Robust judgement of inter-object distance by an arthropod

Views from 'crabworld': the spatial distribution of light in a tropical mudflat

Natural scene analysis has been extensively used to understand how the invariant structure of the visual environment may have shaped biological image processing strategies. This paper deals with four crucial, but hitherto largely neglected aspects of natural scenes: (1) the viewpoint of specific animals; (2) the fact that image statistics are not independent of the position within the visual field; (3) the influence of the direction of illumination on luminance, spectral and polarization contrast in a scene; and (4) the biologically relevant information content of natural scenes. To address these issues, I recorded the spatial distribution of light in a tropical mudflat with a spectrographic imager equipped with a polarizing filter in an attempt to describe quantitatively the visual environment of fiddler crabs. The environment viewed by the crabs has a distinct structure. Depending on the position of the sun, the luminance, the spectral composition, and the polarization characteristics of horizontal light distribution are not uniform. This is true for both skylight and for reflections from the mudflat surface. The high-contrast feature of the line of horizon dominates the vertical distribution of light and is a discontinuity in terms of luminance, spectral distribution and of image statistics. On a clear day, skylight intensity increases towards the horizon due to multiple scattering, and its spectral composition increasingly resembles that of sunlight. Sky-substratum contrast is highest at short wavelengths. I discuss the consequences of this extreme example of the topography of vision for extracting biologically relevant information from natural scenes.

Displacement experiments provide evidence for path integration in Drosophila

Like many other animals, insects are capable of returning to previously visited locations using path integration, which is a memory of travelled direction and distance. Recent studies suggest that Drosophila can also use path integration to return to a food reward. However, the existing experimental evidence for path integration in Drosophila has a potential confound: pheromones deposited at the site of reward might enable flies to find previously rewarding locations even without memory. Here, we show that pheromones can indeed cause naïve flies to accumulate where previous flies had been rewarded in a navigation task. Therefore, we designed an experiment to determine if flies can use path integration memory despite potential pheromonal cues by displacing the flies shortly after an optogenetic reward. We found that rewarded flies returned to the location predicted by a memory-based model. Several analyses are consistent with path integration as the mechanism by which flies returned to the reward. We conclude that although pheromones are often important in fly navigation and must be carefully controlled for in future experiments, Drosophila may indeed be capable of performing path integration.

Binocular Neuronal Processing of Object Motion in an Arthropod

Animals use binocular information to guide many behaviors. In highly visual arthropods, complex binocular computations involved in processing panoramic optic flow generated during self-motion occur in the optic neuropils. However, the extent to which binocular processing of object motion occurs in these neuropils remains unknown. We investigated this in a crab, where the distance between the eyes and the extensive overlapping of their visual fields advocate for the use of binocular processing. By performing in vivo intracellular recordings from the lobula (third optic neuropil) of male crabs, we assessed responses of object-motion-sensitive neurons to ipsilateral or contralateral moving objects under binocular and monocular conditions. Most recorded neurons responded to stimuli seen independently with either eye, proving that each lobula receives profuse visual information from both eyes. The contribution of each eye to the binocular response varies among neurons, from those receiving comparable inputs from both eyes to those with mainly ipsilateral or contralateral components, some including contralateral inhibition. Electrophysiological profiles indicated that a similar number of neurons were recorded from their input or their output side. In monocular conditions, the first group showed shorter response delays to ipsilateral than to contralateral stimulation, whereas the second group showed the opposite. These results fit well with neurons conveying centripetal and centrifugal information from and toward the lobula, respectively. Intracellular and massive stainings provided anatomical support for this and for direct connections between the two lobulae, but simultaneous recordings failed to reveal such connections. Simplified model circuits of interocular connections are discussed.SIGNIFICANCE STATEMENT Most active animals became equipped with two eyes, which contributes to functions like depth perception, objects spatial location, and motion processing, all used for guiding behaviors. In visually active arthropods, binocular neural processing of the panoramic optic flow generated during self-motion happens already in the optic neuropils. However, whether binocular processing of single-object motion occurs in these neuropils remained unknown. We investigated this in a crab, where motion-sensitive neurons from the lobula can be recorded in the intact animal. Here we demonstrate that different classes of neurons from the lobula compute binocular information. Our results provide new insight into where and how the visual information acquired by the two eyes is first combined in the brain of an arthropod.

