Haltere morphology and campaniform sensilla arrangement across Diptera

One of the primary specializations of true flies (order Diptera) is the modification of the hind wings into club-shaped halteres. Halteres are complex mechanosensory structures that provide sensory feedback essential for stable flight control via an array of campaniform sensilla at the haltere base. The morphology of these sensilla has previously been described in a small number of dipteran species, but little is known about how they vary across fly taxa. Using a synoptic set of specimens representing 42 families from all of the major infraorders of Diptera, we used scanning electron microscopy to map the gross and fine structures of halteres, including sensillum shape and arrangement. We found that several features of haltere morphology correspond with dipteran phylogeny: Schizophora generally have smaller halteres with stereotyped and highly organized sensilla compared to nematoceran flies. We also found a previously undocumented high variation of haltere sensillum shape in nematoceran dipterans, as well as the absence of a dorsal sensillum field in multiple families. Overall, variation in haltere sensillar morphology across the dipteran phylogeny provides insight into the evolution of a highly specialized proprioceptive organ and a basis for future studies on haltere sensory function.     

Haltere activity in a flightless hippoboscid fly, Crataerina pallida

The halteres of the subapterous fly parasite of swifts, Crataerina pallida, retain a full complement of sensilla. They beat during and for many minutes after wing extension, leg movements and other forms of activity. They can also be caused to beat by a variety of visual and mechanical stimuli, including sound pulses at up to 2 kHz, for several minutes in the absence of other movements. Fed flies show markedly reduced locomotory responsiveness compared to unfed flies, but the halteres of both groups appear to be equally responsive. Haltere extirpation or inactivation does not appear to reduce ocomotory responsiveness. The possibility that haltere activity depresses responsiveness is discussed.     

昆虫平衡棒的发育及功能

平衡棒(haltere)是双翅目昆虫后翅特化而成的结构,可在飞行中起重要作用。平衡棒基部的感受器可以检测到飞行中的惯性力,向运动神经元提供反馈,迅速地平衡身体并纠正航向。昆虫的平衡棒由成虫盘发育形成,其特化受HOX基因(Ultrabithorax, Ubx)调控。发育成熟的平衡棒由两层上皮细胞组成,末端球状结构内部充满高度空泡化的细胞,基部具有大量感器。平衡棒的运动由独立的肌肉控制,相对于同侧的翅反向移动,翅与平衡棒的协同运动对于昆虫起飞和维持平衡十分重要。近年来,平衡棒的导航原理越来越多地应用于仿生学研究中,基于果蝇平衡棒的结构和功能,研制出多种飞行器的导航设备。本文结合近年来相关领域的研究成果,就平衡棒的发育、形态结构、功能和仿生应用等方面的研究进展进行综述,为深入理解昆虫平衡棒的发育机制和生物学功能提供参考。     

Kinematic diversity suggests expanded roles for fly halteres

The halteres of flies are mechanosensory organs that provide information about body rotations during flight. We measured haltere movements in a range of fly taxa during free walking and tethered flight. We find a diversity of wing–haltere phase relationships in flight, with higher variability in more ancient families and less in more derived families. Diverse haltere movements were observed during free walking and were correlated with phylogeny. We predicted that haltere removal might decrease behavioural performance in those flies that move them during walking and provide evidence that this is the case. Our comparative approach reveals previously unknown diversity in haltere movements and opens the possibility of multiple functional roles for halteres in different fly behaviours.     

Haltere-mediated equilibrium reflexes of the fruit fly, Drosophila melanogaster.

Flies display a sophisticated suite of aerial behaviours that require rapid sensory-motor processing. Like all insects, flight control in flies is mediated in part by motion-sensitive visual interneurons that project to steering motor circuitry within the thorax. Flies, however, possess a unique flight control equilibrium sense that is encoded by mechanoreceptors at the base of the halteres, small dumb-bell-shaped organs derived through evolutionary transformation of the hind wings. To study the input of the haltere system onto the flight control system, I constructed a mechanically oscillating flight arena consisting of a cylindrical array of light-emitting diodes that generated the moving image of a 30 degrees vertical stripe. The arena provided closed-loop visual feedback to elicit fixation behaviour, an orientation response in which flies maintain the position of the stripe in the front portion of their visual field by actively adjusting their wing kinematics. While flies orientate towards the stripe, the entire arena was swung back and forth while an optoelectronic device recorded the compensatory changes in wing stroke amplitude and frequency. In order to reduce the background changes in stroke kinematics resulting from the animal's closed-loop visual fixation behaviour, the responses to eight identical mechanical rotations were averaged in each trial. The results indicate that flies possess a robust equilibrium reflex in which angular rotations of the body elicit compensatory changes in both the amplitude and stroke frequency of the wings. The results of uni- and bilateral ablation experiments demonstrate that the halteres are required for these stability reflexes. The results also confirm that halteres encode angular velocity of the body by detecting the Coriolis forces that result from the linear motion of the haltere within the rotating frame of reference of the fly's thorax. By rotating the flight arena at different orientations, it was possible to construct a complete directional tuning map of the haltere-mediated reflexes. The directional tuning of the reflex is quite linear such that the kinematic responses vary as simple trigonometric functions of stimulus orientation. The reflexes function primarily to stabilize pitch and yaw within the horizontal plane.     

