Spatial integration in polarization-sensitive interneurones of crickets: a survey of evidence, mechanisms and benefits

Species-specific circuitry of double cone photoreceptors in two avian retinas

In most avian retinas, double cones (consisting of a principal and accessory member) outnumber other photoreceptor types and have been associated with various functions, such as encoding luminance, sensing polarized light, and magnetoreception. However, their down-stream circuitry is poorly understood, particularly across bird species. Analysing species differences is important to understand changes in circuitry driven by ecological adaptations. We compare the ultrastructure of double cones and their postsynaptic bipolar cells between a night-migratory European robin and non-migratory chicken. We discover four previously unidentified bipolar cell types in the European robin retina, including midget-like bipolar cells mainly connected to one principal member. A downstream ganglion cell reveals a complete midget-like circuit similar to a circuit in the peripheral primate retina. Additionally, we identify a selective circuit transmitting information from a specific subset of accessory members. Our data highlight species-specific differences in double cone to bipolar cell connectivity, potentially reflecting ecological adaptations.

Polarisation vision in the dark: green-sensitive photoreceptors in the nocturnal ball-rolling dung beetle Escarabaeus satyrus

Many insects utilise the polarisation pattern of the sky to adjust their travelling directions. The extraction of directional information from this sky-wide cue is mediated by specialised photoreceptors located in the dorsal rim area (DRA). While this part of the eye is known to be sensitive to the ultraviolet, blue or green component of skylight, the latter has only been observed in insects active in dim light. To address the functional significance of green polarisation sensitivity, we define the spectral and morphological adaptations of the DRA in a nocturnal ball-rolling dung beetle-the only family of insects demonstrated to orient to the dim polarisation pattern in the night sky. Intracellular recordings revealed polarisation-sensitive green photoreceptors in the DRA of Escarabaeus satyrus. Behavioural experiments verified the navigational relevance of this finding. To quantify the adaptive value of green sensitivity for celestial orientation at night, we also obtained the polarisation properties of the night sky in the natural habitat of the beetle. Calculations of relative photon catch revealed that under a moonlit sky the green-sensitive DRA photoreceptors can be expected to catch an order of magnitude more photons compared with the UV-sensitive photoreceptors in the main retina. The green-sensitive photoreceptors - which also show a range of morphological adaptations for enhanced sensitivity - provide E. satyrus with a highly sensitive system for the extraction of directional information from the night sky.

Performance of polarization-sensitive neurons of the locust central complex at different degrees of polarization

The polarization pattern of the sky is exploited by many insects for spatial orientation and navigation. It derives from Rayleigh scattering in the atmosphere and depends directly on the position of the sun. In the insect brain, the central complex (CX) houses neurons tuned to the angle of polarization (AoP), that together constitute an internal compass for celestial navigation. Polarized light is not only characterized by the AoP, but also by the degree of polarization (DoP), which can be highly variable, depending on sky conditions. Under a clear sky, the DoP of polarized sky light may reach up to 0.75 but is usually much lower especially when light is scattered by clouds or haze. To investigate how the polarization-processing network of the CX copes with low DoPs, we recorded intracellularly from neurons of the locust CX at different stages of processing, while stimulating with light of different DoPs. Significant responses to polarized light occurred down to DoPs of 0.05 indicating reliable coding of the AoP even at unfavorable sky conditions. Moreover, we found that the activity of neurons at the CX input stage may be strongly influenced by nearly unpolarized light, while the activity of downstream neurons appears less affected.

Possible Role of Polarized Light Information in Spatial Recognition in the Cricket Gryllus bimaculatus

Many insects are able to use skylight e-vector patterns to deduce their heading direction. Crickets have been well known to orient themselves to certain e-vector orientations to keep their walking direction. However, it is still unknown if crickets are able to utilize polarized light information for spatial recognition. Using an experimental paradigm similar to the Morris water maze for rodents, here we examine the possibility that the cricket Gryllus bimaculatus can utilize polarized light information to find the target place. Crickets were placed in a round arena with a heated floor, a portion of which was cooled, and a cross-shaped e-vector pattern was presented from the top of the arena so that the cricket could find the cool spot by walking along the e-vector direction. When the arrangement of the e-vector pattern and the cool spot were fixed throughout the experiments, the time and the walking distance to find the cool spot were significantly decreased with increasing trials, but not when the e-vector pattern was rotated between each trial. Moreover, a model selection indicated that the visual stimulus contributed to the decrease in time and distance. To investigate the cricket's exploration patterns in the arena, a test trial in which the whole floor was uniformly heated was performed before and after the training trials. In the test trial, the crickets trained with the positionally fixed e-vector pattern showed wall-following behavior for a significantly longer time than those untrained and those trained with random e-vector patterns.

A visual pathway for skylight polarization processing in Drosophila

Many insects use patterns of polarized light in the sky to orient and navigate. Here, we functionally characterize neural circuitry in the fruit fly, Drosophila melanogaster, that conveys polarized light signals from the eye to the central complex, a brain region essential for the fly's sense of direction. Neurons tuned to the angle of polarization of ultraviolet light are found throughout the anterior visual pathway, connecting the optic lobes with the central complex via the anterior optic tubercle and bulb, in a homologous organization to the 'sky compass' pathways described in other insects. We detail how a consistent, map-like organization of neural tunings in the peripheral visual system is transformed into a reduced representation suited to flexible processing in the central brain. This study identifies computational motifs of the transformation, enabling mechanistic comparisons of multisensory integration and central processing for navigation in the brains of insects.

