Active control of acoustic field-of-view in a biosonar system

Echolocating bats rapidly adjust their mouth gape to control spatial acquisition when scanning a target

BACKGROUND

As well known to any photographer, controlling the "field of view" offers an extremely powerful mechanism by which to adjust target acquisition. Only a few natural sensory systems can actively control their field of view (e.g., dolphins, whales, and bats). Bats are known for their active sensing abilities and modify their echolocation signals by actively controlling their spectral and temporal characteristics. Less is known about bats' ability to actively modify their bio-sonar field of view.

RESULTS

We show that Pipistrellus kuhlii bats rapidly narrow their sensory field of view (i.e., their bio-sonar beam) when scanning a target. On-target vertical sonar beams were twofold narrower than off-target beams. Continuous measurements of the mouth gape of free-flying bats revealed that they control their bio-sonar beam by a ~3.6 mm widening of their mouth gape: namely, bats open their mouth to narrow the beam and vice versa.

CONCLUSIONS

Bats actively and rapidly control their echolocation vertical beam width by modifying their mouth gape. We hypothesize that narrowing their vertical beam narrows the zone of ensonification when estimating the elevation of a target. In other words, bats open their mouth to improve sensory localization.

Inflight head stabilization associated with wingbeat cycle and sonar emissions in the lingual echolocating Egyptian fruit bat, Rousettus aegyptiacus

Sensory processing of environmental stimuli is challenged by head movements that perturb sensorimotor coordinate frames directing behaviors. In the case of visually guided behaviors, visual gaze stabilization results from the integrated activity of the vestibuloocular reflex and motor efference copy originating within circuits driving locomotor behavior. In the present investigation, it was hypothesized that head stabilization is broadly implemented in echolocating bats during sustained flight, and is temporally associated with emitted sonar signals which would optimize acoustic gaze. Predictions from these hypotheses were evaluated by measuring head and body kinematics with motion sensors attached to the head and body of free-flying Egyptian fruit bats. These devices were integrated with ultrasonic microphones to record sonar emissions and elucidate the temporal association with periods of head stabilization. Head accelerations in the Earth-vertical axis were asymmetric with respect to wing downstroke and upstroke relative to body accelerations. This indicated that inflight head and body accelerations were uncoupled, outcomes consistent with the mechanisms that limit vertical head acceleration during wing downstroke. Furthermore, sonar emissions during stable flight occurred most often during wing downstroke and head stabilization, supporting the conclusion that head stabilization behavior optimized sonar gaze and environmental interrogation via echolocation.

Hearing, echolocation, and beam steering from day 0 in tongue-clicking bats

Little is known about the ontogeny of lingual echolocation. We examined the echolocation development of Rousettus aegyptiacus, the Egyptian fruit bat, which uses rapid tongue movements to produce hyper-short clicks and steer the beam's direction. We recorded from day 0 to day 35 postbirth and assessed hearing and beam-steering abilities. On day 0, R. aegyptiacus pups emit isolation calls and hyper-short clicks in response to acoustic stimuli, demonstrating hearing. Auditory brainstem response recordings show that pups are sensitive to pure tones of the main hearing range of adult Rousettus and to brief clicks. Newborn pups produced clicks in the adult paired pattern and were able to use their tongues to steer the sonar beam. As they aged, pups produced click pairs faster, converging with adult intervals by age of first flights (7-8 weeks). In contrast with laryngeal bats, Rousettus echolocation frequency and duration are stable through to day 35, but shift by the time pups begin to fly, possibly owing to tongue-diet maturation effects. Furthermore, frequency and duration shift in the opposite direction of mammalian laryngeal vocalizations. Rousettus lingual echolocation thus appears to be a highly functional sensory system from birth and follows a different ontogeny from that of laryngeal bats.

Adaptive learning and recall of motor-sensory sequences in adult echolocating bats

BACKGROUND

Learning to adapt to changes in the environment is highly beneficial. This is especially true for echolocating bats that forage in diverse environments, moving between open spaces to highly complex ones. Bats are known for their ability to rapidly adjust their sensing according to auditory information gathered from the environment within milliseconds but can they also benefit from longer adaptive processes? In this study, we examined adult bats' ability to slowly adapt their sensing strategy to a new type of environment they have never experienced for such long durations, and to then maintain this learned echolocation strategy over time.

