Templates and anchors for antenna-based wall following in cockroaches and robots

The interplay between robotics and neuromechanics facilitates discoveries in both fields: nature provides roboticists with design ideas, while robotics research elucidates critical features that confer performance advantages to biological systems. Here, we explore a system particularly well suited to exploit the synergies between biology and robotics: high-speed antenna-based wall following of the American cockroach (Periplaneta americana). Our approach integrates mathematical and hardware modeling with behavioral and neurophysiological experiments. Specifically, we corroborate a prediction from a previously reported wall-following template - the simplest model that captures a behavior - that a cockroach antenna-based controller requires the rate of approach to a wall in addition to distance, e.g., in the form of a proportional-derivative (PD) controller. Neurophysiological experiments reveal that important features of the wall-following controller emerge at the earliest stages of sensory processing, namely in the antennal nerve. Furthermore, we embed the template in a robotic platform outfitted with a bio-inspired antenna. Using this system, we successfully test specific PD gains (up to a scale) fitted to the cockroach behavioral data in a "real-world" setting, lending further credence to the surprisingly simple notion that a cockroach might implement a PD controller for wall following. Finally, we embed the template in a simulated lateral-leg-spring (LLS) model using the center of pressure as the control input. Importantly, the same PD gains fitted to cockroach behavior also stabilize wall following for the LLS model. © 2008 IEEE.

The Orthoptera (cockroaches, locusts, grasshoppers and crickets) of Nova Scotia; with descriptions of the species and notes on their occurrence and habits.

"From Transactions of the Nova Scotian institute of science; vol. XIV, part 3, pp. 201-356, with 4 plates."

The biotic associations of cockroaches,

Index: p. 441-470.

Molecular characterization of Thelastomatoidea (Nematoda : Oxyurida) from cockroaches in Australia

A molecular approach was used to genetically characterize 5 species (Aoruroides queenslandensis. Blattophila sphaerolaima, Cordonicola gibsoni, Desmicola ornato and Leidynemella fusiformis) belonging to the superfamily. Thelastomatoidea fi (Nematoda: Oxyurida), a group of pinworms that parasitizes terrestrial arthropods. The D3 domain of the large subunit Of nuclear ribosomal RNA (LSU) was sequenced for individual specimens, and the analysis of the sequence data allowed the genetic relationships of the 5 species to be studied dagger. The sequence variation in the D3 domain within individual species (0-1-8%) was significantly less than the differences among species (4(.)3-12(.)4%). Phylogenetic analyses, Using maximum parsimony, maximum likelihood, and neighbour-joining, tree-building methods, established relationships among the 5 species of Thelastomatoidea and Oxyuris equi (a species of the order Oxyurida). The molecular approach employed provides the prospect for developing DNA tools for the specific identification of the Thelastomatoidea, irrespective of developmental stage and sex, as a basis for systematic, ecological and/or population genetic investigations of members within this superfamily.

New Thelastomatoidea (Nematoda : Oxyurida) from Australian burrowing cockroaches (Blaberidae : Geoscapheinae, Panesthiinae)

Four new species and two new genera of thelastomatoid are described from several species of Australian burrowing cockroaches (Blattodea: Panesthiinae; Geoscapheinae). Corpicracens munozae n. g., n. sp., Pseudodesmicola botti n. g., n. sp. and Cephalobellus nolani n. sp. are described from Geoscapheus dilatatus (Blattodea: Geoscapheinae) from Mendooran, New South Wales; one new thelastomatid, Blattophila praelongicauda n. sp., is described from Panesthia cribrata from Lamington National Park, Queensland. Corpicracens munozae n. g., n. sp. is long and slender, with a monodelphic female reproductive system, a clavate corpus with a slight posterior pseudobulb, oval eggs flattened at the poles, and a relatively robust, subulate tail. Pseudodesmicola botti n. g., n. sp. is slightly more robust in body, also has a monodelphic reproductive system, a cylindrical corpus with a posterior pseudobulb, ovoid eggs and a very long, subulate tail. Cephalobellus nolani n. sp. is distinguished from other members of the genus by its relatively short and broad body and egg shape. Lastly, Blattophila praelongicauda n. sp. is distinguished from other members of the genus by having eggs with a single, polar operculum, tail length, and position of the vulva, nerve ring and excretory pore. An additional species, known by a single specimen from Panesthia tryoni tryoni from the same locality is characterised but not named. The species found are all relatively rare parasites of Australian burrowing cockroaches, each having a prevalence of less than 10%.

