Directionality of the lizard ear

Robust acoustic directional sensing enabled by synergy between resonator-based sensor and deep learning

We demonstrate enhanced acoustic sensing arising from the synergy between resonator-based acoustic sensor and deep learning. We numerically verify that both vibration amplitude and phase are enhanced and preserved at and off the resonance in our compact acoustic sensor housing three cavities. In addition, we experimentally measure the response of our sensor to single-frequency and siren signals, based on which we train convolutional neural networks (CNNs). We observe that the CNN trained by using both amplitude and phase features achieve the best accuracy on predicting the incident direction of both types of signals. This is even though the signals are broadband and affected by noise thought to be difficult for resonators. We attribute the improvement to a complementary effect between the two features enabled by the combination of resonant effect and deep learning. This observation is further supported by comparing to the CNNs trained by the features extracted from signals measured on reference sensor without resonators, whose performances fall far behind. Our results suggest the advantage of this synergetic approach to enhance the sensing performance of compact acoustic sensors on both narrow- and broad-band signals, which paves the way for the development of advanced sensing technology that has potential applications in autonomous driving systems to detect emergency vehicles.

Ear pinnae in a neotropical katydid (Orthoptera: Tettigoniidae) function as ultrasound guides for bat detection

Early predator detection is a key component of the predator-prey arms race and has driven the evolution of multiple animal hearing systems. Katydids (Insecta) have sophisticated ears, each consisting of paired tympana on each foreleg that receive sound both externally, through the air, and internally via a narrowing ear canal running through the leg from an acoustic spiracle on the thorax. These ears are pressure-time difference receivers capable of sensitive and accurate directional hearing across a wide frequency range. Many katydid species have cuticular pinnae which form cavities around the outer tympanal surfaces, but their function is unknown. We investigated pinnal function in the katydid Copiphora gorgonensis by combining experimental biophysics and numerical modelling using 3D ear geometries. We found that the pinnae in C. gorgonensis do not assist in directional hearing for conspecific call frequencies, but instead act as ultrasound detectors. Pinnae induced large sound pressure gains (20–30 dB) that enhanced sound detection at high ultrasonic frequencies (>60 kHz), matching the echolocation range of co-occurring insectivorous gleaning bats. These findings were supported by behavioural and neural audiograms and pinnal cavity resonances from live specimens, and comparisons with the pinnal mechanics of sympatric katydid species, which together suggest that katydid pinnae primarily evolved for the enhanced detection of predatory bats.

Learning multisensory cue integration: A computational model of crossmodal synaptic plasticity enables reliability-based cue weighting by capturing stimulus statistics

The brain forms unified, coherent, and accurate percepts of events occurring in the environment by integrating information from multiple senses through the process of multisensory integration. The neural mechanisms underlying this process, its development and its maturation in a multisensory environment are yet to be properly understood. Numerous psychophysical studies suggest that the multisensory cue integration process follows the principle of Bayesian estimation, where the contributions of individual sensory modalities are proportional to the relative reliabilities of the different sensory stimuli. In this article I hypothesize that experience dependent crossmodal synaptic plasticity may be a plausible mechanism underlying development of multisensory cue integration. I test this hypothesis via a computational model that implements Bayesian multisensory cue integration using reliability-based cue weighting. The model uses crossmodal synaptic plasticity to capture stimulus statistics within synaptic weights that are adapted to reflect the relative reliabilities of the participating stimuli. The model is embodied in a simulated robotic agent that learns to localize an audio-visual target by integrating spatial location cues extracted from of auditory and visual sensory modalities. Results of multiple randomized target localization trials in simulation indicate that the model is able to learn modality-specific synaptic weights proportional to the relative reliabilities of the auditory and visual stimuli. The proposed model with learned synaptic weights is also compared with a maximum-likelihood estimation model for cue integration via regression analysis. Results indicate that the proposed model reflects maximum-likelihood estimation.

Geographic variation in the matching between call characteristics and tympanic sensitivity in the Weeping lizard

Effective communication requires a match among signal characteristics, environmental conditions, and receptor tuning and decoding. The degree of matching, however, can vary, among others due to different selective pressures affecting the communication components. For evolutionary novelties, strong selective pressures are likely to act upon the signal and receptor to promote a tight match among them. We test this prediction by exploring the coupling between the acoustic signals and auditory sensitivity in Liolaemus chiliensis, the Weeping lizard, the only one of more than 285 Liolaemus species that vocalizes. Individuals emit distress calls that convey information of predation risk to conspecifics, which may respond with antipredator behaviors upon hearing calls. Specifically, we explored the match between spectral characteristics of the distress calls and the tympanic sensitivities of two populations separated by more than 700 km, for which previous data suggested variation in their distress calls. We found that populations differed in signal and receptor characteristics and that this signal variation was explained by population differences in body size. No precise match occurred between the communication components studied, and populations differed in the degree of such correspondence. We suggest that this difference in matching between populations relates to evolutionary processes affecting the Weeping lizard distress calls.

Bone conduction pathways confer directional cues to salamanders

Sound and vibration are generated by mechanical disturbances within the environment, and the ability to detect and localize these acoustic cues is generally important for survival, as suggested by the early emergence of inherently directional otolithic ears in vertebrate evolutionary history. However, fossil evidence indicates that the water-adapted ear of early terrestrial tetrapods lacked specialized peripheral structures to transduce sound pressure (e.g. tympana). Therefore, early terrestrial hearing should have required nontympanic (or extratympanic) mechanisms for sound detection and localization. Here, we used atympanate salamanders to investigate the efficacy of extratympanic pathways to support directional hearing in air. We assessed peripheral encoding of directional acoustic information using directionally masked auditory brainstem response recordings. We used laser Doppler vibrometry to measure the velocity of sound pressure-induced head vibrations as a key extratympanic mechanism for aerial sound reception in atympanate species. We found that sound generates head vibrations that vary with the angle of the incident sound. This extratympanic pathway for hearing supports a figure-eight pattern of directional auditory sensitivity to airborne sound in the absence of a pressure-transducing tympanic ear.

