The shape of wind-receptor hairs of cricket and cockroach

An analysis of time-varying dynamics in electrically sensitive arthropod hairs to understand real-world electrical sensing

With increasing evidence of electroreception in terrestrial arthropods, an understanding of receptor level processes is vital to appreciating the capabilities and limits of this sense. Here, we examine the spatio-temporal sensitivity of mechanoreceptive filiform hairs in detecting electrical fields. We first present empirical data, highlighting the time-varying characteristics of biological electrical signals. After which, we explore how electrically sensitive hairs may respond to such stimuli. The main findings are: (i) oscillatory signals (elicited by wingbeats) influence the spatial sensitivity of hairs, unveiling an inextricable spatio-temporal link; (ii) wingbeat direction modulates spatial sensitivity; (iii) electrical wingbeats can be approximated by sinusoidally modulated DC signals; and (iv) for a moving point charge, maximum sensitivity occurs at a faster timescale than a hair's frequency-based tuning. Our results show that electro-mechanical sensory hairs may capture different spatio-temporal information, depending on an object's movement and wingbeat and in comparison with aero-acoustic stimuli. Crucially, we suggest that electrostatic and aero-acoustic signals may provide distinguishable channels of information for arthropods. Given the pervasiveness of electric fields in nature, our results suggest further study to understand electrostatics in the ecology of arthropods and to reveal unknown ecological relationships and novel interactions between species.

Passive electrolocation in terrestrial arthropods: Theoretical modelling of location detection

The recent discovery that some terrestrial arthropods can detect, use, and learn from weak electrical fields adds a new dimension to our understanding of how organisms explore and interact with their environments. For bees and spiders, the filiform mechanosensory systems enable this novel sensory modality by carrying electric charge and deflecting in response to electrical fields. This mode of information acquisition opens avenues for previously unrealised sensory dynamics and capabilities. In this paper, we study one such potential: the possibility for an arthropod to locate electrically charged objects. We begin by illustrating how electrostatic interactions between hairs and surrounding electrical fields enable the process of location detection. After which we examine three scenarios: (1) the determination of the location and magnitude of multiple point charges through a single observation, (2) the learning of electrical and mechanical sensor properties and the characteristics of an electrical field through several observations, (3) the possibility that an observer can infer their location and orientation in a fixed and known electrical field (akin to "stellar navigation"). To conclude, we discuss the potential of electroreception to endow an animal with thus far unappreciated sensory capabilities, such as the mapping of electrical environments. Electroreception by terrestrial arthropods offers a renewed understanding of the sensory processes carried out by filiform hairs, adding to aero-acoustic sensing and opening up the possibility of new emergent collective dynamics and information acquisition by distributed hair sensors.

The mechanics and interactions of electrically sensitive mechanoreceptive hair arrays of arthropods

Recent investigations highlight the possibility of electroreception within arthropods through charged mechanosensory hairs. This discovery raises questions about the influence of electrostatic interaction between hairs and surrounding electrical fields within this sensory modality. Here, we investigate these questions by studying electrostatic coupling in arrays of hairs. We establish the notion of sensitivity contours that indicate regions within which point charges deflect hairs beyond a given threshold. We then examine how the contour’s shape and size and the overall hair behaviour change in response to variations in the coupling between hairs. This investigation unveils synergistic behaviours whereby the sensitivity of hairs is enhanced or inhibited by neighbouring hairs. The hair spacing and ratio of a system’s electrical parameters to its mechanical parameters influence this behaviour. Our results indicate that electrostatic interaction between hairs leads to emergent sensory properties for biologically relevant parameter values. The analysis raises new questions around the impact of electrostatic interaction on the current understanding of sensory hair processes, such as acoustic sensing, unveiling new sensory capabilities within electroreception such as amplification of hair sensitivity and location detection of charges in the environment.

