Dynamic properties of large-field and small-field optomotor flight responses in <Emphasis Type="Italic">Drosophila</Emphasis>

Optomotor flight control in houseflies shows bandwidth fractionation such that steering responses to an oscillating large-field rotating panorama peak at low frequency, whereas responses to small-field objects peak at high frequency. In fruit flies, steady-state large-field translation generates steering responses that are three times larger than large-field rotation. Here, we examine the optomotor steering reactions to dynamically oscillating visual stimuli consisting of large-field rotation, large-field expansion, and small-field motion. The results show that, like in larger flies, large-field optomotor steering responses peak at low frequency, whereas small-field responses persist under high frequency conditions. However, in fruit flies large-field expansion elicits higher magnitude and tighter phase-locked optomotor responses than rotation throughout the frequency spectrum, which may suggest a further segregation within the large-field pathway. An analysis of wing beat frequency and amplitude reveals that mechanical power output during flight varies according to the spatial organization and motion dynamics of the visual scene. These results suggest that, like in larger flies, the optomotor control system is organized into parallel large-field and small-field pathways, and extends previous analyses to quantify expansion-sensitivity for steering reflexes and flight power output across the frequency spectrum.     

Visual response properties of neck motor neurons in the honeybee

Recent behavioural studies have demonstrated that honeybees use visual feedback to stabilize their gaze. However, little is known about the neural circuits that perform the visual motor computations that underlie this ability. We investigated the motor neurons that innervate two neck muscles (m44 and m51), which produce stabilizing yaw movements of the head. Intracellular recordings were made from five (out of eight) identified neuron types in the first cervical nerve (IK1) of honeybees. Two motor neurons that innervate muscle 51 were found to be direction-selective, with a preference for horizontal image motion from the contralateral to the ipsilateral side of the head. Three neurons that innervate muscle 44 were tuned to detect motion in the opposite direction (from ipsilateral to contralateral). These cells were binocularly sensitive and responded optimally to frontal stimulation. By combining the directional tuning of the motor neurons in an opponent manner, the neck motor system would be able to mediate reflexive optomotor head turns in the direction of image motion, thus stabilising the retinal image. When the dorsal ocelli were covered, the spontaneous activity of neck motor neurons increased and visual responses were modified, suggesting an ocellar input in addition to that from the compound eyes.     

Optomotor regulation of ground velocity in moths during flight to sex pheromone at different heights

ABSTRACT. Males of two species of moths ( Grapholitha molesta (Busck) and Heliothis virescens (F.)) were flown in a sustained-flight tunnel in horizontal pheromone plumes. The up-tunnel velocity of the moths increased with increasing height of flight and for G.molesta was independent of tunnel wind velocities. Use of moving ground patterns verified that the height of flight above the ground was the factor related to the changes in up-tunnel velocity. Even though up-tunnel velocity increased with increased flight height, angular velocity of image motion did not. Males appeared to use visual cues from the ground pattern and from other sources to determine their up-tunnel velocities. The relationship of preferred retinal velocities to optomotor anemotaxis is discussed.     

Control of flight by means of lateral visual stimuli in gregarious desert locusts, Schistocerca gregaria

Abstract. Tethered flying locusts were stimulated either by a periodic grating or by a spotted 'swarm-simulating' pattern moving horizontally, parallel to their longitudinal body axis within their lateral visual fields. The direction of movement of the pattern was changed periodically from progressive to regressive and vice versa.
Both kinds of patterns induced a correlated modulation of yaw-torque and thrust. The two measured flight parameters were modulated independently of each other. Each parameter either increased with progressive and decreased with regressive pattern motion or vice versa. The characteristic curves of thrust and yaw-torque responses - i.e. response amplitude versus contrast frequency resp. angular velocity – measured upon stimulation with the periodic grating between 2 and 70 Hz were at a maximum at 10 Hz and decreased at higher and lower contrast frequencies. The shape of the curves was nearly identical. The characteristic curves measured upon stimulation with the 'swarm-simulating' pattern between 60 and 1500^o s^-1 could be simulated using the spatial wavelength content of the pattern and the characteristic curves for periodic gratings.
Therefore, we suggest that the speed and direction of locusts' flight result from the optomotor effectiveness of the pattern image formed by the neighbouring individuals under free flight. The measured responses would thus contribute to the common orientation of groups of locusts within a migrating swarm and thus to swarm cohesion.     

