Functional annotation of insecta transcriptomes: A cautionary tale from Lepidoptera

Functional annotation is a critical step in the analysis of genomic data, as it provides insight into the function of individual genes and the pathways in which they participate. Currently, there is no consensus on the best computational approach for assigning functional annotation. This study compares three functional annotation methods (BLAST, eggNOG-Mapper, and InterProScan) in their ability to assign Gene Ontology terms in two species of Insecta with differing levels of annotation, Bombyx mori and Manduca sexta. The methods were compared for their annotation coverage, number of term assignments, term agreement and non-overlapping terms. Here we show that there are large discrepancies in gene ontology term assignment among the three computational methods, which could lead to confounding interpretations of data and non-comparable results. This study provide insight into the strengths and weaknesses of each computational method and highlight the need for more standardized methods of functional annotation.

A virtuous cycle between invertebrate and robotics research: perspective on a decade of Living Machines research

Many invertebrates are ideal model systems on which to base robot design principles due to their success in solving seemingly complex tasks across domains while possessing smaller nervous systems than vertebrates. Three areas are particularly relevant for robot designers: Research on flying and crawling invertebrates has inspired new materials and geometries from which robot bodies (their morphologies) can be constructed, enabling a new generation of softer, smaller, and lighter robots. Research on walking insects has informed the design of new systems for controlling robot bodies (their motion control) and adapting their motion to their environment without costly computational methods. And research combining wet and computational neuroscience with robotic validation methods has revealed the structure and function of core circuits in the insect brain responsible for the navigation and swarming capabilities (their mental faculties) displayed by foraging insects. The last decade has seen significant progress in the application of principles extracted from invertebrates, as well as the application of biomimetic robots to model and better understand how animals function. This Perspectives paper on the past 10 years of the Living Machines conference outlines some of the most exciting recent advances in each of these fields before outlining lessons gleaned and the outlook for the next decade of invertebrate robotic research.

In vitro Insect Fat Cultivation for Cellular Agriculture Applications

Cell-cultured fat could provide important elements of flavor, nutrition, and texture to enhance the quality and therefore expand consumer adoption of alternative meat products. In contrast to cells from livestock animals, insect cells have been proposed as a relatively low-cost and scalable platform for tissue engineering and muscle cell-derived cultured meat production. Furthermore, insect fat cells have long been cultured and characterized for basic biology and recombinant protein production but not for food production. To develop a food-relevant approach to insect fat cell cultivation and tissue engineering, Manduca sexta cells were cultured and induced to accumulate lipids in 2D and 3D formats within decellularized mycelium scaffolding. The resultant in vitro fat tissues were characterized and compared to in vivo fat tissue data by imaging, lipidomics, and texture analyses. The cells exhibited robust lipid accumulation when treated with a 0.1 mM soybean oil emulsion and had "healthier" fat profiles, as measured by the ratio of unsaturated to saturated fatty acids. Mycelium scaffolding provided a simple, food-grade approach to support the 3D cell cultures and lipid accumulation. This approach provides a low-cost, scalable, and nutritious method for cultured fat production.

Proleg retractor muscles in Manduca sexta larvae are segmentally different, suggesting anteroposterior specialization

Manduca sexta larvae are an important model system for studying the neuromechanics of soft body locomotion. They climb on plants using the abdominal prolegs to grip and maneuver in any orientation and on different surfaces. The prolegs grip passively with an array of cuticular hooks, and grip release is actively controlled by retractor muscles inserted into the soft planta membrane at the proleg tip. Until now, the principal planta retractor muscles (PPRMs) in each body segment were thought to be a single fiber bundle originating on the lateral body wall. Here, using high resolution X-ray microtomography of intact animals, we show that the PPRM is a more complex muscle consisting of multiple contractile fibers originating at several distinct sites on the proleg. Furthermore, we show that there are segmental differences in the number and size of some of these fiber groups which suggests that the prolegs may operate differently along the anterior-posterior axis.

The control of nocifensive movements in the caterpillar Manduca sexta

In response to a noxious stimulus on the abdomen, caterpillars lunge their head towards the site of stimulation. This nocifensive 'strike' behavior is fast (∼0.5 s duration), targeted and usually unilateral. It is not clear how the fast strike movement is generated and controlled, because caterpillar muscle develops peak force relatively slowly (∼1 s) and the baseline hemolymph pressure is low (<2 kPa). Here, we show that strike movements are largely driven by ipsilateral muscle activation that propagates from anterior to posterior segments. There is no sustained pre-strike muscle activation that would be expected for movements powered by the rapid release of stored elastic energy. Although muscle activation on the ipsilateral side is correlated with segment shortening, activity on the contralateral side consists of two phases of muscle stimulation and a marked decline between them. This decrease in motor activity precedes rapid expansion of the segment on the contralateral side, presumably allowing the body wall to stretch more easily. The subsequent increase in contralateral motor activation may slow or stabilize movements as the head reaches its target. Strike behavior is therefore a controlled fast movement involving the coordination of muscle activity on each side and along the length of the body.

Stepping pattern changes in the caterpillar Manduca sexta: the effects of orientation and substrate

Most animals can successfully travel across cluttered, uneven environments and cope with enormous changes in surface friction, deformability and stability. However, the mechanisms used to achieve such remarkable adaptability and robustness are not fully understood. Even more limited is the understanding of how soft, deformable animals such as tobacco hornworm Manduca sexta (caterpillars) can control their movements as they navigate surfaces that have varying stiffness and are oriented at different angles. To fill this gap, we analyzed the stepping patterns of caterpillars crawling on two different types of substrate (stiff and soft) and in three different orientations (horizontal and upward/downward vertical). Our results show that caterpillars adopt different stepping patterns (i.e. different sequences of transition between the swing and stance phases of prolegs in different body segments) based on substrate stiffness and orientation. These changes in stepping pattern occur more frequently in the upward vertical orientation. The results of this study suggest that caterpillars can detect differences in the material properties of the substrate on which they crawl and adjust their behavior to match those properties.