A Neural Network for Wind-Guided Compass Navigation

Spatial maps in the brain are most accurate when they are linked to external sensory cues. Here, we show that the compass in the Drosophila brain is linked to the direction of the wind. Shifting the wind rightward rotates the compass as if the fly were turning leftward, and vice versa. We describe the mechanisms of several computations that integrate wind information into the compass. First, an intensity-invariant representation of wind direction is computed by comparing left-right mechanosensory signals. Then, signals are reformatted to reduce the coding biases inherent in peripheral mechanics, and wind cues are brought into the same circular coordinate system that represents visual cues and self-motion signals. Because the compass incorporates both mechanosensory and visual cues, it should enable navigation under conditions where no single cue is consistently reliable. These results show how local sensory signals can be transformed into a global, multimodal, abstract representation of space.

From skylight input to behavioural output: A computational model of the insect polarised light compass

Many insects navigate by integrating the distances and directions travelled on an outward path, allowing direct return to the starting point. Fundamental to the reliability of this process is the use of a neural compass based on external celestial cues. Here we examine how such compass information could be reliably computed by the insect brain, given realistic constraints on the sky polarisation pattern and the insect eye sensor array. By processing the degree of polarisation in different directions for different parts of the sky, our model can directly estimate the solar azimuth and also infer the confidence of the estimate. We introduce a method to correct for tilting of the sensor array, as might be caused by travel over uneven terrain. We also show that the confidence can be used to approximate the change in sun position over time, allowing the compass to remain fixed with respect to 'true north' during long excursions. We demonstrate that the compass is robust to disturbances and can be effectively used as input to an existing neural model of insect path integration. We discuss the plausibility of our model to be mapped to known neural circuits, and to be implemented for robot navigation.

Unraveling the neural basis of insect navigation

One of the defining features of animals is their ability to navigate their environment. Using behavioral experiments this topic has been under intense investigation for nearly a century. In insects, this work has largely focused on the remarkable homing abilities of ants and bees. More recently, the neural basis of navigation shifted into the focus of attention. Starting with revealing the neurons that process the sensory signals used for navigation, in particular polarized skylight, migratory locusts became the key species for delineating navigation-relevant regions of the insect brain. Over the last years, this work was used as a basis for research in the fruit fly Drosophila and extraordinary progress has been made in illuminating the neural underpinnings of navigational processes. With increasingly detailed understanding of navigation circuits, we can begin to ask whether there is a fundamentally shared concept underlying all navigation behavior across insects. This review highlights recent advances and puts them into the context of the behavioral work on ants and bees, as well as the circuits involved in polarized-light processing. A region of the insect brain called the central complex emerges as the common substrate for guiding navigation and its highly organized neuroarchitecture provides a framework for future investigations potentially suited to explain all insect navigation behavior at the level of identified neurons.

Optimizing the use of a sensor resource for opponent polarization coding

Flies use specialized photoreceptors R7 and R8 in the dorsal rim area (DRA) to detect skylight polarization. R7 and R8 form a tiered waveguide (central rhabdomere pair, CRP) with R7 on top, filtering light delivered to R8. We examine how the division of a given resource, CRP length, between R7 and R8 affects their ability to code polarization angle. We model optical absorption to show how the length fractions allotted to R7 and R8 determine the rates at which they transduce photons, and correct these rates for transduction unit saturation. The rates give polarization signal and photon noise in R7, and in R8. Their signals are combined in an opponent unit, intrinsic noise added, and the unit's output analysed to extract two measures of coding ability, number of discriminable polarization angles and mutual information. A very long R7 maximizes opponent signal amplitude, but codes inefficiently due to photon noise in the very short R8. Discriminability and mutual information are optimized by maximizing signal to noise ratio, SNR. At lower light levels approximately equal lengths of R7 and R8 are optimal because photon noise dominates. At higher light levels intrinsic noise comes to dominate and a shorter R8 is optimum. The optimum R8 length fractions falls to one third. This intensity dependent range of optimal length fractions corresponds to the range observed in different fly species and is not affected by transduction unit saturation. We conclude that a limited resource, rhabdom length, can be divided between two polarization sensors, R7 and R8, to optimize opponent coding. We also find that coding ability increases sub-linearly with total rhabdom length, according to the law of diminishing returns. Consequently, the specialized shorter central rhabdom in the DRA codes polarization twice as efficiently with respect to rhabdom length than the longer rhabdom used in the rest of the eye.

Visual Navigation in Nocturnal Insects

Despite their tiny eyes and brains, nocturnal insects have evolved a remarkable capacity to visually navigate at night. Whereas some use moonlight or the stars as celestial compass cues to maintain a straight-line course, others use visual landmarks to navigate to and from their nest. These impressive abilities rely on highly sensitive compound eyes and specialized visual processing strategies in the brain.

Can invertebrates see the e-vector of polarization as a separate modality of light?

The visual world is rich in linearly polarized light stimuli, which are hidden from the human eye. But many invertebrate species make use of polarized light as a source of valuable visual information. However, exploiting light polarization does not necessarily imply that the electric (e)-vector orientation of polarized light can be perceived as a separate modality of light. In this Review, I address the question of whether invertebrates can detect specific e-vector orientations in a manner similar to that of humans perceiving spectral stimuli as specific hues. To analyze e-vector orientation, the signals of at least three polarization-sensitive sensors (analyzer channels) with different e-vector tuning axes must be compared. The object-based, imaging polarization vision systems of cephalopods and crustaceans, as well as the water-surface detectors of flying backswimmers, use just two analyzer channels. Although this excludes the perception of specific e-vector orientations, a two-channel system does provide a coarse, categoric analysis of polarized light stimuli, comparable to the limited color sense of dichromatic, 'color-blind' humans. The celestial compass of insects employs three or more analyzer channels. However, that compass is multimodal, i.e. e-vector information merges with directional information from other celestial cues, such as the solar azimuth and the spectral gradient in the sky, masking e-vector information. It seems that invertebrate organisms take no interest in the polarization details of visual stimuli, but polarization vision grants more practical benefits, such as improved object detection and visual communication for cephalopods and crustaceans, compass readings to traveling insects, or the alert 'water below!' to water-seeking bugs.

