Protean behavior under barn-owl attack: voles alternate between freezing and fleeing and spiny mice flee in alternating patterns

Uncertainty and anxiety: Evolution and neurobiology

Anxiety is a complex phenomenon: Its eliciting stimuli and circumstances, component behaviors, and functional consequences are only slowly coming to be understood. Here, we examine defense systems from field studies; laboratory studies focusing on experimental analyses of behavior; and, the fear conditioning literature, with a focus on the role of uncertainty in promoting an anxiety pattern that involves high rates of stimulus generalization and resistance to extinction. Respectively, these different areas provide information on evolved elicitors of defense (field studies); outline a defense system focused on obtaining information about uncertain threat (ethoexperimental analyses); and, provide a simple, well-researched, easily measured paradigm for analysis of nonassociative stress-enhanced fear conditioning (the SEFL). Results suggest that all of these-each of which is responsive to uncertainty-play multiple and interactive roles in anxiety. Brain system findings for some relevant models are reviewed, with suggestions that further analyses of current models may be capable of providing a great deal of additional information about these complex interactions and their underlying biology.

Antipredator defences in motion: animals reduce predation risks by concealing or misleading motion signals

Motion is a crucial part of the natural world, yet our understanding of how animals avoid predation whilst moving remains rather limited. Although several theories have been proposed for how antipredator defence may be facilitated during motion, there is often a lack of supporting empirical evidence, or conflicting findings. Furthermore, many studies have shown that motion often 'breaks' camouflage, as sudden movement can be detected even before an individual is recognised. Whilst some static camouflage strategies may conceal moving animals to a certain extent, more emphasis should be given to other modes of camouflage and related defences in the context of motion (e.g. flicker fusion camouflage, active motion camouflage, motion dazzle, and protean motion). Furthermore, when motion is involved, defence strategies are not necessarily limited to concealment. An animal can also rely on motion to mislead predators with regards to its trajectory, location, size, colour pattern, or even identity. In this review, we discuss the various underlying antipredator strategies and the mechanisms through which they may be linked to motion, conceptualising existing empirical and theoretical studies from two perspectives - concealing and misleading effects. We also highlight gaps in our understanding of these antipredator strategies, and suggest possible methodologies for experimental designs/test subjects (i.e. prey and/or predators) and future research directions.

Single trial Bayesian inference by population vector readout in the barn owl's sound localization system

Bayesian models have proven effective in characterizing perception, behavior, and neural encoding across diverse species and systems. The neural implementation of Bayesian inference in the barn owl's sound localization system and behavior has been previously explained by a non-uniform population code model. This model specifies the neural population activity pattern required for a population vector readout to match the optimal Bayesian estimate. While prior analyses focused on trial-averaged comparisons of model predictions with behavior and single-neuron responses, it remains unknown whether this model can accurately approximate Bayesian inference on single trials under varying sensory reliability, a fundamental condition for natural perception and behavior. In this study, we utilized mathematical analysis and simulations to demonstrate that decoding a non-uniform population code via a population vector readout approximates the Bayesian estimate on single trials for varying sensory reliabilities. Our findings provide additional support for the non-uniform population code model as a viable explanation for the barn owl's sound localization pathway and behavior.

Bite Wounds and Dominance Structures in Male and Female African Spiny Mice (Acomys cahirinus): Implications for Animal Welfare and the Generalizability of Experimental Results

Bite wounds due to aggression in male laboratory mice (Mus musculus) are a major welfare concern, often leading to attrition, chronic activation of the innate immune system, and significant impacts on the experimental results derived from the use of these animals as models. Bite wounding within the home-cage of spiny mice (Acomys cahirinus)-a valuable research model for wound healing and menstruation-is poorly characterized. While we have anecdotally observed frequent bite wounding in Acomys, the frequency of aggression within the home-cage, the severity of the bite wounds, and the types of dominance structures remain unstudied. Here, we report that 46% of Acomys cages in our colony had at least one bite wound over the course of a year and that same-sex pairs fought in the home-cage 10% of the time during their dark/active phase. Both sexes inflicted wounds and frequently engaged in agonistic behaviors, even with stable dominance structures. We found that females inflicted less severe bite wounds in same-sex housing. Also, aged females in same-sex pairs were never observed fighting, and no bite wounds were observed in aged Acomys. These results suggest that we should consider whether bite wounding negatively impacts our experimental results since physical trauma is known to alter menstrual cycling and healing.

Inertial effect on evasion and pursuit dynamics of prey swarms: the emergence of a favourable mass ratio for the predator-prey arms race

We show, based on a theoretical model, how inertia plays a pivotal role in the survival dynamics of a prey swarm while chased by a predator. With the varying mass of the prey and predator, diverse escape patterns emerge, such as circling, chasing, maneuvering, dividing into subgroups, and merging into a unitary group, similar to the escape trajectories observed in nature. Moreover, we find a transition from non-survival to survival of the prey swarm with increasing predator mass. The transition regime is also sensitive to the variation in prey mass. Further, the analysis of the prey group survival as a function of predator-to-prey mass ratio unveils the existence of three distinct regimes: (i) frequent chase and capture leading to the non-survival of the prey swarm, (ii) an intermediate regime where competition between pursuit and capture occurs, resembling an arms race, and (iii) the survival regime without the capture of prey. Interestingly, our study demonstrates the existence of a favourable predator-prey mass ratio for coexistence of both prey and predator in an ecosystem, which agrees well with the field studies.

