Fish prey change strategy with the direction of a threat

Fish couple forecasting with feedback control to chase and capture moving prey

Predator-prey interactions are fundamental to ecological and evolutionary dynamics. Yet, predicting the outcome of such interactions-whether predators intercept prey or fail to do so-remains a challenge. An emerging hypothesis holds that interception trajectories of diverse predator species can be described by simple feedback control laws that map sensory inputs to motor outputs. This form of feedback control is widely used in engineered systems but suffers from degraded performance in the presence of processing delays such as those found in biological brains. We tested whether delay-uncompensated feedback control could explain predator pursuit manoeuvres using a novel experimental system to present hunting fish with virtual targets that manoeuvred in ways that push the limits of this type of control. We found that predator behaviour cannot be explained by delay-uncompensated feedback control, but is instead consistent with a pursuit algorithm that combines short-term forecasting of self-motion and prey motion with feedback control. This model predicts both predator interception trajectories and whether predators capture or fail to capture prey on a trial-by-trial basis. Our results demonstrate how animals can combine short-term forecasting with feedback control to generate robust flexible behaviours in the face of significant processing delays.

Correlation between bioluminescent blinks and swimming behavior in the splitfin flashlight fish Anomalops katoptron

BACKGROUND

The light organs of the splitfin flashlight fish Anomalops katoptron are necessary for schooling behavior, to determine nearest neighbor distance, and to feed on zooplankton under dim light conditions. Each behavior is coupled to context-dependent blink frequencies and can be regulated via mechanical occlusion of light organs. During shoaling in the laboratory individuals show moderate blink frequencies around 100 blinks per minute. In this study, we correlated bioluminescent blinks with the spatio-temporal dynamics of swimming profiles in three dimensions, using a stereoscopic, infrared camera system.

RESULTS

Groups of flashlight fish showed intermediate levels of polarization and distances to the group centroid. Individuals showed higher swimming speeds and curved swimming profiles during light organ occlusion. The largest changes in swimming direction occurred when darkening the light organs. Before A. katoptron exposed light organs again, they adapted a nearly straight movement direction.

CONCLUSIONS

We conclude that a change in movement direction coupled to light organ occlusion in A. katoptron is an important behavioral trait in shoaling of flashlight fish.

A lionfish-inspired predation strategy in planar structured environments. BIOINSPIRATION & BIOMIMETICS 2023;18:046022. [PMID: 37339652 DOI: 10.1088/1748-3190/ace016] [Citation(s) in RCA: 0] [Impact Index Per Article: 0]

This paper investigates a pursuit-evasion game with a single pursuer and evader in a bounded environment, inspired by observations of predation attempts by lionfish (Pterois sp.). The pursuer tracks the evader with a pure pursuit strategy while using an additional bioinspired tactic to trap the evader, i.e. minimize the evader's escape routes. Specifically, the pursuer employs symmetric appendages inspired by the large pectoral fins of lionfish, but this expansion increases its drag and therefore its work to capture the evader. The evader employs a bioinspired randomly-directed escape strategy to avoid capture and collisions with the boundary. Here we investigate the trade-off between minimizing the work to capture the evader and minimizing the evader's escape routes. By using the pursuer's expected work to capture as a cost function, we determine when the pursuer should expand its appendages as a function of the relative distance to the evader and the evader's proximity to the boundary. Visualizing the pursuer's expected work to capture everywhere in the bounded domain, yields additional insights about optimal pursuit trajectories and illustrates the role of the boundary in predator-prey interactions.

Persistence of auditory modulation of wind-induced escape behavior in crickets

Animals, including insects, change their innate escape behavior triggered by a specific threat stimulus depending on the environmental context to survive adaptively the predators' attack. This indicates that additional inputs from sensory organs of different modalities indicating surrounding conditions could affect the neuronal circuit responsible for the escape behavior. Field crickets, Gryllus bimaculatus, exhibit an oriented running or jumping escape in response to short air puff detected by the abdominal mechanosensory organ called cerci. Crickets also receive a high-frequency acoustic stimulus by their tympanal organs on their frontal legs, which suggests approaching bats as a predator. We have reported that the crickets modulate their wind-elicited escape running in the moving direction when they are exposed to an acoustic stimulus preceded by the air puff. However, it remains unclear how long the effects of auditory inputs indicating surrounding contexts last after the sound is terminated. In this study, we applied a short pulse (200 ms) of 15-kHz pure tone to the crickets in various intervals before the air-puff stimulus. The sound given 200 or 1000 ms before the air puff biased the wind-elicited escape running backward, like the previous studies using the longer and overlapped sound. But the sounds that started 2000 ms before and simultaneously with the air puff had little effect. In addition, the jumping probability was higher only when the delay of air puff to the sound was 1000 ms. These results suggest that the cricket could retain the auditory memory for at least one second and alter the motion choice and direction of the wind-elicited escape behavior.

