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Some weakly electric fish can use electric signals to interact and communicate with each other in dark and complex underwater environments where traditional underwater communication fails. In our previous work, we developed a bio-inspired electrocommunication system (BECS) that serves as an effective alternative to traditional methods in this challenging underwater scenario performing communication at a speed of approximately 1200 bps (bits per second) within approximately 3 m. In this study, a novel underwater wireless communication system (BECS-II) is proposed to upgrade the BECS with much better performance. We first propose theoretical and simulation models for electrocommunication, including the effects of the angular frequency and electrode impedance. A custom-made digital communication system is employed in BECS-II to improve the anti-interference ability and channel capacity of the BECS. In addition, a novel circuit optimization strategy was used to develop a customized circuit to enhance the transmitting and receiving capabilities of the BECS-II. Dual-frequency communication is proposed to meet the communication demands of different tasks by taking inspiration from the task allocation and evolution mechanisms of weakly electric fish. The experimental results showed that BECS-II outperformed BECS in high-frequency mode at both the communication speed (approximately 20 kbps) and distance (approximately 10 m), whereas in low-frequency mode, it extended the communication range by transmitting data up to a distance of approximately 20 m at a speed of approximately 200 bps. A substantial increase in the communication distance can expand the robot motion space in a group and improve group flexibility., (© 2023 IOP Publishing Ltd.)

Current underwater communication typically includes acoustic, optical, radio frequency, and magneto-inductive channels. Wireless sensor networks are usually built on these four channels. However, these underwater networks are vulnerable to complex aquatic environments. In nature, weakly electric fish are able to communicate electrically (called electrocommunication), which is 'invisible' to most other animals, to convey information such as species, courtship, and environmental conditions. Inspired by the electrocommunication of weakly electric fish, an artificial electrocommunication system that uses an electric induction (EI) channel has been developed recently. This paper further develops an underwater networking system using the EI channel, which addresses the solutions to collision avoidance and routing problems during electrocommunication networking. In particular, a CSMA/CA-based electrocommunication mechanism was used to solve the collision problem. Then, a single-hop underwater electrocommunication network (UEN) was established. Furthermore, a complex multi-hop UEN was implemented on the basis of the ad hoc on-demand distance vector routing protocol. Theoretical analysis, simulations, and experiments were conducted to demonstrate the effectiveness of the developed UEN. Extensive results show that the UEN holds the potential to serve as a complement to future underwater wireless sensor networks., (© 2022 IOP Publishing Ltd.)

Due to the challenging communication and control systems, few underwater multi-robot coordination systems are currently developed. In nature, weakly electric fish can organize their collective activities using electrocommunication in turbid water. Inspired by this communication mechanism, we developed an artificial electrocommunication system for underwater robots in our previous work. In this study, we coordinate a group of underwater robots using this bio-inspired electrocommunication. We first design a time division multiple access (TDMA) network protocol for electrocommunication to avoid communication conflicts during multi-robot coordination. Then, we revise a distributed controller to coordinate a group of underwater robots. The distributed controller on each robot generates the required controls based on adjacent states obtained through electrocommunication. A central pattern generator (CPG) controller is designed to adjust the speed of individuals according to distributed control law. Simulations and experimental results show that a group of underwater robots is able to achieve coordination with the developed electrocommunication and control systems., (© 2022 IOP Publishing Ltd.)

Electrical discharges (EDs) in the African sharptooth catfish Clarias gariepinus were studied. Irregular monopolar EDs, lasting for 8-10 ms and longer, and more complex EDs, lasting for 20-50 ms and characterized by specific indentation of the discharge pattern, were recorded in pairs of individuals exhibiting both aggressive and defensive behavior. The pattern of long discharges was reconstructed by adding short EDs with different latencies and amplitudes. The conditions for the formation of long EDs with asynchronous activity of electromotor neurons and the possibility of coordinated operation of the electric generator and electroreceptor systems in catfish were considered, since an increase in the duration of EDs lowers the threshold of their perception., (© 2021. Pleiades Publishing, Ltd.)

