Clutter interference and the integration time of echoes in the echolocating bat, Eptesicus fuscus

Acoustic traits of bat-pollinated flowers compared to flowers of other pollination syndromes and their echo-based classification using convolutional neural networks

Bat-pollinated flowers have to attract their pollinators in absence of light and therefore some species developed specialized echoic floral parts. These parts are usually concave shaped and act like acoustic retroreflectors making the flowers acoustically conspicuous to the bats. Acoustic plant specializations only have been described for two bat-pollinated species in the Neotropics and one other bat-dependent plant in South East Asia. However, it remains unclear whether other bat-pollinated plant species also show acoustic adaptations. Moreover, acoustic traits have never been compared between bat-pollinated flowers and flowers belonging to other pollination syndromes. To investigate acoustic traits of bat-pollinated flowers we recorded a dataset of 32320 flower echoes, collected from 168 individual flowers belonging to 12 different species. 6 of these species were pollinated by bats and 6 species were pollinated by insects or hummingbirds. We analyzed the spectral target strength of the flowers and trained a convolutional neural network (CNN) on the spectrograms of the flower echoes. We found that bat-pollinated flowers have a significantly higher echo target strength, independent of their size, and differ in their morphology, specifically in the lower variance of their morphological features. We found that a good classification accuracy by our CNN (up to 84%) can be achieved with only one echo/spectrogram to classify the 12 different plant species, both bat-pollinated and otherwise, with bat-pollinated flowers being easier to classify. The higher classification performance of bat-pollinated flowers can be explained by the lower variance of their morphology.

Directional biosonar beams allow echolocating harbour porpoises to actively discriminate and intercept closely spaced targets

Echolocating toothed whales face the problem that high sound speeds in water mean that echoes from closely spaced targets will arrive at time delays within their reported auditory integration time of some 264 µs. Here, we test the hypothesis that echolocating harbour porpoises cannot resolve and discriminate targets within a clutter interference zone given by their integration time. To do this, we trained two harbour porpoises (Phocoena phocoena) to actively approach and choose between two spherical targets at four varying inter-target distances (13.5, 27, 56 and 108 cm) in a two-alternative forced-choice task. The free-swimming, blindfolded porpoises were tagged with a sound and movement tag (DTAG4) to record their echoic scene and acoustic outputs. The known ranges between targets and the porpoise, combined with the sound levels received on target-mounted hydrophones revealed how the porpoises controlled their acoustic gaze. When targets were close together, the discrimination task was more difficult because of smaller echo time delays and lower echo level ratios between the targets. Under these conditions, buzzes were longer and started from farther away, source levels were reduced at short ranges, and the porpoises clicked faster, scanned across the targets more, and delayed making their discrimination decision until closer to the target. We conclude that harbour porpoises can resolve and discriminate closely spaced targets, suggesting a clutter rejection zone much shorter than their auditory integration time, and that such clutter rejection is greatly aided by spatial filtering with their directional biosonar beam.

From the field to the lab and back: neuroethology of primate social behavior

Social mammals with more numerous and stronger social relationships live longer, healthier lives. Despite the established importance of social relationships, our understanding of the neurobiological mechanisms by which they are pursued, formed, and maintained in primates remains largely confined to highly controlled laboratory settings which do not allow natural, dynamic social interactions to unfold. In this review, we argue that the neurobiological study of primate social behavior would benefit from adopting a neuroethological approach, that is, a perspective grounded in natural, species-typical behavior, with careful selection of animal models according to the scientific question at hand. We highlight macaques and marmosets as key animal models for human social behavior and summarize recent findings in the social domain for both species. We then review pioneering studies of dynamic social behaviors in small animals, which can inspire studies in larger primates where the technological landscape is now ripe for an ethological overhaul.

Energy compensation and received echo level dynamics in constant-frequency bats during active target approaches

Bats have been reported to adjust the energy of their outgoing vocalizations to target range (R) in a logarithmic fashion close to 20log₁₀ R which has been interpreted as providing one-way compensation for increasing echo levels during target approaches. However, it remains unknown how species using high-frequency calls, which are strongly affected by absorption, adjust their vocal outputs during approaches to point targets. We hypothesized that such species should compensate less than the 20log₁₀ R model predicts at longer distances and more at shorter distances as a consequence of the significant influence of absorption at longer ranges. Using a microphone array and an acoustic recording tag, we show that the output adjustments of two Hipposideros pratti and one Hipposideros armiger do not decrease logarithmically during approaches to different-sized targets. Consequently, received echo levels increase dramatically early in the approach phase with near-constant output levels, but level off late in the approach phase as a result of substantial output reductions. To improve echo-to-noise ratio, we suggest that bats using higher frequency vocalizations compensate less at longer ranges, where they are strongly affected by absorption. Close to the target, they decrease their output levels dramatically to mitigate reception of very high echo levels. This strategy maintains received echo levels between 6 and 40 dB re. 20 µPa² s across different target sizes. The bats partially compensated for target size, but not in a one-to-one dB fashion, showing that these bats do not seek to stabilize perceived echo levels, but may instead use them to gauge target size.