Evaluating Evasion Strategies in Zebrafish Larvae

An effective evasion strategy allows prey to survive encounters with predators. Prey are generally thought to escape in a direction that is either random or serves to maximize the minimum distance from the predator. Here we introduce a comprehensive approach to determine the most likely evasion strategy among multiple hypotheses and the role of biomechanical constraints on the escape response of prey fish. Through a consideration of six strategies with sensorimotor noise and previous kinematic measurements, our analysis shows that zebrafish larvae generally escape in a direction orthogonal to the predator's heading. By sensing only the predator's heading, this orthogonal strategy maximizes the distance from fast-moving predators, and, when operating within the biomechanical constraints of the escape response, it provides the best predictions of prey behavior among all alternatives. This work demonstrates a framework for resolving the strategic basis of evastion in predator-prey interactions, which could be applied to a broad diversity of animals.

Comparison of Aminoglycoside Antibiotics and Cobalt Chloride for Ablation of the Lateral Line System in Giant Danios

The mechanoreceptive lateral line system in fish is composed of neuromasts containing hair cells, which can be temporarily ablated by aminoglycoside antibiotics and heavy metal ions. These chemicals have been used for some time in studies exploring the functional role of the lateral line system in many fish species. However, little information on the relative effectiveness and rate of action of these chemicals for ablation is available. In particular, aminoglycoside antibiotics are thought to affect canal neuromasts, which sit in bony or trunk canals, differently from superficial neuromasts, which sit directly on the skin. This assumed ablation pattern has not been fully quantified for commonly used lateral line ablation agents. This study provides a detailed characterization of the effects of two aminoglycoside antibiotics, streptomycin sulfate and neomycin sulfate, and a heavy metal salt, cobalt (II) chloride hexahydrate (CoCl2), on the ablation of hair cells in canal and superficial neuromasts in the giant danio (Devario aequipinnatus) lateral line system, as a model for adult teleost fishes. We also quantified the regeneration of hair cells after ablation using CoCl2 and gentamycin sulfate to verify the time course to full recovery, and whether the ablation method affects the recovery time. Using a fluorescence stain, 4-Di-2-ASP, we verified the effectiveness of each chemical by counting the number of fluorescing canal and superficial neuromasts present throughout the time course of ablation and regeneration of hair cells. We found that streptomycin and neomycin were comparably effective at ablating all neuromasts in less than 12 h using a 250 μM dosage and in less than 8 h using a 500 μM dosage. The 500 μM dosage of either streptomycin or neomycin can ablate hair cells in superficial neuromasts within 2–4 h, while leaving those in canal neuromasts mostly intact. CoCl2 (0.1 mM) worked the fastest, ablating all of the hair cells in less than 6 h. Complete regeneration of the neuromasts in the lateral line system took 7 days regardless of chemicals used to ablate the hair cells. This study adds to the growing knowledge in hearing research about how effective specific chemicals are at ablating hair cells in the acoustic system of vertebrates.

Emergence of splits and collective turns in pigeon flocks under predation

Complex patterns of collective behaviour may emerge through self-organization, from local interactions among individuals in a group. To understand what behavioural rules underlie these patterns, computational models are often necessary. These rules have not yet been systematically studied for bird flocks under predation. Here, we study airborne flocks of homing pigeons attacked by a robotic falcon, combining empirical data with a species-specific computational model of collective escape. By analysing GPS trajectories of flocking individuals, we identify two new patterns of collective escape: early splits and collective turns, occurring even at large distances from the predator. To examine their formation, we extend an agent-based model of pigeons with a 'discrete' escape manoeuvre by a single initiator, namely a sudden turn interrupting the continuous coordinated motion of the group. Both splits and collective turns emerge from this rule. Their relative frequency depends on the angular velocity and position of the initiator in the flock: sharp turns by individuals at the periphery lead to more splits than collective turns. We confirm this association in the empirical data. Our study highlights the importance of discrete and uncoordinated manoeuvres in the collective escape of bird flocks and advocates the systematic study of their patterns across 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

Pursuit and evasion strategies in the predator-prey interactions of fishes

Predator-prey interactions are critical to the biology of a diversity of animals. Although prey capture is determined by the direction, velocity, and timing of motion by both animals, it is generally unclear what strategies are employed by predators and prey to guide locomotion. Here we review our research on fishes that tests the pursuit strategy of predators and the evasion strategy of prey through kinematic measurements and agent-based models. This work demonstrates that fish predators track prey with variations on a deviated-pursuit strategy that is guided by visual cues. Fish prey employ a mixed strategy that varies with factors such as the direction of a predator's approach. Our models consider the stochastic nature of interactions by incorporating measured probability distributions to accurately predict measurements of survivorship. A sensitivity analysis of these models shows the importance of the response distance of prey to their survival. Collectively, this work demonstrates how strategy affects the outcome of predator-prey interactions and articulates the roles of sensing, control, and propulsion. The research program that we have developed has the potential to offer a framework for the study of strategy in the predator-prey interactions of a variety of animals.

