of medically oriented models using existing laboratory-amenable organisms. Scientists using the first approach are often referred to and self identify as “neuroethologists,” while the second category spans a variety of other sub-disciplines but is often referred to broadly as “behavioral neuroscience.” Despite an overall common scientific goal – the elucidation of the neural basis of behavior – members of these two groups often come from different scientific lineages, seek different sources of funding, and make their homes in different departments or colleges. The separation of these groups is also fostered by their attendance at different scientific conferences and publication records that reflect different journal preferences. Bridging this divide represents an opportunity to explore previously unanswerable questions and foster rapid scientific advances. This article explores the reasons for this divide and proposes measures that could help increase technology transfer and communication between these groups, potentially overcoming both physical and ideological gaps.

Subthreshold membrane conductances enhance directional selectivity in vertebrate sensory neurons

Directional selectivity, in which neurons respond preferentially to one "preferred" direction of movement over the opposite "null" direction, is a critical computation that is found in the central nervous systems of many animals. Such responses are generated using two mechanisms: spatiotemporal convergence via pathways that differ in the timing of information from different locations on the receptor array and the nonlinear integration of this information. Previous studies have showed that various mechanisms may act as nonlinear integrators by suppressing the response in the null direction. Here we show, through a combination of mathematical modeling and in vivo intracellular recordings, that subthreshold membrane conductances can act as a nonlinear integrator by increasing the response in the preferred direction of motion only, thereby enhancing the directional bias. Such subthreshold conductances are ubiquitous in the CNS and therefore may be used in a wide array of computations that involve the enhancement of an existing bias arising from differential spatiotemporal filtering.

Effects of restraint and immobilization on electrosensory behaviors of weakly electric fish

Weakly electric fishes have been an important model system in behavioral neuroscience for more than 40 years. These fishes use a specialized electric organ to produce an electric field that is typically below 1 volt/cm and serves in many behaviors including social communication and prey detection. Electrical behaviors are easy to study because inexpensive and widely available tools enable continuous monitoring of the electric field of individual or groups of interacting fish. Weakly electric fish have been routinely used in tightly controlled neurophysiological experiments in which the animal is immobilized using neuromuscular blockers (e.g., curare). Although experiments that involve immobilization are generally discouraged because it eliminates movement-based behavioral signs of pain and distress, many observable electrosensory behaviors in fish persist when the animal is immobilized. Weakly electric fish thus offer a unique opportunity to assess the effects of immobilization on behaviors including those that may reflect pain and distress. We investigated the effects of both immobilization and restraint on a variety of electrosensory behaviors in four species of weakly electric fishes and observed minor effects that were not consistent between the species tested or between particular behaviors. In general, we observed small increases and decreases in response magnitude to particular electrosensory stimuli. Stressful events such as asphyxiation and handling, however, resulted in significant changes in the fishes electrosensory behaviors. Signs of pain and distress include marked reductions in responses to electrosensory stimuli, inconsistent responses, and reductions in or complete cessation of the autogenous electric field.

Differences in the time course of short-term depression across receptive fields are correlated with directional selectivity in electrosensory neurons

Directional selectivity, in which neurons respond preferentially to one direction of movement ("preferred") over the opposite direction ("null"), is a critical computation that is found in the nervous systems of many animals. Here we show the first experimental evidence for a correlation between differences in short-term depression and direction-selective responses to moving objects. As predicted by quantitative models, the observed differences in the time courses of short-term depression at different locations within receptive fields were correlated with measures of direction selectivity in awake, behaving weakly electric fish (Apteronotus leptorhynchus). Because short-term depression is ubiquitous in the central nervous systems of vertebrate animals, it may be a common mechanism used for the generation of directional selectivity and other spatiotemporal computations.

Temporal processing across multiple topographic maps in the electrosensory system

Multiple topographic representations of sensory space are common in the nervous system and presumably allow organisms to separately process particular features of incoming sensory stimuli that vary widely in their attributes. We compared the response properties of sensory neurons within three maps of the body surface that are arranged strictly in parallel to two classes of stimuli that mimic prey and conspecifics, respectively. We used information-theoretic approaches and measures of phase locking to quantify neuronal responses. Our results show that frequency tuning in one of the three maps does not depend on stimulus class. This map acts as a low-pass filter under both conditions. A previously described stimulus-class-dependent switch in frequency tuning is shown to occur in the other two maps. Only a fraction of the information encoded by all neurons could be recovered through a linear decoder. Particularly striking were low-pass neurons the information of which in the high-frequency range could not be decoded linearly. We then explored whether intrinsic cellular mechanisms could partially account for the differences in frequency tuning across maps. Injection of a Ca2+ chelator had no effect in the map with low-pass characteristics. However, injection of the same Ca2+ chelator in the other two maps switched the tuning of neurons from band-pass/high-pass to low-pass. These results show that Ca2+-dependent processes play an important part in determining the functional roles of different sensory maps and thus shed light on the evolution of this important feature of the vertebrate brain.

