Tegula function during free locust flight in relation to motor pattern, flight speed and aerodynamic output

Differential control of temporal and spatial aspects of cockroach leg coordination

Ensembles of neuronal networks and sensory pathways participate in controlling the kinematic and dynamic parameters of animal movement necessary to achieve motor coordination. Determining the relative contribution of proprioceptive feedback is essential for understanding how animals sustain stable, coordinated locomotion in complex natural environments. Here, we focus on the role of chordotonal organs (COs), proprioceptors found in insect legs, in the spatial and temporal regulation of walking. We compare gait parameters of intact cockroaches (Periplaneta americana) and sensory-impaired ones, injected with pymetrozine, a chemical previously shown to abolish CO function in locusts. We verify that afferent CO activity in pymetrozine-treated cockroaches is inhibited, and analyze the effect of this sensory deprivation on inter-leg coordination. We find significant changes in tarsi placement and leg path trajectories after pymetrozine treatment. Leg touchdown accuracy, measured from relative tarsi positions of adjacent legs, is reduced in treated animals. Interestingly, despite poorer spatial coordination in both stance and swing, temporal properties of the gait remain largely the same as in the intact preparations, apart from changes in ipsilateral phase differences between front and middle legs. These findings provide insights into the role of COs in insect gait control and establish pymetrozine as a useful tool for further studies of insect locomotion.

Oral dosing of chemical indicators for in vivo monitoring of Ca2+ dynamics in insect muscle

This paper proposes a remarkably facile staining protocol to visually investigate dynamic physiological events in insect tissues. We attempted to monitor Ca²⁺ dynamics during contraction of electrically stimulated living muscle. Advances in circuit miniaturization and insect neuromuscular physiology have enabled the hybridization of living insects and man-made electronic components, such as microcomputers, the result of which has been often referred as a Living Machine, Biohybrid, or Cyborg Insect. In order for Cyborg Insects to be of practical use, electrical stimulation parameters need to be optimized to induce desired muscle response (motor action) and minimize the damage in the muscle due to the electrical stimuli. Staining tissues and organs as well as measuring the dynamics of chemicals of interest in muscle should be conducted to quantitatively and systematically evaluate the effect of various stimulation parameters on the muscle response. However, existing staining processes require invasive surgery and/or arduous procedures using genetically encoded sensors. In this study, we developed a non-invasive and remarkably facile method for staining, in which chemical indicators can be orally administered (oral dosing). A chemical Ca²⁺ indicator was orally introduced into an insect of interest via food containing the chemical indicator and the indicator diffused from the insect digestion system to the target muscle tissue. We found that there was a positive relationship between the fluorescence intensity of the indicator and the frequency of electrical stimulation which indicates the orally dosed indicator successfully monitored Ca²⁺ dynamics in the muscle tissue. This oral dosing method has a potential to globally stain tissues including neurons, and investigating various physiological events in insects.

A biological micro actuator: graded and closed-loop control of insect leg motion by electrical stimulation of muscles

In this study, a biological microactuator was demonstrated by closed-loop motion control of the front leg of an insect (Mecynorrhina torquata, beetle) via electrical stimulation of the leg muscles. The three antagonistic pairs of muscle groups in the front leg enabled the actuator to have three degrees of freedom: protraction/retraction, levation/depression, and extension/flexion. We observed that the threshold amplitude (voltage) required to elicit leg motions was approximately 1.0 V; thus, we fixed the stimulation amplitude at 1.5 V to ensure a muscle response. The leg motions were finely graded by alternation of the stimulation frequencies: higher stimulation frequencies elicited larger leg angular displacement. A closed-loop control system was then developed, where the stimulation frequency was the manipulated variable for leg-muscle stimulation (output from the final control element to the leg muscle) and the angular displacement of the leg motion was the system response. This closed-loop control system, with an optimized proportional gain and update time, regulated the leg to set at predetermined angular positions. The average electrical stimulation power consumption per muscle group was 148 µW. These findings related to and demonstrations of the leg motion control offer promise for the future development of a reliable, low-power, biological legged machine (i.e., an insect–machine hybrid legged robot).

