Dolphin "packet" use during long-range echolocation tasks

The Acoustic Ecology of Coastal Dolphins by Assessing the Structural Variability of Sounds and the Influence of Contextual Factors

The acoustic ecology of a previously unexamined dolphin population in the Mediterranean was assessed by investigating how sound emissions and acoustic features are influenced by concurrent conditions. Whistles and click-trains emission rates were compared among different environmental, social and behavioural conditions. Structural variability of 3928 good/high-quality vocalizations was analysed in relation to contexts through a two-stage approach. First, two multivariate MANOVA-models were fitted considering the entire set of acoustic parameters extracted from whistles and click trains, to investigate the effect of concomitant factors on the overall acoustic structure of each vocalization. Subsequently, GLMM models were applied to each acoustic feature individually to explore its response to different contextual factors. Emission rates increased significantly with calves and in larger groups, with also a positive effect of socialization on whistles and of muddy/sandy seabed and depth on impulsive sounds. The multivariate approach showed that all contextual factors influenced sounds' structure, with whistles being strongly affected by behaviour and calves' presence. The GLMM models highlighted that each acoustic parameter varied differently in response to specific factors, with (1) increasing trends in whistles' duration and inflection points during interaction with fishery and decreasing ones during socializing, and (2) decreasing inter-click-intervals and increasing click-repetition-rates in larger groups and during interactions with fishery. These results provide new findings on the acoustic plasticity of bottlenose dolphins and a more comprehensive view of the magnitude of the social, environmental and behavioural influence, highlighting how the complexity of the species' acoustic repertoire has yet to be unravelled at the local level.

The passive recording of the click trains of a beluga whale (Delphinapterus leucas) and the subsequent creation of a bio-inspired echolocation model

A beluga-like model of click train signal is developed by observing beluga's sound recording. To reproduce the feature of the biosonar signal, this paper uses a signal extracting method with a correction factor of inter-click interval to acquire the parameter of click trains. The extracted clicks were analyzed in the time and frequency domain. Furthermore, a joint pulse-frequency representation was undertaken in order to provide a 2D energy distribution for an echolocation click train. The results from joint pulse-frequency representation indicate that click train can be adjusted its energy distribution by using a multi-component signal structure. To evaluate the capability of the click train to inform the whale of relevant target information perception for the click train, a finite element model is built to reproduce target discrimination by the bio-inspired click train. Numerical results indicate that the bio-inspired click train could enhance the echo-response by concentrating energy into the frequency bins for extracting target feature effectively. This proof-of-concept study suggests that the model of click train could be dynamically controlled to match the target properties, and show a promising way to use various types of echolocation click train to interrogate different features of the target by man-made sonar.

The effects of range and echo-phase on range resolution in bottlenose dolphins (Tursiops truncatus) performing a successive comparison taska)

Echolocating bats and dolphins use biosonar to determine target range, but differences in range discrimination thresholds have been reported for the two species. Whether these differences represent a true difference in their sensory system capability is unknown. Here, the dolphin's range discrimination threshold as a function of absolute range and echo-phase was investigated. Using phantom echoes, the dolphins were trained to echo-inspect two simulated targets and indicate the closer target by pressing a paddle. One target was presented at a time, requiring the dolphin to hold the initial range in memory as they compared it to the second target. Range was simulated by manipulating echo-delay while the received echo levels, relative to the dolphins' clicks, were held constant. Range discrimination thresholds were determined at seven different ranges from 1.75 to 20 m. In contrast to bats, range discrimination thresholds increased from 4 to 75 cm, across the entire ranges tested. To investigate the acoustic features used more directly, discrimination thresholds were determined when the echo was given a random phase shift (±180°). Results for the constant-phase versus the random-phase echo were quantitatively similar, suggesting that dolphins used the envelope of the echo waveform to determine the difference in range.

Adaptive echolocation behavior of bats and toothed whales in dynamic soundscapes

Journal of Experimental Biology has a long history of reporting research discoveries on animal echolocation, the subject of this Centenary Review. Echolocating animals emit intense sound pulses and process echoes to localize objects in dynamic soundscapes. More than 1100 species of bats and 70 species of toothed whales rely on echolocation to operate in aerial and aquatic environments, respectively. The need to mitigate acoustic clutter and ambient noise is common to both aerial and aquatic echolocating animals, resulting in convergence of many echolocation features, such as directional sound emission and hearing, and decreased pulse intervals and sound intensity during target approach. The physics of sound transmission in air and underwater constrains the production, detection and localization of sonar signals, resulting in differences in response times to initiate prey interception by aerial and aquatic echolocating animals. Anti-predator behavioral responses of prey pursued by echolocating animals affect behavioral foraging strategies in air and underwater. For example, many insect prey can detect and react to bat echolocation sounds, whereas most fish and squid are unresponsive to toothed whale signals, but can instead sense water movements generated by an approaching predator. These differences have implications for how bats and toothed whales hunt using echolocation. Here, we consider the behaviors used by echolocating mammals to (1) track and intercept moving prey equipped with predator detectors, (2) interrogate dynamic sonar scenes and (3) exploit visual and passive acoustic stimuli. Similarities and differences in animal sonar behaviors underwater and in air point to open research questions that are ripe for exploration.