From stimulus estimation to combination sensitivity: encoding and processing of amplitude and timing information in parallel, convergent sensory pathways

Information theoretical approaches to sensory processing in electric fish have focused on the encoding of amplitude modulations in a single sensory pathway in the South American gymnotiforms. To assess the generality of these studies, we investigated the encoding of amplitude and phase modulations in the distantly related African fish Gymnarchus. In both the amplitude- and time-coding pathways, primary afferents accurately estimated the time course of random modulations whereas hindbrain neurons extracted information about specific stimulus features. Despite exhibiting a clear preference for encoding amplitude or phase, afferents and hindbrain neurons could encode significant amounts of modulation of their nonpreferred attribute. Although no increase in feature extraction performance occurred where the two pathways converge in the midbrain, neurons there were increasingly sensitive to simultaneous modulation of both attributes. A shift from accurate stimulus estimation in the periphery to increasingly sparse representations of specific features appears to be a general strategy in electrosensory processing.

Phantoms in the brain: ambiguous representations of stimulus amplitude and timing in weakly electric fish

In wave-type weakly electric fish, two distinct types of primary afferent fibers are specialized for separately encoding modulations in the amplitude and phase (timing) of electrosensory stimuli. Time-coding afferents phase lock to periodic stimuli and respond to changes in stimulus phase with shifts in spike timing. Amplitude-coding afferents fire sporadically to periodic stimuli. Their probability of firing in a given cycle, and therefore their firing rate, is proportional to stimulus amplitude. However, the spike times of time-coding afferents are also affected by changes in amplitude; similarly, the firing rates of amplitude-coding afferents are also affected by changes in phase. Because identical changes in the activity of an individual primary afferent can be caused by modulations in either the amplitude or phase of stimuli, there is ambiguity regarding the information content of primary afferent responses that can result in 'phantom' modulations not present in an actual stimulus. Central electrosensory neurons in the hindbrain and midbrain respond to these phantom modulations. Phantom modulations can also elicit behavioral responses, indicating that ambiguity in the encoding of amplitude and timing information ultimately distorts electrosensory perception. A lack of independence in the encoding of multiple stimulus attributes can therefore result in perceptual illusions. Similar effects may occur in other sensory systems as well. In particular, the vertebrate auditory system is thought to be phylogenetically related to the electrosensory system and it encodes information about amplitude and timing in similar ways. It has been well established that pitch perception and loudness perception are both affected by the frequency and intensity of sounds, raising the intriguing possibility that auditory perception may also be affected by ambiguity in the encoding of sound amplitude and timing.

Synaptic plasticity can produce and enhance direction selectivity

The discrimination of the direction of movement of sensory images is critical to the control of many animal behaviors. We propose a parsimonious model of motion processing that generates direction selective responses using short-term synaptic depression and can reproduce salient features of direction selectivity found in a population of neurons in the midbrain of the weakly electric fish Eigenmannia virescens. The model achieves direction selectivity with an elementary Reichardt motion detector: information from spatially separated receptive fields converges onto a neuron via dynamically different pathways. In the model, these differences arise from convergence of information through distinct synapses that either exhibit or do not exhibit short-term synaptic depression—short-term depression produces phase-advances relative to nondepressing synapses. Short-term depression is modeled using two state-variables, a fast process with a time constant on the order of tens to hundreds of milliseconds, and a slow process with a time constant on the order of seconds to tens of seconds. These processes correspond to naturally occurring time constants observed at synapses that exhibit short-term depression. Inclusion of the fast process is sufficient for the generation of temporal disparities that are necessary for direction selectivity in the elementary Reichardt circuit. The addition of the slow process can enhance direction selectivity over time for stimuli that are sustained for periods of seconds or more. Transient (i.e., short-duration) stimuli do not evoke the slow process and therefore do not elicit enhanced direction selectivity. The addition of a sustained global, synchronous oscillation in the gamma frequency range can, however, drive the slow process and enhance direction selectivity to transient stimuli. This enhancement effect does not, however, occur for all combinations of model parameters. The ratio of depressing and nondepressing synapses determines the effects of the addition of the global synchronous oscillation on direction selectivity. These ingredients, short-term depression, spatial convergence, and gamma-band oscillations, are ubiquitous in sensory systems and may be used in Reichardt-style circuits for the generation and enhancement of a variety of biologically relevant spatiotemporal computations.

