Temporal characteristics of turbulent flow and moth orientation behaviour patterns with fluent simulation and moth-based moving model simulation

Objective

Previous research has explored the pheromone release patterns of female moths, revealing species-specific release frequencies and the transmission of temporal information through odourant plumes in turbulent flows. Varying the release frequency during the orientation process results in distinct orientation behaviours. Studies on moth movement patterns have determined that encounters and deviations from odour plumes elicit distinct reactions; the time interval between each movement pattern is measured as the "reaction time," and the interval between each detection and loss of odourant plume is measured as the "gap length."

Methods

We simulated turbulent flow at various release frequencies. Our efforts focused on establishing a model that could simulate the joint orientation movement under turbulent flow and intermittent plumes. We built an agent moving mechanism, including wind velocity information, with particular reference to the temporal parameter and orientation success efficiency.

Results

We calculated the time threshold of each burst in different simulations under different wind velocities and release frequencies. The time structure characteristics of the plume along the turbulent flow vary depending on the distance from the source. We simulated walking agents in a turbulent environment and recorded their behaviour processes. The reaction time, release interval, and time threshold were related to the orientation results.

Conclusion

On the basis of previous experimental results and our simulations, we conclude that the designated interval time likely enhances search efficiency. The complex and dynamic natural environment presents various opportunities for using this unique odour-source searching capability in different scenarios, potentially improving the control systems of odour-searching robots.

Exploration-exploitation model of moth-inspired olfactory navigation

Navigation of male moths towards females during the mating search offers a unique perspective on the exploration-exploitation (EE) model in decision-making. This study uses the EE model to explain male moth pheromone-driven flight paths. Wind tunnel measurements and three-dimensional tracking using infrared cameras have been leveraged to gain insights into male moth behaviour. During the experiments in the wind tunnel, disturbance to the airflow has been added and the effect of increased fluctuations on moth flights has been analysed, in the context of the proposed EE model. The exploration and exploitation phases are separated using a genetic algorithm to the experimentally obtained dataset of moth three-dimensional trajectories. First, the exploration-to-exploitation rate (EER) increases with distance from the source of the female pheromone is demonstrated, which can be explained in the context of the EE model. Furthermore, our findings reveal a compelling relationship between EER and increased flow fluctuations near the pheromone source. Using an olfactory navigation simulation and our moth-inspired navigation model, the phenomenon where male moths exhibit an enhanced EER as turbulence levels increase is explained. This research extends our understanding of optimal navigation strategies based on general biological EE models and supports the development of bioinspired navigation algorithms.

An Agent-Based Model of Biting Midge Dynamics to Understand Bluetongue Outbreaks

Bluetongue (BT) is a well-known vector-borne disease that infects ruminants such as sheep, cattle, and deer with high mortality rates. Recent outbreaks in Europe highlight the importance of understanding vector-host dynamics and potential courses of action to mitigate the damage that can be done by BT. We present an agent-based model, entitled 'MidgePy', that focuses on the movement of individual Culicoides spp. biting midges and their interactions with ruminants to understand their role as vectors in BT outbreaks, especially in regions that do not regularly experience outbreaks. The results of our sensitivity analysis suggest that midge survival rate has a significant impact on the probability of a BTV outbreak as well as its severity. Using midge flight activity as a proxy for temperature, we found that an increase in environmental temperature corresponded with an increased probability of outbreak after identifying parameter regions where outbreaks are more likely to occur. This suggests that future methods to control BT spread could combine large-scale vaccination programs with biting midge population control measures such as the use of pesticides. Spatial heterogeneity in the environment is also explored to give insight on optimal farm layouts to reduce the potential for BT outbreaks.

Navigation Along Windborne Plumes of Pheromone and Resource-Linked Odors

Many insects locate resources such as a mate, a host, or food by flying upwind along the odor plumes that these resources emit to their source. A windborne plume has a turbulent structure comprised of odor filaments interspersed with clean air. As it propagates downwind, the plume becomes more dispersed and dilute, but filaments with concentrations above the threshold required to elicit a behavioral response from receiving organisms can persist for long distances. Flying insects orient along plumes by steering upwind, triggered by the optomotor reaction. Sequential measurements of differences in odor concentration are unreliable indicators of distance to or direction of the odor source. Plume intermittency and the plume's fine-scale structure can play a role in setting an insect's upwind course. The prowess of insects in navigating to odor sources has spawned bioinspired virtual models and even odor-seeking robots, although some of these approaches use mechanisms that are unnecessarily complex and probably exceed an insect's processing capabilities.

