Target representation of naturalistic echolocation sequences in single unit responses from the inferior colliculus of big brown bats

Oscillatory discharges in the auditory midbrain of the big brown bat contribute to coding of echo delay

Subsequent to his breakthrough discovery of delay-tuned neurons in the bat's auditory midbrain and cortex, Albert Feng proposed that neural computations for echo delay involve intrinsic oscillatory discharges generated in the inferior colliculus (IC). To explore further the presence of these neural oscillations, we recorded multiple unit activity with a novel annular low impedance electrode from the IC of anesthetized big brown bats and Seba's short-tailed fruit bats. In both species, responses to tones, noise bursts, and FM sweeps contain long latency components, extending up to 60 ms post-stimulus onset, organized in periodic, oscillatory-like patterns at frequencies of 360-740 Hz. Latencies of this oscillatory activity resemble the wide distributions of single neuron response latencies in the IC. In big brown bats, oscillations lasting up to 30 ms after pulse onset emerge in response to single FM pulse-echo pairs, at particular pulse-echo delays. Oscillatory responses to pulses and evoked responses to echoes overlap extensively at short echo delays (5-7 ms), creating interference-like patterns. At longer echo delays, responses are separately evident to both pulses and echoes, with less overlap. These results extend Feng's reports of IC oscillations, and point to different processing mechanisms underlying perception of short vs long echo delays.

Neural Processing of Naturalistic Echolocation Signals in Bats

Echolocation behavior, a navigation strategy based on acoustic signals, allows scientists to explore neural processing of behaviorally relevant stimuli. For the purpose of orientation, bats broadcast echolocation calls and extract spatial information from the echoes. Because bats control call emission and thus the availability of spatial information, the behavioral relevance of these signals is undiscussable. While most neurophysiological studies, conducted in the past, used synthesized acoustic stimuli that mimic portions of the echolocation signals, recent progress has been made to understand how naturalistic echolocation signals are encoded in the bat brain. Here, we review how does stimulus history affect neural processing, how spatial information from multiple objects and how echolocation signals embedded in a naturalistic, noisy environment are processed in the bat brain. We end our review by discussing the huge potential that state-of-the-art recording techniques provide to gain a more complete picture on the neuroethology of echolocation behavior.

Population registration of echo flow in the big brown bat's auditory midbrain

Echolocating big brown bats (Eptesicus fuscus) perceive their surroundings by broadcasting frequency-modulated (FM) ultrasonic pulses and processing returning echoes. Bats echolocate in acoustically cluttered environments containing multiple objects, where each broadcast is followed by multiple echoes at varying time delays. The bat must decipher this complex echo cascade to form a coherent picture of the entire acoustic scene. Neurons in the bat's inferior colliculus (IC) are selective for specific acoustic features of echoes and time delays between broadcasts and echoes. Because of this selectivity, different subpopulations of neurons are activated as the bat flies through its environment, while the physical scene itself remains unchanging. We asked how a neural representation based on variable single-neuron responses could underlie a cohesive perceptual representation of a complex scene. We recorded local field potentials from the IC of big brown bats to examine population coding of echo cascades similar to what the bat might encounter when flying alongside vegetation. We found that the temporal patterning of a simulated broadcast followed by an echo cascade is faithfully reproduced in the population response at multiple stimulus amplitudes and echo delays. Local field potentials to broadcasts and echo cascades undergo amplitude-latency trading consistent with single-neuron data but rarely show paradoxical latency shifts. Population responses to the entire echo cascade move as a unit coherently in time as broadcast-echo cascade delay changes, suggesting that these responses serve as an index for the formation of a cohesive perceptual representation of an acoustic scene.NEW & NOTEWORTHY Echolocating bats navigate through cluttered environments that return cascades of echoes in response to the bat's broadcasts. We show that local field potentials from the big brown bat's auditory midbrain have consistent responses to a simulated echo cascade varying across echo delays and stimulus amplitudes, despite different underlying individual neuronal selectivities. These results suggest that population activity in the midbrain can build a cohesive percept of an auditory scene by aggregating activity over neuronal subpopulations.

