The interneurons of the abdominal positioning system of the crayfish. How these neurons were established and their use as identified cells and command elements

Asymmetric Firing Rate from Crayfish Left and Right Caudal Photoreceptors Due to Blue and Green Monochromatic Light Pulses

Recent studies have postulated that the left and right caudal photoreceptors (CPR-L and CPR-R, respectively) of the crayfish show asymmetry of spontaneous activity in darkness and responses induced by white light. Two photopigments have been identified; the first one sensitive to blue light and the second one sensitive to green light. This study explores blue and green monochromatic light responsiveness with respect to both CPR-L and -R, as well as the effects of temperature on these photoreceptors. We performed simultaneous extracellular recordings of the firing rate of action potentials from CPRs of the crayfish Cherax quadricarinatus (n = 12). At room temperature (24 ± 1 °C), CPR-L and -R showed a significant difference in the spikes from most of the comparations. CPRs in the dark exhibited spontaneous asymmetric activity and displayed sensitivity to both monochromatic light sources. CPR responses were light intensity dependent within a range of 1.4 logarithmic intensity units, showing approximately 0.5 logarithmic intensity units more sensitivity to blue than to green light. The CPRs displayed an asymmetrical response to both colors by using a constant light intensity. At 14 (±1) °C, activity in darkness diminished while asymmetry persisted, and the CPRs improved responses for both monochromatic light sources, displaying a significant asymmetry. Here, we provide additional evidence of the asymmetric activity in darkness and light response from the CPRs. The new data allow further investigations regarding the physiological role of caudal photoreceptors in the crayfish.

Invertebrate preparations and their contribution to neurobiology in the second half of the 20th century

This review summarized the contribution to neurobiology achieved through the use of invertebrate preparations in the second half of the 20th century. This fascinating period was preceded by pioneers who explored a wide variety of invertebrate phyla and developed various preparations appropriate for electrophysiological studies. Their work advanced general knowledge about neuronal properties (dendritic, somatic, and axonal excitability; pre- and postsynaptic mechanisms). The study of invertebrates made it possible to identify cell bodies in different ganglia, and monitor their operation in the course of behavior. In the 1970s, the details of central neural circuits in worms, molluscs, insects, and crustaceans were characterized for the first time and well before equivalent findings were made in vertebrate preparations. The concept and nature of a central pattern generator (CPG) have been studied in detail, and the stomatogastric nervous system (STNS) is a fine example, having led to many major developments since it was first examined. The final part of the review is a discussion of recent neuroethological studies that have addressed simple cognitive functions and confirmed the utility of invertebrate models. After presenting our invertebrate "mice," the worm Caenorhabditis elegans and the fruit fly Drosophila melanogaster, our conclusion, based on arguments very different from those used fifty years ago, is that invertebrate models are still essential for acquiring insight into the complexity of the brain.

Biomimetic approaches to the control of underwater walking machines

We have developed a biomimetic robot based on the American lobster. The robot is designed to achieve the performance advantages of the animal model by adopting biomechanical features and neurobiological control principles. Three types of controllers are described. The first is a state machine based on the connectivity and dynamics of the lobster central pattern generator (CPG). The state machine controls myomorphic actuators based on shape memory alloys (SMAs) and responds to environmental perturbation through sensors that employ a labelled-line code. The controller supports a library of action patterns and exteroceptive reflexes to mediate tactile navigation, obstacle negotiation and adaptation to surge. We are extending this controller to neuronal network-based models. A second type of leg CPG is based on synaptic networks of electronic neurons and has been adapted to control the SMA actuated leg. A brain is being developed using layered reflexes based on discrete time map-based neurons.

Serotonin-caused phase shift of circadian rhythmicity in a photosensitive neuron

In the sixth abdominal ganglion (sixth AG) of the crayfish, two photosensitive neurons are located and have been identified as caudal photoreceptors (CPRs). We have expanded our investigation on the role of 5-Hydroxytryptamine (5-HT) as a modulator of the spontaneous and light-induced activity of the CPR. We located, by using immunocytochemistry, neurons in the sixth AG that contain the 5HT1A receptor. The expression of these receptors was examined by binding assays with [3H] 8-hydroxy-2 (di-n-propylamino) tetralin ([3H(8-OH-DPAT). We examined the exogenous action of both 5HT and its agonist 8-OH-DPAT on the phase of circadian rhythms of the spontaneous electrical activity and the photoresponse of the CPR in the isolated sixth AG by conventional extracellular recording methods. Experiments were made on the adult crayfish Procambarus clarkii and Cherax quadricarinatus. Thirteen immunopositive neurons were located, principally near the ventral and dorsal surface of the sixth AG, with the mean diameter of their somata 20+/-3 microm. The specific binding data showed the presence of 5-HT1A receptors with a mean level of 22.4+/-6.6 fmol/mg of wet tissue. Spontaneous and light-induced electrical activity of the CPR showed circadian variations with their activity more intense at night than in the day. Exogenous application of 5-HT or 8-OH-DPAT causes a circadian phase-shift in electrical activity of the CPR. Taken together, these results lead us to believe the 5-HT acts as a modulator of circadian electrical activity of the CPR in the isolated sixth AG of crayfish. Moreover, it suggests that the 5-HT1A receptor participates in this modulation.

