Serotonin regulates rhythmic whisking

Long and short whiskers differently guide snout/pellet interaction in rat oral grasping

We studied the role of rat whisker/snout tactile sense during oral grasping, comparing control data with those obtained, respectively, 1-3 and 5-7 days after bilateral long or short whisker trimming and 3-5 and 8-10 days after bilateral infraorbital nerve (ION) severing. Two behavioural phases were identified: whisker-snout contact by nose-N or lip-L and snout-tongue contact. The second phase involved either: snout passing over stationary pellet (Still pellet); pellet rolling as the snout passed over it (Rolling pellet); pellet being pushed forward by the snout (Pushed pellet); or pellet being hit and pushed away (Hit/Lost pellet). In controls, success was 100%, with N-contact prevailing over L-contact in the first phase and Still pellet in the second. In long whisker-trimmed versus controls, success was still 100%, but L-contact increased in frequency, Pushed pellet prevailed and the second phase duration increased. In short whisker-trimmed versus controls, success remained 100%, with increased L-contact frequency; the first phase duration did not change, but the second phase increased since in pushed trials, the pellet rolled around the snout. In ION-severed versus controls, both phases changed drastically: L-contact frequency increased, Pushed pellet prevailed and contact was persistently maintained; Hit/Lost pellet emerged, Still and Rolling pellets disappeared and the oral-grasping sequence was not triggered. These results suggest that long and short whiskers, respectively, optimize the first and second phases of snout-pellet interaction and that whisker/snout sense is necessary to trigger oral grasping. Kinematic trajectory analysis supports the conclusion that movement from whisker to snout contact is an orientation response.

Neonatal bilateral whisker trimming in male mice age-dependently alters brain neurotransmitter levels and causes adolescent onsets of social behavior abnormalities

Tactile perception via whiskers is important in rodent behavior. Whisker trimming during the neonatal period affects mouse behaviors related to both whisker-based tactile cognition and social performance. However, the molecular basis of these phenomena is not completely understood. To solve this issue, we investigated developmental changes in transmitters and metabolites in various brain regions of male mice subjected to bilateral whisker trimming during the neonatal period (10 days after birth [BWT10 mice]). We discovered significantly lower levels of 3-methoxy-4-hydroxyphenyl glycol (MHPG), the major noradrenaline metabolite, in various brain regions of male BWT10 mice at both early/late adolescent stages (at P4W and P8W). However, reduced levels of dopamine (DA) and their metabolites were more significantly identified at P8W in the nuclear origins of monoamine (midbrain and medulla oblongata) and the limbic system (frontal cortex, amygdala, and hippocampus) than at P4W. Furthermore, the onset of social behavior deficits (P6W) was observed later to the impairment of whisker-based tactile cognitive behaviors (P4W). Taken together, these findings suggest that whisker-mediated tactile cognition may contribute toprogressive abnormalities in social behaviors in BWT10 mice accompanied by impaired development of dopaminergic systems.

Olfactory modulation of barrel cortex activity during active whisking and passive whisker stimulation

Rodents depend on olfaction and touch to meet many of their fundamental needs. However, the impact of simultaneous olfactory and tactile inputs on sensory representations in the cortex remains elusive. To study these interactions, we recorded large populations of barrel cortex neurons using 2-photon calcium imaging in head-fixed mice during olfactory and tactile stimulation. Here we show that odors bidirectionally alter activity in a small but significant population of barrel cortex neurons through at least two mechanisms, first by enhancing whisking, and second by a central mechanism that persists after whisking is abolished by facial nerve sectioning. Odor responses have little impact on tactile information, and they are sufficient for decoding odor identity, while behavioral parameters like whisking, sniffing, and facial movements are not odor identity-specific. Thus, barrel cortex activity encodes specific olfactory information that is not linked with odor-induced changes in behavior.

Rodents use both touch and smell to get around. This work describes how olfactory information is combined with touch perception in the cortex to guide behavior.

Sensorimotor integration in the whisker somatosensory brain stem trigeminal loop

The rodent's vibrissal system is a useful model system for studying sensorimotor integration in perception. This integration determines the way in which sensory information is acquired by sensory organs and the motor commands that control them. The initial instance of sensorimotor integration in the whisker somatosensory system is implemented in the brain stem loop and may be essential to the way rodents explore and sense their environment. To examine the nature of these sensorimotor interactions, we recorded from lightly anesthetized rats in vivo and brain stem slices in vitro and isolated specific parts of this loop. We found that motor feedback to the vibrissal pad serves as a dynamic gain controller that controls the response of first-order sensory neurons by increasing and decreasing sensitivity to lower and higher tactile stimulus magnitudes, respectively. This delicate mechanism is mediated through tactile stimulus magnitude-dependent motor feedback. Conversely, tactile inputs affect the motor whisking output through influences on the rhythmic whisking circuitry, thus changing whisking kinetics. Similarly, tactile influences also modify the whisking amplitude through synaptic and intrinsic neuronal interaction in the facial nucleus, resulting in facilitation or suppression of whisking amplitude. These results point to the vast range of mechanisms underlying sensorimotor integration in the brain stem loop.NEW & NOTEWORTHY Sensorimotor integration is a process in which sensory and motor information is combined to control the flow of sensory information, as well as to adjust the motor system output. We found in the rodent's whisker somatosensory system mutual influences between tactile inputs and motor output, in which motor neurons control the flow of sensory information depending on their magnitude. Conversely, sensory information can control the magnitude and kinetics of whisker movement.

Sensorimotor processing in the rodent barrel cortex

Tactile sensory information from facial whiskers provides nocturnal tunnel-dwelling rodents, including mice and rats, with important spatial and textural information about their immediate surroundings. Whiskers are moved back and forth to scan the environment (whisking), and touch signals from each whisker evoke sparse patterns of neuronal activity in whisker-related primary somatosensory cortex (wS1; barrel cortex). Whisking is accompanied by desynchronized brain states and cell-type-specific changes in spontaneous and evoked neuronal activity. Tactile information, including object texture and location, appears to be computed in wS1 through integration of motor and sensory signals. wS1 also directly controls whisker movements and contributes to learned, whisker-dependent, goal-directed behaviours. The cell-type-specific neuronal circuitry in wS1 that contributes to whisker sensory perception is beginning to be defined.

