Bats' avoidance of real and virtual objects: implications for the sonar coding of object size

Fast movement in complex environments requires the controlled evasion of obstacles. Sonar-based obstacle evasion involves analysing the acoustic features of object-echoes (e.g., echo amplitude) that correlate with this object's physical features (e.g., object size). Here, we investigated sonar-based obstacle evasion in bats emerging in groups from their day roost. Using video-recordings, we first show that the bats evaded a small real object (ultrasonic loudspeaker) despite the familiar flight situation. Secondly, we studied the sonar coding of object size by adding a larger virtual object. The virtual object echo was generated by real-time convolution of the bats’ calls with the acoustic impulse response of a large spherical disc and played from the loudspeaker. Contrary to the real object, the virtual object did not elicit evasive flight, despite the spectro-temporal similarity of real and virtual object echoes. Yet, their spatial echo features differ: virtual object echoes lack the spread of angles of incidence from which the echoes of large objects arrive at a bat's ears (sonar aperture). We hypothesise that this mismatch of spectro-temporal and spatial echo features caused the lack of virtual object evasion and suggest that the sonar aperture of object echoscapes contributes to the sonar coding of object size.     

Convergence of temporal and spectral information into acoustic images of complex sonar targets perceived by the echolocating bat,Eptesicus fuscus

1. FM echolocating bats (Eptesicus fuscus) were trained to discriminate between a two-component complex target and a one-component simple target simulated by electronically-returned echoes in a series of experiments that explore the composition of the image of the two-component target. In Experiment I, echoes for each target were presented sequentially, and the bats had to compare a stored image of one target with that of the other. The bats made errors when the range of the simple target corresponded to the range of either glint in the complex target, indicating that some trace of the parts of one image interfered with perception of the other image. In Experiment II, echoes were presented simultaneously as well as sequentially, permitting direct masking of echoes from one target to the other. Changes in echo amplitude produced shifts in apparent range whose pattern depended upon the mode of echo presentation. 2. Eptesicus perceives images of complex sonar targets that explicitly represent the location and spacing of discrete glints located at different ranges. The bat perceives the target's structure in terms of its range profile along a psychological range axis using a combination of echo delay and echo spectral representations that together resemble a spectrogram of the FM echoes. The image itself is expressed entirely along a range scale that is defined with reference to echo delay. Spectral information contributes to the image by providing estimates of the range separation of glints, but it is transformed into these estimates. 3. Perceived absolute range is encoded by the timing of neural discharges and is vulnerable to shifts caused by neural amplitude-latency trading, which was estimated at 13 to 18 microseconds per dB from N1 and N4 auditory evoked potentials in Eptesicus. Spectral cues representing the separation of glints within the target are transformed into estimates of delay separations before being incorporated into the image. However, because they are encoded by neural frequency tuning rather than the time-of-occurrence of neural discharges, the perceived range separation of glints in images is not vulnerable to amplitude-latency shifts. 4. The bat perceives an image that is displayed in the domain of time or range. The image receives no evident spectral contribution beyond what is transformed into delay estimates. Although the initial auditory representation of FM echoes is spectrogram-like, the time, frequency, and amplitude dimensions of the spectrogram appear to be compressed into an image that has only time and amplitude dimensions.(ABSTRACT TRUNCATED AT 400 WORDS)     

Visual discrimination of cues differing as for their number of elements, their shape or their orientation, by the ant Myrmica sabuleti

Using operant conditioning as a method, we study if Myrmica sabuleti workers can discriminate figures made of different numbers of the same element, different filled shapes or hollow forms and elements differently oriented. The ants effectively discriminate figures containing different numbers of the same element but without counting the elements: their distinguishing is based on the global aspect (dimensions, area) of the figures. They distinguish filled shapes as well as hollow forms when these look different if seen with convexity. For instance, they differentiate well between concave filled shapes or concave hollow forms. They see distinctly an element and the same one rotated if this element, seen with convexity, looks different after its rotation. They perceive until a 30° rotation of a vertical segment and until a 15° rotation of a horizontal segment. In conclusion, M. sabuleti workers are sensitive to the number of elements, dimension, shape, form and orientation of visual cues with the restriction that they probably see them with convexity.     

