Stellar performance: mechanisms underlying Milky Way orientation in dung beetles

A Deep Learning Biomimetic Milky Way Compass

Moving in straight lines is a behaviour that enables organisms to search for food, move away from threats, and ultimately seek suitable environments in which to survive and reproduce. This study explores a vision-based technique for detecting a change in heading direction using the Milky Way (MW), one of the navigational cues that are known to be used by night-active insects. An algorithm is proposed that combines the YOLOv8m-seg model and normalised second central moments to calculate the MW orientation angle. This method addresses many likely scenarios where segmentation of the MW from the background by image thresholding or edge detection is not applicable, such as when the moon is substantial or when anthropogenic light is present. The proposed YOLOv8m-seg model achieves a segment mAP@0.5 of 84.7% on the validation dataset using our own training dataset of MW images. To explore its potential role in autonomous system applications, we compare night sky imagery and GPS heading data from a field trial in rural South Australia. The comparison results show that for short-term navigation, the segmented MW image can be used as a reliable orientation cue. There is a difference of roughly 5-10° between the proposed method and GT as the path involves left or right 90° turns at certain locations.

Computer Vision Techniques Demonstrate Robust Orientation Measurement of the Milky Way Despite Image Motion

Many species rely on celestial cues as a reliable guide for maintaining heading while navigating. In this paper, we propose a method that extracts the Milky Way (MW) shape as an orientation cue in low-light scenarios. We also tested the method on both real and synthetic images and demonstrate that the performance of the method appears to be accurate and reliable to motion blur that might be caused by rotational vibration and stabilisation artefacts. The technique presented achieves an angular accuracy between a minimum of 0.00° and a maximum 0.08° for real night sky images, and between a minimum of 0.22° and a maximum 1.61° for synthetic images. The imaging of the MW is largely unaffected by blur. We speculate that the use of the MW as an orientation cue has evolved because, unlike individual stars, it is resilient to motion blur caused by locomotion.

A model of cue integration as vector summation in the insect brain

Ball-rolling dung beetles are known to integrate multiple cues in order to facilitate their straight-line orientation behaviour. Recent work has suggested that orientation cues are integrated according to a vector sum, that is, compass cues are represented by vectors and summed to give a combined orientation estimate. Further, cue weight (vector magnitude) appears to be set according to cue reliability. This is consistent with the popular Bayesian view of cue integration: cues are integrated to reduce or minimize an agent's uncertainty about the external world. Integration of orientation cues is believed to occur at the input to the insect central complex. Here, we demonstrate that a model of the head direction circuit of the central complex, including plasticity in input synapses, can act as a substrate for cue integration as vector summation. Further, we show that cue influence is not necessarily driven by cue reliability. Finally, we present a dung beetle behavioural experiment which, in combination with simulation, strongly suggests that these beetles do not weight cues according to reliability. We suggest an alternative strategy whereby cues are weighted according to relative contrast, which can also explain previous results.

Mechanisms of spectral orientation in a diurnal dung beetle

Ball rolling dung beetles use a wide range of cues to steer themselves along a fixed bearing, including the spectral gradient of scattered skylight that spans the sky. Here, we define the spectral sensitivity of the diurnal dung beetle Kheper lamarcki and use the information to explore the orientation performance under a range of spectral light combinations. We find that, when presented with spectrally diverse stimuli, the beetles primarily orient to the apparent brightness differences as perceived by their green photoreceptors. Under certain wavelength combinations, they also rely on spectral information to guide their movements, but the brightness and spectral directional information is never fully disentangled. Overall, our results suggest the use of a dichromatic, primitive colour vision system for the extraction of directional information from the celestial spectral gradient to support straight-line orientation. This article is part of the theme issue 'Understanding colour vision: molecular, physiological, neuronal and behavioural studies in arthropods'.

Weighted cue integration for straight-line orientation

Animals commonly integrate multiple sources of information to guide their behavior. Among insects, previous studies have suggested that the relative reliability of cues affects their weighting in behavior, but have not systematically explored how well alternative integration strategies can account for the observed directional choices. Here, we characterize the directional reliability of an ersatz sun at different elevations and wind at different speeds as guiding cues for a species of ball-rolling dung beetle. The relative reliability is then shown to determine which cue dominates when the cues are put in conflict. We further show through modeling that the results are best explained by continuous integration of the cues as a vector-sum (rather than switching between them) but with non-optimal weighting and small individual biases. The neural circuitry in the insect central complex appears to provide an ideal substrate for this type of vector-sum-based integration mechanism.

