Automatic gain control in the echolocation system of dolphins

Auditory evoked potentials in a bottlenose dolphin during moderate-range echolocation tasks

Studies with echolocating odontocetes have suggested that forms of automatic gain control mediate auditory electrophysiological responses to target-related echoes. This study used a phantom echo generator and auditory evoked potential measurements to examine automatic gain control in a bottlenose dolphin. Auditory evoked potentials to outgoing clicks and incoming echoes were recorded for simulated ranges from 2.5 to 80 m. When geometric spreading loss was simulated, echo-evoked potential amplitudes were essentially constant up to 14 m and progressively decreased with increasing range. When the echo levels were held constant relative to clicks, echo-evoked potential amplitudes increased with increasing range up to 80 m. These results suggest that automatic gain control maintains distance-independent echo-evoked potential amplitudes at close range, but does not fully compensate for attenuation due to spreading loss at longer ranges. The automatic gain control process appears to arise from an interaction of transmitter and receiver based processes, resulting in a short-range region of distance-independent echo-evoked potential amplitudes for relevant targets, and a longer-range region in which echo-evoked potential amplitudes are reduced.

Using the auditory steady-state response to assess temporal dynamics of hearing sensitivity during bottlenose dolphin echolocation

The auditory steady-state response (ASSR) to an external tone was measured in an echolocating dolphin to determine if hearing sensitivity changes could be tracked over time scales corresponding to single click-echo pairs. Individual epochs containing click-echo pairs were first extracted from the instantaneous electroencephalogram. Epochs were coherently averaged using the external tone modulation rate as a timing reference, then Fourier transformed using a sliding, 10-ms temporal window to obtain the ASSR amplitude as a function of time. The results revealed a decrease in the ASSR amplitude at the time of click emission, followed by a 25-70 ms recovery.

Functional Convergence in Bat and Toothed Whale Biosonars

Echolocating bats and toothed whales hunt and navigate by emission of sound pulses and analysis of returning echoes to form a self-generated auditory scene. Here, we demonstrate a striking functional convergence in the way these two groups of mammals independently evolved the capability to sense with sound in air and water.

Ultrasonic predator-prey interactions in water-convergent evolution with insects and bats in air?

Toothed whales and bats have independently evolved biosonar systems to navigate and locate and catch prey. Such active sensing allows them to operate in darkness, but with the potential cost of warning prey by the emission of intense ultrasonic signals. At least six orders of nocturnal insects have independently evolved ears sensitive to ultrasound and exhibit evasive maneuvers when exposed to bat calls. Among aquatic prey on the other hand, the ability to detect and avoid ultrasound emitting predators seems to be limited to only one subfamily of Clupeidae: the Alosinae (shad and menhaden). These differences are likely rooted in the different physical properties of air and water where cuticular mechanoreceptors have been adapted to serve as ultrasound sensitive ears, whereas ultrasound detection in water have called for sensory cells mechanically connected to highly specialized gas volumes that can oscillate at high frequencies. In addition, there are most likely differences in the risk of predation between insects and fish from echolocating predators. The selection pressure among insects for evolving ultrasound sensitive ears is high, because essentially all nocturnal predation on flying insects stems from echolocating bats. In the interaction between toothed whales and their prey the selection pressure seems weaker, because toothed whales are by no means the only marine predators placing a selection pressure on their prey to evolve specific means to detect and avoid them. Toothed whales can generate extremely intense sound pressure levels, and it has been suggested that they may use these to debilitate prey. Recent experiments, however, show that neither fish with swim bladders, nor squid are debilitated by such signals. This strongly suggests that the production of high amplitude ultrasonic clicks serve the function of improving the detection range of the toothed whale biosonar system rather than debilitation of prey.

Acoustic gaze adjustments during active target selection in echolocating porpoises

Visually dominant animals use gaze adjustments to organize perceptual inputs for cognitive processing. Thereby they manage the massive sensory load from complex and noisy scenes. Echolocation, as an active sensory system, may provide more opportunities to control such information flow by adjusting the properties of the sound source. However, most studies of toothed whale echolocation have involved stationed animals in static auditory scenes for which dynamic information control is unnecessary. To mimic conditions in the wild, we designed an experiment with captive, free-swimming harbor porpoises tasked with discriminating between two hydrophone-equipped targets and closing in on the selected target; this allowed us to gain insight into how porpoises adjust their acoustic gaze in a multi-target dynamic scene. By means of synchronized cameras, an acoustic tag and on-target hydrophone recordings we demonstrate that porpoises employ both beam direction control and range-dependent changes in output levels and pulse intervals to accommodate their changing spatial relationship with objects of immediate interest. We further show that, when switching attention to another target, porpoises can set their depth of gaze accurately for the new target location. In combination, these observations imply that porpoises exert precise vocal-motor control that is tied to spatial perception akin to visual accommodation. Finally, we demonstrate that at short target ranges porpoises narrow their depth of gaze dramatically by adjusting their output so as to focus on a single target. This suggests that echolocating porpoises switch from a deliberative mode of sensorimotor operation to a reactive mode when they are close to a target.

Dolphin "packet" use during long-range echolocation tasks

When echolocating, dolphins typically emit a single broadband "click," then wait to receive the echo before emitting another click. However, previous studies have shown that during long-range echolocation tasks, they may instead emit a burst, or "packet," of several clicks, then wait for the packet of echoes to return before emitting another packet of clicks. The reasons for the use of packets are unknown. In this study, packet use was examined by having trained bottlenose dolphins perform long-range echolocation tasks. The tasks featured "phantom" echoes produced by capturing the dolphin's outgoing echolocation clicks, convolving the clicks with an impulse response to create an echo waveform, and then broadcasting the delayed, scaled echo to the dolphin. Dolphins were trained to report the presence of phantom echoes or a change in phantom echoes. Target range varied from 25 to 800 m. At ranges below 75 m, the dolphins rarely used packets. As the range increased beyond 75 m, two of the three dolphins increasingly produced packets, while the third dolphin instead utilized very high click repetition rates. The use of click packets appeared to be governed more by echo delay (target range) than echo amplitude.