Acoustic imaging in bat sonar: Echolocation signals and the evolution of echolocation

Summary Echolocating bats behave as though they perceive the crosscorrelation functions between their sonar transmissions and echoes as images of targets, at least with respect to perception of target range, horizontal direction, and shape. These data imply that bats use a multi-dimensional acoustic imaging system for echolocation with broadband, usually frequencymodulated signals. The perceptual structure of the echolocation signals used by different species of bats was investigated using the crosscorrelation functions between emitted signals and returning echoes as indices of perceptual acuity.Thebandwidth andaverage period of echolocation signals are identified as the principal acoustic features of broadband sonar waveforms that determine the quality of target perceptions. The multiple-harmonic structure of echolocation sounds, which is characteristic of the broadband signals of the majority of species of bats, yields a lower average period (separation of peaks in the crosscorrelation function) than would be expected from the average frequency of the signal as a whole, sharpening target localization.The frequency-modulation of the harmonics in the sonar sounds of bats reduces the heights of side-peaks in the crosscorrelation functions of the signals, promoting sharp, unambiguous determination of target position, and leads to the well-known coupling of perception of range and velocity for moving targets. The shapes of the frequency sweeps and bandwidths of frequency modulation contribute to reducing this range-velocity coupling. Harmonic organization nearly eliminates range-velocity coupling.The use of multiple-harmonics and fairly broad frequency modulation in sonar signals yields especially sharp resolution of target position to reject clutter interference. Such signals are commonly used by bats in cluttered environments. Very broad frequency sweeps with fewer harmonics may accomplish the same effect, but the low signal periodicity contributed by harmonic structure is an important factor in banishing side-peaks in the crosscorrelation function from perception.Abbreviations ACR autocorrelation function - AMB ambiguity diagram - CF constant frequency - FM frequency modulated - LFM linear frequency sweep - LPM linear period sweep - XCR crosscorrelation function     

Adaptive mechanisms underlying the bat biosonar behavior

For survival, bats of the suborder Microchiropetra emit intense ultrasonic pulses and analyze the weak returning echoes to extract the direction, distance, velocity, size, and shape of the prey. Although these bats and other mammals share the common layout of the auditory pathway and sound coding mechanism, they have highly developed auditory systems to process biologically relevant pulses at the expense of a reduced visual system. During this active biosonar behavior, they progressively shorten the pulse duration, decrease the amplitude and pulse-echo gap as they search, approach and finally intercept the prey. Presumably, these changes in multiple pulse parameters throughout the entire course of hunting enable them to extract maximal information about localized prey from the returning echoes. To hunt successfully, the auditory system of these bats must be less sensitive to intense emitted pulses but highly sensitive to weak returning echoes. They also need to recognize and differentiate the echoes of their emitted pulses from echoes of pulses emitted by other conspecifics. Past studies have shown the following mechanical and neural adaptive mechanisms underlying the successful bat biosonar behavior: (1) Forward orienting and highly mobile pinnae for effective scanning, signal reception, sound pressure transformation and mobile auditory sensitivity; (2) Avoiding and detecting moving targets more successfully than stationary ones; (3) Coordinated activity of highly developed laryngeal and middle ear muscles during pulse emission and reception; (4) Mechanical and neural attenuation of intense emitted pulses to prepare for better reception of weak returning echoes; (5) Increasing pulse repetition rate to improve multiple-parametric selectivity to echoes; (6) Dynamic variation of duration selectivity and recovery cycle of auditory neurons with hunting phase for better echo analysis; (7) Maximal multiple-parametric selectivity to expected echoes returning within a time window after pulse emission; (8) Pulse-echo delaysensitive neurons in higher auditory centers for echo ranging; (9) Corticofugal modulation to improve on-going multiple-parametric signal processing and reorganize signal representation, and (10) A large area of the superior colliculus, pontine nuclei and cerebellum that is sensitive to sound for sensori-motor integration. All these adaptive mechanisms facilitate the bat to effectively extract prey features for successful hunting.     

