CHARACTERISATION OF LARGE SECOND-ORDER OCELLAR NEURONES OF THE BLOWFLY CALLIPHORA ERYTHROCEPHALA

Behavioural evidence for a visual and proprioceptive control of head roll in hoverflies (Episyrphus balteatus)

The ability of hoverflies to control their head orientation with respect to their body contributes importantly to their agility and their autonomous navigation abilities. Many tasks performed by this insect during flight, especially while hovering, involve a head stabilization reflex. This reflex, which is mediated by multisensory channels, prevents the visual processing from being disturbed by motion blur and maintains a consistent perception of the visual environment. The so-called dorsal light response (DLR) is another head control reflex, which makes insects sensitive to the brightest part of the visual field. In this study, we experimentally validate and quantify the control loop driving the head roll with respect to the horizon in hoverflies. The new approach developed here consisted of using an upside-down horizon in a body roll paradigm. In this unusual configuration, tethered flying hoverflies surprisingly no longer use purely vision-based control for head stabilization. These results shed new light on the role of neck proprioceptor organs in head and body stabilization with respect to the horizon. Based on the responses obtained with male and female hoverflies, an improved model was then developed in which the output signals delivered by the neck proprioceptor organs are combined with the visual error in the estimated position of the body roll. An internal estimation of the body roll angle with respect to the horizon might explain the extremely accurate flight performances achieved by some hovering insects.

Bio-inspired modeling and implementation of the ocelli visual system of flying insects

Two visual sensing modalities in insects, the ocelli and compound eyes, provide signals used for flight stabilization and navigation. In this article, a generalized model of the ocellar visual system is developed for a 3-D visual simulation environment based on behavioral, anatomical, and electrophysiological data from several species. A linear measurement model is estimated from Monte Carlo simulation in a cluttered urban environment relating state changes of the vehicle to the outputs of the ocellar model. A fully analog-printed circuit board sensor based on this model is designed and fabricated. Open-loop characterization of the sensor to visual stimuli induced by self motion is performed. Closed-loop stabilizing feedback of the sensor in combination with optic flow sensors is implemented onboard a quadrotor micro-air vehicle and its impulse response is characterized.

A motion-sensitive neurone responds to signals from the two visual systems of the blowfly, the compound eyes and ocelli

In the blowfly Calliphora vicina, lobula plate tangential cells (LPTCs) estimate self-motion by integrating local motion information from the compound eyes. Each LPTC is sensitive to a particular (preferred) rotation of the fly's head. The fly can also sense rotation using its three ocelli (simple eyes), by comparing the light intensities measured at each ocellus. We report that an individually identified tangential cell, V1, responds in an apparently rotation-specific manner to stimulation of the ocelli. This effect was seen with or without additional stimulation of the compound eye. We delivered stimuli to the ocelli which mimicked rotation of the fly's head close to that of the preferred axis of rotation of V1. Alternating between preferred and anti-preferred rotation elicited a strongly phasic response, the amplitude of which increased with the rate of change of light intensity at the ocelli. With combined stimulation of one compound eye and the ocelli, V1 displayed a robust response to ocellar stimuli over its entire response range. These findings provide the opportunity to study quantitatively the interactions of two different visual mechanisms which both encode the same variable--the animal's rotation in space.

Signal processing in a simple visual system: the locust ocellar system and its synapses

The neurons with the widest axons that carry information into a locust brain belong to L-neurons, the large, second-order neurons of the ocelli. L-neurons play roles in flight control and boosting visual sensitivity. Their morphology is simple, and their axons convey graded potentials from the ocellus with little decrement to the brain, which makes them good subjects in which to study transmission of graded potentials. L-neurons are very sensitive to changes in light, due to an abnormally high gain in the sign inverting synapses they receive from photoreceptors. Adaptation ensures that L-neurons signal contrast in a light signal when average light intensity changes, and that their responses depend on the speed of change in light. Neurons L1-3 make excitatory output synapses with third-order neurons and with L4-5. These synapses transmit tonically, but are unable to convey hyperpolarising signals about large increases in light. Graded rebound spikes enhance depolarising responses. L1-3 also make reciprocal inhibitory synapses with each other and transmission at these decrements so rapidly that it normally requires a presynaptic spike. The resolution with which graded potentials can be transferred has been studied at the inhibitory synapses, and is limited by intrinsic variability in the mechanism that determines neurotransmitter release. Electron microscopy has shown that each excitatory connection made from an L-neuron to a postsynaptic partner consists of thousands of discrete synaptic contacts, in which individual dense-staining bars in the presynaptic neuron are associated with clouds of vesicles. Acetylcholine is likely to be a neurotransmitter released by L-neurons.