A view from the edge of the forest : recent progress in understanding the relationships of the insect orders

Research over the last two decades has significantly increased our understanding of the evolutionary position of the insects among other arthropods, and the relationships among the insect Orders. Many of these insights have been established through increasingly sophisticated analyses of DNA sequence data from a limited number of genes. Recent results have established the relationships of the Holometabola, but relationships among the hemimetabolous orders have been more difficult to elucidate. A strong consensus on the relationships among the Palaeoptera (Ephemeroptera and Odonata) and their relationship to the Neoptera has not emerged with all three possible resolutions supported by different data sets. While polyneopteran relationships generally have resisted significant resolution, it is now clear that termites, Isoptera, are nested within the cockroaches, Blattodea. The newly discovered order Mantophasmatodea is difficult to place with the balance of studies favouring Grylloblattodea as sister-group. While some studies have found the paraneopteran orders (Hemiptera, Thysanoptera, Phthiraptera and Psocoptera) monophyletic, evidence suggests that parasitic lice (Phthiraptera) have evolved from groups within the book and bark lice (Psocoptera), and may represent parallel evolutions of parasitism within two major louse groups. Within Holometabola, it is now clear that Hymenoptera are the sister to the other orders, that, in turn are divided into two clades, the Neuropteroidea (Coleoptera, Neuroptera and relatives) and the Mecopterida (Trichoptera, Lepidoptera, Diptera and their relatives). The enigmatic order Strepsiptera, the twisted wing insects, have now been placed firmly near Coleoptera, rejecting their close relationship to Diptera that was proposed some 15years ago primarily based on ribosomal DNA data. Phylogenomic-scale analyses are just beginning to be focused on the relationships of the insect orders, and this is where we expect to see resolution of palaeopteran and polyneopteran relationships. Future research will benefit from greater coordination between intra and inter-ordinal analyses. This will maximise the opportunities for appropriate outgroup choice at the intraordinal level and provide the background knowledge for the interordinal analyses to span the maximum phylogenetic scope within groups.

Prey of the silver-headed antechinus (Antechinus argentus), a new species of Australian dasyurid marsupial

The silver-headed antechinus (Antechinus argentus) is one of Australia’s most recently described mammals, and the single known population at Kroombit Tops in south-east Queensland is threatened. Nothing is known of the species’ ecology, so during 2014 we collected faecal pellets each month (March–September) from a population at the type locality to gather baseline data on diet composition. A total of 38 faecal pellets were collected from 12 individuals (eight females, four males) and microscopic analysis of pellets identified seven invertebrate orders, with 70% combined mean composition of beetles (Coleoptera: 38%) and cockroaches (Blattodea: 32%). Other orders that featured as prey were ants, crickets/grasshoppers, butterflies/moths, spiders, and true bugs. Given that faecal pellets could only be collected from a single habitat type (Eucalyptus montivaga high-altitude open forest) and location, this is best described as a generalist insectivorous diet that is characteristic of other previously studied congeners.

Results of the Austrian-Ceylonese hydrobiological mission 1970 of the 1st Zoological Institute of the University of Vienna (Austria) and the Department of Zoology of the University of Ceylon Vidyalankara Campus, Kelaniya. Pt. 13. Some remarkable ripicol insects of the Ceylonese fauna

New Ceylonese records namely, Euscelimena gavialis (Sauss.), Paranemobius pictus Sauss. and semiaquatic cockroaches of the genus Rhabdoblatta were found in the collection of Saltatorid and Dictyopterid insects.

Task-level control of the lateral leg spring model of cockroach locomotion

The Lateral Leg Spring model (LLS) was developed by Schmitt and Holmes to model the horizontal-plane dynamics of a running cockroach. The model captures several salient features of real insect locomotion, and demonstrates that horizontal plane locomotion can be passively stabilized by a well-tuned mechanical system, thus requiring minimal neural reflexes. We propose two enhancements to the LLS model. First, we derive the dynamical equations for a more flexible placement of the center of pressure (COP), which enables the model to capture the phase relationship between the body orientation and center-of-mass (COM) heading in a simpler manner than previously possible. Second, we propose a reduced LLS "plant model" and biologically inspired control law that enables the model to follow along a virtual wall, much like antenna-based wall following in cockroaches. © 2006 Springer.

Photoperiod-dependent plasticity of circadian pacemaker center in the brain of the Madeira cockroach Rhyparobia maderae