Receiver female body size and distances affect the claw-waving rate of signaller males in fiddler crabs (Brachyura, Ocypodidae)

We tested for the first time how Austruca bengali Crane, 1975 signaller males adjusted their waving rates based on receiver female body sizes and their distances. We video recorded the waving display of 46 males (9–12 mm carapace width) for 30 s, and counted their waving rate. Receiver females were categorised as small (8–10 mm carapace width) and large (>10 mm). Distances between males and females were categorised as short (⩽12 cm) and long (>12 cm) distances. Our results indicate that males are able to measure distances and female sizes, and adjust their waving display by actively reducing waving rate (1) towards small females, as usually small females have lower fecundity compared to large ones and (2) towards females at very close distance because at this point, the females would make their mating decision, and thus males start to lead/hit the females towards their burrow rather than waving vigorously.

Interaction between path integration and visual orientation during the homing run of fiddler crabs

Foraging fiddler crabs form a strict spatial relationship between their current positions and burrows, allowing them to run directly back to their burrows when startled even without visual contacts. Path integration (PI), the underlying mechanism, is a universal navigation strategy through which animals continuously integrate directions and distances of their movements. However, we report that fiddler crabs also use visual orientation during homing runs using burrow entrances as cues, with the prioritised mechanism (i.e. PI or visual) determined by the distance (which has a threshold value) between the goal, indicated by PI, and the visual cue. When we imposed homing errors using fake entrances (visual cue) and masking their true burrows (goal of PI), we found that frightened fiddler crabs initially ran towards the true burrow following PI, then altered their behaviour depending on the distance between the fake entrance and masked true burrow: if the distance was large, they kept running until they reached the true burrow, ignoring the visual cue; however, if the distance was small, they altered the homing path and ran until they reached the fake entrance. This suggests that PI and visual mechanism in fiddler crabs are mutually mediated to achieve their homing behaviour.

The predator and prey behaviors of crabs: from ecology to neural adaptations

Predator avoidance and prey capture are among the most vital of animal behaviors. They require fast reactions controlled by comparatively straightforward neural circuits often containing giant neurons, which facilitates their study with electrophysiological techniques. Naturally occurring avoidance behaviors, in particular, can be easily and reliably evoked in the laboratory, enabling their neurophysiological investigation. Studies in the laboratory alone, however, can lead to a biased interpretation of an animal's behavior in its natural environment. In this Review, we describe current knowledge – acquired through both laboratory and field studies – on the visually guided escape behavior of the crab Neohelice granulata. Analyses of the behavioral responses to visual stimuli in the laboratory have revealed the main characteristics of the crab's performance, such as the continuous regulation of the speed and direction of the escape run, or the enduring changes in the strength of escape induced by learning and memory. This work, in combination with neuroanatomical and electrophysiological studies, has allowed the identification of various giant neurons, the activity of which reflects most essential aspects of the crabs' avoidance performance. In addition, behavioral analyses performed in the natural environment reveal a more complex picture: crabs make use of much more information than is usually available in laboratory studies. Moreover, field studies have led to the discovery of a robust visually guided chasing behavior in Neohelice. Here, we describe similarities and differences in the results obtained between the field and the laboratory, discuss the sources of any differences and highlight the importance of combining the two approaches.

