Forewing asymmetries during auditory avoidance in flying locusts

Automatic analysis and characterization of the hummingbird wings motion using dense optical flow features

A new method for automatic analysis and characterization of recorded hummingbird wing motion is proposed. The method starts by computing a multiscale dense optical flow field, which is used to segment the wings, i.e., pixels with larger velocities. Then, the kinematic and deformation of the wings were characterized as a temporal set of global and local measures: a global angular acceleration as a time function of each wing and a local acceleration profile that approximates the dynamics of the different wing segments. Additionally, the variance of the apparent velocity orientation estimates those wing foci with larger deformation. Finally a local measure of the orientation highlights those regions with maximal deformation. The approach was evaluated in a total of 91 flight cycles, captured using three different setups. The proposed measures follow the yaw turn hummingbird flight dynamics, with a strong correlation of all computed paths, reporting a standard deviation of [Formula: see text] and [Formula: see text] for the global angular acceleration and the global wing deformation respectively.

Responses of a pair of flying locusts to lateral looming visual stimuli

We presented a pair of locusts flying loosely tethered with laterally looming discs. Two experiments tested whether looming-evoked flight behaviour was affected by the presence (1) or relative position (2) of a conspecific. We recorded: the type of behavioural response, motion within 6 degrees of freedom, behavioural onset time and duration, distance between individuals and relative direction of motion. Response distributions of the locust furthest from the stimulus (L1) were not affected by the presence or relative position of a conspecific, whereas distributions of the closer locust (L2) were affected by its position relative to the stimulus. Motion tracks of L1 were affected by the presence of L2, which generated relatively robust responses directed forward and away from the stimulus. Translational and rotational motion of L1 differed across treatments in both experiments, whereas L2 motion was less sensitive to the presence or position of a conspecific. The start and duration of the behaviour were invariant to the presence or position of a conspecific and locust pairs maintained a fixed distance during responses to looming. Results suggest that looming-evoked behaviour is influenced by visual cues from a conspecific in the vicinity.

Reduction in neural performance following recovery from anoxic stress is mimicked by AMPK pathway activation

Nervous systems are energetically expensive to operate and maintain. Both synaptic and action potential signalling require a significant investment to maintain ion homeostasis. We have investigated the tuning of neural performance following a brief period of anoxia in a well-characterized visual pathway in the locust, the LGMD/DCMD looming motion-sensitive circuit. We hypothesised that the energetic cost of signalling can be dynamically modified by cellular mechanisms in response to metabolic stress. We examined whether recovery from anoxia resulted in a decrease in excitability of the electrophysiological properties in the DCMD neuron. We further examined the effect of these modifications on behavioural output. We show that recovery from anoxia affects metabolic rate, flight steering behaviour, and action potential properties. The effects of anoxia on action potentials can be mimicked by activation of the AMPK metabolic pathway. We suggest this is evidence of a coordinated cellular mechanism to reduce neural energetic demand following an anoxic stress. Together, this represents a dynamically-regulated means to link the energetic demands of neural signaling with the environmental constraints faced by the whole animal.

Bilateral flight muscle activity predicts wing kinematics and 3-dimensional body orientation of locusts responding to looming objects

We placed locusts in a wind tunnel using a loose tether design that allowed for motion in all three rotational degrees of freedom during presentation of a computer-generated looming disc. High-speed video allowed us to extract wing kinematics, abdomen position and 3-dimensional body orientation. Concurrent electromyographic (EMG) recordings monitored bilateral activity from the first basalar depressor muscles (m97) of the forewings, which are implicated in flight steering. Behavioural responses to a looming disc included cessation of flight (wings folded over the body), glides and active steering during sustained flight in addition to a decrease and increase in wingbeat frequency prior to and during, respectively, an evasive turn. Active steering involved shifts in bilateral m97 timing, wing asymmetries and whole-body rotations in the yaw (ψ), pitch (χ) and roll (η) planes. Changes in abdomen position and hindwing asymmetries occurred after turns were initiated. Forewing asymmetry and changes in η were most highly correlated with m97 spike latency. Correlations also increased as the disc approached, peaking prior to collision. On the inside of a turn, m97 spikes occurred earlier relative to forewing stroke reversal and bilateral timing corresponded to forewing asymmetry as well as changes in whole-body rotation. Double spikes in each m97 occurred most frequently at or immediately prior to the time the locusts turned, suggesting a behavioural significance. These data provide information on mechanisms underlying 3-dimensional flight manoeuvres and will be used to drive a closed loop flight simulator to study responses of motion-sensitive visual neurons during production of realistic behaviours.

