William J. Heitler

Fifty years of a command neuron: the neurobiology of escape behavior in the crayfish

Fifty years ago C.A.G. Wiersma established that the giant axons of the crayfish nerve cord drive tail-flip escape responses. The circuitry that includes these giant neurons has now become one of the best-understood neural circuits in the animal kingdom. Although it controls a specialized behavior of a relatively simple animal, this circuitry has provided insights that are of general neurobiological interest concerning matters as diverse as the identity of the neural substrates involved in making behavioral decisions, the cellular bases of learning, subcellular neuronal computation, voltage-gated electrical synaptic transmission and modification of neuromodulator actions that result from social experience. This work illustrates the value of studying a circuit of moderate, but tractable, complexity and known behavioral function.

The locust jump

SummaryThe locust jumps by a rapid extension of its metathoracic tibiae. The comparatively slow rate of rise of tension of the extensor tibia muscle means that if it is to shorten rapidly, it must develop tension isometrically prior to the jump by co-contracting with the flexor muscle. The extensor muscle is far stronger than the flexor and thus there has to be considerable structural specialisation of the joint to enable the flexor to prevent the tibia moving under the extensor tension. The geometry of the joint gives the flexor muscle a very large mechanical advantage over the extensor in the fully flexed position. This mechanical advantage decreases rapidly as the joint extends so that the residual flexor tension does not slow down the movement (Fig. 4). There is also a locking device associated with the flexor tendon which is engaged when the tibia is fully flexed and which holds it in this position against the developing extensor force (Fig. 5).

AnimatLab: A 3D graphics environment for neuromechanical simulations

The nervous systems of animals evolved to exert dynamic control of behavior in response to the needs of the animal and changing signals from the environment. To understand the mechanisms of dynamic control requires a means of predicting how individual neural and body elements will interact to produce the performance of the entire system. AnimatLab is a software tool that provides an approach to this problem through computer simulation. AnimatLab enables a computational model of an animals body to be constructed from simple building blocks, situated in a virtual 3D world subject to the laws of physics, and controlled by the activity of a multicellular, multicompartment neural circuit. Sensor receptors on the body surface and inside the body respond to external and internal signals and then excite central neurons, while motor neurons activate Hill muscle models that span the joints and generate movement. AnimatLab provides a common neuromechanical simulation environment in which to construct and test models of any skeletal animal, vertebrate or invertebrate. The use of AnimatLab is demonstrated in a neuromechanical simulation of human arm flexion and the myotactic and contact-withdrawal reflexes.

Electrical coupling synchronises spinal motoneuron activity during swimming in hatchling Xenopus tadpoles.

The role of electrical coupling between neurons in the swimming rhythm generator of Xenopus embryos has been studied using pharmacological blockade of gap junctions. A conspicuous effect of 18β‐glycyrrhetinic acid (18β‐GA) and carbenoxolone, which have been shown to block electrical coupling in this preparation, was to increase the duration of ventral root bursts throughout the spinal cord during swimming. The left‐right coordination, the swimming frequency and the duration of swimming episodes were not affected by concentrations of 18β‐GA which significantly increased burst durations. However, the longitudinal coupling was affected such that 18β‐GA led to a significant correlation between rostrocaudal delays and cycle periods, which is usually only present in older larval animals. Patch clamp recordings from spinal motoneurons tested whether gap junction blockers affect the spike timing and/or firing pattern of motoneurons during fictive swimming. In the presence of 18β‐GA motoneurons continued to fire a single, but broader action potential in each cycle of swimming, and the timing of their spikes relative to the ventral root burst became more variable. 18β‐GA had no detectable effect on the resting membrane potential of motoneurons, but led to a significant increase in input resistance, consistent with the block of gap junctions. This effect did not result in increased firing during swimming, despite the fact that multiple spikes can occur in response to current injection. Applications of 18β‐GA at larval stage 42 had no discernible effect on locomotion. The results, which suggest that electrical coupling primarily functions to synchronize activity in synergistic motoneurons during embryo swimming, are discussed in the context of motor system development.