Nondirectional motion may underlie insect behavioral dependence on image speed

Behavioral experiments suggest that insects make use of the apparent image speed on their compound eyes to navigate through obstacles, control flight speed, land smoothly, and measure the distance they have flown. However, the vast majority of electrophysiological recordings from motion-sensitive insect neurons show responses which are tuned in spatial and temporal frequency and are thus unable to unambiguously represent image speed. We suggest that this contradiction may be resolved at an early stage of visual motion processing using nondirectional motion sensors that respond proportionally to image speed until their peak response. We describe and characterize a computational model of these sensors and propose a model by which a spatial collation of such sensors could be used to generate speed-dependent behavior.Acknowledgements A major portion of this work was carried out during the tenure of a Centre for Visual Sciences Visiting Fellowship at the Australian National University. The author would like to gratefully acknowledge the advice and comments of Mandyam V. Srinivasan and Michael Ibbotson of ANU.     

Sensitivity of the Goldfish Motion Detection System Revealed by Incoherent Random Dot Stimuli: Comparison of Behavioural and Neuronal Data

Background

Global motion detection is one of the most important abilities in the animal kingdom to navigate through a 3-dimensional environment. In the visual system of teleost fish direction-selective neurons in the pretectal area (APT) are most important for global motion detection. As in all other vertebrates these neurons are involved in the control of slow phase eye movements during gaze stabilization. In contrast to mammals cortical pathways that might influence motion detection abilities of the optokinetic system are missing in teleost fish.

Results

To test global motion detection in goldfish we first measured the coherence threshold of random dot patterns to elicit horizontal slow phase eye movements. In addition, the coherence threshold of the optomotor response was determined by the same random dot patterns. In a second approach the coherence threshold to elicit a direction selective response in neurons of the APT was assessed from a neurometric function. Behavioural thresholds and neuronal thresholds to elicit slow phase eye movements were very similar, and ranged between 10% and 20% coherence. In contrast to these low thresholds for the optokinetic reaction and APT neurons the optomotor response could only be elicited by random dot patterns with coherences above 40%.

Conclusion

Our findings suggest a high sensitivity for global motion in the goldfish optokinetic system. Comparison of neuronal and behavioural thresholds implies a nearly one-to-one transformation of visual neuron performance to the visuo-motor output. In addition, we assume that the optomotor response is not mediated by the optokinetic system, but instead by other motion detection systems with higher coherence thresholds.     

A model of visual detection of angular speed for bees

A fly or bee's responses to widefield image motion depend on two basic parameters: temporal frequency and angular speed. Rotational optic flow is monitored using temporal frequency analysers, whereas translational optic flow seems to be monitored in terms of angular speed. Here we present a possible model of an angular speed detector which processes input signals through two parallel channels. The output of the detector is taken as the ratio of the two channels’ outputs. This operation amplifies angular speed sensitivity and depresses temporal frequency tuning. We analyse the behaviour of two versions of this model with different filtering properties in response to a variety of input signals. We then embody the detector in a simulated agent's visual system and explore its behaviour in experiments on speed control and odometry. The latter leads us to suggest a new algorithm for optic flow driven odometry.     

On the existence of 'fast' and 'slow' directionally sensitive motion detector neurons in insects.