Nociceptive neurons respond to multimodal stimuli in Manduca sexta

The caterpillar Manduca sexta produces a highly stereotyped strike behavior in response to noxious thermal or mechanical stimuli to the abdomen. This rapid movement is targeted to the site of the stimulus, but the identity of the nociceptive sensory neurons are currently unknown. It is also not known whether both mechanical and thermal stimuli are detected by the same neurons. Here, we show that the likelihood of a strike increases with the strength of the stimulus and that activity in nerves innervating the body wall increases rapidly in response to noxious stimuli. Mechanical and thermal stimuli to the dorsal body wall activate the same sensory unit, suggesting it represents a multimodal neuron. This is further supported by the effects of rapidly repeated thermal or mechanical stimuli, which cause a depression of neuronal responsiveness that is generalized across modalities. Mapping the receptive fields of neurons responding to strong thermal stimuli indicates that these multimodal, nociceptive units are produced by class γ multidendritic neurons in the body wall.

The design and development of Branch Bot: a branch-crawling, caterpillar-inspired, soft robot

A soft climbing robot has the potential to access locations such as wiring ducts and tree canopies that are unreachable by humans and traditional rigid robots. In addition, a soft robot is robust and can fall without damaging itself or its environment. We present a soft, branch-crawling robot that is inspired by the passive gripping mechanisms used by caterpillars. The conformability of the robot’s soft body makes it uniquely suited to move in a complex 3D environment. A key innovation is that grip release is actively controlled and coordinated with propulsion generated by stored elastic energy. The robot is molded from silicone rubber and actuated using remote motor-tendons coupled to the structure through Bowden cables. Grip is achieved passively through an elastic flexure that pushes a compliant finger against the dowel. Experimental results show that the gripper is easily able to support the weight of the robot, and that the body structure allows the robot to crawl horizontally, vertically, and along branches. This robot demonstrates some key advantages of a soft robotic platform over traditional rigid robots.

In Vitro Insect Muscle for Tissue Engineering Applications

Tissue engineering is primarily associated with medical disciplines, and research has thus focused on mammalian cells. For applications where clinical relevance is not a constraint, it is useful to evaluate the potential of alternative cell sources to form tissues in vitro. Specifically, skeletal muscle tissue engineering for bioactuation and cultured foods could benefit from the incorporation of invertebrate cells because of their less stringent growth requirements and other versatile features. Here, we used a Drosophila muscle cell line to demonstrate the benefits of insect cells relative to those derived from vertebrates. The cells were adapted to serum-free media, transitioned between adherent and suspension cultures, and manipulated with hormones. Furthermore, we analyzed edible scaffolds to support cell adhesion and assayed cellular protein and minerals to evaluate nutrition potential. The insect muscle cells exhibited advantageous growth patterns and hold unique functionality for tissue engineering applications beyond the medical realm.

Caterpillar Climbing: Robust, Tension-Based Omni-Directional Locomotion

Animals that must transition from horizontal to inclined or vertical surfaces typically change their locomotion strategy to compensate for the relative shift in gravitational forces. The species that have been studied have stiff articulated skeletons that allow them to redistribute ground reaction forces (GRFs) to control traction. Most also change their stepping patterns to maintain stability as they climb. In contrast, caterpillars, most of which are highly scansorial, soft-bodied, and lack rigid support or joints, can move with the same general kinematics in all orientations. In this study, we measure the GRFs exerted by the abdominal prolegs of Manduca sexta (Linnaeus) during locomotion. We show that, despite the orthogonal shift in gravitational forces, caterpillars use the same tension-based environmental skeleton strategy to crawl horizontally and to climb vertically. Furthermore, the transition from horizontal to vertical surfaces does not seem to require a change in gait; instead gravitational loading is used to help maintain a stance-phase body tension against which the muscles can pull the body upwards.

The neuromechanics of proleg grip release

Because soft animals are deformable their locomotion is particularly affected by external forces and they are expected to face challenges controlling movements in different environments and orientations. We have used the caterpillar Manduca sexta to study neuromechanical strategies of soft-bodied scansorial locomotion. Manduca locomotion critically depends on the timing of proleg grip release which is mediated by the principle planta retractor muscle and its single motoneuron, PPR. During upright crawling, PPR firing frequency increases approximately 0.6 seconds before grip release but during upside-down crawling, this activity begins significantly earlier, possibly pre-tensioning the muscle. Under different loading conditions the timing of PPR activity changes relative to the stance/swing cycle. PPR motor activity is greater during upside-down crawling but these frequency changes are too small to produce significant differences in muscle force. Detailed observation of the proleg tip show that it swells before the retractor muscle is activated. This small movement is correlated with the activation of more posterior body segments suggesting that it results from indirect mechanical effects. The timing and direction of this proleg displacement implies that proleg grip release is a dynamic interplay of mechanics and active neural control.

Gait control in a soft robot by sensing interactions with the environment using self-deformation

All animals use mechanosensors to help them move in complex and changing environments. With few exceptions, these sensors are embedded in soft tissues that deform in normal use such that sensory feedback results from the interaction of an animal with its environment. Useful information about the environment is expected to be embedded in the mechanical responses of the tissues during movements. To explore how such sensory information can be used to control movements, we have developed a soft-bodied crawling robot inspired by a highly tractable animal model, the tobacco hornworm Manduca sexta. This robot uses deformations of its body to detect changes in friction force on a substrate. This information is used to provide local sensory feedback for coupled oscillators that control the robot's locomotion. The validity of the control strategy is demonstrated with both simulation and a highly deformable three-dimensionally printed soft robot. The results show that very simple oscillators are able to generate propagating waves and crawling/inching locomotion through the interplay of deformation in different body parts in a fully decentralized manner. Additionally, we confirmed numerically and experimentally that the gait pattern can switch depending on the surface contact points. These results are expected to help in the design of adaptable, robust locomotion control systems for soft robots and also suggest testable hypotheses about how soft animals use sensory feedback.

