Auditory orientation in crickets: pattern recognition controls reactive steering

Sound processing in the cricket brain: evidence for a pulse duration filter

The auditory system of female crickets allows them to specifically recognize and approach the species-specific male calling song, defined by sound pulses and silent intervals. Auditory brain neurons form a delay-line and coincidence detector network tuned to the pulse period of the male song. We analyzed the impact of changes in pulse duration on the behavior and the responses of the auditory neurons and the network. We confirm that the ascending neuron AN1 and the local neuron LN2 copy the temporal structure of the song. During ongoing long sound pulses, the delay-line neuron LN5 shows additional rebound responses and the coincidence detector neuron LN3 can generate additional bursts of activity, indicating that these may be driven by intrinsic oscillations of the network. Moreover, the response of the feature detector neuron LN4 is shaped by a combination of inhibitory and excitatory synaptic inputs, and LN4 responds even to long sound pulses with a short depolarization and burst of spikes, like to a sound pulse of natural duration. This response property of LN4 indicates a selective auditory pulse duration filter mechanism of the pattern recognition network, which is tuned to the duration of natural pulses. Comparing the tuning of the phonotactic behavior with the tuning of the local auditory brain neurons to the same test patterns, we find no evidence that a modulation of the phonotactic behavior is reflected at the level of the feature detector neurons. This rather suggests that steering to nonattractive pulse patterns is organized at the thoracic level.NEW & NOTEWORTHY Pulse period selectivity has been reported for the cricket delay-line and coincidence detector network, whereas pulse duration selectivity is evident from behavioral tests. Pulses of increasing duration elicit responses in the pattern recognition neurons, which do not parallel the behavioral responses and indicate additional processing mechanisms. Long sound pulses elicit rhythmic rebound activity and additional bursts, whereas the feature detector neuron reveals a pulse duration filter, expanding our understanding of the pattern recognition process.

Geometry-based navigation in the dark: layout symmetry facilitates spatial learning in the house cricket, Acheta domesticus, in the absence of visual cues

The capacity to navigate by layout geometry has been widely recognized as a robust strategy of place-finding. It has been reported in various species, although most studies were performed with vision-based paradigms. In the presented study, we aimed to investigate layout symmetry-based navigation in the house cricket, Acheta domesticus, in the absence of visual cues. For this purpose, we used a non-visual paradigm modeled on the Tennessee Williams setup. We ensured that the visual cues were indeed inaccessible to insects. In the main experiment, we tested whether crickets are capable of learning to localize the centrally positioned, inconspicuous cool spot in heated arenas of various shapes (i.e., circular, square, triangular, and asymmetric quadrilateral). We found that the symmetry of the arena significantly facilitates crickets’ learning to find the cool spot, indicated by the increased time spent on the cool spot and the decreased latency in locating it in subsequent trials. To investigate mechanisms utilized by crickets, we analyzed their approach paths to the spot. We found that crickets used both heuristic and directed strategies of approaching the target, with the dominance of a semi-directed strategy (i.e., a thigmotactic phase preceding direct navigation to the target). We propose that the poor performance of crickets in the asymmetrical quadrilateral arena may be explained by the difficulty of encoding its layout with cues from a single modality.

Response properties of spiking and non-spiking brain neurons mirror pulse interval selectivity

In the bispotted field cricket auditory pulse pattern recognition of the species-specific calling song is based on a delay-line and coincidence detection network, established by the activity and synaptic connections of only 5 auditory neurons in the brain. To obtain a more detailed understanding of the network and the dynamic of the neural activity over time we analyzed the response properties of these neurons to test patterns, in which the pulse duration was kept constant while the duration of specific pulse intervals was systematically altered. We confirm that the ascending interneuron AN1 and the local interneuron LN2 copy the structure of the pulse pattern, however with limited resolution at short pulse intervals, further evident in downstream neural responses. In the non-spiking delay-line interneuron LN5 during long pulse intervals full-blown rebound potentials develop over a time course of 35–70 ms. LN5 also reveals an overall increase in its membrane potential tuned to chirps of the calling song pulse pattern. This may contribute to the pattern recognition process by driving the activity of the coincidence-detector LN3 and may indicate a further function of the delay-line neuron LN5. The activity of LN3 and of the feature detector LN4 match the tuning of the phonotactic behavior and demonstrate an increasingly sparse coding of the calling song pulse patterns as evident in the response of the feature detector LN4. The circuitry reveals a fundamental mechanism of auditory pattern recognition and demonstrates a principle of neuronal coding.

An auditory-responsive interneuron descending from the cricket brain: a new element in the auditory pathway

Crickets receive auditory information from their environment via ears located on the front legs. Ascending interneurons forward auditory activity to the brain, which houses a pattern recognition network for phonotaxis to conspecific calling songs and which controls negative phonotaxis to high-frequency sound pulses. Descending brain neurons, however, which are clearly involved in controlling these behaviors, have not yet been identified. We describe a descending auditory-responsive brain neuron with an arborization pattern that coincides with the ring-like auditory neuropil in the brain formed by the axonal arborizations of ascending and local interneurons, indicating its close link to auditory processing. Spiking activity of this interneuron occurs with a short latency to calling song patterns and the neuron copies the sound pulse pattern. The neuron preferentially responds to short sound pulses, but its activity appears to be independent of the calling song pattern recognition process. It also receives a weaker synaptic input in response to high-frequency pulses, which may contribute to its short latency spiking responses. This interneuron could be a crucial part in the auditory-to-motor transformation of the nervous system and contribute to the motor control of cricket auditory behavior.

