Roles for inhibition: studies on networks controlling swimming in young frog tadpoles

The hatchling frog tadpole provides a simple preparation where the fundamental roles for inhibition in the central nervous networks controlling behaviour can be examined. Antibody staining reveals the distribution of at least ten different populations of glycinergic and GABAergic neurons in the CNS. Single neuron recording and marker injections have been used to study the roles and anatomy of three types of inhibitory neuron in the swimming behaviour of the tadpole. Spinal commissural interneurons control alternation of the two sides by producing glycinergic reciprocal inhibition. By interacting with the special membrane properties of excitatory interneurons they also contribute to rhythm generation through post-inhibitory rebound. Spinal ascending interneurons produce recurrent glycinergic inhibition of sensory pathways that gates reflex responses during swimming. In addition their inhibition also limits firing in CPG neurons during swimming. Midhindbrain reticulospinal neurons are excited by pressure to the head and produce powerful GABAergic inhibition that stops swimming when the tadpole swims into solid objects. They may also produce tonic inhibition while the tadpole is at rest that reduces spontaneous swimming and responsiveness of the tadpole, keeping it still so it is not noticed by predators.     

Generation of locomotion rhythms without inhibition in vertebrates: the search for pacemaker neurons

Locomotion rhythms are thought to be generated by neurons in the central-pattern-generator (CPG) circuit in the spinal cord. Synaptic connections in the CPG and pacemaker properties in certain CPG neurons, both may contribute to generation of the rhythms. In the half-center model proposed by Graham Brown a century ago, reciprocal inhibition plays a critical role. However, in all vertebrate preparations examined, rhythmic motor bursts can be induced when inhibition is blocked in the spinal cord. Without inhibition, neuronal pacemaker properties may become more important in generation of the rhythms. Pacemaker properties have been found in motoneurons and some premotor interneurons in different vertebrates and they can be dependent on N-Methyl-d-aspartate (NMDA) receptors (NMDAR) or rely on other ionic currents like persistent inward currents. In the swimming circuit of the hatchling Xenopus tadpole, there is substantial evidence that emergent network properties can give rise to swimming rhythms. During fictive swimming, excitatory interneurons (dINs) in the caudal hindbrain fire earliest on each swimming cycle and their spikes drive the firing of other CPG neurons. Regenerative dIN firing itself relies on reciprocal inhibition and background excitation. We now find that the activation of NMDARs can change dINs from firing singly at rest to current injection to firing repetitively at swimming frequencies. When action potentials are blocked, some intrinsic membrane potential oscillations at about 10 Hz are revealed, which may underlie repetitive dIN firing during NMDAR activation. In confirmation of this, dIN repetitive firing persists in NMDA when synaptic transmission is blocked by Cd(2+). When inhibition is blocked, only dINs and motoneurons are functional in the spinal circuit. We propose that the conditional intrinsic NMDAR-dependent pacemaker firing of dINs can drive the production of swimming-like rhythms without the participation of inhibitory neurotransmission.     

The neuronal targets for GABAergic reticulospinal inhibition that stops swimming in hatchling frog tadpoles

In most animals locomotion can be started and stopped by specific sensory cues. We are using a simple vertebrate, the hatchling Xenopus tadpole, to study a neuronal pathway that turns off locomotion. In the tadpole, swimming stops when the head contacts solid objects or the water's surface meniscus. The primary sensory neurons are in the trigeminal ganglion and directly excite inhibitory reticulospinal neurons in the hindbrain. These project axons into the spinal cord and release GABA to inhibit spinal neurons and stop swimming. We ask whether there is specificity in the types of spinal neuron inhibited. We used single-neuron recording to determine which classes of spinal neurons receive inhibition when the head skin is pressed. Ventral motoneurons and premotor interneurons involved in generating the swimming rhythm receive reliable GABAergic inhibition. More dorsal inhibitory premotor interneurons are inhibited less reliably and some are excited. Dorsal sensory pathway interneurons that start swimming following a touch to the trunk skin do not appear to receive such inhibition. There is therefore specificity in the formation of descending inhibitory connections so that more ventral neurons producing swimming are most strongly inhibited.     