Light pollution forces a change in dung beetle orientation behavior

Increasing global light pollution^1,2 threatens the night-time darkness to which most animals are adapted. Light pollution can have detrimental effects on behavior,^3-5 including by disrupting the journeys of migratory birds,^5,6 sand hoppers,^7-9 and moths.¹⁰ This is particularly concerning, since many night-active species rely on compass information in the sky, including the moon,^11,12 the skylight polarization pattern,^13,14 and the stars,¹⁵ to hold their course. Even animals not directly exposed to streetlights and illuminated buildings may still experience indirect light pollution in the form of skyglow,^3,4 which can extend far beyond urban areas.^1,2 While some recent research used simulated light pollution to estimate how skyglow may affect orientation behavior,^7-9 the consequences of authentic light pollution for celestial orientation have so far been neglected. Here, we present the results of behavioral experiments at light-polluted and dark-sky sites paired with photographic measurements of each environment. We find that light pollution obscures natural celestial cues and induces dramatic changes in dung beetle orientation behavior, forcing them to rely on bright earthbound beacons in place of their celestial compass. This change in behavior results in attraction toward artificial lights, thereby increasing inter-individual competition and reducing dispersal efficiency. For the many other species of insect, bird, and mammal that rely on the night sky for orientation and migration, these effects could dramatically hinder their vital night-time journeys.

Navigation and orientation in Coleoptera: a review of strategies and mechanisms

Spatial orientation is important for animals to forage, mate, migrate, and escape certain threats, and can require simple to complex cognitive abilities and behaviours. As these behaviours are more difficult to experimentally test in vertebrates, considerable research has focussed on investigating spatial orientation in insects. However, the majority of insect spatial orientation research tends to focus on a few taxa of interest, especially social insects. Beetles present an interesting insect group to study in this respect, due to their diverse taxonomy and biology, and prevalence as agricultural pests. In this article, I review research on beetle spatial orientation. Then, I use this synthesis to discuss mechanisms beetles employ in the context of different behaviours that require orientation or navigation. I conclude by discussing two future avenues for behavioural research on this topic, which could lead to more robust conclusions on how species in this diverse order are able to traverse through a wide variety of environments.

How Dung Beetles Steer Straight

Distant and predictable features in the environment make ideal compass cues to allow movement along a straight path. Ball-rolling dung beetles use a wide range of different signals in the day or night sky to steer themselves along a fixed bearing. These include the sun, the Milky Way, and the polarization pattern generated by the moon. Almost two decades of research into these remarkable creatures have shown that the dung beetle's compass is flexible and readily adapts to the cues available in its current surroundings. In the morning and afternoon, dung beetles use the sun to orient, but at midday, they prefer to use the wind, and at night or in a forest, they rely primarily on polarized skylight to maintain straight paths. We are just starting to understand the neuronal substrate underlying the dung beetle's compass and the mystery of why these beetles start each journey with a dance.

Homing in the arachnid taxa Araneae and Amblypygi

Adequate homing is essential for the survival of any animal when it leaves its home to find prey or a mate. There are several strategies by which homing can be carried out: (a) retrace the outbound path; (b) use a 'cognitive map'; or (c) use path integration (PI). Here, I review the state of the art of research on spiders (Araneae) and whip spiders (Amblypygi) homing behaviour. The main strategy described in the literature as being used by these arachnids is PI. Behavioural and neural substrates of PI are described in a small group of spider families (Agelenidae, Lycosidae, Gnaphosidae, Ctenidae and Theraphosidae) and a whip spider family (Phrynidae). In spiders, the cues used to detect the position of the animal relative to its home are the position of the sun, polarized light patterns, web elasticity and landmarks. In whip spiders, the cues used are olfactory, tactile and, with a more minor role, visual. The use of a magnetic field in whip spiders has been rejected both with field and laboratory studies. Concerning the distance walked in PI, the possibility of using optic flow and idiothetic information in spiders is considered. The studies about outbound and inbound paths in whip spiders seem to suggest they do not follow the PI rules. As a conclusion, these arachnids' navigation relies on multimodal cues. We have detailed knowledge about the sensory origin (visual, olfactory, mechanosensory receptors) of neural information, but we are far from knowing the central neural structures where sensory information is integrated.

