Pyramidal-cell plasticity in weakly electric fish: a mechanism for attenuating responses to reafferent electrosensory inputs

Synergistic population coding of natural communication stimuli by hindbrain electrosensory neurons

Understanding how neural populations encode natural stimuli with complex spatiotemporal structure to give rise to perception remains a central problem in neuroscience. Here we investigated population coding of natural communication stimuli by hindbrain neurons within the electrosensory system of weakly electric fish Apteronotus leptorhynchus. Overall, we found that simultaneously recorded neural activities were correlated: signal but not noise correlations were variable depending on the stimulus waveform as well as the distance between neurons. Combining the neural activities using an equal-weight sum gave rise to discrimination performance between different stimulus waveforms that was limited by redundancy introduced by noise correlations. However, using an evolutionary algorithm to assign different weights to individual neurons before combining their activities (i.e., a weighted sum) gave rise to increased discrimination performance by revealing synergistic interactions between neural activities. Our results thus demonstrate that correlations between the neural activities of hindbrain electrosensory neurons can enhance information about the structure of natural communication stimuli that allow for reliable discrimination between different waveforms by downstream brain areas.

Multiple behavior-specific cancellation signals contribute to suppressing predictable sensory reafference in a cerebellum-like structure

Movement induces sensory stimulation of an animal's own sensory receptors, termed reafference. With a few exceptions, notably vestibular and proprioception, this reafference is unwanted sensory noise and must be selectively filtered in order to detect relevant external sensory signals. In the cerebellum-like electrosensory nucleus of elasmobranch fish, an adaptive filter preserves novel signals by generating cancellation signals that suppress predictable reafference. A parallel fiber network supplies the principal Purkinje-like neurons (called ascending efferent neurons, AENs) with behavior-associated internal reference signals, including motor corollary discharge and sensory feedback, from which predictive cancellation signals are formed. How distinct behavior-specific cancellation signals interact within AENs when multiple behaviors co-occur and produce complex, changing patterns of reafference is unknown. Here, we show that when multiple streams of internal reference signals are available, cancellation signals form that are specific to parallel fiber inputs temporally correlated with, and therefore predictive of, sensory reafference. A single AEN has the capacity to form more than one cancellation signal, and AENs form multiple cancellation signals simultaneously and modify them independently during co-occurring behaviors. Cancellation signals update incrementally during continuous behaviors, as well as episodic bouts of behavior that last minutes to hours. Finally, individual AENs, independently of their neighbors, form unique AEN-specific cancellation signals that depend on the particular sensory reafferent input it receives. Together, these results demonstrate the capacity of the adaptive filter to utilize multiple cancellation signals to suppress dynamic patterns of reafference arising from complex co-occurring and intermittently performed behaviors.

A cerebellum-like circuit in the lateral line system of fish cancels mechanosensory input associated with its own movements

An animal's own movement exerts a profound impact on sensory input to its nervous system. Peripheral sensory receptors do not distinguish externally generated stimuli from stimuli generated by an animal's own behavior (reafference) - although the animal often must. One way that nervous systems can solve this problem is to provide movement-related signals (copies of motor commands and sensory feedback) to sensory systems, which can then be used to generate predictions that oppose or cancel out sensory responses to reafference. Here, we studied the use of movement-related signals to generate sensory predictions in the lateral line medial octavolateralis nucleus (MON) of the little skate. In the MON, mechanoreceptive afferents synapse on output neurons that also receive movement-related signals from central sources, via a granule cell parallel fiber system. This parallel fiber system organization is characteristic of a set of so-called cerebellum-like structures. Cerebellum-like structures have been shown to support predictive cancellation of reafference in the electrosensory systems of fish and the auditory system of mice. Here, we provide evidence that the parallel fiber system in the MON can generate predictions that are negative images of (and therefore cancel) sensory input associated with respiratory and fin movements. The MON, found in most aquatic vertebrates, is probably one of the most primitive cerebellum-like structures and a starting point for cerebellar evolution. The results of this study contribute to a growing body of work that uses an evolutionary perspective on the vertebrate cerebellum to understand its functional diversity in animal behavior.

Novel Functions of Feedback in Electrosensory Processing

Environmental signals act as input and are processed across successive stages in the brain to generate a meaningful behavioral output. However, a ubiquitous observation is that descending feedback projections from more central to more peripheral brain areas vastly outnumber ascending feedforward projections. Such projections generally act to modify how sensory neurons respond to afferent signals. Recent studies in the electrosensory system of weakly electric fish have revealed novel functions for feedback pathways in that their transformation of the afferent input generates neural firing rate responses to sensory signals mediating perception and behavior. In this review, we focus on summarizing these novel and recently uncovered functions and put them into context by describing the more "classical" functions of feedback in the electrosensory system. We further highlight the parallels between the electrosensory system and other systems as well as outline interesting future directions.

Cellular and Network Mechanisms May Generate Sparse Coding of Sequential Object Encounters in Hippocampal-Like Circuits

The localization of distinct landmarks plays a crucial role in encoding new spatial memories. In mammals, this function is performed by hippocampal neurons that sparsely encode an animal’s location relative to surrounding objects. Similarly, the dorsolateral pallium (DL) is essential for spatial learning in teleost fish. The DL of weakly electric gymnotiform fish receives both electrosensory and visual input from the preglomerular nucleus (PG), which has been hypothesized to encode the temporal sequence of electrosensory or visual landmark/food encounters. Here, we show that DL neurons in the Apteronotid fish and in the Carassius auratus (goldfish) have a hyperpolarized resting membrane potential (RMP) combined with a high and dynamic spike threshold that increases following each spike. Current-evoked spikes in DL cells are followed by a strong small-conductance calcium-activated potassium channel (SK)-mediated after-hyperpolarizing potential (AHP). Together, these properties prevent high frequency and continuous spiking. The resulting sparseness of discharge and dynamic threshold suggest that DL neurons meet theoretical requirements for generating spatial memory engrams by decoding the landmark/food encounter sequences encoded by PG neurons. Thus, DL neurons in teleost fish may provide a promising, simple system to study the core cell and network mechanisms underlying spatial memory.

Feedback Synthesizes Neural Codes for Motion

In senses as diverse as vision, hearing, touch, and the electrosense, sensory neurons receive bottom-up input from the environment, as well as top-down input from feedback loops involving higher brain regions [1-4]. Through connectivity with local inhibitory interneurons, these feedback loops can exert both positive and negative control over fundamental aspects of neural coding, including bursting [5, 6] and synchronous population activity [7, 8]. Here we show that a prominent midbrain feedback loop synthesizes a neural code for motion reversal in the hindbrain electrosensory ON- and OFF-type pyramidal cells. This top-down mechanism generates an accurate bidirectional encoding of object position, despite the inability of the electrosensory afferents to generate a consistent bottom-up representation [9, 10]. The net positive activity of this midbrain feedback is additionally regulated through a hindbrain feedback loop, which reduces stimulus-induced bursting and also dampens the ON and OFF cell responses to interfering sensory input [11]. We demonstrate that synthesis of motion representations and cancellation of distracting signals are mediated simultaneously by feedback, satisfying an accepted definition of spatial attention [12]. The balance of excitatory and inhibitory feedback establishes a "focal" distance for optimized neural coding, whose connection to a classic motion-tracking behavior provides new insight into the computational roles of feedback and active dendrites in spatial localization [13, 14].

