Insect visual homing strategies in a robot with analog processing

 The visual homing abilities of insects can be explained by the snapshot hypothesis. It asserts that an animal is guided to a previously visited location by comparing the current view with a snapshot taken at that location. The average landmark vector (ALV) model is a parsimonious navigation model based on the snapshot hypothesis. According to this model, the target location is unambiguously characterized by a signature vector extracted from the snapshot image. This article provides threefold support for the ALV model by synthetic modeling. First, it was shown that a mobile robot using the ALV model returns to the target location with only small position errors. Second, the behavior of the robot resembled the behavior of bees in some experiments. And third, the ALV model was implemented on the robot in analog hardware. This adds validity to the ALV model, since analog electronic circuits share a number of information-processing principles with biological nervous systems; the analog implementation therefore provides suggestions for how visual homing abilities might be implemented in the insect's brain. Received: 15 June 1999 / Accepted in revised form: 20 March 2000     

Virtual-reality techniques resolve the visual cues used by fruit flies to evaluate object distances

Insects can estimate distance or time-to-contact of surrounding objects from locomotion-induced changes in their retinal position and/or size. Freely walking fruit flies (Drosophila melanogaster) use the received mixture of different distance cues to select the nearest objects for subsequent visits. Conventional methods of behavioral analysis fail to elucidate the underlying data extraction. Here we demonstrate first comprehensive solutions of this problem by substituting virtual for real objects; a tracker-controlled 360 degrees panorama converts a fruit fly's changing coordinates into object illusions that require the perception of specific cues to appear at preselected distances up to infinity. An application reveals the following: (1) en-route sampling of retinal-image changes accounts for distance discrimination within a surprising range of at least 8-80 body lengths (20-200 mm). Stereopsis and peering are not involved. (2) Distance from image translation in the expected direction (motion parallax) outweighs distance from image expansion, which accounts for impact-avoiding flight reactions to looming objects. (3) The ability to discriminate distances is robust to artificially delayed updating of image translation. Fruit flies appear to interrelate self-motion and its visual feedback within a surprisingly long time window of about 2 s. The comparative distance inspection practiced in the small fruit fly deserves utilization in self-moving robots.     

The visual perception of relative distances in the wood-cricket, Nemobius sylvestris

ABSTRACT. In post-embryonic development, the visual system of the cricket Nemobius sylvestris (Bosc) shows a regular increase in the length and number of the ommatidia and a decrease of inter-ommatidial angle so that the adult's is a third of the value in the first larval instar. Further, a 20° widening of the binocular visual field, in the horizontal plane at least, and a three-fold increase of the inter-ocular distance improve the potential for binocular vision. Behavioural experiments showed that the insect orientates with differing precision depending on the distances to targets of constant angular size. Further, in a choice situation between two such vertical targets, the cricket orientates most strongly towards the closer of the two, even at target distances of 52 and 130 cm from its point of decision. In fixed tethered animals, discrimination between a close and a distant target is still possible, but disappears when the head is waxed to the thorax, so that any relative movement between the animal and the object is prevented. As these capabilities exceed the possibilities of binocular triangulation, the possible role of other mechanisms is discussed, particularly that involving movement parallax using both eyes.     

Simulated visual homing in desert ant natural environments: efficiency of skyline cues

Desert ants, foraging in cluttered semiarid environments, are thought to be visually guided along individual, habitual routes. While other navigational mechanisms (e.g. path integration) are well studied, the question of how ants extract reliable visual features from a complex visual scene is still largely open. This paper explores the assumption that the upper outline of ground objects formed against the sky, i.e. the skyline, provides sufficient information for visual navigation. We constructed a virtual model of the ant’s environment. In the virtual environment, panoramic images were recorded and adapted to the resolution of the desert ant’s complex eye. From these images either a skyline code or a pixel-based intensity code were extracted. Further, two homing algorithms were implemented, a modified version of the average landmark vector (ALV) model (Lambrinos et al. Robot Auton Syst 30:39–64, 2000) and a gradient ascent method. Results show less spatial aliasing for skyline coding and best homing performance for ALV homing based on skyline codes. This supports the assumption of skyline coding in visual homing of desert ants and allows novel approaches to technical outdoor navigation.     

Garden ant homing behavior in a maze task based on local visual cues

Although it has been shown that visual cues play an essential role in navigation by the garden ant Lasius niger, no previous studies have addressed the way in which information from local visual cues is acquired and utilized in navigation. We found that in the absence of pheromone trails, ants whose homing motivation was triggered by feeding returned to the nest following local visual cues. In our experiments, the ants travelled through a maze to reach a feeder. They explored the maze and sometimes became trapped in its dead ends. We found that the ants more effectively used visual cues during their homeward journey if they experienced a dead end during their outward journey. This result suggested that the ants used the information acquired from visual cues during the outward journey to avoid a dead end on their return journey.     

