How does lateral abdomen deflection contribute to flight control ofDrosophila melanogaster?

Summary Tethered flyingDrosophila melanogaster change the posture of their caudal body appendages in response to visual stimuli. In the present paper the relevance of lateral abdomen deflections for flight control is analysed. During abdomen deflections the line of action of the gravitational force is shifted with the fly's centre of mass. The line of action of aerodynamic drag forces is displaced accordingly, because friction is increased on the side of the body to which the abdomen is deflected. These two passive forces, together with the average flight forces generated actively by the wings, induce a yaw moment. In still air, the axis of this torque is tilted about 30° backwards relative to the vertical body axis. It will be called yaw axis of the flight mechanics. Two sets of observations support the notion of a combined yaw motor output. (a) The elementary motion detectors mediating the lateral abdomen deflection and the dynamics of the response resemble that of the optomotor response measured as yaw torque or as variation of wing beat amplitudes. (b) The asymmetric directional selectivity of the motion detecting system mediating the abdomen deflection corresponds to the orientation of the yaw axis of the flight mechanics. To explain the asymmetry, a nonlinear transfer characteristic is assumed in the motion detecting system.Abbreviations EMD elementary motion detector - MDF motion detector field     

Dynamic properties of two control systems underlying visually guided turning in house-flies

Summary The compensatory optomotor turning reaction as well as the turning response towards objects play an important role in visual orientation. On the basis of behavioural experiments under precisely defined stimulus conditions it is concluded that in female house-flies these motion-dependent responses are mediated by two parallel control systems with different dynamic and spatial integration properties. One of them (large-field system) is most sensitive to the motion of large textured patterns and controls the yaw torque mainly at low oscillation frequencies (below 0.1 Hz) of the stimulus panorama. In contrast, the other control system (small-field system) is tuned to the detection of relatively small moving patterns and shows its strongest responses at high oscillation frequencies (between 1 and 4 Hz), i.e. in a frequency range where the large-field system contributes to the turning response with only a relatively small gain.In free flight, house-flies do not curve smoothly but in sequences of rapid turns which induce retinal large-field motion of continually changing sign (Wagner 1986b). The dynamic properties of the large-field system might thus be interpreted as a simple strategy to almost eliminate the unwanted optomotor yaw torque induced by active self-motion. In contrast, the small-field system might still be operational under these conditions.     

Motion sensitive yaw torque responses of the housefly Musca: A quantitative study

The yaw torque response of tethered flying houseflies Musca, to a moving grating was analyzed quantitatively under conditions comparable to previous and parallel behavioural and physiological investigations (Wehrhahn et al. 1981; Hausen 1982a, b; Hausen and Wehrhahn, in preparation). The stimulus parameters of the experiments are (1) contrast frequency, (2) orientation, (3) position in space, and (4) average luminance of the periodic grating. The similarity of the yaw torque response of houseflies and physiological responses of horizontal cells (Pierantoni 1976) in the third optic ganglion of blowflies provides further evidence that yaw torque generation is controlled to a high degree by these neurones.     

Control of the horizontal flight-course by air-current sense organs in Locusta migratoria

ABSTRACT. The role of the air-current sense organs of Locusta migratoria (the antennae and the hair fields on the frons and vertex of the head) in control of the horizontal flight-course in relation to the air was investigated in locusts flying tethered on a torque gauge. The antennae were apparently not of importance in the control of flight direction in the horizontal plane. If the hair fields were stimulated by an air current from either side, however, a torque on the vertical body axis was generated by the beating wings after a reaction time of at least 0.1 s. In free flight this would result in a yaw, bringing the animal back in line with the air stream. This torque reaction will stabilize the flight direction in the horizontal plane via a negative feedback mechanism, the hair fields above the lateral ocelli being the feedback receptors. In free flying locusts a torque on the vertical body axis can be generated by both the beating wings and the abdomen working as a rudder when bent to either side. The wings, however, are dominant in the reflex stabilization of the flight-course.     