The frugivorous bat Carollia perspicillata dynamically changes echolocation parameters in response to acoustic playback

Animals extract behaviorally relevant signals from 'noisy' environments. Echolocation behavior provides a rich system testbed for investigating signal extraction. When echolocating in acoustically enriched environments, bats show many adaptations that are believed to facilitate signal extraction. Most studies to date focused on describing adaptations in insectivorous bats while frugivorous bats have rarely been tested. Here, we characterize how the frugivorous bat Carollia perspicillata adapts its echolocation behavior in response to acoustic playback. Since bats not only adapt their echolocation calls in response to acoustic interference but also with respect to target distances, we swung bats on a pendulum to control for distance-dependent call changes. Forward swings evoked consistent echolocation behavior similar to approach flights. By comparing the echolocation behavior recorded in the presence and absence of acoustic playback, we could precisely define the influence of the acoustic context on the bats' vocal behavior. Our results show that C. perspicillata decrease the terminal peak frequencies of their calls when echolocating in the presence of acoustic playback. When considering the results at an individual level, it became clear that each bat dynamically adjusts different echolocation parameters across and even within experimental days. Utilizing such dynamics, bats create unique echolocation streams that could facilitate signal extraction in noisy environments.

Long-latency optical responses from the dorsal inferior colliculus of Seba's fruit bat

We used a novel microendoscope system to record simultaneously optical activity (fluorescence of a calcium indicator dye) and electrical activity (multi-unit activity and local field potentials) from the dorsal inferior colliculus of the echolocating bat, Carollia perspicillata. Optically recorded calcium responses to wide-band noise and to frequency-modulated bursts were recorded at probe depths down to 1300 µm, with the majority of active sites encountered at more shallow depths down to 800 µm. Calcium activity exhibited long latencies, within the time span of 50-100 ms after stimulus onset, significantly longer than onset latencies of either multi-unit activity or local field potentials. Latencies and amplitude/latency trading of these electrical responses were consistent with those seen in standard electrophysiological recordings, confirming that the microendoscope was able to record both neural and optical activity successfully. Optically recorded calcium responses rose and decayed slowly and were correlated in time with long-latency negative deflections in local field potentials. These data suggest that calcium-evoked responses may reflect known, sustained inhibitory interactions in the inferior colliculus.

Natural echolocation sequences evoke echo-delay selectivity in the auditory midbrain of the FM bat, Eptesicus fuscus

Echolocating bats must process temporal streams of sonar sounds to represent objects along the range axis. Neuronal echo-delay tuning, the putative mechanism of sonar ranging, has been characterized in the inferior colliculus (IC) of the mustached bat, an insectivorous species that produces echolocation calls consisting of constant frequency and frequency modulated (FM) components, but not in species that use FM signals alone. This raises questions about the mechanisms that give rise to echo-delay tuning in insectivorous bats that use different signal designs. To investigate whether stimulus context may account for species differences in echo-delay selectivity, we characterized single-unit responses in the IC of awake passively listening FM bats, Eptesicus fuscus, to broadcasts of natural sonar call-echo sequences, which contained dynamic changes in signal duration, interval, spectrotemporal structure, and echo-delay. In E. fuscus, neural selectivity to call-echo delay emerges in a population of IC neurons when stimulated with call-echo pairs presented at intervals mimicking those in a natural sonar sequence. To determine whether echo-delay selectivity also depends on the spectrotemporal features of individual sounds within natural sonar sequences, we studied responses to computer-generated echolocation signals that controlled for call interval, duration, bandwidth, sweep rate, and echo-delay. A subpopulation of IC neurons responded selectively to the combination of the spectrotemporal structure of natural call-echo pairs and their temporal patterning within a dynamic sonar sequence. These new findings suggest that the FM bat's fine control over biosonar signal parameters may modulate IC neuronal selectivity to the dimension of echo-delay. NEW & NOTEWORTHY Echolocating bats perform precise auditory temporal computations to estimate their distance to objects. Here, we report that response selectivity of neurons in the inferior colliculus of a frequency modulated bat to call-echo delay, or target range tuning, depends on the temporal patterning and spectrotemporal features of sound elements in a natural echolocation sequence. We suggest that echo responses to objects at different distances are gated by the bat's active control over the spectrotemporal patterning of its sonar emissions.