Motor state changes escape behavior of crickets

Animals change their behavior depending on external circumstances, internal factors, and their interactions. Locomotion state is a crucial internal factor that profoundly affects sensory perception and behavior. However, studying the behavioral impacts of locomotion state in free-moving animals has been challenging due to difficulty in reproducing quantitatively identical stimuli in freely moving animals. We utilized a closed-loop controlled servosphere treadmill system, enabling unrestricted confinement and orientation of small animals, and investigated wind-induced escape behavior in freely moving crickets. When stimulated during locomotion, the crickets quickly stopped before initiating escape behavior. Moving crickets exhibited a higher probability of escape response compared to stationary crickets. The threshold for pausing response in moving crickets was also much lower than the escape response threshold. Moving crickets had delayed reaction times for escape and greater variance in movement direction compared to stationary crickets. The locomotion-related response delay may be compensated by an elevated sensitivity to airflow.

Effects of predation risk on the sensory asymmetries and defensive strategies of Bufotes balearicus tadpoles

Lateralization consists of the differential use of bilateral organs or limbs and is well described in many taxa and in several contexts. Common ecological frameworks where it can be observed are foraging and predatory ones, with benefits related to both visual and auditory lateralization such as faster response or increasing neural processing ability. Anuran amphibians are considered relevant models for investigating lateralization, due to their great ecological variety and the possibility of easily being raised under laboratory conditions. By adopting the "rotational preference test", we used Balearic green toad tadpoles to test the effects of behavioural defensive responses triggered by different predator types (native vs alien, i.e. dragonfly larvae Aeshna cyanea and adult red swamp crayfish Procambarus clarkii) and diets (fasted vs. tadpole-fed predators) on their lateralization. We recorded tadpoles' responses to five different chemical cues: clean water (control treatment), fasted dragonfly larvae and crayfish, and tadpole-fed dragonfly larvae and crayfish. Green toad tadpoles did not show a bias in a predominant direction, although lateralization occurred at the individual level, as shown by the intensity index (L_A). Perceived predation risk was the highest in tadpoles exposed to the combined chemical cues of conspecific prey and native predators, which elicited both changes in the intensity of lateralization and a marked reduction in tadpoles' activity level. Our results suggest that contextual predation threat may induce very rapid changes in the expression of asymmetries at the individual level, and might play a role as part of the complex defensive strategies adopted by prey in the attempt to escape predators.

Responsive robotic prey reveal how predators adapt to predictability in escape tactics

A widespread strategy used by prey animals, seen in insects, mammals, amphibians, crustaceans, fish, and reptiles, is to vary the direction in which they escape when attacked by a predator. This unpredictability is thought to benefit prey by inhibiting predators from predicting the prey’s escape trajectory, but experimental evidence is lacking. Using fish predators repeatedly tested with interactive, robot-controlled prey escaping in the same (predictable) or in random (unpredictable) directions, we find no clear benefit to prey of escaping unpredictably, driven by behavioral counteradaptation by the predators. The benefit of unpredictable escape behavior may depend on whether predators are able to counteract prey escape tactics by flexibly modifying their behavior, or unpredictability may instead be explained biomechanical or sensory constraints.

To increase their chances of survival, prey often behave unpredictably when escaping from predators. However, the response of predators to, and hence the effectiveness of, such tactics is unknown. We programmed interactive prey to flee from an approaching fish predator (the blue acara, Andinoacara pulcher) using real-time computer vision and two-wheeled robots that controlled the prey’s movements via magnets. This allowed us to manipulate the prey’s initial escape direction and how predictable it was between successive trials with the same individual predator. When repeatedly exposed to predictable prey, the predators adjusted their behavior before the prey even began to escape: prey programmed to escape directly away were approached more rapidly than prey escaping at an acute angle. These faster approach speeds compensated for a longer time needed to capture such prey during the subsequent pursuit phase. By contrast, when attacking unpredictable prey, the predators adopted intermediate approach speeds and were not sensitive to the prey’s escape angle but instead showed greater acceleration during the pursuit. Collectively, these behavioral responses resulted in the prey’s predictability having no net effect on the time taken to capture prey, suggesting that unpredictable escape behavior may be advantageous to prey in fewer circumstances than originally thought. Rather than minimizing capture times, the predators in our study appear to instead adjust their behavior to maintain an adequate level of performance during prey capture.

