Live Predators, Robots, and Computer-Animated Images Elicit Differential Avoidance Responses in Zebrafish

Neural Circuit Mechanisms Involved in Animals' Detection of and Response to Visual Threats

Evading or escaping from predators is one of the most crucial issues for survival across the animal kingdom. The timely detection of predators and the initiation of appropriate fight-or-flight responses are innate capabilities of the nervous system. Here we review recent progress in our understanding of innate visually-triggered defensive behaviors and the underlying neural circuit mechanisms, and a comparison among vinegar flies, zebrafish, and mice is included. This overview covers the anatomical and functional aspects of the neural circuits involved in this process, including visual threat processing and identification, the selection of appropriate behavioral responses, and the initiation of these innate defensive behaviors. The emphasis of this review is on the early stages of this pathway, namely, threat identification from complex visual inputs and how behavioral choices are influenced by differences in visual threats. We also briefly cover how the innate defensive response is processed centrally. Based on these summaries, we discuss coding strategies for visual threats and propose a common prototypical pathway for rapid innate defensive responses.

ENVIRONMENTAL STRESSORS DIFFERENTIALLY MODULATE ANXIETY-LIKE BEHAVIOUR IN MALE AND FEMALE ZEBRAFISH

How differently male and female responds in a stressful situation is a matter of curiosity. Apart from curiosity, this opens a new arena to the synthesis of personalized/individualized medications. Here, we used zebrafish, a suitable experimental animal model to study stress and anxiety. We evaluated the differential responses in adult male and female zebrafish on the acute exposure of three different stressors: Caffeine (100mg/L), Conspecific alarm substance (3.5ml/L), and sight of sympatric predators (Leaf fish and Snakehead) with the help of two different behavioural paradigms (Novel tank test & Predator exposure). Behavioural responses were captured over 6minutes and quantified using Smart 3.0. Male zebrafish were found to be more responsive to caffeine treatment. Conspecific alarm substance-challenged males and females showed robust alarm reactions whereas females were found to be more prone to it. Female zebrafish showed statistically significant aversion to the visual representation of sympatric predators. Taken together, each stressor induced differential responses in male and female zebrafish.

Exploring the advantages of using artificial agents to investigate animacy perception in cats and dogs

Self-propelled motion cues elicit the perception of inanimate objects as animate. Studies usually rely on the looking behaviour of subjects towards stimuli displayed on a screen, but utilizing artificial unidentified moving objects (UMOs) provides a more natural, interactive context. Here, we investigated whether cats and dogs discriminate between UMOs showing animate vs inanimate motion, and how they react to the UMOs' interactive behaviour. Subjects first observed, in turn, the motion of an animate and an inanimate UMO, and then they could move freely for 2 min while both UMOs were present (two-way choice phase). In the following specific motion phase, the animate UMO showed one of three interactive behaviours: pushing a ball, a luring motion, or moving towards the subject (between-subject design). Then, subjects could move freely for 2 min again while the UMO was motionless. At the end, subjects were free to move in the room while the UMO was moving semi-randomly in the room. We found that dogs approached and touched the UMO(s) sooner and more frequently than cats, regardless of the context. In the two-way choice phase, dogs looked at the animate UMO more often, and both species touched the animate UMO more frequently. However, whether the UMO showed playing, luring or assertive behaviour did not influence subjects' behaviour. In summary, both species displayed distinctive behaviour towards the animate UMO, but in dogs, in addition to the physical contact this was also reflected by the looking behaviour. Overall, dogs were more keen to explore and interact with the UMO than cats, which might be due to the general increased stress of cats in novel environments. The findings indicate the importance of measuring multiple behaviours when assessing responses to animacy. The live demonstration using artificial agents provides a unique opportunity to study social perception in nonhuman species.

Ecology of fear in highly invasive fish revealed by robots

Invasive species threaten biodiversity and ecosystem functioning. We develop an innovative experimental approach, integrating biologically inspired robotics, time-series analysis, and computer vision, to build a detailed profile of the effects of non-lethal stress on the ecology and evolution of mosquitofish (Gambusia holbrooki)—a global pest. We reveal that brief exposures to a robotic predator alter mosquitofish behavior, increasing fear and stress responses, and mitigate the impact of mosquitofish on native tadpoles (Litoria moorei) in a cause-and-effect fashion. Effects of predation risk from the robot carry over to routine activity and feeding rate of mosquitofish weeks after exposure, resulting in weight loss, variation in body shape, and reduction in the fertility of both sexes—impairing survival, reproduction, and ecological success. We capitalize on evolved responses of mosquitofish to reduce predation risk—neglected in biological control practices—and provide scientific foundations for widespread use of state-of-the-art robotics in ecology and evolution research.

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Can robotic predators reveal the vulnerabilities of invasive and pest species?