RESULTS

We show that over a period of weeks, Pipistrellus kuhlii bats gradually adapt their pre-takeoff echolocation sequence when moved to a constantly cluttered environment. After adopting this improved strategy, the bats retained an ability to instantaneously use it when placed back in a similarly cluttered environment, even after spending many months in a significantly less cluttered environment.

CONCLUSIONS

We demonstrate long-term adaptive flexibility in sensory acquisition in adult animals. Our study also gives further insight into the importance of sensory planning in the initiation of a precise sensorimotor behavior such as approaching for landing.

Bats in ecosystems and their Wide spectrum of viral infectious potential threats: SARS-CoV-2 and other emerging viruses

Bats have populated earth for approximately 52 million years, serving as natural reservoirs for a variety of viruses through the course of evolution. Transmission of highly pathogenic viruses from bats has been suspected or linked to a spectrum of potential emerging infectious diseases in humans and animals worldwide. Examples of such viruses include Marburg, Ebolavirus, Nipah, Hendra, Influenza A, Dengue, Equine Encephalitis viruses, Lyssaviruses, Madariaga and Coronaviruses, involving the now pandemic Severe Acute Respiratory Syndrome Coronavirus 2 (SARS-CoV-2). Herein, we provide a narrative review focused in selected emerging viral infectious diseases that have been reported from bats.

Artificial neural network classification of foliage targets from spectrograms of sequential echoes using a biomimetic audible sonar

Classifying foliage targets using echolocation is important for recognizing landmarks by bats using ultrasonic emissions and blind human echolocators (BEs) using palatal clicks. Previous attempts to classify foliage used ultrasonic frequencies and single sensor (monaural) detection. Motivated by the echolocation capabilities of BEs, a biomimetic sonar emitting audible clicks acquired 5600 binaural echoes from five sequential emissions that probed two foliage targets at aspect angles separated by 18°. Echo spectrograms formed feature vector inputs to artificial neural networks (ANNs) for classifying two targets, Ficus benjamina and Schefflera arboricola, with leaf areas that differ by a factor of four. Classification performances of ANNs without and with hidden layers were analyzed using tenfold cross-validation. Performance improved with input feature size, with binaural echo classification outperforming that using monaural echoes for the same number of emissions and for the same number of echoes. Linear classification accuracy was comparable to that using nonlinear classification with both achieving fewer than 1% errors with binaural spectrogram features from five sequential emissions. This result was better by a factor of 20 compared to previous classification of these targets using only the time envelopes of the same echoes.

Tuning movement for sensing in an uncertain world

While animals track or search for targets, sensory organs make small unexplained movements on top of the primary task-related motions. While multiple theories for these movements exist-in that they support infotaxis, gain adaptation, spectral whitening, and high-pass filtering-predicted trajectories show poor fit to measured trajectories. We propose a new theory for these movements called energy-constrained proportional betting, where the probability of moving to a location is proportional to an expectation of how informative it will be balanced against the movement's predicted energetic cost. Trajectories generated in this way show good agreement with measured trajectories of fish tracking an object using electrosense, a mammal and an insect localizing an odor source, and a moth tracking a flower using vision. Our theory unifies the metabolic cost of motion with information theory. It predicts sense organ movements in animals and can prescribe sensor motion for robots to enhance performance.

Segregating signal from noise through movement in echolocating bats

Segregating signal from noise is one of the most fundamental problems shared by all biological and human-engineered sensory systems. In echolocating bats that search for small objects such as tiny insects in the presence of large obstacles (e.g., vegetation), this task can pose serious challenges as the echoes reflected from the background might be several times louder than the desired signal. Bats’ ability to adjust their sensing, specifically their echolocation signal and sequence design has been deeply studied. In this study, we show that in addition to adjusting their sensing, bats also use movement in order to segregate desired echoes from background noise. Bats responded to an acoustically echoic background by adjusting their angle of attack. Specifically, the bats in our experiment used movement and not adaptation of sensory acquisition in order to overcome a sensory challenge. They approached the target at a smaller angle of attack, which results in weaker echoes from the background as was also confirmed by measuring the echoes of the setup from the bat’s point of view. Our study demonstrates the importance of movement in active sensing.

