Extended dynamic clamp: controlling up to four neurons using a single desktop computer and interface

The dynamic clamp protocol allows an experimenter to simulate the presence of membrane conductances in, and synaptic connections between, biological neurons. Existing protocols and commercial ADC/DAC boards provide ready control in and between < or =2 neurons. Control at >2 sites is desirable when studying neural circuits with serial or ring connectivity. Here, we describe how to extend dynamic clamp control to four neurons and their associated synaptic interactions, using a single IBM-compatible PC, an ADC/DAC interface with two analog outputs, and an additional demultiplexing circuit. A specific C++ program, DYNCLAMP4, implements these procedures in a Windows environment, allowing one to change parameters while the dynamic clamp is running. Computational efficiency is increased by varying the duration of the input-output cycle. The program simulates < or =8 Hodgkin-Huxley-type conductances and < or =18 (chemical and/or electrical) synapses in < or =4 neurons and runs at a minimum update rate of 5 kHz on a 450 MHz CPU. (Increased speed is possible in a two-neuron version that does not need auxiliary circuitry). Using identified neurons of the crustacean stomatogastric ganglion, we illustrate on-line parameter modification and the construction of three-member synaptic rings.

Nonlinear behavior of sinusoidally forced pyloric pacemaker neurons

Periodic current forcing was used to investigate the intrinsic dynamics of a small group of electrically coupled neurons in the pyloric central pattern generator (CPG) of the lobster. This group contains three neurons, namely the two pyloric dilator (PD) motoneurons and the anterior burster (AB) interneuron. Intracellular current injection, using sinusoidal waveforms of varying amplitude and frequency, was applied in three configurations of the pacemaker neurons: 1) the complete pacemaker group, 2) the two PDs without the AB, and 3) the AB neuron isolated from the PDs. Depending on the frequency and amplitude of the injected current, the intact pacemaker group exhibited a wide variety of nonlinear behaviors, including synchronization to the forcing, quasiperiodicity, and complex dynamics. In contrast, a single, broad 1:1 entrainment zone characterized the response of the PD neurons when isolated from the main pacemaker neuron AB. The isolated AB responded to periodic forcing in a manner similar to the complete pacemaker group, but with wider zones of synchronization. We have built an analog electronic circuit as an implementation of a modified Hindmarsh-Rose model for simulating the membrane potential activity of pyloric neurons. We subjected this electronic model neuron to the same periodic forcing as used in the biological experiments. This four-dimensional electronic model neuron reproduced the autonomous oscillatory firing patterns of biological pyloric pacemaker neurons, and it expressed the same stationary nonlinear responses to periodic forcing as its biological counterparts. This adds to our confidence in the model. These results strongly support the idea that the intact pyloric pacemaker group acts as a uniform low-dimensional deterministic nonlinear oscillator, and the regular pyloric oscillation is the outcome of cooperative behavior of strongly coupled neurons, having different dynamical and biophysical properties when isolated.

Dynamics of two electrically coupled chaotic neurons: experimental observations and model analysis

Conductance-based models of neurons from the lobster stomatogastric ganglion (STG) have been developed to understand the observed chaotic behavior of individual STG neurons. These models identify an additional slow dynamical process calcium exchange and storage in the endoplasmic reticulum as a biologically plausible source for the observed chaos in the oscillations of these cells. In this paper we test these ideas further by exploring the dynamical behavior when two model neurons are coupled by electrical or gap junction connections. We compare in detail the model results to the laboratory measurements of electrically-coupled neurons that we reported earlier. The experiments on the biological neurons varied the strength of the effective coupling by applying a parallel, artificial synapse, which changed both the magnitude and polar-of the conductance between the neurons. We observed a sequence of bifarctions that took the neurons from strongly synchronized in-phase behavior. through uncorrelated chaotic oscillations to strongly synchronized and now regular out-of-phase behavior. The model calculations reproduce these observations quantitatively, indicating that slow subcellular processes could account for the mechanisms involved in the synchronization and regularization of the otherwise individual chaotic activities.