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Our predator selectively targets invasive fish to protect native amphibians

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Stress from the robot compromises behavior, health, and reproduction of invaders

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We open new frontiers for robotics in ecology, evolution, and biocontrol research

Archerfish respond to a hunting robotic conspecific

While the unique hunting behavior of archerfish has received considerable scientific attention, the specific social cues that govern behaviors like intraspecific kleptoparasitism in the species are less understood. This paper asks whether the use of a robotic facsimile representing an archerfish can elicit a social response if it approximates an archerfish's appearance, along with key features of its hunting behavior. We found that the fish respond to the robot when it hunted, as indicated by decreasing distances between the robot and fish (and among the fish) during the robot's hunting behavior sequence, as well as higher net transfer entropy when the robot was hunting. These effects were present even when the robot's "hunt" was unproductive and did not result in food. The temporal pattern of fish approach to the robot and each other indicated that the segment of robot hunting behavior proximal to the robotic facsimile shot elicited fish behavior initially. However, earlier cues in the robot's hunting sequence became important following more experience with a food contingency. This indicates that further studies could use a robotic facsimile to conduct a detailed stimulus analysis, changing aspects of the robot's appearance and behavior to uncover the basic mechanisms of information transfer among individuals in a social hunting scenario.

Innate visual discrimination abilities of zebrafish larvae

The ability to discriminate between objects visually plays a key role in animals' interactions with their environment because it enables them to recognise companions, prey, and predators. In the zebrafish, Danio rerio, hatching occurs early on during development (48-72 h post fertilisation), and the larvae must forage and evade predators despite their immature sensory and cognitive systems. Using a preference paradigm, we investigated whether larval zebrafish are nonetheless capable of discriminating between visual stimuli. We found that larvae discriminated not only between figures with different colours or different shapes, but also between two identical figures with different orientations and between sets of figures with different numerosities. By manipulating larvae's exposure to objects before the test, we demonstrated that their discrimination abilities are innate and do not depend upon experience. This study highlighted that zebrafish possess relatively sophisticated visual discrimination abilities even at the larval stage. These abilities likely improve larval survival via the recognition of biologically relevant stimuli.

Phenomics Approach to Investigate Behavioral Toxicity of Environmental or Occupational Toxicants in Adult Zebrafish (Danio rerio)

Over the last few years, environmental pollution, especially water pollution, has become a serious issue worldwide. Thus, methods that can help us understand the impact and effects of these pollutants, especially on aquatic animals, are needed. Behavioral assessment has emerged as a crucial tool in toxicology and pharmacology because many studies have shown, in multiple animal models, that various pharmacological compounds can alter behavior, with many of the findings being translatable to humans. Moreover, behavior study can also be used as a suitable indicator in the ecotoxicological risk assessment of pollutants. Several model organisms, especially rodent models, have been extensively employed for behavior studies. However, assessments using this model are generally time consuming, expensive, and require extensive facilities for housing experimental animals. Moreover, behavioral studies typically use different measurements and assessment tools, making comparisons difficult. In addition, even though behavioral phenomics has the potential to comprehensively illustrate the toxicities of chemicals, there is only a limited number of studies focusing on animal behavior using such a global approach. Here, we describe a phenomics approach that can be used to investigate the impact of pollutants using zebrafish. The approach consists of several behavioral tests, including response to a novel environment, mirror-reflection image, predator fish, and conspecifics, after exposure to a test chemical. Phenotype fingerprinting, a method for summarizing individual phenotypes based on the results of the behavioral tests, is then conducted to reduce data complexity and display the pattern of each compound on behavioral phenotypes in zebrafish. This approach may be useful to researchers studying the potential adverse effects of different pollutants. © 2021 Wiley Periodicals LLC. Basic Protocol 1: Novel tank test Basic Protocol 2: Shoaling test Basic Protocol 3: Aggression test (mirror biting test) Basic Protocol 4: Social interaction test Basic Protocol 5: Fear response test Basic Protocol 6: PCA and heatmap clustering.

Acute Citalopram administration modulates anxiety in response to the context associated with a robotic stimulus in zebrafish

BACKGROUND

Anxiety represents one of the most urgent health challenges in Western Countries, where it is associated with major medical and societal costs. A common therapeutic approach is the use of selective serotonin reuptake inhibitors, such as Citalopram. However, this treatment of choice is characterized by incomplete efficacy and potential side effects. Preclinical research is needed to detail the mechanisms underlying therapeutic efficacy of available treatments.

METHODS

Zebrafish, a rapidly emerging model species, constitutes an excellent candidate for high-throughput studies in behavioral pharmacology. Here, we present a robotics-based experimental paradigm to investigate the effects of acute Citalopram administration on conditioned place aversion. We trained adult subjects in a three-partitioned tank, consisting of one central and two lateral compartments: the latter were associated either with a fear eliciting robotic stimulus or with an empty environment. Following training, we implemented an automated three-dimensional tracking system to assess the spatial association and detail individual phenotype in a stimulus-free test session.

RESULTS

We observed a linear dose-response profile with respect to geotaxis, with increasing Citalopram concentrations reducing the tendency to swim near the bottom of the tank. Although control subjects failed to exhibit the predicted conditioned aversion, we found preliminary evidence that Citalopram may affect sexes differentially, with male subjects showing increased conditioned aversion at low Citalopram concentration.