Tolerant pattern recognition: evidence from phonotactic responses in the cricket Gryllus bimaculatus (de Geer)

When the amplitude modulation of species-specific acoustic signals is distorted in the transmission channel, signals become difficult to recognize by the receiver. Tolerant auditory pattern recognition systems, which after having perceived the correct species-specific signal transiently broaden their acceptance of signals, would be advantageous for animals as an adaptation to the constraints of the environment. Using a well-studied cricket species, Gryllus bimaculatus, we analysed tolerance in auditory steering responses to 'Odd' chirps, mimicking a signal distorted by the transmission channel, and control 'Silent' chirps by employing a fine-scale open-loop trackball system. Odd chirps on their own did not elicit a phonotactic response. However, when inserted into a calling song pattern with attractive Normal chirps, the females' phonotactic response toward these patterns was significantly larger than to patterns with Silent chirps. Moreover, females actively steered toward Odd chirps when these were presented within a sequence of attractive chirps. Our results suggest that crickets employ a tolerant pattern recognition system that, once activated, transiently allows responses to distorted sound patterns, as long as sufficient natural chirps are present. As pattern recognition modulates how crickets process non-attractive acoustic signals, the finding is also relevant for the interpretation of two-choice behavioural experiments.

A small, computationally flexible network produces the phenotypic diversity of song recognition in crickets

How neural networks evolved to generate the diversity of species-specific communication signals is unknown. For receivers of the signals, one hypothesis is that novel recognition phenotypes arise from parameter variation in computationally flexible feature detection networks. We test this hypothesis in crickets, where males generate and females recognize the mating songs with a species-specific pulse pattern, by investigating whether the song recognition network in the cricket brain has the computational flexibility to recognize different temporal features. Using electrophysiological recordings from the network that recognizes crucial properties of the pulse pattern on the short timescale in the cricket Gryllus bimaculatus, we built a computational model that reproduces the neuronal and behavioral tuning of that species. An analysis of the model's parameter space reveals that the network can provide all recognition phenotypes for pulse duration and pause known in crickets and even other insects. Phenotypic diversity in the model is consistent with known preference types in crickets and other insects, and arises from computations that likely evolved to increase energy efficiency and robustness of pattern recognition. The model's parameter to phenotype mapping is degenerate - different network parameters can create similar changes in the phenotype - which likely supports evolutionary plasticity. Our study suggests that computationally flexible networks underlie the diverse pattern recognition phenotypes, and we reveal network properties that constrain and support behavioral diversity.

Does the choosiness of female crickets change as they age?

For crickets, which approach singing males by phonotaxis, the female choosiness hypothesis postulates that young females should be more selective of male calling song patterns than older individuals. However, there is no information about the behavioural preferences of females over their complete adulthood. We analysed phonotaxis in female Gryllus bimaculatus throughout their entire adult lifetime and measured the impact of sound amplitude, carrier frequency and the temporal pattern of test songs on their auditory response. Females of all ages demonstrated their best responses to male calling songs with a pulse period of 34-42 ms, a carrier frequency of 4.5 kHz and a sound pressure level of 75 dB. The response profile to somewhat less optimal song types did vary with age, but not in a manner consistent with a simple loosening of selectiveness in older females. Age, however, had an effect on the overall strength of phonotaxis, as very old females showed an overall diminishing response to all song types. Our data suggest that although there are minor changes in the relative preferences of crickets to individual song elements as they age, the breadth of song patterns to which they will perform phonotaxis remains similar across age groups.

Internal state transition to switch behavioral strategies in cricket phonotaxis

Animals employ multiple behavioral strategies for exploring food and mating partners based on both their internal state and external environment. Here, we examined how cricket phonotaxis, which was considered an innate reactive behavior of females to approach the calling song of conspecific males, depended on these internal and external conditions. Our observation revealed that the phonotaxis process consisted of two distinctive phases: wandering and approaching. In the latter phase, crickets moved directly towards the sound source. The transition into this phase, referred to as the 'approach phase', was based on changes in the animal's internal state. Moreover, retention of the approach phase required recognition of the calling song, while song loss downregulated cricket mobility and induced frequent stopping. This is a typical movement in local search behaviors. Our results indicate that phonotaxis is not only a reactive response but a complicated process including multiple behavioral strategies.

Neuroethology of acoustic communication in field crickets - from signal generation to song recognition in an insect brain

Field crickets are best known for the loud calling songs produced by males to attract conspecific females. This review aims to summarize the current knowledge of the neurobiological basis underlying the acoustic communication for mate finding in field crickets with emphasis on the recent research progress to understand the neuronal networks for motor pattern generation and auditory pattern recognition of the calling song in Gryllus bimaculatus. Strong scientific interest into the neural mechanisms underlying intraspecific communication has driven persistently advancing research efforts to study the male singing behaviour and female phonotaxis for mate finding in these insects. The growing neurobiological understanding also inspired many studies testing verifiable hypotheses in sensory ecology, bioacoustics and on the genetics and evolution of behaviour. Over last decades, acoustic communication in field crickets served as a very successful neuroethological model system. It has contributed significantly to the scientific process of establishing, reconsidering and refining fundamental concepts in behavioural neurosciences such as command neurons, central motor pattern generation, corollary discharge processing and pattern recognition by sensory feature detection, which are basic building blocks of our modern understanding on how nervous systems control and generate behaviour in all animals.

Phonotactic steering and representation of directional information in the ascending auditory pathway of a cricket

Directional hearing is crucial for animals depending on acoustic signals to locate a mate. We focused on crickets to explore the reliability of directional information forwarded to the brain by the ascending auditory interneuron AN1, which is crucial for phonotactic behavior. We presented calling song from -45° to +45° in steps of 3° and compared the phonotactic steering of females walking on a trackball with the directional responses of AN1. Forty percent of females showed good steering behavior and changed their walking direction when the speaker passed the body's longitudinal axis. The bilateral latency difference between right and left AN1 responses was small and may not be reliable for auditory steering. In respect to spike count, all AN1 recordings presented significant bilateral differences for angles larger than ±18°, yet 35% showed a mean significant difference of 1-3 action potentials per chirp when the frontal stimulus deviated by 3° from their length axis. For small angles, some females had a very similar AN1 activity forwarded to the brain, but the accuracy of their steering behavior was substantially different. Our results indicate a correlation between directional steering and the response strength of AN1, especially for large angles. The reliable steering of animals at small angles would have to be based on small bilateral differences of AN1 activity, if AN1 is the only source providing directional information. We discuss whether such bilateral response difference at small angles can provide a reliable measure to generate auditory steering commands descending from the brain, as pattern recognition is intensity independent.NEW & NOTEWORTHY The ascending auditory interneuron AN1 has been implicated in cricket auditory steering, but at small acoustic stimulation angles, it does not provide reliable directional information. We conclude that either the small bilateral auditory activity differences of the AN1 neurons are enhanced to generate reliable descending steering commands or, more likely, directional auditory steering is mediated via a thoracic pathway, as indicated by the reactive steering hypothesis.