Parapatric speciation in three islands: dynamics of geographical configuration of allele sharing

We studied the time to speciation by geographical isolation for a species living on three islands connected by rare migration. We assumed that incompatibility was controlled by a number of quantitative loci and that individuals differing in loci by more than a threshold did not mix genetically with each other. For each locus, we defined the geographical configuration (GC), which specifies islands with common alleles, and traced the stochastic transitions between different GCs. From these results, we calculated the changes in genetic distances. As a single migration event provides an opportunity for transitions in multiple loci, the GCs of different loci are correlated, which can be evaluated by constructing the stochastic differential equations of the number of loci with different GCs. Our model showed that the low number of incompatibility loci facilitates parapatric speciation and that migrants arriving as a group shorten the waiting time to speciation compared with the same number of migrants arriving individually. We also discuss how speciation rate changes with geographical structure.

Predation risk modifies behaviour by shaping the response of identified brain neurons

Interpopulation comparisons in species that show behavioural variations associated with particular ecological disparities offer good opportunities for assessing how environmental factors may foster specific functional adaptations in the brain. Yet, studies on the neural substrate that can account for interpopulation behavioural adaptations are scarce. Predation is one of the strongest driving forces for behavioural evolvability and, consequently, for shaping structural and functional brain adaptations. We analysed the escape response of crabs Neohelice granulata from two isolated populations exposed to different risks of avian predation. Individuals from the high-risk area proved to be more reactive to visual danger stimuli (VDS) than those from an area where predators are rare. Control experiments indicate that the response difference was specific for impending visual threats. Subsequently, we analysed the response to VDS of a group of giant brain neurons that are thought to play a main role in the visually guided escape response of the crab. Neurons from animals of the population with the stronger escape response were more responsive to VDS than neurons from animals of the less reactive population. Our results suggest a robust linkage between the pressure imposed by the predation risk, the response of identified neurons and the behavioural outcome.

Comparative analyses of olfactory systems in terrestrial crabs (Brachyura): evidence for aerial olfaction?

Adaptations to a terrestrial lifestyle occurred convergently multiple times during the evolution of the arthropods. This holds also true for the "true crabs" (Brachyura), a taxon that includes several lineages that invaded land independently. During an evolutionary transition from sea to land, animals have to develop a variety of physiological and anatomical adaptations to a terrestrial life style related to respiration, reproduction, development, circulation, ion and water balance. In addition, sensory systems that function in air instead of in water are essential for an animal's life on land. Besides vision and mechanosensory systems, on land, the chemical senses have to be modified substantially in comparison to their function in water. Among arthropods, insects are the most successful ones to evolve aerial olfaction. Various aspects of terrestrial adaptation have also been analyzed in those crustacean lineages that evolved terrestrial representatives including the taxa Anomala, Brachyura, Amphipoda, and Isopoda. We are interested in how the chemical senses of terrestrial crustaceans are modified to function in air. Therefore, in this study, we analyzed the brains and more specifically the structure of the olfactory system of representatives of brachyuran crabs that display different degrees of terrestriality, from exclusively marine to mainly terrestrial. The methods we used included immunohistochemistry, detection of autofluorescence- and confocal microscopy, as well as three-dimensional reconstruction and morphometry. Our comparative approach shows that both the peripheral and central olfactory pathways are reduced in terrestrial members in comparison to their marine relatives, suggesting a limited function of their olfactory system on land. We conclude that for arthropod lineages that invaded land, evolving aerial olfaction is no trivial task.

Differences in the escape response of a grapsid crab in the field and in the laboratory

Escape behaviours of prey animals are frequently used to study the neural control of behaviour. Escape responses are robust, fast, and can be reliably evoked under both field and laboratory conditions. Many escape responses are not as simple as previously suggested, however, and are often modulated by a range of contextual factors. To date it has been unclear to what extent behaviours studied in controlled laboratory experiments are actually representative of the behaviours that occur under more natural conditions. Here we have used the model species, Neohelice granulata, a grapsid crab, to show that there are significant differences between the crabs' escape responses in the field compared to those previously documented in laboratory experiments. These differences are consistent with contextual adjustments such as the availability of a refuge and have clear consequences for understanding the crabs' neural control of behaviour. Furthermore, the methodology used in this study mirrors the methodology previously used in fiddler crab research, allowing us to show that the previously documented differences in escape responses between these grapsid species are real and substantial. Neohelice's responses are delayed and more controlled. Overall, the results highlight the adaptability and flexibility of escape behaviours and provide further evidence that the neural control of behaviour needs to be address in both the laboratory and field context.

