Biosonar interpulse intervals and pulse-echo ambiguity in four species of echolocating bats

Adaptive temporal patterns of echolocation and flight behaviors used to fly through varied-sized windows by two species of high duty cycle bats

As actively sensing animals guided by acoustic information, echolocating bats must adapt their vocal-motor behavior to various environments and behavioral tasks. Here, we investigated how the temporal patterns of echolocation and flight behavior were adjusted in two species of bats with a high duty cycle (HDC) call structure, Rhinolophus ferrumequinum and Hipposideros armiger, when they flew along a straight corridor and then passed through windows of three different sizes. We also tested whether divergence existed in the adaptations of the two species. Both H. armiger and R. ferrumequinum increased their call rates by shortening the pulse duration and inter-pulse interval for more rapid spatial sampling of the environment when flying through smaller windows. Bats produced more sonar sound groups (SSGs) while maintaining a stable proportion of calls that made up SSGs during approaches to smaller windows. The two species showed divergent adjustment in flight behavior across three different window sizes. Hipposideros armiger reduced its flight speed to pass through smaller windows while R. ferrumequinum increased its flight speed. Our results suggest that these two species of HDC bats adopt similar acoustic timing patterns for different tasks although they performed different flight behaviors.

Echo reception in group flight by Japanese horseshoe bats, Rhinolophus ferrumequinum nippon

The ability to detect behaviourally relevant sensory information is crucial for survival. Especially when active-sensing animals behave in proximity, mutual interferences may occur. The aim of this study was to examine how active-sensing animals deal with mutual interferences. Echolocation pulses and returning echoes were compared in spaces of various sizes (wide and narrow) in Rhinolophus ferrumequinum nippon flying alone or in a group of three bats. We found that in the narrow space, the group-flying bats increased the duration and bandwidth of the terminal frequency-modulated component of their vocalizations. By contrast, the frequency of the returning echoes did not differ in the presence of conspecifics. We found that their own echo frequencies were compensated within the narrow frequency ranges by Doppler shift compensation. By contrast, the estimated frequencies of the received pulses emitted by the other bats were much more broadly distributed than their echoes. Our results suggest that the bat auditory systems are sharply tuned to a narrow frequency to filter spectral interference from other bats.

Effectiveness of time-varying echo information for target geometry identification in bat-inspired human echolocation

Bats use echolocation through flexible active sensing via ultrasounds to identify environments suitable for their habitat and foraging. Mimicking the sensing strategies of bats for echolocation, this study examined how humans acquire new acoustic-sensing abilities, and proposes effective strategies for humans. A target geometry identification experiment—involving 15 sighted people without experience of echolocation—was conducted using two targets with different geometries, based on a new sensing system. Broadband frequency-modulated pulses with short inter-pulse intervals (16 ms) were used as a synthetic echolocation signal. Such pulses mimic buzz signals emitted by bats for echolocation prior to capturing their prey. The study participants emitted the signal from a loudspeaker by tapping on Android devices. Because the signal included high-frequency signals up to 41 kHz, the emitted signal and echoes from a stationary or rotating target were recorded using a 1/7-scaled miniature dummy head. Binaural sounds, whose pitch was down-converted, were presented through headphones. This way, time-varying echo information was made available as an acoustic cue for target geometry identification under a rotating condition, as opposed to a stationary one. In both trials, with (i.e., training trials) and without (i.e., test trials) answer feedback immediately after the participants answered, the participants identified the geometries under the rotating condition. Majority of the participants reported using time-varying patterns in terms of echo intensity, timbre, and/or pitch under the rotating condition. The results suggest that using time-varying patterns in echo intensity, timbre, and/or pitch enables humans to identify target geometries. However, performance significantly differed by condition (i.e., stationary vs. rotating) only in the test trials. This difference suggests that time-varying echo information is effective for identifying target geometry through human echolocation especially when echolocators are unable to obtain answer feedback during sensing.

