One antenna, two antennae, big antennae, small: total antennae length, not bilateral symmetry, predicts odor-tracking performance in the American cockroach Periplaneta americana

Active smelling in the American cockroach

Motion plays an essential role in sensory acquisition. From changing the position in which information can be acquired to fine-scale probing and active sensing, animals actively control the way they interact with the environment. In olfaction, movement impacts the time and location of odour sampling as well as the flow of odour molecules around the olfactory organs. Employing a detailed spatiotemporal analysis, we investigated how insect antennae interact with the olfactory environment in a species with a well-studied olfactory system - the American cockroach. Cockroaches were tested in a wind-tunnel setup during the presentation of odours with different attractivity levels: colony extract, butanol and linalool. Our analysis revealed significant changes in antennal kinematics when odours were presented, including a shift towards the stream position, an increase in vertical movement and high-frequency local oscillations. Nevertheless, the antennal shifting occurred predominantly in a single antenna while the overall range covered by both antennae was maintained throughout. These findings hold true for both static and moving stimuli and were more pronounced for attractive odours. Furthermore, we found that upon odour encounter, there was an increase in the occurrence of high-frequency antennal sweeps and vertical strokes, which were shown to impact the olfactory environment's statistics directly. Our study lays out a tractable system for exploring the tight coupling between sensing and movement, in which antennal sweeps, in parallel to mammalian sniffing, are actively involved in facilitating odour capture and transport, generating odour intermittency in environments with low air movement where cockroaches dwell.

Gain control in olfactory receptor neurons and the detection of temporal fluctuations in odor concentration

The ability of the cockroach to locate an odor source in still air suggests that the temporal dynamic of odor concentration in the slowly expanding stationary plume alone is used to infer odor source distance and location. This contradicts with the well-established view that insects use the wind direction as the principle directional cue. This contribution highlights the evidence for, and likely functional relevance of, the capacity of the cockroach's olfactory receptor neurons to detect and process-from one moment to the next-not only a succession of odor concentrations but also the rates at which concentration changes. This presents a challenge for the olfactory system because it must detect and encode the temporal concentration dynamic in a manner that simultaneously allows invariant odor recognition. The challenge is met by a parallel representation of odor identity and concentration changes in a dual pathway that starts from olfactory receptor neurons located in two morphologically distinct types of olfactory sensilla. Parallel processing uses two types of gain control that simultaneously allocate different weight to the instantaneous odor concentration and its rate of change. Robust gain control provides a stable sensitivity for the instantaneous concentration by filtering the information on fluctuations in the rate of change. Variable gain control, in turn, enhances sensitivity for the concentration rate according to variations in the duration of the fluctuation period. This efficiently represents the fluctuation of concentration changes in the environmental context in which such changes occur.

Olfactory navigation in arthropods

Using odors to find food and mates is one of the most ancient and highly conserved behaviors. Arthropods from flies to moths to crabs use broadly similar strategies to navigate toward odor sources-such as integrating flow information with odor information, comparing odor concentration across sensors, and integrating odor information over time. Because arthropods share many homologous brain structures-antennal lobes for processing olfactory information, mechanosensors for processing flow, mushroom bodies (or hemi-ellipsoid bodies) for associative learning, and central complexes for navigation, it is likely that these closely related behaviors are mediated by conserved neural circuits. However, differences in the types of odors they seek, the physics of odor dispersal, and the physics of locomotion in water, air, and on substrates mean that these circuits must have adapted to generate a wide diversity of odor-seeking behaviors. In this review, we discuss common strategies and specializations observed in olfactory navigation behavior across arthropods, and review our current knowledge about the neural circuits subserving this behavior. We propose that a comparative study of arthropod nervous systems may provide insight into how a set of basic circuit structures has diversified to generate behavior adapted to different environments.