Bristled-wing design of materials, microstructures, and aerodynamics enables flapping flight in tiny wasps

Parasitoid wasps of the smallest flying insects with bristled wings exhibit sophisticated flight behaviors while challenging biomechanical limitations in miniaturization and low-speed flow regimes. Here, we investigate the morphology, material composition, and mechanical properties of the bristles of the parasitoid wasps Anagrus Haliday. The bristles are extremely stiff and exhibit a high-aspect-ratio conical tubular structure with a large Young's modulus. This leads to a marginal deflection and uniform structural stress distribution in the bristles while they experience high-frequency flapping–induced aerodynamic loading, indicating that the bristles are robust to fatigue. The flapping aerodynamics of the bristled wings reveal that the wing surfaces act as porous flat paddles to reduce the overall inertial load while utilizing a passive shear-based aerodynamic drag-enhancing mechanism to generate the requisite aerodynamic forces. The bristled wing may have evolved as a novel design that achieves multiple functions and provides innovative ideas for developing bioinspired engineering microdevices.

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Bristles are extremely stiff and exhibit a high-aspect-ratio conical tubular structure

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Bristles uniformalize structural stress distributions and are robust to loading fatigue

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Bristled wings are light, using less power to achieve novel aerodynamic force production

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Bristled wings may bring an innovative design for bioinspired engineering microdevices

Analysis of aerodynamic and electrostatic sensing in mechanoreceptor arthropod hairs

We study the mechanics of mechanoreceptor hairs in response to electro- and acousto-stimuli to expand the theory of tuning within filiform mechano-sensory systems and show the physical, biological and parametric feasibility of electroreception in comparison to aerodynamic sensing. We begin by analysing two well-known mechanosensory systems, the MeD1 spider trichobothria and the cricket cercal hair, offering a systematic appraisal of the physics of mechanosensory hair motion. Then we explore the biologically relevant parameter space of mechanoreceptor hairs by varying each oscillator parameter, thereby extending the theory to general arthropods. In doing so, we readily identify combinations of parameters for which a hair shows an enhanced or distinct response to either electric or aerodynamic stimuli. Overall, we find distinct behaviours in the two systems with novel insight provided through the parameter-space analysis. We show how the parameter space and balance of parameters therein of the resonant spider system are organised to produce a highly tuneable hair system through variation of hair length, whilst the broader parameter space of the non-resonant cricket system responds equally to a wider range of driving frequencies with increased capacity for high temporal resolution. From our analysis, we hypothesise the existence of two distinct types of mechanoreceptive system: the general system where hairs of all lengths are poised to detect both electro- and acousto- stimuli, and a stimuli-specific system where the sensitivity and specificity of the hairs to the different stimuli changes with length.

Design principles of hair-like structures as biological machines

Hair-like structures are prevalent throughout biology and frequently act to sense or alter interactions with an organism's environment. The overall shape of a hair is simple: a long, filamentous object that protrudes from the surface of an organism. This basic design, however, can confer a wide range of functions, owing largely to the flexibility and large surface area that it usually possesses. From this simple structural basis, small changes in geometry, such as diameter, curvature and inter-hair spacing, can have considerable effects on mechanical properties, allowing functions such as mechanosensing, attachment, movement and protection. Here, we explore how passive features of hair-like structures, both individually and within arrays, enable diverse functions across biology. Understanding the relationships between form and function can provide biologists with an appreciation for the constraints and possibilities on hair-like structures. Additionally, such structures have already been used in biomimetic engineering with applications in sensing, water capture and adhesion. By examining hairs as a functional mechanical unit, geometry and arrangement can be rationally designed to generate new engineering devices and ideas.

Performance assessment of bio-inspired systems: flow sensing MEMS hairs

Despite vigorous growth in biomimetic design, the performance of man-made devices relative to their natural templates is still seldom quantified, a procedure which would however significantly increase the rigour of the biomimetic approach. We applied the ubiquitous engineering concept of a figure of merit (FoM) to MEMS flow sensors inspired by cricket filiform hairs. A well known mechanical model of a hair is refined and tailored to this task. Five criteria of varying importance in the biological and engineering fields are computed: responsivity, power transfer, power efficiency, response time and detection threshold. We selected the metrics response time and detection threshold for building the FoM to capture the performance in a single number. Crickets outperform actual MEMS on all criteria for a large range of flow frequencies. Our approach enables us to propose several improvements for MEMS hair-sensor design.

