Searching for motifs in the behaviour of larval Drosophila melanogaster and Caenorhabditis elegans reveals continuity between behavioural states

We present a novel method for the unsupervised discovery of behavioural motifs in larval Drosophila melanogaster and Caenorhabditis elegans. A motif is defined as a particular sequence of postures that recurs frequently. The animal''s changing posture is represented by an eigenshape time series, and we look for motifs in this time series. To find motifs, the eigenshape time series is segmented, and the segments clustered using spline regression. Unlike previous approaches, our method can classify sequences of unequal duration as the same motif. The behavioural motifs are used as the basis of a probabilistic behavioural annotator, the eigenshape annotator (ESA). Probabilistic annotation avoids rigid threshold values and allows classification uncertainty to be quantified. We apply eigenshape annotation to both larval Drosophila and C. elegans and produce a good match to hand annotation of behavioural states. However, we find many behavioural events cannot be unambiguously classified. By comparing the results with ESA of an artificial agent''s behaviour, we argue that the ambiguity is due to greater continuity between behavioural states than is generally assumed for these organisms.     

A consistent muscle activation strategy underlies crawling and swimming in Caenorhabditis elegans

Although undulatory swimming is observed in many organisms, the neuromuscular basis for undulatory movement patterns is not well understood. To better understand the basis for the generation of these movement patterns, we studied muscle activity in the nematode Caenorhabditis elegans. Caenorhabditis elegans exhibits a range of locomotion patterns: in low viscosity fluids the undulation has a wavelength longer than the body and propagates rapidly, while in high viscosity fluids or on agar media the undulatory waves are shorter and slower. Theoretical treatment of observed behaviour has suggested a large change in force–posture relationships at different viscosities, but analysis of bend propagation suggests that short-range proprioceptive feedback is used to control and generate body bends. How muscles could be activated in a way consistent with both these results is unclear. We therefore combined automated worm tracking with calcium imaging to determine muscle activation strategy in a variety of external substrates. Remarkably, we observed that across locomotion patterns spanning a threefold change in wavelength, peak muscle activation occurs approximately 45° (1/8th of a cycle) ahead of peak midline curvature. Although the location of peak force is predicted to vary widely, the activation pattern is consistent with required force in a model incorporating putative length- and velocity-dependence of muscle strength. Furthermore, a linear combination of local curvature and velocity can match the pattern of activation. This suggests that proprioception can enable the worm to swim effectively while working within the limitations of muscle biomechanics and neural control.     

Remote automated multi-generational growth and observation of an animal in low Earth orbit

The ultimate survival of humanity is dependent upon colonization of other planetary bodies. Key challenges to such habitation are (patho)physiologic changes induced by known, and unknown, factors associated with long-duration and distance space exploration. However, we currently lack biological models for detecting and studying these changes. Here, we use a remote automated culture system to successfully grow an animal in low Earth orbit for six months. Our observations, over 12 generations, demonstrate that the multi-cellular soil worm Caenorhabditis elegans develops from egg to adulthood and produces progeny with identical timings in space as on the Earth. Additionally, these animals display normal rates of movement when fully fed, comparable declines in movement when starved, and appropriate growth arrest upon starvation and recovery upon re-feeding. These observations establish C. elegans as a biological model that can be used to detect changes in animal growth, development, reproduction and behaviour in response to environmental conditions during long-duration spaceflight. This experimental system is ready to be incorporated on future, unmanned interplanetary missions and could be used to study cost-effectively the effects of such missions on these biological processes and the efficacy of new life support systems and radiation shielding technologies.     