Multielectrode recordings of cockroach antennal lobe neurons in response to temporal dynamics of odor concentrations

The initial representation of the instantaneous temporal information about food odor concentration in the primary olfactory center, the antennal lobe, was examined by simultaneously recording the activity of antagonistic ON and OFF neurons with 4-channel tetrodes. During presentation of pulse-like concentration changes, ON neurons encode the rapid concentration increase at pulse onset and the pulse duration, and OFF neurons the rapid concentration decrease at pulse offset and the duration of the pulse interval. A group of ON neurons establish a concentration-invariant representation of odor pulses. The responses of ON and OFF neurons to oscillating changes in odor concentration are determined by the rate of change in dependence on the duration of the oscillation period. By adjusting sensitivity for fluctuating concentrations, these neurons improve the representation of the rate of the changing concentration. In other ON and OFF neurons, the response to changing concentrations is invariant to large variations in the rate of change due to variations in the oscillation period, facilitating odor identification in the antennal-lobe. The independent processing of odor identity and the temporal dynamics of odor concentration may speed up processing time and improve behavioral performance associated with plume tracking, especially when the air is not moving.

Behavioral algorithms and neural mechanisms underlying odor-modulated locomotion in insects

Odors released from mates and resources such as a host and food are often the first sensory signals that an animal can detect. Changes in locomotion in response to odors are an important mechanism by which animals access resources important to their survival. Odor-modulated changes in locomotion in insects constitute a whole suite of flexible behaviors that allow insects to close in on these resources from long distances and perform local searches to locate and subsequently assess them. Here, we review changes in odor-mediated locomotion across many insect species. We emphasize that changes in locomotion induced by odors are diverse. In particular, the olfactory stimulus is sporadic at long distances and becomes more continuous at short distances. This distance-dependent change in temporal profile produces a corresponding change in an insect's locomotory strategy. We also discuss the neural circuits underlying odor modulation of locomotion.

Preference and effect of gustatory sense on sugar-feeding of fire ants

BACKGROUND

The red imported fire ant is one of the notorious species of ants all over the world. Sugar is one of the most important components of food and necessary for the survival of ants. Because more than 70% food of fire ants is honeydew produced by Homopteran insects such as aphids and scales.

METHODOLOGY

It is well known that beetles, flies, and honey bees can recognize the sugar taste through their legs and antennae, but in the case of fire ants, no records regarding gustatory sense were published. In the current study, considering the importance of sugar bait, we investigated the gustatory sense of the fire ant workers to sucrose via behavioral sequence and gustatory behavior. First, the feeding sequence (ethogram) of the fire ant workers on most preferred sugar (sucrose) solution was observed and categorized. Secondly, the gustatory behavior of treated fire ant workers (without flagellum and foreleg tarsi treated with HCL solution) was observed on the sucrose solution. In addition, using scanning electron microscopy (SEM) techniques, we identified the possible porous sensilla types on antenna flagellum and foreleg tarsi of fire ant workers.

RESULTS

Based on the results of feeding sequence, foreleg tarsi of workers were the main body appendages in the detection of the sucrose droplet as compared to antennae flagellum and palps. Feeding time of treated workers with HCL solution was significantly decreased on sucrose solution as compared to those workers having no flagellum. While both types of treated workers have less feeding time in comparison to normal workers. Based on the results of feeding sequence analysis and feeding time, it is indicating that the foreleg tarsi of workers play a more important role in the detection of sucrose solution as compared to antennae flagellum. Based on the SEM results, sensilla chaetic, trichoid II, and basiconic I and II have a clear pore at their tip. This study provides a substantial basis for elucidating the gustatory function of antennal and tarsal sensilla on appendages of fire ant workers to sugars and further baits improvement for the management of fire ants.

