Single neuron serotonin receptor subtype gene expression correlates with behaviour within and across three molluscan species.

The marine mollusc, Pleurobranchaea californica varies daily in whether it swims and this correlates with whether serotonin (5-HT) enhances the strength of synapses made by the swim central pattern generator neuron, A1/C2. Another species, Tritonia diomedea, reliably swims and does not vary in serotonergic neuromodulation. A third species, Hermissenda crassicornis, never produces this behaviour and lacks the neuromodulation. We found that expression of particular 5-HT receptor subtype (5-HTR) genes in single neurons correlates with swimming. Orthologues to seven 5-HTR genes were identified from whole-brain transcriptomes. We isolated individual A1/C2 neurons and sequenced their RNA or measured 5-HTR gene expression using absolute quantitative PCR. A1/C2 neurons isolated from Pleurobranchaea that produced a swim motor pattern just prior to isolation expressed 5-HT2a and 5-HT7 receptor genes, as did all Tritonia samples. These subtypes were absent from A1/C2 isolated from Pleurobranchaea that did not swim on that day and from Hermissenda A1/C2 neurons. Expression of other receptors was not correlated with swimming. This suggests that these 5-HTRs may mediate the modulation of A1/C2 synaptic strength and play an important role in swimming. Furthermore, it suggests that regulation of receptor expression could underlie daily changes in behaviour as well as evolution of behaviour.

Localization and quantification of 5-hydroxytryptophan and serotonin in the central nervous systems of Tritonia and Aplysia.

Serotonin (5-hydroxytryptamine, 5-HT) plays a central role in several behaviors in marine molluscs and other species. In an effort to better understand the regulation of 5-HT synthesis, we used high performance liquid chromatography (HPLC) with electrochemical detection and immunohistochemistry to measure and map the distribution of the immediate precursor of 5-HT, 5-hydroxytryptophan (5-HTP), in two model opisthobranch molluscs, the nudibranch Tritonia diomedea and the anaspid Aplysia californica. HPLC measurements showed that 5-HTP is present at approximately the same level as the 5-HT metabolite, 5-hydroxyindolacetic acid (5-HIAA) but is more than 100 times lower in concentration than either 5-HT or dopamine in the same tissue. Specific 5-HTP immunoreactivity was colocalized with serotonin in both species. The overall intensity of 5-HTP immunoreactivity in individual ganglia agreed with HPLC measurements for those ganglia. The intensity of 5-HTP immunolabeling varied between cell types and was correlated with the intensity of 5-HT immunolabeling. In particular, differences in staining intensity were consistently seen among the three dorsal swim interneurons of the Tritonia swim central pattern generator circuit. Some nonserotonergic neurons also displayed low levels of 5-HTP immunolabeling that were above background levels. Together, these results support the notion that production of 5-HTP is a rate-limiting step in serotonin synthesis and suggest that there may be additional regulation that allows 5-HTP to accumulate to varying levels.

Biochemical networks in nervous systems: expanding neuronal information capacity beyond voltage signals.

In addition to synaptically mediated signals that are based on changes in membrane potential, neurons also generate and receive many types of signals that involve biochemical pathways, some of which are independent of voltage. Although networks of biochemical pathways have often been thought of as being only neuromodulatory, recent computational and experimental studies have highlighted how these pathways can also integrate and transfer information themselves. Interactions between biochemical pathways involving positive and negative feedback loops allow biochemical signals to exhibit emergent properties, most notably bistability and oscillations. New and evolving techniques, including real-time imaging of second messengers, hold the promise of illuminating information processing that cannot be detected using microelectrodes, and revealing how 'biochemical integration' might contribute to the computational abilities of the nervous system.

Identified serotonergic neurons in the Tritonia swim CPG activate both ionotropic and metabotropic receptors.

