Takeoff diversity in Diptera

The order Diptera (true flies) are named for their two wings because their hindwings have evolved into specialized mechanosensory organs called halteres. Flies use halteres to detect body rotations and maintain stability during flight and other behaviours. The most recently diverged dipteran monophyletic subsection, the Calyptratae, is highly successful, accounting for approximately 12% of dipteran diversity, and includes common families like house flies. These flies move their halteres independently from their wings and oscillate their halteres during walking. Here, we demonstrate that this subsection of flies uses their halteres to stabilize their bodies during takeoff, whereas non-Calyptratae flies do not. We find that flies of the Calyptratae are able to take off more rapidly than non-Calyptratae flies without sacrificing stability. Haltere removal decreased both velocity and stability in the takeoffs of Calyptratae, but not other flies. The loss of takeoff velocity following haltere removal in Calyptratae (but not other flies) is a direct result of a decrease in leg extension speed. A closely related non-Calyptratae species (D. melanogaster) also has a rapid takeoff, but takeoff duration and stability are unaffected by haltere removal. Haltere use thus allows for greater speed and stability during fast escapes, but only in the Calyptratae clade.     

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。     

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.     

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.     

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.     

Angular acceleration,compensatory head movements and the halteres of flies (Lucilia serricata)

Summary Tethered flies were subjected to accelerations about their vertical axes while flying or walking. These accelerations were applied either suddenly to stationary animals or continuously by oscillating the animal from side to side. Head and wing movements resulting from the imposed angular accelerations were photographed with a camera and a stroboscopic flash.Analysis of the photographs shows that the wing movements act to counter the imposed angular accelerations and that during sinusoidal oscillations about the vertical axis, head turns are in antiphase with angular acceleration.Head turns do not occur when the halteres are absent or present and not oscillating. When oscillating, the halteres detect high values of angular acceleration, outside the known capabilities of the visual movement detection system.     

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).     

Convergence of visual,haltere, and prosternai inputs at neck motor neurons of Calliphora erythrocephala

Summary Neck muscles of Calliphora erythrocephala, situated in the anterior prothorax, are innervated on each side by 8 motor neurons arising in the brain (cervical nerve neurons, CN1–8) and at least 13 motor neurons arising in the prothoracic ganglion (anterior dorsal and frontal nerve neurons, ADN1,2 and FN1-11). Three prominent motor neurons (CN6 and FN1,2) are described in detail with special emphasis on their relationships with giant visual interneurons from the lobula plate, haltere interneurons, and primary afferents from the prosternal organs and halteres. These sensory organs detect head movement and body yaw, respectively. Neuronal relationships indicate that head movement is under multimodal sensory control that includes giant motion-sensitive neurons previously supposed to mediate the optomotor response in flying flies. The described pathways provide anatomical substrates for the control of optokinetic and yaw-incurred head movements that behavioural studies have shown must exist.     

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.     

Influence of habitat structure on the phonotactic strategy of a parasitoid fly Emblemasoma auditrix

Abstract.  1. Females of the parasitoid fly Emblemasoma auditrix find their host cicadas ( Okanagana rimosa ) using the acoustic signals produced by the host. The phonotactic behaviour of the parasitoid was studied with regard to differently structured habitats.
2. Habitats were modified experimentally within a distance of 2.5 m (approximately the natural range of phonotaxis) from a loudspeaker broadcasting a model of the host calling song.
3. Video analysis showed that in an open habitat (no landmarks) more than 60% of the flies performed a direct flight towards the loudspeaker.
4. In structured habitats (with one to three landmarks) more than 90% of the flies landed on their way to the acoustic target.
5. In about 50% of the landings flies paused for several seconds indicating re-orientation during that time. Several flies included sequences of walking in their approach behaviour, whereby most walking occurred close to the loudspeaker.
6. In summary, the phonotactic approach and host finding depends on the habitat structure.     

Experimental analysis of the pattern of tethered flight in the Queensland fruit fly, Dacus tryoni

ABSTRACT. The tethered flight of the Queensland fruit fly, Dacus tryoni Frogg. (Diptera, Tephritidae), was investigated, and the duration of each flight during a 2-h experimental period was recorded. The pattern of flight was analysed, and related to the age, sex and origin of the specimens, and to the availability of host fruit during the rearing of the adults. The effect of adult crowding on the pattern of flight was also briefly examined. The results indicated that the origin of the flies had little effect on the pattern of flight; male and female flies showed different trends with respect to the proportion of short flights undertaken as the flies matured; and the availability of fruit had a marked effect on the pattern of flight in recently mature flies. These data are discussed with respect to the dispersive/non-dispersive movements of the flies postulated from previously documented field data. It is suggested that there is a characteristic pattern of tethered flight, which can be related to the absence of hosts in the immediate environment, and would be likely to lead to greater dispersal under natural conditions.     