Environmental signals act as input and are processed across successive stages in the brain to generate a meaningful behavioral output. However, a ubiquitous observation is that descending feedback projections from more central to more peripheral brain areas vastly outnumber ascending feedforward projections. Such projections generally act to modify how sensory neurons respond to afferent signals. Recent studies in the electrosensory system of weakly electric fish have revealed novel functions for feedback pathways in that their transformation of the afferent input generates neural firing rate responses to sensory signals mediating perception and behavior. In this review, we focus on summarizing these novel and recently uncovered functions and put them into context by describing the more "classical" functions of feedback in the electrosensory system. We further highlight the parallels between the electrosensory system and other systems as well as outline interesting future directions., (Copyright © 2019 Hofmann and Chacron.)

Electrosensory systems of weakly electric fish must accommodate competing demands of sensing the environment (electrolocation) and receiving social information (electrocommunication). The jamming avoidance response (JAR) is a behavioral strategy thought to reduce electrosensory interference from conspecific signals close in frequency. We used playback experiments to characterize electric organ discharge frequency (EODf), chirping behavior and the JAR of Distocyclus conirostris , a gregarious electric fish species. EODs of D. conirostris had low frequencies (∼80-200 Hz) that shifted in response to playback stimuli. Fish consistently lowered EODf in response to higher-frequency stimuli but inconsistently raised or lowered EODf in response to lower-frequency stimuli. This led to jamming avoidance or anti-jamming avoidance, respectively. We compare these behaviors with those of closely related electric fish ( Eigenmannia and Sternopygus ) and suggest that the JAR may have additional social functions and may not solely minimize the deleterious effects of jamming, as its name suggests., Competing Interests: Competing interestsThe authors declare no competing or financial interests., (© 2018. Published by The Company of Biologists Ltd.)

Mormyrid weakly electric fish produce electric organ discharges (EODs) for active electrolocation and electrocommunication. These pulses are emitted with variable interdischarge intervals (IDIs) resulting in temporal discharge patterns and interactive signaling episodes with nearby conspecifics. However, unequivocal assignment of interactive signaling to a specific behavioral context has proven to be challenging. Using an ethorobotical approach, we confronted single individuals of weakly electric Mormyrus rume proboscirostris with a mobile fish robot capable of interacting both physically, on arbitrary trajectories, as well as electrically, by generating echo responses through playback of species-specific EODs, thus synchronizing signals with the fish. Interactive signaling by the fish was more pronounced in response to a dynamic echo playback generated by the robot than in response to playback of static random IDI sequences. Such synchronizations were particularly strong at a distance corresponding to the outer limit of active electrolocation, and when fish oriented toward the fish replica. We therefore argue that interactive signaling through echoing of a conspecific's EODs provides a simple mechanism by which weakly electric fish can specifically address nearby individuals during electrocommunication. Echoing may thus enable mormyrids to mutually allocate social attention and constitute a foundation for complex social behavior and relatively advanced cognitive abilities in a basal vertebrate lineage., Competing Interests: The authors declare no conflict of interest.

Sensory systems encode environmental information that is necessary for adaptive behavioural choices, and thus greatly influence the evolution of animal behaviour and the underlying neural circuits. Here, we evaluate how the quality of sensory information impacts the jamming avoidance response (JAR) in weakly electric fish. To sense their environment, these fish generate an oscillating electric field: the electric organ discharge (EOD). Nearby fish with similar EOD frequencies perform the JAR to increase the difference between their EOD frequencies, i.e. their difference frequency (DF). The fish determines the sign of the DF: when it has a lower frequency (DF > 0), EOD frequency is decreased and vice versa . We study the sensory basis of the JAR in two species: Apteronotus leptorhynchus have a high frequency ( ca 1000 Hz), spatio-temporally heterogeneous electric field, whereas Eigenmannia sp. have a low frequency ( ca 300 Hz), spatially uniform field. We show that the increased complexity of the Apteronotus field decreases the reliability of sensory cues used to determine the DF. Interestingly, Apteronotus responds to all JAR stimuli by increasing EOD frequency, having lost the neural pathway that produces JAR-related decreases in EOD frequency. Our results suggest that electric field complexity may have influenced the evolution of the JAR by degrading the related sensory information., (© 2018 The Author(s).)