Neuromechanical simulation of the locust jump

SUMMARY The neural circuitry and biomechanics of kicking in locusts have been studied to understand their roles in the control of both kicking and jumping. It has been hypothesized that the same neural circuit and biomechanics governed both behaviors but this hypothesis was not testable with current technology. We built a neuromechanical model to test this and to gain a better understanding of the role of the semi-lunar process (SLP) in jump dynamics. The jumping and kicking behaviors of the model were tested by comparing them with a variety of published data, and were found to reproduce the results from live animals. This confirmed that the kick neural circuitry can produce the jump behavior. The SLP is a set of highly sclerotized bands of cuticle that can be bent to store energy for use during kicking and jumping. It has not been possible to directly test the effects of the SLP on jump performance because it is an integral part of the joint, and attempts to remove its influence prevent the locust from being able to jump. Simulations demonstrated that the SLP can significantly increase jump distance, power, total energy and duration of the jump impulse. In addition, the geometry of the joint enables the SLP force to assist leg flexion when the leg is flexed, and to assist extension once the leg has begun to extend.

QUASI-REVERSIBLE PHOTO-AXOTOMY USED TO INVESTIGATE THE ROLE OF EXTENSOR MUSCLE TENSION IN CONTROLLING THE KICK MOTOR PROGRAMME OF GRASSHOPPERS

The jump and kick of the grasshopper are behaviours which are potentially critical for the survival of the animal, and whose maximal Performance depends upon optimizing the rate and level of tension development in the extensor tibiae muscle of the hind legs. In experimental conditions extensor tension control can be reduced to a single motoneuron, the fast extensor tibiae (FETi). The axon of FETi can be cut using dye‐mediated laser photo‐ axotomy without damaging the central or peripheral portions of that neuron or any other neuron innervating the leg. The axotomy can be functionally reversed (i.e. the cut axon repaired) by an electronic axonal bypass which detects FETi spikes on the proximal side of the cut and stimulates the axon on the distal side of the cut. In this way motor spikes can either be allowed to reach the muscle or prevented from doing so (by switching the bypass on or off), and the motor programmes produced with and without extensor tension can be compared. The jump and kick are normally produced by a three‐stage motor programme: (i) initial flexion brings the tibia into the fully flexed position; (ii) coactivation of extensor and flexor muscles allows the extensor muscle to develop maximal tension almost isometrically, while the simultaneous contraction of the flexor muscle holds the tibia flexed; (iii) sudden trigger inhibition of the flexor system (motoneurons and muscle) releases the tibia and allows the behaviour to be expressed. The grasshopper can produce fictive kicks with motor programmes which show each of these three major structural features of a normal kick, but without any extensor tension whatsoever. There is no significant difference in the frequency of FETi spikes, the duration of coactivation or the maximum depolarization of the flexor motoneurons between fictive and quasi‐normal (i.e. reversed axotomy) kicks. The trigger inhibition of flexor motoneurons is shallower in fictive than in quasi‐normal kicks. The significance of this is discussed in relation to the activity of the interneuron M, which is known to mediate trigger inhibition onto FlTi motoneurons. There are two main conclusions from this study. First, the CNS does not need feedback from ETi muscle tension in order to produce the three‐stage motor programme of the kick (and, by implication, the jump). Second, the CNS does not adjust the frequency or duration of FETi activity in response to unexpected changes in ETi tension. ETi tension appears to be under open‐loop control in the kick motor programme.