Impact of precisely-timed inhibition of gustatory cortex on taste behavior depends on single-trial ensemble dynamics

Sensation and action are necessarily coupled during stimulus perception - while tasting, for instance, perception happens while an animal decides to expel or swallow the substance in the mouth (the former via a behavior known as 'gaping'). Taste responses in the rodent gustatory cortex (GC) span this sensorimotor divide, progressing through firing-rate epochs that culminate in the emergence of action-related firing. Population analyses reveal this emergence to be a sudden, coherent and variably-timed ensemble transition that reliably precedes gaping onset by 0.2-0.3s. Here, we tested whether this transition drives gaping, by delivering 0.5s GC perturbations in tasting trials. Perturbations significantly delayed gaping, but only when they preceded the action-related transition - thus, the same perturbation impacted behavior or not, depending on the transition latency in that particular trial. Our results suggest a distributed attractor network model of taste processing, and a dynamical role for cortex in driving motor behavior.

Scaling Our World View: How Monoamines Can Put Context Into Brain Circuitry

Monoamines are presumed to be diffuse metabotropic neuromodulators of the topographically and temporally precise ionotropic circuitry which dominates CNS functions. Their malfunction is strongly implicated in motor and cognitive disorders, but their function in behavioral and cognitive processing is scarcely understood. In this paper, the principles of such a monoaminergic function are conceptualized for locomotor control. We find that the serotonergic system in the ventral spinal cord scales ionotropic signals and shows topographic order that agrees with differential gain modulation of ionotropic subcircuits. Whereas the subcircuits can collectively signal predictive models of the world based on life-long learning, their differential scaling continuously adjusts these models to changing mechanical contexts based on sensory input on a fast time scale of a few 100 ms. The control theory of biomimetic robots demonstrates that this precision scaling is an effective and resource-efficient solution to adapt the activation of individual muscle groups during locomotion to changing conditions such as ground compliance and carried load. Although it is not unconceivable that spinal ionotropic circuitry could achieve scaling by itself, neurophysiological findings emphasize that this is a unique functionality of metabotropic effects since recent recordings in sensorimotor circuitry conflict with mechanisms proposed for ionotropic scaling in other CNS areas. We substantiate that precision scaling of ionotropic subcircuits is a main functional principle for many monoaminergic projections throughout the CNS, implying that the monoaminergic circuitry forms a network within the network composed of the ionotropic circuitry. Thereby, we provide an early-level interpretation of the mechanisms of psychopharmacological drugs that interfere with the monoaminergic systems.

An open-source high-speed infrared videography database to study the principles of active sensing in freely navigating rodents

Background

Active sensing is crucial for navigation. It is characterized by self-generated motor action controlling the accessibility and processing of sensory information. In rodents, active sensing is commonly studied in the whisker system. As rats and mice modulate their whisking contextually, they employ frequency and amplitude modulation. Understanding the development, mechanisms, and plasticity of adaptive motor control will require precise behavioral measurements of whisker position.

Findings

Advances in high-speed videography and analytical methods now permit collection and systematic analysis of large datasets. Here, we provide 6,642 videos as freely moving juvenile (third to fourth postnatal week) and adult rodents explore a stationary object on the gap-crossing task. The dataset includes sensory exploration with single- or multi-whiskers in wild-type animals, serotonin transporter knockout rats, rats received pharmacological intervention targeting serotonergic signaling. The dataset includes varying background illumination conditions and signal-to-noise ratios (SNRs), ranging from homogenous/high contrast to non-homogenous/low contrast. A subset of videos has been whisker and nose tracked and are provided as reference for image processing algorithms.

Conclusions

The recorded behavioral data can be directly used to study development of sensorimotor computation, top-down mechanisms that control sensory navigation and whisker position, and cross-species comparison of active sensing. It could also help to address contextual modulation of active sensing during touch-induced whisking in head-fixed vs freely behaving animals. Finally, it provides the necessary data for machine learning approaches for automated analysis of sensory and motion parameters across a wide variety of signal-to-noise ratios with accompanying human observer-determined ground-truth.

Serotonergic network in the subesophageal zone modulates the motor pattern for food intake in Drosophila

The functional organization of central motor circuits underlying feeding behaviors is not well understood. We have combined electrophysiological and genetic approaches to investigate the regulatory networks upstream of the motor program underlying food intake in the Drosophila larval central nervous system. We discovered that the serotonergic network of the CNS is able to set the motor rhythm frequency of pharyngeal pumping. Pharmacological experiments verified that modulation of the feeding motor pattern is based on the release of serotonin. Classical lesion and laser based cell ablation indicated that the serotonergic neurons in the subesophageal zone represent a redundant network for motor control of larval food intake.

Circuits in the rodent brainstem that control whisking in concert with other orofacial motor actions

The world view of rodents is largely determined by sensation on two length scales. One is within the animal's peri-personal space; sensorimotor control on this scale involves active movements of the nose, tongue, head, and vibrissa, along with sniffing to determine olfactory clues. The second scale involves the detection of more distant space through vision and audition; these detection processes also impact repositioning of the head, eyes, and ears. Here we focus on orofacial motor actions, primarily vibrissa-based touch but including nose twitching, head bobbing, and licking, that control sensation at short, peri-personal distances. The orofacial nuclei for control of the motor plants, as well as primary and secondary sensory nuclei associated with these motor actions, lie within the hindbrain. The current data support three themes: First, the position of the sensors is determined by the summation of two drive signals, i.e., a fast rhythmic component and an evolving orienting component. Second, the rhythmic component is coordinated across all orofacial motor actions and is phase-locked to sniffing as the animal explores. Reverse engineering reveals that the preBötzinger inspiratory complex provides the reset to the relevant premotor oscillators. Third, direct feedback from somatosensory trigeminal nuclei can rapidly alter motion of the sensors. This feedback is disynaptic and can be tuned by high-level inputs. A holistic model for the coordination of orofacial motor actions into behaviors will encompass feedback pathways through the midbrain and forebrain, as well as hindbrain areas.

Inhibition Patterns the Whisking Rhythm

In this issue of Neuron, Deschênes et al. (2016) propose that rhythmic inhibition of whisker motor neurons is a key pattern generator underlying exploratory whisking. The inhibitory premotor neurons located in the brainstem reticular formation are synchronized by breathing-related oscillators.

