Experiments on the central pattern generator for swimming in amphibian embryos

The central nervous system of paralysed Xenopus laevis embryos can generate a motor output pattern suitable for swimming locomotion. By recording motor root activity in paralysed embryos with transected nervous systems we have shown that: (a) the spinal cord is capable of swimming pattern generation; (b) swimming pattern generator capability in the hindbrain and spinal cord is distributed; (c) caudal hindbrain is necessary for sustained swimming output after discrete stimulation. By recording similarly from embryos whose central nervous system was divided longitudinally into left and right sides, we have shown that: (a) each side can generate rhythmic motor output with cycle periods like those in swimming; (b) during this activity cycle period increases within an episode, and there is the usual rostrocaudal delay found in swimming; (c) this activity is influenced by sensory stimuli in the same way as swimming activity; (d) normal phase coupling of the left and right sides can be established by the ventral commissure in the spinal cord. We conclude that interactions between the antagonistic (left and right) motor systems are not necessary for swimming rhythm generation and present a model for swimming pattern generation where autonomous rhythm generators on each side of the nervous system drive the motoneurons. Alternation is achieved by reciprocal inhibition, and activity is initiated and maintained by tonic excitation from the hindbrain.     

Development of spontaneous motility in the guppy embryo (Lebistes reticulatus) and the effect of spinal transection

Guppy (Lebistes reticulatus) embryos pass through a distinct sequence of motor behaviors that leads to swimming capability during the course of their development. We have characterized these activities in order of appearance, with several corresponding morphological features, as belonging to the coil stage, tail-twitch stage, S-movement stage, and swimming stage. A primary feature of development was an increase in the amount of activity per unit of time over these four stages. The developmental pattern of motility was not interrupted by spinal transection until the onset of swimming, implying that supraspinal information is not required for the occurrence of the primitive behaviors that precede swimming. Elimination of swimming by spinal transection did not elicit a reversion to less complex activities, suggesting that once the cerebral control for swimming is developed, it represents a hardwired system not behaviorally reducible to antecedent components.     

Control of leech swimming activity by the cephalic ganglia

We investigated the role played by the cephalic nervous system in the control of swimming activity in the leech, Hirudo medicinalis, by comparing swimming activity in isolated leech nerve cords that included the head ganglia (supra- and subesophageal ganglia) with swimming activity in nerve cords from which these ganglia were removed. We found that the presence of these cephalic ganglia had an inhibitory influence on the reliability with which stimulation of peripheral (DP) nerves and intracellular stimulation of swim-initiating neurons initiated and maintained swimming activity. In addition, swimming activity recorded from both oscillator and motor neurons in preparations that included head ganglia frequently exhibited irregular bursting patterns consisting of missed, weak, or sustained bursts. Removal of the two head ganglia as well as the first segmental ganglion eliminated this irregular activity pattern. We also identified a pair of rhythmically active interneurons, SRN1, in the subesophageal ganglion that, when depolarized, could reset the swimming rhythm. Thus the cephalic ganglia and first segmental ganglion of the leech nerve cord are capable of exerting a tonic inhibitory influence as well as a modulatory effect on swimming activity in the segmental nerve cord.     

Health Effects from Swimming Training in Chlorinated Pools and the Corresponding Metabolic Stress Pathways

Chlorination is the most popular method for disinfecting swimming pool water; however, although pathogens are being killed, many toxic compounds, called disinfection by-products (DBPs), are formed. Numerous epidemiological publications have associated the chlorination of pools with dysfunctions of the respiratory system and with some other diseases. However, the findings concerning these associations are not always consistent and have not been confirmed by toxicological studies. Therefore, the health effects from swimming in chlorinated pools and the corresponding stress reactions in organisms are unclear. In this study, we show that although the growth and behaviors of experimental rats were not affected, their health, training effects and metabolic profiles were significantly affected by a 12-week swimming training program in chlorinated water identical to that of public pools. Interestingly, the eyes and skin are the organs that are more directly affected than the lungs by the irritants in chlorinated water; instead of chlorination, training intensity, training frequency and choking on water may be the primary factors for lung damage induced by swimming. Among the five major organs (the heart, liver, spleen, lungs and kidneys), the liver is the most likely target of DBPs. Through metabolomics analysis, the corresponding metabolic stress pathways and a defensive system focusing on taurine were presented, based on which the corresponding countermeasures can be developed for swimming athletes and for others who spend a lot of time in chlorinated swimming pools.     