Haltere and visual inputs sum linearly to predict wing (but not gaze) motor output in tethered flying Drosophila

In the true flies (Diptera), the hind wings have evolved into specialized mechanosensory organs known as halteres, which are sensitive to gyroscopic and other inertial forces. Together with the fly''s visual system, the halteres direct head and wing movements through a suite of equilibrium reflexes that are crucial to the fly''s ability to maintain stable flight. As in other animals (including humans), this presents challenges to the nervous system as equilibrium reflexes driven by the inertial sensory system must be integrated with those driven by the visual system in order to control an overlapping pool of motor outputs shared between the two of them. Here, we introduce an experimental paradigm for reproducibly altering haltere stroke kinematics and use it to quantify multisensory integration of wing and gaze equilibrium reflexes. We show that multisensory wing-steering responses reflect a linear superposition of haltere-driven and visually driven responses, but that multisensory gaze responses are not well predicted by this framework. These models, based on populations, extend also to the responses of individual flies.     

The halteres of the blowfly Calliphora

The movement of the halteres during fixed flight was video recorded under stroboscopic illumination phase coupled to the wing beat. The halteres swing in a rounded triangular manner through an angle of almost 80° in vertical planes tilted backwards from the transverse plane by ca. 30° (Figs. 1, 2).The physics of the halteres are described in terms of a general formula for the force acting onto the endknob of the moving haltere during rotations and linear accelerations of the fly (Eq. 1). On the basis of the experimentally determined kinematics of the haltere, the primary forces and the forces dependent on angular velocity and on angular acceleration are calculated (Figs. 3, 4).Three distinct types of angular velocity dependent (Coriolis) forces are generated by rotations about 3 orthogonal axes. Thus, in principle one haltere could detect all rotations in space (Fig. 6).The angular acceleration dependent forces have the same direction and frequency as the Coriolis forces, but they are shifted in phase by 90°. Thus, they could be evaluated in parallel and independently from the Coriolis forces. They are, however, much smaller than the Coriolis forces for oscillation frequencies of the fly up to 20 Hz (Fig. 5). From these considerations it is concluded that Coriolis forces play the major role in detecting body rotations.     

A neural basis for gyroscopic force measurement in the halteres of <Emphasis Type="Italic">Holorusia</Emphasis>

Dipteran flight requires rapid acquisition of mechanosensory information provided by modified hindwings known as halteres. Halteres experience torques resulting from Coriolis forces that arise during body rotations. Although biomechanical and behavioral data indicate that halteres detect Coriolis forces, there are scant data regarding neural encoding of these or any other forces. Coriolis forces arise on the haltere as it oscillates in one plane while rotating in another, and occur at oscillation frequency and twice the oscillation frequency. Using single-fiber recordings of haltere primary afferent responses to mechanical stimuli, we show that spike rate increases linearly with stimulation frequency up to 150 Hz, much higher than twice the natural oscillation frequency of 40 Hz. Furthermore, spike-timing precision is extremely high throughout the frequency range tested. These characteristics indicate that afferents respond with high speed and high precision, neural features that are useful for detecting Coriolis forces. Additionally, we found that neurons respond preferentially to specific stimulus directions, with most responding more strongly to stimulation in the orthogonal plane. Directional sensitivity, coupled with precise, high-speed encoding, suggests that haltere afferents are capable of providing information about forces occurring at the haltere base, including Coriolis forces.     

Negative regulation of dorsoventral signaling by the homeotic gene Ultrabithorax during haltere development in Drosophila.