Sensory gaze stabilization in echolocating bats

Sensing from a moving platform is challenging for both man-made machines and animals. Animals' heads jitter during movement, so if the sensors they carry are not stabilized, any spatial estimation might be biased. Flying animals, like bats, seriously suffer from this problem because flapping flight induces rapid changes in acceleration which moves the body up and down. For echolocating bats, the problem is crucial. Because they emit a sound to sense the world, an unstable head means sound energy pointed in the wrong direction. It is unknown how bats mitigate this problem. By tracking the head and body of flying fruit bats, we show that they stabilize their heads, accurately maintaining a fixed acoustic-gaze relative to a target. Bats can solve the stabilization task even in complete darkness using only echo-based information. Moreover, the bats point their echolocation beam below the target and not towards it, a strategy that should result in better estimations of target elevation.

Learning active sensing strategies using a sensory brain-machine interface

Diverse organisms, from insects to humans, actively seek out sensory information that best informs goal-directed actions. Efficient active sensing requires congruity between sensor properties and motor strategies, as typically honed through evolution. However, it has been difficult to study whether active sensing strategies are also modified with experience. Here, we used a sensory brain-machine interface paradigm, permitting both free behavior and experimental manipulation of sensory feedback, to study learning of active sensing strategies. Rats performed a searching task in a water maze in which the only task-relevant sensory feedback was provided by intracortical microstimulation (ICMS) encoding egocentric bearing to the hidden goal location. The rats learned to use the artificial goal direction sense to find the platform with the same proficiency as natural vision. Manipulation of the acuity of the ICMS feedback revealed distinct search strategy adaptations. Using an optimization model, the different strategies were found to minimize the effort required to extract the most salient task-relevant information. The results demonstrate that animals can adjust motor strategies to match novel sensor properties for efficient goal-directed behavior.

Ultrasound Imaging Reveals Accelerated In-utero Development of a Sensory Apparatus in Echolocating Bats

Organ development, both in-utero and after birth, follows a different path for every organ depending upon how early the newborn will use it. Perception of the environment using echolocation occurs very early in the life of neonatal bats. In nostril-emitting echolocating bats of the families Hipposideridae and Rhinolophidae, the shape and area of the nasal-horseshoe is crucial for echolocation emission. We therefore hypothesized that most of this organ’s ontogeny will be completed in-utero while skull and wings will develop slower and continue their growth after birth. We used intrauterine ultrasonography of pregnant females, and measured newborn Asellia tridens (Hipposideridae) to test our hypothesis at different stages of ontogeny. We found that horseshoe development is completed in-utero and neonates begin emitting precursor echolocation calls already two days after birth. In contrast, skull and forearm only develop to 70% and 40% of adult size (respectively), and continue development after birth.

A fully autonomous terrestrial bat-like acoustic robot

Echolocating bats rely on active sound emission (echolocation) for mapping novel environments and navigating through them. Many theoretical frameworks have been suggested to explain how they do so, but few attempts have been made to build an actual robot that mimics their abilities. Here, we present the ‘Robat’—a fully autonomous bat-like terrestrial robot that relies on echolocation to move through a novel environment while mapping it solely based on sound. Using the echoes reflected from the environment, the Robat delineates the borders of objects it encounters, and classifies them using an artificial neural-network, thus creating a rich map of its environment. Unlike most previous attempts to apply sonar in robotics, we focus on a biological bat-like approach, which relies on a single emitter and two ears, and we apply a biological plausible signal processing approach to extract information about objects’ position and identity.

