Tight or loose coupling between components of the feeding neuromusculature of Aplysia?

A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties

Cyborg control of insect movement is promising for developing miniature, high-mobility, and efficient biohybrid robots. However, considering the inter-individual variation of the insect neuromuscular apparatus and its neural control is challenging. We propose a hierarchical model including inter-individual variation of muscle properties of three leg muscles involved in propulsion (retractor coxae), joint stiffness (pro- and retractor coxae), and stance-swing transition (protractor coxae and levator trochanteris) in the stick insect Carausius morosus. To estimate mechanical effects induced by external muscle stimulation, the model is based on the systematic evaluation of joint torques as functions of electrical stimulation parameters. A nearly linear relationship between the stimulus burst duration and generated torque was observed. This stimulus-torque characteristic holds for burst durations of up to 500ms, corresponding to the stance and swing phase durations of medium to fast walking stick insects. Hierarchical Bayesian modeling revealed that linearity of the stimulus-torque characteristic was invariant, with individually varying slopes. Individual prediction of joint torques provides significant benefits for precise cyborg control.

Specificity of repetition priming: the role of chemical coding

We investigate stimulus specificity of repetition priming in a tractable model system; the feeding network of Aplysia. Previous studies primarily focused on an aspect of behavior that is altered during ingestive priming, radula opening. Priming of radula opening occurs when two modulatory peptides [feeding circuit activating peptide (FCAP) and cerebral peptide-2 (CP-2)] are released from the cholinergic command-like neuron cerebral buccal interneuron 2. Effects of FCAP/CP-2 on radula opening motor neurons are cAMP mediated. The present experiments sought to determine whether FCAP/CP-2 and cAMP are also involved in the priming of radula opening during an incompatible activity, i.e., during egestive motor programs. Egestive priming is induced when motor programs are triggered by afferents with processes in the esophageal nerve. We demonstrate that egestive priming is not FCAP/CP-2 mediated. Instead, it is induced by an unrelated peptide (small cardioactive peptide), which exerts PKC-mediated effects. Our data, therefore, suggest that different feeding motor programs are primed via actions of different sets of intercellular and intracellular substances. We suggest that this accounts for the stimulus specificity that can be characteristic of repetition priming. Different stimuli activate different central pattern generator inputs. These inputs release different modulators, which induce functionally distinct motor programs.

Extracellularly identifying motor neurons for a muscle motor pool in Aplysia californica

In animals with large identified neurons (e.g. mollusks), analysis of motor pools is done using intracellular techniques. Recently, we developed a technique to extracellularly stimulate and record individual neurons in Aplysia californica. We now describe a protocol for using this technique to uniquely identify and characterize motor neurons within a motor pool. This extracellular technique has advantages. First, extracellular electrodes can stimulate and record neurons through the sheath, so it does not need to be removed. Thus, neurons will be healthier in extracellular experiments than in intracellular ones. Second, if ganglia are rotated by appropriate pinning of the sheath, extracellular electrodes can access neurons on both sides of the ganglion, which makes it easier and more efficient to identify multiple neurons in the same preparation. Third, extracellular electrodes do not need to penetrate cells, and thus can be easily moved back and forth among neurons, causing less damage to them. This is especially useful when one tries to record multiple neurons during repeating motor patterns that may only persist for minutes. Fourth, extracellular electrodes are more flexible than intracellular ones during muscle movements. Intracellular electrodes may pull out and damage neurons during muscle contractions. In contrast, since extracellular electrodes are gently pressed onto the sheath above neurons, they usually stay above the same neuron during muscle contractions, and thus can be used in more intact preparations. To uniquely identify motor neurons for a motor pool (in particular, the I1/I3 muscle in Aplysia) using extracellular electrodes, one can use features that do not require intracellular measurements as criteria: soma size and location, axonal projection, and muscle innervation. For the particular motor pool used to illustrate the technique, we recorded from buccal nerves 2 and 3 to measure axonal projections, and measured the contraction forces of the I1/I3 muscle to determine the pattern of muscle innervation for the individual motor neurons. We demonstrate the complete process of first identifying motor neurons using muscle innervation, then characterizing their timing during motor patterns, creating a simplified diagnostic method for rapid identification. The simplified and more rapid diagnostic method is superior for more intact preparations, e.g. in the suspended buccal mass preparation or in vivo. This process can also be applied in other motor pools in Aplysia or in other animal systems.