The Dual Function of Orchid Bee Ocelli as Revealed by X-Ray Microtomography

Visually guided flight control in the rainforest is arguably one of the most complex insect behaviors: illumination varies dramatically depending on location [1], and the densely cluttered environment blocks out most of the sky [2]. What visual information do insects sample for flight control in this habitat? To begin answering this question, we determined the visual fields of the ocelli-thought to play a role in attitude stabilization of some flying insects [3-5]-of an orchid bee, Euglossa imperialis. High-resolution 3D models of the ocellar system from X-ray microtomography were used for optical ray tracing simulations. Surprisingly, these showed that each ocellus possesses two distinct visual fields-a focused monocular visual field suitable for detecting features elevated above the horizon and therefore assisting with flight stabilization [3-5] and, unlike other ocelli investigated to date [4, 6, 7], a large trinocular fronto-dorsal visual field shared by all ocelli. Histological analyses show that photoreceptors have similar orientations within each ocellus and are likely to be sensitive to polarized light, as in some other hymenopterans [7, 8]. We also found that the average receptor orientation is offset between the ocelli, each having different axes of polarization sensitivity relative to the head. Unlike the eyes of any other insect described to date, this ocellar system meets the requirements of a true polarization analyzer [9, 10]. The ocelli of E. imperialis could provide sensitive compass information for navigation in the rainforest and, additionally, provide cues for visual discrimination or flight control.

Transmedulla Neurons in the Sky Compass Network of the Honeybee (Apis mellifera) Are a Possible Site of Circadian Input

Honeybees are known for their ability to use the sun's azimuth and the sky's polarization pattern for spatial orientation. Sky compass orientation in bees has been extensively studied at the behavioral level but our knowledge about the underlying neuronal systems and mechanisms is very limited. Electrophysiological studies in other insect species suggest that neurons of the sky compass system integrate information about the polarization pattern of the sky, its chromatic gradient, and the azimuth of the sun. In order to obtain a stable directional signal throughout the day, circadian changes between the sky polarization pattern and the solar azimuth must be compensated. Likewise, the system must be modulated in a context specific way to compensate for changes in intensity, polarization and chromatic properties of light caused by clouds, vegetation and landscape. The goal of this study was to identify neurons of the sky compass pathway in the honeybee brain and to find potential sites of circadian and neuromodulatory input into this pathway. To this end we first traced the sky compass pathway from the polarization-sensitive dorsal rim area of the compound eye via the medulla and the anterior optic tubercle to the lateral complex using dye injections. Neurons forming this pathway strongly resembled neurons of the sky compass pathway in other insect species. Next we combined tracer injections with immunocytochemistry against the circadian neuropeptide pigment dispersing factor and the neuromodulators serotonin, and γ-aminobutyric acid. We identified neurons, connecting the dorsal rim area of the medulla to the anterior optic tubercle, as a possible site of neuromodulation and interaction with the circadian system. These neurons have conspicuous spines in close proximity to pigment dispersing factor-, serotonin-, and GABA-immunoreactive neurons. Our data therefore show for the first time a potential interaction site between the sky compass pathway and the circadian clock.

Neural coding underlying the cue preference for celestial orientation

Diurnal and nocturnal African dung beetles use celestial cues, such as the sun, the moon, and the polarization pattern, to roll dung balls along straight paths across the savanna. Although nocturnal beetles move in the same manner through the same environment as their diurnal relatives, they do so when light conditions are at least 1 million-fold dimmer. Here, we show, for the first time to our knowledge, that the celestial cue preference differs between nocturnal and diurnal beetles in a manner that reflects their contrasting visual ecologies. We also demonstrate how these cue preferences are reflected in the activity of compass neurons in the brain. At night, polarized skylight is the dominant orientation cue for nocturnal beetles. However, if we coerce them to roll during the day, they instead use a celestial body (the sun) as their primary orientation cue. Diurnal beetles, however, persist in using a celestial body for their compass, day or night. Compass neurons in the central complex of diurnal beetles are tuned only to the sun, whereas the same neurons in the nocturnal species switch exclusively to polarized light at lunar light intensities. Thus, these neurons encode the preferences for particular celestial cues and alter their weighting according to ambient light conditions. This flexible encoding of celestial cue preferences relative to the prevailing visual scenery provides a simple, yet effective, mechanism for enabling visual orientation at any light intensity.

A novel autonomous real-time position method based on polarized light and geomagnetic field

Many animals exploit polarized light in order to calibrate their magnetic compasses for navigation. For example, some birds are equipped with biological magnetic and celestial compasses enabling them to migrate between the Western and Eastern Hemispheres. The Vikings' ability to derive true direction from polarized light is also widely accepted. However, their amazing navigational capabilities are still not completely clear. Inspired by birds' and Vikings' ancient navigational skills. Here we present a combined real-time position method based on the use of polarized light and geomagnetic field. The new method works independently of any artificial signal source with no accumulation of errors and can obtain the position and the orientation directly. The novel device simply consists of two polarized light sensors, a 3-axis compass and a computer. The field experiments demonstrate device performance.

Integration of polarization and chromatic cues in the insect sky compass

Animals relying on a celestial compass for spatial orientation may use the position of the sun, the chromatic or intensity gradient of the sky, the polarization pattern of the sky, or a combination of these cues as compass signals. Behavioral experiments in bees and ants, indeed, showed that direct sunlight and sky polarization play a role in sky compass orientation, but the relative importance of these cues are species-specific. Intracellular recordings from polarization-sensitive interneurons in the desert locust and monarch butterfly suggest that inputs from different eye regions, including polarized-light input through the dorsal rim area of the eye and chromatic/intensity gradient input from the main eye, are combined at the level of the medulla to create a robust compass signal. Conflicting input from the polarization and chromatic/intensity channel, resulting from eccentric receptive fields, is eliminated at the level of the anterior optic tubercle and central complex through internal compensation for changing solar elevations, which requires input from a circadian clock. Across several species, the central complex likely serves as an internal sky compass, combining E-vector information with other celestial cues. Descending neurons, likewise, respond both to zenithal polarization and to unpolarized cues in an azimuth-dependent way.

