Neural coding of echo-envelope disparities in echolocating bats

The effective use of echolocation requires not only measuring the delay between the emitted call and returning echo to estimate the distance of an ensonified object. To locate an object in azimuth and elevation, the bat’s auditory system must analyze the returning echoes in terms of their binaural properties, i.e., the echoes’ interaural intensity and time differences (IIDs and ITDs). The effectiveness of IIDs for echolocation is undisputed, but when bats ensonify complex objects, the temporal structure of echoes may facilitate the analysis of the echo envelope in terms of envelope ITDs. Using extracellular recordings from the auditory midbrain of the bat, Phyllostomus discolor, we found a population of neurons that are sensitive to envelope ITDs of echoes of their sonar calls. Moreover, the envelope-ITD sensitivity improved with increasing temporal fluctuations in the echo envelopes, a sonar parameter related to the spatial statistics of complex natural reflectors like vegetation. The data show that in bats envelope ITDs may be used not only to locate external, prey-generated rustling sounds but also in the context of echolocation. Specifically, the temporal fluctuations in the echo envelope, which are created when the sonar emission is reflected from a complex natural target, support ITD-mediated echolocation.     

Ranging in Human Sonar: Effects of Additional Early Reflections and Exploratory Head Movements

Many blind people rely on echoes from self-produced sounds to assess their environment. It has been shown that human subjects can use echolocation for directional localization and orientation in a room, but echo-acoustic distance perception - e.g. to determine one''s position in a room - has received little scientific attention, and systematic studies on the influence of additional early reflections and exploratory head movements are lacking. This study investigates echo-acoustic distance discrimination in virtual echo-acoustic space, using the impulse responses of a real corridor. Six blindfolded sighted subjects and a blind echolocation expert had to discriminate between two positions in the virtual corridor, which differed by their distance to the front wall, but not to the lateral walls. To solve this task, participants evaluated echoes that were generated in real time from self-produced vocalizations. Across experimental conditions, we systematically varied the restrictions for head rotations, the subjects'' orientation in virtual space and the reference position. Three key results were observed. First, all participants successfully solved the task with discrimination thresholds below 1 m for all reference distances (0.75–4 m). Performance was best for the smallest reference distance of 0.75 m, with thresholds around 20 cm. Second, distance discrimination performance was relatively robust against additional early reflections, compared to other echolocation tasks like directional localization. Third, free head rotations during echolocation can improve distance discrimination performance in complex environmental settings. However, head movements do not necessarily provide a benefit over static echolocation from an optimal single orientation. These results show that accurate distance discrimination through echolocation is possible over a wide range of reference distances and environmental conditions. This is an important functional benefit of human echolocation, which may also play a major role in the calibration of auditory space representations.     

The Adjustment of Echo Pulses Reflected from Objects Located at Different Distances to the Auditory Sensitivity of Dolphins: Model Studies

Biophysics - Dolphins emit a probing pulse and receive an echo pulse for echolocation during hunting, on the basis of which they detect and identify their prey in the search phase. In the capture...     

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.     

A neural network model of the inferior colliculus with modifiable lateral inhibitory synapses for human echolocation

 We propose a neural network model of the inferior colliculus (IC) for human echolocation. Neuronal mechanisms for human echolocation were investigated by simulating the model. The model consists of the neural networks of the central nucleus (ICc) and external nucleus (ICx) of the inferior colliculus. The neurons of the ICc receive interaural sound stimuli via multiple contralateral delay lines and a single ipsilateral delay line. The neurons of the ICc send output signals to the neurons of the ICx in a convergent manner. We stimulated the ICc with pairs of a direct sound (a sonar sound) and an echo sound (the reflection from an object). Information about the distance between the model and the object is expressed by the delay time of the echo sound with respect to the direct sound. The results presented here show that neurons of the ICc responsive to interaural onset time differences contribute to the creation of an auditory distance map in the ICx. We trained the model with various pairs of direct-echo sounds and modified synaptic connection strengths of the networks according to the Hebbian rule. It is shown that self-organized long-term depression of lateral inhibitory synaptic connections plays an important role in enhancing echolocation skills. Received: 26 November 2000 / Accepted in revised form: 16 October 2001     