Sensory Cortical Activity Is Related to the Selection of a Rhythmic Motor Action Pattern

Rats produce robust, highly distinctive orofacial rhythms in response to taste stimuli-responses that aid in the consumption of palatable tastes and the ejection of aversive tastes, and that are sourced in a multifunctional brainstem central pattern generator. Several pieces of indirect evidence suggest that primary gustatory cortex (GC) may be a part of a distributed forebrain circuit involved in the selection of particular consumption-related rhythms, although not in the production of individual mouth movements per se. Here, we performed a series of tests of this hypothesis. We first examined the temporal relationship between GC activity and orofacial behaviors by performing paired single-neuron and electromyographic recordings in awake rats. Using a trial-by-trial analysis, we found that a subset of GC neurons shows a burst of activity beginning before the transition between nondistinct and taste-specific (i.e., consumption-related) orofacial rhythms. We further showed that shifting the latency of consumption-related behavior by selective cueing has an analogous impact on the timing of GC activity. Finally, we showed the complementary result, demonstrating that optogenetic perturbation of GC activity has a modest but significant impact on the probability that a specific rhythm will be produced in response to a strongly aversive taste. GC appears to be a part of a distributed circuit that governs the selection of taste-induced orofacial rhythms.

SIGNIFICANCE STATEMENT

In many well studied (typically invertebrate) sensorimotor systems, top-down modulation helps motor-control regions "select" movement patterns. Here, we provide evidence that gustatory cortex (GC) may be part of the forebrain circuit that performs this function in relation to oral behaviors ("gapes") whereby a substance in the mouth is rejected as unpalatable. We show that GC palatability coding is well timed to play this role, and that the latency of these codes changes as the latency of gaping shifts with learning. We go on to show that by silencing these neurons, we can change the likelihood of gaping. These data help to break down the sensory/motor divide by showing a role for sensory cortex in the selection of motor behavior.

Spontaneous Neuronal Activity in Developing Neocortical Networks: From Single Cells to Large-Scale Interactions

Neuronal activity has been shown to be essential for the proper formation of neuronal circuits, affecting developmental processes like neurogenesis, migration, programmed cell death, cellular differentiation, formation of local and long-range axonal connections, synaptic plasticity or myelination. Accordingly, neocortical areas reveal distinct spontaneous and sensory-driven neuronal activity patterns already at early phases of development. At embryonic stages, when immature neurons start to develop voltage-dependent channels, spontaneous activity is highly synchronized within small neuronal networks and governed by electrical synaptic transmission. Subsequently, spontaneous activity patterns become more complex, involve larger networks and propagate over several neocortical areas. The developmental shift from local to large-scale network activity is accompanied by a gradual shift from electrical to chemical synaptic transmission with an initial excitatory action of chloride-gated channels activated by GABA, glycine and taurine. Transient neuronal populations in the subplate (SP) support temporary circuits that play an important role in tuning early neocortical activity and the formation of mature neuronal networks. Thus, early spontaneous activity patterns control the formation of developing networks in sensory cortices, and disturbances of these activity patterns may lead to long-lasting neuronal deficits.

Localization of Motor Neurons and Central Pattern Generators for Motor Patterns Underlying Feeding Behavior in Drosophila Larvae

Motor systems can be functionally organized into effector organs (muscles and glands), the motor neurons, central pattern generators (CPG) and higher control centers of the brain. Using genetic and electrophysiological methods, we have begun to deconstruct the motor system driving Drosophila larval feeding behavior into its component parts. In this paper, we identify distinct clusters of motor neurons that execute head tilting, mouth hook movements, and pharyngeal pumping during larval feeding. This basic anatomical scaffold enabled the use of calcium-imaging to monitor the neural activity of motor neurons within the central nervous system (CNS) that drive food intake. Simultaneous nerve- and muscle-recordings demonstrate that the motor neurons innervate the cibarial dilator musculature (CDM) ipsi- and contra-laterally. By classical lesion experiments we localize a set of CPGs generating the neuronal pattern underlying feeding movements to the subesophageal zone (SEZ). Lesioning of higher brain centers decelerated all feeding-related motor patterns, whereas lesioning of ventral nerve cord (VNC) only affected the motor rhythm underlying pharyngeal pumping. These findings provide a basis for progressing upstream of the motor neurons to identify higher regulatory components of the feeding motor system.

Mechanism and function of mixed-mode oscillations in vibrissa motoneurons

Vibrissa motoneurons in the facial nucleus innervate the intrinsic and extrinsic muscles that move the whiskers. Their intrinsic properties affect the way they process fast synaptic input from the vIRT and Bötzinger nuclei together with serotonergic neuromodulation. In response to constant current (I_app) injection, vibrissa motoneurons may respond with mixed mode oscillations (MMOs), in which sub-threshold oscillations (STOs) are intermittently mixed with spikes. This study investigates the mechanisms involved in generating MMOs in vibrissa motoneurons and their function in motor control. It presents a conductance-based model that includes the M-type K⁺ conductance, g_M, the persistent Na⁺ conductance, g_NaP, and the cationic h conductance, g_h. For g_h = 0 and moderate values of g_M and g_NaP, the model neuron generates STOs, but not MMOs, in response to I_app injection. STOs transform abruptly to tonic spiking as the current increases. In addition to STOs, MMOs are generated for g_h>0 for larger values of I_app; the I_app range in which MMOs appear increases linearly with g_h. In the MMOs regime, the firing rate increases with I_app like a Devil's staircase. Stochastic noise disrupts the temporal structure of the MMOs, but for a moderate noise level, the coefficient of variation (CV) is much less than one and varies non-monotonically with I_app. Furthermore, the estimated time period between voltage peaks, based on Bernoulli process statistics, is much higher in the MMOs regime than in the tonic regime. These two phenomena do not appear when moderate noise generates MMOs without an intrinsic MMO mechanism. Therefore, and since STOs do not appear in spinal motoneurons, the analysis can be used to differentiate different MMOs mechanisms. MMO firing activity in vibrissa motoneurons suggests a scenario in which moderate periodic inputs from the vIRT and Bötzinger nuclei control whisking frequency, whereas serotonergic neuromodulation controls whisking amplitude.