A Fish and Dolphin Biophony in the Boat Noise-Dominated Soundscape of the Cres-Lošinj Archipelago (Croatia)

Spatio-temporal variability of marine soundscapes reflects environmental dynamics and local habitat health. This study characterizes the coastal soundscape of the Cres-Lošinj Natura 2000 Site of Community Importance, encompassing the non-tourist (11–15 March 2020) and the tourist (26–30 July 2020) season. A total of 240 h of continuous recordings were manually analyzed and the abundance of animal vocalizations and boat noise was obtained; sound pressure levels were calculated for the low (63–2000 Hz) and high (2000–20,000 Hz) frequency range. Two fish sound types were drivers of both seasonal and diel variability of the low-frequency soundscape. The first is emitted by the cryptic Roche’s snake blenny (Ophidion rochei), while the second, whose emitter remains unknown, was previously only described in canyons and coralligenous habitats of the Western Mediterranean Sea. The high-frequency bands were characterized by bottlenose dolphin (Tursiops truncatus) vocalizations, indicating dolphins’ use of area for various purposes. Boat noise, however, dominated the local soundscape along the whole considered periods and higher sound pressure levels were found during the Tourist season. Human-generated noise pollution, which has been previously found 10 years ago, is still present in the area and this urges management actions.

Echolocating toothed whales use ultra-fast echo-kinetic responses to track evasive prey

Visual predators rely on fast-acting optokinetic responses to track and capture agile prey. Most toothed whales, however, rely on echolocation for hunting and have converged on biosonar clicking rates reaching 500/s during prey pursuits. If echoes are processed on a click-by-click basis, as assumed, neural responses 100× faster than those in vision are required to keep pace with this information flow. Using high-resolution biologging of wild predator-prey interactions, we show that toothed whales adjust clicking rates to track prey movement within 50–200 ms of prey escape responses. Hypothesising that these stereotyped biosonar adjustments are elicited by sudden prey accelerations, we measured echo-kinetic responses from trained harbour porpoises to a moving target and found similar latencies. High biosonar sampling rates are, therefore, not supported by extreme speeds of neural processing and muscular responses. Instead, the neurokinetic response times in echolocation are similar to those of tracking responses in vision, suggesting a common neural underpinning.

In the animal world, split-second decisions determine whether a predator eats, or its prey survives. There is a strong evolutionary advantage to fast reacting brains and bodies. For example, the eye muscles of hunting cheetahs must lock on to a gazelle and keep track of it, no matter how quickly or unpredictably it moves. In fact, in monkeys and primates, these muscles can react to sudden movements in as little as 50 milliseconds – faster than the blink of an eye. But what about animals that do not rely on vision to hunt?

To find food at night or in the deep ocean, whales and porpoises make short ultrasonic sounds, or ‘clicks’, and then listen for returning echoes. As they close in on a prey, they need to click faster to get quicker updates on its location. What is unclear is how fast they react to the echoes. Just before a kill, a harbour porpoise can click over 500 times a second: if they wait for the echo from one click before making the next one, they would need responses 100 times faster than human eyes.

Exploring this topic is difficult, as it requires tracking predator and prey at the same time. Vance et al. took up the challenge by building sound and movement recorders that attach to whales with suction cups. These were used on two different hunters: deep-diving beaked whales and shallow-hunting harbour porpoises. Both species adapted their click rate depending on how far they were from their prey, but their response times were similar to visual responses in monkeys and humans. This means that whales and porpoises do not act on each echo before clicking again: instead, they respond to groups of tens of clicks at a time. This suggests that their brains may be wired in much the same way as the ones of visual animals.

In the ocean, increased human activity creates a dangerous noise pollution that disrupts the delicate hunting mechanism of whales and porpoises. Better understanding how these animals find their food may therefore help conservation efforts.