Corollary discharge inhibition of wind-sensitive cercal giant interneurons in the singing field cricket

Crickets carry wind-sensitive mechanoreceptors on their cerci, which, in response to the airflow produced by approaching predators, triggers escape reactions via ascending giant interneurons (GIs). Males also activate their cercal system by air currents generated due to the wing movements underlying sound production. Singing males still respond to external wind stimulation, but are not startled by the self-generated airflow. To investigate how the nervous system discriminates sensory responses to self-generated and external airflow, we intracellularly recorded wind-sensitive afferents and ventral GIs of the cercal escape pathway in fictively singing crickets, a situation lacking any self-stimulation. GI spiking was reduced whenever cercal wind stimulation coincided with singing motor activity. The axonal terminals of cercal afferents showed no indication of presynaptic inhibition during singing. In two ventral GIs, however, a corollary discharge inhibition occurred strictly in phase with the singing motor pattern. Paired intracellular recordings revealed that this inhibition was not mediated by the activity of the previously identified corollary discharge interneuron (CDI) that rhythmically inhibits the auditory pathway during singing. Cercal wind stimulation, however, reduced the spike activity of this CDI by postsynaptic inhibition. Our study reveals how precisely timed corollary discharge inhibition of ventral GIs can prevent self-generated airflow from triggering inadvertent escape responses in singing crickets. The results indicate that the responsiveness of the auditory and wind-sensitive pathway is modulated by distinct CDIs in singing crickets and that the corollary discharge inhibition in the auditory pathway can be attenuated by cercal wind stimulation.

Quantitative characterization of the filiform mechanosensory hair array on the cricket cercus

BACKGROUND

Crickets and other orthopteran insects sense air currents with a pair of abdominal appendages resembling antennae, called cerci. Each cercus in the common house cricket Acheta domesticus is approximately 1 cm long, and is covered with 500 to 750 filiform mechanosensory hairs. The distribution of the hairs on the cerci, as well as the global patterns of their movement vectors, have been characterized semi-quantitatively in studies over the last 40 years, and have been shown to be very stereotypical across different animals in this species. Although the cercal sensory system has been the focus of many studies in the areas of neuroethology, development, biomechanics, sensory function and neural coding, there has not yet been a quantitative study of the functional morphology of the receptor array of this important model system.

METHODOLOGY/PRINCIPAL FINDINGS

We present a quantitative characterization of the structural characteristics and functional morphology of the cercal filiform hair array. We demonstrate that the excitatory direction along each hair's movement plane can be identified by features of its socket that are visible at the light-microscopic level, and that the length of the hair associated with each socket can also be estimated accurately from a structural parameter of the socket. We characterize the length and directionality of all hairs on the basal half of a sample of three cerci, and present statistical analyses of the distributions.

CONCLUSIONS/SIGNIFICANCE

The inter-animal variation of several global organizational features is low, consistent with constraints imposed by functional effectiveness and/or developmental processes. Contrary to previous reports, however, we show that the filiform hairs are not re-identifiable in the strict sense.

Hair receptor sensitivity to changes in laminar boundary layer shape

Biologists have shown that bat wings contain distributed arrays of flow-sensitive hair receptors. The hair receptors are hypothesized to feedback information on airflows over the bat wing for enhanced stability or maneuverability during flight. Here, we study the geometric specialization of hair-like structures for the detection of changes in boundary layer velocity profiles (shapes). A quasi-steady model that relates the flow velocity profile incident on the longitudinal axis of a hair to the resultant moment and shear force at the hair base is developed. The hair length relative to the boundary layer momentum thickness that maximizes the resultant moment and shear-force sensitivity to changes in boundary layer shape is determined. The sensitivity of the resultant moment and shear force is shown to be highly dependent on hair length. Hairs that linearly taper to a point are shown to provide greater output sensitivity than hairs of uniform cross-section. On an order of magnitude basis, the computed optimal hair lengths are in agreement with the range of hair receptor lengths measured on individual bat species. These results support the hypothesis that bats use hair receptors for detecting changes in boundary layer shape and provide geometric guidelines for artificial hair sensor design and application.

Recent advances in biomimetic sensing technologies

The importance of biological materials has long been recognized from the molecular level to higher levels of organization. Whereas, in traditional engineering, hardness and stiffness are considered desirable properties in a material, biology makes considerable and advantageous use of softer, more pliable resources. The development, structure and mechanics of these materials are well documented and will not be covered here. The purpose of this paper is, however, to demonstrate the importance of such materials and, in particular, the functional structures they form. Using only a few simple building blocks, nature is able to develop a plethora of diverse materials, each with a very different set of mechanical properties and from which a seemingly impossibly large number of assorted structures are formed. There is little doubt that this is made possible by the fact that the majority of biological 'materials' or 'structures' are based on fibres and that these fibres provide opportunities for functional hierarchies. We show how these structures have inspired a new generation of innovative technologies in the science and engineering community. Particular attention is given to the use of insects as models for biomimetically inspired innovations.