Bumblebee Homing: The Fine Structure of Head Turning Movements

Changes in flight direction in flying insects are largely due to roll, yaw and pitch rotations of their body. Head orientation is stabilized for most of the time by counter rotation. Here, we use high-speed video to analyse head- and body-movements of the bumblebee Bombus terrestris while approaching and departing from a food source located between three landmarks in an indoor flight-arena. The flight paths consist of almost straight flight segments that are interspersed with rapid turns. These short and fast yaw turns (“saccades”) are usually accompanied by even faster head yaw turns that change gaze direction. Since a large part of image rotation is thereby reduced to brief instants of time, this behavioural pattern facilitates depth perception from visual motion parallax during the intersaccadic intervals. The detailed analysis of the fine structure of the bees’ head turning movements shows that the time course of single head saccades is very stereotypical. We find a consistent relationship between the duration, peak velocity and amplitude of saccadic head movements, which in its main characteristics resembles the so-called "saccadic main sequence" in humans. The fact that bumblebee head saccades are highly stereotyped as in humans, may hint at a common principle, where fast and precise motor control is used to reliably reduce the time during which the retinal images moves.     

Sequential organization of grooming behaviors of the mosquito,Aedes triseriatus

Grooming behavior was studied in adult females of the mosquito Aedes triseriatus(Say). The grooming repertoire consisted of 12 different behaviors (accounting for bilateral symmetry) organized into five sequences. The proboscis and antennae were scraped by the forelegs, whereas the dorsal and ventral surfaces of the wings, and the forelegs, midlegs, hindlegs, and tip of the abdomen were scraped by the hindlegs. Each sequence ended with hindleg groomng. Tibial grooming combs were found on the ventral apices of the fore- and hind-tibiae but not on the mid-tibiae. A multidimensional scaling procedure grouped the grooming behaviors in two ways: (1) by the relative position of the groomed structure along the anteroposterior axis of the insect's body, and (2) by whether the groomed structure has a locomotory or sensory function. This suggests that mosquitoes groom both to clear sensilla of obstructive matter and to clean and smooth scales on legs and wings, possibly to decrease drag during flight.     

‘Switching-off’ of an auditory interneuron during stridulation in the acridid grasshopperChorthippus biguttulus L.

Summary In freely moving grasshoppers of the speciesChorthippus biguttulus compound potentials were recorded from the neck connectives with chronically implanted hook electrodes. The spikes of one large auditory interneuron, known as the G-neuron (Kalmring 1975a, b) were clearly distinguishable in the recordings and the neuron was identified by its physiology and morphology. In quiescent grasshoppers the G-neuron responds to auditory and vibratory stimuli, but responses to both stimuli are suppressed during stridulation in males (Fig. 1, top, Fig. 7). When a male's wings were removed so that the stridulatory movements of its hindlegs produced no sound, the suppression of the G-neuron response still occurred (Fig. 1, bottom). When proprioceptive feedback from the hindlegs was reduced, by forced autotomy of the legs, the switching-off remained incomplete (Fig. 3) (production of stridulatory patterns was inferred on the basis of electromyograms from the relevant thoracic musculature). Imposed movement of the hindlegs, on the other hand, suppressed the G-neuron response in a graded fashion, depending on the frequency of the movement (Figs. 4 and 5). These experiments suggest that the switching-off is brought about by a combination of proprioceptive feedback and central efferences. The switching-off phenomenon could either protect the grasshopper's auditory pathway from undesired effects of overloading by its own intense song (e.g. self-induced habituation as described by Krasne and Wine 1977) and should therefore apply for most auditory neurons. Alternatively it could prevent escape reflexes from being triggered by stridulatory self-stimulation and consequently might apply only for neurons involved in such networks (as the G-neuron might be).     

