Non-centralized and functionally localized nervous system of ophiuroids: evidence from topical anesthetic experiments

A methodological exploration to study 2D arm kinematics in Ophiuroidea (Echinodermata)

Brittle stars, unlike most other echinoderms, do not use their small tube feet for locomotion but instead use their flexible arms to produce a rowing or reverse rowing movement. They are among the fastest-moving echinoderms with the ability of complex locomotory behaviors. Considering the high species diversity and variability in morphotypes, a proper understanding of intra- and interspecies variation in arm flexibility and movement is lacking. This study focuses on the exploration of the methods to investigate the variability in brittle star locomotion and individual arm use. We performed a two-dimensional (2D) image processing on horizontal movement only. The result indicated that sinuosity, disc displacement and arm angle are important parameters to interpret ophiuroid locomotion. A dedicated Python script to calculate the studied movement parameters and visualize the results applicable to all 5-armed brittle stars was developed. These results can serve as the basis for further research in robotics inspired by brittle star locomotion.

Neuroecology beyond the brain: learning in Echinodermata

We propose an expansion of neuroecological comparisons to include the capabilities of brainless and non-neural organisms. We begin this enterprise by conducting a systematic search for studies on learning in echinoderms. Echinodermata are marine invertebrates comprising starfish, brittle stars, sea cucumbers, sea urchins, and sea lilies. Animals in this phylum lack any centralized brain and instead possess diffuse neural networks known as nerve nets. The learning abilities of these animals are of particular interest as, within the bilaterian clade, they are close evolutionary neighbors to chordates, a phylum whose members exhibit complex feats in learning and contain highly specialized brains. The learning capacities and limitations of echinoderms can inform the evolution of nervous systems and learning in Bilateria. We find evidence of both non-associative and associative learning (in the form of classical conditioning) in echinoderms, which was primarily focused on starfish. Additional evidence of learning is documented in brittle stars, sand dollars, and sea urchins. We then discuss the evolutionary significance of learning capabilities without a brain, the presence of embodied cognition across multiple groups, and compare the learning present in echinoderms with the impressive cognitive abilities documented in the oldest linage group within vertebrates (the major group within the phylum of chordates), fish.

Neural anatomy of echinoid early juveniles and comparison of nervous system organization in echinoderms

The echinoderms are a phylum of marine deuterostomes characterized by the pentaradial (five fold) symmetry of their adult bodies. Due to this unusual body plan, adult echinoderms have long been excluded from comparative analyses aimed at understanding the origin and evolution of deuterostome nervous systems. Here, we investigated the neural anatomy of early juveniles of representatives of three of the five echinoderm classes: the echinoid Paracentrotus lividus, the asteroid Patiria miniata, and the holothuroid Parastichopus parvimensis. Using whole mount immunohistochemistry and confocal microscopy, we found that the nervous system of echinoid early juveniles is composed of three main structures: a basiepidermal nerve plexus, five radial nerve cords connected by a circumoral nerve ring, and peripheral nerves innervating the appendages. Our whole mount preparations further allowed us to obtain thorough descriptions of these structures and of several innervation patterns, in particular at the level of the appendages. Detailed comparisons of the echinoid juvenile nervous system with those of asteroid and holothuroid juveniles moreover supported a general conservation of the main neural structures in all three species, including at the level of the appendages. Our results support the previously proposed hypotheses for the existence of two neural units in echinoderms: one consisting of the basiepidermal nerve plexus to process sensory stimuli locally and one composed of the radial nerve cords and the peripheral nerves constituting a centralized control system. This study provides the basis for more in-depth comparisons of the echinoderm adult nervous system with those of other animals, in particular hemichordates and chordates, to address the long-standing controversies about deuterostome nervous system evolution.

Sea star inspired crawling and bouncing

The oral surface of sea stars is lined with arrays of tube feet that enable them to achieve highly controlled locomotion on various terrains. The activity of the tube feet is orchestrated by a nervous system that is distributed throughout the body without a central brain. How such a distributed nervous system produces a coordinated locomotion is yet to be understood. We develop mathematical models of the biomechanics of the tube feet and the sea star body. In the model, the feet are coupled mechanically through their structural connection to a rigid body. We formulate hierarchical control laws that capture salient features of the sea star nervous system. Namely, at the tube foot level, the power and recovery strokes follow a state-dependent feedback controller. At the system level, a directionality command is communicated through the nervous system to all tube feet. We study the locomotion gaits afforded by this hierarchical control model. We find that these minimally coupled tube feet coordinate to generate robust forward locomotion, reminiscent of the crawling motion of sea stars, on various terrains and for heterogeneous tube feet parameters and initial conditions. Our model also predicts a transition from crawling to bouncing consistently with recent experiments. We conclude by commenting on the implications of these findings for understanding the neuromechanics of sea stars and their potential application to autonomous robotic systems.