The frequency response of rat vibrissae to sound

The motion of isolated rat vibrissae due to low frequency sound has been modeled and measured with good agreement (within a factor of 2) between the data and the model's predictions. As had been done in previous studies on the response of rat vibrissae to tactile stimulation [Hartmann, M. J., Johnson, N. J., Towal, R. B., and Assad, C., J. Neurosci 23, 6510-6519 (2003) and Neimark, M. A., Andermann, A. L., Hopfield, J. J., and Moore, C. I., J. Neurosci 23, 6449-6509 (2003)] the vibrissae were modeled as thin conical beams. The force of the vibrating air on a vibrissa was modeled using the exact solution for a vibrating infinite cylinder in linear fluid. A finite element method was used to model the motion of a single vibrissa fixed at its base, using the aforementioned fluid force. Values for Young's modulus and vibrissa mass density were taken from a previous study [Neimark et al. (above)]. The model had no freely fitted parameters. Motion of isolated vibrissae was measured using a video camera with microscope. The sound stimulation was created using a stereo speaker connected to a signal generator. The tuning was found to be sharp, with quality factors that varied between 3 and 7, much sharper than the motion of cricket cercal hairs or in vitro inner ear hair bundles.

Interaction between arthropod filiform hairs in a fluid environment

Many arthropods use filiform hairs as mechanoreceptors to detect air motion. In common house crickets (Acheta domestica) the hairs cover two antenna-like appendages called cerci at the rear of the abdomen. The biomechanical stimulus-response properties of individual filiform hairs have been investigated and modeled extensively in several earlier studies. However, only a few previous studies have considered viscosity-mediated coupling between pairs of hairs, and only in particular configurations. Here, we present a model capable of calculating hair-to-hair coupling in arbitrary configurations. We simulate the coupled motion of a small group of mechanosensory hairs on a cylindrical section of cercus. We have found that the coupling effects are non-negligible, and likely constrain the operational characteristics of the cercal sensory array.

Air-flow sensitive hairs: boundary layers in oscillatory flows around arthropod appendages

The aim of this work is to characterize the boundary layer over small appendages in insects in longitudinal and transverse oscillatory flows. The problem of immediate interest is the early warning system in crickets perceiving flying predators using air-flow-sensitive hairs on cerci, two long appendages at their rear. We studied both types of oscillatory flows around small cylinders using stroboscopic micro-particle image velocimetry as a function of flow velocity and frequency. Theoretical predictions are well fulfilled for both longitudinal and transverse flows. Transverse flow leads to higher velocities than longitudinal flow in the boundary layer over a large range of angles between flow and cylinder. The strong spatial heterogeneity of flow velocities around filiform-shaped appendages is a rich source of information for different flow-sensing animals. Our results suggest that crickets could perceive the direction of incoming danger by having air-flow-sensitive hairs positioned around their entire cerci. Implications for biomimetic flow-sensing MEMS are also presented.

Ontogeny of air-motion sensing in cricket

Juvenile crickets suffer high rates of mortality by natural predators that they can detect using extremely sensitive air-sensing filiform hairs located on their cerci. Although a huge amount of knowledge has accumulated on the physiology, the neurobiology and the biomechanics of this sensory system in adults, the morphological and functional aspects of air sensing have not been as well studied in earlier life history stages. Using scanning electronic microscopy, we performed a survey of all cercal filiform hairs in seven instars of the wood cricket (Nemobius sylvestris). Statistical analyses allowed us to quantify profound changes in the number, the length and the distribution of cercal hairs during development. Of particular importance,we found a fivefold increase in hair number and the development of a bimodal length-frequency distribution of cercal hairs from the second instar onwards. Based on theoretical estimations of filiform hair population coding, we found that the cercal system is functional for a wide range of frequencies of biologically relevant oscillatory flows, even from the first instar. As the cricket develops, the overall sensitivity of the cercal system increases as a result of the appearance of new hairs, but the value of the best tuned frequency remains fixed between 150 and 180 Hz after the second instar. These frequencies nicely match those emitted by natural flying predators, suggesting that the development of the cercal array of hairs may have evolved in response to such signals.