Moth Mating: Modeling Female Pheromone Calling and Male Navigational Strategies to Optimize Reproductive Success

Male and female moths communicate in complex ways to search for and to select a mate. In a process termed calling, females emit small quantities of pheromones, generating plumes that spread in the environment. Males detect the plume through their antennae and navigate toward the female. The reproductive process is marked by female choice and male–male competition, since multiple males aim to reach the female but only the first can mate with her. This provides an opportunity for female selection on male traits such as chemosensitivity to pheromone molecules and mobility. We develop a mathematical framework to investigate the overall mating likelihood, the mean first arrival time, and the quality of the first male to reach the female for four experimentally observed female calling strategies unfolding over a typical one-week mating period. We present both analytical solutions of a simplified model as well as results from agent-based numerical simulations. Our findings suggest that, by adjusting call times and the amount of released pheromone, females can optimize the mating process. In particular, shorter calling times and lower pheromone titers at onset of the mating period that gradually increase over time allow females to aim for higher-quality males while still ensuring that mating occurs by the end of the mating period.

A Study of Modified Infotaxis Algorithms in 2D and 3D Turbulent Environments

Emergency response to hazardous gases in the environment is an important research field in environmental monitoring. In recent years, with the rapid development of sensor technology and mobile device technology, more autonomous search algorithms for hazardous gas emission sources are proposed in uncertain environment, which can avoid emergency personnel from contacting hazardous gas in a short distance. Infotaxis is an autonomous search strategy without a concentration gradient, which uses scattered sensor data to track the location of the release source in turbulent environment. This paper optimizes the imbalance of exploitation and exploration in the reward function of Infotaxis algorithm and proposes a mobile strategy for the three-dimensional scene. In two-dimensional and three-dimensional scenes, the average steps of search tasks are used as the evaluation criteria to analyze the information trend algorithm combined with different reward functions and mobile strategies. The results show that the balance between the exploitation item and exploration item of the reward function proposed in this paper is better than that of the reward function in the Infotaxis algorithm, no matter in the two-dimensional scenes or in the three-dimensional scenes.

Path Meander of Male Codling Moths (Cydia pomonella) Foraging for Sex Pheromone Plumes: Field Validation of a Novel Method for Quantifying Path Meander of Random Movers Developed Using Computer Simulations

Simple Summary

Measures of insect movement patterns are key to understanding how insects forage for resources and mating opportunities in their environment. Directly observing large numbers of these small organisms can be extremely challenging, especially for flying insects in low light conditions such as codling moth (Cydia pomonella), a key pest of apple. Here we provide a novel approach to indirectly measure the path meander of randomly moving organisms. Computer simulations were used to simulate insect movement across a wide range of possible movement patterns, measured in circular standard deviation (c.s.d.) of turn angles between track segments. For each c.s.d., the pattern of catch across a rectangular grid of traps was plotted and the resulting exponential decay constant (k) of the fitted lines were used to generate a standard curve describing this linear relationship. Using this standard curve, field data from target organisms caught in the described trapping grid can reveal the pattern of movement employed by these movers. Here we have demonstrated methodology for indirect measure of the movement patterns employed by random walkers such as C. pomonella. While we employed codling moth as our model system, we suggest this approach could prove useful in a wide range of other systems.

Abstract

Measures of path meander are highly relevant to studies of optimal foraging by animals. However, directly recording paths of small animals such as insects can be difficult because of small size or crepuscular activity. Computer simulations of correlated random walkers demonstrated that the rates of decay in captures across a rectangular grid of traps when movers were released at its corner can be used to produce calibration curves for quantifying path meander indirectly. Simulations using spatial parameters matching those previously documented for male codling moths (Cydia pomonella (L.)) foraging for female pheromone plumes in the field predicted that meander, as measured in circular standard deviation (c.s.d.) of turn angles between track segments, should be ca. 50° and 30° when the target population density is high vs. low, respectively. Thus, if optimized, the mean value measured for C. pomonella populations encountering an unknown target density should fall between these limits. We recorded decay in C. pomonella catch across a 5 × 5 grid of pheromone-baited traps each separated by 15 m on 39 occasions where batches of ca. 800 males were released 10 m outside the corner of trapping grids arranged in five large Michigan apple orchards. This decay constant was translated into mean c.s.d value for path meander using the standard curve generated by the computer simulations. The measured decay constant for C. pomonella males was negative 0.99 ± 0.02 (S.E.M.), which translates to a path meander of 37 ± 2° c.s.d. Thus, the measured path meander of 37° fell between the 50° and 30° values optimal for dense and sparse populations, respectively. In addition to providing a rare documented example of optimal foraging for odor plumes, this research offers proof-of-concept for a novel approach to quantifying path meander of movers that could prove useful across diverse taxa.

