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Animals use active sensing to respond to sensory inputs and guide future motor decisions. In flight, flies generate a pattern of head and body movements to stabilize gaze. How the brain relays visual information to control head and body movements and how active head movements influence downstream motor control remains elusive. Using a control theoretic framework, we studied the optomotor gaze stabilization reflex in tethered flight and quantified how head movements stabilize visual motion and shape wing steering efforts in fruit flies (Drosophila). By shaping visual inputs, head movements increased the gain of wing steering responses and coordination between stimulus and wings, pointing to a tight coupling between head and wing movements. Head movements followed the visual stimulus in as little as 10 ms-a delay similar to the human vestibulo-ocular reflex-whereas wing steering responses lagged by more than 40 ms. This timing difference suggests a temporal order in the flow of visual information such that the head filters visual information eliciting downstream wing steering responses. Head fixation significantly decreased the mechanical power generated by the flight motor by reducing wingbeat frequency and overall thrust. By simulating an elementary motion detector array, we show that head movements shift the effective visual input dynamic range onto the sensitivity optimum of the motion vision pathway. Taken together, our results reveal a transformative influence of active vision on flight motor responses in flies. Our work provides a framework for understanding how to coordinate moving sensors on a moving body. [ABSTRACT FROM AUTHOR]

In this paper, an active tactile sensor system for measurement of Young’s modulus and viscosity is developed. For the active sensing, the sensor unit with the 8 bimorph piezoelectric array is bonded to the speaker that is driven by a square wave. The transient response from the sensor signal of each bimorph piezo cell is processed to reduce the noise. From the output, the first peak and the ratio of first peak to time of first peak are extracted as the indexes for the measurement of Young’s modulus and viscosity, respectively. It is confirmed that the first peak has a clear correlation with the Young’s modulus, and that the ratio of first peak to time of first peak has a definite correlation with the viscosity. Further, the initial contact force affects the sensitivities of Young’s modulus and viscosity. [ABSTRACT FROM AUTHOR]

Natural motor behavior is usually refined by ongoing sensory input in closed feedback loops. Research has suggested that humans make systematic errors when localizing touch on the skin, and that perceptual body representations underlying these behaviors are distorted. However, experimental procedures usually prevent participants from touching the target limb, interrupting the natural action-perception loop. It is currently unknown how such experimental strategies affect localization and systematic perceptual distortions. Here, participants received a brief touch on their left forearm and, with closed eyes, searched for the target location by moving the right index finger across the left arm. Tactile search significantly reduced the localization error present at touchdown of the searching finger on the target arm. Localization improvement was largely absent when a barrier above the target arm prevented online tactile feedback of the target region. Vision of the arms while reaching to, and searching on, the skin, greatly reduced the localization error at touchdown, but tactile search further improved localization slightly. Thus, both tactile and visual feedback help matching the positions of reaching and target limbs during localization. Yet, even if small, the unique improvement through tactile information confirms the importance of target-related, closed-loop tactile feedback for tactile localization. Public Significance Statement: Reaching toward a touched location on one's body is an elementary behavior. It requires both sensing where touch occurred (perception) and successful reaching (action). Although action and perception are strongly intertwined in many behaviors, tactile research has often neglected this well-known action-perception loop and attempted to study perception in isolation. Here we show that tactile localization critically depends on active, closed-loop behavior: when participants search with their finger for a touched location on their arm, they receive tactile feedback from the arm's skin that allows gradually reducing localization error. Accordingly, many typical experimental tactile localization methods probably underestimate localization ability. [ABSTRACT FROM AUTHOR]

Zweifel NO, Hartmann MJZ. Defining "active sensing" through an analysis of sensing energetics: homeoactive and alloactive sensing. J Neurophysiol 124: 40-48, 2020. First published May 20, 2020; doi:10.1152/jn.00608.2019.--The term "active sensing" has been defined in multiple ways. Most strictly, the term refers to sensing that uses self-generated energy to sample the environment (e.g., echolocation). More broadly, the definition includes all sensing that occurs when the sensor is moving (e.g., tactile stimuli obtained by an immobile versus moving fingertip) and, broader still, includes all sensing guided by attention or intent (e.g., purposeful eye movements). The present work offers a framework to help disambiguate aspects of the "active sensing" terminology and reveals properties of tactile sensing unique among all modalities. The framework begins with the welldescribed "sensorimotor loop," which expresses the perceptual process as a cycle involving four subsystems: environment, sensor, nervous system, and actuator. Using system dynamics, we examine how information flows through the loop. This "sensory-energetic loop" reveals two distinct sensing mechanisms that subdivide active sensing into homeoactive and alloactive sensing. In homeoactive sensing, the animal can change the state of the environment, while in alloactive sensing the animal can alter only the sensor's configurational parameters and thus the mapping between input and output. Given these new definitions, examination of the sensoryenergetic loop helps identify two unique characteristics of tactile sensing: 1) in tactile systems, alloactive and homeoactive sensing merge to a mutually controlled sensing mechanism, and 2) tactile sensing may require fundamentally different predictions to anticipate reafferent input. We expect this framework may help resolve ambiguities in the active sensing community and form a basis for future theoretical and experimental work regarding alloactive and homeoactive sensing. [ABSTRACT FROM AUTHOR]

