Motor activity and trajectory control during escape jumping in the locust <Emphasis Type="Italic">Locusta migratoria</Emphasis>

We investigated the escape jumps that locusts produce in response to approaching objects. Hindleg muscular activity during an escape jump is similar to that during a defensive kick. Locusts can direct their escape jumps up to 50° either side of the direction of their long axis at the time of hindleg flexion, allowing them to consistently jump away from the side towards which an object is approaching. Variation in jump trajectory is achieved by rolling and yawing movements of the body that are controlled by the fore- and mesothoracic legs. During hindleg flexion, a locust flexes the foreleg ipsilateral to its eventual jump trajectory and then extends the contralateral foreleg. These foreleg movements continue throughout co-contraction of the hindleg tibial muscles, pivoting the locust’s long axis towards its eventual jump trajectory. However, there are no bilateral differences in the motor programs of the left and right hindlegs that correlate with jump trajectory. Foreleg movements enable a locust to control its jump trajectory independent of the hindleg motor program, allowing a decision on jump trajectory to be made after the hindlegs have been cocked in preparation for a jump.     

Bionic Mechanism and Kinematics Analysis of Hopping Robot Inspired by Locust Jumping

A flexible-rigid hopping mechanism which is inspired by the locust jumping was proposed,and its kinematic characteristics were analyzed.A series of experiments were conducted to observe locust morphology and jumping process.According to classic mechanics,the jumping process analysis was conducted to build the relationship of the locust jumping parameters.The take-off phase was divided into four stages in detail.Based on the biological observation and kinematics analysis,a mechanical model was proposed to simulate locust jumping.The forces of the flexible-rigid hopping mechanism at each stage were analyzed.The kinematic analysis using pseudo-rigid-body model was described by D-H method.It is confirmed that the proposed bionic mechanism has the similar performance as the locust hind leg in hopping.Moreover,the jumping angle which decides the jumping process was discussed,and its relation with other parameters was established.A calculation case analysis corroborated the method.The results of this paper show that the proposed bionic mechanism which is inspired by the locust hind limb has an excellent kinematics performance,which can provide a foundation for design and motion planning of the hopping robot.     

Excitatory interactions between antagonistic motor neurones underlying locust kicking and jumping during maturation after the adult moult

There is a change in the synaptic connections between motor neurones that underlie locust kicking and jumping during maturation following the adult moult. The fast extensor tibiae (FETi) motor neurone makes monosynaptic excitatory connections with flexor tibiae motor neurones that have previously been implicated in maintaining flexor activity during the co-contraction phase of jumping, in which energy generated by the muscles of a hind leg is stored. The amplitude of the FETi spike decreases when repetitively activated, and this decrement is larger in locusts immediately following the adult moult than in mature locusts. The decrement in␣the FETi spike is correlated with a greater decrease in the amplitude of the flexor excitatory postsynaptic potential (EPSP) in newly moulted locusts and in turn with the failure of these locusts to kick or jump. The results presented here indicate that the developmental change in the connections between the motor neurones contributes to the change in behaviour following the moult. Accepted: 28 April 1997     

Proprioceptive feedback in locust kicking and jumping during maturation

Campaniform sensilla monitor the forces generated by the leg muscles during the co-contraction phase of locust (Schistocerca gregaria) kicking and jumping and re-excite the fast extensor (FETi) and flexor tibiae motor neurones, which innervate the leg muscles. Sensory signals from a campaniform sensillum on the proximal tibia were compared in newly moulted locusts, which do not kick and jump, and mature locusts which readily kick and jump. The activity pattern of FETi during co-contraction was mimicked by stimulating the extensor tibiae muscle. Less force was generated and the spike frequency of the sensory neurone from the sensillum was significantly lower in newly moulted compared to mature locusts. Depolarisation of both FETi and flexor motor neurones as a result of sensory feedback was consequently less in newly moulted than in mature locusts. The difference in the depolarisation was greater than the decrease in the afferent spike frequency suggesting that the central connections of the afferents are modulated. The depolarisation could generate spikes in FETi and maintain flexor spikes in mature but not in newly moulted locusts. This indicates that feedback from the anterior campaniform sensillum comprises a significant component of the drive to both FETi and flexor activity during co-contraction in mature animals and that the changes in this feedback contribute to the developmental change in behaviour.Abbreviations aCS anterior campaniform sensillum - ETi extensor tibiae - FETi fast extensor tibiae motor neurone - FlTi flexor tibiae - pCS posterior campaniform sensillum     