Big brown bats (Eptesicus fuscus) reveal diverse strategies for sonar target tracking in clutter

Bats actively adjust the acoustic features of their sonar calls to control echo information specific to a given task and environment. A previous study investigated how bats adapted their echolocation behavior when tracking a moving target in the presence of a stationary distracter at different distances and angular offsets. The use of only one distracter, however, left open the possibility that a bat could reduce the interference of the distracter by turning its head. Here, bats tracked a moving target in the presence of one or two symmetrically placed distracters to investigate adaptive echolocation behavior in a situation where vocalizing off-axis would result in increased interference from distracter echoes. Both bats reduced bandwidth and duration but increased sweep rate in more challenging distracter conditions, and surprisingly, made more head turns in the two-distracter condition compared to one, but only when distracters were placed at large angular offsets. However, for most variables examined, subjects showed distinct strategies to reduce clutter interference, either by (1) changing spectral or temporal features of their calls, or (2) producing large numbers of sonar sound groups and consistent head-turning behavior. The results suggest that individual bats can use different strategies for target tracking in cluttered environments.

Place recognition using batlike sonar

Echolocating bats have excellent spatial memory and are able to navigate to salient locations using bio-sonar. Navigating and route-following require animals to recognize places. Currently, it is mostly unknown how bats recognize places using echolocation. In this paper, we propose template based place recognition might underlie sonar-based navigation in bats. Under this hypothesis, bats recognize places by remembering their echo signature - rather than their 3D layout. Using a large body of ensonification data collected in three different habitats, we test the viability of this hypothesis assessing two critical properties of the proposed echo signatures: (1) they can be uniquely classified and (2) they vary continuously across space. Based on the results presented, we conclude that the proposed echo signatures satisfy both criteria. We discuss how these two properties of the echo signatures can support navigation and building a cognitive map.

Sensorimotor Model of Obstacle Avoidance in Echolocating Bats

Bat echolocation is an ability consisting of many subtasks such as navigation, prey detection and object recognition. Understanding the echolocation capabilities of bats comes down to isolating the minimal set of acoustic cues needed to complete each task. For some tasks, the minimal cues have already been identified. However, while a number of possible cues have been suggested, little is known about the minimal cues supporting obstacle avoidance in echolocating bats. In this paper, we propose that the Interaural Intensity Difference (IID) and travel time of the first millisecond of the echo train are sufficient cues for obstacle avoidance. We describe a simple control algorithm based on the use of these cues in combination with alternating ear positions modeled after the constant frequency bat Rhinolophus rouxii. Using spatial simulations (2D and 3D), we show that simple phonotaxis can steer a bat clear from obstacles without performing a reconstruction of the 3D layout of the scene. As such, this paper presents the first computationally explicit explanation for obstacle avoidance validated in complex simulated environments. Based on additional simulations modelling the FM bat Phyllostomus discolor, we conjecture that the proposed cues can be exploited by constant frequency (CF) bats and frequency modulated (FM) bats alike. We hypothesize that using a low level yet robust cue for obstacle avoidance allows bats to comply with the hard real-time constraints of this basic behaviour.

Echolocating bats can fly through complex environments in complete darkness. Swift and apparently effortless obstacle avoidance is the most fundamental function supported by biosonar. Despite this, we still do not know which acoustic cues, from among the many possible cues, bats actually exploit while avoiding obstacles. In this paper, we show using spatial simulations (2D and 3D) that the Interaural Intensity Difference (IID) and travel time of the first millisecond of the echo train in combination with alternating ear positions provide robust and reliable cues for obstacle avoidance. Simulating the echoes received by a flying bat, we show that simple phonotaxis can steer a bat clear from obstacles without performing 3D reconstruction of the layout of the scene. As such, this paper presents the first computationally explicit explanation for obstacle avoidance in realistic and complex 3D environments. We hypothesize that using low level yet robust cues for obstacle avoidance allows bats to comply with the hard real-time constraints of this basic behaviour.