Acoustic Pattern Recognition and Courtship Songs: Insights from Insects

Across the animal kingdom, social interactions rely on sound production and perception. From simple cricket chirps to more elaborate bird songs, animals go to great lengths to communicate information critical for reproduction and survival via acoustic signals. Insects produce a wide array of songs to attract a mate, and the intended receivers must differentiate these calls from competing sounds, analyze the quality of the sender from spectrotemporal signal properties, and then determine how to react. Insects use numerically simple nervous systems to analyze and respond to courtship songs, making them ideal model systems for uncovering the neural mechanisms underlying acoustic pattern recognition. We highlight here how the combination of behavioral studies and neural recordings in three groups of insects-crickets, grasshoppers, and fruit flies-reveals common strategies for extracting ethologically relevant information from acoustic patterns and how these findings might translate to other systems.

How spatial release from masking may fail to function in a highly directional auditory system

Spatial release from masking (SRM) occurs when spatial separation between a signal and masker decreases masked thresholds. The mechanically-coupled ears of Ormia ochracea are specialized for hyperacute directional hearing, but the possible role of SRM, or whether such specializations exhibit limitations for sound source segregation, is unknown. We recorded phonotaxis to a cricket song masked by band-limited noise. With a masker, response thresholds increased and localization was diverted away from the signal and masker. Increased separation from 6° to 90° did not decrease response thresholds or improve localization accuracy, thus SRM does not operate in this range of spatial separations. Tympanal vibrations and auditory nerve responses reveal that localization errors were consistent with changes in peripheral coding of signal location and flies localized towards the ear with better signal detection. Our results demonstrate that, in a mechanically coupled auditory system, specialization for directional hearing does not contribute to source segregation.

How females of chirping and trilling field crickets integrate the 'what' and 'where' of male acoustic signals during decision making

In crickets acoustic communication serves mate selection. Female crickets have to perceive and integrate male cues relevant for mate choice while confronted with several different signals in an acoustically diverse background. Overall female decisions are based on the attractiveness of the temporal pattern (informative about the 'what') and on signal intensity (informative about the 'where') of male calling songs. Here, we investigated how the relevant cues for mate choice are integrated during the decision process by females of five different species of chirping and trilling field crickets. Using a behavioral design, female preferences in no-choice and choice situations for male calling songs differing in pulse rate, modulation depth, intensities, chirp/trill arrangements and temporal shifts were examined. Sensory processing underlying decisions in female field crickets is rather similar as combined evidence suggested that incoming song patterns were analyzed separately by bilaterally paired networks for pattern attractiveness and pattern intensity. A downstream gain control mechanism leads to a weighting of the intensity cue by pattern attractiveness. While remarkable differences between species were observed with respect to specific processing steps, closely related species exhibited more similar preferences than did more distantly related species.

Rhythm Generation and Rhythm Perception in Insects: The Evolution of Synchronous Choruses

Insect sounds dominate the acoustic environment in many natural habitats such as rainforests or meadows on a warm summer day. Among acoustic insects, usually males are the calling sex; they generate signals that transmit information about the species-identity, sex, location, or even sender quality to conspecific receivers. Males of some insect species generate signals at distinct time intervals, and other males adjust their own rhythm relative to that of their conspecific neighbors, which leads to fascinating acoustic group displays. Although signal timing in a chorus can have important consequences for the calling energetics, reproductive success and predation risk of individuals, still little is known about the selective forces that favor the evolution of insect choruses. Here, we review recent advances in our understanding of the neuronal network responsible for acoustic pattern generation of a signaler, and pattern recognition in receivers. We also describe different proximate mechanisms that facilitate the synchronous generation of signals in a chorus and provide examples of suggested hypotheses to explain the evolution of chorus synchrony in insects. Some hypotheses are related to sexual selection and inter-male cooperation or competition, whereas others refer to the selection pressure exerted by natural predators. In this article, we summarize the results of studies that address chorus synchrony in the tropical katydid Mecopoda elongata, where some males persistently signal as followers although this reduces their mating success.

Sequential Filtering Processes Shape Feature Detection in Crickets: A Framework for Song Pattern Recognition

Intraspecific acoustic communication requires filtering processes and feature detectors in the auditory pathway of the receiver for the recognition of species-specific signals. Insects like acoustically communicating crickets allow describing and analysing the mechanisms underlying auditory processing at the behavioral and neural level. Female crickets approach male calling song, their phonotactic behavior is tuned to the characteristic features of the song, such as the carrier frequency and the temporal pattern of sound pulses. Data from behavioral experiments and from neural recordings at different stages of processing in the auditory pathway lead to a concept of serially arranged filtering mechanisms. These encompass a filter for the carrier frequency at the level of the hearing organ, and the pulse duration through phasic onset responses of afferents and reciprocal inhibition of thoracic interneurons. Further, processing by a delay line and coincidence detector circuit in the brain leads to feature detecting neurons that specifically respond to the species-specific pulse rate, and match the characteristics of the phonotactic response. This same circuit may also control the response to the species-specific chirp pattern. Based on these serial filters and the feature detecting mechanism, female phonotactic behavior is shaped and tuned to the characteristic properties of male calling song.