Modelling Feedback Excitation,Pacemaker Properties and Sensory Switching of Electrically Coupled Brainstem Neurons Controlling Rhythmic Activity

What cellular and network properties allow reliable neuronal rhythm generation or firing that can be started and stopped by brief synaptic inputs? We investigate rhythmic activity in an electrically-coupled population of brainstem neurons driving swimming locomotion in young frog tadpoles, and how activity is switched on and off by brief sensory stimulation. We build a computational model of 30 electrically-coupled conditional pacemaker neurons on one side of the tadpole hindbrain and spinal cord. Based on experimental estimates for neuron properties, population sizes, synapse strengths and connections, we show that: long-lasting, mutual, glutamatergic excitation between the neurons allows the network to sustain rhythmic pacemaker firing at swimming frequencies following brief synaptic excitation; activity persists but rhythm breaks down without electrical coupling; NMDA voltage-dependency doubles the range of synaptic feedback strengths generating sustained rhythm. The network can be switched on and off at short latency by brief synaptic excitation and inhibition. We demonstrate that a population of generic Hodgkin-Huxley type neurons coupled by glutamatergic excitatory feedback can generate sustained asynchronous firing switched on and off synaptically. We conclude that networks of neurons with NMDAR mediated feedback excitation can generate self-sustained activity following brief synaptic excitation. The frequency of activity is limited by the kinetics of the neuron membrane channels and can be stopped by brief inhibitory input. Network activity can be rhythmic at lower frequencies if the neurons are electrically coupled. Our key finding is that excitatory synaptic feedback within a population of neurons can produce switchable, stable, sustained firing without synaptic inhibition.     

Longitudinal neuronal organization and coordination in a simple vertebrate: a continuous,semi-quantitative computer model of the central pattern generator for swimming in young frog tadpoles

When frog tadpoles hatch their swimming requires co-ordinated contractions of trunk muscles, driven by motoneurons and controlled by a Central Pattern Generator (CPG). To study this co-ordination we used a 3.5 mm long population model of the young tadpole CPG with continuous distributions of neurons and axon lengths as estimated anatomically. We found that: (1) alternating swimming-type activity fails to self-sustain unless some excitatory interneurons have ascending axons, (2) a rostro-caudal (R-C) gradient in the distribution of excitatory premotor interneurons with short axons is required to obtain the R-C gradient in excitation and resulting progression of motoneuron firing necessary for forward swimming, (3) R-C delays in motoneuron firing decrease if excitatory motoneuron to premotor interneuron synapses are present, (4) these feedback connections and the electrical synapses between motoneurons synchronise motoneuron discharges locally, (5) the above findings are independent of the detailed membrane properties of neurons.     

Modulation of swimming in Tritonia: excitatory and inhibitory effects of serotonin

1. In the mollusc Tritonia escape swimming is produced by a network of central pattern generator (CPG) neurons. The purpose of this study was to determine which neurotransmitters might be involved in the swim system.
2. Injection of serotonin (5HT) into whole animals elicited swimming followed by a long-lasting inhibition of swimming. In isolated brain preparations, bath-applied 5HT elicited a swim pattern at short latency and also caused a long-lasting inhibition of the swim pattern. The activation of swimming by 5HT was associated with a tonic depolarization of cerebral cell 2 (C2) and the dorsal swim interneurons (DSI) which form part of the swim CPG network.
3. In isolated brain preparations, bath applied glycine, histamine, proctolin, and FMFRamide had no effect on the swim motor pattern elicited by electrical stimulation of a peripheral nerve. Aspartate, carbacol, dopamine, glutamate, octopamine, pilocarpine, and small cardioactive peptide-B (SCP_B) inhibited the activation of swimming by nerve stimulation.
4. The 5HT antagonists cyproheptidine, tryptamine, and 7-methyltryptamine had no effect on swimming, but methysergide and fenfluramine inhibited swimming to both normal sensory stimuli and exogenously applied 5HT.
5. Staining with a polyclonal antibody indicated that one class of CPG neurons, the dorsal swim interneurons (DSI), was immunoreactive for 5HT.
6. Taken together, the data suggest that pattern generator interneurons, particularly the DSIs, use 5HT as a neurotransmitter.