Activation and measurement of free whisking in the lightly anesthetized rodent

The rodent vibrissa system is a widely used experimental model of active sensation and motor control. Vibrissa-based touch in rodents involves stereotypic, rhythmic sweeping of the vibrissae as the animal explores its environment. Although pharmacologically induced rhythmic movements have long been used to understand the neural circuitry that underlies a variety of rhythmic behaviors, including locomotion, digestion and ingestion, these techniques have not been available for active sensory movements such as whisking. However, recent work that delineated the location of the central pattern generator for whisking has enabled pharmacological control over this behavior. Here we specify a protocol for the pharmacological induction of rhythmic vibrissa movements that mimic exploratory whisking. The rhythmic vibrissa movements are induced by local injection of a glutamatergic agonist, kainic acid. This protocol produces coordinated rhythmic vibrissa movements that are sustained for several hours in the anesthetized mouse or rat and thus provides unprecedented experimental control in studies related to vibrissa-based neuronal circuitry.

How the brainstem controls orofacial behaviors comprised of rhythmic actions

Mammals perform a multitude of well-coordinated orofacial behaviors such as breathing, sniffing, chewing, licking, swallowing, vocalizing, and in rodents, whisking. The coordination of these actions must occur without fault to prevent fatal blockages of the airway. Deciphering the neuronal circuitry that controls even a single action requires understanding the integration of sensory feedback and executive commands. A far greater challenge is to understand the coordination of multiple actions. Here, we focus on brainstem circuits that drive rhythmic orofacial actions. We discuss three neural computational mechanisms that may enable circuits for different actions to operate without interfering with each other. We conclude with proposed experimental programs for delineating the neural control principles that have evolved to coordinate orofacial behaviors.

Tactile modulation of whisking via the brainstem loop: statechart modeling and experimental validation

Rats repeatedly sweep their facial whiskers back and forth in order to explore their environment. Such explorative whisking appears to be driven by central pattern generators (CPGs) that operate independently of direct sensory feedback. Nevertheless, whisking can be modulated by sensory feedback, and it has been hypothesized that some of this modulation already occurs within the brainstem. However, the interaction between sensory feedback and CPG activity is poorly understood. Using the visual language of statecharts, a dynamic, bottom-up computerized model of the brainstem loop of the whisking system was built in order to investigate the interaction between sensory feedback and CPG activity during whisking behavior. As a benchmark, we used a previously quantified closed-loop phenomenon of the whisking system, touched-induced pump (TIP), which is thought to be mediated by the brainstem loop. First, we showed that TIPs depend on sensory feedback, by comparing TIP occurrence in intact rats with that in rats whose sensory nerve was experimentally cut. We then inspected several possible feedback mechanisms of TIPs using our model. The model ruled out all hypothesized mechanisms but one, which adequately simulated the corresponding motion observed in the rat. Results of the simulations suggest that TIPs are generated via sensory feedback that activates extrinsic retractor muscles in the mystacial pad. The model further predicted that in addition to the touching whisker, all whiskers found on the same side of the snout should exhibit a TIP. We present experimental results that confirm the predicted movements in behaving rats, establishing the validity of the hypothesized interaction between sensory feedback and CPG activity we suggest here for the generation of TIPs in the whisking system.

Rhythmic whisking area (RW) in rat primary motor cortex: an internal monitor of movement-related signals?

Vibrissae-related sensorimotor cortex controls whisking movements indirectly via modulation of lower-level sensorimotor loops and a brainstem central pattern generator (CPG). Two different whisker representations in primary motor cortex (vM1) affect whisker movements in different ways. Prolonged microstimulation in RF, a larger anterior subregion of vM1, gives rise to complex face movements and whisker retraction while the same stimulation evokes large-amplitude rhythmic whisker movement in a small caudo-medial area (RW). To characterize the motor cortex representation of explorative whisking movements, here we recorded RW units in head-fixed rats trained to contact a moving object with one whisker. RW single units were found to encode two aspects of whisker movement independently, albeit on slow time scales (hundreds of milliseconds). The first is whisker position. The second consists of speed (absolute velocity), intensity (instantaneous power), and frequency (spectral centroid). The coding for the latter three parameters was tightly correlated and realized by a continuum of RW responses-ranging from a preference of movement to a preference of rest. Information theory analysis indicated that RW spikes carry most information about position and frequency, while intensity and speed are less well represented. Further, investigating multiple and single RW units, we found a lack of phase locking, movement anticipation, and contact-related tactile responses. These findings suggest that RW neither programs detailed whisker trajectories nor initiates them. Nor does it play a role in processing object touch. Its relationship to whisking is thus indirect and may be related to movement monitoring, perhaps using feedback from the CPG.

Multiple modes of phase locking between sniffing and whisking during active exploration

Sense organs are often actively controlled by motor processes and such active sensing profoundly shapes the timing of sensory information flow. The temporal coordination between different active sensing processes is less well understood but is essential for multisensory integration, coordination between brain regions, and energetically optimal sampling strategies. Here we studied the coordination between sniffing and whisking, the motor processes in rodents that control the acquisition of smell and touch information, respectively. Sniffing, high-frequency respiratory bouts, and whisking, rapid back and forth movements of mystacial whiskers, occur in the same theta frequency range (4-12 Hz) leading to a hypothesis that these sensorimotor rhythms are phase locked. To test this, we monitored sniffing using a thermocouple in the nasal cavity and whisking with an electromyogram of the mystacial pad in rats engaged in an open field reward foraging behavior. During bouts of exploration, sniffing and whisking showed strong one-to-one phase locking within the theta frequency range (4-12 Hz). Interestingly, we also observed multimode phase locking with multiple whisks within a sniff cycle or multiple sniffs within a whisk cycle-always at the same preferred phase. This specific phase relationship coupled the acquisition phases of the two sensorimotor rhythms, inhalation and whisker protraction. Our results suggest that sniffing and whisking may be under the control of interdependent rhythm generators that dynamically coordinate active acquisition of olfactory and somatosensory information.