A general model of locomotion of brittle stars with a variable number of arms

Typical brittle stars have five radially symmetrical arms that coordinate to move the body in a certain direction. However, some species have a variable number of arms, which is a unique trait since intact animals normally have a fixed number of limbs. How does a single species manage different numbers of appendages for adaptive locomotion? We herein describe locomotion in Ophiactis brachyaspis with four, five, six and seven arms to propose a common rule for the movement of brittle stars with different numbers of arms. For this, we mechanically stimulated one arm of individuals to analyse escape direction and arm movement. By gathering quantitative indices and employing Bayesian statistical modelling, we noted a pattern: regardless of the total number of arms, an anterior position emerges at one of the second neighbouring arms to a mechanically stimulated arm, while arms adjacent to the anterior one synchronously work as left and right rowers. We propose a model in which an afferent signal runs clockwise or anticlockwise along the nerve ring while linearly counting how many arms it passes through. With this model, the question on how 'left and right' emerges in a radially symmetrical body via a decentralized system is answered.

Flexible Coordination of Flexible Limbs: Decentralized Control Scheme for Inter- and Intra-Limb Coordination in Brittle Stars' Locomotion

Conventional mobile robots have difficulties adapting to unpredictable environments or performing adequately after undergoing physical damages in realtime operation, unlike animals. We address this issue by focusing on brittle stars, an echinoderm related to starfish. Most brittle stars have five flexible arms, and they can coordinate among the arms (i.e., inter-arm coordination) as well as the many bodily degrees of freedom within each arm (i.e., intra-arm coordination). They can move in unpredictable environments while promptly adapting to those, and to their own physical damages (e.g., arm amputation). Our previous work focused on the inter-arm coordination by studying trimmed-arm brittle stars. Herein, we extend our previous work and propose a decentralized control mechanism that enables coupling between the inter-arm and intra-arm coordination. We demonstrate via simulations and real-world experiments with a brittle star-like robot that the behavior of brittle stars when they are intact and undergoing shortening or amputation of arms can be replicated.

Decentralized Control Mechanism for Determination of Moving Direction in Brittle Stars With Penta-Radially Symmetric Body

A brittle star, an echinoderm with penta-radially symmetric body, can make decisions about its moving direction and move adapting to various circumstances despite lacking a central nervous system and instead possessing a rather simple distributed nervous system. In this study, we aimed to elucidate the essential control mechanism underlying the determination of moving direction in brittle stars. Based on behavioral findings on brittle stars whose nervous systems were lesioned in various ways, we propose a phenomenological mathematical model. We demonstrate via simulations that the proposed model can well reproduce the behavioral findings. Our findings not only provide insights into the mechanism for the determination of moving direction in brittle stars, but also help understand the essential mechanism underlying autonomous behaviors of animals. Moreover, they will pave the way for developing fully autonomous robots that can make decisions by themselves and move adaptively under various circumstances.

Ambulacrarians and the Ancestry of Deuterostome Nervous Systems

The evolutionary origin and history of metazoan nervous systems has been at the heart of numerous scientific debates for well over a century. This has been a particularly difficult issue to resolve within the deuterostomes, chiefly due to the distinct neural architectures observed within this group of animals. Indeed, deuterosomes feature central nervous systems, apical organs, nerve cords, and basiepidermal nerve nets. Comparative analyses investigating the anatomy and molecular composition of deuterostome nervous systems have nonetheless succeeded in identifying a number of shared and derived features. These analyses have led to the elaboration of diverse theories about the origin and evolutionary history of deuterostome nervous systems. Here, we provide an overview of these distinct theories. Further, we argue that deciphering the adult nervous systems of representatives of all deuterostome phyla, including echinoderms, which have long been neglected in this type of surveys, will ultimately provide answers to the questions concerning the ancestry and evolution of deuterostome nervous systems.

Integrating morphology and in vivo skeletal mobility with digital models to infer function in brittle star arms

Brittle stars (Phylum Echinodermata, Class Ophiuroidea) have evolved rapid locomotion employing muscle and skeletal elements within their (usually) five arms to apply forces in a manner analogous to that of vertebrates. Inferring the inner workings of the arm has been difficult as the skeleton is internal and many of the ossicles are sub-millimeter in size. Advances in 3D visualization and technology have made the study of movement in ophiuroids possible. We developed six virtual 3D skeletal models to demonstrate the potential range of motion of the main arm ossicles, known as vertebrae, and six virtual 3D skeletal models of non-vertebral ossicles. These models revealed the joint center and relative position of the arm ossicles during near-maximal range of motion. The models also provide a platform for the comparative evaluation of functional capabilities between disparate ophiuroid arm morphologies. We made observations on specimens of Ophioderma brevispina and Ophiothrix angulata. As these two taxa exemplify two major morphological categories of ophiuroid vertebrae, they provide a basis for an initial assessment of the functional consequences of these disparate vertebral morphologies. These models suggest potential differences in the structure of the intervertebral articulations in these two species, implying disparities in arm flexion mechanics. We also evaluated the differences in the range of motion between segments in the proximal and distal halves of the arm length in a specimen of O. brevispina, and found that the morphology of vertebrae in the distal portion of the arm allows for higher mobility than in the proximal portion. Our models of non-vertebral ossicles show that they rotate further in the direction of movement than the vertebrae themselves in order to accommodate arm flexion. These findings raise doubts over previous hypotheses regarding the functional consequences of ophiuroid arm disparity. Our study demonstrates the value of integrating experimental data and visualization of articulated structures when making functional interpretations instead of relying on observations of vertebral or segmental morphology alone. This methodological framework can be applied to other ophiuroid taxa to enable comparative functional analyses. It will also facilitate biomechanical analyses of other invertebrate groups to illuminate how appendage or locomotor function evolved.

