Electric-Color Sensing in Weakly Electric Fish Suggests Color Perception as a Sensory Concept beyond Vision

Living life with an electric touch

The electric organ discharges (EODs) produced by weakly electric fish have long been a source of scientific intrigue and inspiration. The study of these species has contributed to our understanding of the organization of fixed action patterns, as well as enriching general imaging theory by unveiling the dual impact of an agent's actions on the environment and its own sensory system during the imaging process. This Centenary Review firstly compares how weakly electric fish generate species- and sex-specific stereotyped electric fields by considering: (1) peripheral mechanisms, including the geometry, channel repertoire and innervation of the electrogenic units; (2) the organization of the electric organs (EOs); and (3) neural coordination mechanisms. Secondly, the Review discusses the threefold function of the fish-centered electric fields: (1) to generate electric signals that encode the material, geometry and distance of nearby objects, serving as a short-range sensory modality or 'electric touch'; (2) to mark emitter identity and location; and (3) to convey social messages encoded in stereotypical modulations of the electric field that might be considered as species-specific communication symbols. Finally, this Review considers a range of potential research directions that are likely to be productive in the future.

Mormyrid fish as models for investigating sensory-motor integration: A behavioural perspective

Animals possess senses which gather information from their environment. They can tune into important aspects of this information and decide on the most appropriate response, requiring coordination of their sensory and motor systems. This interaction is bidirectional. Animals can actively shape their perception with self-driven motion, altering sensory flow to maximise the environmental information they are able to extract. Mormyrid fish are excellent candidates for studying sensory-motor interactions, because they possess a unique sensory system (the active electric sense) and exhibit notable behaviours that seem to be associated with electrosensing. This review will take a behavioural approach to unpicking this relationship, using active electrolocation as an example where body movements and sensing capabilities are highly related and can be assessed in tandem. Active electrolocation is the process where individuals will generate and detect low-voltage electric fields to locate and recognise nearby objects. We will focus on research in the mormyrid Gnathonemus petersii (G. petersii), given the extensive study of this species, particularly its object recognition abilities. By studying object detection and recognition, we can assess the potential benefits of self-driven movements to enhance selection of biologically relevant information. Finally, these findings are highly relevant to understanding the involvement of movement in shaping the sensory experience of animals that use other sensory modalities. Understanding the overlap between sensory and motor systems will give insight into how different species have become adapted to their environments.

Neural readout of a latency code in the active electrosensory system

The latency of spikes relative to a stimulus conveys sensory information across modalities. However, in most cases, it remains unclear whether and how such latency codes are utilized by postsynaptic neurons. In the active electrosensory system of mormyrid fish, a latency code for stimulus amplitude in electroreceptor afferent nerve fibers (EAs) is hypothesized to be read out by a central reference provided by motor corollary discharge (CD). Here, we demonstrate that CD enhances sensory responses in postsynaptic granular cells of the electrosensory lobe but is not required for reading out EA input. Instead, diverse latency and spike count tuning across the EA population give rise to graded information about stimulus amplitude that can be read out by standard integration of converging excitatory synaptic inputs. Inhibitory control over the temporal window of integration renders two granular cell subclasses differentially sensitive to information derived from relative spike latency versus spike count.

The ecology of electricity and electroreception

Electricity, the interaction between electrically charged objects, is widely known to be fundamental to the functioning of living systems. However, this appreciation has largely been restricted to the scale of atoms, molecules, and cells. By contrast, the role of electricity at the ecological scale has historically been largely neglected, characterised by punctuated islands of research infrequently connected to one another. Recently, however, an understanding of the ubiquity of electrical forces within the natural environment has begun to grow, along with a realisation of the multitude of ecological interactions that these forces may influence. Herein, we provide the first comprehensive collation and synthesis of research in this emerging field of electric ecology. This includes assessments of the role electricity plays in the natural ecology of predator-prey interactions, pollination, and animal dispersal, among many others, as well as the impact of anthropogenic activity on these systems. A detailed introduction to the ecology and physiology of electroreception - the biological detection of ecologically relevant electric fields - is also provided. Further to this, we suggest avenues for future research that show particular promise, most notably those investigating the recently discovered sense of aerial electroreception.