Association with reward negatively modulates short latency phasic conditioned responses of dorsal raphe nucleus neurons in freely moving rats

The dorsal raphe nucleus (DRN) is implicated in mood regulation, control of impulsive behavior, and in processing aversive and reward-related signals. DRN neurons show phasic responses to sensory stimuli, but whether association with reward modulates these responses is unknown. We recorded DRN neurons from rats in a contextual conditioned approach paradigm in which an auditory cue was either followed or not followed by reward, depending on a global context signal. Conditioned approach (licking) occurred after cues in the reward context, but was suppressed in the no-reward context. Many DRN neurons showed short-latency phasic activations in response to the cues. There was striking contextual bias, with more and stronger excitations in the no-reward context than in the reward context. Therefore, DRN activity scaled inversely with cue salience and with the probability of subsequent conditioned approach. Tonic changes were similarly discriminatory, with increases being dominant after cues in the no-reward context, when licking was suppressed, and tonic decreases in rate dominant after reward-predictive cues during expression of conditioned licking. Phasic and tonic DRN responses thus provide signals of consistent valence but over different timescales. The tonic changes in activity are consistent with previous data and hypotheses relating DRN activity to response suppression and impulse control. Phasic responses could contribute to this via online modulation of attention allocation through projections to sensory-processing regions.

Hierarchy of orofacial rhythms revealed through whisking and breathing

Whisking and sniffing are predominant aspects of exploratory behaviour in rodents. Yet the neural mechanisms that generate and coordinate these and other orofacial motor patterns remain largely uncharacterized. Here we use anatomical, behavioural, electrophysiological and pharmacological tools to show that whisking and sniffing are coordinated by respiratory centres in the ventral medulla. We delineate a distinct region in the ventral medulla that provides rhythmic input to the facial motor neurons that drive protraction of the vibrissae. Neuronal output from this region is reset at each inspiration by direct input from the pre-Bötzinger complex, such that high-frequency sniffing has a one-to-one relationship with whisking, whereas basal respiration is accompanied by intervening whisks that occur between breaths. We conjecture that the respiratory nuclei, which project to other premotor regions for oral and facial control, function as a master clock for behaviours that coordinate with breathing.

New modules are added to vibrissal premotor circuitry with the emergence of exploratory whisking

Rodents begin to use bilaterally coordinated, rhythmic sweeping of their vibrissae ("whisking") for environmental exploration around 2 weeks after birth. Whether (and how) the vibrissal control circuitry changes after birth is unknown, and the relevant premotor circuitry remains poorly characterized. Using a modified rabies virus transsynaptic tracing strategy, we labeled neurons synapsing directly onto vibrissa facial motor neurons (vFMNs). Sources of potential excitatory, inhibitory, and modulatory vFMN premotor neurons, and differences between the premotor circuitry for vFMNs innervating intrinsic versus extrinsic vibrissal muscles were systematically characterized. The emergence of whisking is accompanied by the addition of new sets of bilateral excitatory inputs to vFMNs from neurons in the lateral paragigantocellularis (LPGi). Furthermore, descending axons from the motor cortex directly innervate LPGi premotor neurons. Thus, neural modules that are well suited to facilitate the bilateral coordination and cortical control of whisking are added to the premotor circuitry in parallel with the emergence of this exploratory behavior.

Spectral analysis of whisking output via optogenetic modulation of vibrissa cortex in rat

Whisking motor output in awake and freely moving rat is investigated with optogenetic excitation/inhibition of the vibrissae motor cortex (vMCx) layer V. The goal of the study is to establish the direct causal relationship between the cortical activity and the whisking output using optical stimulation, excitatory or inhibitory, with different frequencies. Progression and reduction of the whisking frequency was obtained; however, the whisking frequency did not necessarily followed the entrainment stimulus. Based on our observations, the excitation of the vMCx doubled and inhibition reduced the whisking frequency to half, compared to control, at all stimulus frequencies. This result is an empirical evidence that the cortex exerted control through a central pattern generator structure since complete inhibition was not obtained and the frequency of the response was different from that of the stimulus. We suggest that the use of the optogenetic approach, which enabled us to perform the bidirectional modulation and direct readout from vMCx, has brought valid evidence for the causal connection between cortical activity and whisking motor output.

Reinforcement active learning in the vibrissae system: optimal object localization

Rats move their whiskers to acquire information about their environment. It has been observed that they palpate novel objects and objects they are required to localize in space. We analyze whisker-based object localization using two complementary paradigms, namely, active learning and intrinsic-reward reinforcement learning. Active learning algorithms select the next training samples according to the hypothesized solution in order to better discriminate between correct and incorrect labels. Intrinsic-reward reinforcement learning uses prediction errors as the reward to an actor-critic design, such that behavior converges to the one that optimizes the learning process. We show that in the context of object localization, the two paradigms result in palpation whisking as their respective optimal solution. These results suggest that rats may employ principles of active learning and/or intrinsic reward in tactile exploration and can guide future research to seek the underlying neuronal mechanisms that implement them. Furthermore, these paradigms are easily transferable to biomimetic whisker-based artificial sensors and can improve the active exploration of their environment.

Face to face with the social brain

Recent comparative evidence suggests that anthropoid primates are the only vertebrates to exhibit a quantitative relationship between relative brain size and social group size. In this paper, I attempt to explain this pattern with regard to facial expressivity and social bonding. I hypothesize that facial motor control increases as a secondary consequence of neocortical expansion owing to cortical innervation of the facial motor nucleus. This is supported by new analyses demonstrating correlated evolution between relative neocortex size and relative facial nucleus size. I also hypothesize that increased facial motor control correlates with enhanced emotional expressivity, which provides the opportunity for individuals to better gauge the trustworthiness of group members. This is supported by previous evidence from human psychology, as well as new analyses demonstrating a positive relationship between allogrooming and facial nucleus volume. I suggest new approaches to the study of primate facial expressivity in light of these hypotheses.

Sniffing and whisking in rodents

Sniffing and whisking are two rhythmic orofacial motor activities that enable rodents to localize and track objects in their environment. They have related temporal dynamics, possibly as a result of both shared musculature and shared sensory tasks. Sniffing and whisking also constitute the overt expression of an animal's anticipation of a reward. Yet, the neuronal mechanisms that underlie the control of these behaviors have not been established. Here, we review the similarities between sniffing and whisking and suggest that such similarities indicate a mechanistic link between these two rhythmic exploratory behaviors.