Although G-protein-coupled (metabotropic) receptors are known to modulate the production of motor patterns, evidence from the escape swim central pattern generator (CPG) of the nudibranch mollusk, Tritonia diomedea, suggests that they might also participate in the generation of the motor pattern itself. The dorsal swim interneurons (DSIs), identified serotonergic neurons intrinsic to the Tritonia swim CPG, evoke dual component synaptic potentials onto other CPG neurons and premotor interneurons. Both the fast and slow components were previously shown to be due to serotonin (5-HT) acting at distinct postsynaptic receptors. We find that blocking or facilitating metabotropic receptors in a postsynaptic premotor interneuron differentially affects the fast and slow synaptic responses to DSI stimulation. Blocking G-protein activation by iontophoretically injecting the GDP-analogue guanosine 5'-O-(2-thiodiphosphate) (GDP-beta-S) did not significantly affect the DSI-evoked fast excitatory postsynaptic potential (EPSP) but decreased the amplitude of the slow component more than 50%. Injection of the GTP analogues guanosine 5'-O-(3-thiotriphosphate) (GTP-gamma-S) and 5'-guanylyl-imidodiphosphate, to prolong G-protein activation, had mixed effects on the fast component but increased the amplitude and duration of the slow component of the DSI-evoked response and, with repeated DSI stimulation, led to a persistent depolarization. These results indicate that the fast component of the biphasic synaptic potential evoked by a serotonergic CPG neuron onto premotor interneurons is mediated by ionotropic receptors (5-HT-gated ion channels), whereas the slow component is mediated by G-protein-coupled receptors. A similar synaptic activation of metabotropic receptors might also be found within the CPG itself, where it could exert a direct influence onto motor pattern generation.

Paradoxical actions of the serotonin precursor 5-hydroxytryptophan on the activity of identified serotonergic neurons in a simple motor circuit.

Neurotransmitter synthesis is regulated by a variety of factors, yet the effect of altering transmitter content on the operation of neuronal circuits has been relatively unexplored. We used electrophysiological, electrochemical, and immunohistochemical techniques to investigate the effects of augmenting the serotonin (5-HT) content of identified serotonergic neurons embedded in a simple motor circuit. The dorsal swim interneurons (DSIs) are serotonergic neurons intrinsic to the central pattern generator (CPG) for swimming in the mollusc Tritonia diomedea. As expected, treatment with the serotonin precursor 5-hydroxytryptophan (5-HTP) increased the intensity of serotonin immunolabeling and enhanced the potency of synaptic and modulatory actions elicited by the DSIs. It also greatly enhanced the ability of the DSIs to evoke rhythmic CPG activity. After 5-HTP treatment, microvoltammetric measurements indicated an increase in a putative 5-HT electrochemical signal during swim CPG activation. Paradoxically, the spiking activity of the serotonergic neurons decreased to a single burst at the onset of the rhythmic motor program, whereas the overall duration of the episode remained about the same. 5-HTP treatment gradually reduced the rhythmicity of the CPG output. Thus, more serotonin did not result in a more robust swim motor program, suggesting that serotonin synthesis must be kept within certain limits for the circuit to function correctly and indicating that altering neurotransmitter synthesis can have serious consequences for the output of neural networks.

The evolution of neuronal circuits underlying species-specific behavior.

The nervous system is evolutionarily conservative compared to the peripheral appendages that it controls. However, species-specific behaviors may have arisen from very small changes in neuronal circuits. In particular, changes in neuromodulatory systems may allow multifunctional circuits to produce different sets of behaviors in closely related species. Recently, it was demonstrated that even species differences in complex social behavior may be attributed to a change in the promoter region of a single gene regulating a neuromodulatory action.

Comparison of extrinsic and intrinsic neuromodulation in two central pattern generator circuits in invertebrates.

There are many sources of modulatory input to CPGs and other types of neuronal circuits. These inputs can change the properties of cells and synapses and dramatically alter the production of motor patterns. Sometimes this enables the production of motor patterns by the circuit. At other times, the modulation allows alternate motor patterns to be produced by a single circuit. Modulatory neurones have fast as well as slow actions. In some cases, such as with GPR, the two types of effects are due to the release of co-transmitters. In other cases, such as with the DSIs, a single substance can act at different receptors to cause fast and slow postsynaptic actions. The effect of a neuromodulatory neurone is determined by the type of receptor on the target neurone. Thus a single modulatory neurone evokes a suite of actions in a circuit and thereby produces a co-ordinated output. Extrinsic and intrinsic sources of neuromodulation have different sets of constraints acting upon them. For example, extrinsic neuromodulation can easily be used for motor pattern selection; a different pattern is produced depending upon which modulatory inputs are active. However, intrinsic neuromodulation is not well suited to that task. Instead, it is useful for self-organizing properties and experience-dependent effects. One clear conclusion from this work and other work in the field is that neuromodulation by neurones intrinsic and extrinsic to CPGs is not uncommon (Katz, 1995; Katz & Frost, 1996). It is part of the normal process of motor pattern generation. As such, it needs to be considered when discussing mechanisms for neuronal circuit actions.