The bioinspiring potential of weakly electric fish

Electric fish are privileged animals for bio-inspiring man-built autonomous systems since they have a multimodal sense that allows underwater navigation, object classification and intraspecific communication. Although there are taxon dependent variations adapted to different environments, this multimodal system can be schematically described as having four main components: active electroreception, passive electroreception, lateral line sense and, proprioception. Amongst these sensory modalities, proprioception and electroreception show 'active' systems that extrct information carried by self generated forms of energy. This ensemble of four sensory modalities is present in African mormyriformes and American gymnotiformes. The convergent evolution of similar imaging, peripheral encoding, and central processing mechanisms suggests that these mechanisms may be the most suitable for dealing with electric images in the context of the other and self generated actions. This review deals with the way in which biological organisms address three of the problems that are faced when designing a bioinspired electroreceptive agent: (a) body shape, material and mobility, (b) peripheral encoding of electric images, and (c) early processing of electrosensory signals. Taking into account biological solutions I propose that the new generation of underwater agents should have electroreceptive arms, use complex peripheral sensors for encoding the images and cerebellum like architecture for image feature extraction and implementing sensory-motor transformations.

A comparative approach to cerebellar function: insights from electrosensory systems

Despite its simple and highly-ordered circuitry the function of the cerebellum remains a topic of vigorous debate. This review explores connections between the cerebellum and sensory processing structures that closely resemble the cerebellum in terms of their evolution, development, patterns of gene expression, and circuitry. Recent studies of cerebellum-like structures involved in electrosensory processing in fish have provided insights into the functions of granule cells and unipolar brush cells-cell types shared with the cerebellum. We also discuss the possibility, supported by recent studies, that generating and subtracting predictions of the sensory consequences of motor commands may be core functions shared by both cerebellum-like structures and the cerebellum.

Neural Mechanisms for Predicting the Sensory Consequences of Behavior: Insights from Electrosensory Systems

Perception of the environment requires differentiating between external sensory inputs and those that are self-generated. Some of the clearest insights into the neural mechanisms underlying this process have come from studies of the electrosensory systems of fish. Neurons at the first stage of electrosensory processing generate negative images of the electrosensory consequences of the animal's own behavior. By canceling out the effects of predictable, self-generated inputs, negative images allow for the selective encoding of unpredictable, externally generated stimuli. Combined experimental and theoretical studies of electrosensory systems have led to detailed accounts of how negative images are formed at the level of synaptic plasticity rules, cells, and circuits. Here, I review these accounts and discuss their implications for understanding how predictions of the sensory consequences of behavior may be generated in other sensory structures and the cerebellum.

Short-term synaptic plasticity across topographic maps in the electrosensory system

The early pathways underlying the active electric sense of the weakly electric fish Apteronotus leptorhynchus involve three parallel processing streams. An array of tuberous electroreceptors distributed over the skin provides inputs to the electrosensory lateral line lobe (ELL), forming the basis for three topographic maps: LS (lateral segment), CLS (centrolateral segment), and CMS (centromedial segment). In addition, each map receives topographically preserved inputs from a direct feedback pathway. How this feedback contributes to the distinct spatiotemporal filtering properties of ELL pyramidal neurons across maps is not clear. We used an in vitro approach to characterize short-term plasticity (STP) in the direct feedback synapses onto pyramidal neurons in each map. Our findings indicated that the dynamics of STP varied across maps in a manner that was consistent with the temporal filtering properties of pyramidal neurons in vivo. Using a modeling approach, we found that the STP of direct feedback synapses in CMS was best described by a simple facilitation-depression model. On the other hand, STP in LS was best described by synaptic facilitation with a use-dependent recovery rate. These results suggest that differential regulation of overlapping STP processes in feedback pathways can contribute to the functional specialization of topographic sensory maps.

Weak signal amplification and detection by higher-order sensory neurons

Sensory systems must extract behaviorally relevant information and therefore often exhibit a very high sensitivity. How the nervous system reaches such high sensitivity levels is an outstanding question in neuroscience. Weakly electric fish (Apteronotus leptorhynchus/albifrons) are an excellent model system to address this question because detailed background knowledge is available regarding their behavioral performance and its underlying neuronal substrate. Apteronotus use their electrosense to detect prey objects. Therefore, they must be able to detect electrical signals as low as 1 μV while using a sensory integration time of <200 ms. How these very weak signals are extracted and amplified by the nervous system is not yet understood. We studied the responses of cells in the early sensory processing areas, namely, the electroreceptor afferents (EAs) and pyramidal cells (PCs) of the electrosensory lobe (ELL), the first-order electrosensory processing area. In agreement with previous work we found that EAs cannot encode very weak signals with a spike count code. However, PCs can encode prey mimic signals by their firing rate, revealing a huge signal amplification between EAs and PCs and also suggesting differences in their stimulus encoding properties. Using a simple leaky integrate-and-fire (LIF) model we predict that the target neurons of PCs in the midbrain torus semicircularis (TS) are able to detect very weak signals. In particular, TS neurons could do so by assuming biologically plausible convergence rates as well as very simple decoding strategies such as temporal integration, threshold crossing, and combining the inputs of PCs.

A role for mixed corollary discharge and proprioceptive signals in predicting the sensory consequences of movements

Animals must distinguish behaviorally relevant patterns of sensory stimulation from those that are attributable to their own movements. In principle, this distinction could be made based on internal signals related to motor commands, known as corollary discharge (CD), sensory feedback, or some combination of both. Here we use an advantageous model system--the electrosensory lobe (ELL) of weakly electric mormyrid fish--to directly examine how CD and proprioceptive feedback signals are transformed into negative images of the predictable electrosensory consequences of the fish's motor commands and/or movements. In vivo recordings from ELL neurons and theoretical modeling suggest that negative images are formed via anti-Hebbian plasticity acting on random, nonlinear mixtures of CD and proprioception. In support of this, we find that CD and proprioception are randomly mixed in spinal mossy fibers and that properties of granule cells are consistent with a nonlinear recoding of these signals. The mechanistic account provided here may be relevant to understanding how internal models of movement consequences are implemented in other systems in which similar components (e.g., mixed sensory and motor signals and synaptic plasticity) are found.

The slow pathway in the electrosensory lobe of Gymnotus omarorum: field potentials and unitary activity

This is a first communication on the self-activation pattern of the electrosensory lobe in the pulse weakly electric fish Gymnotus omarorum. Field potentials in response to the fish's own electric organ discharge (EOD) were recorded along vertical tracks (50μm step) and on a transversal lattice array across the electrosensory lobe (resolution 50μm×100μm). The unitary activity of 82 neurons was recorded in the same experiments. Field potential analysis indicates that the slow electrosensory path shows a characteristic post-EOD pattern of activity marked by three main events: (i) a small and early component at about 7ms, (ii) an intermediate peak about 13ms and (iii) a late broad component peaking after 20ms. Unit firing rate showed a wide range of latencies between 3 and 30ms and a variable number of spikes (median 0.28units/EOD). Conditional probability analysis showed monomodal and multimodal post-EOD histograms, with the peaks of unit activity histograms often matching the timing of the main components of the field potentials. Monomodal responses were sub-classified as phase locked monomodal (variance smaller than 1ms), early monomodal (intermediate variance, often firing in doublets, peaking range 10-17ms) and late monomodal (large variance, often firing two spikes separated about 10ms, peaking beyond 17ms). The responses of multimodal units showed that their firing probability was either enhanced, or depressed just after the EOD. In this last (depressed) subtype of unit the probability stepped down just after the EOD. Early inhibition and the presence of early phase locked units suggest that the observed pattern may be influenced by a fast feed forward inhibition. We conclude that the ELL in pulse gymnotiformes is activated in a complex sequence of events that reflects the ELL network connectivity.

