The antennal sensory array of the nocturnal bull ant Myrmecia pyriformis

Insects use antennal sensilla to not only detect chemical and mechanical cues but also to sense changes in temperature, humidity and CO(2) levels. Very little is known about the variation in numbers, size and structure of sensilla in ants. Here we describe in detail the array of sensilla on the apical segment of the antennae of the nocturnal Australian bull ant Myrmecia pyriformis. Using scanning electron microscopy techniques we identified eight types of sensilla: trichodea curvata, basiconica, trichodea, coelocapitular, chaetica, trichoid II, ampullacea and coeloconica. Mapping the spatial location of each sensillum revealed distinct distribution patterns for different types of sensilla which were consistent across different individuals. We found, in most cases, the number of sensilla increases with the size of the apical antennomere, which in turn increases with body size. Conversely, the size of sensilla did not appreciably increase with the size of the apical antennomere. We discuss the size, numbers and distribution of sensilla of M. pyriformis compared to other ant species. Lastly, given the inconsistent use of sensillum nomenclature and difficulties associated in reliable identification we have attempted to consolidate the ant sensilla literature to make possible interspecific comparisons.

Looking and homing: how displaced ants decide where to go

We caught solitary foragers of the Australian Jack Jumper ant, Myrmecia croslandi, and released them in three compass directions at distances of 10 and 15 m from the nest at locations they have never been before. We recorded the head orientation and the movements of ants within a radius of 20 cm from the release point and, in some cases, tracked their subsequent paths with a differential GPS. We find that upon surfacing from their transport vials onto a release platform, most ants move into the home direction after looking around briefly. The ants use a systematic scanning procedure, consisting of saccadic head and body rotations that sweep gaze across the scene with an average angular velocity of 90° s(-1) and intermittent changes in turning direction. By mapping the ants' gaze directions onto the local panorama, we find that neither the ants' gaze nor their decisions to change turning direction are clearly associated with salient or significant features in the scene. Instead, the ants look most frequently in the home direction and start walking fast when doing so. Displaced ants can thus identify home direction with little translation, but exclusively through rotational scanning. We discuss the navigational information content of the ants' habitat and how the insects' behaviour informs us about how they may acquire and retrieve that information.

Mapping the navigational knowledge of individually foraging ants, Myrmecia croslandi

Ants are efficient navigators, guided by path integration and visual landmarks. Path integration is the primary strategy in landmark-poor habitats, but landmarks are readily used when available. The landmark panorama provides reliable information about heading direction, routes and specific location. Visual memories for guidance are often acquired along routes or near to significant places. Over what area can such locally acquired memories provide information for reaching a place? This question is unusually approachable in the solitary foraging Australian jack jumper ant, since individual foragers typically travel to one or two nest-specific foraging trees. We find that within 10 m from the nest, ants both with and without home vector information available from path integration return directly to the nest from all compass directions, after briefly scanning the panorama. By reconstructing panoramic views within the successful homing range, we show that in the open woodland habitat of these ants, snapshot memories acquired close to the nest provide sufficient navigational information to determine nest-directed heading direction over a surprisingly large area, including areas that animals may have not visited previously.

Foraging ecology of the night-active bull ant Myrmecia pyriformis

Here we report on the nocturnal bull ant Myrmecia pyriformis, a species whose activity to and from the nest is mainly restricted to the dawn and dusk twilight respectively. Recent research on M. pyriformis has focussed on its visual system, the timing of activity patterns, and the navigational strategies employed by individuals while foraging. There is, however, a lack of basic ecological information about this species. The present study describes the behaviour and foraging ecology of wild populations of M. pyriformis. We find that most foragers make only one foraging journey per night, leaving the nest at dusk twilight and returning during dawn twilight. Individuals who make multiple trips typically return with prey. We provide evidence that foragers imbibe liquid food while abroad and likely share these resources via trophallaxis once within the nest. Activity during the night varies with moon illumination, and we postulate that this is due to changes in light levels, which influence navigation to and from the nest. This hypothesis is supported by observations of activity during overcast conditions. Finally, we also describe some aspects of colony founding, colony demise and the behaviour of reproductive individuals during the mating season.

