ECHOLOCATION IN BATS: SIGNAL PROCESSING OF ECHOES FOR TARGET RANGE

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March 5, 1971
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ations (spurious or resence o; the illuminated disk. If dventitio'us reward were effective dur- ould continue to be effective in sus- aining a high rate of pecking in the As a further check on the importance lumination with feeding, we studied ve new birds on the nondifferential ondition. After 14 days of nondif- rential exposure to grain presentation, total of ten pecks had been recorded r all five birds together. All of these cur-red during the intertrial interval hen the key was not illuminated. Ap- the first experiment was not an arti- ct of changing the procedures, nor fference in reinforcement density. Ac- isition, as well as maintenance of eking, is dependent on a differential sociation of key and reinforcer. the original differential procedure, eventually began pecking the disk. en after 35 days of exposure, bow- er, the mean rate of response was ly 20 per minute, and there was no se birds and those of the first group, ose mean terminal rate was 101 re- cement, even after successful acqui- rtant aspects of the autoshaping phe- h the assumption that classical con- ioning is a fundamental factor in the pecific signaling relationship is not intenance of behavior. Second, the essity for differential pairing in intenance, as well as acquisition, in- ates that informational properties of stimulus, rather than its mere asso- the phenomenon. Third, the phe- enon, although obviously suscepti- to analysis by principles of classical he pecking engendered by autoshap- is directed to a significant part of environment-that is, a part cor- ted with the opportunity to eat. The ew environ- co lied without the involvement of ments for to any "shaping" effect by re and punishment. The findings rewar nd punishments. of the Brelands (5) in a number of ELKAN GAMZU nonavian species suggest that such DAVID R. WILLIAMS mechanisms are not peculiar to pigeons. Department of Psychology, Although study of the way in which University of Pennsylvania, complex activities are developed and Philadelphia 19104 learned has largely excluded effects other than those of reward and punish- ment, it now seems necessary to include some other factors as well, if the prin- ciples of adaptive learning are to pro- vide an adequate account of the devel- opment and maintenance of effective but often nonarbitrary behavior. It is apparent that animals do not select be- haviors randomly' from their repertoire in new situations. The manifestation of References and Notes 1. P. L. Brown and H. M. Jenkins, J. Exp. Anal. Behav. 11, 1 (1968). 2. D. It. Williams and H. \Villiams, ibid. 12, 511 (1969). 3. R. A. Rescorla, Psychol. Rev. 74, 71 (1967). 4. -, 1. Comp. Physiol. Psychol. 66, 1 (1968); Psychonorn. Sc!. 4, 383 (1966). S. K. Breland and M. Breland, Amer. Psychol. 16, 681 (1961). 6. This work was supported by grant G14055 from the National Science Foundation. T. Allaway, B. Schwartz, A. Silberberg, H. Williams, and K. Zonana contributed substantially to our de- velopment of this approach. Echolocation in Bats: Signal Processing of Echoes for Target Range Bats of the suborder Microchiroptera use a type of active sonar for orienta- tion (1). Biologists, psychologists, and physicists' have speculated often about the kinds of information available to the bat from echoes and about the nature of the mechanism which proc- esses the echoes from targets in the bat's environment. The possibility of depth perception or target ranging by echolocation has received particular attention (2-5). The ease with which bats detect and avoid obstacles and detect, track, and capture airborne targets seems to require some means of determining the distance to tar- gets (6). Three specimens of the North Amer- ican insectivorous bat, Eptesicus fuscus, and three specimens of the neotropical, carnivorous and frugivorous bat, Phyl- lostomus hastatus, learned to discrimi- nate target range in the experiment reported here. The bats were blinded (enucleated) several months prior to the experiment to eliminate the pos- sible use of vision, since the experi- ment could not be conducted in dark- ness. Each