A comprehensive computational model of animal biosonar signal processing

Computational models of animal biosonar seek to identify critical aspects of echo processing responsible for the superior, real-time performance of echolocating bats and dolphins in target tracking and clutter rejection. The Spectrogram Correlation and Transformation (SCAT) model replicates aspects of biosonar imaging in both species by processing wideband biosonar sounds and echoes with auditory mechanisms identified from experiments with bats. The model acquires broadband biosonar broadcasts and echoes, represents them as time-frequency spectrograms using parallel bandpass filters, translates the filtered signals into ten parallel amplitude threshold levels, and then operates on the resulting time-of-occurrence values at each frequency to estimate overall echo range delay. It uses the structure of the echo spectrum by depicting it as a series of local frequency nulls arranged regularly along the frequency axis of the spectrograms after dechirping them relative to the broadcast. Computations take place entirely on the timing of threshold-crossing events for each echo relative to threshold-events for the broadcast. Threshold-crossing times take into account amplitude-latency trading, a physiological feature absent from conventional digital signal processing. Amplitude-latency trading transposes the profile of amplitudes across frequencies into a profile of time-registrations across frequencies. Target shape is extracted from the spacing of the object's individual acoustic reflecting points, or glints, using the mutual interference pattern of peaks and nulls in the echo spectrum. These are merged with the overall range-delay estimate to produce a delay-based reconstruction of the object's distance as well as its glints. Clutter echoes indiscriminately activate multiple parts in the null-detecting system, which then produces the equivalent glint-delay spacings in images, thus blurring the overall echo-delay estimates by adding spurious glint delays to the image. Blurring acts as an anticorrelation process that rejects clutter intrusion into perceptions.

How frequency hopping suppresses pulse-echo ambiguity in bat biosonar

The wide frequency spectrum of FM bat biosonar sounds enables accurate perception of echo delay (target distance) by contributing numerous delay estimates across frequencies. However, bats require the lowest frequencies in the broadcast to be present in echoes for all higher frequencies to contribute, too. By incorporating this feature into an existing auditory model of FM biosonar, the model can reject echoes that lack the lowest frequencies in the most recent broadcast, thus suppressing echoes of an earlier broadcast that has slightly higher low-end frequencies. This biologically inspired method adopts the bat’s frequency-hopping technique to suppress pulse-echo ambiguity in wideband systems, a serious problem for man-made wideband radar and sonar systems.

Big brown bats transmit wideband FM biosonar sounds that sweep from 55 to 25 kHz (first harmonic, FM1) and from 110 to 50 kHz (second harmonic, FM2). FM1 is required to perceive echo delay for target ranging; FM2 contributes only if corresponding FM1 frequencies are present. We show that echoes need only the lowest FM1 broadcast frequencies of 25 to 30 kHz for delay perception. If these frequencies are removed, no delay is perceived. Bats begin echo processing at the lowest frequencies and accumulate perceptual acuity over successively higher frequencies, but they cannot proceed without the low-frequency starting point in their broadcasts. This reveals a solution to pulse-echo ambiguity, a serious problem for radar or sonar. In dense, extended biosonar scenes, bats have to emit sounds rapidly to avoid collisions with near objects. But if a new broadcast is emitted when echoes of the previous broadcast still are arriving, echoes from both broadcasts intermingle, creating ambiguity about which echo corresponds to which broadcast. Frequency hopping by several kilohertz from one broadcast to the next can segregate overlapping narrowband echo streams, but wideband FM echoes ordinarily do not segregate because their spectra still overlap. By starting echo processing at the lowest frequencies in frequency-hopped broadcasts, echoes of the higher hopped broadcast are prevented from being accepted by lower hopped broadcasts, and ambiguity is avoided. The bat-inspired spectrogram correlation and transformation (SCAT) model also begins at the lowest frequencies; echoes that lack them are eliminated from processing of delay and no longer cause ambiguity.

Echolocation while drinking: Pulse-timing strategies by high- and low-frequency FM bats

During nightly foraging activity, echolocating bats drink by flying low over the water surface and dipping the lower jaw while avoiding further bodily contact with the water. This task poses different sensorimotor challenges than flying in the open to forage for insects. Of interest is how bats adjust the timing of their echolocation pulses to accommodate the surrounding scene, from the progressively nearer water surface itself to objects at longer distances. Drinking behavior has been described in only a few of the roughly 1,000 echolocating bat species, and in none of the 110 species in the Indian subcontinent. Here, we describe how bats emitting frequency-modulated (FM) echolocation pulses behaved while drinking from a swimming pool in urban northeast India. At least two different bat species were present, using 1^st-harmonic frequencies sweeping down to about 35 Hz ("low frequency") and down to about 50 kHz ("high frequency"), separable at a 40 kHz boundary. Over entire drinking maneuvers, intervals between broadcast pulses accommodate both the proximate task of registering the water surface while drinking and registering echoes from the farther reaches of the scene. During approach to the water, both low and high frequency bats emit longer, more stable interpulse intervals that matched the time interval covering echo arrival-times out to the frequency-dependent maximum operating range. High frequency bats use shorter interpulse intervals than low frequency bats, consistent with the shorter operating range at higher frequencies. Bats then accelerate their pulse rate to guide the dive down to drinking, with low frequency bats continuing to decrease pulse intervals and high frequency bats maintaining a more steady interval during the drinking buzz. The circumstance that both groups were engaged in the same task made this a natural experiment on the behavior during approach.