Neuromodulation intrinsic to the central pattern generator for escape swimming in Tritonia.

Extrinsic neuromodulatory inputs to central pattern generators (CPGs) can alter the properties and synaptic interactions of neurons in those circuits and thereby modify the output of the CPG. Recent work in a number of systems has now demonstrated that neurons intrinsic to CPG can also evoke neuromodulatory actions on other members of the CPG. Such "intrinsic neuromodulation" plays a role in controlling the CPG underlying the escape swim response of the nudibrach mollusc, Tritonia diomedea. The dorsal swim interneurons (DSIs) are a bilaterally represented set of three serotonergic neurons that participate in the generation of the rhythmic swim motor program. Serotonin released from these CPG neurons functions both as a fast neurotransmitter and as a slower neuromodulator. In its modulatory role, serotonin enhances the release of neurotransmitter from another CPG neuron, C2, and also increases C2 excitability by decreasing spike frequency adaptation. These neuromodulatory actions intrinsic to the CPG may be important for the initial self-configuration of the system into a function CPG and for experience-dependent changes in the output such as behavioral sensitization and habituation.

Removal of spike frequency adaptation via neuromodulation intrinsic to the Tritonia escape swim central pattern generator.

For the mollusc Tritonia diomedea to generate its escape swim motor pattern, interneuron C2, a crucial member of the central pattern generator (CPG) for this rhythmic behavior, must fire repetitive bursts of action potentials. Yet, before swimming, repeated depolarizing current pulses injected into C2 at periods similar those in the swim motor program are incapable of mimicking the firing rate attained by C2 on each cycle of a swim motor program. This resting level of C2 inexcitability is attributable to its own inherent spike frequency adaptation (SFA). Clearly, this property must be altered for the swim behavior to occur. The pathway for initiation of the swimming behavior involves activation of the serotonergic dorsal swim interneurons (DSIs), which are also intrinsic members of the swim CPG. Physiologically appropriate DSI stimulation transiently decreases C2 SFA, allowing C2 to fire at higher rates even when repeatedly depolarized at short intervals. The increased C2 excitability caused by DSI stimulation is mimicked and occluded by serotonin application. Furthermore, the change in excitability is not caused by the depolarization associated with DSI stimulation or serotonin application but is correlated with a decrease in C2 spike afterhyperpolarization. This suggests that the DSIs use serotonin to evoke a neuromodulatory action on a conductance in C2 that regulates its firing rate. This modulatory action of one CPG neuron on another is likely to play a role in configuring the swim circuit into its rhythmic pattern-generating mode and maintaining it in that state.

Neurons, networks, and motor behavior.

The field of motor pattern generation and motor control has progressed markedly in the last decade. There has been a revolutionary shift in thinking from hard-wired circuits to multifunctional networks. Yet, it is clear that we still have a long way to go before we understand how very large ensembles of neurons produce behaviors. The systems where we have made the most headway are those that have an orderly topography, such as the superior colliculus (Sparks) or motor cortex (Georgopoulos). However, even in these systems, although we understand how to interpret the combined activity of the neuronal population, it is not clear how this population activity is translated into a motor command. Similarly, the directional behavior produced in cockroach (Ritzmann) and fish escape (Eaton) systems can be predicted based on the activity of neurons, but the cellular mechanisms producing the turning responses in cockroaches and teleost fish are not completely understood. Undoubtedly, computational approaches, including new mathematical formalisms and computer simulations, will play a role in elucidating how very large ensembles of neurons produce their coordinated output. For now, the systems where motor pattern generation is best understood at the cellular level are those with small numbers of neurons (such as invertebrate circuits) or small numbers of cell types, such as lamprey and tadpole spinal circuits. These systems are thus valuable for pointing to potential mechanisms used in larger systems. (Note that I avoid using the term "simple" systems to describe invertebrates because it is quite clear that these systems are anything but simple.) However, "interphyletic awareness," as it was referred to at this conference, is not important just for what it can tell us about how mammals work. It is also important to learn of alternative ways in which organisms solve similar problems. This may prove to be particularly important for the future of robotics. Already, robots have been designed based on insights gained from studying insect visual (Strausfeld) and motor (Ritzmann) systems. Robotics engineers have also independently converged on some of the same mechanisms used by biological systems (MacPherson). There is clearly a need for better understanding of higher control of pattern-generating circuits. This is not limited to how motor patterns are initiated, but also includes how they are altered on a moment to moment basis to suit the needs of the animal. The next revolution in the field is likely to come from a paradigm shift regarding such control of motor circuits, similar to the shift that has already occurred in our understanding of the pattern-generating circuits themselves. Such flexibility of control is the basis for decision making in the nervous system and the very essence of what animals must do throughout their daily lives. I look forward to the next conference in 2005 to see how far we've progressed in these pursuits.