Different types of rectification at electrical synapses made by a single crayfish neurone investigated experimentally and by computer simulation

SummaryThe rectification properties of electrical synapses made by the segmental giant (SG) neurone of crayfish (Pacifastacus leniusculus) were investigated. The SG acts as an interneurone, transmitting information from the giant command fibres (GFs) to the abdominal fast flexor (FF) motoneurones. The GF-SG (input) synapses are inwardly-rectifying electrical synapses, while the SG-FF (output) synapses are outwardly rectifying electrical synapses. This implies that a single neurone can make gap junction hemichannels with different rectification properties.The coupling coefficient of these synapses is dependent upon transjunctional potential. There is a standing gradient in resting potential between the GFs, SG and FFs, with the GFs the most hyperpolarized, and the FFs the most depolarized. The gradient thus biases each synapse into the low-conductance state under resting conditions.There is functional double rectification between the bilateral pairs of SGs within a single segment, such that depolarizing membrane potential changes of either SG pass to the other SG with less attenuation than do hyperpolarizing potential changes. Computer simulation suggests that this may result from coupling through the intermediary FF neurones.

Control of tumbling during the locust jump

SUMMARY Locust can jump precisely to a target, yet they can also tumble during the trajectory. We propose two mechanisms that would allow the locust to control tumbling during the jump. The first is that prior to the jump, locusts adjust the pitch of their body to move the center of mass closer to the intended thrust vector. The second is that contraction of the dorsolongitudinal muscles during the jump will produce torques that counter the torque produced by thrust. We found that locusts increased their take-off angle as the initial body pitch increased, and that little tumbling occurred for jumps that observed this relationship. Simulations of locust jumping demonstrated that a pitch versus take-off angle relationship that minimized tumbling in simulated jumps was similar to the relationship observed in live locusts. Locusts were strongly biased to pitch head-upward, and performed dorsiflexions far more often than ventral flexions. The direction and magnitude of tumbling could be controlled in simulations by adjusting the tension in the dorsolongitudinal muscles. These mechanisms allowed the simulations to match the data from the live animals. Control of tumbling was also found to influence the control of jump elevation. The bias to pitch head-upwards may have an evolutionary advantage when evading a predator and so make control of tumbling important for the locust.

Glutamate is a transmitter that mediates inhibition at the rectifying electrical motor giant synapse in the crayfish.

Spike transmission at the electrical synapse between the giant fibres (GFs) and motor giant neurone (MoG) in the crayfish can be blocked by depolarising postsynaptic chemical inhibition, which has previously been shown to be mediated in part by γ‐aminobutyric acid (GABA). The authors show that glutamate applied to the synaptic region of the MoG mimics the depolarisation of the chemical input and can also block spike transmission from the GFs. The glutamate induces an inward current mediated by a conductance increase that is 30–40% of that induced by GABA and that is blocked substantially by picrotoxin. Glutamate has no effect on the presynaptic GF, and the effects in the MoG are maintained in the presence of cadmium, indicating that the glutamate is acting directly on the MoG. Both GABA and glutamate have similar effects on the cell body, where the response reverses 10–20 mV positive to resting potential, is dependent on chloride concentration, and is inhibited by picrotoxin. Joint application of glutamate and GABA induces a nonadditive current under voltage clamp, suggesting that the transmitters can activate the same postsynaptic receptors. Immunocytochemical staining shows that, whereas some synaptic profiles impinging on the MoG contain pleomorphic agranular vesicles and are immunoreactive to GABA and not glutamate (as previously reported), there are at least as many other profiles that contain round, agranular vesicles and that are immunoreactive to glutamate and not to GABA. Thus, the authors conclude that some of the interneurones mediating inhibition of the electrical synapse use glutamate as their neurotransmitter. J. Comp. Neurol. 430:12–26, 2001.

Practical tools for analysing rhythmic neural activity

This report describes an integrated software package, DataView, which contains a number of tools for analysing rhythmic neural activity. These include simple autocorrelation, a merge-and-drop filter, an enhanced version of the Poisson surprise method and a flexible hill-and-valley analysis tool. The package contains facilities for identifying, examining, and if appropriate, correcting, outliers arising from misidentification or rhythm abnormalities. The package has a full graphical user interface which provides flexible and rapid feedback on the progress of analysis, and the consequences of choices regarding parameters for the various tools. The user can thus easily experiment with different methodologies and tool settings, and tune the analysis to the most appropriate form for the data in question.