Tail Beat Synchronization during Schooling Requires a Functional Posterior Lateral Line System in Giant Danios, Devario aequipinnatus

Swimming in schools has long been hypothesized to allow fish to save energy. Fish must exploit the energy from the wakes of their neighbors for maximum energy savings, a feat that requires them to both synchronize their tail movements and stay in certain positions relative to their neighbors. To maintain position in a school, we know that fish use multiple sensory systems, mainly their visual and flow sensing lateral line system. However, how fish synchronize their swimming movements in a school is still not well understood. Here, we test the hypothesis that this synchronization may depend on functional differences in the two branches of the lateral line sensory system that detects water movements close to the fish's body. The anterior branch, located on the head, encounters largely undisturbed free-stream flow, while the posterior branch, located on the trunk and tail, encounters flow that has been affected strongly by the tail movement. Thus, we hypothesize that the anterior branch may be more important for regulating position within the school, while the posterior branch may be more important for synchronizing tail movements. Our study examines functional differences in the anterior and posterior lateral line in the structure and tail synchronization of fish schools. We used a widely available aquarium fish that schools, the giant danio, Devario equipinnatus. Fish swam in a large circular tank where stereoscopic videos recordings were used to reconstruct the 3D position of each individual within the school and to track tail kinematics to quantify synchronization. For one fish in each school, we ablated using cobalt chloride either the anterior region only, the posterior region only, or the entire lateral line system. We observed that ablating any region of the lateral line system causes fish to swim in a "box" or parallel swimming formation, which was different from the diamond formation observed in normal fish. Ablating only the anterior region did not substantially reduce tail beat synchronization but ablating only the posterior region caused fish to stop synchronizing their tail beats, largely because the tail beat frequency increased dramatically. Thus, the anterior and posterior lateral line system appears to have different behavioral functions in fish. Most importantly, we showed that the posterior lateral line system played a major role in determining tail beat synchrony in schooling fish. Without synchronization, swimming efficiency decreases, which can have an impact on the fitness of the individual fish and group.

The Strategy of Predator Evasion in Response to a Visual Looming Stimulus in Zebrafish (Danio rerio)

A diversity of animals survive encounters with predators by escaping from a looming visual stimulus. Despite the importance of this behavior, it is generally unclear how visual cues facilitate a prey’s survival from predation. Therefore, the aim of this study was to understand how the visual angle subtended on the eye of the prey by the predator affects the distance of adult zebrafish (Danio rerio) from predators. We performed experiments to measure the threshold visual angle and mathematically modeled the kinematics of predator and prey. We analyzed the responses to the artificial stimulus with a novel approach that calculated relationships between hypothetical values for a threshold-stimulus angle and the latency between stimulus and response. These relationships were verified against the kinematic responses of zebrafish to a live fish predator (Herichthys cyanoguttatus). The predictions of our model suggest that the measured threshold visual angle facilitates escape when the predator’s approach is slower than approximately twice the prey’s escape speed. These results demonstrate the capacity and limits to how the visual angle provides a prey with the means to escape a predator.

The Zebrafish Visual System: From Circuits to Behavior

Visual stimuli can evoke complex behavioral responses, but the underlying streams of neural activity in mammalian brains are difficult to follow because of their size. Here, I review the visual system of zebrafish larvae, highlighting where recent experimental evidence has localized the functional steps of visuomotor transformations to specific brain areas. The retina of a larva encodes behaviorally relevant visual information in neural activity distributed across feature-selective ganglion cells such that signals representing distinct stimulus properties arrive in different areas or layers of the brain. Motor centers in the hindbrain encode motor variables that are precisely tuned to behavioral needs within a given stimulus setting. Owing to rapid technological progress, larval zebrafish provide unique opportunities for obtaining a comprehensive understanding of the intermediate processing steps occurring between visual and motor centers, revealing how visuomotor transformations are implemented in a vertebrate brain.