Comparative analysis of Dipodomys species indicates that kangaroo rat hindlimb anatomy is adapted for rapid evasive leaping

Body size is a key factor that influences antipredator behavior. For animals that rely on jumping to escape from predators, there is a theoretical trade-off between jump distance and acceleration as body size changes at both the inter- and intraspecific levels. Assuming geometric similarity, acceleration will decrease with increasing body size due to a smaller increase in muscle cross-sectional area than body mass. Smaller animals will likely have a similar jump distance as larger animals due to their shorter limbs and faster accelerations. Therefore, in order to maintain acceleration in a jump across different body sizes, hind limbs must be disproportionately bigger for larger animals. We explored this prediction using four species of kangaroo rats (Dipodomys spp.), a genus of bipedal rodent with similar morphology across a range of body sizes (40-150 g). Kangaroo rat jump performance was measured by simulating snake strikes to free-ranging individuals. Additionally, morphological measurements of hind limb muscles and segment lengths were obtained from thawed frozen specimens. Overall, jump acceleration was constant across body sizes and jump distance increased with increasing size. Additionally, kangaroo rat hind limb muscle mass and cross-sectional area scaled with positive allometry. Ankle extensor tendon cross-sectional area also scaled with positive allometry. Hind limb segment length scaled isometrically, with the exception of the metatarsals, which scaled with negative allometry. Overall, these findings support the hypothesis that kangaroo rat hind limbs are built to maintain jump acceleration rather than jump distance. Selective pressure from single-strike predators, such as snakes and owls, likely drives this relationship.

Sexual differences in responses of meadow voles to environmental cues in the presence of mink odor

In rodents, defensive behaviors increase the chances of survival during a predator encounter. Observable rodent defensive behaviors have been shown to be influenced by the presence of predator odors and nearby environmental cues such as cover, odors from conspecifics and food availability. Our experiment tested whether a predator scent cue influenced refuge preference in meadow voles within a laboratory setting. We placed voles in an experimental apparatus with bedding soaked in mink scent versus olive oil as a control across from four tubes that either contained (a) a dark plastic covering, (b) opposite-sex conspecific odor, (c) a food pellet, or (d) an empty, unscented space. A three-way interaction of tube contents, subject sex, and the presence of mink or olive oil on the preference of meadow voles to spend time in each area of the experimental apparatus and their latency to enter each area of the apparatus revealed sex differences in the environmental preference of meadow voles facing the risk of predation. The environmental preference of female, but not male, meadow voles was altered by the presence of mink urine or olive oil. A similar trend was found in the latency of males and females to enter each area of the experimental apparatus. These differences suggest that each sex utilizes different methods to increase their fitness when experiencing a predation risk. The observed sex differences may be explained by the natural history of voles owing to the differences in territorial range and the dynamics of evasion of terrestrial predators.

Intersection of motor volumes predicts the outcome of ambush predation of larval zebrafish

Escape maneuvers are key determinants of animal survival and are under intense selection pressure. A number of escape maneuver parameters contribute to survival, including response latency, escape speed and direction. However, the relative importance of these parameters is context dependent, suggesting that interactions between parameters and predatory context determine the likelihood of escape success. To better understand how escape maneuver parameters interact and contribute to survival, we analyzed the responses of larval zebrafish (Danio rerio) to the attacks of dragonfly nymphs (Sympetrum vicinum). We found that no single parameter explains the outcome. Instead, the relative intersection of the swept volume of the nymph's grasping organs with the volume containing all possible escape trajectories of the fish is the strongest predictor of escape success. In cases where the prey's motor volume exceeds that of the predator, the prey survives. By analyzing the intersection of these volumes, we compute the survival benefit of recruiting the Mauthner cell, a neuron in anamniotes devoted to producing escapes. We discuss how the intersection of motor volume approach provides a framework that unifies the influence of many escape maneuver parameters on the likelihood of survival.

The brain as a dynamically active organ

Nervous systems are typically described as static networks passively responding to external stimuli (i.e., the 'sensorimotor hypothesis'). However, for more than a century now, evidence has been accumulating that this passive-static perspective is wrong. Instead, evidence suggests that nervous systems dynamically change their connectivity and actively generate behavior so their owners can achieve goals in the world, some of which involve controlling their sensory feedback. This review provides a brief overview of the different historical perspectives on general brain function and details some select modern examples falsifying the sensorimotor hypothesis.

Survival chances of a prey swarm: how the cooperative interaction range affects the outcome

A swarm of prey, when attacked by a predator, is known to rely on their cooperative interactions to escape. Understanding such interactions of collectively moving prey and the emerging patterns of their escape trajectories still remain elusive. In this paper, we investigate how the range of cooperative interactions within a prey group affects the survival chances of the group while chased by a predator. As observed in nature, the interaction range of prey may vary due to their vision, age, or even physical structure. Based on a simple theoretical prey-predator model, here, we show that an optimality criterion for survival can be established on the interaction range of prey. Very short-range or long-range interactions are shown to be inefficient for the escape mechanism. Interestingly, for an intermediate range of interaction, the survival probability of the prey group is found to be maximum. Our analysis also shows that the nature of the escape trajectories strongly depends on the range of interactions between prey and corroborates with the naturally observed escape patterns. Moreover, we find that the optimal survival interaction regime varies depending on the prey group size and also on the strength of the predator and the prey interactions.