A spatially explicit model of synchronization in fiddler crab waving displays

Fiddler crabs (Uca spp., Decapoda: Ocypodidae) are commonly found forming large aggregations in intertidal zones, where they perform rhythmic waving displays with their greatly enlarged claws. While performing these displays, fiddler crabs often synchronize their behavior with neighboring males, forming the only known synchronized visual courtship displays involving reflected light and moving body parts. Despite being one of the most conspicuous aspects of fiddler crab behavior, little is known about the mechanisms underlying synchronization of male displays. In this study we develop a spatially explicit model of fiddler crab waving displays using coupled logistic map equations. We explored two alternative models in which males either direct their attention at random angles or preferentially toward neighbors. Our results indicate that synchronization is possible over a fairly large region of parameter space. Moreover, our model was capable of generating local synchronization neighborhoods, as commonly observed in fiddler crabs under natural conditions.

Visually targeted reaching in horse-head grasshoppers

Visually targeted reaching to a specific object is a demanding neuronal task requiring the translation of the location of the object from a two-dimensionsal set of retinotopic coordinates to a motor pattern that guides a limb to that point in three-dimensional space. This sensorimotor transformation has been intensively studied in mammals, but was not previously thought to occur in animals with smaller nervous systems such as insects. We studied horse-head grasshoppers (Orthoptera: Proscopididae) crossing gaps and found that visual inputs are sufficient for them to target their forelimbs to a foothold on the opposite side of the gap. High-speed video analysis showed that these reaches were targeted accurately and directly to footholds at different locations within the visual field through changes in forelimb trajectory and body position, and did not involve stereotyped searching movements. The proscopids estimated distant locations using peering to generate motion parallax, a monocular distance cue, but appeared to use binocular visual cues to estimate the distance of nearby footholds. Following occlusion of regions of binocular overlap, the proscopids resorted to peering to target reaches even to nearby locations. Monocular cues were sufficient for accurate targeting of the ipsilateral but not the contralateral forelimb. Thus, proscopids are capable not only of the sensorimotor transformations necessary for visually targeted reaching with their forelimbs but also of flexibly using different visual cues to target reaches.

Habituation under natural conditions: model predators are distinguished by approach direction

Habituation is an active process that allows animals to learn to identify repeated, harmless events, and so could help individuals deal with the trade-off between reducing the risk of predation and minimizing escape costs. Safe habituation requires an accurate distinction between dangerous and harmless events, but in natural environments such an assessment is challenging because sensory information is often noisy and limited. What, then, comprises the information animals use to recognize objects that they have previously learned to be harmless? We tested whether the fiddler crab Uca vomeris distinguishes objects purely by their sensory signature or whether identification also involves more complex attributes such as the direction from which an object approaches. We found that crabs habituated their escape responses after repeated presentations of a dummy predator consistently approaching from the same compass direction. Females habituated both movement towards the burrow and descent into the burrow, whereas males only habituated descent into the burrow. The crabs were more likely to respond again when a physically identical dummy approached them from a new compass direction. The crabs distinguished between the two dummies even though both dummies were visible for the entire duration of the experiment and there was no difference in the timing of the dummies' movements. Thus, the position or approach direction of a dummy encodes important information that allows animals to identify an event and habituate to it. These results argue against the traditional notion that habituation is a simple, non-associative learning process, and instead suggest that habituation is very selective and uses information to distinguish between objects that is not available from the sensory signature of the object itself.

