A monocular wide-field speed sensor inspired by the crabs' visual system for traffic analysis.

The development of visual sensors for traffic analysis can benefit from mimicking two fundamental aspects of the visual system of crabs: their panoramic vision and their visual processing strategy adapted to a flat world. First, the use of omnidirectional cameras in urban environments allows for analyzing the simultaneous movement of many objects of interest over broad areas. This would reduce the costs and complications associated with infrastructure: installation, synchronization, maintenance, and operation of traditional vision systems that use multiple cameras with a limited field of view. Second, in urban traffic analysis, the objects of interest (e.g. vehicles and pedestrians) move on the ground surface. This constraint allows the calculation of the 3D trajectory of the vehicles using a single camera without the need to use binocular vision techniques.The main contribution of this work is to show that the strategy used by crabs to visually analyze their habitat (monocular omnidirectional vision with the assumption of a flat world ) is useful for developing a simple and effective method to estimate the speed of vehicles on long trajectories in urban environments. It is shown that the proposed method estimates the speed with a root mean squared error of 2.7 km h-1.

Characterization and modelling of looming-sensitive neurons in the crab Neohelice.

Looming-sensitive neurons (LSNs) are motion-sensitive neurons tuned for detecting imminent collision. Their main characteristic is the selectivity to looming (a 2D representation of an object approach), rather than to receding stimuli. We studied a set of LSNs by performing surface extracellular recordings in the optic nerve of Neohelice granulata crabs, and characterized their response against computer-generated visual stimuli with different combinations of moving edges, highlighting different components of the optical flow. In addition to their selectivity to looming stimuli, we characterized other properties of these neurons, such as low directionality; reduced response to sustained excitement; and an inhibition phenomenon in response to visual stimuli with dense optical flow of expansion, contraction, and translation. To analyze the spatio-temporal processing of these LSNs, we proposed a biologically plausible computational model which was inspired by previous computational models of the locust lobula giant motion detector (LGMD) neuron. The videos seen by the animal during electrophysiological experiments were applied as an input to the model which produced a satisfactory fit to the measured responses, suggesting that the computation performed by LSNs in a decapod crustacean appears to be based on similar physiological processing previously described for the LGMD in insects.

The predator and prey behaviors of crabs: from ecology to neural adaptations.

Predator avoidance and prey capture are among the most vital of animal behaviors. They require fast reactions controlled by comparatively straightforward neural circuits often containing giant neurons, which facilitates their study with electrophysiological techniques. Naturally occurring avoidance behaviors, in particular, can be easily and reliably evoked in the laboratory, enabling their neurophysiological investigation. Studies in the laboratory alone, however, can lead to a biased interpretation of an animal's behavior in its natural environment. In this Review, we describe current knowledge - acquired through both laboratory and field studies - on the visually guided escape behavior of the crab Neohelice granulata Analyses of the behavioral responses to visual stimuli in the laboratory have revealed the main characteristics of the crab's performance, such as the continuous regulation of the speed and direction of the escape run, or the enduring changes in the strength of escape induced by learning and memory. This work, in combination with neuroanatomical and electrophysiological studies, has allowed the identification of various giant neurons, the activity of which reflects most essential aspects of the crabs' avoidance performance. In addition, behavioral analyses performed in the natural environment reveal a more complex picture: crabs make use of much more information than is usually available in laboratory studies. Moreover, field studies have led to the discovery of a robust visually guided chasing behavior in Neohelice Here, we describe similarities and differences in the results obtained between the field and the laboratory, discuss the sources of any differences and highlight the importance of combining the two approaches.

Object approach computation by a giant neuron and its relationship with the speed of escape in the crab Neohelice.

Upon detection of an approaching object, the crab Neohelice granulata continuously regulates the direction and speed of escape according to ongoing visual information. These visuomotor transformations are thought to be largely accounted for by a small number of motion-sensitive giant neurons projecting from the lobula (third optic neuropil) towards the supraesophageal ganglion. One of these elements, the monostratified lobula giant neuron of type 2 (MLG2), proved to be highly sensitive to looming stimuli (a 2D representation of an object approach). By performing in vivo intracellular recordings, we assessed the response of the MLG2 neuron to a variety of looming stimuli representing objects of different sizes and velocities of approach. This allowed us to: (1) identify some of the physiological mechanisms involved in the regulation of the MLG2 activity and test a simplified biophysical model of its response to looming stimuli; (2) identify the stimulus optical parameters encoded by the MLG2 and formulate a phenomenological model able to predict the temporal course of the neural firing responses to all looming stimuli; and (3) incorporate the MLG2-encoded information of the stimulus (in terms of firing rate) into a mathematical model able to fit the speed of the escape run of the animal. The agreement between the model predictions and the actual escape speed measured on a treadmill for all tested stimuli strengthens our interpretation of the computations performed by the MLG2 and of the involvement of this neuron in the regulation of the animal's speed of run while escaping from objects approaching with constant speed.