The mechanics of elevation control in locust jumping

How do animals control the trajectory of ballistic motions like jumping? Targeted jumps by a locust, which are powered by a rapid extension of the tibiae of both hind legs, require control of the take-off angle and speed. To determine how the locust controls these parameters, we used high speed images of jumps and mechanical analysis to reach three conclusions: (1) the extensor tibiae muscle applies equal and opposite torques to the femur and tibia, which ensures that tibial extension accelerates the centre of mass of the body along a straight line; (2) this line is parallel to a line drawn from the distal end of the tibia through the proximal end of the femur; (3) the slope of this line (the angle of elevation) is not affected if the two hind legs extend asynchronously. The mechanics thus uncouple the control of elevation and speed, allowing simplified and independent control mechanisms. Jump elevation is controlled mechanically by the initial positions of the hind legs and jump speed is determined by the energy stored within their elastic processes, which allows us to then propose which proprioceptors are involved in controlling these quantities.     

Effect of Paranosema locustae (Microsporidia) on the behavioural phases of Locusta migratoria (Orthoptera: Acrididae) in the laboratory

The ability of parasites to modify the behaviour of their hosts is a wide spread phenomenon, but the effects of microsporidian parasites on locust behaviour remain unexplored. Here the frequencies of directional changes (ND) and jumping (NJ) per minute of gregarious locusts infected with 2000 spores of the microsporidian parasite Paranosema locustae were significantly different from those of untreated locusts 10 and 16 days after infection, being similar to values for solitary nymphs. In contrast, the behaviour of locusts inoculated with the lower doses of 200 spores/locust was sometimes like that of solitary nymphs. At other times, behaviour was intermediate between solitary and gregarious, i.e. transitional. The rearing density did not affect the turning and jumping behaviour of infected locusts, and their behaviours were similar to those of solitary locusts at 10–16 days after infection. Our study demonstrates that infection with P. locustae may lead gregarious locusts to change some of their behaviour to that typical of solitary locusts.     

JumpDetector: An automated monitoring equipment for the locomotion of jumping insects

Continuous jumping behavior, a kind of endurance locomotion, plays important roles in insect ecological adaption and survival. However, the methods used for the efficient evaluation of insect jumping behavior remain largely lacking. Here, we developed a locomotion detection system named JumpDetector with automatic trajectory tracking and data analysis to evaluate the jumping of insects. This automated system exhibits more accurate, efficient, and adjustable performance than manual methods. By using this automatic system, we characterized a gradually declining pattern of continuous jumping behavior in 4th‐instar nymphs of the migratory locust. We found that locusts in their gregarious phase outperformed locusts in their solitary phase in the endurance jumping locomotion. Therefore, the JumpDetector could be widely used in jumping behavior and endurance locomotion measurement.     