Wingbeat kinematics and motor control of yaw turns in Anna's hummingbirds (Calypte anna)

The biomechanical and neuromuscular mechanisms used by different animals to generate turns in flight are highly variable. Body size and body plan exert some influence, e.g. birds typically roll their body to orient forces generated by the wings whereas insects are capable of turning via left-right wingbeat asymmetries. Turns are also relatively brief and have low repeatability, with almost every wingbeat serving a different function throughout the change in heading. Here we present an analysis of Anna's hummingbirds (Calypte anna) as they fed continuously from an artificial feeder revolving around the outside of the animal. This setup allowed for examination of sustained changes in yaw without requiring any corresponding changes in pitch, roll or body position. Hummingbirds sustained yaw turns by expanding the wing stroke amplitude of the outer wing during the downstroke and by altering the deviation of the wingtip path during both downstroke and upstroke. The latter led to a shift in the inner-outer stroke plane angle during the upstroke and shifts in the elevation of the stroke plane and in the deviation of the wingtip path during both strokes. These features are generally more similar to how insects, as opposed to birds, turn. However, time series analysis also revealed considerable stroke-to-stroke variation. Changes in the stroke amplitude and the wingtip velocity were highly cross-correlated, as were changes in the stroke deviation and the elevation of the stroke plane. As was the case for wingbeat kinematics, electromyogram recordings from pectoral and wing muscles were highly variable, but no correlations were found between these two features of motor control. The high variability of both kinematic and muscle activation features indicates a high level of wingbeat-to-wingbeat adjustments during sustained yaw. The activation timing of the muscles was more repeatable than the activation intensity, which suggests that the former may be constrained by harmonic motion and that the latter may play a large role in kinematic adjustments. Comparing the revolution frequency of the feeder with measurements of free flight yaws reveals that feeder tracking, even at one revolution every 2 s, is well below the maximum yaw capacity of the hummingbirds.

Role of wing pronation in evasive steering of locusts

Evasive steering is crucial for flying in a crowded environment such as a locust swarm. We investigated how flying locusts alter wing-flapping symmetry in response to a looming object approaching from the side. Desert locusts (Schistocerca gregaria) were tethered to a rotatable shaft that allowed them to initiate a banked turn. A visual stimulus of an expending disk on one side of the locust was used to evoke steering while recording the change in wingbeat kinematics and electromyography (EMG) of metathoracic wing depressors. Locusts responded to the looming object by rolling to the contralateral direction. During turning, EMG of hindwing depressors showed an omission of one action potential in the subalar depressor (M129) of the hindwing inside the turn. This omission was associated with increased pronation of the same wing, reducing its angle-of-attack during the downstroke. The link between spike-omission in M129 and wing pronation was verified by stimulating the hindwing depressor muscles with an artificial motor pattern that included the misfire of M129. These results suggest that hindwing pronation is instrumental in rotating the body to the side opposite of the approaching threat. Turning away from the threat would be highly adaptive for collision avoidance when flying in dense swarms.

The evolution of fidelity in sensory systems

We investigate the effect that noise has on the evolution of measurement strategies and competition in populations of organisms with sensory systems of differing fidelities. We address two questions motivated by experimental and theoretical work on sensory systems in noisy environments: (1) How complex must a sensory system be in order to face the need to develop adaptive measurement strategies that change depending on the noise level? (2) Does the principle of competitive exclusion for sensory systems force one population to win out over all others? We find that the answer to the first question is that even very simple sensory systems will need to change measurement strategies depending on the amount of noise in the environment. Interestingly, the answer to the second question is that, in general, at most two populations with different fidelity sensory systems may co-exist within a single environment.

Neuroethology of ultrasonic hearing in nocturnal butterflies (Hedyloidea)

Nocturnal Hedyloidea butterflies possess ultrasound-sensitive ears that mediate evasive flight maneuvers. Tympanal ear morphology, auditory physiology and behavioural responses to ultrasound are described for Macrosoma heliconiaria, and evidence for hearing is described for eight other hedylid species. The ear is formed by modifications of the cubital and subcostal veins at the forewing base, where the thin (1-3 microm), ovoid (520 x 220 microm) tympanal membrane occurs in a cavity. The ear is innervated by nerve IIN1c, with three chordotonal organs attaching to separate regions of the tympanal membrane. Extracellular recordings from IIN1c reveal sensory responses to ultrasonic (>20 kHz), but not low frequency (<10 kHz) sounds. Hearing is broadly tuned to frequencies between 40 and 80 kHz, with best thresholds around 60 dB SPL. Free flying butterflies exposed to ultrasound exhibit a variety of evasive maneuvers, characterized by sudden and unpredictable changes in direction, increased velocity, and durations of approximately 500 ms. Hedylid hearing is compared to that of several other insects that have independently evolved ears for the same purpose-bat detection. Hedylid hearing may also represent an interesting example of evolutionary divergence, since we demonstrate that the ears are homologous to low frequency ears in some diurnal Nymphalidae butterflies.