Plastic corollary discharge predicts sensory consequences of movements in a cerebellum-like circuit

The capacity to predict the sensory consequences of movements is critical for sensory, motor, and cognitive function. Though it is hypothesized that internal signals related to motor commands, known as corollary discharge, serve to generate such predictions, this process remains poorly understood at the neural circuit level. Here we demonstrate that neurons in the electrosensory lobe (ELL) of weakly electric mormyrid fish generate negative images of the sensory consequences of the fish's own movements based on ascending spinal corollary discharge signals. These results generalize previous findings describing mechanisms for generating negative images of the effects of the fish's specialized electric organ discharge (EOD) and suggest that a cerebellum-like circuit endowed with associative synaptic plasticity acting on corollary discharge can solve the complex and ubiquitous problem of predicting sensory consequences of movements.

From the intrinsic properties to the functional role of a neuron phenotype: an example from electric fish during signal trade-off

This review deals with the question: what is the relationship between the properties of a neuron and the role that the neuron plays within a given neural circuit? Answering this kind of question requires collecting evidence from multiple neuron phenotypes and comparing the role of each type in circuits that perform well-defined computational tasks. The focus here is on the spherical neurons in the electrosensory lobe of the electric fish Gymnotus omarorum. They belong to the one-spike-onset phenotype expressed at the early stages of signal processing in various sensory modalities and diverse taxa. First, we refer to the one-spike neuron intrinsic properties, their foundation on a low-threshold K(+) conductance, and the potential roles of this phenotype in different circuits within a comparative framework. Second, we present a brief description of the active electric sense of weakly electric fish and the particularities of spherical one-spike-onset neurons in the electrosensory lobe of G. omarorum. Third, we introduce one of the specific tasks in which these neurons are involved: the trade-off between self- and allo-generated signals. Fourth, we discuss recent evidence indicating a still-undescribed role for the one-spike phenotype. This role deals with the blockage of the pathway after being activated by the self-generated electric organ discharge and how this blockage favors self-generated electrosensory information in the context of allo-generated interference. Based on comparative analysis we conclude that one-spike-onset neurons may play several functional roles in animal sensory behavior. There are specific adaptations of the neuron's 'response function' to the circuit and task. Conversely, the way in which a task is accomplished depends on the intrinsic properties of the neurons involved. In short, the role of a neuron within a circuit depends on the neuron and its functional context.

Dendritic SK channels convert NMDA-R-dependent LTD to burst timing-dependent plasticity

Feedback and descending projections from higher to lower brain centers play a prominent role in all vertebrate sensory systems. Feedback might be optimized for the specific sensory processing tasks in their target brain centers, but it has been difficult to connect the properties of feedback synapses to sensory tasks. Here, we use the electrosensory system of a gymnotiform fish ( Apteronotus leptorhynchus) to address this problem. Cerebellar feedback to pyramidal cells in the first central electrosensory processing region, the electrosensory lateral line lobe (ELL), is critical for canceling spatially and temporally redundant electrosensory input. The ELL contains four electrosensory maps, and we have previously analyzed the synaptic and network bases of the redundancy reduction mechanism in a map (centrolateral segment; CLS) believed to guide electrolocation behavior. In the CLS, only long-term depression was induced by pairing feedback presynaptic and pyramidal cell postsynaptic bursts. In this paper, we turn to an ELL map (lateral segment; LS) known to encode electrocommunication signals. We find remarkable differences in synaptic plasticity of the morphologically identical cerebellar feedback input to the LS. In the LS, pyramidal cell SK channels permit long-term potentiation (LTP) of feedback synapses when pre- and postsynaptic bursts occur at the same time. We hypothesize that LTP in this map is required for enhancing the encoding of weak electrocommunication signals. We conclude that feedback inputs that appear morphologically identical in sensory maps dedicated to different tasks, nevertheless display different synaptic plasticity rules contributing to differential sensory processing in these maps.

Statistics of the electrosensory input in the freely swimming weakly electric fish Apteronotus leptorhynchus

The neural computations underlying sensory-guided behaviors can best be understood in view of the sensory stimuli to be processed under natural conditions. This input is often actively shaped by the movements of the animal and its sensory receptors. Little is known about natural sensory scene statistics taking into account the concomitant movement of sensory receptors in freely moving animals. South American weakly electric fish use a self-generated quasi-sinusoidal electric field for electrolocation and electrocommunication. Thousands of cutaneous electroreceptors detect changes in the transdermal potential (TDP) as the fish interact with conspecifics and the environment. Despite substantial knowledge about the circuitry and physiology of the electrosensory system, the statistical properties of the electrosensory input evoked by natural swimming movements have never been measured directly. Using underwater wireless telemetry, we recorded the TDP of Apteronotus leptorhynchus as they swam freely by themselves and during interaction with a conspecific. Swimming movements caused low-frequency TDP amplitude modulations (AMs). Interacting with a conspecific caused additional AMs around the difference frequency of their electric fields, with the amplitude of the AMs (envelope) varying at low frequencies due to mutual movements. Both AMs and envelopes showed a power-law relationship with frequency, indicating spectral scale invariance. Combining a computational model of the electric field with video tracking of movements, we show that specific swimming patterns cause characteristic spatiotemporal sensory input correlations that contain information that may be used by the brain to guide behavior.

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.

On the haptic nature of the active electric sense of fish

Electroreception is a sensory modality present in chondrichthyes, actinopterygii, amphibians, and mammalian monotremes. The study of this non-intuitive sensory modality has provided insights for better understanding of sensory systems in general and inspired the development of innovative artificial devices. Here we review evidence obtained from the analysis of electrosensory images, neurophysiological data from the recording of unitary activity in the electrosensory lobe, and psychophysical data from analysis of novelty responses provoked in well-defined stimulus conditions, which all confirm that active electroreception has a short range, and that the influence of exploratory movements on object identification is strong. In active electric images two components can be identified: a "global" image profile depending on the volume, shape and global impedance of an object and a "texture" component depending on its surface attributes. There is a short range of the active electric sense and the progressive "blurring" of object image with distance. Consequently, the lack of precision regarding object location, considered together, challenge the current view of this sense as serving long range electrolocation and the commonly used metaphor of "electric vision". In fact, the active electric sense shares more commonalities with human active touch than with teleceptive senses as vision or audition. Taking into account that other skin exteroceptors and proprioception may be congruently stimulated during fish exploratory movements we propose that electric, mechanoceptive and proprioceptive sensory modalities found in electric fish could be considered together as a single haptic sensory system. This article is part of a Special Issue entitled Neural Coding 2012.