Many animals are able of mapping a new environment even while moving through it for the first time. Bats can do this by emitting sound and extracting information from the echoes reflected from objects in their surroundings. In this study, we mimicked this ability by developing a robot that emits sound like a bat and analyzes the returning echoes to generate a map of space. Our Robat had an ultrasonic speaker mimicking the bat’s mouth and two ultrasonic microphones mimicking its ears. It moved autonomously through novel out-doors environments and mapped them using sound only. It was able to negotiate obstacles and move around them, to avoid dead-ends and even to recognize if the object in front of it is a plant or not. We show the great potential of using sound for future robotic applications.

Directionality of nose-emitted echolocation calls from bats without a nose leaf (Plecotus auritus)

All echolocating bats and whales measured to date emit a directional bio-sonar beam that affords them a number of advantages over an omni-directional beam, i.e. reduced clutter, increased source level and inherent directional information. In this study, we investigated the importance of directional sound emission for navigation through echolocation by measuring the sonar beam of brown long-eared bats, Plecotus auritusPlecotus auritus emits sound through the nostrils but has no external appendages to readily facilitate a directional sound emission as found in most nose emitters. The study shows that P. auritus, despite lacking an external focusing apparatus, emits a directional echolocation beam (directivity index=13 dB) and that the beam is more directional vertically (-6 dB angle at 22 deg) than horizontally (-6 dB angle at 35 deg). Using a simple numerical model, we found that the recorded emission pattern is achievable if P. auritus emits sound through the nostrils as well as the mouth. The study thus supports the hypothesis that a directional echolocation beam is important for perception through echolocation and we propose that animals with similarly non-directional emitter characteristics may facilitate a directional sound emission by emitting sound through both the nostrils and the mouth.

Tongue-driven sonar beam steering by a lingual-echolocating fruit bat

Animals enhance sensory acquisition from a specific direction by movements of head, ears, or eyes. As active sensing animals, echolocating bats also aim their directional sonar beam to selectively “illuminate” a confined volume of space, facilitating efficient information processing by reducing echo interference and clutter. Such sonar beam control is generally achieved by head movements or shape changes of the sound-emitting mouth or nose. However, lingual-echolocating Egyptian fruit bats, Rousettus aegyptiacus, which produce sound by clicking their tongue, can dramatically change beam direction at very short temporal intervals without visible morphological changes. The mechanism supporting this capability has remained a mystery. Here, we measured signals from free-flying Egyptian fruit bats and discovered a systematic angular sweep of beam focus across increasing frequency. This unusual signal structure has not been observed in other animals and cannot be explained by the conventional and widely-used “piston model” that describes the emission pattern of other bat species. Through modeling, we show that the observed beam features can be captured by an array of tongue-driven sound sources located along the side of the mouth, and that the sonar beam direction can be steered parsimoniously by inducing changes to the pattern of phase differences through moving tongue location. The effects are broadly similar to those found in a phased array—an engineering design widely found in human-made sonar systems that enables beam direction changes without changes in the physical transducer assembly. Our study reveals an intriguing parallel between biology and human engineering in solving problems in fundamentally similar ways.

It is well known that animals move their eyes, ears, and heads towards stimuli of interest to selectively gather information in complex environments. Interestingly, lingual-echolocating fruit bats, which generate sonar signals for object localization by clicking their tongues, can rapidly switch the direction of the sonar beam without changing head aim or mouth shape. The mechanism underlying this capability has intrigued scientists and engineers alike. In this study, we used a combination of experimental measurements and theoretical modeling to solve this mystery. We discovered that the focus of this bat’s sound beam shifts systematically across a range of angles as the sonar frequency increases. This unusual multi-frequency structure can be captured by modeling the sound emission as an array of sound sources located along the side of the mouth and driven by the clicking tongue. Changing only the position of the tongue in this model can steer the sonar beam in different directions, showing an effect broadly similar to that found in a human-made sonar phased array—a design that enables changing beam direction without changing the physical transducer assembly. Our study thus reveals an intriguing parallel between biology and human engineering, which arrived at fundamentally similar solutions to the same problem.