Receptive field properties and intensity-response functions of polarization-sensitive neurons of the optic tubercle in gregarious and solitarious locusts

Many migrating insects rely on the plane of sky polarization as a cue to detect spatial directions. Desert locusts (Schistocerca gregaria), like other insects, perceive polarized light through specialized photoreceptors in a dorsal eye region. Desert locusts occur in two phases: a gregarious swarming phase, which migrates during the day, and a solitarious nocturnal phase. Neurons in a small brain area, the anterior optic tubercle (AOTu), are critically involved in processing polarized light in the locust brain. While polarization-sensitive intertubercle cells [lobula-tubercle neuron 1 (LoTu1) and tubercle-tubercle neuron 1 (TuTu1)] interconnect the AOTu of both hemispheres, tubercle-lateral accessory lobe tract (TuLAL1) neurons transmit sky compass signals to a polarization compass in the central brain. To better understand the neural network underlying polarized light processing in the AOTu and to investigate possible adaptations of the polarization vision system to a diurnal versus nocturnal lifestyle, we analyzed receptive field properties, intensity-response relationships, and daytime dependence of responses of AOTu neurons in gregarious and solitarious locusts. Surprisingly, no differences in the physiology of these neurons were found between the two locust phases. Instead, clear differences were observed between the different types of AOTu neurons. Whereas TuTu1 and TuLAL1 neurons encoded E-vector orientation independent of light intensity and would thus be operational in bright daylight, LoTu1 neurons were inhibited by high light intensity and provided strong polarization signaling only under dim light conditions. The presence of high- and low-intensity polarization channels might, therefore, allow solitarious and gregarious locusts to use the same polarization coding system despite their different activity cycles.

A distinct layer of the medulla integrates sky compass signals in the brain of an insect

Mass migration of desert locusts is a common phenomenon in North Africa and the Middle East but how these insects navigate is still poorly understood. Laboratory studies suggest that locusts are able to exploit the sky polarization pattern as a navigational cue. Like other insects locusts detect polarized light through a specialized dorsal rim area (DRA) of the eye. Polarization signals are transmitted through the optic lobe to the anterior optic tubercle (AOTu) and, finally, to the central complex in the brain. Whereas neurons of the AOTu integrate sky polarization and chromatic cues in a daytime dependent manner, the central complex holds a topographic representation of azimuthal directions suggesting a role as an internal sky compass. To understand further the integration of sky compass cues we studied polarization-sensitive (POL) neurons in the medulla that may be intercalated between DRA photoreceptors and AOTu neurons. Five types of POL-neuron were characterized and four of these in multiple recordings. All neurons had wide arborizations in medulla layer 4 and most, additionally, in the dorsal rim area of the medulla and in the accessory medulla, the presumed circadian clock. The neurons showed type-specific orientational tuning to zenithal polarized light and azimuth tuning to unpolarized green and UV light spots. In contrast to neurons of the AOTu, we found no evidence for color opponency and daytime dependent adjustment of sky compass signals. Therefore, medulla layer 4 is a distinct stage in the integration of sky compass signals that precedes the time-compensated integration of celestial cues in the AOTu.

Patterns and properties of polarized light in air and water

Natural sources of light are at best weakly polarized, but polarization of light is common in natural scenes in the atmosphere, on the surface of the Earth, and underwater. We review the current state of knowledge concerning how polarization and polarization patterns are formed in nature, emphasizing linearly polarized light. Scattering of sunlight or moonlight in the sky often forms a strongly polarized, stable and predictable pattern used by many animals for orientation and navigation throughout the day, at twilight, and on moonlit nights. By contrast, polarization of light in water, while visible in most directions of view, is generally much weaker. In air, the surfaces of natural objects often reflect partially polarized light, but such reflections are rarer underwater, and multiple-path scattering degrades such polarization within metres. Because polarization in both air and water is produced by scattering, visibility through such media can be enhanced using straightforward polarization-based methods of image recovery, and some living visual systems may use similar methods to improve vision in haze or underwater. Although circularly polarized light is rare in nature, it is produced by the surfaces of some animals, where it may be used in specialized systems of communication.

Honeybee navigation: following routes using polarized-light cues

While it is generally accepted that honeybees (Apis mellifera) are capable of using the pattern of polarized light in the sky to navigate to a food source, there is little or no direct behavioural evidence that they actually do so. We have examined whether bees can be trained to find their way through a maze composed of four interconnected tunnels, by using directional information provided by polarized light illumination from the ceilings of the tunnels. The results show that bees can learn this task, thus demonstrating directly, and for the first time, that bees are indeed capable of using the polarized-light information in the sky as a compass to steer their way to a food source.

Evidence for instantaneous e-vector detection in the honeybee using an associative learning paradigm

Many insects use the polarization pattern of the sky for obtaining compass information during orientation or navigation. E-vector information is collected by a specialized area in the dorsal-most part of the compound eye, the dorsal rim area (DRA). We tested honeybees' capability of learning certain e-vector orientations by using a classical conditioning paradigm with the proboscis extension reflex. When one e-vector orientation (CS+) was associated with sugar water, while another orientation (CS-) was not rewarded, the honeybees could discriminate CS+ from CS-. Bees whose DRA was inactivated by painting did not learn CS+. When ultraviolet (UV) polarized light (350 nm) was used for CS, the bees discriminated CS+ from CS-, but no discrimination was observed in blue (442 nm) or green light (546 nm). Our data indicate that honeybees can learn and discriminate between different e-vector orientations, sensed by the UV receptors of the DRA, suggesting that bees can determine their flight direction from polarized UV skylight during foraging. Fixing the bees' heads during the experiments did not prevent learning, indicating that they use an 'instantaneous' algorithm of e-vector detection; that is, the bees do not need to actively scan the sky with their DRAs ('sequential' method) to determine e-vector orientation.