CONCLUSIONS

Experimental paradigms based on robotics and three-dimensional tracking can contribute methodological advancements in zebrafish behavioral psychopharmacology.

Interspecies Behavioral Variability of Medaka Fish Assessed by Comparative Phenomics

Recently, medaka has been used as a model organism in various research fields. However, even though it possesses several advantages over zebrafish, fewer studies were done in medaka compared to zebrafish, especially with regard to its behavior. Thus, to provide more information regarding its behavior and to demonstrate the behavioral differences between several species of medaka, we compared the behavioral performance and biomarker expression in the brain between four medaka fishes, Oryzias latipes, Oryzias dancena, Oryzias woworae, and Oryzias sinensis. We found that each medaka species explicitly exhibited different behaviors to each other, which might be related to the different basal levels of several biomarkers. Furthermore, by phenomics and genomic-based clustering, the differences between these medaka fishes were further investigated. Here, the phenomic-based clustering was based on the behavior results, while the genomic-based clustering was based on the sequence of the nd2 gene. As we expected, both clusterings showed some resemblances to each other in terms of the interspecies relationship between medaka and zebrafish. However, this similarity was not displayed by both clusterings in the medaka interspecies comparisons. Therefore, these results suggest a re-interpretation of several prior studies in comparative biology. We hope that these results contribute to the growing database of medaka fish phenotypes and provide one of the foundations for future phenomics studies of medaka fish.

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.

Translating Neurobehavioral Toxicity Across Species From Zebrafish to Rats to Humans: Implications for Risk Assessment

There is a spectrum of approaches to neurotoxicological science from high-throughput in vitro cell-based assays, through a variety of experimental animal models to human epidemiological and clinical studies. Each level of analysis has its own advantages and limitations. Experimental animal models give essential information for neurobehavioral toxicology, providing cause-and-effect information regarding risks of neurobehavioral dysfunction caused by toxicant exposure. Human epidemiological and clinical studies give the closest information to characterizing human risk, but without randomized treatment of subjects to different toxicant doses can only give information about association between toxicant exposure and neurobehavioral impairment. In vitro methods give much needed high throughput for many chemicals and mixtures but cannot provide information about toxicant impacts on behavioral function. Crucial to the utility of experimental animal model studies is cross-species translation. This is vital for both risk assessment and mechanistic determination. Interspecies extrapolation is important to characterize from experimental animal models to humans and between different experimental animal models. This article reviews the literature concerning extrapolation of neurobehavioral toxicology from established rat models to humans and from zebrafish a newer experimental model to rats. The functions covered include locomotor activity, emotion, and cognition and the neurotoxicants covered include pesticides, metals, drugs of abuse, flame retardants and polycyclic aromatic hydrocarbons. With more complete understanding of the strengths and limitations of interspecies translation, we can better use animal models to protect humans from neurobehavioral toxicity.

Zebrafish exhibit associative learning for an aversive robotic stimulus

Zebrafish have quickly emerged as a species of choice in preclinical research, holding promise to advance the field of behavioral pharmacology through high-throughput experiments. Besides biological and heuristic considerations, zebrafish also constitute a fundamental tool that fosters the replacement of mammals with less sentient experimental subjects. Notwithstanding these features, experimental paradigms to investigate emotional and cognitive domains in zebrafish are still limited. Studies on emotional memories have provided sound methodologies to investigate fear conditioning in zebrafish, but these protocols may still benefit from a reconsideration of the independent variables adopted to elicit aversion. Here, we designed a fear-conditioning paradigm in which wild-type zebrafish were familiarized over six training sessions with an empty compartment and a fear-eliciting one. The fearful stimulus was represented by three zebrafish replicas exhibiting a fully synchronized and polarized motion as they were maneuvered along 3D trajectories by a robotic platform. When allowed to freely swim between the two compartments in the absence of the robotic stimulus (test session), zebrafish displayed a marked avoidance of the stimulus-paired one. To investigate whether fear conditioning was modulated by psychoactive compounds, two groups of zebrafish were administered ethanol (0.25% and 1.00%, ethanol/water, by volume) a few minutes before the test session. We observed that ethanol administration abolished the conditioned avoidance of the stimulus-paired compartment. Ultimately, this study confirms that robotic stimuli may be used in the design of fear-conditioning paradigms, which are sensitive to pharmacological manipulations.

Understanding the neurobiological effects of drug abuse: Lessons from zebrafish models

Drug abuse and brain disorders related to drug comsumption are public health problems with harmful individual and social consequences. The identification of therapeutic targets and precise pharmacological treatments to these neuropsychiatric conditions associated with drug abuse are urgently needed. Understanding the link between neurobiological mechanisms and behavior is a key aspect of elucidating drug abuse-related targets. Due to various molecular, biochemical, pharmacological, and physiological features, the zebrafish (Danio rerio) has been considered a suitable vertebrate for modeling complex processes involved in drug abuse responses. In this review, we discuss how the zebrafish has been successfully used for modeling neurobehavioral phenotypes related to drug abuse and review the effects of opioids, cannabinoids, alcohol, nicotine, and psychedelic drugs on the central nervous system (CNS). Moreover, we summarize recent advances in zebrafish-based studies and outline potential advantages and limitations of the existing zebrafish models to explore the neurochemical bases of drug abuse and addiction. Finally, we discuss how the use of zebrafish models may present fruitful approaches to provide valuable clinically translatable data.

