Lobster orientation in turbulent odor plumes: simultaneous measurement of tracking behavior and temporal odor patterns

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

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

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

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

Alternation emerges as a multi-modal strategy for turbulent odor navigation

Foraging mammals exhibit a familiar yet poorly characterized phenomenon, 'alternation', a pause to sniff in the air preceded by the animal rearing on its hind legs or raising its head. Rodents spontaneously alternate in the presence of airflow, suggesting that alternation serves an important role during plume-tracking. To test this hypothesis, we combine fully resolved simulations of turbulent odor transport and Bellman optimization methods for decision-making under partial observability. We show that an agent trained to minimize search time in a realistic odor plume exhibits extensive alternation together with the characteristic cast-and-surge behavior observed in insects. Alternation is linked with casting and occurs more frequently far downwind of the source, where the likelihood of detecting airborne cues is higher relative to ground cues. Casting and alternation emerge as complementary tools for effective exploration with sparse cues. A model based on marginal value theory captures the interplay between casting, surging, and alternation.

Learning to predict target location with turbulent odor plumes

Animal behavior and neural recordings show that the brain is able to measure both the intensity and the timing of odor encounters. However, whether intensity or timing of odor detections is more informative for olfactory-driven behavior is not understood. To tackle this question, we consider the problem of locating a target using the odor it releases. We ask whether the position of a target is best predicted by measures of timing vs intensity of its odor, sampled for a short period of time. To answer this question, we feed data from accurate numerical simulations of odor transport to machine learning algorithms that learn how to connect odor to target location. We find that both intensity and timing can separately predict target location even from a distance of several meters; however, their efficacy varies with the dilution of the odor in space. Thus, organisms that use olfaction from different ranges may have to switch among different modalities. This has implications on how the brain should represent odors as the target is approached. We demonstrate simple strategies to improve accuracy and robustness of the prediction by modifying odor sampling and appropriately combining distinct measures together. To test the predictions, animal behavior and odor representation should be monitored as the animal moves relative to the target, or in virtual conditions that mimic concentrated vs dilute environments.

Spatial, but not temporal, aspects of orientation are controlled by the fine-scale distribution of chemical cues in turbulent odor plumes

Orientation within turbulent odor plumes occurs across a vast range of spatial and temporal scales. From salmon homing across featureless oceans to microbes forming reproductive spores, the extraction of spatial and temporal information from chemical cues is a common sensory phenomenon. Yet, given the difficulty of quantifying chemical cues at the spatial and temporal scales used by organisms, discovering what aspects of chemical cues control orientation behavior has remained elusive. In this study, we placed electrochemical sensors on the carapace of orienting crayfish and measured, with fast temporal rates and small spatial scales, the concentration fluctuations arriving at the olfactory appendages during orientation. Our results show that the spatial aspects of orientation (turning and heading angles) are controlled by the temporal aspects of odor cues.

A new direction for differentiating animal activity based on measuring angular velocity about the yaw axis

The use of animal-attached data loggers to quantify animal movement has increased in popularity and application in recent years. High-resolution tri-axial acceleration and magnetometry measurements have been fundamental in elucidating fine-scale animal movements, providing information on posture, traveling speed, energy expenditure, and associated behavioral patterns. Heading is a key variable obtained from the tandem use of magnetometers and accelerometers, although few field investigations have explored fine-scale changes in heading to elucidate differences in animal activity (beyond the notable exceptions of dead-reckoning).This paper provides an overview of the value and use of animal heading and a prime derivative, angular velocity about the yaw axis, as an important element for assessing activity extent with potential to allude to behaviors, using "free-ranging" Loggerhead turtles (Caretta caretta) as a model species.We also demonstrate the value of yaw rotation for assessing activity extent, which varies over the time scales considered and show that various scales of body rotation, particularly rate of change of yaw, can help resolve differences between fine-scale behavior-specific movements. For example, oscillating yaw movements about a central point of the body's arc implies bouts of foraging, while unusual circling behavior, indicative of conspecific interactions, could be identified from complete revolutions of the longitudinal axis.We believe this approach should help identification of behaviors and "space-state" approaches to enhance our interpretation of behavior-based movements, particularly in scenarios where acceleration metrics have limited value, such as for slow-moving animals.

