PiVR: An affordable and versatile closed-loop platform to study unrestrained sensorimotor behavior.

Tools enabling closed-loop experiments are crucial to delineate causal relationships between the activity of genetically labeled neurons and specific behaviors. We developed the Raspberry Pi Virtual Reality (PiVR) system to conduct closed-loop optogenetic stimulation of neural functions in unrestrained animals. PiVR is an experimental platform that operates at high temporal resolution (70 Hz) with low latencies (<30 milliseconds), while being affordable (

Algorithms for Olfactory Search across Species.

Localizing the sources of stimuli is essential. Most organisms cannot eat, mate, or escape without knowing where the relevant stimuli originate. For many, if not most, animals, olfaction plays an essential role in search. While microorganismal chemotaxis is relatively well understood, in larger animals the algorithms and mechanisms of olfactory search remain mysterious. In this symposium, we will present recent advances in our understanding of olfactory search in flies and rodents. Despite their different sizes and behaviors, both species must solve similar problems, including meeting the challenges of turbulent airflow, sampling the environment to optimize olfactory information, and incorporating odor information into broader navigational systems.

The Ol1mpiad: concordance of behavioural faculties of stage 1 and stage 3 Drosophila larvae.

Mapping brain function to brain structure is a fundamental task for neuroscience. For such an endeavour, the Drosophila larva is simple enough to be tractable, yet complex enough to be interesting. It features about 10,000 neurons and is capable of various taxes, kineses and Pavlovian conditioning. All its neurons are currently being mapped into a light-microscopical atlas, and Gal4 strains are being generated to experimentally access neurons one at a time. In addition, an electron microscopic reconstruction of its nervous system seems within reach. Notably, this electron microscope-based connectome is being drafted for a stage 1 larva - because stage 1 larvae are much smaller than stage 3 larvae. However, most behaviour analyses have been performed for stage 3 larvae because their larger size makes them easier to handle and observe. It is therefore warranted to either redo the electron microscopic reconstruction for a stage 3 larva or to survey the behavioural faculties of stage 1 larvae. We provide the latter. In a community-based approach we called the Ol1mpiad, we probed stage 1 Drosophila larvae for free locomotion, feeding, responsiveness to substrate vibration, gentle and nociceptive touch, burrowing, olfactory preference and thermotaxis, light avoidance, gustatory choice of various tastants plus odour-taste associative learning, as well as light/dark-electric shock associative learning. Quantitatively, stage 1 larvae show lower scores in most tasks, arguably because of their smaller size and lower speed. Qualitatively, however, stage 1 larvae perform strikingly similar to stage 3 larvae in almost all cases. These results bolster confidence in mapping brain structure and behaviour across developmental stages.

A Model of Drosophila Larva Chemotaxis.

Detailed observations of larval Drosophila chemotaxis have characterised the relationship between the odour gradient and the runs, head casts and turns made by the animal. We use a computational model to test whether hypothesised sensorimotor control mechanisms are sufficient to account for larval behaviour. The model combines three mechanisms based on simple transformations of the recent history of odour intensity at the head location. The first is an increased probability of terminating runs in response to gradually decreasing concentration, the second an increased probability of terminating head casts in response to rapidly increasing concentration, and the third a biasing of run directions up concentration gradients through modulation of small head casts. We show that this model can be tuned to produce behavioural statistics comparable to those reported for the larva, and that this tuning results in similar chemotaxis performance to the larva. We demonstrate that each mechanism can enable odour approach but the combination of mechanisms is most effective, and investigate how these low-level control mechanisms relate to behavioural measures such as the preference indices used to investigate larval learning behaviour in group assays.

The impact of odor-reward memory on chemotaxis in larval Drosophila.