Long-segment plication technique for arteriovenous fistulae threatened by diffuse aneurysmal degeneration: short-term results.

BACKGROUND: A substantial number of patients with autologous arteriovenous fistulas (AVFs) develop diffuse aneurysmal degeneration, which frequently interferes with successful access. These AVFs are often deemed unsalvageable. We hypothesize that long-segment plication in these patients can be performed safely with acceptable short-term AVF salvage rates. METHODS: We reviewed a prospectively maintained database to identify all patients with extensive AVF aneurysmal disease operated on for this problem. RESULTS: Thirty-five patients, 25 (71%) male and 10 (29%) female were operated on between July 2012 and January 2014. AVFs included 23 (66%) brachiocephalic, 5 (14%) radiocephalic, and 7 brachiobasilic (20%) fistulae (one first stage only but in use). The cohort had one or a combination of local pain, arm edema, cannulation issue, recurrent thrombosis, dysfunctional during dialysis, or extreme tortuousity. Time range for AVF creation to consultation ranged from 3 months to 11 years. All underwent long-segment plication over a 20-Fr Bougie with or without segmental vein resection; 3 underwent concomitant first rib resection for costoclavicular stenosis; 21 patients had tunneled catheter placement for use while healing, whereas 13 were allowed segmental use of their AVF during the perioperative period (1 patient was not yet on dialysis). Early in our experience, AVFs were left under the wound, whereas all but one repaired since early 2013 were left under a lateral flap. All patients were followed by clinical examination and duplex. In the 30-day postoperative period, 2 AVFs (5.7%) became infected requiring excision, 2 occluded (5.7%), 1 day 1 and the other at 24 days out, 1 patient developed steal and required DRIL 1 week postoperatively, and 1 patient died, unrelated to his surgery. Postoperative functional primary patency was 88% (30 of 34). Of the patients needing temporary access catheter, mean time to first fistula use was 44 days. No wound or bleeding complications have occurred in repaired AVF left under skin flaps. CONCLUSIONS: In this group of patients whose access was threatened by diffuse aneurysmal degeneration, long-segment placation allowed salvage of 88% of fistulae with relatively low morbidity. Fewer complications are associated by covering the revised fistula with intact skin.

Computation of object approach by a system of visual motion-sensitive neurons in the crab Neohelice.

Similar to most visual animals, crabs perform proper avoidance responses to objects directly approaching them. The monostratified lobula giant neurons of type 1 (MLG1) of crabs constitute an ensemble of 14-16 bilateral pairs of motion-detecting neurons projecting from the lobula (third optic neuropile) to the midbrain, with receptive fields that are distributed over the extensive visual field of the animal's eye. Considering the crab Neohelice (previously Chasmagnathus) granulata, here we describe the response of these neurons to looming stimuli that simulate objects approaching the animal on a collision course. We found that the peak firing time of MLG1 acts as an angular threshold detector signaling, with a delay of δ = 35 ms, the time at which an object reaches a fixed angular threshold of 49°. Using in vivo intracellular recordings, we detected the existence of excitatory and inhibitory synaptic currents that shape the neural response. Other functional features identified in the MLG1 neurons were phasic responses at the beginning of the approach, a relation between the stimulus angular velocity and the excitation delay, and a mapping between membrane potential and firing frequency. Using this information, we propose a biophysical model of the mechanisms that regulate the encoding of looming stimuli. Furthermore, we found that the parameter encoded by the MLG1 firing frequency during the approach is the stimulus angular velocity. The proposed model fits the experimental results and predicts the neural response to a qualitatively different stimulus. Based on these and previous results, we propose that the MLG1 neuron system acts as a directional coding system for collision avoidance.

Visuo-motor transformations involved in the escape response to looming stimuli in the crab Neohelice (=Chasmagnathus) granulata.

Escape responses to directly approaching predators represent one instance of an animal's ability to avoid collision. Usually, such responses can be easily evoked in the laboratory using two-dimensional computer simulations of approaching objects, known as looming stimuli. Therefore, escape behaviors are considered useful models for the study of computations performed by the brain to efficiently transform visual information into organized motor patterns. The escape response of the crab Neohelice (previously Chasmagnathus) granulata offers an opportunity to investigate the processing of looming stimuli and its transformation into complex motor patterns. Here we studied the escape performance of this crab to a variety of different looming stimuli. The response always consisted of a vigorous run away from the stimulus. However, the moment at which it was initiated, as well as the developed speed, closely matched the expansion dynamics of each particular stimulus. Thus, we analyzed the response events as a function of several variables that could theoretically be used by the crab (angular size, angular velocity, etc.). Our main findings were that: (1) the decision to initiate the escape run is made when the stimulus angular size increases by 7 deg; (2) the escape run is not a ballistic kind of response, as its speed is adjusted concurrently with changes in the optical stimulus variables; and (3) the speed of the escape run can be faithfully described by a phenomenological input-output relationship based on the stimulus angular increment and the angular velocity of the stimulus.