On-board telemetry of emitted sounds from free-flying bats: compensation for velocity and distance stabilizes echo frequency and amplitude

To understand complex sensory-motor behavior related to object perception by echolocating bats, precise measurements are needed for echoes that bats actually listen to during flight. Recordings of echolocation broadcasts were made from flying bats with a miniature light-weight microphone and radio transmitter (Telemike) set at the position of the bat's ears and carried during flights to a landing point on a wall. Telemike recordings confirm that flying horseshoe bats (Rhinolophus ferrumequinum nippon) adjust the frequency of their sonar broadcasts to compensate for echo Doppler shifts. Returning constant frequency echoes were maintained at the bat's reference frequency +/-83 Hz during flight, indicating that the bats compensated for frequency changes with an accuracy equivalent to that at rest. The flying bats simultaneously compensate for increases in echo amplitude as target range becomes shorter. Flying bats thus receive echoes with both stabilized frequencies and stabilized amplitudes. Although it is widely understood that Doppler-shift frequency compensation facilitates detection of fluttering insects, approaches to a landing do not involve fluttering objects. Combined frequency and amplitude compensation may instead be for optimization of successive frequency modulated echoes for target range estimation to control approach and landing.     

Echolocation behavior of the Japanese horseshoe bat in pursuit of fluttering prey

Echolocation sounds of Rhinolophus ferrumequinum nippon as they approached a fluttering moth (Goniocraspidum pryeri) were investigated using an on-board telemetry microphone (Telemike). In 40?% of the successful moth-capture flights, the moth exhibited distinctive evasive flight behavior, but the bat pursued the moth by following its flight path. When the distance to the moth was approximately 3-4?m, the bats increased the duration of the pulses to 65-95?ms, which is 2-3 times longer than those during landing flight (30-40?ms). The mean of 5.8 long pulses were emitted before the final buzz phase of moth capture, without strengthening the sound pressure level. The mean duration of long pulses (79.9?±?7.9?ms) corresponded to three times the fluttering period of G. pryeri (26.5?×?3?=?79.5?ms). These findings indicate that the bats adjust the pulse duration to increase the number of temporal repetitions of fluttering information rather than to produce more intense sonar sounds to receive fine insect echoes. The bats exhibited Doppler-shift compensation for echoes returning from large static objects ahead, but not for echoes from target moths, even though the bats were focused on capturing the moths. Furthermore, the echoes of the Telemike recordings from target moths showed spectral glints of approximately 1-1.5?kHz caused by the fluttering of the moths but not amplitude glints because of the highly acoustical attenuation of ultrasound in the air, suggesting that spectral information may be more robust than amplitude information in echoes during moth capturing flight.     

First record of the freshwater eel Anguilla dieffenbachii Gray to be caught at sea

A female A. dieffenbachii caught off the New Zealand coast has ova of 0.45 mm to 0.50 mm in diameter; these ova are larger than those observed in seaward migrating females of this species. The estimated percentage of gonad weight to total body weight of 11.2% is significantly greater than that observed in migrating females of the same size, but other migratory features, such as the eye size, colour, head and pectoral fin shape, are identical.     

The shape of wind-receptor hairs of cricket and cockroach

We examined the exact shapes of the thread-like wind-receptor hairs in the cricket and cockroach. The diameters of hairs at various distances from the hair tip as measured by scanning electron microscopy revealed unexpected hair shapes. We had expected, a priori, that the shape of the hair would be a slender linearly tapered cone, but the measurements revealed hairs in the form of extremely elongated paraboloids. The diameter of the wind-receptor hairs varies with the square root of the distance from the hair tip, i.e., the diameter rapidly increases with the distance from the tip and is asymptotic to the base diameter. Both the cricket, Gryllus bimaculatus, and the cockroach, Periplaneta americana, showed the same hair shape. In both insects, the formation of the wind-receptor hair during metamorphosis seems to be controlled by a common cytological program. The shape of the hair constrains the mobility of the wind-receptor hair, because both the drag force caused by moving air and the moment of inertia of motion dynamics are functions of shaft diameter. The shape of the hair is a biological trait which affects the sensory information transmitted to the central nervous system. Accepted: 24 February 1998     

Acoustic traits of bat-pollinated flowers compared to flowers of other pollination syndromes and their echo-based classification using convolutional neural networks