The cerebellum and cerebellum-like structures of cartilaginous fishes

The cerebellum is well developed in cartilaginous fishes, with the same cell types (barring basket cells) and organizational features found in other vertebrate groups, including mammals. In particular, the lattice-like organization of cerebellar cortex (with a molecular layer of parallel fibers, interneurons, spiny Purkinje cell dendrites, and climbing fibers) is a defining characteristic. In addition to the cerebellum, cartilaginous fishes have cerebellum-like structures in the dorsolateral wall of the hindbrain. These structures are adjacent to and, in part, contiguous with the cerebellum. They are cerebellum-like in that they have a molecular layer of parallel fibers and inhibitory interneurons that has striking organizational similarities to the molecular layer of the cerebellar cortex. However, these structures also have characteristics that differ from the cerebellum. For example, cerebellum-like structures do not have climbing fibers and are clearly sensory. They receive direct afferent input from peripheral sensory receptors and relay their outputs to midbrain sensory areas. As a consequence of this close sensory association and the ability of researchers to characterize signal processing in these structures in a behaviorally relevant context, good progress has been made in determining the fundamental processing algorithm of the cerebellum-like structures. This algorithm enables the molecular layer to act as an adaptive filter that cancels self-generated noise in electrosensory and lateral line systems. Given the fundamental similarities of the molecular layer across these structures and the phylogeny of these structures across basal vertebrates, it is clear that these structures share a common genetic-developmental program. Syngeny is a term that has been used to describe similarity of structure due to a shared genetic-developmental program, whether the structures are phylogenetically homologous or not. Given that the cerebellum and cerebellum-like structures are physically adjacent, we propose that cerebellum-like structures were the evolutionary antecedent of the cerebellum and that the cerebellum arose through a change in the genetic-developmental program, amounting to a duplication of existing structure. Such duplication to form adjacent structures can be considered a special case of syngeny. On this view, the cerebellum is an evolutionary innovation in gnathostomes that is literally superimposed on pre-existing underlying brain structures and pathways. From this perspective, the cerebellum can be considered an example of 'subsumption architecture', a term that describes the addition of modules that add computational power while maintaining existing fundamental functionality. This addition is reflected in the finding that in elasmobranchs with relatively large brains, the size of the telencephalon and cerebellum enlarge disproportionately, while those parts of the brain that contain more direct sensory and motor connections do not. Added 'computational' power in the chondrichthyan brain and the comparative function and evolution of the cerebellum and cerebellum-like structures across the cartilaginous fishes supports the idea of the cerebellum as an example of subsumption architecture.

Coding conspecific identity and motion in the electric sense

Interactions among animals can result in complex sensory signals containing a variety of socially relevant information, including the number, identity, and relative motion of conspecifics. How the spatiotemporal properties of such evolving naturalistic signals are encoded is a key question in sensory neuroscience. Here, we present results from experiments and modeling that address this issue in the context of the electric sense, which combines the spatial aspects of vision and touch, with the temporal aspects of audition. Wave-type electric fish, such as the brown ghost knifefish, Apteronotus leptorhynchus, used in this study, are uniquely identified by the frequency of their electric organ discharge (EOD). Multiple beat frequencies arise from the superposition of the EODs of each fish. We record the natural electrical signals near the skin of a “receiving” fish that are produced by stationary and freely swimming conspecifics. Using spectral analysis, we find that the primary beats, and the secondary beats between them (“beats of beats”), can be greatly influenced by fish swimming; the resulting motion produces low-frequency envelopes that broaden all the beat peaks and reshape the “noise floor”. We assess the consequences of this motion on sensory coding using a model electroreceptor. We show that the primary and secondary beats are encoded in the afferent spike train, but that motion acts to degrade this encoding. We also simulate the response of a realistic population of receptors, and find that it can encode the motion envelope well, primarily due to the receptors with lower firing rates. We discuss the implications of our results for the identification of conspecifics through specific beat frequencies and its possible hindrance by active swimming.

Effectively processing information from a sensory scene is essential for animal survival. Motion in a sensory scene complicates this task by dynamically modifying signal properties. To address this general issue, we focus on weakly electric fish. Each fish produces a weak electrical carrier signal with a characteristic frequency. Electroreceptors on its skin encode the modulations of this carrier caused by nearby objects and other animals, enabling this fish to thrive in its nocturnal environment. Little is known about how swimming movements influence natural electrosensory scenes, specifically in the context of detection and identification of, and communication with conspecifics. Using recordings involving free-swimming fish, we characterize the amplitude modulations of the carrier signal arising from small groups of fish. The differences between individual frequencies (beats) are prominent features of these signals, with the number of beats reflecting the number of neighbours. We also find that the distance and motion of a free-swimming fish are represented in a slow modulation of the beat at the receiving fish. Modeling shows that these stimulus features can be effectively encoded in the activity of the electroreceptors, but that encoding quality of some features can be degraded by motion, suggesting that active swimming could hinder conspecific identification.

Comparable ages for the independent origins of electrogenesis in African and South American weakly electric fishes

One of the most remarkable examples of convergent evolution among vertebrates is illustrated by the independent origins of an active electric sense in South American and African weakly electric fishes, the Gymnotiformes and Mormyroidea, respectively. These groups independently evolved similar complex systems for object localization and communication via the generation and reception of weak electric fields. While good estimates of divergence times are critical to understanding the temporal context for the evolution and diversification of these two groups, their respective ages have been difficult to estimate due to the absence of an informative fossil record, use of strict molecular clock models in previous studies, and/or incomplete taxonomic sampling. Here, we examine the timing of the origins of the Gymnotiformes and the Mormyroidea using complete mitogenome sequences and a parametric bayesian method for divergence time reconstruction. Under two different fossil-based calibration methods, we estimated similar ages for the independent origins of the Mormyroidea and Gymnotiformes. Our absolute estimates for the origins of these groups either slightly postdate, or just predate, the final separation of Africa and South America by continental drift. The most recent common ancestor of the Mormyroidea and Gymnotiformes was found to be a non-electrogenic basal teleost living more than 85 millions years earlier. For both electric fish lineages, we also estimated similar intervals (16-19 or 22-26 million years, depending on calibration method) between the appearance of electroreception and the origin of myogenic electric organs, providing rough upper estimates for the time periods during which these complex electric organs evolved de novo from skeletal muscle precursors. The fact that the Gymnotiformes and Mormyroidea are of similar age enhances the comparative value of the weakly electric fish system for investigating pathways to evolutionary novelty, as well as the influences of key innovations in communication on the process of species radiation.

Identifying self- and nonself-generated signals: lessons from electrosensory systems

This chapter provides a short review of the mechanisms used by electroreceptive fish to discriminate self- from nonself-generated signals. Electroreception is used by animals to detect objects of electric impedance different from the water, to detect natural electrogenic sources and to communicate signals between conspecifics. Electroreceptive animals may generate electric fields either with the purpose of electrically illuminating the neighborhood or as an epiphenomenon of other functions. In addition, the presence of the fish body as a conductive object in a scene funnels the current flow and, consequently, animal movements also generate signals by changing the body shape or the spatial relationship of the body with the surrounding objects. Therefore, mechanisms for discrimination between self and externally generated signals are very important for constructing a coherent representation of the environment. Some mechanisms facilitate and stream the flow of signals carried by the self-generated electric field. Others are designed to reject unwanted interference coming from self-generated movements or even the self-generated electric field. Finally, more complex operations involving sensory motor integration are used for discriminating between self- and conspecific- generated communication signals. Despite the evolutionary distance between animals endowed with electric sense, mechanisms for self-identification reappear with few differences between species. This suggests that many of the possible strategies are present in vertebrates may be found in these fish. Therefore, we have much to learn about self recognition from the study of electroreception.