Growth and patterning during Drosophila wing development are mediated by signaling from its dorsoventral (D/V) organizer. In the metathorax, wing development is essentially suppressed by the homeotic selector gene Ultrabithorax (Ubx) to mediate development of a pair of tiny balancing organs, the halteres. Here we show that expression of Ubx in the haltere D/V boundary down-regulates its D/V organizer signaling compared to that of the wing D/V boundary. Somatic loss of Ubx from the haltere D/V boundary thus results in the formation of a wing-type D/V organizer in the haltere field. Long-distance signaling from this organizer was analyzed by assaying the ability of a Ubx(-) clone induced in the haltere D/V boundary to effect homeotic transformation of capitellum cells away from the boundary. The clonally restored wing D/V organizer in mosaic halteres not only enhanced the homeotic transformation of Ubx(-) cells in the capitellum but also caused homeotic transformation of even Ubx(+) cells in a genetic background known to induce excessive cell proliferation in the imaginal discs. In addition to demonstrating a non-cell-autonomous role for Ubx during haltere development, these results reveal distinct spatial roles of Ubx during maintenance of cell fate and patterning in the halteres.     

The Mitochondrial Genome of Elodia flavipalpis Aldrich (Diptera: Tachinidae) and the Evolutionary Timescale of Tachinid Flies

Tachinid flies are natural enemies of many lepidopteran and coleopteran pests of forests, crops, and fruit trees. In order to address the lack of genetic data in this economically important group, we sequenced the complete mitochondrial genome of the Palaearctic tachinid fly Elodia flavipalpis Aldrich, 1933. Usually found in Northern China and Japan, this species is one of the primary natural enemies of the leaf-roller moths (Tortricidae), which are major pests of various fruit trees. The 14,932-bp mitochondrial genome was typical of Diptera, with 13 protein-coding genes, 22 tRNA genes, and 2 rRNA genes. However, its control region is only 105 bp in length, which is the shortest found so far in flies. In order to estimate dipteran evolutionary relationships, we conducted a phylogenetic analysis of 58 mitochondrial genomes from 23 families. Maximum-likelihood and Bayesian methods supported the monophyly of both Tachinidae and superfamily Oestroidea. Within the subsection Calyptratae, Muscidae was inferred as the sister group to Oestroidea. Within Oestroidea, Calliphoridae and Sarcophagidae formed a sister clade to Oestridae and Tachinidae. Using a Bayesian relaxed clock calibrated with fossil data, we estimated that Tachinidae originated in the middle Eocene.     

The drosophila aeroplane mutant is caused by an I-element insertion into a tissue-specific teashirt enhancer motif.

In Drosophila melanogaster, aeroplane (ae) is a regulatory allele of teashirt (tsh), and the mutant wing posture phenotype of homozygous ae flies is caused by a defect in the hinge region of the wing, whereby the base of the wing at the proximal ventral radius is fused to the thorax in the region of the pleural wing process. The apparent paralysis of the wings and the drooping halteres are caused by an I-element insertion into a 3' noncoding sequence of tsh. The cis-acting regulatory element interrupted by the I element is required, to drive tsh expression in the regions of the developing adult that give rise to proximal wing and haltere tissues. Loss of this expression results in the fusion of the proximal structures of the wing and halteres to the thoracic cuticle. Further characterization of this tsh regulatory motif has now identified an additional enhancer activity directing tsh expression in tissues forming portions of the midgut. Subdivision of this midgut enhancer activity has identified putative negatively acting motifs.     

Patterns of temperature sensitivity in Contrabithorax/Ultrabithorax heterozygotes of Drosophila

