Vision in flying insects

Multisensory integration in Anopheles mosquito swarms: The role of visual and acoustic information in mate tracking and collision avoidance

Male mosquitoes form aerial aggregations, known as swarms, to attract females and maximize their chances of finding a mate. Within these swarms, individuals must be able to recognize potential mates and navigate the dynamic social environment to successfully intercept a mating partner. Prior research has almost exclusively focused on the role of acoustic cues in mediating the male mosquito's ability to recognize and pursue flying females. However, the role of other sensory modalities in this behavior has not been explored. Moreover, how males avoid collisions with one another in the dense swarm while pursuing females remains poorly understood. In this study, we combined free-flight and tethered flight simulator experiments to demonstrate that swarming Anopheles coluzzii mosquitoes integrate visual and acoustic information to track conspecifics and avoid collisions. Our tethered experiments revealed that acoustic stimuli gated mosquito steering responses to visual objects simulating nearby mosquitoes, especially in males that exhibited attraction to visual objects in the presence of female flight tones. Additionally, we observed that visual cues alone could trigger changes in mosquitoes' wingbeat amplitude and frequency. These findings were corroborated by our free-flight experiments, which revealed that mosquitoes modulate their flight responses to nearby conspecifics in a similar manner to tethered animals, allowing for collision avoidance within swarms. Together, these results demonstrate that both males and females integrate multiple sensory inputs to mediate swarming behavior, and for males, the change in flight kinematics in response to multimodal cues allows them to simultaneously track females while avoiding collisions.

Vision-based collective motion: A locust-inspired reductionist model

Naturally occurring collective motion is a fascinating phenomenon in which swarming individuals aggregate and coordinate their motion. Many theoretical models of swarming assume idealized, perfect perceptual capabilities, and ignore the underlying perception processes, particularly for agents relying on visual perception. Specifically, biological vision in many swarming animals, such as locusts, utilizes monocular non-stereoscopic vision, which prevents perfect acquisition of distances and velocities. Moreover, swarming peers can visually occlude each other, further introducing estimation errors. In this study, we explore necessary conditions for the emergence of ordered collective motion under restricted conditions, using non-stereoscopic, monocular vision. We present a model of vision-based collective motion for locust-like agents: elongated shape, omni-directional visual sensor parallel to the horizontal plane, and lacking stereoscopic depth perception. The model addresses (i) the non-stereoscopic estimation of distance and velocity, (ii) the presence of occlusions in the visual field. We consider and compare three strategies that an agent may use to interpret partially-occluded visual information at the cost of the computational complexity required for the visual perception processes. Computer-simulated experiments conducted in various geometrical environments (toroidal, corridor, and ring-shaped arenas) demonstrate that the models can result in an ordered or near-ordered state. At the same time, they differ in the rate at which order is achieved. Moreover, the results are sensitive to the elongation of the agents. Experiments in geometrically constrained environments reveal differences between the models and elucidate possible tradeoffs in using them to control swarming agents. These suggest avenues for further study in biology and robotics.

Optic flow based spatial vision in insects

The optic flow, i.e., the displacement of retinal images of objects in the environment induced by self-motion, is an important source of spatial information, especially for fast-flying insects. Spatial information over a wide range of distances, from the animal's immediate surroundings over several hundred metres to kilometres, is necessary for mediating behaviours, such as landing manoeuvres, collision avoidance in spatially complex environments, learning environmental object constellations and path integration in spatial navigation. To facilitate the processing of spatial information, the complexity of the optic flow is often reduced by active vision strategies. These result in translations and rotations being largely separated by a saccadic flight and gaze mode. Only the translational components of the optic flow contain spatial information. In the first step of optic flow processing, an array of local motion detectors provides a retinotopic spatial proximity map of the environment. This local motion information is then processed in parallel neural pathways in a task-specific manner and used to control the different components of spatial behaviour. A particular challenge here is that the distance information extracted from the optic flow does not represent the distances unambiguously, but these are scaled by the animal's speed of locomotion. Possible ways of coping with this ambiguity are discussed.

Contrast independent biologically inspired translational optic flow estimation

The visual systems of insects are relatively simple compared to humans. However, they enable navigation through complex environments where insects perform exceptional levels of obstacle avoidance. Biology uses two separable modes of optic flow to achieve this: rapid gaze fixation (rotational motion known as saccades); and the inter-saccadic translational motion. While the fundamental process of insect optic flow has been known since the 1950's, so too has its dependence on contrast. The surrounding visual pathways used to overcome environmental dependencies are less well known. Previous work has shown promise for low-speed rotational motion estimation, but a gap remained in the estimation of translational motion, in particular the estimation of the time to impact. To consistently estimate the time to impact during inter-saccadic translatory motion, the fundamental limitation of contrast dependence must be overcome. By adapting an elaborated rotational velocity estimator from literature to work for translational motion, this paper proposes a novel algorithm for overcoming the contrast dependence of time to impact estimation using nonlinear spatio-temporal feedforward filtering. By applying bioinspired processes, approximately 15 points per decade of statistical discrimination were achieved when estimating the time to impact to a target across 360 background, distance, and velocity combinations: a 17-fold increase over the fundamental process. These results show the contrast dependence of time to impact estimation can be overcome in a biologically plausible manner. This, combined with previous results for low-speed rotational motion estimation, allows for contrast invariant computational models designed on the principles found in the biological visual system, paving the way for future visually guided systems.

Experimental identification of individual insect visual tracking delays in free flight and their effects on visual swarm patterns

Insects are model systems for swarming robotic agents, yet engineered descriptions do not fully explain the mechanisms by which they provide onboard sensing and feedback to support such motions; in particular, the exact value and population distribution of visuomotor processing delays are not yet quantified, nor the effect of such delays on a visually-interconnected swarm. This study measures untethered insects performing a solo in-flight visual tracking task and applies system identification techniques to build an experimentally-consistent model of the visual tracking behaviors, and then integrates the measured experimental delay and its variation into a visually interconnected swarm model to develop theoretical and simulated solutions and stability limits. The experimental techniques include the development of a moving visual stimulus and real-time multi camera based tracking system called VISIONS (Visual Input System Identification from Outputs of Naturalistic Swarms) providing the capability to recognize and simultaneously track both a visual stimulus (input) and an insect at a frame rate of 60-120 Hz. A frequency domain analysis of honeybee tracking trajectories is conducted via fast Fourier and Chirp Z transforms, identifying a coherent linear region and its model structure. The model output is compared in time and frequency domain simulations. The experimentally measured delays are then related to probability density functions, and both the measured delays and their distribution are incorporated as inter-agent interaction delays in a second order swarming dynamics model. Linear stability and bifurcation analysis on the long range asymptotic behavior is used to identify delay distributions leading to a family of solutions with stable and unstable swarm center of mass (barycenter) locations. Numerical simulations are used to verify these results with both continuous and measured distributions. The results of this experiment quantify a model structure and temporal lag (transport delay) in the closed loop dynamics, and show that this delay varies across 50 individuals from 5-110ms, with an average delay of 22ms and a standard deviation of 40ms. When analyzed within the swarm model, the measured delays support a diversity of solutions and indicate an unstable barycenter.