蝗虫多型现象的神经内分泌调控

蝗虫有两种型,即散居型和群居型。蝗灾通常由群居型蝗虫所引发。多年来人们试图找到控制蝗虫由散居型向群居型转变的关键因子,以期控制蝗虫危害。该文主要从神经内分泌的角度概述了蝗虫多型性的生理机制,重点介绍了保幼激素、蜕皮激素和脑神经肽［His7］-corazonin在蝗虫多型性中的主要作用和机制。     

The correlation of segment accelerations and impact forces with knee angle in jump landing

Impact forces and shock deceleration during jumping and running have been associated with various knee injury etiologies. This study investigates the influence of jump height and knee contact angle on peak ground reaction force and segment axial accelerations. Ground reaction force, segment axial acceleration, and knee angles were measured for 6 male subjects during vertical jumping. A simple spring-mass model is used to predict the landing stiffness at impact as a function of (1) jump height, (2) peak impact force, (3) peak tibial axial acceleration, (4) peak thigh axial acceleration, and (5) peak trunk axial acceleration. Using a nonlinear least square fit, a strong (r = 0.86) and significant (p < or = 0.05) correlation was found between knee contact angle and stiffness calculated using the peak impact force and jump height. The same model also showed that the correlation was strong (r = 0.81) and significant (p < or = 0.05) between knee contact angle and stiffness calculated from the peak trunk axial accelerations. The correlation was weaker for the peak thigh (r = 0.71) and tibial (r = 0.45) axial accelerations. Using the peak force but neglecting jump height in the model, produces significantly worse correlation (r = 0.58). It was concluded that knee contact angle significantly influences both peak ground reaction forces and segment accelerations. However, owing to the nonlinear relationship, peak forces and segment accelerations change more rapidly at smaller knee flexion angles (i.e., close to full extension) than at greater knee flexion angles.     

Prototype Design and Experimental Study on Locust Air-Posture Righting

Locust has the capacity to maintain a righting posture and glide through attitude adjustment after leaping. A prototype inspired by the dynamic mechanism of attitude adjustment of locusts was developed. The prototype consists of a pair of wings driven by a four-bar mechanism, and a 2 Degree of Freedom （DOF） tail to imitate the movement of the locust abdomen. The power source, microcontroller, wireless data transmission module, and attitude sensors are contained in the fuselage. Experiments imitating the flight of locust were conducted to determine the mechanism of locust Subsequent Attitude Adjustment （SAA）. The tethered prototype was driven by the movement of the tail and the flapping of the wings. Results show that the pitch and yaw of the tail, and the asymmetric action of the flapping wings significantly influence the posture of the prototype. These findings suggest that both the wiggling abdomen and flapping wings contribute to the locust SAA in the air. This research lays the groundwork and technical support for the probable design and development of practical jumping robots with attitude adjustment function.     

Egg hatching of two locusts,Schistocerca gregaria and Locusta migratoria,in response to light and temperature cycles

The present study showed that the eggs of the desert locust, Schistocerca gregaria, and the migratory locust, Locusta migratoria, responded to photoperiod by hatching when placed on sand in the laboratory. S. gregaria mainly hatched during the dark phase and L. migratoria during the light phase. The importance of light as a hatching cue depended on the magnitude of the temperature change during the thermoperiod; photoperiod played a more important role in the control of hatching time in both species when the magnitude of the temperature change was small. In addition, the eggs of the two species that were covered with sand did not respond to photoperiod and hatched during both the light and dark phases, indicating that light did not penetrate through the sand. Because locust eggs are normally laid as egg pods and a foam plug is deposited between the egg mass and the ground surface, we tested a possibility that naturally deposited eggs perceived light through the foam plug. The eggs that were deposited and left undisturbed in the sand hatched during the light and dark phases at similar frequencies. These results suggest that the eggs of both locust species responded to light and controlled their hatching timing accordingly but would not use light as a hatching cue in the field. The evolutionary significance of the ability of eggs to respond to light in these locusts was discussed.     

Close encounters among flying locusts produce wing-beat coupling

Any flying animal leaves behind a wake of turbulent air. Thus, a closely tailing neighbor may be buffeted by complex aerodynamic forces. We report here that pairs of tethered locusts (Locusta migratoria) flying in tandem in a wind tunnel, couple their wing-beats to one another. Wind-receptive hairs on the rear partner's head provide the main sensory input that produces the coupling. The phase angle of coupling depends upon the distance between the individuals. By phase-coupling to a forward neighbor's wake, a locust may turn this turbulence to its own aerodynamic advantage. Moreover, within a large swarm local groups of locusts may fly in a functionally integrated manner.     