Handedness helps homing in swimming and flying animals

Swimming and flying animals rely on their ability to home on mobile targets. In some fish, physiological handedness and homing correlate, and dolphins exhibit handedness in their listening response. Here, we explore theoretically whether the actuators, sensors, and controllers in these animals follow similar laws of self-regulation, and how handedness affects homing. We find that the acoustic sensor (combined hydrophone-accelerometer) response maps are similar to fin force maps—modeled by Stuart-Landau oscillators—allowing localization by transitional vortex-propelled animals. The planar trajectories of bats in a room filled with obstacles are approximately reproduced by the states of a pair of strong and weak olivo-cerebellar oscillators. The stereoscopy of handedness reduces ambiguity near a mobile target, resulting in accelerated homing compared to even-handedness. Our results demonstrate how vortex-propelled animals may be localizing each other and circumventing obstacles in changing environments. Handedness could be useful in time-critical robot-assisted rescues in hazardous environments.

New model for gain control of signal intensity to object distance in echolocating bats

Echolocating bats emit ultrasonic calls and listen for the returning echoes to orient and localize prey in darkness. The emitted source level, SL (estimated signal intensity 10 cm from the mouth), is adjusted dynamically from call to call in response to sensory feedback as bats approach objects. A logarithmic relationship of SL=20 log(10)(x), i.e. 6 dB output reduction per halving of distance, x, has been proposed as a model for the relationship between emitted intensity and object distance, not only for bats but also for echolocating toothed whales. This logarithmic model suggests that the approaching echolocator maintains a constant intensity impinging upon the object, but it also implies ever-increasing source levels with distance, a physical and biological impossibility. We developed a new model for intensity compensation with an exponential rise to the maximum source level: SL=SL(max)-ae(-)(bx). In addition to providing a method for estimating maximum output, the new model also offers a tool for estimating a minimum detection distance where intensity compensation starts. We tested the new exponential model against the 'conventional' logarithmic model on data from five bat species. The new model performed better in 77% of the trials and as good as the conventional model in the rest (23%). We found much steeper rates of compensation when fitting the model to individual rather than pooled data, with slopes often steeper than -20 dB per halving of distance. This emphasizes the importance of analyzing individual events. The results are discussed in light of habitat constraints and the interaction between bats and their eared prey.

A whale better adjusts the biosonar to ordered rather than to random changes in the echo parameters

A false killer whale's (Pseudorca crassidens) sonar clicks and auditory evoked potentials (AEPs) were recorded during echolocation with simulated echoes in two series of experiments. In the first, both the echo delay and transfer factor (which is the dB-ratio of the echo sound-pressure level to emitted pulse source level) were varied randomly from trial to trial until enough data were collected (random presentation). In the second, a combination of the echo delay and transfer factor was kept constant until enough data were collected (ordered presentation). The mean click level decreased with shortening the delay and increasing the transfer factor, more at the ordered presentation rather than at the random presentation. AEPs to the self-heard emitted clicks decreased with shortening the delay and increasing the echo level equally in both series. AEPs to echoes increased with increasing the echo level, little dependent on the echo delay at random presentations but much more dependent on delay with ordered presentations. So some adjustment of the whale's biosonar was possible without prior information about the echo parameters; however, the availability of prior information about echoes provided additional whale capabilities to adjust both the transmitting and receiving parts of the biosonar.

Shipping noise in whale habitat: characteristics, sources, budget, and impact on belugas in Saguenay-St. Lawrence Marine Park hub

A continuous car ferry line crossing the Saguenay Fjord mouth and traffic from the local whale-watching fleet introduce high levels of shipping noise in the heart of the Saguenay-St. Lawrence Marine Park. To characterize this noise and examine its potential impact on belugas, a 4-hydrophone array was deployed in the area and continuously recorded for five weeks in May-June 2009. The source levels of the different vessel types showed little dependence on vessel size or speed increase. Their spectral range covered 33 dB. Lowest noise levels occurred at night, when ferry crossing pace was reduced, and daytime noise peaked during whale-watching tour departures and arrivals. Natural ambient noise prevailed 9.4% of the time. Ferry traffic added 30-35 dB to ambient levels above 1 kHz during crossings, which contributed 8 to 14 dB to hourly averages. The whale-watching fleet added up to 5.6 dB during peak hours. Assuming no behavioral or auditory compensation, half of the time, beluga potential communication range was reduced to less than ~30% of its expected value under natural noise conditions, and to less than ~15% for one quarter of the time, with little dependence on call frequency. The echolocation band for this population of belugas was also affected by the shipping noise.

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.

Active control of acoustic field-of-view in a biosonar system

Active-sensing systems abound in nature, but little is known about systematic strategies that are used by these systems to scan the environment. Here, we addressed this question by studying echolocating bats, animals that have the ability to point their biosonar beam to a confined region of space. We trained Egyptian fruit bats to land on a target, under conditions of varying levels of environmental complexity, and measured their echolocation and flight behavior. The bats modulated the intensity of their biosonar emissions, and the spatial region they sampled, in a task-dependant manner. We report here that Egyptian fruit bats selectively change the emission intensity and the angle between the beam axes of sequentially emitted clicks, according to the distance to the target, and depending on the level of environmental complexity. In so doing, they effectively adjusted the spatial sector sampled by a pair of clicks-the "field-of-view." We suggest that the exact point within the beam that is directed towards an object (e.g., the beam's peak, maximal slope, etc.) is influenced by three competing task demands: detection, localization, and angular scanning-where the third factor is modulated by field-of-view. Our results suggest that lingual echolocation (based on tongue clicks) is in fact much more sophisticated than previously believed. They also reveal a new parameter under active control in animal sonar-the angle between consecutive beams. Our findings suggest that acoustic scanning of space by mammals is highly flexible and modulated much more selectively than previously recognized.