Eusociality and Senescence: Neuroprotection and Physiological Resilience to Aging in Insect and Mammalian Systems

Are eusociality and extraordinary aging polyphenisms evolutionarily coupled? The remarkable disparity in longevity between social insect queens and sterile workers-decades vs. months, respectively-has long been recognized. In mammals, the lifespan of eusocial naked mole rats is extremely long-roughly 10 times greater than that of mice. Is this robustness to senescence associated with social evolution and shared mechanisms of developmental timing, neuroprotection, antioxidant defenses, and neurophysiology? Focusing on brain senescence, we examine correlates and consequences of aging across two divergent eusocial clades and how they differ from solitary taxa. Chronological age and physiological indicators of neural deterioration, including DNA damage or cell death, appear to be decoupled in eusocial insects. In some species, brain cell death does not increase with worker age and DNA damage occurs at similar rates between queens and workers. In comparison, naked mole rats exhibit characteristics of neonatal mice such as protracted development that may offer protection from aging and environmental stressors. Antioxidant defenses appear to be regulated differently across taxa, suggesting independent adaptations to life history and environment. Eusocial insects and naked mole rats appear to have evolved different mechanisms that lead to similar senescence-resistant phenotypes. Careful selection of comparison taxa and further exploration of the role of metabolism in aging can reveal mechanisms that preserve brain functionality and physiological resilience in eusocial species.

Spatial odor discrimination in the hawkmoth, Manduca sexta (L.)

Flying insects track turbulent odor plumes to find mates, food and egg-laying sites. To maintain contact with the plume, insects are thought to adapt their flight control according to the distribution of odor in the plume using the timing of odor onsets and intervals between odor encounters. Although timing cues are important, few studies have addressed whether insects are capable of deriving spatial information about odor distribution from bilateral comparisons between their antennae in flight. The proboscis extension reflex (PER) associative learning protocol, originally developed to study odor learning in honeybees, was used as a tool to ask if hawkmoths, Manduca sexta, can discriminate between odor stimuli arriving on either antenna. We show moths discriminated the odor arrival side with an accuracy of >70%. Information about spatial distribution of odor stimuli may be available to moths searching for odor sources, opening the possibility that they use both spatial and temporal odor information.This article has an associated First Person interview with the first author of the paper.

The Performance of Olfactory Receptor Neurons: The Rate of Concentration Change Indicates Functional Specializations in the Cockroach Peripheral Olfactory System

Slow and continuous changes in odor concentration were used as a possible easy method for measuring the effect of the instantaneous concentration and the rate of concentration change on the activity of the olfactory receptor neurons (ORNs) of basiconic sensilla on the cockroach antennae. During oscillating concentration changes, impulse frequency increased with rising instantaneous concentration and this increase was stronger the faster concentration rose through the higher concentration values. The effect of the concentration rate on the ORNs responses to the instantaneous concentration was invariant to the duration of the oscillation period: shallow concentration waves provided by long periods elicited the same response to the instantaneous concentration as steep concentration waves at brief periods. Thus, the double dependence remained unchanged when the range of concentration rates varied. This distinguishes the ORNs of basiconic sensilla from those of trichoid sensilla (Tichy and Hellwig, 2018) which adjust their gain of response according to the duration of the oscillating period. The precision of the ORNs to discriminate increments of slowly rising odor concentration was studied by applying gradual ramp-like concentration changes at different rates. While the ORNs of the trichoid sensilla perform better the slower the concentration rate, those of the basiconic sensilla show no preference for a specific rate of concentration increase. This suggests that the two types of sensilla have different functions. The ORNs of the trichoid sensilla may predominately analyze temporal features of the odor signal and the ORNs of the basiconic sensilla may be involved in extracting information on the identity of the odor source instead of mediating the spatial-temporal concentration pattern in an odor plume.

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.

Developing and testing of an air dilution flow olfactometer with known rates of concentration change

BACKGROUND

Concentration is a variable aspect of an odor signal and determines the operation range of olfactory receptor neurons (ORNs). A concentration increase is perceived as an odor stimulus. The role that the rate of concentration increase plays thereby has been studied with electrophysiological techniques in ORNs of the cockroach. A key prerequisite for these studies was the development of an air dilution flow olfactometer that allowed testing the same change in concentration at various rates.

NEW METHOD

The rate of concentration change was controlled and varied by changing the mixing ratio of odor-saturated and clean air by means of proportional valves. Their input voltages were phase shifted by 180° to hold the mixed air at a particular constant volume flow rate.

RESULTS

Using this stimulation technique, we identified, in a morphologically distinct sensillum on the cockroach's antenna, antagonistically responding ON and OFF ORNs which display a high sensitivity for slow changes in odor concentration.