Functional Organization and Dynamic Activity in the Superior Colliculus of the Echolocating Bat, Eptesicus fuscus

Sensory-guided behaviors require the transformation of sensory information into task-specific motor commands. Prior research on sensorimotor integration has emphasized visuomotor processes in the context of simplified orienting movements in controlled laboratory tasks rather than an animal's more complete, natural behavioral repertoire. Here, we conducted a series of neural recording experiments in the midbrain superior colliculus (SC) of echolocating bats engaged in a sonar target-tracking task that invoked dynamic active sensing behaviors. We hypothesized that SC activity in freely behaving animals would reveal dynamic shifts in neural firing patterns within and across sensory, sensorimotor, and premotor layers. We recorded neural activity in the SC of freely echolocating bats (three females and one male) and replicated the general trends reported in other species with sensory responses in the dorsal divisions and premotor activity in ventral divisions of the SC. However, within this coarse functional organization, we discovered that sensory and motor neurons are comingled within layers throughout the volume of the bat SC. In addition, as the bat increased pulse rate adaptively to increase resolution of the target location with closing distance, the activity of sensory and vocal premotor neurons changed such that auditory response times decreased, and vocal premotor lead times shortened. This finding demonstrates that SC activity can be modified dynamically in concert with adaptive behaviors and suggests that an integrated functional organization within SC laminae supports rapid and local integration of sensory and motor signals for natural, adaptive behaviors.SIGNIFICANCE STATEMENT Natural sensory-guided behaviors involve the rapid integration of information from the environment to direct flexible motor actions. The vast majority of research on sensorimotor integration has used artificial stimuli and simplified behaviors, leaving open questions about nervous system function in the context of natural tasks. Our work investigated mechanisms of dynamic sensorimotor feedback control by analyzing patterns of neural activity in the midbrain superior colliculus (SC) of an echolocating bat tracking and intercepting moving prey. Recordings revealed that sensory and motor neurons comingle within laminae of the SC to support rapid sensorimotor integration. Further, we discovered that neural activity in the bat SC changes with dynamic adaptations in the animal's echolocation behavior.

Sensing in a noisy world: lessons from auditory specialists, echolocating bats

All animals face the essential task of extracting biologically meaningful sensory information from the ‘noisy’ backdrop of their environments. Here, we examine mechanisms used by echolocating bats to localize objects, track small prey and communicate in complex and noisy acoustic environments. Bats actively control and coordinate both the emission and reception of sound stimuli through integrated sensory and motor mechanisms that have evolved together over tens of millions of years. We discuss how bats behave in different ecological scenarios, including detecting and discriminating target echoes from background objects, minimizing acoustic interference from competing conspecifics and overcoming insect noise. Bats tackle these problems by deploying a remarkable array of auditory behaviors, sometimes in combination with the use of other senses. Behavioral strategies such as ceasing sonar call production and active jamming of the signals of competitors provide further insight into the capabilities and limitations of echolocation. We relate these findings to the broader topic of how animals extract relevant sensory information in noisy environments. While bats have highly refined abilities for operating under noisy conditions, they face the same challenges encountered by many other species. We propose that the specialized sensory mechanisms identified in bats are likely to occur in analogous systems across the animal kingdom.

