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     

Frequency modulated sound pattern analysis in the lesser bulldog bat: the role of interactions between adjacent frequency elements of complex sounds

A stereotyped approach phase vocalization response of Noctilio albiventris to artificial echoes simulating a virtual approaching object was used to assess the ability of the bat to analyze and extract distance information from the artificial echoes. The performance of the bats depended on the temporal pattern of frequency change of the continuously sweeping frequency modulated (FM) component of the signals. When the bats were presented with a CF/FM signal containing a time-reversed upward FM sweep, they responded with approach phase behavior at a performance level that was significantly below that seen with a CF/FM signal containing a naturally structured downward FM sweep. When the FM sweep was divided into a series of brief pure tone steps, the extent to which the bats showed a difference in their capability to process upward versus downward FM sweeps depended on the difference in frequency between the pure tone steps. The bats effectively processed downward but not upward FM sweeps when the difference in frequency between pure tone frequency elements of the FM sweeps was from about 100–200 Hz, but they effectually processed both downward and upward FM sweeps when the tonal elements composing the FM sweeps were separated by more than about 200 Hz. This suggests that the ability of the bats to effectively process downward but not upward FM sweeps is based on local interactions between adjacent frequency elements of the complex sounds.Abbreviations CF constant frequency - FM frequency modulated     

Substrate-gleaning versus aerial-hawking: plasticity in the foraging and echolocation behaviour of the long-eared bat,Myotis evotis

The foraging and echolocation behaviour of Myotis evotis was investigated during substrate-gleaning and aerial-hawking attacks. Bats gleaned moths from both the ground and a bark-covered trellis, however, they were equally adept at capturing flying moths. The calls emitted by M. evotis during substrate-gleaning sequences were short, broadband, and frequency-modulated (FM). Three behavioural phases were identified: search, hover, and attack. Gleaning search calls were significantly longer in duration, lower in highest frequency, and larger in bandwidth than hover/attack calls. Calls were detected in only 68% of gleaning sequences, and when they were emitted, bats ceased calling 200 ms before attacking. Terminal feeding buzzes, the rapid increase in pulse repetition rate associated with an attempted prey capture, were never recorded during gleaning attacks. The echolocation calls uttered by M. evotis during aerial-hawking foraging sequences were also short duration, high frequency, FM calls. Two distinct acoustic phases were identified: approach and terminal. Approach calls were significantly different from terminal calls in all variables measured. Calls were detected in 100% of aerial-hawking attacks and terminal feeding buzzes were invariably produced. Gleaning hover/attack calls were spectrally similar to aerial approach calls, but were shorter in duration and emitted at a significantly lower (but constant) repetition rate than aerial signals. Although the foraging environment (flight cage contents) remained unchanged between tasks (substrate-gleaning vs. aerial-hawking), bats emitted significantly lower amplitude calls while gleaning. We conclude that M. evotis adjusts its echolocation behaviour to meet the perceptual demands (acoustical constraints) imposed by each foraging situations.Abbreviations BW bandwidth - CF constant frequency - dB SPL decibels sound pressure level - FM frequency modulated - HF highest frequency - LF lowest frequency - PF peak frequency Presented at the meeting Acoustic Images in Bat Sonar, a conference on FM echolocation honoring Donald R. Griffin's contributions to experimental biology (June 14–16, Brown University, Providence RI).     

BOOK REVIEW

Echolocation calls of four species of insectivorous bats of central Chile were recorded and characterized to determine vocal signatures that allow their identification in the field. Pulses of Tadarida brasiliensis were characterized by the highest duration and the lowest values for all frequencies, which do not overlap those of the remaining species. Tadarida emits narrowband, shallow frequency-modulated search calls. All three vespertilionid species studied (Histiotus montanus, Lasiurus varius and Myotis chiloensis) showed similar echolocation design to one another, consisting of a downward frequency modulation at the beginning of the signal followed by a narrowband quasi-constant frequency component; however, their calls differ by their spectral characteristics. Discriminant function analysis of six acoustic parameters (duration, initial frequency, slope frequency modulation, peak frequency, minimal and maximal frequencies) gave an overall classification of 87.4%, suggesting species could be correctly classified based on echolocation calls. Call duration and minimal frequency were the variables most important for species identification.     