Honeybees as a model for the study of visually guided flight, navigation, and biologically inspired robotics

Research over the past century has revealed the impressive capacities of the honeybee, Apis mellifera, in relation to visual perception, flight guidance, navigation, and learning and memory. These observations, coupled with the relative ease with which these creatures can be trained, and the relative simplicity of their nervous systems, have made honeybees an attractive model in which to pursue general principles of sensorimotor function in a variety of contexts, many of which pertain not just to honeybees, but several other animal species, including humans. This review begins by describing the principles of visual guidance that underlie perception of the world in three dimensions, obstacle avoidance, control of flight speed, and orchestrating smooth landings. We then consider how navigation over long distances is accomplished, with particular reference to how bees use information from the celestial compass to determine their flight bearing, and information from the movement of the environment in their eyes to gauge how far they have flown. Finally, we illustrate how some of the principles gleaned from these studies are now being used to design novel, biologically inspired algorithms for the guidance of unmanned aerial vehicles.

Sun compass integration of skylight cues in migratory monarch butterflies

Migrating monarch butterflies (Danaus plexippus) use a time-compensated sun compass to navigate from eastern North America to their overwintering grounds in central Mexico. Here we describe the neuronal layout of those aspects of the butterfly's central complex likely to establish part of the internal sun compass and find them highly homologous to those of the desert locust. Intracellular recordings from neurons in the monarch sun compass network reveal responses tuned to specific E-vector angles of polarized light, as well as azimuth-dependent responses to unpolarized light, independent of spectral composition. The neural responses to these two stimuli in individual neurons are mediated through different regions of the compound eye. Moreover, these dual responses are integrated to create a consistent representation of skylight cues in the sun compass throughout the day. The results advance our understanding of how ambiguous sensory signals are processed by the brain to elicit a robust behavioral response.

Vision and visual navigation in nocturnal insects

With their highly sensitive visual systems, nocturnal insects have evolved a remarkable capacity to discriminate colors, orient themselves using faint celestial cues, fly unimpeded through a complicated habitat, and navigate to and from a nest using learned visual landmarks. Even though the compound eyes of nocturnal insects are significantly more sensitive to light than those of their closely related diurnal relatives, their photoreceptors absorb photons at very low rates in dim light, even during demanding nocturnal visual tasks. To explain this apparent paradox, it is hypothesized that the necessary bridge between retinal signaling and visual behavior is a neural strategy of spatial and temporal summation at a higher level in the visual system. Exactly where in the visual system this summation takes place, and the nature of the neural circuitry that is involved, is currently unknown but provides a promising avenue for future research.

Specialized ommatidia of the polarization-sensitive dorsal rim area in the eye of monarch butterflies have non-functional reflecting tapeta

Many insects exploit sky light polarization for navigation or cruising-course control. The detection of polarized sky light is mediated by the ommatidia of a small specialized part of the compound eye: the dorsal rim area (DRA). We describe the morphology and fine structure of the DRA in monarch butterflies (Danaus plexippus). The DRA consists of approximately 100 ommatidia forming a narrow ribbon along the dorsal eye margin. Each ommatidium contains two types of photoreceptor with mutually orthogonal microvilli orientations occurring in a 2:6 ratio. Within each rhabdomere, the microvilli are well aligned. Rhabdom structure and orientation remain constant at all retinal levels, but the rhabdom profiles, as seen in tangential sections through the DRA, change their orientations in a fan-like fashion from the frontal to the caudal end of the DRA. Whereas these properties (two microvillar orientations per rhabdom, microvillar alignment along rhabdomeres, ommatidial fan array) are typical for insect DRAs in general, we also report and discuss here a novel feature. The ommatidia of monarch butterflies are equipped with reflecting tapeta, which are directly connected to the proximal ends of the rhabdoms. Although tapeta are also present in the DRA, they are separated from the rhabdoms by a space of approximately 55 μm effectively inactivating them. This reduces self-screening effects, keeping polarization sensitivity of all photoreceptors of the DRA ommatidia both high and approximately equal.

Modelling place memory in crickets

Insects can remember and return to a place of interest using the surrounding visual cues. In previous experiments, we showed that crickets could home to an invisible cool spot in a hot environment. They did so most effectively with a natural scene surround, though they were also able to home with distinct landmarks or blank walls. Homing was not successful, however, when visual cues were removed through a dark control. Here, we compare six different models of visual homing using the same visual environments. Only models deemed biologically plausible for use by insects were implemented. The average landmark vector model and first order differential optic flow are unable to home better than chance in at least one of the visual environments. Second order differential optic flow and GradDescent on image differences can home better than chance in all visual environments, and best in the natural scene environment, but do not quantitatively match the distributions of the cricket data. Two models-centre of mass average landmark vector and RunDown on image differences-could produce the same pattern of results as observed for crickets. Both the models performed best using simple binary images and were robust to changes in resolution and image smoothing.

Polarization vision in crayfish motion detectors

Motion detector interneurons were examined to determine their responsiveness to the motion of polarized light images (i.e. images segmented by spatial variations in e-vector angle). Computer generated images were displayed as intensity contrasts or polarization contrasts on a modified LCD projection panel. The stimuli included the motion of a single stripe (45 degrees -55 degrees /s) and the global motion of a square wave grating (3.3 degrees /s). Neurons were impaled in the medulla interna. Of the neurons which exhibited a directional response to the motion of intensity contrast stimuli, about 2/3 were also directional in the response to polarized light images. Transient (nondirectional) stimuli included looming and jittery motions. The responses to the transient motions of the polarized light images were roughly comparable to those elicited by intensity contrast. The results imply that behavioral responses to polarized light images (i.e. optokinetic and defense reflexes) may have a basis in the polarization sensitivity and synaptic organization of the medulla interna.