Heading choices of flying Drosophila under changing angles of polarized light

Many navigating insects include the celestial polarization pattern as an additional visual cue to orient their travels. Spontaneous orientation responses of both walking and flying fruit flies (Drosophila melanogaster) to linearly polarized light have previously been demonstrated. Using newly designed modular flight arenas consisting entirely of off-the-shelf parts and 3D-printed components we present individual flying flies with a slow and continuous rotational change in the incident angle of linear polarization. Under such open-loop conditions, single flies choose arbitrary headings with respect to the angle of polarized light and show a clear tendency to maintain those chosen headings for several minutes, thereby adjusting their course to the slow rotation of the incident stimulus. Importantly, flies show the tendency to maintain a chosen heading even when two individual test periods under a linearly polarized stimulus are interrupted by an epoch of unpolarized light lasting several minutes. Finally, we show that these behavioral responses are wavelength-specific, existing under polarized UV stimulus while being absent under polarized green light. Taken together, these findings provide further evidence supporting Drosophila’s abilities to use celestial cues for visually guided navigation and course correction.

Principles of Insect Path Integration

Continuously monitoring its position in space relative to a goal is one of the most essential tasks for an animal that moves through its environment. Species as diverse as rats, bees, and crabs achieve this by integrating all changes of direction with the distance covered during their foraging trips, a process called path integration. They generate an estimate of their current position relative to a starting point, enabling a straight-line return, following what is known as a home vector. While in theory path integration always leads the animal precisely back home, in the real world noise limits the usefulness of this strategy when operating in isolation. Noise results from stochastic processes in the nervous system and from unreliable sensory information, particularly when obtaining heading estimates. Path integration, during which angular self-motion provides the sole input for encoding heading (idiothetic path integration), results in accumulating errors that render this strategy useless over long distances. In contrast, when using an external compass this limitation is avoided (allothetic path integration). Many navigating insects indeed rely on external compass cues for estimating body orientation, whereas they obtain distance information by integration of steps or optic-flow-based speed signals. In the insect brain, a region called the central complex plays a key role for path integration. Not only does the central complex house a ring-attractor network that encodes head directions, neurons responding to optic flow also converge with this circuit. A neural substrate for integrating direction and distance into a memorized home vector has therefore been proposed in the central complex. We discuss how behavioral data and the theoretical framework of path integration can be aligned with these neural data.

The Dung Beetle Compass

What do a burly rower, a backstroke swimmer and a hard-working South African dung beetle all have in common? The answer is: they all benefit from moving along a straight path, and do so moving backwards. This, however, is where the similarity ends. While the rower has solved this navigational challenge by handing the task of steering to the coxswain, who faces the direction of travel, and the swimmer is guided down her lane by colourful ropes, the beetle puts its faith in the sky. From here, it utilises a larger repertoire of celestial compass cues than is known to be used by any other animal studied to date. A robust internal compass, designed to interpret directional information, has evolved under the selective pressure of shifting today's lunch efficiently out of reach of competitors, also drawn to the common buffet. While this is a goal that beetles might share with the hungry athletes, they reach it with drastically different brain powers; the brain of the beetle is several times smaller than a match head, containing fewer than a million neurons.

Straight-line orientation in the woodland-living beetle Sisyphus fasciculatus

To transport their balls of dung along a constant bearing, diurnal savannah-living dung beetles rely primarily on the sun for compass information. However, in more cluttered environments, such as woodlands, this solitary compass cue is frequently hidden from view by surrounding vegetation. In these types of habitats, insects can, instead, rely on surrounding landmarks, the canopy pattern, or wide-field celestial cues, such as polarised skylight, for directional information. Here, we investigate the compass orientation strategy behind straight-line orientation in the diurnal woodland-living beetle Sisyphus fasciculatus. We found that, when manipulating the direction of polarised skylight, Si. fasciculatus responded to this change with a similar change in bearing. However, when the apparent position of the sun was moved, the woodland-living beetle did not change its direction of travel. In contrast, the savannah-living beetle Scarabaeus lamarcki responded to the manipulation of the solar position with a corresponding change in bearing. These results suggest that the dominant compass cue used for straight-line orientation in dung beetles may be determined by the celestial cue that is most prominent in their preferred habitat.