COMPARISON WITH EXISTING METHODS

The olfactometer is unique because it enables delivering slowly oscillating concentration changes. By varying the oscillation period, the individual effects of the instantaneous odor concentration and its rate of change on the ORNs' responses can be determined.

CONCLUSIONS

The olfactometer provides a new experimental approach in the study of odor coding and opens the door for improved comparative studies on olfactory systems. It would be important to gain insight into the ORNs' ability to detect the rate of concentration change in other insects that use odors for orientation in different contexts.

Coding of odour and space in the hemimetabolous insect Periplaneta americana

The general architecture of the olfactory system is highly conserved from insects to humans, but neuroanatomical and physiological differences can be observed across species. The American cockroach, inhabiting dark shelters with a rather stable olfactory landscape, is equipped with long antennae used for sampling the surrounding air-space for orientation and navigation. The antennae's exceptional length provides a wide spatial working range for odour detection; however, it is still largely unknown whether and how this is also used for mapping the structure of the olfactory environment. By selectively labelling antennal lobe projection neurons with a calcium-sensitive dye, we investigated the logic of olfactory coding in this hemimetabolous insect. We show that odour responses are stimulus specific and concentration dependent, and that structurally related odorants evoke physiologically similar responses. By using spatially confined stimuli, we show that proximal stimulations induce stronger and faster responses than distal ones. Spatially confined stimuli of the female pheromone periplanone B activate a subregion of the male macroglomerulus. Thus, we report that the combinatorial logic of odour coding deduced from holometabolous insects applies also to this hemimetabolous species. Furthermore, a fast decrease in sensitivity along the antenna, not supported by a proportionate decrease in sensillar density, suggests a neural architecture that strongly emphasizes neuronal inputs from the proximal portion of the antenna.

Odors: from chemical structures to gaseous plumes

We are immersed within an odorous sea of chemical currents that we parse into individual odors with complex structures. Odors have been posited as determined by the structural relation between the molecules that compose the chemical compounds and their interactions with the receptor site. But, naturally occurring smells are parsed from gaseous odor plumes. To give a comprehensive account of the nature of odors the chemosciences must account for these large distributed entities as well. We offer a focused review of what is known about the perception of odor plumes for olfactory navigation and tracking, which we then connect to what is known about the role odorants play as properties of the plume in determining odor identity with respect to odor quality. We end by motivating our central claim that more research needs to be conducted on the role that odorants play within the odor plume in determining odor identity.

Separate But Interactive Parallel Olfactory Processing Streams Governed by Different Types of GABAergic Feedback Neurons in the Mushroom Body of a Basal Insect

The basic organization of the olfactory system has been the subject of extensive studies in vertebrates and invertebrates. In many animals, GABA-ergic neurons inhibit spike activities of higher-order olfactory neurons and help sparsening of their odor representations. In the cockroach, two different types of GABA-immunoreactive interneurons (calyceal giants [CGs]) mainly project to the base and lip regions of the calyces (input areas) of the mushroom body (MB), a second-order olfactory center. The base and lip regions receive axon terminals of two different types of projection neurons, which receive synapses from different classes of olfactory sensory neurons (OSNs), and receive dendrites of different classes of Kenyon cells, MB intrinsic neurons. We performed intracellular recordings from pairs of CGs and MB output neurons (MBONs) of male American cockroaches, the latter receiving synapses from Kenyon cells, and we found that a CG receives excitatory synapses from an MBON and that odor responses of the MBON are changed by current injection into the CG. Such feedback effects, however, were often weak or absent in pairs of neurons that belong to different streams, suggesting parallel organization of the recurrent pathways, although interactions between different streams were also evident. Cross-covariance analysis of the spike activities of CGs and MBONs suggested that odor stimulation produces synchronized spike activities in MBONs and then in CGs. We suggest that there are separate but interactive parallel streams to process odors detected by different OSNs throughout the olfactory processing system in cockroaches.SIGNIFICANCE STATEMENT Organizational principles of the olfactory system have been the subject of extensive studies. In cockroaches, signals from olfactory sensory neurons (OSNs) in two different classes of sensilla are sent to two different classes of projection neurons, which terminate in different areas of the mushroom body (MB), each area having dendrites of different classes of MB intrinsic neurons (Kenyon cells) and terminations of different classes of GABAergic neurons. Physiological and morphological assessments derived from simultaneous intracellular recordings/stainings from GABAergic neurons and MB output neurons suggested that GABAergic neurons play feedback roles and that odors detected by OSNs are processed in separate but interactive processing streams throughout the central olfactory system.