     

Modulation of sensorimotor pathways associated with gain changes in a posture-control network of an insect

The resistance reflex in the femur-tibia joint of stick insects shows a great variability in its strength which allows the animal to adapt to different environmental requirements. This paper presents the modulations in the neural reflex pathways which occur during an increase of the gain of the resistance reflex after tactile stimulation. The gain increase was associated with a short-term, reversible increase of slow extensor tibiae depolarization. Because membrane properties like resting potential and input resistance of this motoneuron remained unchanged during the gain changes, the increase of depolarization appeared to result from an increase of stimulus-related inputs and thus was due to modulations of the premotor neuronal network containing afferents of the femoral chordotonal organ and interneurons. However, no changes of spike activity of sensory neurons and amount of their presynaptic inhibition was found during gain changes. In contrast, recordings from different types of identified premotor non-spiking interneurons demonstrated a correlation between the amplitude of stimulus-related inputs to particular non-spiking interneurons and gain changes, while other non-spiking interneurons appeared unaffected. Thus, an increase in gain of the resistance reflex must be due to a specific weighting of synapses between sense organ and particular non-spiking interneurons. Accepted: 3 July 1998     

The Neuroanatomy of Nitric Oxide-Cyclic GMP Signaling in the Locust: Functional Implications for Sensory Systems

Recent studies have investigated the source and target neuronsfor the diffusible neuronal messenger molecule nitric oxide(NO) in the nervous system of the locust. Here we compare theneuroarchitecture of NO signaling between different sensorysystems. The available neuroanatomical data implicate NO insensory processing for modalities as diverse as mechanoreception,vision, olfaction, gustation and hearing. All respective first-ordersensory neuropils are innervated by NOS-containing interneurons.The corresponding sensory receptor neurons lack NOS but seemto express soluble guanylyl cyclase (sGC), the main receptormolecule for NO in the nervous system. The axonal projectionsof sensory neurons must therefore be considered the primarytarget of NO in these sensory neuropils. An exception is theantennal olfactory system where sGC is apparently expressedin interneurons, in partial colocalization with NOS. We discuss these anatomical findings in relation to the spatiotemporalcharacteristics of NO signaling. Many sensory neuropils areorganized into maps that reflect neuronal response properties(i.e., tuning or receptive fields). A local release of NO withinsuch maps will therefore most strongly affect neurons with similarcoding properties. If sensory receptor activity triggers NOsynthesis locally in the map, this mechanism could link groupsof similarly tuned receptors dynamically according to stimulusintensity. Furthermore, we explore the functional implicationsof differences between sensory systems in the anatomy of NOS-expressinginterneurons, using the compound eye and the thoracic tactilesystem as examples.     

Sensory modification of leech swimming: interactions between ventral stretch receptors and swim-related neurons

The neuronal circuits that generate the leech swimming rhythm comprise oscillatory interneurons that provide appropriately phased output to drive swim-related motoneurons. Within ganglia, these interneurons express three phases; between ganglia there exists a phase delay between homologs. Our earlier experiments revealed that stretch receptors embedded in the body wall participate in intersegmental coordination and setting intersegmental phases. To identify the basis for these sensory effects, we mapped interactions between a ventral stretch receptor and swim-related neurons. Connections between this receptor and motoneurons are weak and variable in quiescent preparations, but during fictive swimming stretch receptor activation modulates motoneuron oscillations, hence, these effects are polysynaptic, mediated by interneurons. We identified a strong, nonrectifying, and apparently direct electrical connection between the stretch receptor and oscillator neuron 33. The ventral stretch receptor also interacts with most of the other oscillatory interneurons, including inhibitory inputs to cells 28 and 208, excitatory input to the contralateral cell 115, and mixed input to the ipsilateral cell 115. These direct and indirect interactions can account for previously described effects of body-wall stretch on motoneuron activity. They also could mediate the previously described modification of intersegmental phase relationships by appropriately phased stretch receptor activation.     