Matched function of the neuropil processing optic flow in flies and crabs: the lobula plate mediates optomotor responses in Neohelice granulata

When an animal rotates (whether it is an arthropod, a fish, a bird or a human) a drift of the visual panorama occurs over its retina, termed optic flow. The image is stabilized by compensatory behaviours (driven by the movement of the eyes, head or the whole body depending on the animal) collectively termed optomotor responses. The dipteran lobula plate has been consistently linked with optic flow processing and the control of optomotor responses. Crabs have a neuropil similarly located and interconnected in the optic lobes, therefore referred to as a lobula plate too. Here we show that the crabs' lobula plate is required for normal optomotor responses since the response was lost or severely impaired in animals whose lobula plate had been lesioned. The effect was behaviour-specific, since avoidance responses to approaching visual stimuli were not affected. Crabs require simpler optic flow processing than flies (because they move slower and in two-dimensional instead of three-dimensional space), consequently their lobula plates are relatively smaller. Nonetheless, they perform the same essential role in the visual control of behaviour. Our findings add a fundamental piece to the current debate on the evolutionary relationship between the lobula plates of insects and crustaceans.

Remote Sensing of Floral Resources for Pollinators – New Horizons From Satellites to Drones

Insect pollinators are affected by the spatio-temporal distribution of floral resources, which are dynamic across time and space, and also influenced heavily by anthropogenic activities. There is a need for spatial data describing the time-varying spatial distribution of flowers, which can be used within behavioral and ecological studies. However, this information is challenging to obtain. Traditional field techniques for mapping flowers are often laborious and limited to relatively small areas, making it difficult to assess how floral resources are perceived by pollinators to guide their behaviors. Conversely, remote sensing of plant traits is a relatively mature technique now, and such technologies have delivered valuable data for identifying and measuring non-floral dynamics in plant systems, particularly leaves, stems and woody biomass in a wide range of ecosystems from local to global scales. However, monitoring the spatial and temporal dynamics of plant floral resources has been notably scarce in remote sensing studies. Recently, lightweight drone technology has been adopted by the ecological community, offering a capability for flexible deployment in the field, and delivery of centimetric resolution data, providing a clear opportunity for capturing fine-grained information on floral resources at key times of the flowering season. In this review, we answer three key questions of relevance to pollination science – can remote sensing deliver information on (a) how isolated are floral resources? (b) What resources are available within a flower patch? And (c) how do floral patches change over time? We explain how such information has potential to deepen ecological understanding of the distribution of floral resources that feed pollinators and the parameters that determine their navigational and foraging choices based on the sensory information they extract at different spatial scales. We provide examples of how such data can be used to generate new insights into pollinator behaviors in distinct landscape types and their resilience to environmental change.

Gap affordance judgments in bumblebees: Same as humans?

When flying through narrow gaps, bumblebees of different body sizes fly either straightforward or sideways, depending on the relation between their wingspan and the width of the gap (Ravi et al., 2020). They thus behave like humans when walking through narrow passages, which raises the question of the mechanisms underlying their own-body perception.

Collective detection based on visual information in animal groups

We investigate key principles underlying individual, and collective, visual detection of stimuli, and how this relates to the internal structure of groups. While the individual and collective detection principles are generally applicable, we employ a model experimental system of schooling golden shiner fish (Notemigonus crysoleucas) to relate theory directly to empirical data, using computational reconstruction of the visual fields of all individuals. This reveals how the external visual information available to each group member depends on the number of individuals in the group, the position within the group, and the location of the external visually detectable stimulus. We find that in small groups, individuals have detection capability in nearly all directions, while in large groups, occlusion by neighbours causes detection capability to vary with position within the group. To understand the principles that drive detection in groups, we formulate a simple, and generally applicable, model that captures how visual detection properties emerge due to geometric scaling of the space occupied by the group and occlusion caused by neighbours. We employ these insights to discuss principles that extend beyond our specific system, such as how collective detection depends on individual body shape, and the size and structure of the group.

New understanding of the direct effects of spectral balance on behaviour in Myzus persicae

The study of insect responses to colour has mainly focused on flying species and morphs, however colour cues are likely to be important for insect positioning within the canopy. We examine the role of illumination colour in canopy positioning of apterous Myzus persicae (Sulzer) using both a field experiment, utilising various UV-manipulating optical filters, and a laboratory experiment using video tracking of individuals illuminated by a variable intensity UVA-Blue-Green LED-array. In the field experiment, approximately twice as many aphids were located on exposed leaf surfaces under UV-deficient environments compared to UV-rich environments. The lab experiment showed all three M. persicae photoreceptors were involved in a visually-mediated feeding/avoidance behaviour. Highly UV-rich, green-deficient environments were up to 3 times as likely to trigger an avoidance behaviour compared to UV-absent, green-rich environments such as those found below the leaf surface. We show that apterous M. persicae use this, in addition to other cues, in order to locate feeding positions that minimise exposure to direct sunlight. This has relevance to both the fundamental understanding of photoprotective behaviour in Hemiptera as well as to applied research of crop production environments that disrupt pest behaviour.

Parallel Visual Pathways with Topographic versus Nontopographic Organization Connect the Drosophila Eyes to the Central Brain

One hallmark of the visual system is a strict retinotopic organization from the periphery toward the central brain, where functional imaging in Drosophila revealed a spatially accurate representation of visual cues in the central complex. This raised the question how, on a circuit level, the topographic features are implemented, as the majority of visual neurons enter the central brain converge in optic glomeruli. We discovered a spatial segregation of topographic versus nontopographic projections of distinct classes of medullo-tubercular (MeTu) neurons into a specific visual glomerulus, the anterior optic tubercle (AOTU). These parallel channels synapse onto different tubercular-bulbar (TuBu) neurons, which in turn relay visual information onto specific central complex ring neurons in the bulb neuropil. Hence, our results provide the circuit basis for spatially accurate representation of visual information and highlight the AOTU's role as a prominent relay station for spatial information from the retina to the central brain.

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A Drosophila visual circuit conveys input from the periphery to the central brain

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Several synaptic pathways form parallel channels using the anterior optic tubercle

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Some pathways maintain topographic relationships across several synaptic steps

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Different target neurons in the central brain are identified

Insect Neurobiology: How a Small Spot Stops a Fly

Animals often respond to small moving features very differently than they do to large moving fields. A new study finds that viewing small spots causes walking fruit flies to stop in their tracks, and identifies the cellular pathway that processes this signal.