Local spectral analysis in the visual cortex

On the basis of experimental evidence presented earlier a model of local spectral analysis of the image performed by the complex receptive fields of the visual cortex has been proposed. An essential feature of the model is that the generalized piece-wise Fourier transform is performed not over the image luminance function but over the logarithm contrast function resulted from analysis of the image by the round receptive fields of the preceding levels. Such an assumption removes a number of experimental objections offered against the hypothesis of two-dimensional Fourier transform in the visual system. The consequencies from the piece-wise expansion in a series of basic functions have been considered and among them: the channel frequency characteristics which can have more than one maximum; the possibility of describing the image by a limited number of channels with overlapping frequency characteristics; the existence of mechanisms for estimation of phase shift between frequencies.     

Cross-correlation analysis of the background activity of visual cortex cells separated by different distances in the alert rabbit

Values of correlation coefficients (CC) and forms of cross-correlation functions of impulse activity were studied in neurones recorded with one microelectrode or simultaneously with two sticked together microelectrodes with tangential distance between tips of 70 and 140 mcm. Three main types of cross-correlation functions were singled out differing by peaks form and modes positions. The greatest variety of forms and the greatest percentage of significantly correlated discharges of cellular pairs were found among the neurones recorded with one electrode. Mean CC of cells recorded with one electrode was significantly greater than mean CC of the neurones recorded with two microelectrodes. Comparison of the character of intercellular correlation with amplitudes of recorded spikes showed that discharges of neurones with greater amplitude mainly forestalled discharges of cells with low amplitude.     

Additive genetic variance within populations derived by single-seed descent and pod-bulk descent

Summary Breeders of self-pollinated legumes commonly use single-seed descent (SSD) or pod-bulk descent (PBD) to produce segregating populations of highly inbred individuals. We presented equations for the expected value of the additive genetic variance within populations derived by SSD (E(V _A)_SSD) and PBD (E(V _A)_PBD) in terms of the initial population size (N ₀), the number of seed harvested per pod (M), the probability of survival of an individual (), and the generation at which the population is evaluated (S _t). Differences between (E(V _A)_SSD) and (E(V _A)_PBD) are due to differences in the expected amount of random drift which occurs with the two methods after the S ₀ generation. With both methods, random drift occurs when progeny are sampled from heterozygous parents. An additional component of random drift occurs when sampled progeny fail to survive during SSD, or when sampling occurs amoung families during PBD. For values of N ₀, M, , and S _t that are typical of soybean (Glycine max (L.) Merr.) breeding programs, (E(V _A)_SSD) will be greater than (E(V _A)_PBD). The ratio of (E(V _A)_SSD) to (E(V _A)_PBD) will: (1) increase as M and increase; (2) approach a value of 1.00 as N ₀ increases; and (3) be a curvilinear function of S _t. Plant breeders should compare SSD and PBD based upon values of (E(V _A)_SSD) and (E(V _A)_PBD) and the expected cost of carrying out the two methods.Contribution No. 2910 of the South Carolina Agricultural Experiment Station, Clemson University     

Perception of visual image size by school students of different ages

In psychophysical experiments, 209 high school students with normal vision, 8 to 16 years old, were examined to study the perception of visual image sizes. Observers assessed the length of linear arrow-like figures (the Müller-Lyer illusion) or the length of single lines without arrow-like ends. Distortion of line size perception by 17–21% was obtained in the Müller-Lyer illusion independent of the age of observers. Distortion of size perception was absent in the case of estimation of the length of single line segments. The size differentiation thresholds gradually decreased in both cases with increasing age of observers and were correlated with the acuity of vision. For single lines, they were, on average, 1.3 times lower than the thresholds in the Müller-Lyer illusion. The probable mechanisms of the Müller-Lyer illusion are discussed. The experimental results demonstrate stability of illusion for observers aged 8–16 years, which may be connected with preferential contribution of the lower levels of the visual system to the appearance of the illusion.     

Relevance of visual cues for orientation at familiar sites by homing pigeons: an experiment in a circular arena

Whether pigeons use visual landmarks for orientation from familiar locations has been a subject of debate. By recording the directional choices of both anosmic and control pigeons while exiting from a circular arena we were able to assess the relevance of olfactory and visual cues for orientation from familiar sites. When the birds could see the surroundings, both anosmic and control pigeons were homeward oriented. When the view of the landscape was prevented by screens that surrounded the arena, the control pigeons exited from the arena approximately in the home direction, while the anosmic pigeons' distribution was not different from random. Our data suggest that olfactory and visual cues play a critical, but interchangeable, role for orientation at familiar sites.     

Local differentiation and gene dispersal distances in a Danish population of Armaria maritima

In a continuously distributed population of the self-incompatible species Armeria maritima , nine artificially delimited subpopulations were sampled in a transect with a length of 1300 m. Genetic variation was quantified with enzyme electrophoresis, which revealed five polymorphic loci. The genotypic distribution within subpopulations accorded to Hardy-Weinberg proportions, but revealed a Wahlund effect at one of the loci when the total population was considered. The Wahlund effect was supported by significant differences in allele frequencies among the nine subpopulations. The differentiation was low with a F_ST value of 0.028, which is much smaller than the previously reported value of 0.18 for 17 geographically separated Danish populations of this species. The low differentiation of the subpopulations was also revealed by an assignment test. In this test, the multilocus genotype of an individual is used to assign it to the subpopulation it has the highest likelihood to appear in. With this test, a lower percentage of individuals were assigned to the subpopulation of origin (24) than was seen with assignment of individuals to populations in Denmark (34). No abrupt changes in allele frequencies were observed. A spatial autocorrelation analysis suggested a breeding patch size of 500–700 m in diameter along the transect.     