Dropping Counter: A Detection Algorithm for Identifying Odour-Evoked Responses from Noisy Electroantennograms Measured by a Flying Robot

The electroantennogram (EAG) is a technique used for measuring electrical signals from the antenna of an insect. Its rapid response time, quick recovery speed, and high sensitivity make it suitable for odour-tracking tasks employing mobile robots. However, its application to flying robots has not been extensively studied owing to the electrical and mechanical noises generated. In this study, we investigated the characteristics of the EAG mounted on a tethered flying quadcopter and developed a special counter-based algorithm for detecting the odour-generated responses. As the EAG response is negative, the algorithm creates a window and compares the values inside it. Once a value is smaller than the first one, the counter will increase by one and finally turns the whole signal into a clearer odour stimulated result. By experimental evaluation, the new algorithm gives a higher cross-correlation coefficient when compared with the fixed-threshold method. The result shows that the accuracy of this novel algorithm for recognising odour-evoked EAG signals from noise exceeds that of the traditional method; furthermore, the use of insect antennae as odour sensors for flying robots is demonstrated to be feasible.

Effective Exploration Behavior for Chemical-Sensing Robots

Mobile robots that can effectively detect chemical effluents could be useful in a variety of situations, such as disaster relief or drug sniffing. Such a robot might mimic biological systems that exhibit chemotaxis, which is movement towards or away from a chemical stimulant in the environment. Some existing robotic exploration algorithms that mimic chemotaxis suffer from the problems of getting stuck in local maxima and becoming "lost", or unable to find the chemical if there is no initial detection. We introduce the use of the RapidCell algorithm for mobile robots exploring regions with potentially detectable chemical concentrations. The RapidCell algorithm mimics the biology behind the biased random walk of Escherichia coli (E. coli) bacteria more closely than traditional chemotaxis algorithms by simulating the chemical signaling pathways interior to the cell. For comparison, we implemented a classical chemotaxis controller and a controller based on RapidCell, then tested them in a variety of simulated and real environments (using phototaxis as a surrogate for chemotaxis). We also added simple obstacle avoidance behavior to explore how it affects the success of the algorithms. Both simulations and experiments showed that the RapidCell controller more fully explored the entire region of detectable chemical when compared with the classical controller. If there is no detectable chemical present, the RapidCell controller performs random walk in a much wider range, hence increasing the chance of encountering the chemical. We also simulated an environment with triple effluent to show that the RapidCell controller avoided being captured by the first encountered peak, which is a common issue for the classical controller. Our study demonstrates that mimicking the adapting sensory system of E. coli chemotaxis can help mobile robots to efficiently explore the environment while retaining their sensitivity to the chemical gradient.

Design and Experimental Evaluation of an Odor Sensing Method for a Pocket-Sized Quadcopter

In this study, we design and verify an intake system using the wake of a pocket-sized quadcopter for the chemical plume tracing (CPT) problem. Solving CPT represents an important technique in the field of engineering because it can be used to perform rescue operations at the time of a disaster and to identify sources of harmful substances. An appropriate intake of air when sensing odors plays an important role in performing CPT. Hence, we used the air flow generated by a quadcopter itself to intake chemical particles into two alcohol sensors. By experimental evaluation, we verified that the quadcopter wake intake method has good directivity and can be used to realize CPT. Concretely, even at various odor source heights, the quadcopter had a three-dimensional CPT success rate of at least 70%. These results imply that, although a further development of three-dimensional CPT is necessary in order to conduct it in unknown and cluttered environments, the intake method proposed in this paper enables a pocket-sized quadcopter to perform three-dimensional CPT.