bat learned to fly from a Approved For Release 2002/06/19 : CIA-RDP88R0072 Abstract. Echolocating bats Eptesicus fuscus and Phyllostomus hastatus can discriminate between the nearer and farther of two targets. Their errors in dis- crimination are predicted accurately by the autocorrelation functions of their sonar cries. These bats behave as though they have an ideal sonar system which cross correlates the transmitted cry with the returning echo to extract target- range information. small, elevated platform to the closer of two other platforms (Fig. 1). A triangular target 10.0 cm wide and 5.0 cm high was mounted at the back of each of the two landing platforms. The platforms were separated by an angle of 40? when viewed from the bat's position on the starting platform. The landing platforms differed from each other in the distance from the bat on the starting platform to the target. The bat learned to fly to the nearer platform in a straightforward simultaneous discrimination procedure with food as reward (a piece of a mealworm offered in forceps) and without correction of error trials. To make training easier, each bat was deprived of some of its normal food intake until it reached 90 to 95 per- cent of its weight when captured. The closer platform alternated left to right according to a pseudo-random sched- ule (7). At first the nearer target ap- peared at a distance of 50 cm. The farther target was 60 cm from the bat throughout the experiment. After the bat reached a criterion of better Approve or Release 2002/06/19 : CIA-RDP88R00729R000200030017-6 =The cries were frequency-modulated Fig. 1. The apparatus for target-range dis- crimination by echolocating bats, showing the starting platform and the two landing platforms with the targets. than 95 percent correct responding for three consecutive days at 25 trials per day, the nearer target was presented in a series of new positions, a new one every other day.' The bat responded for 50 trials on each position of the nearer target. Changes were preceded by five warm-up trials at the position of the previous day. The nearer target appeared at 51 cm, then 52 cm, then 53 cm, and so forth until both targets appeared at the same distance, 60 cm. On succeeding days the difference in target range was 10, 9, 8, 7, 6, 5, 4, 3, 2, 1.5, 1, 0.5, and finally 0 cm. After the trials on each of the last four differences in the series, the bat was tested at a difference of 3 cm to determine whether exposure to dif- ficult discriminations had impaired the bat's responding. The bats readily learned the flying response, reached the initial criterion, and proceeded through the discrimina- tion series without difficulty. None of the bats suffered in performance on the 3-cm difference after the trials on more difficult discriminations. During each trial, the bat scanned both targets with its sonar and then flew directly to the left or the right platform. Eptesicus can discriminate a range difference of about 13 mm 75 percent correctly, and Phyllostotnus can dis- criminate 12 mm (Figs. 2 and 3). At an 'absolute distance of 60 cm, these two species have an acuity of about 2 percent in discriminating target range. The choice of 75 percent correct is an arbitrary criterion for discrimina- tion. Condenser microphones were (FM) and swept from about 50 khz to about 25 khz with very little sec- ond harmonic energy present. Phyl- lostomus used 0.5- to 1.0-msec cries with an amplitude of 2 to 15 dyne/cm2. These cries were also FM with har- monically related sweeps covering a range of frequencies from around 65 to about 30 khz. The echoes. re- turned to Eptesicus by the target at 60 cm were in the vicinity of 0.3 dyne/ cm2. The echoes for Phyllostomus were near 0.05 dyne/cm2. They were certainly audible to the bats (8, 9). Since the bats were without vision, the discriminations were mediated by so- nar. The nearer target subtended a larger angle in the bat's sonar field, and it produced a slightly stronger echo than the farther target due to the smaller attenuation factor for a shorter air path traveled by the echo. Although such artifacts might be discriminable to the bat for range differences of several centimeters or more, it seems unlikely that they would be useful for a range