Evolution and Ecology of Silent Flight in Owls and Other Flying Vertebrates

We raise and explore possible answers to three questions about the evolution and ecology of silent flight of owls: (1) do owls fly silently for stealth, or is it to reduce self-masking? Current evidence slightly favors the self-masking hypothesis, but this question remains unsettled. (2) Two of the derived wing features that apparently evolved to suppress flight sound are the vane fringes and dorsal velvet of owl wing feathers. Do these two features suppress aerodynamic noise (sounds generated by airflow), or do they instead reduce structural noise, such as frictional sounds of feathers rubbing during flight? The aerodynamic noise hypothesis lacks empirical support. Several lines of evidence instead support the hypothesis that the velvet and fringe reduce frictional sound, including: the anatomical location of the fringe and velvet, which is best developed in wing and tail regions prone to rubbing, rather than in areas exposed to airflow; the acoustic signature of rubbing, which is broadband and includes ultrasound, is present in the flight of other birds but not owls; and the apparent relationship between the velvet and friction barbules found on the remiges of other birds. (3) Have other animals also evolved silent flight? Wing features in nightbirds (nocturnal members of Caprimulgiformes) suggest that they may have independently evolved to fly in relative silence, as have more than one diurnal hawk (Accipitriformes). We hypothesize that bird flight is noisy because wing feathers are intrinsically predisposed to rub and make frictional noise. This hypothesis suggests a new perspective: rather than regarding owls as silent, perhaps it is bird flight that is loud. This implies that bats may be an overlooked model for silent flight. Owl flight may not be the best (and certainly, not the only) model for "bio-inspiration" of silent flight.

Zebrafish aggression on the sub-second time scale: evidence for mutual motor coordination and multi-functional attack manoeuvres

Most animals fight by repeating complex stereotypic behaviours, yet the internal structure of these behaviours has rarely been dissected in detail. We characterized the internal structure of fighting behaviours by developing a machine learning pipeline that measures and classifies the behaviour of individual unmarked animals on a sub-second time scale. This allowed us to quantify several previously hidden features of zebrafish fighting strategies. We found strong correlations between the velocity of the attacker and the defender, indicating a dynamic matching of approach and avoidance efforts. While velocity matching was ubiquitous, the spatial dynamics of attacks showed phase-specific differences. Contest-phase attacks were characterized by a paradoxical sideways attraction of the retreating animal towards the attacker, suggesting that the defender combines avoidance manoeuvres with display-like manoeuvres. Post-resolution attacks lacked display-like features and the defender was avoidance focused. From the perspective of the winner, game-theory modelling further suggested that highly energetically costly post-resolution attacks occurred because the winner was trying to increase its relative dominance over the loser. Overall, the rich structure of zebrafish motor coordination during fighting indicates a greater complexity and layering of strategies than has previously been recognized.

Novel Bioinspired Approach Based on Chaotic Dynamics for Robot Patrolling Missions with Adversaries

Living organisms have developed and optimized ingenious defense strategies based on positional entropy. One of the most significant examples in this respect is known as protean behavior, where a prey animal under threat performs unpredictable zig-zag movements in order to confuse, delay or escape the predator. This kind of defensive behavior can inspire efficient strategies for patrolling robots evolving in the presence of adversaries. The main goal of our proposed bioinspired method is to implement the protean behavior by altering the reference path of the robot with sudden and erratic direction changes without endangering the robot's overall mission. By this, a foe intending to target and destroy the mobile robot from a distance has less time for acquiring and retaining the proper sight alignment. The method uses the chaotic dynamics of the 2D Arnold's cat map as a primary source of positional entropy and transfers this feature to every reference path segment using the kinematic relative motion concept. The effectiveness of this novel biologically inspired method is validated through extensive and realistic simulation case studies.

Unpredictability of escape trajectory explains predator evasion ability and microhabitat preference of desert rodents

Mechanistically linking movement behaviors and ecology is key to understanding the adaptive evolution of locomotion. Predator evasion, a behavior that enhances fitness, may depend upon short bursts or complex patterns of locomotion. However, such movements are poorly characterized by existing biomechanical metrics. We present methods based on the entropy measure of randomness from Information Theory to quantitatively characterize the unpredictability of non-steady-state locomotion. We then apply the method by examining sympatric rodent species whose escape trajectories differ in dimensionality. Unlike the speed-regulated gait use of cursorial animals to enhance locomotor economy, bipedal jerboa (family Dipodidae) gait transitions likely enhance maneuverability. In field-based observations, jerboa trajectories are significantly less predictable than those of quadrupedal rodents, likely increasing predator evasion ability. Consistent with this hypothesis, jerboas exhibit lower anxiety in open fields than quadrupedal rodents, a behavior that varies inversely with predator evasion ability. Our unpredictability metric expands the scope of quantitative biomechanical studies to include non-steady-state locomotion in a variety of evolutionary and ecologically significant contexts.Biomechanical understanding of animal gait and maneuverability has primarily been limited to species with more predictable, steady-state movement patterns. Here, the authors develop a method to quantify movement predictability, and apply the method to study escape-related movement in several species of desert rodents.

