La grande variété de morphologie de l’appareil visuel chez les arthropodes en fait un groupe unique pour l’étude de la diversité et l'évolution du système visuel. Cependant, la plupart de nos connaissances sur le développement et l'architecture neurale du système visuel provient de quelques organismes modèles. Mon projet vise à contribuer à l'étude de la diversité et de l'évolution du système visuel des arthropodes en étudiant l'œil du crustacé Parhyale hawaiensis; axé sur son développement, sa neuro-architecture et sa fonction. En particulier, mon travail vise à caractériser la structure du système visuel, à cartographier les connexions entre les photorécepteurs (PR) et le lobe optique (LO) et à comprendre les adaptations fonctionnelles de l'œil, par rapport aux yeux des autres arthropodes.Une description de l'anatomie de base du système visuel a été réalisée au moyen de la microscopie électronique, par immunomarquage et par la production de lignées de transgénique. J'ai trouvé que Parhyale possède un œil composé de type apposition avec 8 (chez les nouveau-nés) à 50 (chez les adultes) ommatidies, chacun formée par 5 PR (R1-R5). Nous avons trouvé deux opsines, nommés Ph-Opsin1 et Ph-Opsin2, exclusivement exprimés dans la rétine. En utilisant la séquence génomique comme guide, j'ai cloné des séquences régulatrices en amont de chaque gène d’opsine et généré des rapporteurs transgéniques qui récapitulent les patterns d'expression de Ph-Opsin1 et de Ph-Opsin2. Ces rapporteurs ont révélé que R1-R4 exprime Ph-Opsin1 tandis que R5 exprime le Ph-Opsin2.Immunomarquage ainsi que l'imagerie des deux lignées transgéniques, ont montré que les PR envoient de longues projections depuis la rétine au LO. Trois neuropiles optiques ont été identifiés: la lamina, la medulla et un neuropile plus profond qui est probablement la lobula plate ou la lobula. En suivant les projections axonales des PR dans le cerveau, révélant que tous les PR se projettent dans la lamina. Ceci diffère de ce qui a été montré chez les diptères et les crustacés, où au moins un PR par ommatidie projette ses axones dans la medulla.La microscopie électronique a montré que les rhabdomères des deux paires de PR, R1 + R3 et R2 + R4, sont orthogonalement alignés les uns aux autres dans chaque ommatidie, et que le rhabdome ne tourne pas. Ces caractéristiques rendent les PR intrinsèquement sensibles aux directions spécifiques de la lumière polarisée. Par conséquent, j'ai essayé de comprendre si Parhyale réagît à la lumière polarisée, au moyen d'expériences comportementales. Les données que j'ai recueillies suggèrent que Parhyale sont phototactiques pour la lumière blanche mais ne montrent aucune réponse à la lumière polarisée dans ces essais expérimentaux. Les problèmes potentiels liés à ces tests de comportement sont discutés.Enfin, je montre que l'œil de Parhyale s'adapte rapidement à différentes conditions d'intensité lumineuse. Ceci est obtenu par le mouvement des granules de pigments, situés à l'intérieur des PR, et par des changements morphologiques de la membrane basale du PR.Ce projet est pionnier dans l'étude du système visuel chez Parhyale. C'est la première fois que des outils génétiques ont été introduits pour étudier le système visuel de crustacés. Il établit Parhyale comme un puissant système expérimental pour des études in vivo de développement des yeux composé et de ciblage axonal du système visuel, un champ actuellement dominé par des études sur une seule espèce de mouche. / The wide diversity of eye designs present in arthropods makes them a unique group for studying the diversity and evolution of the visual system. However, most of our knowledge on the development and the neural architecture of the visual system comes from few model organisms. My project aims to contribute to the study of the diversity and evolution of the arthropod visual system by studying the eye of the crustacean Parhyale hawaiensis; focusing on its development, neuroarchitecture and function. In particular, my work aims to characterize the structure of the visual system, to map the connections between photoreceptors (PR) and optic lobe (OL) and to understand the functional adaptations of the eye, in relation to the eyes of other arthropods.A description of the basic anatomy of the visual system was performed by means of electron microscopy, immunostainings and by generating transgenic reporter lines. I found that Parhyale has an apposition-type compound eye with 8 (in hatchlings) to 50 (in adults) ommatidia, each one formed by 5 PR cells (R1-R5).Two opsins were found in Parhyale, named Ph-Opsin1 and Ph-Opsin2, which are exclusively expressed in the retina. Using the genome sequence as a guide, I cloned upstream regulatory sequences from each opsin genes and generated transgenic reporters that recapitulate the expression patterns of Ph-Opsin1 and Ph-Opsin2. These reporters revealed that R1-R4 express Ph-Opsin1 while R5 expresses Ph-Opsin2.Immunostainings and live imaging of the two transgenic lines showed that PR cells send long projections from