The buzz around spatial resolving power and contrast sensitivity in the honeybee, Apis mellifera

Most animals rely on vision to perform a range of behavioural tasks and variations in the anatomy and physiology of the eye likely reflect differences in habitat and life history. Moreover, eye design represents a balance between often conflicting requirements for gathering different forms of visual information. The trade-off between spatial resolving power and contrast sensitivity is common to all visual systems, and European honeybees (Apis mellifera) present an important opportunity to better understand this trade-off. Vision has been studied extensively in A. mellifera as it is vital for foraging, navigation and communication. Consequently, spatial resolving power and contrast sensitivity in A. mellifera have been measured using several methodologies; however, there is considerable variation in estimates between methodologies. We assess pattern electroretinography (pERG) as a new method for assessing the trade-off between visual spatial and contrast information in A.mellifera. pERG has the benefit of measuring spatial contrast sensitivity from higher order visual processing neurons in the eye. Spatial resolving power of A.mellifera estimated from pERG was 0.54 cycles per degree (cpd), and contrast sensitivity was 16.9. pERG estimates of contrast sensitivity were comparable to previous behavioural studies. Estimates of spatial resolving power reflected anatomical estimates in the frontal region of the eye, which corresponds to the region stimulated by pERG. Apis mellifera has similar spatial contrast sensitivity to other hymenopteran insects with similar facet diameter (Myrmecia ant species). Our results support the idea that eye anatomy has a substantial effect on spatial contrast sensitivity in compound eyes.

Strategies of locomotion composition

This review aims to highlight the importance of saccades during locomotion as a strategy to reduce sensory information loss while the subject is moving. Acquiring sensory data from the environment during movement results in a temporal flow of information, as the sensory precept changes with the position of the observer. Accordingly, the movement pattern shapes the sensory flow. Therefore, the requirements of locomotion and sensation have to be balanced in the behaviour of the organism. Insect vision provides deep insight into the interplay between action and perception. Insects can shape their optic flow by reducing their rotational movements to fast and short saccades. This generates prolonged phases of translations which provide depth information. Extensive behavioural and physiological studies on insects show how shaping the optic flow facilitates the coding of motion vision. Indeed the saccadic strategy provides an elegant solution to optimise sensory flow. Complementary studies in other taxa reported similar locomotion strategies emphasising the crucial influence of sensory flow on locomotion.

Abdominal-Waving Control of Tethered Bumblebees Based on Sarsa With Transformed Reward

Cyborg insects have attracted great attention as the flight performance they have is incomparable by micro aerial vehicles and play a critical role in supporting extensive applications. Approaches to construct cyborg insects consist of two major issues: 1) the stimulating paradigm and 2) the control policy. At present, most cyborg insects are constructed based on invasive methods, requiring the implantation of electrodes into neural or muscle systems, which would harm the insects. As the control policy is basically manual control, the shortcomings of which lie in the requirement of excessive amount of experiments and focused attention. This paper presents the design and implementation of a noninvasive and much safer cyborg insect system based on visual stimulation. The tethered paradigm is adopted here and we look at controlling the flight behavior of bumblebees, especially the abdominal-waving behavior, in the context of a model-free reinforcement learning problem. The problem is formulated as a finite and deterministic Markov decision process, where the agent is designed to change the abdominal-waving behavior from the initial state to the target state. Sarsa with transformed reward function which can speed up the learning process is employed to learn the optimal control policy. Learned policies are compared to the stochastic one by evaluating the results of ten bumblebees, demonstrating that abdominal-waving state can be modulated to approximate the target state quickly with small deviation.

The role of optic flow pooling in insect flight control in cluttered environments

Flight through cluttered environments, such as forests, poses great challenges for animals and machines alike because even small changes in flight path may lead to collisions with nearby obstacles. When flying along narrow corridors, insects use the magnitude of visual motion experienced in each eye to control their position, height, and speed but it is unclear how this strategy would work when the environment contains nearby obstacles against a distant background. To minimise the risk of collisions, we would expect animals to rely on the visual motion generated by only the nearby obstacles but is this the case? To answer this, we combine behavioural experiments with numerical simulations and provide the first evidence that bumblebees extract the maximum rate of image motion in the frontal visual field to steer away from obstacles. Our findings also suggest that bumblebees use different optic flow calculations to control lateral position, speed, and height.

Morphology and scaling of compound eyes in the smallest beetles (Coleoptera: Ptiliidae)

The coleopteran family Ptiliidae (featherwing beetles) includes some of the smallest insects known with most of the representatives of this family measuring less than 1 mm in body length. A small body size largely determines the morphology, physiology, and biology of an organism and affects the organization of complex sense organs. Information on the organization of the compound eyes of Ptiliidae is scarce. Using scanning electron microscopy we analyzed the eyes of representatives of all subfamilies and tribes and provide a detailed description of the eye ultrastructure of four species (Nephanes titan, Porophila mystacea, Nanosella sp. and Acrotrichis grandicollis) using transmission electron microscopy. The results are compared with available data on larger species of related groups of Staphyliniformia and scale quantitative analyses are performed. The eyes of Ptiliidae consist of 15-50 ommatidia 6-13 μm in diameter and all conform to the apposition acone type of eye with fused rhabdoms of banded organization. Each ommatidium has the typical cellular arrangement present also in the eyes of larger staphyliniform beetles, but strongly curved lenses, short cones, reduced pigment cells, a high density of pigment granules and certain modifications of the rhabdom seem typical of ptiliid eyes. Allometric analyses show that as body size decreases, the number of facets drops more steeply than their average size does.

Two distance memories in desert ants-Modes of interaction

Navigation plays an essential role for many animals leading a mobile mode of life, and for central place foragers in particular. One important prerequisite for navigation is the ability to estimate distances covered during locomotion. It has been shown that Cataglyphis desert ants, well-established model organisms in insect navigation, use two odometer mechanisms, namely, stride and optic flow integration. Although both mechanisms are well established, their mode of interaction to build one odometer output remains enigmatic. We tackle this problem by selectively covering the ventral eye parts in Cataglyphis fortis foragers, the eye regions responsible for optic flow input in odometry. Exclusion of optic flow cues was implemented during different sections of outbound and inbound travel. This demonstrated that the two odometers have separate distance memories that interact in determining homing distance. Possible interpretations posit that the two odometer memories (i) take on different relative weights according to context or (ii) compete in a winner-take-all mode. Explanatory values and implications of such interpretations are discussed. We are able to provide a rough quantitative assessment of odometer cue interaction. An understanding of the interaction of different odometer mechanisms appears valuable not only for animal navigation research but may inform discussions on sensor fusion in both behavioural contexts and potential technical applications.

