Mormyrid fish as models for investigating sensory-motor integration: A behavioural perspective

Animals possess senses which gather information from their environment. They can tune into important aspects of this information and decide on the most appropriate response, requiring coordination of their sensory and motor systems. This interaction is bidirectional. Animals can actively shape their perception with self-driven motion, altering sensory flow to maximise the environmental information they are able to extract. Mormyrid fish are excellent candidates for studying sensory-motor interactions, because they possess a unique sensory system (the active electric sense) and exhibit notable behaviours that seem to be associated with electrosensing. This review will take a behavioural approach to unpicking this relationship, using active electrolocation as an example where body movements and sensing capabilities are highly related and can be assessed in tandem. Active electrolocation is the process where individuals will generate and detect low-voltage electric fields to locate and recognise nearby objects. We will focus on research in the mormyrid Gnathonemus petersii (G. petersii), given the extensive study of this species, particularly its object recognition abilities. By studying object detection and recognition, we can assess the potential benefits of self-driven movements to enhance selection of biologically relevant information. Finally, these findings are highly relevant to understanding the involvement of movement in shaping the sensory experience of animals that use other sensory modalities. Understanding the overlap between sensory and motor systems will give insight into how different species have become adapted to their environments.

Phylogenomics of bonytongue fishes (Osteoglossomorpha) shed light on the craniofacial evolution and biogeography of the weakly electric clade Mormyridae

Bonytongues (Osteoglossomorpha) constitute an ancient clade of teleost fishes distributed in freshwater habitats throughout the world. The group includes well-known species such as arowanas, featherbacks, pirarucus, and the weakly electric fishes in the family Mormyridae. Their disjunct distribution, extreme morphologies, and electrolocating capabilities (Gymnarchidae and Mormyridae) have attracted much scientific interest, but a comprehensive phylogenetic framework for comparative analysis is missing, especially for the species-rich family Mormyridae. Of particular interest are disparate craniofacial morphologies among mormyrids which might constitute an exceptional model system to study convergent evolution. We present a phylogenomic analysis based on 546 exons of 179 species (out of 260), 28 out of 29 genera, and all six families of extant bonytongues. Based on a recent reassessment of the fossil record of osteoglossomorphs, we inferred dates of divergence among trans-continental clades and the major groups. The estimated ages of divergence among extant taxa (e.g., Osteoglossomorpha, Osteoglossiformes, Mormyroidea) are older than previous reports, but most of the divergence dates obtained for clades on separate continents are too young to be explained by simple vicariance hypotheses. Biogeographic analysis of mormyrids indicates that their high species diversity in the Congo Basin is a consequence of range reductions of previously widespread ancestors and that the highest diversity of craniofacial morphologies among mormyrids originated in this basin. Special emphasis on a taxon-rich representation for mormyrids revealed pervasive misalignment between our phylogenomic results and mormyrid taxonomy due to repeated instances of convergence for extreme craniofacial morphologies. Estimation of ancestral phenotypes revealed contingent evolution of snout elongation and unique projections from the lower jaw to form the distinctive Schnauzenorgan. Synthesis of comparative analyses suggests that the remarkable craniofacial morphologies of mormyrids evolved convergently due to niche partitioning, likely enabled by interactions between their exclusive morphological and electrosensory adaptations.

Hidden species diversity in Marcusenius moorii (Teleostei: Mormyridae) from the Congo Basin