Bat-pollinated flowers have to attract their pollinators in absence of light and therefore some species developed specialized echoic floral parts. These parts are usually concave shaped and act like acoustic retroreflectors making the flowers acoustically conspicuous to the bats. Acoustic plant specializations only have been described for two bat-pollinated species in the Neotropics and one other bat-dependent plant in South East Asia. However, it remains unclear whether other bat-pollinated plant species also show acoustic adaptations. Moreover, acoustic traits have never been compared between bat-pollinated flowers and flowers belonging to other pollination syndromes. To investigate acoustic traits of bat-pollinated flowers we recorded a dataset of 32320 flower echoes, collected from 168 individual flowers belonging to 12 different species. 6 of these species were pollinated by bats and 6 species were pollinated by insects or hummingbirds. We analyzed the spectral target strength of the flowers and trained a convolutional neural network (CNN) on the spectrograms of the flower echoes. We found that bat-pollinated flowers have a significantly higher echo target strength, independent of their size, and differ in their morphology, specifically in the lower variance of their morphological features. We found that a good classification accuracy by our CNN (up to 84%) can be achieved with only one echo/spectrogram to classify the 12 different plant species, both bat-pollinated and otherwise, with bat-pollinated flowers being easier to classify. The higher classification performance of bat-pollinated flowers can be explained by the lower variance of their morphology.     

Echo delay versus spectral cues for temporal hyperacuity in the big brown bat,Eptesicus fuscus

Big brown bats can discriminate between echoes that alternate in delay (jitter) by as little as 10–15 ns and echoes that are stationary in delay. This delay hyperacuity seems so extreme that it has been rejected in favor of an explanation in terms of artifacts in echoes, most likely spectral in nature, that presumably are correlated with delay. Using different combinations of digital, analog, and cable delays, we dissociated the overall delay of jittering echoes from the size of the analog component of delay, which alone is presumed to determine the strength of the apparatus artifact. The bats' performance remains invariant with respect to the overall delay of the jittering echoes, not with respect to the amount of analog delay. This result is not consistent with the possible use of delay-related artifacts produced by the analog delay devices. Moreover, both electronic and acoustic measurements disclose no spectral cues or impedance-mismatch reflections in delayed signals, just time-delays. The absence of artifacts from the apparatus and the failure of overlap and interference from reverberation to account for the 10-ns result means that closing the gap between the level of temporal accuracy plausibly explained from physiology and the level observed in behavior may require a better understanding of the physiology.Abbreviations FM frequency-modulated - XCR cross-correlation function     

Comparison of Manual and Automated Measurements of Monodominant Follicle Diameter with Different Follicle Size in Infertile Patients

This study evaluated the consistency of manual and automated measurements of monodominant follicle diameter with different follicle size in infertile patients. Transvaginal two-dimensional (2D) ultrasound and SonoAVC (Sonography-based Automated Volume Calculation) were both performed in 226 infertile patients with monodominant follicle growth. 2D diameters were separately compared with SonoAVC-generated d(V) and m-d values in different follicle category, i.e. >10 to 14 mm, >14 to 18 mm, >18 to 22 mm and >22 mm. There was moderate degree of consistency between 2D diameter and SonoAVC-generated parameters regardless of follicle size. The mean differences were 0.82 mm between 2D diameter and SonoAVC-generated d(V) value, and 0.22 mm between 2D diameter and SonoAVC-generated m-d value, respectively. The discrepancy of manual and automated measurements tended to increase as follicle size increased. Our study suggested that compared with manual measurement, SonoAVC might underestimate follicle size. The absolute size of a follicle affected the consistency of two techniques.     

Evidence for perception of fine echo delay and phase by the FM bat,Eptesicus fuscus