difference of only 12 to 13 mm. The minimum discriminable size difference for targets similar to those used here is 17 percent of the area of the larger triangle for Eptesicus (10). Such a size difference would re- quire a range difference of over 30 mm, so it does not appear that the "apparent size" difference between the nearer and farther targets influenced the data on distance discrimination. The difference in arrival time of echoes from the nearer and farther targets probably carried the informa- tion about target range. The outgoing and returning time difference is 70 to 75 ?sec for range differences of 12 to 13 mm. All of the information potentially available in a returning echo about echo arrival time, and hence target range, is contained in the cross-correla- tion function of the transmitted and received sonar signals (11-13). The inputs to a sonar receiver are signals separated by some difference in arrival time associated with the target's range. The input also includes noise. In the laboratory the ambient noise in the bat's frequency band was below the measuring limits of the available equip- ment, so the environmental signal-to- noise ratios for the echoes reflected back to Eptesicus and Phyllostotnus exceeded + 30 to + 40 db. Under mounted on the landing platforms and on the starting platform to monitor the bat's scanning during each trial and to obtain good recordings of the cries for analysis. Eptesicus emitted 1.0- to 2.5-msec cries with a peak sound pres- sure of about 50 to 100 dyne/cm2. such favorable noise conditions the sonar cry (theoretical curve). ?0 90 C~ - E. fuscus 60 cm ernpiricat a?? --? theoretical O--O 0 2 4 6 8 Difference in distance to targets (em) Fig. 2. The average performance of three Epiesicus in discriminating differences of target range (empirical curve), and the per- formance predicted from the autocorrela- tion function of the Eptesicus sonar cry (theoretical curve). output of an ideal sonar . receiver is essentially the cross-correlation func- tion of the input signals (13). In prac tical situations the envelope of the cross-correlation function is usually taken to represent the ambiguity en- countered by an ideal receiver in esti- mating target range from the signals appearing at the input (12, 13). In the absence of target motion and con- sequent Doppler shift of the echo, the autocorrelation function of the sonar transmission is a satisfactory approxi- mation of the desired cross-correlation- function (12).. Autocorrelation functions for the cries of Eptesicus and Phyllostomus were derived from the recordings made during discrimination trials (14). As- sume that the rate at which the bat makes errors in judging target distance or echo arrival time is more or less directly related, for any given time separation, to the magnitude of cor- relation between signals as represented by the envelope of the autocorrelation 0 2 4 6 8 10 Difference in distance to targets (cm) Fig. 3. The average performance of three Phyllostomus in discriminating differences of target range (empirical curve), and the performance predicted from the autocor- `. @ 60 cm. empirica! o-.>e roved Fotr. Release 2002/06/19 : CIA-RDP88R00729R000200030017-6 function (Fig. 4).gh correla loner would lead to poor discrimination, and low correlation would result in good discrimination. At zero time separation, when correlation is highest and there -is in fact no difference in target range to be discriminated, the bat would be unable to perform beyond chance levels (50 percent correct responses). The "theoretical" curves in Figs. 2 and 3 show the distance discriminations that would be predicted from the en- velopes of the autocorrelation func- tions of the cries of Eptesicus and Phyllostoinus if one assumes a rough correspondence between signal corre- lation and number of errors made by the bat (15). Both Eptesicus and Phyl- lostomus perform as though they used ideal sonar systems operating on the echoes of their respective cries with a cross-correlation receiver. It has been proposed that bats de- rive target information from the enve- lopes of the outgoing cries and re- turning echoes or from a perceived pitch associated with the time interval separating trains of cries and echoes (5). In such cases much