Body movements and retinal pattern displacements while approaching a stationary object in the walking fly,Calliphora erythrocephala

When a walking fly approaches a stationary object two types of body movements are distinguishable. Type I body movements are characterized by low frequencies (0.4–1.3 Hz) and large amplitudes (28–65°). Superimposed on these movements are type II body movements which are characterized by high frequencies (7.3–10.6 Hz) and small amplitudes (5.9–8.2°) (Figs. 3–6; Table 1). Type II movements occur no matter whether the fly is fixating a pattern or orientating itself in homogeneous surroundings without any pattern. In contrast, only 72% of the flies with immobilized heads and 62% of the flies with movable heads make type I body movements. The amplitude of type I and type II body movements increases slightly after immobilization of the head. Binocular as well as monocular pattern projection occurs for the whole walking trajectory (Fig. 7–9). Monocular pattern projection seems to be more frequent in flies with immobilized heads than in those with movable heads. The degree of pattern fluctuations in the visual field of the flies increases slightly along the walking trajectory. Near the starting point in the centre of the arena it amounts to 5–7°, while at the end of the walking trajectory it amounts to 8–10° (Table 2). The following conclusions and hypothesis can be drawn from these experiments. 1. The graph BT for the direction of the fly's logitudinal axis can be approximated by the first derivative of the walking trajectory WT, that means, dWT(x)/dxBT(x) (Fig. 11). 2. The amplitudes of type II body movements are caused by the alternating movements of the legs during forward motion, while type I body movements are classified as exploring movements. During evolution of visually guided behaviour it is possible that blowflies have adapted their elementary movement detector system to type II body movements. 3. The types of pattern projection into the visual field of the fly while approaching an object can be explained by a simple neuronal network characterized by either inhibitory and/or excitatory influences of the visually activated neurones on the motor neurones generating the propulsive forces, that means the forward motion. In addition it is postulated that the large frontal and antero-lateral receptive fields of these neurones are not coupled with the motor centres on the same side of the body (Fig. 12).     

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.     

Tracking and chasing in houseflies (Musca)

The flight trajectories of free flying female and male houseflies have been analyzed in 3 dimensions. Both female and male flies track other flies. The turning velocity α (around the vertical axis) is linearly dependent upon the horizontal angle ψ_F (that is the angle between the trajectory of the tracking fly and the target) for small values of ψ_F in females and for the whole range of ψ_F in males. The 3-dimensional velocity υ _xyz of the chasing fly is linearly dependent upon the distance between leading and chasing fly in males but not in females. Male chasing thus appears to be more efficient than female tracking. It is shown that earlier assumptions on visual control of flight in female flies derived from experiments on fixed flying flies are justified.     

On the invariance of visual stimulus efficacy with respect to variable spatial positions

Summary In the fly,Calliphora erythrocephala, visual stimuli presented in an asymmetrical position with respect to the fly elicit roll or tilt movements of the head by which its dorsal part is moved towards the light areas of the surroundings (Figs. 4–7). The influence of passive body roll and tilt (gravitational stimulus) on the amplitude of these active head movements was investigated for two types of visual stimuli: (1) a dark hollow hemisphere presented in different parts of the fly's visual field, and (2) a moving striped pattern stimulating the lateral parts of one eye only.The response characteristics of the flies in the bimodal situation in which the gravitational stimulus was paired with stimulation by the dark hollow hemisphere can be completely described by the addition of the response characteristics for both unimodal situations, i.e. by the gravity-induced and visually induced characteristics (Figs. 8, 9). Therefore, the stimulus efficacy of the dark hollow hemisphere is independent of (=invariant with respect to) the flies' spatial position. The advantage of this type of interaction between gravity and visual stimulation for the control of body posture near the horizontal is discussed.In contrast, the efficacy of moving patterns depends on (=non-invariant with respect to) the spatial position of the walking fly. Regressive pattern movements exhibit their stronger efficacy with respect to progressive ones only when the gravity receptor system of the legs is stimulated. The stronger efficacy of downward vs upward movements can only be demonstrated when the flies are walking horizontally, independently of whether the leg gravity receptor system is stimulated by gravity or not (Fig. 10).The results are discussed with respect (1) to the invariance and non-invariance of the efficacy of visual stimuli with respect to the direction of the field of gravity, (2) to the formation of reference lines by the gravitational field which are used by the walking fly to determine the orientation of visual patterns, and (3) to the possible location of the underlying convergence between gravitationally and visually evoked excitation. As all types of head responses occur only in walking flies, we also discussed the possible influences of some physiological processes like arousal, proprioceptive feedback during walking and various peripheral sensory inputs on the performance of behavioural responses in the fly (Fig. 11).     

Walking deficits and centrophobism in an α‐synuclein fly model of Parkinson's disease

Parkinson's disease (PD) is a movement neurodegenerative disorder, characterized by bradykinesia, rigidity and tremor, constituting difficulties in walking and abnormal gait. Previous research shows that Drosophila expressing human α‐synuclein A30P (A30P) develop deficits in geotaxis climbing; however, geotaxis climbing is a different movement modality from walking. Whether A30P flies would exhibit abnormal walking in a horizontal plane, a measure more relevant to PD, is not known. In this study, we characterized A30P fly walking using a high‐speed camera and an automatic behavior tracking system. We found that old but not young A30P flies exhibited walking abnormalities, specifically decreased total moving distance, distance per movement, velocity, angular velocity and others, compared with old control flies. Those features match the definition of bradykinesia. Multivariate analysis further suggested a synergistic effect of aging and A30P, resulting in a distinct pattern of walking deficits, as seen in aged A30P flies. Psychiatric problems are common in PD patients with anxiety affecting 40–69% of patients. Central avoidance is one assessment of anxiety in various animal models. We found old but not young A30P flies exhibited increased centrophobism, suggesting possible elevated anxiety. Here, we report the first quantitative measures of walking qualities in a PD fly model and propose an alternative behavior paradigm for evaluating motor functions apart from climbing assay.     

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.