Cross-modality sensory integration in the control of feeding Aplysia

Variables controlling entry into and exit from the steady-state, one of two modes of feeding in Aplysia

Background

Aplysia feeding is a model system for examining the neural mechanisms by which changes in motivational state control behavior. When food is intermittently present, Aplysia eat large meals controlled by a balance between food stimuli exciting feeding and gut stimuli inhibiting feeding. However, when food is continuously present animals are in a state in which feeding is relatively inhibited and animals eat little. We examined which stimuli provided by food and feeding initiate steady-state inhibition of feeding, and which stimuli maintain the inhibition.

Results

Multiple stimuli were found to control entry into the steady-state inhibition, and its maintenance. The major variable governing entry into the steady-state is fill of the gut with bulk provided by food, but this stimulus cannot alone cause entry into the steady-state. Food odor and nutritional stimuli such as increased hemolymph glucose and L-arginine concentrations also contribute to inhibition of feeding leading to entry into the steady-state. Although food odor can alone cause some inhibition of feeding, it does not amplify the effect of gut fill. By contrast, neither increased hemolymph glucose nor L-arginine alone inhibits feeding in hungry animals, but both amplify the inhibitory effects of food odor, and increased glucose also amplifies the effect of gut fill. The major variable maintaining the steady-state is the continued presence of food odor, which can alone maintain the steady-state for 48–72 hrs. Neither increased glucose nor L-arginine can alone preserve the steady-state, although they partially preserve it. Glucose and arginine partially extend the effect of food odor after 72 hrs.

Conclusions

These findings show that control of Aplysia feeding is more complex than was previously thought, in that multiple inhibitory factors interact in its control.

Predicting adaptive behavior in the environment from central nervous system dynamics

To generate adaptive behavior, the nervous system is coupled to the environment. The coupling constrains the dynamical properties that the nervous system and the environment must have relative to each other if adaptive behavior is to be produced. In previous computational studies, such constraints have been used to evolve controllers or artificial agents to perform a behavioral task in a given environment. Often, however, we already know the controller, the real nervous system, and its dynamics. Here we propose that the constraints can also be used to solve the inverse problem--to predict from the dynamics of the nervous system the environment to which they are adapted, and so reconstruct the production of the adaptive behavior by the entire coupled system. We illustrate how this can be done in the feeding system of the sea slug Aplysia. At the core of this system is a central pattern generator (CPG) that, with dynamics on both fast and slow time scales, integrates incoming sensory stimuli to produce ingestive and egestive motor programs. We run models embodying these CPG dynamics--in effect, autonomous Aplysia agents--in various feeding environments and analyze the performance of the entire system in a realistic feeding task. We find that the dynamics of the system are tuned for optimal performance in a narrow range of environments that correspond well to those that Aplysia encounter in the wild. In these environments, the slow CPG dynamics implement efficient ingestion of edible seaweed strips with minimal sensory information about them. The fast dynamics then implement a switch to a different behavioral mode in which the system ignores the sensory information completely and follows an internal "goal," emergent from the dynamics, to egest again a strip that proves to be inedible. Key predictions of this reconstruction are confirmed in real feeding animals.

Modeling neuromuscular modulation in Aplysia. III. Interaction of central motor commands and peripheral modulatory state for optimal behavior