the retina to the OL, via an optic nerve. Three optic neuropils were identified: lamina, medulla and a deeper neuropil, possibly the lobula or lobula plate. Following the axonal projections of the PR into the brain, revealed that all PR project to the lamina. This differs from what has been shown in dipterans and crustaceans, where at least one PR per ommatidium projects to the medulla. Electron microscopy showed that the rhabdomeres of two pairs of PR, R1+R3 and R2+R4, are orthogonally aligned to each other in each ommatidium, and that the rhabdom does not rotate. These features render the PR intrinsically sensitive to specific directions of light polarisation. Therefore, I tried to understand whether and how Parhyale respond to polarised light. I developed two experimental setups to address whether Parhyale shows behavioural responses triggered by light polarisation. The data I have collected suggest that Parhyale are phototactic to dim white light but show no response to polarised light in these specific experimental assays. Potential problems with these behavioural assays are discussed.Finally I show that the eye of Parhyale quickly adapts to different conditions of light intensity. This is achieved by movement of the shielding pigment granules, located inside the PR cells and by morphological changes of the PR basal membrane.This project is pioneering the study of the visual system in Parhyale. It is the first time that genetic tools have been introduced to study the crustacean visual system. It establishes Parhyale as a powerful experimental system for in vivo studies of compound eye development and axonal targeting, a field currently dominated by studies in a single species of fruitfly.

No description available.

Mecanismos que regem o desenvolvimento do olho composto e lóbulo óptico tem sido amplamente estudados em Drosophila melanogaster onde a retina é formada a partir de um disco imaginal anexado com o cérebro e os lóbulos opticos a partir do primórdio óptico externo. Através de histologia comparativa e análise de expressão gênica no desenvolvimento do sistema visual em Apis mellifera nós procuramos elucidar questões sobre plasticidade do desenvolvimento subjacente a fortes diferenças sexo- e casta-específico no olho assim como contribuir com aspectos evo-devo. O desenvolvimento dos lóbulos ópticos ocorre por dobramento neuroepitelial a partir de um centro de diferenciação no cérebro larval. Deste centro, a medula, lamina e lóbula surgem ao mesmo tempo em operárias e zangões. Dois passos marcam a diferenciação da lâmina (i) sua origem a partir da diferenciação de neuroblastos da camada mais externa da medula, isso coincidindo com o primeiro pico de expressão de roughest, e (ii) 24 horas mais tarde o aparecimento dos omatideos hexagonais coincidindo com o segundo pico de expressão de roughest. Com a inclusão de genes candidatos relacionados com o desenvolvimento do olho e lóbulos ópticos em insetos [small optic lobe (sol), eyes absent (eya), minibrain (mnb), sine oculis (so), embryonic lethal, abnormal vision (elav) e epidermal growth factor receptor (egfr)] nós encontramos distintos picos de expressão para sol, eya, mnb e so em níveis de transcritos e tempo de aparição do pico diferindo entre operárias e zangões. Enquanto estes quatro genes mostraram relativa sincronia durante o desenvolvimento em zangões, o mesmo não ocorreu em operárias. Além disso, em operárias sol é muito mais expresso na pré-pupa do que em zangões. Ambos os sexo mostraram padrões muito similares de expressão de elav, exceto por um atraso em zangões. Em contraste, a expressão de egfr ocorre antes em zangões. Durante a phase chave no desenvolvimento do sistema visual, uma análise global do transcriptoma, por meio de micro-arranjos mostrou vários genes relacionados com ciclo celular entre os diferencialmente expressos. Em conclusão, a relação entre tempo e eventos morfológicos com os padrões de expressão gênica revelou diferenças possivelmente relacionadas com mecanismos subjacentes ao desenvolvimento do sistema visual altamente dimorfico de Apis mellifera. / Developmental mechanisms governing compound eye development in insects have been broadly studied in Drosophila melanogaster, where the retina is formed from an imaginal disc attached to the larval brain. However little is known about eye development in other insects, most of which do not have such imaginal eye discs. Through a comparative histological and gene expression analysis of eye development in the honey bee, Apis mellifera, we intended to elucidate questions about developmental plasticity underlying the marked sex and castespecific differences in eye size, as well as to contribute to evo-devo aspects. Optic lobe development occurs by neuroepithelial folding initiating from a differentiation center in the larval brain. From this center, the medula, lamina and lobula arise at the same time in drones and workers. Two steps mark the differentiation of the lamina (i) its origin from neuroblasts differentiating in the outer layer of the