Pupil diameter determines how much light hits the retina and, thus, how much information is available for visual processing. This is regulated by a brainstem reflex pathway. Here, we investigate whether this pathway is under the control of internal models about the environment. This would allow adjusting pupil dynamics to environmental statistics to augment information transmission. We present image sequences containing internal temporal structure to humans of either sex and male macaque monkeys. We then measure whether the pupil tracks this temporal structure not only at the rate of luminance variations, but also at the rate of statistics not available from luminance information alone. We find entrainment to environmental statistics in both species. This entrainment directly affects visual processing by increasing sensitivity at the environmentally relevant temporal frequency. Thus, pupil dynamics are matched to the temporal structure of the environment to optimize perception, in line with an active sensing account. [ABSTRACT FROM AUTHOR]

The parasitoid emerald jewel wasp (Ampulex compressa) subdues the American cockroach (Periplaneta americana) with a sting to the 1st thoracic ganglion, followed by a sting to the roach's brain, causing long-term pacification. The wasp then leads the cockroach to a hole where it lays an egg on the roach middle leg before barricading the entrance and departing. Although many aspects of the wasp's initial attack have been investigated, few studies have detailed the egg-laying process and the subsequent fate of the larvae. Here I show that larval survival depends on precise egg positioning on the cockroach by the female wasp. Ablation of sensory hairs on the wasp's abdomen resulted in mislaid eggs, which seldom survived. In addition, the cockroach femur may block the oviposition site. The wasp contended with this challenge with a newly discovered suite of stings, 3 directed into the 2nd thoracic ganglion which resulted in extension of the femur, thus exposing the oviposition site and removing a potential barrier to the wasp's successful reproduction. When the femur was glued in place, the wasp stung the cockroach over 100 times, in an apparent fixed action pattern triggered by the obscured oviposition target. These findings highlight the importance of proper egg placement by the wasp, and reveal sensors and new neural manipulations that facilitate the process. [ABSTRACT FROM AUTHOR]

Natural exploration of textures involves active sensing, i.e., voluntary movements of tactile sensors (e.g., human fingertips or rodent whiskers) across a target surface. Somatosensory input during moving tactile sensors varies according to both the movement and the surface texture. Combining motor and sensory information, the brain is capable of extracting textural features of the explored surface. Despite the ecological relevance of active sensing, psychophysical studies on active touch are largely missing. One reason for the lack of informative studies investigating active touch is the considerable challenge of assembling an appropriate experimental setup. A possible solution might be in the realm of virtual tactile reality that provides tactile finger stimulation depending on the position of the hand and the simulated texture of a target surface. In addition to rigorous behavioral studies, the investigation of the neuronal mechanisms of active tactile sensing in humans is highly warranted, requiring neurophysiological experiments using electroencephalography (EEG), magnetoencephalography (MEG) and/or functional magnetic resonance imaging (fMRI). However, current neuroimaging techniques impose specific requirements on the tactile stimulus delivery equipment in terms of compatibility with the neurophysiological methods being used. Here, we present a user-friendly, MEG compatible, tactile virtual reality simulator. The simulator consists of a piezo-electric tactile stimulator capable of independently protruding 16 plastic pistons of 1 mm diameter arranged in a 4 × 4 matrix. The stimulator delivers a spatial pattern of tactile stimuli to the tip of a finger depending on the position of the finger moving across a 2-dimensional plane. In order to demonstrate the functionality of the tactile virtual reality, we determined participants' detection thresholds in active and passive touch conditions. Thresholds in both conditions were higher than reported in the literature. It could well be that the processing of the piston-related stimulation was masked by the sensory input generated by placing the finger on the scanning probe. More so, the thresholds for both the active and passive tasks did not differ significantly. In further studies, the noise introduced by the stimulator in neuromagnetic recordings was quantified and somatosensory evoked fields for active and passive touch were recorded. Due to the compatibility of the stimulator with neuroimaging techniques such as MEG, and based on the feasibility to record somatosensory-related neuromagnetic brain activity the apparatus has immense potential for the exploration of the neural underpinnings of active tactile perception. [ABSTRACT FROM AUTHOR]

Perception and motor control traditionally are studied separately. However, motor activity can serve as a scaffold to shape the sensory flow. This tight link between motor actions and sensing is particularly evident in active sensory systems. Here, we investigate how the weakly electric mormyrid fish Gnathonemus petersii of undetermined sex structure their sensing and motor behavior while learning a perceptual task. We find systematic adjustments of the motor behavior that correlate with an increased performance. Using a model to compute the electrosensory input, we show that these behavioral adjustments improve the sensory input. As we find low neuronal detection thresholds at the level of medullary electrosensory neurons, it seems that the behavior-driven improvements of the sensory input are highly suitable to overcome the sensory limitations, thereby increasing the sensory range. Our results show that motor control is an active component of sensory learning, demonstrating that a detailed understanding of contribution of motor actions to sensing is needed to understand even seemingly simple behaviors. [ABSTRACT FROM AUTHOR]