Detection of simulated patterned echo packets by bottlenose dolphins (Tursiops truncatus)

Dolphins performing long-range biosonar tasks sometimes use "packets" of clicks, where inter-click-intervals within each packet are less than the two-way acoustic travel time from dolphin to target. The multi-echo nature of packets results in lower detection thresholds than single echoes; however, other potential benefits of packet use remain unexplored. The present study investigated whether structured temporal patterns observed in click packets impart some advantage in detecting echo-like signals embedded in noise. Two bottlenose dolphins were trained to passively listen and detect simulated packets of echoes in background noise consisting of either steady-state broadband Gaussian noise, or Gaussian noise containing randomly presented impulses similar to dolphin clicks. Four different inter-stimulus-interval (ISI) patterns (constant, random, increasing, or decreasing ISI within each packet) were tested. It was hypothesized that decreasing ISIs-found naturally in dolphin packets-would result in the lowest thresholds, while random, unlearnable patterns would result in the highest. However, no biologically significant differences in threshold were found among the four ISI patterns for either noise condition. Thus, the bottlenose dolphin's stereotypical pattern of decreasing ISI during active echolocation did not appear to provide an advantage in packet detection in this passive listening task.

Dolphin echo-delay resolution measured with a jittered-echo paradigm

Biosonar echo delay resolution was investigated in four bottlenose dolphins (Tursiops truncatus) using a "jittered" echo paradigm, where dolphins discriminated between electronic echoes with fixed delay and those whose delay alternated (jittered) on successive presentations. The dolphins performed an echo-change detection task and produced a conditioned acoustic response when detecting a change from non-jittering echoes to jittering echoes. Jitter delay values ranged from 0 to 20 μs. A passive listening task was also conducted, where dolphins listened to simulated echoes and produced a conditioned acoustic response when signals changed from non-jittering to jittering. Results of the biosonar task showed a mean jitter delay threshold of 1.3 μs and secondary peaks in error functions suggestive of the click autocorrelation function. When echoes were jittered in polarity and delay, error functions shifted by approximately 5 μs and all dolphins discriminated echoes that jittered only in polarity. Results were qualitatively similar to those from big brown bats (Eptesicus fuscus) and indicate that the dolphin biosonar range estimator is sensitive to echo phase information. Results of the passive listening task suggested that the dolphins could not passively detect changes in timing and polarity of simulated echoes.

Influence of acoustic habitat variation on Indo-Pacific humpback dolphin (Sousa chinensis) in shallow waters of Hainan Island, China

The Indo-Pacific humpback dolphin (IPHD, Sousa chinensis) is a coastal species inhabiting tropical and warm-temperate waters. The presence of this vulnerable dolphin was recently discovered in shallow waters southwest of Hainan Island, China. The influence of the acoustic habitat on the distribution and behavior of IPHD was investigated using an array of passive acoustic platforms (n = 6) that spanned more than 100 km of coastline during a 75-day monitoring period. Its presence was assessed within 19 215 five-min recordings by classifying echolocation clicks using machine learning techniques. Spectrogram analysis was applied to further investigate the acoustic behavior of IPHD and to identify other prominent sound sources. The variation in the ambient noise levels was also measured to describe the spatiotemporal patterns of the acoustic habitat among the different sampling sites. Social and feeding sounds of IPHD (whistles and click-series of pulsed sounds) were identified together with other biological sources (finless porpoise, soniferous fishes, and snapping shrimps) and anthropogenic activities (ship noise, explosions, and sonars). Distribution, acoustic behavior, and habitat use of this nearshore dolphin species were strongly influenced by the abundance of soniferous fishes, and under similar conditions, the species was more acoustically active in locations with lower noise levels.

Adaptations in the call emission pattern of frugivorous bats when orienting under challenging conditions

Echolocating bats emit biosonar calls and use echoes arising from call reflections, for orientation. They often pattern their calls into groups which increases the rate of sensory feedback. Insectivorous bats emit call groups at a higher rate when orienting in cluttered compared to uncluttered environments. Frugivorous bats increase the rate of call group emission when they echolocate in noisy environments. In frugivorous bats, it remains unclear if call group emission represents an exclusive adaptation to avoid acoustic interference by signals of conspecifics or if it represents an adaptation that allows to orient under demanding environmental conditions. Here, we compared the emission pattern of the frugivorous bat Carolliaperspicillata when the bats were flying in narrow versus wide or cluttered versus non-cluttered corridors. The bats emitted larger call groups and they increased the call rate within call groups when navigating in narrow or cluttered environments. These adaptations resemble the ones shown when the bats navigate in noisy environments. Thus, call group emission represents an adaptive behavior when the bats orient in complex environments.

