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In motor systems, higher-order neurons provide commands to lower-level central pattern generators (CPGs) that autonomously produce rhythmic motor patterns. Such hierarchical organization is often thought to be inherent in the anatomical position of the neurons. Here, however, we report that a neuron that is member of a CPG in one species acts as a higher-order neuron in another species. In the nudibranch mollusc, Melibe leonina , swim interneuron 1 (Si1) is in the CPG underlying swimming, firing rhythmic bursts of action potentials as part of the swim motor pattern. We found that its homolog in another nudibranch, Dendronotus iris , serves as a neuromodulatory command neuron for the CPG of a homologous swimming behavior. In Dendronotus , Si1 fired irregularly throughout the swim motor pattern. The burst and spike frequencies of Dendronotus swim CPG neurons correlated with Si1 firing frequency. Si1 activity was both necessary and sufficient for the initiation and maintenance of the swim motor pattern. Each Si1 was electrically coupled to all of the CPG neurons and made monosynaptic excitatory synapses with both Si3s. Si1 also bilaterally potentiated the excitatory synapse from Si3 to Si2. "Virtual neuromodulation" of both Si3-to-Si2 synapses using dynamic clamp combined with depolarization of both Si3s mimicked the effects of Si1 stimulation on the swim motor pattern. Thus, in Dendronotus , Si1 is a command neuron that turns on, maintains, and accelerates the motor pattern through synaptic and neuromodulatory actions, thereby differing from its homolog in Melibe in its functional position in the motor hierarchy. SIGNIFICANCE STATEMENT Cross-species comparisons of motor system organization can provide fundamental insights into their function and origin. Central pattern generators (CPGs) are lower in the functional hierarchy than the neurons that initiate and modulate their activity. This functional hierarchy is often reflected in neuroanatomical organization. This paper definitively shows that an identified cerebral ganglion neuron that is a member of a CPG underlying swimming in one nudibranch species serves as a command neuron for the same behavior in another species. We describe and test the synaptic and neuromodulatory mechanisms by which the command neuron initiates and accelerates rhythmic motor patterns. Thus, the functional position of neurons in a motor hierarchy can shift from one level to another over evolutionary time.

Command or Obey? Homologous Neurons Differ in Hierarchical Position for the Generation of Homologous Behaviors