Vibrissae motor cortex unit activity during whisking

Rats generate stereotyped exploratory (5-12 Hz) vibrissa movements when navigating through their environment. Like other rhythmic behaviors, the production of whisking relies on a subcortical pattern generator. However, the relatively large vibrissae representation in motor cortex (vMCx) suggests that cortex also contributes to the control of whisker movements. The goal of this study was to examine the relationship between neuronal activity in vMCx and the kinematics of vibrissae movements. We recorded multiunit activity (MUA) and single units in the rhythmic region of vMCx while measuring vibrissa position in awake, head-restrained rats. The rats were engaged in one of two behavioral tasks where they were rewarded for either 1) producing noncontact whisking epochs that met specified criteria (epochs ≥4 Hz, whisks >5 mm) or 2) whisking to contact an object. There was significant coherence between the frequency of MUA and vibrissae movements during free-air whisking but not when animals were using their vibrissae to contact an object. Spike rate in vMCx was most frequently correlated with the amplitude of vibrissa movements; correlations with movement frequency did not exceed chance levels. These findings suggest that the specific parameter under cortical control may be the amplitude of whisker movements.

Anatomical pathways involved in generating and sensing rhythmic whisker movements

The rodent whisker system is widely used as a model system for investigating sensorimotor integration, neural mechanisms of complex cognitive tasks, neural development, and robotics. The whisker pathways to the barrel cortex have received considerable attention. However, many subcortical structures are paramount to the whisker system. They contribute to important processes, like filtering out salient features, integration with other senses, and adaptation of the whisker system to the general behavioral state of the animal. We present here an overview of the brain regions and their connections involved in the whisker system. We do not only describe the anatomy and functional roles of the cerebral cortex, but also those of subcortical structures like the striatum, superior colliculus, cerebellum, pontomedullary reticular formation, zona incerta, and anterior pretectal nucleus as well as those of level setting systems like the cholinergic, histaminergic, serotonergic, and noradrenergic pathways. We conclude by discussing how these brain regions may affect each other and how they together may control the precise timing of whisker movements and coordinate whisker perception.

A night in the life of a rat: vibrissal mechanics and tactile exploration

The rat vibrissal (whisker) system is an increasingly important model for the study of the sense of touch. This paper describes recent results obtained from high-speed videography of rat exploratory behavior and from modeling studies of vibrissal biomechanics. We review several features of vibrissal touch, including the mechanics of contact versus noncontact whisking, the coordination between head and whisker movements, and the use of information obtained from the whiskers to detect, localize, and extract the spatial properties of objects. This work highlights the idea that mechanics are critical to an understanding of sensory systems and describes some new tools to monitor the spatiotemporal patterns of whisker-object contact during natural tactile exploratory behavior.

Quantitative analysis of the bilateral brainstem projections from the whisker and forepaw regions in rat primary motor cortex

The whisker region in rat primary motor (MI) cortex projects to several brainstem regions, but the relative strength of these projections has not been characterized. We recently quantified the MI projections to bilateral targets in the forebrain (Alloway et al. [2009] J Comp Neurol 515:548-564), and the present study extends those findings by quantifying the MI projections to bilateral targets in the brainstem. We found that both the whisker and forepaw regions in MI project most strongly to the basal pons and superior colliculus. While the MI forepaw region projects mainly to the ipsilateral basilar pons, the MI whisker region has significantly more connections with the contralateral side. This bilateral difference suggests that corticopontine projections from the MI whisker region may have a role in coordinating bilateral whisker movements. Anterograde tracer injections in MI did not reveal any direct projections to the facial nucleus, but retrograde tracer injections in the facial nucleus revealed some labeled neurons in MI cortex. The number of retrogradely labeled neurons in MI, however, was dwarfed by a much larger number of labeled neurons in the superior colliculus and other brainstem regions. Together, our anterograde and retrograde tracing results indicate that the superior colliculus provides the most effective route for transmitting information from MI to the facial nucleus.

Cannabinoids reveal separate controls for whisking amplitude and timing in rats

Whisking is controlled by multiple, possibly functionally segregated, motor sensory-motor loops. While testing for effects of endocannabinoids on whisking, we uncovered the first known functional segregation of channels controlling whisking amplitude and timing. Channels controlling amplitude, but not timing, were modulated by cannabinoid receptor type 1 (CB1R). Systemic administration of CB1R agonist Δ(9)-tetrahydrocannabinol (Δ(9)-THC) reduced whisking spectral power across all tested doses (1.25-5 mg/kg), whereas whisking frequency was affected at only very high doses (5 mg/kg). Concomitantly, whisking amplitude and velocity were significantly reduced in a dose-dependent manner (25-43 and 26-50%, respectively), whereas cycle duration and bilateral synchrony were hardly affected (3-16 and 3-9%, respectively). Preadministration of CB1R antagonist SR141716A blocked Δ(9)-THC-induced kinematic alterations of whisking, and when administered alone, increased whisking amplitude and velocity but affected neither cycle duration nor synchrony. These findings indicate that whisking amplitude and timing are controlled by separate channels and that endocannabinoids modulate amplitude control channels.

Control of the firing patterns of vibrissa motoneurons by modulatory and phasic synaptic inputs: a modeling study

Vibrissa motoneurons (vMNs) generate rhythmic firing that controls whisker movements, even without cortical, cerebellar, or sensory inputs. vMNs receive serotonergic modulation from brain stem areas, which mainly increases their persistent sodium conductance (g(NaP)) and, possibly, phasic input from a putative central pattern generator (CPG). In response to serotonergic modulation or just-suprathreshold current steps, vMNs fire at low rates, below the firing frequency of exploratory whisking. In response to periodic inputs, vMNs exhibit nonlinear suprathreshold resonance in frequency ranges of exploratory whisking. To determine how firing patterns of vMNs are determined by their 1) intrinsic ionic conductances and 2) responses to periodic input from a putative CPG and to serotonergic modulation, we construct and analyze a single-compartment, conductance-based model of vMNs. Low firing rates are supported in extended regimes by adaptation currents and the minimal firing rate decreases with g(NaP) and increases with M-potassium and h-cation conductances. Suprathreshold resonance results from the locking properties of vMN firing to stimuli and from reduction of firing rates at low frequencies by slow M and afterhyperpolarization potassium conductances. h conductance only slightly affects the suprathreshold resonance. When a vMN is subjected to a small periodic CPG input, serotonergically induced g(NaP) elevation may transfer the system from quiescence to a firing state that is highly locked to the CPG input. Thus we conclude that for vMNs, the CPG controls firing frequency and phase and enables bursting, whereas serotonergic modulation controls transitions from quiescence to firing unless the CPG input is sufficiently strong.