Modeling observed chaotic oscillations in bursting neurons: the role of calcium dynamics and IP3

Chaotic bursting has been recorded in synaptically isolated neurons of the pyloric central pattern generating (CPG) circuit in the lobster stomatogastric ganglion. Conductance-based models of pyloric neurons typically fail to reproduce the observed irregular behavior in either voltage time series or state-space trajectories. Recent suggestions of Chay [Biol Cybern 75: 419-431] indicate that chaotic bursting patterns can be generated by model neurons that couple membrane currents to the nonlinear dynamics of intracellular calcium storage and release. Accordingly, we have built a two-compartment model of a pyloric CPG neuron incorporating previously described membrane conductances together with intracellular Ca2+ dynamics involving the endoplasmic reticulum and the inositol 1,4,5-trisphosphate receptor IP3R. As judged by qualitative inspection and quantitative, nonlinear analysis, the irregular voltage oscillations of the model neuron resemble those seen in the biological neurons. Chaotic bursting arises from the interaction of fast membrane voltage dynamics with slower intracellular Ca2+ dynamics and, hence, depends on the concentration of IP3. Despite the presence of 12 independent dynamical variables, the model neuron bursts chaotically in a subspace characterized by 3-4 active degrees of freedom. The critical aspect of this model is that chaotic oscillations arise when membrane voltage processes are coupled to another slow dynamic. Here we suggest this slow dynamic to be intracellular Ca2+ handling.

Dynamic control of irregular bursting in an identified neuron of an oscillatory circuit

In the oscillatory circuits known as central pattern generators (CPGs), most synaptic connections are inhibitory. We have assessed the effects of inhibitory synaptic input on the dynamic behavior of a component neuron of the pyloric CPG in the lobster stomatogastric ganglion. Experimental perturbations were applied to the single, lateral pyloric neuron (LP), and the resulting voltage time series were analyzed using an entropy measure obtained from power spectra. When isolated from phasic inhibitory input, LP generates irregular spiking-bursting activity. Each burst begins in a relatively stereotyped manner but then evolves with exponentially increasing variability. Periodic, depolarizing current pulses are poor regulators of this activity, whereas hyperpolarizing pulses exert a strong, frequency-dependent regularizing action. Rhythmic inhibitory inputs from presynaptic pacemaker neurons also regularize the bursting. These inputs 1) reset LP to a similar state at each cycle, 2) extend and further stabilize the initial, quasi-stable phase of its bursts, and 3) at sufficiently high frequencies terminate ongoing bursts before they become unstable. The dynamic time frame for stabilization overlaps the normal frequency range of oscillations of the pyloric CPG. Thus, in this oscillatory circuit, the interaction of rhythmic inhibitory input with intrinsic burst properties affects not only the phasing, but also the dynamic stability of neural activity.

Evidence for a persistent Na+ conductance in neurons of the gastric mill rhythm generator of spiny lobsters

Evidence for a persistent Na+ conductance was obtained in identified motor neurons of the gastric mill network in the stomatogastric ganglion of the spiny lobster Panulirus interruptus. The cells studied were the lateral gastric and lateral posterior gastric motor neurons, which in vivo control chewing movements of the lateral teeth of the gastric mill. We examined basic cellular properties in the quiescent network of the isolated stomatogastric ganglion. In current-clamp recordings, we found two types of evidence for a persistent Na+ conductance. First, tetrodotoxin-sensitive inward rectification occurred during depolarization from rest to spike threshold. Second, 5 mmol l-1 tetraethylammonium (a K+ channel blocker) induced plateau potentials that persisted in the presence of Mn2+ or a low [Ca2+]0 but were blocked by a low [Na+]0 or 100 nmol l-1 tetrodotoxin. The plateau potentials could drive trains of fast spikes in the motor axon and strong transmitter release at central output synapses within the ganglion. This conductance probably corresponds to the persistent Na+ current, INaP, described in cultured stomatogastric neurons and in neurons from several other preparations. During normal neuronal activity, it may contribute to the prolonged plateau depolarizations and long spike trains typical of motor neuronal activity during gastric rhythm generation. Persistent inward currents of this type are likely to be important in neurons that must fire prolonged bursts in cycle after cycle of rhythmical activity.

Neuroanatomy of a crayfish thoracic ganglion: sensory and motor roots of the walking-leg nerves and possible homologies with insects

The internal organization of the third and fourth thoracic ganglia of the crayfish, Pacifastacus leniusculus, was studied in serial sections stained with osmium ethyl gallate. The aims were 1) to provide an anatomical framework for studies of sensorimotor integration in the walking system and 2) to explore possible homologies with abdominal ganglia in crayfish and with the thoracic ganglia of insects. Crayfish thoracic ganglia show several intersegmental homologies with the unfused ganglia of the abdominal nervous system: 1) Longitudinal tracts and dorsal commissures are arranged similarly, allowing use of the same nomenclature. 2) Paired lateral neuropils are located dorsolaterally and contain many large neurites including those of leg motor neurons and of nonspiking, proprioceptive afferents from the basal limb joints. They resemble the lateral neuropils of abdominal ganglia. 3) Neuropil lying more ventrally is fine textured and receives projections from other leg afferents. This ventral neuropil resembles the "horseshoe neuropil" of abdominal ganglia. The functional implications of this organization are discussed. Compared to the abdominal ganglia, however, thoracic ganglia also show specific intersegmental differences: 1) They have more ventral commissures; 2) the ventral neuropil undergoes a large bilateral extension; 3) distinct anteromedial regions of the ventral neuropil receive specific afferent projections; and 4) recognizable dorsoventral "T-tracts" occur. Moreover, these "thoracic" features show a striking resemblance to structures found in thoracic ganglia of orthopteran insects. These correspondences provide further indications that the neuropil of segmental ganglia may be organized in homologous ways in crustaceans and in insects.