of the in- formation carried in the waveforms of the individual- signals would be dis- carded. The results of the distance- discrimination experiment indicate that most of the information in the signals is actually preserved and processed by the bat, and that target ranging is de- pendent upon the detailed frequency structure of the echo rather than upon echo envelopes or trains of cries and echoes. Electrophysiological observa- tions on evoked potentials and single- unit responses in the bat's auditory system establish that precise analysis of individual echo signals is possible (2, 3, 9, 16). One form of cross-correlation proc- essing, pulse compression, has been suggested for target ranging by bats (4). The basilar membrane of the bat's cochlea does not, however, act as a dispersive delay line in a manner suitable for pulse compression (4, 11). Cross correlation of transmitted and received signals may take place at some point in the bat's auditory brain without requiring a delay line at the cochlea serving as a filter matched to the bat's cries (2, 3, 9, 11, 16). The most probable location for the neural cross correlator is in the inferior colliculus, an auditory center much enlarged in the bat's brain. The acuity of obstacle avoidance by echolocation in Myotis is relatively unaffected by S MARCH 1971 C(T) i t t 0 0.5 1.0 msec Fig. 4. The autocorrelation function of an Eptesicus sonar cry for time-delay differences up to 200 ssec, showing the upper envelope of the function. (Inset) The oscilloscope trace of the cry itself. The envelope of the autocorrelation function represents the am- biguity in echo arrival time (target range) confronting the bat when it processes the echoes of its cries. bilateral ablation of the auditory cortex or by unilateral damage to the inferior colliculus, whereas bilateral ablation of the ventral portion of the inferior colliculus severely impairs echolocation (17). Single units in the cochlear nu- cleus show little of the sophistication of units in the inferior colliculus for the analysis of bat-like, FM signals. The response properties of neurons in the inferior colliculus suggest that these units function as a neural "tem- plate" mechanism for the processing of cries and echoes (3, 9, 16). The target-ranging performance re- ported here is direct behavioral evi- dence that the bat processes individual echo signals in detail for the arrival- time information they contain. Ap- parently the bat possesses a sonar re- ceiver with ideal properties. The bat effectively stores the outgoing sonar signal in the main nucleus of the in- ferior colliculus. The storage mecha- nism probably involves the complex response characteristics of neurons in the inferior colliculus for analyzing FM signals. The returning echo also enters the inferior colliculus where it undergoes cross correlation with the stored replica of the sonar transmis- sion. Neurons in the bat's auditory sys- tem are selectively sensitive to echo. like sounds (2, 3), and the cross-corre. lation operation probably involves such sensitivity. The existence of matched- filter properties as suggested by elec- trophysiological studies of the bat's auditory brain is supported by the range-discrimination data. At present this cross-correlation model is applicable to echo processing by bats that use short-duration, FM sonar cries. The model should prove useful in accounting for the well-known re- sistance of bats to confusion from multiple-target clutter interference and in explaining their remarkable pro- ficiency at target identification, track- ing, and interception (6). If the alter- nate expression for the correlation function, the power spectrum, is also available in the bat's brain, then the bat could distinguish many target characteristics from their echo signa- tures. Bats that use long-duration, con- stant-frequency signals with a short, terminal FM sweep (Rhinolophus and Chilonycteris, for example) may use cross-correlation' processing on the last few milliseconds of their echoes. JAMES A. SIMMONS Auditory Research Laboratories, Princeton University, Princeton, New Jersey 08540 References and Notes I. E. Ajrapetjantz and A. I. Konstarcinov, Echolocation in Nature (Soviet Academy of Sciences Press, Leningrad, 1970); D. R. Griffin, Listening in the Dark (Yale Univ. Press, New Haven, Conn., 1954). 