Multiple cues produced by a robotic fish modulate aggressive behaviour in Siamese fighting fishes

Behavioral and endocrine responses to noninteractive live and video conspecifics in males of the Siamese fighting fish

The physiological mechanisms underlying variation in aggression in fish remain poorly understood. One possibly confounding variable is the lack of standardization in the type of stimuli used to elicit aggression. The presentation of controlled stimuli in videos, a.k.a. video playback, can provide better control of the fight components. However, this technique has produced conflicting results in animal behavior studies and needs to be carefully validated. For this, a similar response to the video and an equivalent live stimulus needs to be demonstrated. Further, different physiological responses may be triggered by live and video stimuli, and it is important to demonstrate that video images elicit appropriate physiological reactions. Here, the behavioral and endocrine responses of male Siamese fighting fish Betta splendens to a matched-for-size conspecific fighting behind a one-way mirror, presented live or through video playback, were compared. The video playback and live stimulus elicited a strong and similar aggressive response by the focal fish, with a fight structure that started with stereotypical threat displays and progressed to overt attacks. Postfight plasma levels of the androgen 11-ketotestosterone were elevated as compared to controls, regardless of the type of stimuli. Cortisol also increased in response to the video images, as previously described for live fights in this species. These results show that the interactive component of a fight and its resolution are not needed to trigger an endocrine response to aggression in this species. The study also demonstrates for the first time in a fish a robust endocrine response to video stimuli and supports the use of this technique for researching aggressive behavior in B. splendens.

Weathering-Resistant Replicas Fabricated by a Three-Dimensional Printing Robotic Platform Induce Shoaling Behavior in Zebrafish

In recent decades, zebrafish have become an increasingly popular laboratory organism in several fields of research due to their ease of reproduction and rapid maturation. In particular, shoaling behavior has attracted the attention of many researchers. This article presents a fully printed robotic model used to sense and stimulate shoaling behavior in zebrafish (Danio rerio). Specifically, we exposed laboratory-fabricated replicated materials to critical acid/base/salt environments and evaluated the mechanical, optical, and surface properties after a three-month immersion period. Focusing on weatherability, these test samples maintained high tensile strength (~45 MPa) and relatively similar transmission (>85%T in the visible region), as determined by UV−vis/FTIR spectroscopy. Three-dimensional (3D) printing technology allowed printing of models with different sizes and appearances. We describe the sense of zebrafish responses to replicas of different sizes and reveal that replicas approximating the true zebrafish size (3 cm) are more attractive than larger replicas (5 cm). This observation suggests that larger replicas appear as predators to the zebrafish and cause fleeing behavior. In this study, we determined the weatherability of a high-transparency resin and used it to fabricate a fully printed driving device to induce shoaling by zebrafish. Finally, we demonstrate a weathering-resistant (for three months) 3D-printed decoy model with potential utility for future studies of outdoor shoaling behavior, and the result has the potential to replace the traditional metal frame devices used in outdoor experiments.

Tumors (re)shape biotic interactions within ecosystems: Experimental evidence from the freshwater cnidarian Hydra

While it is often assumed that oncogenic processes in metazoans can influence species interactions, empirical evidence is lacking. Here, we use the cnidarian Hydra oligactis to experimentally explore the consequences of tumor associated phenotypic alterations for its predation ability, relationship with commensal ciliates and vulnerability to predators. Unexpectedly, hydra's predation ability was higher in tumorous polyps compared to non-tumorous ones. Commensal ciliates colonized preferentially tumorous hydras than non-tumorous ones, and had a higher replication rate on the former. Finally, in a choice experiment, tumorous hydras were preferentially eaten by a fish predator. This study, for the first time, provides evidence that neoplastic growth has the potential, through effect(s) on host phenotype, to alter biotic interactions within ecosystems and should thus be taken into account by ecologists.