Frequency tracking and Doppler shift compensation in response to an artificial CF/FM echolocation sound in the CF/FM bat,Noctilio albiventris

Summary Bats of the speciesNoctilio albiventris emit short-constant frequency/frequency modulated (short-CF/FM) pulses with a CF component frequency at about 75 kHz. Bats sitting on a stationary platform were trained to discriminate target distance by means of echolocation. Loud, free-running artificial pulses, simulating the bat's natural CF/FM echolocation sounds or with systematic modifications in the frequency of the sounds, were presented to the bats during the discrimination trials. When the CF component of the artificial CF/FM sound was between 72 and 77 kHz, the bats shifted the frequency of the CF component of their own echolocation sounds toward that of the artificial pulse, tracking the frequency of the artificial CF component.Bats flying within a large laboratory flight cage were also presented with artificial pulses. Bats in flight lower the frequency of their emitted pulses to compensate for Doppler shifts caused by their own flight speed and systematically shift the frequency of their emitted CF component so that the echo CF frequency returns close to that of the CF component of the artificial CF/FM pulse, over the frequency range where tracking occurs.Abbreviations CF constant frequency - FM frequency modulation     

Discrimination of wingbeat motion by bats,correlated with echolocation sound pattern

Summary Bats of the species Rhinolophus rouxi, Hipposideros lankadiva and Eptesicus fuscus were trained to discriminate between two simultaneously presented artificial insect wingbeat targets moving at different wingbeat rates. During the discrimination trials, R. rouxi, H. lankadiva and E. fuscus emitted long-CF/FM, short-CF/FM and FM echolocation sounds respectively. R. rouxi, H. lankadiva and E. fuscus were able to discriminate a difference in wingbeat rate of 2.7 Hz, 9.2 Hz and 15.8 Hz, respectively, between two simultaneously presented targets at an absolute wingbeat rate of 60 Hz, using a criterion of 75% correct responses.The performance of the different bat species is correlated with the echolocation signal design used by each species, particularly with the presence and relative duration of a narrowband component preceding a broadband FM component. These results provide behavioral evidence supporting the hypothesis that bats that use CF/FM echolocation sounds have adaptations for the perception of insect wingbeat motion and that long-CF/FM species are more specialized for this task than short-CF/FM species.Abbreviations CF constant frequency - FM frequency modulation     

The allometry of echolocation call frequencies of insectivorous bats: why do some species deviate from the pattern?

The peak echolocation frequency of insectivorous bats generally declines as body size increases. However, there are notable exceptions to this rule, with some species, such as Rhinolophus clivosus, having a higher than expected peak frequency for their body size. Such deviations from allometry may be associated with partitioning of foraging habitat (the foraging habitat hypothesis) or insect prey (the prey detection hypothesis). Alternatively, the deviations may be associated with the partitioning of sonar frequency bands to allow effective communication in a social context (the acoustic communication hypothesis). We tested the predictions of these hypotheses through comparisons at the family, clade and species level, using species of rhinolophids in general and R. clivosus, a species with a wide distribution, as a specific test case. We compared the wing parameters, echolocation frequency and ecology of R. clivosus to those of the sympatric R. capensis. Rhinolophus clivosus has a much higher echolocation frequency than predicted from its wing loading or body mass. Furthermore, contrary to the predictions of the foraging habitat hypothesis, we found no difference in foraging habitat between R. clivosus and R. capensis. The size range of insect prey taken by the two species also overlapped almost completely, contrary to the prey detection hypothesis. On the other hand, the variation of echolocation frequencies around the allometric relationship for rhinolophids was smaller than that for Myotis spp., supporting the prediction of the acoustic communication hypothesis. We thus propose that the relatively high peak frequency of R. clivosus is the result of partitioning of sonar frequency bands to minimize the ambiguity of echolocation calls during social interactions.     

Bat echolocation calls: adaptation and convergent evolution

Bat echolocation calls provide remarkable examples of 'good design' through evolution by natural selection. Theory developed from acoustics and sonar engineering permits a strong predictive basis for understanding echolocation performance. Call features, such as frequency, bandwidth, duration and pulse interval are all related to ecological niche. Recent technological breakthroughs have aided our understanding of adaptive aspects of call design in free-living bats. Stereo videogrammetry, laser scanning of habitat features and acoustic flight path tracking permit reconstruction of the flight paths of echolocating bats relative to obstacles and prey in nature. These methods show that echolocation calls are among the most intense airborne vocalizations produced by animals. Acoustic tracking has clarified how and why bats vary call structure in relation to flight speed. Bats using broadband echolocation calls adjust call design in a range-dependent manner so that nearby obstacles are localized accurately. Recent phylogenetic analyses based on gene sequences show that particular types of echolocation signals have evolved independently in several lineages of bats. Call design is often influenced more by perceptual challenges imposed by the environment than by phylogeny, and provides excellent examples of convergent evolution. Now that whole genome sequences of bats are imminent, understanding the functional genomics of echolocation will become a major challenge.     