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.

Design and development of a robotic predator as a stimulus in conditioned place aversion for the study of the effect of ethanol and citalopram in zebrafish

Zebrafish are becoming a species of choice in psychopharmacology, laying a promising path to refined pharmacological manipulations and high-throughput behavioral phenotyping. The field of robotics has the potential to accelerate progress along this path, by offering unprecedented means for the design and development of accurate and reliable experimental stimuli. In this work, we demonstrate, for the first time, the integration of robotic predators in place conditioning experiments. We hypothesized zebrafish to be capable of forming a spatial association under a simulated predation risk. We repeatedly exposed experimental subjects to a robotic heron impacting the water surface and then evaluated their spatial avoidance within the experimental tank in a subsequent predator-free test session. To pharmacologically validate the paradigm, we tested zebrafish in drug-free conditions (control groups) or in response to three different concentrations of citalopram (30, 50, and 100 mg/L) and ethanol (0.25, 0.50, and 1.00%). Experimental data indicate that, when tested in the absence of the conditioning stimulus, zebrafish displayed a marked preference for the bottom of the test tank, that is, the farthest location from the simulated attacks by the robotic heron. This conditioned geotaxis was reduced by the administration of citalopram in a linear dose-response curve and ethanol at the low concentration. Ultimately, our data demonstrate that robotic stimuli may represent valid conditioning tools and, thereby, aid the field of zebrafish psychopharmacology.

Simulating more realistic predation threat using attack playbacks

Use of virtual proxies of live animals are rapidly gaining ground in studies of animal behaviour. Such proxies help to reduce the number of live experimental animals needed to stimulate the behaviour of experimental individuals and to increase standardisation. However, using too simplistic proxies may fail to induce a desired effect and/or lead to quick habituation. For instance, in a predation context, prey often employ multimodal cues to detect predators or use specific aspects of predator behaviour to assess threat. In a live interaction, predator and prey often show behaviours directed towards each other, which are absent in virtual proxies. Here we compared the effectiveness of chemical and visual predator cues in the cooperatively breeding cichlid Neolamprologus pulcher, a species in which predation pressure has been the evolutionary driver of its sociality. We created playbacks of predators simulating an attack and tested their effectiveness in comparison to a playback showing regular activity and to a live predator. We further compared the effectiveness of predator odour and conspecific skin extracts on behaviours directed towards a predator playback. Regular playbacks of calmly swimming predators were less effective than live predators in stimulating a focal individual's aggression and attention. However, playbacks mimicking an attacking predator induced responses much like a live predator. Chemical cues did not affect predator directed behaviour.

Behavioral toxicity of tannery effluent in zebrafish (Danio rerio) used as model system

The ecotoxicity of untreated tannery effluent (UTE) in several animal models has been reported; however, its effects on fish behavior, and neurotoxicity, remain unknown. Thus, the hypothesis that the chronic exposure to UTE can induce behavioral changes in adult zebrafish (Danio rerio) representatives, even when it is highly diluted in water, was tested. Animals exposed to 0.1% and 0.3% UTE for 30 days showed behavioral changes in visual social preference tests through their co-specific and antipredator defensive responses, which had indicated neurotoxic actions. Zebrafish exposed to UTE appeared to have not co-specific preference when it is paired with Poecilia sphrenops. In addition, only animals in the control group showed aversive behavior in the presence of the herein used predatory stimulus (Oreochromis niloticus). However, Cr, Na and Mg bioaccumulation was higher in zebrafish exposed to 0.1% and 0.3% UTE, although anxiogenic and anxiolytic effects were not observed in the models exposed to UTE in the novel tank diving or aggressiveness-increase-in-the-mirror tests. This outcome allowed associating the exposure to the pollutant and bioaccumulation with the observed behavioral changes. The present study is pioneer in scientifically evidencing the sublethal impact caused by chronic exposure to UTE in experimental environment simulating realistic aquatic pollution conditions. Accordingly, results in the current research should motivate further investigations to broaden the knowledge about the real magnitude of UTE biological impacts on the aquatic biota.

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.

Bidirectional interactions facilitate the integration of a robot into a shoal of zebrafish Danio rerio

Many studies on collective animal behavior seek to identify the individual rules that underlie collective patterns. However, it was not until the recent advancements of micro-electronic and embedded systems that scientists were able to create mixed groups of sensor-rich robots and animals and study collective interactions from the within a bio-hybrid group. In recent work, scientists showed that a robot-controlled lure is capable of influencing the collective decisions of zebrafish Danio rerio shoals moving in a ring and a two-room setup. Here, we study a closely related topic, that is, the collective behavior patterns that emerge when different behavioral models are reproduced through the use of a robotic lure. We design a behavioral model that alternates between obeying and disobeying the collective motion decisions in order to become socially accepted by the shoal members. Subsequently, we compare it against two extreme cases: a reactive and an imposing decision model. For this, we use spatial, directional and information theoretic metrics to measure the degree of integration of the robotic agent. We show that our model leads to similar information flow as in freely roaming shoals of zebrafish and exhibits leadership skills more often than the open-loop models. Thus, in order for the robot to achieve higher degrees of integration in the zebrafish shoal, it must, like any other shoal member, be bidirectionally involved in the decision making process. These findings provide insight on the ability to form mixed societies of animals and robots and yield promising results on the degree to which a robot can influence the collective decision making.