The effect of jamming stimuli on the echolocation behavior of the bottlenose dolphin, Tursiops truncatus

Echolocating bats and odontocetes face the potential challenge of acoustic interference from neighbors, or sonar jamming. To counter this, many bat species have adapted jamming avoidance strategies to improve signal detection, but any such avoidance strategies in dolphins is unknown. This study provides an investigation into whether dolphins modify echolocation behavior during jamming scenarios. Recorded echolocation clicks were projected at different click repetition rates and at different aspect angles relative to two dolphins' heads while each dolphin was performing a target detection task. Changes in the timing, amplitude, and frequency of structure of the dolphin's emitted signals were compared to determine if and how dolphins modify echolocation when faced with potentially interfering conspecific echolocation signals. The results indicate that both dolphins demonstrated different responses when faced with jamming scenarios, which may reflect optimal strategies according to individual auditory perception abilities.

Dolphin echolocation behaviour during active long-range target approaches

Echolocating toothed whales generally adjust click intensity and rate according to target range to ensure that echoes from targets of interest arrive before a subsequent click is produced, presumably facilitating range estimation from the delay between clicks and returning echoes. However, this click-echo-click paradigm for the dolphin biosonar is mostly based on experiments with stationary animals echolocating fixed targets at ranges below ∼120 m. Therefore, we trained two bottlenose dolphins instrumented with a sound recording tag to approach a target from ranges up to 400 m and either touch the target (subject TRO) or detect a target orientation change (subject SAY). We show that free-swimming dolphins dynamically increase interclick interval (ICI) out to target ranges of ∼100 m. TRO consistently kept ICIs above the two-way travel time (TWTT) for target ranges shorter than ∼100 m, whereas SAY switched between clicking at ICIs above and below the TWTT for target ranges down to ∼25 m. Source levels changed on average by 17log₁₀(target range), but with considerable variation for individual slopes (4.1 standard deviations for by-trial random effects), demonstrating that dolphins do not adopt a fixed automatic gain control matched to target range. At target ranges exceeding ∼100 m, both dolphins frequently switched to click packet production in which interpacket intervals exceeded the TWTT, but ICIs were shorter than the TWTT. We conclude that the click-echo-click paradigm is not a fixed echolocation strategy in dolphins, and we demonstrate the first use of click packets for free-swimming dolphins when solving an echolocation task.

Jittered echo-delay resolution in bottlenose dolphins (Tursiops truncatus)

Psychophysical methods similar to those employed with bats were used to examine jittered echo-delay resolution in bottlenose dolphins (Tursiops truncatus). Two dolphins were trained to produce echolocation clicks and report a change from electronic echoes with a fixed delay of ~ 12.6 ms (~ 9.4 m simulated range) to echoes with delays that alternated (jittered) between successive emitted signals. Jitter delays varied from 0 to 50 µs. Jittered echo-delay thresholds were between 1 and 2 µs—the lowest achievable (non-zero) values with the hardware configuration. Error functions matched the click autocorrelation function near zero jitter delay, and were well within the envelope of the autocorrelation function; however, measured jitter delay thresholds were larger than predictions for a coherent or semicoherent receiver at comparable signal-to-noise ratios. When one of the two alternating jittered echoes was inverted in polarity, both dolphins reliably discriminated echoes at all jittered echo delays, including 0 µs (i.e., only jittering in polarity, not delay). Finally, both dolphins used unusual patterns of click emissions, where groups of echolocation clicks were interspersed with silent gaps. Further tests with sub-microsecond jitter values and various echo signal-to-noise ratios would be necessary for proper direct comparison with jitter detection values obtained for bats.

The Sonar Model for Humpback Whale Song Revised

Why do humpback whales sing? This paper considers the hypothesis that humpback whales may use song for long range sonar. Given the vocal and social behavior of humpback whales, in several cases it is not apparent how they monitor the movements of distant whales or prey concentrations. Unless distant animals produce sounds, humpback whales are unlikely to be aware of their presence or actions. Some field observations are strongly suggestive of the use of song as sonar. Humpback whales sometimes stop singing and then rapidly approach distant whales in cases where sound production by those whales is not apparent, and singers sometimes alternately sing and swim while attempting to intercept another whale that is swimming evasively. In the evolutionary development of modern cetaceans, perceptual mechanisms have shifted from reliance on visual scanning to the active generation and monitoring of echoes. It is hypothesized that as the size and distance of relevant events increased, humpback whales developed adaptive specializations for long-distance echolocation. Differences between use of songs by humpback whales and use of sonar by other echolocating species are discussed, as are similarities between bat echolocation and singing by humpback whales. Singing humpback whales are known to emit sounds intense enough to generate echoes at long ranges, and to flexibly control the timing and qualities of produced sounds. The major problem for the hypothesis is the lack of recordings of echoes from other whales arriving at singers immediately before they initiate actions related to those whales. An earlier model of echoic processing by singing humpback whales is here revised to incorporate recent discoveries. According to the revised model, both direct echoes from targets and modulations in song-generated reverberation can provide singers with information that can help them make decisions about future actions related to mating, traveling, and foraging. The model identifies acoustic and structural features produced by singing humpback whales that may facilitate a singer's ability to interpret changes in echoic scenes and suggests that interactive signal coordination by singing whales may help them to avoid mutual interference. Specific, testable predictions of the model are presented.