Drosophila increase exploration after visually detecting predators

Novel stimuli elicit behaviors that are collectively known as specific exploration. These behaviors allow the animal to become more familiar with the novel objects within its environment. Specific exploration is frequently suppressed by defensive reactions to predator cues. Herein, we examine if this suppression occurs in Drosophila melanogaster by measuring the response of these flies to wild harvested predators. The flies used in our experiments have been cultured and had not lived under predator threat for multiple decades. In a circular arena with centrally-caged predators, wild type Drosophila actively avoided the pantropical jumping spider, Plexippus paykulli, and the Texas unicorn mantis, Phyllovates chlorophaena, indicating an innate defensive reaction to these predators. Interestingly, wild type Drosophila males also avoided a centrally-caged mock spider, and the avoidance of the mock spider became exaggerated when it was made to move within the cage. Visually impaired Drosophila failed to detect and avoid the Plexippus paykulli and the moving mock spider, while the broadly anosmic orco² mutants were fully capable of detecting and avoiding Plexippus paykulli, indicating that these flies principally relied upon vison to perceive the predator stimuli. During early exploration of the arena, exploratory activity increased in the presence of Plexippus paykulli and the moving mock spider. The elevated activity induced by Plexippus paykulli disappeared after the fly had finished exploring, suggesting the flies were capable of habituating the predator cues. Taken together, these results indicate that despite being isolated from predators for decades Drosophila will visually detect these predators, retain innate defensive behaviors, respond by increasing exploratory activity in the arena rather than suppressing activity, and may habituate to normal predator cues.

Escape path complexity and its context dependency in Pacific blue-eyes (Pseudomugil signifer)

The escape paths prey animals take following a predatory attack appear to be highly unpredictable - a property that has been described as 'protean behaviour'. Here, we present a method of quantifying the escape paths of individual animals using a path complexity approach. When individual fish (Pseudomugil signifer) were attacked, we found that a fish's movement path rapidly increased in complexity following the attack. This path complexity remained elevated (indicating a more unpredictable path) for a sustained period (at least 10 s) after the attack. The complexity of the path was context dependent: paths were more complex when attacks were made closer to the fish, suggesting that these responses are tailored to the perceived level of threat. We separated out the components of speed and turning rate changes to determine which of these components contributed to the overall increase in path complexity following an attack. We found that both speed and turning rate measures contributed similarly to an individual's path complexity in absolute terms. Overall, our work highlights the context-dependent escape responses that animals use to avoid predators, and also provides a method for quantifying the escape paths of animals.

Optimal nonlinear cue integration for sound localization

Integration of multiple sensory cues can improve performance in detection and estimation tasks. There is an open theoretical question of the conditions under which linear or nonlinear cue combination is Bayes-optimal. We demonstrate that a neural population decoded by a population vector requires nonlinear cue combination to approximate Bayesian inference. Specifically, if cues are conditionally independent, multiplicative cue combination is optimal for the population vector. The model was tested on neural and behavioral responses in the barn owl's sound localization system where space-specific neurons owe their selectivity to multiplicative tuning to sound localization cues interaural phase (IPD) and level (ILD) differences. We found that IPD and ILD cues are approximately conditionally independent. As a result, the multiplicative combination selectivity to IPD and ILD of midbrain space-specific neurons permits a population vector to perform Bayesian cue combination. We further show that this model describes the owl's localization behavior in azimuth and elevation. This work provides theoretical justification and experimental evidence supporting the optimality of nonlinear cue combination.

When hawks attack: animal-borne video studies of goshawk pursuit and prey-evasion strategies

Video filmed by a camera mounted on the head of a Northern Goshawk (Accipiter gentilis) was used to study how the raptor used visual guidance to pursue prey and land on perches. A combination of novel image analysis methods and numerical simulations of mathematical pursuit models was used to determine the goshawk's pursuit strategy. The goshawk flew to intercept targets by fixing the prey at a constant visual angle, using classical pursuit for stationary prey, lures or perches, and usually using constant absolute target direction (CATD) for moving prey. Visual fixation was better maintained along the horizontal than vertical direction. In some cases, we observed oscillations in the visual fix on the prey, suggesting that the goshawk used finite-feedback steering. Video filmed from the ground gave similar results. In most cases, it showed goshawks intercepting prey using a trajectory consistent with CATD, then turning rapidly to attack by classical pursuit; in a few cases, it showed them using curving non-CATD trajectories. Analysis of the prey's evasive tactics indicated that only sharp sideways turns caused the goshawk to lose visual fixation on the prey, supporting a sensory basis for the surprising frequency and effectiveness of this tactic found by previous studies. The dynamics of the prey's looming image also suggested that the goshawk used a tau-based interception strategy. We interpret these results in the context of a concise review of pursuit-evasion in biology, and conjecture that some prey deimatic 'startle' displays may exploit tau-based interception.

Imparting protean behavior to mobile robots accomplishing patrolling tasks in the presence of adversaries

Providing unpredictable trajectories for patrol robots is essential when coping with adversaries. In order to solve this problem we developed an effective approach based on the known protean behavior of individual prey animals-random zig-zag movement. The proposed bio-inspired method modifies the normal robot's path by incorporating sudden and irregular direction changes without jeopardizing the robot's mission. Such a tactic is aimed to confuse the enemy (e.g. a sniper), offering less time to acquire and retain sight alignment and sight picture. This idea is implemented by simulating a series of fictive-temporary obstacles that will randomly appear in the robot's field of view, deceiving the obstacle avoiding mechanism to react. The new general methodology is particularized by using the Arnold's cat map to obtain the timely random appearance and disappearance of the fictive obstacles. The viability of the proposed method is confirmed through an extensive simulation case study.