Odor tracking in aquatic organisms: the importance of temporal and spatial intermittency of the turbulent plume

In aquatic and terrestrial environments, odorants are dispersed by currents that create concentration distributions that are spatially and temporally complex. Animals navigating in a plume must therefore rely upon intermittent, and time-varying information to find the source. Navigation has typically been studied as a spatial information problem, with the aim of movement towards higher mean concentrations. However, this spatial information alone, without information of the temporal dynamics of the plume, is insufficient to explain the accuracy and speed of many animals tracking odors. Recent studies have identified a subpopulation of olfactory receptor neurons (ORNs) that consist of intrinsically rhythmically active 'bursting' ORNs (bORNs) in the lobster, Panulirus argus. As a population, bORNs provide a neural mechanism dedicated to encoding the time between odor encounters. Using a numerical simulation of a large-scale plume, the lobster is used as a framework to construct a computer model to examine the utility of intermittency for orienting within a plume. Results show that plume intermittency is reliably detectable when sampling simulated odorants on the order of seconds, and provides the most information when animals search along the plume edge. Both the temporal and spatial variation in intermittency is predictably structured on scales relevant for a searching animal that encodes olfactory information utilizing bORNs, and therefore is suitable and useful as a navigational cue.

Plume Tracing via Model-Free Reinforcement Learning Method

This paper studies the plume-tracing strategy for an autonomous underwater vehicle (AUV) in the deep-sea turbulent environment. The tracing problem is modeled as a partially observable Markov decision process with continuous state space and action space due to the spatio-temporal changes of environment. An long short-term memory-based reinforcement learning framework with full use of history information is proposed to generate a smooth strategy while the AUV interacting with the environment. Continuous temporal difference and deterministic policy gradient methods are employed to improve the strategy. To promote the performance of the algorithm, a supervised strategy generated by dynamic programming methods is utilized as transcendental knowledge of the agent. Historical searching trajectory's form and the exploration technology are specially designed to fit the algorithm. Simulation environments are established based on Reynolds-averaged Navier-Stokes equations and the effectiveness of the learned plume-tracing strategy is validated with simulation experiments.

Smelling Time: A Neural Basis for Olfactory Scene Analysis

Behavioral evidence from phylogenetically diverse animals and from humans suggests that, by extracting temporal information inherent in the olfactory signal, olfaction is more involved in interpreting space and time than heretofore imagined. If this is the case, the olfactory system must have neural mechanisms capable of encoding time at intervals relevant to the turbulent odor world in which many animals live. Here, we review evidence that animals can use populations of rhythmically active or 'bursting' olfactory receptor neurons (bORNs) to extract and encode temporal information inherent in natural olfactory signals. We postulate that bORNs represent an unsuspected neural mechanism through which time can be accurately measured, and that 'smelling time' completes the requirements for true olfactory scene analysis.

Simultaneous sampling of flow and odorants by crustaceans can aid searches within a turbulent plume

Crustaceans such as crabs, lobsters and crayfish use dispersing odorant molecules to determine the location of predators, prey, potential mates and habitat. Odorant molecules diffuse in turbulent flows and are sensed by the olfactory organs of these animals, often using a flicking motion of their antennules. These antennules contain both chemosensory and mechanosensory sensilla, which enable them to detect both flow and odorants during a flick. To determine how simultaneous flow and odorant sampling can aid in search behavior, a 3-dimensional numerical model for the near-bed flow environment was created. A stream of odorant concentration was released into the flow creating a turbulent plume, and both temporally and spatially fluctuating velocity and odorant concentration were quantified. The plume characteristics show close resemblance to experimental measurements within a large laboratory flume. Results show that mean odorant concentration and it's intermittency, computed as dc/dt, increase towards the plume source, but the temporal and spatial rate of this increase is slow and suggests that long measurement times would be necessary to be useful for chemosensory guidance. Odorant fluxes measured transverse to the mean flow direction, quantified as the product of the instantaneous fluctuation in concentration and velocity, v'c', do show statistically distinct magnitude and directional information on either side of a plume centerline over integration times of <0.5 s. Aquatic animals typically have neural responses to odorant and velocity fields at rates between 50 and 500 ms, suggesting this simultaneous sampling of both flow and concentration in a turbulent plume can aid in source tracking on timescales relevant to aquatic animals.

Plume mapping via hidden Markov methods

This paper addresses the problem of mapping likely locations of a chemical source using an autonomous vehicle operating in a fluid flow. The paper reviews biological plume-tracing concepts, reviews previous strategies for vehicle-based plume tracing, and presents a new plume mapping approach based on hidden Markov methods (HMM). HMM provide efficient algorithms for predicting the likelihood of odor detection versus position, the likelihood of source location versus position, the most likely path taken by the odor to a given location, and the path between two points most likely to result in odor detection. All four are useful for solving the odor source localization problem using an autonomous vehicle. The vehicle is assumed to be capable of detecting above threshold chemical concentration and sensing the fluid flow velocity at the vehicle location. The fluid flow is assumed to vary with space and time, and to have a high Reynolds number (Re>10).