Timing and context of dolphin clicks during and after mine simulator detection and marking in the open ocean

Two dolphins carrying cameras swam in the ocean as they searched for and marked mine simulators – buried, proud or moored. As the animals swam ahead of a boat they searched the ocean. Cameras on their harness recorded continuous sound and video. Once a target was detected, the dolphins received a marker to take to the simulator's location. During search and detection, dolphins made almost continuous trains of varying interval clicks. During the marking phase, shorter click trains were interrupted by periods of silence. As the dolphins marked simulators, they often produced victory squeals – pulse bursts that vary in duration, peak frequency and amplitude. Victory squeals were produced on 72% of marks. Sometimes after marking, or at other times during their long swims, the dolphins produced click packets. Packets typically consisted of two to 10 clicks with inter-click intervals of 7-117 ms followed by a silence of 223-983 ms. Click packets appeared unrelated with searching or marking. We suggest that the packets were used to improve signal to noise ratios for locating a boat or other distant object. Victory squeals produced when marking the targets suggest to us that the dolphins know when they have succeeded in this multipart task.

Summary: Dolphins wore cameras so we could hear them and watch them mark mine simulators. We observed rhythmic click trains, victory squeals, and click packets with their behavioral context.

Spike Train Similarity Space (SSIMS) Method Detects Effects of Obstacle Proximity and Experience on Temporal Patterning of Bat Biosonar

Bats emit biosonar pulses in complex temporal patterns that change to accommodate dynamic surroundings. Efforts to quantify these patterns have included analyses of inter-pulse intervals, sonar sound groups, and changes in individual signal parameters such as duration or frequency. Here, the similarity in temporal structure between trains of biosonar pulses is assessed. The spike train similarity space (SSIMS) algorithm, originally designed for neural activity pattern analysis, was applied to determine which features of the environment influence temporal patterning of pulses emitted by flying big brown bats, Eptesicus fuscus. In these laboratory experiments, bats flew down a flight corridor through an obstacle array. The corridor varied in width (100, 70, or 40 cm) and shape (straight or curved). Using a relational point-process framework, SSIMS was able to discriminate between echolocation call sequences recorded from flights in each of the corridor widths. SSIMS was also able to tell the difference between pulse trains recorded during flights where corridor shape through the obstacle array matched the previous trials (fixed, or expected) as opposed to those recorded from flights with randomized corridor shape (variable, or unexpected), but only for the flight path shape in which the bats had previous training. The results show that experience influences the temporal patterns with which bats emit their echolocation calls. It is demonstrated that obstacle proximity to the bat affects call patterns more dramatically than flight path shape.

Short first click intervals in echolocation trains of three species of deep diving odontocetes

All odontocetes produce echolocation clicks as part of their vocal repertoire. In this paper the authors analysed inter-click-intervals in recordings from suction cup tags with a focus on the first inter-click interval of each click train. The authors refer to shorter first inter-click intervals as short first intervals (SFIs). The authors found that the context of SFI occurrence varies across three deep-diving species. In Blainville's beaked whales, 87% of click trains that were preceded by a terminal buzz started with SFIs. In Cuvier's beaked whales, only sub-adult animals produced notable amounts of SFIs. In contrast, sperm whales were much more likely to produce SFIs on the first click train of a dive. While the physiological and/or behavioural reasons for SFI click production are unknown, species differences in their production could provide a window into the evolution of odontocete echolocation.