Short-term synaptic plasticity is ubiquitous in brain circuits, but its function in sensorimotor processing remains unclear. We propose a parsimonious model of motion processing using short-term depression to produce directionally selective responses. In the model circuit, information from two spatially separated receptive fields is combined after being asymmetrically processed by synapses that either exhibit short-term synaptic depression or do not. Motion in a preferred direction leads to a constructive interaction between the two channels; motion in the opposite direction does not. The model represents short-term synaptic depression as two processes with distinct time constants. The faster process alone suffices to generate direction selectivity in the circuit. The slow process, in contrast, can enhance direction selectivity to sustained stimuli. Therefore, the slow process mediates a form of attentional shift from alert, where the neuron responds more vigorously, to discriminating, where the neuron responds more selectively with fewer spikes. This explains a previously observed enhancement of direction selectivity in weakly electric fish in the presence of global synchronous gamma-band oscillations. These findings suggest a mechanistic connection between gamma-band oscillations and attention.

Differential distribution of SK channel subtypes in the brain of the weakly electric fish Apteronotus leptorhynchus

Calcium signals in vertebrate neurons can induce hyperpolarizing membrane responses through the activation of Ca(2+)-activated potassium channels. Of these, small conductance (SK) channels regulate neuronal responses through the generation of the medium after-hyperpolarization (mAHP). We have previously shown that an SK channel (AptSK2) contributes to signal processing in the electrosensory system of Apteronotus leptorhynchus. It was shown that for pyramidal neurons in the electrosensory lateral line lobe (ELL), AptSK2 expression selectively decreases responses to low-frequency signals. The localization of all the SK subunits throughout the brain of Apteronotus then became of substantial interest. We have now cloned two additional SK channel subunits from Apteronotus and determined the expression patterns of all three AptSK subunits throughout the brain. In situ hybridization experiments have revealed that, as in mammalian systems, the AptSK1 and 2 channels showed a partially overlapping expression pattern, whereas the AptSK3 channel was expressed in different brain areas. The AptSK1 and 2 channels were the primary subunits found in the major electrosensory processing areas. Immunohistochemistry further revealed distinct compartmentalization of the AptSK1 and 2 channels in the ELL. AptSK1 was localized to the apical dendrites of pyramidal neurons, whereas AptSK2 channels are primarily somatic. The distinct expression patterns of all three AptSK channels may reflect subtype-specific contributions to neuronal function, and the high homology between subtypes from a number of species suggests that the functional roles for each channel subtype are conserved from early vertebrate evolution.

The effect of middle temporal spike phase on sensory encoding and correlates with behavior during a motion-detection task

Previous studies have shown that sensory neurons that are the most informative of the stimulus tend to be the best correlated with the subject's perceptual decision. We wanted to know whether this relationship might also apply to short time segments of a neuron's response. We asked whether spikes that conveyed more information about a motion stimulus were also more tightly linked to the perceptual behavior. We examined single-neuron activity in middle temporal (MT) area while monkeys performed a motion-detection task. Because of a slow stimulus update (every 27 ms), activity in many MT neurons was entrained and phase-locked to the stimulus. These stimulus-entrained neuronal oscillations allowed us to separate spikes based on phase. We observed a large amount of variability in how spikes at different phases of the oscillation encoded the stimulus, as revealed by the spike-triggered average of the motion. Spikes during certain phases of the cycle were much more informative about the presence of coherent motion than others. Importantly, we found that the phases that were the most informative about the motion stimulus were also more correlated with the behavioral performance and reaction time of the animal. Our results suggest that the relationship between a neuron's spikes, the stimulus, and behavior can vary on a time scale of tens of milliseconds.

Population coding by electrosensory neurons

Sensory stimuli typically activate many receptors at once and therefore should lead to increases in correlated activity among central neurons. Such correlated activity could be a critical feature in the encoding and decoding of information in central circuits. Here we characterize correlated activity in response to two biologically relevant classes of sensory stimuli in the primary electrosensory nuclei, the electrosensory lateral line lobe, of the weakly electric fish Apteronotus leptorhynchus. Our results show that these neurons can display significant correlations in their baseline activities that depend on the amount of receptive field overlap. A detailed analysis of spike trains revealed that correlated activity resulted predominantly from a tendency to fire synchronous or anti-synchronous bursts of spikes. We also explored how different stimulation protocols affected correlated activity: while prey-like stimuli increased correlated activity, conspecific-like stimuli decreased correlated activity. We also computed the correlations between the variabilities of each neuron to repeated presentations of the same stimulus (noise correlations) and found lower amounts of noise correlation for communication stimuli. Therefore the decrease in correlated activity seen with communication stimuli is caused at least in part by reduced noise correlations. This differential modulation in correlated activity occurred because of changes in burst firing at the individual neuron level. Our results show that different categories of behaviorally relevant input will differentially affect correlated activity. In particular, we show that the number of correlated bursts within a given time window could be used by postsynaptic neurons to distinguish between both stimulus categories.