Moth-inspired navigation algorithm in a turbulent odor plume from a pulsating source

Some female moths attract male moths by emitting series of pulses of pheromone filaments propagating downwind. The turbulent nature of the wind creates a complex flow environment, and causes the filaments to propagate in the form of patches with varying concentration distributions. Inspired by moth navigation capabilities, we propose a navigation strategy that enables a flier to locate an upwind pulsating odor source in a windy environment using a single threshold-based detection sensor. This optomotor anemotaxis strategy is constructed based on the physical properties of the turbulent flow carrying discrete puffs of odor and does not involve learning, memory, complex decision making or statistical methods. We suggest that in turbulent plumes from a pulsating point source, an instantaneously measurable quantity referred as a “puff crossing time”, improves the success rate as compared to the navigation strategies based on temporally regular zigzags due to intermittent contact, or an “internal counter”, that do not use this information. Using computer simulations of fliers navigating in turbulent plumes of the pulsating point source for varying flow parameters such as turbulent intensities, plume meandering and wind gusts, we obtained statistics of navigation paths towards the pheromone sources. We quantified the probability of a successful navigation as well as the flight parameters such as the time spent searching and the total flight time, with respect to different turbulent intensities, meandering or gusts. The concepts learned using this model may help to design odor-based navigation of miniature airborne autonomous vehicles.

The optimal movement patterns for mating encounters with sexually asymmetric detection ranges

Animals have evolved various sex-specific characteristics to improve the efficiency of mating encounters. One is the sex-specific attracting signal. Signal receivers perform a combination of random search and navigation before and after signal detections. On the other hand, signal senders can also modify their movement patterns to optimize their encounter rates, which invokes a reverse side of random search problems that asks for the most efficient movement patterns of signal senders to be found by signal receivers. In this study, we focused on visual and auditory signals in particular, and quantified the efficiency of mating encounters of individual animals performing a Lévy walk, a special class of random walk, with a variety of speeds before signal detection. We found that signal senders should move more slowly and/or less diffusively than receivers to improve mating encounters. The optimal movement patterns of senders ranged from relatively slow to stationary ones depending on the density of individuals, the effective range of signals, and the ability of receivers to locate senders. By focusing on the optimal movement patterns of individuals that are often assumed to be given targets, the present study provides insights into strategies of effective attraction beyond the case of mate search.

Comparison of Attraction and Trapping Capabilities of Bucket- and Delta-Style Traps With Different Pheromone Emission Rates for Gypsy Moths (Lepidoptera: Erebidae): Implications for Understanding Range of Attraction and Utility in Surveillance

Delta- and bucket-style (Universal or Unitrap) traps baited with 1 standard survey lure and 1/3 and 3 lures were compared for their attractiveness and trapping efficiencies for gypsy moth, Lymantria dispar L. (Lepidoptera: Erebidae), males. With bucket traps, the numbers of males attracted to within 2 m of traps and the proportion of these actually captured were identical among the three doses although the percentage of attracted males actually captured in bucket traps was low, less than 15%. A three-lure delta trap attracted about 70% more males than traps with the two lower doses. Capture efficiencies were above 80% for 1/3- and one-lure traps and about 60% for traps baited with three lures. The number of males captured in delta traps was equivalent for the three doses although our observations also suggest that a delta trap baited with three lures drew males from a wider range than lower dose lures and therefore would be a more sensitive trap for detecting incipient populations. We also noted that males tended to arrive in clusters, suggesting that attraction over moderate distances requires periods when the wind direction is fairly constant. This observation coupled with the great variability in the direction of male arrival to the traps also suggests that important changes in the area of influence of the plume are driven in such forested areas by slower but greater changes in wind direction compared with open habitats.

Herbivore-induced plant volatiles and tritrophic interactions across spatial scales

Herbivore-induced plant volatiles (HIPVs) are an important cue used in herbivore location by carnivorous arthropods such as parasitoids. The effects of plant volatiles on parasitoids have been well characterised at small spatial scales, but little research has been done on their effects at larger spatial scales. The spatial matrix of volatiles ('volatile mosaic') within which parasitoids locate their hosts is dynamic and heterogeneous. It is shaped by the spatial pattern of HIPV-emitting plants, the concentration, chemical composition and breakdown of the emitted HIPV blends, and by environmental factors such as wind, turbulence and vegetation that affect transport and mixing of odour plumes. The volatile mosaic may be exploited differentially by different parasitoid species, in relation to species traits such as sensory ability to perceive volatiles and the physical ability to move towards the source. Understanding how HIPVs influence parasitoids at larger spatial scales is crucial for our understanding of tritrophic interactions and sustainable pest management in agriculture. However, there is a large gap in our knowledge on how volatiles influence the process of host location by parasitoids at the landscape scale. Future studies should bridge the gap between the chemical and behavioural ecology of tritrophic interactions and landscape ecology.