Amazon river dolphins (Inia geoffrensis) modify biosonar output level and directivity during prey interception in the wild

Toothed whales have evolved to live in extremely different habitats and yet they all rely strongly on echolocation for finding and catching prey. Such biosonar based foraging involves distinct phases of searching for, approaching, and capturing prey, where echolocating animals gradually adjust sonar output to actively shape the flow of sensory information. Measuring those outputs in absolute levels requires hydrophone arrays centred on the biosonar beam axis, but this has never been done for wild toothed whales approaching and capturing prey. Rather, field studies make the assumption that toothed whales will adjust their biosonar in the same manner to arrays as they will when approaching prey. To test this assumption, we recorded wild botos (Inia geoffrensis) as they approached and captured dead fish tethered to a hydrophone in front of a star-shaped seven-hydrophone array. We demonstrate that botos gradually decrease interclick intervals and output levels during prey approaches, using stronger adjustment magnitudes than extrapolated from previous boto array data. Prey interceptions are characterised by high click rates, but although botos buzz during prey capture, they do so at lower click rates than marine toothed whales, resulting in a much more gradual transition from approach phase to buzzing. We also demonstrate for the first time that wild toothed whales broaden biosonar beamwidth when closing in on prey, as it is also seen in captive toothed whales and in bats, thus resulting in a larger ensonified volume around the prey, likely aiding prey tracking by decreasing the risk of prey evading ensonification.

Nearfield and farfield measurements of dolphin echolocation beam patterns: No evidence of focusing

The potential for bottlenose dolphins to actively focus their biosonar transmissions was examined by measuring emitted clicks in four dolphins using horizontal, planar hydrophone arrays. Two hydrophone configurations were used: a rectangular array with hydrophones 0.2 to 2 m from the dolphins and a polar array with hydrophones 0.5 to 5 m from the dolphins. The biosonar task was a target change detection utilizing physical targets at ranges from 1.3 to 6.3 m with all subjects and "phantom" targets at simulated ranges from 2.5 to 20 m with two subjects. To provide a basis for evaluating the experimental data, sound fields radiated from flat and focused circular pistons were mathematically simulated using transient excitation functions similar to dolphin clicks. The array measurements showed no evidence that the dolphins adaptively focused their click emissions; axial amplitudes and iso-amplitude contours matched the pattern of the simulation results for flat transducers and showed a single region of maximum amplitude, beyond which spherical spreading loss was approximated.

Discrimination of fast click-series produced by tagged Risso's dolphins (Grampus griseus) for echolocation or communication

Early studies that categorized odontocete pulsed sounds had few means of discriminating signals used for biosonar-based foraging from those used for communication. This capability to identify the function of sounds is important for understanding and interpreting behavior; it is also essential for monitoring and mitigating potential disturbance from human activities. Archival tags were placed on free-ranging Grampus griseus to quantify and discriminate between pulsed sounds used for echolocation-based foraging and those used for communication. Two types of rapid click-series pulsed sounds, buzzes and burst pulses, were identified as produced by the tagged dolphins and classified using a Gaussian mixture model based on their duration, association with jerk (i.e. rapid change of acceleration) and temporal association with click trains. Buzzes followed regular echolocation clicks and coincided with a strong jerk signal from accelerometers on the tag. They consisted of series averaging 359±210 clicks (mean±s.d.) with an increasing repetition rate and relatively low amplitude. Burst pulses consisted of relatively short click series averaging 45±54 clicks with decreasing repetition rate and longer inter-click interval that were less likely to be associated with regular echolocation and the jerk signal. These results suggest that the longer, relatively lower amplitude, jerk-associated buzzes are used in this species to capture prey, mostly during the bottom phase of foraging dives, as seen in other odontocetes. In contrast, the shorter, isolated burst pulses that are generally emitted by the dolphins while at or near the surface are used outside of a direct, known foraging context.

A Quantitative Analysis of Pulsed Signals Emitted by Wild Bottlenose Dolphins

Common bottlenose dolphins (Tursiops truncatus), produce a wide variety of vocal emissions for communication and echolocation, of which the pulsed repertoire has been the most difficult to categorize. Packets of high repetition, broadband pulses are still largely reported under a general designation of burst-pulses, and traditional attempts to classify these emissions rely mainly in their aural characteristics and in graphical aspects of spectrograms. Here, we present a quantitative analysis of pulsed signals emitted by wild bottlenose dolphins, in the Sado estuary, Portugal (2011–2014), and test the reliability of a traditional classification approach. Acoustic parameters (minimum frequency, maximum frequency, peak frequency, duration, repetition rate and inter-click-interval) were extracted from 930 pulsed signals, previously categorized using a traditional approach. Discriminant function analysis revealed a high reliability of the traditional classification approach (93.5% of pulsed signals were consistently assigned to their aurally based categories). According to the discriminant function analysis (Wilk’s Λ = 0.11, F_{3, 2.41} = 282.75, P < 0.001), repetition rate is the feature that best enables the discrimination of different pulsed signals (structure coefficient = 0.98). Classification using hierarchical cluster analysis led to a similar categorization pattern: two main signal types with distinct magnitudes of repetition rate were clustered into five groups. The pulsed signals, here described, present significant differences in their time-frequency features, especially repetition rate (P < 0.001), inter-click-interval (P < 0.001) and duration (P < 0.001). We document the occurrence of a distinct signal type–short burst-pulses, and highlight the existence of a diverse repertoire of pulsed vocalizations emitted in graded sequences. The use of quantitative analysis of pulsed signals is essential to improve classifications and to better assess the contexts of emission, geographic variation and the functional significance of pulsed signals.