Effective biosonar echo-to-clutter rejection ratio in a complex dynamic scene

Biosonar guidance in a rapidly changing complex scene was examined by flying big brown bats (Eptesicus fuscus) through a Y-shaped maze composed of rows of strongly reflective vertical plastic chains that presented the bat with left and right corridors for passage. Corridors were 80-100 cm wide and 2-4 m long. Using the two-choice Y-shaped paradigm to compensate for left-right bias and spatial memory, a moveable, weakly reflective thin-net barrier randomly blocked the left or right corridor, interspersed with no-barrier trials. Flight path and beam aim were tracked using an array of 24 microphones surrounding the flight room. Each bat flew on a path centered in the entry corridor (base of Y) and then turned into the left or right passage, to land on the far wall or to turn abruptly, reacting to avoid a collision. Broadcasts were broadly beamed in the direction of flight, smoothly leading into an upcoming turn. Duration of broadcasts decreased slowly from 3 to 2 ms during flights to track the chains' progressively closer ranges. Broadcast features and flight velocity changed abruptly about 1 m from the barrier, indicating that echoes from the net were perceived even though they were 18-35 dB weaker than overlapping echoes from surrounding chains.

How do tiger moths jam bat sonar?

The tiger moth Bertholdia trigona is the only animal in nature known to defend itself by jamming the sonar of its predators - bats. In this study we analyzed the three-dimensional flight paths and echolocation behavior of big brown bats (Eptesicus fuscus) attacking B. trigona in a flight room over seven consecutive nights to determine the acoustic mechanism of the sonar-jamming defense. Three mechanisms have been proposed: (1) the phantom echo hypothesis, which states that bats misinterpret moth clicks as echoes; (2) the ranging interference hypothesis, which states that moth clicks degrade the bats' precision in determining target distance; and (3) the masking hypothesis, which states that moth clicks mask the moth echoes entirely, making the moth temporarily invisible. On nights one and two of the experiment, the bats appeared startled by the clicks; however, on nights three through seven, the bats frequently missed their prey by a distance predicted by the ranging interference hypothesis (∼15-20 cm). Three-dimensional simulations show that bats did not avoid phantom targets, and the bats' ability to track clicking prey contradicts the predictions of the masking hypothesis. The moth clicks also forced the bats to reverse their stereotyped pattern of echolocation emissions during attack, even while bats continued pursuit of the moths. This likely further hinders the bats' ability to track prey. These results have implications for the evolution of sonar jamming in tiger moths, and we suggest evolutionary pathways by which sonar jamming may have evolved from other tiger moth defense mechanisms.

Spatial perception and adaptive sonar behavior

Bat echolocation is a dynamic behavior that allows for real-time adaptations in the timing and spectro-temporal design of sonar signals in response to a particular task and environment. To enable detailed, quantitative analyses of adaptive sonar behavior, echolocation call design was investigated in big brown bats, trained to rest on a stationary platform and track a tethered mealworm that approached from a starting distance of about 170 cm in the presence of a stationary sonar distracter. The distracter was presented at different angular offsets and distances from the bat. The results of this study show that the distance and the angular offset of the distracter influence sonar vocalization parameters of the big brown bat, Eptesicus fuscus. Specifically, the bat adjusted its call duration to the closer of two objects, distracter or insect target, and the magnitude of the adjustment depended on the angular offset of the distracter. In contrast, the bat consistently adjusted its call rate to the distance of the insect, even when this target was positioned behind the distracter. The results hold implications for understanding spatial information processing and perception by echolocation.

Sonar detection of jittering real targets in a free-flying bat

The auditory system measures time with exceptional precision. Echolocating bats evaluate the time delay between call and echo to measure object range. An extreme and disputed result on ranging acuity was found in the virtual delay jitter experiments. In these studies, echoes with alternating delays were played back to bats, which detected a jitter down to 10 ns, corresponding to a ranging acuity of 1.7 microm. The current study was designed to measure the ranging acuity of the nectarivorous bat Glossophaga soricina under semi-natural conditions. Three free-flying bats were trained to discriminate between a stationary loudspeaker membrane and a membrane sinusoidally vibrating at 10 Hz. At detection threshold, the average peak-to-peak displacement of the vibrating membrane was 13 mm, corresponding to an echo delay jitter of 75 micros. The perceived jitter from call to call, which depends on the pulse interval and the call emission time relative to the membrane phase, was simulated for comparison with the virtual jitter experiments. This call-to-call jitter was between 20 to 25 micros (ca. 4 mm ranging acuity). These thresholds between 20 and 75 micros (4-13 mm) fall within both ecologically and physiologically plausible ranges, allowing for sufficiently precise navigation and foraging.