Endogenous serotonin acts on 5-HT2C-like receptors in key vocal areas of the brain stem to initiate vocalizations in Xenopus laevis

Serotonin initiates various rhythmic behaviors in vertebrates. Previously we have shown that serotonergic neurons innervate the central vocal pathway in the African clawed frog (Xenopus laevis). We also discovered that exogenous serotonin applied to isolated brains in vitro activates fictive vocalizations by activating 5-HT(2C)-like receptors. In this study, we examined the location of 5-HT(2C)-like receptors and determined whether endogenously released serotonin also initiates vocalizations by activating 5-HT(2C)-like receptors in male Xenopus brains. To this end, we first identified the specific location of 5-HT(2C)-like receptors using immunohistochemistry. We next examined which of the populations of neurons that express 5-HT(2C)-like receptors are functionally relevant for initiating fictive vocalizations by applying a 5-HT(2C) receptor agonist to brains transected at various levels. Of four populations of immunopositive neurons, we showed that 5-HT(2C)-like receptors located in two areas of the brain stem vocal circuit, the raphe nucleus and motor nucleus IX-X, initiate fictive vocalizations. We next showed that endogenous serotonin can also activate fictive vocalizations by increasing the extracellular concentration of endogenous serotonin using a selective serotonin reuptake inhibitor (SSRI). The SSRI-induced vocal initiation is also mediated by activation of 5-HT(2C)-like receptors because blockade of these receptors prevents fictive vocalization. The results suggest that in vivo release of serotonin initiates male vocalizations by activating 5-HT(2C)-like receptors in the brain stem vocal nuclei.

Transient firing of dorsal raphe neurons encodes diverse and specific sensory, motor, and reward events

Serotonin (5-hydroxytryptamine [5-HT]) is known to influence a wide range of behaviors and physiological processes, but relatively little is known about events that trigger 5-HT release. To address this issue, we recorded from neurons in the dorsal raphe nucleus (DRN) in rats performing an odor-guided spatial decision task. A large fraction of DRN neurons showed transient firing time locked to behavioral events on timescales as little as 20 ms. DRN transients were sometimes correlated with reward parameters, but also encoded specific sensorimotor events, including stimulus identity and response direction. These behavioral correlates were diverse but showed no apparent relationship with waveform or other firing properties indicative of neurochemical identity. These results suggest that the 5-HT system does not encode a unitary signal and that it will broadcast specific information to the forebrain with speed and precision sufficient not only to modulate but also to dynamically sculpt ongoing information processing.

Modulation of intrinsic spiking in spinal cord neurons

The vertebrate spinal cord is equipped with a number of neuronal networks that underlie repetitive patterns of behavior as locomotion. Activity in such networks is mediated not only by intrinsic cellular properties but also by synaptic coupling. In this study, we focused on the modulation of the intrinsic activity by 5-hydroxytryptamine (5-HT, serotonin) and the cholinergic agonist muscarine in spinal cord cultures (embryonic age 14 rats). We investigated theses cultures (slices and dissociated cells) at the network level using multielectrode arrays (MEAs) and at the cellular level using whole cell patch clamp. All cultures showed bursting network activity and intrinsic activity when gamma-aminobutyric acid, glycine, and glutamate transmission was blocked. Using MEAs, we observed an increase of the intrinsic activity in the ventral part of the slices with 5-HT and muscarine. In single-cell recordings we found that 43 and 35% of the cells that were silent in the absence of fast synaptic activity were transformed into intrinsically spiking cells by 5-HT and muscarine, respectively. We tested the hypothesis that these neuromodulators act via modulation of the persistent sodium currents (I(NaP)) in these neurons. We found that 5-HT increased threefold the amplitude of I(NaP), specifically in the nonintrinsically spiking cells, and thus switched these cells into intrinsically spiking cells via activation of 5-HT(2) receptor and the phospholipase C pathway. In contrast, the effect of muscarine on nonintrinsically spiking neurons seems to be independent of I(NaP). We conclude from these findings that serotoninergic and cholinergic modulation can turn silent into spontaneously spiking neurons and thus initiate new sources of activity for rhythm generation in spinal networks.

Topography of whisking II: Interaction of whisker and pad

The peripheral effector system mediating rodent whisking produces protraction/retraction movements of the whiskers and translation movements of the collagenous mystacial pad. To examine the interaction of these movements during whisking in air we used high-resolution, optoelectronic methods for two-dimensional monitoring of whisker and pad movements in head-fixed rats. Under these testing conditions (1) whisker movements on the same side of the face are synchronous and of similar amplitude; (2) pad movements exhibit the characteristic 'exploratory' rhythm (6-12 Hz) of whisking but their movements often have a low frequency (1-2 Hz) component; (3) Pad movements occur in both antero-posterior and dorso-ventral planes but there are considerable variations in the amplitude and topography of movement parameters in the two planes. We conclude that (a) both whisker and pad receive input from a common central rhythm generator; (b) differences in whisker and pad amplitude and topography probably reflect differences in the biomechanical properties of the structures receiving that input; (c) pad movements make a significant contribution to the kinematics of whisking behavior and (d) the two-dimensional nature of pad translation movements significantly increases the rat's flexible control of its mobile sensor.

5-HT2C-like receptors in the brain of Xenopus laevis initiate sex-typical fictive vocalizations

Vocalizations of male and female African clawed frogs (Xenopus laevis) are generated by brain stem central pattern generators. Serotonin (5-HT) is likely important for vocal initiation because, when applied in vitro, sex-typical fictive vocalizations are evoked from isolated brains. To explore the mechanisms underlying vocal initiation, we identified the types of serotonin receptors mediating vocal activation pharmacologically using a whole brain, fictive preparation. The results showed that 5-HT(2C)-like receptors are important for activation of fictive vocalizations in the sexes. 5-HT(2C) receptor agonists elicited fictive vocalizations, and 5-HT(2C) receptor antagonists blocked 5-HT-induced fictive vocalizations, whereas agonists and antagonists of 5-HT(2A) and 5-HT(2B) receptors failed to initiate or block 5-HT-induced fictive vocalizations in the sexes. The results indicate that serotonin initiates fictive vocalizations by binding to 5-HT(2C)-like receptors located either within or upstream of the vocal central pattern generator in both sexes. We conclude that the basic mechanism of vocal initiation is shared by the sexes despite the differences in the actual vocalizations between males and females. Sex-typical vocalizations, therefore, most likely arise from activation of different populations of 5-HT(2C) receptor expressing cells or from differential activation of downstream pattern generating neurons.