The high number of neurons contributes to the robustness of the locust flight-CPG against parameter variation

 Real pattern-generating networks often consist of more neurons than necessary for the production of a certain rhythm. We investigated the question of whether these neurons contribute to the robustness of a pattern-generating system of using the central pattern generator (CPG) for flight of the locust, generating the deafferented activity pattern of wing elevator and wing depressor motoneurons, as an example of a rhythm-generating system. The neuronal network was reconstructed, based on the known connectivity of the interneurons in the flight CPG, using a biologically orientated network simulator (BioSim 3.0). This simulator allows a physiologically realistic simulation of particular neurons as well as the synaptic connections between them. The flight CPG consists of at least five cyclic loops. The simulation shows that each of them is in principle able to produce a rhythm comparable to the rhythm produced by the whole network, i.e. the ‘deafferented’ flight pattern of elevator and depressor motoneurons. Varying the parameter ‘synaptic strength’ in each of these loops and in the complete system shows that this parameter can be changed within certain ranges without loosing the ability to produce oscillations. These ranges are much smaller in each of the subloops than in the whole network. This result demonstrates that the robustness of the system is increased by supranumerary neurons and connections. Changing the active properties of the simulated neurons so that they are able to produce plateau potentials has no effect on the robustness of the simulated network. Received: 13 April 1994/Accepted in revised form: 15 September 1994     

Neuromodulation and flexibility in Central Pattern Generator networks

Central Pattern Generator (CPG) networks, which organize rhythmic movements, have long served as models for neural network organization. Modulatory inputs are essential components of CPG function: neuromodulators set the parameters of CPG neurons and synapses to render the networks functional. Each modulator acts on the network by many effects which may oppose one another; this may serve to stabilize the modulated state. Neuromodulators also determine the active neuronal composition in the CPG, which varies with state changes such as locomotor speed. The pattern of gene expression which determines the electrophysiological personality of each CPG neuron is also under modulatory control. It is not possible to model the function of neural networks without including the actions of neuromodulators.     

Associative neural network model for the generation of temporal patterns. Theory and application to central pattern generators.

Cyclic patterns of motor neuron activity are involved in the production of many rhythmic movements, such as walking, swimming, and scratching. These movements are controlled by neural circuits referred to as central pattern generators (CPGs). Some of these circuits function in the absence of both internal pacemakers and external feedback. We describe an associative neural network model whose dynamic behavior is similar to that of CPGs. The theory predicts the strength of all possible connections between pairs of neurons on the basis of the outputs of the CPG. It also allows the mean operating levels of the neurons to be deduced from the measured synaptic strengths between the pairs of neurons. We apply our theory to the CPG controlling escape swimming in the mollusk Tritonia diomedea. The basic rhythmic behavior is shown to be consistent with a simplified model that approximates neurons as threshold units and slow synaptic responses as elementary time delays. The model we describe may have relevance to other fixed action behaviors, as well as to the learning, recall, and recognition of temporally ordered information.     

The role of putative glutamatergic neurons and their connections in the locomotor central pattern generator of the mollusk, Clione limacina

In the pteropod mollusk Clione limacina, locomotor rhythm is produced by the central pattern generator (CPG), due mainly to the activity of interneurons of groups 7 (active in the phase of the dorsal flexion of the wings) and 8 (active in the phase of the ventral flexion). Each of these groups excites the neurons active in the same phase of the locomotor cycle, and inhibits the neurons of the opposite phase. In this work, the nature of connections formed by group 7 interneurons was studied. Riluzole (2-amino-6-trifluoro-methoxybenzothiazole), which is known to inhibit the presynaptic release of glutamate, suppressed the action of the type 7 interneurons onto the follower neurons of the same and of the antagonistic phase of the locomotor cycle. The main pattern of rhythmic activity of CPG with alternation of two phases could be maintained after suppression of inhibitory connections from group 7 interneurons to antagonistic neurons. This suggests redundancy of the mechanisms controlling swimming rhythm generation, which ensures the reliable operation of the system.     

Evolutionarily conserved coding properties of auditory neurons across grasshopper species

We investigated encoding properties of identified auditory interneurons in two not closely related grasshopper species (Acrididae). The neurons can be homologized on the basis of their similar morphologies and physiologies. As test stimuli, we used the species-specific stridulation signals of Chorthippus biguttulus, which evidently are not relevant for the other species, Locusta migratoria. We recorded spike trains produced in response to these signals from several neuron types at the first levels of the auditory pathway in both species. Using a spike train metric to quantify differences between neuronal responses, we found a high similarity in the responses of homologous neurons: interspecific differences between the responses of homologous neurons in the two species were not significantly larger than intraspecific differences (between several specimens of a neuron in one species). These results suggest that the elements of the thoracic auditory pathway have been strongly conserved during the evolutionary divergence of these species. According to the 'efficient coding' hypothesis, an adaptation of the thoracic auditory pathway to the specific needs of acoustic communication could be expected. We conclude that there must have been stabilizing selective forces at work that conserved coding characteristics and prevented such an adaptation.     