To various degrees, insects in nature adapt to and live with two fundamental environmental rhythms around them: (1) the daily rhythm of light and dark, and (2) the yearly seasonal rhythm of the changing photoperiod (length of light per day). It is hypothesized that two biological clocks evolved in organisms on earth which allow them to harmonize successfully with the two environmental rhythms: (1) the circadian clock, which orchestrates circadian rhythms in physiology and behavior, and (2) the photoperiodic clock, which allows for physiological adaptations to changes in photoperiod during the course of the year (insect photoperiodism). The circadian rhythm is endogenous and continues in constant conditions, while photoperiodism requires specific light inputs of a minimal duration. Output pathways from both clocks control neurosecretory cells which regulate growth and reproduction. This dissertation focuses on the question whether different photoperiods change the network and physiology of the circadian clock of an originally equatorial cockroach species. It is assumed that photoperiod-dependent plasticity of the cockroach circadian clock allows for adaptations in physiology and behavior without the need for a separate photoperiodic clock circuit. The Madeira cockroach Rhyparobia maderae is a well established circadian clock model system. Lesion and transplantation studies identified the accessory medulla (aMe), a small neuropil with about 250 neurons, as the cockroach circadian pacemaker. Among them, the pigment-dispersing factor immunoreactive (PDF-ir) neurons anterior to the aMe (aPDFMes) play a key role as inputs to and outputs of the circadian clock system. The aim of my doctoral thesis was to examine whether and how different photoperiods modify the circadian clock system. With immunocytochemical studies, three-dimensional (3D) reconstruction, standardization and Ca2+-imaging technique, my studies revealed that raising cockroaches in different photoperiods changed the neuronal network of the circadian clock (Wei and Stengl, 2011). In addition, different photoperiods affected the physiology of single, isolated circadian pacemaker neurons. This thesis provides new evidence for the involvement of the circadian clock in insect photoperiodism. The data suggest that the circadian pacemaker system of the Madeira cockroach has the plasticity and potential to allow for physiological adaptations to different photoperiods. Therefore, it may express also properties of a photoperiodic clock.

The function of SIFamide, PDF, and further neuropeptides in the circadian system of Rhyparobia maderae

Der täglich Wechsel von Hell- und Dunkelphasen führte während der Evolution zur Entwicklung innerer Uhren in nahezu allen Organismen. In der Schabe Rhyparobia maderae lokalisierten Läsions- und Transplantationsexperimente die innere Uhr in der akzessorischen Medulla (AME). Dieses kleine birnenförmige Neuropil am ventromedianen Rand der Medulla ist mit etwa 240 Neuronen assoziiert, die eine hohe Anzahl an zum Teil kolokalisierten Neuropeptiden und Neurotransmittern exprimieren. Diese Signalstoffe scheinen essentiell zu sein für die Synchronisation der inneren Uhr mit der Umwelt, der Kopplung der beiden bilateralen AME, der Aufrechterhaltung des circadianen Rhythmus sowie der zeitlichen Steuerung bestimmter Verhaltensweisen. Während die Funktion einiger dieser neuronalen Botenstoffe bereits gut untersucht ist, fehlt sie für andere. Zudem ist noch ungeklärt, wann einzelne Botenstoffe im circadianen Netzwerk agieren. Im Fokus dieser Studie lag daher die Erforschung der Funktion von SIFamide und Corazonin im circadianen Netzwerk sowie die weitere Untersuchung der Funktionen der Neuropeptide MIP und PDF. Es konnte gezeigt werden, dass SIFamide auch in R. maderae in vier großen neurosekretorischen Zellen in der pars intercerebralis exprimiert wird. Varikosenreiche SIFamide-immureaktive (-ir) Fasern innervieren eine Vielzahl an Neuropilen und finden sich auch in der Hüllregion der AME. Injektionsexperimente resultierten in einer monophasischen Phasen-Antwort-Kurve (PRC) mit einer Verzögerung zur frühen subjektiven Nacht. SIFamide ist also ein Eingangssignal für das circadiane Netzwerk und könnte in der Kontrolle der Schalf/Wach-Homöostase involviert sein. Auch Corazonin fungiert als Eingangssignal. Da die Injektionsexperimente in einer monophasischen PRC mit einem Phasenvorschub zur späten subjektiven Nacht resultierten, ist davon auszugehen, dass die Corazonin-ir AME-Zelle Bestandteil des Morning-Oszillator-Netzwerkes in R. maderae ist. Darüber hinaus zeigten Backfill-Experimente, dass MIP an der Kopplung beider AMAE beteiligt ist. ELISA-Quantifizierungen der PDF-Level im Tagesverlauf ergaben Schwankungen in der Konzentration, die auf eine Ausschüttung des Peptids während des Tages hindeuten – ähnlich wie es in Drosophila melanogaster der Fall ist. Dies spiegelt sich in der vervollständigten bimodalen PDF-PRC wieder. Hier führen Injektionen zu einem Phasenvorschub, bevor maximale Peptidlevel erreicht werden, sowie zu einer Phasenverzögerung, sobald die Peptidlevel wieder zu sinken beginnen. Die PRCs erlauben somit Rückschlüsse auf den Zeitpunkt der maximalen Peptidfreisetzung. PDF-ir Neuriten findet sich zudem in sämtlichen Ganglien des ventralen Strickleiternervensystems, was eine Funktion in der Kontrolle der Prozesse impliziert, die durch die Mustergeneratoren in Thorakal- und Abdominalganglien gesteuert werden.