Biological Agency: Its Subjective Foundations and a Large-Scale Taxonomy

We will outline a theory of agency cast in theoretical psychology, viewed as a branch of a non-eliminativist biology. Our proposal will be based on an evolutionary view of the nature and functioning of the mind(s), reconsidered in a radically subjectivist, radically constructivist framework. We will argue that the activities of control systems should be studied in terms of interaction. Specifically, what an agent does belongs to the coupling of its internal dynamics with the dynamics of the external world. The internal dynamics, rooted in the species' phylogenetic history as well as in the individual's ontogenetic path, (a) determine which external dynamics are relevant to the organism, that is, they create the subjective ontology that the organism senses in the external world, and (b) determine what types of activities and actions the agent is able to conceive of and to adopt in the current situation. The external dynamics that the organism senses thus constitute its subjective environment. This notion of coupling is basically suitable for whichever organism one may want to consider. However, remarkable differences exist between the ways in which coupling may be realized, that is, between different natures and ways of functioning of control systems. We will describe agency at different phylogenetic levels: at the very least, it is necessary to discriminate between non-Intentional species, Intentional species, and a subtype of the latter called meta-Intentional. We will claim that agency can only be understood in a radically subjectivist perspective, which in turn is best grounded in a view of the mind as consciousness and experience. We will thus advance a radically constructivist view of agency and of several correlate notions (like meaning and ontology).

Decision making and preferences for acoustic signals in choice situations by female crickets

For mate choice decisions usually multiple attributes have to be assessed. An efficient choice for the best mate is complicated if available cues are not positively correlated as is often the case during acoustic communication. Due to varying distances of signalers a female may be confronted with signals of diverse quality at different intensities. Here we examined how available cues are weighted for a decision by female crickets. Two songs with different temporal patterns and/or sound intensities were presented in a choice paradigm and compared to female responses from a no-choice test.

When both patterns were presented at equal intensity, preference functions became wider in choice situations as compared to a no-choice paradigm. When the stimuli in two-choice tests were presented at different intensities, this effect was counteracted as preference functions became narrower compared to choice tests with stimuli of equal intensity. The weighting of intensity differences depended on pattern quality and was therefore non-linear. A simple computational model based on pattern and intensity cues reliably predicted female decisions. A comparison of processing schemes suggested that the computations for pattern recognition and directionality are performed in a network with parallel topology. However, the computational flow of information corresponded to serial processing.

Computational themes of peripheral processing in the auditory pathway of insects

Hearing in insects serves to gain information in the context of mate finding, predator avoidance or host localization. For these goals, the auditory pathways of insects represent the computational substrate for object recognition and localization. Before these higher level computations can be executed in more central parts of the nervous system, the signals need to be preprocessed in the auditory periphery. Here, we review peripheral preprocessing along four computational themes rather than discussing specific physiological mechanisms: (1) control of sensitivity by adaptation, (2) recoding of amplitude modulations of an acoustic signal into a labeled-line code (3) frequency processing and (4) conditioning for binaural processing. Along these lines, we review evidence for canonical computations carried out in the peripheral auditory pathway and show that despite the vast diversity of insect hearing, signal processing is governed by common computational motifs and principles.

Pattern recognition in field crickets: concepts and neural evidence

Since decades the acoustic communication behavior of crickets is in the focus of neurobiology aiming to analyze the neural basis of male singing and female phonotactic behavior. For temporal pattern recognition several different concepts have been proposed to elucidate the possible neural mechanisms underlying the tuning of phonotaxis in females. These concepts encompass either some form of a feature detecting mechanism using cross-correlation processing, temporal filter properties of brain neurons or an autocorrelation processing based on a delay-line and coincidence detection mechanism. Current data based on intracellular recordings of auditory brain neurons indicate a sequential processing by excitation and inhibition in a local auditory network within the protocerebrum. The response properties of the brain neurons point towards the concept of an autocorrelation-like mechanism underlying female pattern recognition in which delay-lines by long lasting inhibition may be involved.

Spatial memory in insect navigation

A wide variety of insects use spatial memories in behaviours like holding a position in air or flowing water, in returning to a place of safety, and in foraging. The Hymenoptera, in particular, have evolved life-histories requiring reliable spatial memories to support the task of provisioning their young. Behavioural experiments, primarily on social bees and ants, reveal the mechanisms by which these memories are employed for guidance to spatial goals and suggest how the memories, and the processing streams that use them, may be organized. We discuss three types of memory-based guidance which, together, can explain a large part of observed insect spatial behaviour. Two of these, alignment image-matching and positional image-matching, are based on an insect's remembered views of its surroundings: The first uses views to keep to a familiar heading and the second to head towards a familiar place. The third type of guidance is based on a process of path integration by which an insect monitors its distance and direction from its nest through odometric and compass information. To a large degree, these guidance mechanisms appear to involve modular computational systems. We discuss the lack of evidence for cognitive maps in insects, and in particular the evidence against a map based on path integration, in which view-based and path integration memories might be combined. We suggest instead that insects have a collective of separate guidance systems, which cooperate and train each other, and together provide reliable guidance over a range of conditions.

Selective phonotaxis to high sound-pulse rate in the cricket Gryllus assimilis

Calling song of the cricket Gryllus assimilis is unusual among Gryllus spp. in the high sound-pulse rate, ca. 80 Hz, within its chirps. We asked whether, as in other cricket species, females were able to analyze such a high pulse rate. In phonotaxis experiments, females failed to respond to stimuli with pulse rates substantially higher or lower than the species-typical value, demonstrating that they are indeed selective for this parameter. We also examined how pulse rate was represented by modulation in firing rate of the neuron AN1, the main carrier of information about cricket-song-like stimuli to the brain. For attractive stimuli, i.e. with high pulse rates, modulation of AN1 firing rate through time was surprisingly modest. This suggests that the brain circuits that analyze AN1 spike trains might be more sensitive to slight variations in AN1 firing rate than their counterparts in more slowly singing species.

Cognition in insects

A traditional view of cognition is that it involves an internal process that represents, tracks or predicts an external process. This is not a general characteristic of all complex neural processing or feedback control, but rather implies specific forms of processing giving rise to specific behavioural capabilities. In this paper, I will review the evidence for such capabilities in insect navigation and learning. Do insects know where they are, or do they only know what to do? Do they learn what stimuli mean, or do they only learn how to behave?