Soaring and manoeuvring flight of a steppe eagle Aquila nipalensis

We used an onboard inertial measurement unit, together with onboard and ground‐based video cameras, to record the movements of the body, wings and tail of a steppe eagle Aquila nipalensis during wide‐ranging flight. The eagle's flight consisted of a more or less continuous sequence of banked turns, interrupted by occasional wing tucks and roll‐over manoeuvres, and ultimately terminated by a wing‐over manoeuvre leading in to a diving landing approach. The flight configuration of the bird, and its pattern of movement during angular perturbations, together suggest that the eagle is inherently stable in pitch and yaw, and perhaps also in roll. The control inputs used to generate roll moments during banked turns were too subtle to be detected. Control of yaw and pitch during banked turns involved a consistent pattern of tail movement, wherein the tail was spread and depressed immediately before the turn, and then overbanked with respect to the bird during the latter part of the turn. Differential adjustment of wing posture is probably also involved in the control of banked turns, but it was only consistently apparent during more extreme roll manoeuvres. For example, roll‐over and wing‐over manoeuvres were both accomplished by differential changes in the angle of incidence and spread of the wings. In general, however, the bird appeared to maintain positive loading on its wings at all times, except during extreme flight manoeuvres.     

Task-specific association of photoreceptor systems and steering parameters in Drosophila

Visual motion processing enables moving fruit flies to stabilize their course and altitude and to approach selected objects. Earlier attempts to identify task-specific pathways between two photoreceptor systems (peripheral retinula cells 1-6, and central retinula cells 7 + 8) and three steering parameters (wingstroke asymmetry, abdomen deflection, hindleg deflection) attributed course control and object fixation to peripheral retinula cells 1-6-mediated simultaneous reactions of these parameters. The present investigation includes first results from fixed flying or freely walking ninaE17 mutants which cannot synthesize the peripheral retinula cells 1-6 photoreceptor-specific opsin. Retention of about 12% of the normal course control and about 58% of the object fixation in these flies suggests partial input sharing for both responses and, possibly, a specialization for large-field (peripheral retinula cells 1-6) and small-field (central retinula cells 7 + 8) motion. Such signals must be combined to perceive relative motion between an object and its background. The combining links found in larger species might explain a previously neglected interdependence of course control and object fixation in Drosophila. -Output decomposition revealed an unexpected orchestration of steering. Wingstroke asymmetry and abdomen deflection do not contribute in fixed proportions to the yaw torque of the flight system. Different steering modes seem to be selected according to their actual efficiency under closed-loop conditions and to the degree of intended turning. An easy experimental access to abdominal steering is introduced.     

Dual Dimensionality Reduction Reveals Independent Encoding of Motor Features in a Muscle Synergy for Insect Flight Control

What are the features of movement encoded by changing motor commands? Do motor commands encode movement independently or can they be represented in a reduced set of signals (i.e. synergies)? Motor encoding poses a computational and practical challenge because many muscles typically drive movement, and simultaneous electrophysiology recordings of all motor commands are typically not available. Moreover, during a single locomotor period (a stride or wingstroke) the variation in movement may have high dimensionality, even if only a few discrete signals activate the muscles. Here, we apply the method of partial least squares (PLS) to extract the encoded features of movement based on the cross-covariance of motor signals and movement. PLS simultaneously decomposes both datasets and identifies only the variation in movement that relates to the specific muscles of interest. We use this approach to explore how the main downstroke flight muscles of an insect, the hawkmoth Manduca sexta, encode torque during yaw turns. We simultaneously record muscle activity and turning torque in tethered flying moths experiencing wide-field visual stimuli. We ask whether this pair of muscles acts as a muscle synergy (a single linear combination of activity) consistent with their hypothesized function of producing a left-right power differential. Alternatively, each muscle might individually encode variation in movement. We show that PLS feature analysis produces an efficient reduction of dimensionality in torque variation within a wingstroke. At first, the two muscles appear to behave as a synergy when we consider only their wingstroke-averaged torque. However, when we consider the PLS features, the muscles reveal independent encoding of torque. Using these features we can predictably reconstruct the variation in torque corresponding to changes in muscle activation. PLS-based feature analysis provides a general two-sided dimensionality reduction that reveals encoding in high dimensional sensory or motor transformations.     