2. J. H. Friend, N. Suga, R. A. Suthe^s, J. Cell. Physiol. 67, 319 (1966); A. D. Grin- nell, J. Physiol. 167, 67 (1963); O. W. Hen- son, Jr., in Anintal Sonar Systems, R. G. Busnel, Ed. (Laboratoire de Physiologic Acoustique, Jouy-en-Josas-78, France, 1967), vol. 2, p. 949. 3. N. Suga. 1. Physiol. 175, 50 (1964); ibid. 179, 26 (1965). Approved For Release 2002/06/19 : CIA-RDP88R00729R000200030017-6 927 4. W. A. van Bergcijk, J. Acoust. Soc. A q7190 36, 594 (1964); l~pproal dl ot- t sI s %-RDPHR007291&200030017-6 McCue F. A. Wel5ster, Nature 201, (1964): J. J. G. McCue, J. Acoust. Soc. Amer. The usual hypothesis given for the compared 40, 545 (1966); G. K. Strother, ibid. 33, 696 etiology of goiter in man is that the (1961). S. L. Kay, Nature 190, 361 (1961); Antm. Behav enlargement of the thyroid gland is a 10, 34 (1962); M. A. Mogus, AD-650476, Ordnance Research Lab., Penn. State Univ. consequence of dietary iodine defi- (1967): J. Nordmark, Nature 188, 1009 (1960): ciency. Studies of iodine intake of goi- ibid. 190, 363 (1961); J. D. Pye, J. Laryngol. Otol. 74, 718 (1960); Endeavour 20, 101 trous and nongoitrous persons living in (1961); Nature 190, 362 (1961); J. L. Stewart, the same environment have not shown AMRL-TR-68-40, U.S.A.F. Systems Command (1968). significant differences (1). The hypoth- 6. D. R. Griffin and R. Galambos, J. Exp. Zoo?. esis that goiter is caused by, or is 86, 481 (1941); D. R. Griffin, J. H. Friend, F. A. Webster, ibid. 158, 155 (1965); D. R. associated with, infection has not been Griffin and A. Novick, ibid. 130, 251 (1955): D. R. Griffin, F. A. Webster, C. R. Mi rejected nor has it been adequately D. Anim. Behav. 8, 141 (1960): A. D. tested. Endemic goiter occurs, in gen- Grinnell and D. R, Griffin, Biol. Bull. 114, 10 (1958); R. A. Grummon and A. Novick. eral, among populations living in rural Physiol. Zool. 36, 361 (1963); A. 1. Konstanti- areas and belonging to lower socio- nov, B. V. Sokolov, I. M. Stosman, Dokl. Akad. Nauk SSSR 175, 1418 (1967): A. No- economic groups. Several studies have vick, Ergebn. Biol. 26, 21 (1963): Biol. Brill. shown that the drinking water of such 128. 297 (1965); A. Novick and J. R. Vaisnys, ibid. 127, 478 (1964); H. U. Schnitzler, in populations is polluted with bacteria. Animal Sonar Systems, R. G. Busnel, Ed. Since shallow wells are more likely to (Laboratoire de Physiologic Acoustique, Jouy- en-Josas-78, France, 1967). vol. 1, p. 69; R. be polluted than either deep wells or A. Suthers, J. Mammal. 48, 79 (1967); F. A. public water supplies we made the Webster and O. G. Brazier, AMRL-TR-65- p 172, U.S.A.F. Systems Command (1965); hypothesis that goiter is associated with AMRL-TR-67-192, U.S.A.F. Systems Com- stand (1968). drinking water obtained from shallow 7. B. J. Fellows, Psychol. Bull. 67, 87 (1967); wells. In 1965 and 1966 we tested this L. W. Gellermann, J. Genet. Psychol. 42, 206 (1933). hypothesis among people living in 8. J. I. Dalland, J. And. Res. 5, 95 (1965); Richmond County in the tidewater Science 150, 1185 (1965); -, J. A. Vernon, E. A. Peterson, J. Neurophysiol. 30, area of Virginia. We found that there 697 (1967). = was an increased prevalance of goiter 9. A. D. Grinnell, in Animal Sonar Systems, R. G. Busnel, Ed. (Laboratoire de Physi- among persons from households sup- ologie Acoustique, Jouy-en-Josas-78, France, plied with water from shallow wells 1967), vol 1, p. 451. 10. J. A. Simmons and J. A. Vernon, J. Exp. Zool., in press. 11. J. J. G. McCue, J. Aud. Res. 9, 100 (1969). 12. D. A. Cahlander, Tech. Rep. 271 (M.I.T. Lincoln Laboratory, Lexington, Mass., 1964); in Aninml Sonar Systems, R. G. Busnel, Ed. (Laboratoire de Physiologic Acoustique, Jouy- en-Josas-78, France, 1967), vol. 2, p. 1052. 13. P. M. Woodward, Probability and Informa- tion Theory, with Applications to Radar (Pergamon, New York, ed. 2, 1964). 