Softworms: the design and control of non-pneumatic, 3D-printed, deformable robots

Robots that can easily interact with humans and move through natural environments are becoming increasingly essential as assistive devices in the home, office and hospital. These machines need to be safe, effective, and easy to control. One strategy towards accomplishing these goals is to build the robots using soft and flexible materials to make them much more approachable and less likely to damage their environment. A major challenge is that comparatively little is known about how best to design, fabricate and control deformable machines. Here we describe the design, fabrication and control of a novel soft robotic platform (Softworms) as a modular device for research, education and public outreach. These robots are inspired by recent neuromechanical studies of crawling and climbing by larval moths and butterflies (Lepidoptera, caterpillars). Unlike most soft robots currently under development, the Softworms do not rely on pneumatic or fluidic actuators but are electrically powered and actuated using either shape-memory alloy microcoils or motor tendons, and they can be modified to accept other muscle-like actuators such as electroactive polymers. The technology is extremely versatile, and different designs can be quickly and cheaply fabricated by casting elastomeric polymers or by direct 3D printing. Softworms can crawl, inch or roll, and they are steerable and even climb steep inclines. Softworms can be made in any shape but here we describe modular and monolithic designs requiring little assembly. These modules can be combined to make multi-limbed devices. We also describe two approaches for controlling such highly deformable structures using either model-free state transition-reward matrices or distributed, mechanically coupled oscillators. In addition to their value as a research platform, these robots can be developed for use in environmental, medical and space applications where cheap, lightweight and shape-changing deformable robots will provide new performance capabilities.

Orientation-Dependent Changes in Single Motor Neuron Activity during Adaptive Soft-Bodied Locomotion

Recent major advances in understanding the organizational principles underlying motor control have focused on a small number of animal species with stiff articulated skeletons. These model systems have the advantage of easily quantifiable mechanics, but the neural codes underlying different movements are difficult to characterize because they typically involve a large population of neurons controlling each muscle. As a result, studying how neural codes drive adaptive changes in behavior is extremely challenging. This problem is highly simplified in the tobacco hawkmoth Manduca sexta, which, in its larval stage (caterpillar), is predominantly soft-bodied. Since each M. sexta muscle is innervated by one, occasionally two, excitatory motor neurons, the electrical activity generated by each muscle can be mapped to individual motor neurons. In the present study, muscle activation patterns were converted into motor neuron frequency patterns by identifying single excitatory junction potentials within recorded electromyographic traces. This conversion was carried out with single motor neuron resolution thanks to the high signal selectivity of newly developed flexible microelectrode arrays, which were specifically designed to record from M. sexta muscles. It was discovered that the timing of motor neuron activity and gait kinematics depend on the orientation of the plane of motion during locomotion. We report that, during climbing, the motor neurons monitored in the present study shift their activity to correlate with movements in the animal's more anterior segments. This orientation-dependent shift in motor activity is in agreement with the expected shift in the propulsive forces required for climbing. Our results suggest that, contrary to what has been previously hypothesized, M.sexta uses central command timing for adaptive load compensation.

Silk coating as a novel delivery system and reversible adhesive for stiffening and shaping flexible probes

The performance of any implantable electrode depends not only on its recording or stimulation capabilities but also on its position in relation to the target site. Electrode displacement during or after implantation represents a major issue as it might result in tissue damage or incorrect recording or stimulation location, complicating the interpretation of experimental data. Although thin-film electrode arrays have overcome some of the main limitations of more traditional, stiffer probes, their intrinsic flexibility and unilateral contacts represent a new challenge: they tend to bend during insertion and are difficult to implant simultaneously while maintaining a specific relative position. Here, we present a method that addresses all these issues using a coating of silk fibroin, a versatile protein derived from silkworm cocoons. The method is demonstrated by acquiring electromyographic (EMG) recordings in Manduca sexta, a soft-bodied animal that exemplifies the issues of electrode insertion and placement in delicate and deformable tissues.

Bone-free: soft mechanics for adaptive locomotion

Muscular hydrostats (such as mollusks), and fluid-filled animals (such as annelids), can exploit their constant-volume tissues to transfer forces and displacements in predictable ways, much as articulated animals use hinges and levers. Although larval insects contain pressurized fluids, they also have internal air tubes that are compressible and, as a result, they have more uncontrolled degrees of freedom. Therefore, the mechanisms by which larval insects control their movements are expected to reveal useful strategies for designing soft biomimetic robots. Using caterpillars as a tractable model system, it is now possible to identify the biomechanical and neural strategies for controlling movements in such highly deformable animals. For example, the tobacco hornworm, Manduca sexta, can stiffen its body by increasing muscular tension (and therefore body pressure) but the internal cavity (hemocoel) is not iso-barometric, nor is pressure used to directly control the movements of its limbs. Instead, fluid and tissues flow within the hemocoel and the body is soft and flexible to conform to the substrate. Even the gut contributes to the biomechanics of locomotion; it is decoupled from the movements of the body wall and slides forward within the body cavity at the start of each step. During crawling the body is kept in tension for part of the stride and compressive forces are exerted on the substrate along the axis of the caterpillar, thereby using the environment as a skeleton. The timing of muscular activity suggests that crawling is coordinated by proleg-retractor motoneurons and that the large segmental muscles produce anterograde waves of lifting that do not require precise timing. This strategy produces a robust form of locomotion in which the kinematics changes little with orientation. In different species of caterpillar, the presence of prolegs on particular body segments is related to alternative kinematics such as "inching." This suggests a mechanism for the evolution of different gaits through changes in the usage of prolegs, rather than, through extensive alterations in the motor program controlling the body wall. Some of these findings are being used to design and test novel control-strategies for highly deformable robots. These "softworm" devices are providing new insights into the challenges faced by any soft animal navigating in a terrestrial environment.