Interaction of emitted sonar pulses and simulated echoes in a false killer whale: an evoked-potential study

Auditory evoked potentials (AEP) were recorded during echolocation in a false killer whale Pseudorca crassidens. An electronically synthesized and played-back (simulated) echo was triggered by an emitted biosonar pulse, and its intensity was proportional to that of the emitted click. The delay and transfer factor of the echo relative to the emitted click was controlled by the operator. The echo delay varied from 2 to 16 ms (by two-fold steps), and the transfer factor varied within ranges from -45 to -30 dB at the 2-ms delay to -60 to -45 dB at the 16-ms delay. Echo-related AEPs featured amplitude dependence both on echo delay at a constant transfer factor (the longer the delay, the higher amplitude) and on echo transfer factor at a constant delay (the higher transfer factor, the higher amplitude). Conjunctional variation of the echo transfer factor and delay kept the AEP amplitude constant when the delay to transfer factor trade was from -7.1 to -8.4 dB per delay doubling. The results confirm the hypothesis that partial forward masking of the echoes by the preceding emitted sonar pulses serves as a time-varying automatic gain control in the auditory system of echolocating odontocetes.

Dolphin hearing during echolocation: evoked potential responses in an Atlantic bottlenose dolphin (Tursiops truncatus)

Auditory evoked potential (AEP) responses were recorded during echolocation in an Atlantic bottlenose dolphin (Tursiops truncatus) trained to accept suction-cup EEG electrodes and detect targets by echolocation. AEP recording was triggered by the echolocation clicks of the animal. Three targets with target strengths of –34, –28 and –22 dB were used at a target distance of 2 to 6.5 m for each target. The results demonstrated that the AEP appeared to both outgoing echolocation clicks and echoes during echolocation, with AEP complexes consisting of alternative positive and negative waves. The echo-related AEP amplitudes were obviously lower than the outgoing click-related AEP amplitudes for all the targets at the investigated target distances. However, for targets with target strengths of –22 and –28 dB, the peak-to-peak amplitudes of the echo-related AEPs were dependent on the target distances. The echo-related AEP response amplitudes increased at further target distances, demonstrating an overcompensation of echo attenuation with target distance in the echo-perception system of the dolphin biosonar. Measurement and analysis of outgoing click intensities showed that the click levels increased with target distance (R) by a factor of approximately 10 to 17.5 logR depending on target strength. The results demonstrated that a dual-component biosonar control system formed by intensity compensation behavior in both the transmission and receiving phases of a biosonar cycle exists synchronously in the dolphin biosonar system.

Directional escape behavior in allis shad (Alosa alosa) exposed to ultrasonic clicks mimicking an approaching toothed whale

Toothed whales emit high-powered ultrasonic clicks to echolocate a wide range of prey. It may be hypothesized that some of their prey species have evolved capabilities to detect and respond to such ultrasonic pulses in a way that reduces predation, akin to the situation for many nocturnal insects and echolocating bats. Using high-speed film recordings and controlled exposures, we obtained behavioural evidence that simulated toothed whale biosonar clicks elicit highly directional anti-predator responses in an ultrasound-sensitive allis shad (Alosa alosa). Ten shad were exposed to 192 dB re. 1 μPa (pp) clicks centred at 40 kHz at repetition rates of 1, 20, 50 and 250 clicks s(-1) with summed energy flux density levels of 148, 161, 165 and 172 dB re. 1 μPa(2) s. The exposures mimicked the acoustic exposure from a delphinid toothed whale in different phases of prey search and capture. The response times of allis shad were faster for higher repetition rates of clicks with the same sound pressure level. None of the fish responded to a single click, but had median response times of 182, 93 and 57 ms when exposed to click rates of 20, 50 and 250 clicks s(-1), respectively. This suggests that the ultrasound detector of allis shad is an energy detector and that shad respond faster when exposed to a nearby fast-clicking toothed whale than to a slow-clicking toothed whale far away. The findings are thus consistent with the hypothesis that shad ultrasound detection is used for reducing predation from echolocating toothed whales.

Density estimation of Yangtze finless porpoises using passive acoustic sensors and automated click train detection

A method is presented to estimate the density of finless porpoises using stationed passive acoustic monitoring. The number of click trains detected by stereo acoustic data loggers (A-tag) was converted to an estimate of the density of porpoises. First, an automated off-line filter was developed to detect a click train among noise, and the detection and false-alarm rates were calculated. Second, a density estimation model was proposed. The cue-production rate was measured by biologging experiments. The probability of detecting a cue and the area size were calculated from the source level, beam patterns, and a sound-propagation model. The effect of group size on the cue-detection rate was examined. Third, the proposed model was applied to estimate the density of finless porpoises at four locations from the Yangtze River to the inside of Poyang Lake. The estimated mean density of porpoises in a day decreased from the main stream to the lake. Long-term monitoring during 466 days from June 2007 to May 2009 showed variation in the density 0-4.79. However, the density was fewer than 1 porpoise/km(2) during 94% of the period. These results suggest a potential gap and seasonal migration of the population in the bottleneck of Poyang Lake.

Target distance-dependent variation of hearing sensitivity during echolocation in a false killer whale

Evidence of varying hearing sensitivity according to the target distance was obtained in a false killer whale Pseudorca crassidens during echolocation. Auditory evoked potentials (AEPs) triggered by echolocation clicks were recorded. The target distance varied from 1 to 6 m. The records contained AEPs to the self-heard emitted click and AEPs to the echoes. Mean level of echolocation clicks depended on distance (the longer the distance, the higher the click level), however, the effect of click level on AEP amplitude was eliminated by extracting AEPs to clicks of certain particular levels. The amplitude of the echo-provoked AEP was almost independent of distance, however, the amplitude of the AEP to the emitted click, did depend on distance within a range from 1 to 4 m: the longer the distance, the higher the amplitude. The latter result is interpreted as confirmational evidence that the animal is capable of varying hearing sensitivity according to target distance. The variation of hearing sensitivity may help to compensate for the echo attenuation with distance; as a secondary effect, this variation manifested itself in a variation of the amplitude of the AEP to emitted clicks.