The big brown bat, Eptesicus fuscus, can perceive small changes in the delay of FM sonar echoes and shifts in echo phase, which interact with delay. Using spectral cues caused by interference, Eptesicus also can perceive the individual delays of two overlapping FM echoes at small delay separations. These results have been criticized as due to spectral artifacts caused by overlap between stimulus echoes and extraneous sounds (Pollak 1993). However, no amplitude or spectral variations larger than 0.05 dB accompany delay or phase changes produced by the electronic apparatus. No reverberation falls in the narrow span of delays required to produce the bat's performance curve from echo interference cues. Consistent differences in the durations of sonar sounds for 6 bats that perform the same in the experiments demonstrate that overlap between stimulus echoes and extraneous echoes is not necessary, and changes in the amount of echo overlap have no effect on performance. Noise-induced random variations in echo spectra outweigh putative spectral artifacts, and deliberately-introduced spectral artifacts do not improve performance overall but instead yield new time-frequency images. Amplitude-latency trading of perceived delay, proposed as a demonstration that the latency of neural discharges encodes delay (Pollak et al. 1977), confirms that the bat's fine delay and phase perception depends on a temporal neural code. The perceived delays depend on stimulus delays, not the delays of extraneous sounds. The rejected criticisms are based on physiological results with random-phase FM stimuli which are irrelevant to neural coding of fine echo delay and phase.The contents of this paper first appeared in October 1990 in a letter to G.D. Pollak in response to his unpublished criticisms of echo-jitter experiments. These responses also have been presented at the 1991 and 1992 Association for Research in Otolaryngology midwinter meetings and at the 1992 3rd International Congress of Neuroethology. Several of the control experiments also appeared in Simmons et al. (1990b). The now-published criticisms (Pollak 1993, the preceding paper) have not addressed these responses, including the prior published data demonstrating that the stimulus conditions asserted by these criticisms do not in fact occur.     

Interpulse interval modulation by echolocating big brown bats (<Emphasis Type="Italic">Eptesicus fuscus</Emphasis>) in different densities of obstacle clutter

Big brown bats (Eptesicus fuscus) use biosonar to find insect prey in open areas, but they also find prey near vegetation and even fly through vegetation when in transit from roosts to feeding sites. To evaluate their reactions to dense, distributed clutter, bats were tested in an obstacle array consisting of rows of vertically hanging chains. Chains were removed from the array to create a curved corridor of three clutter densities (high, medium, low). Bats flew along this path to receive a food reward after landing on the far wall. Interpulse intervals (IPIs) varied across clutter densities to reflect different compromises between using short IPIs for gathering echoes rapidly enough to maneuver past the nearest chains and using longer IPIs so that all echoes from one sound can be received before the next sound is emitted. In high-clutter density, IPIs were uniformly shorter (20–65 ms) than in medium and low densities (40–100 ms) and arranged in “strobe groups,” with some overlap of echo streams from different broadcasts, causing pulse-echo ambiguity. As previously proposed, alternating short and long IPIs in strobe groups may allow bats to focus on large-scale pathfinding tasks as well as close-in obstacle avoidance.     

Calling louder and longer: how bats use biosonar under severe acoustic interference from other bats

Active-sensing systems such as echolocation provide animals with distinct advantages in dark environments. For social animals, however, like many bat species, active sensing can present problems as well: when many individuals emit bio-sonar calls simultaneously, detecting and recognizing the faint echoes generated by one''s own calls amid the general cacophony of the group becomes challenging. This problem is often termed ‘jamming’ and bats have been hypothesized to solve it by shifting the spectral content of their calls to decrease the overlap with the jamming signals. We tested bats’ response in situations of extreme interference, mimicking a high density of bats. We played-back bat echolocation calls from multiple speakers, to jam flying Pipistrellus kuhlii bats, simulating a naturally occurring situation of many bats flying in proximity. We examined behavioural and echolocation parameters during search phase and target approach. Under severe interference, bats emitted calls of higher intensity and longer duration, and called more often. Slight spectral shifts were observed but they did not decrease the spectral overlap with jamming signals. We also found that pre-existing inter-individual spectral differences could allow self-call recognition. Results suggest that the bats’ response aimed to increase the signal-to-noise ratio and not to avoid spectral overlap.     

A modeling approach to explain pulse design in bats

In this modeling study we wanted to find out why bats of the family Vespertilionidae (and probably also members of other families of bats) use pulses with a certain bandwidth and duration. Previous studies have only speculated on the function of bandwidth and pulse duration in bat echolocation or addressed this problem by assuming that bats optimize echolocation parameters to achieve very fine acuities in receiving single echoes. Here, we take a different approach by assuming that bats in nature rarely receive single echoes from each pulse emission, but rather many highly overlapping echoes. Some echolocation tasks require individual echoes to be separated to reconstruct reflection points in space. We used an established hearing model to investigate how the parameters bandwidth and pulse duration influence the separation of overlapping echoes. Our findings corroborate the following previously unknown or unsubstantiated facts: 1. Broadening the bandwidth improves the bat's lower resolution limit. 2. Increasing the sweep rate (defined by bandwidth and pulse duration) improves acuity of each extracted echo. 3. Decreasing the sweep rate improves the probability of frequency channels being activated. Since facts 2 and 3 affect sweep rate in an opposing fashion, an optimum sweep rate will exist, depending on the quality of the returning echoes and the requirements of the bat to improve acuity. The existence of an optimal sweep rate explains why bats are likely to use certain combinations of bandwidth and pulse duration to obtain such sweep rates.     