Topography of vision and behaviour

Given the great range of visual systems, tasks and habitats, there is surprisingly little experimental evidence of how visual limitations affect behavioural strategies under natural conditions. Analysing this relationship will require an experimental system that allows for the synchronous measurement of visual cues and visually guided behaviour. The first step in quantifying visual cues from an animal's perspective is to understand the filter properties of its visual system. We examined the first stage of visual processing – sampling by the ommatidial array – in the compound eye of the fiddler crab Uca vomeris. Using an in vivopseudopupil method we determined sizes and viewing directions of ommatidia and created a complete eye map of optical and sampling resolution across the visual field. Our results reveal five distinct eye regions (ventral, dorsal,frontal, lateral and medial) which exhibit clear differences in the organisation of the local sampling array, in particular with respect to the balance of resolution and contrast sensitivity. We argue that, under global eye space constraints, these regional optimisations reflect the information content and behavioural relevance of the corresponding parts of the visual field. In demonstrating the tight link between visual sampling, visual cues and behavioural strategies, our analysis highlights how the study of natural behaviour and natural stimuli is essential to our understanding and interpretation of the evolution and ecology of animal behaviour and the design of sensory systems.

Fiddler crabs accurately measure two-dimensional distance over three-dimensional terrain

Foraging fiddler crabs (Uca spp.) monitor the location of, and are able to return to, their burrows by employing path integration. This requires them to accurately measure both the directions and distances of their locomotory movements. Even though most fiddler crabs inhabit relatively flat terrain, they must cope with vertical features of their environment, such as sloping beaches, mounds and shells, which may represent significant obstacles. To determine whether fiddler crabs can successfully perform path integration among such three-dimensional obstacles, we tested their ability to measure distance while we imposed a vertical detour. By inserting a large hill in the homeward path of foraging crabs we show that fiddler crabs can cope with vertical detours: they accurately travel the correct horizontal distance,despite the fact that the shape of the hill forces them to change their gait from what would be used on flat ground. Our results demonstrate a flexible path integrator capable of measuring, and either integrating or discarding,the vertical dimension.

Contemporary parallel diversification, antipredator adaptations and phenotypic integration in an aquatic isopod

It is increasingly being recognized that predation can be a strong diversifying agent promoting ecological divergence. Adaptations against different predatory regimes can emerge over short periods of time and include many different traits. We studied antipredator adaptations in two ecotypes of an isopod (Asellus aquaticus) that have, diverged in parallel in two Swedish lakes over the last two decades. We quantified differences in escape speed, morphology and behavior for isopods from different ecotypes present in these lakes. Isopods from the source habitat (reed) coexist with mainly invertebrate predators. They are more stream-profiled and have higher escape speeds than isopods in the newly colonized stonewort habitat, which has higher density of fish predators. Stonewort isopods also show more cautious behaviors and had higher levels of phenotypic integration between coloration and morphological traits than the reed isopods. Colonization of a novel habitat with a different predation regime has thus strengthened the correlations between pigmentation and morphology and weakened escape performance. The strong signature of parallelism for these phenotypic traits indicates that divergence is likely to be adaptive and is likely to have been driven by differences in predatory regimes. Furthermore, our results indicate that physical performance, behavior and morphology can change rapidly and in concert as new habitats are colonized.

Neuronal correlates of the visually elicited escape response of the crab Chasmagnathus upon seasonal variations, stimuli changes and perceptual alterations

When confronted with predators, animals are forced to take crucial decisions such as the timing and manner of escape. In the case of the crab Chasmagnathus, cumulative evidence suggests that the escape response to a visual danger stimulus (VDS) can be accounted for by the response of a group of lobula giant (LG) neurons. To further investigate this hypothesis, we examined the relationship between behavioral and neuronal activities within a variety of experimental conditions that affected the level of escape. The intensity of the escape response to VDS was influenced by seasonal variations, changes in stimulus features, and whether the crab perceived stimuli monocularly or binocularly. These experimental conditions consistently affected the response of LG neurons in a way that closely matched the effects observed at the behavioral level. In other words, the intensity of the stimulus-elicited spike activity of LG neurons faithfully reflected the intensity of the escape response. These results support the idea that the LG neurons from the lobula of crabs are deeply involved in the decision for escaping from VDS.