Mapping the stereotyped behaviour of freely moving fruit flies

A frequent assumption in behavioural science is that most of an animal''s activities can be described in terms of a small set of stereotyped motifs. Here, we introduce a method for mapping an animal''s actions, relying only upon the underlying structure of postural movement data to organize and classify behaviours. Applying this method to the ground-based behaviour of the fruit fly, Drosophila melanogaster, we find that flies perform stereotyped actions roughly 50% of the time, discovering over 100 distinguishable, stereotyped behavioural states. These include multiple modes of locomotion and grooming. We use the resulting measurements as the basis for identifying subtle sex-specific behavioural differences and revealing the low-dimensional nature of animal motions.     

Three-dimensional tracking and behaviour monitoring of multiple fruit flies

The increasing interest in the investigation of social behaviours of a group of animals has heightened the need for developing tools that provide robust quantitative data. Drosophila melanogaster has emerged as an attractive model for behavioural analysis; however, there are still limited ways to monitor fly behaviour in a quantitative manner. To study social behaviour of a group of flies, acquiring the position of each individual over time is crucial. There are several studies that have tried to solve this problem and make this data acquisition automated. However, none of these studies has addressed the problem of keeping track of flies for a long period of time in three-dimensional space. Recently, we have developed an approach that enables us to detect and keep track of multiple flies in a three-dimensional arena for a long period of time, using multiple synchronized and calibrated cameras. After detecting flies in each view, correspondence between views is established using a novel approach we call the ‘sequential Hungarian algorithm’. Subsequently, the three-dimensional positions of flies in space are reconstructed. We use the Hungarian algorithm and Kalman filter together for data association and tracking. We evaluated rigorously the system''s performance for tracking and behaviour detection in multiple experiments, using from one to seven flies. Overall, this system presents a powerful new method for studying complex social interactions in a three-dimensional environment.     

Campylobacter jejuni colonization and transmission in broiler chickens: a modelling perspective.

Campylobacter jejuni is one of the most common causes of acute enteritis in the developed world. The consumption of contaminated poultry, where C. jejuni is believed to be a commensal organism, is a major risk factor. However, the dynamics of this colonization process in commercially reared chickens is still poorly understood. Quantification of these dynamics of infection at an individual level is vital to understand transmission within populations and formulate new control strategies. There are multiple potential routes of introduction of C. jejuni into a commercial flock. Introduction is followed by a rapid increase in environmental levels of C. jejuni and the level of colonization of individual broilers. Recent experimental and epidemiological evidence suggest that the celerity of this process could be masking a complex pattern of colonization and extinction of bacterial strains within individual hosts. Despite the rapidity of colonization, experimental transmission studies exhibit a highly variable and unexplained delay time in the initial stages of the process. We review past models of transmission of C. jejuni in broilers and consider simple modifications, motivated by the plausible biological mechanisms of clearance and latency, which could account for this delay. We show how simple mathematical models can be used to guide the focus of experimental studies by providing testable predictions based on our hypotheses. We conclude by suggesting that competition experiments could be used to further understand the dynamics and mechanisms underlying the colonization process. The population models for such competition processes have been extensively studied in other ecological and evolutionary contexts. However, C. jejuni can potentially adapt phenotypically through phase variation in gene expression, leading to unification of ecological and evolutionary time-scales. For a theoretician, the colonization dynamics of C. jejuni offer an experimental system to explore these 'phylodynamics', the synthesis of population dynamics and evolutionary biology.     

Assessing Differences Between Results Determined According to the Guide to the Expression of Uncertainty in Measurement

In some metrology applications multiple results of measurement for a common measurand are obtained and it is necessary to determine whether the results agree with each other. A result of measurement based on the Guide to the Expression of Uncertainty in Measurement (GUM) consists of a measured value together with its associated standard uncertainty. In the GUM, the measured value is regarded as the expected value and the standard uncertainty is regarded as the standard deviation, both known values, of a state-of-knowledge probability distribution. A state-of-knowledge distribution represented by a result need not be completely known. Then how can one assess the differences between the results based on the GUM? Metrologists have for many years used the Birge chisquare test as ‘a rule of thumb’ to assess the differences between two or more measured values for the same measurand by pretending that the standard uncertainties were the standard deviations of the presumed sampling probability distributions from random variation of the measured values. We point out that this is misuse of the standard uncertainties; the Birge test and the concept of statistical consistency motivated by it do not apply to the results of measurement based on the GUM. In 2008, the International Vocabulary of Metrology, third edition (VIM3) introduced the concept of metrological compatibility. We propose that the concept of metrological compatibility be used to assess the differences between results based on the GUM for the same measurand. A test of the metrological compatibility of two results of measurement does not conflict with a pairwise Birge test of the statistical consistency of the corresponding measured values.     