Processing of Natural Echolocation Sequences in the Inferior Colliculus of Seba's Fruit Eating Bat, Carollia perspicillata

For the purpose of orientation, echolocating bats emit highly repetitive and spatially directed sonar calls. Echoes arising from call reflections are used to create an acoustic image of the environment. The inferior colliculus (IC) represents an important auditory stage for initial processing of echolocation signals. The present study addresses the following questions: (1) how does the temporal context of an echolocation sequence mimicking an approach flight of an animal affect neuronal processing of distance information to echo delays? (2) how does the IC process complex echolocation sequences containing echo information from multiple objects (multiobject sequence)? Here, we conducted neurophysiological recordings from the IC of ketamine-anaesthetized bats of the species Carollia perspicillata and compared the results from the IC with the ones from the auditory cortex (AC). Neuronal responses to an echolocation sequence was suppressed when compared to the responses to temporally isolated and randomized segments of the sequence. The neuronal suppression was weaker in the IC than in the AC. In contrast to the cortex, the time course of the acoustic events is reflected by IC activity. In the IC, suppression sharpens the neuronal tuning to specific call-echo elements and increases the signal-to-noise ratio in the units' responses. When presenting multiple-object sequences, despite collicular suppression, the neurons responded to each object-specific echo. The latter allows parallel processing of multiple echolocation streams at the IC level. Altogether, our data suggests that temporally-precise neuronal responses in the IC could allow fast and parallel processing of multiple acoustic streams.

The effect of neural noise on spike time precision in a detailed CA3 neuron model

Experimental and computational studies emphasize the role of the millisecond precision of neuronal spike times as an important coding mechanism for transmitting and representing information in the central nervous system. We investigate the spike time precision of a multicompartmental pyramidal neuron model of the CA3 region of the hippocampus under the influence of various sources of neuronal noise. We describe differences in the contribution to noise originating from voltage-gated ion channels, synaptic vesicle release, and vesicle quantal size. We analyze the effect of interspike intervals and the voltage course preceding the firing of spikes on the spike-timing jitter. The main finding of this study is the ranking of different noise sources according to their contribution to spike time precision. The most influential is synaptic vesicle release noise, causing the spike jitter to vary from 1 ms to 7 ms of a mean value 2.5 ms. Of second importance was the noise incurred by vesicle quantal size variation causing the spike time jitter to vary from 0.03 ms to 0.6 ms. Least influential was the voltage-gated channel noise generating spike jitter from 0.02 ms to 0.15 ms.

Bats use a neuronally implemented computational acoustic model to form sonar images

This paper reexamines neurophysiological results from echolocating big brown bats to propose a new perspective on FM biosonar processing in the auditory system. Individual auditory neurons are frequency-tuned and respond to brief, 2-10 ms FM sweeps with an average of one spike per sound to register their tuned frequencies, to detect echo arrival, or to register a local null in the echo spectrum. When initiated by the broadcast, these responses comprise a cascade of single spikes distributed across time in neurons tuned to different frequencies that persists for 30-50 ms, long after the sound has ended. Their progress mirrors the broadcast's propagation away from the bat and the return of echoes for distances out to 5-8 m. Each returning echo evokes a similar pattern of single spikes that coincide with ongoing responses to the broadcast to register the target's distance and shape. The hypothesis advanced here is that this flow of responses over time acts as an internal model of sonar acoustics that the bat executes using neuronal computations distributed across many neurons to accumulate a dynamic image of the bat's surroundings.

Perception of echo delay is disrupted by small temporal misalignment of echo harmonics in bat sonar

Echolocating big brown bats emit ultrasonic frequency-modulated (FM) biosonar sounds containing two prominent downward-sweeping harmonics (FM1 and FM2) and perceive target distance from echo delay. In naturally occurring echoes, FM1 and FM2 are delayed by the same amount. Even though echoes from targets located off-axis or far away are lowpass filtered, which weakens FM2 relative to FM1, their delays remain the same. We show here that misalignment of FM2 with FM1 by only 2.6 μs is sufficient to significantly disrupt acuity, which then persists for larger misalignments up to 300 μs. However, when FM2 is eliminated entirely rather than just misaligned, acuity is effectively restored. For naturally occurring, lowpass-filtered echoes, neuronal responses to weakened FM2 are retarded relative to FM1 because of amplitude-latency trading, which misaligns the harmonics in the bat's internal auditory representations. Electronically delaying FM2 relative to FM1 mimics the retarded neuronal responses for FM2 relative to FM1 caused by amplitude-latency trading. Echoes with either electronically or physiologically misaligned harmonics are not perceived as having a clearly defined delay. This virtual collapse of delay acuity may suppress interference from off-axis or distant clutter through degradation of delay images for clutter in contrast to sharp images for nearer, frontal targets.

