Optimal localization by pointing off axis

The evolution of social timing

Sociality and timing are tightly interrelated in human interaction as seen in turn-taking or synchronised dance movements. Sociality and timing also show in communicative acts of other species that might be pleasurable, but also necessary for survival. Sociality and timing often co-occur, but their shared phylogenetic trajectory is unknown: How, when, and why did they become so tightly linked? Answering these questions is complicated by several constraints; these include the use of divergent operational definitions across fields and species, the focus on diverse mechanistic explanations (e.g., physiological, neural, or cognitive), and the frequent adoption of anthropocentric theories and methodologies in comparative research. These limitations hinder the development of an integrative framework on the evolutionary trajectory of social timing and make comparative studies not as fruitful as they could be. Here, we outline a theoretical and empirical framework to test contrasting hypotheses on the evolution of social timing with species-appropriate paradigms and consistent definitions. To facilitate future research, we introduce an initial set of representative species and empirical hypotheses. The proposed framework aims at building and contrasting evolutionary trees of social timing toward and beyond the crucial branch represented by our own lineage. Given the integration of cross-species and quantitative approaches, this research line might lead to an integrated empirical-theoretical paradigm and, as a long-term goal, explain why humans are such socially coordinated animals.

Bats experience age-related hearing loss (presbycusis)

Hearing loss is a hallmark of aging, typically initially affecting the higher frequencies. In echolocating bats, the ability to discern high frequencies is essential. However, nothing is known about age-related hearing loss in bats, and they are often assumed to be immune to it. We tested the hearing of 47 wild Egyptian fruit bats by recording their auditory brainstem response and cochlear microphonics, and we also assessed the cochlear histology in four of these bats. We used the bats' DNA methylation profile to evaluate their age and found that bats exhibit age-related hearing loss, with more prominent deterioration at the higher frequencies. The rate of the deterioration was ∼1 dB per year, comparable to the hearing loss observed in humans. Assessing the noise in the fruit bat roost revealed that these bats are exposed to continuous immense noise-mostly of social vocalizations-supporting the assumption that bats might be partially resistant to loud noise. Thus, in contrast to previous assumptions, our results suggest that bats constitute a model animal for the study of age-related hearing loss.

Adaptive echolocation behavior of bats and toothed whales in dynamic soundscapes

Journal of Experimental Biology has a long history of reporting research discoveries on animal echolocation, the subject of this Centenary Review. Echolocating animals emit intense sound pulses and process echoes to localize objects in dynamic soundscapes. More than 1100 species of bats and 70 species of toothed whales rely on echolocation to operate in aerial and aquatic environments, respectively. The need to mitigate acoustic clutter and ambient noise is common to both aerial and aquatic echolocating animals, resulting in convergence of many echolocation features, such as directional sound emission and hearing, and decreased pulse intervals and sound intensity during target approach. The physics of sound transmission in air and underwater constrains the production, detection and localization of sonar signals, resulting in differences in response times to initiate prey interception by aerial and aquatic echolocating animals. Anti-predator behavioral responses of prey pursued by echolocating animals affect behavioral foraging strategies in air and underwater. For example, many insect prey can detect and react to bat echolocation sounds, whereas most fish and squid are unresponsive to toothed whale signals, but can instead sense water movements generated by an approaching predator. These differences have implications for how bats and toothed whales hunt using echolocation. Here, we consider the behaviors used by echolocating mammals to (1) track and intercept moving prey equipped with predator detectors, (2) interrogate dynamic sonar scenes and (3) exploit visual and passive acoustic stimuli. Similarities and differences in animal sonar behaviors underwater and in air point to open research questions that are ripe for exploration.

Contextual and pure time coding for self and other in the hippocampus

Navigation and episodic memory depend critically on representing temporal sequences. Hippocampal 'time cells' form temporal sequences, but it is unknown whether they represent context-dependent experience or time per se. Here we report on time cells in bat hippocampal area CA1, which, surprisingly, formed two distinct populations. One population of time cells generated different temporal sequences when the bat hung at different locations, thus conjunctively encoding spatial context and time-'contextual time cells'. A second population exhibited similar preferred times across different spatial contexts, thus purely encoding elapsed time. When examining neural responses after the landing moment of another bat, in a social imitation task, we found time cells that encoded temporal sequences aligned to the other's landing. We propose that these diverse time codes may support the perception of interval timing, episodic memory and temporal coordination between self and others.

Untargeted metabolomics of the cochleae from two laryngeally echolocating bats

High-frequency hearing is regarded as one of the most functionally important traits in laryngeally echolocating bats. Abundant candidate hearing-related genes have been identified to be the important genetic bases underlying high-frequency hearing for laryngeally echolocating bats, however, extensive metabolites presented in the cochleae have not been studied. In this study, we identified 4,717 annotated metabolites in the cochleae of two typical laryngeally echolocating bats using the liquid chromatography-mass spectroscopy technology, metabolites classified as amino acids, peptides, and fatty acid esters were identified as the most abundant in the cochleae of these two echolocating bat species, Rhinolophus sinicus and Vespertilio sinensis. Furthermore, 357 metabolites were identified as significant differentially accumulated (adjusted p-value <0.05) in the cochleae of these two bat species with distinct echolocating dominant frequencies. Downstream KEGG enrichment analyses indicated that multiple biological processes, including signaling pathways, nervous system, and metabolic process, were putatively different in the cochleae of R. sinicus and V. sinensis. For the first time, this study investigated the extensive metabolites and associated biological pathways in the cochleae of two laryngeal echolocating bats and expanded our knowledge of the metabolic molecular bases underlying high-frequency hearing in the cochleae of echolocating bats.

Echolocating bats rapidly adjust their mouth gape to control spatial acquisition when scanning a target

BACKGROUND

As well known to any photographer, controlling the "field of view" offers an extremely powerful mechanism by which to adjust target acquisition. Only a few natural sensory systems can actively control their field of view (e.g., dolphins, whales, and bats). Bats are known for their active sensing abilities and modify their echolocation signals by actively controlling their spectral and temporal characteristics. Less is known about bats' ability to actively modify their bio-sonar field of view.

RESULTS

We show that Pipistrellus kuhlii bats rapidly narrow their sensory field of view (i.e., their bio-sonar beam) when scanning a target. On-target vertical sonar beams were twofold narrower than off-target beams. Continuous measurements of the mouth gape of free-flying bats revealed that they control their bio-sonar beam by a ~3.6 mm widening of their mouth gape: namely, bats open their mouth to narrow the beam and vice versa.