In a fly, butterfly, locust and dragonfly we examined the responses of a variety of directional motion-sensitive neurons which run from the brain down the ventral cord. The stimulus was a sinusoidally modulated moving pattern of regular stripes presented at a range of velocities in random order for either 0.1 s or 2.0 s. The response was measured as the total number of spikes to each stimulus. The neurons fall into two groups, 'fast' and 'slow'. The responses of the fast type rise progressively to a peak contrast frequency at 15-20 Hz for all four insects, and decline at higher contrast frequencies. The responses of slow neurons rise rapidly to a peak at 1-10 Hz and then decline more slowly across the range where the fast neurons are at their peak. The existence of two groups of neurons with overlapping response ranges to different velocities of the same pattern, presented in exactly the same way, provides the insect with a means of measuring angular velocity irrespective of contrast, spatial frequency or intensity. As an input mechanism it is proposed that there are two types of unit motion detector, fast and slow, the latter being the main input to the optomotor system. It is also argued that even these inputs are not sufficient to provide a mechanism for the whole repertoire of normal insect vision.     

Localized direction selective responses in the dendrites of visual interneurons of the fly

Background  

The various tasks of visual systems, including course control, collision avoidance and the detection of small objects, require at the neuronal level the dendritic integration and subsequent processing of many spatially distributed visual motion inputs. While much is known about the pooled output in these systems, as in the medial superior temporal cortex of monkeys or in the lobula plate of the insect visual system, the motion tuning of the elements that provide the input has yet received little attention. In order to visualize the motion tuning of these inputs we examined the dendritic activation patterns of neurons that are selective for the characteristic patterns of wide-field motion, the lobula-plate tangential cells (LPTCs) of the blowfly. These neurons are known to sample direction-selective motion information from large parts of the visual field and combine these signals into axonal and dendro-dendritic outputs.     

A model for the estimate of local image velocity by cells in the visual cortex

Some computational theories of motion perception assume that the first stage en route to this perception is the local estimate of image velocity. However, this assumption is not supported by data from the primary visual cortex. Its motion sensitive cells are not selective to velocity, but rather are directionally selective and tuned to spatio-temporal frequencies. Accordingly, physiologically based theories start with filters selective to oriented spatio-temporal frequencies. This paper shows that computational and physiological theories do not necessarily conflict, because such filters may, as a population, compute velocity locally. To prove this point, we show how to combine the outputs of a class of frequency tuned filters to detect local image velocity. Furthermore, we show that the combination of filters may simulate 'Pattern' cells in the middle temporal area (MT), whereas each filter simulates primary visual cortex cells. These simulations include three properties of the primary cortex. First, the spatio-temporal frequency tuning curves of the individual filters display approximate space-time separability. Secondly, their direction-of-motion tuning curves depend on the distribution of orientations of the components of the Fourier decomposition and speed of the stimulus. Thirdly, the filters show facilitation and suppression for responses to apparent motions in the preferred and null directions, respectively. It is suggested that the MT's role is not to solve the aperture problem, but to estimate velocities from primary cortex information. The spatial integration that accounts for motion coherence may be postponed to a later cortical stage.     

Object detection in the fly during simulated translatory flight

Translatory movement of an animal in its environment induces optic flow that contains information about the three-dimensional layout of the surroundings: as a rule, images of objects that are closer to the animal move faster across the retina than those of more distant objects. Such relative motion cues are used by flies to detect objects in front of a structured background. We confronted flying flies, tethered to a torque meter, with front-to-back motion of patterns displayed on two CRT screens, thereby simulating translatory motion of the background as experienced by an animal during straight flight. The torque meter measured the instantaneous turning responses of the fly around its vertical body axis. During short time intervals, object motion was superimposed on background pattern motion. The average turning response towards such an object depends on both object and background velocity in a characteristic way: (1) in order to elicit significant responses object motion has to be faster than background motion; (2) background motion within a certain range of velocities improves object detection. These properties can be interpreted as adaptations to situations as they occur in natural free flight. We confirmed that the measured responses were mediated mainly by a control system specialized for the detection of objects rather than by the compensatory optomotor system responsible for course stabilization. Accepted: 20 March 1997     