Unveiling social distancing mechanisms via a fish-robot hybrid interaction

Pathogen transmission is a major limit of social species. Social distancing, a behavioural-based response to diseases, has been regularly reported in nature. However, the identification of distinctive stimuli associated with an infectious disease represents a challenging task for host species, whose cognitive mechanisms are still poorly understood. Herein, the social fish Paracheirodon innesi, was selected as model organism to investigate animal abilities in exploiting visual information to identify and promote social distancing towards potentially infected conspecifics. To address this, a robotic fish replica mimicking a healthy P. innesi subject, and another mimicking P. innesi with morphological and/or locomotion anomalies were developed. P. innesi individuals were attracted by the healthy fish replica, while they avoided the fish replica with morphological abnormalities, as well as the fish replica with an intact appearance, but performing locomotion anomalies (both symptoms associated with a microsporidian parasite infesting P. innesi and other fish). Furthermore, the fish replica presenting both morphology and locomotion anomalies in conjunction, triggered a significantly stronger social distancing response. This confirms the hypothesis that group living animals overgeneralize cues that can be related with a disease to minimize transmission, and highlights the important role of visual cues in infection risk contexts. This study prompts more attention on the role of behavioural-based strategies to avoid pathogen/parasite diffusion, and can be used to optimize computational approaches to model disease dynamics.

Androgens and corticosteroids increase in response to mirror images and interacting conspecifics in males of the Siamese fighting fish Betta splendens

The role of hormones as modulators of aggressive behavior in fish remains poorly understood. Androgens and corticosteroids, in particular, have been associated with aggressive behavior in fish but it is still not clear if animals adjust the secretion of these hormones to regulate behavior during ongoing fights, in response to fight outcomes in order to adjust aggressive behavior in subsequent fights, or both. With its stereotyped displays and high aggression levels, the Siamese fighting fish Betta splendens is an excellent model to investigate this question. Here, we compared the behavioral and endocrine response of male B. splendens to fights where there is no winner or loser by presenting them with a size-matched live interacting conspecific behind a transparent partition or with a mirror image. The aggressive response started with threat displays that were overall similar in frequency and duration towards both types of stimuli. Fights transitioned to overt attacks and interacting with a live conspecific elicited a higher frequency of attempted bites and head hits, as compared with the mirror image. There was a pronounced increase in plasma androgens (11-ketotestosterone and testosterone) and corticosteroids (cortisol) levels in response to the aggression challenge, independent of stimulus type. Post-fight intra-group levels of these hormones did not correlate with measures of physical activity or aggressive behavior. A linear discriminant analysis including all behavioral and endocrine data was a poor classifier of fish from the conspecific and mirror trials, showing that overall the behavioral and endocrine response to mirror images and conspecifics was similar. The results show that fight resolution is not necessary to induce an evident increase in peripheral levels of androgens and corticosteroids in B. splendens. However, the function of these hormones during present and future aggressive contests remains to be clarified.

Physiology, endocrinology and chemical communication in aggressive behaviour of fishes

Fishes show remarkably diverse aggressive behaviour. Aggression is expressed to secure resources; adjusting aggression levels according to context is key to avoid negative consequences for fitness and survival. Nonetheless, despite its importance, the physiological basis of aggression in fishes is still poorly understood. Several reports suggest hormonal modulation of aggression, particularly by androgens, but contradictory studies have been published. Studies exploring the role of chemical communication in aggressive behaviour are also scant, and the pheromones involved remain to be unequivocally characterized. This is surprising as chemical communication is the most ancient form of information exchange and plays a variety of other roles in fishes. Furthermore, the study of chemical communication and aggression is relevant at the evolutionary, ecological and economic levels. A few pioneering studies support the hypothesis that aggressive behaviour, at least in some teleosts, is modulated by "dominance pheromones" that reflect the social status of the sender, but there is little information on the identity of the compounds involved. This review aims to provide a global view of aggressive behaviour in fishes and its underlying physiological mechanisms including the involvement of chemical communication, and discusses the potential use of dominance pheromones to improve fish welfare. Methodological considerations and future research directions are also outlined.