A bioinspired autonomous swimming robot as a tool for studying goal-directed locomotion

The bioinspired approach has been key in combining the disciplines of robotics with neuroscience in an effective and promising fashion. Indeed, certain aspects in the field of neuroscience, such as goal-directed locomotion and behaviour selection, can be validated through robotic artefacts. In particular, swimming is a functionally important behaviour where neuromuscular structures, neural control architecture and operation can be replicated artificially following models from biology and neuroscience. In this article, we present a biomimetic system inspired by the lamprey, an early vertebrate that locomotes using anguilliform swimming. The artefact possesses extra- and proprioceptive sensory receptors, muscle-like actuation, distributed embedded control and a vision system. Experiments on optimised swimming and on goal-directed locomotion are reported, as well as the assessment of the performance of the system, which shows high energy efficiency and adaptive behaviour. While the focus is on providing a robotic platform for testing biological models, the reported system can also be of major relevance for the development of engineering system applications.     

Neurobiology of Stomotoca. II. Pacemakers and conduction pathways.

Evidence is presented for separate conduction pathways for swimming and for tentacle coordination in the marginal nerves of the jellyfish Stomotoca. The effector muscles are fired through junctions sensitive to excess Mg++, probably represented by the neuromuscular synapses observed by electron microscopy. The swimming effector (striated muscle) fires one-to-one with nerve input signals and myoid conduction occurs. Tentacle responses (smooth muscle contractions) involve facilitation, presumably at the neuro-effector junction; responses are graded and nonpropagating. Electrical correlates of two further conducting systems using the marginal nerves have been recorded. Their functions are unknown. One, the bridge system, extends up the four radii and encircles the peduncle; the other (ring system) is confined to the margin. A fifth conducting system is inferred in the case of the pointing response and its distribution is plotted. Signals have not been obtained from it. Pointing is accompanied by a burst of muscle potentials in the radial smooth muscles and is exhibited after a lengthy latency, indicating a local pacemaker. A sixth conducting pathway is the epithelial system, which mediates crumpling, a response involving the radial muscles without pacemaker intervention. Characteristic conduction velocities and wave forms are noted for the first four systems and for epithelial pulses. All systems, except perhaps the pointing conduction system, through-conduct under excess Mg++. Spontaneous activity patterns are described for the swimming, tentacle pulse, and ring systems. Abrupt increases in light intensity inhibit spontaneous activity, sudden decreases augmenting it. In the absence of specialized photoreceptors, light is presumed to act directly on central neurons. Epithelial pulses inhibit swimming, apparently by blocking the generation or conduction of the primary nervous events. This observation, taken in conjunction with evidence of feedback inhibition of the primary swimming system by the cells it fires, is discussed in relation to possible mechanisms whereby the output of nerve cells might be altered by activity in the excitable epithelial cells which envelop them.     

环境pH及渗透压对玫瑰无须鲃精子运动的影响

以玫瑰无须鲃Puntius conchonius精子为材料,应用计算机辅助精子分析系统(CASA),研究了精子在不同pH和不同渗透压的NaCl溶液中的运动百分率、运动时间和运动速率。结果表明,酸性(pH<7.0)或碱性较强(pH>9.0)的溶液均不利于精子运动,而弱碱性(pH7.5～8.5)的溶液较适合精子的运动;在渗透压较低(<75mOsm/kg)或较高(>175mOsm/kg)的NaCl溶液中,精子的运动时间和运动百分率都显著较100～150mOsm/kg渗透压溶液中的短或低(P<0.05);而运动时间最长,并且运动百分率最高的条件为pH8.0和125mOsm/kg渗透压的溶液环境。     

Seasonal analysis of Daphnia pulicaria swimming behavior

Our study documents individual swimming behavior of Daphnia pulicaria over a yearly cycle in a temperate lake. We collected D. pulicaria, a common freshwater zooplankton, from Lake Mendota on 10 dates between July 1994 and June 1995 from two depths, 2 m and 10 m. The Daphnia were rushed to the laboratory and video-taped as they swam in lake water under lake-ambient temperature and light conditions. Five-second swimming tracks of individual Daphnia were filmed and digitized using a motion analysis system. We measured average turning angle, swimming speed and sinking rate for each track. D. pulicaria swimming behavior varied over the annual cycle. We found significant differences in turning angle between depths and among months. Sinking rate and swimming speed were significantly different among months but not depths. Sinking rate and swimming speed were not significantly correlated with water temperature. Our results were contrary to Stokes' Law predictions, in that D. pulicaria had the slowest sinking speed in June, not in the winter when water temperatures were lowest and viscosity was highest. Body length was significantly correlated with all three swimming variables. We also studied swimming behavior in clonal populations of D. pulicaria in different concentrations of the alga, Chlamydomonas reinhardtii. D. pulicaria did not change swimming speed, turning angle or sinking rate over a range of food concentrations. Finally, swimming behavior in a D. pulicaria clone, tested at two temperatures in the laboratory, confirmed the results from our seasonal study; Daphnia did not sink as predicted by changes in viscosity.     