Descending brain neurons in the cricket Gryllus bimaculatus (de Geer): auditory responses and impact on walking

The activity of four types of sound-sensitive descending brain neurons in the cricket Gryllus bimaculatus was recorded intracellularly while animals were standing or walking on an open-loop trackball system. In a neuron with a contralaterally descending axon, the male calling song elicited responses that copied the pulse pattern of the song during standing and walking. The accuracy of pulse copying increased during walking. Neurons with ipsilaterally descending axons responded weakly to sound only during standing. The responses were mainly to the first pulse of each chirp, whereas the complete pulse pattern of a chirp was not copied. During walking the auditory responses were suppressed in these neurons. The spiking activity of all four neuron types was significantly correlated to forward walking velocity, indicating their relevance for walking. Additionally, injection of depolarizing current elicited walking and/or steering in three of four neuron types described. In none of the neurons was the spiking activity both sufficient and necessary to elicit and maintain walking behaviour. Some neurons showed arborisations in the lateral accessory lobes, pointing to the relevance of this brain region for cricket audition and descending motor control.

Calling song recognition in female crickets: temporal tuning of identified brain neurons matches behavior

Phonotactic orientation of female crickets is tuned to the temporal pattern of the male calling song. We analyzed the phonotactic selectivity of female crickets to varying temporal features of calling song patterns and compared it with the auditory response properties of the ascending interneuron AN1 (herein referred to as TH1-AC1) and four newly identified local brain neurons. The neurites of all brain neurons formed a ring-like branching pattern in the anterior protocerebrum that overlapped with the axonal arborizations of TH1-AC1. All brain neurons responded phasically to the sound pulses of a species-specific chirp. The spike activity of TH1-AC1 and the local interneuron, B-LI2, copied different auditory patterns regardless of their temporal structure. Two other neurons, B-LI3 and B-LC3, matched the temporal selectivity of the phonotactic responses but also responded to some nonattractive patterns. Neuron B-LC3 linked the bilateral auditory areas in the protocerebrum. One local brain neuron, B-LI4, received inhibitory as well as excitatory synaptic inputs. Inhibition was particularly pronounced for nonattractive pulse patterns, reducing its spike activity. When tested with different temporal patterns, B-LI4 exhibited bandpass response properties; its different auditory response functions significantly matched the tuning of phonotaxis. Temporal selectivity was established already for the second of two sound pulses separated by one species-specific pulse interval. Temporal pattern recognition in the cricket brain occurs within the anterior protocerebrum at the first stage of auditory processing. It is crucially linked to a change in auditory responsiveness during pulse intervals and based on fast interactions of inhibition and excitation.

The Steppengrille (Gryllus spec./assimilis): selective filters and signal mismatch on two time scales

In Europe, several species of crickets are available commercially as pet food. Here we investigated the calling song and phonotactic selectivity for sound patterns on the short and long time scales for one such a cricket, Gryllus spec., available as “Gryllus assimilis”, the Steppengrille, originally from Ecuador. The calling song consisted of short chirps (2–3 pulses, carrier frequency: 5.0 kHz) emitted with a pulse period of 30.2 ms and chirp rate of 0.43 per second. Females exhibited high selectivity on both time scales. The preference for pulse period peaked at 33 ms which was higher then the pulse period produced by males. Two consecutive pulses per chirp at the correct pulse period were already sufficient for positive phonotaxis. The preference for the chirp pattern was limited by selectivity for small chirp duty cycles and for chirp periods between 200 ms and 500 ms. The long chirp period of the songs of males was unattractive to females. On both time scales a mismatch between the song signal of the males and the preference of females was observed. The variability of song parameters as quantified by the coefficient of variation was below 50% for all temporal measures. Hence, there was not a strong indication for directional selection on song parameters by females which could account for the observed mismatch. The divergence of the chirp period and female preference may originate from a founder effect, when the Steppengrille was cultured. Alternatively the mismatch was a result of selection pressures exerted by commercial breeders on low singing activity, to satisfy customers with softly singing crickets. In the latter case the prominent divergence between male song and female preference was the result of domestication and may serve as an example of rapid evolution of song traits in acoustic communication systems.

Auditory processing at two time scales by the cricket Gryllus bimaculatus

The acoustic display of many cricket species consists of series of pulses grouped into chirps, and thus information is distributed over both short and long time scales. Here we investigated the temporal cues that females of the cricket Gryllus bimaculatus used to detect a chirp pattern on a longer time scale than the fast pulse pattern. First, over a range of chirp and pause durations (100-400 ms), the duty cycle of the chirp pattern emerged as the most important cue for detection. The songs of males showed a distribution at lower duty cycles than preferred by females. The duty cycle also limited the responses of females at very short durations and pauses (below 80 ms). Second, by systematic variation of pulse and chirp periods of stimuli, an intermediate response field emerged that revealed the best responses of female crickets to patterns with amplitude modulations on both short and long time scales. On average, females also responded weakly to stimuli that contained amplitude modulations of only one time scale. Third, test patterns were constructed by addition of modulation frequencies rather than rectangular pulses. These tests showed that female crickets processed the chirp pattern in the time domain and tolerated noise levels up to a modulation depth of 50%. The combined evidence from all three approaches indicated inhibitory effects of unattractive patterns on both time scales. The fusion of short and long time scales during auditory processing by female crickets corresponded to a weighted AND-like operation of two processing modules, the pulse and the chirp filter.

Deciding which way to go: how do insects alter movements to negotiate barriers?