The chemistry of cyborgs--interfacing technical devices with organisms

The term "cyborg" refers to a cybernetic organism, which characterizes the chimera of a living organism and a machine. Owing to the widespread application of intracorporeal medical devices, cyborgs are no longer exclusively a subject of science fiction novels, but technically they already exist in our society. In this review, we briefly summarize the development of modern prosthetics and the evolution of brain-machine interfaces, and discuss the latest technical developments of implantable devices, in particular, biocompatible integrated electronics and microfluidics used for communication and control of living organisms. Recent examples of animal cyborgs and their relevance to fundamental and applied biomedical research and bioethics in this novel and exciting field at the crossroads of chemistry, biomedicine, and the engineering sciences are presented.

Challenges and prospects in the telemetry of insects

Radio telemetry has been widely used to study the space use and movement behaviour of vertebrates, but transmitter sizes have only recently become small enough to allow tracking of insects under natural field conditions. Here, we review the available literature on insect telemetry using active (battery-powered) radio transmitters and compare this technology to harmonic radar and radio frequency identification (RFID) which use passive tags (i.e. without a battery). The first radio telemetry studies with insects were published in the late 1980s, and subsequent studies have addressed aspects of insect ecology, behaviour and evolution. Most insect telemetry studies have focused on habitat use and movement, including quantification of movement paths, home range sizes, habitat selection, and movement distances. Fewer studies have addressed foraging behaviour, activity patterns, migratory strategies, or evolutionary aspects. The majority of radio telemetry studies have been conducted outside the tropics, usually with beetles (Coleoptera) and crickets (Orthoptera), but bees (Hymenoptera), dobsonflies (Megaloptera), and dragonflies (Odonata) have also been radio-tracked. In contrast to the active transmitters used in radio telemetry, the much lower weight of harmonic radar and RFID tags allows them to be used with a broader range of insect taxa. However, the fixed detection zone of a stationary radar unit (< 1 km diameter) and the restricted detection distance of RFID tags (usually < 1-5 m) constitute major constraints of these technologies compared to radio telemetry. Most of the active transmitters in radio telemetry have been applied to insects with a body mass exceeding 1 g, but smaller species in the range 0.2-0.5 g (e.g. bumblebees and orchid bees) have now also been tracked. Current challenges of radio-tracking insects in the field are related to the constraints of a small transmitter, including short battery life (7-21 days), limited tracking range on the ground (100-500 m), and a transmitter weight that sometimes approaches the weight of a given insect (the ratio of tag mass to body mass varies from 2 to 100%). The attachment of radio transmitters may constrain insect behaviour and incur significant energetic costs, but few studies have addressed this in detail. Future radio telemetry studies should address (i) a larger number of species from different insect families and functional groups, (ii) a better coverage of tropical regions, (iii) intraspecific variability between sexes, ages, castes, and individuals, and (iv) a larger tracking range via aerial surveys with helicopters and aeroplanes equipped with external antennae. Furthermore, field and laboratory studies, including observational and experimental approaches as well as theoretical modelling, could help to clarify the behavioural and energetic consequences of transmitter attachment. Finally, the development of commercially available systems for automated tracking and potential future options of insect telemetry from space will provide exciting new avenues for quantifying movement and space use of insects from local to global spatial scales.

Non-linear neuronal responses as an emergent property of afferent networks: a case study of the locust lobula giant movement detector