Rats track odour trails accurately using a multi-layered strategy with near-optimal sampling

Tracking odour trails is a crucial behaviour for many animals, often leading to food, mates or away from danger. It is an excellent example of active sampling, where the animal itself controls how to sense the environment. Here we show that rats can track odour trails accurately with near-optimal sampling. We trained rats to follow odour trails drawn on paper spooled through a treadmill. By recording local field potentials (LFPs) from the olfactory bulb, and sniffing rates, we find that sniffing but not LFPs differ between tracking and non-tracking conditions. Rats can track odours within ~1 cm, and this accuracy is degraded when one nostril is closed. Moreover, they show path prediction on encountering a fork, wide 'casting' sweeps on encountering a gap and detection of reappearance of the trail in 1-2 sniffs. We suggest that rats use a multi-layered strategy, and achieve efficient sampling and high accuracy in this complex task.

Robot navigation: implications from search strategies in exploring crayfish

Biomimetic applications play an important role in informing the field of robotics. One aspect is navigation – a skill automobile robots require to perform useful tasks. A sub-area of this is search strategies, e.g. for search and rescue, demining, exploring surfaces of other planets or as a default strategy when other navigation mechanisms fail. Despite that, only a few approaches have been made to transfer biological knowledge of search mechanisms on surfaces along the ground into biomimetic applications. To provide insight for robot navigation strategies, this study describes the paths a crayfish used to explore terrain. We tracked movement when different sets of sensory input were available. We then tested this algorithm with a computer model crayfish and concluded that the movement ofC. destructorhas a specialised walking strategy that could provide a suitable baseline algorithm for autonomous mobile robots during navigation.

Robot Odor Localization: A Taxonomy and Survey

Robotic odor localization has become a prominent research area in recent years. It promises many valuable practical applications, and contributes to the knowledge of biological odor localization, which has in many cases been the source of inspiration. There have been a diversity of approaches, implemented in both simulated and practical experiments, with a wide variety of platforms, and in a number of environments. This article presents a survey of the existing methods, which have been organized into taxonomic classifications. This provides a framework in which to evaluate the methods, view how they relate to each other, and make qualitative comparisons. The methods are grouped at the highest level by environmental conditions, and then by the localization method which in most cases is closely associated with the type of sensors used.

Chemical plume source localization

This paper addresses the problem of estimating a likelihood map for the location of the source of a chemical plume using an autonomous vehicle as a sensor probe in a fluid flow. The fluid flow is assumed to have a high Reynolds number. Therefore, the dispersion of the chemical is dominated by turbulence, resulting in an intermittent chemical signal. The vehicle is capable of detecting above-threshold chemical concentration and sensing the fluid flow velocity at the vehicle location. This paper reviews instances of biological plume tracing and reviews previous strategies for a vehicle-based plume tracing. The main contribution is a new source-likelihood mapping approach based on Bayesian inference methods. Using this Bayesian methodology, the source-likelihood map is propagated through time and updated in response to both detection and nondetection events. Examples are included that use data from in-water testing to compare the mapping approach derived herein with the map derived using a previously existing technique.

Integration of hydrodynamic and odorant inputs by local interneurons of the crayfish deutocerebrum

Intracellular electrodes were used to record from local interneurons in the olfactory lobes of the midbrain in the crayfish Procambarus clarkii. Cells that resembled previously studied central targets of olfactory receptor neurons on the lateral antennular flagellum were specifically examined for their responses to hydrodynamic stimuli. Initiation of water movement past the antennular flagellum, confined within an olfactometer, evoked a triphasic excitatory-inhibitory-excitatory postsynaptic potential lasting up to 2 s that generated spikes on depolarizing phases of the response sequence. Odorant pulses seamlessly imbedded in the water pulse past the antennule evoked purely excitatory, dose-dependent postsynaptic responses and associated spike trains. The latency of the initial phase of the response to water was approximately half as long as the latency of the response to odorant, suggesting that different afferent pathways are involved in responses to hydrodynamic and odorant stimuli, respectively. In some olfactory lobe interneurons that resembled previously described cells classified as Type I, conjoint stimulation of fluid onset and odorant evoked responses that were twice the amplitude of the summed response to either hydrodynamic or odorant stimulation alone, suggesting that the olfactory responses were potentiated by hydrodynamic input. Individuals of at least one other class of first-order interneuron that responded to both hydrodynamic and odorant stimulation were occasionally recorded from. These results indicate that multimodal integration of chemical and mechanical information occurs at the level of first-order sensory interneurons in the crayfish brain.