CONCLUSIONS

Bats actively and rapidly control their echolocation vertical beam width by modifying their mouth gape. We hypothesize that narrowing their vertical beam narrows the zone of ensonification when estimating the elevation of a target. In other words, bats open their mouth to improve sensory localization.

Pit viper thermography: the pit organ used by crotaline snakes to detect thermal contrast has poor spatial resolution

Pit vipers detect infrared radiation by means of temperature contrasts created on their pit organ membranes. Signals from pit organs integrate with visual signals in the optic tectum, leading to the conjecture that the facial pits operate as an extension of the visual system. Because similar mechanisms underlie thermal imaging technology, imagery from thermal cameras is often used to infer how pit vipers perceive their environment. However, pit organs lack a focusing mechanism, and biophysical models predict that pit organs should have poor spatial resolution compared with thermal imaging cameras. Nevertheless, behavioral studies occasionally suggest pits may have better resolution than predicted by biophysical models, indicating that processing in the central nervous system may improve imaging. To estimate the spatial resolution of the neural image informing behavior, we recorded snake responses evoked by targets moving across backgrounds composed of two contrasting temperatures with an average temperature equal to the target temperature. An unresolved background would appear uniform; thus, the target would be detectable only if the background pattern were resolved. Western rattlesnakes (Crotalus oreganus) displayed no statistically significant responses to targets presented in front of patterned backgrounds, regardless of the temperature contrasts or spatial frequencies within the background, but responded strongly to targets presented in front of homogeneous backgrounds. We found no evidence that the pit organ system can resolve spatial details subtending an angle of 9 deg or less. We discuss the implications of these results for understanding pit organ function in ecologically relevant habitats with thermal heterogeneity.

Natural switches in behaviour rapidly modulate hippocampal coding

Throughout their daily lives, animals and humans often switch between different behaviours. However, neuroscience research typically studies the brain while the animal is performing one behavioural task at a time, and little is known about how brain circuits represent switches between different behaviours. Here we tested this question using an ethological setting: two bats flew together in a long 135 m tunnel, and switched between navigation when flying alone (solo) and collision avoidance as they flew past each other (cross-over). Bats increased their echolocation click rate before each cross-over, indicating attention to the other bat^1–9. Hippocampal CA1 neurons represented the bat’s own position when flying alone (place coding^10–14). Notably, during cross-overs, neurons switched rapidly to jointly represent the interbat distance by self-position. This neuronal switch was very fast—as fast as 100 ms—which could be revealed owing to the very rapid natural behavioural switch. The neuronal switch correlated with the attention signal, as indexed by echolocation. Interestingly, the different place fields of the same neuron often exhibited very different tuning to interbat distance, creating a complex non-separable coding of position by distance. Theoretical analysis showed that this complex representation yields more efficient coding. Overall, our results suggest that during dynamic natural behaviour, hippocampal neurons can rapidly switch their core computation to represent the relevant behavioural variables, supporting behavioural flexibility.

During rapid behavioural switches in flying bats, hippocampal neurons can rapidly switch their core computation to represent the relevant behavioural variables, supporting behavioural flexibility.

Human Echolocators Have Better Localization Off Axis

Here, we report novel empirical results from a psychophysical experiment in which we tested the echolocation abilities of nine blind adult human experts in click-based echolocation. We found that they had better acuity in localizing a target and used lower intensity emissions (i.e., mouth clicks) when a target was placed 45° off to the side compared with when it was placed at 0° (straight ahead). We provide a possible explanation of the behavioral result in terms of binaural-intensity signals, which appear to change more rapidly around 45°. The finding that echolocators have better echo-localization off axis is surprising, because for human source localization (i.e., regular spatial hearing), it is well known that performance is best when targets are straight ahead (0°) and decreases as targets move farther to the side. This may suggest that human echolocation and source hearing rely on different acoustic cues and that human spatial hearing has more facets than previously thought.

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.

Analysis of echolocation behavior of bats in "echo space" using acoustic simulation

BACKGROUND

Echolocating bats use echo information to perceive space, control their behavior, and adjust flight navigation strategies in various environments. However, the echolocation behavior of bats, including echo information, has not been thoroughly investigated as it is technically difficult to measure all the echoes that reach the bats during flight, even with the conventional telemetry microphones currently in use. Therefore, we attempted to reproduce the echoes received at the location of bats during flight by combining acoustic simulation and behavioral experiments with acoustic measurements. By using acoustic simulation, echoes can be reproduced as temporal waveforms (including diffracted waves and multiple reflections), and detailed echo analysis is possible even in complex obstacle environments.

RESULTS

We visualized the spatiotemporal changes in the echo incidence points detected by bats during flight, which enabled us to investigate the "echo space" revealed through echolocation for the first time. We then hypothesized that by observing the differences in the "echo space" before and after spatial learning, the bats' attentional position would change. To test this hypothesis, we examined how the distribution of visualized echoes concentrated at the obstacle edges after the bats became more familiar with their environment. The echo incidence points appeared near the edge even when the pulse direction was not toward the edge. Furthermore, it was found that the echo direction correlated with the turn rate of the bat's flight path, revealing for the first time the relationship between the echo direction and the bat's flight path.

CONCLUSIONS

We were able to clarify for the first time how echoes space affects echolocation behavior in bats by combining acoustic simulations and behavioral experiments.

Sensory and Cognitive Ecology of Bats

We see stunning morphological diversity across the animal world. Less conspicuous but equally fascinating are the sensory and cognitive adaptations that determine animals’ interactions with their environments and each other. We discuss the development of the fields of sensory and cognitive ecology and the importance of integrating these fields to understand the evolution of adaptive behaviors. Bats, with their extraordinarily high ecological diversity, are ideal animals for this purpose. An explosion in recent research allows for better understanding of the molecular, genetic, neural, and behavioral bases for sensory ecology and cognition in bats. We give examples of studies that illuminate connections between sensory and cognitive features of information filtering, evolutionary trade-offs in sensory and cognitive processing, and multimodal sensing and integration. By investigating the selective pressures underlying information acquisition, processing, and use in bats, we aim to illuminate patterns and processes driving sensory and cognitive evolution.