The complex simplicity of the brittle star nervous system

Background

Brittle stars (Ophiuroidea, Echinodermata) have been increasingly used in studies of animal behavior, locomotion, regeneration, physiology, and bioluminescence. The success of these studies directly depends on good working knowledge of the ophiuroid nervous system.

Results

Here, we describe the arm nervous system at different levels of organization, including the microanatomy of the radial nerve cord and peripheral nerves, ultrastructure of the neural tissue, and localization of different cell types using specific antibody markers. We standardize the nomenclature of nerves and ganglia, and provide an anatomically accurate digital 3D model of the arm nervous system as a reference for future studies. Our results helped identify several general features characteristic to the adult echinoderm nervous system, including the extensive anatomical interconnections between the ectoneural and hyponeural components, neuroepithelial organization of the central nervous system, and the supporting scaffold of the neuroepithelium formed by radial glial cells. In addition, we provide further support to the notion that the echinoderm radial glia is a complex and diverse cell population. We also tested the suitability of a range of specific cell-type markers for studies of the brittle star nervous system and established that the radial glial cells are reliably labeled with the ERG1 antibodies, whereas the best neuronal markers are acetylated tubulin, ELAV, and synaptotagmin B. The transcription factor Brn1/2/4 – a marker of neuronal progenitors – is expressed not only in neurons, but also in a subpopulation of radial glia. For the first time, we describe putative ophiuroid proprioceptors associated with the hyponeural part of the central nervous system.

Conclusions

Together, our data help establish both the general principles of neural architecture common to the phylum Echinodermata and the specific ophiuroid features.

Electronic supplementary material

The online version of this article (10.1186/s12983-017-0247-4) contains supplementary material, which is available to authorized users.

The function of the ophiuroid nerve ring: how a decentralized nervous system controls coordinated locomotion

Echinoderms lack a centralized nervous control system yet each extant echinoderm class has evolved unique and effective strategies for locomotion. Brittle stars (Ophiuroidea) stride swiftly over the seafloor by coordinating motions of their five muscular arms. Their arms consist of many repeating segments, requiring them to use a complex control system to coordinate motions among segments and between arms. We conducted in vivo experiments with brittle stars to analyze the functional role of the nerve ring, which connects the nerves in each arm. These experiments were designed to determine how the ophiuroid nervous system performs complex decision-making and locomotory actions under decentralized control. Our results show that brittle star arms must be connected by the nerve ring for coordinated locomotion, but information can travel bidirectionally around the nerve ring so that it circumvents the severance. Evidence presented indicates that ophiuroids rely on adjacent nerve ring connections for sustained periodic movements. The number of arms connected via the nerve ring is correlated positively with the likelihood that the animal will show coordinated locomotion, indicating that integrated nerve ring tissue is critical for control. The results of the experiments should provide a basis for the advancement of complex artificial decentralized systems.

A brittle star-like robot capable of immediately adapting to unexpected physical damage

A major challenge in robotic design is enabling robots to immediately adapt to unexpected physical damage. However, conventional robots require considerable time (more than several tens of seconds) for adaptation because the process entails high computational costs. To overcome this problem, we focus on a brittle star-a primitive creature with expendable body parts. Brittle stars, most of which have five flexible arms, occasionally lose some of them and promptly coordinate the remaining arms to escape from predators. We adopted a synthetic approach to elucidate the essential mechanism underlying this resilient locomotion. Specifically, based on behavioural experiments involving brittle stars whose arms were amputated in various ways, we inferred the decentralized control mechanism that self-coordinates the arm motions by constructing a simple mathematical model. We implemented this mechanism in a brittle star-like robot and demonstrated that it adapts to unexpected physical damage within a few seconds by automatically coordinating its undamaged arms similar to brittle stars. Through the above-mentioned process, we found that physical interaction between arms plays an essential role for the resilient inter-arm coordination of brittle stars. This finding will help develop resilient robots that can work in inhospitable environments. Further, it provides insights into the essential mechanism of resilient coordinated motions characteristic of animal locomotion.