Feed-forward and visual feedback control of head roll orientation in wasps (Polistes humilis, Vespidae, Hymenoptera)

Flying insects keep their visual system horizontally aligned, suggesting that gaze stabilization is a crucial first step in flight control. Unlike flies, hymenopteran insects such as bees and wasps do not have halteres that provide fast, feed-forward angular rate information to stabilize head orientation in the presence of body rotations. We tested whether hymenopteran insects use inertial (mechanosensory) information to control head orientation from other sources, such as the wings, by applying periodic roll perturbations to male Polistes humilis wasps flying in tether under different visual conditions indoors and in natural outdoor conditions. We oscillated the thorax of the insects with frequency-modulated sinusoids (chirps) with frequencies increasing from 0.2 to 2 Hz at a maximal amplitude of 50 deg peak-to-peak and maximal angular velocity of ±245 deg s(-1). We found that head roll stabilization is best outdoors, but completely absent in uniform visual conditions and in darkness. Step responses confirm that compensatory head roll movements are purely visually driven. Modelling step responses indicates that head roll stabilization is achieved by merging information on head angular velocity, presumably provided by motion-sensitive neurons and information on head orientation, presumably provided by light level integration across the compound eyes and/or ocelli (dorsal light response). Body roll in free flight reaches amplitudes of ±40 deg and angular velocities greater than 1000 deg s(-1), while head orientation remains horizontal for most of the time to within ±10 deg. In free flight, we did not find a delay between spontaneous body roll and compensatory head movements, and suggest that this is evidence for the contribution of a feed-forward control to head stabilization.

Different effects of temperature on foraging activity schedules in sympatric Myrmecia ants

Animals avoid temperatures that constrain foraging by restricting activity to specific times of the day or year. However, because temperature alters the availability of food resources, it is difficult to separate temperature-dependent effects on foraging and the occupation of temporal niches. By studying two congeneric, sympatric Myrmecia ants we isolated the effect of temperature and investigated whether temperature affects foraging schedules and causes the two ants to be active at distinct times of the day or year. We monitored foraging activity and identified the ants' temperature tolerance in the laboratory by determining (1) critical thermal minima and maxima (CT(min) and CT(max)) and (2) the relationship between walking speed and temperature. Ants of Myrmecia croslandi were diurnal throughout the year, but ceased above-ground activity during winter. Surface temperature at the onset of foraging was 9.8-30.1°C, while their laboratory CT(min) and CT(max) were 10.4 and 48.5°C, respectively. Time of foraging onset was significantly influenced by surface temperature at time of sunrise and of onset. Ants of Myrmecia pyriformis were nocturnal throughout the year. Surface temperature at the onset of foraging was 5.4-26.2°C, while their laboratory CT(min) and CT(max) were 8.2 and 41.6°C, respectively. Time of foraging onset was not influenced by surface temperature, but solely by sunset time. We conclude that temperature determines the timing of foraging as well as the daily and seasonal foraging activity in M. croslandi, but has less obvious effects on M. pyriformis. In both species, CT(max) was greater than temperatures at the natural foraging times.

The organization of honeybee ocelli: Regional specializations and rhabdom arrangements

We have re-investigated the organization of ocelli in honeybee workers and drones. Ocellar lenses are divided into a dorsal and a ventral part by a cusp-shaped indentation. The retina is also divided, with a ventral retina looking skywards and a dorsal retina looking at the horizon. The focal plane of lenses lies behind the retina in lateral ocelli, but within the dorsal retina in the median ocellus of both workers and drones. Ventral retinula cells are ca. 25μm long with dense screening pigments. Dorsal retinula cells are ca. 60μm long with sparse pigmentation mainly restricted to their proximal parts. Pairs of retinula cells form flat, non-twisting rhabdom sheets with elongated, straight, rectangular cross-sections, on average 8.7μm long and 1μm wide. Honeybee ocellar rhabdoms have shorter and straighter cross-sections than those recently described in the night-active bee Megalopta genalis. Across the retina, rhabdoms form a fan-shaped pattern of orientations. In each ocellus, ventral and dorsal retinula cell axons project into two separate neuropils, converging on few large neurons in the dorsal, and on many small neurons in the ventral neuropil. The divided nature of the ocelli, together with the particular construction and arrangement of rhabdoms, suggest that ocelli are not only involved in attitude control, but might also provide skylight polarization compass information.

Natural visual cues eliciting predator avoidance in fiddler crabs

To efficiently provide an animal with relevant information, the design of its visual system should reflect the distribution of natural signals and the animal's tasks. In many behavioural contexts, however, we know comparatively little about the moment-to-moment information-processing challenges animals face in their daily lives. In predator avoidance, for instance, we lack an accurate description of the natural signal stream and its value for risk assessment throughout the prey's defensive behaviour. We characterized the visual signals generated by real, potentially predatory events by video-recording bird approaches towards an Uca vomeris colony. Using four synchronized cameras allowed us to simultaneously monitor predator avoidance responses of crabs. We reconstructed the signals generated by dangerous and non-dangerous flying animals, identified the cues that triggered escape responses and compared them with those triggering responses to dummy predators. Fiddler crabs responded to a combination of multiple visual cues (including retinal speed, elevation and visual flicker) that reflect the visual signatures of distinct bird and insect behaviours. This allowed crabs to discriminate between dangerous and non-dangerous events. The results demonstrate the importance of measuring natural sensory signatures of biologically relevant events in order to understand biological information processing and its effects on behavioural organization.