Eye and wing structure closely reflects the visual ecology of dung beetles

An important resource partitioning strategy allowing dung beetles to coexist in the same habitat, while utilising the same food, is species' separation of activity times. After establishing the diel activity period of three closely related, co-occurring dung beetles, we examined their eye and wing morphology. Absolute and relative eye size, and facet size were greater in the nocturnal Escarabaeus satyrus, followed by the crepuscular Scarabaeus zambesianus and then the diurnal Kheper lamarcki. The diurnal K. lamarcki had the highest wing aspect ratio (long, narrow wings), followed by the crepuscular S. zambesianus and the nocturnal E. satyrus (short, broad wings), suggesting that dim-light active species fly slower than diurnal species. In addition, the two species active in dim light had a lower wing loading than the diurnal species, indicating the need for greater manoeuvrability in the dark. Analyses of wing shape revealed that the diurnal K. lamarcki wing had a proportionally larger jugal and anal region than both dim light species. Our results show that different species of dung beetles have a combination of optical and morphological wing adaptations to support their foraging activities in diverse light conditions.

The brain behind straight-line orientation in dung beetles

For many insects, celestial compass cues play an important role in keeping track of their directional headings. One well-investigated group of celestial orientating insects are the African ball-rolling dung beetles. After finding a dung pile, these insects detach a piece, form it into a ball and roll it away along a straight path while facing backwards. A brain region, termed the central complex, acts as an internal compass that constantly updates the ball-rolling dung beetle about its heading. In this review, we give insights into the compass network behind straight-line orientation in dung beetles and place it in the context of the orientation mechanisms and neural networks of other insects. We find that the neuronal network behind straight-line orientation in dung beetles has strong similarities to the ones described in path-integrating and migrating insects, with the central complex being the key control point for this behavior. We conclude that, despite substantial differences in behavior and navigational challenges, dung beetles encode compass information in a similar way to other insects.

Orienting to polarized light at night - matching lunar skylight to performance in a nocturnal beetle

For polarized light to inform behaviour, the typical range of degrees of polarization observable in the animal's natural environment must be above the threshold for detection and interpretation. Here, we present the first investigation of the degree of linear polarization threshold for orientation behaviour in a nocturnal species, with specific reference to the range of degrees of polarization measured in the night sky. An effect of lunar phase on the degree of polarization of skylight was found, with smaller illuminated fractions of the moon's surface corresponding to lower degrees of polarization in the night sky. We found that the South African dung beetle Escarabaeus satyrus can orient to polarized light for a range of degrees of polarization similar to that observed in diurnal insects, reaching a lower threshold between 0.04 and 0.32, possibly as low as 0.11. For degrees of polarization lower than 0.23, as measured on a crescent moon night, orientation performance was considerably weaker than that observed for completely linearly polarized stimuli, but was nonetheless stronger than in the absence of polarized light.

Neuroarchitecture of the dung beetle central complex

Despite their tiny brains, insects show impressive abilities when navigating over short distances during path integration or during migration over thousands of kilometers across entire continents. Celestial compass cues often play an important role as references during navigation. In contrast to many other insects, South African dung beetles rely exclusively on celestial cues for visual reference during orientation. After finding a dung pile, these animals cut off a piece of dung from the pat, shape it into a ball and roll it away along a straight path until a suitable place for underground consumption is found. To maintain a constant bearing, a brain region in the beetle's brain, called the central complex, is crucially involved in the processing of skylight cues, similar to what has already been shown for path-integrating and migrating insects. In this study, we characterized the neuroanatomy of the sky-compass network and the central complex in the dung beetle brain in detail. Using tracer injections, combined with imaging and 3D modeling, we describe the anatomy of the possible sky-compass network in the central brain. We used a quantitative approach to study the central-complex network and found that several types of neuron exhibit a highly organized connectivity pattern. The architecture of the sky-compass network and central complex is similar to that described in insects that perform path integration or are migratory. This suggests that, despite their different orientation behaviors, this neural circuitry for compass orientation is highly conserved among the insects.

It's Not a Bug, It's a Feature: Functional Materials in Insects

Over the course of their wildly successful proliferation across the earth, the insects as a taxon have evolved enviable adaptations to their diverse habitats, which include adhesives, locomotor systems, hydrophobic surfaces, and sensors and actuators that transduce mechanical, acoustic, optical, thermal, and chemical signals. Insect-inspired designs currently appear in a range of contexts, including antireflective coatings, optical displays, and computing algorithms. However, as over one million distinct and highly specialized species of insects have colonized nearly all habitable regions on the planet, they still provide a largely untapped pool of unique problem-solving strategies. With the intent of providing materials scientists and engineers with a muse for the next generation of bioinspired materials, here, a selection of some of the most spectacular adaptations that insects have evolved is assembled and organized by function. The insects presented display dazzling optical properties as a result of natural photonic crystals, precise hierarchical patterns that span length scales from nanometers to millimeters, and formidable defense mechanisms that deploy an arsenal of chemical weaponry. Successful mimicry of these adaptations may facilitate technological solutions to as wide a range of problems as they solve in the insects that originated them.