Optimal Prediction of Moving Sound Source Direction in the Owl

Capturing nature's statistical structure in behavioral responses is at the core of the ability to function adaptively in the environment. Bayesian statistical inference describes how sensory and prior information can be combined optimally to guide behavior. An outstanding open question of how neural coding supports Bayesian inference includes how sensory cues are optimally integrated over time. Here we address what neural response properties allow a neural system to perform Bayesian prediction, i.e., predicting where a source will be in the near future given sensory information and prior assumptions. The work here shows that the population vector decoder will perform Bayesian prediction when the receptive fields of the neurons encode the target dynamics with shifting receptive fields. We test the model using the system that underlies sound localization in barn owls. Neurons in the owl's midbrain show shifting receptive fields for moving sources that are consistent with the predictions of the model. We predict that neural populations can be specialized to represent the statistics of dynamic stimuli to allow for a vector read-out of Bayes-optimal predictions.

Situational and Age-Dependent Decision Making during Life Threatening Distress in Myotis macrodactylus

Echolocation and audiovocal communication have been studied extensively in bats. The manner in which these abilities are incorporated within escape behaviors during life-threatening distress is largely unknown. Here we tested the hypothesis that behavioral response profiles expressed during distress are relatively stereotypic given their evolutionary adaptations to avoid predators. We subjected juvenile and adult big-footed myotis (Myotis macrodactylus) to a sequence of three types of life threatening distress: 1) trapping them in a mist-net (environmental threat), 2) approaching them when trapped (predator threat), and 3) partially restraining their freedom to move (arrest), and recorded their escape behavior in each of the three conditions. Response profiles differed across individuals and with the context in which they were expressed. During environmental and predator threat, bats displayed significantly more biting and wing-flapping behaviors and emitted more echolocation pulses than during arrest. Response profiles also varied with age. During arrest, juveniles were more likely than adults to emit distress calls and vice-versa for biting and wing flapping during environmental and predator threat. Overall, individualized response profiles were classified into ten clusters that were aligned along two divergent response trajectories when viewed within two-dimensional, multifactorial decision space. Juvenile behaviors tended to follow a predominantly "social-dependence" trajectory, whereas adult behaviors were mostly aligned along a "self-reliance" trajectory. We conclude that bats modify their vocal behavior and make age-appropriate and contextually adaptive decisions when distressed. This decision-making ability is consistent with observations in other social species, including humans.

Neural representation of probabilities for Bayesian inference

Bayesian models are often successful in describing perception and behavior, but the neural representation of probabilities remains in question. There are several distinct proposals for the neural representation of probabilities, but they have not been directly compared in an example system. Here we consider three models: a non-uniform population code where the stimulus-driven activity and distribution of preferred stimuli in the population represent a likelihood function and a prior, respectively; the sampling hypothesis which proposes that the stimulus-driven activity over time represents a posterior probability and that the spontaneous activity represents a prior; and the class of models which propose that a population of neurons represents a posterior probability in a distributed code. It has been shown that the non-uniform population code model matches the representation of auditory space generated in the owl's external nucleus of the inferior colliculus (ICx). However, the alternative models have not been tested, nor have the three models been directly compared in any system. Here we tested the three models in the owl's ICx. We found that spontaneous firing rate and the average stimulus-driven response of these neurons were not consistent with predictions of the sampling hypothesis. We also found that neural activity in ICx under varying levels of sensory noise did not reflect a posterior probability. On the other hand, the responses of ICx neurons were consistent with the non-uniform population code model. We further show that Bayesian inference can be implemented in the non-uniform population code model using one spike per neuron when the population is large and is thus able to support the rapid inference that is necessary for sound localization.

Who are the bosses? Group influence on the behavior of voles following owl attack

Individual members of a group must conform to the group norms, as they may otherwise become isolated from the group or the group may split. On the other hand, social groups usually comprise various social ranks and display a differential division of labor and consequently different behaviors. The present study was aimed at examining how the above factors are manifested in social voles that had experienced owl attack. Here, we reconfirm the findings of past studies: that grouped voles converge to display similar behavior after owl attack. In addition, we found that high-mass voles were more active in the open sectors of the experimental set-ups both before and after the owl attack, whereas low-mass voles dichotomized to those that increased and those that decreased their activity in the open following owl attack. Taking body mass as a proxy for social rank, it is suggested that as a consequence of their larger size and of their experience and physical strength, high-mass voles both presented an exemplary model for the low-mass voles and, accordingly, assumed leadership and stabilized their group's behavior. We also suggest a hypothetical model for the propagation of behavior in hierarchical groups.

Coding space-time stimulus dynamics in auditory brain maps

Sensory maps are often distorted representations of the environment, where ethologically-important ranges are magnified. The implication of a biased representation extends beyond increased acuity for having more neurons dedicated to a certain range. Because neurons are functionally interconnected, non-uniform representations influence the processing of high-order features that rely on comparison across areas of the map. Among these features are time-dependent changes of the auditory scene generated by moving objects. How sensory representation affects high order processing can be approached in the map of auditory space of the owl's midbrain, where locations in the front are over-represented. In this map, neurons are selective not only to location but also to location over time. The tuning to space over time leads to direction selectivity, which is also topographically organized. Across the population, neurons tuned to peripheral space are more selective to sounds moving into the front. The distribution of direction selectivity can be explained by spatial and temporal integration on the non-uniform map of space. Thus, the representation of space can induce biased computation of a second-order stimulus feature. This phenomenon is likely observed in other sensory maps and may be relevant for behavior.