Bone-free: soft mechanics for adaptive locomotion

Muscular hydrostats (such as mollusks), and fluid-filled animals (such as annelids), can exploit their constant-volume tissues to transfer forces and displacements in predictable ways, much as articulated animals use hinges and levers. Although larval insects contain pressurized fluids, they also have internal air tubes that are compressible and, as a result, they have more uncontrolled degrees of freedom. Therefore, the mechanisms by which larval insects control their movements are expected to reveal useful strategies for designing soft biomimetic robots. Using caterpillars as a tractable model system, it is now possible to identify the biomechanical and neural strategies for controlling movements in such highly deformable animals. For example, the tobacco hornworm, Manduca sexta, can stiffen its body by increasing muscular tension (and therefore body pressure) but the internal cavity (hemocoel) is not iso-barometric, nor is pressure used to directly control the movements of its limbs. Instead, fluid and tissues flow within the hemocoel and the body is soft and flexible to conform to the substrate. Even the gut contributes to the biomechanics of locomotion; it is decoupled from the movements of the body wall and slides forward within the body cavity at the start of each step. During crawling the body is kept in tension for part of the stride and compressive forces are exerted on the substrate along the axis of the caterpillar, thereby using the environment as a skeleton. The timing of muscular activity suggests that crawling is coordinated by proleg-retractor motoneurons and that the large segmental muscles produce anterograde waves of lifting that do not require precise timing. This strategy produces a robust form of locomotion in which the kinematics changes little with orientation. In different species of caterpillar, the presence of prolegs on particular body segments is related to alternative kinematics such as "inching." This suggests a mechanism for the evolution of different gaits through changes in the usage of prolegs, rather than, through extensive alterations in the motor program controlling the body wall. Some of these findings are being used to design and test novel control-strategies for highly deformable robots. These "softworm" devices are providing new insights into the challenges faced by any soft animal navigating in a terrestrial environment.

Self-assembled insect muscle bioactuators with long term function under a range of environmental conditions

The use of mammalian muscles as device actuators is severely limited by their sensitivity to environmental conditions and short lifetime. To overcome these limitations insect muscle stem cells were used to generate organized 3D muscle constructs with significant enhancements in environmental tolerance and long term function. These tissues self-assembled, self-repaired, survived for months in culture without media replenishment and produced stresses of up to 2 kPa, all under ambient conditions. The muscle tissues continued to function for days even under biologically extreme temperature and pH. Furthermore, the dimensions and geometry of these tissues can be easily scaled to MEMS or meso-scale devices. The versatility, environmental hardiness and long term function provide a new path forward for biological actuators for device needs.

Spatial accuracy of a rapid defense behavior in caterpillars

Aimed movements require that an animal accurately locates the target and correctly reaches that location. One such behavior is the defensive strike seen in Manduca sexta larva. These caterpillars respond to noxious mechanical stimuli applied to their abdomen with a strike of the mandibles towards the location of the stimulus. The accuracy with which the first strike movement reaches the stimulus site depends on the location of the stimulus. Reponses to dorsal stimuli are less accurate than those to ventral stimuli and the mandibles generally land ventral to the stimulus site. Responses to stimuli applied to anterior abdominal segments are less accurate than responses to stimuli applied to more posterior segments and the mandibles generally land posterior to the stimulus site. A trade-off between duration of the strike and radial accuracy is only seen in the anterior stimulus location (body segment A4). The lower accuracy of the responses to anterior and dorsal stimuli can be explained by the morphology of the animal; to reach these areas the caterpillar needs to move its body into a tight curve. Nevertheless, the accuracy is not exact in locations that the animal has shown it can reach, which suggests that consistently aiming more ventral and posterior of the stimulation site might be a defense strategy.

Isolation and maintenance-free culture of contractile myotubes from Manduca sexta embryos

Skeletal muscle tissue engineering has the potential to treat tissue loss and degenerative diseases. However, these systems are also applicable for a variety of devices where actuation is needed, such as microelectromechanical systems (MEMS) and robotics. Most current efforts to generate muscle bioactuators are focused on using mammalian cells, which require exacting conditions for survival and function. In contrast, invertebrate cells are more environmentally robust, metabolically adaptable and relatively autonomous. Our hypothesis is that the use of invertebrate muscle cells will obviate many of the limitations encountered when mammalian cells are used for bioactuation. We focus on the tobacco hornworm, Manduca sexta, due to its easy availability, large size and well-characterized muscle contractile properties. Using isolated embryonic cells, we have developed culture conditions to grow and characterize contractile M. sexta muscles. The insect hormone 20-hydroxyecdysone was used to induce differentiation in the system, resulting in cells that stained positive for myosin, contract spontaneously for the duration of the culture, and do not require media changes over periods of more than a month. These cells proliferate under normal conditions, but the application of juvenile hormone induced further proliferation and inhibited differentiation. Cellular metabolism under normal and low glucose conditions was compared for C2C12 mouse and M. sexta myoblast cells. While differentiated C2C12 cells consumed glucose and produced lactate over one week as expected, M. sexta muscle did not consume significant glucose, and lactate production exceeded mammalian muscle production on a per cell basis. Contractile properties were evaluated using index of movement analysis, which demonstrated the potential of these cells to perform mechanical work. The ability of cultured M. sexta muscle to continuously function at ambient conditions without medium replenishment, combined with the interesting metabolic properties, suggests that this cell source is a promising candidate for further investigation toward bioactuator applications.

Scaling of caterpillar body properties and its biomechanical implications for the use of a hydrostatic skeleton

Caterpillars can increase their body mass 10,000-fold in 2 weeks. It is therefore remarkable that most caterpillars appear to maintain the same locomotion kinematics throughout their entire larval stage. This study examined how the body properties of a caterpillar might change to accommodate such dramatic changes in body load. Using Manduca sexta as a model system, we measured changes in body volume, tissue density and baseline body pressure, and the dimensions of load-bearing tissues (the cuticle and muscles) over a body mass range from milligrams to several grams. All Manduca biometrics relevant to the hydrostatic skeleton scaled allometrically but close to the isometric predictions. Body density and pressure were almost constant. We next investigated the effects of scaling on the bending stiffness of the caterpillar hydrostatic skeleton. The anisotropic non-linear mechanical response of Manduca muscles and soft cuticle has previously been quantified and modeled with constitutive equations. Using biometric data and these material laws, we constructed finite element models to simulate a hydrostatic skeleton under different conditions. The results show that increasing the internal pressure leads to a non-linear increase in bending stiffness. Increasing the body size results in a decrease in the normalized bending stiffness. Muscle activation can double this stiffness in the physiological pressure range, but thickening the cuticle or increasing the muscle area reduces the structural stiffness. These non-linear effects may dictate the effectiveness of a hydrostatic skeleton at different sizes. Given the shared anatomy and size variation in Lepidoptera larvae, these mechanical scaling constraints may implicate the diverse locomotion strategies in different species.