Canal neuromasts enhance foraging in zebrafish (Danio rerio)

Aquatic animals commonly sense flow using superficial neuromasts (SNs), which are receptors that extend from the body's surface. The lateral line of fishes is unique among these systems because it additionally possesses receptors, the canal neuromasts (CNs), that are recessed within a channel. The lateral line has inspired the development of engineered sensors and concepts in the analysis of flow fields for submersible navigation. The biophysics of CNs are known to be different from the SNs and thereby offer a distinct submodality. However, it is generally unclear whether CNs play a distinct role in behavior. We therefore tested whether CNs enhance foraging in the dark by zebrafish (Danio rerio), a behavior that we elicited with a vibrating rod. We found that juvenile fish, which have only SNs, bite at this rod at about one-third the rate and from as little as one-third the distance of adults for a high-frequency stimulus (50  <  f   <  100 Hz). We used novel techniques for manipulating the lateral line in adults to find that CNs offered only a modest benefit at a lower frequency (20 Hz) and that foraging was mediated entirely by cranial neuromasts. Consistent with our behavioral results, biophysical models predicted CNs to be more than an order of magnitude more sensitive than SNs at high frequencies. This enhancement helps to overcome the rapid spatial decay in high-frequency components in the flow around the stimulus. These findings contrast what has been previously established for fishes that are at least ten-times the length of zebrafish, which use trunk CNs to localize prey. Therefore, CNs generally enhance foraging, but in a manner that varies with the size of the fish and its prey. These results have the potential to improve our understanding of flow sensing in aquatic animals and engineered systems.

Training bioinspired sensors to classify flows

We consider the inverse problem of classifying flow patterns from local sensory measurements. This problem is inspired by the ability of various aquatic organisms to respond to ambient flow signals, and is relevant for translating these abilities to underwater robotic vehicles. In Colvert, Alsalman and Kanso, B&B (2018), we trained neural networks to classify vortical flows by relying on a single flow sensor that measures a 'time history' of the local vorticity. Here, we systematically investigate the effects of distinct types of sensors on the accuracy of flow classification. We consider four types of sensors-vorticity, flow velocities parallel and transverse to the direction of flow propagation, and flow speed-and show that the networks trained using transverse velocity outperform other networks, even when subjected to aggressive data corruption. We then train the network to classify flow patterns instantaneously, using a spatially-distributed array of sensors and a single 'one time' sensory measurement. The network, based on a handful of spatially-distributed sensors, exhibits remarkable accuracy in flow classification. These results lay the groundwork for developing learning algorithms for the dynamic deployment of sensory arrays in unsteady flows.

The effects of lateral line ablation and regeneration in schooling giant danios

Fish use multiple sensory systems, including vision and their lateral line system, to maintain position and speed within a school. Although previous studies have shown that ablating the lateral line alters schooling behavior, no one has examined how the behavior recovers as the sensory system regenerates. We studied how schooling behavior changes in giant danios, Devario aequipinnatus, when their lateral line system is chemically ablated and after the sensory hair cells regenerate. We found that fish could school normally immediately after chemical ablation, but that they had trouble schooling 1-2 weeks after the chemical treatment, when the hair cells had fully regenerated. We filmed groups of giant danios with two high-speed cameras and reconstructed the three-dimensional positions of each fish within a group. One fish in the school was treated with gentamycin to ablate all hair cells. Both types of neuromasts (canal and superficial) were completely ablated after treatment, but fully regenerated after 1 week. We quantified the structure of the school using nearest neighbor distance, bearing, elevation, and the cross-correlation of velocity between each pair of fish. Treated fish maintained a normal position within the school immediately after the lateral line ablation, but could not school normally 1 or 2 weeks after treatment, even though the neuromasts had fully regenerated. By 4-8 weeks post-treatment, the treated fish could again school normally. These results demonstrate that the behavioral recovery after lateral line ablation is a longer process than the regeneration of the hair cells themselves.

Fish prey change strategy with the direction of a threat

Predation is a fundamental interaction between species, yet it is unclear what escape strategies are effective for prey survival. Classical theory proposes that prey should either escape in a direction that conforms to a performance optimum or that is random and therefore unpredictable. Here, we show that larval zebrafish (Danio rerio) instead use a mixed strategy that may be either random or directed. This was determined by testing classic theory with measurements of the escape direction in response to a predator robot. We found that prey consistently escaped in a direction contralateral to the robot when approached from the side of the prey's body. At such an orientation, the predator appeared in the prey's central visual field and the contralateral response was consistent with a model of strategy that maximizes the distance from the predator. By contrast, when the robot approached the rostral or caudal ends of the body, and appeared in the prey's peripheral vision, the escape showed an equal probability of a contralateral or ipsilateral direction. At this orientation, a contralateral response offered little strategic advantage. Therefore, zebrafish larvae adopt an escape strategy that maximizes distance from the threat when strategically beneficial and that is otherwise random. This sensory-mediated mixed strategy may be employed by a diversity of animals and offers a new paradigm for understanding the factors that govern prey survival.