Processing of figure and background motion in the visual system of the fly

The visual system of the fly is able to extract different types of global retinal motion patterns as may be induced on the eyes during different flight maneuvers and to use this information to control visual orientation. The mechanisms underlying these tasks were analyzed by a combination of quantitative behavioral experiments on tethered flying flies (Musca domestica) and model simulations using different conditions of oscillatory large-field motion and relative motion of different segments of the stimulus pattern. Only torque responses about the vertical axis of the animal were determined. The stimulus patterns consisted of random dot textures (Julesz patterns) which could be moved either horizontally or vertically. Horizontal rotatory large-field motion leads to compensatory optomotor turning responses, which under natural conditions would tend to stabilize the retinal image. The response amplitude depends on the oscillation frequency: It is much larger at low oscillation frequencies than at high ones. When an object and its background move relative to each other, the object may, in principle, be discriminated and then induce turning responses of the fly towards the object. However, whether the object is distinguished by the fly depends not only on the phase relationship between object and background motion but also on the oscillation frequency. At all phase relations tested, the object is detected only at high oscillation frequencies. For the patterns used here, the turning responses are only affected by motion along the horizontal axis of the eye. No influences caused by vertical motion could be detected. The experimental data can be explained best by assuming two parallel control systems with different temporal and spatial integration properties: TheLF-system which is most sensitive to coherent rotatory large-field motion and mediates compensatory optomotor responses mainly at low oscillation frequencies. In contrast, theSF-system is tuned to small-field and relative motion and thus specialized to discriminate a moving object from its background; it mediates turning responses towards objects mainly at high oscillation frequencies. The principal organization of the neural networks underlying these control systems could be derived from the characteristic features of the responses to the different stimulus conditions. The input to the model circuits responsible for the characteristic sensitivity of the SF-system to small-field and relative motion is provided by retinotopic arrays of local movement detectors. The movement detectors are integrated by a large-field element, the output cell of the network. The synapses between the detectors and the output cells have nonlinear transmission characteristics. Another type of large-field elements (pool cells) which respond to motion in front of both eyes and have characteristic direction selectivities are assumed to interact with the local movement detector channels by inhibitory synapses of the shunting type, before the movement detectors are integrated by the output cells. The properties of the LF-system can be accounted for by similar model circuits which, however, differ with respect to the transmission characteristic of the synapses between the movement detectors and the output cell; moreover, their pool cells are only monocular. This type of network, however, is not necessary to account for the functional properties of the LF-system. Instead, intrinsic properties of single neurons may be sufficient. Computer simulations of the postulated mechanisms of the SF-and LF-system reveal that these can account for the specific features of the behavioral responses under quite different conditions of coherent large-field motion and relative motion of different pattern segments.     

Yaw stability in gliding birds

A new concept for describing the yaw stability in gliding birds is presented. This concept introduces dynamic stiffness in yaw as an appropriate indication of stability. Other than the conventional metric of static yaw stability given by the gradient of the aerodynamic yawing moment with respect to the sideslip angle, the dynamic stiffness does not only provide a qualitative indication of stability but also a precise quantitative measure of the restoring action in the yaw axis. With the use of scaling relations, it is shown that the dynamic stiffness of birds is sufficiently high though their static yaw stability may be very small. The underlying mechanism is that the yaw moment of inertia is more reduced with a decrease in size than the restoring aerodynamic moment. Reference is made to the yaw stability in aircraft and related flying qualities requirements. Thus, numerical values are derived which can be used as a standard of comparison providing a rating basis for the dynamic yaw stiffness in small flying objects, like birds. Furthermore, it is shown that the wings of birds produce yawing moments due to sideslip so large that a sufficiently high level of dynamic yaw stiffness can be achieved. From the results derived in this paper, it may be concluded that birds—unlike aircraft—need no vertical tail for yaw stability.     

Asynchronous swimmeret beating during defense turns in the crayfish, Procambarus clarkii

Swimmeret beating was monitored in freely moving specimens of the crayfish Procambarus clarkii as they exhibited defense turn responses to tactile stimuli. Analysis of videotape records revealed alterations in swimmeret beating during turning responses compared to straight, forward walking. During turns, swimmerets beat with shorter periods and smaller amplitude power strokes than during straight walking. Coordination between swimmerets also changed. Swimmerets on the side toward which the animal turned tended to lag behind their contralateral partners, rather than beat in synchrony as in straight walking, and ipsilateral coordination was loosened relative to straight walking. Asynchronous swimmeret beating accompanied asymmetric motions of the uropods in a manner similar to that observed during statocyst-dependent equilibrium reactions in P. clarkii, but removal of the statoliths did not eliminate turn-associated responses of the swimmerets. The coordinated action of the swimmerets and uropods may contribute to the torque that rotates the animal in the yaw plane. Implications of the observed changes in swimmeret coordination for understanding the underlying neuronal control system are discussed.     