Inflight head stabilization associated with wingbeat cycle and sonar emissions in the lingual echolocating Egyptian fruit bat, Rousettus aegyptiacus

Sensory processing of environmental stimuli is challenged by head movements that perturb sensorimotor coordinate frames directing behaviors. In the case of visually guided behaviors, visual gaze stabilization results from the integrated activity of the vestibuloocular reflex and motor efference copy originating within circuits driving locomotor behavior. In the present investigation, it was hypothesized that head stabilization is broadly implemented in echolocating bats during sustained flight, and is temporally associated with emitted sonar signals which would optimize acoustic gaze. Predictions from these hypotheses were evaluated by measuring head and body kinematics with motion sensors attached to the head and body of free-flying Egyptian fruit bats. These devices were integrated with ultrasonic microphones to record sonar emissions and elucidate the temporal association with periods of head stabilization. Head accelerations in the Earth-vertical axis were asymmetric with respect to wing downstroke and upstroke relative to body accelerations. This indicated that inflight head and body accelerations were uncoupled, outcomes consistent with the mechanisms that limit vertical head acceleration during wing downstroke. Furthermore, sonar emissions during stable flight occurred most often during wing downstroke and head stabilization, supporting the conclusion that head stabilization behavior optimized sonar gaze and environmental interrogation via echolocation.

Hearing, echolocation, and beam steering from day 0 in tongue-clicking bats

Little is known about the ontogeny of lingual echolocation. We examined the echolocation development of Rousettus aegyptiacus, the Egyptian fruit bat, which uses rapid tongue movements to produce hyper-short clicks and steer the beam's direction. We recorded from day 0 to day 35 postbirth and assessed hearing and beam-steering abilities. On day 0, R. aegyptiacus pups emit isolation calls and hyper-short clicks in response to acoustic stimuli, demonstrating hearing. Auditory brainstem response recordings show that pups are sensitive to pure tones of the main hearing range of adult Rousettus and to brief clicks. Newborn pups produced clicks in the adult paired pattern and were able to use their tongues to steer the sonar beam. As they aged, pups produced click pairs faster, converging with adult intervals by age of first flights (7-8 weeks). In contrast with laryngeal bats, Rousettus echolocation frequency and duration are stable through to day 35, but shift by the time pups begin to fly, possibly owing to tongue-diet maturation effects. Furthermore, frequency and duration shift in the opposite direction of mammalian laryngeal vocalizations. Rousettus lingual echolocation thus appears to be a highly functional sensory system from birth and follows a different ontogeny from that of laryngeal bats.

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.

Adaptive learning and recall of motor-sensory sequences in adult echolocating bats

BACKGROUND

Learning to adapt to changes in the environment is highly beneficial. This is especially true for echolocating bats that forage in diverse environments, moving between open spaces to highly complex ones. Bats are known for their ability to rapidly adjust their sensing according to auditory information gathered from the environment within milliseconds but can they also benefit from longer adaptive processes? In this study, we examined adult bats' ability to slowly adapt their sensing strategy to a new type of environment they have never experienced for such long durations, and to then maintain this learned echolocation strategy over time.

RESULTS

We show that over a period of weeks, Pipistrellus kuhlii bats gradually adapt their pre-takeoff echolocation sequence when moved to a constantly cluttered environment. After adopting this improved strategy, the bats retained an ability to instantaneously use it when placed back in a similarly cluttered environment, even after spending many months in a significantly less cluttered environment.

CONCLUSIONS

We demonstrate long-term adaptive flexibility in sensory acquisition in adult animals. Our study also gives further insight into the importance of sensory planning in the initiation of a precise sensorimotor behavior such as approaching for landing.

Locally ordered representation of 3D space in the entorhinal cortex

As animals navigate on a two-dimensional surface, neurons in the medial entorhinal cortex (MEC) known as grid cells are activated when the animal passes through multiple locations (firing fields) arranged in a hexagonal lattice that tiles the locomotion surface¹. However, although our world is three-dimensional, it is unclear how the MEC represents 3D space². Here we recorded from MEC cells in freely flying bats and identified several classes of spatial neurons, including 3D border cells, 3D head-direction cells, and neurons with multiple 3D firing fields. Many of these multifield neurons were 3D grid cells, whose neighbouring fields were separated by a characteristic distance-forming a local order-but lacked any global lattice arrangement of the fields. Thus, whereas 2D grid cells form a global lattice-characterized by both local and global order-3D grid cells exhibited only local order, creating a locally ordered metric for space. We modelled grid cells as emerging from pairwise interactions between fields, which yielded a hexagonal lattice in 2D and local order in 3D, thereby describing both 2D and 3D grid cells using one unifying model. Together, these data and model illuminate the fundamental differences and similarities between neural codes for 3D and 2D space in the mammalian brain.

Sniff-synchronized, gradient-guided olfactory search by freely moving mice

For many organisms, searching for relevant targets such as food or mates entails active, strategic sampling of the environment. Finding odorous targets may be the most ancient search problem that motile organisms evolved to solve. While chemosensory navigation has been well characterized in microorganisms and invertebrates, spatial olfaction in vertebrates is poorly understood. We have established an olfactory search assay in which freely moving mice navigate noisy concentration gradients of airborne odor. Mice solve this task using concentration gradient cues and do not require stereo olfaction for performance. During task performance, respiration and nose movement are synchronized with tens of milliseconds precision. This synchrony is present during trials and largely absent during inter-trial intervals, suggesting that sniff-synchronized nose movement is a strategic behavioral state rather than simply a constant accompaniment to fast breathing. To reveal the spatiotemporal structure of these active sensing movements, we used machine learning methods to parse motion trajectories into elementary movement motifs. Motifs fall into two clusters, which correspond to investigation and approach states. Investigation motifs lock precisely to sniffing, such that the individual motifs preferentially occur at specific phases of the sniff cycle. The allocentric structure of investigation and approach indicates an advantage to sampling both sides of the sharpest part of the odor gradient, consistent with a serial-sniff strategy for gradient sensing. This work clarifies sensorimotor strategies for mouse olfactory search and guides ongoing work into the underlying neural mechanisms.