Associative neurons as correlators

The paper continues the series of studies devoted to the hypothesis that the brain functioning occurs with the participation of correlation methods. The processing of signals by these methods is sufficiently versatile to provide the solution of diversified problems, which has been shown in studies of the mechanisms of animal echo location (a correlation model of echo location) and recognition of objects at any modality of sensor signals. It was shown that the mode of processing performed by neurons correlometers corresponds to the character of signals coming from the habitat of animals. Problems related to both the peculiarities of a reference signal formed by synaptic inputs of an associative neuron and the process of calculating the correlation function by this neuron were resolved. Two mathematically equivalent ways of physical execution of calculating the correlation function, by a correlometer and a passive correlated filter, were compared. The advantages of the brain that performs the correlation processing of signals by using the aggregates of neurons functioning as systems of correlometers rather than passive filters are analyzed.     

Keeping returns optimal: gain control exerted through sensitivity adjustments in the harbour porpoise auditory system

Animals that use echolocation (biosonar) listen to acoustic signals with a large range of intensities, because echo levels vary with the fourth power of the animal's distance to the target. In man-made sonar, engineers apply automatic gain control to stabilize the echo energy levels, thereby rendering them independent of distance to the target. Both toothed whales and bats vary the level of their echolocation clicks to compensate for the distance-related energy loss. By monitoring the auditory brainstem response (ABR) during a psychophysical task, we found that a harbour porpoise (Phocoena phocoena), in addition to adjusting the sound level of the outgoing signals up to 5.4 dB, also reduces its ABR threshold by 6 dB when the target distance doubles. This self-induced threshold shift increases the dynamic range of the biosonar system and compensates for half of the variation of energy that is caused by changes in the distance to the target. In combination with an increased source level as a function of target range, this helps the porpoise to maintain a stable echo-evoked ABR amplitude irrespective of target range, and is therefore probably an important tool enabling porpoises to efficiently analyse and classify received echoes.     

Driving Factors for the Evolution of Species-Specific Echolocation Call Design in New World Free-Tailed Bats (Molossidae)

Phylogeny, ecology, and sensorial constraints are thought to be the most important factors influencing echolocation call design in bats. The Molossidae is a diverse bat family with a majority of species restricted to tropical and subtropical regions. Most molossids are specialized to forage for insects in open space, and thus share similar navigational challenges. We use an unprecedented dataset on the echolocation calls of 8 genera and 18 species of New World molossids to explore how habitat, phylogenetic relatedness, body mass, and prey perception contribute to echolocation call design. Our results confirm that, with the exception of the genus Molossops, echolocation calls of these bats show a typical design for open space foraging. Two lines of evidence point to echolocation call structure of molossids reflecting phylogenetic relatedness. First, such structure is significantly more similar within than among genera. Second, except for allometric scaling, such structure is nearly the same in congeneric species. Despite contrasting body masses, 12 of 18 species call within a relatively narrow frequency range of 20 to 35 kHz, a finding that we explain by using a modeling approach whose results suggest this frequency range to be an adaptation optimizing prey perception in open space. To conclude, we argue that the high variability in echolocation call design of molossids is an advanced evolutionary trait allowing the flexible adjustment of echolocation systems to various sensorial challenges, while conserving sender identity for social communication. Unraveling evolutionary drivers for echolocation call design in bats has so far been hampered by the lack of adequate model organisms sharing a phylogenetic origin and facing similar sensorial challenges. We thus believe that knowledge of the echolocation call diversity of New World molossid bats may prove to be landmark to understand the evolution and functionality of species-specific signal design in bats.     

A neural mechanism for detecting the distance of a selected target by modulating the FM sweep rate of biosonar in echolocation of bat

Most species of bats making echolocation use frequency modulated (FM) ultrasonic pulses to measure the distance to targets. These bats detect with a high accuracy the arrival time differences between emitted pulses and their echoes generated by targets. In order to clarify the neural mechanism for echolocation, we present neural model of inferior colliculus (IC), medial geniculate body (MGB) and auditory cortex (AC) along which information of echo delay times is processed. The bats increase the downward frequency sweep rate of emitted FM pulse as they approach the target. The functional role of this modulation of sweep rate is not yet clear. In order to investigate the role, we calculated the response properties of our models of IC, MGB, and AC changing the target distance and the sweep rate. We found based on the simulations that the distance of a target in various ranges may be encoded the most clearly into the activity pattern of delay time map network in AC, when the sweep rate of FM pulse used is coincided with the observed value which the bats adopt for each range of target distance.     