Role of broadcast harmonics in echo delay perception by big brown bats

Big brown bats (Eptesicus fuscus) emit frequency-modulated (FM) echolocation sounds containing two principal down-sweeping harmonics (FM(1) approximately 55-25 kHz, FM(2) approximately 105-50 kHz). To determine whether each harmonic contributes to perception of echo delay, bats were trained to discriminate between "split-harmonic" echoes that differed in delay. The bat's broadcasts were picked up with microphones, and FM(1) and FM(2) were separated with highpass and lowpass filters at about 55 kHz, where they overlap in frequency. Both harmonics then were delivered from loudspeakers as positive stimuli in a 2-choice delay discrimination procedure with FM(1) delayed 3.16 ms and FM(2) delayed 3.46 ms (300 mus delay split). Negative stimuli contained FM(1) and FM(2) with the same filtering but no delay separation. These were presented at different overall delays from 11 down to 3 ms to measure the bat's delay discrimination acuity for each harmonic in the split harmonic echoes. The bats determined the delays of both FM(1) and FM(2), but performance was overlaid by a broad pedestal of poor performance that extended for 800 micros. Splitting the harmonics by 300 micros appears to defocus the bat's representation of delay, revealing the existence of a process for recognizing the normally simultaneous occurrence of the harmonics.

Detection of targets colocalized in clutter by big brown bats (Eptesicus fuscus)

Echolocating big brown bats (Eptesicus fuscus) frequently catch insects during aerial pursuits in open spaces, but they also capture prey swarming on vegetation, and from substrates. To evaluate perception of targets on cluttered surfaces, big brown bats were trained in a two-alternative forced-choice task to locate a target, varying in height, that was embedded partway in holes (clutter) cut in a foam surface. The holes were colocalized with the possible positions of the target at distances ranging from 25 to 35 cm. For successful perception of the target, the bat had to detect the echoes contributed by the target in the same time window that contained echoes from the clutter. Performance was assessed in terms of target reflective strength relative to clutter strength in the same time window. The bats detected the target whenever the target strength was greater than 1-2 dB above the clutter.

Evidence for spatial representation of object shape by echolocating bats (Eptesicus fuscus)

Big brown bats were trained in a two-choice task to locate a two-cylinder dipole object with a constant 5 cm spacing in the presence of either a one-cylinder monopole or another two-cylinder dipole with a shorter spacing. For the dipole versus monopole task, the objects were either stationary or in motion during each trial. The dipole and monopole objects varied from trial to trial in the left-right position while also roving in range (10-40 cm), cross range separation (15-40 cm), and dipole aspect angle (0 degrees -90 degrees ). These manipulations prevented any single feature of the acoustic stimuli from being a stable indicator of which object was the correct choice. After accounting for effects of masking between echoes from pairs of cylinders at similar distances, the bats discriminated the 5 cm dipole from both the monopole and dipole alternatives with performance independent of aspect angle, implying a distal, spatial object representation rather than a proximal, acoustic object representation.

A modeling approach to explain pulse design in bats

In this modeling study we wanted to find out why bats of the family Vespertilionidae (and probably also members of other families of bats) use pulses with a certain bandwidth and duration. Previous studies have only speculated on the function of bandwidth and pulse duration in bat echolocation or addressed this problem by assuming that bats optimize echolocation parameters to achieve very fine acuities in receiving single echoes. Here, we take a different approach by assuming that bats in nature rarely receive single echoes from each pulse emission, but rather many highly overlapping echoes. Some echolocation tasks require individual echoes to be separated to reconstruct reflection points in space. We used an established hearing model to investigate how the parameters bandwidth and pulse duration influence the separation of overlapping echoes. Our findings corroborate the following previously unknown or unsubstantiated facts: 1. Broadening the bandwidth improves the bat's lower resolution limit. 2. Increasing the sweep rate (defined by bandwidth and pulse duration) improves acuity of each extracted echo. 3. Decreasing the sweep rate improves the probability of frequency channels being activated. Since facts 2 and 3 affect sweep rate in an opposing fashion, an optimum sweep rate will exist, depending on the quality of the returning echoes and the requirements of the bat to improve acuity. The existence of an optimal sweep rate explains why bats are likely to use certain combinations of bandwidth and pulse duration to obtain such sweep rates.

Size discrimination of hollow hemispheres by echolocation in a nectar feeding bat

Nectar feeding bats use echolocation to find their flowers in the dense growth of tropical rainforests, and such flowers have evolved acoustic features that make their echo more conspicuous to their pollinators. To shed light on the sensory and cognitive basis of echoacoustic object recognition we conducted a size discrimination experiment with the nectarivorous bat Glossophaga soricina and compared the bats' behavioural performance with the echoic features of the training objects. We chose a simple geometric form, the hollow hemisphere, as the training object because of its resemblance to the bell-shaped concave form of many bat flowers, as well as its special acoustic qualities. The hemispheres showed a characteristic echo pattern, which was constant over a wide range of angles of sound incidence. We found systematic size-dependent changes in the echo's temporal and spectral pattern as well as in amplitude. Bats were simultaneously confronted with seven different sizes of hollow hemispheres presented from their concave sides. Visits to one particular size were rewarded with sugar water, while we recorded the frequency of visits to the unrewarded hemispheres. We found that: (1) bats learned to discriminate between hemispheres of different size with ease; (2) the minimum size difference for discrimination was a constant percentage of the hemisphere's size (Weber fraction: approximately 16% of the radius); (3) the comparison of behavioural data and impulse response measurements of the objects' echoes yielded discrimination thresholds for mean intensity differences (1.3 dB), the temporal pattern (3-22 micros) and the change of spectral notch frequency (approximately 16%). We discuss the advantages of discrimination in the frequency and/or time domain.