Spectral properties of identified polarized-light sensitive interneurons in the brain of the desert locust Schistocerca gregaria

Many migrating animals employ a celestial compass mechanism for spatial navigation. Behavioral experiments in bees and ants have shown that sun compass navigation may rely on the spectral gradient in the sky as well as on the pattern of sky polarization. While polarized-light sensitive interneurons (POL neurons) have been identified in the brain of several insect species, there are at present no data on the neural basis of coding the spectral gradient of the sky. In the present study we have analyzed the chromatic properties of two identified POL neurons in the brain of the desert locust. Both neurons, termed TuTu1 and LoTu1, arborize in the anterior optic tubercle and respond to unpolarized light as well as to polarized light. We show here that the polarized-light response of both types of neuron relies on blue-sensitive photoreceptors. Responses to unpolarized light depended on stimulus position and wavelength. Dorsal unpolarized blue light inhibited the neurons, while stimulation from the ipsilateral side resulted in opponent responses to UV light and green light. While LoTu1 was inhibited by UV light and was excited by green light, one subtype of TuTu1 was excited by UV and inhibited by green light. In LoTu1 the sensitivity to polarized light was at least 2 log units higher than the response to unpolarized light stimuli. Taken together, the spatial and chromatic properties of the neurons may be suited to signal azimuthal directions based on a combination of the spectral gradient and the polarization pattern of the sky.

Stomatopod eye structure and function: a review

Stomatopods (mantis shrimps) possess apposition compound eyes that contain more photoreceptor types than any other animal described. This has been achieved by sub-dividing the eye into three morphologically discrete regions, a mid-band and two laterally placed hemispheres, and within the mid-band, making simple modifications to a commonly encountered crustacean photoreceptor pattern of eight photoreceptors (rhabdomeres) per ommatidium. Optically the eyes are also unusual with the directions of view of the ommatidia of all three eye regions skewed such that over 70% of the eye views a narrow strip in space. In order to scan the world with this strip, the stalked eyes of stomatopods are in almost continual motion. Functionally, the end result is a trinocular eye with monocular range finding capability, a 12-channel colour vision system, a 2-channel linear polarisation vision system and a line scan sampling arrangement that more resembles video cameras and satellite sensors than animal eyes. Not surprisingly, we are still struggling to understand the biological significance of stomatopod vision and attempt few new explanations here. Instead we use this special edition as an opportunity to review and summarise the structural aspects of the stomatopod retina that allow it to be so functionally complex.

Haze, clouds and limited sky visibility: polarotactic orientation of crickets under difficult stimulus conditions

Field crickets (Gryllus campestris L.) are able to detect the orientation of the electric vector (e-vector) of linearly polarized light. They presumably use this sense to exploit the celestial polarization pattern for course control or navigation. Polarization vision in crickets can be tested by eliciting a spontaneous polarotactic response. Previously, wide and 100% polarized stimuli were employed to induce this behavior. However, field crickets live on meadows where the observation of the sky is strongly limited by surrounding vegetation. Moreover, degrees of polarization (d) in the natural sky are much lower than 100%. We have therefore investigated thresholds for the behavioral response to polarized light under conditions mimicking those experienced by the insects in the field. We show that crickets are able to rely on polarized stimuli of just 1° diameter. We also provide evidence that they exploit polarization down to an (average) polarization level of less than 7%, irrespective of whether the stimulus is homogeneous,such as under haze, or patched, such as a sky spotted by clouds. Our data demonstrate that crickets can rely on skylight polarization even under unfavorable celestial conditions, emphasizing the significance of polarized skylight orientation for insects.

Polarization Vision: How Insects Find Their Way by Watching the Sky

Scientists have long studied how some animals exploit celestial cues to solve navigational tasks. Recent discoveries show how locusts obtain unambiguous information from time-dependent patterns of polarized and unpolarized light in the sky.

The distribution of polarization sensitivity in the crayfish retinula

In many arthropod eyes the ommatidia contain two classes of retinular cells with orthogonally oriented microvilli. These receptors provide the basis for two-channel polarization vision. In several contexts such as navigation or the detection of polarization contrast, two channels may be insufficient. While solutions to this problem are known (e.g. in insects and stomatopod crustaceans) none have been found in the majority of decapods. To examine this issue further, the polarization sensitivity and the E-vector angle eliciting a maximum response (theta (max)) were measured at over 300 loci on the crayfish retinula. The polarization response ratio (which is proportional to polarization sensitivity) was similar at all locations on the retinula. Around the central pole of the eye, theta (max) was distributed about the vertical and horizontal axes. Along the dorsal rim, the distribution of theta (max) exhibits modes at 0 degrees , 45 degrees and 90 degrees and a small mode at 135 degrees relative to the dorso-ventral axis of the eyestalk (0 degrees ). Smaller numbers of cells (20 to 25%) with theta (max )near the diagonal were also found in anterior and posterior retinula areas. Thus crayfish visual interneurons, which integrate signals from multiple ommatidia may have access to a multi-channel polarization analyzer.

Coding of Azimuthal Directions via Time-Compensated Combination of Celestial Compass Cues

Many animals use the sun as a reference for spatial orientation [1-3]. In addition to sun position, the sky provides two other sources of directional information, a color gradient [4] and a polarization pattern [5]. Work on insects has predominantly focused on celestial polarization as an orientation cue [6, 7]. Relying on sky polarization alone, however, poses the following two problems: E vector orientations in the sky are not suited to distinguish between the solar and antisolar hemisphere of the sky, and the polarization pattern changes with changing solar elevation during the day [8, 9]. Here, we present neurons that overcome both problems in a locust's brain. The spiking activity of these neurons depends (1) on the E vector orientation of dorsally presented polarized light, (2) on the azimuthal, i.e., horizontal, direction, and (3) on the wavelength of an unpolarized light source. Their tuning to these stimuli matches the distribution of a UV/green chromatic contrast as well as the polarization of natural skylight and compensates for changes in solar elevation during the day. The neurons are, therefore, suited to code for solar azimuth by concurrent combination of signals from the spectral gradient, intensity gradient, and polarization pattern of the sky.