Transfer of Visual Learning Between a Virtual and a Real Environment in Honey Bees: The Role of Active Vision

To study visual learning in honey bees, we developed a virtual reality (VR) system in which the movements of a tethered bee walking stationary on a spherical treadmill update the visual panorama presented in front of it (closed-loop conditions), thus creating an experience of immersion within a virtual environment. In parallel, we developed a small Y-maze with interchangeable end-boxes, which allowed replacing repeatedly a freely walking bee into the starting point of the maze for repeated decision recording. Using conditioning and transfer experiments between the VR setup and the Y-maze, we studied the extent to which movement freedom and active vision are crucial for learning a simple color discrimination. Approximately 57% of the bees learned the visual discrimination in both conditions. Transfer from VR to the maze improved significantly the bees’ performances: 75% of bees having chosen the CS+ continued doing so and 100% of bees having chosen the CS− reverted their choice in favor of the CS+. In contrast, no improvement was seen for these two groups of bees during the reciprocal transfer from the Y-maze to VR. In this case, bees exhibited inconsistent choices in the VR setup. The asymmetric transfer between contexts indicates that the information learned in each environment may be different despite the similar learning success. Moreover, it shows that reducing the possibility of active vision and movement freedom in the passage from the maze to the VR impairs the expression of visual learning while increasing them in the reciprocal transfer improves it. Our results underline the active nature of visual processing in bees and allow discussing the developments required for immersive VR experiences in insects.

Posterior parietal cortex estimates the relationship between object and body location during locomotion

We test the hypothesis that the posterior parietal cortex (PPC) contributes to the control of visually guided locomotor gait modifications by constructing an estimation of object location relative to body state, and in particular the changing gap between them. To test this hypothesis, we recorded neuronal activity from areas 5b and 7 of the PPC of cats walking on a treadmill and stepping over a moving obstacle whose speed of advance was varied (slowed or accelerated with respect to the speed of the cat). We found distinct populations of neurons in the PPC, primarily in area 5b, that signaled distance- or time-to-contact with the obstacle, regardless of which limb was the first to step over the obstacle. We propose that these cells are involved in a sensorimotor transformation whereby information on the location of an obstacle with respect to the body is used to initiate the gait modification.

Imagine crossing the street and having to step up onto a sidewalk, or running up to kick a moving soccer ball. How does the brain allow you to accomplish these deceptively simple tasks? You might say that you look at the target and then adjust where you place your feet in order to achieve your goal. That would be correct, but to make that adjustment you have to determine where you are with respect to the curb or the soccer ball. A key aspect of both of these activities is the ability to determine where your target is with respect to your current location, even if that target is moving. One way to do that is to determine the distance or the time required to reach that target. The brain can then use this information to adjust your foot placement and limb movement to fulfill your goal.

Despite the fact that we constantly use vision to examine our environment as we walk, we have little understanding as to how the brain uses vision to plan where to step next. Marigold and Drew have now determined whether one specific part of the brain called the posterior parietal cortex, which is known to be involved in integrating vision and movement, is involved in this planning. Specifically, can it estimate the relative location of a moving object with respect to the body?

Marigold and Drew recorded from neurons in the posterior parietal cortex of cats while they walked on a treadmill and stepped over an obstacle that moved towards them. On some tests, the obstacle was either slowed or accelerated quickly as it approached the cat. Regardless of these manipulations, some neurons always became active when the obstacle was at a specific distance from the cat. By contrast, other neurons always became active at a specific time before the cat met the obstacle. Animals use this information to adjust their gait to step over an obstacle without hitting it.

Overall, the results presented by Marigold and Drew provide new insights into how animals use vision to modify their stepping pattern. This information could potentially be used to devise rehabilitation techniques, perhaps using virtual reality, to aid patients with damage to the posterior parietal cortex. Equally, the results from this research could help to design brain-controlled devices that help patients to walk – or even intelligent walking robots.

Associative visual learning by tethered bees in a controlled visual environment

Free-flying honeybees exhibit remarkable cognitive capacities but the neural underpinnings of these capacities cannot be studied in flying insects. Conversely, immobilized bees are accessible to neurobiological investigation but display poor visual learning. To overcome this limitation, we aimed at establishing a controlled visual environment in which tethered bees walking on a spherical treadmill learn to discriminate visual stimuli video projected in front of them. Freely flying bees trained to walk into a miniature Y-maze displaying these stimuli in a dark environment learned the visual discrimination efficiently when one of them (CS+) was paired with sucrose and the other with quinine solution (CS−). Adapting this discrimination to the treadmill paradigm with a tethered, walking bee was successful as bees exhibited robust discrimination and preferred the CS+ to the CS− after training. As learning was better in the maze, movement freedom, active vision and behavioral context might be important for visual learning. The nature of the punishment associated with the CS− also affects learning as quinine and distilled water enhanced the proportion of learners. Thus, visual learning is amenable to a controlled environment in which tethered bees learn visual stimuli, a result that is important for future neurobiological studies in virtual reality.

Optic flow-based collision-free strategies: From insects to robots

Flying insects are able to fly smartly in an unpredictable environment. It has been found that flying insects have smart neurons inside their tiny brains that are sensitive to visual motion also called optic flow. Consequently, flying insects rely mainly on visual motion during their flight maneuvers such as: takeoff or landing, terrain following, tunnel crossing, lateral and frontal obstacle avoidance, and adjusting flight speed in a cluttered environment. Optic flow can be defined as the vector field of the apparent motion of objects, surfaces, and edges in a visual scene generated by the relative motion between an observer (an eye or a camera) and the scene. Translational optic flow is particularly interesting for short-range navigation because it depends on the ratio between (i) the relative linear speed of the visual scene with respect to the observer and (ii) the distance of the observer from obstacles in the surrounding environment without any direct measurement of either speed or distance. In flying insects, roll stabilization reflex and yaw saccades attenuate any rotation at the eye level in roll and yaw respectively (i.e. to cancel any rotational optic flow) in order to ensure pure translational optic flow between two successive saccades. Our survey focuses on feedback-loops which use the translational optic flow that insects employ for collision-free navigation. Optic flow is likely, over the next decade to be one of the most important visual cues that can explain flying insects' behaviors for short-range navigation maneuvers in complex tunnels. Conversely, the biorobotic approach can therefore help to develop innovative flight control systems for flying robots with the aim of mimicking flying insects' abilities and better understanding their flight.

