The electrophysiology of photoreceptors in different eye regions of the desert ant,Cataglyphis bicolor

Passive Polarized Vision for Autonomous Vehicles: A Review

This review article aims to address common research questions in passive polarized vision for robotics. What kind of polarization sensing can we embed into robots? Can we find our geolocation and true north heading by detecting light scattering from the sky as animals do? How should polarization images be related to the physical properties of reflecting surfaces in the context of scene understanding? This review article is divided into three main sections to address these questions, as well as to assist roboticists in identifying future directions in passive polarized vision for robotics. After an introduction, three key interconnected areas will be covered in the following sections: embedded polarization imaging; polarized vision for robotics navigation; and polarized vision for scene understanding. We will then discuss how polarized vision, a type of vision commonly used in the animal kingdom, should be implemented in robotics; this type of vision has not yet been exploited in robotics service. Passive polarized vision could be a supplemental perceptive modality of localization techniques to complement and reinforce more conventional ones.

Polarisation vision in the dark: green-sensitive photoreceptors in the nocturnal ball-rolling dung beetle Escarabaeus satyrus

Many insects utilise the polarisation pattern of the sky to adjust their travelling directions. The extraction of directional information from this sky-wide cue is mediated by specialised photoreceptors located in the dorsal rim area (DRA). While this part of the eye is known to be sensitive to the ultraviolet, blue or green component of skylight, the latter has only been observed in insects active in dim light. To address the functional significance of green polarisation sensitivity, we define the spectral and morphological adaptations of the DRA in a nocturnal ball-rolling dung beetle-the only family of insects demonstrated to orient to the dim polarisation pattern in the night sky. Intracellular recordings revealed polarisation-sensitive green photoreceptors in the DRA of Escarabaeus satyrus. Behavioural experiments verified the navigational relevance of this finding. To quantify the adaptive value of green sensitivity for celestial orientation at night, we also obtained the polarisation properties of the night sky in the natural habitat of the beetle. Calculations of relative photon catch revealed that under a moonlit sky the green-sensitive DRA photoreceptors can be expected to catch an order of magnitude more photons compared with the UV-sensitive photoreceptors in the main retina. The green-sensitive photoreceptors - which also show a range of morphological adaptations for enhanced sensitivity - provide E. satyrus with a highly sensitive system for the extraction of directional information from the night sky.

Novel Methodology for Localizing and Studying Insect Dorsal Rim Area Morphology in 2D and 3D

Polarized light-based navigation in insects is facilitated by a polarization-sensitive part of the eye, the dorsal rim area (DRA). Existing methods to study the anatomy of the DRA are destructive and time-consuming. We presented a novel method for DRA localization, dissection, and measurement using 3D volumetric images from X-ray micro-computed tomography in combination with 2D photographs. Applying the method on size-polymorphic buff-tailed bumblebees, Bombus terrestris, we found that the DRA was easily obtainable from photographs of the dorsal eye region. Allometric analysis of the DRA in relation to body size in B. terrestris showed that it increased with the body size but not at the same rate. By localizing the DRA of individual bumblebees, we could also perform individual-level descriptions and inter-individual comparisons between the ommatidial structures (lens, crystalline cones, rhabdoms) of three different eye regions (DRA, non-DRA, proximate to DRA). One feature distinct to the bumblebee DRA was the smaller dimension of the crystalline cones in comparison to other regions of the eye. Using our novel methodology, we provide the first individual-level description of DRA ommatidial features and a comparison of how the DRA varies with body size in bumblebees.

Comparative biology of spatial navigation in three arachnid orders (Amblypygi, Araneae, and Scorpiones)

From both comparative biology and translational research perspectives, there is escalating interest in understanding how animals navigate their environments. Considerable work is being directed towards understanding the sensory transduction and neural processing of environmental stimuli that guide animals to, for example, food and shelter. While much has been learned about the spatial orientation behavior, sensory cues, and neurophysiology of champion navigators such as bees and ants, many other, often overlooked animal species possess extraordinary sensory and spatial capabilities that can broaden our understanding of the behavioral and neural mechanisms of animal navigation. For example, arachnids are predators that often return to retreats after hunting excursions. Many of these arachnid central-place foragers are large and highly conducive to scientific investigation. In this review we highlight research on three orders within the Class Arachnida: Amblypygi (whip spiders), Araneae (spiders), and Scorpiones (scorpions). For each, we describe (I) their natural history and spatial navigation, (II) how they sense the world, (III) what information they use to navigate, and (IV) how they process information for navigation. We discuss similarities and differences among the groups and highlight potential avenues for future research.

Colour vision in ants (Formicidae, Hymenoptera)

Ants are ecologically one of the most important groups of insects and exhibit impressive capabilities for visual learning and orientation. Studies on numerous ant species demonstrate that ants can learn to discriminate between different colours irrespective of light intensity and modify their behaviour accordingly. However, the findings across species are variable and inconsistent, suggesting that our understanding of colour vision in ants and what roles ecological and phylogenetic factors play is at an early stage. This review provides a brief synopsis of the critical findings of the past century of research by compiling studies that address molecular, physiological and behavioural aspects of ant colour vision. With this, we aim to improve our understanding of colour vision and to gain deeper insights into the mysterious and colourful world of ants.

This article is part of the theme issue ‘Understanding colour vision: molecular, physiological, neuronal and behavioural studies in arthropods’.