Intrinsic neuromodulation: altering neuronal circuits from within.

There are two sources of neuromodulation for neuronal circuits: extrinsic inputs and intrinsic components of the circuits themselves. Extrinsic neuromodulation is known to be pervasive in nervous systems, but intrinsic neuromodulation is less recognized, despite the fact that it has now been demonstrated in sensory and neuromuscular circuits and in central pattern generators. By its nature, intrinsic neuromodulation produces local changes in neuronal computation, whereas extrinsic neuromodulation can cause global changes, often affecting many circuits simultaneously. Studies in a number of systems are defining the different properties of these two forms of neuromodulation.

Single neuron control over a complex motor program.

While there are many instances of single neurons that can drive rhythmic stimulus-elicited motor programs, such neurons have seldom been found to be necessary for motor program function. In the isolated central nervous system of the marine mollusc Tritonia diomedea, brief stimulation (1 sec) of a peripheral nerve activates an interneuronal central pattern generator that produces the long-lasting (approximately 30-60 sec) motor program underlying the animal's rhythmic escape swim. Here, we identify a single interneuron, DRI (for dorsal ramp interneuron), that (i) conveys the sensory information from this stimulus to the swim central pattern generator, (ii) elicits the swim motor program when driven with intracellular stimulation, and (iii) blocks the depolarizing "ramp" input to the central pattern generator, and consequently the motor program itself, when hyperpolarized during the nerve stimulus. Because most of the sensory information appears to be funneled through this one neuron as it enters the pattern generator, DRI presents a striking example of single neuron control over a complex motor circuit.

Intrinsic and extrinsic neuromodulation of motor circuits.

Neuromodulation of motor circuits by extrinsic inputs provides enormous flexibility in the production of behavior. Recent work has shown that neurons intrinsic to central pattern-generating circuits can evoke neuromodulatory effects in addition to their neurotransmitting actions. Modulatory neurons often elicit a multitude of different effects attributable to actions at different receptors and/or through the release of co-transmitters. Differences in neuromodulation between species can account for differences in behavior. Modulation of neuromodulation may provide an additional level of flexibility to motor circuits.

Intrinsic neuromodulation in the Tritonia swim CPG: serotonin mediates both neuromodulation and neurotransmission by the dorsal swim interneurons.

1. Neuromodulation has previously been shown to be intrinsic to the central pattern generator (CPG) circuit that generates the escape swim of the nudibranch mollusk Tritonia diomedea; the dorsal swim interneurons (DSIs) make conventional monosynaptic connections and evoke neuromodulatory effects within the swim motor circuit. The conventional synaptic potentials evoked by a DSI onto cerebral neuron 2 (C2) and onto the dorsal flexion neurons (DFNs) consist of a fast excitatory postsynaptic potential (EPSP) followed by a prolonged slow EPSP. In their neuromodulatory role, the DSIs produce an enhancement of the monosynaptic connections made by C2 onto other CPG circuit interneurons and onto efferent flexion neurons. Previous work showed that the DSIs are immunoreactive for serotonin. Here we provide evidence that both the neurotransmission and the neuromodulation evoked by the DSIs are produced by serotonin, and that these effects may be pharmacologically separable. 2. Previously it was shown that bath-applied serotonin both mimics and occludes the modulation of the C2 synapses by the DSIs. Here we find that pressure-applied puffs of serotonin mimic both the fast and slow EPSPs evoked by a DSI onto a DFN, whereas high concentrations of bath-applied serotonin occlude both of these synaptic components. 3. Consistent with the hypothesis that serotonin mediates the actions of the DSIs, the serotonin reuptake inhibitor imipramine prolongs the duration of the fast DSI-DFN EPSP, increases the amplitude of the slow DSI-DFN EPSP, and increases both the amplitude and duration of the modulation of the C2-DFN synapse by the DSIs. 4. Two serotonergic antagonists were found that block the actions of the DSIs. Gramine blocks the fast DSI-DFN EPSP, and has far less of an effect on the slow EPSP and the modulation. Gramine also diminishes the depolarization evoked by pressure-applied serotonin, showing that it is a serotonin antagonist in this system. In contrast, methysergide greatly reduces both the slow EPSP and the modulation evoked by the DSIs, but has mixed effects on the fast EPSP. Methysergide also blocks the ability of exogenous serotonin to enhance the C2-DFN EPSP, demonstrating that it antagonizes the serotonin receptors responsible for this modulation. 5. Taken together with previous work, these results indicate that serotonin is likely to be responsible for all three actions of the DSIs that were examined: the fast and slow DSI-DFN EPSPs and the neuromodulation of the C2-DFN synapse. These results also indicate that the conventional and neuromodulatory effects of the DSIs may be pharmacologically separable. In future work it may be possible to determine the functional role of each in the swim circuit.