Elektroortung bei schwach elektrischen fischen: verzerrungen des elektrischen feldes von Gymnotus carapo und Gnathonemus petersii durch gegenstände und ihre wirkungen auf afferente aktivitäten

1. Discharges of the electric organ (EODs) of the weakly electric fishes Gymnotus carapo and Gnathonemus petersii produce alternative electric fields in the surrounding water. Equipotential contures are plotted in order to know the electric field in detail and to mimic it with a dipol model.
2. Either fields are deformed in a characteristic manner by conducting and nonconducting objects. These field distortions, opposite for conductors and nonconductors were measured by using several methods:
   1. Comparisons of undistorted and distorted field patterns issue variable distortions shapes depending on the objects' placement.
   2. Direct measurements of field distortions at a “receptor site” were made by several sets of electrodes.
   The effects measured depend on the conductivity of objects, their size and their distance from the electrical dipole the last being due to the inhomogenous field contures. As a general rule, plastic objects make the field increase, and metal objects decrease. However, considering all positions, either material produces complex field variations (di- and polyphasic curves).
3. Since responses of gymnotids' primary fibers as a function of plates' position strikingly fit to the curves of field distortion, the electroreceptors use obviously quite similar measurement conditions as the field registration arrangements. This evidence is discussed and compared with more general aspects of field distortions in homogenous fields.
4. The field effects decrease exponentially with the lateral distance of objects to the dipole. However, the reaction of primary fibers decreases rather linearly as the lateral distance of objects is increased.
5. Experiments with systematically changed stimulus frequency showed primary fibers to be exited over a much wider range of frequencies (0–1000 cps at least) than to be expected regarding the usual EOD discharge rate of 30–100 cps. However, the peak of the “tuning curve” at best frequency fits well into this range. On the other hand, the change of response over this frequency range is 10–20%, so that there is but minor improvement of the information by an increase of EOD frequency.

     

The degradation of distance discrimination in big brown bats (Eptesicus fuscus) caused by different interference signals

The ability of two big brown bats (Eptesicus fuscus) to discriminate the distance to an electronically synthesized phantom target by echolocation was tested in the presence of interfering signals presented slightly before the target echo. Interfering signals were chosen to have differing degrees of similarity to the typical echolocation emission used by the bat in this task (which was the signal used to create the phantom target), and we predicted that the degree of disruption of ranging would be proportional to the similarity of the interference to the target echo. This prediction was not confirmed; rather, all interference signals not identical to the target echo increased the threshold to about twice that found with no interference. When the interference was identical to the target echo, the threshold increased to about 4 times that with no interference. When each bat was presented with phantom target echoes appropriate for the other bat, its range discrimination threshold increased about ten fold, and in this case the degree of interference of different signals was related to their similarity to the target echo, not to their similarity to the bat's normal signal. We suggest that Eptesicus may suppress interference by a more sophisticated strategy than simple linear matched filtering.Abbreviations E exemplar signal - M _f foreign model signal - M _r reversed self-model signal - M _s self-model signal - N noise signal - SPL sound pressure level     

Characteristics of the acoustic field of interfering reflections and the echolocation hearing of the dolphin

A model of the acoustic field of interfering reflections from steel cylinders was developed. Analysis of the model showed the availability of great potential resources for a decrease of the influence of unwanted echoes and hence for increasing the signal-to-clatter ratio. The conformity of the available models of the echolocation hearing of the dolphin to the acoustic field of the clatter was considered. The participation of mandidle mental foramens in conducting the echo to the cochlea was considered. In this case the hearing aperture is determined by the dimensions of mental foramens, while the hearing base is determined by the distance between the mental foramens of the left and right mandible halves. There are good reasons to believe that the optimal dimensions of the aperture and the base of echolocation hearing of Odontoceti essentially increase the effectiveness of defense of their sonar from reverberation.     