Modeling locomotion of a soft-bodied arthropod using inverse dynamics

Most bio-inspired robots have been based on animals with jointed, stiff skeletons. There is now an increasing interest in mimicking the robust performance of animals in natural environments by incorporating compliant materials into the locomotory system. However, the mechanics of moving, highly conformable structures are particularly difficult to predict. This paper proposes a planar, extensible-link model for the soft-bodied tobacco hornworm caterpillar, Manduca sexta, to provide insight for biologists and engineers studying locomotion by highly deformable animals and caterpillar-like robots. Using inverse dynamics to process experimentally acquired point-tracking data, ground reaction forces and internal forces were determined for a crawling caterpillar. Computed ground reaction forces were compared to experimental data to validate the model. The results show that a system of linked extendable joints can faithfully describe the general form and magnitude of the contact forces produced by a crawling caterpillar. Furthermore, the model can be used to compute internal forces that cannot be measured experimentally. It is predicted that between different body segments in stance phase the body is mostly kept in tension and that compression only occurs during the swing phase when the prolegs release their grip. This finding supports a recently proposed mechanism for locomotion by soft animals in which the substrate transfers compressive forces from one part of the body to another (the environmental skeleton) thereby minimizing the need for hydrostatic stiffening. The model also provides a new means to characterize and test control strategies used in caterpillar crawling and soft robot locomotion.

Motor patterns associated with crawling in a soft-bodied arthropod

Soft-bodied animals lack distinct joints and levers, and so their locomotion is expected to be controlled differently from that of animals with stiff skeletons. Some invertebrates, such as the annelids, use functionally antagonistic muscles (circumferential and longitudinal) acting on constant-volume hydrostatics to produce extension and contraction. These processes form the basis for most theoretical considerations of hydrostatic locomotion in organisms including larval insects. However, caterpillars do not move in this way, and their powerful appendages provide grip independent of their dimensional changes. Here, we show that the anterograde wave of movement seen in the crawling tobacco hornworm, Manduca sexta, is mediated by co-activation of dorsal and ventral muscles within a body segment, rather than by antiphasic activation, as previously believed. Furthermore, two or three abdominal segments are in swing phase simultaneously, and the activities of motor neurons controlling major longitudinal muscles overlap in more than four segments. Recordings of muscle activity during natural crawling show that some are activated during both their shortening and elongation. These results do not support the typical peristaltic model of crawling, but they do support a tension-based model of crawling, in which the substrate is utilized as an anchor to generate propulsion.

The substrate as a skeleton: ground reaction forces from a soft-bodied legged animal

The measurement of forces generated during locomotion is essential for the development of accurate mechanical models of animal movements. However, animals that lack a stiff skeleton tend to dissipate locomotor forces in large tissue deformation and most have complex or poorly defined substrate contacts. Under these conditions, measuring propulsive and supportive forces is very difficult. One group that is an exception to this problem is lepidopteran larvae which, despite lacking a rigid skeleton, have well-developed limbs (the prolegs) that can be used for climbing in complex branched structures and on a variety of surfaces. Caterpillars therefore are excellent for examining the relationship between soft body deformation and substrate reaction forces during locomotion. In this study, we devised a method to measure the ground reaction forces (GRFs) at multiple contact points during crawling by the tobacco hornworm (Manduca sexta). Most abdominal prolegs bear similar body weight during their stance phase. Interestingly, forward reaction forces did not come from pushing off the substrate. Instead, most positive reaction forces came from anterior abdominal prolegs loaded in tension while posterior legs produced drag in most instances. The counteracting GRFs effectively stretch the animal axially during the second stage of a crawl cycle. These findings help in understanding how a terrestrial soft-bodied animal can interact with its substrate to control deformation without hydraulic actuation. The results also provide insights into the behavioral and mechanistic constraints leading to the evolution of diverse proleg arrangements in different species of caterpillar.

Kinematics of horizontal and vertical caterpillar crawling

Unlike horizontal crawling, vertical crawling involves two counteracting forces: torque rotating the body around its center of mass and gravity resisting forward movement. The influence of these forces on kinematics has been examined in the soft-bodied larval stage of Manduca sexta. We found that crawling and climbing are accomplished using the same movements, with both segment timing and proleg lift indistinguishable in horizontal and vertical locomotion. Minor differences were detected in stride length and in the delay between crawls, which led to a lower crawling speed in the vertical orientation. Although these differences were statistically significant, they were much smaller than the variation in kinematic parameters between animals. The ability of Manduca to crawl and climb using the same movements is best explained by Manduca's relatively small size, slow speed and strong, controlled, passive grip made possible by its proleg/crochets.

Movement encoding by a stretch receptor in the soft-bodied caterpillar, Manduca sexta

In a wide variety of animals, stretch receptors provide proprioceptive feedback for motion control. However, for animals that lack a stiff skeleton, it is unclear what information is being detected and how this is incorporated into behavior. Because such animals can change their body shape from moment-to-moment, information about body configuration could be particularly important for coordination. This study uses larval stage Lepidoptera (Manduca sexta) to examine how the longitudinal stretch receptor organ (SRO) responds to behaviorally appropriate movements. We characterized the responses of the SRO to changes in strain using magnitudes and velocities matching those seen physiologically. We found that the SRO response characteristics are compatible with the regulation of stance and with the defensive response to noxious stimuli. However, we also found that movements during crawling produce SRO responses that are dominated by the interdependence of phasic, tonic and slowly adaptive components. Ablation of stretch receptors in the proleg-bearing, fourth abdominal segment did not have any observable effect on behaviors, which suggests that the SROs are not essential for coordinating overt movements. We discuss the implications of these findings in the context of specific behaviors, and explore how the SRO response might be utilized during animal behavior.