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.

Zebrafish Adjust Their Behavior in Response to an Interactive Robotic Predator

Zebrafish (Danio rerio) constitutes a valuable experimental species for the study of the biological determinants of emotional responses, such as fear and anxiety. Fear-related test paradigms traditionally entail the interaction between focal subjects and live predators, which may show inconsistent behavior throughout the experiment. To address this technical challenge, robotic stimuli are now frequently integrated in behavioral studies, yielding repeatable, customizable, and controllable experimental conditions. While most of the research has focused on open-loop control where robotic stimuli are preprogrammed to execute a priori known actions, recent work has explored the possibility of two-way interactions between robotic stimuli and live subjects. Here, we demonstrate a "closed-loop control" system to investigate fear response of zebrafish in which the response of the robotic stimulus is determined in real-time through a finite-state Markov chain constructed from independent observations on the interactions between zebrafish and their predator. Specifically, we designed a 3D-printed robotic replica of the zebrafish allopatric predator red tiger Oscar fish (Astronotus ocellatus), instrumented to interact in real-time with live subjects. We investigated the role of closed-loop control in modulating fear response in zebrafish through the analysis of the focal fish ethogram and the information-theoretic quantification of the interaction between the subject and the replica. Our results indicate that closed-loop control elicits consistent fear response in zebrafish and that zebrafish quickly adjust their behavior to avoid the predator's attacks. The augmented degree of interactivity afforded by the Markov-chain-dependent actuation of the replica constitutes a fundamental advancement in the study of animal-robot interactions and offers a new means for the development of experimental paradigms to study fear.

High fidelity: Assessing zebrafish (Danio rerio) responses to social stimuli across several levels of realism

Behavioral assays of zebrafish shoaling have recently been employed to investigate social behavior in zebrafish models of psychiatric disease. Many studies have developed simulated models of conspecifics to serve as alternatives to live shoals in order to examine specific cues that contribute to shoaling behavior. However, no studies have investigated the extent to which zebrafish prefer one stimulus over another when given the choice between two conspecific alternatives (live or simulated). In the present study, we employed a new, four-quadrant choice preference task that allowed zebrafish to swim freely between a live shoal and a motorized mobile shoal, a live shoal and playback of a video-recorded shoal, or a motorized mobile shoal and playback of a video-recorded shoal. Behavior tracking software was used to track subjects' movements in upper and lower quadrants on either side of the test arena. Subjects spent more time near the live shoal, especially in the lower quadrant, and exhibited different swim patterns in response to each simulated conspecific alternative, suggesting that zebrafish prefer a live shoal over models of lower fidelity.

Taurine modulates acute ethanol-induced social behavioral deficits and fear responses in adult zebrafish

Ethanol (EtOH) is a central nervous system (CNS) depressant drug that modifies various behavioral domains (i.e., sociability, aggressiveness, and memory) by promoting disinhibition of punished operant behavior and neurochemical changes. Taurine (TAU) is a β-amino sulfonic acid with pleiotropic roles in the brain. Although exogenous TAU is found in energy drinks and often mixed with alcohol in beverages, the putative risks of mixing TAU and EtOH are poorly explored. Here, we investigated whether TAU modulates social and fear responses by assessing shoaling behavior, preference for conspecifics, and antipredatory behavior of adult zebrafish acutely exposed to EtOH. Zebrafish shoals (4 fish per shoal) were exposed to water (control), TAU (42, 150, and 400 mg/L), 0.25% (v/v) EtOH alone or in association with TAU for 1 h, and their behaviors were analyzed at different time intervals (0-5 min, 30-35 min, and 55-60 min). The effects of TAU and EtOH were further tested in a social preference test and during exposure to a predator. Both EtOH and TAU co-treated fish showed a higher shoal dispersion, while TAU 400/EtOH group shoal area had a similar profile when compared to control. However, in the social preference test, TAU 400/EtOH impaired the seeking for conspecifics. Regarding fear-like behaviors, TAU-cotreated fish showed a prominent reduction in risk assessments when compared to EtOH alone. Overall, we demonstrate that TAU modulates EtOH-induced changes in different behavioral domains, suggesting a complex relationship between social and fear-like responses.

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.

How mimetic should a robotic fish be to socially integrate into zebrafish groups?