Tiger moth responses to a simulated bat attack: timing and duty cycle

Many night-flying insects perform complex, aerobatic escape maneuvers when echolocating bats initiate attack. Tiger moths couple this kinematic defense with an acoustic reply to a bat's biosonar-guided assault. The jamming hypothesis for the function of these moth sounds assumes that tiger moth clicks presented at high densities, temporally locked to the terminal phase of the bat attack will produce the greatest jamming efficacy. Concomitantly, this hypothesis argues that moths warning bats of bad tasting chemicals sequestered in their tissues should call early to give the bat time to process the meaning of the warning signal and that moths calling at low duty cycles are more likely to employ such an aposematic strategy. We report here the first investigation of a tiger moth assemblage's response to playback of a bat echolocation attack sequence. This assemblage of arctiid moths first answered the echolocation attack sequence 960±547 ms (mean ± s.d.) from the end of the bat attack. The assemblage reached a half-maximum response shortly after the first response, at 763±479 ms from the end of the terminal buzz. Tiger moth response reached a maximum at 475±344 ms from the end of the sequence; during the approach phase, well before the onset of the terminal buzz. In short, much of tiger moth response to bat attack occurs outside of the jamming hypotheses' predictions. Furthermore, no relationship exists between the duty cycle of a tiger moth's call (and thus the call's probability of jamming the bat) and its temporal response to bat attack. These data call into doubt the assumptions behind the jamming hypothesis as currently stated but do not directly test the functionality of arctiid sounds in disrupting echolocation in bat-moth aerial battles.

Transformation of external-ear spectral cues into perceived delays by the big brown bat, Eptesicus fuscus

The external-ear transfer function for big brown bats (Eptesicus fuscus) contains two prominent notches that vary from 30 to 55 kHz and from 70 to 100 kHz, respectively, as sound-source elevation moves from -40 to +10 degrees. These notches resemble a higher-frequency version of external-ear cues for vertical localization in humans and other mammals. However, they also resemble interference notches created in echoes when reflected sounds overlap at short time separations of 30-50 micros. Psychophysical experiments have shown that bats actually perceive small time separations from interference notches, and here we used the same technique to test whether external-ear notches are recognized as a corresponding time separation, too. The bats' performance reveals the elevation dependence of a time-separation estimate at 25-45 micros in perceived delay. Convergence of target-shape and external-ear cues onto echo spectra creates ambiguity about whether a particular notch relates to the object or to its location, which the bat could resolve by ignoring the presence of notches at external-ear frequencies. Instead, the bat registers the frequencies of notches caused by the external ear along with notches caused by the target's structure and employs spectrogram correlation and transformation (SCAT) to convert them all into a family of delay estimates that includes elevation.

Selectivity for echo spectral interference and delay in the auditory cortex of the big brown bat Eptesicus fuscus

The acoustic environment for an echolocating bat can contain multiple objects that reflect echoes so closely separated in time that they are almost completely overlapping. This results in a single echo with a spectrum characterized by deep notches due to interference. The object of this study was to document the possible selectivity, or lack thereof, of auditory neurons to the temporal separation of biosonar signals on a coarse (ms) and fine (micros) temporal scale. We recorded single-unit activity from the auditory cortex of big brown bats while presenting four protocol designs using wideband FM signals. The protocols simulated a pair of partially overlapping echoes where the separation between the first and second echo varied between 0 and 72 micros, a pulse followed by a single echo at varying delay from 0 to 30 ms, a pulse followed at a fixed delay by a pair of partially overlapping echoes that had a varying temporal separation of 0-72 micros, and a pulse followed, with a varying delay between 0 and 30 ms, by a pair of echoes that themselves had a fixed temporal separation on a microsecond time scale. About half of the cortical units showed increased spike counts to pairs of partially overlapping echoes at particular separations (6-72 micros) compared with a baseline stimulus at 0-micros separation. For many neurons tested with a pulse followed by two overlapping echoes, we observed a sensitivity to the coarse delay between the pulse and pair of overlapping echoes and to the separation between the two echoes themselves. The sensitivity to the partial overlap between the two echoes was not tuned to a single temporal separation. For bats, this means that the absolute range to the closest reflector and range between reflectors may be jointly encoded across a small population of single units. There are several possible neuronal mechanisms for encoding the separation between two nearby echoes based on the sensitivity to spectral notches.