Cases where animals use controlled illumination to improve vision are rare and thus far limited to chemiluminescence, which only functions in darkness. This constraint was recently relaxed by studies on Tripterygion delaisi, a small triplefin that redirects sunlight instead. By reflecting light sideways with its iris, it has been suggested to induce and detect eyeshine in nearby micro-prey. Here, we test whether 'diurnal active photolocation' also improves T. delaisi's ability to detect the cryptobenthic sit-and-wait predator Scorpaena porcus, a scorpionfish with strong daytime retroreflective eyeshine. Three independent experiments revealed that triplefins in which light redirection was artificially suppressed approached scorpionfish significantly closer than two control treatments before moving away to a safer distance. Visual modelling confirmed that ocular light redirection by a triplefin is sufficiently strong to generate a luminance increase in scorpionfish eyeshine that can be perceived by the triplefin over 6–8 cm under average conditions. These distances coincide well with the closest approaches observed. We conclude that light redirection by small, diurnal fish significantly contributes to their ability to visually detect cryptic predators, strongly widening the conditions under which active sensing with light is feasible. We discuss the consequences for fish eye evolution. [ABSTRACT FROM AUTHOR]

Here, we report on computational fluid dynamics (CFD) simulations conducted to develop a chemical sample collection device inspired by crayfish. The sensitivity of chemical sensors can be improved when used with a sniffing device. By collecting fluid samples from the surroundings, all solute species are also collected for the sensor. Crayfish generate jet-like water currents for this purpose. Compared to simply sucking water, food smells dissolved in the surrounding water can be more efficiently collected using the inflow induced by the jet discharge because of the smaller decay of the inflow velocity with the distance. Moreover, the angular range of water sample collection can be adjusted by changing the directions of the jet discharge. In our previous work, a chemical sample collection device that mimics the jet discharge of crayfish has been proposed. Here, we report CFD simulations of the flow fields generated by the device. By carefully configuring the simulation setups, we have obtained simulation results in which the angular ranges of the chemical sample collection in real experiments is well reproduced. Although there are still some discrepancies between the simulation and experimental results, such simulations will facilitate the process of designing such devices. [ABSTRACT FROM AUTHOR]

Active sensing animals perceive their surroundings by emitting probes of energy and analyzing how the environment modulates these probes. However, the probes of conspecifics can jam active sensing, which should cause problems for groups of active sensing animals. This problem was termed the cocktail party nightmare for echolocating bats: as bats listen for the faint returning echoes of their loud calls, these echoes will be masked by the loud calls of other close-by bats. Despite this problem, many bats echolocate in groups and roost socially. Here, we present a biologically parametrized framework to quantify echo detection in groups. Incorporating properties of echolocation, psychoacoustics, acoustics, and group flight, we quantify how well bats flying in groups can detect each other despite jamming. A focal bat in the center of a group can detect neighbors in group sizes of up to 100 bats. With increasing group size, fewer and only the closest and frontal neighbors are detected. Neighbor detection is improved by longer call intervals, shorter call durations, denser groups, and more variable flight and sonar beam directions. Our results provide a quantification of the sensory input of echolocating bats in collective group flight, such as mating swarms or emergences. Our results further generate predictions on the sensory strategies bats may use to reduce jamming in the cocktail party nightmare. Lastly, we suggest that the spatially limited sensory field of echolocators leads to limited interactions within a group, so that collective behavior is achieved by following only nearest neighbors. [ABSTRACT FROM AUTHOR]

• Delta (0.5–4 Hz) oscillations are endogenous rhythms of the motor system and can be generated independently from motor beta oscillations. • Motor delta oscillations encode neural motor trajectories and are visible in the dynamics of most basic motor acts. • Motor delta oscillations encode sensory temporal contextual information. • Motor delta oscillations shape sensory processes by imposing temporal constraints on the sampling of sensory information. • Motor delta oscillations optimize the parsing, encoding and processing of slow linguistic information. In the motor cortex, beta oscillations (∼12–30 Hz) are generally considered a principal rhythm contributing to movement planning and execution. Beta oscillations cohabit and dynamically interact with slow delta oscillations (0.5–4 Hz), but the role of delta oscillations and the subordinate relationship between these rhythms in the perception-action loop remains unclear. Here, we review evidence that motor delta oscillations shape the dynamics of motor behaviors and sensorimotor processes, in particular during auditory perception. We describe the functional coupling between delta and beta oscillations in the motor cortex during spontaneous and planned motor acts. In an active sensing framework, perception is strongly shaped by motor activity, in particular in the delta band, which imposes temporal constraints on the sampling of sensory information. By encoding temporal contextual information, delta oscillations modulate auditory processing and impact behavioral outcomes. Finally, we consider the contribution of motor delta oscillations in the perceptual analysis of speech signals, providing a contextual temporal frame to optimize the parsing and processing of slow linguistic information. [ABSTRACT FROM AUTHOR]

Visual perception is most often studied as a “passive” process in which an observer fixates steadily at point in space so that stimuli can be delivered to the system with spatial precision. Analysis of neuronal signals related to vision is generally keyed to stimulus onset, stimulus movement, etc.; i.e., events external to the observer. In natural “active” vision, however, information is systematically acquired by using eye movements including rapid (saccadic) eye movements, as well as smooth ocular pursuit of moving objects and slower drifts. Here we consider the use of alternating saccades and fixations to gather information from a visual scene. The underlying motor sampling plan contains highly reliable information regarding “where” and “when” the eyes will land, this information can be used predictively to modify firing properties of neurons precisely at the time when this “contextual” information is most useful – when a volley of retinal input enters the system at the onset of each fixation. Analyses focusing on neural events leading to and resulting from shifts in fixation, as well as visual events external to the observer, can provide a more complete and mechanistic understanding of visual information processing. Studies thus far suggest that active vision may be a fundamentally different from that process we usually study with more traditional passive viewing paradigms. In this Perspective we note that active saccadic sampling behavior imposes robust temporal patterning on the activity of neuron ensembles and large-scale neural dynamics throughout the brain’s visual pathways whose mechanistic effects on information processing are not yet fully understood. The spatio-temporal sequence of eye movements elicits a succession of temporally predictable quasi-rhythmic sensory inputs, whose encoding is enhanced by entrainment of low frequency oscillations to the rate of eye movements. Review of the pertinent findings underscores the fact that temporal coordination between motor and visual cortices is critical for understanding neural dynamics of active vision and posits that phase entrainment of neuronal oscillations plays a mechanistic role in this process.