Model-based feedback control of live zebrafish behavior via interaction with a robotic replica

The possibility of regulating the behavior of live animals using biologically-inspired robots has attracted the interest of biologists and engineers for over twenty-five years. From early work on insects to recent endeavors on mammals, we have witnessed fascinating applications that have pushed forward our understanding of animal behavior along new directions. Despite significant progress, most of the research has focused on open-loop control systems, in which robots execute predetermined actions, independent of the animal behavior. We integrate mathematical modeling of social behavior toward the design of realistic feedback laws for robots to interact with a live animal. In particular, we leverage recent advancements in data-driven modeling of zebrafish behavior. Ultimately, we establish a novel robotic platform that allows real-time actuation of a biologically-inspired 3D-printed zebrafish replica to implement model-based control of animal behavior. We demonstrate our approach through a series of experiments, designed to elucidate the appraisal of the replica by live subjects with respect to conspecifics and to quantify the biological value of closed-loop control.

Exploration of underwater life with an acoustically controlled soft robotic fish

Closeup exploration of underwater life requires new forms of interaction, using biomimetic creatures that are capable of agile swimming maneuvers, equipped with cameras, and supported by remote human operation. Current robotic prototypes do not provide adequate platforms for studying marine life in their natural habitats. This work presents the design, fabrication, control, and oceanic testing of a soft robotic fish that can swim in three dimensions to continuously record the aquatic life it is following or engaging. Using a miniaturized acoustic communication module, a diver can direct the fish by sending commands such as speed, turning angle, and dynamic vertical diving. This work builds on previous generations of robotic fish that were restricted to one plane in shallow water and lacked remote control. Experimental results gathered from tests along coral reefs in the Pacific Ocean show that the robotic fish can successfully navigate around aquatic life at depths ranging from 0 to 18 meters. Furthermore, our robotic fish exhibits a lifelike undulating tail motion enabled by a soft robotic actuator design that can potentially facilitate a more natural integration into the ocean environment. We believe that our study advances beyond what is currently achievable using traditional thruster-based and tethered autonomous underwater vehicles, demonstrating methods that can be used in the future for studying the interactions of aquatic life and ocean dynamics.

Bio-robotic cues show how the Trinidadian guppy male recognises the morphological features of receptive females

Sensory fusion is used by the males of several animal species to discriminate the mating status of females by evaluating their phenotypic traits. The predominant trait used is olfactory cues, and the role of visual cues is not yet fully understood. The ability of Poecilia reticulata males to evaluate females' receptivity based on visual cues was investigated. Guppy males adopt two different mating strategies, courtship displays and forced copulation, towards receptive and pregnant females, respectively. Robotic counterparts mimicking receptive and pregnant females were developed to test whether males relied only on visual information to determine a females' mating status. Exposure to the robotic receptive females evoked courtship behaviours, while forced copulation attempts were more frequent towards the robotic pregnant females. When the robotic fish were simultaneously exposed, regardless of the presence or absence of receptive-female olfactory cues, males expressed their preference for the receptive female. Visual processing showed that fish social interactions played a strategic role in their collection of information, especially when other stimuli were not available. The proposed ethorobotic approach allowed for assessing the role of visual cues in the mating choice of P. reticulata males and highlighting the information processing methods and cognition in aquatic animals.

Beetle-robot hybrid interaction: sex, lateralization and mating experience modulate behavioural responses to robotic cues in the larger grain borer Prostephanus truncatus (Horn)

Ethorobotics, a new fascinating field of biorobotics, proposes the use of robotic replicas as an advanced method for investigating animal behaviour. This novel research approach can also encourage the development of advanced bioinspired robots. In the present study, we investigated the pushing behaviour, a particular display occurring in several beetle species, such as the larger grain borer, Prostephanus truncatus, during both male-female and male-male contexts. We developed a robotic apparatus actuating female and male-mimicking dummies to study if sex, mating experience and asymmetries of robotic cues can modulate the escalation of pushing behaviour. Results showed that the time needed by P. truncatus to react to female-smelling biomimetic dummies was chiefly affected by their mating experience and the dummy odour. This was likely due to reduce waste of costly sperm in mated males during the subsequent sexual interactions. The pushing behaviour was performed longer and with a higher number of acts when virgin females were approached from their right side. More and longer pushing acts were noted when virgin males were approached from their left side. Dedicated neural circuits would likely act in opposite direction in females and males producing population-level lateralized sensory-motor displays, which may be evolved to promote male approaches from the left side of females, thus improving short-distance sex recognition. Overall, this study provides new insights on the behavioural ecology of stored-product beetles, as well as on self-organization and decentralized decision making that can be exploited to develop bioinspired algorithms for task optimization, involving real-world scenarios.