Slow and fast synaptic inhibition evoked by pattern-generating neurons of the gastric mill network in spiny lobsters

1. In this paper we begin an assessment of the role of synaptic properties, especially synaptic time course, in the function of the central pattern generator circuit (CPG) that controls rhythmic movements of the gastric mill in the foregut of spiny lobster (Panulirus interruptus). 2. The majority of neurons in the gastric CPG are motor neurons (MNs) that innervate striated muscles of the gastric mill but that also make electrical and inhibitory chemical interconnections within the neuropil of the stomatogastric ganglion. We studied the ionic dependence, pharmacology, and time course of inhibitory postsynaptic potentials (IPSPs) evoked by two such MNs, the dorsal gastric (DG) and lateral gastric (LG), in their central synaptic partners. In the periphery, LG and DG are thought to release glutamate. 3. LG and DG evoke two types of IPSPs in follower neurons. The first, fast type of IPSP rises rapidly (the graded component within 100-300 ms, the spike-mediated components within a few tens of ms), is mediated by increased chloride and potassium conductances, and is blocked by < or = 10 microM picrotoxin (PTX). These fast IPSPs closely resemble the glutamatergic IPSPs described in the pyloric circuit of the same ganglion. 4. The second, slow type of IPSP has a long rise time (1-2 s), is mediated by increased conductance to potassium (with little or no involvement of chloride), and is not blocked by 10 microM PTX, 5 mM tetraethylammonium chloride, or 0.1 mM scopolamine. These properties distinguish slow IPSPs from the forms of glutamatergic and cholinergic inhibition that have been described in the pyloric circuit. 5. Fast inhibition occurs alone at connections from DG and LG to power stroke MNs (median gastric and gastric mill). Slow inhibition occurs in parallel with fast inhibition (producing dual-component responses) at connections from LG to return stroke neurons [lateral posterior gastric MNs, (LPGs) and interneuron 1]. DG seems to evoke only a slow IPSP in LPGs. 6. The transmitter mediating the fast IPSPs is likely to be glutamate. We discuss possible mechanisms for the slow IPSP but have no evidence at present concerning the transmitter(s) involved. Slow inhibition is likely to be an important synaptic "building block" in the gastric CPG; it is "tuned" to the duration of gastric bursts and may contribute to the long cycle period of gastric rhythms.

Multiple effects of an identified proprioceptor upon gastric pattern generation in spiny lobsters

1. Using deafferented preparations of the stomatogastric nervous system of spiny lobsters (Panulirus interruptus), we stimulated the central soma of the Anterior Gastric Receptor neuron (AGR) and analyzed sensorimotor integration in the gastric central pattern generator during rhythm production. 2. Driving AGR to spike tonically at lower frequencies (10-20/s) accelerated the gastric rhythm, while higher frequencies (> or = 30/s) suppressed it. 3. Shorter spike trains in AGR evoked phase-dependent resetting of the gastric rhythm. Repetitive trains could entrain rhythms to both longer and shorter cycle periods. Some pattern-generating effects are consistent with effects upon the lateral gastric neuron, an influential member of the gastric mill network. 4. AGR affected the burst intensity of many of the gastric neurons in specific, complex ways. Some power-stroke motor neurons were excited because AGR activated excitatory, premotor interneurons (E cells). However, AGR also activated parallel, seemingly inhibitory inputs, whose mechanism remains unclear. Still other effects on motor neurons may be mediated partly by synaptic interactions within the network.