Optimal localization by pointing off axis

Is centering a stimulus in the field of view an optimal strategy to localize and track it? We demonstrated, through experimental and computational studies, that the answer is no. We trained echolocating Egyptian fruit bats to localize a target in complete darkness, and we measured the directional aim of their sonar clicks. The bats did not center the sonar beam on the target, but instead pointed it off axis, accurately directing the maximum slope ("edge") of the beam onto the target. Information-theoretic calculations showed that using the maximum slope is optimal for localizing the target, at the cost of detection. We propose that the tradeoff between detection (optimized at stimulus peak) and localization (optimized at maximum slope) is fundamental to spatial localization and tracking accomplished through hearing, olfaction, and vision.

Depth dependent variation of the echolocation pulse rate of bottlenose dolphins (Tursiops truncatus)

Trained odontocetes appear to have good control over the timing (pulse rate) of their echolocation clicks; however, there is comparatively little information about how free-ranging odontocetes modify their echolocation in relation to their environment. This study investigates echolocation pulse rate in 14 groups of free-ranging bottlenose dolphins (Tursiops truncatus) at a variety of depths (2.4-30.1 m) in the Gulf of Mexico. Linear regression models indicated a significant decrease in mean pulse rate with mean water depth. Pulse rates for most groups were multi-modal. Distance to target estimates were as high as 91.8 m, assuming that echolocation was produced at a maximal rate for the target distance. A 5.29-ms processing lag time was necessary to explain the pulse rate modes observed. Although echolocation is likely reverberation limited, these results support the hypotheses that free-ranging bottlenose dolphins in this area are adapting their echolocation signals for a variety of target detection and ranging purposes, and that the target distance is a function of water depth.

Acoustic behaviour of echolocating porpoises during prey capture

Porpoise echolocation has been studied previously, mainly in target detection experiments using stationed animals and steel sphere targets, but little is known about the acoustic behaviour of free-swimming porpoises echolocating for prey. Here, we used small onboard sound and orientation recording tags to study the echolocation behaviour of free-swimming trained porpoises as they caught dead, freely drifting fish. We analysed porpoise echolocation behaviour leading up to and following prey capture events,including variability in echolocation in response to vision restriction, prey species, and individual porpoise tested. The porpoises produced echolocation clicks as they searched for the fish, followed by fast-repetition-rate clicks(echolocation buzzes) when acquiring prey. During buzzes, which usually began when porpoises were about 1–2 body lengths from prey, tag-recorded click levels decreased by about 10 dB, click rates increased to over 300 clicks per second, and variability in body orientation (roll) increased. Buzzes generally continued beyond the first contact with the fish, and often extended until or after the end of prey handling. This unexplained continuation of buzzes after prey capture raises questions about the function of buzzes, suggesting that in addition to providing detailed information on target location during the capture, they may serve additional purposes such as the relocation of potentially escaping prey. We conclude that porpoises display the same overall acoustic prey capture behaviour seen in larger toothed whales in the wild,albeit at a faster pace, clicking slowly during search and approach phases and buzzing during prey capture.

Localization and tracking of phonating finless porpoises using towed stereo acoustic data-loggers

Cetaceans produce sound signals frequently. Usually, acoustic localization of cetaceans was made by cable hydrophone arrays and multichannel recording systems. In this study, a simple and relatively inexpensive towed acoustic system consisting of two miniature stereo acoustic data-loggers is described for localization and tracking of finless porpoises in a mobile survey. Among 204 porpoises detected acoustically, 34 individuals (approximately 17%) were localized, and 4 of the 34 localized individuals were tracked. The accuracy of the localization is considered to be fairly high, as the upper bounds of relative distance errors were less than 41% within 173 m. With the location information, source levels of finless porpoise clicks were estimated to range from 180 to 209 dB re 1 microPa pp at 1 m with an average of 197 dB (N=34), which is over 20 dB higher than that estimated previously from animals in enclosed waters. For the four tracked porpoises, two-dimensional swimming trajectories relative to the moving survey boat, absolute swimming speed, and absolute heading direction are deduced by assuming the animal movements are straight and at constant speed in the segment between two consecutive locations.

Biosonar adjustments to target range of echolocating bottlenose dolphins(Tursiops sp.) in the wild

Toothed whales use echolocation to locate and track prey. Most knowledge of toothed whale echolocation stems from studies on trained animals, and little is known about how toothed whales regulate and use their biosonar systems in the wild. Recent research suggests that an automatic gain control mechanism in delphinid biosonars adjusts the biosonar output to the one-way transmission loss to the target, possibly a consequence of pneumatic restrictions in how fast the sound generator can be actuated and still maintain high outputs. This study examines the relationships between target range (R), click intervals,and source levels of wild bottlenose dolphins (Tursiops sp.) by recording regular (non-buzz) echolocation clicks with a linear hydrophone array. Dolphins clicked faster with decreasing distance to the array,reflecting a decreasing delay between the outgoing echolocation click and the returning array echo. However, for interclick intervals longer than 30–40 ms, source levels were not limited by the repetition rate. Thus,pneumatic constraints in the sound-production apparatus cannot account for source level adjustments to range as a possible automatic gain control mechanism for target ranges longer than a few body lengths of the dolphin. Source level estimates drop with reducing range between the echolocating dolphins and the target as a function of 17 log(R). This may indicate either(1) an active form of time-varying gain in the biosonar independent of click intervals or (2) a bias in array recordings towards a 20 log(R) relationship for apparent source levels introduced by a threshold on received click levels included in the analysis.

Forward-masking based gain control in odontocete biosonar: an evoked-potential study

Auditory evoked potentials (AEPs) were recorded during echolocation in a false killer whale Pseudorca crassidens. An electronically synthesized and played-back ("phantom") echo was used. Each electronic echo was triggered by an emitted biosonar pulse. The echo had a spectrum similar to that of the emitted biosonar clicks, and its intensity was proportional to that of the emitted click. The attenuation of the echo relative to the emitted click and its delay was controlled by the experimenter. Four combinations of echo attenuation and delay were tested (-31 dB, 2 ms), (-40 dB, 4 ms), (-49 dB, 8 ms), and (-58 dB, 16 ms); thus, attenuation and delay were associated with a rate of 9 dB of increased attenuation per delay doubling. AEPs related to emitted clicks displayed a regular amplitude dependence on the click level. Echo-related AEPs did not feature amplitude dependence on echo attenuation or emitted click levels, except in a few combinations of the lowest values of these two variables. The results are explained by a hypothesis that partial forward masking of the echoes by the preceding emitted sonar pulses serves as a kind of automatic gain control in the auditory system of echolocating odontocetes.