The cardiac response of the crab Chasmagnathus granulatus as an index of sensory perception.

When an animal's observable behavior remains unaltered, one can be misled in determining whether it is able to sense an environmental cue. By measuring an index of the internal state, additional information about perception may be obtained. We studied the cardiac response of the crab Chasmagnathus to different stimulus modalities: a light pulse, an air puff, virtual looming stimuli and a real visual danger stimulus. The first two did not trigger observable behavior, but the last two elicited a clear escape response. We examined the changes in heart rate upon sensory stimulation. Cardiac response and escape response latencies were also measured and compared during looming stimuli presentation. The cardiac parameters analyzed revealed significant changes (cardio-inhibitory responses) to all the stimuli investigated. We found a clear correlation between escape and cardiac response latencies to different looming stimuli. This study proved useful to examine the perceptual capacity independently of behavior. In addition, the correlation found between escape and cardiac responses support previous results which showed that in the face of impending danger the crab triggers several coordinated defensive reactions. The ability to escape predation or to be alerted to subtle changes in the environment in relation to autonomic control is associated with the complex ability to integrate sensory information as well as motor output to target tissues. This ;fear, fight or flight' response gives support to the idea of an autonomic-like reflexive control in crustaceans.

Characterization of lobula giant neurons responsive to visual stimuli that elicit escape behaviors in the crab Chasmagnathus.

In the grapsid crab Chasmagnathus, a visual danger stimulus elicits a strong escape response that diminishes rapidly on stimulus repetition. This behavioral modification can persist for several days as a result of the formation of an associative memory. We have previously shown that a generic group of large motion-sensitive neurons from the lobula of the crab respond to visual stimuli and accurately reflect the escape performance. Additional evidence indicates that these neurons play a key role in visual memory and in the decision to initiate an escape. Although early studies recognized that the group of lobula giant (LG) neurons consisted of different classes of motion-sensitive cells, a distinction between these classes has been lacking. Here, we recorded in vivo the responses of individual LG neurons to a wide range of visual stimuli presented in different segments of the animal's visual field. Physiological characterizations were followed by intracellular dye injections, which permitted comparison of the functional and morphological features of each cell. All LG neurons consisted of large tangential arborizations in the lobula with axons projecting toward the midbrain. Functionally, these cells proved to be more sensitive to single objects than to flow field motion. Despite these commonalities, clear differences in morphology and physiology allowed us to identify four distinct classes of LG neurons. These results will permit analysis of the role of each neuronal type for visually guided behaviors and will allow us to address specific questions on the neuronal plasticity of LGs that underlie the well-recognized memory model of the crab.

Escape behavior and neuronal responses to looming stimuli in the crab Chasmagnathus granulatus (Decapoda: Grapsidae).

Behavioral responses to looming stimuli have been studied in many vertebrate and invertebrate species, but neurons sensitive to looming have been investigated in very few animals. In this paper we introduce a new experimental model using the crab Chasmagnathus granulatus, which allows investigation of the processes of looming detection and escape decision at both the behavioral and neuronal levels. By analyzing the escape response of the crab in a walking simulator device we show that: (i) a robust and reliable escape response can be elicited by computer-generated looming stimuli in all tested animals; (ii) parameters such as distance, speed, timing and directionality of the escape run, are easy to record and quantify precisely in the walking device; (iii) although the magnitude of escape varies between animals and stimulus presentations, the timing of the response is remarkably consistent and does not habituate at 3 min stimulus intervals. We then study the response of neurons from the brain of the crab by means of intracellular recordings in the intact animal and show that: (iv) two subclasses of previously identified movement detector neurons from the lobula (third optic neuropil) exhibit robust and reliable responses to the same looming stimuli that trigger the behavioral response; (v) the neurons respond to the object approach by increasing their rate of firing in a way that closely matches the dynamics of the image expansion. Finally, we compare the neuronal with the behavioral response showing that: (vi) differences in the neuronal responses to looming, receding or laterally moving stimuli closely reflect the behavioral differences to such stimuli; (vii) during looming, the crab starts to run soon after the looming-sensitive neurons begin to increase their firing rate. The increase in the running speed during stimulus approach faithfully follows the increment in the firing rate, until the moment of maximum stimulus expansion. Thereafter, the neurons abruptly stop firing and the animal immediately decelerates its run. The results are discussed in connection with studies of responses to looming stimuli in the locust.

A subjective distance between stimuli: quantifying the metric structure of representations.

As subjects perceive the sensory world, different stimuli elicit a number of neural representations. Here, a subjective distance between stimuli is defined, measuring the degree of similarity between the underlying representations. As an example, the subjective distance between different locations in space is calculated from the activity of rodent's hippocampal place cells and lateral septal cells. Such a distance is compared to the real distance between locations. As the number of sampled neurons increases, the subjective distance shows a tendency to resemble the metrics of real space.