Predicting adaptive behavior in the environment from central nervous system dynamics

To generate adaptive behavior, the nervous system is coupled to the environment. The coupling constrains the dynamical properties that the nervous system and the environment must have relative to each other if adaptive behavior is to be produced. In previous computational studies, such constraints have been used to evolve controllers or artificial agents to perform a behavioral task in a given environment. Often, however, we already know the controller, the real nervous system, and its dynamics. Here we propose that the constraints can also be used to solve the inverse problem--to predict from the dynamics of the nervous system the environment to which they are adapted, and so reconstruct the production of the adaptive behavior by the entire coupled system. We illustrate how this can be done in the feeding system of the sea slug Aplysia. At the core of this system is a central pattern generator (CPG) that, with dynamics on both fast and slow time scales, integrates incoming sensory stimuli to produce ingestive and egestive motor programs. We run models embodying these CPG dynamics--in effect, autonomous Aplysia agents--in various feeding environments and analyze the performance of the entire system in a realistic feeding task. We find that the dynamics of the system are tuned for optimal performance in a narrow range of environments that correspond well to those that Aplysia encounter in the wild. In these environments, the slow CPG dynamics implement efficient ingestion of edible seaweed strips with minimal sensory information about them. The fast dynamics then implement a switch to a different behavioral mode in which the system ignores the sensory information completely and follows an internal "goal," emergent from the dynamics, to egest again a strip that proves to be inedible. Key predictions of this reconstruction are confirmed in real feeding animals.

Functional penetration of variability of motor neuron spike timing through a modulated neuromuscular system

Variability of the neuronal spike pattern is usually thought of in terms of the information that the different interspike intervals might be encoding. However, the very presence of the variability can have other kinds of functional significance. Here we consider the example of the B15/B16-ARC neuromuscular system of Aplysia, a model system for the study of neuromuscular modulation and control. We show that variability of motor neuron spike timing at the input to the system penetrates throughout the system, affecting all downstream variables including modulator release, modulator concentrations, modulatory actions, and the contraction of the muscle. Furthermore, not only does the variability penetrate through the system, but it is actually instrumental in maintaining its modulation and contractions at a robust, physiological level.

Different motor neuron spike patterns produce contractions with very similar rises in graded slow muscles

Graded muscles produce small twitches in response to individual motor neuron spikes. During the early part of their contractions, contraction amplitude in many such muscles depends primarily on the number of spikes the muscle has received, not the frequency or pattern with which they were delivered. Stick insect (Carausius morosus) extensor muscles are graded and thus would likely show spike-number dependency early in their contractions. Tonic stimulations of the extensor motor nerve showed that the response of the muscles differed from the simplest form of spike-number dependency. However, these differences actually increased the spike-number range over which spike-number dependency was present. When the motor nerve was stimulated with patterns mimicking the motor neuron activity present during walking, amplitude during contraction rises also depended much more on spike number than on spike frequency. A consequence of spike-number dependency is that brief changes in spike frequency do not alter contraction slope and we show here that extensor motor neuron bursts with different spike patterns give rise to contractions with very similar contraction rises. We also examined in detail the early portions of a large number of extensor motor neuron bursts recorded during single-leg walking and show that these portions of the bursts do not appear to have any common spike pattern. Although alternative explanations are possible, the simplest interpretation of these data is that extensor motor neuron firing during leg swing is not tightly controlled.