Neural responses to overlapping FM sounds in the inferior colliculus of echolocating bats

The big brown bat, Eptesicus fuscus, navigates and hunts prey with echolocation, a modality that uses the temporal and spectral differences between vocalizations and echoes from objects to build spatial images. Closely spaced surfaces ("glints") return overlapping echoes if two echoes return within the integration time of the cochlea ( approximately 300-400 micros). The overlap results in spectral interference that provides information about target structure or texture. Previous studies have shown that two acoustic events separated in time by less than approximately 500 micros evoke only a single response from neural elements in the auditory brain stem. How does the auditory system encode multiple echoes in time when only a single response is available? We presented paired FM stimuli with delay separations from 0 to 24 micros to big brown bats and recorded local field potentials (LFPs) and single-unit responses from the inferior colliculus (IC). These stimuli have one or two interference notches positioned in their spectrum as a function of two-glint separation. For the majority of single units, response counts decreased for two-glint separations when the resulting FM signal had a spectral notch positioned at the cell's best frequency (BF). The smallest two-glint separation that reliably evoked a decrease in spike count was 6 micros. In addition, first-spike latency increased for two-glint stimuli with notches positioned nearby BF. The N(4) potential of averaged LFPs showed a decrease in amplitude for two-glint separations that had a spectral notch near the BF of the recording site. Derived LFPs were computed by subtracting a common-mode signal from each LFP evoked by the two-glint FM stimuli. The derived LFP records show clear changes in both the amplitude and latency as a function of two-glint separation. These observations in relation with the single-unit data suggest that both response amplitude and latency can carry information about two-glint separation in the auditory system of E. fuscus.

Echo-delay resolution in sonar images of the big brown bat, Eptesicus fuscus

Echolocating big brown bats (Eptesicus fuscus) broadcast ultrasonic frequency-modulated (FM) biosonar sounds (20-100 kHz frequencies; 10-50 microseconds periods) and perceive target range from echo delay. Knowing the acuity for delay resolution is essential to understand how bats process echoes because they perceive target shape and texture from the delay separation of multiple reflections. Bats can separately perceive the delays of two concurrent electronically generated echoes arriving as little as 2 microseconds apart, thus resolving reflecting points as close together as 0.3 mm in range (two-point threshold). This two-point resolution is roughly five times smaller than the shortest periods in the bat's sounds. Because the bat's broadcasts are 2,000-4,500 microseconds long, the echoes themselves overlap and interfere with each other, to merge together into a single sound whose spectrum is shaped by their mutual interference depending on the size of the time separation. To separately perceive the delays of overlapping echoes, the bat has to recover information about their very small delay separation that was transferred into the spectrum when the two echoes interfered with each other, thus explicitly reconstructing the range profile of targets from the echo spectrum. However, the bat's 2-microseconds resolution limit is so short that the available spectral cues are extremely limited. Resolution of delay seems overly sharp just for interception of flying insects, which suggests that the bat's biosonar images are of higher quality to suit a wider variety of orientation tasks, and that biosonar echo processing is correspondingly more sophisticated than has been suspected.

Temporal integration in the echolocating bat, Megaderma lyra

Temporal integration is a crucial feature of auditory temporal processing. We measured the psychophysical temporal integration of acoustic intensity in the echolocating bat Megaderma lyra using a two-alternative forced-choice procedure. A measuring paradigm was chosen in which the absolute threshold for pairs of short tone pips was determined as a function of the temporal separation between the pips. The time constants determined with this paradigm are a crucial characteristic of the sonar system of M. lyra, a species orientating in its environment by very short broadband sonar calls emitted at high rates. Two different carrier frequencies for the tone pips were used to obtain data from the lower and the higher half of the hearing area of M. lyra. Both in the lower and in the higher frequency range, M. lyra showed very short time constants of about 220 microseconds. Our results are comparable to data from the echolocating dolphin, Tursiops truncatus, showing click integration times of about 260 microseconds and to estimates of auditory temporal integration in the context of echo clutter interference in the big brown bat.