New collections from the Yangambi Biosphere Reserve (YBR) and Okapi Wildlife Reserve (OWR) revealed the presence of two groups of specimens similar to, but different from Marcusenius moorii. To study both these groups, an integrated morphological and genetic (mtDNA, cytb) approach was used. This study revealed that one of the two groups is conspecific with Marcusenius lambouri, a junior synonym of M. moorii, which is herein revalidated, with M. moorii longulus as its junior synonym. Marcusenius lambouri differs from M. moorii by a higher number of lateral line scales (44-46 vs. 40-43), a shorter pectoral-fin length (14.6-19.9 vs. 20.3-25.2% standard length; L_S ) and a more elongated body due to a usually shallower middle body depth (19.8-26.5 vs. 26.3-35.9% L_S ). The other group revealed to be a new species for science, Marcusenius verheyenorum, which can be distinguished from its congeners with eight circumpeduncular scales by the following unique combination of characters: a rounded head with a terminal mouth; a short and deep caudal peduncle (middle caudal-peduncle depth, 44.9-54.6% caudal-peduncle length; L_CP ), a deep body (middle body depth, 27.7-34.2% L_S ), 38-43 scales on the lateral line, 40-41 vertebrae, 20-21 dorsal-fin rays and 26 anal-fin rays. Some specimens previously attributed to M. moorii were examined and reassigned to M. lambouri or M. verheyenorum. As a result, M. moorii and M. lambouri occur in sympatry in the middle Congo Basin, with the distribution area of M. moorii still further extending into the lower Congo Basin. Instead, the distribution of M. verheyenorum is limited to some right bank tributaries of the upstream part of the middle Congo Basin. Two museum records from the Lilanda River (YBR), collected in the 1950s and previously identified as M. moorii, were re-identified as belonging to the new species, M. verheyenorum. However, the species now seems locally extinct in that region, which reflects the significant anthropogenic effects even within this reserve.

The Cyphomyrus Myers 1960 (Osteoglossiformes: Mormyridae) of the Lufira basin (Upper Lualaba: DR Congo): A generic reassignment and the description of a new species

Within a comparative morphological framework, Hippopotamyrus aelsbroecki, only known from the holotype originating from Lubumbashi, most probably the Lubumbashi River, a left bank subaffluent of the Luapula River, is reallocated to the genus Cyphomyrus. This transfer is motivated by the fact that H. aelsbroecki possesses a rounded or vaulted predorsal profile, an insertion of the dorsal fin far anterior to the level of the insertion of the anal fin, and a compact, laterally compressed and deep body. In addition, a new species of Cyphomyrus is described from the Lufira basin, Cyphomyrus lufirae. Cyphomyrus lufirae was collected in large parts of the Middle Lufira, upstream of the Kyubo Falls and just downstream of these falls in the lower Lufira and its nearby left bank affluent, the Luvilombo River. The new species is distinguished from all its congeners, that is, firstly, from C. aelsbroecki, C. cubangoensis and C. discorhynchus, by a low number of dorsal fin rays, 27-32 (vs. higher, 36 (37), 34 (33-41) an 38 (38-40), respectively) and, secondly, from C. aelsbroecki, C. cubangoensis, and C. discorhynchus by a large prepelvic distance, 41.0-43.8% L_S (vs. shorter, 39.7%, 38.9-39.1% and 37.0-41.0% L_S , respectively). The description of yet another new species for the Upemba National Park and the Kundelungu National Park further highlights their importance for fish protection and conservation in the area. Hence, there is an urgent need for the full integration of fish into the management plans of these parks.

Central connections of the trigeminal motor command system in the weakly electric Elephantnose fish (Gnathonemus petersii)

The highly mobile chin appendage of Gnathonemus petersii, the Schnauzenorgan, is used to actively probe the environment and is known to be a fovea of the electrosensory system. It receives an important innervation from both the trigeminal sensory and motor systems. However, little is known about the premotor control pathways that coordinate the movements of the Schnauzenorgan, or about central pathways originating from the trigeminal motor nucleus. The present study focuses on the central connections of the trigeminal motor system to elucidate premotor centers controlling Schnauzenorgan movements, with particular interest in the possible connections between the electrosensory and trigeminal systems. Neurotracer injections into the trigeminal motor nucleus revealed bilateral, reciprocal connections between the two trigeminal motor nuclei and between the trigeminal sensory and motor nuclei by bilateral labeling of cells and terminals. Prominent afferent input to the trigeminal motor nucleus originates from the nucleus lateralis valvulae, the nucleus dorsalis mesencephali, the cerebellar corpus C1, the reticular formation, and the Raphe nuclei. Retrogradely labeled cells were also observed in the central pretectal nucleus, the dorsal anterior pretectal nucleus, the tectum, the ventroposterior nucleus of the torus semicircularis, the gustatory sensory and motor nuclei, and in the hypothalamus. Labeled terminals, but not cell bodies, were observed in the nucleus lateralis valvulae and the reticular formation. No direct connections were found between the electrosensory system and the V motor nucleus but the central connections identified would provide several multisynaptic pathways linking these two systems, including possible efference copy and corollary discharge mechanisms.