Soft-cuticle biomechanics: a constitutive model of anisotropy for caterpillar integument

The mechanical properties of soft tissues are important for the control of motion in many invertebrates. Pressurized cylindrical animals such as worms have circumferential reinforcement of the body wall; however, no experimental characterization of comparable anisotropy has been reported for climbing larvae such as caterpillars. Using uniaxial, real-time fluorescence extensometry on millimeter scale cuticle specimens we have quantified differences in the mechanical properties of cuticle to circumferentially and longitudinally applied forces. Based on these results and the composite matrix-fiber structure of cuticle, a pseudo-elastic transversely isotropic constitutive material model was constructed with circumferential reinforcement realized as a Horgan-Saccomandi strain energy function. This model was then used numerically to describe the anisotropic material properties of Manduca cuticle. The constitutive material model will be used in a detailed finite-element analysis to improve our understanding of the mechanics of caterpillar crawling.

Dynamic properties of a locomotory muscle of the tobacco hornworm Manduca sexta during strain cycling and simulated natural crawling

Caterpillars are soft-bodied terrestrial climbers that perform a wide variety of complex movements with several hundred muscles and a relatively small number of neurons. Control of movements is therefore expected to place unusual demands on the mechanical properties of the muscles. The muscles develop force slowly (1-6 s to peak) yet over a strain range extending from under 60% to more than 160% of resting length, with a length-tension relationship resembling that of supercontracting or cross-striated muscle. In passive and active sinusoidal strain cycling, muscles displayed viscoelastic qualities, with very low and stretch-velocity dependent resilience; there was a positive linear relationship between stretch velocity and the fraction of work dissipation attributable to passive muscle properties (20-80%). In linear stretches of unstimulated muscles at velocities bracketing those encountered in natural crawling, the rise in tension showed a distinct transition to a lower rate of increase, with transition tension dependent upon stretch velocity; peak force was exponentially related to stretch velocity. When stretching ceased, force decayed exponentially, with slower decay associated with lower stretch velocities; the decay time constant was exponentially related to stretch velocity. From the kinematics of caterpillars crawling horizontally we determined that the ventral interior lateral muscle (VIL) of the third abdominal segment (A3) is at or near resting length for most of the crawl cycle, with a fairly linear shortening by 25-30% and re-lengthening occupying about 45% of cycle duration. Synchronized kinematic and EMG recordings showed that during horizontal crawling A3 VIL is stimulated as the muscle shortens from about 95% to 75% of its resting length. We subjected in vitro VIL preparations to strain cycling and stimulus phase and duration similar to that of natural crawling. The resulting work loops were figure-eight shaped, with the muscle performing work during the shortest 45-65% of the strain cycle but dissipating work during the rest of the cycle. The muscle remained in the ascending limb of its length-tension relationship throughout the crawl cycle. Peak force occurred at the end of re-lengthening, nearly a full second after stimulation ceased, underscoring the importance of understanding passive muscle properties to explain caterpillar locomotion. Whether A3 VIL functions as an actuator at all during simulated natural strain cycling is highly sensitive to stimulus timing but far less so to stimulus duration. The muscle's elastomer-like properties appear to play a major role in its function.

Muscle performance in a soft-bodied terrestrial crawler: constitutive modelling of strain-rate dependency

Experimental data on the passive mechanical properties of the ventral interior lateral muscle of the tobacco hornworm caterpillar, Manduca sexta, are reported. The stress-deformation response of the Manduca muscle is shown to be nonlinear pseudo-elastic, capable of large deformations and subject to stress softening during initial loading cycles. The muscle passive mechanical properties also depend on multiple time-dependent processes. In particular, we show new experimental data from cyclic loading tests of an unstimulated muscle with constant maximum stretch and different, constant engineering strain rates. Then, on the basis of these data a constitutive model is derived to reproduce the main characteristics of this behaviour. In formulating the constitutive model, we consider the muscle as a complex macromolecular structure with fibrous components at numerous size scales. The model uses a phenomenological approach to account for different mechanisms by which passive force changes during applied deformation and how the muscle properties recover after unloading.

A constitutive model for muscle properties in a soft-bodied arthropod

In this paper, we examine the mechanical properties of muscles in a soft-bodied arthropod under both passive and stimulated conditions. In particular, we examine the ventral interior lateral muscle of the tobacco hornworm caterpillar, Manduca sexta, and show that its response is qualitatively similar to the behaviour of particle-reinforced rubber. Both materials are capable of large nonlinear elastic deformations, show a hysteretic behaviour and display stress softening during the first few cycles of repeated loading. The Manduca muscle can therefore be considered as different elastic materials during loading and unloading and is best described using the theory of pseudo-elasticity. We summarize the basic equations for transversely isotropic pseudo-elastic materials, first for general deformations and then for the appropriate uniaxial specialization. The constitutive relation proposed is in good agreement with the experimental data for both the passive and the stimulated conditions.

Characterization of NO/cGMP-mediated responses in identified motoneurons

1. Nitric oxide (NO) is thought to play a neuromodulatory role in the nervous system of vertebrate and invertebrate species. In the hornworm Manduca sexta, NO-mediated signaling has been implicated in behavioral and developmental processes, but its exact function in neurons is unknown. In this study, we identify specific neurons in the CNS of Manduca larvae that accumulate cGMP in response to treatment with NO donors in the presence of cGMP-phosphodiesterase inhibitors. Subsets of these neurons were identified as motoneuron-12 (MN12) and intersegmental motoneurons (ISMs), which innervate dorsal oblique muscles of the larvae. 2. To investigate the physiological role of NO-evoked increases in cGMP in these motoneurons we performed intracellular recordings; we found that application of NO donors caused an increase in neuronal excitability that was characterized by an increase in the spontaneous firing frequency. When action potentials and EPSPs were blocked, NO treatment evoked a depolarization of the resting membrane potential and a decrease in the measured input resistance in both MN12 and the ISMs. 3. Additional experiments with MN12 showed that treatment with the cGMP analogue, 8-Br-cGMP mimicked the NO effect on the resting potential and the input resistance. Furthermore, MN12 incubation with the NOS inhibitor, L-NNA, resulted in a small hyperpolarization of the resting potential and an increase in the input resistance, and incubation with the sGC inhibitor, ODQ blocked the NO-evoked depolarization of MN12. Finally, NO treatment during voltage clamping of MN12 evoked an inward positive current. 4. Taken together, these results suggest that NO can act as a "gain control" of neuronal excitability, which might have an important role in insect behavior.