Recent work in computational neuroethology has emphasized that "the brain has a body": successful adaptive behavior is not simply commanded by the nervous system, but emerges from interactions of nervous system, body, and environment. Here we continue our study of these issues in the accessory radula closer (ARC) neuromuscular system of Aplysia. The ARC muscle participates in the animal's feeding behaviors, a set of cyclical, rhythmic behaviors driven by a central pattern generator (CPG). Patterned firing of the ARC muscle's two motor neurons, B15 and B16, releases not only ACh to elicit the muscle's contractions but also peptide neuromodulators that then shape the contractions through a complex network of actions on the muscle. These actions are dynamically complex: some are fast, but some are slow, so that they are temporally uncoupled from the motor neuron firing pattern in the current cycle. Under these circumstances, how can the nervous system, through just the narrow channel of the firing patterns of the motor neurons, control the contractions, movements, and behavior in the periphery? In two earlier papers, we developed a realistic mathematical model of the B15/B16-ARC neuromuscular system and its modulation. Here we use this model to study the functional performance of the system in a realistic behavioral task. We run the model with two kinds of inputs: a simple set of regular motor neuron firing patterns that allows us to examine the entire space of patterns, and the real firing patterns of B15 and B16 previously recorded in a 2 1/2-h-long meal of 749 cycles in an intact feeding animal. These real patterns are extremely irregular. Our main conclusions are the following. 1) The modulation in the periphery is necessary for superior functional performance. 2) The components of the modulatory network interact in nonlinear, context- and task-dependent combinations for best performance overall, although not necessarily in any particular cycle. 3) Both the fast and the slow dynamics of the modulatory state make important contributions. 4) The nervous system controls different components of the periphery to different degrees. To some extent the periphery operates semiautonomously. However, the structure of the peripheral modulatory network ensures robust performance under all circumstances, even with the irregular motor neuron firing patterns and even when the parameters of the functional task are randomly varied from cycle to cycle to simulate a variable feeding environment. In the variable environment, regular firing patterns, which are fine-tuned to one particular task, fail to provide robust performance. We propose that the CPG generates the irregular firing patterns, which nevertheless are guaranteed to give robust performance overall through the actions of the peripheral modulatory network, as part of a trial-and-error feeding strategy in a variable, uncertain environment.

Thee effect of food intake on the central monoaminergic system in the snail, Lymnaea stagnalis

We investigated the effect of food intake on the serotonin and dopamine levels of the CNS as well as on the spontaneous firing activity of the CGC in isolated preparations from starved, feeding and satiated animals. Furthermore we investigated the effects of 1 microM serotonin and/or dopamine and their mixture on the firing activity of the CGC. The HPLC assay of serotonin and dopamine showed that during food intake both the serotonin and dopamine levels of the CNS increased whereas in satiated animals their levels were not significantly more than the control levels. Recording from the CGC in isolated CNS preparation from starved, feeding or satiated animals showed that feeding increased the firing frequency of the CGC compared to the starved control. The application of 1 microM dopamine decreased the firing frequency whereas the application of 1 microM serotonin increased the firing frequency of the CGC. We conclude that during food intake the external and internal food stimuli increase the activity of the central monoaminergic system and also increase the levels of monoamines in the CNS. Furthermore, we also suggest that the increased dopamine and serotonin levels both affect the activity of the serotonergic neurons during the different phases of feeding.

Neuromuscular modulation in Aplysia. II. Modulation of the neuromuscular transform in behavior

In this work we use mathematical modeling and complementary experiments to study the dynamics of modulation in the accessory radula closer (ARC) neuromuscular system of Aplysia. Here we join a dynamic model of the modulation from the preceding paper to a model of the basal neuromuscular transform (NMT). The resulting complete model of the NMT allows us to predict, test, and analyze the actual modulated contraction shapes in different types of feeding behavior, through entire quasi-realistic meals. The model reproduces a variety of published and new experimental observations. We find that components of the modulatory network act in interdependency and mutual complementarity, one or another playing a key role depending on the behavior and its past history. The history is remembered by slow dynamical components whose persistence prepares the system for future behavior of the same kind. The persistence becomes counterproductive, however, when the behavior suddenly changes. Superposition of fast dynamical components alleviates the problem under most, but not all, circumstances. In the quasi-realistic meals, the modulation improves functional performance on average, but degrades it after certain behavioral switches, when the model predicts sharp contraction transients. These are indeed seen in the real muscle. We propose that the real system does not switch the underlying motor neuron firing patterns abruptly, but relaxes them gradually, matching the relaxation of the peripheral modulatory state, through such behavioral transitions. We model food-induced arousal, a known phenomenon of this kind. The peripheral dynamics of the modulated NMT thus constrain the motor commands of the CNS.

