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

High-frequency vessel noise can mask porpoise echolocation

Ultrasonic cavitation noise from fast vessels overlaps spectrally with echolocation clicks of toothed whales and therefore has the potential to degrade echolocation performance through auditory masking of returning echoes. Here, we tested that hypothesis by exposing two trained echolocating porpoises carrying DTAGs to two different levels of decidecade noise centered on 2 kHz (non-masking) and 125 kHz (masking) during an active target discrimination task. We found no click level adjustments or effects on discrimination performance in trials with non-masking noise or low-level masking noise. However, when exposed to high-level masking noise of 113±3 dB re. 1 µPa root mean square (RMS), the porpoises increased their mean click source levels by 7-17 dB. Despite this Lombard response of 0.2-0.5 dBsignal/dBnoise, and longer time and more clicks used by the porpoises to perform the task in noise, both animals were still significantly poorer at discriminating the targets (64-85% success rate) than in the other treatments (94-100%), thus demonstrating adverse masking effects. When the porpoises were offered spatial release from masking by relocating the noise source off-axis relative to the animal-to-target axis, echolocation performance was regained. We conclude that moderate levels of high-frequency noise, such as from cavitating vessel propellers several hundred meters from a vessel, can mask porpoise echolocation in a way that cannot be fully compensated for. As biosonar is vital for foraging and navigation around hazards such as gillnets for porpoises and other toothed whales, this study highlights that masking effects should be considered in impact assessments of cavitating vessels around echolocating toothed whales.

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.

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.

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 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.

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.

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.