Comparison of stationary acoustic monitoring and visual observation of finless porpoises

The detection performance regarding stationary acoustic monitoring of Yangtze finless porpoises Neophocaena phocaenoides asiaeorientalis was compared to visual observations. Three stereo acoustic data loggers (A-tag) were placed at different locations near the confluence of Poyang Lake and the Yangtze River, China. The presence and number of porpoises were determined acoustically and visually during each 1-min time bin. On average, porpoises were acoustically detected 81.7+/-9.7% of the entire effective observation time, while the presence of animals was confirmed visually 12.7+/-11.0% of the entire time. Acoustic monitoring indicated areas of high and low porpoise densities that were consistent with visual observations. The direction of porpoise movement was monitored using stereo beams, which agreed with visual observations at all monitoring locations. Acoustic and visual methods could determine group sizes up to five and ten individuals, respectively. While the acoustic monitoring method had the advantage of high detection probability, it tended to underestimate group size due to the limited resolution of sound source bearing angles. The stationary acoustic monitoring method proved to be a practical and useful alternative to visual observations, especially in areas of low porpoise density for long-term monitoring.

A false killer whale adjusts its hearing when it echolocates

The use of auditory evoked potential (AEP) measurements has added considerably to knowledge of the hearing mechanisms of marine mammals. We have recently measured the hearing of a stranded infant Risso's dolphin, the audiograms of white-beaked dolphins temporarily caught and released, and the hearing of anaesthetized polar bears. Most small toothed whales echolocate and hear very high frequency sounds underwater. While much has previously been learned about the echolocation performance and characteristics of the outgoing signals of echolocating dolphins and small whales, the hearing processes occurring while these animals actively echolocate have not previously been examined. Working with a well-trained echolocating false killer whale (Pseudorca crassidens) wearing latex surface suction cup electrodes, we have measured echolocation hearing AEPs in response to outgoing echolocation clicks, returning echoes, and comparable simulated whale clicks and echoes in a variety of situations. We have found that: (1) the whale may hear her loud outgoing clicks and much quieter returning echoes at comparable levels, (2) the whale has protective mechanisms that dampen the intensity of her outgoing signals - she hears her outgoing signals at a level about 40 dB lower than similar signals presented directly in front of her, (3) when echo return levels are lowered either by making the targets smaller or by placing the targets farther away - without changing the levels of her outgoing signals - the hearing of these echoes remains at almost the same level, (4) if targets are made much smaller and harder to echolocate, the animal will modify what she hears of her outgoing signal - as if to heighten overall hearing sensitivity to keep the echo level hearable, (5) the animal has an active 'automatic gain control' mechanism in her hearing based on both forward masking that balances outgoing pulse intensity and time between pulse and echo, and active hearing control. Overall, hearing during echolocation appears to be a very active process.

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.

Forward masking as a mechanism of automatic gain control in odontocete biosonar: a psychophysical study

In a false killer whale Pseudorca crassidens, echo perception thresholds were measured using a go/no-go psychophysical paradigm and one-up-one-down staircase procedure. Computer controlled echoes were electronically synthesized pulses that were played back through a transducer and triggered by whale emitted biosonar pulses. The echo amplitudes were proportional to biosonar pulse amplitudes; echo levels were specified in terms of the attenuation of the echo sound pressure level near the animal's head relative to the source level of the biosonar pulses. With increasing echo delay, the thresholds (echo attenuation factor) decreased from -49.3 dB at 2 ms to -79.5 dB at 16 ms, with a regression slope of -9.5 dB per delay doubling (-31.5 dB per delay decade). At the longer delays, the threshold remained nearly constant around -80.4 dB. Levels of emitted pulses slightly increased with delay prolongation (threshold decrease), with a regression slope of 3.2 dB per delay doubling (10.7 dB per delay decade). The echo threshold dependence on delay is interpreted as a release from forward masking by the preceding emitted pulse. This release may compensate for the echo level decrease with distance, thus keeping the echo sensation level for the animal near constant within a certain distance range.

Echolocating bats cry out loud to detect their prey

Echolocating bats have successfully exploited a broad range of habitats and prey. Much research has demonstrated how time-frequency structure of echolocation calls of different species is adapted to acoustic constraints of habitats and foraging behaviors. However, the intensity of bat calls has been largely neglected although intensity is a key factor determining echolocation range and interactions with other bats and prey. Differences in detection range, in turn, are thought to constitute a mechanism promoting resource partitioning among bats, which might be particularly important for the species-rich bat assemblages in the tropics. Here we present data on emitted intensities for 11 species from 5 families of insectivorous bats from Panamá hunting in open or background cluttered space or over water. We recorded all bats in their natural habitat in the field using a multi-microphone array coupled with photographic methods to assess the bats' position in space to estimate emitted call intensities. All species emitted intense search signals. Output intensity was reduced when closing in on background by 4-7 dB per halving of distance. Source levels of open space and edge space foragers (Emballonuridae, Mormoopidae, Molossidae, and Vespertilionidae) ranged between 122-134 dB SPL. The two Noctilionidae species hunting over water emitted the loudest signals recorded so far for any bat with average source levels of ca. 137 dB SPL and maximum levels above 140 dB SPL. In spite of this ten-fold variation in emitted intensity, estimates indicated, surprisingly, that detection distances for prey varied far less; bats emitting the highest intensities also emitted the highest frequencies, which are severely attenuated in air. Thus, our results suggest that bats within a local assemblage compensate for frequency dependent attenuation by adjusting the emitted intensity to achieve comparable detection distances for prey across species. We conclude that for bats with similar hunting habits, prey detection range represents a unifying constraint on the emitted intensity largely independent of call shape, body size, and close phylogenetic relationships.