Variability of motor neuron spike timing maintains and shapes contractions of the accessory radula closer muscle of Aplysia

The accessory radula closer (ARC) muscle of Aplysia has long been studied as a typical "slow" muscle, one that would be assumed to respond only to the overall, integrated spike rate of its motor neurons, B15 and B16. The precise timing of the individual spikes should not much matter. However, but real B15 and B16 spike patterns recorded in vivo show great variability that extends down to the timing of individual spikes. By replaying these real as well as artificially constructed spike patterns into ARC muscles in vitro, we examined the consequences of this spike-level variability for contraction. Replaying the same pattern several times reproduces precisely the same contraction shape: the B15/B16-ARC neuromuscular transform is deterministic. However, varying the timing of the spikes produces very different contraction shapes and amplitudes. The transform in fact operates at an interface between "fast" and "slow" regimens. It is fast enough that the timing of individual spikes greatly influences the detailed contraction shape. At the same time, slow integration of the spike pattern through the nonlinear transform allows the variable spike timing to determine also the overall contraction amplitude. Indeed, the variability appears to be necessary to maintain the contraction amplitude at a robust level. This phenomenon is tuned by neuromodulators that tune the speed and nonlinearity of the transform. Thus, the variable timing of individual spikes does matter, in at least two, functionally significant ways, in this "slow" neuromuscular system.

Natural neural output that produces highly variable locomotory movements

We recorded fast extensor tibiae motor neuron activity during single-legged treadmill walking in the stick insect, Carausius morosus. We used this activity to stimulate the extensor muscle motor nerve, observed the resulting extensor muscle contractions under isotonic conditions, and quantified these contractions with a variety of measures. Extensor contractions induced in this manner were highly variable, with contraction measures having SDs of 12 to 51%, and ranges of 82 to 275%, when expressed as percentages of the means, an unexpectedly wide range for a locomotory pattern. Searches for correlations among the contraction measures showed that, in general, this high variability is not reduced by contraction measure covariation. Comparing responses (to identical input) across animals showed that extensor muscles from different animals generally significantly differed from one another. However, correlation analyses on these data suggested that these differences do not indicate that multiple extensor muscle subtypes exist. Extensor muscles instead appear to belong to a single class, albeit one with high animal to animal variability. These data thus provide another well-quantified example (along with Aplysia feeding) of a repetitive but highly variable motor pattern (in contrast to the high rhythmicity and stereotypy present in most other well-quantified repetitive motor patterns). We suggest this high variability could be an adaptive combination of locomotion, active sensing, and crypsis arising from the relatively low demand for locomotion in Carausius behavior, the highly fragmented environment the animal inhabits, and its need to avoid predatory attention.

Cycle-to-cycle variability as an optimal behavioral strategy

Aplysia feeding behavior is highly variable from cycle to cycle. In some cycles, when the variability causes a mismatch between the animal's movements and the requirements of the feeding task, the variability makes the behavior unsuccessful. We propose that the behavior is variable nevertheless because the variability serves a higher-order functional purpose. When the animal is faced with a new and only imperfectly known feeding task in each cycle, the variability implements a trial-and-error search through the space of possible feeding movements. Over many cycles, this may be the animal's optimal strategy in an uncertain and changing feeding environment.

Variability of swallowing performance in intact, freely feeding aplysia

Variability in nervous systems is often taken to be merely "noise." Yet in some cases it may play a positive, active role in the production of behavior. The central pattern generator (CPG) that drives the consummatory feeding behaviors of Aplysia generates large, quasi-random variability in the parameters of the feeding motor programs from one cycle to the next; the variability then propagates through the firing patterns of the motor neurons to the contractions of the feeding muscles. We have proposed that, when the animal is faced with a new, imperfectly known feeding task in each cycle, the variability implements a trial-and-error search through the space of possible feeding movements. Although this strategy will not be successful in every cycle, over many cycles it may be the optimal strategy for feeding in an uncertain and changing environment. To play this role, however, the variability must actually appear in the feeding movements and, presumably, in the functional performance of the feeding behavior. Here we have tested this critical prediction. We have developed a technique to measure, in intact, freely feeding animals, the performance of Aplysia swallowing behavior, by continuously recording with a length transducer the movement of the seaweed strip being swallowed. Simultaneously, we have recorded with implanted electrodes activity at each of the internal levels, the CPG, motor neurons, and muscles, of the feeding neuromusculature. Statistical analysis of a large data set of these recordings suggests that functional performance is not determined strongly by one or a few parameters of the internal activity, but weakly by many. Most important, the internal variability does emerge in the behavior and its functional performance. Even when the animal is swallowing a long, perfectly regular seaweed strip, remarkably, the length swallowed from cycle to cycle is extremely variable, as variable as the parameters of the activity of the CPG, motor neurons, and muscles.