Partly shared spinal cord networks for locomotion and scratching

Animals produce a variety of behaviors using a limited number of muscles and motor neurons. Rhythmic behaviors are often generated in basic form by networks of neurons within the central nervous system, or central pattern generators (CPGs). It is known from several invertebrates that different rhythmic behaviors involving the same muscles and motor neurons can be generated by a single CPG, multiple separate CPGs, or partly overlapping CPGs. Much less is known about how vertebrates generate multiple, rhythmic behaviors involving the same muscles. The spinal cord of limbed vertebrates contains CPGs for locomotion and multiple forms of scratching. We investigated the extent of sharing of CPGs for hind limb locomotion and for scratching. We used the spinal cord of adult red-eared turtles. Animals were immobilized to remove movement-related sensory feedback and were spinally transected to remove input from the brain. We took two approaches. First, we monitored individual spinal cord interneurons (i.e., neurons that are in between sensory neurons and motor neurons) during generation of each kind of rhythmic output of motor neurons (i.e., each motor pattern). Many spinal cord interneurons were rhythmically activated during the motor patterns for forward swimming and all three forms of scratching. Some of these scratch/swim interneurons had physiological and morphological properties consistent with their playing a role in the generation of motor patterns for all of these rhythmic behaviors. Other spinal cord interneurons, however, were rhythmically activated during scratching motor patterns but inhibited during swimming motor patterns. Thus, locomotion and scratching may be generated by partly shared spinal cord CPGs. Second, we delivered swim-evoking and scratch-evoking stimuli simultaneously and monitored the resulting motor patterns. Simultaneous stimulation could cause interactions of scratch inputs with subthreshold swim inputs to produce normal swimming, acceleration of the swimming rhythm, scratch-swim hybrid cycles, or complete cessation of the rhythm. The type of effect obtained depended on the level of swim-evoking stimulation. These effects suggest that swim-evoking and scratch-evoking inputs can interact strongly in the spinal cord to modify the rhythm and pattern of motor output. Collectively, the single-neuron recordings and the results of simultaneous stimulation suggest that important elements of the generation of rhythms and patterns are shared between locomotion and scratching in limbed vertebrates.     

Regulation of afferent transmission in the feeding circuitry of Aplysia

Although feeding in Aplysia is mediated by a central pattern generator (CPG), the activity of this CPG is modified by afferent input. To determine how afferent activity produces the widespread changes in motor programs that are necessary if behavior is to be modified, we have studied two classes of feeding sensory neurons. We have shown that afferent-induced changes in activity are widespread because sensory neurons make a number of synaptic connections. For example, sensory neurons make monosynaptic excitatory connections with feeding motor neurons. Sensori-motor transmission is, however, regulated so that changes in the periphery do not disrupt ongoing activity. This results from the fact that sensory neurons are also electrically coupled to feeding interneurons. During motor programs sensory neurons are, therefore, rhythmically depolarized via central input. These changes in membrane potential profoundly affect sensori-motor transmission. For example, changes in membrane potential alter spike propagation in sensory neurons so that spikes are only actively transmitted to particular output regions when it is behaviorally appropriate. To summarize, afferent activity alters motor output because sensory neurons make direct contact with motor neurons. Sensori-motor transmission is, however, centrally regulated so that changes in the periphery alter motor programs in a phase-dependent manner.     

An inter-segmental network model and its use in elucidating gait-switches in the stick insect