Windscapes and olfactory foraging in a large carnivore

The theoretical optimal olfactory search strategy is to move cross-wind. Empirical evidence supporting wind-associated directionality among carnivores, however, is sparse. We examined satellite-linked telemetry movement data of adult female polar bears (Ursus maritimus) from Hudson Bay, Canada, in relation to modelled winds, in an effort to understand olfactory search for prey. In our results, the predicted cross-wind movement occurred most frequently at night during winter, the time when most hunting occurs, while downwind movement dominated during fast winds, which impede olfaction. Migration during sea ice freeze-up and break-up was also correlated with wind. A lack of orientation during summer, a period with few food resources, likely reflected reduced cross-wind search. Our findings represent the first quantitative description of anemotaxis, orientation to wind, for cross-wind search in a large carnivore. The methods are widely applicable to olfactory predators and their prey. We suggest windscapes be included as a habitat feature in habitat selection models for olfactory animals when evaluating what is considered available habitat.

Simulation Modeling to Interpret the Captures of Moths in Pheromone-Baited Traps Used for Surveillance of Invasive Species: the Gypsy Moth as a Model Case

When pheromone traps are used for detection of an invasive pest and then delimitation of its distribution, an unresolved issue is the interpretation of failure to capture any target insects. Is a population present but not detected, a so-called false negative? Using the gypsy moth (Lymantria dispar) as an exemplar, we modeled the probability of males being captured in traps deployed at densities typical for surveillance (1 per 2.6 km² or 1 per mi²) and delimitation (up to 49 per 2.6 km²). The simulations used a dynamic wind model generating a turbulent plume structure and varying wind direction, and a behavior model based on the documented maneuvers of gypsy moths during plume acquisition and along-plume navigation. Several strategies of plume acquisition using Correlated Random Walks were compared to ensure that the generated dispersions over three days were not either overly clumped or ranged many km. Virtual moths were released into virtual space with patterns mimicking prior releases of gypsy moth males in Massachusetts at varying distance from a baited trap. In general, capture rates of virtual and real moths at varying trap densities were similar. One application of this approach was to estimate through bootstrapping the probabilities of not detecting populations having densities ranging from 1 to 100 moths per 2.6 km² and using traps that varied from 25 to 100 % in their efficiencies of capture. Low-level populations (e.g., 20-30 per 2.6 km²) often were not detected with one trap per 2.6 km², especially when traps had low efficiencies.

Use of habitat odour by host-seeking insects

Locating suitable feeding or oviposition sites is essential for insect survival. Understanding how insects achieve this is crucial, not only for understanding the ecology and evolution of insect-host interactions, but also for the development of sustainable pest-control strategies that exploit insects' host-seeking behaviours. Volatile chemical cues are used by foraging insects to locate and recognise potential hosts but in nature these resources usually are patchily distributed, making chance encounters with host odour plumes rare over distances greater than tens of metres. The majority of studies on insect host-seeking have focussed on short-range orientation to easily detectable cues and it is only recently that we have begun to understand how insects overcome this challenge. Recent advances show that insects from a wide range of feeding guilds make use of 'habitat cues', volatile chemical cues released over a relatively large area that indicate a locale where more specific host cues are most likely to be found. Habitat cues differ from host cues in that they tend to be released in larger quantities, are more easily detectable over longer distances, and may lack specificity, yet provide an effective way for insects to maximise their chances of subsequently encountering specific host cues. This review brings together recent advances in this area, discussing key examples and similarities in strategies used by haematophagous insects, soil-dwelling insects and insects that forage around plants. We also propose and provide evidence for a new theory that general and non-host plant volatiles can be used by foraging herbivores to locate patches of vegetation at a distance in the absence of more specific host cues, explaining some of the many discrepancies between laboratory and field trials that attempt to make use of plant-derived repellents for controlling insect pests.