Orientation by polarized light in the crayfish dorsal light reflex: behavioral and neurophysiological studies

In decapod crustaceans, the dorsal light reflex rotates the eyestalk so that the dorsal retina faces the brightest segment of dorsal visual space. Stepwise displacements of white stripes elicit eyestalk rotations in the same direction as that of the stripe. Conversely, stepwise displacements of black stripes on a white background elicit eyestalk rotations in the opposite direction as that of the stripe. The reversal of the response with contrast inversion distinguishes the dorsal light reflex from an optokinetic reflex. When the visual scene is composed of polarized light, segmented by variations in e-vector orientation, displacement of segments containing near vertical e-vectors elicit responses similar to those elicited by a white stripe. Displacement of polarized stripes containing near horizontal e-vectors elicit eyestalk rotations similar to those elicited by a black stripe. The results are consistent with the use of polarized light in orientation. The stimulus conditions described above were also applied to visual interneurons (sustaining fibers) and oculomotor neurons and the results were generally in accord with the behavior. In the neural studies, it was possible to show that responses to polarized stripe displacements are predictable from the receptive field location and the neuron's polarization tuning function.

Celestial polarization patterns during twilight

Scattering of sunlight produces patterns of partially linearly polarized light in the sky throughout the day, and similar patterns appear at night when the Moon is bright. We studied celestial polarization patterns during the period of twilight, when the Sun is below the horizon, determining the degree and orientation of the polarized-light field and its changes before sunrise and after sunset. During twilight, celestial polarized light occurs in a wide band stretching perpendicular to the location of the hidden Sun and reaching typical degrees of polarization near 80% at wavelengths >600 nm. In the tropics, this pattern appears approximately 1 h before local sunrise or disappears approximately 1 h after local sunset (within 10 min. after the onset of astronomical twilight at dawn, or before its end at dusk) and extends with little change through the entire twilight period.

Physiological characterization of the compound eye in monarch butterflies with focus on the dorsal rim area

The spectral, angular and polarization sensitivities of photoreceptors in the compound eye of the monarch butterfly (Danaus plexippus) are examined using electrophysiological methods. Intracellular recordings reveal a spectrally homogenous population of UV receptors with optical axes directed upwards and >or=10 degrees to the contralateral side. Based on optical considerations and on the opsin expression pattern (Sauman et al. 2005), we conclude that these UV receptors belong to the anatomically specialized dorsal rim area (DRA) of the eye. Photoreceptors in the main retina with optical axes <10 degrees contralateral or ipsilateral have maximal sensitivities in the UV (lambda(max)<or=340 nm), the blue (lambda(max)=435 nm) or in the long-wave range (green, lambda(max)=540 nm). The polarization sensitivity (PS) of the UV receptors in the DRA is much higher (PS=9.4) than in the UV cells (PS=2.9) or green cells (PS=2.8) of the main retina. The physiological properties of the photoreceptors in the DRA and in the main retina fit closely with the anatomy and the opsin expression patterns described in these eye regions. The data are discussed in the light of present knowledge about polarized skylight navigation in Lepidopterans.

Vision in the dimmest habitats on earth

A very large proportion of the world's animal species are active in dim light, either under the cover of night or in the depths of the sea. The worlds they see can be dim and extended, with light reaching the eyes from all directions at once, or they can be composed of bright point sources, like the multitudes of stars seen in a clear night sky or the rare sparks of bioluminescence that are visible in the deep sea. The eye designs of nocturnal and deep-sea animals have evolved in response to these two very different types of habitats, being optimised for maximum sensitivity to extended scenes, or to point sources, or to both. After describing the many visual adaptations that have evolved across the animal kingdom for maximising sensitivity to extended and point-source scenes, I then use case studies from the recent literature to show how these adaptations have endowed nocturnal animals with excellent vision. Nocturnal animals can see colour and negotiate dimly illuminated obstacles during flight. They can also navigate using learned terrestrial landmarks, the constellations of stars or the dim pattern of polarised light formed around the moon. The conclusion from these studies is clear: nocturnal habitats are just as rich in visual details as diurnal habitats are, and nocturnal animals have evolved visual systems capable of exploiting them. The same is certainly true of deep-sea animals, as future research will no doubt reveal.

Lunar orientation in a beetle

Many animals use the sun's polarization pattern to orientate, but the dung beetle Scarabaeus zambesianus is the only animal so far known to orientate using the million times dimmer polarization pattern of the moonlit sky. We demonstrate the relative roles of the moon and the nocturnal polarized-light pattern for orientation. We find that artificially changing the position of the moon, or hiding the moon's disc from the beetle's field of view, generally did not influence its orientation performance. We thus conclude that the moon does not serve as the primary cue for orientation. The effective cue is the polarization pattern formed around the moon, which is more reliable for orientation. Polarization sensitivity ratios in two photoreceptors in the dorsal eye were found to be 7.7 and 12.9, similar to values recorded in diurnal navigators. These results agree with earlier results suggesting that the detection and analysis of polarized skylight is similar in diurnal and nocturnal insects.