Characterization of lobula giant neurons responsive to visual stimuli that elicit escape behaviors in the crab Chasmagnathus

In the grapsid crab Chasmagnathus, a visual danger stimulus elicits a strong escape response that diminishes rapidly on stimulus repetition. This behavioral modification can persist for several days as a result of the formation of an associative memory. We have previously shown that a generic group of large motion-sensitive neurons from the lobula of the crab respond to visual stimuli and accurately reflect the escape performance. Additional evidence indicates that these neurons play a key role in visual memory and in the decision to initiate an escape. Although early studies recognized that the group of lobula giant (LG) neurons consisted of different classes of motion-sensitive cells, a distinction between these classes has been lacking. Here, we recorded in vivo the responses of individual LG neurons to a wide range of visual stimuli presented in different segments of the animal's visual field. Physiological characterizations were followed by intracellular dye injections, which permitted comparison of the functional and morphological features of each cell. All LG neurons consisted of large tangential arborizations in the lobula with axons projecting toward the midbrain. Functionally, these cells proved to be more sensitive to single objects than to flow field motion. Despite these commonalities, clear differences in morphology and physiology allowed us to identify four distinct classes of LG neurons. These results will permit analysis of the role of each neuronal type for visually guided behaviors and will allow us to address specific questions on the neuronal plasticity of LGs that underlie the well-recognized memory model of the crab.

The role of target elevation in prey selection by tiger beetles (Carabidae: Cicindela spp.)

The elevation of objects in the visual field has long been recognized as a potential distance cue, but it has been demonstrated to a reasonable extent in only four species: humans, frogs, fiddler crabs and backswimmers. Many tiger beetles hunt in flat, sandy areas, and their eyes show "flat-world" adaptations, such as an extended visual streak of higher acuity that corresponds to the horizon. They are therefore possible candidates for the use of elevation as a cue for distance. We tested this empirically and with simulation. In a behavioral prey selection paradigm, in which starved beetles were presented moving prey-targets having different size, speed and elevation, the beetles showed a strong preference for large targets when these were low in the visual field and a weaker preference for small targets when these were near the horizon. Striking of targets above the horizon was reduced compared to sub-horizontal targets, and lacked the size-elevation interaction. We simulated these empirical results with a model that converted elevation to distance, and used distance to estimate the absolute size of the targets. Simulated strike probability was then determined by the similarity between this absolute size and an independently confirmed preferred prey size. The results of the simulation model matched the empirical data as well as the best statistical model of the behavioral results. While some aspects of the model, and the beetles' behavior, differ from the strict geometry of the "elevation hypothesis", our results nevertheless indicate that tiger beetles use elevation to estimate distance to prey, and that it is therefore one of the determinants of prey selection.

Spectral sensitivity of four species of fiddler crabs (Uca pugnax,Uca pugilator,Uca vomerisandUca tangeri) measured byin situmicrospectrophotometry

Fiddler crabs have compound eyes that are structurally fairly well understood. However, there has been much debate regarding their spectral sensitivity and capacity to enable colour discrimination. We examined the visual pigments of two North-American species (Uca pugnax and U. pugilator), one species from the Indo-West Pacific (U. vomeris)and the only Eastern-Atlantic species (U. tangeri) of fiddler crabs using in situ microspectrophotometry of frozen sections of dark-adapted eyes. Only one spectral class of visual receptor was found in the larger (R1–7) retinular cells of each species, with maximum absorption peaking between 508 nm and 530 nm (depending upon species). The R8 retinular cell, that might contain a short-wavelength sensitive photopigment and provide a basis for colour vision, was too small to analyze by these methods. Rhabdoms were lined with screening pigment which strongly influenced each species'spectral sensitivity, sharpening the peak and shifting the maximum towards longer wavelengths, on occasion to as far as the 600 nm region. We hypothesize that sensitivity to longer wavelengths enhances contrast between background(blue sky or tall vegetation) and the male major claw during the waving display.