Mechanics of the thorax in flies

Insects represent more than 60% of all multicellular life forms, and are easily among the most diverse and abundant organisms on earth. They evolved functional wings and the ability to fly, which enabled them to occupy diverse niches. Insects of the hyper-diverse orders show extreme miniaturization of their body size. The reduced body size, however, imposes steep constraints on flight ability, as their wings must flap faster to generate sufficient forces to stay aloft. Here, we discuss the various physiological and biomechanical adaptations of the thorax in flies which enabled them to overcome the myriad constraints of small body size, while ensuring very precise control of their wing motion. One such adaptation is the evolution of specialized myogenic or asynchronous muscles that power the high-frequency wing motion, in combination with neurogenic or synchronous steering muscles that control higher-order wing kinematic patterns. Additionally, passive cuticular linkages within the thorax coordinate fast and yet precise bilateral wing movement, in combination with an actively controlled clutch and gear system that enables flexible flight patterns. Thus, the study of thoracic biomechanics, along with the underlying sensory-motor processing, is central in understanding how the insect body form is adapted for flight.

Useless hearing in male Emblemasoma auditrix (Diptera, Sarcophagidae)--a case of intralocus sexual conflict during evolution of a complex sense organ?

Sensory modalities typically are important for both sexes, although sex-specific functional adaptations may occur frequently. This is true for hearing as well. Consequently, distinct behavioural functions were identified for the different insect hearing systems. Here we describe a first case, where a trait of an evolutionary novelty and a highly specialized hearing organ is adaptive in only one sex. The main function of hearing of the parasitoid fly Emblemasoma auditrix is to locate the host, males of the cicada species Okanagana rimosa, by their calling song. This task is performed by female flies, which deposit larvae into the host. We show that male E. auditrix possess a hearing sense as well. The morphology of the tympanal organ of male E. auditrix is rather similar to the female ear, which is 8% broader than the male ear. In both sexes the physiological hearing threshold is tuned to 5 kHz. Behavioural tests show that males are able to orient towards the host calling song, although phonotaxis often is incomplete. However, despite extensive observations in the field and substantial knowledge of the biology of E. auditrix, no potentially adaptive function of the male auditory sense has been identified. This unique hearing system might represent an intralocus sexual conflict, as the complex sense organ and the behavioural relevant neuronal network is adaptive for only one sex. The correlated evolution of the sense organ in both sexes might impose substantial constraints on the sensory properties of the ear. Similar constraints, although hidden, might also apply to other sensory systems in which behavioural functions differ between sexes.

Flying fruit flies correct for visual sideslip depending on relative speed of forward optic flow

As a fly flies through its environment, static objects produce moving images on its retina, and this optic flow is essential for steering and course corrections. Different types of rotation and translation produce unique flow fields, which fly brains are wired to identify. However, a feature of optic flow unique to translational motion is that adjacent images may move across the retina at different speeds, depending on their distance from the observer. Many insects take advantage of this depth cue, called motion parallax, to determine the distance to objects. We wanted to know if differential object speeds affect the corrective responses of fruit flies when they experience unplanned course deviations. We presented tethered flying flies with optic flow and measured their corrective responses to sideways perturbations of images with different relative forward speeds. We found that flying flies attend to the relative speed of dots during forward motion, and adjust their corrective responses to sideslip deviations depending on this cue. With no other distinguishing features (such as brightness or size), flies mounted a greater response to sideways deviations that were signaled by faster moving dots in the forward flow field, those that appeared radially closer by their speeds. This is consistent with the interpretation that fruit flies attend to seemingly nearer objects, and correct more strongly when they indicate a perturbation.

A stingless bee can use visual odometry to estimate both height and distance

Bees move and forage within three dimensions and rely heavily on vision for navigation. The use of vision-based odometry has been studied extensively in horizontal distance measurement, but not vertical distance measurement. The honey bee Apis mellifera and the stingless bee Melipona seminigra measure distance visually using optic flow–movement of images as they pass across the retina. The honey bees gauge height using image motion in the ventral visual field. The stingless bees forage at different tropical forest canopy levels, ranging up to 40 m at our site. Thus, estimating height would be advantageous. We provide the first evidence that the stingless bee Melipona panamica utilizes optic flow information to gauge not only distance traveled but also height above ground, by processing information primarily from the lateral visual field. After training bees to forage at a set height in a vertical tunnel lined with black and white stripes, we observed foragers that explored a new tunnel with no feeder. In a new tunnel, bees searched at the same height they were trained to. In a narrower tunnel, bees experienced more image motion and significantly lowered their search height. In a wider tunnel, bees experienced less image motion and searched at significantly greater heights. In a tunnel without optic cues, bees were disoriented and searched at random heights. A horizontal tunnel testing these variables similarly affected foraging, but bees exhibited less precision (greater variance in search positions). Accurately gauging flight height above ground may be crucial for this species and others that compete for resources located at heights ranging from ground level to the high tropical forest canopies.

The many facets of adaptation in fly visual motion processing

Neuronal adaptation has been studied extensively in visual motion-sensitive neurons of the fly Calliphora vicina, a model system in which the computational principles of visual motion processing are amenable on a single-cell level. Evidenced by several recent papers, the original idea had to be dismissed that motion adaptation adjusts velocity coding to the current stimulus range by a simple parameter change in the motion detection scheme. In contrast, linear encoding of velocity modulations and total information rates might even go down in the course of adaptation. Thus it seems that rather than improving absolute velocity encoding motion adaptation might bring forward an efficient extraction of those features in the visual input signal that are most relevant for visually guided course control and obstacle avoidance.

Frequency response of lift control in Drosophila

The flight control responses of the fruitfly represent a powerful model system to explore neuromotor control mechanisms, whose system level control properties can be suitably characterized with a frequency response analysis. We characterized the lift response dynamics of tethered flying Drosophila in presence of vertically oscillating visual patterns, whose oscillation frequency we varied between 0.1 and 13 Hz. We justified these measurements by showing that the amplitude gain and phase response is invariant to the pattern oscillation amplitude and spatial frequency within a broad dynamic range. We also showed that lift responses are largely linear and time invariant (LTI), a necessary condition for a meaningful analysis of frequency responses and a remarkable characteristic given its nonlinear constituents. The flies responded to increasing oscillation frequencies with a roughly linear decrease in response gain, which dropped to background noise levels at about 6 Hz. The phase lag decreased linearly, consistent with a constant reaction delay of 75 ms. Next, we estimated the free-flight response of the fly to generate a Bode diagram of the lift response. The limitation of lift control to frequencies below 6 Hz is explained with inertial body damping, which becomes dominant at higher frequencies. Our work provides the detailed background and techniques that allow optomotor lift responses of Drosophila to be measured with comparatively simple, affordable and commercially available techniques. The identification of an LTI, pattern velocity dependent, lift control strategy is relevant to the underlying motion computation mechanisms and serves a broader understanding of insects' flight control strategies. The relevance and potential pitfalls of applying system identification techniques in tethered preparations is discussed.

Goal seeking in honeybees: matching of optic flow snapshots?