A Computerized Bioinspired Methodology for Lightweight and Reliable Neural Telemetry

Personalized health monitoring of neural signals usually results in a very large dataset, the processing and transmission of which require considerable energy, storage, and processing time. We present bioinspired electroceptive compressive sensing (BeCoS) as an approach for minimizing these penalties. It is a lightweight and reliable approach for the compression and transmission of neural signals inspired by active electroceptive sensing used by weakly electric fish. It uses a signature signal and a sensed pseudo-sparse differential signal to transmit and reconstruct the signals remotely. We have used EEG datasets to compare BeCoS with the block sparse Bayesian learning-bound optimization (BSBL-BO) technique-A popular compressive sensing technique used for low-energy wireless telemonitoring of EEG signals. We achieved average coherence, latency, compression ratio, and estimated per-epoch power values that were 35.38%, 62.85%, 53.26%, and 13 mW better than BSBL-BO, respectively, while structural similarity was only 6.295% worse. However, the original and reconstructed signals remain visually similar. BeCoS senses the signals as a derivative of a predefined signature signal resulting in a pseudo-sparse signal that significantly improves the efficiency of the monitoring process. The results show that BeCoS is a promising approach for the health monitoring of neural signals.

Electrocommunication in pulse Gymnotiformes: the role of electric organ discharge (EOD) time course in species identification

Understanding how individuals detect and recognize signals emitted by conspecifics is fundamental to discussions of animal communication. The species pair Gymnotus omarorum and Brachyhypopomus gauderio, found in syntopy in Uruguay, emit species-specific electric organ discharge (EOD) that can be sensed by both species. The aim of this study was to unveil whether either of these species is able to identify a conspecific EOD, and to investigate distinctive recognition signal features. We designed a forced-choice experiment using a natural behavior (i.e. tracking electric field lines towards their source) in which each fish had to choose between a conspecific and a heterospecific electric field. We found a clear pattern of preference for a conspecific waveform even when pulses were played within 1 Hz of the same rate. By manipulating the time course of the explored signals, we found that the signal features for preference between conspecific and heterospecific waveforms were embedded in the time course of the signals. This study provides evidence that pulse Gymnotiformes can recognize a conspecific exclusively through species-specific electrosensory signals. It also suggests that the key signal features for species differentiation are probably encoded by burst coder electroreceptors. Given these results, and because receptors are sharply tuned to amplitude spectra and also tuned to phase spectra, we extend the electric color hypothesis used in the evaluation of objects to apply to communication signals.

Genetic drift does not sufficiently explain patterns of electric signal variation among populations of the mormyrid electric fish Paramormyrops kingsleyae

Communication signals serve crucial survival and reproductive functions. In Gabon, the widely distributed mormyrid fish Paramormyrops kingsleyae emits an electric organ discharge (EOD) signal with a dual role in communication and electrolocation that exhibits remarkable variation: populations of P. kingsleyae have either biphasic or triphasic EODs, a feature that characterizes interspecific signal diversity among the Paramormyrops genus. We quantified variation in EODs of 327 P. kingsleyae from nine populations and compared it to genetic variation estimated from microsatellite loci. We found no correlation between electric signal and genetic distances, suggesting that EOD divergence cannot be explained by drift alone. An alternative hypothesis is that EOD differences are used for mate discrimination, which would require P. kingsleyae be capable of differentiating between divergent EOD waveforms. Using a habituation-dishabituation assay, we found that P. kingsleyae can discriminate between biphasic and triphasic EOD types. Nonetheless, patterns of genetic and electric organ morphology divergence provide evidence for hybridization between these signal types. Although reproductive isolation with respect to signal type is incomplete, our results suggest that EOD variation in P. kingsleyae could be a cue for assortative mating.

Morphological differentiation in African weakly electric fish (genus Campylomormyrus) relates to substrate preferences

Under an ecological speciation scenario, the radiation of African weakly electric fish (genus Campylomormyrus) is caused by an adaptation to different food sources, associated with diversification of the electric organ discharge (EOD). This study experimentally investigates a phenotype–environment correlation to further support this scenario. Our behavioural experiments showed that three sympatric Campylomormyrus species with significantly divergent snout morphology differentially react to variation in substrate structure. While the short snout species (C. tamandua) exhibits preference to sandy substrate, the long snout species (C. rhynchophorus) significantly prefers a stone substrate for feeding. A third species with intermediate snout size (C. compressirostris) does not exhibit any substrate preference. This preference is matched with the observation that long-snouted specimens probe deeper into the stone substrate, presumably enabling them to reach prey more distant to the substrate surface. These findings suggest that the diverse feeding apparatus in the genus Campylomormyrus may have evolved in adaptation to specific microhabitats, i.e., substrate structures where these fish forage. Whether the parallel divergence in EOD is functionally related to this adaptation or solely serves as a prezygotic isolation mechanism remains to be elucidated.