In principle it appears advantageous for single neurons to perform non-linear operations. Indeed it has been reported that some neurons show signatures of such operations in their electrophysiological response. A particular case in point is the Lobula Giant Movement Detector (LGMD) neuron of the locust, which is reported to locally perform a functional multiplication. Given the wide ramifications of this suggestion with respect to our understanding of neuronal computations, it is essential that this interpretation of the LGMD as a local multiplication unit is thoroughly tested. Here we evaluate an alternative model that tests the hypothesis that the non-linear responses of the LGMD neuron emerge from the interactions of many neurons in the opto-motor processing structure of the locust. We show, by exposing our model to standard LGMD stimulation protocols, that the properties of the LGMD that were seen as a hallmark of local non-linear operations can be explained as emerging from the dynamics of the pre-synaptic network. Moreover, we demonstrate that these properties strongly depend on the details of the synaptic projections from the medulla to the LGMD. From these observations we deduce a number of testable predictions. To assess the real-time properties of our model we applied it to a high-speed robot. These robot results show that our model of the locust opto-motor system is able to reliably stabilize the movement trajectory of the robot and can robustly support collision avoidance. In addition, these behavioural experiments suggest that the emergent non-linear responses of the LGMD neuron enhance the system's collision detection acuity. We show how all reported properties of this neuron are consistently reproduced by this alternative model, and how they emerge from the overall opto-motor processing structure of the locust. Hence, our results propose an alternative view on neuronal computation that emphasizes the network properties as opposed to the local transformations that can be performed by single neurons.

The tiny brains of insects of about 1mm³ smoothly control a flying platform while avoiding obstacles, regulating its distance to objects and search for objects of interest. This is largely achieved through a complex hierarchical processing of signals from the multitude of ommatidia in their eye to a set of highly specialized neurons that are optimized to respond to specific properties of the visual world. One of these neurons, the Lobula Giant Movement Detector (LGMD) of the locust, has been recently shown to perform a functional multiplication of its synaptic inputs. If true, that would make the LGMD neuron a unique and highly sophisticated neuron that raises questions about the non-linear operations other neurons in other neuronal systems would be able to perform. Hence it is crucial to understand its properties, its role in behaviour and to evaluate whether its responses can be explained in simpler terms. Our results emphasize the role of network architecture and distributed computation as opposed to local complex non-linear computation. We show that our model reliably reproduces the known properties of the LGMD and can be used to control a high-speed robot.

Biotelemetry: a mechanistic approach to ecology

Remote measurement of the physiology, behaviour and energetic status of free-living animals is made possible by a variety of techniques that we refer to collectively as 'biotelemetry'. This set of tools ranges from transmitters that send their signals to receivers up to a few kilometers away to those that send data to orbiting satellites and, more frequently, to devices that log data. They enable researchers to document, for long uninterrupted periods, how undisturbed organisms interact with each other and their environment in real time. In spite of advances enabling the monitoring of many physiological and behavioural variables across a range of taxa of various sizes, these devices have yet to be embraced widely by the ecological community. Our review suggests that this technology has immense potential for research in basic and applied animal ecology. Efforts to incorporate biotelemetry into broader ecological research programs should yield novel information that has been challenging to collect historically from free-ranging animals in their natural environments. Examples of research that would benefit from biotelemetry include the assessment of animal responses to different anthropogenic perturbations and the development of life-time energy budgets.

Turning manoeuvres in free-flying locusts: two-channel radio-telemetric transmission of muscle activity

A device has been constructed allowing the simultaneous transmission of two separate electrical signals in unrestrained small animals. We employed this device to investigate the motor output in free-flying locusts. The activation pattern of several combinations of different muscles was recorded, including bilateral symmetric muscles and pairs of antagonists. Particular attention was paid to the recruitment of a specific set of flight muscles in both winged segments during rolling manoeuvres. The relationship of the muscle activation with wing movement was analysed in combination with a high-speed video-monitoring. The muscles are activated in advance of the relevant stroke directions, in opposition to previous studies of tethered flying locusts. During turning manoeuvres a statistically significant difference in timing of the bilateral symmetric muscles is not apparent; this contrasts with the distinct difference revealed for the bilateral wing movement. It is discussed that rolling might rely on the fine tuned interaction of several major flight muscles or on the precise activation of a specific wing hinge muscle. Correspondence with investigations of bird flight is discussed.