The Logic of Interactive Biorobotics

In recent studies, robots are used to stimulate living systems in controlled experimental settings. This research strategy is here called interactive biorobotics, to distinguish it from classical biorobotics, in which robots are used to simulate, rather than to stimulate, living system behavior. This article offers a methodological analysis of interactive biorobotics and has two goals. The first one is to argue that interactive biorobotics is methodologically different, in some important respects, from classical biorobotics and from countless instances of model-based science. It will be shown that interactive biorobotics does not conform to the so-called “understanding by building” approach or synthetic method, and that it illustrates a novel use of models in science. The second goal is to reflect on the logic of interactive biorobotics. A distinction will be made between two classes of studies, which will be called “proximal” and “distal.” In proximal studies, experiments involving robot-animal interaction are brought to bear on theoretical hypotheses on robot-animal interaction. In distal studies, experiments involving robot-animal interaction are brought to bear on theoretical hypotheses on animal-animal interaction. Distal studies involve logical steps which may be particularly hard to justify. This distinction, together with a methodological reflection on the relationship between the context in which the experiments are carried out and the context in which the conclusions are expected to hold, will lead to a checklist of questions which may be useful to justify and evaluate the validity of interactive biorobotics studies. The reconstruction of the logic of interactive biorobotics made here, though preliminary, may contribute to justifying the important role that robots, as tool for stimulating living systems, can play in the contemporary life sciences.

Guppies Prefer to Follow Large (Robot) Leaders Irrespective of Own Size

Body size is often assumed to determine how successfully an individual can lead others with larger individuals being better leaders than smaller ones. But even if larger individuals are more readily followed, body size often correlates with specific behavioral patterns and it is thus unclear whether larger individuals are more often followed than smaller ones because of their size or because they behave in a certain way. To control for behavioral differences among differentially-sized leaders, we used biomimetic robotic fish (Robofish) of different sizes. Live guppies (Poecilia reticulata) are known to interact with Robofish in a similar way as with live conspecifics. Consequently, Robofish may serve as a conspecific-like leader that provides standardized behaviors irrespective of its size. We asked whether larger Robofish leaders are preferentially followed and whether the preferences of followers depend on own body size or risk-taking behavior ("boldness"). We found that live female guppies followed larger Robofish leaders in closer proximity than smaller ones and this pattern was independent of the followers' own body size as well as risk-taking behavior. Our study shows a "bigger is better" pattern in leadership that is independent of behavioral differences among differentially-sized leaders, followers' own size and risk-taking behavior.

Open-source five degree of freedom motion platform for investigating fish-robot interaction

This paper presents the design, construction, operation, and validation of a robotic gantry platform specifically designed for studying fish-robot interaction. The platform has five degrees of freedom to manipulate the three-dimensional position, yaw angle, and the pitch of a lure. Additionally, it has a four-conductor slip ring that allows power and data to be transmitted to the lure for the operation of fins and other actuators that increase realism or act as stimuli to focal fish during an ethorobotic experiment. The design is open-source, low-cost, and includes purpose-built electronics, software, and hardware to make it extensible and customizable for a number of applications with varying requirements.

Behavioural and life-history responses of mosquitofish to biologically inspired and interactive robotic predators

Invasive alien species threaten biodiversity worldwide and contribute to biotic homogenization, especially in freshwaters, where the ability of native animals to disperse is limited. Robotics may offer a promising tool to address this compelling problem, but whether and how invasive species can be negatively affected by robotic stimuli is an open question. Here, we explore the possibility of modulating behavioural and life-history responses of mosquitofish by varying the degree of biomimicry of a robotic predator, whose appearance and locomotion are inspired by natural mosquitofish predators. Our results support the prediction that real-time interactions at varying swimming speeds evoke a more robust antipredator response in mosquitofish than simpler movement patterns by the robot, especially in individuals with better body conditions that are less prone to take risks. Through an information-theoretic analysis of animal-robot interactions, we offer evidence in favour of a causal link between the motion of the robotic predator and a fish antipredator response. Remarkably, we observe that even a brief exposure to the robotic predator of 15 min per week is sufficient to erode energy reserves and compromise the body condition of mosquitofish, opening the door for future endeavours to control mosquitofish in the wild.