How do animals adaptively integrate innate with learned behavioral tendencies? We tackle this question using chemotaxis as a paradigm. Chemotaxis in the Drosophila larva largely results from a sequence of runs and oriented turns. Thus, the larvae minimally need to determine (i) how fast to run, (ii) when to initiate a turn, and (iii) where to direct a turn. We first report how odor-source intensities modulate these decisions to bring about higher levels of chemotactic performance for higher odor-source intensities during innate chemotaxis. We then examine whether the same modulations are responsible for alterations of chemotactic performance by learned odor "valence" (understood throughout as level of attractiveness). We find that run speed (i) is neither modulated by the innate nor by the learned valence of an odor. Turn rate (ii), however, is modulated by both: the higher the innate or learned valence of the odor, the less often larvae turn whenever heading toward the odor source, and the more often they turn when heading away. Likewise, turning direction (iii) is modulated concordantly by innate and learned valence: turning is biased more strongly toward the odor source when either innate or learned valence is high. Using numerical simulations, we show that a modulation of both turn rate and of turning direction is sufficient to account for the empirically found differences in preference scores across experimental conditions. Our results suggest that innate and learned valence organize adaptive olfactory search behavior by their summed effects on turn rate and turning direction, but not on run speed. This work should aid studies into the neural mechanisms by which memory impacts specific aspects of behavior.

Drosophila flight: How flies control casts and surges.

In the absence of directional cues, most foraging animals explore space by turning and zigzagging in search of sensory information. Recent progress in the identification of the neural correlates of turns in flies offers exciting new perspectives on the evolution of neural circuits controlling fundamental aspects of orientation responses.

Tracking the Navigation Behavior of Drosophila Larvae in Real and Virtual Odor Gradients by Using the Raspberry Pi Virtual Reality (PiVR) System.

In a closed-loop experimental paradigm, an animal experiences a modulation of its sensory input as a function of its own behavior. Tools enabling closed-loop experiments are crucial for delineating causal relationships between the activity of genetically labeled neurons and specific behavioral responses. We have recently developed an experimental platform known as "Raspberry Pi Virtual Reality" (PiVR) that is used to perform closed-loop optogenetic stimulation of neurons in unrestrained animals. PiVR is a system that operates at high temporal resolution (>30-Hz) and with low latencies. Larvae of the fruit fly Drosophila melanogaster are ideal to study the role of individual neurons in modulating behavior to aid the understanding of the neural pathways underlying various guided behaviors. Here, we introduce larval chemotaxis as an example of a navigational behavior in which an animal seeks to locate a target-in this case, the attractive source of an odor-by tracking a concentration gradient. The methodologies that we describe here combine the use of PiVR with the study of larval chemotaxis in real and virtual odor gradients, but these can also be readily adapted to other sensory modalities.

Using the Raspberry Pi Virtual Reality (PiVR) System to Study Drosophila Larval Chemotaxis with Real and Virtual Odor Gradients.

Here, we present a detailed protocol for the study of the orientation behavior of larvae of the fruit fly Drosophila melanogaster in response to both real and virtual odors (chemotaxis). An element common to the study of navigation directed by all sensory modalities is the need to correlate changes in behavioral states (e.g., crawling and turning) with temporal changes in the stimulus preceding these events. It has been shown recently that virtual odor landscapes, with any arbitrary geometry, can be created by combining a platform known as "Raspberry Pi virtual reality" (PiVR) with optogenetics. This methodology offers a technical foundation with which to characterize how the larval nervous system responds to stimulation by real and virtual odors. Furthermore, the experimental steps presented and discussed herein highlight important considerations that are needed to ensure experimental reproducibility. Finally, we believe that this framework can be easily adapted and generalized to allow investigators to study other sensory modalities in the Drosophila larva and in other animals.

Bilateral olfactory sensory input enhances chemotaxis behavior.

Neural comparisons of bilateral sensory inputs are essential for visual depth perception and accurate localization of sounds in space. All animals, from single-cell prokaryotes to humans, orient themselves in response to environmental chemical stimuli, but the contribution of spatial integration of neural activity in olfaction remains unclear. We investigated this problem in Drosophila melanogaster larvae. Using high-resolution behavioral analysis, we studied the chemotaxis behavior of larvae with a single functional olfactory neuron on either the left or right side of the head, allowing us to examine unilateral or bilateral olfactory input. We developed new spectroscopic methods to create stable odorant gradients in which odor concentrations were experimentally measured. In these controlled environments, we observed that a single functional neuron provided sufficient information to permit larval chemotaxis. We found additional evidence that the overall accuracy of navigation is enhanced by the increase in the signal-to-noise ratio conferred by bilateral sensory input.

Action selection: Neuropeptidergic gates of behavior.