Visual landmarks guide humans and animals including insects to a goal location. Insects, with their miniature brains, have evolved a simple strategy to find their nests or profitable food sources; they approach a goal by finding a close match between the current view and a memorised retinotopic representation of the landmark constellation around the goal. Recent implementations of such a matching scheme use raw panoramic images (‘image matching’) and show that it is well suited to work on robots and even in natural environments. However, this matching scheme works only if relevant landmarks can be detected by their contrast and texture. Therefore, we tested how honeybees perform in localising a goal if the landmarks can hardly be distinguished from the background by such cues. We recorded the honeybees' flight behaviour with high-speed cameras and compared the search behaviour with computer simulations. We show that honeybees are able to use landmarks that have the same contrast and texture as the background and suggest that the bees use relative motion cues between the landmark and the background. These cues are generated on the eyes when the bee moves in a characteristic way in the vicinity of the landmarks. This extraordinary navigation performance can be explained by a matching scheme that includes snapshots based on optic flow amplitudes (‘optic flow matching’). This new matching scheme provides a robust strategy for navigation, as it depends primarily on the depth structure of the environment.

Fidelity of adaptive phototaxis

Along the evolutionary path from single cells to multicellular organisms with a central nervous system are species of intermediate complexity that move in ways suggesting high-level coordination, yet have none. Instead, organisms of this type possess many autonomous cells endowed with programs that have evolved to achieve concerted responses to environmental stimuli. Here experiment and theory are used to develop a quantitative understanding of how cells of such organisms coordinate to achieve phototaxis, by using the colonial alga Volvox carteri as a model. It is shown that the surface somatic cells act as individuals but are orchestrated by their relative position in the spherical extracellular matrix and their common photoresponse function to achieve colony-level coordination. Analysis of models that range from the minimal to the biologically faithful shows that, because the flagellar beating displays an adaptive down-regulation in response to light, the colony needs to spin around its swimming direction and that the response kinetics and natural spinning frequency of the colony appear to be mutually tuned to give the maximum photoresponse. These models further predict that the phototactic ability decreases dramatically when the colony does not spin at its natural frequency, a result confirmed by phototaxis assays in which colony rotation was slowed by increasing the fluid viscosity.

Localized direction selective responses in the dendrites of visual interneurons of the fly

BACKGROUND

The various tasks of visual systems, including course control, collision avoidance and the detection of small objects, require at the neuronal level the dendritic integration and subsequent processing of many spatially distributed visual motion inputs. While much is known about the pooled output in these systems, as in the medial superior temporal cortex of monkeys or in the lobula plate of the insect visual system, the motion tuning of the elements that provide the input has yet received little attention. In order to visualize the motion tuning of these inputs we examined the dendritic activation patterns of neurons that are selective for the characteristic patterns of wide-field motion, the lobula-plate tangential cells (LPTCs) of the blowfly. These neurons are known to sample direction-selective motion information from large parts of the visual field and combine these signals into axonal and dendro-dendritic outputs.

RESULTS

Fluorescence imaging of intracellular calcium concentration allowed us to take a direct look at the local dendritic activity and the resulting local preferred directions in LPTC dendrites during activation by wide-field motion in different directions. These 'calcium response fields' resembled a retinotopic dendritic map of local preferred directions in the receptive field, the layout of which is a distinguishing feature of different LPTCs.

CONCLUSIONS

Our study reveals how neurons acquire selectivity for distinct visual motion patterns by dendritic integration of the local inputs with different preferred directions. With their spatial layout of directional responses, the dendrites of the LPTCs we investigated thus served as matched filters for wide-field motion patterns.

Dynamics of optomotor responses in Drosophila to perturbations in optic flow

For a small flying insect, correcting unplanned course perturbations is essential for navigating through the world. Visual course control relies on estimating optic flow patterns which, in flies, are encoded by interneurons of the third optic ganglion. However, the rules that translate optic flow into flight motor commands remain poorly understood. Here, we measured the temporal dynamics of optomotor responses in tethered flies to optic flow fields about three cardinal axes. For each condition, we used white noise analysis to determine the optimal linear filters linking optic flow to the sum and difference of left and right wing beat amplitudes. The estimated filters indicate that flies react very quickly to perturbations of the motion field, with pure delays in the order of approximately 20 ms and time-to-peak of approximately 100 ms. By convolution the filters also predict responses to arbitrary stimulus sequences, accounting for over half the variance in 5 of our 6 stimulus types, demonstrating the approximate linearity of the system with respect to optic flow variables. In the remaining case of yaw optic flow we improved predictability by measuring individual flies, which also allowed us to analyze the variability of optomotor responses within a population. Finally, the linear filters at least partly explain the optomotor responses to superimposed and decomposed compound flow fields.

Indoors forensic entomology: colonization of human remains in closed environments by specific species of sarcosaprophagous flies

Fly species that are commonly recovered on human corpses concealed in houses or other dwellings are often dependent on human created environments and might have special features in their biology that allow them to colonize indoor cadavers. In this study we describe nine typical cases involving forensically relevant flies on human remains found indoors in southern Finland. Eggs, larvae and puparia were reared to adult stage and determined to species. Of the five species found the most common were Lucilia sericata Meigen, Calliphora vicina Robineau-Desvoidy and Protophormia terraenovae Robineau-Desvoidy. The flesh fly Sarcophaga caerulescens Zetterstedt is reported for the first time to colonize human cadavers inside houses and a COI gene sequence based DNA barcode is provided for it to help facilitate identification in the future. Fly biology, colonization speed and the significance of indoors forensic entomological evidence are discussed.

Visual stabilization dynamics are enhanced by standing flight velocity

A flying insect must travel to find food, mates and sites for oviposition, but for a small animal in a turbulent world this means dealing with frequent unplanned deviations from course. We measured a fly's sensory-motor impulse response to perturbations in optic flow. After an abrupt change in its apparent visual position, a fly generates a compensatory dynamical steering response in the opposite direction. The response dynamics, however, may be influenced by superimposed background velocity generated by the animal's flight direction. Here we show that constant forward velocity has no effect on the steering responses to orthogonal sideslip perturbations, whereas constant parallel sideslip substantially shortens the lags and relaxation times of the linear dynamical responses. This implies that for flies stabilizing in sideslip, the control effort is strongly affected by the direction of background motion.

Robust models for optic flow coding in natural scenes inspired by insect biology

The extraction of accurate self-motion information from the visual world is a difficult problem that has been solved very efficiently by biological organisms utilizing non-linear processing. Previous bio-inspired models for motion detection based on a correlation mechanism have been dogged by issues that arise from their sensitivity to undesired properties of the image, such as contrast, which vary widely between images. Here we present a model with multiple levels of non-linear dynamic adaptive components based directly on the known or suspected responses of neurons within the visual motion pathway of the fly brain. By testing the model under realistic high-dynamic range conditions we show that the addition of these elements makes the motion detection model robust across a large variety of images, velocities and accelerations. Furthermore the performance of the entire system is more than the incremental improvements offered by the individual components, indicating beneficial non-linear interactions between processing stages. The algorithms underlying the model can be implemented in either digital or analog hardware, including neuromorphic analog VLSI, but defy an analytical solution due to their dynamic non-linear operation. The successful application of this algorithm has applications in the development of miniature autonomous systems in defense and civilian roles, including robotics, miniature unmanned aerial vehicles and collision avoidance sensors.