Bats and frogs and animals in between: evidence for a common central timing mechanism to extract periodicity pitch

Widely divergent vertebrates share a common central temporal mechanism for representing periodicities of acoustic waveform events. In the auditory nerve, periodicities corresponding to frequencies or rates from about 10 Hz to over 1,000 Hz are extracted from pure tones, from low-frequency complex sounds (e.g., 1st harmonic in bullfrog calls), from mid-frequency sounds with low-frequency modulations (e.g., amplitude modulation rates in cat vocalizations), and from time intervals between high-frequency transients (e.g., pulse-echo delay in bat sonar). Time locking of neuronal responses to periodicities from about 50 ms down to 4 ms or less (about 20-300 Hz) is preserved in the auditory midbrain, where responses are dispersed across many neurons with different onset latencies from 4-5 to 20-50 ms. Midbrain latency distributions are wide enough to encompass two or more repetitions of successive acoustic events, so that responses to multiple, successive periods are ongoing simultaneously in different midbrain neurons. These latencies have a previously unnoticed periodic temporal pattern that determines the specific times for the dispersed on-responses.

Effects of filtering of harmonics from biosonar echoes on delay acuity by big brown bats (Eptesicus fuscus)

Big brown bats emit FM biosonar sounds containing two principal harmonics (FM1 approximately 55-22 kHz;FM2 approximately 105-45 kHz). To examine the role of harmonics, they were selectively filtered from stimuli in electronic-echo delay discrimination experiments. Positive stimuli were delayed by 3.16 ms (55 cm simulated target range); negative stimuli were by delayed by 3.96 ms (68 cm). This large 800-micros delay difference (nearly 14 cm) was easily discriminated for echoes containing equal-strength FM1 and FM2. Performance gradually decreased as highpass filters removed progressively larger segments from FM1. For echoes with FM2 alone, performance collapsed to chance, but performance remained good for lowpass echoes containing FM1 alone. Attenuation of FM2 by 3 dB relative to FM1 also decreased performance, but shortening electronic delay of the attenuated FM2 by 48 micros counteracted amplitude-latency trading and restored performance. Bats require the auditory representations of FM1 and FM2 to be in temporal register for high delay acuity. Misalignment of neuronal responses degrades acuity, but outright removal of FM2, leaving only FM1, causes little loss of acuity. Functional asymmetry of harmonics reflects lowpass effects from beaming and atmospheric propagation, which leave FM1 intact. It may cooperate with latency shifts to aid in suppression of clutter.

Temporal selectivity in midbrain electrosensory neurons identified by modal variation in active sensing

Mormyrid weakly electric fish actively sense their surroundings by continuously emitting discrete pulses of electricity separated by varying intervals of silence. The temporal pattern of this pulsing behavior is related to context. While resting in the absence of an overt stimulus, baseline interpulse intervals (IPIs) mostly range 200-450 ms, and sequential variation is relatively high. Spontaneously, or following the presentation of a novel stimulus, IPIs transiently shorten during the performance of an electromotor "burst" display. We made intracellular whole cell recordings in vivo from neurons in the lateral nucleus of the torus semicircularis while the fish's dynamic pulsing behavior modified the temporal pattern of stimulation. Stimulation was designed to simulate the spatial patterns of AM that occur during the electrolocation of a resistive object. We discovered that toral neurons selectively respond to stimulation during a particular mode of electromotor activity. Two types of temporally selective neurons were discovered: baseline-selective neurons that displayed significantly higher postsynaptic potential (PSP) amplitude and spike count per electric organ discharge (EOD) during baseline electromotor activity and burst-selective neurons that displayed significantly higher PSP amplitude and spike count per EOD during electromotor burst displays. Interval-dependent changes in the strength of excitation and inhibition contributed to their selectivity.