Laboratory phase-contrast nanotomography of unstained Bombus terrestris compound eyes

Imaging the visual systems of bumblebees and other pollinating insects may increase understanding of their dependence on specific habitats and how they will be affected by climate change. Current high-resolution imaging methods are either limited to two dimensions (light- and electron microscopy) or have limited access (synchrotron radiation x-ray tomography). For x-ray imaging, heavy metal stains are often used to increase contrast. Here, we present micron-resolution imaging of compound eyes of buff-tailed bumblebees (Bombus terrestris) using a table-top x-ray nanotomography (nano-CT) system. By propagation-based phase-contrast imaging, the use of stains was avoided and the microanatomy could more accurately be reconstructed than in samples stained with phosphotungstic acid or osmium tetroxide. The findings in the nano-CT images of the compound eye were confirmed by comparisons with light- and transmission electron microscopy of the same sample and finally, comparisons to synchrotron radiation tomography as well as to a commercial micro-CT system were done.

Stark trade-offs and elegant solutions in arthropod visual systems

Vision is one of the most important senses for humans and animals alike. Diverse elegant specializations have evolved among insects and other arthropods in response to specific visual challenges and ecological needs. These specializations are the subject of this Review, and they are best understood in light of the physical limitations of vision. For example, to achieve high spatial resolution, fine sampling in different directions is necessary, as demonstrated by the well-studied large eyes of dragonflies. However, it has recently been shown that a comparatively tiny robber fly (Holcocephala) has similarly high visual resolution in the frontal visual field, despite their eyes being a fraction of the size of those of dragonflies. Other visual specializations in arthropods include the ability to discern colors, which relies on parallel inputs that are tuned to spectral content. Color vision is important for detection of objects such as mates, flowers and oviposition sites, and is particularly well developed in butterflies, stomatopods and jumping spiders. Analogous to color vision, the visual systems of many arthropods are specialized for the detection of polarized light, which in addition to communication with conspecifics, can be used for orientation and navigation. For vision in low light, optical superposition compound eyes perform particularly well. Other modifications to maximize photon capture involve large lenses, stout photoreceptors and, as has been suggested for nocturnal bees, the neural pooling of information. Extreme adaptations even allow insects to see colors at very low light levels or to navigate using the Milky Way.

Ocellar structure of African and Australian desert ants

Few walking insects possess simple eyes known as the ocelli. The role of the ocelli in walking insects such as ants has been less explored. Physiological and behavioural evidence in the desert ant, Cataglyphis bicolor, indicates that ocellar receptors are polarisation sensitive and are used to derive compass information from the pattern of polarised skylight. The ability to detect polarised skylight can also be inferred from the structure and the organisation of the ocellar retina. However, the functional anatomy of the desert ant ocelli has not been investigated. Here we characterised the anatomical organisation of the ocelli in three species of desert ants. The two congeneric species of Cataglyphis we studied had a fused rhabdom, but differed in their organisation of the retina. In Cataglyphis bicolor, each retinula cell contributed microvilli in one orientation enabling them to compare e-vector intensities. In Cataglyphis fortis, some retinula cells contributed microvilli in more than one orientation, indicating that not all cells are polarisation sensitive. The desert ant Melophorus bagoti had an unusual ocellar retina with a hexagonal or pentagonal rhabdomere arrangement forming an open rhabdom. Each retinula cell contributed microvilli in more than one orientation, making them unlikely to be polarisation detectors.

From skylight input to behavioural output: A computational model of the insect polarised light compass

Many insects navigate by integrating the distances and directions travelled on an outward path, allowing direct return to the starting point. Fundamental to the reliability of this process is the use of a neural compass based on external celestial cues. Here we examine how such compass information could be reliably computed by the insect brain, given realistic constraints on the sky polarisation pattern and the insect eye sensor array. By processing the degree of polarisation in different directions for different parts of the sky, our model can directly estimate the solar azimuth and also infer the confidence of the estimate. We introduce a method to correct for tilting of the sensor array, as might be caused by travel over uneven terrain. We also show that the confidence can be used to approximate the change in sun position over time, allowing the compass to remain fixed with respect to 'true north' during long excursions. We demonstrate that the compass is robust to disturbances and can be effectively used as input to an existing neural model of insect path integration. We discuss the plausibility of our model to be mapped to known neural circuits, and to be implemented for robot navigation.

Polarized skylight-based heading measurements: a bio-inspired approach

Many insects such as desert ants, crickets, locusts, dung beetles, bees and monarch butterflies have been found to extract their navigation cues from the regular pattern of the linearly polarized skylight. These species are equipped with ommatidia in the dorsal rim area of their compound eyes, which are sensitive to the angle of polarization of the skylight. In the polarization-based robotic vision, most of the sensors used so far comprise high-definition CCD or CMOS cameras topped with linear polarizers. Here, we present a 2-pixel polarization-sensitive visual sensor, which was strongly inspired by the dorsal rim area of desert ants' compound eyes, designed to determine the direction of polarization of the skylight. The spectral sensitivity of this minimalistic sensor, which requires no lenses, is in the ultraviolet range. Five different methods of computing the direction of polarization were implemented and tested here. Our own methods, the extended and AntBot method, outperformed the other three, giving a mean angular error of only 0.62° ± 0.40° (median: 0.24°) and 0.69° ± 0.52° (median: 0.39°), respectively (mean ± standard deviation). The results obtained in outdoor field studies show that our celestial compass gives excellent results at a very low computational cost, which makes it highly suitable for autonomous outdoor navigation purposes.