The degradation of distance discrimination in big brown bats (Eptesicus fuscus) caused by different interference signals

The ability of two big brown bats (Eptesicus fuscus) to discriminate the distance to an electronically synthesized "phantom" target by echolocation was tested in the presence of interfering signals presented slightly before the target echo. Interfering signals were chosen to have differing degrees of similarity to the typical echolocation emission used by the bat in this task (which was the signal used to create the phantom target), and we predicted that the degree of disruption of ranging would be proportional to the similarity of the interference to the target echo. This prediction was not confirmed; rather, all interference signals not identical to the target echo increased the threshold to about twice that found with no interference. When the interference was identical to the target echo, the threshold increased to about 4 times that with no interference. When each bat was presented with phantom target "echoes" appropriate for the other bat, its range discrimination threshold increased about ten fold, and in this case the degree of interference of different signals was related to their similarity to the target echo, not to their similarity to the bat's "normal" signal. We suggest that Eptesicus may suppress interference by a more sophisticated strategy than simple linear matched filtering.

Evidence for perception of fine echo delay and phase by the FM bat, Eptesicus fuscus

The big brown bat, Eptesicus fuscus, can perceive small changes in the delay of FM sonar echoes and shifts in echo phase, which interact with delay. Using spectral cues caused by interference, Eptesicus also can perceive the individual delays of two overlapping FM echoes at small delay separations. These results have been criticized as due to spectral artifacts caused by overlap between stimulus echoes and extraneous sounds (Pollak 1993). However, no amplitude or spectral variations larger than 0.05 dB accompany delay or phase changes produced by the electronic apparatus. No reverberation falls in the narrow span of delays required to produce the bat's performance curve from echo interference cues. Consistent differences in the durations of sonar sounds for 6 bats that perform the same in the experiments demonstrate that overlap between stimulus echoes and extraneous echoes is not necessary, and changes in the amount of echo overlap have no effect on performance. Noise-induced random variations in echo spectra outweigh putative spectral artifacts, and deliberately-introduced spectral "artifacts" do not improve performance overall but instead yield new time-frequency images. Amplitude-latency trading of perceived delay, proposed as a demonstration that the latency of neural discharges encodes delay (Pollak et al. 1977), confirms that the bat's fine delay and phase perception depends on a temporal neural code. The perceived delays depend on stimulus delays, not the delays of extraneous sounds. The rejected criticisms are based on physiological results with random-phase FM stimuli which are irrelevant to neural coding of fine echo delay and phase.

Discrimination of two-wavefront echoes by the big brown bat, Eptesicus fuscus: behavioral experiments and receiver simulations

1. Echolocating bats (Eptesicus fuscus) were trained to discriminate between simulated targets consisting of one or two echo-wavefronts with internal time delays of up to 100 microseconds. Spectral and temporal properties and total signal energy of the targets were evaluated and predictions for performances of bats derived from receiver models were compared with measured performances. 2. Eptesicus fuscus was able to discriminate a one-wavefront target from two-wavefront targets with distinct internal time delays (12 microseconds, 32-40 microseconds and 52-100 microseconds). Performance was not affected by changes in total signal energy. Bats also successfully discriminated between two-wavefront targets with different internal time delays. 3. Performance predicted from differences in total energy between targets did not match the measured performance, indicating that bats did not rely on total echo energy. This finding is also supported by the behavioral data. Performance predicted from spectral and temporal receiver models both matched the measured performance and, therefore, neither one of these models can be favored over the other. 4. The behavioral data suggest that Eptesicus fuscus did not transform echo information into estimates of target range separation and, therefore, did not perceive the two wavefronts of each simulated two-wavefront echo as two separate targets.

Encoding repetition rate and duration in the inferior colliculus of the big brown bat, Eptesicus fuscus

1. Encoding of temporal stimulus parameters by inferior collicular (IC) neurons of Eptesicus fuscus was studied by recording their responses to a wide range of repetition rates (RRs) and durations at several stimulus intensities under free field stimulus conditions. 2. The response properties of 424 IC neurons recorded were similar to those reported in previous studies of this species. 3. IC neurons were classified as low-pass, band-pass, and high-pass according to their preference for RRs and/or durations characteristic of, respectively, search, approach, or terminal phases of echolocation. These neurons selectively process stimuli characteristic of the various phases of hunting. 4. Best RRs and best durations were not correlated with either the BFs or recording depths This suggests that each isofrequency lamina is capable of processing RRs and durations of all hunting phases. 5. Responses of one half of IC neurons studied were correlated with the stimulus duty cycle. These neurons may preferentially process terminal phase information when the bat's pulse emission duty cycle increases. 6. While the stimulus RR affected the dynamic range and overall profile of the intensity rate function, only little effect was observed with different stimulus durations.