Contrabithorax (Cbx) is a dominant homeotic mutant of Drosophila which transforms wings to halteres, while Ultrabithorax (Ubx) is a dominant mutant which transforms halteres to wings. Therefore $\text{Cbx}\text{Ubx}$ flies carry dominant homeotic mutants engaged in opposing transformations. This article reports that $\text{Cbx}\text{TM2 Ubx}{}^{130}$ is temperature sensitive. At 29°C, flies express strong Cbx transformation of wings, and minor Ubx transformation of halteres. Larvae shifted to 17°C prior to 72 hr express strong Ubx transformation of halteres toward wings, and slight Cbx transformation of wings. Seventeen-degree temperature-pulse experiments show that the $\text{Cbx}\text{TM2 Ubx}{}^{130}$ system is temperature sensitive continuously during embryonic and larval life. Expression of the Cbx transformation in left and right wings is highly correlated in all conditions studied, as is expression of the Ubx transformation in left and right halteres, but the Cbx transformation in wings and Ubx transformation in halteres can be negatively correlated or uncorrelated. The temperature sensitivity in $\text{Cbx}\text{TM2 Ubx}{}^{130}$ is not found in $\text{Cbx}\text{Ubx}{}^{\mathrm{61D}}$, and Ubx is only weakly expressed in $\text{Sb}\text{TM2}$Ubx¹³⁰ flies. These results show that Cbx in trans to Ubx can enhance Ubx expression, although Cbx also causes an opposing transformation to Ubx; that the $\text{Cbx}\text{Ubx}$ system acts in both the mesothorax and metathorax to modulate their phenotypes; and that both transformations are broadly temperature sensitive through embryonic and larval life. This suggests that the $\text{Cbx}\text{TM2 Ubx}{}^{130}$ system functions continuously during embryonic and larval development to maintain mesothoracic and metathoracic commitments. The results are interpreted in terms of a $\text{Cbx}\text{Ubx}$ feedback loop which maintains the mesothorax in a state of low $\text{Cbx}\text{Ubx}$ activity, and metathorax in a state of high $\text{Cbx}\text{Ubx}$ activity.     

Group-Specific Multiplex PCR Detection Systems for the Identification of Flying Insect Prey

The applicability of species-specific primers to study feeding interactions is restricted to those ecosystems where the targeted prey species occur. Therefore, group-specific primer pairs, targeting higher taxonomic levels, are often desired to investigate interactions in a range of habitats that do not share the same species but the same groups of prey. Such primers are also valuable to study the diet of generalist predators when next generation sequencing approaches cannot be applied beneficially. Moreover, due to the large range of prey consumed by generalists, it is impossible to investigate the breadth of their diet with species-specific primers, even if multiplexing them. However, only few group-specific primers are available to date and important groups of prey such as flying insects have rarely been targeted. Our aim was to fill this gap and develop group-specific primers suitable to detect and identify the DNA of common taxa of flying insects. The primers were combined in two multiplex PCR systems, which allow a time- and cost-effective screening of samples for DNA of the dipteran subsection Calyptratae (including Anthomyiidae, Calliphoridae, Muscidae), other common dipteran families (Phoridae, Syrphidae, Bibionidae, Chironomidae, Sciaridae, Tipulidae), three orders of flying insects (Hymenoptera, Lepidoptera, Plecoptera) and coniferous aphids within the genus Cinara. The two PCR assays were highly specific and sensitive and their suitability to detect prey was confirmed by testing field-collected dietary samples from arthropods and vertebrates. The PCR assays presented here allow targeting prey at higher taxonomic levels such as family or order and therefore improve our ability to assess (trophic) interactions with flying insects in terrestrial and aquatic habitats.     

Neural projection patterns from homeotic tissue of Drosophila studied in bithorax mutants and mosaics.

The central projection patterns of sensory cells from the wing and haltere of Drosophila, as revealed by filling their axons with cobalt, consist of dorsal components arising from small campaniform sensilla and ventral components arising from large campaniform sensilla and from bristles. All of the bristles of the wing are innervated, some singly and some multiply. All three classes of sensilla are strongly represented on the wing, but the haltere carries primarily small campaniform sensilla and has a correspondingly minute ventral projection. In bithorax mutants in which the haltere is transformed into wing, ventral components are added to the projection pattern, while the dorsal components appear as if haltere tissue were still present. Thus, the three classes of receptors not only produce different projection patterns when they develop in their native mesothoracic segment, but also behave differently in the homeotic situation. Consequently, different developmental programs are inferred for each class. When somatic recombination clones of bithorax tissue are generated in phenotypically wild-type flies, they also produce ventral projections. However, these projections of mutant fibers into wild-type ganglia differ in certain details from the projections of mutant fibers into mutant ganglia. Thus, homeotic changes are inferred to occur in the CNS of mutant flies, but these are not required for the execution of those developmental instructions carried in the genome of large campaniform and bristle sensory cells which specify that their axons should grow ventrad in the CNS.     

