Effects of echo intensity on Doppler-shift compensation behavior in horseshoe bats

Doppler shift compensation performance in Hipposideros pratti across experimental paradigms

A central aim of neuroethological research is to discover the mechanisms of natural behaviors in controlled laboratory studies. This goal, however, comes with challenges, namely the selection of experimental paradigms that allow full expression of natural behaviors. Here, we explore this problem in echolocating bats that evolved Doppler shift compensation (DSC) of sonar vocalizations to yield close matching between echo frequency and hearing sensitivity. We ask if behavioral tasks influence the precision of DSC in Pratt’s roundleaf bat, Hipposideros pratti, in three classic laboratory paradigms evoking audio-vocal adjustments: Stationary bats listening to echo playbacks, bats transported on a moving pendulum, and bats flying freely. We found that experimental conditions had a strong influence on the expression of the audiovocal frequency adjustments in bats. H. pratti exhibited robust DSC in both free-flying and moving-pendulum experiments but did not exhibit consistent audiovocal adjustments in echo playback experiments. H. pratti featured a maximum compensation magnitude of 87% and a compensation precision of 0.27% in the free flight experiment. Interestingly, in the moving pendulum experiment H. pratti displayed surprisingly high-precision DSC, with an 84% maximum compensation magnitude and a 0.27% compensation precision. Such DSC performance places H. pratti among the bat species exhibiting the most precise audio-vocal control of echo frequency. These data support the emerging view that Hipposiderid bats have a high-precision DSC system and highlight the importance of selecting experimental paradigms that yield the expression of robust natural behaviors.

Echolocating bats can adjust sensory acquisition based on internal cues

Background

Sensory systems acquire both external and internal information to guide behavior. Adjustments based on external input are much better documented and understood than internal-based sensory adaptations. When external input is not available, idiothetic—internal—cues become crucial for guiding behavior. Here, we take advantage of the rapid sensory adjustments exhibited by bats in order to study how animals rely on internal cues in the absence of external input. Constant frequency echolocating bats are renowned for their Doppler shift compensation response used to adjust their emission frequency in order to optimize sensing. Previous studies documented the importance of external echoes for this response.

Results

We show that the Doppler compensation system works even without external feedback. Bats experiencing accelerations in an echo-free environment exhibited an intact compensation response. Moreover, using on-board GPS tags on free-flying bats in the wild, we demonstrate that the ability to perform Doppler shift compensation response based on internal cues might be essential in real-life when echo feedback is not available.

Conclusions

We thus show an ecological need for using internal cues as well as an ability to do so. Our results illustrate the robustness of one particular sensory behavior; however, we suggest this ability to rely on different streams of information (i.e., internal or external) is probably relevant for many sensory behaviors.

Sensorimotor Model of Obstacle Avoidance in Echolocating Bats

Bat echolocation is an ability consisting of many subtasks such as navigation, prey detection and object recognition. Understanding the echolocation capabilities of bats comes down to isolating the minimal set of acoustic cues needed to complete each task. For some tasks, the minimal cues have already been identified. However, while a number of possible cues have been suggested, little is known about the minimal cues supporting obstacle avoidance in echolocating bats. In this paper, we propose that the Interaural Intensity Difference (IID) and travel time of the first millisecond of the echo train are sufficient cues for obstacle avoidance. We describe a simple control algorithm based on the use of these cues in combination with alternating ear positions modeled after the constant frequency bat Rhinolophus rouxii. Using spatial simulations (2D and 3D), we show that simple phonotaxis can steer a bat clear from obstacles without performing a reconstruction of the 3D layout of the scene. As such, this paper presents the first computationally explicit explanation for obstacle avoidance validated in complex simulated environments. Based on additional simulations modelling the FM bat Phyllostomus discolor, we conjecture that the proposed cues can be exploited by constant frequency (CF) bats and frequency modulated (FM) bats alike. We hypothesize that using a low level yet robust cue for obstacle avoidance allows bats to comply with the hard real-time constraints of this basic behaviour.

Echolocating bats can fly through complex environments in complete darkness. Swift and apparently effortless obstacle avoidance is the most fundamental function supported by biosonar. Despite this, we still do not know which acoustic cues, from among the many possible cues, bats actually exploit while avoiding obstacles. In this paper, we show using spatial simulations (2D and 3D) that the Interaural Intensity Difference (IID) and travel time of the first millisecond of the echo train in combination with alternating ear positions provide robust and reliable cues for obstacle avoidance. Simulating the echoes received by a flying bat, we show that simple phonotaxis can steer a bat clear from obstacles without performing 3D reconstruction of the layout of the scene. As such, this paper presents the first computationally explicit explanation for obstacle avoidance in realistic and complex 3D environments. We hypothesize that using low level yet robust cues for obstacle avoidance allows bats to comply with the hard real-time constraints of this basic behaviour.

Sensory feedback control of mammalian vocalizations

Somatosensory and auditory feedback mechanisms are dynamic components of the vocal motor pattern generator in mammals. This review explores how sensory cues arising from central auditory and somatosensory pathways actively guide the production of both simple sounds and complex phrases in mammals. While human speech is a uniquely sophisticated example of mammalian vocal behavior, other mammals can serve as examples of how sensory feedback guides complex vocal patterns. Echolocating bats in particular are unique in their absolute dependence on voice control for survival: these animals must constantly adjust the acoustic and temporal patterns of their orientation sounds to efficiently navigate and forage for insects at high speeds under the cover of darkness. Many species of bats also utter a broad repertoire of communication sounds. The functional neuroanatomy of the bat vocal motor pathway is basically identical to other mammals, but the acute significance of sensory feedback in echolocation has made this a profitable model system for studying general principles of sensorimotor integration with regard to vocalizing. Bats and humans are similar in that they both maintain precise control of many different voice parameters, both exhibit a similar suite of responses to altered auditory feedback, and for both the efficacy of sensory feedback depends upon behavioral context. By comparing similarities and differences in the ways sensory feedback influences voice in humans and bats, we may shed light on the basic architecture of the mammalian vocal motor system and perhaps be able to better distinguish those features of human vocal control that evolved uniquely in support of speech and language.

A neural basis for auditory feedback control of vocal pitch

Hearing one's own voice is essential for the production of correct vocalization patterns in many birds and mammals, including humans. Bats, for instance, adjust temporal, spectral, and intensity parameters of their echolocation calls by precisely monitoring the characteristics of the returning echo signals. However, neuronal substrates and mechanisms for auditory feedback control of vocalizations are still mostly unknown in any vertebrate. We used echolocating horseshoe bats to investigate the role of the midbrain and hindbrain tegmentum for the control of call frequencies in response to changing auditory feedback. These bats accurately control the frequency of their echolocation calls through auditory feedback both when the bat is at rest [resting frequency (RF)] and when it is flying and compensating for changes in echo frequency caused by flight-induced Doppler shifts [Doppler shift compensation (DSC)]. We iontophoretically injected various GABAergic and glutamatergic transmitter agonists and antagonists into the brainstem tegmentum. We found that within the parabrachial nuclei and the immediately adjacent tegmentum, excitatory effects caused by application of the glutamate agonist AMPA or the GABA(A) antagonist bicuculline raised RF and the frequency of calls emitted during DSC. Bicuculline application routinely blocked DSC altogether. Alternately, inhibitory effects caused by application of either the GABA(A) agonist muscimol or the AMPA antagonist CNQX lowered call frequencies emitted at rest and during DSC. Such an audio-vocal feedback mechanism might share basic aspects with audio-vocal feedback controlling the pitch of vocalizations in other mammals, including the involuntary response to "pitch-shifted feedback" in humans.