Arctiid moth clicks can degrade the accuracy of range difference discrimination in echolocating big brown bats, Eptesicus fuscus

Four big brown bats (Eptesicus fuscus) born and raised in captivity were trained using the Yes/No psychophysical method to report whether a virtual sonar target was at a standard distance or not. At threshold bats were able to detect a minimum range difference of 6 mm (a delta t of 36 microseconds). Following threshold determinations, a click burst 1.8 ms long containing 5 pulses from the ruby tiger moth, Phragmatobia fuliginosa (Arctiidae), was presented randomly after each phantom echo. The sound energy of the click burst was -4 dB relative to that of the phantom echo. Clicks presented for the very first time could startle naive bats to different degrees depending on the individual. The bats' performance deteriorated by as much as 4000% when the click burst started within a window of about 1.5 ms before the phantom echo. Even when one of ten phantom echoes was preceded by a click burst, the range difference discrimination worsened by 200%. Hence, clicks falling within the 1.5 ms time window seem to interfere with the bat's neural timing mechanism. The clicks of arctiid moths appear to serve 3 functions: they can startle naive bats, interfere with range difference determinations, or they can signal the moth's distastefulness, as shown in earlier studies.

Convergence of temporal and spectral information into acoustic images of complex sonar targets perceived by the echolocating bat, Eptesicus fuscus

1. FM echolocating bats (Eptesicus fuscus) were trained to discriminate between a two-component complex target and a one-component simple target simulated by electronically-returned echoes in a series of experiments that explore the composition of the image of the two-component target. In Experiment I, echoes for each target were presented sequentially, and the bats had to compare a stored image of one target with that of the other. The bats made errors when the range of the simple target corresponded to the range of either glint in the complex target, indicating that some trace of the parts of one image interfered with perception of the other image. In Experiment II, echoes were presented simultaneously as well as sequentially, permitting direct masking of echoes from one target to the other. Changes in echo amplitude produced shifts in apparent range whose pattern depended upon the mode of echo presentation. 2. Eptesicus perceives images of complex sonar targets that explicitly represent the location and spacing of discrete glints located at different ranges. The bat perceives the target's structure in terms of its range profile along a psychological range axis using a combination of echo delay and echo spectral representations that together resemble a spectrogram of the FM echoes. The image itself is expressed entirely along a range scale that is defined with reference to echo delay. Spectral information contributes to the image by providing estimates of the range separation of glints, but it is transformed into these estimates. 3. Perceived absolute range is encoded by the timing of neural discharges and is vulnerable to shifts caused by neural amplitude-latency trading, which was estimated at 13 to 18 microseconds per dB from N1 and N4 auditory evoked potentials in Eptesicus. Spectral cues representing the separation of glints within the target are transformed into estimates of delay separations before being incorporated into the image. However, because they are encoded by neural frequency tuning rather than the time-of-occurrence of neural discharges, the perceived range separation of glints in images is not vulnerable to amplitude-latency shifts. 4. The bat perceives an image that is displayed in the domain of time or range. The image receives no evident spectral contribution beyond what is transformed into delay estimates. Although the initial auditory representation of FM echoes is spectrogram-like, the time, frequency, and amplitude dimensions of the spectrogram appear to be compressed into an image that has only time and amplitude dimensions.(ABSTRACT TRUNCATED AT 400 WORDS)

A view of the world through the bat's ear: the formation of acoustic images in echolocation

Echolocating bats perceive objects as acoustic images derived from echoes of the ultrasonic sounds they emit. They can detect, track, identify, and intercept flying insects using sonar. Many species, such as the big brown bat, Eptesicus fuscus, emit frequency-modulated sonar sounds and perceive the distance to targets, or target range, from the delay of echoes. For Eptesicus, a point-target's image has a sharpness along the range axis that is determined by the acuity of echo-delay perception, which is about 10 ns under favorable conditions. The image as a whole has a fine range structure that corresponds to the cross-correlation function between emissions and echoes. A complex target- which has reflecting points, called "glints", located at slightly different distances and reflects echoes containing overlapping components with slightly different delays--is perceived in terms of its range profile. The separation of the glints along the range dimension is encoded by the shape of the echo spectrum created by interference between overlapping echo components. However, Eptesicus transforms the echo spectrum back into an estimate of the original delay separation of echo components. The bat thus converts spectral cues into elements of an image expressed in terms of range. The absolute range of the nearest glint is encoded by the arrival time of the earliest echo component, and the spectrally encoded range separation of additional glints is referred to this time-encoded reference range for the image as a whole. Each individual glint is represented by a cross-correlation function for its own echo component, the nearest of which is computed directly from arrival-time measurements while further ones are computed by transformation of the echo spectrum. The bat then sums the cross-correlation functions for multiple glints to form the entire image of the complex target. Range and shape are two distinct features of targets that are separately encoded by the bat's auditory system, but the bat perceives unitary images that require fusion of these features to create a synthetic psychological dimension of range. The bat's use of cross-correlation-like images reveals neural computations that achieve fusion of stimulus features and offers an example of high-level operations involved in the formation of perceptual "wholes".