Open-field arena boundary is a primary object of exploration for Drosophila

Drosophila adults, when placed into a novel open-field arena, initially exhibit an elevated level of activity followed by a reduced stable level of spontaneous activity and spend a majority of time near the arena edge, executing motions along the walls. In order to determine the environmental features that are responsible for the initial high activity and wall-following behavior exhibited during exploration, we examined wild-type and visually impaired mutants in arenas with different vertical surfaces. These experiments support the conclusion that the wall-following behavior of Drosophila is best characterized by a preference for the arena boundary, and not thigmotaxis or centrophobicity. In circular arenas, Drosophila mostly move in trajectories with low turn angles. Since the boundary preference could derive from highly linear trajectories, we further developed a simulation program to model the effects of turn angle on the boundary preference. In an hourglass-shaped arena with convex-angled walls that forced a straight versus wall-following choice, the simulation with constrained turn angles predicted general movement across a central gap, whereas Drosophila tend to follow the wall. Hence, low turn angled movement does not drive the boundary preference. Lastly, visually impaired Drosophila demonstrate a defect in attenuation of the elevated initial activity. Interestingly, the visually impaired w(1118) activity decay defect can be rescued by increasing the contrast of the arena's edge, suggesting that the activity decay relies on visual detection of the boundary. The arena boundary is, therefore, a primary object of exploration for Drosophila.

Functional specialization of mouse higher visual cortical areas

The mouse is emerging as an important model for understanding how sensory neocortex extracts cues to guide behavior, yet little is known about how these cues are processed beyond primary cortical areas. Here, we used two-photon calcium imaging in awake mice to compare visual responses in primary visual cortex (V1) and in two downstream target areas, AL and PM. Neighboring V1 neurons had diverse stimulus preferences spanning five octaves in spatial and temporal frequency. By contrast, AL and PM neurons responded best to distinct ranges of stimulus parameters. Most strikingly, AL neurons preferred fast-moving stimuli while PM neurons preferred slow-moving stimuli. By contrast, neurons in V1, AL, and PM demonstrated similar selectivity for stimulus orientation but not for stimulus direction. Based on these findings, we predict that area AL helps guide behaviors involving fast-moving stimuli (e.g., optic flow), while area PM helps guide behaviors involving slow-moving objects.

Animal escapology II: escape trajectory case studies

Escape trajectories (ETs; measured as the angle relative to the direction of the threat) have been studied in many taxa using a variety of methodologies and definitions. Here, we provide a review of methodological issues followed by a survey of ET studies across animal taxa, including insects, crustaceans, molluscs, lizards, fish, amphibians, birds and mammals. Variability in ETs is examined in terms of ecological significance and morpho-physiological constraints. The survey shows that certain escape strategies (single ETs and highly variable ETs within a limited angular sector) are found in most taxa reviewed here, suggesting that at least some of these ET distributions are the result of convergent evolution. High variability in ETs is found to be associated with multiple preferred trajectories in species from all taxa, and is suggested to provide unpredictability in the escape response. Random ETs are relatively rare and may be related to constraints in the manoeuvrability of the prey. Similarly, reports of the effect of refuges in the immediate environment are relatively uncommon, and mainly confined to lizards and mammals. This may be related to the fact that work on ETs carried out in laboratory settings has rarely provided shelters. Although there are a relatively large number of examples in the literature that suggest trends in the distribution of ETs, our understanding of animal escape strategies would benefit from a standardization of the analytical approach in the study of ETs, using circular statistics and related tests, in addition to the generation of large data sets.

Animal escapology I: theoretical issues and emerging trends in escape trajectories

Escape responses are used by many animal species as their main defence against predator attacks. Escape success is determined by a number of variables; important are the directionality (the percentage of responses directed away from the threat) and the escape trajectories (ETs) measured relative to the threat. Although logic would suggest that animals should always turn away from a predator, work on various species shows that these away responses occur only approximately 50-90% of the time. A small proportion of towards responses may introduce some unpredictability and may be an adaptive feature of the escape system. Similar issues apply to ETs. Theoretically, an optimal ET can be modelled on the geometry of predator-prey encounters. However, unpredictability (and hence high variability) in trajectories may be necessary for preventing predators from learning a simple escape pattern. This review discusses the emerging trends in escape trajectories, as well as the modulating key factors, such as the surroundings and body design. The main ET patterns identified are: (1) high ET variability within a limited angular sector (mainly 90-180 deg away from the threat; this variability is in some cases based on multiple peaks of ETs), (2) ETs that allow sensory tracking of the threat and (3) ETs towards a shelter. These characteristic features are observed across various taxa and, therefore, their expression may be mainly related to taxon-independent animal design features and to the environmental context in which prey live - for example whether the immediate surroundings of the prey provide potential refuges.