Neuroscience: An Olfactory Homunculus in the Insect Brain

Animals can follow olfactory traces to find food, detect a sexual mate, or avoid predators. A new study reveals that pheromone-specific projection neurons in the cockroach have a spatially tuned receptive field, and allow encoding spatial information of an odorant.

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.

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

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

Two types of sensory proliferation patterns underlie the formation of spatially tuned olfactory receptive fields in the cockroach Periplaneta americana

In the cockroach Periplaneta americana, to represent pheromone source in the receptive space, axon terminals of sex pheromone-receptive olfactory sensory neurons (pSNs) are topographically organized within the primary center, the macroglomerulus, according to the peripheral locations of sex pheromone-receptive single walled (sw)-B sensilla. In this study, we sought to determine when and where pSNs emerge in the nymphal antenna. We revealed two different pSN proliferation patterns that underlie the formation of topographic organization in the macroglomerulus. In nymphal antennae, which lack sw-B sensilla, pSNs are identified in the shorter sensilla, termed sw-A sensilla. Because new sw-A sensilla emerge on the proximal antenna at every molt, topographic organization in the macroglomerulus must be formed by adding axon terminals of newly emerged pSNs to the lateral region in the macroglomerulus at each molt. At the final molt, a huge number of new sw-B sensilla appeared throughout the whole antenna. Sw-B sensilla in the proximal part of the adult antenna were newly formed during the last instar stage, whereas those located in the distal antenna were transformed from sw-A sensilla. This transformation was accompanied by an increase in the number of pSNs. Axon terminals of newborn pSNs in new sw-B sensilla were recruited to the lateral part of the macroglomerulus, whereas those of newborn pSNs in transformed sw-B sensilla were recruited to the macroglomerulus according to the sensillar location. These mechanisms enable an increase in sensitivity to sex pheromone in adulthood while retaining the topographic map formed during the postembryonic development.

Current Source Density Analysis of Electroantennogram Recordings: A Tool for Mapping the Olfactory Response in an Insect Antenna

The set of chemosensory receptors expressed by the olfactory receptor neurons lying in an insect's antennae and maxillary palps define the ability of this insect to perceive the volatile chemicals of its environment. The main two electrophysiological methods of antennal recordings for studying the range of chemicals that activate chemosensory receptors have limitations. Single-sensillum recording (SSR) samples a subset of olfactory receptor neurons and therefore does not reveal the full capacity of an insect to perceive an odor. Electroantennography (EAG), even if less resolutive than SSRs, is sometimes preferred since it samples the activity of a large number of the olfactory receptor neurons. But, at least in flies, the amplitude of the EAG signal is not directly correlated with the degree of sensitivity of the insect to the olfactory compound. Such dual methodology was also used to study mammalian brains, and the current source density (CSD) analysis was developed to bridge the gap between the cellular and the population recordings. This paper details the use of a similar approach adapted to the study of olfactory responses within insects with bulbous antennae. The EAG was recorded at multiple antennal positions and the CSD that generates the EAG potentials were estimated. The method measures the activation of olfactory receptor neurons (ORNs) across the antennae and thus it quantifies the olfactory sensitivity of the insect. It allows a rapid mapping of olfactory responses and thus can be used to guide further SSRs or to determine that two chemicals are detected by independent ORNs. This study further explored biases resulting from a limited number of recording positions or from an approximation of the antennal geometry that should be considered for interpreting the CSD maps. It also shows that the CSD analysis of EAGs is compatible with a gas chromatograph stimulator for analyzing the response to complex odors. Finally, I discuss the origin of the EAG signal in light of the CSD theory.