A bio-inspired optical directional microphone with cavity-coupled diaphragms

A bio-inspired acoustic sensor for sound source localization is presented, mimicking the internally coupled ears found in many terrestrial vertebrates and insects. It consists of two aluminum diaphragms coupled by a U-shaped cavity and detected by a low-coherence fiber optic interferometer system. A large-scale prototype with a center-to-center separation of 1″ is fabricated and experimentally demonstrated to amplify the interaural phase difference by a factor of 2 to 4 for a wide frequency range (0.5-2 kHz), which agrees well with simulation. This work presents a mechanism of using cavity-coupled diaphragms to develop acoustic sensors for sound source localization.

A narrow ear canal reduces sound velocity to create additional acoustic inputs in a microscale insect ear

The katydid tympanal ears have outer, middle, and inner ear components analogous to mammalian ears. Unlike mammals, each ear has two tympana exposed to sound both externally and internally, with a delayed internal version arriving via the gas-filled ear canal (EC). The two combined inputs in each ear play a significant role in directional hearing. Here, we demonstrate that the major factor causing the internal delay is the EC geometry. The EC bifurcates asymmetrically, producing two additional internal paths that impose different sound velocities for each tympanum. Therefore, various versions of the same signal reach the ears at various times, increasing the chance to pinpoint the sound source. Findings could inspire algorithms for accurate acoustic triangulation in detection sensors.

Located in the forelegs, katydid ears are unique among arthropods in having outer, middle, and inner components, analogous to the mammalian ear. Unlike mammals, sound is received externally via two tympanic membranes in each ear and internally via a narrow ear canal (EC) derived from the respiratory tracheal system. Inside the EC, sound travels slower than in free air, causing temporal and pressure differences between external and internal inputs. The delay was suspected to arise as a consequence of the narrowing EC geometry. If true, a reduction in sound velocity should persist independently of the gas composition in the EC (e.g., air, CO2). Integrating laser Doppler vibrometry, microcomputed tomography, and numerical analysis on precise three-dimensional geometries of each experimental animal EC, we demonstrate that the narrowing radius of the EC is the main factor reducing sound velocity. Both experimental and numerical data also show that sound velocity is reduced further when excess CO2 fills the EC. Likewise, the EC bifurcates at the tympanal level (one branch for each tympanic membrane), creating two additional narrow internal sound paths and imposing different sound velocities for each tympanic membrane. Therefore, external and internal inputs total to four sound paths for each ear (only one for the human ear). Research paths and implication of findings in avian directional hearing are discussed.

Strongly directional responses to tones and conspecific calls in the auditory nerve of the Tokay gecko, Gekko gecko

The configuration of lizard ears, where sound can reach both surfaces of the eardrums, produces a strongly directional ear, but the subsequent processing of sound direction by the auditory pathway is unknown. We report here on directional responses from the first stage, the auditory nerve. We used laser vibrometry to measure eardrum responses in Tokay geckos and in the same animals recorded 117 auditory nerve single fiber responses to free-field sound from radially distributed speakers. Responses from all fibers showed strongly lateralized activity at all frequencies, with an ovoidal directivity that resembled the eardrum directivity. Geckos are vocal and showed pronounced nerve fiber directionality to components of the call. To estimate the accuracy with which a gecko could discriminate between sound sources, we computed the Fisher information (FI) for each neuron. FI was highest just contralateral to the midline, front and back. Thus, the auditory nerve could provide a population code for sound source direction, and geckos should have a high capacity to differentiate between midline sound sources. In brain, binaural comparisons, for example, by IE (ipsilateral excitatory, contralateral inhibitory) neurons, should sharpen the lateralized responses and extend the dynamic range of directionality.NEW & NOTEWORTHY In mammals, the two ears are unconnected pressure receivers, and sound direction is computed from binaural interactions in the brain, but in lizards, the eardrums interact acoustically, producing a strongly directional response. We show strongly lateralized responses from gecko auditory nerve fibers to directional sound stimulation and high Fisher information on either side of the midline. Thus, already the auditory nerve provides a population code for sound source direction in the gecko.

Vocalization by extant nonavian reptiles: A synthetic overview of phonation and the vocal apparatus

Among amniote vertebrates, nonavian reptiles (chelonians, crocodilians, and lepidosaurs) are regarded as using vocal signals rarely (compared to birds and mammals). In all three reptilian clades, however, certain taxa emit distress calls and advertisement calls using modifications of regions of the upper respiratory tract. There is no central tendency in either acoustic mechanisms or the structure of the vocal apparatus, and many taxa that vocalize emit only relatively simple sounds. Available evidence indicates multiple origins of true vocal abilities within these lineages. Reptiles thus provide opportunities for studying the early evolutionary stages of vocalization. The early literature on the diversity of form of the laryngotracheal apparatus of reptiles boded well for the study of form-function relationships, but this potential was not extensively explored. Emphasis shifted away from anatomy, however, and centered instead on acoustic analysis of the sounds that are produced. New investigative techniques have provided novel ways of studying the form-function aspects of the structures involved in phonation and have brought anatomical investigation to the forefront again. In this review we summarize what is known about hearing in reptiles in order to contextualize the vocal signals they generate and the sound-producing mechanisms responsible for them. The diversity of form of the sound producing apparatus and the increasing evidence that reptiles are more dependent upon vocalization as a communication medium than previously thought indicates that they have a significant role to play in the understanding of the evolution of vocalization in amniotes.