Strategies of object polarization and their role in electrosensory information gathering

Weakly electric fish polarize the nearby environment with a stereotyped electric field and gain information by detecting the changes imposed by objects with tuned sensors. Here we focus on polarization strategies as paradigmatic bioinspiring mechanisms for sensing devices. We begin this research developing a toy model that describes three polarization strategies exhibited by three different groups of fish. We then report an experimental analysis which confirmed predictions of the model and in turn predicted functional consequences that were explored in behavioral experiments in the pulse fish Gymnotus omarorum. In the experiments, polarization was evaluated by estimating the object's stamp (i.e. the electric source that produces the same electric image as the object) as a function of object impedance, orientation, and position. Signal detection and discrimination was explored in G. omarorum by provoking novelty responses, which are known to reflect the increment in the electric image provoked by a change in nearby impedance. To achieve this, we stepped the longitudinal impedance of a cylindrical object between two impedances (either capacitive or resistive). Object polarization and novelty responses indicate that G. omarorum has two functional regions in the electrosensory field. At the front of the fish, there is a foveal field where object position and orientation are encoded in signal intensity, while the qualia associated with impedance is encoded in signal time course. On the side of the fish there is a peripheral field where the complexity of the polarizing field facilitates detection of objects oriented in any angle with respect to the fish´s longitudinal axis. These findings emphasize the importance of articulating field generation, sensor tuning and the repertoire of exploratory movements to optimize performance of artificial active electrosensory systems.

A bio-inspired electric camera for short-range object inspection in murky waters

Underwater object inspection by optical sensors is usually unreliable in turbid or dark environments. Here, we designed a biomimetic 'electric camera', inspired by weakly electric fish Gnathonemus petersii, which successfully use active electrolocation for this task. The device probed nearby objects with a weak electric field and captured 'electric images' of the targets by processing the object-evoked field modulations. The camera-based electric images strongly resembled those available to G. petersii. Furthermore, by extracting the fish's analytical cues from these images, close objects could be reliably analysed. Based on the level of 'image blurring' short distances of electrolocation targets, spheres of different sizes and material were estimated. Natural targets, fish or plants, were identified irrespective of their size or distance by their two individual 'electric colours' derived from electric images. Furthermore, we introduce an image cue, called the 'electric outline', which provided information resembling a target's optical contour. Our results indicate that bio-inspired electric imaging principles provide promising cues for sensor-based, short-range object inspections in murky waters. By resembling the electric imaging applied by G. petersii our device can also be used for 'reverse biomimetics', revealing imaging cues that so far have not been considered for weakly electric fish.

Encoding phase spectrum for evaluating 'electric qualia'

The most broadly expressed and studied aspect of sensory transduction is receptor tuning to the power spectral density of the incoming signals. Temporal cues expressed in the phase spectrum are relevant in African and American pulse-emitting electric fish showing electroreceptors sensing the signals carried by the self- and conspecific-generated electric organ discharges. This article concerns the role of electroreceptor phase sensitivity in American pulse Gymnotiformes. These fish show electroreceptors sharply tuned to narrow frequency bands. This led to the common thought that most electrosensory information is contained in the amplitude spectra of the signals. However, behavioral and modeling studies suggest that in their pulses, Gymnotiformes electroreceptors also encode cues embodied in the phase spectrum of natural stimuli. Here, we show that the two main types of tuberous primary afferents of Gymnotus omarorum differentially respond to cues embodied in the amplitude and phase spectra of self-generated electrosensory signals. One afferent type, pulse markers, is mainly driven by the amplitude spectrum, while the other, burst coders, is predominantly sensitive to the phase spectrum. This dual encoding strategy allows the fish to create a sensory manifold where patterns of 'electric color' generated by object impedance and other potential sources of 'colored' images (such as large nearby objects and other electric fish) can be represented.