Coordinated Control of Acoustical Field of View and Flight in Three-Dimensional Space for Consecutive Capture by Echolocating Bats during Natural Foraging

Echolocating bats prey upon small moving insects in the dark using sophisticated sonar techniques. The direction and directivity pattern of the ultrasound broadcast of these bats are important factors that affect their acoustical field of view, allowing us to investigate how the bats control their acoustic attention (pulse direction) for advanced flight maneuvers. The purpose of this study was to understand the behavioral strategies of acoustical sensing of wild Japanese house bats Pipistrellus abramus in three-dimensional (3D) space during consecutive capture flights. The results showed that when the bats successively captured multiple airborne insects in short time intervals (less than 1.5 s), they maintained not only the immediate prey but also the subsequent one simultaneously within the beam widths of the emitted pulses in both horizontal and vertical planes before capturing the immediate one. This suggests that echolocating bats maintain multiple prey within their acoustical field of view by a single sensing using a wide directional beam while approaching the immediate prey, instead of frequently shifting acoustic attention between multiple prey. We also numerically simulated the bats’ flight trajectories when approaching two prey successively to investigate the relationship between the acoustical field of view and the prey direction for effective consecutive captures. This simulation demonstrated that acoustically viewing both the immediate and the subsequent prey simultaneously increases the success rate of capturing both prey, which is considered to be one of the basic axes of efficient route planning for consecutive capture flight. The bat’s wide sonar beam can incidentally cover multiple prey while the bat forages in an area where the prey density is high. Our findings suggest that the bats then keep future targets within their acoustical field of view for effective foraging. In addition, in both the experimental results and the numerical simulations, the acoustic sensing and flights of the bats showed narrower vertical ranges than horizontal ranges. This suggests that the bats control their acoustic sensing according to different schemes in the horizontal and vertical planes according to their surroundings. These findings suggest that echolocating bats coordinate their control of the acoustical field of view and flight for consecutive captures in 3D space during natural foraging.

A dynamic ultrasonic emitter inspired by horseshoe bat noseleaves

The emission of biosonar pulses in horseshoe bats (family Rhinolophidae) differs from technical sonar in that it has dynamic features at the interface to the free field. When the horseshoe bats emit their biosonar pulses through the nostrils, the walls of a horn-shaped baffle (anterior leaf) are in motion while diffracting the outgoing ultrasonic wave packets. Here, biomimetic reproductions of the dynamic emission shapes of horseshoe bats have been studied for their ability to impose time-variant signatures onto the outgoing pulses. It was found that an elliptical sound outlet with rotating baffles that were attached along the direction of the major axis can be well suited for this purpose. Most importantly, concave baffle shapes were found to produce strongly time-dependent devices characteristics that could reach a root-mean-square-difference between beampatterns of almost 6 dB within a rotation angle of 10°. In contrast to this, a straight baffle shape needs to be rotated over 60° for a similar result. When continuously rotated in synchrony with the emitted pulses, the concave biomimetic baffles produced time-variant device characteristics that depended jointly on direction, frequency, and time. Since such device properties are so easily produced, it appears well worthwhile to explore their use in engineering.

Bats adjust their mouth gape to zoom their biosonar field of view

Active sensing, where sensory acquisition is actively modulated, is an inherent component of almost all sensory systems. Echolocating bats are a prime example of active sensing. They can rapidly adjust many of their biosonar parameters to optimize sensory acquisition. They dynamically adjust pulse design, pulse duration, and pulse rate within dozens of milliseconds according to the sensory information that is required for the task that they are performing. The least studied and least understood degree of freedom in echolocation is emission beamforming--the ability to change the shape of the sonar sound beam in a functional way. Such an ability could have a great impact on the bat's control over its sensory perception. On the one hand, the bat could direct more energy into a narrow sector to zoom its biosonar field of view, and on the other hand, it could widen the beam to increase the space that it senses. We show that freely behaving bats constantly control their biosonar field of view in natural situations by rapidly adjusting their emitter aperture--the mouth gape. The bats dramatically narrowed the beam when entering a confined space, and they dramatically widened it within dozens of milliseconds when flying toward open space. Hence, mouth-emitting bats dynamically adjust their mouth gape to optimize the area that they sense with their echolocation system.