Active sensing refers to the concept of animals perceiving their environment while involving self-initiated motor acts. As a consequence of these motor acts, this activity produces direct and timely changes in the sensory surface. Is the brain able to take advantage of the precise time-locking that occurs during active sensing? Is the intrinsic predictability present during active sensing, impacting the sensory processes? We conjecture that if stimuli presentation is evoked by a self-initiated motor act, sensory discrimination and timing accuracy would improve. We studied this phenomenon when rats had to locate the position of a brief light stimulus, either when it was elicited by a warning light [passive condition (PC)] or when it was generated by a lever press [active condition (AC)]. We found that during the PC, rats had 66% of correct responses, vs. a significantly higher 77% of correct responses in AC. Furthermore, reaction times reduced from 1,181 ms during AC to 816 ms during PC For the latter condition, the probability of detecting the side of the light stimulus was negatively correlated with the time lag between the motor act and the evoked light and with a 38% reduction on performance per second of delay. These experiment shows that the mechanism that underlies sensory improvement during active behaviors have a constrained time dynamic, where the peak performances occur during the motor act, decreasing proportionally to the lag between the motor act and the stimulus presentation. This result is consistent with the evidence already found in humans, of a precise time dynamic of the improvement of sensory acuity after a motor act and reveals an equivalent process in rodents. Our results support the idea that perception and action are precisely coordinated in the brain.

Animals routinely use autogenous movement to regulate the information encoded by their sensory systems. Weakly electric fish use fore–aft movements to regulate visual and electrosensory feedback as they maintain position within a moving refuge. During refuge tracking, fish produce two categories of movements: smooth pursuit that is approximately linear in its relation to the movement of the refuge and ancillary active sensing movements that are nonlinear. We identified four categories of nonlinear movements which we termed scanning, wiggle, drift, and reset. To examine the relations between sensory cues and production of both linear smooth pursuit and nonlinear active sensing movements, we altered visual and electrosensory cues for refuge tracking and measured the fore–aft movements of the fish. Specifically, we altered the length and structure of the refuge and performed experiments with light and in complete darkness. Linear measures of tracking performance were better for shorter refuges (less than a body length) than longer ones (>1.5 body lengths). The magnitude of nonlinear active sensing movements was strongly modulated by light cues but also increased as a function of both longer refuge length and decreased features. Specifically, fish shifted swimming movements from smooth pursuit to scanning when tracking in dark conditions. Finally, fish appear to use nonlinear movements as an alternate tracking strategy in longer refuges: the fish may use more drifts and resets to avoid exiting the ends of the refuge.

Most vertebrates use active sensing strategies for perception, cognition and control of motor activity. These strategies include directed body/sensor movements or increases in discrete sensory sampling events. The weakly electric fish, Gymnotus sp., uses its active electric sense during navigation in the dark. Electric organ discharge rate undergoes transient increases during navigation to increase electrosensory sampling. Gymnotus also use stereotyped backward swimming as an important form of active sensing that brings objects toward the electroreceptor dense fovea-like head region. We wirelessly recorded neural activity from the pallium of freely swimming Gymnotus. Spiking activity was sparse and occurred only during swimming. Notably, most units tended to fire during backward swims and their activity was on average coupled to increases in sensory sampling. Our results provide the first characterization of neural activity in a hippocampal (CA3)-like region of a teleost fish brain and connects it to active sensing of spatial environmental features.

In this work, we explored a bioinspired method for underwater object sensing based on active proprioception. We investigated whether the fluid flows generated by a robotic flapper, while interacting with an underwater wall, can encode the distance information between the wall and the flapper, and how to decode this information using the proprioception within the flapper. Such touchless wall-distance sensing is enabled by the active motion of a flapping plate, which injects self-generated flow to the fluid environment, thus representing a form of active sensing. Specifically, we trained a long short-term memory (LSTM) neural network to predict the wall distance based on the force and torque measured at the base of the flapping plate. In addition, we varied the Rossby number ( Ro , or the aspect ratio of the plate) and the dimensionless flapping amplitude (A∗) to investigate how the rotational effects and unsteadiness of self-generated flow respectively affect the accuracy of the wall-distance prediction. Our results show that the median prediction error is within 5% of the plate length for all the wall-distances investigated (up to 40 cm or approximately 2-3 plate lengths depending on the Ro ); therefore, confirming that the self-generated flow can enable underwater perception. In addition, we show that stronger rotational effects at lower Ro lead to higher prediction accuracy, while flow unsteadiness (A∗) only has moderate effects. Lastly, analysis based on SHapley Additive exPlanations (SHAP) indicate that temporal features that are most prominent at stroke reversals likely promotes the wall-distance prediction., (Creative Commons Attribution license.)