Animal locomotion requires highly coordinated working of the segmental neuronal networks that control the limb movements. Experiments have shown that sensory signals originating from the extremities play a pivotal role in controlling locomotion patterns by acting on central networks. Based on the results from stick insect locomotion, we constructed an inter-segmental model comprising local networks for all three legs, i.e. for the pro-, meso- and meta-thorax, their inter-connections and the main sensory inputs modifying their activities. In the model, the local networks are uniform, and each of them consists of a central pattern generator (CPG) providing the rhythmic oscillation for the protractor-retractor motor systems, the corresponding motoneurons (MNs), and local inhibitory interneurons (IINs) between the CPGs and the MNs. Between segments, the CPGs are connected cyclically by both excitatory and inhibitory pathways that are modulated by the aforementioned sensory inputs. Simulations done with our network model showed that it was capable of reproducing basic patterns of locomotion such as those occurring during tri- and tetrapod gaits. The model further revealed a number of elementary neuronal processes (e.g. synaptic inhibition, or changing the synaptic drive at specific neurons) that in the simulations were necessary, and in their entirety sufficient, to bring about a transition from one type of gait to another. The main result of this simulation study is that exactly the same mechanism underlies the transition between the two types of gait irrespective of the direction of the change. Moreover, the model suggests that the majority of these processes can be attributed to direct sensory influences, and changes are required only in centrally controlled synaptic drives to the CPGs.     

Microfluidics for in vivo imaging of neuronal and behavioral activity in Caenorhabditis elegans

The nematode C. elegans is an excellent model organism for studying behavior at the neuronal level. Because of the organism's small size, it is challenging to deliver stimuli to C. elegans and monitor neuronal activity in a controlled environment. To address this problem, we developed two microfluidic chips, the 'behavior' chip and the 'olfactory' chip for imaging of neuronal and behavioral responses in C. elegans. We used the behavior chip to correlate the activity of AVA command interneurons with the worm locomotion pattern. We used the olfactory chip to record responses from ASH sensory neurons exposed to high-osmotic-strength stimulus. Observation of neuronal responses in these devices revealed previously unknown properties of AVA and ASH neurons. The use of these chips can be extended to correlate the activity of sensory neurons, interneurons and motor neurons with the worm's behavior.     

Homologues of serotonergic central pattern generator neurons in related nudibranch molluscs with divergent behaviors

Homologues of a neuron that contributes to a species-specific behavior were identified and characterized in species lacking that behavior. The nudibranch Tritonia diomedea swims by flexing its body dorsally and ventrally. The dorsal swim interneurons (DSIs) are components of the central pattern generator (CPG) underlying this rhythmic motor pattern and also activate crawling. Homologues of the DSIs were identified in six nudibranchs that do not exhibit dorsal–ventral swimming: Tochuina tetraquetra, Melibe leonina, Dendronotus iris, D. frondosus, Armina californica, and Triopha catalinae. Homology was based upon shared features that distinguish the DSIs from all other neurons: (1) serotonin immunoreactivity, (2) location in the Cerebral serotonergic posterior (CeSP) cluster, and (3) axon projection to the contralateral pedal ganglion. The DSI homologues, named CeSP-A neurons, share additional features with the DSIs: irregular basal firing, synchronous inputs, electrical coupling, and reciprocal inhibition. Unlike the DSIs, the CeSP-A neurons were not rhythmically active in response to nerve stimulation. The CeSP-A neurons in Tochuina and Triopha also excited homologues of the Tritonia Pd5 neuron, a crawling efferent. Thus, the CeSP-A neurons and the DSIs may be part of a conserved network related to crawling that may have been co-opted into a rhythmic swim CPG in Tritonia. This material is based upon work supported by the National Science Foundation, under Grant No. 0445768, and a GSU Research Program Enhancement grant to PSK.     

Decision-making in the leech nervous system

Previous models of behavioral choice have described two types of hierarchy, a decision hierarchy, in which different classes of decisions are made at each level (Tinbergen, 1951), and a behavioral hierarchy, in which one behavior will take precedence over others (Davis, 1985). Most experimental work on the neuronal basis of decision-making has focussed on the latter of these: a behavioral hierarchy is described for an animal, and the neuronal basis for this hierarchy, hypothesized to depend on inhibitory interactions, is investigated. Although the concept of "dedicated command neurons" has been useful for guiding these studies, it appears that such neurons are rare. We present evidence that in the leech, most neurons, including high-level decision neurons, are active in more than one behavior. We include data from one newly-identified neuron that elicits both swimming and crawling motor patterns. We suggest that decisions are made by a "combinatorial code": what behavior is produced depends on the specific combination of decision neurons that are active at a particular time. Finally, we discuss how decision neurons may be arranged into a decision hierarchy, with neurons at each sequential level responsible for choosing between a narrower range of behaviors. We suggest additional sensory information is incorporated at each level to inform the decision.