Sensory ecology of predator-prey interactions: responses of the AN2 interneuron in the field cricket, Teleogryllus oceanicus to the echolocation calls of sympatric bats

We observed the responses of the AN2 interneuron in the Pacific field cricket, Teleogryllus oceanicus, a cell implicated in eliciting avoidance flight away from bats, to acoustic stimuli representing the echolocation calls of bats as well as field recordings of search and gleaning attack calls of six species of insectivorous sympatric bats (West Australia, Australia: Tadarida australis, Chalinolobus goudii, Nyctophilus geoffroyi; Queensland, Australia: Vespadelus pumilus, Myotis adversus; Kaua'i, Hawai'i: Lasiurus cinereus). The broad frequency sensitivity of the AN2 cell indicates that T. oceanicus has evolved to detect a wide range of echolocation call frequencies. The reduced sensitivity of this cell at frequencies higher than 70 kHz suggests that some bats (e.g., the gleaning species, N. geoffroyi) may circumvent this insect's auditory defences by using frequency-mismatched (allotonic) calls. The calls of the freetail bat, T. australis evoked the strongest response in the AN2 cell but, ironically, this may allow this bat to prey upon T. oceanicus as previous studies report that under certain conditions, flying crickets exhibit ambiguous directional responses towards frequencies similar to those emitted by this bat. Short duration calls (1--2 ms) are sufficient to evoke AN2 responses with instantaneous spike periods capable of causing defensive flight behaviours; most bats tested emit calls of durations greater than this. The short calls of N. geoffroyi produced during gleaning attacks may reduce this species' acoustic conspicuousness to this cricket.

Turning manoeuvres in free-flying locusts: high-speed video-monitoring

High-speed video-monitoring (500 f/s) was employed to analyse the flight path of free-flying locusts. A 3-D reconstruction enabled the simultaneous documentation of the motion of the body and all four wings. Particular attention was paid to turning manoeuvres. It is shown that angular changes during yawing and rolling are closely related; both are coupled, enabling natural banking of a free-flying animal. Rolling depends on bilateral inequalities in stroking of both wing pairs, whereby the differences are more conspicuous for the forewings. A relatively shorter downstroke occurs for the "inner" side of a turn. The determination of the phase ratio allows a reliable description of the instantaneous rolling manoeuvre. There is no change in cycle duration correlated with turning. The downstroke shortening results from a slight delay of downstroke initiation and an advance of the upstroke reversal. In parallel, the stroke amplitude is reduced on the "inner" side. The effects of bilateral asymmetries are immediate; they influence the instantaneous wing-beat cycle, but not the subsequent cycle. These correlations are consistent, though variable, in their magnitude, as is to be expected for a complex system in which several parameters have to be combined for the behaviourally relevant output.

Turning manoeuvres in free-flying locusts: two-channel radio-telemetric transmission of muscle activity

A device has been constructed allowing the simultaneous transmission of two separate electrical signals in unrestrained small animals. We employed this device to investigate the motor output in free-flying locusts. The activation pattern of several combinations of different muscles was recorded, including bilateral symmetric muscles and pairs of antagonists. Particular attention was paid to the recruitment of a specific set of flight muscles in both winged segments during rolling manoeuvres. The relationship of the muscle activation with wing movement was analysed in combination with a high-speed video-monitoring. The muscles are activated in advance of the relevant stroke directions, in opposition to previous studies of tethered flying locusts. During turning manoeuvres a statistically significant difference in timing of the bilateral symmetric muscles is not apparent; this contrasts with the distinct difference revealed for the bilateral wing movement. It is discussed that rolling might rely on the fine tuned interaction of several major flight muscles or on the precise activation of a specific wing hinge muscle. Correspondence with investigations of bird flight is discussed.