Electric fishes modulate their electric organ discharges with a remarkable variability. Some patterns can be easily identified, such as pulse rate changes, offs and chirps, which are often associated with important behavioral contexts, including aggression, hiding and mating. However, these behaviors are only observed when at least two fish are freely interacting. Although their electrical pulses can be easily recorded by non-invasive techniques, discriminating the emitter of each pulse is challenging when physically similar fish are allowed to freely move and interact. Here we optimized a custom-made software recently designed to identify the emitter of pulses by using automated chirp detection, adaptive threshold for pulse detection and slightly changing how the recorded signals are integrated. With these optimizations, we performed a quantitative analysis of the statistical changes throughout the dominance contest with respect to Inter Pulse Intervals, Chirps and Offs dyads of freely moving Gymnotus carapo. In all dyads, chirps were signatures of subsequent submission, even when they occurred early in the contest. Although offs were observed in both dominant and submissive fish, they were substantially more frequent in submissive individuals, in agreement with the idea from previous studies that offs are electric cues of submission. In general, after the dominance is established the submissive fish significantly changes its average pulse rate, while the pulse rate of the dominant remained unchanged. Additionally, no chirps or offs were observed when two fish were manually kept in direct physical contact, suggesting that these electric behaviors are not automatic responses to physical contact., (Copyright © 2017 Elsevier Ltd. All rights reserved.)

Electric communication signals, produced by South American electric fish, vary across sexes and species and present an ideal opportunity to examine the bases of signal diversity, and in particular, the mechanisms underlying sexually dimorphic behavior. Gymnotiforms produce electric organ discharges (EOD) controlled by a hindbrain pacemaker nucleus (PN). Background studies have identified the general cellular mechanisms that underlie the production of communication signals, EOD chirps and interruptions, typically displayed in courtship and agonistic contexts. Brachyhypopomus gauderio emit sexually dimorphic signals, and recent studies have shown that the PN acquires the capability of generating chirps seasonally, only in breeding males, by modifying its glutamatergic system. We hypothesized that sexual dimorphism was caused by sexual differences in the roles of glutamate receptors. To test this hypothesis, we analyzed NMDA and AMPA mediated responses in PN slice preparations by field potential recordings, and quantified one AMPA subunit mRNA, in the PNs of males and females during the breeding season. In situ hybridization of GluR2B showed no sexual differences in quantities between the male and female PN. Functional responses of the PN to glutamate and AMPA, on the other hand, showed a clear cut sexual dimorphism. In breeding males, but not females, the PN responded to glutamate and AMPA with bursting activity, with a temporal pattern that resembled the pattern of EOD chirps. In this study, we have been successful in identifying cellular mechanisms of sexual dimorphic communication signals. The involvement of AMPA receptors in PN activity is part of the tightly regulated changes that account for the increase in signal diversity during breeding in this species, necessary for a successful reproduction., (Copyright © 2014 Elsevier Ltd. All rights reserved.)

Weakly electric fish can sense electric signals produced by other animals whether they are conspecifics, preys or predators. These signals, sensed by passive electroreception, sustain electrocommunication, mating and agonistic behavior. Weakly electric fish can also generate a weak electrical discharge with which they can actively sense the animate and inanimate objects in their surroundings. Understanding both sensory modalities depends on our knowledge of how pre-receptorial electric images are formed and how movements modify them during behavior. The inability of effectively measuring pre-receptorial fields at the level of the skin contrasts with the amount of knowledge on electric fields and the availability of computational methods for estimating them. In this work we review past work on modeling of electric organ discharge and electric images, showing the usefulness of these methods to calculate the field and providing a brief explanation of their principles. In addition, we focus on recent work demonstrating the potential of electric image modeling and what the method has to offer for experimentalists studying sensory physiology, behavior and evolution., (Copyright © 2014 Elsevier Ltd. All rights reserved.)

The electric organ discharges (EODs) of male southern bulldog fish, Marcusenius pongolensis, are of longer pulse duration than those of females, and grow with body size.1 In a playback experiment, male EODs of longer pulse duration were more attractive to females in terms of association time and other behavioral variables.2 Here, we show that the greater attraction of long male EODs to females was only revealed when combined with 'acceptable' information on his behavioral state (the combination was manipulated experimentally). Females were attracted to long EODs had the male (apparently) been in a nocturnally-active but non-aggressive behavioral state, but the preference vanished when in a diurnally 'resting' or nocturnal aggression (agonistic) state. Information on male behavioral state was conveyed to females by one of four types of inter-discharge interval (IDI) pattern that were used to drive the presentation of EODs.