How lobsters, crayfishes, and crabs locate sources of odor: current perspectives and future directions

Olfactory orientation poses many challenges for crustaceans in marine environments. Recent behavioral experiments lead to a new understanding of the role of multiple sensory appendages, whereas application of non-invasive chemical visualization techniques and biomimetic robotics have allowed researchers to correlate the stimulus environment with behavior and to directly test proposed orientation mechanisms in decapod crustaceans.

Chemical plume tracking. 1. Chemical information encoding

It is shown experimentally that chemical information can be encoded and preserved in flowing liquid streams. It can be retrieved by chemical sensing arrays using correlation analysis. This finding is important for understanding of the mechanism of chemotaxis as practiced by some aquatic animals and also is a necessary prerequisite for construction of chemical plume tracking robots.

Sensing scenes with silicon

Scene analysis, the process of converting sensory information from peripheral receptors into a representation of objects in the external world, is central to our human experience of perception. Through our efforts to design systems for object recognition and for robot navigation, we have come to appreciate that a number of common themes apply across the sensory modalities of vision, audition, and olfaction; and many apply across species ranging from invertebrates to mammals. These themes include the need for adaptation in the periphery and trade-offs between selectivity for frequency or molecular structure with resolution in time or space. In addition, neural mechanisms involving coincidence detection are found in many different subsystems that appear to implement cross-correlation or autocorrelation computations.

Invertebrate-Inspired sensory-motor systems and autonomous, olfactory-guided exploration

The localization of resources in a natural environment is a multifaceted problem faced by both invertebrate animals and autonomous robots. At a first approximation, locomotion through natural environments must be guided by reliable sensory information. But natural environments can be unpredictable, so from time to time, information from any one sensory modality is likely to become temporarily unreliable. Fortunately, compensating mechanisms ensure that such signals are replaced or disambiguated by information from more reliable modalities. For invertebrates and robots to rely primarily on chemical senses has advantages and pitfalls, and these are discussed. The role of turbulence, which makes tracking a single odor to its source a complex problem, is contrasted with the high-fidelity identification of stimulus quality by the invertebrate chemoreceptor and by artificial sensors.

Three-dimensional odor tracking by Nautilus pompilius

The ‘living fossil’ Nautilus pompilius is thought to use olfaction as its primary sensory system during foraging, yet neither the organs responsible for olfaction nor the mechanisms or behaviors associated with odor tracking have been subjected to experimentation. Flume testing under dark conditions revealed that Nautilus could consistently detect and follow turbulent odor plumes to the source over distances up to 10 m, exhibiting two types of orientation behavior while sampling in three dimensions. The paired rhinophores were necessary for orientation behavior: when they were temporarily blocked either uni- or bilaterally, Nautilus detected odor but could not track the plume and locate the source. Animals that were tested post-blockage were able to track and locate the source. The role of the 90 thin tentacles remains enigmatic; they seemed to be able to detect odor, but they were not capable of guiding orientation behavior towards a distant odor source. Bilateral chemical sensing by rhinophores in three dimensions may have been the Umwelt of ammonites and belemnites before the evolution of complex eyes and fast locomotion in modern coleoids.

Chemo- and mechanosensory orientation by crustaceans in laminar and turbulent flows: from odor trails to vortex streets

Crustaceans use odor and fluid mechanical cues to extract information from their environment. These cues enable animals to find resources, orient to water currents, or escape predators. Because the properties of the fluid environment affect the transmission and structure of relevant signals, a better understanding of sensory and behavioral mechanisms will be aided by considering, at the same time, the hydrodynamic context of chemo- and mechanosensory behaviors. Crustaceans occupy aquatic habitats where flows range from almost completely laminar to nearly fully turbulent. The considerable scope of hydrodynamic properties is mirrored by equally extreme variations in the complexity of the signals entrained in these flows. Ambient noise and stochastic variation increase in increasingly energetic, turbulent conditions. The sensory and behavioral mechanisms of animals that orient in turbulent environments suggest that they have, in the course of evolution, been shaped by the flow properties. Here, sensory systems are geared to extract rapidly fluctuating signals against a noisy background. They sometimes have elaborate noise filtering mechanisms that enable the detection of rather coarse types of signal features to improve the signal-to-noise ratio. In contrast, the simpler and more predictable structure of signals carried in laminar flows may allow more accurate orientation and discrimination to occur, and free animals from the burden of supporting complex noise-filtering circuitry. Future comparative investigations of sensory physiology and behavior of animals in relation to their flow environment promise to increase our understanding of orientation by means of chemo- and mechanoperception.