Spatial Receptive Fields for Odor Localization

Animals rely on olfaction to navigate through complex olfactory landscapes, but the mechanisms that allow an animal to encode the spatial structure of an odorous environment remain unclear. To acquire information about the spatial distribution of an odorant, animals may rely on bilateral olfactory organs and compare side differences of odor intensity and timing [1-6] or may perform spatial and temporal signal integration of subsequent samplings [7]. The American cockroach can efficiently locate a source of sex pheromone even after the removal of one antenna, suggesting that bilateral comparison is not a prerequisite for odor localization in this species [8, 9]. Cognate olfactory sensory neurons (OSNs) originating from different locations on the flagellum, but bearing the same olfactory receptor, converge onto the same glomerulus within the antennal lobe, which is thought to result in a loss of spatial information. Here, we identified 12 types of pheromone-responsive projection neurons (PNs), each with spatially tuned receptive field. The combination of (1) the antennotopic organization of OSNs terminals and (2) the stereotyped compartmentalization of PNs' dendritic arborization within the macroglomerulus (MG), allows encoding the spatial position of the pheromone. Furthermore, each PN type innervates a different compartment of the mushroom body, providing the means for encoding spatial olfactory information along the olfactory circuit. Finally, MG PNs exhibit both excitatory and inhibitory spatial receptive fields and modulate their responses based on changes in stimulus geometry. In conclusion, we propose a mechanism for encoding information on the spatial distribution of a pheromone, expanding both our understanding of odor coding and of the strategies insects adopt to localize a sexual mate.

Using insects to drive mobile robots - hybrid robots bridge the gap between biological and artificial systems

The use of mobile robots is an effective method of validating sensory-motor models of animals in a real environment. The well-identified insect sensory-motor systems have been the major targets for modeling. Furthermore, mobile robots implemented with such insect models attract engineers who aim to avail advantages from organisms. However, directly comparing the robots with real insects is still difficult, even if we successfully model the biological systems, because of the physical differences between them. We developed a hybrid robot to bridge the gap. This hybrid robot is an insect-controlled robot, in which a tethered male silkmoth (Bombyx mori) drives the robot in order to localize an odor source. This robot has the following three advantages: 1) from a biomimetic perspective, the robot enables us to evaluate the potential performance of future insect-mimetic robots; 2) from a biological perspective, the robot enables us to manipulate the closed-loop of an onboard insect for further understanding of its sensory-motor system; and 3) the robot enables comparison with insect models as a reference biological system. In this paper, we review the recent works regarding insect-controlled robots and discuss the significance for both engineering and biology.

The Rate of Concentration Change and How It Determines the Resolving Power of Olfactory Receptor Neurons

The response characteristics of olfactory receptor neurons (ORNs) and their corollary, the differential sensitivity and the resolving power, are fundamental to understand olfactory coding and the information extracted from a fluctuating olfactory signal. Previous work has focused on the temporal resolution of odor pulses presented for very brief periods at varying concentrations. The time course of the odor pulses as a stimulus parameter has not been considered. The present study investigated the precision of the ON and OFF ORNs on the antennae of the cockroach to discriminate increments and decrements of continuously rising and falling odor concentrations. Stimulation consisted of ramp-like upward and downward concentration changes in a trapezoid fashion. By varying ramp steepness, we examined the effect of the rate of concentration change. Both ORNs were clearly dependent on continuously rising and falling odor concentrations. As the rate of upward and downward concentration changes increases, differential sensitivity improves. Since the scatter of responses around the stimulus-response functions also increases, the resolving power for concentration increments and decrements deteriorates. Thus, the slower the rate of concentration change, the higher the precision in differentiating small concentration changes. Intuitively, the inverse relationship between the rate of concentration change and the resolving power is not surprising because accuracy requires time. A high degree of precision at slow concentration rates enables the cockroach to use information about the onset and offset slopes of odor pulses in addition to the pulse height to encode the spatial-temporal structure of turbulent odor plumes.