14. The autocorrelation functions of the bat cries were obtained by using a Princeton Ap- plied Research Corp. model 101A correlation function computer. For the use of this instru- ment I thank Mr. S. Letzter, Mr. W. Atkin- son, and the staff of P.A.R. 15. The bat made slight head movements of a centimeter or two during the discrimination trials. These head movements altered the dis- tance to each target by a few millimeters from one trial to another. The movements were recorded, and the envelope of the autocorre- lation function was corrected to compensate for such small variations in target range after the time scale of the autocorrelation function was converted into an equivalent distance scale based on the travel time of the echoes. 16. E. Ajrapetjantz, A. I. Konstantinov, D. P. Matjushkin, Acta Physiol. Acad. Sci. Hung. 35, 1 (1969); D. R. Griffin, in Animal Sonar Systems, R. G. Busnel, Ed. (Laboratoire de Physiologic Acoustique, Jouy-en-Josas-78, France, 1967), vol. 1, p. 273; N. Suga, J. Physiol. 200, 555 (1969). 17. A. I, Konstantinov, Dokl. Akad. Nauk SSSR 161, 989 (1965); N. Suga, J. Physiol. 203, 707 (1969); ibid., p. 729. 18. Supported by grants from the National In- stitute of Neurological Diseases and Stroke, by an ONR contract, and by Higgins funds allotted to Princeton University. I thank E. G. Wever (Princeton University) and D. R. Griffin (New York Zoological Society and Rockefeller University) for their advice and assistance. I also thank R. G. Busnel, J. Chase. D. Kelley, A. I. Konstantinov, J. Phenylthioacetate as a Stain for Cholinesterase Booth and Metcalf (1) suggest the substitution of phenylthioacetate (PT) for acetylthiocholine (ATCh) as a histo- chemical stain for detection of cholines- terase. In the adult summer form but not the winter form of the female spi- der mite (Tetranychus urticae), PT was specific for the walls of the midgut and insensitive to 1 X 10-7M paraoxon; ATCh was specific for the synaptic area of the brain and the surface of nerves in formalin-fixed tissue (2). The cholin- esterase sensitivity to paraoxon was found to vary in different strains of spider mites (3). Differences in histo- chemical staining of PT and ATCh can be expected among arthropods. W. D. MCENROE Waltham Field Station, Waltham, Massachusetts 02154 1. G. M. Booth and R. L. Metcalf, Science 170, 455 (1970). 2. W. D. McEnroe, in Advances in Acarology, with people who received their water from the public supply (2). Now Werner at a]. report that IgM levels are elevated in persons with goiter as compared with appropriate nongoitrous controls (3). It seems to us that, although other interpretations are also possible, these data provide addi- tional support for the infectious hy- pothesis. Other tests of this hypothesis (which does not exclude the iodine hypothesis) are warranted. W. THOMAS LONDON Institute for Cancer Research, Fox Chase, Philadelphia, Pennsylvania 19111. ROBERT L. VOUGHT National Institute of Arthritis and Metabolic Diseases, Bethesda, Maryland References 1. W. T. London, D. A. Koutras, A. Pressman, R. L. Vought, J. Clin. Endocrinol. 25, 1091 (1965); B. Malamos, D. A. Koutras, S. G. Marketos, G. A. Rigolpoulos, X. A. Yataganas, D. Binopoulos, J. Sfontouris, A. D. Pharmakio-. tis, R. L. Vought, W. T. London, ibid. 27, 1372 (1967). 2. R. L. Vought, W. T. London, G. A. Stebbing, ibid., p. 1381. 3. S. C. Werner, S. Bora, D. A. Koutras; P..Wahlberg, Science 170, 1201 (1970). 6 January 1971 Pesticide Concentration in Seawater The assumption of Blanchard and Syzdek (1) that DDT might be concen- trated in natural surface films, of sea- water should not be left to speculation for the readers of Science. Apparently these and other authors (2) are unaware that we have reported concentration factors of up to 100 for chlorinated pesticides in sea slicks (3). Their ex- pectation that slicks would be areas of high biologic activity was similarly con- firmed (3). It has been our express con- cern that this phenomenon may lead to much more rapid concentration of these toxicants in marine food chains than would be anticipated if dilution were homogeneous. . DOUGLAS B. SERA E. F. CORCORAN Rosenstiel School of Marine and Atmospheric Science, University of Miami, Miami, Florida 33149 References D. C. Blanchard and L. Syzdek, Science 170, 628 (1970). B. Parker and G. Barsom, BioScience 20, 91 (1970). D. B. Seba and E. F. Corcoran, Pestic. Moult. R. A. s, ~wt A J 3 190 (1969). their suggestiggestionfUd ~"6 1?'~'~6`S@ L roe pJRQ, U/LK00?,~^Q0A 1315. 19 August 1970; revised 14 December 1970 17 November 1970 I 6~ U t L FC 14 January 1971