Background: The COVID-19 pandemic has increased the impact and spread of mental illness and made health services difficult to access; therefore, there is a need for remote, pervasive forms of mental health monitoring. Digital phenotyping is a new approach that uses measures extracted from spontaneous interactions with smartphones (eg, screen touches or movements) or other digital devices as markers of mental status., Objective: This review aimed to evaluate the feasibility of using digital phenotyping for predicting relapse or exacerbation of symptoms in patients with mental disorders through a systematic review of the scientific literature., Methods: Our research was carried out using 2 bibliographic databases (PubMed and Scopus) by searching articles published up to January 2023. By following the PRISMA (Preferred Reporting Items for Systematic Review and Meta-Analysis) guidelines, we started from an initial pool of 1150 scientific papers and screened and extracted a final sample of 29 papers, including studies concerning clinical populations in the field of mental health, which were aimed at predicting relapse or exacerbation of symptoms. The systematic review has been registered on the web registry Open Science Framework., Results: We divided the results into 4 groups according to mental disorder: schizophrenia (9/29, 31%), mood disorders (15/29, 52%), anxiety disorders (4/29, 14%), and substance use disorder (1/29, 3%). The results for the first 3 groups showed that several features (ie, mobility, location, phone use, call log, heart rate, sleep, head movements, facial and vocal characteristics, sociability, social rhythms, conversations, number of steps, screen on or screen off status, SMS text message logs, peripheral skin temperature, electrodermal activity, light exposure, and physical activity), extracted from data collected via the smartphone and wearable wristbands, can be used to create digital phenotypes that could support gold-standard assessment and could be used to predict relapse or symptom exacerbations., Conclusions: Thus, as the data were consistent for almost all the mental disorders considered (mood disorders, anxiety disorders, and schizophrenia), the feasibility of this approach was confirmed. In the future, a new model of health care management using digital devices should be integrated with the digital phenotyping approach and tailored mobile interventions (managing crises during relapse or exacerbation)., (©Pasquale Bufano, Marco Laurino, Sara Said, Alessandro Tognetti, Danilo Menicucci. Originally published in the Journal of Medical Internet Research (https://www.jmir.org), 13.12.2023.)

Sensing from a moving platform is challenging for both man-made machines and animals. Animals' heads jitter during movement, so if the sensors they carry are not stabilized, any spatial estimation might be biased. Flying animals, like bats, seriously suffer from this problem because flapping flight induces rapid changes in acceleration which moves the body up and down. For echolocating bats, the problem is crucial. Because they emit a sound to sense the world, an unstable head means sound energy pointed in the wrong direction. It is unknown how bats mitigate this problem. By tracking the head and body of flying fruit bats, we show that they stabilize their heads, accurately maintaining a fixed acoustic-gaze relative to a target. Bats can solve the stabilization task even in complete darkness using only echo-based information. Moreover, the bats point their echolocation beam below the target and not towards it, a strategy that should result in better estimations of target elevation. [ABSTRACT FROM AUTHOR]

Target parameter estimation in active sensing, and particularly radar signal processing, is a long-standing problem that has been studied extensively. In this paper, we propose a novel approach for target parameter estimation in cases where one-bit analog-to-digital-converters (ADCs), also known as signal comparators with time-varying thresholds, are employed to sample the received radar signal instead of high-resolution ADCs. The considered problem has potential applications in the design of inexpensive radar and sensing devices in civilian applications, and can likely pave the way for future radar systems employing low-resolution ADCs for faster sampling and high-resolution target determination. We formulate the target estimation as a multivariate weighted-least-squares optimization problem that can be solved in a cyclic manner. Numerical results are provided to exhibit the effectiveness of the proposed algorithms. [ABSTRACT FROM AUTHOR]

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

• A cyber-physical system for next generation aircraft on-board SHM is proposed. • Energy-efficient operation and wireless detection control is implemented in a CPS. • 2-stage crosstalk attenuation is developed to maintain sensing signal authenticity. • High actuating-sensing performance is illustrated with a large sensing capacity. • Damage detection performance is validated on a large-scale curved fuselage panel. In this paper, an energy-efficient cyber-physical system using piezoelectric transducers (PZTs) and wireless sensor networks (WSN) is proposed, designed and experimentally validated for on-board aircraft structural health monitoring (SHM). A WSN is exploited to coordinate damage detection using PZTs distributed on the whole aircraft. An active sensing methodology is adopted for PZTs to evaluate the structural integrity in a pitch-catch manner. The system configuration and operation principle are discussed in the first place. Then, the detailed hardware design was introduced. The proposed system is not only characterized as low-power, high-compactness and wireless, but also capable of processing actuating-sensing signals at megahertz, generating actuating signals with great flexibility, handling multiple actuating-sensing channels with marginal crosstalk. The design was implemented on a 4-layer printed circuit board (8 × 6.5 cm) and evaluated on a large-scale composite fuselage. A 5 MHz sampling rate for actuating and 1.8 MHz for sensing (8 channels) were realized, and the accuracy was validated by comparing the results with those from an oscilloscope. The crosstalk issue caused by actuation on sensing channels is properly addressed using a 2-stage attenuation method. An ultra-low current (81.7 μA) was measured when no detection was required; the average current was 0.45 mA with a detection rate of twice per hour, which means the system can continuously work for up to 12.6 months for 2 AA batteries. Eventually, an example of damage detection is provided, showing the capability of such a system in SHM. [ABSTRACT FROM AUTHOR]