Hearing sensitivity during target presence and absence while a whale echolocates

Hearing sensitivity was measured in a false killer whale during echolocation. Sensitivity was measured using probe stimuli as sinusoidally amplitude modulated signals with a 22.5-kHz carrier frequency and recording auditory evoked potentials as envelope-following responses. The probes were presented and responses were recorded during short 2-s periods when the animal echolocated to detect the presence or absence of a target in a go/no-go paradigm. In the target-absent trials, a hearing threshold of 90.4 dB re 1 muPa was found; in the target-present trials, the threshold was 109.8 dB. Thus, a 19.4-dB difference was found between thresholds in the target-present and target-absent trials. To check the possibility that this difference was the result of different masking degree of the probe by the emitted sonar clicks, click statistics were investigated in similar trials. No indication was found that the energy of the emitted clicks was higher in the target-present than in target-absent trials; on the contrary, mean click level, mean number of clicks per train, and overall train energy was slightly higher in the target-absent trials. Thus the data indicate that the hearing sensitivity of the whale varied depending on target presence or absence.

Sperm whale three-dimensional track, swim orientation, beam pattern, and click levels observed on bottom-mounted hydrophones

In an earlier paper [Nosal and Frazer Appl. Acoust. 61, 1187-1201 (2006)], a sperm whale was tracked in three-dimensions using direct and surface-reflected time differences (DRTD) of clicks recorded on five bottom-mounted hydrophones, a passive method that is robust to timing errors between hydrophones. This paper refines the DRTD method and combines it with a time of (direct) arrival method to improve the accuracy of the track. The position and origin time of each click having been estimated, pitch and yaw are then obtained by assuming the main axis of the whale is tangent to the track. Roll is then found by applying the bent horn model of sperm whale phonation, in which each click is composed of two pulses, p0 and p1, that exit the whale at different points. With instantaneous pitch, roll, and yaw estimated from time differences, amplitudes are then used to estimate the beam patterns of the p0 and p1 pulses. The resulting beam patterns independently confirm those obtained by Zimmer et al. [J. Acoust. Soc. Am. 117, 1473-1485 (2005); 118, 3337-3345 (2005)] with a very different experimental setup. A method for estimating relative click levels is presented and used to find that click levels decrease toward the end of a click series, prior to the "creak" associated with prey capture.

Echo-intensity compensation in echolocating bats (Pipistrellus abramus) during flight measured by a telemetry microphone

An onboard microphone (Telemike) was developed to examine changes in the basic characteristics of echolocation sounds of small frequency-modulated echolocating bats, Pipistrellus abramus. Using a dual high-speed video camera system, spatiotemporal observations of echolocation characteristics were conducted on bats during a landing flight task in the laboratory. The Telemike allowed us to observe emitted pulses and returning echoes to which the flying bats listened during flight, and the acoustic parameters could be precisely measured without traditional problems such as the directional properties of the recording microphone and the emitted pulse, or traveling loss of the sound in the air. Pulse intensity in bats intending to land exhibited a marked decrease by 30 dB within 2 m of the target wall, and the reduction rate was approximately 6.5 dB per halving of distance. The intensity of echoes returning from the target wall indicated a nearly constant intensity (-42.6 +/- 5.5 dB weaker than the pulse emitted in search phase) within a target distance of 2 m. These findings provide direct evidence that bats adjust pulse intensity to compensate for changes in echo intensity to maintain a constant intensity of the echo returned from the approaching target at an optimal range.

Echolocation signals of wild harbour porpoises, Phocoena phocoena

Field recordings of harbour porpoises (Phocoena phocoena) were made in the inner Danish waters with a vertical array of three or four hydrophones. The back-calculated source level ranged from 178 to 205 dB re 1μPa pp @ 1 m with a mean source level of 191 dB re 1 μPa pp @ 1 m. The maximum source level was more than 30 dB above what has been measured from captive animals, while the spectral and temporal properties were comparable. Calculations based on the sonar equation indicate that harbour porpoises,using these high click intensities, should be capable of detecting fish and nets and should be detectable by porpoise detectors over significantly larger distances than had previously been assumed. Harbour porpoises in this study preferred a relatively constant inter-click interval of about 60 ms, but intervals up to 200 ms and down to 30 ms were also recorded.

Evoked-potential recovery during double click stimulation in a whale: a possibility of biosonar automatic gain control

False killer whale Pseudorca crassidens auditory brainstem responses (ABR) were recorded using a double-click stimulation paradigm specifically measuring the recovery of the second response (to the test click) as a function of the inter-click interval (ICI) at various levels of the conditioning and test click. At all click intensities, the slopes of recovery functions were almost constant: 0.6-0.8 microV per ICI decade. Therefore, even when the conditioning-to-test-click level ratio was kept constant, the duration of recovery was intensity-dependent: The higher intensity the longer the recovery. The conditioning-to-test-click level ratio strongly influenced the recovery time: The higher the ratio, the longer the recovery. The dependence was almost linear using a logarithmic ICI scale with a rate of 25-30 dB per ICI decade. These data were used for modeling the interaction between the emitted click and the echo during echolocation, assuming that the two clicks simulated the transmitted and echo clicks. This simulation showed that partial masking of the echo by the preceding emitted click may explain the independence of echo-response amplitude of target distance. However, the distance range where this mechanism is effective depends on the emitted click level: The higher the level, the greater the range. @ 2007 Acoustical Society of America.