Neuroecology of cartilaginous fishes: the functional implications of brain scaling

It is a widely accepted view that neural development can reflect morphological adaptations and sensory specializations. The aim of this review is to give a broad overview of the current status of brain data available for cartilaginous fishes and examine how perspectives on allometric scaling of brain size across this group of fishes has changed within the last 50 years with the addition of new data and more rigorous statistical analyses. The current knowledge of neuroanatomy in cartilaginous fishes is reviewed and data on brain size (encephalization, n = 151) and interspecific variation in brain organization (n = 84) has been explored to ascertain scaling relationships across this clade. It is determined whether similar patterns of brain organization, termed cerebrotypes, exist in species that share certain lifestyle characteristics. Clear patterns of brain organization exist across cartilaginous fishes, irrespective of phylogenetic grouping and, although this study was not a functional analysis, it provides further evidence that chondrichthyan brain structures might have developed in conjunction with specific behaviours or enhanced cognitive capabilities. Larger brains, with well-developed telencephala and large, highly foliated cerebella are reported in species that occupy complex reef or oceanic habitats, potentially identifying a reef-associated cerebrotype. In contrast, benthic and benthopelagic demersal species comprise the group with the smallest brains, with a relatively reduced telencephalon and a smooth cerebellar corpus. There is also evidence herein of a bathyal cerebrotype; deep-sea benthopelagic sharks possess relatively small brains and show a clear relative hypertrophy of the medulla oblongata. Despite the patterns observed and documented, significant gaps in the literature have been highlighted. Brain mass data are only currently available on c. 16% of all chondrichthyan species, and only 8% of species have data available on their brain organization, with far less on subsections of major brain areas that receive distinct sensory input. The interspecific variability in brain organization further stresses the importance of performing functional studies on a greater range of species. Only an expansive data set, comprised of species that span a variety of habitats and taxonomic groups, with widely disparate behavioural repertoires, combined with further functional analyses, will help shed light on the extent to which chondrichthyan brains have evolved as a consequence of behaviour, habitat and lifestyle in addition to phylogeny.

Electrolocation based on tail-bending movements in weakly electric fish

Weakly electric fish generate an electric field with their electric organ to navigate in space, detect objects and communicate with conspecifics. Several studies have examined how electric fish identify objects with their electroreceptors and use electric images for electrolocation. It has been argued that sensor readings from electroreceptors along the rostrocaudal line allow fish to determine the location of a target object. It is well known that the ratio between the maximal slope and the maximal amplitude of the electric image can allow the discrimination of object distances, regardless of object size and conductivity. In order to understand the temporal pattern of electric images, we used a model of electric field perturbation. Using the model, we suggest that the temporal pattern generated at an electrosensor during tail bending is another cue that can be used by the fish to discriminate object distances. The time course of electric sensor signals from a specific electroreceptor when tail-bending movements are applied can provide information about the lateral distance of a target object.

Are mushroom bodies cerebellum-like structures?

The mushroom bodies are distinctive neuropils in the protocerebral brain segments of many protostomes. A defining feature of mushroom bodies is their intrinsic neurons, masses of cytoplasm-poor globuli cells that form a system of lobes with their densely-packed, parallel-projecting axon-like processes. In insects, the role of the mushroom bodies in olfactory processing and associative learning and memory has been studied in depth, but several lines of evidence suggest that the function of these higher brain centers cannot be restricted to these roles. The present account considers whether insight into an underlying function of mushroom bodies may be provided by cerebellum-like structures in vertebrates, which are similarly defined by the presence of masses of tiny granule cells that emit thin parallel fibers forming a dense molecular layer. In vertebrates, the shared neuroarchitecture of cerebellum-like structures has been suggested to underlie a common functional role as adaptive filters for the removal of predictable sensory elements, such as those arising from reafference, from the total sensory input. Cerebellum-like structures include the vertebrate cerebellum, the electrosensory lateral line lobe, dorsal and medial octavolateral nuclei of fish, and the dorsal cochlear nucleus of mammals. The many architectural and physiological features that the insect mushroom bodies share with cerebellum-like structures suggest that it might be fruitful to consider mushroom body function in light of a possible role as adaptive sensory filters. The present account thus presents a detailed comparison of the insect mushroom bodies with vertebrate cerebellum-like structures.

Anti-hebbian spike-timing-dependent plasticity and adaptive sensory processing

Adaptive sensory processing influences the central nervous system's interpretation of incoming sensory information. One of the functions of this adaptive sensory processing is to allow the nervous system to ignore predictable sensory information so that it may focus on important novel information needed to improve performance of specific tasks. The mechanism of spike-timing-dependent plasticity (STDP) has proven to be intriguing in this context because of its dual role in long-term memory and ongoing adaptation to maintain optimal tuning of neural responses. Some of the clearest links between STDP and adaptive sensory processing have come from in vitro, in vivo, and modeling studies of the electrosensory systems of weakly electric fish. Plasticity in these systems is anti-Hebbian, so that presynaptic inputs that repeatedly precede, and possibly could contribute to, a postsynaptic neuron's firing are weakened. The learning dynamics of anti-Hebbian STDP learning rules are stable if the timing relations obey strict constraints. The stability of these learning rules leads to clear predictions of how functional consequences can arise from the detailed structure of the plasticity. Here we review the connection between theoretical predictions and functional consequences of anti-Hebbian STDP, focusing on adaptive processing in the electrosensory system of weakly electric fish. After introducing electrosensory adaptive processing and the dynamics of anti-Hebbian STDP learning rules, we address issues of predictive sensory cancelation and novelty detection, descending control of plasticity, synaptic scaling, and optimal sensory tuning. We conclude with examples in other systems where these principles may apply.

Imaging in electrosensory systems

This review addresses the biophysical mechanisms of image formation in electrosensory systems. These electrical images are used for navigation and object detection by many species of fish, some amphibians, and some mammals. In the active electrosensory systems of fish these images are formed by the fish's own electric organ discharge. In the passive electrosensory systems of fish, amphibians and mammals the images are formed by external electrical sources. In this review we describe the biophysics of image formation, the effects of the organism's passive electrical properties, the role of exploration, and the influence of context on electroreception. We suggest that the basic principles established in these specialized systems be useful for understanding other more common sensory systems.

The importance of N-methyl-d-aspartate (NMDA) receptors in subtraction of electrosensory reafference in the dorsal nucleus of skates

The dorsal nucleus of the little skate is a cerebellum-like sensory structure that adaptively filters out predictable electrosensory inputs. The filter's plasticity is mediated by anti-Hebbian associative depression at the synapses between parallel fibers and ascending efferent neurons (AENs). Changes in synaptic strength are indicated by the formation of a cancellation signal which is initiated by co-activation of parallel fibers and AENs, and can be reversed by parallel fiber activity in the absence of AEN activation. In other cerebellum-like sensory structures, the formation of the cancellation signal requires activation of postsynaptic NMDA receptors on the principal neurons. We demonstrate here by immunohistochemistry that the somas and the initial portion of both apical and basal dendrites of the AENs are labeled with antibodies raised against the NR1 subunit of NMDA receptors from a South American electric fish. In in vivo physiological experiments, we show that the formation of the cancellation signal induced by coupling an electrosensory stimulus to ventilatory movements or direct parallel fiber stimulation is blocked when either of the NMDA receptor antagonists 2-amino-5-phosphonovaleric acid (APV) or MK801 is injected into the molecular layer above the recorded AEN. Blocking NMDA receptors prevented formation of a cancellation signal in 79% (15/19; APV) and 60% (3/5; MK801) of the AENs. This blockage was reversible in 40% (6/15) of the AENs after APV removal. Thus, in the dorsal nucleus, the activity-dependent, long-lasting but reversible change in synaptic strength of the parallel fiber–AEN synapses appears to be an NMDA receptor-dependent process.