Innate colour preference, individual learning and memory retention in the ant Camponotus blandus

Ants are a well-characterized insect model for the study of visual learning and orientation, but the extent to which colour vision is involved in these tasks remains unknown. We investigated the colour preference, learning and memory retention of Camponotus blandus foragers under controlled laboratory conditions. Our results show that C. blandus foragers exhibit a strong innate preference for ultraviolet (UV, 365 nm) over blue (450 nm) and green (528 nm) wavelengths. The ants can learn to discriminate 365 nm from either 528 nm or 450 nm, independent of intensity changes. However, they fail to discriminate between 450 nm and 528 nm. Modelling of putative colour spaces involving different numbers of photoreceptor types revealed that colour discrimination performance of individual ants is best explained by dichromacy, comprising a short-wavelength (UV) receptor with peak sensitivity at about 360 nm, and a long-wavelength receptor with peak sensitivity between 470 nm and 560 nm. Foragers trained to discriminate blue or green from UV light are able to retain the learned colour information in an early mid-term (e-MTM), late mid-term (l-MTM), early long-term (e-LTM) and late long-term (l-LTM) memory from where it can be retrieved after 1 h, 12 h, 24 h, 3 days and 7 days after training, indicating that colour learning may induce different memory phases in ants. Overall, our results show that ants can use chromatic information in a way that should promote efficient foraging in complex natural environments.

Insect Responses to Linearly Polarized Reflections: Orphan Behaviors Without Neural Circuits

The e-vector orientation of linearly polarized light represents an important visual stimulus for many insects. Especially the detection of polarized skylight by many navigating insect species is known to improve their orientation skills. While great progress has been made towards describing both the anatomy and function of neural circuit elements mediating behaviors related to navigation, relatively little is known about how insects perceive non-celestial polarized light stimuli, like reflections off water, leaves, or shiny body surfaces. Work on different species suggests that these behaviors are not mediated by the “Dorsal Rim Area” (DRA), a specialized region in the dorsal periphery of the adult compound eye, where ommatidia contain highly polarization-sensitive photoreceptor cells whose receptive fields point towards the sky. So far, only few cases of polarization-sensitive photoreceptors have been described in the ventral periphery of the insect retina. Furthermore, both the structure and function of those neural circuits connecting to these photoreceptor inputs remain largely uncharacterized. Here we review the known data on non-celestial polarization vision from different insect species (dragonflies, butterflies, beetles, bugs and flies) and present three well-characterized examples for functionally specialized non-DRA detectors from different insects that seem perfectly suited for mediating such behaviors. Finally, using recent advances from circuit dissection in Drosophila melanogaster, we discuss what types of potential candidate neurons could be involved in forming the underlying neural circuitry mediating non-celestial polarization vision.

Photopigments and the dimensionality of animal color vision

Early color-matching studies established that normal human color vision is trichromatic. Subsequent research revealed a causal link between trichromacy and the presence in the retina of three classes of cone photopigments. Over the years, measurements of the photopigment complements of other species have expanded greatly and these are frequently used to predict the dimensionality of an animal's color vision. This review provides an account of how the linkage between the number of active photopigments and the dimensions of human color vision developed, summarizes the various mechanisms that can impact photopigment spectra and number, and provides an across-species survey to examine cases where the photopigment link to the dimensionality of color vision has been claimed. The literature reveals numerous instances where the human model fails to account for the ways in which the visual systems of other animals exploit information obtained from the presence of multiple photopigments in support of their behavior.

Can invertebrates see the e-vector of polarization as a separate modality of light?

The visual world is rich in linearly polarized light stimuli, which are hidden from the human eye. But many invertebrate species make use of polarized light as a source of valuable visual information. However, exploiting light polarization does not necessarily imply that the electric (e)-vector orientation of polarized light can be perceived as a separate modality of light. In this Review, I address the question of whether invertebrates can detect specific e-vector orientations in a manner similar to that of humans perceiving spectral stimuli as specific hues. To analyze e-vector orientation, the signals of at least three polarization-sensitive sensors (analyzer channels) with different e-vector tuning axes must be compared. The object-based, imaging polarization vision systems of cephalopods and crustaceans, as well as the water-surface detectors of flying backswimmers, use just two analyzer channels. Although this excludes the perception of specific e-vector orientations, a two-channel system does provide a coarse, categoric analysis of polarized light stimuli, comparable to the limited color sense of dichromatic, 'color-blind' humans. The celestial compass of insects employs three or more analyzer channels. However, that compass is multimodal, i.e. e-vector information merges with directional information from other celestial cues, such as the solar azimuth and the spectral gradient in the sky, masking e-vector information. It seems that invertebrate organisms take no interest in the polarization details of visual stimuli, but polarization vision grants more practical benefits, such as improved object detection and visual communication for cephalopods and crustaceans, compass readings to traveling insects, or the alert 'water below!' to water-seeking bugs.

Three spectrally distinct photoreceptors in diurnal and nocturnal Australian ants

Ants are thought to be special among Hymenopterans in having only dichromatic colour vision based on two spectrally distinct photoreceptors. Many ants are highly visual animals, however, and use vision extensively for navigation. We show here that two congeneric day- and night-active Australian ants have three spectrally distinct photoreceptor types, potentially supporting trichromatic colour vision. Electroretinogram recordings show the presence of three spectral sensitivities with peaks (λmax) at 370, 450 and 550 nm in the night-active Myrmecia vindex and peaks at 370, 470 and 510 nm in the day-active Myrmecia croslandi. Intracellular electrophysiology on individual photoreceptors confirmed that the night-active M. vindex has three spectral sensitivities with peaks (λmax) at 370, 430 and 550 nm. A large number of the intracellular recordings in the night-active M. vindex show unusually broad-band spectral sensitivities, suggesting that photoreceptors may be coupled. Spectral measurements at different temporal frequencies revealed that the ultraviolet receptors are comparatively slow. We discuss the adaptive significance and the probability of trichromacy in Myrmecia ants in the context of dim light vision and visual navigation.

