Simulation of C. elegans thermotactic behavior in a linear thermal gradient using a simple phenomenological motility model

The whole worm: brain-body-environment models of C. elegans

Brain, body and environment are in continuous dynamical interaction, and it is becoming increasingly clear that an animal's behavior must be understood as a product not only of its nervous system, but also of the ongoing feedback of this neural activity through the biomechanics of its body and the ecology of its environment. Modeling has an essential integrative role to play in such an understanding. But successful whole-animal modeling requires an animal for which detailed behavioral, biomechanical and neural information is available and a modeling methodology which can gracefully cope with the constantly changing balance of known and unknown biological constraints. Here we review recent progress on both optogenetic techniques for imaging and manipulating neural activity and neuromechanical modeling in the nematode worm Caenorhabditis elegans. This work demonstrates both the feasibility and challenges of whole-animal modeling.

Japanese studies on neural circuits and behavior of Caenorhabditis elegans

The nematode Caenorhabditis elegans is an ideal organism for studying neural plasticity and animal behaviors. A total of 302 neurons of a C. elegans hermaphrodite have been classified into 118 neuronal groups. This simple neural circuit provides a solid basis for understanding the mechanisms of the brains of higher animals, including humans. Recent studies that employ modern imaging and manipulation techniques enable researchers to study the dynamic properties of nervous systems with great precision. Behavioral and molecular genetic analyses of this tiny animal have contributed greatly to the advancement of neural circuit research. Here, we will review the recent studies on the neural circuits of C. elegans that have been conducted in Japan. Several laboratories have established unique and clever methods to study the underlying neuronal substrates of behavioral regulation in C. elegans. The technological advances applied to studies of C. elegans have allowed new approaches for the studies of complex neural systems. Through reviewing the studies on the neuronal circuits of C. elegans in Japan, we will analyze and discuss the directions of neural circuit studies.

How and why Caenorhabditis elegans uses distinct escape and avoidance regimes to minimize exposure to noxious heat

Minimizing the exposure to deleterious extremes of temperature is essential for animals to avoid tissue damages. Because their body temperature equilibrates very rapidly with their surroundings, small invertebrates are particularly vulnerable to the deleterious impact of high temperatures, which jeopardizes their growth, fertility, and survival. The present article reviews recent analyses of Caenorhabditis elegans behavior in temperature gradients covering innocuous and noxious temperatures. These analyses have highlighted that worm uses two separate, multi-componential navigational strategies: an avoidance strategy, aiming at staying away from noxious heat, and an escape strategy, aiming at running away after exposure. Here, I explain why efficient escape and avoidance mechanisms are mutually exclusive and why worm needs to switch between distinct behavioral regimes to achieve efficient protective thermoregulation. Collectively, these findings reveal some largely unrecognized strategies improving worm goal-directed navigation and the fascinating level of sophistication of the behavioral responses deployed to minimize the exposure to noxious heat. Because switching between avoidance and escape regimes circumvents constraints that are valid for navigation behaviors in general, similar solutions might be used by worms and also other organisms in response to various environmental parameters covering an innocuous/noxious, non-toxic/toxic range.

Immobilization of the nematode Caenorhabditis elegans with addressable light-induced heat knockdown (ALINK)

Caenorhabditis (C.) elegans is a model animal used in genetics, neuroscience, and developmental biology. Researchers often immobilize squirming worms to obtain high-quality images for analysis. However, current methods usually require physical contact or anesthetics. This can cause injuries to worm bodies or neuron disturbances. This study presents an alternative technique, called addressable light-induced heat knockdown (ALINK), to effectively immobilize worms by using light-induced sublethal heat. A microchip composed of an indium-tin-oxide (ITO) glass plate and an ITO glass plate coated with a photoconductive layer (a-Si:H) was produced. Worms to be immobilized were immersed in a liquid medium and sandwiched between the two plates. When the worms were irradiated with a focused laser beam in the presence of electric fields (referred to as an optoelectric treatment), the optoelectric effect heated the liquid medium. The neural functions of the worms shut down temporarily when a critical temperature (>31 °C) was reached. Their neural functions resumed after the heat source was removed. A temperature above 37 °C killed all worms. Using short-wavelength light reduced the worms' recovery time. An equivalent circuit was modeled to predict the operating modes, and an optoelectric treatment with a high-concentration medium enhanced rapid heating. A safe operating range (20 Vpp (peak-to-peak voltage), 100 kHz to 10 MHz, 31 to 37 °C) to induce heat knockdown (KD) was also investigated. The results show that the heat KD was well controlled, autonomous, and reversible. This technique can be used for worm immobilization.