Short-term enhancement and suppression of dolphin auditory evoked responses following echolocation click emission

Biosonar gain control mechanisms in a bottlenose dolphin were investigated by measuring the auditory steady-state response (ASSR) to an external tone while the animal echolocated. The dolphin performed an echo change-detection task that utilized electronically synthesized echoes with echo delays corresponding to 25- and 50-m target range. During the task, amplitude modulated tones with carrier frequencies from 25 to 125 kHz were continuously presented and the instantaneous electroencephalogram stored for later analysis. ASSRs were extracted from the electroencephalogram by synchronously averaging time epochs temporally aligned with the onset of the external tone modulation cycle nearest to each of the dolphin's echolocation clicks. Results showed an overall suppression of the ASSR amplitude for tones with frequencies near the click center frequencies. A larger, temporary suppression of the ASSR amplitude was also measured at frequencies above 40-50 kHz, while a temporary enhancement was observed at lower frequencies. Temporal patterns for ASSR enhancement or suppression were frequency-, level-, and range-dependent, with recovery to pre-click values occurring within the two-way travel time. Suppressive effects fit the patterns expected from forward masking by the emitted biosonar pulse, while the specific mechanisms responsible for the frequency-dependent enhancement are unknown.

Multi-echo processing by a bottlenose dolphin operating in "packet" transmission mode at long range

Bottlenose dolphins performing echolocation tasks at long ranges may utilize a transmission mode where bursts, or "packets," of echolocation clicks are emitted rather than single clicks. The clicks within each packet are separated by time intervals well below the two-way travel time, while the packets themselves are emitted at intervals greater than the two-way travel time. Packet use has been shown to increase with range; however, the exact function of packets and the advantages gained by their utilization remain unknown. In this study, the capability for dolphins to utilize multi-echo processing within packets of echoes was investigated by manipulating the number of available echoes within each packet as a dolphin performed a long-range echolocation task. The results showed an improvement in detectability with an increase in the number of echoes in each packet and suggest that packet use is an adaptation to allow multi-echo processing at long ranges without introducing range ambiguity.

High-resolution measurement of a bottlenose dolphin's (Tursiops truncatus) biosonar transmission beam pattern in the horizontal plane

Previous measurements of toothed whale echolocation transmission beam patterns have utilized few hydrophones and have therefore been limited to fine angular resolution only near the principal axis or poor resolution over larger azimuthal ranges. In this study, a circular, horizontal planar array of 35 hydrophones was used to measure a dolphin's transmission beam pattern with 5° to 10° resolution at azimuths from -150° to +150°. Beam patterns and directivity indices were calculated from both the peak-peak sound pressure and the energy flux density. The emitted pulse became smaller in amplitude and progressively distorted as it was recorded farther off the principal axis. Beyond ±30° to 40°, the off-axis signal consisted of two distinct pulses whose difference in time of arrival increased with the absolute value of the azimuthal angle. A simple model suggests that the second pulse is best explained as a reflection from internal structures in the dolphin's head, and does not implicate the use of a second sound source. Click energy was also more directional at the higher source levels utilized at longer ranges, where the center frequency was elevated compared to that of the lower amplitude clicks used at shorter range.

Cognitive adaptation of sonar gain control in the bottlenose dolphin

Echolocating animals adjust the transmit intensity and receive sensitivity of their sonar in order to regulate the sensation level of their echoes; this process is often termed automatic gain control. Gain control is considered not to be under the animal's cognitive control, but previous investigations studied animals ensonifying targets or hydrophone arrays at predictable distances. To test whether animals maintain gain control at a fixed level in uncertain conditions, we measured changes in signal intensity for a bottlenose dolphin (Tursiops truncatus) detecting a target at three target distances (2.5, 4 and 7 m) in two types of sessions: predictable and unpredictable. Predictable sessions presented the target at a constant distance; unpredictable sessions moved the target randomly between the three target positions. In the predictable sessions the dolphin demonstrated intensity distance compensation, increasing the emitted click intensity as the target distance increased. Additionally, as trials within sessions progressed, the animal adjusted its click intensity even from the first click in a click train, which is consistent with the animal expecting a target at a certain range. In the unpredictable sessions there was no significant difference of intensity with target distance until after the 7th click in a click train. Together, these results demonstrate that the bottlenose dolphin uses learning and expectation for sonar gain control.