medula, this coinciding with the first peak of roughest expression during the feeding stage of the fifth larval instar, and (ii) 24 hours later, the appearance of hexagonal ommatidia, coinciding with a second peak in roughest expression. Upon including further candidate genes related to insect eye development [small optic lobe (sol), eyes absent (eya), minibrain (mnb), sine oculis (so), embryonic lethal, abnormal vision (elav) and epidermal growth factor receptor (egfr)] we found distinct expression peaks for sol, eya, mnb and so, with timing and relative transcript levels differing between drones and workers. Whereas these four genes showed a relatively synchronous pattern of expression in drones in the fifth larval instar, this was not so in workers. Furthermore, in prepupae sol was higher expressed in workers than the other three genes, and also in comparison to drones. Both sexes showed a strikingly similar expression pattern for elav, except for some delay in drones. In contrast, egfr expression was found to occur earlier in drones. Through a global transcriptom analysis, done at a key step of larval development, several genes were reveled as diffetentially expressed, many of these regulating cell cycle steps. In conclusion, the relationship in the timing of morphological events with gene expression patterns revealed differences possibly related to mechanisms underlying development of the highly dimorphic compound eye in the honey bee.

Mecanismos que regem o desenvolvimento do olho composto e lóbulo óptico tem sido amplamente estudados em Drosophila melanogaster onde a retina é formada a partir de um disco imaginal anexado com o cérebro e os lóbulos opticos a partir do primórdio óptico externo. Através de histologia comparativa e análise de expressão gênica no desenvolvimento do sistema visual em Apis mellifera nós procuramos elucidar questões sobre plasticidade do desenvolvimento subjacente a fortes diferenças sexo- e casta-específico no olho assim como contribuir com aspectos evo-devo. O desenvolvimento dos lóbulos ópticos ocorre por dobramento neuroepitelial a partir de um centro de diferenciação no cérebro larval. Deste centro, a medula, lamina e lóbula surgem ao mesmo tempo em operárias e zangões. Dois passos marcam a diferenciação da lâmina (i) sua origem a partir da diferenciação de neuroblastos da camada mais externa da medula, isso coincidindo com o primeiro pico de expressão de roughest, e (ii) 24 horas mais tarde o aparecimento dos omatideos hexagonais coincidindo com o segundo pico de expressão de roughest. Com a inclusão de genes candidatos relacionados com o desenvolvimento do olho e lóbulos ópticos em insetos [small optic lobe (sol), eyes absent (eya), minibrain (mnb), sine oculis (so), embryonic lethal, abnormal vision (elav) e epidermal growth factor receptor (egfr)] nós encontramos distintos picos de expressão para sol, eya, mnb e so em níveis de transcritos e tempo de aparição do pico diferindo entre operárias e zangões. Enquanto estes quatro genes mostraram relativa sincronia durante o desenvolvimento em zangões, o mesmo não ocorreu em operárias. Além disso, em operárias sol é muito mais expresso na pré-pupa do que em zangões. Ambos os sexo mostraram padrões muito similares de expressão de elav, exceto por um atraso em zangões. Em contraste, a expressão de egfr ocorre antes em zangões. Durante a phase chave no desenvolvimento do sistema visual, uma análise global do transcriptoma, por meio de micro-arranjos mostrou vários genes relacionados com ciclo celular entre os diferencialmente expressos. Em conclusão, a relação entre tempo e eventos morfológicos com os padrões de expressão gênica revelou diferenças possivelmente relacionadas com mecanismos subjacentes ao desenvolvimento do sistema visual altamente dimorfico de Apis mellifera. / Developmental mechanisms governing compound eye development in insects have been broadly studied in Drosophila melanogaster, where the retina is formed from an imaginal disc attached to the larval brain. However little is known about eye development in other insects, most of which do not have such imaginal eye discs. Through a comparative histological and gene expression analysis of eye development in the honey bee, Apis mellifera, we intended to elucidate questions about developmental plasticity underlying the marked sex and castespecific differences in eye size, as well as to contribute to evo-devo aspects. Optic lobe development occurs by neuroepithelial folding initiating from a differentiation center in the larval brain. From this center, the medula, lamina and lobula arise at the same time in drones and workers. Two steps mark the differentiation of the lamina (i) its origin from neuroblasts differentiating in the outer layer of the medula, this coinciding with the first peak of roughest expression during the feeding stage of the fifth larval instar, and (ii) 24 hours later, the appearance of hexagonal ommatidia, coinciding with a second peak in roughest expression. Upon including further candidate genes related to insect