Nitric oxide signalling: insect brains and photocytes

The success of insects arises partly from extraordinary biochemical and physiological specializations. For example, most species lack glutathione peroxidase, glutathione reductase and respiratory-gas transport proteins and thus allow oxygen to diffuse directly into cells. To counter the increased potential for oxidative damage, insect tissues rely on the indirect protection of the thioredoxin reductase pathway to maintain redox homoeostasis. Such specializations must impact on the control of reactive oxygen species and free radicals such as the signalling molecule NO. This chapter focuses on NO signalling in the insect central nervous system and in the light-producing lantern of the firefly. It is shown that neural NO production is coupled to both muscarinic and nicotinic acetylcholine receptors. The NO-mediated increase in cGMP evokes changes in spike activity of neurons controlling the gut and body wall musculature. In addition, maps of NO-producing and -responsive neurons make insects useful models for establishing the range and specificity of NO's actions in the central nervous system. The firefly lantern also provides insight into the interplay of tissue anatomy and cellular biochemistry in NO signalling. In the lantern, nitric oxide synthase is expressed in tracheal end cells that are interposed between neuron terminals and photocytes. Exogenous NO can activate light production and NO scavengers block evoked flashes. NO inhibits respiration in isolated lantern mitochondria and this can be reversed by bright light. It is proposed that NO controls flashes by transiently inhibiting oxygen consumption and permitting direct oxidation of activated luciferin. It is possible that light production itself contributes to the restoration of mitochondrial activity and consequent cessation of the flash.

Expression and function of two nicotinic subunits in insect neurons

Nicotinic acetylcholine receptors (nAChRs) in insects are neuron-specific oligomeric proteins essential for the central transmission of sensory information. Little is known about their subunit composition because it is difficult to express functional insect nAChRs in heterologous systems. As an alternative approach we have examined the native expression of two subunits in neurons of the nicotinic-resistant, tobacco-feeding insect Manduca sexta. Both the alpha-subunit MARA1 and the beta-subunit MARB can be detected by in situ hybridization in the majority of cultured neurons with an overlapping, but not identical, distribution. Changes in intracellular Ca(2+) evoked by nicotinic stimulation are more strongly correlated to the expression of MARA1 than MARB and are independent of cell size. Unlike the previously reported critical role of MARA1 in mediating nicotinic Ca(2+) responses, down-regulation of MARB by RNA interference (RNAi) did not reduce the number of responding neurons or the size of evoked responses, suggesting that additional subunits remain to be identified in Manduca.

The biomechanical and neural control of hydrostatic limb movements in Manduca sexta

Caterpillars are ecologically successful soft-bodied climbers. They are able to grip tightly to foliage using cuticular hooks at the tips of specialized abdominal limbs called prolegs. The neural control of proleg retraction has been examined in some detail but little is known about how prolegs extend and adduct. This is of particular interest because there are no extensor muscles or any obvious mechanisms for directing hydraulic flow into the proleg. In restrained tobacco hornworms (Manduca sexta),adduction can be evoked by stimulating mechanosensory hairs on the medial surface of the proleg. 3-D kinematics show that extension and adduction occur simultaneously through an unfolding of membrane between the pseudo segments. Hemolymph pressure pulses are not necessary to extend the proleg; instead, the pressure at the base of the proleg decreases before adduction and increases before retraction. It is proposed that these pressure changes are caused by muscles that stiffen and relax the body wall during cycles of retraction and adduction. Electromyographic recordings show that relaxation of the principal planta retractor muscle is essential for normal adduction. Extracellular nerve and muscle recordings in reduced preparations show that medial hair stimulation of one proleg can strongly and bilaterally excite motoneurons controlling the ventral internal lateral muscles of all the proleg-bearing segments. Ablation, nerve section and electromyographic experiments show that this muscle is not essential for adduction in restrained larvae but that it is coactive with the retractors and may be responsible for stiffening the body wall during proleg movements.

Simulation modeling of ligand receptor interactions at non-equilibrium conditions: processing of noisy inputs by ionotropic receptors

The first event in signal transduction at a synapse is the binding of transmitters to receptors. Because of rapidly changing transmitter levels this binding is unlikely to occur at equilibrium. We describe a mathematical approach that models complex receptor interactions in which the timing and amplitude of transmitter release are noisy. We show that exact solutions for simple bimolecular interactions and receptor transitions can be used to model complex reaction schemes by expressing them in sets of difference equations. Results from the difference equation method to describe binding and channel opening at extended time points compare well with standard solutions using ordinary differential equations. Because it is applicable to noisy systems we used the difference method to investigate the information processing capabilities of GABA receptors and predict how pharmacological agents may modify these properties. As previously demonstrated, the response to a single pulse of GABA is prolonged through entry into a desensitized state. During trains of stimuli the signal to noise ratio can change, and even increase progressively, but the overall transmitted fidelity of the signal decreases with increased driving frequency. The GABA modulator chlorpromazine (primarily affects agonist on and off rates) is predicated to increase receptor signal to noise ratio at all frequencies whereas pregnenolone sulfate (affects receptor desensitization) completely inhibits information transfer.