Neuromuscular modulation in Aplysia. I. Dynamic model

Many physiological systems are regulated by complex networks of modulatory actions. Here we use mathematical modeling and complementary experiments to study the dynamic behavior of such a network in the accessory radula closer (ARC) neuromuscular system of Aplysia. The ARC muscle participates in several types of rhythmic consummatory feeding behavior. The muscle's motor neurons release acetylcholine to produce basal contractions, but also modulatory peptide cotransmitters that, through multiple cellular effects, shape the contractions to meet behavioral demands. We construct a dynamic model of the modulatory network and examine its operation as the motor neurons fire in realistic patterns that change gradually over an hour-long meal and abruptly with switches between the different feeding behaviors. The modulatory effects have very disparate dynamical time scales. Some react to the motor neuron firing only over many cycles of the behavior, but one key effect is fast enough to respond to each individual cycle. Switches between the behaviors are therefore followed by rapid relaxations along some modulatory dimensions but not others. The trajectory of the modulatory state is a transient throughout the meal, ranging widely over regions of the modulatory space not accessible in the steady state. There is a pronounced history-dependency: the modulatory state associated with a cycle of a particular behavior depends on when that cycle occurs and what behaviors preceded it. On average, nevertheless, each behavior is associated with a different modulatory state. In the following companion study, we add a model of the neuromuscular transform to reconstruct and evaluate the actual modulated contraction shapes.

Nitric oxide is necessary for multiple memory processes after learning that a food is inedible in aplysia

Nitric oxide (NO) signaling was inhibited via N(omega)-nitro-L-arginine methyl ester (L-NAME) during and after training Aplysia that a food is inedible. Treating animals with L-NAME 10 min before the start of training blocked the formation of three separable memory processes: (1) short-term, (2) intermediate-term, and (3) long-term memory. The treatment also attenuated, but did not block, a fourth memory process, very short-term memory. L-NAME had little or no effect on feeding behavior per se or on most aspects of the animals' behavior while they were being trained, indicating that the substance did not cause a pervasive modulation or poisoning of many aspects of feeding and other behaviors. Application of L-NAME within 1 min after the training had no effect on short- or long-term memory, indicating that NO signaling was not needed during memory consolidation. Treating animals with the NO scavenger 2-phenyl-4,4,5,5-tetramethyl-imidazdine-1-oxy-3-oxide before training also blocked long-term memory. Memory was not blocked by D-NAME, or by the simultaneous treatment with L-NAME and the NO donor S-nitroso-N-acetyl-penicillamine, confirming that the effect of L-NAME is attributable to its effect as a competitive inhibitor of L-arginine for NO synthase in the production of NO rather than to possible effects at other sites. These data indicate that NO signaling during training plays a critical role in the formation of multiple memory processes.

Colocalization of gamma-aminobutyric acid-like immunoreactivity and catecholamines in the feeding network of Aplysia californica

Functional consequences of neurotransmitter coexistence and cotransmission can be readily studied in certain experimentally favorable invertebrate motor systems. In this study, whole-mount histochemical methods were used to identify neurons in which gamma-aminobutyric acid (GABA)-like immunoreactivity (GABAli) was colocalized with catecholamine histofluorescence (CAh; FaGlu method) and tyrosine hydroxylase (TH)-like immunoreactivity (THli) in the feeding motor circuitry (buccal and cerebral ganglia) of the marine mollusc Aplysia californica. In agreement with previous reports, five neurons in the buccal ganglia were found to exhibit CAh. These included the paired B20 buccal-cerebral interneurons (BCIs), the paired B65 buccal interneurons, and an unpaired cell with projections to both cerebral-buccal connectives (CBCs). Experiments in which the FaGlu method was combined with the immunohistochemical detection of GABA revealed double labeling of all five of these neurons. An antibody generated against TH, the rate-limiting enzyme in the biosynthesis of catecholamines, was used to obtain an independent determination of GABA-CA colocalization. Biocytin backfills of the CBC performed in conjunction with TH immunohistochemistry revealed labeling of the rostral B20 cell pair and the unpaired CBI near the caudal surface of the right hemiganglion. THli was also present in a prominent bilateral pair of caudal neurons that were not stained with CBC backfills. On the basis of their position, size, shape, and lack of CBC projections, the lateral THli neurons were identified as B65. Double-labeling immunohistochemical experiments revealed GABAli in all five buccal THli neurons. Finally, GABAli was observed in individual B20 and B65 neurons that were identified using electrophysiological criteria and injected with a marker (neurobiotin). Similar methods were used to demonstrate that a previously identified catecholaminergic cerebral-buccal interneuron (CBI) designated CBI-1 contained THli but did not contain GABAli. Although numerous THli and GABAli neurons and fibers were present in the cerebral and buccal ganglia, additional instances of their colocalization were not observed. These findings indicate that GABA and a catecholamine (probably dopamine) are colocalized in a limited number of interneurons within the central pattern generator circuits that control feeding-related behaviors in Aplysia.