Intrinsic neuromodulation in the Tritonia swim CPG: the serotonergic dorsal swim interneurons act presynaptically to enhance transmitter release from interneuron C2.

Heterosynaptic enhancement of transmitter release is potentially very important for neuronal computation, yet, to our knowledge, no prior study has shown that stimulation of one neuron directly enhances release from an interneuron. Here, we demonstrate that in the marine mollusk Tritonia diomedea, the serotonergic dorsal swim interneurons (DSIs) heterosynaptically increase the amount of transmitter released from another interneuron, C2. Stimulation of a single DSI at physiological firing frequencies increases the size of synaptic potentials evoked by C2. This increase in synaptic efficacy is correlated with an increase in homosynaptic paired-pulse facilitation by C2. Thus, it is likely to be due to an enhancement of transmitter release from C2, rather than a postsynaptic action on the followers of C2. This is further supported by the fact that DSI stimulation enhances the strengths of all chemical synapses made by C2 within the swim network, regardless of their sign. Furthermore, DSI enhances the amplitude of C2 synaptic potentials recorded in neurons that DSI itself does not synapse with. Finally, DSI differentially modulates different synaptic inputs to the same postsynaptic target; while increasing C2-evoked EPSPs it simultaneously decreases the size of EPSPs evoked by other DSIs. The heterosynaptic facilitation of C2 synaptic potentials by DSI is not caused by a simple depolarization of C2, but may be a direct action on the transmitter release mechanism. This neuromodulatory effect, which is intrinsic to the circuitry of the central pattern generator for escape swimming in Tritonia, may be important for self-reconfiguration of the swim motor network.

Dynamic neuromodulation of synaptic strength intrinsic to a central pattern generator circuit.

Motor circuits are often thought to be physically separate from their neuromodulatory systems. We report here a counter example, where neurons within a circuit appear to modulate synaptic properties of that same circuit during its normal operation. The dorsal swim interneurons (DSIs) are members of the central pattern generator circuit for escape swimming in the mollusc Tritonia diomedea. However, DSI stimulation also rapidly enhances the synaptic potentials evoked by another neuron in the same circuit onto its follower cells. This modulatory action appears to be mediated by serotonin (5-hydroxytryptamine); the DSIs are serotonin-immunoreactive, and bath-application of serotonin mimics and occludes the effect of DSIs. These results indicate that during the escape swim, circuit connection strengths are dynamically controlled by the activity of neurons within the circuit itself. This 'intrinsic neuromodulation' may be important for the animal's initial decision to swim, the generation of the swim motor programme itself, and certain types of learning.

Facilitation and depression at different branches of the same motor axon: evidence for presynaptic differences in release.

This study provides evidence that a neuron can exhibit differences in activity-dependent transmitter release at two synaptic sites due to variations in the properties of its presynaptic terminals. Two muscles in the stomatogastric system of the lobster Homarus americanus are innervated by a single motor neuron but respond differently to that motor neuron's input, resulting in two different movements evoked by one motor neuron. During continued motor neuron stimulation, the gm8 muscle contracts slowly and maintains contraction, while the gm9 muscle contracts rapidly and then relaxes. These different muscle responses can be accounted for, in large part, by the properties of the respective neuromuscular synapses: the excitatory junctional potentials recorded in gm8 are initially small but summate and facilitate with repeated stimulation, while those in gm9 are initially large but depress with repeated stimulation. Presynaptic differences in neurotransmitter release contribute strongly to the divergent responses; reduction of the excitatory junction potential amplitude by partial postsynaptic receptor blockade or by desensitization does not change the amount of depression at gm9. However, reduction of neurotransmitter release with low-Ca2+, high-Mg2+ saline removes gm9 synaptic depression and reveals that both neuromuscular junctions exhibit frequency-dependent homosynaptic facilitation. Postsynaptic differences in muscle input resistance and muscle composition may enhance the effects of the divergent release properties, but are not responsible for the activity-dependent changes. Ultrastructural features of the nerve terminals on the two muscles are consistent with the differential output of the terminals; the synapses on gm9 are larger and have more presynaptic dense bars than their counterparts on gm8. These data suggest that the basis for the differences in transmitter release between the two muscles may be a higher density of release sites in the gm9 synapses that leads to a higher output of neurotransmitter, rapid depletion of transmitter stores, and synaptic depression.