Characteristics and expression patterns of histone-modifying enzyme systems in the migratory locust

The density-dependent phase polyphenism in locusts offers an excellent model to investigate the epigenetic regulatory mechanisms underlying phenotypic plasticity. In this study, we identified histone-modifying enzymes mediating histone post-translational modifications, which serve as a major regulatory mechanism of epigenetic processes, on the basis of the whole genome sequence of the migratory locust, Locusta migratoria. We confirmed the existence of various functional histone modifications in the locusts. Compared with other sequenced insect genomes, the locust genome contains a richer repertoire of histone-modifying enzymes. Several locust histone-modifying enzymes display vertebrate-like characteristics, such as the presence of a Sirt3-like gene and multiple alternative splicing of GCN5 gene. Most histone-modifying enzymes are highly expressed in the eggs or in the testis tissues of male adults. Several histone deacetylases and H3K4-specific methyltransferases exhibit differential expression patterns in brain tissues between solitarious and gregarious locusts. These results reveal the main characteristics of histone-modifying enzymes and provide important cues for understanding the epigenetic mechanisms underlying phase polyphenism in locusts.     

Jumping kinematics in the wandering spider Cupiennius salei

Spiders use hemolymph pressure to extend their legs. This mechanism should be challenged when required to rapidly generate forces during jumping, particularly in large spiders. However, effective use of leg muscles could facilitate rapid jumping. To quantify the contributions of different legs and leg joints, we investigated jumping kinematics by high-speed video recording. We observed two different types of jumps following a disturbance: prepared and unprepared jumps. In unprepared jumps, the animals could jump in any direction away from the disturbance. The remarkable directional flexibility was achieved by flexing the legs on the leading side and extending them on the trailing side. This behaviour is only possible for approximately radial-symmetric leg postures, where each leg can fulfil similar functions. In prepared jumps, the spiders showed characteristic leg positioning and the jumps were directed anteriorly. Immediately after a preliminary countermovement in which the centre of mass was moved backwards and downwards, the jump was executed by extending first the fourth and then the second leg pair. This sequence provided effective acceleration to the centre of mass. At least in the fourth legs, the hydraulic and the muscular mechanism seem to interact to generate ground reaction forces.     

Preparing for escape: an examination of the role of the DCMD neuron in locust escape jumps

Many animals begin to escape by moving away from a threat the instant it is detected. However, the escape jumps of locusts take several hundred milliseconds to produce and the locust must therefore be prepared for escape before the jumping movement can be triggered. In this study we investigate a locust’s preparations to escape a looming stimulus and concurrent spiking activity in its pair of uniquely identifiable looming-detector neurons (the descending contralateral movement detectors; DCMDs). We find that hindleg flexion in preparation for a jump occurs at the same time as high frequency DCMD spikes. However, spikes in a DCMD are not necessary for triggering hindleg flexion, since this hindleg flexion still occurs when the connective containing a DCMD axon is severed or in response to stimuli that cause no high frequency DCMD spikes. Such severing of the connective containing a DCMD axon does, however, increase the variability in flexion timing. We therefore propose that the DCMD contributes to hindleg flexion in preparation for an escape jump, but that its activity affects only flexion timing and is not necessary for the occurrence of hindleg flexion.     