Discrimination performance and echolocation signal integration requirements for target detection and distance determination in the CF/FM bat,Noctilio albiventris

Summary Bats of the speciesNoctilio albiventris were trained to detect the presence of a target or to discriminate differences in target distance by means of echolocation. During the discrimination trials, the bats emitted pairs of pulses at a rate of 7–10/s. The first was an 8 ms constant frequency (CF) signal at about 75 kHz. This was followed after about 28 ms by a short-constant frequency/ frequency modulated (short-CF/FM) signal composed of a 6 ms CF component at about 75 kHz terminating in a 2 ms FM component sweeping downward to about 57 kHz. There was no apparent difference in the pulse structure or emission pattern used for any of the tasks. The orientation sounds of bats flying in the laboratory and hunting prey under natural conditions follow the same general pattern but differ in interesting ways.The bats were able to discriminate a difference in target distance of 13 mm between two simultaneously presented targets and of 30 mm between single sequentially presented targets around an absolute distance of 35 cm, using a criterion of 75% correct responses.The bats were unable to detect the presence of the target or to discriminate distance in the presence of continuous white noise of 54 dB or higher SPL. Under conditions of continuous white noise, the bats increased their pulse repetition rate and the relative proportion of CF/FM pulses.The bats required a minimum of 1–2 successive CF/FM pulse-echo pairs for target detection and 2–3 to discriminate a 5 cm difference in distance. When the distance discrimination tasks were made more difficult by reducing the difference in distance between the two targets the bats needed to integrate information from a greater number of successive CF/FM pulse-echo pairs to make the discrimination.Abbreviations CF constant frequency - FM frequency modulation     

Harmonic and frequency structure used for echolocation sound pattern recognition and distance information processing in the rufous horseshoe bat

Summary The rufous horseshoe bat, Rhinolophus rouxi, was trained to discriminate differences in target distance. During the discrimination trials, the bats emitted complex FM/CF/FM pulses containing first harmonic and dominant second harmonic components.Loud free running artificial pulses, simulating the CF/FM part of the natural echolocation components, interfered with the ability of the bat to discriminate target distance. Changes in the frequency or frequency pattern of the artificial pulses resulted in systematic changes in the degree of interference. Interference occurred when artificial CF/FM pulses were presented at frequencies near those of the bat's own first or second harmonic components.These findings suggest that Rhinolophus rouxi uses both the first and second harmonic components of its complex multiharmonic echolocation sound for distance discrimination. For interference to occur, the sound pattern of each harmonic component must contain a CF signal followed by an FM sweep beginning near the frequency of the CF.Abbreviations CF constant frequency - FM frequency modulated     

回声定位蝙蝠及其声通讯

综述了回声定位蝙蝠种类及其发声方式,回声定位信号的主要类型及回声定位信号声学特征,多普勒频移对长CF／FM蝙蝠的主要作用,简介了蝙蝠求偶和母婴识别等内声通讯行为,提出了一些尚待解决的重要问题。     

Echolocation by the long-eared bat,Plecotus phyllotis

Summary The echolocating bat,Plecotus phyllotis (Vespertilionidae), uses long-CF/FM and FM sonar sounds in different situations. The CF component in long-CF/FM sounds occurs at 27 kHz and has a duration of 20 to 200 ms. The FM component sweeps down from 24 to 12 kHz, with a prominent second harmonic from 40 to 22 kHz. This second harmonic sweep is interrupted at 28 to 25 kHz, providing a notch in the spectrum of the FM component at the CF frequency. This notch probably permits isolation of CF and FM components in echoes for separate processing, thus avoiding mutual interference with the different kinds of target information the two components convey. The FM component is also used without the CF component as a sonar sound. Two other FM orientation sounds are used when the bat is in a confined space such as a room. One contains only the second and fourth harmonics of the 24 to 12 kHz fundamental sweep, while the other contains only the fifth harmonic. This bat's repertoire of sonar sounds closely matches the hearing capacities of the genus.We thank P.H. Dolkart and W.A. Lavender, of Washington University, and the Nevada State Parks Department for their assistance. This research was supported by Grant # BMS-72-02351-A01 from the National Science Foundation.     