Measuring distances in proteins by saturation-recovery EPR

We describe a protocol for detecting electron spin-spin interactions between a radical and a metal ion in a protein or protein complex by saturation-recovery electron paramagnetic resonance (EPR). This protocol can be used with a protein containing an endogenous metal center and either an endogenous or synthetic radical species. We suggest a two-step approach whereby dipole-dipole or exchange interactions are first detected by continuous-wave EPR experiments and then quantified by saturation-recovery EPR. The latter measurements make it possible to measure long distances to within a few Angstroms. The protocol for making distance measurements by saturation-recovery EPR will take approximately 6 days to complete.     

Reduced skin homing by functional Treg in vitiligo

In human vitiligo, cutaneous depigmentation involves cytotoxic activity of autoreactive T cells. It was hypothesized that depigmentation can progress in the absence of regulatory T cells (Treg). The percentage of Treg among skin infiltrating T cells was evaluated by immunoenzymatic double staining for CD3 and FoxP3, revealing drastically reduced numbers of Treg in non-lesional, perilesional and lesional vitiligo skin. Assessment of the circulating Treg pool by FACS analysis of CD4, CD25, CD127 and FoxP3 expression, and mixed lymphocyte reactions in presence and absence of sorted Treg revealed no systemic drop in the abundance or activity of Treg in vitiligo patients. Expression of skin homing receptors CCR4, CCR5, CCR8 and CLA was comparable among circulating vitiligo and control Treg. Treg from either source were equally capable of migrating towards CCR4 ligand and skin homing chemokine CCL22, yet significantly reduced expression of CCL22 in vitiligo skin observed by immunohistochemistry may explain failure of circulating, functional Treg to home to the skin in vitiligo. The paucity of Treg in vitiligo skin is likely crucial for perpetual anti-melanocyte reactivity in progressive disease.     

An image processing approach to computing distances between RNA secondary structures dot plots

Background  

Computing the distance between two RNA secondary structures can contribute in understanding the functional relationship between them. When used repeatedly, such a procedure may lead to finding a query RNA structure of interest in a database of structures. Several methods are available for computing distances between RNAs represented as strings or graphs, but none utilize the RNA representation with dot plots. Since dot plots are essentially digital images, there is a clear motivation to devise an algorithm for computing the distance between dot plots based on image processing methods.     

An image processing approach to computing distances between RNA secondary structures dot plots

Background  

In phylogenetic inference one is interested in obtaining samples from the posterior distribution over the tree space on the basis of some observed DNA sequence data. One of the simplest sampling methods is the rejection sampler due to von Neumann. Here we introduce an auto-validating version of the rejection sampler, via interval analysis, to rigorously draw samples from posterior distributions over small phylogenetic tree spaces.     

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.     

Accurate route demonstration by experienced homing pigeons does not improve subsequent homing performance in naive conspecifics.

We describe an experiment that uses the grouping tendencies and navigational abilities of the homing pigeon (Columba livia) to investigate the possibility of socially mediated information transfer in a field setting. By varying the composition of paired-release types, we allowed some naive birds to receive an accurate demonstration of the home route whilst others were paired with similarly naive conspecifics. After this 'paired phase', we predicted that if any learning of spatial information occurred then naive members of the former pairs would outperform their untutored conspecifics when re-released individually during the subsequent 'single phase' of the experiment. This prediction was not confirmed. Neither homing speed nor initial orientation was superior in individually released tutored versus untutored birds, despite the fact that both performance measures were better in the earlier 'paired phase' with experienced demonstrators. Our results suggest that although naive homing pigeons clearly interact with their experienced partners, they are unable to transfer any individually useful spatial information to subsequent homing flights.     

Evolutionary distances in hawaiian drosophila measured by DNA reassociation

Summary Comparisons of the sequence divergence of three species of Hawaiian Drosophila have been made by hybridization of single-copy tracer DNA of each of the species with driver DNA from each species, and measurement of the average melting temperature (Tma) in a chaotropic solvent (2.4 M tetraethylammonium chloride) which minimizes differences due to base composition. Correction was made for the length of hybrid duplex regions to obtain the reduction in thermal stability due to divergence.An accuracy of ± 0.2°C was achieved and the mean reduction in Tm for hybridization betweenD. heteroneura andD. silvestris (found only on the island of Hawaii) was 0.55°C and betweenD. picticornis, found only on the island of Kauai, and the other two species was 2.13°C. The rate of DNA change is estimated to be between 0.2 and 0.4%/My by assuming that theD. heteroneura-D. silvestris divergence occurred 0.8 My ago and the divergence between these species andD. picticornis between 4 and 6 My ago.The general single copy DNA sequence divergence appears to be very much greater than the minimal coding region sequence divergence previously estimated from allozyme studies.