The properties of the visual system in the Australian desert ant Melophorus bagoti

The Australian desert ant Melophorus bagoti shows remarkable visual navigational skills relying on visual rather than on chemical cues during their foraging trips. M. bagoti ants travel individually through a visually cluttered environment guided by landmarks as well as by path integration. An examination of their visual system is hence of special interest and we address this here. Workers exhibit distinct size polymorphism and their eye and ocelli size increases with head size. The ants possess typical apposition eyes with about 420-590 ommatidia per eye, a horizontal visual field of approximately 150° and facet lens diameters between 8 and 19 μm, depending on body size, with frontal facets being largest. The average interommatidial angle Δϕ is 3.7°, the average acceptance angle of the rhabdom Δρ(rh) is 2.9°, with average rhabdom diameter of 1.6 μm and the average lens blur at half-width Δρ(l) is 2.3°. With a Δρ(rh)/Δϕ ratio of much less than 2, the eyes undersample the visual scene but provide high contrast, and surprising detail of the landmark panorama that has been shown to be used for navigation.

Polarised skylight and the landmark panorama provide night-active bull ants with compass information during route following

Navigating animals are known to use a number of celestial and terrestrial compass cues that allow them to determine and control their direction of travel. Which of the cues dominate appears to depend on their salience. Here we show that night-active bull ants attend to both the pattern of polarised skylight and the landmark panorama in their familiar habitat. When the two directional cues are in conflict, ants choose a compromise direction. However, landmark guidance appears to be the primary mechanism of navigation used by forager ants, with those cues in the direction of heading having the greatest influence on navigation. Different colonies respond to the removal of these cues to different degrees, depending on the directional information provided by the local landmark panorama. Interestingly, other parts of the surrounding panorama also influence foraging speed and accuracy, suggesting that they too play a role in navigation.

Caste-specific visual adaptations to distinct daily activity schedules in Australian Myrmecia ants

Animals are active at different times of the day and their activity schedules are shaped by competition, time-limited food resources and predators. Different temporal niches provide different light conditions, which affect the quality of visual information available to animals, in particular for navigation. We analysed caste-specific differences in compound eyes and ocelli in four congeneric sympatric species of Myrmecia ants, with emphasis on within-species adaptive flexibility and daily activity rhythms. Each caste has its own lifestyle: workers are exclusively pedestrian; alate females lead a brief life on the wing before becoming pedestrian; alate males lead a life exclusively on the wing. While workers of the four species range from diurnal, diurnal-crepuscular, crepuscular-nocturnal to nocturnal, the activity times of conspecific alates do not match in all cases. Even within a single species, we found eye area, facet numbers, facet sizes, rhabdom diameters and ocelli size to be tuned to the distinct temporal niche each caste occupies. We discuss these visual adaptations in relation to ambient light levels, visual tasks and mode of locomotion.

Variability of a dynamic visual signal: the fiddler crab claw-waving display

Fiddler crabs use elaborate, species-specific claw-waving displays to communicate with rivals and mates. However, detailed comparative studies of fiddler crab signal structure and structural variations are lacking. This paper provides an analysis of the claw-waving displays of seven Australian species of fiddler crab, Uca mjoebergi, U. perplexa, U. polita, U. seismella, U. signata, U. elegans and U. vomeris. We used digital video to record and analyse the fine-scale spatiotemporal properties of these movement-based visual signals. We found that the structure and timing of the displays is species-specific, exhibiting inter-specific differences that follow phylogenetic relationships. The displays showed intra-specific variation according to individual identity, geographic location and fine-scale behavioural context. The observed differences and variations are discussed in the light of the evolutionary forces that may shape their design.

Rugged, obstruction-free, mirror-lens combination for panoramic imaging

We present a new combination of lenses and reflective surfaces for obstruction-free wide-angle imaging. The panoramic imaging system consists of a reflective surface machined into solid Perspex, which together with an embedded lens, can be attached to a video camera lens. Unlike vision sensors with a single mirror mounted in front of a camera, the view in the forward direction (i.e., the direction of the optical axis) is not obstructed. Light rays contributing to the central region of the image are refracted at a centrally positioned lens and at the Perspex enclosure. For the outer image region, rays are reflected at a mirror surface of constant angular gain machined into the Perspex and coated with silver. The design produces a field of view of approximately 260 degrees with only a small separation of viewpoints. The shape of the enclosing Perspex is specifically designed in order to minimize internal reflections.