Serotonin modulation of caudal photoreceptor in crayfish

The sixth abdominal ganglion (6th AG) of the crayfish contains two photosensitive neurons. This caudal photoreceptor (CPR) displays spontaneous electrical activity and phasic-tonic responses to light pulses. In this paper, we analyzed the presence of serotonin in the 6th AG and its effects in the modulation of the activity of CPR. In the first part of our study, we identified serotonergic neurons in the 6th AG by immunostaining using an antibody against serotonin. Next, we quantified the serotonin contents in the 6th AG by using liquid chromatography. Finally, we searched for serotonergic modulation of the CPR electrical activity by using conventional extracellular recordings. We found 13 immunopositive neurons located in the ventral side of the 6th AG. The mean diameter of their somata was 23+/-9 microm. In addition, there was immunopositive staining in neuropilar fibers and varicosities. The contents of serotonin and its precursors in the 6th AG varied along the 24-h cycle. Its maximum value was reached by midday. Topic application of serotonin to ganglia kept in darkness increased the CPR spontaneous firing rate and reduced its light responsiveness. Both effects were dose-dependent within ED(50) approximately 1 microM and were blocked by the 5-HT antagonist methysergide. These observations support the role of serotonin as a neurotransmitter or neuromodulator in the CPR of the two species of crayfish Procambarus clarkii and Cherax quadricarinatus.

Underwater walking

Lobsters are generalist decapods that evolved in a broad variety of niches in the Northwestern Atlantic. Due to their inherent buoyancy they have acquired adaptations to reduced traction and surge. We have developed a biomimetic robot based on the lobster that features artificial muscle actuators and sensors employing labeled-line codes. The central controller for this robot is based on the command neuron, coordinating neuron central pattern generator model. A library of commands is released by sensor feedback to mediate adaptive sequences and goal achieving behavior. Rheotaxic behaviors can mediate adaptations to achieve some of the advantages of the biological models.

Parallel processing in an identified neural circuit: the Aplysia californica gill-withdrawal response model system

The response of the gill of Aplysia calfornica Cooper to weak to moderate tactile stimulation of the siphon, the gill-withdrawal response or GWR, has been an important model system for work aimed at understanding the relationship between neural plasticity and simple forms of non-associative and associative learning. Interest in the GWR has been based largely on the hypothesis that the response could be explained adequately by parallel monosynaptic reflex arcs between six parietovisceral ganglion (PVG) gill motor neurons (GMNs) and a cluster of sensory neurons termed the LE cluster. This hypothesis, the Kupfermann-Kandel model, made clear, falsifiable predictions that have stimulated experimental work for many years. Here, we review tests of three predictions of the Kupfermann-Kandel model: (1) that the GWR is a simple, reflexive behaviour graded with stimulus intensity; (2) that central nervous system (CNS) pathways are necessary and sufficient for the GWR; and (3) that activity in six identified GMNs is sufficient to account for the GWR. The available data suggest that (1) a variety of action patterns occur in the context of the GWR; (2) the PVG is not necessary and the diffuse peripheral nervous system (PNS) is sufficient to mediate these action patterns; and (3) the role of any individual GMN in the behaviour varies. Both the control of gill-withdrawal responses, and plasticity in these responses, are broadly distributed across both PNS and CNS pathways. The Kupfermann-Kandel model is inconsistent with the available data and therefore stands rejected. There is, no known causal connection or correlation between the observed plasticity at the identified synapses in this system and behavioural changes during non-associative and associative learning paradigms. Critical examination of these well-studied central pathways suggests that they represent a 'wetware' neural network, architecturally similar to the neural network models of the widely used 'Perceptron' and/or 'Back-propagation' type. Such models may offer a more biologically realistic representation of nervous system organisation than has been thought. In this model, the six parallel GMNs of the CNS correspond to a hidden layer within one module of the gill-control system. That is, the gill-control system appears to be organised as a distributed system with several parallel modules, some of which are neural networks in their own right. A new model is presented here which predicts that the six GMNs serve as components of a 'push-pull' gain control system, along with known but largely unidentified inhibitory motor neurons from the PVG. This 'push-pull' gain control system sets the responsiveness of the peripheral gill motor system. Neither causal nor correlational links between specific forms of neural plasticity and behavioural plasticity have been demonstrated in the GWR model system. However, the GWR model system does provide an opportunity to observe and describe directly the physiological and biochemical mechanisms of distributed representation and parallel processing in a largely identifiable 'wetware' neural network.