Age-related and light-induced plasticity in opsin gene expression and in primary and secondary visual centers of the nectar-feeding ant Camponotus rufipes

Camponotus rufipes workers are characterized by an age-related polyethism. In the initial weeks of adult life, young workers perform tasks inside the nest before they switch to multimodal foraging tasks outside. We tested the hypothesis that this transition is accompanied by profound adaptations in the peripheral and central visual systems. Our results show that C. rufipes workers of all tested ages (between 1 and 42 days) express three genes encoding for ultraviolet (UV), blue (BL), and long-wavelength (LW1) sensitive opsins in their retina, which are likely to provide the substrate for trichromatic color vision. Expression levels of all three opsin genes increased significantly within the first two weeks of adulthood and following light exposure. Interestingly, the volumes of all three optic neuropils (lamina, medulla, and lobula) showed corresponding volume increases. Tracing of connections to higher visual centers in the mushroom bodies (MBs) revealed only one optic pathway, the anterior superior optic tract, emerging from the medulla and sending segregated input to the MB-calyx collar. The MB collar volumes and densities of synaptic complexes (microglomeruli, MGs) increased with age. Exposure to light for 4 days induced a decrease in MG densities followed by an increase after extended light exposure. This shows that plasticity in retinal opsin gene expression and structural neuroplasticity in primary and secondary visual centers comprise both "experience-independent" and "experience-dependent" elements. We conclude that both sources of plasticity in the visual system represent important components promoting optimal timing of the interior-forager transition and flexibility of age-related division of labor. © 2016 Wiley Periodicals, Inc. Develop Neurobiol 76: 1041-1057, 2016.

Photoreceptor projections and receptive fields in the dorsal rim area and main retina of the locust eye

In many insect species, photoreceptors of a small dorsal rim area of the eye are specialized for sensitivity to the oscillation plane of polarized skylight and, thus, serve a role in sky compass orientation. To further understand peripheral mechanisms of polarized-light processing in the optic lobe, we have studied the projections of photoreceptors and their receptive fields in the main eye and dorsal rim area of the desert locust, a model system for polarization vision analysis. In both eye regions, one photoreceptor per ommatidium, R7, has a long visual fiber projecting through the lamina to the medulla. Axonal fibers from R7 receptors of the dorsal rim area have short side branches throughout the depth of the dorsal lamina and maintain retinotopic projections to the dorsal medulla following the first optic chiasma. Receptive fields of dorsal rim photoreceptors are considerably larger (average acceptance angle 33°) than those of the main eye (average acceptance angle 2.04°) and, taken together, cover almost the entire sky. The data challenge previous reports of two long visual fibers per ommatidium in the main eye of the locust and provide data for future analysis of peripheral networks underlying polarization opponency in the locust brain.

Walking Drosophila align with the e-vector of linearly polarized light through directed modulation of angular acceleration

Understanding the mechanisms that link sensory stimuli to animal behavior is a central challenge in neuroscience. The quantitative description of behavioral responses to defined stimuli has led to a rich understanding of different behavioral strategies in many species. One important navigational cue perceived by many vertebrates and insects is the e-vector orientation of linearly polarized light. Drosophila manifests an innate orientation response to this cue ('polarotaxis'), aligning its body axis with the e-vector field. We have established a population-based behavioral paradigm for the genetic dissection of neural circuits guiding polarotaxis to both celestial as well as reflected polarized stimuli. However, the behavioral mechanisms by which flies align with a linearly polarized stimulus remain unknown. Here, we present a detailed quantitative description of Drosophila polarotaxis, systematically measuring behavioral parameters that are modulated by the stimulus. We show that angular acceleration is modulated during alignment, and this single parameter may be sufficient for alignment. Furthermore, using monocular deprivation, we show that each eye is necessary for modulating turns in the ipsilateral direction. This analysis lays the foundation for understanding how neural circuits guide these important visual behaviors.

Integration of polarization and chromatic cues in the insect sky compass

Animals relying on a celestial compass for spatial orientation may use the position of the sun, the chromatic or intensity gradient of the sky, the polarization pattern of the sky, or a combination of these cues as compass signals. Behavioral experiments in bees and ants, indeed, showed that direct sunlight and sky polarization play a role in sky compass orientation, but the relative importance of these cues are species-specific. Intracellular recordings from polarization-sensitive interneurons in the desert locust and monarch butterfly suggest that inputs from different eye regions, including polarized-light input through the dorsal rim area of the eye and chromatic/intensity gradient input from the main eye, are combined at the level of the medulla to create a robust compass signal. Conflicting input from the polarization and chromatic/intensity channel, resulting from eccentric receptive fields, is eliminated at the level of the anterior optic tubercle and central complex through internal compensation for changing solar elevations, which requires input from a circadian clock. Across several species, the central complex likely serves as an internal sky compass, combining E-vector information with other celestial cues. Descending neurons, likewise, respond both to zenithal polarization and to unpolarized cues in an azimuth-dependent way.