Animals must routinely deal with barriers as they move through their natural environment. These challenges require directed changes in leg movements and posture performed in the context of ever changing internal and external conditions. In particular, cockroaches use a combination of tactile and visual information to evaluate objects in their path in order to effectively guide their movements in complex terrain. When encountering a large block, the insect uses its antennae to evaluate the object’s height then rears upward accordingly before climbing. A shelf presents a choice between climbing and tunneling that depends on how the antennae strike the shelf; tapping from above yields climbing, while tapping from below causes tunneling. However, ambient light conditions detected by the ocelli can bias that decision. Similarly, in a T-maze turning is determined by antennal contact but influenced by visual cues. These multi-sensory behaviors led us to look at the central complex as a center for sensori-motor integration within the insect brain. Visual and antennal tactile cues are processed within the central complex and, in tethered preparations, several central complex units changed firing rates in tandem with or prior to altered step frequency or turning, while stimulation through the implanted electrodes evoked these same behavioral changes. To further test for a central complex role in these decisions, we examined behavioral effects of brain lesions. Electrolytic lesions in restricted regions of the central complex generated site specific behavioral deficits. Similar changes were also found in reversible effects of procaine injections in the brain. Finally, we are examining these kinds of decisions made in a large arena that more closely matches the conditions under which cockroaches forage. Overall, our studies suggest that CC circuits may indeed influence the descending commands associated with navigational decisions, thereby making them more context dependent.

Temporal resolution for calling song signals by female crickets, Gryllus bimaculatus

A behavioural gap detection paradigm was used to determine the temporal resolution for song patterns by female crickets, Gryllus bimaculatus. For stimuli with a modulation depth of 100% the critical gap duration was 6-8 ms. A reduction of the modulation depth of gaps to 50% led either to an increase or a decrease of the critical gap duration. In the latter case, the critical gap duration dropped to 3-4 ms indicating a higher sensitivity of auditory processing. The response curve for variation of pulse period was not limited by temporal resolution. However, the reduced response to stimuli with a high duty cycle, and thus short pause durations, was in accordance with the limits of temporal resolution. The critical duration of masking pulses inserted into pauses was 4-6 ms. An analysis of the songs of males revealed that gaps (5.8 ms) and masking pulses (6.9 ms) were at detectable time scales for the auditory pathway of female crickets. However, most of the observed temporal variation of song patterns was tolerated by females. Critical cues such as pulse period and pulse duty cycle provided little basis for inter-individual selection by females.

Detailed tracking of body and leg movements of a freely walking female cricket during phonotaxis

We describe a semi-automated tracking system for insect motion based on commercially available high-speed video cameras and freely available software. We use it to collect detailed three-dimensional kinematic information from female crickets performing free walking phonotaxis towards a calling song stimulus. We mark the insect's joints with small dots of paint and record the movements from underneath with a pair of cameras following the insect as it walks on the transparent floor of an arena. Tracking is done offline, utilizing a kinematic model to constrain the processing. We can obtain the positions and angles of all joints of all legs and six additional body joints, synchronised with stance-swing transitions and the sound pattern, at a 300 Hz frame rate. This data will be used in the further development of models of neural control of phonotaxis.

Matching sender and receiver: poikilothermy and frequency tuning in a tree cricket

Animals communicate in non-ideal and noisy conditions. The primary method they use to improve communication efficiency is sender-receiver matching: the receiver's sensory mechanism filters the impinging signal based on the expected signal. In the context of acoustic communication in crickets, such a match is made in the frequency domain. The males broadcast a mate attraction signal, the calling song, in a narrow frequency band centred on the carrier frequency (CF), and the females are most sensitive to sound close to this frequency. In tree crickets, however, the CF changes with temperature. The mechanisms used by female tree crickets to accommodate this change in CF were investigated at the behavioural and biomechanical level. At the behavioural level, female tree crickets were broadly tuned and responded equally to CFs produced within the naturally occurring range of temperatures (18 to 27°C). To allow such a broad response, however, the transduction mechanisms that convert sound into mechanical and then neural signals must also have a broad response. The tympana of the female tree crickets exhibited a frequency response that was even broader than suggested by the behaviour. Their tympana vibrate with equal amplitude to frequencies spanning nearly an order of magnitude. Such a flat frequency response is unusual in biological systems and cannot be modelled as a simple mechanical system. This feature of the tree cricket auditory system not only has interesting implications for mate choice and species isolation but may also prove exciting for bio-mimetic applications such as the design of miniature low frequency microphones.

Kinematics of phonotactic steering in the walking cricket Gryllus bimaculatus (de Geer)

Female crickets, Gryllus bimaculatus, are attracted by the male calling song and approach singing males; a behaviour known as phonotaxis. Even tethered females walking on a trackball steer towards a computer-generated male song presented from their left or right side. High-speed video analysis showed how this auditory-evoked steering was integrated with walking. Typically all the front and middle legs showed kinematic adjustments during steering, with the trajectories tilted towards the side of acoustic stimulation. Furthermore, the average speed of the tarsi contralateral to song increased relative to the ipsilateral tarsi. Kinematic changes of the hind legs were small and may be a consequence of the front and middle leg adjustments. Although phonotactic steering generally led to stereotyped adjustments there were differences in the specific combination of kinematic changes in leg trajectories. The most reliable kinematic steering response was by the contralateral front leg, such that, during its swing phase the tarsus moved towards the side of acoustic stimulation through an increased forward rotation of the femur and an increased extension of the tibia. Relating the changes in tarsal positioning of each leg to the steering velocity of the animal indicated that typically the front and middle legs contralateral to song generated the turning forces. Phonotactic steering was integrated into forward walking without changes to the walking motor cycle.

Processing of species-specific auditory patterns in the cricket brain by ascending, local, and descending neurons during standing and walking

The recognition of the male calling song is essential for phonotaxis in female crickets. We investigated the responses toward different models of song patterns by ascending, local, and descending neurons in the brain of standing and walking crickets. We describe results for two ascending, three local, and two descending interneurons. Characteristic dendritic and axonal arborizations of the local and descending neurons indicate a flow of auditory information from the ascending interneurons toward the lateral accessory lobes and point toward the relevance of this brain region for cricket phonotaxis. Two aspects of auditory processing were studied: the tuning of interneuron activity to pulse repetition rate and the precision of pattern copying. Whereas ascending neurons exhibited weak, low-pass properties, local neurons showed both low- and band-pass properties, and descending neurons represented clear band-pass filters. Accurate copying of single pulses was found at all three levels of the auditory pathway. Animals were walking on a trackball, which allowed an assessment of the effect that walking has on auditory processing. During walking, all neurons were additionally activated, and in most neurons, the spike rate was correlated to walking velocity. The number of spikes elicited by a chirp increased with walking only in ascending neurons, whereas the peak instantaneous spike rate of the auditory responses increased on all levels of the processing pathway. Extra spiking activity resulted in a somewhat degraded copying of the pulse pattern in most neurons.