Neural basis of a simple behavior: abdominal positioning in crayfish

Crustaceans have been used extensively as models for studying the nervous system. Members of the Order Decapoda, particularly the larger species such as lobsters and crayfish, have large segmented abdomens that are positioned by tonic flexor and extensor muscles. Importantly, the innervation of these tonic muscles is known in some detail. Each abdominal segment in crayfish is innervated bilaterally by three sets of nerves. The anterior pair of nerves in each ganglion controls the swimmeret appendages and sensory supply. The middle pair of nerves innervates the tonic extensor muscles and the regional sensory supply. The superficial branch of the most posterior pair of nerves in each ganglion is exclusively motor and supplies the tonic flexor muscles of that segment. The extension and flexion motor nerves contain six motor neurons, each of which is different in axonal diameter and thus produces impulses of different amplitude. Motor programs controlling each muscle can be characterized by the identifiable motor neurons that are activated. Early work in this field discovered that specific central interneurons control the abdominal positioning motor neurons. These interneurons were first referred to as "command neurons" and later as "command elements." Stimulation of an appropriate command element causes a complex, widespread output involving dozens of motor neurons. The output can be patterned even though the stimulus to the command element is of constant interval. The command elements are identifiable cells. When a stimulus is repeated in a command element, from either the same individual or from different individuals, the output is substantially the same. This outcome depends upon several factors. First, the command elements are not only identifiable, but they make many synapses with other neurons, and the synapses are substantially invariant. There are separate flexion-producing and extension-producing command elements. Abdominal flexion-producing command elements excite other flexion elements and inhibit extensor command elements. The extension producing elements do the opposite. These interactions insure that interneurons of a particular class (flexion- or extension-producing) synaptically recruit perhaps twenty others of similar output, and that command elements promoting the opposing movements are inhibited. This strong reciprocity and the recruitment of similar command elements give a powerful motor program that appears to mimic behavior.

Motor program selection in simple model systems

In recent years, studies of molluscan and crustacean feeding circuits have greatly expanded our knowledge of how the nervous system selects specific behaviors. Increasing use of neurobehavioral studies, and examination of the roles of identified command-like or influential neurons have narrowed the gap between knowledge of circuit connectivity and understanding of the normal behavioral functions of these circuits.

Revisiting the concept of identifiable neurons

Although eutely in nematodes was known, giant neurons in several taxa and unique motor neurons to leg muscles in decapod crustaceans, the idea that many animals have many identifiable neurons with relatively consistent dynamical properties and connections was only slowly established in the late 1960s and early 1970s. This has to be one of the important quiet revolutions in neurobiology. It stimulated a vast acquisition of specific information and led to some euphoria in the degree and pace of understanding activity of nervous systems and consequent behavior in terms of neuronal connections and properties. Some implications, problems and opportunities for new discovery are developed. The distribution of identifiable neurons among taxa and parts of the nervous system is not yet satisfactorily known. Their evolution may have been a case of several independent inventions. The degree of consistency has been quantified only in a few examples and the plasticity is little known. Identified neurons imply identifiable circuits but whether this extends to discrete systems, functionally definable, seems likely to have several answers in different animals or sites. Very limited attempts have been made to extend the concept to cases of two or ten or a hundred fully equivalent neurons, on all kinds of criteria. These attempts suggest a much smaller redundancy and vaster number of types of neurons than hitherto believed. Theory as well as empirical information has not yet interpreted the range of systems from those with small sets of relatively reliable neurons to those with large numbers of parallel, partially redundant units. The now classical notion of local circuits has to be extended to take account of and find roles for the plethora of integrative variables, of evidence for neural processing independent of spikes and classical synapses, of spatial configurations of terminal arbors and dendritic geometry, of modulators and transmitters, degrees of rhythmicity (regularity varying several orders of magnitude), and of synchrony. Adequate language and models need to go beyond 'circuits' in any engineering sense. Identifiable neurons can contribute to a broad spectrum of issues in neurobiology.

Network architectures and circuit function: testing alternative hypotheses in multifunctional networks

Understanding how species-typical movement patterns are organized in the nervous system is a central question in neurobiology. The current explanations involve 'alphabet' models in which an individual neuron may participate in the circuit for several behaviors but each behavior is specified by a specific neural circuit. However, not all of the well-studied model systems fit the 'alphabet' model. The 'equation' model provides an alternative possibility, whereby a system of parallel motor neurons, each with a unique (but overlapping) field of innervation, can account for the production of stereotyped behavior patterns by variable circuits. That is, it is possible for such patterns to arise as emergent properties of a generalized neural network in the absence of feedback, a simple version of a 'self-organizing' behavioral system. Comparison of systems of identified neurons suggest that the 'alphabet' model may account for most observations where CPGs act to organize motor patterns. Other well-known model systems, involving architectures corresponding to feed-forward neural networks with a hidden layer, may organize patterned behavior in a manner consistent with the 'equation' model. Such architectures are found in the Mauthner and reticulospinal circuits, 'escape' locomotion in cockroaches, CNS control of Aplysia gill, and may also be important in the coordination of sensory information and motor systems in insect mushroom bodies and the vertebrate hippocampus. The hidden layer of such networks may serve as an 'internal representation' of the behavioral state and/or body position of the animal, allowing the animal to fine-tune oriented, or particularly context-sensitive, movements to the prevalent conditions. Experiments designed to distinguish between the two models in cases where they make mutually exclusive predictions provide an opportunity to elucidate the neural mechanisms by which behavior is organized in vivo and in vitro.