Polarotaxis and scototaxis in the supratidal amphipod Platorchestia platensis

Talitrid amphipods use many cues for orientation during forays between temporary burrows and feeding areas, and for locating beaches when submerged, with visual cues being particularly important. Little evidence exists for polarized light among these visual cues despite extensive orientation by celestial and underwater polarized light in other crustaceans and in insects. We used electroretinography to assess spectral sensitivity in the eye of the beach flea Platorchestia platensis, and behavioral studies to test whether linearly polarized light serves as an orientation cue. Two spectral classes were present in the P. platensis eye with maxima at 431 and 520 nm. Non-uniform orientation of amphipods in the laboratory arena required either light/dark or polarized cues. Scototactic movements depended on arena conditions (day/night, wet/dry), while orientation under linearly polarized light was wavelength-dependent and parallel to the e-vector. Subsequent tests presented conflicting and additive scototactic and polarotactic cues to differentiate among these responses. In dry conditions, orientation parallel to the polarization e-vector overcame a dominant negative scototaxis, confirming that polarotaxis and scototaxis are separate orientation responses in this species. These behavioral results demonstrate talitrid amphipods can perceive and orient to linearly polarized light, and may use it to orient toward preferred zones on beaches.

Life as a cataglyphologist--and beyond

Rüdiger Wehner's lifelong research activities centered on Cataglyphis have rendered these thermophilic desert ants model organisms in the study of animal navigation. The present account describes how the author encountered Cataglyphis and established a study site at Maharès, Tunisia; how he increasingly focused his research on the neuroethological analysis of the ant's navigational toolkit; and finally, how he extended these studies to thermophilic desert ants in other deserts of the world, to Ocymyrmex in southern Africa and Melophorus in central Australia. By including aspects of functional morphology, physiology, and ecology in his research projects, he has favored-and advocated-an organism-centered approach. Beyond "cataglyphology," he was engaged in substantial teaching both at his home university in Zürich and overseas, writing a textbook, running a department, and working as a Permanent Fellow at the Institute for Advanced Study in Berlin.

Bio-inspired polarized skylight-based navigation sensors: a review

Animal senses cover a broad range of signal types and signal bandwidths and have inspired various sensors and bioinstrumentation devices for biological and medical applications. Insects, such as desert ants and honeybees, for example, utilize polarized skylight pattern-based information in their navigation activities. They reliably return to their nests and hives from places many kilometers away. The insect navigation system involves the dorsal rim area in their compound eyes and the corresponding polarization sensitive neurons in the brain. The dorsal rim area is equipped with photoreceptors, which have orthogonally arranged small hair-like structures termed microvilli. These are the specialized sensors for the detection of polarized skylight patterns (e-vector orientation). Various research groups have been working on the development of novel navigation systems inspired by polarized skylight-based navigation in animals. Their major contributions are critically reviewed. One focus of current research activities is on imitating the integration path mechanism in desert ants. The potential for simple, high performance miniaturized bioinstrumentation that can assist people in navigation will be explored.

Behavioural analysis of chromatic and achromatic vision in the ant Formica cunicularia (Hymenoptera: Formicidae)

Responses of Formica cunicularia foragers to monochromatic light stimuli of 370, 440, 540, 590 and 640 nm were evaluated in different experimental conditions using a Y-maze apparatus and a circular orientation platform. The results showed that foragers responded significantly to all test wavelengths at certain intensities but could only discriminate 370 and 540 nm from alternatives irrespective of intensity changes. Furthermore, they were also capable of discriminating two long wavelengths, 590 and 640 nm, using a photon catch mechanism by their green photoreceptors. Foragers also discriminated stimuli pairs of same wavelengths based only on intensity differences they provide. The overall results show that F. cunicularia foragers have a dichromatic colour vision system based on inputs of two possible photoreceptor types sensitive to UV and green. The results also yielded evidence showing that their visual systems provided foragers a sensitivity also for wavelengths corresponding to blue and red ranges of the spectrum.

Electrophysiological evidence for polarization sensitivity in the camera-type eyes of the aquatic predacious insect larva, Thermonectus marmoratus (Coleoptera: Dytiscidae)

Polarization sensitivity has most often been studied in mature insects, yet it is likely that larvae also make use of this visual modality. The aquatic larvae of the predacious diving beetle Thermonectus marmoratus are highly successful visually guided predators, with a UV-sensitive proximal retina that, according to its ultrastructure, has three distinct cell types with anatomical attributes that are consistent with polarization sensitivity. In the present study we used electrophysiological methods and single-cell staining to confirm polarization sensitivity in the proximal retinas of both principal eyes of these larvae. As expected from their microvillar orientation, cells of type T1 are most sensitive to vertically polarized light, while cells of type T2 are most sensitive to horizontally polarized light. In addition, T3 cells likely constitute a second population of cells that are most sensitive to light with vertical e-vector orientation, characterized by shallower polarization modulations, and smaller polarization sensitivity (PS) values than are typical for T1 cells. The level of PS values found in this study suggests that polarization sensitivity likely plays an important role in the visual system of these larvae. Based on their natural history and behavior, possible functions are: (1) finding water after hatching, (2) finding the shore before pupation, and (3) making prey more visible, by filtering out horizontally polarized haze, and/or using polarization features for prey detection.