Foraging Blainville's beaked whales (Mesoplodon densirostris)produce distinct click types matched to different phases of echolocation

Blainville's beaked whales (Mesoplodon densirostris Blainville)echolocate for prey during deep foraging dives. Here we use acoustic tags to demonstrate that these whales, in contrast to other toothed whales studied,produce two distinct types of click sounds during different phases in biosonar-based foraging. Search clicks are emitted during foraging dives with inter-click intervals typically between 0.2 and 0.4 s. They have the distinctive form of an FM upsweep (modulation rate of about 110 kHz ms-1) with a -10 dB bandwidth from 26 to 51 kHz and a pulse length of 270 μs, somewhat similar to chirp signals in bats and Cuvier's beaked whales (Ziphius cavirostris Cuvier), but quite different from clicks of other toothed whales studied. In comparison, the buzz clicks, produced in short bursts during the final stage of prey capture, are short (105 μs)transients with no FM structure and a -10 dB bandwidth from 25 to 80 kHz or higher. Buzz clicks have properties similar to clicks reported from large delphinids and hold the potential for higher temporal resolution than the FM clicks. It is suggested that the two click types are adapted to the separate problems of target detection and classification versus capture of low target strength prey in a cluttered acoustic environment.

Sonar gain control in echolocating finless porpoises (Neophocaena phocaenoides) in an open water

Source levels of echolocating free-ranging Yangtze finless porpoise (Neophocaena phocaenoides asiaeorientalis) were calculated using a range estimated by measuring the time delays of the signals via the surface and bottom reflection paths to the hydrophone, relative to the direct signal. Peak-to-peak source levels for finless porpoise were from 163.7 to 185.6 dB re: 1 microPa. The source levels are highly range, dependent and varied approximately as a function of the one-way transmission loss for signals traveling from the animals to the hydrophone.

Auditory brainstem response in a harbor porpoise show lack of automatic gain control for simulated echoes

The auditory brainstem response (ABR) response to simulated echolocation clicks was studied in a harbor porpoise, Phocoena phocoena, to determine the relationship between the animal's perceived echo strength and the simulated target distance. In one experiment the click level at the listening post was kept constant while delay was changed, in another, the level was varied to approximate spreading losses. Results of both experiments indicate that there is no automatic gain control in the hearing system of this harbor porpoise.

Sensory acquisition in active sensing systems

A defining feature of active sensing is the use of self-generated energy to probe the environment. Familiar biological examples include echolocation in bats and dolphins and active electrolocation in weakly electric fish. Organisms that utilize active sensing systems can potentially exert control over the characteristics of the probe energy, such as its intensity, direction, timing, and spectral characteristics. This is in contrast to passive sensing systems, which rely on extrinsic energy sources that are not directly controllable by the organism. The ability to control the probe energy adds a new dimension to the task of acquiring relevant information about the environment. Physical and ecological constraints confronted by active sensing systems include issues of signal propagation, attenuation, speed, energetics, and conspicuousness. These constraints influence the type of energy that organisms use to probe the environment, the amount of energy devoted to the process, and the way in which the nervous system integrates sensory and motor functions for optimizing sensory acquisition performance.

Biosonar behaviour of free-ranging porpoises

Detecting objects in their paths is a fundamental perceptional function of moving organisms. Potential risks and rewards, such as prey, predators, conspecifics or non-biological obstacles, must be detected so that an animal can modify its behaviour accordingly. However, to date few studies have considered how animals in the wild focus their attention. Dolphins and porpoises are known to actively use sonar or echolocation. A newly developed miniature data logger attached to a porpoise allows for individual recording of acoustical search efforts and inspection distance based on echolocation. In this study, we analysed the biosonar behaviour of eight free-ranging finless porpoises (Neophocaena phocaenoides) and demonstrated that these animals inspect the area ahead of them before swimming silently into it. The porpoises inspected distances up to 77 m, whereas their swimming distance without using sonar was less than 20 m. The inspection distance was long enough to ensure a wide safety margin before facing real risks or rewards. Once a potential prey item was detected, porpoises adjusted their inspection distance from the remote target throughout their approach.

Invariance of evoked-potential echo-responses to target strength and distance in an echolocating false killer whale

Brain auditory evoked potentials (AEPs) were recorded in a false killer whale Pseudorca crassidens trained to accept suction-cup EEG electrodes and to detect targets by echolocation. AEP collection was triggered by echolocation pulses transmitted by the animal. The target strength varied from -22 to -40 dB; the distance varied from 1.5 to 6 m. All the records contained two AEP sets: the first one of a constant latency (transmission-related AEP) and a second one with a delay proportional to the distance (echo-related AEP). The amplitude of echo-related AEPs was almost independent of both target strength and distance, though combined variation of these two parameters resulted in echo intensity variation within a range of 42 dB. The amplitude of transmission-related AEPs was independent of distance but dependent on target strength: the less the target strength, the higher the amplitude. Recording of transmitted pulses has not shown their intensity dependence on target strength. It is supposed that the constancy of echo-related AEP results from variation of hearing sensitivity depending on the target strength and release of echo-related responses from masking by transmitted pulses depending on the distance.

Off-axis sonar beam pattern of free-ranging finless porpoises measured by a stereo pulse event data logger

The off-axis sonar beam patterns of eight free-ranging finless porpoises were measured using attached data logger systems. The transmitted sound pressure level at each beam angle was calculated from the animal's body angle, the water surface echo level, and the swimming depth. The beam pattern of the off-axis signals between 45 degrees and 115 degrees (where 0 degrees corresponds to the on-axis direction) was nearly constant. The sound pressure level of the off-axis signals reached 162 dB re 1 microPa peak-to-peak. The surface echo level received at the animal was over 140 dB, much higher than the auditory threshold level of small odontocetes. Finless porpoises are estimated to be able to receive the surface echoes of off-axis signals even at 50-m depth. Shallow water systems (less than 50-m depth) are the dominant habitat of both oceanic and freshwater populations of this species. Surface echoes may provide porpoises not only with diving depth information but also with information about surface direction and location of obstacles (including prey items) outside the on-axis sector of the sonar beam.