A Comparison of Individual Learning and Social Learning in Zebrafish Through an Ethorobotics Approach

Social learning is ubiquitous across the animal kingdom, where animals learn from group members about predators, foraging strategies, and so on. Despite its prevalence and adaptive benefits, our understanding of social learning is far from complete. Here, we study observational learning in zebrafish, a popular animal model in neuroscience. Toward fine control of experimental variables and high consistency across trials, we developed a novel robotics-based experimental test paradigm, in which a robotic replica demonstrated to live subjects the correct door to join a group of conspecifics. We performed two experimental conditions. In the individual training condition, subjects learned the correct door without the replica. In the social training condition, subjects observed the replica approaching both the incorrect door, to no effect, and the correct door, which would open after spending enough time close to it. During these observations, subjects could not actively follow the replica. Zebrafish increased their preference for the correct door over the course of 20 training sessions, but we failed to identify evidence of social learning, whereby we did not register significant differences in performance between the individual and social training conditions. These results suggest that zebrafish may not be able to learn a route by observation, although more research comparing robots to live demonstrators is needed to substantiate this claim.

A review on animal-robot interaction: from bio-hybrid organisms to mixed societies

Living organisms are far superior to state-of-the-art robots as they have evolved a wide number of capabilities that far encompass our most advanced technologies. The merging of biological and artificial world, both physically and cognitively, represents a new trend in robotics that provides promising prospects to revolutionize the paradigms of conventional bio-inspired design as well as biological research. In this review, a comprehensive definition of animal-robot interactive technologies is given. They can be at animal level, by augmenting physical or mental capabilities through an integrated technology, or at group level, in which real animals interact with robotic conspecifics. Furthermore, an overview of the current state of the art and the recent trends in this novel context is provided. Bio-hybrid organisms represent a promising research area allowing us to understand how a biological apparatus (e.g. muscular and/or neural) works, thanks to the interaction with the integrated technologies. Furthermore, by using artificial agents, it is possible to shed light on social behaviours characterizing mixed societies. The robots can be used to manipulate groups of living organisms to understand self-organization and the evolution of cooperative behaviour and communication.

Encoding lateralization of jump kinematics and eye use in a locust via bio-robotic artifacts

The effect of previous exposure to lateral sensory stimuli in shaping the response to subsequent symmetric stimuli represents an important overlooked issue in neuroethology, with special reference to arthropods. In this research, we investigated the hypothesis to 'programme' jumping escape direction as well as surveillance orientation in young and adult individuals of Locusta migratoria as an adaptive consequence of prior exposure to directional-biased predator approaches generated by a robotic leopard gecko representing Eublepharis macularius The manipulation of the jumping escape direction was successfully achieved in young locusts, although young L. migratoria did not exhibit innately lateralized jumping escapes. Jumping escape direction was also successfully manipulated in adult locusts, which exhibited innate lateralized jumping escape at the individual level. The innate lateralization of each instar of L. migratoria in using a preferential eye during surveillance was not affected by prior lateralized exposure to the robotic gecko. Our results indicate a high plasticity of the escape motor outputs that are occurring almost in real time with the perceived stimuli, making them greatly adaptable and compliant to environmental changes in order to be effective and reliable. In addition, surveillance lateralization innately occurs at population level in each instar of L. migratoria Therefore, its low forgeability by environmental factors would avoid disorganization at swarm level and improve swarm coordination during group tasks. These findings are consistent with the fact that, as in vertebrates, in insects the right hemisphere is specialized in controlling fear and escape functions.