The retina of Manduca sexta: rhodopsin expression, the mosaic of green-, blue- and UV-sensitive photoreceptors, and regional specialization

Spectral sensitivities of individual photoreceptors in the compound eye of Manduca sexta were verified by immunocytochemistry, and the retinal mosaic was mapped, using polyclonal antisera raised against amino-terminal sequences of three identified rhodopsins: P520, P450 and P357. Retinulae are composed of a small proximal cell and seven or eight elongate cells extending across the retina. In each retinula, one or two elongate dv cells oriented in the dorsal-ventral axis of the retinal lattice express either P450 or P357. Six elongate ap and ob cells in the anterior-posterior and oblique axes express P520. The small proximal pr cell also appears to express P520. The retinal mosaic is regionalized into three distinct domains: ventral and dorsal domains that divide the main retina, and a large dorsal rim area. The immunocytochemical data provide a high-resolution map of the Manduca retina that confirms and refines earlier low-resolution ERG spectral sensitivity measurements. The dorsal and ventral domains, separated at a well-defined equatorial border, are distinguished by differences in the proportion of blue-sensitive dv cells: these cells dominate the ventral retina but are less abundant in the dorsal retina. Green-sensitive ap and ob receptors are uniformly distributed across the dorsal and ventral domains, and UV-sensitive dv cells are fairly uniformly distributed because many retinulae in the dorsal domain contain only one dv cell. Similarly, dorsal rim retinulae contain only the ventral member of the dv pair of receptors, two-thirds of which express P357. Otherwise, dorsal rim receptors express none of the three sequenced Manduca opsins; they must express rhodopsins that have yet to be cloned.

Twilight orientation to polarised light in the crepuscular dung beetle Scarabaeus zambesianus

The polarisation pattern of skylight offers many arthropods a reference for visual compass orientation. The dung beetle Scarabaeus zambesianus starts foraging at around sunset. After locating a source of fresh droppings, it forms a ball of dung and rolls it off at high speed to escape competition at and around the dung pile. Using behavioural experiments in the field and in the laboratory, we show that the beetle is able to roll along a straight path by using the polarised light pattern of evening skylight. The receptors used to detect this skylight cue can be found in the ommatidia of the dorsal rim area of the eye, whose structures differ from the regular ommatidia in the rest of the eye. The dorsal rim ommatidia are characterised by rhabdoms with microvilli oriented at only two orthogonal orientations. Together with the finding that the receptors do not twist along the length of the rhabdom, this indicates that the photoreceptors of the dorsal rim area are polarisation sensitive. Large rhabdoms, a reflecting tracheal sheath and a lack of screening pigments make this area of the eye well adapted for polarised light detection at low light levels. The fan-shaped arrangement of receptors over the dorsal rim area was previously believed to be an adaptation to polarised light analysis, but here we argue that it is simply a consequence of the way that the eye is built.

Neural mechanisms in insect navigation: polarization compass and odometer

Insect navigation relies on path integration, a procedure by which information about compass bearings pursued and distances travelled are combined to calculate position. Three neural levels of the polarization compass, which uses the polarization of skylight as a reference, have been analyzed in orthopteran insects. A group of dorsally directed, highly specialized ommatidia serve as polarization sensors. Polarization-opponent neurons in the optic lobe condition the polarization signal by removing unreliable and irrelevant components of the celestial stimulus. Neurons found in the central complex of the brain possibly represent elements of the compass output. The odometer for measuring travelling distances in honeybees relies on optic flow experienced during flight, whereas desert ants most probably use proprioreceptive cues.

Ultrastructure and orientation of ommatidia in the dorsal rim area of the locust compound eye

In many insect species, a dorsal rim area (DRA) in the compound eye is adapted to analyze the sky polarization pattern for compass orientation. In the desert locust Schistocerca gregaria, these specializations are particularly striking. The DRA of the locust consists of about 400 ommatidia. The facets have an irregular shape, and pore canals are often present in the corneae. Screening pigment is missing in the region of the dioptric apparatus suggesting large receptive fields. The rhabdoms are shorter, but about four times larger in cross-section than the rhabdoms of ordinary ommatida. Eight retinula cells contribute to the rhabdom. The microvilli of retinula cell 7 and of cells 1, 2, 5, 6, 8 are highly aligned throughout the rhabdom and form two blocks of orthogonal orientation. The microvilli in the minute rhabdomeres of retinula cells 3 and 4, in contrast, show no particular alignment. As in other insect species, microvillar orientations are arranged in a fan-like pattern across the DRA. Photoreceptor axons project to distinct areas in the dorsal lamina and medulla. The morphological specializations in the DRA of the locust eye most likely maximize the polarization sensitivity and suggest that the locust uses this eye region for analysis of the sky polarization pattern.

Polarized light detection in spiders

We describe here the detection of polarized light by the simple eyes of spiders. Using behavioural, morphological, electrophysiological and optical studies, we show that spiders have evolved two different mechanisms to resolve the e-vector of light. Wolf spiders (Lycosidae), are able to turn in response to rotation of a polarized pattern at the zenith of their visual fields, and we also describe a strip in the ventral retina of the principal (anterio-median) eyes that views this location and has receptors tiered into two layers. This provides each pair of receptors with a similar optical solution to that provided by the ‘dorsal rim area’ of the insect compound eye. In contrast, gnaphosid spiders have evolved a pair of lensless secondary eyes for the detection of polarized light. These two eyes, each sensitive to orthogonal directions of polarization, are perfectly designed to integrate signals from the larger part of the sky and cooperate to analyse the polarization of light. Built-in polarizers help to improve signal purity. Similar organisation in the eyes of several other spider families suggests that these two mechanisms are not restricted to only a few families.

Polarization vision – a uniform sensory capacity?

In this concept paper, three scenarios are described in which animals make use of polarized light: the underwater world, the water surface and the terrestrial habitat vaulted by the pattern of polarized light in the sky. Within these various visual environments, polarized light is used in a number of ways that make quite different demands on the neural circuitries mediating these different types of behaviour. Apart from some common receptor and pre-processing mechanisms, the underlying neural mechanisms may differ accordingly. Often, information about χ (the angle of polarization), d (the degree of polarization) and λ (the spectral content) might not – and need not – be disentangled. Hence, the hypothesis entertained in this account is that polarization vision comes in various guises, and that the answer to the question posed in the title is most probably no.