Organization of optic lobes that support motion detection in a semiterrestrial crab

There is a mismatch between the documentation of the visually guided behaviors and visual physiology of decapods (Malacostraca, Crustacea) and knowledge about the neural architecture of their visual systems. The present study provides a description of the neuroanatomical features of the four visual neuropils of the grapsid crab Chasmagnathus granulatus, which is currently used as a model for investigating the neurobiology of learning and memory. Visual memory in Chasmagnathus is thought to be driven from within deep retinotopic neuropil by large-field motion-sensitive neurons. Here we describe the neural architecture characterizing the Chasmagnathus lobula, in which such neurons are found. It is shown that, unlike the equivalent region of insects, the malacostracan lobula is densely packed with columns, the spacing of which is the same as that of retinotopic units of the lamina. The lobula comprises many levels of strata and columnar afferents that supply systems of tangential neurons. Two of these, which are known to respond to movement across the retina, have orthogonally arranged dendritic fields deep in the lobula. They also show evidence of dye coupling. We discuss the significance of commonalties across taxa with respect to the organization of the lamina and medulla and contrasts these with possible taxon-specific arrangements of deeper neuropils that support systems of matched filters.

The visual ecology of fiddler crabs

With their eyes on long vertical stalks, their panoramic visual field and their pronounced equatorial acute zone for vertical resolving power, the visual system of fiddler crabs is exquisitely tuned to the geometry of vision in the flat world of inter-tidal mudflats. The crabs live as burrow-centred grazers in dense, mixed-sex, mixed-age and mixed-species colonies, with the active space of an individual rarely exceeding 1 m(2). The full behavioural repertoire of fiddler crabs can thus be monitored over extended periods of time on a moment to moment basis together with the visual information they have available to guide their actions. These attributes make the crabs superb subjects for analysing visual tasks and the design of visual processing mechanisms under natural conditions, a prerequisite for understanding the evolution of visual systems. In this review we show, on the one hand, how deeply embedded fiddler crab vision is in the behavioural and the physical ecology of these animals and, on the other hand, how their behavioural options are constrained by their perceptual limitations. Studying vision in fiddler crabs reminds us that vision has a topography, that it is context-dependent and pragmatic and that there are perceptual limits to what animals can know and therefore care about.

Binocular visual integration in the crustacean nervous system

Although the behavioral repertoire of crustaceans is largely guided by visual information their visual nervous system has been little explored. In search for central mechanisms of visual integration, this study was aimed at identifying and characterizing brain neurons in the crab involved in binocular visual processing. The study was performed in the intact animal, by recording intracellularly the response to visual stimuli of neurons from one of the two optic lobes. Identified neurons recorded from the medulla (second optic neuropil), which include sustaining neurons, dimming neurons, depolarizing and hyperpolarizing tonic neurons and on-off neurons, all presented exclusively monocular (ipsilateral) responses. In contrast, all wide field movement detector neurons recorded from the lobula (third optic neuropil) responded to moving stimuli presented to the ipsilateral and to the contralateral eye. In these cells, the responses evoked by ipsilateral or contralateral stimulation were almost identical, as revealed by analysing the number and amplitude of the elicited postsynaptic potentials and spikes, and the ability to habituate upon repeated visual stimulation. The results demonstrate that in crustaceans important binocular processing takes place at the level of the lobula.

Coalition among male fiddler crabs

Until now, no compelling evidence has emerged from studies of animal territoriality to indicate that a resident will strategically help a neighbour to defend its territory against an intruder. We show here that territory-owning Australian fiddler crabs will judiciously assist other crabs in defending their neighbouring territories. This cooperation supports the prediction that it is sometimes less costly to assist a familiar neighbour than to renegotiate boundaries with a new, and possibly stronger, neighbour.