The information content of panoramic images II: view-based navigation in nonrectangular experimental arenas

Two recent studies testing navigation of rats in swimming pools have posed problems for any account of the use of purely geometric properties of space in navigation (M. Graham, M. A. Good, A. McGregor, & J. M. Pearce, 2006; J. M. Pearce, M. A. Good, P. M. Jones, & A. McGregor, 2004). The authors simulated 1 experiment from each study in a virtual reality environment to test whether experimental results could be explained by view-based navigation. The authors recorded a reference image at the target location and then determined global panoramic image differences between this image and images taken at regularly spaced locations throughout the arena. A formal model, in which an agent attempts to minimize image differences between the reference image and current views, generated trajectories that could be compared with the search performance of rats. For both experiments, this model mimics many aspects of rat behavior. View-based navigation provides a sufficient and parsimonious explanation for a range of navigational behaviors of rats under these experimental conditions.

Signaling against the Wind: Modifying Motion-Signal Structure in Response to Increased Noise

Animal signals are optimized for particular signaling environments [1-3]. While signaling, senders often choose favorable conditions that ensure reliable detection and transmission [4-8], suggesting that they are sensitive to changes in signal efficacy. Recent evidence has also shown that animals will increase the amplitude or intensity of their acoustic signals at times of increased environmental noise [9-11]. The nature of these adjustments provides important insights into sensory processing. However, only a single piece of correlative evidence for signals defined by movement suggests that visual-signal design depends on ambient motion noise [12]. Here we show experimentally for the first time that animals communicating with movement will adjust their displays when environmental motion noise increases. Surprisingly, under sustained wind conditions, the Australian lizard Amphibolurus muricatus changed the structure and increased the duration of its introductory tail flicking, rather than increasing signaling speed. The way these lizards restructure the alerting component of their movement-based aggressive display in the presence of increased motion noise highlights the challenge we face in understanding motion-detection mechanisms under natural operating conditions.

Depth, contrast and view-based homing in outdoor scenes

Panoramic image differences can be used for view-based homing under natural outdoor conditions, because they increase smoothly with distance from a reference location (Zeil et al., J Opt Soc Am A 20(3):450-469, 2003). The particular shape, slope and depth of such image difference functions (IDFs) recorded at any one place, however, depend on a number of factors that so far have only been qualitatively identified. Here we show how the shape of difference functions depends on the depth structure and the contrast of natural scenes, by quantifying the depth- distribution of different outdoor scenes and by comparing it to the difference functions calculated with differently processed panoramic images, which were recorded at the same locations. We find (1) that IDFs and catchment areas become systematically wider as the average distance of objects increases, (2) that simple image processing operations -- like subtracting the local mean, difference-of-Gaussian filtering and local contrast normalization -- make difference functions robust against changes in illumination and the spurious effects of shadows, and (3) by comparing depth-dependent translational and depth-independent rotational difference functions, we show that IDFs of contrast-normalized snapshots are predominantly determined by the depth-structure and possibly also by occluding contours in a scene. We propose a model for the shape of IDFs as a tool for quantitative comparisons between the shapes of these functions in different scenes.

The variable colours of the fiddler crab Uca vomeris and their relation to background and predation

Colour changes in fiddler crabs have long been noted, but a functional interpretation is still lacking. Here we report that neighbouring populations of Uca vomeris in Australia exhibit different degrees of carapace colours, which range from dull mottled to brilliant blue and white. We determined the spectral characteristics of the mud substratum and of the carapace colours of U. vomeris and found that the mottled colours of crabs are cryptic against this background, while display colours provide strong colour contrast for both birds and crabs, but luminance contrast only for a crab visual system. We tested whether crab populations may become cryptic under the influence of bird predation by counting birds overflying or feeding on differently coloured colonies. Colonies with cryptically coloured crabs indeed experience a much higher level of bird presence, compared to colourful colonies. We show in addition that colourful crab individuals subjected to dummy bird predation do change their body colouration over a matter of days. The crabs thus appear to modify their social signalling system depending on their assessment of predation risk.

Visually mediated species and neighbour recognition in fiddler crabs (Uca mjoebergi and Uca capricornis)

Mating signals are often directed at numerous senses and provide information about species identity, gender, receptiveness, individual identity and mate quality. Given the diversity of colourful body patterns in invertebrates, surprisingly few studies have examined the role of these visual signals in mate recognition. Here, we demonstrate the use of claw coloration as a species recognition signal in a fiddler crab (Uca mjoebergi). Furthermore, we show that distinct carapace colour patterns in Uca capricornis enable males to discriminate between their female neighbours and unfamiliar females. This is the first empirical evidence of the social importance of colour markings in fiddler crabs and the first example of visually mediated species and neighbour recognition in invertebrates other than insects.