Multimodal integration in granule cells as a basis for associative plasticity and sensory prediction in a cerebellum-like circuit

The recoding of diverse sensory and motor signals by granule cells (GCs) is probably critical for the function of cerebellar circuits, yet the nature of these transformations and their significance for cerebellar information processing remain poorly understood. In cerebellum-like structures in fish, anti-Hebbian plasticity at parallel fiber synapses generates "negative images" that act to cancel predictable patterns of electrosensory input. Here I test the hypothesis that GCs enhance the capacity of Purkinje-like cells to generate specific negative images by selectively encoding combinations of sensory and motor signals. Using in vivo whole-cell recordings, I show (1) that a subset of GCs integrate sensory and motor signals conveyed by distinct mossy fiber classes and (2) that Purkinje-like cells exhibit plastic changes specific to the combinations of signals that individual GCs encode. Consistent with influential theories of cerebellar function, these findings suggest that selective GC output enhances the capacity of Purkinje-like cells to acquire selectivity through associative plasticity.

Burst-induced anti-Hebbian depression acts through short-term synaptic dynamics to cancel redundant sensory signals

Weakly electric fish can enhance the detection and localization of important signals such as those of prey in part by cancellation of redundant spatially diffuse electric signals due to, e.g., their tail bending. The cancellation mechanism is based on descending input, conveyed by parallel fibers emanating from cerebellar granule cells, that produces a negative image of the global low-frequency signals in pyramidal cells within the first-order electrosensory region, the electrosensory lateral line lobe (ELL). Here we demonstrate that the parallel fiber synaptic input to ELL pyramidal cell undergoes long-term depression (LTD) whenever both parallel fiber afferents and their target cells are stimulated to produce paired burst discharges. Paired large bursts (4-4) induce robust LTD over pre-post delays of up to +/-50 ms, whereas smaller bursts (2-2) induce weaker LTD. Single spikes (either presynaptic or postsynaptic) paired with bursts did not induce LTD. Tetanic presynaptic stimulation was also ineffective in inducing LTD. Thus, we have demonstrated a form of anti-Hebbian LTD that depends on the temporal correlation of burst discharge. We then demonstrated that the burst-induced LTD is postsynaptic and requires the NR2B subunit of the NMDA receptor, elevation of postsynaptic Ca(2+), and activation of CaMKIIbeta. A model incorporating local inhibitory circuitry and previously identified short-term presynaptic potentiation of the parallel fiber synapses further suggests that the combination of burst-induced LTD, presynaptic potentiation, and local inhibition may be sufficient to explain the generation of the negative image and cancellation of redundant sensory input by ELL pyramidal cells.

Plasticity in a cerebellar-like structure: suppressing reafference during episodic behaviors

Detection of relevant sensory signals requires the filtering out of irrelevant noise, including noise created by the animal's own movements(reafference). This is accomplished in the electrosense of little skates(Raja erinacea) by an adaptive filter in the cerebellar-like electrosensory nucleus (dorsal nucleus) in the medulla. We have shown that electrosensory inputs reliably coupled to the regularly recurring movements of breathing over time are eliminated selectively in the principal neurons(ascending efferent neurons, AENs) by a cancellation signal that is a negative of the reafference and is supplied by a parallel fiber system. Similarly,electrosensory inputs repeatedly linked to passive fin movements are eliminated suggesting that the filter also functions in relation to other behaviors besides breathing. To determine whether this adaptive filter can eliminate reafference created by brief and infrequent episodic behaviors like swimming in skates, we initiated a series of coupling tests in which an external electrosensory stimulus was coupled to short bouts of either parallel fiber stimulation or passive fin movements, and then measured the ability of AENs to generate a cancellation signal. Following five brief coupling periods(30–60 s) separated by long rest periods (1–9 min), 38.5% of the AENs developed a cancellation signal when the coupling was to parallel fiber stimulation, and 73% when the coupling was to passive fin movement. We demonstrate that the cancellation signals can be developed incrementally,persist for at least a 3 h rest period without reinforcement, and are extinguished within minutes when the association of sensory stimulus and fin movement or parallel fiber stimulation no longer exists. The results indicate that the adaptive filter has the properties necessary to cancel reafference associated with even brief and infrequent behaviors.

Adaptive processing in electrosensory systems: links to cerebellar plasticity and learning

The first central stage of electrosensory processing in fish takes place in structures with local circuitry that resembles the cerebellum. Cerebellum-like structures and the cerebellum itself share common patterns of gene expression and may also share developmental and evolutionary origins. Given these similarities it is natural to ask whether insights gleaned from the study of cerebellum-like structures might be useful for understanding aspects of cerebellar function and vice versa. Work from electrosensory systems has shown that cerebellum-like circuitry acts to generate learned predictions about the sensory consequences of the animals' own behavior through a process of associative plasticity at parallel fiber synapses. Subtraction of these predictions from the actual sensory input serves to highlight unexpected and hence behaviorally relevant features. Learning and prediction are also central to many current ideas regarding the function of the cerebellum itself. The present review draws comparisons between cerebellum-like structures and the cerebellum focusing on the properties and sites of synaptic plasticity in these structures and on connections between plasticity and learning. Examples are drawn mainly from the electrosensory lobe (ELL) of mormyrid fish and from extensive work characterizing the role of the cerebellum in Pavlovian eyelid conditioning and vestibulo-ocular reflex (VOR) modification. Parallels with other cerebellum-like structures, including the gymnotid ELL, the elasmobranch dorsal octavolateral nucleus (DON), and the mammalian dorsal cochlear nucleus (DCN) are also discussed.

In vitro studies of closed-loop feedback and electrosensory processing in Apteronotus leptorhynchus

Electrosensory systems comprise extensive feedback pathways. It is also well known that these pathways exhibit synaptic plasticity on a wide-range of time scales. Recent in vitro brain slice studies have characterized synaptic plasticity in the two main feedback pathways to the electrosensory lateral line lobe (ELL), a primary electrosensory nucleus in Apteronotus leptorhynchus. Currently-used slice preparations, involving networks in open-loop conditions, allow feedback inputs to be studied in isolation, a critical step in determining their synaptic properties. However, to fully understand electrosensory processing, we must understand how dynamic feedback modulates neuronal responses under closed-loop conditions. To bridge the gap between current in vitro approaches and more complex in vivo work, we present two new in vitro approaches for studying the roles of closed-loop feedback in electrosensory processing. The first involves a hybrid-network approach using dynamic clamp, and the second involves a new slice preparation that preserves one of the feedback pathways to ELL in a closed-loop condition.

Optimal movement in the prey strikes of weakly electric fish: a case study of the interplay of body plan and movement capability

Animal behaviour arises through a complex mixture of biomechanical, neuronal, sensory and control constraints. By focusing on a simple, stereotyped movement, the prey capture strike of a weakly electric fish, we show that the trajectory of a strike is one which minimizes effort. Specifically, we model the fish as a rigid ellipsoid moving through a fluid with no viscosity, governed by Kirchhoff's equations. This formulation allows us to exploit methods of discrete mechanics and optimal control to compute idealized fish trajectories that minimize a cost function. We compare these with the measured prey capture strikes of weakly electric fish from a previous study. The fish has certain movement limitations that are not incorporated in the mathematical model, such as not being able to move sideways. Nonetheless, we show quantitatively that the computed least-cost trajectories are remarkably similar to the measured trajectories. Since, in this simplified model, the basic geometry of the idealized fish determines the favourable modes of movement, this suggests a high degree of influence between body shape and movement capability. Simplified minimal models and optimization methods can give significant insight into how body morphology and movement capability are closely attuned in fish locomotion.