Biomimetic robots are promising tools in animal behavioural studies. If they are socially integrated in a group of animals, they can produce calibrated social stimuli to test the animal responses. However, the design of such social robots is challenging as it involves both a luring capability including appropriate robot behaviours, and the acceptation of the robots by the animals as social companions. Here, we investigate the integration of a biomimetic robot driven by biomimetic behavioural models into a group of zebrafish (Danio rerio). The robot behaviours are based on a stochastic model linking zebrafish visual perception to individual behaviour and calibrated experimentally to correspond to the behaviour of zebrafish. We show that our robot can be integrated into a group of zebrafish, mimic their behaviour and exhibit similar collective dynamics compared to fish-only groups. This study shows that an autonomous biomimetic robot was enhanced by a biomimetic behavioural model so that it can socially integrate into groups of fish.

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.

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

The use of robotics to establish social interactions between animals and robots, represents an elegant and innovative method to investigate animal behaviour. However, robots are still underused to investigate high complex and flexible behaviours, such as aggression. Here, Betta splendens was tested as model system to shed light on the effect of a robotic fish eliciting aggression. We evaluated how multiple signal systems, including a light stimulus, affect aggressive responses in B. splendens. Furthermore, we conducted experiments to estimate if aggressive responses were triggered by the biomimetic shape of fish replica, or whether any intruder object was effective as well. Male fishes showed longer and higher aggressive displays as puzzled stimuli from the fish replica increased. When the fish replica emitted its full sequence of cues, the intensity of aggression exceeded even that produced by real fish opponents. Fish replica shape was necessary for conspecific opponent perception, evoking significant aggressive responses. Overall, this study highlights that the efficacy of an artificial opponent eliciting aggressive behaviour in fish can be boosted by exposure to multiple signals. Optimizing the cue combination delivered by the robotic fish replica may be helpful to predict escalating levels of aggression.

Information theory and robotics meet to study predator-prey interactions

Transfer entropy holds promise to advance our understanding of animal behavior, by affording the identification of causal relationships that underlie animal interactions. A critical step toward the reliable implementation of this powerful information-theoretic concept entails the design of experiments in which causal relationships could be systematically controlled. Here, we put forward a robotics-based experimental approach to test the validity of transfer entropy in the study of predator-prey interactions. We investigate the behavioral response of zebrafish to a fear-evoking robotic stimulus, designed after the morpho-physiology of the red tiger oscar and actuated along preprogrammed trajectories. From the time series of the positions of the zebrafish and the robotic stimulus, we demonstrate that transfer entropy correctly identifies the influence of the stimulus on the focal subject. Building on this evidence, we apply transfer entropy to study the interactions between zebrafish and a live red tiger oscar. The analysis of transfer entropy reveals a change in the direction of the information flow, suggesting a mutual influence between the predator and the prey, where the predator adapts its strategy as a function of the movement of the prey, which, in turn, adjusts its escape as a function of the predator motion. Through the integration of information theory and robotics, this study posits a new approach to study predator-prey interactions in freshwater fish.

Three-dimensional scoring of zebrafish behavior unveils biological phenomena hidden by two-dimensional analyses

The study of zebrafish behavior represents a cornerstone upon which basic researchers promise to advance knowledge in life sciences. Although zebrafish swim in a three-dimensional (3D) space, their behavior in the lab is almost exclusively scored in two dimensions, whereby zebrafish are recorded using a single camera providing 2D videos. Whether this dimensional reduction preserves the reliability of data has not been addressed. Here we show that, compared to a 3D observation, 2D data are flawed by over-reporting and under-reporting of locomotory differences. Specifically, we first reconstructed 3D trajectories through the integration of synchronous information derived from two cameras, and then compared them with the original 2D views in classical experimental paradigms assessing shoaling tendency, fear, anxiety, and general locomotion. Our results suggest that traditional behavioral scoring of individual zebrafish performed in 2D may undermine data integrity, thereby requiring a general reconsideration of scoring zebrafish behavior to incorporate a 3D approach. We then demonstrate that, compared to 2D, a 3D approach requires a reduced number of subjects to achieve the same degree of validity. We anticipate these findings to largely benefit animal welfare by reducing the number of experimental subjects, without affecting statistical power.

Animated images in the analysis of zebrafish behavior

This invited review is based upon a recent oral paper I presented at the Virtual Reality Symposium of the 34th International Ethological Conference (2015, Cairns, Australia), and as such it describes studies conducted mainly in my own laboratory. It reviews how we utilized visual stimuli for inducing behavioral responses in the zebrafish with a focus on shoaling, group forming behavior. The zebrafish is gaining increasing popularity in neuroscience. With this interest, its behavior is also more frequently studied. One of the many advantages of the zebrafish over traditional laboratory rodents is that this species is diurnal, and it relies heavily upon its visual system. Thus, similarly to our own species, zebrafish respond to visual stimuli in a robust and easily quantifiable manner. For the past decade, we have been exploring how to use such visual stimuli, and have developed numerous paradigms with which we can induce and quantify a variety of behavioral responses, including shoaling. This review summarizes some of these studies, and discusses questions including whether one should use live fish as stimulus, whether and how one could present animated (moving images) of fish, and how one could optimize a range of stimulus presentation parameters to elicit the most robust responses in zebrafish. Although the zebrafish is a relative newcomer in ethology and behavioral neuroscience, and although many of our findings only represent the first steps in this research, our results suggest that the behavioral analysis of the zebrafish will have an important place in biomedical research.