Recent studies suggest that cells routinely probe their mechanical environments and that this mechanosensitive behavior regulates some of their cellular activities. The finite elasticity theory of small-on-large deformation (SoL) has been shown to be effective in interpreting the mechanosensitive behavior of cells on a substrate that has been subjected to a prior large static stretch before the culturing of the cells. Small on large deformation is the superposition of a small deformation onto a prior large deformation that serves as the new reference configuration. This article aims to refine SoL theory to develop a theoretical framework for improved physical interpretation of mechanosensing. Given the initial large deformation in SoL, the stress generated by the small deformation is linearized, and the linearized elasticity tensor is taken to be a significant factor facilitating prediction of cellular behavior. The pre-stretch is shown to produce direction-based, effective elastic moduli for cellular mechanosensing. The utility of this SoL theory is illustrated by culturing of two different cell types grown on uniaxially pre-stretched surfaces that induce changes to the cell orientation and behavior. [ABSTRACT FROM AUTHOR]

Active sensory systems have evolved to properly encode natural stimuli including those created by conspecifics, yet little is known about the properties of such stimuli. We consider the electrosensory signal at the skin of a fixed weakly electric fish in the presence of a swimming conspecific. The dipole recordings are obtained in parallel with video tracking of the position of the animals. This enables the quantification of the relationships between the recording dipole and the positions of the head, midbody and tail of the freely swimming fish. The contrast of the signal at the skin is shown to be well-fitted by a decreasing exponential function of distance. It is thus anti-correlated with distance; it is also correlated with the second envelope (i.e., the envelope of the envelope) of the raw recorded signal. The variance of the contrast signal is highest at short range. However, the coefficient of variation (CV) of this signal increases with distance. We find a range of position and associated contrast patterns under quasi-2D swimming conditions. This is quantified using global measures of the visit times of the free fish within measurable range, with each visit causing a bump in contrast. The durations of these bumps as well as the times between these bumps are well reproduced by a doubly stochastic process formed by a dichotomous (two-state) noise with Poisson statistics multiplying a colored noise [Ornstein-Uhlenbeck (OU) process]. Certain rapid body movements such as bending or turning are seen to produce contrast drops that may be part of cloaking strategies. [ABSTRACT FROM AUTHOR]

Visual perception is most often studied as a "passive" process in which an observer fixates steadily at point in space so that stimuli can be delivered to the system with spatial precision. Analysis of neuronal signals related to vision is generally keyed to stimulus onset, stimulus movement, etc.; i.e., events external to the observer. In natural "active" vision, however, information is systematically acquired by using eye movements including rapid (saccadic) eye movements, as well as smooth ocular pursuit of moving objects and slower drifts. Here we consider the use of alternating saccades and fixations to gather information from a visual scene. The underlying motor sampling plan contains highly reliable information regarding "where" and "when" the eyes will land, this information can be used predictively to modify firing properties of neurons precisely at the time when this "contextual" information is most useful – when a volley of retinal input enters the system at the onset of each fixation. Analyses focusing on neural events leading to and resulting from shifts in fixation, as well as visual events external to the observer, can provide a more complete and mechanistic understanding of visual information processing. Studies thus far suggest that active vision may be a fundamentally different from that process we usually study with more traditional passive viewing paradigms. In this Perspective we note that active saccadic sampling behavior imposes robust temporal patterning on the activity of neuron ensembles and large-scale neural dynamics throughout the brain's visual pathways whose mechanistic effects on information processing are not yet fully understood. The spatio-temporal sequence of eye movements elicits a succession of temporally predictable quasi-rhythmic sensory inputs, whose encoding is enhanced by entrainment of low frequency oscillations to the rate of eye movements. Review of the pertinent findings underscores the fact that temporal coordination between motor and visual cortices is critical for understanding neural dynamics of active vision and posits that phase entrainment of neuronal oscillations plays a mechanistic role in this process. [ABSTRACT FROM AUTHOR]

In this paper, we consider the problem of Active Source Identification in steady-state advection–diffusion (AD) transport systems. Unlike existing bioinspired heuristic methods, we propose a model-based approach that employs the AD–partial differential equation (PDE) to capture the transport phenomenon. Specifically, we formulate the source identification (SI) problem as a PDE-constrained optimization problem in function spaces. To obtain a tractable solution, we reduce the dimension of the concentration field using Proper Orthogonal Decomposition and approximate the unknown source field using nonlinear basis functions, drastically decreasing the number of unknowns. Moreover, to collect the concentration measurements, we control a robot sensor through a sequence of waypoints that maximize the smallest eigenvalue of the Fisher Information matrix of the unknown source parameters. Specifically, after every new measurement, an SI problem is solved to obtain a source estimate that is used to determine the next waypoint. We show that our algorithm can efficiently identify sources in complex AD systems and nonconvex domains, in simulation and experimentally. This is the first time that PDEs are used for robotic SI in practice. [ABSTRACT FROM AUTHOR]