Spatiotemporal patterning of acoustic gaze in echolocating bats navigating gaps in clutter

We challenged four big brown bats to maneuver through abrupt turns in narrow corridors surrounded by dense acoustic clutter. We quantified bats' performance, sonar beam focus, and sensory acquisition rate. Performance was excellent in straight corridors, with sonar beam aim deviating less than 5° from the corridor midline. Bats anticipated an upcoming abrupt turn to the right or left by slowing flight speed and shifting beam aim to "look" proactively into one side of the corridor to identify the new flightpath. All bats mastered the right turn, but two bats consistently failed the left turn. Bats increased their sensory acquisition rate when confronting abrupt turns in both successful and failed flights. Limitations on biosonar performance reflected failures to switch beam aim and to modify a learned spatial map, rather than failures to update acquisition rate.

Do echolocating toothed whales direct their acoustic gaze on- or off-target in a static detection task?

Echolocating mammals produce directional sound beams with high source levels to improve echo-to-noise ratios and reduce clutter. Recent studies have suggested that the differential spectral gradients of such narrow beams are exploited to facilitate target localization by pointing the beam slightly off targets to maximize the precision of angular position estimates [maximizing bearing Fisher information (FI)]. Here, we test the hypothesis that echolocating toothed whales focus their acoustic gaze askew during target detection to maximize spectral cues by investigating the acoustic gaze direction of two trained delphinids (Tursiops truncatus and Pseudorca crassidens) echolocating to detect an aluminum cylinder behind a hydrophone array in a go/no-go paradigm. The animals rarely placed their beam axis directly on the target, nor within the narrow range around the off-axis angle that maximizes FI. However, the target was, for each trial, ensonified within the swath of the half-power beam width, and hence we conclude that the animals solved the detection task using a strategy that seeks to render high echo-to-noise ratios rather than maximizing bearing FI. We posit that biosonar beam adjustment and acoustic gaze strategies are likely task-dependent and that maximizing bearing FI by pointing off-axis does not improve target detection performance.

Echolocating bats detect but misperceive a multidimensional incongruent acoustic stimulus

Coherent perception relies on integrating multiple dimensions of a sensory modality, for example, color and shape in vision. We reveal how different acoustic dimensions, specifically echo intensity and sonar aperture (or width), are important for correct perception by echolocating bats. We flew bats down a corridor blocked by objects with different intensity-aperture combinations. To our surprise, bats crashed straight into large (aperture) walls with weak echo intensity as if they did not exist. The echolocation behavior of the bats indicated that they did detect the wall, suggesting that crashing was not a result of limited sensory sensitivity, but of a perceptual deficit. We systematically manipulated intensity and aperture by changing the materials and width of different reflectors, and we conclude that a coherent echo-based percept is created only when these two acoustic dimensions have certain relations which are typical for objects in nature (e.g., large and intense or small and weak reflectors). Nevertheless, we show that these preferred relations are not innate. We show that young pups are not constrained to these relations and that new intensity-aperture associations can also be learned by adult bats.

Tuning movement for sensing in an uncertain world

While animals track or search for targets, sensory organs make small unexplained movements on top of the primary task-related motions. While multiple theories for these movements exist-in that they support infotaxis, gain adaptation, spectral whitening, and high-pass filtering-predicted trajectories show poor fit to measured trajectories. We propose a new theory for these movements called energy-constrained proportional betting, where the probability of moving to a location is proportional to an expectation of how informative it will be balanced against the movement's predicted energetic cost. Trajectories generated in this way show good agreement with measured trajectories of fish tracking an object using electrosense, a mammal and an insect localizing an odor source, and a moth tracking a flower using vision. Our theory unifies the metabolic cost of motion with information theory. It predicts sense organ movements in animals and can prescribe sensor motion for robots to enhance performance.

Learning steers the ontogeny of an efficient hunting sequence in zebrafish larvae

Goal-directed behaviors may be poorly coordinated in young animals but, with age and experience, behavior progressively adapts to efficiently exploit the animal’s ecological niche. How experience impinges on the developing neural circuits of behavior is an open question. We have conducted a detailed study of the effects of experience on the ontogeny of hunting behavior in larval zebrafish. We report that larvae with prior experience of live prey consume considerably more prey than naive larvae. This is mainly due to increased capture success and a modest increase in hunt rate. We demonstrate that the initial turn to prey and the final capture manoeuvre of the hunting sequence were jointly modified by experience and that modification of these components predicted capture success. Our findings establish an ethologically relevant paradigm in zebrafish for studying how the brain is shaped by experience to drive the ontogeny of efficient behavior.

Modulation of acoustic navigation behaviour by spatial learning in the echolocating bat Rhinolophus ferrumequinum nippon

Using echolocation, bats receive acoustic information on their surroundings, which is assumed to help them sophisticatedly navigate complex environments. In this study, to understand spatial learning and acoustic sensing in bats, we investigated how flight and echolocation control changed in Rhinolophus ferrumequinum nippon as they learnt about their surroundings in an obstacle course that they flew through repeatedly. In these experiments, two testing environments (acoustically permeable and acoustically reflective) were prepared using chains and acrylic boards as obstacles to evaluate the interactive effects of spatial learning and flight environments. We found that bats reduced the meandering width of their flights and pulse emissions, and also seemed to reduce their shifts in pulse direction as they learnt more about their environments in both conditions. Throughout all our experiments, the bats with slower flight speeds tended to emit more pulses, which suggests that the number of pulse emissions reflects the echolocation tactics of each bat. The maximum flight speed was especially increased in the acoustically permeable condition, with frequent emissions of multiple pulses (≧triplets) in the early stages of flight, suggesting that bats adjust their flight plan based on how much of their surroundings they are able to sense in advance.

High resolution three-dimensional beam radiation pattern of harbour porpoise clicks with implications for passive acoustic monitoring

The source properties and radiation patterns of animal vocalisations define, along with propagation and noise conditions, the active space in which these vocalisations can be detected by conspecifics, predators, prey, and by passive acoustic monitoring (PAM). This study reports the 4π (360° horizontal and vertical) beam profile of a free-swimming, trained harbour porpoise measured using a 27-element hydrophone array. The forward echolocation beam is highly directional, as predicted by a piston model, and is consistent with previous measurements. However, at off-axis angles greater than ±30°, the beam attenuates more rapidly than the piston model and no side lobes are present. A diffuse back beam is also present with levels about -30 dB relative to the source level. In PAM, up to 50% of detections can be from portions of the beam profile with distorted click spectra, although this drops substantially for higher detection thresholds. Simulations of the probability of acoustically detecting a harbour porpoise show that a traditional piston model can underestimate the probability of detection compared to the actual three-dimensional radiation pattern documented here. This highlights the importance of empirical 4π measurements of beam profiles of toothed whales, both to improve understanding of toothed whale biology and to inform PAM.