The correlation between wing kinematics and steering muscle activity in the blowfly Calliphora vicina

Determining how the motor patterns of the nervous system are converted into the mechanical and behavioral output of the body is a central goal in the study of locomotion. In the case of dipteran flight, a population of small steering muscles controls many of the subtle changes in wing kinematics that allow flies to maneuver rapidly. We filmed the wing motion of tethered Calliphora vicina at high speed and simultaneously recorded multi-channel electromyographic signals from some of the prominent steering muscles in order to correlate kinematics with muscle activity. Using this analysis, we found that the timing of each spike in the basalare muscles was strongly correlated with changes in the deviation of the stroke plane during the downstroke. The relationship was non-linear such that the magnitude of the kinematic response to each muscle spike decreased with increasing levels of stroke deviation. This result suggests that downstroke deviation is controlled in part via the mechanical summation of basalare activity. We also found that interactions among the basalares and muscles III2–III4 determine the maximum forward amplitude of the wingstroke. In addition, activity in muscle I1 appears to participate in a wingbeat gearing mechanism, as previously proposed. Using these results, we have been able to correlate changes in wing kinematics with alteration in the spike rate, firing phase and combinatorial activity of identified steering muscles.

Mechanics and aerodynamics of insect flight control

Insects have evolved sophisticated fight control mechanisms permitting a remarkable range of manoeuvres. Here, I present a qualitative analysis of insect flight control from the perspective of flight mechanics, drawing upon both the neurophysiology and biomechanics literatures. The current literature does not permit a formal, quantitative analysis of flight control, because the aerodynamic force systems that biologists have measured have rarely been complete and the position of the centre of gravity has only been recorded in a few studies. Treating the two best-known insect orders (Diptera and Orthoptera) separately from other insects, I discuss the control mechanisms of different insects in detail. Recent experimental studies suggest that the helicopter model of flight control proposed for Drosophila spp. may be better thought of as a facultative strategy for flight control, rather than the fixed (albeit selected) constraint that it is usually interpreted to be. On the other hand, the so-called 'constant-lift reaction' of locusts appears not to be a reflex for maintaining constant lift at varying angles of attack, as is usually assumed, but rather a mechanism to restore the insect to pitch equilibrium following a disturbance. Differences in the kinematic control mechanisms used by the various insect orders are related to differences in the arrangement of the wings, the construction of the flight motor and the unsteady mechanisms of lift production that are used. Since the evolution of insect flight control is likely to have paralleled the evolutionary refinement of these unsteady aerodynamic mechanisms, taxonomic differences in the kinematics of control could provide an assay of the relative importance of different unsteady mechanisms. Although the control kinematics vary widely between orders, the number of degrees of freedom that different insects can control will always be limited by the number of independent control inputs that they use. Control of the moments about all three axes (as used by most conventional aircraft) has only been proven for larger flies and dragonflies, but is likely to be widespread in insects given the number of independent control inputs available to them. Unlike in conventional aircraft, however, insects' control inputs are likely to be highly non-orthogonal, and this will tend to complicate the neural processing required to separate the various motions.

Neural representation of sound amplitude by functionally different auditory receptors in crickets

The physiological characteristics of auditory receptor fibers (ARFs) of crickets, a model system for studying auditory behaviors and their neural mechanisms, are investigated. Unlike auditory receptor neurons of many animals, cricket ARFs fall into three distinct populations based on characteristic frequency (CF) [Imaizumi and Pollack, J. Neurosci. 19, 1508-1516 (1999)]. Two of these have CFs similar to the frequency component of communication signals or of ultrasound produced by predators, and a third population has intermediate CF. Here, sound-amplitude coding by ARFs is examined to gain insights to how behaviorally relevant sounds are encoded by populations of receptor neurons. ARFs involved in acoustic communication comprise two distinct anatomical types, which also differ in physiological parameters (threshold, response slope, dynamic range, minimum latency, and sharpness of tuning). Thus, based on CF and anatomy, ARFs comprise four populations. Physiological parameters are diverse, but within each population they are systematically related to threshold. The details of these relationships differ among the four populations. These findings open the possibility that different ARF populations differ in functional organization.

The forewing tegulae: their significance in steering manoeuvres and free flight in Locusta migratoria

The flight system of Locusta migratoria is widely used to investigate the principles of sensory-motor control. The four tegulae are proprioceptors of the flight system that are active during the downstroke and provide afferent input to flight-system neurons. While the role of the hindwing tegulae in the flight motor pattern has been well characterized, the role of the forewing tegulae is unclear. We tested whether the forewing tegulae may be more important for the generation of intentional steering manoeuvres than for generation of the basic flight motor pattern. Following ablation of the forewing tegulae, tethered flying locusts continued to generate characteristic intentional steering manoeuvres in open-loop conditions. In contrast, we found that locusts were less likely to sustain unrestrained free flight following ablation of the forewing tegulae. We also found that the number of spikes in a forewing depressor muscle increased, as did the hindwing to forewing delay in elevator-muscle activation after ablation of the forewing tegulae. We conclude that the forewing tegulae promote free flight in locusts and we discuss the role they may play in locust flight.