A dual-channel FM transmitter for acquisition of flight muscle activities from the freely flying hawkmoth, Agrius convolvuli

Moths can perform various flight maneuvers by the contraction of some direct and indirect flight muscles. Multi-channel recording from these flight muscles and analysis of their interaction is very important for understanding insect flight motor system. In this study, we developed a dual-channel FM transmitter for acquisition of muscle potentials, with which a male hawkmoth (Agrius convolvuli) could fly freely and perform pheromone triggered zigzag flight in a wind tunnel. The transmitter weighs only 0.25 g including single battery, has a 5 m receivable range and works for more than 30 min. Doubling channels was achieved by providing two oscillators (the carrier frequencies were 82 and 85 MHz), and interference between them was overcome by buffer amplifiers and independent reference electrodes for each channel. With this transmitter, we could acquire muscle potentials from some direct and indirect muscles during free flight. Combined with simultaneous high-speed video analysis, we observed distinct changes of motor patterns during takeoff. Our radio-telemetric system allows acquisition of actual information from freely flying moths; such information will lead to further progress in the study of insect flight.

Effects of stretch receptor ablation on the optomotor control of lift in the hawkmothManduca sexta

In insects, fast sensory feedback from specialized mechanoreceptors is integrated with guidance cues descending from the visual system to control flight behavior. A proprioceptive sensory organ found in both locusts and moths, the wing hinge stretch receptor, has been extensively studied in locusts for its powerful influence on the activity of flight muscle motoneurons and interneurons. The stretch receptor fires a high-frequency burst of action potentials near the top of each wingstroke and encodes kinematic variables such as amplitude and timing. Here, I describe the effects of stretch receptor ablation on the visual control of lift during flight in the hawkmoth Manduca sexta. Using a combination of extracellular muscle recordings, force and position measurements and high-speed video recording, I tracked power muscle activity, net vertical flight force (lift), abdomen deflection and wing kinematics in response to image motions of varying velocity during tethered flight in a wind tunnel. As a result of bilateral ablation of the wing hinge stretch receptors, visually evoked lift decreased to nearly one-third of that exhibited by intact animals. The phase and frequency of indirect power muscle action potentials and the patterns of abdominal deflection were unaffected; however, wingstroke amplitude was clearly reduced after ablation. Collectively, these results suggest that stretch receptor feedback is integrated with descending visual cues to control wing kinematics and the resultant aerodynamic force production during flight.

Relationships between body mass, motor output and flight variables during free flight of juvenile and mature adult locusts, Schistocerca gregaria

Little information is available about how the adult locust flight system manages to match the aerodynamic demands that result from an increase in body mass during postmoult maturation. In Schistocerca gregaria of both sexes, flight variables, including flight speed, ascent angle and body angle, were investigated under closed-loop conditions (i.e. during free flight) as a function of adult maturation. Motor patterns were examined by telemetric electromyography in juvenile and adult mature animals of both sexes. Functional relationships between particular flight variables were investigated by additional loading of the animals and by reductions in wing area. The results indicate that an increase in flight speed as the flight system matures enables it to match the aerodynamic demands resulting from increases in body mass. Furthermore, the data suggest that this postmoult increase in flight speed is not simply a consequence of the increase in wingbeat frequency observed during maturation. The instantaneous body angle during flight is controlled mainly by aerodynamic output from the wings. In addition, the mean body angle decreases during maturation in both sexes, and this may play an important part in the directional control of the resultant flight force vector.

Timing of elevator muscle activity during climbing in free locust flight

Despite detailed knowledge of the sensory-motor interactions during elevator muscle timing for the generation of a ‘functional’ flight motor pattern in flying locusts, there is little information about how a possible shift in the onset of elevator activity is correlated with changes in flight variables under closed-loop conditions (i.e. during free flight). Free-flight variables were investigated with respect to ascent angle during climbing flight in locusts Schistocerca gregaria. The motor pattern during free flight was examined by telemetric electromyography of particular antagonistic flight muscles in both ipsilateral hemisegments of the pterothorax while flight variables were recorded simultaneously on video. In the majority of the animals tested, the onset of elevator muscle activity within the wingbeat cycle is delayed when animals increase their ascent angle during climbing flight. In accordance with the motor pattern, the downstroke phase and the stroke amplitude of the wings increased with increasing the ascent angle. This suggests that the relative elevator timing during the wingbeat cycle may be related to the generation of the additional aerodynamic lift required for ascending flight and may, therefore, play a role in the regulation of ascent angle during free flight in the locust.