Owl's behavior and neural representation predicted by Bayesian inference

The owl captures prey using sound localization. In the classical model, the owl infers sound direction from the position of greatest activity in a brain map of auditory space. However, this model fails to describe the actual behavior. Although owls accurately localize sources near the center of gaze, they systematically underestimate peripheral source directions. We found that this behavior is predicted by statistical inference, formulated as a Bayesian model that emphasizes central directions. We propose that there is a bias in the neural coding of auditory space, which, at the expense of inducing errors in the periphery, achieves high behavioral accuracy at the ethologically relevant range. We found that the owl's map of auditory space decoded by a population vector is consistent with the behavioral model. Thus, a probabilistic model describes both how the map of auditory space supports behavior and why this representation is optimal.

Innate or learned acoustic recognition of avian predators in rodents?

Calls of avian predators potentially predict danger for murine rodents. Indeed, exposure of field-experienced rodents to owl calls induces defensive behavior suggesting that recognition of vocalizations of avian predators is innate. To address this hypothesis, we investigated whether laboratory-reared and predator-naive rodents (mice, gerbils, rats) express defensive behavior in response to calls of different avian predators but we observed no such defensive behavior. We then asked whether the calls of avian predators are faster or better learned as a danger-predicting cue than the calls of avian non-predators. All calls could be learned as danger-predicting cues, but we found no differences in the speed or strength of the learning. Taken together, our results suggest that there is no innate recognition of the calls of avian predators in murine rodents and that the recognition of the calls of avian predators observed in field-experienced rodents is acquired by learning.

In-flight corrections in free-flying barn owls (Tyto alba)during sound localization tasks

Barn owls localize a stationary auditory target with high accuracy. They might also be able to hit a target that is intermittently moving while the owl is approaching. If so, there should be a critical delay before strike initiation, up to which the owl can adapt its flight path to a new stimulus position. In this study, this critical stimulus delay was determined in a three-dimensional free-flight paradigm. Barn owls localized a pulsed broadband noise while sitting on a perch in total darkness. This initial signal stopped with the owl's take-off and an in-flight stimulus (target sound), lasting 200 ms, was introduced at variable time delays (300–1200 ms) during the approximate flight time of 1300 ms. The owls responded to the in-flight signal with a corrective head and body turn. The percentage of trials in which correction turns occurred (40–80%) depended upon the individual bird,but was independent of the stimulus delay within a range of 800 ms after take-off. Correction turns strongly decreased at delays ≥800 ms. The landing precision of the owls, defined as their distance to the in-flight speaker, did not decrease with increasing stimulus delay, but decreased if the owl failed to perform a correction turn towards that speaker. Landing precision was higher for a short (50 cm) than for a large (100 cm) distance between the initial and the new target. Thus, the ability of barn owls to adapt their flight path to a new sound target depends on the in-flight stimulus delay, as well as on the distance between initial and novel targets.

Behavioral and neural responses of juvenile crayfish to moving shadows

One of the most important decisions any animal has to make is how to respond to sensory cues that suggest an imminent attack by a predator. We measured behavioral and neural responses of juvenile crayfish to moving shadows of different velocities while the animals were searching for food. In all experiments, and independent of shadow velocity, each crayfish produced one of two discrete behavioral outputs: it either tail-flipped backwards by rapid flexion of its abdomen or it immediately stopped its forward locomotion. The probability of each behavioral response was dependent on the velocity of the shadows that were presented. While most animals responded with tail-flips to slow-moving shadows and stops were rarely observed, the number of tail-flips decreased as shadow velocity increased. Tail-flips were almost absent for very fast-moving shadows and stopping behavior became the dominating response. By using a non-invasive technique to record neural activity, we were able to identify the underlying neural circuit that controlled the observed tail-flips. All tail-flips were mediated by activation of the medial giant neurons, which are part of a hardwired neural circuit previously described to produce reflexive responses to tactile stimulation.

Role of an identified looming-sensitive neuron in triggering a flying locust's escape

Flying locusts perform a characteristic gliding dive in response to predator-sized stimuli looming from one side. These visual looming stimuli trigger trains of spikes in the descending contralateral movement detector (DCMD) neuron that increase in frequency as the stimulus gets nearer. Here we provide evidence that high-frequency (>150 Hz) DCMD spikes are involved in triggering the glide: the DCMD is the only excitatory input to a key gliding motor neuron during a loom; DCMD-mediated EPSPs only summate significantly in this motor neuron when they occur at >150 Hz; when a looming stimulus ceases approach prematurely, high-frequency DCMD spikes are removed from its response and the occurrence of gliding is reduced; and an axon important for glide triggering descends in the nerve cord contralateral to the eye detecting a looming stimulus, as the DCMD does. DCMD recordings from tethered flying locusts showed that glides follow high-frequency spikes in a DCMD, but analyses could not identify a feature of the DCMD response alone that was reliably associated with glides in all trials. This was because, for a glide to be triggered, the high-frequency spikes must be timed appropriately within the wingbeat cycle to coincide with wing elevation. We interpret this as flight-gating of the DCMD response resulting from rhythmic modulation of the flight motor neuron's membrane potential during flight. This means that the locust's escape behavior can vary in response to the same looming stimulus, meaning that a predator cannot exploit predictability in the locust's collision avoidance behavior.