A bio-inspired electric camera for short-range object inspection in murky waters

Underwater object inspection by optical sensors is usually unreliable in turbid or dark environments. Here, we designed a biomimetic 'electric camera', inspired by weakly electric fish Gnathonemus petersii, which successfully use active electrolocation for this task. The device probed nearby objects with a weak electric field and captured 'electric images' of the targets by processing the object-evoked field modulations. The camera-based electric images strongly resembled those available to G. petersii. Furthermore, by extracting the fish's analytical cues from these images, close objects could be reliably analysed. Based on the level of 'image blurring' short distances of electrolocation targets, spheres of different sizes and material were estimated. Natural targets, fish or plants, were identified irrespective of their size or distance by their two individual 'electric colours' derived from electric images. Furthermore, we introduce an image cue, called the 'electric outline', which provided information resembling a target's optical contour. Our results indicate that bio-inspired electric imaging principles provide promising cues for sensor-based, short-range object inspections in murky waters. By resembling the electric imaging applied by G. petersii our device can also be used for 'reverse biomimetics', revealing imaging cues that so far have not been considered for weakly electric fish.

Disembodying the invisible: electrocommunication and social interactions by passive reception of a moving playback signal

Mormyrid weakly electric fish have a special electrosensory modality that allows them to actively sense their environment and to communicate with conspecifics by emitting sequences of electric signals. Electroreception is mediated by different types of dermal electroreceptor organs for active electrolocation and electrocommunication, respectively. During electrocommunication, mormyrids exhibit stereotyped discharge sequences and locomotor patterns, which can be induced by playback of electric signals. This raises the question: what sensory information is required to initiate and sustain social interactions, and which electrosensory pathway mediates such interactions? By experimentally excluding stimuli from vision and the lateral line system, we show that Mormyrus rume proboscirostris can rely exclusively on its electrosensory system to track a mobile source of electric communication signals. Detection of electric playback signals induced discharge cessations, followed by double-pulse patterns. The animals tried to interact with the moving signal source and synchronized their discharge activity to the playback. These behaviors were absent in control trials without playback. Silencing the electric organ in some fish did not impair their ability to track the signal source. Silenced fish followed on trajectories similar to those obtained from intact animals, indicating that active electrolocation is no precondition for close-range interactions based on electrocommunication. However, some silenced animals changed their strategy when searching for the stationary playback source, which indicates passive sensing. Social interactions among mormyrids can therefore be induced and mediated by passive reception of electric communication signals without the need for perception of the location of the signal source through other senses.

Social interactions between live and artificial weakly electric fish: Electrocommunication and locomotor behavior of Mormyrus rume proboscirostris towards a mobile dummy fish

Mormyrid weakly electric fish produce short, pulse-type electric organ discharges for actively probing their environment and to communicate with conspecifics. Animals emit sequences of pulse-trains that vary in overall frequency and temporal patterning and can lead to time-locked interactions with the discharge activity of other individuals. Both active electrolocation and electrocommunication are additionally accompanied by stereotypical locomotor patterns. However, the concrete roles of electrical and locomotor patterns during social interactions in mormyrids are not well understood. Here we used a mobile fish dummy that was emitting different types of electrical playback sequences to study following behavior and interaction patterns (electrical and locomotor) between individuals of weakly electric fish. We confronted single individuals of Mormyrus rume proboscirostris with a mobile dummy fish designed to attract fish from a shelter and recruit them into an open area by emitting electrical playbacks of natural discharge sequences. We found that fish were reliably recruited by the mobile dummy if it emitted electrical signals and followed it largely independently of the presented playback patterns. While following the dummy, fish interacted with it spatially by displaying stereotypical motor patterns, as well as electrically, e.g. through discharge regularizations and by synchronizing their own discharge activity to the playback. However, the overall emission frequencies of the dummy were not adopted by the following fish. Instead, social signals based on different temporal patterns were emitted depending on the type of playback. In particular, double pulses were displayed in response to electrical signaling of the dummy and their expression was positively correlated with an animals' rank in the dominance hierarchy. Based on additional analysis of swimming trajectories and stereotypical locomotor behavior patterns, we conclude that the reception and emission of electrical communication signals play a crucial role in mediating social interactions in mormyrid weakly electric fish.

