Ultrafast traveling wave dominates the electric organ discharge of Apteronotus leptorhynchus: an inverse modelling study

Receptive field sizes and neuronal encoding bandwidth are constrained by axonal conduction delays

Studies on population coding implicitly assume that spikes from the presynaptic cells arrive simultaneously at the integrating neuron. In natural neuronal populations, this is usually not the case-neuronal signaling takes time and populations cover a certain space. The spread of spike arrival times depends on population size, cell density and axonal conduction velocity. Here we analyze the consequences of population size and axonal conduction delays on the stimulus encoding performance in the electrosensory system of the electric fish Apteronotus leptorhynchus. We experimentally locate p-type electroreceptor afferents along the rostro-caudal body axis and relate locations to neurophysiological response properties. In an information-theoretical approach we analyze the coding performance in homogeneous and heterogeneous populations. As expected, the amount of information increases with population size and, on average, heterogeneous populations encode better than the average same-size homogeneous population, if conduction delays are compensated for. The spread of neuronal conduction delays within a receptive field strongly degrades encoding of high-frequency stimulus components. Receptive field sizes typically found in the electrosensory lateral line lobe of A. leptorhynchus appear to be a good compromise between the spread of conduction delays and encoding performance. The limitations imposed by finite axonal conduction velocity are relevant for any converging network as is shown by model populations of LIF neurons. The bandwidth of natural stimuli and the maximum meaningful population sizes are constrained by conduction delays and may thus impact the optimal design of nervous systems.

Modeling the Sequential Pattern Variability of the Electromotor Command System of Pulse Electric Fish

Mormyridae, a family of weakly electric fish, use electric pulses for communication and for extracting information from the environment (active electroreception). The electromotor system controls the timing of pulse generation. Ethological studies have described several sequences of pulse intervals (SPIs) related to distinct behaviors (e.g., mating or exploratory behaviors). Accelerations, scallops, rasps, and cessations are four different SPI patterns reported in these fish, each showing characteristic stereotyped temporal structures. This article presents a computational model of the electromotor command circuit that reproduces a whole set of SPI patterns while keeping the same internal network configuration. The topology of the model is based on a simplified representation of the network with four neuron clusters (nuclei). An initial configuration was built to reproduce nucleus characteristics and network topology as described by detailed morphological and electrophysiological studies. Then, a methodology based on a genetic algorithm (GA) was developed and applied to tune the model connectivity parameters to automatically reproduce a whole set of patterns recorded from freely-behaving Gnathonemus petersii specimens. Robustness analyses of input variability were performed to discard overfitting and assess validity. Results show that the set of SPI patterns is consistently reproduced reaching a dynamic balance between synaptic properties in the network. This model can be used as a tool to test novel hypotheses regarding temporal structure in electrogeneration. Beyond the electromotor model itself, the proposed methodology can be adapted to fit models of other biological networks that also exhibit sequential patterns.

Strategies of object polarization and their role in electrosensory information gathering

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

The complexity of high-frequency electric fields degrades electrosensory inputs: implications for the jamming avoidance response in weakly electric fish

Sensory systems encode environmental information that is necessary for adaptive behavioural choices, and thus greatly influence the evolution of animal behaviour and the underlying neural circuits. Here, we evaluate how the quality of sensory information impacts the jamming avoidance response (JAR) in weakly electric fish. To sense their environment, these fish generate an oscillating electric field: the electric organ discharge (EOD). Nearby fish with similar EOD frequencies perform the JAR to increase the difference between their EOD frequencies, i.e. their difference frequency (DF). The fish determines the sign of the DF: when it has a lower frequency (DF > 0), EOD frequency is decreased and vice versa. We study the sensory basis of the JAR in two species: Apteronotus leptorhynchus have a high frequency (ca 1000 Hz), spatio-temporally heterogeneous electric field, whereas Eigenmannia sp. have a low frequency (ca 300 Hz), spatially uniform field. We show that the increased complexity of the Apteronotus field decreases the reliability of sensory cues used to determine the DF. Interestingly, Apteronotus responds to all JAR stimuli by increasing EOD frequency, having lost the neural pathway that produces JAR-related decreases in EOD frequency. Our results suggest that electric field complexity may have influenced the evolution of the JAR by degrading the related sensory information.