Hearing in 3D: Directional Auditory Sensitivity of Northern Saw-Whet Owls (Aegolius acadicus)

Northern saw-whet owls (Aegolius acadicus) are nocturnal predators that are able to acoustically localize prey with great accuracy; an ability that is attributed to their unique asymmetrical ear structure. While a great deal of research has focused on open loop sound localization prior to flight in owls (primarily barn owls), directional sensitivity of the ears may also be important in locating moving prey on the wing. Furthermore, directionally sensitive ears may also reduce the effects of masking noise, either from the owls' wings during flight or environmental noise (e.g., wind and leaf rustling), by enhancing spatial segregation of target sounds and noise sources. Here, we investigated auditory processing of Northern saw-whet owls in three-dimensional space using auditory evoked potentials (AEPs). We simultaneously evoked auditory responses in two channels (right and left ear) with broadband clicks from a sound source that could be manipulated in space. Responses were evoked from 66 spatial locations, separated by 30° increments in both azimuth and elevation. We found that Northern saw-whet owls had increased sensitivity to sound sources directly in front of and above their beaks and decreased sensitivity to sound sources below and behind their heads. The spatial region of highest sensitivity extends from the lower beak to the crown of the head and 30° left or right of the median plane, dropping off beyond those margins. Directional sensitivity is undoubtedly useful during foraging and predator evasion, and may also reduce the effect of masking noise from the wings during flight due to the spatial segregation of the noise and targets of interest.

Lung-to-ear sound transmission does not improve directional hearing in green treefrogs (Hyla cinerea)

Amphibians are unique among extant vertebrates in having middle ear cavities that are internally coupled to each other and to the lungs. In frogs, the lung-to-ear sound transmission pathway can influence the tympanum's inherent directionality, but what role such effects might play in directional hearing remains unclear. In this study of the American green treefrog (Hyla cinerea), we tested the hypothesis that the lung-to-ear sound transmission pathway functions to improve directional hearing, particularly in the context of intraspecific sexual communication. Using laser vibrometry, we measured the tympanum's vibration amplitude in females in response to a frequency modulated sweep presented from 12 sound incidence angles in azimuth. Tympanum directionality was determined across three states of lung inflation (inflated, deflated, reinflated) both for a single tympanum in the form of the vibration amplitude difference (VAD) and for binaural comparisons in the form of the interaural vibration amplitude difference (IVAD). The state of lung inflation had negligible effects (typically less than 0.5 dB) on both VADs and IVADs at frequencies emphasized in the advertisement calls produced by conspecific males (834 and 2730 Hz). Directionality at the peak resonance frequency of the lungs (1558 Hz) was improved by ∼3 dB for a single tympanum when the lungs were inflated versus deflated, but IVADs were not impacted by the state of lung inflation. Based on these results, we reject the hypothesis that the lung-to-ear sound transmission pathway functions to improve directional hearing in frogs.

Braitenberg Vehicles as Computational Tools for Research in Neuroscience

Valentino Braitenberg reported his seminal thought experiment in 1984 using reactive automatons or vehicles with relatively simple sensorimotor connections as models for seemingly complex cognitive processes in biological brains. Braitenberg's work, meant as a metaphor for biological life encompassed a deep knowledge of and served as an analogy for the multitude of neural processes and pathways that underlie animal behavior, suggesting that seemingly complex behavior may arise from relatively simple designs. Braitenberg vehicles have been adopted in robotics and artificial life research for sensor-driven navigation behaviors in robots, such as localizing sound and chemical sources, orienting toward or away from current flow under water etc. The neuroscience community has benefitted from applying Braitenberg's bottom-up approach toward understanding analogous neural mechanisms underpinning his models of animal behavior. We present a summary of the latest studies of Braitenberg vehicles for bio-inspired navigation and relate the results to experimental findings on the neural basis of navigation behavior in animals. Based on these studies, we motivate the important role of Braitenberg vehicles as computational tools to inform research in behavioral neuroscience.

It sounds like food: Phonotaxis of a diurnal lizard

Foraging diurnal lizards are well known for their use of visual and chemical cues to detect prey. We already showed that the Balearic lizard is able to detect prey using visual and chemical cues, even from airborne odors. In this study we carried out a field experiment to test if lizards can detect prey using acoustic cues. Our results show that Podarcis lilfordi is able to detect flies trapped inside opaque cups, only using acoustic cues. To our knowledge, this is the first known case of phonotaxis of a diurnal lizard. Thus, P. lilfordi can detect, from far away, current pollinators trapped inside floral chambers of the dead horse arum, Helicodiceros muscivorus. This is another behavioral trait displayed by the Balearic lizard during its complex interaction with the dead horse arum.

Amphibious hearing in a diving bird, the great cormorant (Phalacrocorax carbo sinensis)

Diving birds can spend several minutes underwater during pursuit-dive foraging. To find and capture prey, such as fish and squid, they probably need several senses in addition to vision. Cormorants, very efficient predators of fish, have unexpectedly low visual acuity underwater. So, underwater hearing may be an important sense, as for other diving animals. We measured auditory thresholds and eardrum vibrations in air and underwater of the great cormorant (Phalacrocorax carbo sinensis). Wild-caught cormorant fledglings were anaesthetized, and their auditory brainstem response (ABR) and eardrum vibrations to clicks and tone bursts were measured, first in an anechoic box in air and then in a large water-filled tank, with their head and ears submerged 10 cm below the surface. Both the ABR waveshape and latency, as well as the ABR threshold, measured in units of sound pressure, were similar in air and water. The best average sound pressure sensitivity was found at 1 kHz, both in air (53 dB re. 20 µPa) and underwater (58 dB re. 20 µPa). When thresholds were compared in units of intensity, however, the sensitivity underwater was higher than in air. Eardrum vibration amplitude in both media reflected the ABR threshold curves. These results suggest that cormorants have in-air hearing abilities comparable to those of similar-sized diving birds, and that their underwater hearing sensitivity is at least as good as their aerial sensitivity. This, together with the morphology of the outer ear (collapsible meatus) and middle ear (thickened eardrum), suggests that cormorants may have anatomical and physiological adaptations for amphibious hearing.

