Proprioceptor distribution and control of a muscle reflex in the tibia of spider legs

In spiders, retrograde cobalt staining was used to clarify the distribution and detailed innervation of the three types of proprioceptors in the tibio-metatarsal leg joint: internal joint receptors, lyriform slit sense organs, and cuticular spines and hairs. The axons of all these receptors run in just two lateral, ascending nerves, which had previously been associated only with the internal receptors. Each nerve contains several hundred axons ranging in diameter from 0.1 micron to ca. 10 micron. Each slit of the four tibial lyriform organs is innervated by two bipolar sensory neurons. The lateral nerves are entirely sensory and run just beneath the cuticle, a convenient site for electrophysiological recording. We demonstrate simultaneous nerve and muscle recordings from intact spiders; these, in combination with selective sensory ablations, show that a resistance reflex in the flexor metatarsi muscles is elicited by internal joint-receptor units.     

The meaning and function of grunt variants in baboons

Wild baboons Papio cynocephalus ursinus, give tonal, harmonically rich vocalizations, termed grunts, in at least two distinct, behavioural contexts: when about to embark on a move across an open area ('move' grunts); and when approaching mothers and attempting to inspect or handle their young infants ('infant' grunts). Grunts in these two contexts elicit different responses from receivers and appear to be acoustically distinct (Owren et al. 1997 Journal of the Acoustical Society of America101 2951-2963). Differences in responses to grunts in the two contexts may, then, be due to acoustic differences, reflecting at least a rudimentary capacity for referential signalling. Alternatively, responses may differ simply due to differences in the contexts in which the grunts are being produced. We conducted playback experiments to test between these hypotheses. Experiments were designed to control systematically the effects of both context and acoustic features so as to evaluate the role of each in determining responses to grunts. In playback trials, subjects differentiated between putative move and infant grunts. Their responses based only on the acoustic features of grunts were functionally distinct and mirrored their behaviour to naturally occurring move and infant grunts. However, subjects' responses were in some cases also affected by the context in which grunts were presented, and by an interaction between the context and the acoustic features of the grunts. Furthermore, responses to grunts were affected by the relative rank difference between the caller and the subject. These results indicate that baboon grunts can function in rudimentary referential fashion, but that the context in which grunts are produced and the social identity of callers can also affect recipients' responses. Copyright 1999 The Association for the Study of Animal Behaviour.     

Robust and efficient walking with spring-like legs

The development of bipedal walking robots is inspired by human walking. A way of implementing walking could be performed by mimicking human leg dynamics. A fundamental model, representing human leg dynamics during walking and running, is the bipedal spring-mass model which is the basis for this paper. The aim of this study is the identification of leg parameters leading to a compromise between robustness and energy efficiency in walking. It is found that, compared to asymmetric walking, symmetric walking with flatter angles of attack reveals such a compromise. With increasing leg stiffness, energy efficiency increases continuously. However, robustness is the maximum at moderate leg stiffness and decreases slightly with increasing stiffness. Hence, an adjustable leg compliance would be preferred, which is adaptable to the environment. If the ground is even, a high leg stiffness leads to energy efficient walking. However, if external perturbations are expected, e.g. when the robot walks on uneven terrain, the leg should be softer and the angle of attack flatter. In the case of underactuated robots with constant physical springs, the leg stiffness should be larger than k = 14 in order to use the most robust gait. Soft legs, however, lack in both robustness and efficiency.     

Neuroarchitecture of the arcuate body in the brain of the spider Cupiennius salei (Araneae, Chelicerata) revealed by allatostatin-, proctolin-, and CCAP-immunocytochemistry and its evolutionary implications

Here we describe the neuronal organization of the arcuate body in the brain of the wandering spider Cupiennius salei. The internal anatomy of this major brain center is analyzed in detail based on allatostatin-, proctolin-, and crustacean cardioactive peptide (CCAP)-immunohistochemistry. Prominent neuronal features are demonstrated in graphic reconstructions. The stainings revealed that the neuroarchitecture of the arcuate body is characterized by several distinct layers some of which comprise nerve terminals that are organized in columnar, palisade-like arrays. The anatomy of the spider's arcuate body exhibits similarities as well as differences when compared to the central complex in the protocerebrum of the Tetraconata. Arguments for and against a possible homology of the arcuate body of the Chelicerata and the central complex of the Tetraconata and their consequences for the understanding of arthropod brain evolution are discussed.     

Natural images from the birthplace of the human eye

Here we introduce a database of calibrated natural images publicly available through an easy-to-use web interface. Using a Nikon D70 digital SLR camera, we acquired about six-megapixel images of Okavango Delta of Botswana, a tropical savanna habitat similar to where the human eye is thought to have evolved. Some sequences of images were captured unsystematically while following a baboon troop, while others were designed to vary a single parameter such as aperture, object distance, time of day or position on the horizon. Images are available in the raw RGB format and in grayscale. Images are also available in units relevant to the physiology of human cone photoreceptors, where pixel values represent the expected number of photoisomerizations per second for cones sensitive to long (L), medium (M) and short (S) wavelengths. This database is distributed under a Creative Commons Attribution-Noncommercial Unported license to facilitate research in computer vision, psychophysics of perception, and visual neuroscience.     

Energy management that generates terrain following versus apex-preserving hopping in man and machine

While hopping, 12 subjects experienced a sudden step down of 5 or 10 cm. Results revealed that the hopping style was “terrain following”. It means that the subjects pursued to keep the distance between maximum hopping height (apex) and ground profile constant. The spring-loaded inverse pendulum (SLIP) model, however, which is currently considered as template for stable legged locomotion would predict apex-preserving hopping, by which the absolute maximal hopping height is kept constant regardless of changes of the ground level. To get more insight into the physics of hopping, we outlined two concepts of energy management: “constant energy supply”, by which in each bounce—regardless of perturbations—the same amount of mechanical energy is injected, and “lost energy supply”, by which the mechanical energy that is going to be dissipated in the current cycle is assessed and replenished. When tested by simulations and on a robot testbed capable of hopping, constant energy supply generated stable and robust terrain following hopping, whereas lost energy supply led to something like apex-preserving hopping, which, however, lacks stability as well as robustness. Comparing simulated and machine hopping with human hopping suggests that constant energy supply has a good chance to be used by humans to generate hopping.     

Animal cognition: chimpanzee alarm calls depend on what others know

After a wild chimpanzee encounters a model of a dangerous snake, whether or not he gives an alarm call depends on his perception of another individual's knowledge.