Analysis of orientation behaviour of Tribolium castaneum and T. confusum to synthetic aggregation pheromone

Adult male T. castaneum (Herbst) and T. confusum (du Val) secretes an aggregation pheromone that is attractive to both sexes. Orientation behaviour of the two Tribolium species responding to different concentrations of synthetic aggregation pheromone in still and moving air was studied in an 2.5 m×0.4 m olfactometer. Analysis of Tribolium tracks indicated that the aggregation pheromone stimulated the beetles to walk faster at higher concentrations to increase the frequency and magnitude of turning and to decrease track reversal distances and distances between turns. The mean walking speed of both species was lowest at the highest air speed. The behavioural responses of the beetles to the pheromone in still and moving air were similar, indicating chemotaxis as the major orientation mechanism used by both species to locate an odour source. The beetles showed greater orientation efficiency within a discrete pheromone plume than a diffuse plume.     

Behavioral modification in choice process of<Emphasis Type="Italic">Drosophila</Emphasis>

In visual operant conditioning ofDrosophila at the flight simulator, only motor output of flies—yaw torque—is recorded, which is involved in the conditioning process. The current study used a newly-designed data analysis method to study the torque distribution ofDrosophila. Modification of torque distribution represents the effects of operant conditioning on flies’ behavioral mode. Earlier works^[10] showed that, when facing contradictory visual cues, flies could make choices based upon the relative weightiness of different cues, and it was demonstrated that mushroom bodies might play an important role in such choice behavior. The new “torque-position map” method was used to explore the CS-US associative learning and choice behavior inDrosophila from the aspect of its behavioral mode. Finally, this work also discussed various possible neural bases involved in visual associative learning, choice processing and modification processing of the behavioral mode in the visual operant conditioning ofDrosophila.     

Visual control of straight flight in Drosophila melanogaster

Summary The optomotor system of Drosophila is investigated in a flight simulator in which the fly's yaw torque controls the angular velocity of the panorama (striped drum, negative feedback). Flies in the flight simulator maintain a stable orientation even in a homogeneously textured panorama without landmarks. During straight flight, torque is not zero. It consists of small pulses mostly alternating in polarity. The course is controlled by the duration (and possibly amplitude) of the pulses. The system operates under reafference control. By comparing the pulses with the visual input the system continuously measures and adjusts the efficacy of the torque output. The comparison, however, is not between angular velocity and yaw torque but, instead, between visual acceleration and pretorque, the first time derivative of torque. For comparison, the system first computes a cross-correlation. If the correlation coefficient is above a certain threshold the system calculates the external gain and adjusts its internal gain so as to keep the total gain constant. With the correlation coefficient below threshold, however, the system keeps the internal gain low despite the infinitely small external gain. We propose that for a reafferent optomotor system the coupling coefficient and the correlation coefficient of pretorque and visual acceleration are more relevant than the distinction between exafference and reafference.Abbreviation EMD elementary movement detector     

Control of hindlimb posture by wind-sensitive hairs and antennae during locust flight