Eardrum displacement and strain in the Tokay gecko (Gekko gecko) under quasi-static pressure loads

The eardrum is the primary component of the middle ear and has been extensively investigated in humans. Measuring the displacement and deformation of the eardrum under different quasi-static loading conditions gives insight in its mechanical behavior and is fundamental in determining the material properties of the eardrum. Currently, little is known about the behavior and material properties of eardrums in non-mammals. To explore the mechanical properties of the eardrum in non-mammalian ears, we investigated the quasi-static response of the eardrum of a common lizard: the Tokay gecko (Gekko gecko). The middle ear cavity was pressurized using repetitive linear pressure cycles ranging from -1.5 to 1.5 kPa with pressure change rates of 0.05, 0.1 and 0.2 kPa/s. The resulting shape, displacement and in-plane strain of the eardrum surface were measured using 3D digital image correlation. When middle-ear pressure is negative, the medial displacement of the eardrum is much larger than the displacement observed in mammals; when middle-ear pressure is positive, the lateral displacement is much larger than in mammals, which is not observed in bird single-ossicle ears. Peak-to-peak displacements are about 2.8 mm, which is larger than in any other species measured up to date. The peak-to-peak displacements are at least five times larger than observed in mammals. The pressure-displacement curves show hysteresis, and the energy loss within one pressure cycle increases with increasing pressure rate, contrary to what is observed in rabbit eardrums. The energy lost during a pressure cycle is not constant over the eardrum. Most energy is lost at the region where the eardrum connects to the hearing ossicle. Around this eardrum-ossicle region, a 5% increase in energy loss was observed when pressure change rate was increased from 0.05 kPa/s to 0.2 kPa/s. Other parts of the eardrum showed little increase in the energy loss. The orientation of the in-plane strain on the eardrum was mainly circumferential with strain amplitudes of about +1.5%. The periphery of the measured eardrum surface showed compression instead of stretching and had a different strain orientation. The TM of Gekko gecko shows the highest displacements of all species measured up till now. Our data show the first shape, displacement and deformation measurements on the surface of the eardrum of the gecko and indicate that there could exist a different hysteresis behavior in different species.

Fano-Like Acoustic Resonance for Subwavelength Directional Sensing: 0-360 Degree Measurement

Directional sound sensing plays a critical role in many applications involving the localization of a sound source. However, the sensing range limit and fabrication difficulties of current acoustic sensing technologies pose challenges in realizing compact subwavelength direction sensors. Here, a subwavelength directional sensor is demonstrated, which can detect the angle of an incident wave in a full angle range (0°∼360°). The directional sensing is realized with acoustic coupling of Helmholtz resonators each supporting a monopolar resonance, which are monitored by conventional microphones. When these resonators scatter sound into free-space acoustic modes, the scattered waves from each resonator interfere, resulting in a Fano-like resonance where the spectral responses of the constituent resonators are drastically different from each other. This work provides a critical understanding of resonant coupling as well as a viable solution for directional sensing.

Active tympanic tuning facilitates sound localization in animals with internally coupled ears

Earlier studies have reported that numerous vertebrate taxa have skeletal muscle(s) attaching directly, or indirectly, onto the tympanic membrane. The present study links these prior studies by quantitatively modeling the influence of skeletal muscle contraction on tympanic tension, tympanic dampening, and, ultimately, the fundamental frequency. In this way, the efficacy of these tympanic muscles to dynamically alter the sensory response of the vertebrate ear is quantified. Changing the tension modifies the eardrum's fundamental frequency, a key notion in understanding hearing through internally coupled ears (ICE) as used by the majority of terrestrial vertebrates. Tympanic tension can also be modulated by altering the pressure acting on the deep (medial) surface of the tympanum. Herein we use the monitor lizard Varanus as an example to demonstrate how active modulation of the pharyngeal volume permits tuning of an ICE auditory system. The present contribution offers a behaviorally and biologically realistic perspective on the ICE system, by demonstrating how an organism can dynamically alter its morphology to tune the auditory response. Through quantification of the relationships between tympanic surface tension, damping, membrane fundamental frequency, and auditory cavity volume, it can be shown that an ICE system affords a biologically relevant range of tuning.

Sound localization by the internally coupled ears of lizards: From biophysics to biorobotics

As they are generally small and only hear low frequencies, lizards have few cues for localizing sound. However, their ears show extreme directionality (up to 30 dB direction-dependent difference in eardrum vibrations) created by strong acoustical coupling of the eardrums, with almost perfect internal transmission from the contralateral ear over a broad frequency range. The activity of auditory nerve fibers reflects the eardrum directionality, so all auditory neurons are directional by default. This suggests that the ensuing neural processing of sound direction is simple in lizards. Even the simplest configuration of electrical analog models-two tympanic impedances connected via a central capacitor-produces directional patterns that are qualitatively similar to the experimental data on lizard ears. Several models, both analytical and (very recently) finite-element models, have been published. Robotic implementations using simplified models of the ear and of binaural comparison show that robust phonotaxic behavior can be generated with little additional processing and be performed by simple (and thus small and cheap) units. The authors review lizard directional processing and attempts at modeling and robotics with a twofold aim: to clarify the authors' understanding of central processing of sound localization in lizards, and to lead to technological developments of bioinspired robotics.