Active sensing refers to the concept of animals perceiving their environment while involving self-initiated motor acts. As a consequence of these motor acts, this activity produces direct and timely changes in the sensory surface. Is the brain able to take advantage of the precise time-locking that occurs during active sensing? Is the intrinsic predictability present during active sensing, impacting the sensory processes? We conjecture that if stimuli presentation is evoked by a self-initiated motor act, sensory discrimination and timing accuracy would improve. We studied this phenomenon when rats had to locate the position of a brief light stimulus, either when it was elicited by a warning light [passive condition (PC)] or when it was generated by a lever press [active condition (AC)]. We found that during the PC, rats had 66% of correct responses, vs. a significantly higher 77% of correct responses in AC. Furthermore, reaction times reduced from 1,181 ms during AC to 816 ms during PC For the latter condition, the probability of detecting the side of the light stimulus was negatively correlated with the time lag between the motor act and the evoked light and with a 38% reduction on performance per second of delay. These experiment shows that the mechanism that underlies sensory improvement during active behaviors have a constrained time dynamic, where the peak performances occur during the motor act, decreasing proportionally to the lag between the motor act and the stimulus presentation. This result is consistent with the evidence already found in humans, of a precise time dynamic of the improvement of sensory acuity after a motor act and reveals an equivalent process in rodents. Our results support the idea that perception and action are precisely coordinated in the brain. [ABSTRACT FROM AUTHOR]

Recent work has quantified the geometric parameters of individual rat vibrissae (whiskers) and developed equations that describe how these parameters vary as a function of row and column position across the array. This characterization included a detailed quantification of whisker base diameter and arc length as well as the geometry of the whisker medulla. The present study now uses these equations for whisker geometry to quantify several properties of the whisker that govern its mechanical behavior. We first show that the average density of a whisker is lower in its proximal region than in its distal region. This density variation appears to be largely attributable to the presence of the whisker cuticle rather than the medulla. The density variation has very little effect on the center of mass of the whisker. We next show that the presence of the medulla decreases the deflection of the whisker under its own weight and also decreases its mass moment of inertia while sacrificing <1% stiffness at the whisker base compared with a solid whisker. Finally, we quantify two dimensionless parameters across the array. First, the deflection-to-length ratio decreases from caudal to rostral: caudal whiskers are longer but deflect more under their own weight. Second, the nondimensionalized radius of gyration is approximately constant across the array, which may simplify control of whisking by the intrinsic muscles. We anticipate that future work will exploit the mechanical properties computed in the present study to improve simulations of the mechanosensory signals associated with vibrissotactile exploratory behavior. NEW & NOTEWORTHY The mechanical signals transmitted by a whisker depend critically on its geometry. We used measurements of whisker geometry and mass to quantify the center of mass, mass moment of inertia, radius of gyration, and deflection under gravity of the whisker. We describe how variations in these quantities across the array could enhance sensing behaviors while reducing energy costs and simplifying whisking control. Most importantly, we provide derivations for these quantities for use in future simulation work. [ABSTRACT FROM AUTHOR]

Landmark-guided navigation is a common behavioral strategy for way-finding, yet prior studies have not examined how animals collect sensory information to discriminate landmark features. We investigated this question in animals that rely on active sensing to guide navigation. Four echolocating bats (Eptesicus fuscus) were trained to use an acoustic landmark to find and navigate through a net opening for a food reward. In experimental trials, an object serving as a landmark was placed adjacent to a net opening and an object serving as a distractor was placed next to a barrier (covered opening). The location of the opening, barrier and objects were moved between trials, but the spatial relationships between the landmark and opening, and between the distractor and barrier were maintained. In probe trials, the landmark was placed next to a barrier, while the distractor was placed next to the opening, to test whether the bats relied on the landmark to guide navigation. Vocal and flight behaviors were recorded with an array of ultrasound microphones and high-speed infrared motion-capture cameras. All bats successfully learned to use the landmark to guide navigation through the net opening. Probe trials yielded an increase in both the time to complete the task and the number of net crashes, confirming that the bats relied largely on the landmark to find the net opening. Further, landmark acoustic distinctiveness influenced performance in probe trials and sonar inspection behaviors. Analyses of the animals' vocal behaviors also revealed differences between call features of bats inspecting landmarks compared with distractors, suggesting increased sonar attention to objects used to guide navigation. [ABSTRACT FROM AUTHOR]

Animals routinely use autogenous movement to regulate the information encoded by their sensory systems. Weakly electric fish use fore–aft movements to regulate visual and electrosensory feedback as they maintain position within a moving refuge. During refuge tracking, fish produce two categories of movements: smooth pursuit that is approximately linear in its relation to the movement of the refuge and ancillary active sensing movements that are nonlinear. We identified four categories of nonlinear movements which we termed scanning, wiggle, drift, and reset. To examine the relations between sensory cues and production of both linear smooth pursuit and nonlinear active sensing movements, we altered visual and electrosensory cues for refuge tracking and measured the fore–aft movements of the fish. Specifically, we altered the length and structure of the refuge and performed experiments with light and in complete darkness. Linear measures of tracking performance were better for shorter refuges (less than a body length) than longer ones (>1.5 body lengths). The magnitude of nonlinear active sensing movements was strongly modulated by light cues but also increased as a function of both longer refuge length and decreased features. Specifically, fish shifted swimming movements from smooth pursuit to scanning when tracking in dark conditions. Finally, fish appear to use nonlinear movements as an alternate tracking strategy in longer refuges: the fish may use more drifts and resets to avoid exiting the ends of the refuge. [ABSTRACT FROM AUTHOR]