Mechanisms of gastric rhythm generation in the isolated stomatogastric ganglion of spiny lobsters: bursting pacemaker potentials, synaptic interactions, and muscarinic modulation

1. The gastric central pattern generator (CPG), located in the stomatogastric ganglion (STG) of the spiny lobster (Panulirus interruptus), is nonrhythmic when deprived of neuromodulatory inputs from anterior ganglia. Leaving these inputs intact in vitro can sustain a gastric rhythm but also introduces numerous, uncontrolled and largely unknown modulatory and synaptic influences that greatly complicate analysis of this CPG. 2. Here we induced gastric rhythms in the isolated STG, by superfusing a specific modulator, the muscarinic agonist, pilocarpine. Muscarinic agents sustain vigorous gastric rhythms in the isolated STG. Our aim was to analyze the pattern-generating functions of the restricted gastric circuit, free of complicating influences from other ganglia, and under specific (muscarinic) modulation. 3. We used combinations of multiple cell hyperpolarizations, photodeletions, and synaptic blockade by picrotoxin to assess the pattern-generating role of individual gastric neurons and to study the activity of subcircuits. 4. Four identified gastric neurons [lateral gastric (LG), dorsal gastric (DG), 2 electrically coupled lateral posterior gastric (2LPGs)] acted as pattern-generating cells. They showed bursting pacemaker potentials (BPPs), i.e., plateau (or driver) potentials that underlay bursts of axonal spikes and slow, interburst depolarizing potentials that underlay repetitive burst activity. LG and DG, at least, became conditional bursters, able to burst repetitively because of intrinsic oscillations. The other gastric neurons behaved mainly as follower cells and derived their rhythmic bursting from synaptic coupling to the pattern-generator cells and from their own intrinsic (but nonoscillatory) properties. 5. The pattern-generating neurons form a novel "kernel" circuit that works by the cooperative interaction of cellular properties and synaptic connectivity. 6. This study constitutes the first complete and fully consistent analysis of pattern generation in the gastric network of the isolated STG. These mechanisms pertain to muscarinic rhythms in particular but also, we suggest, to gastric rhythm generation and CPG function in general. We suggest that 1) rhythmicity normally depends on the induction of bursty membrane properties in at least some component neurons; 2) different subcircuits can produce rhythmic patterns and may be activated by different modulators; and 3) the gastric network shares several important "building blocks" with CPGs that have been analyzed in other systems. 7. Muscarinic inputs are implicated as an important gastric regulator. We compare these responses with the reported modulatory actions of the anterior pyloric modulator (AMP), an identified, putatively cholinergic input interneuron that may act via muscarinic mechanisms.

Identified proprioceptive afferents and motor rhythm entrainment in the crayfish walking system

1. In crayfish, Pacifastacus leniusculus, remotion of a walking leg stretches the thoraco-coxal (TC) muscle receptor organ (TCMRO), located at the leg's articulation with the thorax. In vitro, alternate stretch and release of the fourth leg's TCMRO entrained the centrally generated rhythmic motor output to that leg, with the remotor phase of the rhythm entraining to TCMRO stretch, the promoter phase to release. This coordination of motor bursts to afferent input corresponds to that of active, rhythmic movements in vivo. 2. Entrainment was rapid in onset (stable coordination resulting within the first or second stimulus cycle) and was relatively phase-constant (whatever the stimulus frequency, during 1:1 entrainment, remotor bursts began near the onset of stretch and promotor bursts began near the onset of release). Outside the range of 1:1 entrainment, 2:1, 1:2, and 1:3 coordination ratios (rhythm:stimulus) were encountered. Resetting by phasic stimulation of the TCMRO was complete and probabilistic: effective stimuli triggered rapid transitions between the two burst phases. 3. The TCMRO is innervated by two afferents, the nonspiking S and T fibers, which generate graded depolarizing receptor potentials in response to stretch. During proprioceptive entrainment, the more phasic T fiber depolarized and hyperpolarized more rapidly or in advance of the more tonic S fiber. These receptor potentials were modified differently in the two afferents by interaction with central synaptic inputs that were phase-locked to the entrained motor rhythm. 4. Injecting slow sinusoidal current into either afferent alone could entrain motor rhythms: promoter phase bursts were entrained to depolarization of the S fiber or hyperpolarization of the T fiber, whereas the converse response was obtained for remotor phase bursts. 5. During proprioceptive entrainment, tonic hyperpolarization of the S fiber weakened entrained promotor bursts and allowed remotor burst durations to increase. Hyperpolarizing the T fiber weakened entrained remotor bursts and allowed promotor bursts to occur during stretch. These results suggest that the staggered receptor potentials of the two afferents alternately excite opposite burst phases of the rhythm during proprioceptive entrainment. 6. Injecting brief current pulses into either afferent perturbed the timing of entrained bursts in opposite ways, suggesting that, during proprioceptive entrainment, the membrane potential trajectories of the two afferents have reciprocal triggering effects on burst transitions. 7. We infer that entrainment results from 1) complete resetting of burst transitions in a two-phase central oscillator, 2) opposing feedback pathways mediated by a phasic and a tonic afferent, 3) temporally staggered afferent receptor potentials, and 4) the ability of afferent receptor potentials to trigger burst transitions.