Petrosal morphology and cochlear function in Mesozoic stem therians

Here we describe the bony anatomy of the inner ear and surrounding structures seen in three plesiomorphic crown mammalian petrosal specimens. Our study sample includes the triconodont Priacodon fruitaensis from the Upper Jurassic of North America, and two isolated stem therian petrosal specimens colloquially known as the Höövör petrosals, recovered from Aptian-Albian sediments in Mongolia. The second Höövör petrosal is here described at length for the first time. All three of these petrosals and a comparative sample of extant mammalian taxa have been imaged using micro-CT, allowing for detailed anatomical descriptions of the osteological correlates of functionally significant neurovascular features, especially along the abneural wall of the cochlear canal. The high resolution imaging provided here clarifies several hypotheses regarding the mosaic evolution of features of the cochlear endocast in early mammals. In particular, these images demonstrate that the membranous cochlear duct adhered to the bony cochlear canal abneurally to a secondary bony lamina before the appearance of an opposing primary bony lamina or tractus foraminosus. Additionally, while corroborating the general trend of reduction of venous sinuses and plexuses within the pars cochlearis seen in crownward mammaliaforms generally, the Höövör petrosals show the localized enlargement of a portion of the intrapetrosal venous plexus. This new vascular feature is here interpreted as the bony accommodation for the vein of cochlear aqueduct, a structure that is solely, or predominantly, responsible for the venous drainage of the cochlear apparatus in extant therians. Given that our fossil stem therian inner ear specimens appear to have very limited high-frequency capabilities, the development of these modern vascular features of the cochlear endocast suggest that neither the initiation or enlargement of the stria vascularis (a unique mammalian organ) was originally associated with the capacity for high-frequency hearing or precise sound-source localization.

Bilateral Spontaneous Otoacoustic Emissions Show Coupling between Active Oscillators in the Two Ears

Spontaneous otoacoustic emissions (SOAEs) are weak sounds that emanate from the ears of tetrapods in the absence of acoustic stimulation. These emissions are an epiphenomenon of the inner ear's active process, which enhances the auditory system's sensitivity to weak sounds, but their mechanism of production remains a matter of debate. We recorded SOAEs simultaneously from the two ears of the tokay gecko and found that binaural emissions could be strongly correlated: some emissions occurred at the same frequency in both ears and were highly synchronized. Suppression of the emissions in one ear often changed the amplitude or shifted the frequency of emissions in the other. Decreasing the frequency of emissions from one ear by lowering its temperature usually reduced the frequency of the contralateral emissions. To understand the relationship between binaural SOAEs, we developed a mathematical model of the eardrums as noisy nonlinear oscillators coupled by the air within an animal's mouth. By according with the model, the results indicate that some SOAEs are generated bilaterally through acoustic coupling across the oral cavity. The model predicts that sound localization through the acoustic coupling between ears is influenced by the active processes of both ears.

Subwavelength angle-sensing photodetectors inspired by directional hearing in small animals

Sensing the direction of sounds gives animals clear evolutionary advantage. For large animals, with an ear-to-ear spacing that exceeds audible sound wavelengths, directional sensing is simply accomplished by recognizing the intensity and time differences of a wave impinging on its two ears¹. Recent research suggests that in smaller, subwavelength animals, angle sensing can instead rely on a coherent coupling of soundwaves between the two ears^2-4. Inspired by this natural design, here we show a subwarvelength photodetection pixel that can measure both the intensity and incident angle of light. It relies on an electrical isolation and optical coupling of two closely spaced Si nanowires that support optical Mie resonances^5-7. When these resonators scatter light into the same free-space optical modes, a non-Hermitian coupling results that affords highly sensitive angle determination. By straightforward photocurrent measurements, we can independently quantify the stored optical energy in each nanowire and relate the difference in the stored energy between the wires to the incident angle of a light wave. We exploit this effect to fabricate a subwavelength angle-sensitive pixel with angular sensitivity, δθ = 0.32°.

Modeling underwater hearing and sound localization in the frog Xenopus laevis

Animals that are small compared to sound wavelengths face the challenge of localizing a sound source since the main cues to sound direction-interaural time differences (ITD) and interaural level differences (ILD)-both depend on size. Remarkably, the majority of terrestrial vertebrates possess internally coupled ears (ICE) with an air-filled cavity connecting the two eardrums and producing an inherently directional middle-ear system. Underwater, longer wavelengths and faster sound-speed reduce both ITD and ILD cues. Nonetheless, many animals communicate through and localize underwater sound. Here, a typical representative equipped with ICE is studied: the fully aquatic clawed frog Xenopus laevis. It is shown that two factors improve underwater sound-localization quality. First, inflated lungs function as Helmholtz resonator and generate directional amplitude differences between eardrum vibrations in the high-frequency (1.7-2.2 kHz) and low-frequency (0.8-1.2 kHz) range of the male advertisement calls. Though the externally arriving ILDs practically vanish, the perceived internal level differences are appreciable, more than 10 dB. As opposed to, e.g., lizards with thin and flexible eardrums, plate-like eardrums are shown to be Xenopus' second key to successfully handling aquatic surroundings. Based on ICE, both plate-like eardrums and inflated lungs functioning as Helmholtz resonators explain the phonotaxis performance of Xenopus.

Evolution of Sound Source Localization Circuits in the Nonmammalian Vertebrate Brainstem

The earliest vertebrate ears likely subserved a gravistatic function for orientation in the aquatic environment. However, in addition to detecting acceleration created by the animal's own movements, the otolithic end organs that detect linear acceleration would have responded to particle movement created by external sources. The potential to identify and localize these external sources may have been a major selection force in the evolution of the early vertebrate ear and in the processing of sound in the central nervous system. The intrinsic physiological polarization of sensory hair cells on the otolith organs confers sensitivity to the direction of stimulation, including the direction of particle motion at auditory frequencies. In extant fishes, afferents from otolithic end organs encode the axis of particle motion, which is conveyed to the dorsal regions of first-order octaval nuclei. This directional information is further enhanced by bilateral computations in the medulla and the auditory midbrain. We propose that similar direction-sensitive neurons were present in the early aquatic tetrapods and that selection for sound localization in air acted upon preexisting brain stem circuits like those in fishes. With movement onto land, the early tetrapods may have retained some sensitivity to particle motion, transduced by bone conduction, and later acquired new auditory papillae and tympanic hearing. Tympanic hearing arose in parallel within each of the major tetrapod lineages and would have led to increased sensitivity to a broader frequency range and to modification of the preexisting circuitry for sound source localization.