Phase-related differences in egg production of the migratory locust regulated by differential oosorption through microRNA-34 targeting activinβ

Outbreaks of locust plagues result from the long-term accumulation of high-density egg production. The migratory locust, Locusta migratoria, displays dramatic differences in the egg-laid number with dependence on population density, while solitarious locusts lay more eggs compared to gregarious ones. However, the regulatory mechanism for the egg-laid number difference is unclear. Herein, we confirm that oosorption plays a crucial role in the regulation of egg number through the comparison of physiological and molecular biological profiles in gregarious and solitarious locusts. We find that gregarious oocytes display a 15% higher oosorption ratio than solitarious ones. Activinβ (Actβ) is the most highly upregulated gene in the gregarious terminal oocyte (GTO) compared to solitarious terminal oocyte (STO). Meanwhile, Actβ increases sharply from the normal oocyte (N) to resorption body 1 (RB1) stage during oosorption. The knockdown of Actβ significantly reduces the oosorption ratio by 13% in gregarious locusts, resulting in an increase in the egg-laid number. Based on bioinformatic prediction and experimental verification, microRNA-34 with three isoforms can target Actβ. The microRNAs display higher expression levels in STO than those in GTO and contrasting expression patterns of Actβ from the N to RB1 transition. Overexpression of each miR-34 isoform leads to decreased Actβ levels and significantly reduces the oosorption ratio in gregarious locusts. In contrast, inhibition of the miR-34 isoforms results in increased Actβ levels and eventually elevates the oosorption ratio of solitarious locusts. Our study reports an undescribed mechanism of oosorption through miRNA targeting of a TGFβ ligand and provides new insights into the mechanism of density-dependent reproductive adaption in insects.     

Correlation between ground reaction force and tibial acceleration in vertical jumping

Modern electronics allow for the unobtrusive measurement of accelerations outside the laboratory using wireless sensor nodes. The ability to accurately measure joint accelerations under unrestricted conditions, and to correlate them with jump height and landing force, could provide important data to better understand joint mechanics subject to real-life conditions. This study investigates the correlation between peak vertical ground reaction forces, as measured by a force plate, and tibial axial accelerations during free vertical jumping. The jump heights calculated from force-plate data and accelerometer measurements are also compared. For six male subjects participating in this study, the average coefficient of determination between peak ground reaction force and peak tibial axial acceleration is found to be 0.81. The coefficient of determination between jump height calculated using force plate and accelerometer data is 0.88. Data show that the landing forces could be as high as 8 body weights of the jumper. The measured peak tibial accelerations ranged up to 42 g. Jump heights calculated from force plate and accelerometer sensors data differed by less than 2.5 cm. It is found that both impact accelerations and landing forces are only weakly correlated with jump height (the average coefficient of determination is 0.12). This study shows that unobtrusive accelerometers can be used to determine the ground reaction forces experienced in a jump landing. Whereas the device also permitted an accurate determination of jump height, there was no correlation between peak ground reaction force and jump height.     

CRISPR/Cas9 in locusts: Successful establishment of an olfactory deficiency line by targeting the mutagenesis of an odorant receptor co-receptor (Orco)

Locusts are important agricultural pests worldwide and regarded as study models for entomology. However, the absence of targeted gene manipulation systems for locusts has restricted their applications for research. Herein, we report the successful use of the CRISPR/Cas9 system to induce a targeted heritable mutagenesis of the migratory locust, Locusta migratoria. The target sequence of gRNA was designed to disrupt the gene encoding the odorant receptor co-receptor (Orco) and examine the roles of the odorant receptor pathway in the locust. Microinjection of the mixture of Cas9-mRNA and Orco-gRNA into the locust eggs resulted in efficient target-gene editing at a rate of 71.7% in G0 animals and achieved a germline efficiency of up to 88.1% in G1 animals. By a crossing strategy, we successfully established stable Orco mutant lines. EAGs and SSRs indicated that the fourth-instar nymphs of the Orco mutants showed severely impaired electrophysiological responses to multiple odors. The Orco mutant locusts lost an attraction response to aggregation pheromones under the crowding conditions. The locomotor activity and body coloration of the Orco mutant locusts did not significantly differ from those of the two other genotypes. This study provides an easy and effective approach by using the CRISPR/Cas9 system for generating loss-of-function mutants for functional genetic studies of locusts and for managing insect pests.