More a finger than a nose: the trigeminal motor and sensory innervation of the Schnauzenorgan in the elephant-nose fish Gnathonemus petersii

The weakly electric fish Gnathonemus petersii uses its electric sense to actively probe the environment. Its highly mobile chin appendage, the Schnauzenorgan, is rich in electroreceptors. Physical measurements have demonstrated the importance of the position of the Schnauzenorgan in funneling the fish's self-generated electric field. The present study focuses on the trigeminal motor pathway that controls Schnauzenorgan movement and on its trigeminal sensory innervation and central representation. The nerves entering the Schnauzenorgan are very large and contain both motor and sensory trigeminal components as well as an electrosensory pathway. With the use of neurotracer techniques, labeled Schnauzenorgan motoneurons were found throughout the ventral main body of the trigeminal motor nucleus but not among the population of larger motoneurons in its rostrodorsal region. The Schnauzenorgan receives no motor or sensory innervation from the facial nerve. There are many anastomoses between the peripheral electrosensory and trigeminal nerves, but these senses remain separate in the sensory ganglia and in their first central relays. Schnauzenorgan trigeminal primary afferent projections extend throughout the descending trigeminal sensory nuclei, and a few fibers enter the facial lobe. Although no labeled neurons could be identified in the brain as the trigeminal mesencephalic root, some Schnauzenorgan trigeminal afferents terminated in the trigeminal motor nucleus, suggesting a monosynaptic, possibly proprioceptive, pathway. In this first step toward understanding multimodal central representation of the Schnauzenorgan, no direct interconnections were found between the trigeminal sensory and electromotor command system, or the electrosensory and trigeminal motor command. The pathways linking perception to action remain to be studied.

Motor patterns during active electrosensory acquisition

Motor patterns displayed during active electrosensory acquisition of information seem to be an essential part of a sensory strategy by which weakly electric fish actively generate and shape sensory flow. These active sensing strategies are expected to adaptively optimize ongoing behavior with respect to either motor efficiency or sensory information gained. The tight link between the motor domain and sensory perception in active electrolocation make weakly electric fish like Gnathonemus petersii an ideal system for studying sensory-motor interactions in the form of active sensing strategies. Analyzing the movements and electric signals of solitary fish during unrestrained exploration of objects in the dark, we here present the first formal quantification of motor patterns used by fish during electrolocation. Based on a cluster analysis of the kinematic values we categorized the basic units of motion. These were then analyzed for their associative grouping to identify and extract short coherent chains of behavior. This enabled the description of sensory behavior on different levels of complexity: from single movements, over short behaviors to more complex behavioral sequences during which the kinematics alter between different behaviors. We present detailed data for three classified patterns and provide evidence that these can be considered as motor components of active sensing strategies. In accordance with the idea of active sensing strategies, we found categorical motor patterns to be modified by the sensory context. In addition these motor patterns were linked with changes in the temporal sampling in form of differing electric organ discharge frequencies and differing spatial distributions. The ability to detect such strategies quantitatively will allow future research to investigate the impact of such behaviors on sensing.

Sensory flow shaped by active sensing: sensorimotor strategies in electric fish

Goal-directed behavior in most cases is composed of a sequential order of elementary motor patterns shaped by sensorimotor contingencies. The sensory information acquired thus is structured in both space and time. Here we review the role of motion during the generation of sensory flow focusing on how animals actively shape information by behavioral strategies. We use the well-studied examples of vision in insects and echolocation in bats to describe commonalities of sensory-related behavioral strategies across sensory systems, and evaluate what is currently known about comparable active sensing strategies in electroreception of electric fish. In this sensory system the sensors are dispersed across the animal's body and the carrier source emitting energy used for sensing, the electric organ, is moved while the animal moves. Thus ego-motions strongly influence sensory dynamics. We present, for the first time, data of electric flow during natural probing behavior in Gnathonemus petersii (Mormyridae), which provide evidence for this influence. These data reveal a complex interdependency between the physical input to the receptors and the animal's movements, posture and objects in its environment. Although research on spatiotemporal dynamics in electrolocation is still in its infancy, the emerging field of dynamical sensory systems analysis in electric fish is a promising approach to the study of the link between movement and acquisition of sensory information.