An Adaptive Neural Mechanism for Acoustic Motion Perception with Varying Sparsity

Biological motion-sensitive neural circuits are quite adept in perceiving the relative motion of a relevant stimulus. Motion perception is a fundamental ability in neural sensory processing and crucial in target tracking tasks. Tracking a stimulus entails the ability to perceive its motion, i.e., extracting information about its direction and velocity. Here we focus on auditory motion perception of sound stimuli, which is poorly understood as compared to its visual counterpart. In earlier work we have developed a bio-inspired neural learning mechanism for acoustic motion perception. The mechanism extracts directional information via a model of the peripheral auditory system of lizards. The mechanism uses only this directional information obtained via specific motor behaviour to learn the angular velocity of unoccluded sound stimuli in motion. In nature however the stimulus being tracked may be occluded by artefacts in the environment, such as an escaping prey momentarily disappearing behind a cover of trees. This article extends the earlier work by presenting a comparative investigation of auditory motion perception for unoccluded and occluded tonal sound stimuli with a frequency of 2.2 kHz in both simulation and practice. Three instances of each stimulus are employed, differing in their movement velocities-0.5°/time step, 1.0°/time step and 1.5°/time step. To validate the approach in practice, we implement the proposed neural mechanism on a wheeled mobile robot and evaluate its performance in auditory tracking.

Functional relevance of acoustic tracheal design in directional hearing in crickets

Internally coupled ears (ICEs) allow small animals to reliably determine the direction of a sound source. ICEs are found in a variety of taxa, but crickets have evolved the most complex arrangement of coupled ears: an acoustic tracheal system composed of a large cross-body trachea that connects two entry points for sound in the thorax with the leg trachea of both ears. The key structure that allows for the tuned directionality of the ear is a tracheal inflation (acoustic vesicle) in the midline of the cross-body trachea holding a thin membrane (septum). Crickets are known to display a wide variety of acoustic tracheal morphologies, most importantly with respect to the presence of a single or double acoustic vesicle. However, the functional relevance of this variation is still not known. In this study, we investigated the peripheral directionality of three co-occurring, closely related cricket species of the subfamily Gryllinae. No support could be found for the hypothesis that a double vesicle should be regarded as an evolutionary innovation to (1) increase interaural directional cues, (2) increase the selectivity of the directional filter or (3) provide a better match between directional and sensitivity tuning. Nonetheless, by manipulating the double acoustic vesicle in the rainforest cricket Paroecanthus podagrosus, selectively eliminating the sound-transmitting pathways, we revealed that these pathways contribute almost equally to the total amount of interaural intensity differences, emphasizing their functional relevance in the system.

Low frequency eardrum directionality in the barn owl induced by sound transmission through the interaural canal

The middle ears of birds are typically connected by interaural cavities that form a cranial canal. Eardrums coupled in this manner may function as pressure difference receivers rather than pressure receivers. Hereby, the eardrum vibrations become inherently directional. The barn owl also has a large interaural canal, but its role in barn owl hearing and specifically in sound localization has been controversial so far. We discuss here existing data and the role of the interaural canal in this species and add a new dataset obtained by laser Doppler vibrometry in a free-field setting. Significant sound transmission across the interaural canal occurred at low frequencies. The sound transmission induces considerable eardrum directionality in a narrow band from 1.5 to 3.5 kHz. This is below the frequency range used by the barn owl for locating prey, but may conceivably be used for locating conspecific callers.

Internally coupled ears in living mammals

It is generally held that the right and left middle ears of mammals are acoustically isolated from each other, such that mammals must rely on neural computation to derive sound localisation cues. There are, however, some unusual species in which the middle ear cavities intercommunicate, in which case each ear might be able to act as a pressure-difference receiver. This could improve sound localisation at lower frequencies. The platypus Ornithorhynchus is apparently unique among mammals in that its tympanic cavities are widely open to the pharynx, a morphology resembling that of some non-mammalian tetrapods. The right and left middle ear cavities of certain talpid and golden moles are connected through air passages within the basicranium; one experimental study on Talpa has shown that the middle ears are indeed acoustically coupled by these means. Having a basisphenoid component to the middle ear cavity walls could be an important prerequisite for the development of this form of interaural communication. Little is known about the hearing abilities of platypus, talpid and golden moles, but their audition may well be limited to relatively low frequencies. If so, these mammals could, in principle, benefit from the sound localisation cues available to them through internally coupled ears. Whether or not they actually do remains to be established experimentally.

Role of intracranial cavities in avian directional hearing

Whereas it is clear from anatomical studies that all birds have complex interaural canals connecting their middle ears, the effect of interaural coupling on directional hearing has been disputed. A reason for conflicting results in earlier studies may have been that the function of the tympanic ear and hence of the interaural coupling is sensitive to variations in the intracranial air pressure. In awake birds, the middle ears and connected cavities are vented actively through the pharyngotympanic tube. This venting reflex seems to be suppressed in anesthetized birds, leading to increasingly lower pressure in the interaural cavities, stiffening the eardrums, and displacing them medially. This causes the sensitivity, as well as the interaural coupling, to drop. Conversely, when the middle ears are properly vented, robust directional eardrum responses, most likely caused by internal coupling, have been reported. The anatomical basis of this coupling is the 'interaural canal,' which turns out to be a highly complex canal and cavity system, which we describe for the zebra finch. Surprisingly, given the complexity of the interaural canals, simple models of pipe-coupled middle ears fit the eardrum directionality data quite well, but future models taking the complex anatomy into consideration should be developed.