A proprioceptive role for an exteroceptive mechanoafferent neuron in Aplysia

Afferent regulation of centrally generated activity is likely to be more complex than has been established. We show that a neuron that is an exteroceptor can also function as a proprioceptor. We study the Aplysia neuron B21. Previous data suggest that B21 functions as an exteroceptor during the radula closing/retraction phase of ingestive feeding. We show that the tissue innervated by B21, the subradula tissue (SRT), is innervated by a motor neuron (B66) and that B66-induced SRT contractions trigger centripetal spikes in B21. Thus, B21 is also a proprioceptor. To determine whether exteroceptive and proprioceptive activities occur during the same phase of ingestive feeding, we further characterize B66. We show that B66 stimulation does not close or retract the radula. Instead it opens it. Moreover, B66 is electrically coupled to other opening/protraction neurons. Finally, we elicit motor programs in semi-intact preparations and show that during radula opening/protraction we observe B66 activity, SRT contractions, and spikes in B21 that can be eliminated if B66 is indirectly hyperpolarized. B21 is, therefore, likely to act as an exteroceptor during one phase of ingestive feeding and as a proprioceptor during the antagonistic phase. Previous experiments have shown that centripetal spikes in B21 are only transmitted to one follower if they are "gated in" by depolarization. During ingestive programs B21 is centrally depolarized during closing/retraction, but it is not depolarized during opening/protraction. We sought to determine whether there are other followers that receive B21 input when it is not centrally depolarized. We found one such cell. Moreover, we found that stimulation of B21 during radula opening/protraction significantly decreases the duration of this phase of behavior. Thus, proprioceptive activity in B21 is likely to have an impact on motor programs.

Electrophysiological and behavioral analysis of lip touch as a component of the food stimulus in the snail Lymnaea

Electrophysiological and video recording methods were used to investigate the function of lip touch in feeding ingestion behavior of the pond snail Lymnaea stagnalis. Although this stimulus was used successfully as a conditioning stimulus (CS) in appetitive learning experiments, the detailed role of lip touch as a component of the sensory stimulus provided by food in unconditioned feeding behavior was never ascertained. Synaptic responses to lip touch in identified feeding motoneurons, central pattern generator interneurons, and modulatory interneurons were recorded by intracellular electrodes in a semi-intact preparation. We showed that touch evoked a complex but characteristic sequence of synaptic inputs on each neuron type. Touch never simply activated feeding cycles but provided different types of synaptic input, determined by the feeding phase in which the neuron was normally active in the rhythmic feeding cycle. The tactile stimulus evoked mainly inhibitory synaptic inputs in protraction-phase neurons and excitation in rasp-phase neurons. Swallow-phase neurons were also excited after some delay, suggesting that touch first reinforces the rasp then swallow phase. Video analysis of freely feeding animals demonstrated that during normal ingestion of a solid food flake the food is drawn across the lips throughout the rasp phase and swallow phase and therefore provides a tactile stimulus during both these retraction phases of the feeding cycle. The tactile component of the food stimulus is strongest during the rasp phase when the lips are actively pressed onto the substrate that is being moved across them by the radula. By using a semi-intact preparation we demonstrated that application of touch to the lips during the rasp phase of a sucrose-driven fictive feeding rhythm increases both the regularity and frequency of rasp-phase motoneuron firing compared with sucrose applied alone.