Adaptive Echolocation and Flight Behaviors in Bats Can Inspire Technology Innovations for Sonar Tracking and Interception

Target tracking and interception in a dynamic world proves to be a fundamental challenge faced by both animals and artificial systems. To track moving objects under natural conditions, agents must employ strategies to mitigate interference and conditions of uncertainty. Animal studies of prey tracking and capture reveal biological solutions, which can inspire new technologies, particularly for operations in complex and noisy environments. By reviewing research on target tracking and interception by echolocating bats, we aim to highlight biological solutions that could inform new approaches to artificial sonar tracking and navigation systems. Most bat species use wideband echolocation signals to navigate dense forests and hunt for evasive insects in the dark. Importantly, bats exhibit rapid adaptations in flight trajectory, sonar beam aim, and echolocation signal design, which appear to be key to the success of these animals in a variety of tasks. The rich suite of adaptive behaviors of echolocating bats could be leveraged in new sonar tracking technologies by implementing dynamic sensorimotor feedback control of wideband sonar signal design, head, and ear movements.

Segregating signal from noise through movement in echolocating bats

Segregating signal from noise is one of the most fundamental problems shared by all biological and human-engineered sensory systems. In echolocating bats that search for small objects such as tiny insects in the presence of large obstacles (e.g., vegetation), this task can pose serious challenges as the echoes reflected from the background might be several times louder than the desired signal. Bats’ ability to adjust their sensing, specifically their echolocation signal and sequence design has been deeply studied. In this study, we show that in addition to adjusting their sensing, bats also use movement in order to segregate desired echoes from background noise. Bats responded to an acoustically echoic background by adjusting their angle of attack. Specifically, the bats in our experiment used movement and not adaptation of sensory acquisition in order to overcome a sensory challenge. They approached the target at a smaller angle of attack, which results in weaker echoes from the background as was also confirmed by measuring the echoes of the setup from the bat’s point of view. Our study demonstrates the importance of movement in active sensing.

Task-Related Sensorimotor Adjustments Increase the Sensory Range in Electrolocation

Perception and motor control traditionally are studied separately. However, motor activity can serve as a scaffold to shape the sensory flow. This tight link between motor actions and sensing is particularly evident in active sensory systems. Here, we investigate how the weakly electric mormyrid fish Gnathonemus petersii of undetermined sex structure their sensing and motor behavior while learning a perceptual task. We find systematic adjustments of the motor behavior that correlate with an increased performance. Using a model to compute the electrosensory input, we show that these behavioral adjustments improve the sensory input. As we find low neuronal detection thresholds at the level of medullary electrosensory neurons, it seems that the behavior-driven improvements of the sensory input are highly suitable to overcome the sensory limitations, thereby increasing the sensory range. Our results show that motor control is an active component of sensory learning, demonstrating that a detailed understanding of contribution of motor actions to sensing is needed to understand even seemingly simple behaviors.SIGNIFICANCE STATEMENT Motor-guided sensation and perception are intertwined, with motor behavior serving as a scaffold to shape the sensory input. We characterized how the weakly electric mormyrid fish Gnathonemus petersii, as it learns a perceptual task, restructures its sensorimotor behavior. We find that systematic adjustments of the motor behavior correlate with increased performance and a shift of the sensory attention of the animal. Analyzing the afferent electrosensory input shows that a significant gain in information results from these sensorimotor adjustments. Our results show that motor control can be an active component of sensory learning. Researching the sensory corollaries of motor control thus can be crucial to understand sensory sensation and perception under naturalistic conditions.

Sensory gaze stabilization in echolocating bats

Sensing from a moving platform is challenging for both man-made machines and animals. Animals' heads jitter during movement, so if the sensors they carry are not stabilized, any spatial estimation might be biased. Flying animals, like bats, seriously suffer from this problem because flapping flight induces rapid changes in acceleration which moves the body up and down. For echolocating bats, the problem is crucial. Because they emit a sound to sense the world, an unstable head means sound energy pointed in the wrong direction. It is unknown how bats mitigate this problem. By tracking the head and body of flying fruit bats, we show that they stabilize their heads, accurately maintaining a fixed acoustic-gaze relative to a target. Bats can solve the stabilization task even in complete darkness using only echo-based information. Moreover, the bats point their echolocation beam below the target and not towards it, a strategy that should result in better estimations of target elevation.

Human Click-Based Echolocation of Distance: Superfine Acuity and Dynamic Clicking Behaviour

Some people who are blind have trained themselves in echolocation using mouth clicks. Here, we provide the first report of psychophysical and clicking data during echolocation of distance from a group of 8 blind people with experience in mouth click-based echolocation (daily use for > 3 years). We found that experienced echolocators can detect changes in distance of 3 cm at a reference distance of 50 cm, and a change of 7 cm at a reference distance of 150 cm, regardless of object size (i.e. 28.5 cm vs. 80 cm diameter disk). Participants made mouth clicks that were more intense and they made more clicks for weaker reflectors (i.e. same object at farther distance, or smaller object at same distance), but number and intensity of clicks were adjusted independently from one another. The acuity we found is better than previous estimates based on samples of sighted participants without experience in echolocation or individual experienced participants (i.e. single blind echolocators tested) and highlights adaptation of the perceptual system in blind human echolocators. Further, the dynamic adaptive clicking behaviour we observed suggests that number and intensity of emissions serve separate functions to increase SNR. The data may serve as an inspiration for low-cost (i.e. non-array based) artificial 'cognitive' sonar and radar systems, i.e. signal design, adaptive pulse repetition rate and intensity. It will also be useful for instruction and guidance for new users of echolocation.

Learning active sensing strategies using a sensory brain-machine interface

Diverse organisms, from insects to humans, actively seek out sensory information that best informs goal-directed actions. Efficient active sensing requires congruity between sensor properties and motor strategies, as typically honed through evolution. However, it has been difficult to study whether active sensing strategies are also modified with experience. Here, we used a sensory brain-machine interface paradigm, permitting both free behavior and experimental manipulation of sensory feedback, to study learning of active sensing strategies. Rats performed a searching task in a water maze in which the only task-relevant sensory feedback was provided by intracortical microstimulation (ICMS) encoding egocentric bearing to the hidden goal location. The rats learned to use the artificial goal direction sense to find the platform with the same proficiency as natural vision. Manipulation of the acuity of the ICMS feedback revealed distinct search strategy adaptations. Using an optimization model, the different strategies were found to minimize the effort required to extract the most salient task-relevant information. The results demonstrate that animals can adjust motor strategies to match novel sensor properties for efficient goal-directed behavior.