Logic programming to predict cell fate patterns and retrodict genotypes in organogenesis

Caenorhabditis elegans vulval development is a paradigm system for understanding cell differentiation in the process of organogenesis. Through temporal and spatial controls, the fate pattern of six cells is determined by the competition of the LET-23 and the Notch signalling pathways. Modelling cell fate determination in vulval development using state-based models, coupled with formal analysis techniques, has been established as a powerful approach in predicting the outcome of combinations of mutations. However, computing the outcomes of complex and highly concurrent models can become prohibitive. Here, we show how logic programs derived from state machines describing the differentiation of C. elegans vulval precursor cells can increase the speed of prediction by four orders of magnitude relative to previous approaches. Moreover, this increase in speed allows us to infer, or ‘retrodict’, compatible genomes from cell fate patterns. We exploit this technique to predict highly variable cell fate patterns resulting from dig-1 reduced-function mutations and let-23 mosaics. In addition to the new insights offered, we propose our technique as a platform for aiding the design and analysis of experimental data.     

Fractal analysis of behaviour in a wild primate: behavioural complexity in health and disease

Parasitism and other stressors are ubiquitous in nature but their effects on animal behaviour can be difficult to identify. We investigated the effects of nematode parasitism and other indicators of physiological impairment on the sequential complexity of foraging and locomotion behaviour among wild Japanese macaques (Macaca fuscata yakui). We observed all sexually mature individuals (n = 28) in one macaque study group between October 2007 and August 2008, and collected two faecal samples/month/individual (n = 362) for parasitological examination. We used detrended fluctuation analysis (DFA) to investigate long-range autocorrelation in separate, binary sequences of foraging (n = 459) and locomotion (n = 446) behaviour collected via focal sampling. All behavioural sequences exhibited long-range autocorrelation, and linear mixed-effects models suggest that increasing infection with the nodular worm Oesophagostomum aculeatum, clinically impaired health, reproductive activity, ageing and low dominance status were associated with reductions in the complexity of locomotion, and to a lesser extent foraging, behaviour. Furthermore, the sequential complexity of behaviour increased with environmental complexity. We argue that a reduction in complexity in animal behaviour characterizes individuals in impaired or ‘stressed’ states, and may have consequences if animals cannot cope with heterogeneity in their natural habitats.     

Evidence for behavioural thermoregulation by the world's largest fish

Many fishes make frequent ascents to surface waters and often show prolonged surface swimming following descents to deep water. This affinity for the surface is thought to be related to the recovery of body heat lost at depth. We tested this hypothesis using data from time–depth recorders deployed on four whale sharks (Rhincodon typus). We summarized vertical movements into bouts of dives and classified these into three main types, using cluster analysis. In addition to day and night ‘bounce’ dives where sharks rapidly descended and ascended, we found a third type: single deep (mean: 340 m), long (mean: 169 min) dives, occurring in daytime with extremely long post-dive surface durations (mean: 146 min). Only sharks that were not constrained by shallow bathymetry performed these dives. We found a negative relationship between the mean surface duration of dives in the bout and the mean minimum temperature of dives in the bout that is consistent with the hypothesis that thermoregulation was a major factor driving use of the surface. The relationship broke down when sharks were diving in mean minimum temperatures around 25°C, suggesting that warmer waters did not incur a large metabolic cost for diving and that other factors may also influence surface use.     