GABA-immunoreactive neurones and interactions of GABA with serotonin and FMRFamide in a peripheral sensory ganglion of the pond snail Lymnaea stagnalis

The osphradium is a putative chemosensory organ of aquatic molluscs. Previously, we identified cells with serotonin (5-HT) and FMRFamide (FMRFa)-like immunoreactivity in the osphradial ganglion of Lymnaea stagnalis. The present investigation has established the presence of cells immunoreactive to gamma-aminobutyric acid (GABA). Some of these cells send processes to the sensory epithelium and are thus considered to be primary sensory neurones. Colocalisation of GABA and FMRFamide-like immunoreactivities was found in some of these and other neurones. The responses of the osphradial output electrical activity to the single and combined application of the above neuroactive substances were examined. 5-HT slightly increased and FMRFa decreased the activity. GABA alone was generally ineffective; however, it had a consistent stimulating effect after pretreatment with 5-HT. In its turn, pretreatment with GABA significantly increased the inhibitory action of FMRFa. Primary sensory neurones giving this kind of responses in the nerve were identified electrophysiologically and morphologically in the osphradial ganglion. Our results indicate that GABA takes part in relay of sensory signals into the central nervous system, and transmitter interactions involving GABA, 5-HT, and FMRFa are considerable for the final output pattern of the osphradial sensory network.

Processing of mechano- and chemosensory information in the lip nerve and cerebral ganglia of the snail Helix pomatia L

Neurophysiologists have long been seeking simple model systems in which to analyze the neuronal mechanisms underlying the organization of behavior. The feeding behavior of molluscs has proved to be one of the most useful simple systems for the analysis of cyclical motor patterns, the interactions of central pattern generating interneurons, and the role of sensory inputs in the initiation and maintenance of the behavior. Considerable progress has been made in one or both of the first two aspects of this research in Lymnaea, Helisoma, Limax, Planorbarius, Pleurobranchaea, and Tritonia (for reviews see [3, 7, 8, 15]), and more recently, in Aplysia [39] and Planorbis [1]. The role of mechano- and chemosensory inputs in the organization of the feeding behavior was studied in at least twenty molluscan species (for a review see [3]). However, in only less than half of them was the analysis extended to the effect of tactile and chemical inputs on identified neurons in the buccal and cerebral ganglia which contain the feeding circuitry (Aplysia: [12, 22, 36, 41]; Pleurobranchaea: [9, 16, 17]; Tritonia: [2]; Helisona: [21]; Limax: [11, 14, 35]: Helix: [6, 19, 24-26, 32, 38]). In the present work I would like to review our earlier findings on the processing of mechano and chemosensory information in the lip nerves and cerebral ganglia of Helix pomatia L. These findings were published in a series of papers between 1982 and 1987 [19, 20, 24-26]. The results reviewed here prepared the way for the development of new lines of research in our laboratory on the plasticity and serotonergic modulation of feeding in this widely used experimental animal [27, 40].

A study of the sugar chemoreception niches of two bulinid snail hosts of schistosomiasis

Components of the sugar chemoreception niches of two host snails of urinary schistosomiasis, namely Bulinus globosus (Morelet) and Bulinus rohlfsi (Clessin), were measured by using a buccal mass olfactometer. Among the polysaccharides tested, amylose was found to be the strongest phagostimulant for adults and juveniles of both snail species. Other phagostimulants identified were maltose and xylose for B. rohlfsi and maltotriose for B. globosus. The a(1-4)-glucosidic linkage and the presence of glucose residues were found to be key factors in the stimulus recognition system of the snails. The possible use of these findings in the design of controlled-release formulations for the selective removal of schistosome host snails is considered. The ecological implications of these studies are also examined.