Desert ants benefit from combining visual and olfactory landmarks

The desert ant, Cataglyphis fortis, uses both visual and olfactory cues to guide its return to the nest. The ants use vision-based path integration for long-distance navigation and memorize the visual and olfactory surrounding of the nest to finally locate the entrance. In the present study we investigated how the visual and the olfactory navigation systems interact. In field experiments ants were trained to associate the nest with a visual cue, an olfactory cue or a combination of both cues. We tested ants after one, five and 15 training runs, to investigate whether the ants would make use of the training cues to pinpoint the nest. We found that they were slow to learn the location of the nest when it was specified by just an olfactory or a visual cue. However, the ants focused their nest search after the first training run with the combined cue. Equally experienced ants responded to the individually presented visual or olfactory cues with the same high accuracy as they did to the combined cue. After 15 training runs, the combined cue still evoked an accurate response in the test, whereas the individually presented cues no longer did. Apparently, C. fortis benefit from combining their visual and olfactory navigational tools, because the bimodal sensory input accelerates the acquisition of landmark information.

The molecular basis of mechanisms underlying polarization vision

The underlying mechanisms of polarization sensitivity (PS) have long remained elusive. For rhabdomeric photoreceptors, questions remain over the high levels of PS measured experimentally. In ciliary photoreceptors, and specifically cones, little direct evidence supports any type of mechanism. In order to promote a greater interest in these fundamental aspects of polarization vision, we examined a varied collection of studies linking membrane biochemistry, protein-protein interactions, molecular ordering and membrane phase behaviour. While initially these studies may seem unrelated to polarization vision, a common narrative emerges. A surprising amount of evidence exists demonstrating the importance of protein-protein interactions in both rhabdomeric and ciliary photoreceptors, indicating the possible long-range ordering of the opsin protein for increased PS. Moreover, we extend this direction by considering how such protein paracrystalline organization arises in all cell types from controlled membrane phase behaviour and propose a universal pathway for PS to occur in both rhabdomeric and cone photoreceptors.

First evidence of fine colour discrimination ability in ants (Hymenoptera, Formicidae)

In the present study, we report the first evidence that ants discriminate and learn perceptually close colour stimuli. Foragers of the ant species Cataglyphis aenescens and Formica cunicularia were trained in a Y-maze choice apparatus to monochromatic light stimuli of a constant intensity associated with a food reward. Two stimuli, with a mean wavelength of 40 nm perceptual distance, were chosen from the UV (340 nm vs 380 nm) and the green (510 nm vs 550 nm) range because these species are UV–green dichromats. Foragers were trained with two conditioning paradigms [absolute conditioning (AC) and differential conditioning (DC)]. In the UV range, C. aenescens foragers failed to discriminate when presented with a small colour difference in both training procedures. Foragers also failed in the green range when trained with AC but showed significant bias towards the rewarded stimulus when trained with DC. Formica cunicularia foragers achieved the task in the UV range when trained with DC only. In the green range, F. cunicularia foragers showed clear preference for the rewarded stimulus in both training conditioning procedures. Foragers never failed in choosing the rewarded stimulus in DC even when the intensity of the rewarded stimulus was reduced by one log unit. This clearly indicates that DC is of paramount importance to discriminate perceptually close colour stimuli.

Specialized ommatidia of the polarization-sensitive dorsal rim area in the eye of monarch butterflies have non-functional reflecting tapeta

Many insects exploit sky light polarization for navigation or cruising-course control. The detection of polarized sky light is mediated by the ommatidia of a small specialized part of the compound eye: the dorsal rim area (DRA). We describe the morphology and fine structure of the DRA in monarch butterflies (Danaus plexippus). The DRA consists of approximately 100 ommatidia forming a narrow ribbon along the dorsal eye margin. Each ommatidium contains two types of photoreceptor with mutually orthogonal microvilli orientations occurring in a 2:6 ratio. Within each rhabdomere, the microvilli are well aligned. Rhabdom structure and orientation remain constant at all retinal levels, but the rhabdom profiles, as seen in tangential sections through the DRA, change their orientations in a fan-like fashion from the frontal to the caudal end of the DRA. Whereas these properties (two microvillar orientations per rhabdom, microvillar alignment along rhabdomeres, ommatidial fan array) are typical for insect DRAs in general, we also report and discuss here a novel feature. The ommatidia of monarch butterflies are equipped with reflecting tapeta, which are directly connected to the proximal ends of the rhabdoms. Although tapeta are also present in the DRA, they are separated from the rhabdoms by a space of approximately 55 μm effectively inactivating them. This reduces self-screening effects, keeping polarization sensitivity of all photoreceptors of the DRA ommatidia both high and approximately equal.

Haze, clouds and limited sky visibility: polarotactic orientation of crickets under difficult stimulus conditions

Field crickets (Gryllus campestris L.) are able to detect the orientation of the electric vector (e-vector) of linearly polarized light. They presumably use this sense to exploit the celestial polarization pattern for course control or navigation. Polarization vision in crickets can be tested by eliciting a spontaneous polarotactic response. Previously, wide and 100% polarized stimuli were employed to induce this behavior. However, field crickets live on meadows where the observation of the sky is strongly limited by surrounding vegetation. Moreover, degrees of polarization (d) in the natural sky are much lower than 100%. We have therefore investigated thresholds for the behavioral response to polarized light under conditions mimicking those experienced by the insects in the field. We show that crickets are able to rely on polarized stimuli of just 1° diameter. We also provide evidence that they exploit polarization down to an (average) polarization level of less than 7%, irrespective of whether the stimulus is homogeneous,such as under haze, or patched, such as a sky spotted by clouds. Our data demonstrate that crickets can rely on skylight polarization even under unfavorable celestial conditions, emphasizing the significance of polarized skylight orientation for insects.