Effect of synaptic plasticity on sensory coding and steady-state filtering properties in the electric sense

Our modeling study examines short-term plasticity at the synapse between afferents from electroreceptors and pyramidal cells in the electrosensory lateral lobe (ELL) of the weakly electric fish Apteronotus leptorhynchus. It focusses on steady-state filtering and coherence-based coding properties. While developed for electroreception, our study exposes general functional features for different mixtures of depression and facilitation. Our computational model, constrained by the available in vivo and in vitro data, consists of a synapse onto a deterministic leaky integrate-and-fire (LIF) neuron. The synapse is either depressing (D), facilitating (F) or both (FD), and is driven by a sinusoidally or randomly modulated Poisson process. Due to nonlinearity, numerically computed input-output transfer functions are used to determine the filtering properties. The gain of the response at each sinusoidally modulated frequency is computed by dividing the fitted amplitudes of the input and output cycle histograms of the LIF models. While filtering is always low-pass for F alone, D alone exhibits a gain resonance (non-monotonicity) at a frequency that decreases with increasing recovery time constant of synaptic depression (tau(d)). This resonance is mitigated by the presence of F. For D, F and FD, coherence improves as the synaptic conductance time constant (tau(g)) increases, yet the mutual information per spike decreases. The information per spike for D and F follows opposite trends as their respective time constants increase. The broadband but non-monotonic gain and coherence functions seen in vivo suggest that D and perhaps FD dynamics are involved at this synapse. Our results further predict that the likely synaptic configuration is a slower tau(g), e.g. via a mixture of AMPA and NMDA synapses, and a relatively smaller synaptic facilitation time constant (tau(f)) and larger tau(d) (with tau(f) smaller than tau(d) and tau(g)). These results are compatible with known physiology.

The critical role of locomotion mechanics in decoding sensory systems

How do neural systems process sensory information to control locomotion? The weakly electric knifefish Eigenmannia, an ideal model for studying sensorimotor control, swims to stabilize the sensory image of a sinusoidally moving refuge. Tracking performance is best at stimulus frequencies less than approximately 1 Hz. Kinematic analysis, which is widely used in the study of neural control of movement, predicts commensurately low-pass sensory processing for control. The inclusion of Newtonian mechanics in the analysis of the behavior, however, categorically shifts the prediction: this analysis predicts that sensory processing is high pass. The counterintuitive prediction that a low-pass behavior is controlled by a high-pass neural filter nevertheless matches previously reported but poorly understood high-pass filtering seen in electrosensory afferents and downstream neurons. Furthermore, a model incorporating the high-pass controller matches animal behavior, whereas the model with the low-pass controller does not and is unstable. Because locomotor mechanics are similar in a wide array of animals, these data suggest that such high-pass sensory filters may be a general mechanism used for task-level locomotion control. Furthermore, these data highlight the critical role of mechanical analyses in addition to widely used kinematic analyses in the study of neural control systems.

Spatial acuity and prey detection in weakly electric fish

It is well-known that weakly electric fish can exhibit extreme temporal acuity at the behavioral level, discriminating time intervals in the submicrosecond range. However, relatively little is known about the spatial acuity of the electrosense. Here we use a recently developed model of the electric field generated by Apteronotus leptorhynchus to study spatial acuity and small signal extraction. We show that the quality of sensory information available on the lateral body surface is highest for objects close to the fish's midbody, suggesting that spatial acuity should be highest at this location. Overall, however, this information is relatively blurry and the electrosense exhibits relatively poor acuity. Despite this apparent limitation, weakly electric fish are able to extract the minute signals generated by small prey, even in the presence of large background signals. In fact, we show that the fish's poor spatial acuity may actually enhance prey detection under some conditions. This occurs because the electric image produced by a spatially dense background is relatively "blurred" or spatially uniform. Hence, the small spatially localized prey signal "pops out" when fish motion is simulated. This shows explicitly how the back-and-forth swimming, characteristic of these fish, can be used to generate motion cues that, as in other animals, assist in the extraction of sensory information when signal-to-noise ratios are low. Our study also reveals the importance of the structure of complex electrosensory backgrounds. Whereas large-object spacing is favorable for discriminating the individual elements of a scene, small spacing can increase the fish's ability to resolve a single target object against this background.