Motor modulation of afferent somatosensory circuits

A prominent feature of thalamocortical circuitry in sensory systems is the extensive and highly organized feedback projection from the cortex to the thalamic neurons that provide stimulus-specific input to the cortex. In lightly sedated rats, we found that focal enhancement of motor cortex activity facilitated sensory-evoked responses of topographically aligned neurons in primary somatosensory cortex, including antidromically identified corticothalamic cells; similar effects were observed in ventral posterior medial thalamus (VPm). In behaving rats, thalamic responses were normally smaller during whisking but larger when signal transmission in brainstem trigeminal nuclei was bypassed or altered. During voluntary movement, sensory activity may be globally suppressed in the brainstem, whereas signaling by cortically facilitated VPm neurons is simultaneously enhanced relative to other VPm neurons receiving no such facilitation.

Variability in Velocity Profiles During Free-Air Whisking Behavior of Unrestrained Rats

During exploratory behaviors, the velocity of an organism's sensory surfaces can have a pronounced effect on the incoming flow of sensory information. In this study, we quantified variability in the velocity profiles of rat whisking during natural exploratory behavior that included head rotations. A wide continuum of profiles was observed, including monotonic, delayed, and reversing velocities during protractions and retractions. Three alternative hypotheses for the function of the variable velocity profiles were tested: 1) that they produce bilateral asymmetry specifically correlated with rotational head velocity, 2) that they serve to generate bilaterally asymmetric and/or asynchronous whisker movements independent of head velocity, and 3) that the different profiles—despite increasing variability in instantaneous velocity—reduce variability in the average whisking velocity. Our results favor the third hypothesis and do not support the first two. Specifically, the velocity variability within a whisk can be observed as a shift in the phase of the maximum velocity. We discuss the implications of these results for the control of whisker motion, horizontal object localization, and processing in the thalamus and cortex of the rat vibrissal system.

Internal brain state regulates membrane potential synchrony in barrel cortex of behaving mice

Internal brain states form key determinants for sensory perception, sensorimotor coordination and learning. A prominent reflection of different brain states in the mammalian central nervous system is the presence of distinct patterns of cortical synchrony, as revealed by extracellular recordings of the electroencephalogram, local field potential and action potentials. Such temporal correlations of cortical activity are thought to be fundamental mechanisms of neuronal computation. However, it is unknown how cortical synchrony is reflected in the intracellular membrane potential (V(m)) dynamics of behaving animals. Here we show, using dual whole-cell recordings from layer 2/3 primary somatosensory barrel cortex in behaving mice, that the V(m) of nearby neurons is highly correlated during quiet wakefulness. However, when the mouse is whisking, an internally generated state change reduces the V(m) correlation, resulting in a desynchronized local field potential and electroencephalogram. Action potential activity was sparse during both quiet wakefulness and active whisking. Single action potentials were driven by a large, brief and specific excitatory input that was not present in the V(m) of neighbouring cells. Action potential initiation occurs with a higher signal-to-noise ratio during active whisking than during quiet periods. Therefore, we show that an internal brain state dynamically regulates cortical membrane potential synchrony during behaviour and defines different modes of cortical processing.

Whisker Movements Evoked by Stimulation of Single Motor Neurons in the Facial Nucleus of the Rat

The lateral facial nucleus is the sole output structure whose neuronal activity leads to whisker movements. To understand how single facial nucleus neurons contribute to whisker movement we combined single-cell stimulation and high-precision whisker tracking. Half of the 44 stimulated neurons gave rise to fast whisker protraction or retraction movement, whereas no stimulation-evoked movements could be detected for the remainder. Direction, speed, and amplitude of evoked movements varied across neurons. Protraction movements were more common than retraction movements ( n = 16 vs. n = 4), had larger amplitudes (1.8 vs. 0.3° for single spike events), and most protraction movements involved only a single whisker, whereas most retraction movements involved multiple whiskers. We found a large range in the amplitude of single spike-evoked whisker movements (0.06–5.6°). Onset of the movement occurred at 7.6 (SD 2.5) ms after the spike and the time to peak deflection was 18.2 (SD 4.3) ms. Each spike reliably evoked a stereotyped movement. In two of five cases peak whisker deflection resulting from consecutive spikes was larger than expected when based on linear summation of single spike-evoked movement profiles. Our data suggest the following coding scheme for whisker movements in the facial nucleus. 1) Evoked movement characteristics depend on the identity of the stimulated neuron (a labeled line code). 2) The facial nucleus neurons are heterogeneous with respect to the movement properties they encode. 3) Facial nucleus spikes are translated in a one-to-one manner into whisker movements.

Biomechanics of the vibrissa motor plant in rat: rhythmic whisking consists of triphasic neuromuscular activity

The biomechanics of a motor plant constrain the behavioral strategies that an animal has available to extract information from its environment. We used the rat vibrissa system as a model for active sensing and determined the pattern of muscle activity that drives rhythmic exploratory whisking. Our approach made use of electromyography to measure the activation of all relevant muscles in both head-fixed and unrestrained rats and two-dimensional imaging to monitor the position of the vibrissae in head-fixed rats. Our essential finding is that the periodic motion of the vibrissae and mystacial pad during whisking results from three phases of muscle activity. First, the vibrissae are thrust forward as the rostral extrinsic muscle, musculus (m.) nasalis, contracts to pull the pad and initiate protraction. Second, late in protraction, the intrinsic muscles pivot the vibrissae farther forward. Third, retraction involves the cessation of m. nasalis and intrinsic muscle activity and the contraction of the caudal extrinsic muscles m. nasolabialis and m. maxillolabialis to pull the pad and the vibrissae backward. We developed a biomechanical model of the whisking motor plant that incorporates the measured muscular mechanics along with movement vectors observed from direct muscle stimulation in anesthetized rats. The results of simulations of the model quantify how the combination of extrinsic and intrinsic muscle activity leads to an enhanced range of vibrissa motion than would be available from the intrinsic muscles alone.