Integrating vision and echolocation for navigation and perception in bats

How animals integrate information from various senses to navigate and generate perceptions is a fundamental question. Bats are ideal animal models to study multisensory integration due to their reliance on vision and echolocation, two modalities that allow distal sensing with high spatial resolution. Using three behavioral paradigms, we studied different aspects of multisensory integration in Egyptian fruit bats. We show that bats learn the three-dimensional shape of an object using vision only, even when using both vision and echolocation. Nevertheless, we demonstrate that they can classify objects using echolocation and even translate echoic information into a visual representation. Last, we show that in navigation, bats dynamically switch between the modalities: Vision was given more weight when deciding where to fly, while echolocation was more dominant when approaching an obstacle. We conclude that sensory integration is task dependent and that bimodal information is weighed in a more complex manner than previously suggested.

Transmission beam pattern and dynamics of a spinner dolphin (Stenella longirostris)

Toothed whales possess a sophisticated biosonar system by which ultrasonic clicks are projected in a highly directional transmission beam. Beam directivity is an important biosonar characteristic that reduces acoustic clutter and increases the acoustic detection range. This study measured click characteristics and the transmission beam pattern from a small odontocete, the spinner dolphin (Stenella longirostis). A formerly stranded individual was rehabilitated and trained to station underwater in front of a 16-element hydrophone array. On-axis clicks showed a mean duration of 20.1 μs, with mean peak and centroid frequencies of 58 and 64 kHz [standard deviation (s.d.) ±30 and ±12 kHz], respectively. Clicks were projected in an oval, vertically compressed beam, with mean vertical and horizontal beamwidths of 14.5° (s.d. ± 3.9) and 16.3° (s.d. ± 4.6), respectively. Directivity indices ranged from 14.9 to 27.4 dB, with a mean of 21.7 dB, although this likely represents a broader beam than what is normally produced by wild individuals. A click subset with characteristics more similar to those described for wild individuals exhibited a mean directivity index of 23.3 dB. Although one of the broadest transmission beams described for a dolphin, it is similar to other small bodied odontocetes.

Adaptations in the call emission pattern of frugivorous bats when orienting under challenging conditions

Echolocating bats emit biosonar calls and use echoes arising from call reflections, for orientation. They often pattern their calls into groups which increases the rate of sensory feedback. Insectivorous bats emit call groups at a higher rate when orienting in cluttered compared to uncluttered environments. Frugivorous bats increase the rate of call group emission when they echolocate in noisy environments. In frugivorous bats, it remains unclear if call group emission represents an exclusive adaptation to avoid acoustic interference by signals of conspecifics or if it represents an adaptation that allows to orient under demanding environmental conditions. Here, we compared the emission pattern of the frugivorous bat Carolliaperspicillata when the bats were flying in narrow versus wide or cluttered versus non-cluttered corridors. The bats emitted larger call groups and they increased the call rate within call groups when navigating in narrow or cluttered environments. These adaptations resemble the ones shown when the bats navigate in noisy environments. Thus, call group emission represents an adaptive behavior when the bats orient in complex environments.

Carpenter ants use diverse antennae sampling strategies to track odor trails

Directed and meaningful animal behavior depends on the ability to sense key features in the environment. Among the different environmental signals, olfactory cues are critically important for foraging, navigation and social communication in many species, including ants. Ants use their two antennae to explore the olfactory world, but how they do so remains largely unknown. In this study, we used high-resolution videography to characterize the antennae dynamics of carpenter ants (Camponotus pennsylvanicus). Antennae are highly active during both odor tracking and exploratory behavior. When tracking, ants used several distinct behavioral strategies with stereotyped antennae sampling patterns (which we call 'sinusoidal', 'probing' and 'trail following'). In all behaviors, left and right antennae movements were anti-correlated, and tracking ants exhibited biases in the use of left versus right antenna to sample the odor trail. These results suggest non-redundant roles for the two antennae. In one of the behavioral modules (trail following), ants used both antennae to detect trail edges and direct subsequent turns, suggesting a specialized form of tropotaxis. Lastly, removal of an antenna resulted not only in less accurate tracking but also in changes in the sampling pattern of the remaining antenna. Our quantitative characterization of odor trail tracking lays a foundation to build better models of olfactory sensory processing and sensorimotor behavior in terrestrial insects.

Acoustic calibration in an echoic environment

BACKGROUND

The sound fed to a loudspeaker may significantly differ from that reaching the ear of the listener. The transformation from one to the other consists of spectral distortions with strong dependence on the relative locations of the speaker and the listener as well as on the geometry of the environment. With the increased importance of research in awake, freely-moving animals in large arenas, it becomes important to understand how animal location influences the corresponding spectral distortions.

NEW METHOD

We describe a full calibration pipeline that includes spatial sampling and estimation of the spectral distortions. We estimated the impulse responses of the environment using Golay complementary sequences. Using those sequences, we also describe an acoustic 3D localization method for freely moving animals.

RESULTS

In our arena, the impulse responses are dominated by a small number of strong reflections. We use this understanding to provide guidelines for designing the geometry of the environment as well as the presented sounds, in order to provide more uniform sound levels throughout the environment. Our 3D localization method achieves a 1.5 cm accuracy through the utilization of sound cues only.

COMPARISON WITH EXISTING METHODS

To our knowledge, this is the first description of a large-scale acoustic calibration pipeline with acoustic localization for neuroscience studies.

CONCLUSIONS

Principled sampling of large arena allows for better design and control of the acoustic information provided to freely-moving animals.