Visual stimuli induced by self-motion and object-motion modify odour-guided flight of male moths (Manduca sexta L.)

Animals rely on multimodal sensory integration for proper orientation within their environment. For example, odour-guided behaviours often require appropriate integration of concurrent visual cues. To gain a further understanding of mechanisms underlying sensory integration in odour-guided behaviour, our study examined the effects of visual stimuli induced by self-motion and object-motion on odour-guided flight in male M. sexta. By placing stationary objects (pillars) on either side of a female pheromone plume, moths produced self-induced visual motion during odour-guided flight. These flights showed a reduction in both ground and flight speeds and inter-turn interval when compared with flight tracks without stationary objects. Presentation of an approaching 20 cm disc, to simulate object-motion,resulted in interrupted odour-guided flight and changes in flight direction away from the pheromone source. Modifications of odour-guided flight behaviour in the presence of stationary objects suggest that visual information, in conjunction with olfactory cues, can be used to control the rate of counter-turning. We suggest that the behavioural responses to visual stimuli induced by object-motion indicate the presence of a neural circuit that relays visual information to initiate escape responses. These behavioural responses also suggest the presence of a sensory conflict requiring a trade-off between olfactory and visually driven behaviours. The mechanisms underlying olfactory and visual integration are discussed in the context of these behavioural responses.

Edge detection in landing budgerigars (Melopsittacus undulatus)

BACKGROUND

While considerable scientific effort has been devoted to studying how birds navigate over long distances, relatively little is known about how targets are detected, obstacles are avoided and smooth landings are orchestrated. Here we examine how visual features in the environment, such as contrasting edges, determine where a bird will land.

METHODOLOGY/PRINCIPAL FINDINGS

Landing in budgerigars (Melopsittacus undulatus) was investigated by training them to fly from a perch to a feeder, and video-filming their landings. The feeder was placed on a grey disc that produced a contrasting edge against a uniformly blue background. We found that the birds tended to land primarily at the edge of the disc and walk to the feeder, even though the feeder was in the middle of the disc. This suggests that the birds were using the visual contrast at the boundary of the disc to target their landings. When the grey level of the disc was varied systematically, whilst keeping the blue background constant, there was one intermediate grey level at which the budgerigar's preference for the disc boundary disappeared. The budgerigars then landed randomly all over the test surface. Even though this disc is (for humans) clearly distinguishable from the blue background, it offers very little contrast against the background, in the red and green regions of the spectrum.

CONCLUSIONS

We conclude that budgerigars use visual edges to target and guide landings. Calculations of photoreceptor excitation reveal that edge detection in landing budgerigars is performed by a color-blind luminance channel that sums the signals from the red and green photoreceptors, or, alternatively, receives input from the red double-cones. This finding has close parallels to vision in honeybees and primates, where edge detection and motion perception are also largely color-blind.

Visual control of flight speed in Drosophila melanogaster

Flight control in insects depends on self-induced image motion (optic flow), which the visual system must process to generate appropriate corrective steering maneuvers. Classic experiments in tethered insects applied rigorous system identification techniques for the analysis of turning reactions in the presence of rotating pattern stimuli delivered in open-loop. However, the functional relevance of these measurements for visual free-flight control remains equivocal due to the largely unknown effects of the highly constrained experimental conditions. To perform a systems analysis of the visual flight speed response under free-flight conditions, we implemented a 'one-parameter open-loop' paradigm using 'TrackFly' in a wind tunnel equipped with real-time tracking and virtual reality display technology. Upwind flying flies were stimulated with sine gratings of varying temporal and spatial frequencies, and the resulting speed responses were measured from the resulting flight speed reactions. To control flight speed, the visual system of the fruit fly extracts linear pattern velocity robustly over a broad range of spatio-temporal frequencies. The speed signal is used for a proportional control of flight speed within locomotor limits. The extraction of pattern velocity over a broad spatio-temporal frequency range may require more sophisticated motion processing mechanisms than those identified in flies so far. In Drosophila, the neuromotor pathways underlying flight speed control may be suitably explored by applying advanced genetic techniques, for which our data can serve as a baseline. Finally, the high-level control principles identified in the fly can be meaningfully transferred into a robotic context, such as for the robust and efficient control of autonomous flying micro air vehicles.

The motion after-effect: local and global contributions to contrast sensitivity

Motion adaptation is a widespread phenomenon analogous to peripheral sensory adaptation, presumed to play a role in matching responses to prevailing current stimulus parameters and thus to maximize efficiency of motion coding. While several components of motion adaptation (contrast gain reduction, output range reduction and motion after-effect) have been described, previous work is inconclusive as to whether these are separable phenomena and whether they are locally generated. We used intracellular recordings from single horizontal system neurons in the fly to test the effect of local adaptation on the full contrast-response function for stimuli at an unadapted location. We show that contrast gain and output range reductions are primarily local phenomena and are probably associated with spatially distinct synaptic changes, while the antagonistic after-potential operates globally by transferring to previously unadapted locations. Using noise analysis and signal processing techniques to remove 'spikelets', we also characterize a previously undescribed alternating current component of adaptation that can explain several phenomena observed in earlier studies.

The free-flight response of Drosophila to motion of the visual environment

In the present study we investigated the behavioural strategies with which freely flying fruit flies (Drosophila) control their flight trajectories during active optomotor stimulation in a free-flight arena. We measured forward, turning and climbing velocities of single flies using high-speed video analysis and estimated the output of a 'Hassenstein-Reichardt' elementary motion detector (EMD) array and the fly's gaze to evaluate flight behaviour in response to a rotating visual panorama. In a stationary visual environment, flight is characterized by flight saccades during which the animals turn on average 120 degrees within 130 ms. In a rotating environment, the fly's behaviour typically changes towards distinct, concentric circular flight paths where the radius of the paths increases with increasing arena velocity. The EMD simulation suggests that this behaviour is driven by a rotation-sensitive EMD detector system that minimizes retinal slip on each compound eye, whereas an expansion-sensitive EMD system with a laterally centred visual focus potentially helps to achieve centring response on the circular flight path. We developed a numerical model based on force balance between horizontal, vertical and lateral forces that allows predictions of flight path curvature at a given locomotor capacity of the fly. The model suggests that turning flight in Drosophila is constrained by the production of centripetal forces needed to avoid side-slip movements. At maximum horizontal velocity this force may account for up to 70% of the fly's body weight during yaw turning. Altogether, our analyses are widely consistent with previous studies on Drosophila free flight and those on the optomotor response under tethered flight conditions.