Using a robotic fish to investigate individual differences in social responsiveness in the guppy

Responding towards the actions of others is one of the most important behavioural traits whenever animals of the same species interact. Mutual influences among interacting individuals may modulate the social responsiveness seen and thus make it often difficult to study the level and individual variation in responsiveness. Here, open-loop biomimetic robots that provide standardized, non-interactive social cues can be a useful tool. These robots are not affected by the live animal's actions but are assumed to still represent valuable and biologically relevant social cues. As this assumption is crucial for the use of biomimetic robots in behavioural studies, we hypothesized (i) that meaningful social interactions can be assumed if live animals maintain individual differences in responsiveness when interacting with both a biomimetic robot and a live partner. Furthermore, to study the level of individual variation in social responsiveness, we hypothesized (ii) that individual differences should be maintained over the course of multiple tests with the robot. We investigated the response of live guppies (Poecilia reticulata) when allowed to interact either with a biomimetic open-loop-controlled fish robot-'Robofish'-or with a live companion. Furthermore, we investigated the responses of live guppies when tested three times with Robofish. We found that responses of live guppies towards Robofish were weaker compared with those of a live companion, most likely as a result of the non-interactive open-loop behaviour of Robofish. Guppies, however, were consistent in their individual responses between a live companion and Robofish, and similar individual differences in response towards Robofish were maintained over repeated testing even though habituation to the test environment was detectable. Biomimetic robots like Robofish are therefore a useful tool for the study of social responsiveness in guppies and possibly other small fish species.

Artificial blood feeders for mosquito and ticks-Where from, where to?

Mosquito and tick feeding activity represent a key threat for humans, livestock, pets and wildlife worldwide. Rearing these vectors in laboratory conditions is extremely important to investigate basic facets of their biology, vector competence, new control strategies, as well as mechanisms of pesticide resistance. However, the use of animals or humans to provide blood for hematophagous arthropod feeding poses a strict limit to these researches, due to the accidental transmission of diseases, ethical problems concerning animal welfare, as well as expensive and time-consuming animal rearing procedures. The use of devices to artificially feed arthropod vectors can importantly leverage progresses in parasitology and entomology. The aim of this review is to summarize current knowledge about artificial feeding of mosquitoes and ticks, focusing on key concepts and case studies about the design and fabrication of blood feeding devices. From a technical standpoint, the literature analyzed here showed little standardization of materials used for fabricating membrane interfaces, as well as in the strategy used to heat the "biomimetic host". In addition, a lack of uniform methods to design an architecture merging complex and realistic cues with an easy-to-assemble approach have been found. Some commercial products are available, but they are quite expensive, thus hard to reach for many laboratories, especially in developing countries. An important challenge for future research is represented by the introduction of automation and bioinspired engineered solutions in these devices, improving the effectiveness of blood-feeding systems by increasing their host-mimicking features. Automation can reduce labor costs and provide interesting solutions - in line with the 3R principle "reduce, replace and refine" - aimed to minimize the employ of experimental animals in research.

Insights into the Social Behavior of Surface and Cave-Dwelling Fish (Poecilia mexicana) in Light and Darkness through the Use of a Biomimetic Robot

Biomimetic robots (BRs) are becoming more common in behavioral research and, if they are accepted as conspecifics, allow for new forms of experimental manipulations of social interactions. Nevertheless, it is often not clear which cues emanating from a BR are actually used as communicative signals and how species or populations with different sensory makeups react to specific types of BRs. We herein present results from experiments using two populations of livebearing fishes that differ in their sensory capabilities. In the South of Mexico, surface-dwelling mollies (Poecilia mexicana) successfully invaded caves and adapted to dark conditions. While almost without pigment, these cave mollies possess smaller but still functional eyes. Although previous studies found cave mollies to show reduced shoaling preferences with conspecifics in light compared to surface mollies, it is assumed that they possess specialized adaptations to maintain some kind of sociality also in their dark habitats. By testing surface- and cave-dwelling mollies with RoboFish, a BR made for use in laboratory experiments with guppies and sticklebacks, we asked to what extent visual and non-visual cues play a role in their social behavior. Both cave- and surface-dwelling mollies followed the BR as well as a live companion when tested in light. However, when tested in darkness, only surface-dwelling fish were attracted by a live conspecific, whereas cave-dwelling fish were not. Neither cave- nor surface-dwelling mollies were attracted to RoboFish in darkness. This is the first study to use BRs for the investigation of social behavior in mollies and to compare responses to BRs both in light and darkness. As our RoboFish is accepted as conspecific by both used populations of the Atlantic molly only under light conditions but not in darkness, we argue that our replica is providing mostly visual cues.