Response properties of visual interneurons to motion stimuli in the praying mantis,Tenodera aridifolia

Intracellular responses of motion-sensitive visual interneurons were recorded from the lobula complex of the mantis, Tenodera aridifolia. The interneurons were divided into four classes according to the response polarity, spatial tuning, and directional selectivity. Neurons of the first class had small, medium, or large receptive fields and showed a strong excitation in response to a small-field motion such as a small square moving in any direction (SF neurons). The second class neurons showed non-directionally selective responses: an excitation to a large-field motion of gratings in any direction (ND neurons). Most ND neurons had small or medium-size receptive fields. Neurons of the third class had large receptive fields and exhibited directionally selective responses: an excitation to a large-field motion of gratings in preferred direction and an inhibition to a motion in opposite, null direction (DS neurons). The last class neurons had small receptive fields and showed inhibitory responses to a moving square and gratings (I neurons). The functional roles of these neurons in prey recognition and optomotor response were discussed.     

A system of insect neurons sensitive to horizontal and vertical image motion connects the medulla and midbrain

Summary The response properties and gross morphologies of neurons that connect the medulla and midbrain in the butterfly Papilio aegeus are described. The neurons presented give direction-selective responses, i.e. they are excited by motion in the preferred direction and the background activity of the cells is inhibited by motion in the opposite, null, direction. The neurons are either maximally sensitive to horizontal motion or to slightly off-axis vertical upward or vertical downward motion, when tested in the frontal visual field. The responses of the cells are dependent on the contrast frequency of the stimulus with peak values at 5–10 Hz. The receptive fields of the medulla neurons are large and are most sensitive in the frontal visual field. Examination of the local and global properties of the receptive fields of the medulla neurons indicates that (1) they are fed by local elementary motion-detectors consistent with the correlation model and (2) there is a non-linear spatial integration mechanism in operation.     

The three-dimensional optomotor torque system ofDrosophila melanogaster

Summary The well known optomotor yaw torque response in flies is part of a 3-dimensional system. Optomotor responses around the longitudinal and transversal body axes (roll and pitch) with strinkingly similar properties to the optomotor yaw response are described here forDrosophila melanogaster. Stimulated by visual motion from a striped drum rotating around an axis aligned with the measuring axis, a fly responds with torque of the same polarity as that of the rotation of the pattern. In this stimulus situation the optomotor responses for yaw, pitch and roll torque have about the same amplitudes and dynamic properties (Fig. 2). Pronounced negative responses are measured with periodic gratings of low pattern wavelengths due to geometrical interference (Fig. 3). The responses depend upon the contrast frequency rather than the angular velocity of the pattern (Fig. 4). Like the optomotor yaw response, roll and pitch responses can be elicited by small field motion in most parts of the visual field; only for motion below and behind the fly roll and pitch responses have low sensitivity.The mutantoptomotor-blind ^H31 (omb ^H31) in which the giant neurones of the lobula plate are missing or severely reduced, is impaired in all 3 optomotor torque responses (Fig. 5) whereas other visual responses like the optomotor lift/thrust response and the landing response (elicited by horizontal front-to-back motion) are not affected (Heisenberg et al. 1978).We propose that the lobula plate giant neurons mediate optomotor torque responses and that the VS-cells in particular are involved in roll and pitch but not in lift/thrust control. This hypothesis accommodates various electrophysiological and anatomical observations about these neurons in large flies.Abbreviation EMD elementary movement detector     