Gender and cognitive aspects of neonatal and juvenile neuromuscular locomotor development of F1 hybrid mice in swim tests

F1 hybrid pups from crosses between the strains 129SvEv/Crl and C57BL/6/Crl were subjected to an analysis of the development of adult swimming pattern (from the day of birth until 21 days old) to study the potential gender difference in neuromuscular development of neonatal and juvenile mice and the cognitive component in the development of swimming skills. Swimming as a parameter of scrutiny was chosen because it requires total coordination of the body's muscles, and we have previously demonstrated that the gradual change from a neonatal to an adult swimming pattern follows a fixed pattern, that can be scored objectively. Five different parameters were scored: the position of the head in the water, the use of front legs, the use of hind legs, the use of the tail as a rudder and whether or not the animals are able to maintain a straight course in the water. Each parameter could be objectively scored as 0 (neonatal), 1 (juvenile) or 2 (adult) level of development. There was no significant difference between development of locomotor skills in female and male pups. The maximum score obtained at any given day of development was not altered by learning from the previous daily swimming experiences. However, in individual swimming sessions, the time span between exposure to the water and display of maximum swimming score for the age was significantly shortened by daily exposure to water and swimming, indicating habituation to submersion in water. Startle reactions to water exposure could be minimized and finally eliminated by daily swimming sessions. This suggests a cognitive component limited, however, by the physical maturation of the nervous system and muscles, thus not resulting in acceleration of the development of swimming skills.     

Immunomodulating action of heteropolysaccharides isolated from camomile flowers]

Administration of heteropolysaccharides from the camomile flower clusters to rats which failed to perform a physical load (swimming) resulted in stimulation of development of the immune response to SRBCs. However, it did not influence development of the immune response to a bacterial lipopolysaccharide in the rats. A short-term exposure of the swimming animals to high doses of the heteropolysaccharides increased development of the immune response induced by their lipopolysaccharide. A long-term exposure of the swimming rats to low doses of the heteropolysaccharides increased development of the immune response to SRBCs and the lipopolysaccharide. The high doses of the heteropolysaccharides induced excretion of the helper factors by the spleen cells not adhesive to glass while the low doses of the heteropolysaccharides decreased sensitivity of the cells of the immune system to the influence of the suppressing factor excreted by the glass-adherent spleen cells from swimming rats.     

Serotonergic Neural System not only Activates Swimming but also Inhibits Competing Neural Centers in a Pteropod Mollusc

Initiation of a particular behavior requires not only activationof the neural center directly involved in its control but alsoinhibition of the neural networks controlling competing behaviors.In the pteropod mollusc, Clione limacina, many identified serotonergicneurons activate or modulate different elements of the swimmingsystem resulting in the initiation or acceleration of the swimmingbehavior. Cerebral serotonergic neurons are described here,which produce excitatory inputs to the swimming system as wellas inhibitory inputs to the neural centers that control competingbehaviors. Whole-body withdrawal behavior is incompatible withswimming activity in Clione. The main characteristic of whole-bodywithdrawal is complete inhibition of swimming. Cerebral serotonergicneurons were found to produce a prominent inhibition of thepleural neurons that control whole-body withdrawal behavior.By inhibiting pleural withdrawal cells, serotonergic neuronseliminate its inhibitory influence on the swimming system andthus favor increased swimming speed. Serotonergic neurons alsoproduce a prominent inhibition of the Pleural White Cell, whichis presumably involved in reproductive or egg-laying behavior.Thus the serotonergic system directly activates swimming systemand, at the same time, alters a variety of other neural systemspreventing simultaneous initiation of incompatible behaviors.     