Nervous systems continuously receive environmental signals with distinct behavioral meanings. To process ambiguous sensory inputs, neural circuits rely on hubs with compartmentalized synaptic structures. A new study has revealed how, in Drosophila larvae, this architecture with the local release of neuropeptides enables the control of flexible and context-dependent behavioral outcomes.

Depolarization block in olfactory sensory neurons expands the dimensionality of odor encoding.

Upon strong and prolonged excitation, neurons can undergo a silent state called depolarization block that is often associated with disorders such as epileptic seizures. Here, we show that neurons in the peripheral olfactory system undergo depolarization block as part of their normal physiological function. Typically, olfactory sensory neurons enter depolarization block at odor concentrations three orders of magnitude above their detection threshold, thereby defining receptive fields over concentration bands. The silencing of high-affinity olfactory sensory neurons produces sparser peripheral odor representations at high-odor concentrations, which might facilitate perceptual discrimination. Using a conductance-based model of the olfactory transduction cascade paired with spike generation, we provide numerical and experimental evidence that depolarization block arises from the slow inactivation of sodium channels-a process that could affect a variety of sensory neurons. The existence of ethologically relevant depolarization block in olfactory sensory neurons creates an additional dimension that expands the peripheral encoding of odors.

Adaptive adjustment of the generalization-discrimination balance in larval Drosophila.

Learnt predictive behavior faces a dilemma: predictive stimuli will never 'replay' exactly as during the learning event, requiring generalization. In turn, minute differences can become meaningful, prompting discrimination. To provide a study case for an adaptive adjustment of this generalization-discrimination balance, the authors ask whether Drosophila melanogaster larvae are able to either generalize or discriminate between two odors (1-octen-3-ol and 3-octanol), depending on the task. The authors find that after discriminatively rewarding one but not the other odor, larvae show conditioned preference for the rewarded odor. On the other hand, no odor specificity is observed after nondiscriminative training, even if the test involves a choice between both odors. Thus, for this odor pair at least, discrimination training is required to confer an odor-specific memory trace. This requires that there is at least some difference in processing between the two odors already at the beginning of the training. Therefore, as a default, there is a small yet salient difference in processing between 1-octen-3-ol and 3-octanol; this difference is ignored after nondiscriminative training (generalization), whereas it is accentuated by odor-specific reinforcement (discrimination). Given that, as the authors show, both faculties are lost in anosmic Or83b(1) mutants, this indicates an adaptive adjustment of the generalization-discrimination balance in larval Drosophila, taking place downstream of Or83b-expressing sensory neurons.

Mini-brain computations converting dynamic olfactory inputs into orientation behavior.

The neural logic underlying the conversion of non-stationary (dynamic) olfactory inputs into odor-search behaviors has been difficult to crack due to the distributed nature of the olfactory code - food odors typically co-activate multiple olfactory sensory neurons. In the Drosophila larva, the activity of a single olfactory sensory neuron is sufficient to direct accurate reorientation maneuvers in odor gradients (chemotaxis). In this reduced sensory system, a descending pathway essential for larval chemotaxis has been delineated from the peripheral olfactory system down to the premotor system. Here, I review how anatomical and functional inspections of this pathway have advanced our understanding of the neural mechanisms that convert behaviorally relevant sensory signals into orientation responses.

Order in Odors: A Power Law Structures the Encoding of Stimulus Identity and Intensity.

Odorant molecules are detected through the combinatorial activation of ensembles of olfactory sensory neurons. By capitalizing on the numerical simplicity of the Drosophila larval brain, Si et al. (2019) uncover principles constraining the representation of the quality and intensity of olfactory stimuli.

Chemotaxis behavior mediated by single larval olfactory neurons in Drosophila.

BACKGROUND: Odorant receptors (ORs) are thought to act in a combinatorial fashion, in which odor identity is encoded by the activation of a subset of ORs and the olfactory sensory neurons (OSNs) that express them. The extent to which a single OR contributes to chemotaxis behavior is not known. We investigated this question in Drosophila larvae, which represent a powerful genetic system to analyze the contribution of individual OSNs to odor coding. RESULTS: We identify 25 larval OR genes expressed in 21 OSNs and generate genetic tools that allow us to engineer larvae missing a single OSN or having only a single or a pair of functional OSNs. Ablation of single OSNs disrupts chemotaxis behavior to a small subset of the odors tested. Larvae with only a single functional OSN are able to chemotax robustly, demonstrating that chemotaxis is possible in the absence of the remaining elements of the combinatorial code. We provide behavioral evidence that an OSN not sufficient to support chemotaxis behavior alone can act in a combinatorial fashion to enhance chemotaxis along with a second OSN. CONCLUSIONS: We conclude that there is extensive functional redundancy in the olfactory system, such that a given OSN is necessary and sufficient for the perception of only a subset of odors. This study is the first behavioral demonstration that formation of olfactory percepts involves the combinatorial integration of information transmitted by multiple ORs.