Anatomical influences on internally coupled ears in reptiles

Many reptiles, and other vertebrates, have internally coupled ears in which a patent anatomical connection allows pressure waves generated by the displacement of one tympanic membrane to propagate (internally) through the head and, ultimately, influence the displacement of the contralateral tympanic membrane. The pattern of tympanic displacement caused by this internal coupling can give rise to novel sensory cues. The auditory mechanics of reptiles exhibit more anatomical variation than in any other vertebrate group. This variation includes structural features such as diverticula and septa, as well as coverings of the tympanic membrane. Many of these anatomical features would likely influence the functional significance of the internal coupling between the tympanic membranes. Several of the anatomical components of the reptilian internally coupled ear are under active motor control, suggesting that in some reptiles the auditory system may be more dynamic than previously recognized.

Internally coupled ears: mathematical structures and mechanisms underlying ICE

In internally coupled ears (ICE), the displacement of one eardrum creates pressure waves that propagate through air-filled passages in the skull, causing a displacement of the opposing eardrum and vice versa. In this review, a thorough mathematical analysis of the membranes, passages, and propagating pressure waves reveals how internally coupled ears generate unique amplitude and temporal cues for sound localization. The magnitudes of both of these cues are directionally dependent. On the basis of the geometry of the interaural cavity and the elastic properties of the two eardrums confining it at both ends, the present paper reviews the mathematical theory underlying hearing through ICE and derives analytical expressions for eardrum vibrations as well as the pressures inside the internal passages, which ultimately lead to the emergence of highly directional hearing cues. The derived expressions enable one to explicitly see the influence of different parts of the system, e.g., the interaural cavity and the eardrum, on the internal coupling, and the frequency dependence of the coupling. The tympanic fundamental frequency segregates a low-frequency regime with constant time-difference magnification (time dilation factor) from a high-frequency domain with considerable amplitude magnification. By exploiting the physical properties of the coupling, we describe a concrete method to numerically estimate the eardrum's fundamental frequency and damping solely through measurements taken from a live animal.

Coupled ears in lizards and crocodilians

Lizard ears are coupled across the pharynx, and are very directional. In consequence all auditory responses should be directional, without a requirement for computation of sound source location. Crocodilian ears are connected through sinuses, and thus less tightly coupled. Coupling may improve the processing of low-frequency directional signals, while higher frequency signals appear to be progressively uncoupled. In both lizards and crocodilians, the increased directionality of the coupled ears leads to an effectively larger head and larger physiological range of ITDs. This increased physiological range is reviewed in the light of current theories of sound localization.

Animals and ICE: meaning, origin, and diversity

ICE stands for internally coupled ears. More than half of the terrestrial vertebrates, such as frogs, lizards, and birds, as well as many insects, are equipped with ICE that utilize an air-filled cavity connecting the two eardrums. Its effect is pronounced and twofold. On the basis of a solid experimental and mathematical foundation, it is known that there is a low-frequency regime where the internal time difference (iTD) as perceived by the animal may well be 2-5 times higher than the external ITD, the interaural time difference, and that there is a frequency plateau over which the fraction iTD/ITD is constant. There is also a high-frequency regime where the internal level (amplitude) difference iLD as perceived by the animal is much higher than the interaural level difference ILD measured externally between the two ears. The fundamental tympanic frequency segregates the two regimes. The present special issue devoted to "internally coupled ears" provides an overview of many aspects of ICE, be they acoustic, anatomical, auditory, mathematical, or neurobiological. A focus is on the hotly debated topic of what aspects of ICE animals actually exploit neuronally to localize a sound source.

From "ear" to there: a review of biorobotic models of auditory processing in lizards

The peripheral auditory system of lizards has been extensively studied, because of its remarkable directionality. In this paper, we review the research that has been performed on this system using a biorobotic approach. The various robotic implementations developed to date, both wheeled and legged, of the auditory model exhibit strong phonotactic performance for two types of steering mechanisms-a simple threshold decision model and Braitenberg sensorimotor cross-couplings. The Braitenberg approach removed the need for a decision model, but produced relatively inefficient robot trajectories. Introducing various asymmetries in the auditory model reduced the efficiency of the robot trajectories, but successful phonotaxis was maintained. Relatively loud noise distractors degraded the trajectory efficiency and above-threshold noise resulted in unsuccessful phonotaxis. Machine learning techniques were applied to successfully compensate for asymmetries as well as noise distractors. Such techniques were also successfully used to construct a representation of auditory space, which is crucial for sound localisation while remaining stationary as opposed to phonotaxis-based localisation. The peripheral auditory model was furthermore found to adhere to an auditory scaling law governing the variation in frequency response with respect to physical ear separation. Overall, the research to date paves the way towards investigating the more fundamental topic of auditory metres versus auditory maps, and the existing robotic implementations can act as tools to compare the two approaches.

Anatomical Basis of Dynamic Modulation of Tympanic Tension in the Water Monitor Lizard, Varanus salvator

Amphibious vertebrates, such as the water monitor (Varanus salvator), require anatomical and/or neural specializations to cope with pressure changes on the tympanic membrane when transiting between air and water. V. salvator has internally coupled ears which are distinguished by (patent) anatomical conduits through the skull linking the middle ear cavities on both sides of the head. We describe a small skeletal muscle in V. salvator which inserts onto the middle ear ossicle and the tympanic membrane. Laser doppler vibrometry demonstrates that contraction of this muscle both increases the vibrational velocity of the tympanic membrane and changes the waveform pattern of the tympanic displacement. The combined anatomical and functional results suggest that V. salvator is capable of actively modulating the tension of the tympanic membrane. Anat Rec, 299:1270-1280, 2016. © 2016 Wiley Periodicals, Inc.