Behavioral asymmetries in ticks - Lateralized questing of Ixodes ricinus to a mechatronic apparatus delivering host-borne cues

Ticks are considered among the most dangerous arthropod vectors of disease agents to both humans and animals worldwide. Lateralization contributes to biological fitness in many animals, conferring important functional advantages, therefore studying its role in tick perception would critically improve our knowledge about their host-seeking behavior. In this research, we evaluated if Ixodes ricinus (L.) (Ixodiidae) ticks have a preference in using the right or the left foreleg to climb on a host. We developed a mechatronic device moving a tuft of fox skin with fur as host-mimicking combination of cues. This engineered approach allows to display a realistic combination of both visual and olfactory host-borne stimuli, which is prolonged over the time and standardized for each replicate. In the first experiment, the mechatronic apparatus delivered host-borne cues frontally, to evaluate the leg preference during questing as response to a symmetrical stimulus. In the second experiment, host-borne cues were provided laterally, in an equal proportion to the left and to the right of the tick, to investigate if the host direction affected the questing behavior. In both experiments, the large majority of the tested ticks showed individual-level left-biased questing acts, if compared to the ticks showing right-biased ones. Furthermore, population-level left-biased questing responses were observed post-exposure to host-mimicking cues provided frontally or laterally to the tick. Overall, this is the first report on behavioral asymmetries in ticks of medical and veterinary importance. Moreover, the mechatronic apparatus developed in this research can be exploited to evaluate the impact of repellents on tick questing in highly reproducible standardized conditions.

Closed-loop control of zebrafish behaviour in three dimensions using a robotic stimulus

Robotics is continuously being integrated in animal behaviour studies to create customizable, controllable, and repeatable stimuli. However, few systems have capitalized on recent breakthroughs in computer vision and real-time control to enable a two-way interaction between the animal and the robot. Here, we present a "closed-loop control" system to investigate the behaviour of zebrafish, a popular animal model in preclinical studies. The system allows for actuating a biologically-inspired 3D-printed replica in a 3D workspace, in response to the behaviour of a zebrafish. We demonstrate the role of closed-loop control in modulating the response of zebrafish, across a range of behavioural and information-theoretic measures. Our results suggest that closed-loop control could enhance the degree of biomimicry of the replica, by increasing the attraction of live subjects and their interaction with the stimulus. Interactive experiments hold promise to advance our understanding of zebrafish, offering new means for high throughput behavioural phenotyping.

Escape and surveillance asymmetries in locusts exposed to a Guinea fowl-mimicking robot predator

Escape and surveillance responses to predators are lateralized in several vertebrate species. However, little is known on the laterality of escapes and predator surveillance in arthropods. In this study, we investigated the lateralization of escape and surveillance responses in young instars and adults of Locusta migratoria during biomimetic interactions with a robot-predator inspired to the Guinea fowl, Numida meleagris. Results showed individual-level lateralization in the jumping escape of locusts exposed to the robot-predator attack. The laterality of this response was higher in L. migratoria adults over young instars. Furthermore, population-level lateralization of predator surveillance was found testing both L. migratoria adults and young instars; locusts used the right compound eye to oversee the robot-predator. Right-biased individuals were more stationary over left-biased ones during surveillance of the robot-predator. Individual-level lateralization could avoid predictability during the jumping escape. Population-level lateralization may improve coordination in the swarm during specific group tasks such as predator surveillance. To the best of our knowledge, this is the first report of lateralized predator-prey interactions in insects. Our findings outline the possibility of using biomimetic robots to study predator-prey interaction, avoiding the use of real predators, thus achieving standardized experimental conditions to investigate complex and flexible behaviours.