The distribution of polarization sensitivity in the crayfish retinula

In many arthropod eyes the ommatidia contain two classes of retinular cells with orthogonally oriented microvilli. These receptors provide the basis for two-channel polarization vision. In several contexts such as navigation or the detection of polarization contrast, two channels may be insufficient. While solutions to this problem are known (e.g. in insects and stomatopod crustaceans) none have been found in the majority of decapods. To examine this issue further, the polarization sensitivity and the E-vector angle eliciting a maximum response (theta (max)) were measured at over 300 loci on the crayfish retinula. The polarization response ratio (which is proportional to polarization sensitivity) was similar at all locations on the retinula. Around the central pole of the eye, theta (max) was distributed about the vertical and horizontal axes. Along the dorsal rim, the distribution of theta (max) exhibits modes at 0 degrees , 45 degrees and 90 degrees and a small mode at 135 degrees relative to the dorso-ventral axis of the eyestalk (0 degrees ). Smaller numbers of cells (20 to 25%) with theta (max )near the diagonal were also found in anterior and posterior retinula areas. Thus crayfish visual interneurons, which integrate signals from multiple ommatidia may have access to a multi-channel polarization analyzer.

Anatomical and physiological evidence for polarisation vision in the nocturnal bee Megalopta genalis

The presence of a specialised dorsal rim area with an ability to detect the e-vector orientation of polarised light is shown for the first time in a nocturnal hymenopteran. The dorsal rim area of the halictid bee Megalopta genalis features a number of characteristic anatomical specialisations including an increased rhabdom diameter and a lack of primary screening pigments. Optically, these specialisations result in wide spatial receptive fields (Deltarho = 14 degrees ), a common adaptation found in the dorsal rim areas of insects used to filter out interfering effects (i.e. clouds) from the sky. In this specialised eye region all nine photoreceptors contribute their microvilli to the entire length of the ommatidia. These orthogonally directed microvilli are anatomically arranged in an almost linear, anterior-posterior orientation. Intracellular recordings within the dorsal rim area show very high polarisation sensitivity and a sensitivity peak within the ultraviolet part of the spectrum.

The significance of direct sunlight and polarized skylight in the ant's celestial system of navigation

As textbook knowledge has it, bees and ants use polarized skylight as a backup cue whenever the main compass cue, the sun, is obscured by clouds. Here we show, by employing a unique experimental paradigm, that the celestial compass system of desert ants, Cataglyphis, relies predominantly on polarized skylight. If ants experience only parts of the polarization pattern during training but the full pattern in a subsequent test situation, they systematically deviate from their true homeward courses, with the systematics depending on what parts of the skylight patterns have been presented during training. This "signature" of the polarization compass remains unaltered, even if the ants can simultaneously experience the sun, which, if presented alone, enables the ants to select their true homeward courses. Information provided by direct sunlight and polarized skylight is picked up by different parts of the ant's compound eyes and is channeled into two rather separate systems of navigation.

Physiological characterization of the compound eye in monarch butterflies with focus on the dorsal rim area

The spectral, angular and polarization sensitivities of photoreceptors in the compound eye of the monarch butterfly (Danaus plexippus) are examined using electrophysiological methods. Intracellular recordings reveal a spectrally homogenous population of UV receptors with optical axes directed upwards and >or=10 degrees to the contralateral side. Based on optical considerations and on the opsin expression pattern (Sauman et al. 2005), we conclude that these UV receptors belong to the anatomically specialized dorsal rim area (DRA) of the eye. Photoreceptors in the main retina with optical axes <10 degrees contralateral or ipsilateral have maximal sensitivities in the UV (lambda(max)<or=340 nm), the blue (lambda(max)=435 nm) or in the long-wave range (green, lambda(max)=540 nm). The polarization sensitivity (PS) of the UV receptors in the DRA is much higher (PS=9.4) than in the UV cells (PS=2.9) or green cells (PS=2.8) of the main retina. The physiological properties of the photoreceptors in the DRA and in the main retina fit closely with the anatomy and the opsin expression patterns described in these eye regions. The data are discussed in the light of present knowledge about polarized skylight navigation in Lepidopterans.

Lunar orientation in a beetle

Many animals use the sun's polarization pattern to orientate, but the dung beetle Scarabaeus zambesianus is the only animal so far known to orientate using the million times dimmer polarization pattern of the moonlit sky. We demonstrate the relative roles of the moon and the nocturnal polarized-light pattern for orientation. We find that artificially changing the position of the moon, or hiding the moon's disc from the beetle's field of view, generally did not influence its orientation performance. We thus conclude that the moon does not serve as the primary cue for orientation. The effective cue is the polarization pattern formed around the moon, which is more reliable for orientation. Polarization sensitivity ratios in two photoreceptors in the dorsal eye were found to be 7.7 and 12.9, similar to values recorded in diurnal navigators. These results agree with earlier results suggesting that the detection and analysis of polarized skylight is similar in diurnal and nocturnal insects.

Neural mechanisms in insect navigation: polarization compass and odometer

Insect navigation relies on path integration, a procedure by which information about compass bearings pursued and distances travelled are combined to calculate position. Three neural levels of the polarization compass, which uses the polarization of skylight as a reference, have been analyzed in orthopteran insects. A group of dorsally directed, highly specialized ommatidia serve as polarization sensors. Polarization-opponent neurons in the optic lobe condition the polarization signal by removing unreliable and irrelevant components of the celestial stimulus. Neurons found in the central complex of the brain possibly represent elements of the compass output. The odometer for measuring travelling distances in honeybees relies on optic flow experienced during flight, whereas desert ants most probably use proprioreceptive cues.