Combined imaging and chemical sensing of L-glutamate release from the foregut plexus of the lepidopteran, Manduca sexta

A new combined imaging and chemical detection sensor for the measurement of localized L-glutamate release at the insect neuromuscular junction (NMJ) is presented. The sensor is comprised of an L-glutamate-sensitive fluorescent gel, spin-coated onto the tip of an optical imaging fiber. The gel is composed of L-glutamate oxidase (GLOD); a pH-sensitive fluorescent dye, SNAFL; and poly(acrylamide-co-N-acryloxysuccinimide) (PAN). NH(3) is liberated from the interaction of L-glutamate with GLOD, which reversibly reduces the emitted fluorescence signal from SNAFL. This sensor has a spatial resolution of 3-4 micro m, and an L-glutamate detection limit of between 10 and 100 micro M. L-glutamate release and re-uptake from the foregut plexus of Manduca sexta was detected by the sensor in the presence of the L-glutamate re-uptake blocker dihydrokainate, and the post-synaptic L-glutamate receptor antagonist CNQX.

Nicotinic-acetylcholine receptors are functionally coupled to the nitric oxide/cGMP-pathway in insect neurons

In addition to their ionotropic role, neuronal nicotinic acetylcholine receptors (nAChRs) can influence second messenger levels, transmitter release and gene transcription. In this study, we show that nAChRs in an insect CNS control cGMP levels by coupling to NO production. In conditions that inhibit spiking, nicotine induced cGMP synthesis. This increase in cGMP was blocked by nicotinic antagonists, and by inhibitors of both nitric oxide synthase and soluble guanylyl cyclase. The nicotinic-evoked increase in cGMP was localized to specific NO-sensitive neurons in the CNS, several of which are identified motoneurons. Because NO production requires Ca2+, we investigated the effect of nicotinic stimulation on [Ca2+]i in cultured neurons. We found that activation of nAChRs increased [Ca2+]i, which was blocked by nAChR antagonists. Nicotinic stimulation of neurons in the isolated CNS in low-Na+, also evoked increases in [Ca2+]i independent of fast changes in voltage. In addition, approximately 10% of the nicotinic-evoked [Ca2+]i increase in cultured neurons persisted when voltage-gated Ca2+ channels were blocked by Ni2+. Under the same conditions, nicotinic stimulation of cGMP in the CNS was unaffected. These combined results suggest that nicotinic stimulation is coupled to NOS potentially by directly gating Ca2+.

The nicotinic alpha subunit MARA1 is necessary for cholinergic evoked calcium transients in Manduca neurons

The functional contribution of cloned subunits to insect nicotinic acetylcholine (ACh) receptors has been difficult to determine using heterologous expression. Instead, in this study we explore the subunit composition of naturally expressed functional receptors in an insect using RNA interference. The nicotinic alpha subunit, Manduca ACh Receptor Alpha 1 (MARA1) can be detected in neuronal cultures isolated from the ventral nerve cord of fifth instar larvae of Manduca sexta by in situ hybridization. It's presence correlates with large ACh induced, nicotinic Ca2+ responses. The expression of MARA1 is downregulated by treatment with dsRNA which significantly reduced both the number of responding cells and the amplitude of remaining Ca2+ responses. These results suggest that MARA1 is part of a nicotinic receptor functionally coupled to Ca2+ entry.

Nitric oxide and the control of firefly flashing

Bioluminescent flashing is essential for firefly reproduction, yet the specific molecular mechanisms that control light production are not well understood. We report that light production by fireflies can be stimulated by nitric oxide (NO) gas in the presence of oxygen and that NO scavengers block bioluminescence induced by the neurotransmitter octopamine. NO synthase is robustly expressed in the firefly lantern in cells interposed between nerve endings and the light-producing photocytes. These results suggest that NO synthesis is a key determinant of flash control in fireflies.

Combined kinematic and electromyographic analyses of proleg function during crawling by the caterpillar Manduca sexta

The planta retractor muscles in the prolegs of Manduca sexta caterpillars are a frequently-used model system for investigating a number of problems in neurobiology. We have combined kinematic and electromyogram analysis of proleg movements during crawling to examine the roles of these muscles during normal behavior. We found that retractor muscle activity is highly stereotyped, and that the primary function of these muscles is to disengage the crochets at the tip of the proleg for the swing phase of crawling. The duration of activity of the muscles was tightly coupled to the phasing of crawling behavior. The stepping patterns of animals changed to accommodate variations in the substrate, but the relative timing of retractor muscle activity was unaffected. There were no clear correlations between the various properties of motoneuronal input to the muscle (duration of activity, number of spikes, peak frequency of spikes) and the resulting muscle length change. Perhaps because it functions partially as a hydrostat, this may represent a neuromuscular system in which a significant part of the control algorithm is embedded in its morphology.

Context dependency of a limb withdrawal reflex in the caterpillar Manduca sexta

The proleg withdrawal reflex in the caterpillar Manduca sexta is a robust, well-characterized system for investigating the integration of sensory information with centrally patterned behavior. The reflex is evoked by stimulating mechanosensory hairs--planta hairs--located at the tip of each proleg. We studied the expression of this reflex by combining video recordings and electromyographic recordings from the main retractor muscles of the proleg, the principal and accessory planta retractor muscles. In intact animals, the nature of the response depended on the motor context of the animal. Animals which were standing quietly showed great variability in both the kinematic properties of proleg withdrawal, and the corresponding muscle electrical activity. Animals which were hanging upside down from a wooden dowel exhibited a much faster reflex, with retraction of the proleg occurring slightly faster than in standing animals, but re-extension of the proleg to the substrate being considerably faster. In crawling animals, expression of the reflex depended on the phase of the crawling cycle during which stimulation occurred. The reflex in a given proleg was suppressed during stance phase of that proleg. During swing phase, however, planta hair stimulation evoked proleg withdrawal, resulting in an assistance reflex. In contrast. isolated abdomens showed much less variability in the reflex. A comparison of the relationship between retractor muscle activity and the resulting proleg movement showed significant correlations between both the duration of activity and the number of muscle spikes, and the size of the associated proleg withdrawal. This is a promising system in which to investigate how central neuronal circuits accomplish context-dependency of motor behavior.