Gravitaxis in Chlamydomonas reinhardtii: characterization using video microscopy and computer analysis

We characterized the gravitactic behavior of Chlamydomonas reinhardtii, a unicellular green alga, using a computer-analysis system in order to study directional swimming. The effects of the calcium-channel inhibitors gadolinium and diltiazem on graviorientation and swimming speed were examined. In addition, we studied directional swimming in the ptx1 strain of C. reinhardtii, a flagellar dominance mutant. Results indicate that Chlamydomonas reorients for gravitactic swimming through a mechanism different from the calcium-mediated pathway believed to be involved in gravity transduction in higher plants. We suggest that calcium-mediated gravitaxis originated in an organism that was more evolutionarily advanced than Chlamydomonas.     

Characterization of the Bacillus subtilis motile system driven by an artificially created proton motive force.

Transient swimming was induced in energy-depleted cells of Bacillus subtilis by an artificial proton motive force, which was created by valinomycin addition and a pH reduction. This system did not require any ions except protons in the medium. The size of the induced motility was strongly influenced by changes in the size of either the K+ diffusion potential or the pH gradient. A rough estimation indicated that a proton motive force higher than -100 mV was required for induction of translational swimming of the cell. Corresponding with the transient appearance of swimming, a rapid but transient efflux of K+ and influx of H+ were observed. With decreases in the rate of H+ influx, the amount of motility decreased. A rate of H+ influx higher than 0.2 mumol/s per ml of cell water gave translational swimming. These results suggest direct coupling of H+ influx to rotation of bacterial flagella.     

Circulation of hemocoelic fluid during slow and fast swimming in the pteropod mollusc Clione limacina

In the pteropod mollusc Clione limacina Phipps 1774, individuals possess an open circulatory system that fills their body cavities and functions as a hydrostatic skeleton. Individuals of C. limacina demonstrate two distinct swimming behaviors, slow and fast swimming, and their wings are supported by their hydrostatic skeleton. We investigated the circulation of fluid within the body cavities of individuals of C. limacina by injecting dye into the hemocoelic compartments to visualize flow during both slow swimming and serotonin‐induced fast swimming. Hemocoelic fluid was observed to have a defined pattern of flow: rostrally from the heart into the wings and head, then following a dorsal pathway caudally into the body and tail before being taken up by the heart again. During patterned attack behavior, the neck constricted in width as the head's buccal cones were hydraulically inflated with hemocoelic fluid.     

Implications for the Maintenance of Androdioecy in the Freshwater Shrimp, Eulimnadia texana Packard: Encounters between Males and Hermaphrodites are not Random

Androdioecy is a mixed‐mating system in which there are males and hermaphrodites but no pure females. Few species exhibit such a mating system. Eulimnadia texana is a branchiopod crustacean that has recently been identified as an androdioecious species. This system is ideal for testing questions related to the evolution of sexual reproduction. We are testing a model that predicts androdioecy to be a stable mixed‐mating system under certain conditions. Specifically, we investigated whether encounters between males and hermaphrodites are random or if either sex seeks out the other for mating. Focal male or hermaphrodite clam shrimp were presented with stimulus shrimp of the other sex or kept alone. Swimming speed and time spent within different areas of a test chamber were recorded. Males did not alter mean swimming speed or spend more time than expected by chance near partitioned hermaphrodites. Hermaphrodites, however, decreased mean swimming speed in the presence of males and also spent more time than expected by chance near partitioned males, suggesting that hermaphrodites respond to male chemical and/or visual stimuli. Modified swimming behaviour probably facilitates inter‐sexual contact, thereby increasing opportunities for out‐crossing above that expected by random encounters.     

Steady-state running rate sets the speed and accuracy of accumulation of swimming bacteria

We study the chemotaxis of a population of genetically identical swimming bacteria undergoing run and tumble dynamics driven by stochastic switching between clockwise and counterclockwise rotation of the flagellar rotary system, where the steady-state rate of the switching changes in different environments. Understanding chemotaxis quantitatively requires that one links the measured steady-state switching rates of the rotary system, as well as the directional changes of individual swimming bacteria in a gradient of chemoattractant/repellant, to the efficiency of a population of bacteria in moving up/down the gradient. Here we achieve this by using a probabilistic model, parametrized with our experimental data, and show that the response of a population to the gradient is complex. We find the changes to the steady-state switching rate in the absence of gradients affect the average speed of the swimming bacterial population response as well as the width of the distribution. Both must be taken into account when optimizing the overall response of the population in complex environments.     