‘Compromise’ in Echolocation Calls between Different Colonies of the Intermediate Leaf-Nosed Bat (Hipposideros larvatus)

Each animal population has its own acoustic signature which facilitates identification, communication and reproduction. The sonar signals of bats can convey social information, such as species identity and contextual information. The goal of this study was to determine whether bats adjust their echolocation call structures to mutually recognize and communicate when they encounter the bats from different colonies. We used the intermediate leaf-nosed bats (Hipposideros larvatus) as a case study to investigate the variations of echolocation calls when bats from one colony were introduced singly into the home cage of a new colony or two bats from different colonies were cohabitated together for one month. Our experiments showed that the single bat individual altered its peak frequency of echolocation calls to approach the call of new colony members and two bats from different colonies adjusted their call frequencies toward each other to a similar frequency after being chronically cohabitated. These results indicate that the ‘compromise’ in echolocation calls might be used to ensure effective mutual communication among bats.     

Click-based echolocation in bats: not so primitive after all

Echolocating bats of the genus Rousettus produce click sonar signals, using their tongue (lingual echolocation). These signals are often considered rudimentary and are believed to enable only crude performance. However, the main argument supporting this belief, namely the click’s reported long duration, was recently shown to be an artifact. In fact, the sonar clicks of Rousettus bats are extremely short, ~50–100 μs, similar to dolphin vocalizations. Here, we present a comparison between the sonar systems of the ‘model species’ of laryngeal echolocation, the big brown bat (Eptesicus fuscus), and that of lingual echolocation, the Egyptian fruit bat (Rousettus aegyptiacus). We show experimentally that in tasks, such as accurate landing or detection of medium-sized objects, click-based echolocation enables performance similar to laryngeal echolocators. Further, we describe a sophisticated behavioral strategy for biosonar beam steering in clicking bats. Finally, theoretical analyses of the signal design—focusing on their autocorrelations and wideband ambiguity functions—predict that in some aspects, such as target ranging and Doppler-tolerance, click-based echolocation might outperform laryngeal echolocation. Therefore, we suggest that click-based echolocation in bats should be regarded as a viable echolocation strategy, which is in fact similar to the biosonar used by most echolocating animals, including whales and dolphins.     

The role of prey-generated sounds,vision, and echolocation in prey localization by the African batCardioderma cor (Megadermatidae)

Summary Cardioderma cor responded with head movements and flight toward speakers broadcasting calls of frogs and crickets which contained only sonic frequencies. Unlike the frog-eating bat,Trachops cirrhosus, they did not make contact with the speakers. Prey movements that generated sonic and ultrasonic sounds were both sufficient and necessary for the bats to localize and capture prey. Prey dragged across a glass sheet with a thin layer of water did not generate sounds and bats did not attempt to capture these prey, even with the availability of visual and echolocation cues. There was no evidence for the use of visual cues while hunting; bats did not localize prey more readily in light than darkness. Prey were presented such that their movements initially generated sounds, but then the prey moved onto the water layer of the glass sheet and sounds were eliminated. The bats emitted echolocation signals while hunting in this situation; however, the information from these signals was not utilized. The bats landed at the site that prey last made sound. These results demonstrate the importance of passive hearing for prey localization in this bat, and further suggest that when preygenerated sounds and echolocation signals offer conflicting information the bat's behavior is guided by the former.     