Mind the gap: the minimal detectable separation distance between two objects during active electrolocation

In a food-rewarded two-alternative forced-choice procedure, it was determined how well the weakly electric elephantnose fish Gnathonemus petersii can sense gaps between two objects, some of which were placed in front of complex backgrounds. The results show that at close distances, G. petersii is able to detect gaps between two small metal cubes (2 cm × 2 cm × 2 cm) down to a width of c. 1·5 mm. When larger objects (3 cm × 3 cm × 3 cm) were used, gaps with a width of 2-3 mm could still be detected. Discrimination performance was better (c. 1 mm gap size) when the objects were placed in front of a moving background consisting of plastic stripes or plant leaves, indicating that movement in the environment plays an important role for object identification. In addition, the smallest gap size that could be detected at increasing distances was determined. A linear relationship between object distance and gap size existed. Minimal detectable gap sizes increased from c. 1·5 mm at a distance of 1 cm, to 20 mm at a distance of 7 cm. Measurements and simulations of the electric stimuli occurring during gap detection revealed that the electric images of two close objects influence each other and superimpose. A large gap of 20 mm between two objects induced two clearly separated peaks in the electric image, while a 2 mm gap caused just a slight indentation in the image. Therefore, the fusion of electric images limits spatial resolution during active electrolocation. Relative movements either between the fish and the objects or between object and background might improve spatial resolution by accentuating the fine details of the electric images.

Active electric imaging: body-object interplay and object's "electric texture"

This article deals with the role of fish's body and object's geometry on determining the image spatial shape in pulse Gymnotiforms. This problem was explored by measuring local electric fields along a line on the skin in the presence and absence of objects. We depicted object's electric images at different regions of the electrosensory mosaic, paying particular attention to the perioral region where a fovea has been described. When sensory surface curvature increases relative to the object's curvature, the image details depending on object's shape are blurred and finally disappear. The remaining effect of the object on the stimulus profile depends on the strength of its global polarization. This depends on the length of the object's axis aligned with the field, in turn depending on fish body geometry. Thus, fish's body and self-generated electric field geometries are embodied in this "global effect" of the object. The presence of edges or local changes in impedance at the nearest surface of closely located objects adds peaks to the image profiles ("local effect" or "object's electric texture"). It is concluded that two cues for object recognition may be used by active electroreceptive animals: global effects (informing on object's dimension along the field lines, conductance, and position) and local effects (informing on object's surface). Since the field has fish's centered coordinates, and electrosensory fovea is used for exploration of surfaces, fish fine movements are essential to perform electric perception. We conclude that fish may explore adjacent objects combining active movements and electrogenesis to represent them using electrosensory information.

The predictability of evolution: glimpses into a post-Darwinian world

The very success of the Darwinian explanation, in not only demonstrating evolution from multiple lines of evidence but also in providing some plausible explanations, paradoxically seems to have served to have stifled explorations into other areas of investigation. The fact of evolution is now almost universally yoked to the assumption that its outcomes are random, trends are little more than drunkard's walks, and most evolutionary products are masterpieces of improvisation and far from perfect. But is this correct? Let us consider some alternatives. Is there evidence that evolution could in anyway be predictable? Can we identify alternative forms of biological organizations and if so how viable are they? Why are some molecules so extraordinarily versatile, while others can be spoken of as "molecules of choice"? How fortuitous are the major transitions in the history of life? What implications might this have for the Tree of Life? To what extent is evolutionary diversification constrained or facilitated by prior states? Are evolutionary outcomes merely sufficient or alternatively are they highly efficient, even superb? Here I argue that in sharp contradistinction to an orthodox Darwinian view, not only is evolution much more predictable than generally assumed but also investigation of its organizational substrates, including those of sensory systems, which indicates that it is possible to identify a predictability to the process and outcomes of evolution. If correct, the implications may be of some significance, not least in separating the unexceptional Darwinian mechanisms from underlying organizational principles, which may indicate evolutionary inevitabilities.