Negative regulation of Egfr/Ras pathway by Ultrabithorax during haltere development in Drosophila

In Drosophila, wings and halteres are the dorsal appendages of the second and third thoracic segments, respectively. In the third thoracic segment, homeotic selector gene Ultrabithorax (Ubx) suppresses wing development to mediate haltere development (E.B. Lewis, 1978. A gene complex controlling segmentation in Drosophila. Nature 276, 565-570). Halteres lack stout sensory bristles of the wing margin and veins that reticulate the wing blade. Furthermore, wing and haltere epithelia differ in the size, shape, spacing and number of cuticular hairs. The differential development of wing and haltere, thus, constitutes a good genetic system to study cell fate determination. Here, we report that down-regulation of Egfr/Ras pathway is critical for haltere fate specification: over-expression of positive components of this pathway causes significant haltere-to-wing transformations. RNA in situ, immunohistochemistry, and epistasis genetic experiments suggest that Ubx negatively regulates the expression of the ligand vein as well as the receptor Egf-r to down-regulate the signaling pathway. Electromobility shift assays further suggest that Egf-r is a potential direct target of Ubx. These results and other recent findings suggest that homeotic genes may regulate cell fate determination by directly regulating few steps at the top of the hierarchy of selected signal transduction pathways.     

The halteres of the blowfly Calliphora

We quantitatively analysed compensatory head reactions of flies to imposed body rotations in yaw, pitch and roll and characterized the haltere as a sense organ for maintaining equilibrium. During constant velocity rotation, the head first moves to compensate retinal slip and then attains a plateau excursion (Fig. 3). Below 500°/s, initial head velocity as well as final excursion depend linearily on stimulus velocities for all three axes. Head saccades occur rarely and are synchronous to wing beat saccades (Fig. 5). They are interpreted as spontaneous actions superposed to the compensatory reaction and are thus not resetting movements like the fast phase of vestibulo-ocular nystagmus in vertebrates. In addition to subjecting the flies to actual body rotations we developed a method to mimick rotational stimuli by subjecting the body of a flying fly to vibrations (1 to 200 m, 130 to 150 Hz), which were coupled on line to the fly's haltere beat. The reactions to simulated Coriolis forces, mimicking a rotation with constant velocity, are qualitatively and to a large extent also quantitatively identical to the reactions to real rotations (Figs. 3, 7–9). Responses to roll- and pitch stimuli are co-axial. During yaw stimulation (halteres and visual) the head performs both a yaw and a roll reaction (Fig. 3e,f), thus reacting not co-axial. This is not due to mechanical constraints of the neck articulation, but rather it is interpreted as an advance compensation of a banked body position during free flight yaw turns (Fig. 10).     

Is Function of the Drosophila Homeotic Gene Ultrabithorax Canalized?

Genetic variation affecting the expressivity of an amorphic allele of the homeotic gene Ultrabithorax, (Ubx(1)) was characterized after 11 generations of introgression into 29 different isofemale lines. Heterozygotes display a range of haploinsufficient phenotypes, from overlap with wild-type halteres to dramatic transformations such as a 50% increase in area and the presence of over 20 bristles on the anterior margin of each haltere. In both the wild-type and mutant genetic backgrounds, there is moderate genetic variance and low environmental variance/developmental asymmetry, as expected of a trait under stabilizing selection pressure. Surprisingly, there is little evidence that mutant halteres are more variable than wild-type ones, so it is unclear that haltere development is also canalized. The correlation between wild-type and Ubx haltere size is very low, indicating that interactions among modifiers of Ubx are complex, and in some cases sex-specific. The potential quantitative genetic contributions of homeotic genes to appendage morphology are discussed, noting that population-level effects of variation in key regulatory genes may be prevalent and complex but cannot be readily extrapolated to macroevolutionary diversification.     

Body rate decoupling using haltere mid-stroke measurements for inertial flight stabilization in Diptera

Halteres, the modified rear wings of Diptera, have long been recognized as sensory organs necessary for basic flight stability. These organs, which act as vibrating structure gyroscopes, are known to sense strains proportional to Coriolis accelerations. While compensatory responses have been demonstrated that indicate the ability of insects to distinguish all components of the body rate vector, the specific mechanism by which the halteres are able to decouple the body rates has not been clearly understood. The research documented in this report describes a potential mechanism, using averaged strain and strain rate at the center of the haltere stroke, to decouple the inertial rate components. Through dynamic simulation of a nonlinear model of the haltere 3-dimensional trajectory, this straightforward method was demonstrated to provide an accurate means of generating signals that are proportional to three orthogonal body rate components. Errors associated with residual nonlinearity and rate-coupling were quantified for a bilaterally reconstructed body rate vector over a full range of pitch and yaw rates and two roll rate conditions. Models that are compatible with insect physiology are proposed for performing necessary signal averaging and bilateral processing.