Comparative cochlear transcriptomics of echolocating bats provides new insights into different nervous activities of CF bat species

The molecular mechanisms used by echolocating bats to deal with different ultrasonic signals remain to be revealed. Here, we utilised RNA-Seq data to conduct comparative cochlear transcriptomics to assess the variation of gene expression among bats with three types of echolocation: constant-frequency (CF) bats, frequency-modulated (FM) bats and click bats. Our results suggest larger differences in gene expression between CF and click bats than between CF and FM bats and small differences between FM and click bats. We identified 426 and 1,504 differentially expressed genes (DEGs) by the different methods as functionally important for CF bats, in that they showed consistent upregulation in the cochlea of two CF bats, relative to the levels in click and FM bats. Subsequently, downstream GO and KEGG enrichment analyses indicated that both the 426 and 1,504 gene sets were associated with changes in nervous activities in the cochleae of CF bats. In addition, another set of 1,764 DEGs were identified to have crucial hearing related physiological functions for laryngeally echolocating bats. Our study provides a comprehensive overview of the genetic basis of differences among echolocating bats, revealing different nervous system activities during auditory perception in the cochlea particularly in CF bats.

Design of a dynamic sonar emitter inspired by hipposiderid bats

The ultrasonic emission of the biosonar systems of bats, such as Old World leaf-nosed bats (family Hipposideridae) and the related horseshoe bats (family Rhinolophidae), is characterized by a unique dynamics where baffle shapes ('noseleaves') deform while diffracting the outgoing wave packets. As of now, nothing comparable to this dynamics has been used in any related engineering application (e.g. sonar or radar). Prior work with simple concave baffle shapes has demonstrated the impact of the dynamics on the emission characteristics, but it has remained unclear whether this was simply due to the change in aperture size or also influenced by the geometrical shape detail. Hence, it has also remained unclear whether it would be possible to further enhance the time-variant effects reported so far through different static and dynamic geometries. To address this issue, we have created a dynamic emission baffle with biomimetic shape detail modeled after Pratt's roundleaf bats (Hipposideros pratti). The impact of the dynamic deformation of the shape on the time-variant emission characteristics was evaluated by virtue of the gradient magnitude and the entropy in the gradient orientation. The results have shown that the dynamics results in much larger gradients in signal representation, which change jointly over direction and time.

Dynamic representation of 3D auditory space in the midbrain of the free-flying echolocating bat

Essential to spatial orientation in the natural environment is a dynamic representation of direction and distance to objects. Despite the importance of 3D spatial localization to parse objects in the environment and to guide movement, most neurophysiological investigations of sensory mapping have been limited to studies of restrained subjects, tested with 2D, artificial stimuli. Here, we show for the first time that sensory neurons in the midbrain superior colliculus (SC) of the free-flying echolocating bat encode 3D egocentric space, and that the bat's inspection of objects in the physical environment sharpens tuning of single neurons, and shifts peak responses to represent closer distances. These findings emerged from wireless neural recordings in free-flying bats, in combination with an echo model that computes the animal's instantaneous stimulus space. Our research reveals dynamic 3D space coding in a freely moving mammal engaged in a real-world navigation task.

Vibration-guided mate searching in treehoppers: directional accuracy and sampling strategies in a complex sensory environment

Animal movement decisions involve an action-perception cycle in which sensory flow influences motor output. Key aspects of the action-perception cycle involved in movement decisions can be identified by integrating path information with measurement of environmental cues. We studied mate searching in insects for which the primary sensory cues are mechanical vibrations traveling through the tissues of living plants. We mapped search paths of male thornbug treehoppers locating stationary females through an exchange of vibrational signals. At each of the males' sampling locations, we used two-dimensional laser vibrometry to measure stem motion produced by female vibrational signals. We related properties of the vibrational signals to the males' movement direction, inter-sample distance and accuracy. Males experienced gradients in signal amplitude and in the whirling motion of the plant stem, and these gradients were influenced to varying degrees by source distance and local stem properties. Males changed their sampling behavior during the search, making longer inter-sample movements farther from the source, where uncertainty is higher. The primary directional cue used by searching males was the direction of wave propagation, and males made more accurate decisions when signal amplitude was higher, when time delays were longer between the front and back legs, and when female responses were short in duration. The whirling motion of plant stems, including both the eccentricity and the major axes of motion, is a fundamental feature of vibrational environments on living plants, and we show for the first time that it has important influences on the decisions of vibrationally homing insects.

Human echolocators adjust loudness and number of clicks for detection of reflectors at various azimuth angles

In bats it has been shown that they adjust their emissions to situational demands. Here we report similar findings for human echolocation. We asked eight blind expert echolocators to detect reflectors positioned at various azimuth angles. The same 17.5 cm diameter circular reflector placed at 100 cm distance at 0°, 45° or 90° with respect to straight ahead was detected with 100% accuracy, but performance dropped to approximately 80% when it was placed at 135° (i.e. somewhat behind) and to chance levels (50%) when placed at 180° (i.e. right behind). This can be explained based on poorer target ensonification owing to the beam pattern of human mouth clicks. Importantly, analyses of sound recordings show that echolocators increased loudness and numbers of clicks for reflectors at farther angles. Echolocators were able to reliably detect reflectors when level differences between echo and emission were as low as -27 dB, which is much lower than expected based on previous work. Increasing intensity and numbers of clicks improves signal-to-noise ratio and in this way compensates for weaker target reflections. Our results are, to our knowledge, the first to show that human echolocation experts adjust their emissions to improve sensory sampling. An implication from our findings is that human echolocators accumulate information from multiple samples.

Off-axis targets maximize bearing Fisher Information in broadband active sonar

Broadband active sonar systems estimate range from time delay and velocity from Doppler shift. Relatively little attention has been paid to how the received echo spectrum encodes information about the bearing of an object. This letter derives the bearing Fisher Information encoded in the frequency dependent transmitter beampattern. This leads to a counter-intuitive result: directing the sonar beam so that a target of interest is slightly off-axis maximizes the bearing information about the target. Beam aim data from a dolphin biosonar experiment agree closely with the angle predicted to maximize bearing information.

Tongue-driven sonar beam steering by a lingual-echolocating fruit bat

Animals enhance sensory acquisition from a specific direction by movements of head, ears, or eyes. As active sensing animals, echolocating bats also aim their directional sonar beam to selectively “illuminate” a confined volume of space, facilitating efficient information processing by reducing echo interference and clutter. Such sonar beam control is generally achieved by head movements or shape changes of the sound-emitting mouth or nose. However, lingual-echolocating Egyptian fruit bats, Rousettus aegyptiacus, which produce sound by clicking their tongue, can dramatically change beam direction at very short temporal intervals without visible morphological changes. The mechanism supporting this capability has remained a mystery. Here, we measured signals from free-flying Egyptian fruit bats and discovered a systematic angular sweep of beam focus across increasing frequency. This unusual signal structure has not been observed in other animals and cannot be explained by the conventional and widely-used “piston model” that describes the emission pattern of other bat species. Through modeling, we show that the observed beam features can be captured by an array of tongue-driven sound sources located along the side of the mouth, and that the sonar beam direction can be steered parsimoniously by inducing changes to the pattern of phase differences through moving tongue location. The effects are broadly similar to those found in a phased array—an engineering design widely found in human-made sonar systems that enables beam direction changes without changes in the physical transducer assembly. Our study reveals an intriguing parallel between biology and human engineering in solving problems in fundamentally similar ways.