Quisqualate and ACPD are agonists for a glutamate-activated current in identified Aplysia neurons.

1. Glutamate is an important neurotransmitter in both vertebrates and invertebrates, yet the characterization of molluscan glutamate receptors and their relationships to vertebrate receptors is incomplete. This study uses two-electrode voltage clamp to characterize glutamate-evoked currents in cultured neurons from the marine gastropod mollusk Aplysia californica. 2. The identified buccal ganglion neurons, B1 and B2, display two pharmacologically distinct current responses to pressure-applied glutamate. One response is a desensitizing chloride current similar to that found in other large buccal ganglion neurons. The other is a nondesensitizing potassium current that is strongly outwardly rectifying. 3. The potassium current response has a higher sensitivity to glutamate than the chloride response. 4. Individual neurons, isolated in primary cell culture, exhibit different relative proportions of the two currents. 5. The glutamate agonists quisqualate and (1S,3R)-aminocyclopentane-1,3-dicarboxylic acid specifically evoke the potassium response but not the chloride response. The glutamate agonist (RS)-alpha-amino-3-hydroxy-5-methyl-4-isoxazole propionic acid does not evoke any appreciable response. Kainate and N-methyl-D-aspartate also have no effect on these cells. Another glutamate analogue, ibotenate, evokes the transient chloride current but not the potassium current. 6. These results indicate that the glutamate receptor mediating the outward potassium response does not conform in its pharmacological profile to any of the known vertebrate glutamate receptor types.

Recruitment of crab gastric mill neurons into the pyloric motor pattern by mechanosensory afferent stimulation.

1. The gastropyloric receptor (GPR) cells are stretch-sensitive muscle receptors in the crab stomatogastric nervous system that use both 5-hydroxytryptamine (serotonin) and acetylcholine as cotransmitters. Brief stimulation of these afferent neurons causes two gastric mill neurons to be recruited into the pyloric motor pattern. 2. The GPR cells evoke complex synaptic potentials in the lateral gastric (LG) and medial gastric (MG) motor neurons, two component neurons of the gastric mill central pattern generator. When the gastric mill is quiescent (as often happens in vivo), GPR stimulation transiently inhibits LG and MG. After this transient inhibition, these cells undergo a prolonged excitation during which they fire bursts of action potentials at a constant phase relation to the pyloric motor pattern. 3. To determine the causes for this effect, we examined the effects of GPR stimulation on these two cells and on the inferior cardiac motor neuron, which is electrically coupled to them. When GPR is stimulated, all three cells receive rapid biphasic synaptic potentials that are blocked by nicotinic antagonists, followed by a slow, prolonged depolarizing potential. 4. The slow, prolonged depolarizing potential is not blocked by nicotinic or muscarinic cholinergic antagonists but is mimicked and occluded by exogenously applied serotonin. 5. The prolonged excitation, mediated at least in part by serotonin, may be responsible for the recruitment of the gastric mill neurons into the pyloric motor pattern. Thus sensory input can directly exert prolonged modulatory effects that change the functional cellular composition of pattern-generating circuits.

Actions of identified neuromodulatory neurons in a simple motor system.

Recent work on neurons that release slow neuromodulators has revealed important generalities about the roles played by neuromodulation in motor systems. Activity of these cells can affect the cellular and synaptic properties of central pattern generating circuits, orchestrating new variations of motor patterns and sometimes coordinating their outputs with other motor patterns. Many modulatory neurons use multiple transmitters to evoke both fast and slow synaptic responses of various types in different target cells. Some modulatory cells can have a mediating as well as a modulating role, simultaneously acting as sensory neurons or components of another pattern generating circuit.