Frequency processing at consecutive levels in the auditory system of bush crickets (tettigoniidae)

We asked how processing of male signals in the auditory pathway of the bush cricket Ancistrura nigrovittata (Phaneropterinae, Tettigoniidae) changes from the ear to the brain. From 37 sensory neurons in the crista acustica single elements (cells 8 or 9) have frequency tuning corresponding closely to the behavioral tuning of the females. Nevertheless, one-quarter of sensory neurons (approximately cells 9 to 18) excite the ascending neuron 1 (AN1), which is best tuned to the male's song carrier frequency. AN1 receives frequency-dependent inhibition, reducing sensitivity especially in the ultrasound. When recorded in the brain, AN1 shows slightly lower overall activity than when recorded in the prothoracic ganglion close to the spike-generating zone. This difference is significant in the ultrasonic range. The first identified local brain neuron in a bush cricket (LBN1) is described. Its dendrites overlap with some of AN1-terminations in the brain. Its frequency tuning and intensity dependence strongly suggest a direct postsynaptic connection to AN1. Spiking in LBN1 is only elicited after summation of excitatory postsynaptic potentials evoked by individual AN1-action potentials. This serves a filtering mechanism that reduces the sensitivity of LBN1 and also its responsiveness to ultrasound as compared to AN1. Consequently, spike latencies of LBN1 are long (>30 ms) despite its being a second-order interneuron. Additionally, LBN1 receives frequency-specific inhibition, most likely further reducing its responses to ultrasound. This demonstrates that frequency-specific inhibition is redundant in two directly connected interneurons on subsequent levels in the auditory system.

Sound transmission and directional hearing in field crickets: neurophysiological studies outdoors

Many studies provide detailed behavioural and neurophysiological information on the ability of crickets to localize a sound source under ideal acoustic conditions, but very little is known about how they perform in real habitats. We investigated directional hearing of crickets in the field using a neurophysiological approach, by recording the activity of the two prominent, bilaterally homologous AN1 neurons simultaneously in a cricket's habitat. The discharge and latency differences of the pair of neurons in response to conspecific chirps presented at different distances and directions were taken as a measure of directional information. The maximum hearing distance differed between individuals and weather conditions from 1 to 15 m (mean 9.2 m). Although the AN1 activity generally decreased with increasing distance, large fluctuations in the magnitude of responses occurred with distance, indicating that the intensity gradient over distance is often irregular. The directional information provided in the discharge differences of the two neurons also varied with distance. Again, there was no simple directional gradient on the transmission channel; rather, with decreasing distance to the source there were receiver locations providing suprathreshold responses, but no directional information. The consequences for the ability of field crickets to communicate acoustically close to the ground are discussed.

How desert ants use a visual landmark for guidance along a habitual route

Many animals learn to follow habitual routes between important locations, but how they encode their routes is still largely unknown. Desert ants traveling between their nest and a food site develop stable, visually guided routes that can wind through desert scrub without the use of trail pheromones. Their route memories are sufficiently robust that if a nest-bound ant is caught at the end of its route and replaced somewhere earlier along it, the ant will recapitulate the route from the release site. Insects appear to use panoramas to recognize when they are on a familiar route. I examine here the cues then used for their guidance. Several mechanisms are known for straight segments of a route; but how does an ant encode a curved route along which both the views it sees, and the directions it takes, are constantly changing? The results here suggest that when an ant travels past a landmark on a familiar route, it uses the gradually changing direction of the landmark to trigger a set of associated learned heading directions. A route through a complex 2D environment could thus be encoded and followed economically if it is divided into panorama-defined segments, with each segment controlled by such a 1D mapping. The solution proposed for the ants would be simple to implement in an autonomous robot.

Walking in Fourier's space: algorithms for the computation of periodicities in song patterns by the cricket Gryllus bimaculatus

Is discrimination of the envelope of an acoustic signal based on spectral or temporal computations? To investigate this question for the cricket Gryllus bimaculatus, pattern envelopes were constructed by the addition of several sine waves and modified by systematic phase changes. The phonotactic response of female crickets towards such sinusoidal but also rectangular pulse patterns was quantified on a locomotion compensator. Envelope patterns that exhibited a modulation frequency of 25 Hz as the dominant frequency were attractive and although changes of phase modified the temporal pattern, the values of attractiveness remained unaffected. Removal of the 25-Hz component reduced the phonotactic scores. Patterns in which other frequency components exhibited a larger amplitude than the 25-Hz component were less attractive. However, the combination of an unattractive pulse period with the attractive modulation frequency of 25 Hz in a pattern revealed that such stimuli were unattractive despite the presence of the 25-Hz component. A comparison of the attractiveness of all patterns revealed that female crickets evaluated the duration of pulse period over a wide range of duty cycles. The combined evidence showed that pattern envelopes were processed in the time- and not in the spectral domain.

Variability of blowfly head optomotor responses

Behavioural responses of an animal are variable even when the animal experiences the same sensory input several times. This variability can arise from stochastic processes inherent to the nervous system. Also, the internal state of an animal may influence a particular behavioural response. In the present study, we analyse the variability of visually induced head pitch responses of tethered blowflies by high-speed cinematography. We found these optomotor responses to be highly variable in amplitude. Most of the variability can be attributed to two different internal states of the flies with high and low optomotor gain, respectively. Even within a given activity state, there is some variability of head optomotor responses. The amount of this variability differs for the two optomotor gain states. Moreover, these two activity states can be distinguished on a fine timescale and without visual stimulation, on the basis of the occurrence of peculiar head jitter movements. Head jitter goes along with high gain optomotor responses and haltere oscillations. Halteres are evolutionary transformed hindwings that oscillate when blowflies walk or fly. Their main function is to serve as equilibrium organs by detecting Coriolis forces and to mediate gaze stabilisation. However, their basic oscillating activity was also suggested to provide a gain-modulating signal. Our experiments demonstrate that halteres are not necessary for high gain head pitch to occur. Nevertheless, we find the halteres to be responsible for one component of head jitter movements. This component may be the inevitable consequence of their function as equilibrium and gaze-stabilising organs.