It is well known that animals move their eyes, ears, and heads towards stimuli of interest to selectively gather information in complex environments. Interestingly, lingual-echolocating fruit bats, which generate sonar signals for object localization by clicking their tongues, can rapidly switch the direction of the sonar beam without changing head aim or mouth shape. The mechanism underlying this capability has intrigued scientists and engineers alike. In this study, we used a combination of experimental measurements and theoretical modeling to solve this mystery. We discovered that the focus of this bat’s sound beam shifts systematically across a range of angles as the sonar frequency increases. This unusual multi-frequency structure can be captured by modeling the sound emission as an array of sound sources located along the side of the mouth and driven by the clicking tongue. Changing only the position of the tongue in this model can steer the sonar beam in different directions, showing an effect broadly similar to that found in a human-made sonar phased array—a design that enables changing beam direction without changing the physical transducer assembly. Our study thus reveals an intriguing parallel between biology and human engineering, which arrived at fundamentally similar solutions to the same problem.

An annotated dataset of Egyptian fruit bat vocalizations across varying contexts and during vocal ontogeny

Animal acoustic communication research depends on our ability to record the vocal behaviour of different species. Only rarely do we have the opportunity to continuously follow the vocal behaviour of a group of individuals of the same species for a long period of time. Here, we provide a database of Egyptian fruit bat vocalizations, which were continuously recorded in the lab in several groups simultaneously for more than a year. The dataset includes almost 300,000 files, a few seconds each, containing social vocalizations and representing the complete vocal repertoire used by the bats in the experiment period. Around 90,000 files are annotated with details about the individuals involved in the vocal interactions, their behaviours and the context. Moreover, the data include the complete vocal ontogeny of pups, from birth to adulthood, in different conditions (e.g., isolated or in a group). We hope that this comprehensive database will stimulate studies that will enhance our understanding of bat, and mammal, social vocal communication.

Mouth-clicks used by blind expert human echolocators - signal description and model based signal synthesis

Echolocation is the ability to use sound-echoes to infer spatial information about the environment. Some blind people have developed extraordinary proficiency in echolocation using mouth-clicks. The first step of human biosonar is the transmission (mouth click) and subsequent reception of the resultant sound through the ear. Existing head-related transfer function (HRTF) data bases provide descriptions of reception of the resultant sound. For the current report, we collected a large database of click emissions with three blind people expertly trained in echolocation, which allowed us to perform unprecedented analyses. Specifically, the current report provides the first ever description of the spatial distribution (i.e. beam pattern) of human expert echolocation transmissions, as well as spectro-temporal descriptions at a level of detail not available before. Our data show that transmission levels are fairly constant within a 60° cone emanating from the mouth, but levels drop gradually at further angles, more than for speech. In terms of spectro-temporal features, our data show that emissions are consistently very brief (~3ms duration) with peak frequencies 2-4kHz, but with energy also at 10kHz. This differs from previous reports of durations 3-15ms and peak frequencies 2-8kHz, which were based on less detailed measurements. Based on our measurements we propose to model transmissions as sum of monotones modulated by a decaying exponential, with angular attenuation by a modified cardioid. We provide model parameters for each echolocator. These results are a step towards developing computational models of human biosonar. For example, in bats, spatial and spectro-temporal features of emissions have been used to derive and test model based hypotheses about behaviour. The data we present here suggest similar research opportunities within the context of human echolocation. Relatedly, the data are a basis to develop synthetic models of human echolocation that could be virtual (i.e. simulated) or real (i.e. loudspeaker, microphones), and which will help understanding the link between physical principles and human behaviour.

Highly Directional Sonar Beam of Narwhals (Monodon monoceros) Measured with a Vertical 16 Hydrophone Array

Recordings of narwhal (Monodon monoceros) echolocation signals were made using a linear 16 hydrophone array in the pack ice of Baffin Bay, West Greenland in 2013 at eleven sites. An average -3 dB beam width of 5.0° makes the narwhal click the most directional biosonar signal reported for any species to date. The beam shows a dorsal-ventral asymmetry with a narrower beam above the beam axis. This may be an evolutionary advantage for toothed whales to reduce echoes from the water surface or sea ice surface. Source level measurements show narwhal click intensities of up to 222 dB pp re 1 μPa, with a mean apparent source level of 215 dB pp re 1 μPa. During ascents and descents the narwhals perform scanning in the vertical plane with their sonar beam. This study provides valuable information for reference sonar parameters of narwhals and for the use of acoustic monitoring in the Arctic.

Species-specific control of acoustic gaze by echolocating bats, Rhinolophus ferrumequinum nippon and Pipistrellus abramus, during flight

Based on the characteristics of the ultrasounds they produce, echolocating bats can be categorized into two main types: broadband FM (frequency modulated) and narrowband CF (constant frequency) echolocators. In this study, we recorded the echolocation behavior of a broadband FM (Pipistrellus abramus) and a narrowband CF echolocator species (Rhinolophus ferrumequinum nippon) while they explored an unfamiliar space in a laboratory chamber. During flight, P. abramus smoothly shifted its acoustic gaze in relation to its flight direction, whereas R. ferrumequinum nippon frequently shifted its acoustic gaze from side to side. The distribution of the acoustic gazes of R. ferrumequinum nippon was twice as wide as that of P. abramus. Furthermore, R. ferrumequinum nippon produced double pulses twice as often as P. abramus. Because R. ferrumequinum nippon has a horizontal beam width (−6 dB off-axis angle) half as wide (±20.8 ± 6.0°) as that of P. abramus (±38.3 ± 6.0°), it appears to double the width of its acoustical field of view by shifting its acoustic gaze further off-axis and emitting direction-shifted double pulses. These results suggest that broadband FM and narrowband CF bats actively control their acoustic gazes in a species-specific manner based on the acoustic features of their echolocation signals.