Dark Matters: Challenges of Nocturnal Communication Between Plants and Animals in Delivery of Pollination Services

The night is a special niche characterized by dim light, lower temperatures, and higher humidity compared to the day. Several animals have made the transition from the day into the night and have acquired unique adaptations to cope with the challenges of performing nocturnal activities. Several plant species have opted to bloom at night, possibly as a response to aridity to prevent excessive water loss through evapotranspiration since flowering is often a water-demanding process, or to protect pollen from heat stress. Nocturnal pollinators have visual adaptations to function under dim light conditions but may also trade off vision against olfaction when they are dependent on nectar-rewarding and scented flowers. Nocturnal pollinators may use CO2 and humidity cues emanating from freshly-opened flowers as indicators of nectar-rich resources. Some endothermic nocturnal insect pollinators are attracted to thermogenic flowers within which they remain to obtain heat as a reward to increase their energy budget. This review focuses on mechanisms that pollinators use to find flowers at night, and the signals that nocturnally blooming flowers may employ to attract pollinators under dim light conditions. It also indicates gaps in our knowledge. While millions of years of evolutionary time have given pollinators and plants solutions to the delivery of pollination services and to the offering of appropriate rewards, this history of successful evolution is being threatened by artificial light at night. Excessive and inappropriate illumination associated with anthropogenic activities has resulted in significant light pollution which serves to undermine life processes governed by dim light.

How animals follow the stars

Throughout history, the stars have provided humans with ever more information about our world, enabling increasingly accurate systems of navigation in addition to fuelling some of the greatest scientific controversies. What information animals have evolved to extract from a starry sky and how they do so, is a topic of study that combines the practical and theoretical challenges faced by both astronomers and field biologists. While a number of animal species have been demonstrated to use the stars as a source of directional information, the strategies that these animals use to convert this complex and variable pattern of dim-light points into a reliable 'stellar orientation' cue have been more difficult to ascertain. In this review, we assess the stars as a visual stimulus that conveys directional information, and compare the bodies of evidence available for the different stellar orientation strategies proposed to date. In this context, we also introduce new technologies that may aid in the study of stellar orientation, and suggest how field experiments may be used to characterize the mechanisms underlying stellar orientation.

Unraveling the neural basis of insect navigation

One of the defining features of animals is their ability to navigate their environment. Using behavioral experiments this topic has been under intense investigation for nearly a century. In insects, this work has largely focused on the remarkable homing abilities of ants and bees. More recently, the neural basis of navigation shifted into the focus of attention. Starting with revealing the neurons that process the sensory signals used for navigation, in particular polarized skylight, migratory locusts became the key species for delineating navigation-relevant regions of the insect brain. Over the last years, this work was used as a basis for research in the fruit fly Drosophila and extraordinary progress has been made in illuminating the neural underpinnings of navigational processes. With increasingly detailed understanding of navigation circuits, we can begin to ask whether there is a fundamentally shared concept underlying all navigation behavior across insects. This review highlights recent advances and puts them into the context of the behavioral work on ants and bees, as well as the circuits involved in polarized-light processing. A region of the insect brain called the central complex emerges as the common substrate for guiding navigation and its highly organized neuroarchitecture provides a framework for future investigations potentially suited to explain all insect navigation behavior at the level of identified neurons.

The remarkable visual capacities of nocturnal insects: vision at the limits with small eyes and tiny brains

Nocturnal insects have evolved remarkable visual capacities, despite small eyes and tiny brains. They can see colour, control flight and land, react to faint movements in their environment, navigate using dim celestial cues and find their way home after a long and tortuous foraging trip using learned visual landmarks. These impressive visual abilities occur at light levels when only a trickle of photons are being absorbed by each photoreceptor, begging the question of how the visual system nonetheless generates the reliable signals needed to steer behaviour. In this review, I attempt to provide an answer to this question. Part of the answer lies in their compound eyes, which maximize light capture. Part lies in the slow responses and high gains of their photoreceptors, which improve the reliability of visual signals. And a very large part lies in the spatial and temporal summation of these signals in the optic lobe, a strategy that substantially enhances contrast sensitivity in dim light and allows nocturnal insects to see a brighter world, albeit a slower and coarser one. What is abundantly clear, however, is that during their evolution insects have overcome several serious potential visual limitations, endowing them with truly extraordinary night vision.This article is part of the themed issue 'Vision in dim light'.