Front leg movements and tibial motoneurons underlying auditory steering in the cricket (Gryllus bimaculatus deGeer)

Front leg movements in the cricket (Gryllus bimaculatus) were measured during phonotactic steering on a trackball together with electromyogram recordings of the tibial extensor and flexor muscles. Up-down leg movements clearly indicated the step cycle and were independent of auditory stimulation. By contrast, left-right movements of the front leg were dependent on sound direction, with crickets performing rapid steering leg movements towards the active speaker. Steering movements were dependent on the phase of sound relative to the step cycle, and were greatest for sounds occurring during the swing phase. During phonotaxis the slow extensor tibiae motoneuron responded to ipsilateral sounds with a latency of 35-40 ms, whereas the fast flexor tibiae motoneurons were excited by contralateral sound. We made intracellular recordings of two tibial extensor and at least eight flexor motoneurons. The fast extensor tibiae, the slow extensor tibiae and one fast flexor tibiae motoneurons were individually identifiable, but a group of at least four fast flexor tibiae as well as at least three slow flexor tibiae motoneurons of highly similar morphology could not be distinguished. Motoneurons received descending inputs from cephalic ganglia and from local prothoracic networks. There was no overlap between the dendritic fields of the tibial motoneurons and the auditory neuropile. They did not respond to auditory stimulation at rest. Neither extracellular stimulation of descending pathways nor pharmacological activation of prothoracic motor networks changed the auditory responsiveness. Therefore, any auditory input to tibial motoneurons is likely to be indirect, possibly via the brain.

Phonotactic walking paths of field crickets in closed-loop conditions and their simulation using a stochastic model

Field cricket females localize one of many singing males in the field in closed-loop multi-source conditions. To understand this behaviour, field cricket phonotaxis was investigated in a closed-loop walking phonotaxis paradigm, in response to two simultaneously active speakers playing aphasic calling songs. Female phonotactic paths were oriented towards the louder sound sources, but showed great inter-individual variability. Decisions made in the initial phases were correlated with the overall directions of the paths. Interestingly, the sound pressure levels of stimuli did not greatly influence several features of phonotactic paths such as sinuosity, walking bout lengths and durations. In order to ascertain the extent of our understanding of walking phonotaxis, a stochastic model was used to simulate the behaviour observed in the experiment. The model incorporated data from the experiment and our current understanding of field cricket auditory physiology. This model, based on stochastic turning towards the louder side, successfully recaptured several qualitative and quantitative features of the observed phonotactic paths. The simulation also reproduced the paths observed in a separate outdoor field experiment. Virtual crickets that were unilaterally deafened or had poor ear directionality exhibited walking paths similar to those observed in previous experiments.

Phonotactic response of female crickets on the Kramer treadmill: methodology, sensory and behavioural implications

Since population-level variation in female mating preferences can shape intraspecific communication systems within the context of sexual selection it is essential to quantify these preferences and their sources of variation. We calculated individual female response functions for four male calling song traits in the field cricket Gryllus bimaculatus, by performing untethered phonotaxis measurements on a spherical locomotor compensator (Kramer treadmill). Firstly, we quantify the population-level sources of phonotactic variation and correct for factors that adversely affect this measurement. Secondly, we develop methodology for the characterisation of individual female phonotactic response functions suitable for population-level analyses and demonstrate the applicability of our method with respect to recent literature on Orthopteran acoustic communication. Phonotaxis towards a preferred stimulus on different occasions is highly repeatable, with lower repeatabilities away from the most preferred signal traits. For certain male signal traits, female preference and selectivity are highly repeatable. Although phonotactic response magnitude deteriorated with age, preference functions of females remained the same during their lifetimes. Finally, the limitations of measuring phonotaxis using a spherical locomotor compensator are described and discussed with respect to the estimation of the selectivity of female response.

Validating biorobotic models

Some issues in neuroscience can be addressed by building robot models of biological sensorimotor systems. What we can conclude from building models or simulations, however, is determined by a number of factors in addition to the central hypothesis we intend to test. These include the way in which the hypothesis is represented and implemented in simulation, how the simulation output is interpreted, how it is compared to the behaviour of the biological system, and the conditions under which it is tested. These issues will be illustrated by discussing a series of robot models of cricket phonotaxis behaviour.

Pulses, patterns and paths: neurobiology of acoustic behaviour in crickets

Crickets use acoustic communication for pair formation. Males sing with rhythmical movements of their wings and the mute females approach the singing males by phonotaxis. Females walking on a trackball rapidly steer towards single sound pulses when exposed to split-song paradigms. Their walking path emerges from consecutive reactive steering responses, which show no temporal selectivity. Temporal pattern recognition is tuned to the species-specific syllable rate and gradually changes the gain of auditory steering. If pattern recognition is based on instantaneous discharge rate coding, then the tuning to the species-specific song pattern may already be present at the level of thoracic interneurons. During the processing of song patterns, changes in cytosolic Ca(2+ )concentrations occur in phase with the chirp rhythm in the local auditory interneurone. Male singing behaviour is controlled by command neurons descending from the brain. The neuropil controlling singing behaviour is located in the anterior protocerebrum next to the mushroom bodies. Singing behaviour is released by injection of cholinergic agonists and inhibited by gamma-butyric acid (GABA). During singing, the sensitivity of the peripheral auditory system remains unchanged but a corollary discharge inhibits auditory processing in afferents and interneurons within the prothoracic auditory neuropil and prevents the auditory neurons from desensitisation.