In-silico experiments of zebrafish behaviour: modeling swimming in three dimensions

Zebrafish is fast becoming a species of choice in biomedical research for the investigation of functional and dysfunctional processes coupled with their genetic and pharmacological modulation. As with mammals, experimentation with zebrafish constitutes a complicated ethical issue that calls for the exploration of alternative testing methods to reduce the number of subjects, refine experimental designs, and replace live animals. Inspired by the demonstrated advantages of computational studies in other life science domains, we establish an authentic data-driven modelling framework to simulate zebrafish swimming in three dimensions. The model encapsulates burst-and-coast swimming style, speed modulation, and wall interaction, laying the foundations for in-silico experiments of zebrafish behaviour. Through computational studies, we demonstrate the ability of the model to replicate common ethological observables such as speed and spatial preference, and anticipate experimental observations on the correlation between tank dimensions on zebrafish behaviour. Reaching to other experimental paradigms, our framework is expected to contribute to a reduction in animal use and suffering.

Body length rather than routine metabolic rate and body condition correlates with activity and risk-taking in juvenile zebrafish Danio rerio

In this study, the following hypotheses were explored using zebrafish Danio rerio: (1) individuals from the same cohort differ consistently in activity and risk-taking and (2) variation in activity and risk-taking is linked to individual differences in metabolic rate, body length and body condition. To examine these hypotheses, juvenile D. rerio were tested for routine metabolic rate and subsequently exposed to an open field test. Strong evidence was found for consistent among-individual differences in activity and risk-taking, which were overall negatively correlated with body length, i.e. larger D. rerio were found to be less active in a potentially dangerous open field and a similar trend was found with respect to a more direct measure of their risk-taking tendency. In contrast, routine metabolic rate and body condition were uncorrelated with both activity and risk-taking of juvenile D. rerio. These findings suggest that body length is associated with risk-related behaviours in juvenile D. rerio for which larger, rather than smaller, individuals may have a higher risk of predation, while the role for routine metabolic rate is relatively limited or non-existent, at least under the conditions of the present study.

Behavioral Responses to Novelty or to a Predator Stimulus Are Not Altered in Adult Zebrafish by Early Embryonic Alcohol Exposure

BACKGROUND

Fetal alcohol spectrum disorders (FASD) may vary in symptoms and severity. In the milder and more prevalent forms of the disease, behavioral abnormalities may include impaired social behavior, for example, difficulty interpreting social cues. Patients with FASD remain often undiagnosed due to lack of biomarkers, and treatment is unavailable because the mechanisms of the disease are not yet understood. Animal models have been proposed to facilitate addressing these problems. More recently, short exposure of the zebrafish embryo to low concentrations of alcohol was shown to lead to significant and lasting impairment of behavior in response to social stimuli. The impairment may be the result of abnormal social behavior or altered fear/anxiety. The goal of the current study was to investigate the latter.

METHODS

Here, we employed the alcohol exposure regimen used previously (exposure of 24th hour postfertilization embryos to 0.00, 0.25, 0.50, 0.75, or 1.00% vol/vol alcohol for 2 hours), allowed the fish to reach adulthood, and measured the behavioral responses of these adults to a novel tank (anxiety-related behaviors) as well as to an animated image of a sympatric predator of zebrafish (fear-related behaviors).

RESULTS

We found behavioral responses of embryonic alcohol-exposed adult fish to remain statistically indistinguishable from those of controls, suggesting unaltered anxiety and fear in the embryonic alcohol-treated fish.

CONCLUSIONS

Given that motor and perceptual function was previously shown to be also unaltered in the adults after embryonic alcohol exposure, our current results suggest that the impaired response of these fish to social stimuli may be the result of abnormal social behavior.

Zebrafish response to a robotic replica in three dimensions

As zebrafish emerge as a species of choice for the investigation of biological processes, a number of experimental protocols are being developed to study their social behaviour. While live stimuli may elicit varying response in focal subjects owing to idiosyncrasies, tiredness and circadian rhythms, video stimuli suffer from the absence of physical input and rely only on two-dimensional projections. Robotics has been recently proposed as an alternative approach to generate physical, customizable, effective and consistent stimuli for behavioural phenotyping. Here, we contribute to this field of investigation through a novel four-degree-of-freedom robotics-based platform to manoeuvre a biologically inspired three-dimensionally printed replica. The platform enables three-dimensional motions as well as body oscillations to mimic zebrafish locomotion. In a series of experiments, we demonstrate the differential role of the visual stimuli associated with the biologically inspired replica and its three-dimensional motion. Three-dimensional tracking and information-theoretic tools are complemented to quantify the interaction between zebrafish and the robotic stimulus. Live subjects displayed a robust attraction towards the moving replica, and such attraction was lost when controlling for its visual appearance or motion. This effort is expected to aid zebrafish behavioural phenotyping, by offering a novel approach to generate physical stimuli moving in three dimensions.