Seeing objects in motion

This paper reports estimates of the conjoint spatiotemporal tuning functions of the neural mechanisms of the human vision system which detect image motion. The functions were derived from measurements of the minimum contrast necessary to detect the direction of drift of a sinusoidal grating, in the presence of phase-reversed masking gratings of various spatial and temporal frequencies. A mask of similar spatial and temporal frequencies to the test grating reduces sensitivity considerably, whereas one differing greatly in spatial or temporal frequency has little or no effect. The results show that for test gratings drifting at 8 Hz, the tuning function is bandpass in both space and time, peaked at the temporal and spatial frequency (SF) of the test (SFs were 0.1, 1 or 5 c deg-1; c represents cycles throughout). For a grating of 5 c deg-1 drifting at 0.3 Hz, the function is bandpass in space but lowpass in time. Fourier transform of the frequency results yields a function in space-time which we term the 'spatiotemporal receptive field'. For movement detectors (bandpass in space and time) the fields comprise alternating ridges of opposing polarity, elongated in space-time along the preferred velocity axis of the detector. We suggest that this organization explains how detectors analyse form and motion concurrently and accounts, at least in part, for a variety of perceptual phenomena, including summation, reduction of motion smear, metacontrast, stroboscopic motion and spatiotemporal interpolation.     

Spatial properties of goldfish ganglion cells

We systematically classified goldfish ganglion cells according to their spatial summation properties using the same techniques and criteria used in cat and monkey research. Results show that goldfish ganglion cells can be classified as X-, Y-, or W-like based on their responses to contrast-reversal gratings. Like cat X cells, goldfish X-like cells display linear spatial summation. Goldfish Y-like cells, like cat Y cells, respond with frequency doubling at all spatial positions when the contrast-reversal grating consists of high spatial frequencies. There is also a third class of neurons, which is neither X- nor Y-like; many of these cells' properties are similar to those of the "not-X" cells found in the eel retina. Spatial filtering characteristics were obtained for each cell by drifting sinusoidal gratings of various spatial frequencies and contrasts across the receptive field of the cell at a constant temporal rate. The spatial tuning curves of the cell depend on the temporal parameters of the stimulus; at high drift rates, the tuning curves lose their low spatial frequency attenuation. To explore this phenomenon, temporal contrast response functions were derived from the cells' responses to a spatially uniform field whose luminance varied sinusoidally in time. These functions were obtained for the center, the surround, and the entire receptive field. The results suggest that differences in the cells' spatial filtering across stimulus drift rate are due to changes in the interaction of the center and surround mechanisms; at low temporal frequencies, the center and surround responses are out-of-phase and mutually antagonistic, but at higher temporal rates their responses are in-phase and their interaction actually enhances the cell's responsiveness.     

Orientation and spatiotemporal tuning of cells in the primary visual cortex of an Australian marsupial,the wallaby<Emphasis Type="Italic"> Macropus eugenii</Emphasis>

The metatherians (marsupials) have been separated from eutherians (placentals) for approximately 135 million years. It might, therefore, be expected that significant independent evolution of the visual system has occurred. The present paper describes for the first time the orientation, direction and spatiotemporal tuning of neurons in the primary visual cortex of an Australian marsupial, the wallaby Macropus eugenii. The stimuli consisted of spatial sinusoidal gratings presented within apertures covering the classical receptive fields of the cells. The neurons can be classified as those with clear ON and OFF zones and those with less well-defined receptive field structures. Seventy-percent of the total cells encountered were strongly orientation selective (tuning functions at half height were less than 45 degrees ). The preferred orientations were evenly distributed throughout 360 degrees for cells with uniform receptive fields but biased towards the vertical and horizontal for cells with clear ON-OFF zones. Many neurons gave directional responses but only a small percentage of them (4%) showed motion opponent properties (i.e. they were excited by motion in one direction and actively inhibited by motion in the opposite direction). The median peak temporal tuning for cells with clear ON-OFF zones and those without were 3 Hz and 6 Hz, respectively. The most common peak spatial frequency tuning for the two groups were 2 cycles per degree and 0.5 cycles per degree, respectively. Spatiotemporal tuning was not always the same for preferred and antipreferred direction motion. In general, the physiology of the wallaby cortex was similar to well studied eutherian mammals suggesting either convergent evolution or a highly conserved architecture that stems from a common therian ancestor.     