Visual stimulation of saccades in magnetically tetheredDrosophila

Flying fruit flies, Drosophila melanogaster, perform `body saccades', in which they change heading by about 90° in roughly 70 ms. In free flight, visual expansion can evoke saccades, and saccade-like turns are triggered by similar stimuli in tethered flies. However, because the fictive turns in rigidly tethered flies follow a much longer time course, the extent to which these two behaviors share a common neural basis is unknown. A key difference between tethered and free flight conditions is the presence of additional sensory cues in the latter, which might serve to modify the time course of the saccade motor program. To study the role of sensory feedback in saccades, we have developed a new preparation in which a fly is tethered to a fine steel pin that is aligned within a vertically oriented magnetic field,allowing it to rotate freely around its yaw axis. In this experimental paradigm, flies perform rapid turns averaging 35° in 80 ms, similar to the kinematics of free flight saccades. Our results indicate that tethered and free flight saccades share a common neural basis, but that the lack of appropriate feedback signals distorts the behavior performed by rigidly fixed flies. Using our new paradigm, we also investigated the features of visual stimuli that elicit saccades. Our data suggest that saccades are triggered when expanding objects reach a critical threshold size, but that their timing depends little on the precise time course of expansion. These results are consistent with expansion detection circuits studied in other insects, but do not exclude other models based on the integration of local movement detectors.

Representation of behaviourally relevant information by blowfly motion-sensitive visual interneurons requires precise compensatory head movements

Flying blowflies shift their gaze by saccadic turns of body and head, keeping their gaze basically fixed between saccades. For the head, this results in almost pure translational optic flow between saccades, enabling visual interneurons in the fly motion pathway to extract information about translation of the animal and thereby about the spatial layout of the environment. There are noticeable differences between head and body movements during flight. Head saccades are faster and shorter than body saccades, and the head orientation is more stable between saccades than the body orientation. Here, we analyse the functional importance of these differences by probing visual interneurons of the blowfly motion pathway with optic flow based on either head movements or body movements, as recorded accurately with a magnetic search coil technique. We find that the precise head-body coordination is essential for the visual system to separate the translational from the rotational optic flow. If the head were tightly coupled to the body, the resulting optic flow would not contain the behaviourally important information on translation. Since it is difficult to resolve head orientation in many experimental paradigms, even when employing state-of-the-art digital video techniques, we introduce a 'headifying algorithm', which transforms the time-dependent body orientation in free flight into an estimate of head orientation. We show that application of this algorithm leads to an estimated head orientation between saccades that is sufficiently stable to enable recovering information on translation. The algorithm may therefore be of practical use when head orientation is needed but cannot be measured.

Functions of the subesophageal ganglion in the medicinal leech revealed by ablation of neuromeres in embryos

Two general trends in the evolution of the nervous system have been toward centralization of neuronal somata and cephalization of the central nervous system (CNS). These organizational trends are apparent in the nervous system of annelid worms, including leeches. To determine if the anterior brain of the leech serves functions similar to those of the brains of more complex organisms, including vertebrates, we ablated one of the two major regions of the cephalic brain--the subesophageal ganglion (SubEG). For anatomical reasons, ablations were performed in embryos, rather than in adults. At the end of embryonic development, we observed the leeches' spontaneous behaviour and their responses to moderate touch. We observed that, although the midbody ganglia of the leech CNS display a high degree of local autonomy, the cephalic brain provides generalized excitation to the rest of the CNS, is a source of selective inhibition that modulates behaviour, integrates sensory information from the head with signals from the rest of the body, and plays an important role in organizing at least some complicated whole-body behaviours. These roles of the leech cephalic brain are common features of brain function in many organisms, and our results are consistent with the hypothesis that they arose early in evolution and have been conserved in complex nervous systems.

The eyes of a patrolling butterfly: visual field and eye structure in the Orange Sulphur, Colias eurytheme (Lepidoptera, Pieridae)

Sensory information plays a critical role in determining an animal's behavior on both proximate and evolutionary timescales. Butterflies, like many other insects, use vision extensively over their lifetimes, and yet relatively little work has been published to date on their visual capabilities. We describe the visual system of a pierid butterfly, Colias eurytheme, with the ultimate goal of better understanding its role in shaping the behavior of this animal. We made several measurements: visual field dimensions, eye surface area, interommatidial angle (Deltaphi), facet diameter (D), and eye parameter (p). C. eurytheme had a large visual field and considerable regional variation in visual acuity, as inferred by Deltaphi and D. When compared to females, males had larger eye surface areas, smaller Deltaphi, and larger D in all regions except ventrally. Both sexes had proportionally large eye surface areas compared to other butterflies. Minimum p in males was small, indicating that some regions of their eyes may operate close to the diffraction limit. Finally, we found that both eye surface area and D scaled positively, but with negative allometry to body size. We discuss the relevance of these visual characteristics to the biology and behavior of C. eurytheme.

Are Drosophila a useful model for understanding the toxicity of inhaled oxidative pollutants: a review

Oxidative atmospheric pollutants represent a significant stress and cause injury to both vertebrate and invertebrate species. In both, the biosurfaces of their respiratory apparatus are directly exposed to oxidizing pollutant-induced stresses. Respiratory-tract surfaces contain integrated antioxidant systems that appear to provide a primary defense against environmental insults caused by inhaled atmospheric reactive oxygen species (ROS) and reactive nitrogen species (RNS), whether gaseous or particulate. When the biosurface antioxidant defenses are overwhelmed, oxidative and nitrosative stress to the acellular and cellular components of the exposed biosurfaces can ensue via direct chemical reactions that lead to the induction of inflammatory, adaptive, injurious, and reparative processes. The study of model invertebrates (e.g., Drosophila) has a long history of yielding valuable insights into both fundamental biology and pathobiology. Mutants and/or transgenic insects, with specific alterations in key components of innate and/or adaptive antioxidant defense systems and immune genes, offer opportunities to dissect the complex systems that maintain respiratory tract surface defenses against environmental oxidants and the ensuing host responses. In this article, we use a comparative absfont approach to consider interactions of atmospheric oxidant pollutants with selected biosystems. We focused primarily on ozone (O(3)) as the pollutant, vertebrate and invertebrate respiratory tracts as the exposed biosystems, and nonenzymatic micronutrient antioxidants as significant contributors to overall antioxidant defense strategies. We present parallels among these diverse organisms with regard to their protective strategies against environmental atmospheric oxidants, with particular focus given to using the invertebrate Drosophila as a potentially useful model for vertebrate respiratory-tract responses to inhaled oxidants specifically and pollutants in general. We conclude that the insect respiratory system has considerable promise toward understanding novel aspects of vertebrate respiratory tract responses to inhaled oxidative environmental challenges.