Embodied linearity of speed control in Drosophila melanogaster

Fruitflies regulate flight speed by adjusting their body angle. To understand how low-level posture control serves an overall linear visual speed control strategy, we visually induced free-flight acceleration responses in a wind tunnel and measured the body kinematics using high-speed videography. Subsequently, we reverse engineered the transfer function mapping body pitch angle onto flight speed. A linear model is able to reproduce the behavioural data with good accuracy. Our results show that linearity in speed control is realized already at the level of body posture-mediated speed control and is therefore embodied at the level of the complex aerodynamic mechanisms of body and wings. Together with previous results, this study reveals the existence of a linear hierarchical control strategy, which can provide relevant control principles for biomimetic implementations, such as autonomous flying micro air vehicles.     

Use of multiple modes of flight subsidy by a soaring terrestrial bird,the golden eagle Aquila chrysaetos,when on migration

Large birds regularly use updrafts to subsidize flight. Although most research on soaring bird flight has focused on use of thermal updrafts, there is evidence suggesting that many species are likely to use multiple modes of subsidy. We tested the degree to which a large soaring species uses multiple modes of subsidy to provide insights into the decision-making that underlies flight behaviour. We statistically classified more than 22 000 global positioning satellite–global system for mobile communications telemetry points collected at 30-s intervals to identify the type of subsidized flight used by 32 migrating golden eagles during spring in eastern North America. Eagles used subsidized flight on 87% of their journey. They spent 41.9% ± 1.5 (, range: 18–56%) of their subsidized northbound migration using thermal soaring, 45.2% ± 2.1 (12–65%) of time gliding between thermals, and 12.9% ± 2.2 (1–55%) of time using orographic updrafts. Golden eagles responded to the variable local-scale meteorological events they encountered by switching flight behaviour to take advantage of multiple modes of subsidy. Orographic soaring occurred more frequently in morning and evening, earlier in the migration season, and when crosswinds and tail winds were greatest. Switching between flight modes allowed migration for relatively longer periods each day and frequent switching behaviour has implications for a better understanding of avian flight behaviour and of the evolution of use of subsidy in flight.     

The effect of individual variation on the structure and function of interaction networks in harvester ants

Social insects exhibit coordinated behaviour without central control. Local interactions among individuals determine their behaviour and regulate the activity of the colony. Harvester ants are recruited for outside work, using networks of brief antennal contacts, in the nest chamber closest to the nest exit: the entrance chamber. Here, we combine empirical observations, image analysis and computer simulations to investigate the structure and function of the interaction network in the entrance chamber. Ant interactions were distributed heterogeneously in the chamber, with an interaction hot-spot at the entrance leading further into the nest. The distribution of the total interactions per ant followed a right-skewed distribution, indicating the presence of highly connected individuals. Numbers of ant encounters observed positively correlated with the duration of observation. Individuals varied in interaction frequency, even after accounting for the duration of observation. An ant''s interaction frequency was explained by its path shape and location within the entrance chamber. Computer simulations demonstrate that variation among individuals in connectivity accelerates information flow to an extent equivalent to an increase in the total number of interactions. Individual variation in connectivity, arising from variation among ants in location and spatial behaviour, creates interaction centres, which may expedite information flow.     

Tensile and dynamic mechanical analysis of the distal portion of mussel (Mytilus edulis) byssal threads.

Dynamic mechanical analysis was used to record the behaviour of hydrated and dehydrated byssal threads under tensile stress and during dynamic thermal cycling. Fresh byssi, and byssi aged two weeks prior to testing, were used to further study the effects of age on the mechanical properties of this material. It was found that while older threads demonstrated increased stiffness, age did not necessarily affect their ultimate tensile strength. Dehydration had a more pronounced effect on thread stiffness and also increased the ultimate strength of the material. In their dry state, byssal threads displayed multiple yield points under tension and these, it is suggested, could equate to different phases within the bulk of the material. Dynamic analysis revealed glass transition (Tg) and ecologically relevant operational temperatures for byssi, where their modulus (E') remained constant. These discoveries are related to the ecological function of byssal threads and to the emerging field of biomimetics.     