Zebrafish response to 3D printed shoals of conspecifics: the effect of body size

Recent progress in three-dimensional (3D) printing technology has enabled rapid prototyping of complex models at a limited cost. Virtually every research laboratory has access to a 3D printer, which can assist in the design and implementation of hypothesis-driven studies on animal behavior. In this study, we explore the possibility of using 3D printing technology to understand the role of body size in the social behavior of the zebrafish model organism. In a dichotomous preference test, we study the behavioral response of zebrafish to shoals of 3D printed replicas of varying size. We systematically vary the size of each replica without altering the coloration, aspect ratio, and stripe patterns, which are all selected to closely mimic zebrafish morphophysiology. The replicas are actuated through a robotic manipulator, mimicking the natural motion of live subjects. Zebrafish preference is assessed by scoring the time spent in the vicinity of the shoal of replicas, and the information theoretic construct of transfer entropy is used to further elucidate the influence of the replicas on zebrafish motion. Our results demonstrate that zebrafish adjust their behavior in response to variations in the size of the replicas. Subjects exhibit an avoidance reaction for larger replicas, and they are attracted toward and influenced by smaller replicas. The approach presented in this study, integrating 3D printing technology, robotics, and information theory, is expected to significantly aid preclinical research on zebrafish behavior.

Animal-to-robot social attachment: initial requisites in a gallinaceous bird

Animal-Robot Interaction experiments have demonstrated their usefulness to understand the social behaviour of a growing number of animal species. In order to study the mechanisms of social influences (from parents and peers) on behavioural development, we design an experimental setup where young quail chicks, after hatching, continuously live with autonomous mobile robots in mixed triadic groups of two chicks and one robot. As precocial birds are subject to imprinting, we compare groups where chicks meet the robot as their very first social partner, on their first day after hatching (R chicks), with groups where chicks meet a real conspecific first (C chicks), and the robot later (on the second day after hatching). We measured the behavioural synchronization between chicks and robot over three days. Afterwards, we directly tested the existence of a possible social bond between animal and robot, by performing separation-reunion behavioural tests. R chicks were more synchronized with the robot in their daily feeding-resting activities than C chicks. Moreover, R chicks emitted numerous distress calls when separated from the robot, even in the presence of another chick, whereas C chicks emitted calls only when separated from the other chick. Whether the observed chick-robot attachment bond reflects filial, or sibling-imprinting of chicks towards the robot remains unclear, as the latter process is not fully understood in natural familial groups. Still, these results reveal the necessary initial conditions for stable, cohesive mixed groups of chicks and robots, a promising tool to experiment on the long-term dynamics of social behaviour.

RoboFish: increased acceptance of interactive robotic fish with realistic eyes and natural motion patterns by live Trinidadian guppies

In recent years, simple biomimetic robots have been increasingly used in biological studies to investigate social behavior, for example collective movement. Nevertheless, a big challenge in developing biomimetic robots is the acceptance of the robotic agents by live animals. In this contribution, we describe our recent advances with regard to the acceptance of our biomimetic RoboFish by live Trinidadian guppies (Poecilia reticulata). We provide a detailed technical description of the RoboFish system and show the effect of different appearance, motion patterns and interaction modes on the acceptance of the artificial fish replica. Our results indicate that realistic eye dummies along with natural motion patterns significantly improve the acceptance level of the RoboFish. Through the interactive behaviors, our system can be adjusted to imitate different individual characteristics of live animals, which further increases the bandwidth of possible applications of our RoboFish for the study of animal behavior.

I'll take the low road: the evolutionary underpinnings of visually triggered fear

Although there is general agreement that the central nucleus of the amygdala (CeA) is critical for triggering the neuroendocrine response to visual threats, there is uncertainty about the role of subcortical visual pathways in this process. Primates in general appear to depend less on subcortical visual pathways than other mammals. Yet, imaging studies continue to indicate a role for the superior colliculus and pulvinar nucleus in fear activation, despite disconnects in how these brain structures communicate not only with each other but with the amygdala. Studies in fish and amphibians suggest that the neuroendocrine response to visual threats has remained relatively unchanged for hundreds of millions of years, yet there are still significant data gaps with respect to how visual information is relayed to telencephalic areas homologous to the CeA, particularly in fish. In fact ray finned fishes may have evolved an entirely different mechanism for relaying visual information to the telencephalon. In part because they lack a pathway homologous to the lateral geniculate-striate cortex pathway of mammals, amphibians continue to be an excellent model for studying how stress hormones in turn modulate fear activating visual pathways. Glucocorticoids, melanocortin peptides, and CRF all appear to play some role in modulating sensorimotor processing in the optic tectum. These observations, coupled with data showing control of the hypothalamus-pituitary-adrenal axis by the superior colliculus, suggest a fear/stress/anxiety neuroendocrine circuit that begins with first order synapses in subcortical visual pathways. Thus, comparative studies shed light not only on how fear triggering visual pathways came to be, but how hormones released as a result of this activation modulate these pathways.