eye development [small optic lobe (sol), eyes absent (eya), minibrain (mnb), sine oculis (so), embryonic lethal, abnormal vision (elav) and epidermal growth factor receptor (egfr)] we found distinct expression peaks for sol, eya, mnb and so, with timing and relative transcript levels differing between drones and workers. Whereas these four genes showed a relatively synchronous pattern of expression in drones in the fifth larval instar, this was not so in workers. Furthermore, in prepupae sol was higher expressed in workers than the other three genes, and also in comparison to drones. Both sexes showed a strikingly similar expression pattern for elav, except for some delay in drones. In contrast, egfr expression was found to occur earlier in drones. Through a global transcriptom analysis, done at a key step of larval development, several genes were reveled as diffetentially expressed, many of these regulating cell cycle steps. In conclusion, the relationship in the timing of morphological events with gene expression patterns revealed differences possibly related to mechanisms underlying development of the highly dimorphic compound eye in the honey bee.

L’horloge circadienne permet de régler avec précision les anticipations physiologiques et comportementales face à un environnement perpétuellement oscillant entre jour et nuit. Cette capacité endogène n’est utile que si les processus biologiques restent synchronisés sur le temps solaire. La lumière représente le stimulus le plus efficace pour informer l’horloge des cycles environnementaux.
Chez la drosophile (Drosophila melanogaster) la synchronisation des rythmes veille/sommeil par la lumière est assurée par la molécule photosensible CRYPTOCHROME et par le système visuel. Alors que le cryptochrome agit dans les neurones d'horloges, le système visuel renseigne ces derniers par des voies qui restent à découvrir. La drosophile possède trois organes photorécepteurs, l'oeil composé, les ocelles et l'eyelet de Hofbauer-Buchner, qui expriment chacun une ou plusieurs rhodopsines. La cascade de phototransduction activée par la lumière dépend de la phospholipase C-ß NORPA et conduit à une libération d’histamine.
Dans notre étude, nous avons tenté de caractériser la contribution de chaque rhodopsine dans l’entraînement circadien, mais également de déterminer leur contribution norpA-dépendante en condition de faible lumière.
L’analyse de mutants a montré que les 6 rhodopsines du système visuel constituaient les seules molécules photosensibles capables d’informer l’horloge et que la RH2 et la RH5 seules étaient capables d’entraîner l’horloge en fonction des conditions expérimentales. Nous avons également pu mettre en évidence le fait que les RH1, RH3, RH4 et RH6 utilisaient une voie NORPA-dépendante pour informer l’horloge, alors que la RH2 ne semblait pas le faire. Des doutes subsistent quant à l’existence d’une voie NORPA- dépendante de la RH5 pour informer l’horloge. Nous avons également caractérisé la contribution des récepteurs à l’histamine ORT et HISCL1 dans les processus circadiens: en l'absence de cryptochrome, chacun des deux récepteurs suffit à synchroniser l'horloge et la perte des deux rend les mouches circadiennement aveugles De plus, nous avons constaté que la connexion des photorécepteurs à l’horloge ne se faisait pas directement mais par l’intermédiaire de voies glutamatergiques ou cholinergiques. L’ensemble de ce travail a permis de faire une 1er ébauche des circuits nécessaires à la transmission de l’information lumineuse à l’horloge cérébrale et d’identifier les opsines ainsi que les interneurones impliqués. / The circadian clock allowed physiologic and behavioural anticipation against the day/night oscillation. Light is the most powerful clue for living organism. In the fly Drosophila melanogaster, the rest-activity is synchronized by light and pass through the cryptochrome and the visual system. CRYPTOCHROME act directly in the clock neurons to inform the clock but little is known about the visual system. Drosophila posses tree structures: the ocelli, the compound eye and the eyelet of Hofbauer-Buchner, each structure expressed one or multiple rhodopsins. The phototransduction cascade is activated by light and depend one a phospholipase C-ß NORPA, this lead to histamine realised. Study of mutants show that the 6 rhodopsines represent the only photo-sensible molecule for the clock and the RH2 and the RH5 alone could entrain the clock. We have also find that the RH1, RH3, RH4 and RH6 use a NORPA-dependant way to inform the clock whereas the RH2 does not. Some doubt is still present regarding the RH5 NORPA-dependant way. We have determined that the two-histamines receptor ORT and HISCL1 are involved in the circadian process. Besides, we have shown that there is no direct connexion between the clock and the photoreceptors but the information is relay on a glutamatergique and a cholinegique pathway. This thesis draws the circuit by which the light informed the clock and identified the opsines and the interneurons involved.