Forward shift of feeding buzz components of dolphins and belugas during associative learning reveals a likely connection to reward expectation, pleasure and brain dopamine activation

For many years, we heard sounds associated with reward from dolphins and belugas. We named these pulsed sounds victory squeals (VS), as they remind us of a child's squeal of delight. Here we put these sounds in context with natural and learned behavior. Like bats, echolocating cetaceans produce feeding buzzes as they approach and catch prey. Unlike bats, cetaceans continue their feeding buzzes after prey capture and the after portion is what we call the VS. Prior to training (or conditioning), the VS comes after the fish reward; with repeated trials it moves to before the reward. During training, we use a whistle or other sound to signal a correct response by the animal. This sound signal, named a secondary reinforcer (SR), leads to the primary reinforcer, fish. Trainers usually name their whistle or other SR a bridge, as it bridges the time gap between the correct response and reward delivery. During learning, the SR becomes associated with reward and the VS comes after the SR rather than after the fish. By following the SR, the VS confirms that the animal expects a reward. Results of early brain stimulation work suggest to us that SR stimulates brain dopamine release, which leads to the VS. Although there are no direct studies of dopamine release in cetaceans, we found that the timing of our VS is consistent with a response after dopamine release. We compared trained vocal responses to auditory stimuli with VS responses to SR sounds. Auditory stimuli that did not signal reward resulted in faster responses by a mean of 151 ms for dolphins and 250 ms for belugas. In laboratory animals, there is a 100 to 200 ms delay for dopamine release. VS delay in our animals is similar and consistent with vocalization after dopamine release. Our novel observation suggests that the dopamine reward system is active in cetacean brains.

Bottlenose dolphin (Tursiops truncatus) detection of simulated echoes from normal and time-reversed clicks

In matched filter processing, a stored template of the emitted sonar pulse is compared to echoes to locate individual replicas of the emitted pulse embedded in the echo stream. A number of experiments with bats have suggested that bats utilize matched filter processing for target ranging, but not for target detection. For dolphins, the few available data suggest that dolphins do not utilize matched filter processing. In this study, the effect of time-reversing a dolphin's emitted click was investigated. If the dolphin relied upon matched filter processing, time-reversal of the click would be expected to reduce the correlation between the (unaltered) click and the echoes and therefore lower detection performance. Two bottlenose dolphins were trained to perform a phantom echo detection task. On a small percentage of trials ("probe trials"), a dolphin's emitted click was time-reversed before interacting with the phantom echo system. Data from the normal and time-reversed trials were then analyzed and compared. There were no significant differences in detection performance or click emissions between the normal and time-reversed conditions for either subject, suggesting that the dolphins did not utilize matched filter processing for this echo detection task.

Auditory evoked potentials in a bottlenose dolphin during moderate-range echolocation tasks

Studies with echolocating odontocetes have suggested that forms of automatic gain control mediate auditory electrophysiological responses to target-related echoes. This study used a phantom echo generator and auditory evoked potential measurements to examine automatic gain control in a bottlenose dolphin. Auditory evoked potentials to outgoing clicks and incoming echoes were recorded for simulated ranges from 2.5 to 80 m. When geometric spreading loss was simulated, echo-evoked potential amplitudes were essentially constant up to 14 m and progressively decreased with increasing range. When the echo levels were held constant relative to clicks, echo-evoked potential amplitudes increased with increasing range up to 80 m. These results suggest that automatic gain control maintains distance-independent echo-evoked potential amplitudes at close range, but does not fully compensate for attenuation due to spreading loss at longer ranges. The automatic gain control process appears to arise from an interaction of transmitter and receiver based processes, resulting in a short-range region of distance-independent echo-evoked potential amplitudes for relevant targets, and a longer-range region in which echo-evoked potential amplitudes are reduced.

Using the auditory steady-state response to assess temporal dynamics of hearing sensitivity during bottlenose dolphin echolocation

The auditory steady-state response (ASSR) to an external tone was measured in an echolocating dolphin to determine if hearing sensitivity changes could be tracked over time scales corresponding to single click-echo pairs. Individual epochs containing click-echo pairs were first extracted from the instantaneous electroencephalogram. Epochs were coherently averaged using the external tone modulation rate as a timing reference, then Fourier transformed using a sliding, 10-ms temporal window to obtain the ASSR amplitude as a function of time. The results revealed a decrease in the ASSR amplitude at the time of click emission, followed by a 25-70 ms recovery.