Disentangling the strings that organize behavior.

The neurons that connect the brain and ventral nerve cord in fruit flies have been mapped in unprecedented detail.

Sensorimotor pathway controlling stopping behavior during chemotaxis in the Drosophila melanogaster larva.

Sensory navigation results from coordinated transitions between distinct behavioral programs. During chemotaxis in the Drosophila melanogaster larva, the detection of positive odor gradients extends runs while negative gradients promote stops and turns. This algorithm represents a foundation for the control of sensory navigation across phyla. In the present work, we identified an olfactory descending neuron, PDM-DN, which plays a pivotal role in the organization of stops and turns in response to the detection of graded changes in odor concentrations. Artificial activation of this descending neuron induces deterministic stops followed by the initiation of turning maneuvers through head casts. Using electron microscopy, we reconstructed the main pathway that connects the PDM-DN neuron to the peripheral olfactory system and to the pre-motor circuit responsible for the actuation of forward peristalsis. Our results set the stage for a detailed mechanistic analysis of the sensorimotor conversion of graded olfactory inputs into action selection to perform goal-oriented navigation.

Collective Behavior: Social Digging in Drosophila Larvae.

Insects are capable of spectacular achievements through collective behavior, but examples of such behavior in fruit flies are rare. New research indicates that Drosophila larvae engage in coordinated digging to feed collectively.

Species-specific modulation of food-search behavior by respiration and chemosensation in Drosophila larvae.

Animals explore their environment to encounter suitable food resources. Despite its vital importance, this behavior puts individuals at risk by consuming limited internal energy during locomotion. We have developed a novel assay to investigate how food-search behavior is organized in Drosophila melanogaster larvae dwelling in hydrogels mimicking their natural habitat. We define three main behavioral modes: resting at the gel's surface, digging while feeding near the surface, and apneic dives. In unstimulated conditions, larvae spend most of their time digging. By contrast, deep and long exploratory dives are promoted by olfactory stimulations. Hypoxia and chemical repellents impair diving. We report remarkable differences in the dig-and-dive behavior of D. melanogaster and the fruit-pest D. suzukii. The present paradigm offers an opportunity to study how sensory and physiological cues are integrated to balance the limitations of dwelling in imperfect environmental conditions and the risks associated with searching for potentially more favorable conditions.

Pavlovian Conditioning of Larval Drosophila: An Illustrated, Multilingual, Hands-On Manual for Odor-Taste Associative Learning in Maggots.

Larval Drosophila offer a study case for behavioral neurogenetics that is simple enough to be experimentally tractable, yet complex enough to be worth the effort. We provide a detailed, hands-on manual for Pavlovian odor-reward learning in these animals. Given the versatility of Drosophila for genetic analyses, combined with the evolutionarily shared genetic heritage with humans, the paradigm has utility not only in behavioral neurogenetics and experimental psychology, but for translational biomedicine as well. Together with the upcoming total synaptic connectome of the Drosophila nervous system and the possibilities of single-cell-specific transgene expression, it offers enticing opportunities for research. Indeed, the paradigm has already been adopted by a number of labs and is robust enough to be used for teaching in classroom settings. This has given rise to a demand for a detailed, hands-on manual directed at newcomers and/or at laboratory novices, and this is what we here provide. The paradigm and the present manual have a unique set of features: The paradigm is cheap, easy, and robust;The manual is detailed enough for newcomers or laboratory novices;It briefly covers the essential scientific context;It includes sheets for scoring, data analysis, and display;It is multilingual: in addition to an English version we provide German, French, Japanese, Spanish and Italian language versions as well.The present manual can thus foster science education at an earlier age and enable research by a broader community than has been the case to date.