Spatiotemporal model for depth perception in electric sensing

Electric sensing involves measuring the voltage changes in an actively generated electric field, enabling an environment to be characterized by its electrical properties. It has been applied in a variety of contexts, from geophysics to biomedical imaging. Some species of fish also use an active electric sense to explore their environment in the dark. One of the primary challenges in such electric sensing involves mapping an environment in three-dimensions using voltage measurements that are limited to a two-dimensional sensor array (i.e. a two-dimensional electric image). In some special cases, the distance of simple objects from the sensor array can be estimated by combining properties of the electric image. Here, we describe a novel algorithm for distance estimation based on a single property of the electric image. Our algorithm can be implemented in two simple ways, involving either different electric field strengths or different sensor thresholds, and is robust to changes in object properties and noise.

Rapid evolution of a voltage-gated sodium channel gene in a lineage of electric fish leads to a persistent sodium current

Most weakly electric fish navigate and communicate by sensing electric signals generated by their muscle-derived electric organs. Adults of one lineage (Apteronotidae), which discharge their electric organs in excess of 1 kHz, instead have an electric organ derived from the axons of specialized spinal neurons (electromotorneurons [EMNs]). EMNs fire spontaneously and are the fastest-firing neurons known. This biophysically extreme phenotype depends upon a persistent sodium current, the molecular underpinnings of which remain unknown. We show that a skeletal muscle–specific sodium channel gene duplicated in this lineage and, within approximately 2 million years, began expressing in the spinal cord, a novel site of expression for this isoform. Concurrently, amino acid replacements that cause a persistent sodium current accumulated in the regions of the channel underlying inactivation. Therefore, a novel adaptation allowing extreme neuronal firing arose from the duplication, change in expression, and rapid sequence evolution of a muscle-expressing sodium channel gene.

The electrical properties of excitable cells, such as those in muscle and nervous tissue, were enabled in large part by the evolution of voltage-gated ion channel genes. The regulated conduction of ions through these channels results in the propagation of electrical signals, facilitating communication between cells. Here, we investigated how voltage-gated sodium (Na_v) channels contributed to the evolution of a novel electric organ system in the Apteronotids—a lineage of weakly electric fish. This organ is developmentally derived from motor neurons and used for communication between individual fish, as well as for probing their nocturnal environment. We used transcriptomic data to show that the gene encoding a broadly conserved muscle-specific sodium channel was duplicated in an ancestral fish. One duplicated gene copy subsequently gained expression in the spinal cord, where the electric organ is located. Through evolutionary analysis and biophysical experiments, we demonstrate that sequence changes in this new sodium channel transformed its function to cause novel electrical properties that can facilitate spontaneous high-frequency action potentials. This study shows that duplicate genes can gain highly novel expression patterns and quickly adapt to contribute to the phenotypic evolution of novel organ systems.

The bioinspiring potential of weakly electric fish

Electric fish are privileged animals for bio-inspiring man-built autonomous systems since they have a multimodal sense that allows underwater navigation, object classification and intraspecific communication. Although there are taxon dependent variations adapted to different environments, this multimodal system can be schematically described as having four main components: active electroreception, passive electroreception, lateral line sense and, proprioception. Amongst these sensory modalities, proprioception and electroreception show 'active' systems that extrct information carried by self generated forms of energy. This ensemble of four sensory modalities is present in African mormyriformes and American gymnotiformes. The convergent evolution of similar imaging, peripheral encoding, and central processing mechanisms suggests that these mechanisms may be the most suitable for dealing with electric images in the context of the other and self generated actions. This review deals with the way in which biological organisms address three of the problems that are faced when designing a bioinspired electroreceptive agent: (a) body shape, material and mobility, (b) peripheral encoding of electric images, and (c) early processing of electrosensory signals. Taking into account biological solutions I propose that the new generation of underwater agents should have electroreceptive arms, use complex peripheral sensors for encoding the images and cerebellum like architecture for image feature extraction and implementing sensory-motor transformations.