Neuromuscular organization of the buccal system in Aplysia californica

The intrinsic muscles and peripheral nerves in the buccal system of the sea hare Aplysia californica were studied to build a foundation on which to base future investigations of feeding in intact animals. A detailed description of the bilaterally paired intrinsic muscles is given identifying previously unreported muscles. Each of the six buccal nerves (n1-n6) and the cerebrobuccal connective (CBC) have been characterized in several respects. Cell bodies in the buccal ganglion with projections into each of the buccal nerves have been identified via the cobalt backfilling technique. All nerves contain axons of cell bodies in the ipsilateral as well as the contralateral ganglia. For each nerve, there is a consistent pattern in the distribution of cell bodies in the paired ganglia with the number of cell bodies in the contralateral ganglion being less than or equal to the number in the ipsilateral ganglion. Although the total number of backfilled cell bodies varies among the nerves, their size ranges are similar with the majority being small. Nerves 1, 2, 4, 5, and 6 provide motor innervation to the intrinsic buccal muscles in varying degrees with nerve 4 supplying all the intrinsic muscles; nerve 2 supplies only one. The axon composition of each nerve was scrutinized and revealed large numbers of axon profiles, the majority of which were less than 2 microns in diameter. The present study provides a framework for analysis of feeding behavior in Aplysia californica.

Learned changes of respiratory pump rate in response to lowered pH in Aplysia

Respiratory pumping in the marine gastropod Aplysia is a well-characterized behavior controlled by identified neurons. The behavior is affected by stimuli such as change in ambient pH and shock. This study investigates learned changes in effects of these stimuli on rate of respiratory pumping movements. A sharp threshold exists for effects of environmental pH on respiratory pumping. Lowering the ambient pH from 7.8 to 7.0 does not affect the rate of respiratory pumping movements, but when pH is decreased further to 6.5 a large increase in pump rate is seen. Sensitizing stimuli, such as brief head shock and preexposure to pH 7.0, change the threshold so that respiratory pumping rate is increased in pH 7.0. Pairing exposure to pH 7.0 with head shock leads to pairing-specific amplification of the response in pH 7.0 alone. Pairing-specific consequences can be distinguished from sensitization only after an hour.

Premotor neurons in the feeding system of Aplysia californica

Central pattern generator (CPG) circuits control cyclic motor output underlying rhythmic behaviors. Although there have been extensive behavioral and cellular studies of food-induced feeding arousal as well as satiation in Aplysia, very little is known about the neuronal circuits controlling rhythmic consummatory feeding behavior. However, recent studies have identified premotor neurons that initiate and maintain buccal motor programs underlying ingestion and egestion in Aplysia. Other newly identified neurons receive synaptic input from feeding CPGs and in turn synapse with and control the output of buccal motor neurons. Some of these neurons and their effects within the buccal system are modulated by endogenous neuropeptides. With this information we can begin to understand how neuronal networks control buccal motor output and how their activity is modulated to produce flexibility in observed feeding behavior.

A neural pathway for learning that food is inedible in Aplysia

Aplysia can be taught to stop responding to inedible food, by pairing lip stimuli with stimuli arising from food stuck in the buccal cavity. When the esophageal nerves innervating the gut are cut. Aplysia cease responding to inedible food in a mean of 2.09 times longer than when these nerves are intact. Patterning of feeding movements is also changed. Cessation of responses in lesioned animals may be due to adaptation caused by lip stimulation. The data suggest that the esophageal nerves carry information about whether food is edible or inedible.

A learned change of response to inedible food in Aplysia

Aplysia fasciata attempt to bite and swallow food wrapped in a plastic net, tasting food through holes in the net. Net-enclosed food cannot be swallowed, and becomes cyclically lodged and pushed out of the buccal cavity. Aplysia gradually modify their response to this food, and eventually cease to respond. Twenty-four hours following training, memory is maintained, as shown by savings upon retraining. An essential component of the behavioral plasticity is food becoming stuck within the buccal cavity: when the lips are stimulated without allowing food to enter the buccal cavity, animals stop responding, but training takes longer, and memory is not retained. Savings upon retraining are contingent upon temporal pairing of food upon the lips and stimuli from within the buccal cavity: when lip stimuli and the experience of food stuck within the buccal cavity occur sequentially (rather than simultaneously), 24 hr later, animals are not significantly different from naive subjects.