Echolocation characteristics of free-swimming bottlenose dolphins during object detection and identification

A biosonar measurement tool (BMT) was created to investigate dolphin echolocation search strategies by recording echolocation clicks, returning echoes, and three-dimensional angular motion, velocity, and depth of free-swimming dolphins performing open-water target detections. Trial start and stop times, locations determined from a differential global positioning system (DGPS), and BMT motion and acoustic data were used to produce spatial and acoustic representations of the searches. Two dolphins (LUT, FLP) searched for targets lying on the seafloor of a bay environment while carrying the BMT. LUT searched rapidly (< 10 s), produced few clicks, and varied click-peak frequency (20-120 kHz); FLP searched relatively slowly (tens of seconds) and produced many hundreds of clicks with stereotypical frequency-dependent energy distributions dominating from 30-60 kHz. Dolphins amplified target echo returns by either increasing the click source level or reducing distance to the target but without reducing source level. The distribution of echolocation click-peak frequencies suggested a bias in the dominant frequency components of clicks, possibly due to mechanical constraints of the click generator. Prior training and hearing loss accommodation potentially explain differences in the search strategies of the two dolphins.

Echolocation signal structure in the Megachiropteran bat Rousettus aegyptiacus Geoffroy 1810

Rousettus aegyptiacus Geoffroy 1810 is a member of the only genus of Megachiropteran bats to use vocal echolocation, but the structure of its brief, click-like signal is poorly described. Although thought to have a simple echolocation system compared to that of Microchiroptera, R. aegyptiacus is capable of good obstacle avoidance using its impulse sonar. The energy content of the signal was at least an order of magnitude smaller than in Microchiropteran bats and dolphins (approximately 4 x 10(-8) J m(-2)). Measurement of the duration, amplitude and peak frequency demonstrate that the signals of this animal are broadly similar in structure and duration to those of dolphins. Gabor functions were used to model signals and to estimate signal parameters, and the quality of the Gabor function fit to the early part of the signal demonstrates that the echolocation signals of R. aegyptiacus match the minimum spectral spread for their duration and amplitude and are thus well matched to its best hearing sensitivity. However, the low energy content of the signals and short duration should make returning echoes difficult to detect. The performance of R. aegyptiacus in obstacle avoidance experiments using echolocation therefore remains something of a conundrum.

Biosonar performance of foraging beaked whales (Mesoplodon densirostris)

Toothed whales (Cetacea, odontoceti) emit sound pulses to probe their surroundings by active echolocation. Non-invasive, acoustic Dtags were placed on deep-diving Blainville's beaked whales (Mesoplodon densirostris) to record their ultrasonic clicks and the returning echoes from prey items, providing a unique view on how a whale operates its biosonar during foraging in the wild. The process of echolocation during prey capture in this species can be divided into search, approach and terminal phases, as in echolocating bats. The approach phase, defined by the onset of detectable echoes recorded on the tag for click sequences terminated by a buzz, has interclick intervals (ICI) of 300-400 ms. These ICIs are more than a magnitude longer than the decreasing two-way travel time to the targets, showing that ICIs are not given by the two-way-travel times plus a fixed, short lag time. During the approach phase, the received echo energy increases by 10.4(±2) dB when the target range is halved, demonstrating that the whales do not employ range-compensating gain control of the transmitter, as has been implicated for some bats and dolphins. The terminal/buzz phase with ICIs of around 10 ms is initiated when one or more targets are within approximately a body length of the whale (2-5 m), so that strong echo returns in the approach phase are traded for rapid updates in the terminal phase. It is suggested that stable ICIs in the search and approach phases facilitate auditory scene analysis in a complex multi-target environment, and that a concomitant low click rate allows the whales to maintain high sound pressure outputs for prey detection and discrimination with a pneumatically driven,bi-modal sound generator.

Estimated transmission beam pattern of clicks recorded from free-ranging white-beaked dolphins (Lagenorhynchus albirostris)

Recordings were made from white-beaked dolphins in Icelandic waters using a four-hydrophone array in a star configuration. The acoustic signals were amplified and sampled to a hard disk at a rate of 800 kHz per channel. The 3 and 10 dB beamwidths were calculated to be 8 degrees and 10 degrees, respectively, indicating a narrower transmission beam for white-beaked dolphins than that reported for bottlenose dolphins (Tursiops truncatus). The beamwidth was more similar to that found for belugas (Delphinapterus lucas). The measured beam pattern included large side lobes, perhaps due to the inclusion of off-axis clicks, even after applying several criteria to select only on-axis clicks. The directivity index was calculated to be 18 dB when using all data for angles from 0 degrees-50 degrees. The calculated sound radiation from a circular piston with a radius of 6 cm driven by a white-beaked dolphin click had a beam pattern very similar to the measured beam pattern for the main transmission lobe of the white-beaked dolphin. The directivity index was 29 dB. This is the first attempt to estimate the directionality index of dolphins in the field.

Echolocation clicks of two free-ranging, oceanic delphinids with different food preferences: false killer whales Pseudorca crassidensand Risso's dolphins Grampus griseus

Toothed whales (Odontoceti, Cetacea) navigate and locate prey by means of active echolocation. Studies on captive animals have accumulated a large body of knowledge concerning the production, reception and processing of sound in odontocete biosonars, but there is little information about the properties and use of biosonar clicks of free-ranging animals in offshore habitats. This study presents the first source parameter estimates of biosonar clicks from two free-ranging oceanic delphinids, the opportunistically foraging Pseudorca crassidens and the cephalopod eating Grampus griseus. Pseudorca produces short duration (30 μs), broadband(Q=2–3) signals with peak frequencies around 40 kHz, centroid frequencies of 30–70 kHz, and source levels between 201–225 dB re. 1 μPa (peak to peak, pp). Grampus also produces short (40 μs),broadband (Q=2–3) signals with peak frequencies around 50 kHz,centroid frequencies of 60–90 kHz, and source levels between 202 and 222 dB re. 1 μPa (pp). On-axis clicks from both species had centroid frequencies in the frequency range of most sensitive hearing, and lower peak frequencies and higher source levels than reported from captive animals. It is demonstrated that sound production in these two free-ranging echolocators is dynamic, and that free-ranging animals may not always employ biosonar signals comparable to the extreme signal properties reported from captive animals in long-range detection tasks. Similarities in source parameters suggest that evolutionary factors other than prey type determine the properties of biosonar signals of the two species. Modelling shows that interspecific detection ranges of prey types differ from 80 to 300 m for Grampus and Pseudorca, respectively.