No description available.

La stratégie de l'équipe biorobotique est de s'inspirer de découvertes faites en biologie chez l'insecte ailé dont la vision est adaptée à la navigation autonome dans un environnement 3D inconnu. Cette inspiration donne naissance la réalisation de capteurs visuels minimalistes permettant de rendre autonomes des robots volants, pour des tâches complexes telles que : le décollage et l'atterrissage automatiques, l'évitement d'obstacles et, dans le cas de cette thèse, le vol stationnaire.Cette thèse présente la mise en œuvre des capteurs visuels minimalistes bio-inspirés qui, grâce à des algorithmes de traitement que nous avons réalisés, sont capables de localiser la position d'objets visuels en tirant partie de propriétés souvent bannies en optique : un flou, obtenu par défocalisation, associé à un micro-mouvement rétinien actif. Nous montrons que la précision en localisation ainsi obtenue est considérablement améliorée par rapport à la résolution statique définie par l'échantillonnage spatial : ces capteurs optiques bio-inspirés sont donc dotés d'hyperacuité.Cette thèse présente aussi l'œil composé artificiel miniature CurvACE (de 2,2cm3 pour 1,75g) doté d'une vision panoramique (180x60°). Cette thèse décrit la caractérisation et la mise en œuvre du capteur CurvACE sur le robot HyperRob. En fusionnant les mesures de position données par une quarantaine de pixels couvrant un grand champ visuel, l'œil CurvACE mesure sa position par rapport à un environnement visuel texturé complexe. Nous montrons aussi que le robot volant HyperRob, attaché au bout d'un bras, stabilise son roulis et sa position, dans le plan azimutal, grâce à son œil composé artificiel doté d'hyperacuité. / The biorobotics team from the Institute of Movement Sciences (Marseille, France) takes its inspiration from biological studies on flying insects which are able to navigate into unknown 3D environments with a high maneuverability. These studies led us to build minimalist optical sensors to make aerial robots autonomous for achieving complex tasks such as automatic landing and take-off, obstacle avoidance and very accurate hovering flight depicted in this doctoral thesis. This work presents several bio-inspired visual sensors implemented with different visual processing algorithms. All these sensors are able to locate visual objects (contrasting edges and bars) with unusual properties for optical sensing devices: a blur obtained by defocusing optics related with active retinal micro-movements to improve the sensor resolution. We showed that the resolution in locating contrasting objects can be improved up to 160 fold better than the static resolution defined by the pixel pitch, which means that these bio-inspired optical sensors are endowed with hyperacuity.The thesis presents a miniature artificial compound eye CurvACE (of 1.75g for 2.2cm3) with a panoramic field of view (180x60°). This thesis describes thoroughly the characterization and the implementation of the CurvACE sensor onboard an aerial robot named HyperRob. This artificial compound eye acts as a position sensing device able to measure its position relative to a complex textured scene by fusing the position measurements obtained by 40 pixels. The tethered flying robot HyperRob (a 150-g bi-rotor with a 23-cm wingspan) stabilizes its roll and its position thanks to its hyperacute artificial compound eye.

No description available.