Molecular diet analysis finds an insectivorous desert bat community dominated by resource sharing despite diverse echolocation and foraging strategies

Interspecific differences in traits can alter the relative niche use of species within the same environment. Bats provide an excellent model to study niche use because they use a wide variety of behavioral, acoustic, and morphological traits that may lead to multi‐species, functional groups. Predatory bats have been classified by their foraging location (edge, clutter, open space), ability to use aerial hawking or substrate gleaning and echolocation call design and flexibility, all of which may dictate their prey use. For example, high frequency, broadband calls do not travel far but offer high object resolution while high intensity, low frequency calls travel further but provide lower resolution. Because these behaviors can be flexible, four behavioral categories have been proposed: (a) gleaning, (b) behaviorally flexible (gleaning and hawking), (c) clutter‐tolerant hawking, and (d) open space hawking. Many recent studies of diet in bats use molecular tools to identify prey but mainly focus on one or two species in isolation; few studies provide evidence for substantial differences in prey use despite the many behavioral, acoustic, and morphological differences. Here, we analyze the diet of 17 sympatric species in the Chihuahuan desert and test the hypothesis that peak echolocation frequency and behavioral categories are linked to differences in diet. We find no significant correlation between dietary richness and echolocation peak frequency though it spanned close to 100 kHz across species. Our data, however, suggest that bats which use both gleaning and hawking strategies have the broadest diets and are most differentiated from clutter‐tolerant aerial hawking species.     

The role of echolocation in the hunting of terrestrial prey – new evidence for an underestimated strategy in the gleaning bat, Megaderma lyra

The observation that gleaning bats detect prey by its noises, together with difficulties in recording their faint sonar calls, have led some authors to conclude that gleaning bats may not use echolocation in certain hunting situations. In particular, it is conjectured that echolocation plays no role in the classification and tracking of prey. In the present study, we show that the gleaning bat, Megaderma lyra, is able to find silent and motionless prey on the ground. The significance of sonar for catching a variety of terrestrial prey is established in a standardized situation. Sonar calls were found to be emitted during all stages, i.e. approach, hovering above the prey, and return to the roost, of every hunting flight. The harmonic pattern of the calls differed significantly between these stages, calls with three or more prominent components prevailing during hovering. Bats identified prey and rejected dummies while hovering above them. During this stage, increased call rates and reduced call durations were found. Echolocation activity during, and the duration of, the hovering phase depended on prey type, in particular on prey movement. The prey-dependent shifts in sonar activity, the broadband call structure with an emphasis on higher harmonics, and a systematic shift of the calls' peak frequencies during hovering, are discussed as adaptations to identifying prey by sonar.     

A gating mechanism for sound pattern recognition is correlated with the temporal structure of echolocation sounds in the rufous horseshoe bat

Summary The rufous horseshoe bat, Rhinolophus rouxi, was trained to discriminate differences in target distance. Loud free running artificial pulses, simulating the bat's natural long-CF/FM echolocation sounds, interfered with the ability of the bat to discriminate target distance. Interference occurred when the duration of the CF component of the CF/FM artificial pulse was between 2 and 70 ms. A brief (2.0 ms) CF signal 2–68 ms before an isolated FM signal was as effective as a continuous CF component of the same duration. When coupled with the bat's own emissions, a 2 ms FM sweep alone was effective in interfering when it came 42 to 69 ms after the onset of the bat's pulse. The coupled FM artificial pulses did not interfere when they began during the bat's own emissions.It appears that the onset of the CF component activates a gating mechanism that establishes a time window during which FM component signals must occur for proper neural processing. A comparison with a similar gating mechanism in Noctillo albiventris, which emits short-CF/FM echolocation sounds, reveals that the temporal parameters of the time window of the gating mechanism are species specific and specified by the temporal structure of the echolocation sound pattern of each species.Abbreviations FM frequency modulated - CF constant frequency     

Plasticity in echolocation calls of <Emphasis Type="Italic">Myotis macrodactylus</Emphasis> (Chiroptera: Vespertilionidae): implications for acoustic identification

Poor knowledge of the intraspecific variability in echolocation calls is recognized as an important limiting factor for the accurate acoustic identification of bats. We studied the echolocation behaviors of an ecologically poorly known bat species, Myotis macrodactylus, while they were commuting in three types of habitats differing significantly in the amount of background clutter, as well as searching for prey above the water surface in a river. Results showed that M. macrodactylus altered their echolocation call structure in the same way during commuting as foraging bats do in relation to the changing level of clutter. With increasing level of clutter, M. macrodactylus generally produced echolocation calls with higher start, end, and peak frequencies; wider bandwidth; and shorter pulse duration. Compared to commuting, bats emitted significantly lower frequency calls with narrower bandwidth while searching for prey. Discriminant function analysis indicated that 79.8% of the calls from the three commuting habitats were correctly grouped, and 87% of the calls were correctly classified to the commuting and foraging contexts. Our finding has implications for those who would identify species by their calls.