Active electrolocation in Gnathonemus petersii: behaviour, sensory performance, and receptor systems

Weakly electric fish can serve as model systems for active sensing because they actively emit electric signals into the environment, which they also perceive with more than 2000 electroreceptor organs (mormyromasts) distributed over almost their entire skin surface. In a process called active electrolocation, animals are able to detect and analyse objects in their environment, which allows them to perceive a detailed electrical picture of their surroundings even in complete darkness. The African mormyrid fish Gnathonemus petersii can not only detect nearby objects, but in addition can perceive other properties such as their distance, their complex electrical impedance, and their three-dimensional shape. Because most of the sensory signals the fish perceive during their nightly activity period are self-produced, evolution has shaped and adapted the mechanisms for signal production, signal perception and signal analysis by the brain. Like in many other sensory systems, so-called prereceptor mechanisms exist, which passively improve the sensory signals in such a way that the signal carrier is optimized for the extraction of relevant sensory information. In G. petersii prereceptor mechanisms include properties of the animal's skin and internal tissue and the shape of the fish's body. These lead to a specific design of the signal carrier at different skin regions of the fish, preparing them to perform certain detection tasks. Prereceptor mechanisms also ensure that the moveable skin appendix of G. petersii, the 'Schnauzenorgan', receives an optimal sensory signal during all stages of its movement. Another important aspect of active sensing in G. petersii concerns the locomotor strategies during electrolocation. When foraging, the animals adopt a particular position with the body slanted forward bringing the so-called 'nasal region' in a position to examine the environment in front of and at the side of the fish. Simultaneously, the Schnauzenorgan performs rhythmic left-right searching movements. When an object of interest is encountered, the Schnauzenorgan is brought in a twitching movement towards the object and is moved over it for further exploration. The densities of electroreceptor organs is extraordinary high at the Schnauzenorgan and, to a lesser extend, at the nasal region. In these so-called foveal regions, the mormyromasts have a different morphology compared to other parts of the electroreceptive skin. Our results on mormyromast density and morphology, prereceptor mechanisms and electric images, central processing of electroreceptive information, and on behavioural strategies of G. petersii lead us to formulate the hypothesis that these fish possess two separate electric foveae, each of which is specialized for certain perceptional tasks.

Receptive field properties of neurons in the electrosensory lateral line lobe of the weakly electric fish, Gnathonemus petersii

The receptive field of a sensory neuron is known as that region in sensory space where a stimulus will alter the response of the neuron. We determined the spatial dimensions and the shape of receptive fields of electrosensitive neurons in the medial zone of the electrosensory lateral line lobe of the African weakly electric fish, Gnathonemus petersii, by using single cell recordings. The medial zone receives input from sensory cells which encode the stimulus amplitude. We analysed the receptive fields of 71 neurons. The size and shape of the receptive fields were determined as a function of spike rate and first spike latency and showed differences for the two analysis methods used. Spatial diameters ranged from 2 to 36 mm (spike rate) and from 2.45 to 14.12 mm (first spike latency). Some of the receptive fields were simple consisting only of one uniform centre, whereas most receptive fields showed a complex and antagonistic centre-surround organisation. Several units had a very complex structure with multiple centres and surrounding-areas. While receptive field size did not correlate with peripheral receptor location, the complexity of the receptive fields increased from rostral to caudal along the fish's body.

Active sensing: Pre-receptor mechanisms and behavior in electric fish

Weakly electric fish perceive their actively generated electrical field with cutaneous electroreceptors. This active sensory system is used both for orientation and for communication. In a recent paper1 we focussed on how anatomical adaptations (pre-receptor mechanisms), biophysical constraints and behavior all contribute to active electrolocation, i.e., the fishes' unique ability to determine and distinguish the electrical properties of objects based on the modulation of a self-generated carrier signal, the so-called electric organ discharge.