Speed tuning in elementary motion detectors of the correlation type

A prominent model of visual motion detection is the so-called correlation or Reichardt detector. Whereas this model can account for many properties of motion vision, from humans to insects (review, Borst and Egelhaaf 1989), it has been commonly assumed that this scheme of motion detection is not well suited to the measurement of image velocity. This is because the commonly used version of the model, which incorporates two unidirectional motion detectors with opposite preferred directions, produces a response which varies not only with the velocity of the image, but also with its spatial structure and contrast. On the other hand, information on image velocity can be crucial in various contexts, and a number of recent behavioural experiments suggest that insects do extract velocity for navigational purposes (review, Srinivasan et al. 1996). Here we show that other versions of the correlation model, which consists of a single unidirectional motion detector or incorporates two oppositely directed detectors with unequal sensitivities, produce responses which vary with image speed and display tuning curves that are substantially independent of the spatial structure of the image. This surprising feature suggests simple strategies of reducing ambiguities in the estimation of speed by using components of neural hardware that are already known to exist in the visual system. Received: 30 April 1998 / Accepted in revised form: 18 September 1998     

Whisker primary afferents encode temporal frequency of moving gratings

To investigate the encoding of behaviorally relevant stimuli in the rodent whisker-somatosensory system, we recorded responses to moving gratings from trigeminal ganglion neurons. This allowed us to quantify how spike patterns in these neurons encode behaviorally distinguishable tactile stimuli presented with the variability inherent in a freely moving whisker paradigm. Our stimulus set consisted of three grating plates with raised bars of the same thickness (275 microm) having different spatial periods (1.0, 1.1, and 1.5 mm) swept rostro-caudally past the whiskers at velocities ranging from 50 to 330 mm/s. This resulted in 20 presentations each of nine different temporal frequencies (ranging from 50 to 220 Hz) for every grating plate. We found that despite the additional degrees of freedom introduced in this freely moving whisker paradigm, firing patterns from the majority (83%) of trigeminal ganglion neurons were statistically distinguishable, and corresponded to the temporal frequency of stimulation. The range of velocities (100-160 mm/s) that resulted in the most accurate and least variable representation of stimulus temporal frequency by trigeminal firing patterns closely corresponds to the whisking velocities employed by trained rats performing similar discrimination tasks. This suggests that, during naturally occurring whisking, individual primary afferents faithfully encode temporal frequency evoked by whisker contacts.     

Responses in Primary Somatosensory Cortex of Rhesus Monkey to Controlled Application of Embossed Grating and Bar Patterns

Responses of 66 neurons in primary somatosensory cortex (SI) of three anesthetized monkeys (Macaca mulatto) were characterized with grating patterns of 550- to 2900-mm groove width (Gw) and 250-mm ridge width, and/or pairs of 3-mm-wide ridges (bars) spaced 1-20 mm apart. Surfaces were stroked across single fingertips at parametrically varied levels of force ('25-150 g) and velocity ('25-100 mm/sec). The average firing rates (AFRs) of many cells varied with Gw, but force and velocity altered response functions (e.g., from linear to plateau or inverted). Slowly adapting (SA) cells were more sensitive to force, rapidly adapting (RA) cells to velocity. Force and velocity affected all cells sensitive to Gw, which suggests that response independence (e.g., AFR correlated with Gw but not force or velocity) may require active touch

Discharge intervals of many cells replicated stimulus temporal period. This temporal fidelity in SAs far exceeded examples reported for active touch. However, discharge burst duration and AFR increased with Gw, supporting a neural rate rather than temporal code for roughness. Force and velocity altered the Gw at which some cells fired once in phase to stimulus cycle (“tuning point”). Responses to bar edges suggest cortical replication of peripheral mechanoreceptor sensitivity to skin curvature, leading to this temporal fidelity in some cortical cells. Graded RA responses to Gw without obvious stimulus temporal replication may reflect early stages of integrative processing in supra- and infragranular layers that blur obvious temporal patterning and lead to a rate code correlated with spatial variation and proportional to perceived roughness