Insects could exploit UV-green contrast for Landmark navigation

Illumination-invariant detection of landmark features is a prerequisite for landmark navigation in insects. It is suggested that a contrast mechanism involving the UV and green receptors of insect eyes could guarantee a robust separation between natural objects as foreground and sky as background. Using a sensor with a UV and a green channel that in their spectral characteristics are close to the corresponding insect photoreceptors, data of natural objects and sky were collected. The data show that the two classes can be separated by a fixed threshold in the UV-green color space, offering an advantage over a purely UV-based separation that would require a dynamic threshold. Based on a numerical method, UV-green antagonism is shown to guarantee a more reliable discrimination than UV-blue antagonism.

The evolution of color vision in insects

We review the physiological, molecular, and neural mechanisms of insect color vision. Phylogenetic and molecular analyses reveal that the basic bauplan, UV-blue-green-trichromacy, appears to date back to the Devonian ancestor of all pterygote insects. There are variations on this theme, however. These concern the number of color receptor types, their differential expression across the retina, and their fine tuning along the wavelength scale. In a few cases (but not in many others), these differences can be linked to visual ecology. Other insects have virtually identical sets of color receptors despite strong differences in lifestyle. Instead of the adaptionism that has dominated visual ecology in the past, we propose that chance evolutionary processes, history, and constraints should be considered. In addition to phylogenetic analyses designed to explore these factors, we suggest quantifying variance between individuals and populations and using fitness measurements to test the adaptive value of traits identified in insect color vision systems.

Detectors for polarized skylight in insects: a survey of ommatidial specializations in the dorsal rim area of the compound eye

Apart from the sun, the polarization pattern of the sky offers insects a reference for visual compass orientation. Using behavioral experiments, it has been shown in a few insect species (field crickets, honey bees, desert ants, and house flies) that the detection of the oscillation plane of polarized skylight is mediated exclusively by a group of specialized ommatidia situated at the dorsal rim of the compound eye (dorsal rim area). The dorsal rim ommatidia of these species share a number physiological properties that make them especially suitable for polarization vision: each ommatidium contains two sets of homochromatic, strongly polarization-sensitive photoreceptors with orthogonally-arranged analyzer orientations. The physiological specialization of the dorsal rim area goes along with characteristic changes in ommatidial structure, providing actual anatomical hallmarks of polarized skylight detection, that are readily detectable in histological sections of compound eyes. The presence of anatomically specialized dorsal rim ommatidia in many other insect species belonging to a wide range of different orders indicates that polarized skylight detection is a common visual function in insects. However, fine-structural disparities in the design of dorsal rim ommatidia of different insect groups indicate that polarization vision arose polyphyletically in the insects.

Specialized ommatidia for polarization vision in the compound eye of cockchafers, Melolontha melolontha (Coleoptera, Scarabaeidae)

The superposition eye of the cockchafer, Melolontha melolontha, exhibits the typical features of many nocturnal and crepuscular scarabaeid beetles: the dioptric apparatus of each ommatidium consists of a thick corneal lens with a strong inner convexity attached to a crystalline cone, that is surrounded by two primary and 9-11 secondary pigment cells. The clear zone contains the unpigmented extensions of the secondary pigment cells, which surround the cell bodies of seven retinula (receptor) cells per ommatidium and a retinular tract formed by them. The seven-lobed fused rhabdoms are composed by the rhabdomeres of the receptor cells 1-7. The rhabdoms are optically separated from each other by a tracheal sheath around the retinulae. The orientation of the microvilli diverges in a fan-like fashion within each rhabdomere. The proximally situated retinula cell 8 does not form a rhabdomere. This standard form of ommatidium stands in contrast to another type of ommatidium found in the dorsal rim area of the eye. The dorsal rim ommatidia are characterized by the following anatomical specializations: (1) The corneal lenses are not clear but contain light-scattering, bubble-like inclusions. (2) The rhabdom length is increased approximately by a factor of two. (3) The rhabdoms have unlobed shapes. (4) Within each rhabdomere the microvilli are parallel to each other. The microvilli of receptor 1 are oriented 90 degrees to those of receptors 2-7. (5) The tracheal sheaths around the retinulae are missing. These findings indicate that the photoreceptors of the dorsal rim area are strongly polarization sensitive and have large visual fields. In the dorsal rim ommatidia of other insects, functionally similar anatomical specializations have been found. In these species, the dorsal rim area of the eye was demonstrated to be the eye region that is responsible for the detection of polarized light. We suggest that the dorsal rim area of the cockchafer eye subserves the same function and that the beetles use the polarization pattern of the sky for orientation during their migrations.

The optic lobe projection pattern of polarization-sensitive photoreceptor cells in Drosophila melanogaster

Histological staining of wild-type and sevenless transgenic Drosophila melanogaster bearing Rh3-lacZ fusion genes permits the selective visualization of polarization-sensitive R7 and R8 photoreceptor cells located along the dorsal anterior eye margin. Diffusion of beta-galactosidase throughout these cells reveals that they project long axons to the two most peripheral synaptic target rows of the dorsal posterior medulla, defining a specialized marginal zone of this optic lobe. Comparison of the staining patterns of marginal and nonmarginal Rh3-lacZ-expressing photoreceptor cells in the same histological preparations suggest that the marginal cells possess morphologically specialized axons and synaptic terminals. These findings are discussed with reference to the neuroanatomy of the corresponding dorsal marginal eye and optic lobe regions of the larger dipterans Musca and Calliphora, and in relation to the ability of Drosophila to orient to polarized light.