Electric imaging through active electrolocation: implication for the analysis of complex scenes

The electric sense of mormyrids is often regarded as an adaptation to conditions unfavourable for vision and in these fish it has become the dominant sense for active orientation and communication tasks. With this sense, fish can detect and distinguish the electrical properties of the close environment, measure distance, perceive the 3-D shape of objects and discriminate objects according to distance or size and shape, irrespective of conductivity, thus showing a degree of abstraction regarding the interpretation of sensory stimuli. The physical properties of images projected on the sensory surface by the fish's own discharge reveal a "Mexican hat" opposing centre-surround profile. It is likely that computation of the image amplitude to slope ratio is used to measure distance, while peak width and slope give measures of shape and contrast. Modelling has been used to explore how the images of multiple objects superimpose in a complex manner. While electric images are by nature distributed, or 'blurred', behavioural strategies orienting sensory surfaces and the neural architecture of sensory processing networks both contribute to resolving potential ambiguities. Rostral amplification is produced by current funnelling in the head and chin appendage regions, where high density electroreceptor distributions constitute foveal regions. Central magnification of electroreceptive pathways from these regions particularly favours the detection of capacitive properties intrinsic to potential living prey. Swimming movements alter the amplitude and contrast of pre-receptor object-images but image modulation is normalised by central gain-control mechanisms that maintain excitatory and inhibitory balance, removing the contrast-ambiguity introduced by self-motion in much the same way that contrast gain-control is achieved in vision.

Active sensing in a mormyrid fish: electric images and peripheral modifications of the signal carrier give evidence of dual foveation

Weakly electric fish generate electric fields with an electric organ and perceive them with cutaneous electroreceptors. During active electrolocation,nearby objects are detected by the distortions they cause in the electric field. The electrical properties of objects, their form and their distance,can be analysed and distinguished. Here we focus on Gnathonemus petersii (Günther 1862), an African fish of the family Mormyridae with a characteristic chin appendix, the Schnauzenorgan. Behavioural and anatomical results suggest that the mobile Schnauzenorgan and the nasal region serve special functions in electroreception, and can therefore be considered as electric foveae. We investigated passive pre-receptor mechanisms that shape and enhance the signal carrier. These mechanisms allow the fish to focus the electric field at the tip of its Schnauzenorgan where the density of electroreceptors is highest (tip-effect). Currents are funnelled by the open mouth (funnelling-effect), which leads to a homogenous voltage distribution in the nasal region. Field vectors at the trunk, the nasal region and the Schnauzenorgan are collimated but differ in the angle at which they are directed onto the sensory surface. To investigate the role of those pre-receptor effects on electrolocation, we recorded electric images of objects at the foveal regions. Furthermore, we used a behavioural response(novelty response) to assess the sensitivity of different skin areas to electrolocation stimuli and determined the receptor densities of these regions. Our results imply that both regions – the Schnauzenorgan and the nasal region – can be termed electric fovea but they serve separate functions during active electrolocation.

Transformations of electrosensory encoding associated with an adaptive filter

Sensory information is often acquired through active exploration. However, an animal's own movements may result in changes in patterns of sensory input that could interfere with the detection and processing of behaviorally relevant sensory signals. Neural mechanisms for predicting the sensory consequences of movements are thus likely to be of general importance for sensory systems. Such mechanisms have been identified in cerebellum-like structures associated with electrosensory processing in fish. These structures are hypothesized to act as adaptive filters, removing correlations between incoming sensory input and central predictive signals through associative plasticity at parallel fiber synapses. The present study tests the adaptive filter hypothesis in the electrosensory lobe (ELL) of weakly electric mormyrid fish. We compared the ability of electroreceptors and ELL efferent neurons to encode the position of moving objects in the presence and absence of self-generated electrosensory signals caused by tail movements. Tail movements had strong effects on the responses of electroreceptors, substantially reducing the amount of information they conveyed about object position. In contrast, responses of efferent neurons were relatively unaffected by tail movements, and the information they conveyed about object position was preserved. We provide evidence that the electrosensory consequences of tail bending are opposed by proprioceptive inputs conveyed by parallel fibers and that the effects of proprioceptive inputs to efferent cells are plastic. These results support the idea that cerebellum-like structures learn and remove the predictable sensory consequences of behavior and link mechanisms of adaptive filtering to selective encoding of behaviorally relevant sensory information.

Control of neuronal firing by dynamic parallel fiber feedback:implications for electrosensory reafference suppression

The cancellation of self-generated components of sensory inputs is a key function of sensory feedback pathways. In many systems, cerebellar parallel fiber feedback mediates this cancellation through anti-Hebbian plasticity,resulting in the generation of a negative image of the reafferent inputs. Parallel fiber feedback involves direct excitation and disynaptic inhibition as well as synaptic plasticity on multiple time scales. How the dynamics of these processes interact with anti-Hebbian plasticity to shape synaptic inputs and provide a cancellation mechanism remains unclear. In the present study, we investigated the influence of parallel fiber feedback onto pyramidal neurons of the electrosensory lateral line lobe (ELL) in weakly electric fish under open loop conditions. We mimicked naturalistic parallel fiber inputs in an ELL brain slice by implementing an experimentally based model of this synaptic pathway using dynamic clamp. We showed that as parallel fiber activity increases, the effective input to ELL pyramidal neurons changes from net excitation to net inhibition, resulting in a non-monotonic firing response. Using a model neuron, we found that this robust non-monotonic response is due to a shift from balanced excitation and inhibition at low parallel fiber input rates, to dominant inhibition at high input rates. We then showed that this non-monotonic response provides a simple basis for negative image generation. Through changes in the mean activation rate of parallel fibers, the feedback can switch roles between enhancement and suppression of sensory inputs in a manner that is directly determined by the slope of the non-monotonic response curve.

'Motor cognition' - what is it and is the cerebellum involved?

Motor cognition encompasses how we understand our own movement, and how movement helps us to understand the world. Here, the role of the cerebellum is discussed in two processes that could be considered aspects of motor cognition: predicting movement outcomes and understanding the meaning of movements. Recent behavioral, anatomical, and neurophysiological findings related to these processes are discussed. There are data to support a cerebellar role in predicting movement outcomes, which could be used both for motor control and for distinguishing sensory inputs due to our own movements from external influences. The data for a cerebellar role in understanding the meaning of movement are mixed, although anatomical findings suggest that it probably has some influence that bears further study.

Neural strategies for optimal processing of sensory signals

The electrosensory system is used for both spatial navigation tasks and communication. An electric organ generates a sinusoidal electric field and cutaneous electroreceptors respond to this field. Objects such as prey or rocks cause a local low-frequency modulation of the electric field; this cue is used by electric fish for navigation and prey capture. The interference of the electric fields of conspecifics produces beats, often with high frequencies, that are also sensed by the electroreceptors; furthermore, these electric fish can transiently modulate their electric discharge as a communication signal. Thus these fish must therefore detect a variety of low-intensity signals that differ greatly in their spatial extent, frequency, and duration. Behavioral studies suggest that they are highly adapted to these tasks. Experimental and theoretical analyses of the neural circuitry for the electrosense has demonstrated many commonalities with the more common senses, e.g., topographic mapping and receptive fields with On or Off centers and surround inhibition. The integration of computational and experimental analyses has demonstrated novel mechanisms that appear to optimize weak signal detection in the electrosense including: noise shaping by correlations within single spike trains, induction of oscillations by delayed feedback inhibition, the requirement for maps with differing receptive field sizes tuned for different stimulus parameters, and the role of non-plastic feedback for adaptive cancellation of redundant signals. It is likely that these mechanisms will also be operative in other sensory systems.