Viscous scattering of a pressure wave: calculation of the fluid tractions on a biomimetic acoustic velocity sensor

In the paper we give a method for calculating the tractions (local forces) of the fluid motion determined by an incoming plane pressure wave on an artificial hair cell transducer structure. The sensing element of the transducer is a standing high aspect ratio cilium in the shape of a narrow thin curved beam (tape-like), which can be easily fabricated in micro-/nanotechnology. The method is based on considering the system of partial differential equations describing the motion of the compressible viscous fluid in an acoustic linearized approximation, and representation of the velocity field as a viscous acoustic single-layer potential. The boundary conditions, stating the cancellation of the velocity components on the solid beam, yield a two-dimensional (2-D) system of three integral equations over the beam's surface for the traction components. In the case of a narrow cilium, the system of integral equations furnishes a system of two 1-D integral equations over the symmetry curve of the structure for obtaining the tangential and normal components of the traction. This system is solved numerically by a finite (boundary) element method. The numerical code written for solving the problem was applied to some particular structures. The last structure is similar to the trichobothrium of a spider Cupiennius salei. The results obtained show that the curvature of the hair is enhancing sensitivity to flows directed normal to the main shaft of the hair confirming the assertion of Barth et al. [Philos. Trans. R. Soc. London, Ser. B 340, 445-461 (1993)].

Hair canopy of cricket sensory system tuned to predator signals

Filiform hairs located on the cerci of crickets are among the most sensitive sensors in the animal world and enable crickets to sense the faintest air movements generated by approaching predators. While the neurophysiological and biomechanical aspects of this sensory system have been studied independently for several decades, their integration into a coherent framework was wanting. In order to evaluate the hair canopy tuning to predator signals, we built a model of cercal population coding of oscillating air flows by the hundreds of hairs on the cerci of the sand cricket Gryllus bimaculatus (Insecta: Orthoptera). A complete survey of all hairs covering the cerci was done on intact cerci using scanning electronic microscopy. An additive population coding of sinusoid signals of varying frequencies and velocities taking into account hair directionality delivered the cercal canopy tuning curve. We show that the range of frequencies and velocities at which the cricket sensory system is best tuned corresponds to the values of signals produced by approaching predators. The relative frequencies of short (< 0.5 x 10(-3) m) and long hairs and their differing responses to oscillating air flows therefore enable crickets to detect predators in a time-frequency-intensity space both as far as possible and at close range.

Artificial Whiskers: Structural Characterization and Implications for Adaptive Robots

Whisking is an active exploratory process during which rodents sweep their macro vibrissae (whiskers) across surfaces to detect prominent environmental features (object location, surface textures, friction, and shapes). The resulting sensory stimulation is typically rich in both spatial and temporal structure, and is used to guide a host of adaptive behaviors. This article explores whisker systems as a sensory modality in rodents and robots with respect to their potential for adaptive behavior. To further our understanding of the role played by the morphology (shape and material properties) of whiskers, we present and discuss the results of simulations of conical and cylindrical whiskers. Our results show that for a given mass a conical whisker is (a) stiffer, (b) more selective for particular modes of vibration, and (c) more robust against fractures. We also describe the design and implementation of a bio-inspired active sensing system built with whiskers from real rats glued to capacitor microphones. Each whisker is capable of detecting very weak mechanical forces applied to its tip. Different resonance frequencies are induced in the whisker according to the object the whisker touches or is touched by. Our experimental results show that the interval of elicited frequencies ranges from approximately 230Hz to 3kHz. We suggest that this range of frequencies is particularly useful for discriminating textures with different spatial frequencies and other environmental features.

A neuromorphic hair sensor model of wind-mediated escape in the cricket

Crickets are able to extract directional information about a wind stimulus through the filiform hairs located on their cerci. This paper describes the design and testing of a neuromorphic sensor that aims to achieve a close correlation with both the physical and functional properties of these hairs. An integrate and fire neural network is used to process the sensory information in real time. The resulting system is shown to be capable of extracting directional information from a wind stimulus and producing an appropriate motor control pattern.