Steering movements of tethered, flying locusts, Schistocerca gregaria, subjected to simulated yaw were examined under open-loop conditions. Lateral movements of hindlimbs or curling of the abdomen were monitored with a capacitive movement transducer and were interpreted as indicating the tendency of the animal to turn. Three responses to simulated yaw were noted: Yaw-correcting upwind turning tendencies (Figs. 1, 2, 3). Downwind turning tendencies (Figs. 2, 3, 4, 5), and transient adjustments of hindlimb position consistent with an upwind turning tendency occurred in animals that made either no sustained postural adjustments of hindlimbs, or that exhibited sustained downwind turning tendencies (Figs. 4, 5). Ablations of certain mechanoreceptors tested their roles in wind detection and wind angle determination. The expression of upwind turning tendencies, whether sustained or transient, depends on inputs from cephalic mechanosensory hairplates (Figs. 2, 3, 4, 5). With hairplates occluded, all locusts exhibited downwind turning tendencies. All downwind turning tendencies depend on inputs from the antennae (Figs. 2, 3). Antennae and hairplates operate in an apparent antagonism in the steering responses they produce, which may provide the control flexibility required for complex flight maneuvering.     

Motor activity and trajectory control during escape jumping in the locust <Emphasis Type="Italic">Locusta migratoria</Emphasis>

We investigated the escape jumps that locusts produce in response to approaching objects. Hindleg muscular activity during an escape jump is similar to that during a defensive kick. Locusts can direct their escape jumps up to 50° either side of the direction of their long axis at the time of hindleg flexion, allowing them to consistently jump away from the side towards which an object is approaching. Variation in jump trajectory is achieved by rolling and yawing movements of the body that are controlled by the fore- and mesothoracic legs. During hindleg flexion, a locust flexes the foreleg ipsilateral to its eventual jump trajectory and then extends the contralateral foreleg. These foreleg movements continue throughout co-contraction of the hindleg tibial muscles, pivoting the locust’s long axis towards its eventual jump trajectory. However, there are no bilateral differences in the motor programs of the left and right hindlegs that correlate with jump trajectory. Foreleg movements enable a locust to control its jump trajectory independent of the hindleg motor program, allowing a decision on jump trajectory to be made after the hindlegs have been cocked in preparation for a jump.     

Ground reaction forces and lower-limb joint kinetics of turning gait in typically developing children

Turning is a common locomotor task essential to daily activity; however, very little is known about the forces and moments responsible for the kinematic adaptations occurring relative to straight-line gait in typically developing children. Thus, the aims of this study were to analyse ground reaction forces (GRFs), ground reaction free vertical torque (T_Z), and the lower-limb joint kinetics of 90° outside (step) and inside (spin) limb turns. Step, spin, and straight walking trials from fifty-four typically developing children were analysed. All children were fit with the Plug-in Gait and Oxford Foot Model marker sets while walking over force plates embedded in the walkway. Net internal joint moments and power were computed via a standard inverse dynamics approach. All dependent variables were statistically analysed over the entire curves using the mean difference 95% bootstrap confidence band approach. GRFs were directed medially for step turns and laterally for spin turns during the turning phase. Directions were reversed and magnitudes decreased during the approach phase. Step turns showed reduced ankle power generation, while spin turns showed large T_Z. Both strategies required large knee and hip coronal and transverse plane moments during swing. These kinetic differences highlight adaptations required to maintain stability and reorient the body towards the new walking direction during turning. From a clinical perspective, turning gait may better reveal weaknesses and motor control deficits than straight walking in pathological populations, such as children with cerebral palsy, and could potentially be implemented in standard gait analysis sessions.     

Within-wingbeat damping: dynamics of continuous free-flight yaw turns in Manduca sexta

Free-flight body dynamics and wing kinematics were collected from recordings of continuous, low-speed, multi-wingbeat yaw turns in hawkmoths (Manduca sexta) using stereo videography. These data were used to examine the effects of rotational damping arising from interactions between the body rotation and flapping motion (flapping counter-torque, FCT) on continuous turning. The moths were found to accelerate during downstroke, then decelerate during upstroke by an amount consistent with FCT damping. Wing kinematics related to turning were then analysed in a simulation of hawkmoth flight; results were consistent with the observed acceleration–deceleration pattern. However, an alternative wing kinematic which produced more continuous and less damped accelerations was found in the simulation. These findings demonstrate that (i) FCT damping is detectable in the dynamics of continuously turning animals and (ii) FCT-reducing kinematics do exist but were not employed by turning moths, possibly because within-wingbeat damping simplifies control of turning by allowing control systems to target angular velocity rather than acceleration.