Size does not matter: size-invariant echo-acoustic object classification

Echolocating bats can not only extract spatial information from the auditory analysis of their ultrasonic emissions, they can also discriminate, classify and identify the three-dimensional shape of objects reflecting their emissions. Effective object recognition requires the segregation of size and shape information. Previous studies have shown that, like in visual object recognition, bats can transfer an echo-acoustic object discrimination task to objects of different size and that they spontaneously classify scaled versions of virtual echo-acoustic objects according to trained virtual-object standards. The current study aims to bridge the gap between these previous findings using a different class of real objects and a classification—instead of a discrimination paradigm. Echolocating bats (Phyllostomus discolor) were trained to classify an object as either a sphere or an hour-glass shaped object. The bats spontaneously generalised this classification to objects of the same shape. The generalisation cannot be explained based on similarities of the power spectra or temporal structures of the echo-acoustic object images and thus require dedicated neural mechanisms dealing with size-invariant echo-acoustic object analysis. Control experiments with human listeners classifying the echo-acoustic images of the objects confirm the universal validity of auditory size invariance. The current data thus corroborate and extend previous psychophysical evidence for sonar auditory-object normalisation and suggest that the underlying auditory mechanisms following the initial neural extraction of the echo-acoustic images in echolocating bats may be very similar in bats and humans.     

Classification of insects by echolocating greater horseshoe bats

Summary Echolocating greater horseshoe bats (Rhinolophus ferrumequinum) detect insects by concentrating on the characteristic amplitude- and frequency modulation pattern fluttering insects impose on the returning echoes. This study shows that horseshoe bats can also further analyse insect echoes and thus recognize and categorize the kind of insect they are echolocating.Four greater horseshoe bats were trained in a twoalternative forced-choice procedure to choose the echo of one particular insect species turning its side towards the bat (Fig. 1). The bats were able to discriminate with over 90% correct choices between the reward-positive echo and the echoes of other insect species all fluttering with exactly the same wingbeat rate (Fig. 4).When the angular orientation of the reward-positive insect was changed (Fig. 2), the bats still preferred these unknown echoes over echoes from other insect species (Fig. 5) without any further training. Because the untrained bats did not show any prey preference, this indicates that the bats were able to perform an aspect-anglein-dependent classification of insects.Finally we tested what parameters in the echo were responsible for species recognition. It turned out that the bats especially used the small echo-modulations in between glints as a source of information (Fig. 7). Neither the amplitudenor the frequencymodulation of the echoes alone was sufficient for recognition of the insect species (Fig. 8). Bats performed a pattern recognition task based on complex computations of several acoustic parameters, an ability which might be termed cognitive.Abbreviations AM amplitude modulation - CF constant frequency - FM frequency modulation - S+ positive stimulus - S- negative stimulus     

Cribriform plate of ethmoid, olfactory bulb and olfactory acuity in forty species of bats

Relationships between the cribriform plate of the ethmoid, the olfactory bulb, and olfactory acuity were explored using material from 13 of the 17 bat families. All megachiropteran cribriform plates were entirely perforated. In contrast, microchiropteran plates showed distinct perforated portions dorsally and nonperforated portions ventrally. The plates of frugivorous species had more foramina than those of insectivorous ones. Bats with mixed dietary habits were intermediate. Our data suggest that the Chilonycterinae were originally frugivorous, and have only secondarily reverted to an insectivorous diet. Trend analyses show that wherever dietary preference appears to favor a more acute sense of smell, bulb diameter tends to be larger. In general, frugivorous bats tend to have bulbs exceeding 2 mm in diameter; insectivorous bats tend to have bulb diameters of 2 mm or less. The number of foramina in the plates and total cribriform plate area tends to increase as a function of bulb area, but the plate area the foramina occupied increases as a function of bulb volume. The ratio of the size of the bulb to the size of the cerebral hemisphere does not predict olfactory acuity in bats.