FM echolocating bats shift frequencies to avoid broadcast-echo ambiguity in clutter

Sonar broadcasts are followed by echoes at different delays from objects at different distances. When broadcasts are emitted rapidly in cluttered surroundings, echo streams from successive broadcasts overlap and cause ambiguity in matching echoes to corresponding broadcasts. To identify reactions to ambiguity in clutter, echolocating bats that emit multiple-harmonic FM sounds were trained to fly into a dense, extended array of obstacles (multiple rows of vertically hanging chains) while the sonar sounds the bat emitted were recorded with a miniature radio microphone carried by the bat. Flight paths were reconstructed from thermal-infrared video recordings. Successive rows of chains extended more than 6 m in depth, so each broadcast was followed by a series of echoes from multiple rows of chains that lasted up to 40 ms. Bats emitted sounds in pairs ("strobe groups") at short (20-40 ms) interpulse intervals (IPIs) alternating with longer IPIs (>50 ms). For many short IPIs, the stream of echoes from the first broadcast was still arriving when the second broadcast was emitted. This overlap caused ambiguity about matching echoes with broadcasts. Bats shifted frequencies of the first sound in each strobe group upward and the second sound downward by 3-6 kHz. When overlap and ambiguity ceased, frequency shifts ceased also. Frequency differences were small compared with the total broadcast band, which was 75-80 kHz wide, but the harmonic structure of echoes enhances the differences in spectrograms. Bats could use time-frequency comparisons of echoes with broadcasts to assign echoes to the corresponding broadcasts and thus avoid ambiguity.

Corticofugal modulation of the paradoxical latency shifts of inferior collicular neurons

The central auditory system creates various types of neurons tuned to different acoustic parameters other than a specific frequency. The response latency of auditory neurons typically shortens with an increase in stimulus intensity. However, approximately 10% of collicular neurons of the little brown bat show a "paradoxical latency-shift (PLS)": long latencies to intense sounds but short latencies to weak sounds. These neurons presumably are involved in the processing of target distance information carried by a pair of an intense biosonar pulse and its weak echo. Our current studies show that collicular PLS neurons of the big brown bat are modulated by the corticofugal (descending) system. Electric stimulation of cortical auditory neurons evoked two types of changes in the PLS neurons, depending on the relationship in the best frequency (BF) between the stimulated cortical and recorded collicular neurons. When the BF was matched between them, the cortical stimulation did not shift the BFs of the collicular neurons and shortened their response latencies at intense sounds so that the PLS became smaller. When the BF was unmatched, however, the cortical stimulation shifted the BFs of the collicular neurons and lengthened their response latencies at intense sounds, so that the PLS became larger. Cortical electric stimulation also modulated the response latencies of non-PLS neurons. It produced an inhibitory frequency tuning curve or curves. Our findings indicate that corticofugal feedback is involved in shaping the spectrotemporal patterns of responses of subcortical auditory neurons presumably through inhibition.

FM signals produce robust paradoxical latency shifts in the bat's inferior colliculus

Previous studies in echolocating bats, Myotis lucifugus, showed that paradoxical latency shift (PLS) is essential for neural computation of target range and that a number of neurons in the inferior colliculus (IC) exhibit unit-specific PLS (characterized by longer first-spike latency at higher sound levels) in response to tone pulses at the unit's best frequency. The present study investigated whether or not frequency-modulated (FM) pulses that mimic the bat's echolocation sonar signals were equally effective in eliciting PLS. For two-thirds of PLS neurons in the IC, both FM and tone pulses could elicit PLS, but only FM pulses consistently produced unit-specific PLS. For the remainder of PLS neurons, only FM pulses effectively elicited PLS; these cells showed either no PLS or no response, to tone pulses. PLS neurons generally showed more pronounced PLS in response to narrow-band FM (each sweeping 20 kHz in 2 ms) pulse that contained the unit's best frequency. In addition, almost all PLS neurons showed duration-independent PLS to FM pulses, but the same units exhibited duration-dependent PLS to tone pulses. Taken together, when compared to tone pulses, FM stimuli can provide more reliable estimates of target range.