Different Auditory Feedback Control for Echolocation and Communication in Horseshoe Bats

Auditory feedback from the animal''s own voice is essential during bat echolocation: to optimize signal detection, bats continuously adjust various call parameters in response to changing echo signals. Auditory feedback seems also necessary for controlling many bat communication calls, although it remains unclear how auditory feedback control differs in echolocation and communication. We tackled this question by analyzing echolocation and communication in greater horseshoe bats, whose echolocation pulses are dominated by a constant frequency component that matches the frequency range they hear best. To maintain echoes within this “auditory fovea”, horseshoe bats constantly adjust their echolocation call frequency depending on the frequency of the returning echo signal. This Doppler-shift compensation (DSC) behavior represents one of the most precise forms of sensory-motor feedback known. We examined the variability of echolocation pulses emitted at rest (resting frequencies, RFs) and one type of communication signal which resembles an echolocation pulse but is much shorter (short constant frequency communication calls, SCFs) and produced only during social interactions. We found that while RFs varied from day to day, corroborating earlier studies in other constant frequency bats, SCF-frequencies remained unchanged. In addition, RFs overlapped for some bats whereas SCF-frequencies were always distinctly different. This indicates that auditory feedback during echolocation changed with varying RFs but remained constant or may have been absent during emission of SCF calls for communication. This fundamentally different feedback mechanism for echolocation and communication may have enabled these bats to use SCF calls for individual recognition whereas they adjusted RF calls to accommodate the daily shifts of their auditory fovea.     

Distance discrimination during active electrolocation in the weakly electric fish Gnathonemus petersii.

Weakly electric fish use active electrolocation for orientation at night. They emit electric signals (electric organ discharges) which generate an electrical field around their body. By sensing field distortions, fish can detect objects and analyze their properties. It is unclear, however, how accurately they can determine the distance of unknown objects. Four Gnathonemus petersii were trained in two-alternative forced-choice procedures to discriminate between two objects differing in their distances to a gate. The fish learned to pass through the gate behind which the corresponding object was farther away. Distance discrimination thresholds for different types of objects were determined. Locomotor and electromotor activity during distance measurement were monitored. Our results revealed that all individuals quickly learned to measure object distance irrespective of size, shape or electrical conductivity of the object material. However, the distances of hollow, water-filled cubes and spheres were consistently misjudged in comparison with solid or more angular objects, being perceived as farther away than they really were. As training continued, fish learned to compensate for these 'electrosensory illusions' and erroneous choices disappeared with time. Distance discrimination thresholds depended on object size and overall object distance. During distance measurement, the fish produced a fast regular rhythm of EOD discharges. A mechanisms for distance determination during active electrolocation is proposed.     

Distance discrimination during active electrolocation in the weakly electric fish Gnathonemus petersii

Weakly electric fish use active electrolocation for orientation at night. They emit electric signals (electric organ discharges) which generate an electrical field around their body. By sensing field distortions, fish can detect objects and analyze their properties. It is unclear, however, how accurately they can determine the distance of unknown objects. Four Gnathonemus petersii were trained in two-alternative forced-choice procedures to discriminate between two objects differing in their distances to a gate. The fish learned to pass through the gate behind which the corresponding object was farther away. Distance discrimination thresholds for different types of objects were determined. Locomotor and electromotor activity during distance measurement were monitored. Our results revealed that all individuals quickly learned to measure object distance irrespective of size, shape or electrical conductivity of the object material. However, the distances of hollow, water-filled cubes and spheres were consistently misjudged in comparison with solid or more angular objects, being perceived as farther away than they really were. As training continued, fish learned to compensate for these 'electrosensory illusions' and erroneous choices disappeared with time. Distance discrimination thresholds depended on object size and overall object distance. During distance measurement, the fish produced a fast regular rhythm of EOD discharges. A mechanisms for distance determination during active electrolocation is proposed.     

Evidence for echolocation in the common shrew, Sorex araneus

In this laboratory experiment it is shown that, like four North American soricid shrew species, the European common shrew Sorex araneus L. is able to use echolocation to identify open and closed tubes at a distance of 200 mm.
Three common shrews captured in Sweden were used for the experiments, which were carried out in darkness and within a sound-proof box. The experimental set-up eliminated orientation using sight, sound or scent from outside the experimental cage. Echolocation calls consisted of broadband ultrasonic clicks at low sound pressure. These were recorded using an ultrasound detector.
The ecological significance of echolocation in shrews is discussed. It is proposed that common shrews use echolocation to locate protective cover, thus minimizing the risk to be taken by, e.g. owls.
Echolocation may also be used for detecting obstacles in subterranean tunnels. Hence, echolocation could be of certain importance when abandoned burrows in the periphery of the tunnel system are restored during periods of increasing population densities. Since density peaks in most populations occur regularly each summer, and may reach extreme magnitudes in cyclic populations, the ecological significance of echolocation in shrews may be considerabl.     