Form and function of the mammalian inner ear

The inner ear of mammals consists of the cochlea, which is involved with the sense of hearing, and the vestibule and three semicircular canals, which are involved with the sense of balance. Although different regions of the inner ear contribute to different functions, the bony chambers and membranous ducts are morphologically continuous. The gross anatomy of the cochlea that has been related to auditory physiologies includes overall size of the structure, including volume and total spiral length, development of internal cochlear structures, including the primary and secondary bony laminae, morphology of the spiral nerve ganglion, and the nature of cochlear coiling, including total number of turns completed by the cochlear canal and the relative diameters of the basal and apical turns. The overall sizes, shapes, and orientations of the semicircular canals are related to sensitivity to head rotations and possibly locomotor behaviors. Intraspecific variation, primarily in the shape and orientation of the semicircular canals, may provide additional clues to help us better understand form and function of the inner ear.

How Internally Coupled Ears Generate Temporal and Amplitude Cues for Sound Localization

In internally coupled ears, displacement of one eardrum creates pressure waves that propagate through air-filled passages in the skull and cause displacement of the opposing eardrum, and conversely. By modeling the membrane, passages, and propagating pressure waves, we show that internally coupled ears generate unique amplitude and temporal cues for sound localization. The magnitudes of both these cues are directionally dependent. The tympanic fundamental frequency segregates a low-frequency regime with constant time-difference magnification from a high-frequency domain with considerable amplitude magnification.

Sound Localization Strategies in Three Predators

In this paper, we compare some of the neural strategies for sound localization and encoding interaural time differences (ITDs) in three predatory species of Reptilia, alligators, barn owls and geckos. Birds and crocodilians are sister groups among the extant archosaurs, while geckos are lepidosaurs. Despite the similar organization of their auditory systems, archosaurs and lizards use different strategies for encoding the ITDs that underlie localization of sound in azimuth. Barn owls encode ITD information using a place map, which is composed of neurons serving as labeled lines tuned for preferred spatial locations, while geckos may use a meter strategy or population code composed of broadly sensitive neurons that represent ITD via changes in the firing rate.

Acoustic analysis of the frequency-dependent coupling between the frog's ears

The ears of anurans are coupled through the Eustachian tubes and mouth cavity. The degree of coupling varies with frequency showing a bandpass characteristic, but the characteristics differ between empirically measured data based on auditory nerve responses and tympanic membrane vibration. In the present study, the coupling was modeled acoustically as a tube connected with a side branch. This tube corresponds to the Eustachian tubes, whereas the side branch corresponds to the mouth cavity and nares. The analysis accounts for the frequency dependency shown by the empirical data and reconciles the differences observed between the coupling as measured by tympanic membrane vibration and auditory nerve responses.

A spatial compression technique for head-related transfer function interpolation and complexity estimation

A head-related transfer function (HRTF) model employing Legendre polynomials (LPs) is evaluated as an HRTF spatial complexity indicator and interpolation technique in the azimuth plane. LPs are a set of orthogonal functions derived on the sphere which can be used to compress an HRTF dataset by transforming it into a lower dimensional space. The LP compression technique was applied to various HRTF datasets, both real and synthetic, to determine how much different HRTFs can be compressed with respect to their structural complexity and their spatial resolution. The spatial complexity of different datasets was evaluated quantitatively by defining an HRTF spatial complexity index, which considers the rate of change in HRTF power spectrum with respect to spatial position. The results indicate that the compression realized by the LP technique is largely independent of the number of spatial samples in the HRTF dataset, while compressibility tracks the HRTF spatial complexity index so that more LP coefficients are needed to represent an HRTF dataset with a larger complexity index. The slope of the complexity index with respect to sub-sampling density can be used as a predictor for high interpolation error.

Biophysics of directional hearing in the American alligator (Alligator mississippiensis)

Physiological and anatomical studies have suggested that alligators have unique adaptations for spatial hearing. Sound localization cues are primarily generated by the filtering of sound waves by the head. Different vertebrate lineages have evolved external and/or internal anatomical adaptations to enhance these cues, such as pinnae and interaural canals. It has been hypothesized that in alligators, directionality may be enhanced via the acoustic coupling of middle ear cavities, resulting in a pressure difference receiver (PDR) mechanism. The experiments reported here support a role for a PDR mechanism in alligator sound localization by demonstrating that (1) acoustic space cues generated by the external morphology of the animal are not sufficient to generate location cues that match physiological sensitivity, (2) continuous pathways between the middle ears are present to provide an anatomical basis for coupling, (3) the auditory brainstem response shows some directionality, and (4) eardrum movement is directionally sensitive. Together, these data support the role of a PDR mechanism in crocodilians and further suggest this mechanism is a shared archosaur trait, most likely found also in the extinct dinosaurs.

Phase shifts in binaural stimuli provide directional cues for sound localisation in the field cricket Gryllus bimaculatus

The cricket's auditory system is a highly directional pressure difference receiver whose function is hypothesised to depend on phase relationships between the sound waves propagating through the auditory trachea that connects the left and right hearing organs. We tested this hypothesis by measuring the effect of experimentally constructed phase shifts in acoustic stimuli on phonotactic behavior of Gryllus bimaculatus, the oscillatory response patterns of the tympanic membrane, and the activity of the auditory afferents. The same artificial calling song was played simultaneously at the left and right sides of the cricket, but one sound pattern was shifted in phase by 90 deg (carrier frequencies between 3.6 and 5.4 kHz). All three levels of auditory processing are sensitive to experimentally induced acoustic phase shifts, and the response characteristics are dependent on the carrier frequency of the sound stimulus. At lower frequencies, crickets steered away from the sound leading in phase, while tympanic membrane vibrations and auditory afferent responses were smaller when the ipsilateral sound was leading. In contrast, opposite responses were observed at higher frequencies in all three levels of auditory processing. Minimal responses occurred near the carrier frequency of the cricket's calling song, suggesting a stability at this frequency. Our results indicate that crickets may use directional cues arising from phase shifts in acoustic signals for sound localisation, and that the response properties of pressure difference receivers may be analysed with phase-shifted sound stimuli to further our understanding of how insect auditory systems are adapted for directional processing.