Empirical analysis of the influence of swimming pattern on the net energetic cost of swimming in fishes

We tested the hypothesis that the energetics of swimming in a flume accurately represent the costs of various spontaneous movements using empirical relationships between fish swimming costs, weight, and speed for three swimming patterns: (1) 'forced swimming' corresponded to movements adopted by fish forced to swim against a unidirectional current of constant velocity; (2) 'directed swimming' was defined as quasi-rectilinear movements executed at relatively constant speeds in a stationary body of water and (3) 'routine swimming' was characterized by marked changes in swimming direction and speed. Weight and speed explained between 76% (routine swimming) and 80% (forced swimming) of net swimming cost variability. Net costs associated with different swimming patterns were compared using ratios of model predictions (swimming cost ratio; SCR) for various weight and speed combinations. Routine swimming was the most expensive swimming pattern (SCR for routine and forced swimming =6.4 to 14.0) followed by directed (SCR for directed and forced swimming =0.9 to 2.8), and forced swimming. The magnitude of the difference between the net costs of forced and spontaneous swimming increases with movement complexity and decreases as fish weight increases.     

Coordination of many oscillators and generation of locomotory patterns

This paper considers a synthesis approach to a decentralized autonomous system in which the functional order of the entire system is generated by cooperative interaction among its subsystems, each of which has the autonomy to control a part of the state of the system, and its application to pattern generators of animal locomotion. First, biological locomotory rhythms and their generators, swimming patterns of aquatic animals and gait patterns of quadrupeds, are reviewed briefly. Then, a design principle for autonomous coordination of many oscillators is proposed. Using these results, we synthesize a swimming pattern generator and a gait pattern generator. Finally, it is shown using computer simulations that the proposed systems generate desirable patterns.     

Mechanical properties of a bio-inspired robotic knifefish with an undulatory propulsor

South American electric knifefish are a leading model system within neurobiology. Recent efforts have focused on understanding their biomechanics and relating this to their neural processing strategies. Knifefish swim by means of an undulatory fin that runs most of the length of their body, affixed to the belly. Propelling themselves with this fin enables them to keep their body relatively straight while swimming, enabling straightforward robotic implementation with a rigid hull. In this study, we examined the basic properties of undulatory swimming through use of a robot that was similar in some key respects to the knifefish. As we varied critical fin kinematic variables such as frequency, amplitude, and wavelength of sinusoidal traveling waves, we measured the force generated by the robot when it swam against a stationary sensor, and its velocity while swimming freely within a flow tunnel system. Our results show that there is an optimal operational region in the fin's kinematic parameter space. The optimal actuation parameters found for the robotic knifefish are similar to previously observed parameters for the black ghost knifefish, Apteronotus albifrons. Finally, we used our experimental results to show how the force generated by the robotic fin can be decomposed into thrust and drag terms. Our findings are useful for future bio-inspired underwater vehicles as well as for understanding the mechanics of knifefish swimming.     

Nitric oxide is not involved in the control of vasopressin release during acute forced swimming in rats

Summary. Neurons of the hypothalamo-neurohypophyseal system (HNS) are known to contain high amounts of neuronal nitric oxide (NO) synthase (nNOS). NO produced by those neurons is commonly supposed to be involved as modulator in the release of the two nonapeptides vasopressin (AVP) and oxytocin into the blood stream. Previous studies showed that forced swimming fails to increase the release of AVP into the blood stream while its secretion into the hypothalamus is triggered. We investigated here whether hypothalamically acting NO contributes to the control of the AVP release into blood under forced swimming conditions. Intracerebral microdialysis and in situ hybridization were employed to analyze the activity of the nitrergic system within the supraoptic nucleus (SON), the hypothalamic origin of the HNS. A 10-min forced swimming session failed to significantly alter the local NO release as indicated both by nitrite and, the main by-product of NO synthesis, citrulline levels in microdialysis samples collected from the SON. Microdialysis administration of NO directly into the SON increased the concentration of AVP in plasma samples collected during simultaneous forced swimming. In an additional experiment the effect of the defined stressor exposure on the concentration of mRNA coding for nNOS within the SON was investigated by in situ hybridization. Forced swimming increased the expression of nNOS mRNA at two and four hours after onset of the stressor compared to untreated controls. Taken together, our results imply that NO within the SON does not contribute to the regulation of the secretory activity of HNS neurons during acute forced swimming. Increased nNOS mRNA in the SON after forced swimming and the increase in AVP release in the presence of exogenous NO under forced swimming points to a possible role of NO in the regulation of the HNS under repeated stressor exposure.Current address: Departments of Behavioral Neuroscience and Neurology, Oregon Health & Science University, Portland, OR 97239, U.S.A.