Locomotion of C. elegans: a piecewise-harmonic curvature representation of nematode behavior

Caenorhabditis elegans, a free-living soil nematode, displays a rich variety of body shapes and trajectories during its undulatory locomotion in complex environments. Here we show that the individual body postures and entire trails of C. elegans have a simple analytical description in curvature representation. Our model is based on the assumption that the curvature wave is generated in the head segment of the worm body and propagates backwards. We have found that a simple harmonic function for the curvature can capture multiple worm shapes during the undulatory movement. The worm body trajectories can be well represented in terms of piecewise sinusoidal curvature with abrupt changes in amplitude, wavevector, and phase.

Long-tail behavior in locomotion of Caenorhabditis elegans

The locomotion of Caenorhabditis elegans exhibits complex patterns. In particular, the worm combines mildly curved runs and sharp turns to steer its course. Both runs and sharp turns of various types are important components of taxis behavior. The statistics of sharp turns have been intensively studied. However, there have been few studies on runs, except for those on klinotaxis (also called weathervane mechanism), in which the worm gradually curves toward the direction with a high concentration of chemicals; this phenomenon was discovered recently. We analyzed the data of runs by excluding sharp turns. We show that the curving rate obeys long-tail distributions, which implies that large curving rates are relatively frequent. This result holds true for locomotion in environments both with and without a gradient of NaCl concentration; it is independent of klinotaxis. We propose a phenomenological computational model on the basis of a random walk with multiplicative noise. The assumption of multiplicative noise posits that the fluctuation of the force is proportional to the force exerted. The model reproduces the long-tail property present in the experimental data.

Thermotaxis is a robust mechanism for thermoregulation in Caenorhabditis elegans nematodes

Many biochemical networks are robust to variations in network or stimulus parameters. Although robustness is considered an important design principle of such networks, it is not known whether this principle also applies to higher-level biological processes such as animal behavior. In thermal gradients, Caenorhabditis elegans uses thermotaxis to bias its movement along the direction of the gradient. Here we develop a detailed, quantitative map of C. elegans thermotaxis and use these data to derive a computational model of thermotaxis in the soil, a natural environment of C. elegans. This computational analysis indicates that thermotaxis enables animals to avoid temperatures at which they cannot reproduce, to limit excursions from their adapted temperature, and to remain relatively close to the surface of the soil, where oxygen is abundant. Furthermore, our analysis reveals that this mechanism is robust to large variations in the parameters governing both worm locomotion and temperature fluctuations in the soil. We suggest that, similar to biochemical networks, animals evolve behavioral strategies that are robust, rather than strategies that rely on fine tuning of specific behavioral parameters.

Steepness of thermal gradient is essential to obtain a unified view of thermotaxis in C. elegans

One of the adaptive behaviors of animals in their environment is thermotaxis, by which they migrate toward a preferred temperature. This sensorimotor integration is accomplished by choosing one of two behaviors depending on the surrounding temperature, namely thermophilic or cryophilic movement. Caenorhabditis elegans exhibits thermotaxis and its migration behavior has been analyzed experimentally at both the population and individual levels. However, some experimental data are inconsistent especially for thermophilic movement, which is expected to be observed in lower than favorable temperatures. There are no experimental analyzes that find thermophilic tendencies in the individual behavior of worms, despite multiple reports supporting thermophilic movement of the population. Although theoretical methods have been used to study thermotaxis of C. elegans, no mathematical model provides a consistent explanation for this discrepancy. Here we develop a simple biased random walk model, which describes population behavior, but which is based on the results of individual assays. Our model can integrate all previous experiments without any contradiction. We regenerate all the population patterns reported in past studies and give a consistent explanation for the conflicting results. Our results suggest that thermophilic movement is observed, even in individual movements, when the thermal gradient is sufficiently slight. On the contrary, thermophilic movement disappears when the thermal gradient is too steep. The thermal gradient is thus essential for a comprehensive understanding of the experimental studies of thermotaxis in C. elegans. Our model provides insight into an integrative understanding of the neural activity and thermotactic behavior in C. elegans.