Echolocation behaviour adapted to prey in foraging Blainville's beaked whale (Mesoplodon densirostris)

Toothed whales echolocating in the wild generate clicks with low repetition rates to locate prey but then produce rapid sequences of clicks, called buzzes, when attempting to capture prey. However, little is known about the factors that determine clicking rates or how prey type and behaviour influence echolocation-based foraging. Here we study Blainville's beaked whales foraging in deep water using a multi-sensor DTAG that records both outgoing echolocation clicks and echoes returning from mesopelagic prey. We demonstrate that the clicking rate at the beginning of buzzes is related to the distance between whale and prey, supporting the presumption that whales focus on a specific prey target during the buzz. One whale showed a bimodal relationship between target range and clicking rate producing abnormally slow buzz clicks while attempting to capture large echoic targets, probably schooling prey, with echo duration indicating a school diameter of up to 4.3m. These targets were only found when the whale performed tight circling manoeuvres spending up to five times longer in water volumes with large targets than with small targets. The result indicates that toothed whales in the wild can adjust their echolocation behaviour and movement for capture of different prey on the basis of structural echo information.     

Perception of successive brief objects as a function of stimulus onset asynchrony: model experiments based on two-stage synchronization of neuronal oscillators

Recently we introduced a new version of the perceptual retouch model incorporating two interactive binding operations—binding features for objects and binding the bound feature-objects with a large scale oscillatory system that acts as a mediary for the perceptual information to reach consciousness-level representation. The relative level of synchronized firing of the neurons representing the features of an object obtained after the second-stage synchronizing modulation is used as the equivalent of conscious perception of the corresponding object. Here, this model is used for simulating interaction of two successive featured objects as a function of stimulus onset asynchrony (SOA). Model output reproduces typical results of mutual masking—with shortest and longest SOAs first and second object correct perception rate is comparable while with intermediate SOAs second object dominates over the first one. Additionally, with shortest SOAs misbinding of features to form illusory objects is simulated by the model.     

Modelling simultaneous echo waveform reconstruction and localization in bats

Echolocating bats perceive the world through sound signals reflecting from the objects around them. In these signals, information is contained about reflector location and reflector identity. Bats are able to extract and separate the cues for location from those that carry identification information. We propose a model based on Wiener deconvolution that also performs this separation for a virtual system mimicking the echolocation system of the lesser spearnosed bat, Phyllostomus discolor. In particular, the model simultaneously reconstructs the reflected echo signal and localizes the reflector from which the echo originates. The proposed technique is based on a model that performs a similar task based on information from the frog’s lateral line system. We show that direct application of the frog model to the bat sonar system is not feasible. However, we suggest a technique that does apply to the bat biosonar and indicate its performance in the presence of noise.     

Hearing sensation levels of emitted biosonar clicks in an echolocating Atlantic bottlenose dolphin

Emitted biosonar clicks and auditory evoked potential (AEP) responses triggered by the clicks were synchronously recorded during echolocation in an Atlantic bottlenose dolphin (Tursiops truncatus) trained to wear suction-cup EEG electrodes and to detect targets by echolocation. Three targets with target strengths of -34, -28, and -22 dB were used at distances of 2 to 6.5 m for each target. The AEP responses were sorted according to the corresponding emitted click source levels in 5-dB bins and averaged within each bin to extract biosonar click-related AEPs from noise. The AEP amplitudes were measured peak-to-peak and plotted as a function of click source levels for each target type, distance, and target-present or target-absent condition. Hearing sensation levels of the biosonar clicks were evaluated by comparing the functions of the biosonar click-related AEP amplitude-versus-click source level to a function of external (in free field) click-related AEP amplitude-versus-click sound pressure level. The results indicated that the dolphin's hearing sensation levels to her own biosonar clicks were equal to that of external clicks with sound pressure levels 16 to 36 dB lower than the biosonar click source levels, varying with target type, distance, and condition. These data may be assumed to indicate that the bottlenose dolphin possesses effective protection mechanisms to isolate the self-produced intense biosonar beam from the animal's ears during echolocation.