Spatial cognition in bats and rats: from sensory acquisition to multiscale maps and navigation

Spatial orientation and navigation rely on the acquisition of several types of sensory information. This information is then transformed into a neural code for space in the hippocampal formation through the activity of place cells, grid cells and head-direction cells. These spatial representations, in turn, are thought to guide long-range navigation. But how the representations encoded by these different cell types are integrated in the brain to form a neural 'map and compass' is largely unknown. Here, we discuss this problem in the context of spatial navigation by bats and rats. We review the experimental findings and theoretical models that provide insight into the mechanisms that link sensory systems to spatial representations and to large-scale natural navigation.

A sensory-motor control model of animal flight explains why bats fly differently in light versus dark

Animal flight requires fine motor control. However, it is unknown how flying animals rapidly transform noisy sensory information into adequate motor commands. Here we developed a sensorimotor control model that explains vertebrate flight guidance with high fidelity. This simple model accurately reconstructed complex trajectories of bats flying in the dark. The model implies that in order to apply appropriate motor commands, bats have to estimate not only the angle-to-target, as was previously assumed, but also the angular velocity ("proportional-derivative" controller). Next, we conducted experiments in which bats flew in light conditions. When using vision, bats altered their movements, reducing the flight curvature. This change was explained by the model via reduction in sensory noise under vision versus pure echolocation. These results imply a surprising link between sensory noise and movement dynamics. We propose that this sensory-motor link is fundamental to motion control in rapidly moving animals under different sensory conditions, on land, sea, or air.

Motor patterns during active electrosensory acquisition

Motor patterns displayed during active electrosensory acquisition of information seem to be an essential part of a sensory strategy by which weakly electric fish actively generate and shape sensory flow. These active sensing strategies are expected to adaptively optimize ongoing behavior with respect to either motor efficiency or sensory information gained. The tight link between the motor domain and sensory perception in active electrolocation make weakly electric fish like Gnathonemus petersii an ideal system for studying sensory-motor interactions in the form of active sensing strategies. Analyzing the movements and electric signals of solitary fish during unrestrained exploration of objects in the dark, we here present the first formal quantification of motor patterns used by fish during electrolocation. Based on a cluster analysis of the kinematic values we categorized the basic units of motion. These were then analyzed for their associative grouping to identify and extract short coherent chains of behavior. This enabled the description of sensory behavior on different levels of complexity: from single movements, over short behaviors to more complex behavioral sequences during which the kinematics alter between different behaviors. We present detailed data for three classified patterns and provide evidence that these can be considered as motor components of active sensing strategies. In accordance with the idea of active sensing strategies, we found categorical motor patterns to be modified by the sensory context. In addition these motor patterns were linked with changes in the temporal sampling in form of differing electric organ discharge frequencies and differing spatial distributions. The ability to detect such strategies quantitatively will allow future research to investigate the impact of such behaviors on sensing.

Active sensing via movement shapes spatiotemporal patterns of sensory feedback

Previous work has shown that animals alter their locomotor behavior to increase sensing volumes. However, an animal's own movement also determines the spatial and temporal dynamics of sensory feedback. Because each sensory modality has unique spatiotemporal properties, movement has differential and potentially independent effects on each sensory system. Here we show that weakly electric fish dramatically adjust their locomotor behavior in relation to changes of modality-specific information in a task in which increasing sensory volume is irrelevant. We varied sensory information during a refuge-tracking task by changing illumination (vision) and conductivity (electroreception). The gain between refuge movement stimuli and fish tracking responses was functionally identical across all sensory conditions. However, there was a significant increase in the tracking error in the dark (no visual cues). This was a result of spontaneous whole-body oscillations (0.1 to 1 Hz) produced by the fish. These movements were costly: in the dark, fish swam over three times further when tracking and produced more net positive mechanical work. The magnitudes of these oscillations increased as electrosensory salience was degraded via increases in conductivity. In addition, tail bending (1.5 to 2.35 Hz), which has been reported to enhance electrosensory perception, occurred only during trials in the dark. These data show that both categories of movements - whole-body oscillations and tail bends - actively shape the spatiotemporal dynamics of electrosensory feedback.