Feedback and feedforward control of frequency tuning to naturalistic stimuli

Sensory neurons must respond to a wide variety of natural stimuli that can have very different spatiotemporal characteristics. Optimal responsiveness to subsets of these stimuli can be achieved by devoting specialized neural circuitry to different stimulus categories, or, alternatively, this circuitry can be modulated or tuned to optimize responsiveness to current stimulus conditions. This study explores the mechanisms that enable neurons within the initial processing station of the electrosensory system of weakly electric fish to shift their tuning properties based on the spatial extent of the stimulus. These neurons are tuned to low frequencies when the stimulus is restricted to a small region within the receptive field center but are tuned to higher frequencies when the stimulus impinges on large regions of the sensory epithelium. Through a combination of modeling and in vivo electrophysiology, we reveal the respective contributions of the filtering characteristics of extended dendritic structures and feedback circuitry to this shift in tuning. Our results show that low-frequency tuning can result from the cable properties of an extended dendrite that conveys receptor-afferent information to the cell body. The shift from low- to high-frequency tuning, seen in response to spatially extensive stimuli, results from increased wide-band input attributable to activation of larger populations of receptor afferents, as well as the activation of parallel fiber feedback from the cerebellum. This feedback provides a cancellation signal with low-pass characteristics that selectively attenuates low-frequency responsiveness. Thus, with spatially extensive stimuli, these cells preferentially respond to the higher-frequency components of the receptor-afferent input.

Attenuation of self-generated tactile sensations is predictive, not postdictive

When one finger touches the other, the resulting tactile sensation is perceived as weaker than the same stimulus externally imposed. This attenuation of sensation could result from a predictive process that subtracts the expected sensory consequences of the action, or from a postdictive process that alters the perception of sensations that are judged after the event to be self-generated. In this study we observe attenuation even when the fingers unexpectedly fail to make contact, supporting a predictive process. This predictive attenuation of self-generated sensation may have evolved to enhance the perception of sensations with an external cause.

Sensory perception is influenced by whether sensations are self- or externally generated. This study suggests a process in which predicted sensory consequences of an action are responsible for the difference in perception.

Contributions of electric fish to the understanding of sensory processing by reafferent systems

Sensory systems must solve the inverse problem of determining environmental events based on patterns of neural activity in the central nervous system that are affected by those environmental events. Different environmental events can give rise to indistinguishable patterns of neural activity, so that there will often, perhaps even always, be multiple solutions to a sensory inverse problem. Imaging strategies and brain organization confine these multiple solutions within a bounded set. Three different active strategies may be employed by animals to constrain the number of solutions to the sensory inverse problem: active generation of the energy (carrier) that stimulates receptors; reorientation of the point of view; and control of signal conditioning before transduction (pre-receptor mechanisms). This paper describes how these strategies are used in sensory-motor systems, using electric fish as a paradigmatic example. Carrier generation and receptor tuning to the carrier improve signal to noise ratio. Receptor tuning to different frequency bands of the carrier spectrum allows a sensory system to evaluate different kinds of carrier modulations and to extract the different features of objects in the environment. Pre-receptor mechanisms condition the signals, optimizing their detection at a foveal region where the sensory resolution is maximum. Active orientation of the sensory surface redirects the fovea to explore in detail the source of interesting signals. Sensory input generated by these active exploration mechanisms ('reafference') has two components: one, necessary, derived from the self-generated actions and another, contingent, consisting of the information obtained from the external world. Extracting environmental information ('exafference') requires that the self generated afference be subtracted from the sensory inflow. Such subtraction is often associated with the generation and storage of expectations about sensory inputs. It can be concluded that an animal's perceptual world and its ability to transform the world are inextricably linked. Understanding sensory systems must, therefore, always require understanding the organization of motor behavior.

Insights into neural mechanisms and evolution of behaviour from electric fish

Both behaviour and its neural control can be studied at two levels. At the proximate level, we aim to identify the neural circuits that control behaviour and to understand how information is represented and processed in these circuits. Ultimately, however, we are faced with questions of why particular neural solutions have arisen, and what factors govern the ways in which neural circuits are modified during the evolution of new behaviours. Only by integrating these levels of analysis can we fully understand the neural control of behaviour. Recent studies of electrosensory systems show how this synthesis can benefit from the use of tractable systems and comparative studies.

Modeling signal and background components of electrosensory scenes

Weakly electric fish are able to detect and localize prey based on microvolt-level perturbations in the fish's self-generated electric field. In natural environments, weak prey-related signals are embedded in much stronger electrosensory background noise. To better characterize the signal and background components associated with natural electrolocation tasks, we recorded transdermal voltage modulations in restrained Apteronotus albifrons in response to moving spheres, tail bends, and large nonconducting boundaries. Spherical objects give rise to ipsilateral images with center-surround structure and contralateral images that are weak and diffuse. Tail bends and laterally placed nonconducting boundaries induce relatively strong ipsilateral and contralateral modulations of opposite polarity. We present a computational model of electric field generation and electrosensory image formation that is able to reproduce the key features of these empirically measured signal and background components in a unified framework. The model comprises an array of point sources and sinks distributed along the midline of the fish, which can conform to arbitrary body bends. The model is computationally fast and can be used to estimate the spatiotemporal pattern of activation across the entire electroreceptor array of the fish during natural behaviors.

Plastic and nonplastic pyramidal cells perform unique roles in a network capable of adaptive redundancy reduction

Pyramidal cells show marked variation in their morphology, including dendritic structure, which is correlated with physiological diversity; however, it is not known how this variation is related to a cell's role within neural networks. In this report, we describe correlations among electrosensory lateral line lobe (ELL) pyramidal cells' highly variable dendritic morphology and their ability to adaptively cancel redundant inputs via an anti-Hebbian form of synaptic plasticity. A subset of cells, those with the largest apical dendrites, are plastic, but those with the smallest dendrites are not. A model of the network's connectivity predicts that efficient redundancy reduction requires that nonplastic cells provide feedback input to those that are plastic. Anatomical results confirm the model's prediction of optimal network architecture. These results provide a demonstration of different roles for morphological/physiological variants of a single cell type within a neural network performing a well-defined function.

The mormyromast region of the mormyrid electrosensory lobe. I. Responses to corollary discharge and electrosensory stimuli

This is the first of two papers on the electrosensory lobe (ELL) of mormyrid electric fish. The ELL is the first stage in the central processing of electrosensory information from electroreceptors. Cells of the mormyrid ELL are affected at the time of the electric organ discharge (EOD) by two different inputs, EOD-evoked reafferent input from electroreceptors and corollary discharge input associated with the motor command that elicits the EOD. This first paper examines the intracellular responses of ELL cells to these two different inputs in the region of ELL that receives primary afferent fibers from mormyromast electroreceptors. Mormyromast electroreceptors are responsible for active electrolocation. The paper extends previous studies of the mormyrid ELL by describing the physiological responses of cell types, which had been previously identified only morphologically, including: the two types of Purkinje-like medium ganglionic cells, MG1 and MG2; the thick smooth dendrite cells; and the medium fusiform cells. In addition, two previously unrecognized cell types, the large thick smooth dendrite cell and the interzonal cell, are described both morphologically and physiologically for the first time. Finally, new information is provided on the two types of ELL efferent cells, the large ganglionic and large fusiform cells. All cell types, except for the medium fusiform cell, show nonlinear interactions between electrosensory and corollary discharge inputs. All cell types, except for the medium fusiform cell and the interzonal cell, also show plasticity of the corollary discharge response after pairing with electrosensory stimuli.