Burrow surveillance in fiddler crabs II. The sensory cues

Using crab-like dummies, we have shown previously that fiddler crabs[Uca vomeris (McNeill)] defend their burrows against intruders in a burrow-centred frame of reference. The crabs respond whenever an intruder approaches to within a certain distance of the burrow entrance, and this distance is independent of the approach direction. We show here that the crabs combine information from the path integration system on the location of their invisible burrow and visual information on the retinal position of an intruder to make this allocentric judgement. Excluding all alternative visual cues, we propose that the crabs employ a small set of matched visual filters to determine the relationship between a crab-like object and the invisible burrow. To account for the constantly varying distance between the crabs and their burrows, the state of the path integrator may select the appropriate one of these retinal `warning zones'. We have shown before that burrow-owning fiddler crabs are extremely responsive to potential burrow snatchers, which we simulated with crab-like dummies moving across the substratum towards the burrow of residents. The crab's decision to respond to these dummies depends mainly on the spatial arrangement between itself, its burrow and the approaching dummy. The most important factor predicting response probability is the dummy's distance from the crab's burrow: the crabs are more likely to respond the closer the dummy approaches the burrow. The dummy-burrow distance not only determines the overall response probability but also the timing of burrow defence responses (i.e. when the crabs decide to react). Most interestingly, this response distance is independent of the dummy's direction of approach to the burrow. In addition, the crabs respond earlier to a dummy approaching their burrow if they themselves are further away from it,indicating that knowledge of their own distance from the burrow has an influence on their decision to respond. These results raise a number of interesting issues, which are the focus of this paper, regarding the cues and the information used by the crabs in burrow surveillance.

Burrow surveillance in fiddler crabs I. Description of behaviour

When defending resources, animals need to reliably detect and identify potential competitors. Animals that live at high population densities would be expected to be efficient in this aspect of resource defence since the time lost in false alarms could be substantial and the failure of identifying a competitor could be very costly. How does an animal decide whether another animal is or is not a threat to a resource or a territory?

Fiddler crabs [Uca vomeris (McNeill)] operate from burrows that they guard and defend vigorously against other crabs. The crabs live in dense populations, with many animals inhabiting one square metre of mudflat. We describe here the behavioural responses of foraging crabs to repeated presentations of small crab-like dummies approaching their burrows. We explore the relationship between the probability and the timing of burrow defence responses, the crab's behavioural state, and the visual appearance and direction of approach of the dummies. We find that the probability of response of resident crabs is independent of the relative position of crab and dummy but is strongly affected by the dummy's position and movement direction relative to the crab's burrow. The critical stimuli are the dummy's distance from the crab's burrow and whether the dummy is moving towards the burrow or not. The response distance (dummy-burrow distance) increases with the crab's own distance from the burrow, indicating that the crabs modify their assessment of threat depending on their own distance away from the burrow. Differences in dummy size and brightness do not affect the probability or the timing of the response.

We discuss these results in the context of fiddler crab social life and, in a companion paper, identify the visual and non-visual cues involved in burrow defence.

Desert ant navigation: how miniature brains solve complex tasks

This essay presents and discusses the state of the art in studies of desert ant (Cataglyphis) navigation. In dealing with behavioural performances, neural mechanisms, and ecological functions these studies ultimately aim at an evolutionary understanding of the insect's navigational toolkit: its skylight (polarization) compass, its path integrator, its view-dependent ways of recognizing places and following landmark routes, and its strategies of flexibly interlinking these modes of navigation to generate amazingly rich behavioural outputs. The general message is that Cataglyphis uses path integration as an egocentric guideline to acquire continually updated spatial information about places and routes. Hence, it relies on procedural knowledge, and largely context-dependent retrieval of such knowledge, rather than on all-embracing geocentred representations of space.

Invertebrate perception: measuring depth intervals through path integration and vision

A foraging fiddler crab can estimate how close a potential intruder is from its burrow entrance, even when the entrance in the sand is invisible to the crab. Recent work shows that, to assess this depth interval, crabs combine information from vision and path integration in an unusual manner.