Design and Uncertainty Analysis for a PVTt Gas Flow Standard

A new pressure, volume, temperature, and, time (PVTt) primary gas flow standard at the National Institute of Standards and Technology has an expanded uncertainty (k = 2) of between 0.02 % and 0.05 %. The standard spans the flow range of 1 L/min to 2000 L/min using two collection tanks and two diverter valve systems. The standard measures flow by collecting gas in a tank of known volume during a measured time interval. We describe the significant and novel features of the standard and analyze its uncertainty. The gas collection tanks have a small diameter and are immersed in a uniform, stable, thermostatted water bath. The collected gas achieves thermal equilibrium rapidly and the uncertainty of the average gas temperature is only 7 mK (22 × 10⁻⁶ T). A novel operating method leads to essentially zero mass change in and very low uncertainty contributions from the inventory volume. Gravimetric and volume expansion techniques were used to determine the tank and the inventory volumes. Gravimetric determinations of collection tank volume made with nitrogen and argon agree with a standard deviation of 16 × 10⁻⁶ V_T. The largest source of uncertainty in the flow measurement is drift of the pressure sensor over time, which contributes relative standard uncertainty of 60 × 10⁻⁶ to the determinations of the volumes of the collection tanks and to the flow measurements. Throughout the range 3 L/min to 110 L/min, flows were measured independently using the 34 L and the 677 L collection systems, and the two systems agreed within a relative difference of 150 × 10⁻⁶. Double diversions were used to evaluate the 677 L system over a range of 300 L/min to 1600 L/min, and the relative differences between single and double diversions were less than 75 × 10⁻⁶.     

Investigating the rheological properties of native plant latex

Plant latex, the source of natural rubber, has been of interest to mankind for millennia, with much of the research on its rheological (flow) properties focused towards industrial application. However, little is known regarding the rheology of the native material as produced by the plant, a key factor in determining latex''s biological functions. In this study, we outline a method for rheological comparison between native latices that requires a minimum of preparatory steps. Our approach provides quantitative insights into the coagulation mechanisms of Euphorbia and Ficus latex allowing interpretation within a comparative evolutionary framework. Our findings reveal that in laboratory conditions both latices behave like non-Newtonian materials with the coagulation of Euphorbia latex being mediated by a slow evaporative process (more than 60 min), whereas Ficus appears to use additional biochemical components to increase the rate of coagulation (more than 30 min). Based on these results, we propose two different primary defensive roles for latex in these plants: the delivery of anti-herbivory compounds (Euphorbia) and rapid wound healing (Ficus).     

Experiments and theory of undulatory locomotion in a simple structured medium

Undulatory locomotion of micro-organisms through geometrically complex, fluidic environments is ubiquitous in nature and requires the organism to negotiate both hydrodynamic effects and geometrical constraints. To understand locomotion through such media, we experimentally investigate swimming of the nematode Caenorhabditis elegans through fluid-filled arrays of micro-pillars and conduct numerical simulations based on a mechanical model of the worm that incorporates hydrodynamic and contact interactions with the lattice. We show that the nematode''s path, speed and gait are significantly altered by the presence of the obstacles and depend strongly on lattice spacing. These changes and their dependence on lattice spacing are captured, both qualitatively and quantitatively, by our purely mechanical model. Using the model, we demonstrate that purely mechanical interactions between the swimmer and obstacles can produce complex trajectories, gait changes and velocity fluctuations, yielding some of the life-like dynamics exhibited by the real nematode. Our results show that mechanics, rather than biological sensing and behaviour, can explain some of the observed changes in the worm''s locomotory dynamics.