Disasters have caused serious damage on human beings throughout their long history. In a major natural disaster such as an earthquake, a key to mitigate the damage is evacuation. Evidently, secondary collateral disasters is account for more casualty than the initial one. In order to have citizens to evacuate safely for the sake of saving their lives, collecting information is vital. However at times of a disaster, it is a difficult task to gain environmental information about the area by conventional way. One of the solutions to this problemis crowd-sensing, which regards citizens as sensors nodes and collect information with their help. We considered a way of controlling the mobility of such sensor nodes under limitation of its mobility, caused by road blockage, for example. Aiming to make a mobility control scheme that enables high-quality information collection, our method uses preceding result of the measurement to control the mobility. Here it uses kriging variance to do that. We evaluated this method by simulating some measurements and it showed better accuracy than baseline. This is expected to be a method to enable a higher-quality input to the agentbased evacuation simulation, which helps to guide people to evacuate more safely. [ABSTRACT FROM AUTHOR]

Bats face many sources of acoustic interference in their natural environments, including other bats and potential prey items that affect their ability to interpret the returning echoes of their biosonar signals. To be able to navigate and forage successfully, bats must be able to counteract this interference and one of the ways they achieve this is by altering the various parameters of their echolocation. We describe these changes in signal design within the context of a modified definition of the jamming avoidance response originally applied to the signal changes of weakly electric fish. Both of these groups use active sensory systems that exhibit similarities in function but we take this opportunity to highlight major differences each groups' response to signal interference. These discrepancies form the basis of our need for an expanded description of the jamming avoidance response in echolocating bats. [ABSTRACT FROM AUTHOR]

• This study proposed detection and localization methods based on deep learning and active sensing for harvesting robots in real-world environments with occlusion and varying lighting conditions. • To solve the picking problem caused by the peduncle's random tilting, this study proposed a method to calculate the peduncle's inclination angle for controlling the end-effector to make the corresponding rotation. • Experimental results indicated the error between the estimated occlusion ratio and the genuine value is 16% in average, and the active sensing method improved the confidence score in occluded situations by over 50%. And the overall successful picking rate of 300 trials is 90%. • The proposed active methods have a 33% increase in precision and a 43% increase in efficiency compared to constant methods. The predominance of branch and leaf shade in agricultural environments presents a barrier for accurate target recognition. Particularly for picking robots, precise localization of the picking object is essential. For this purpose, this paper proposes detection and localization methods based on deep learning and active sensing for harvesting robots in real-world environments with occlusion and varying lighting conditions. Using a deep learning network, the detection method firstly extracts the peduncle and fruit regions; the fruit region is then used to calculate the occlusion rate and the offset distance of the peduncle relative to the fruit. With such information, the robot arm adjusts the camera's field of view to perform multiple recognitions until the confidence is satisfied. Furthermore, to solve the picking problem caused by the peduncle's random tilting, this paper proposes a method to calculate the peduncle's tilt angle for controlling the end-effector to make the corresponding angle rotation. The robot arm and its end-effector are directed to complete the harvesting with the picking point location and tilt angle. In this study, data collection, detection and picking tests were implemented in the field, the results indicated that the method obtained an average successful picking rate of 90% after 300 trials, the error between the estimated occlusion ratio and the genuine value is 16% in average, and the active sensing method has improved the confidence score in occluded situations by over 50%. The proposed active methods have a 33% increase in precision and a 43% increase in efficiency compared to constant methods. [ABSTRACT FROM AUTHOR]

A large body of laboratory research has investigated the process by which environmental cues are acquired and used for spatial navigation in rodents; however, the key to differentiating between species specializations and general principles lies in comparative research. Rodent research has focused on a class of neurons in the hippocampus implicated in the representation of allocentric space – termed place cells – and the process by which these representations form. One class of models of hippocampal place field formation depends on continuous theta, a low frequency brain oscillation that is prevalent in crawling rodents. Comparative studies of hippocampal activity in echolocating bats have reported many findings that parallel the rodent literature, but also describe noteworthy species differences, especially with respect to theta rhythm. Here, we first discuss studies of the bat hippocampal formation and point to gaps in our knowledge, which motivate our new lines of inquiry. We present data from the free-flying laryngeal echolocating big brown bat, which shows 3-D place cells without continuous theta, similar to reports from the lingual echolocating Egyptian fruit bat. We also report findings, which demonstrate that the animal’s control over echolocation call rate (sensory sampling) influences place field tuning. These results motivate future comparative research on hippocampal function in the context of natural sensory-guided behaviors.

Active sensing using light, or active photolocation, is only known from deep sea and nocturnal fish with chemiluminescent ‘search’ lights. Bright irides in diurnal fish species have recently been proposed as a potential analogue. Here, we contribute to this discussion by testing whether iris radiance is actively modulated. The focus is on behaviourally controlled iris reflections, called ‘ocular sparks’. The triplefin Tripterygion delaisi can alternate between red and blue ocular sparks, allowing us to test the prediction that spark frequency and hue depend on background hue and prey presence. In a first experiment, we found that blue ocular sparks were significantly more often ‘on’ against red backgrounds, and red ocular sparks against blue backgrounds, particularly when copepods were present. A second experiment tested whether hungry fish showed more ocular sparks, which was not the case. However, background hue once more resulted in a significant differential use of ocular sparks. We conclude that iris radiance through ocular sparks in T. delaisi is not a side effect of eye movement, but adaptively modulated in response to the context under which prey are detected. We discuss the possible alternative functions of ocular sparks, including an as yet speculative role in active photolocation.

Liquid migrating into existing concrete cracks is a serious problem for the reliability of concrete structures and can sometimes induce full concrete structural failures. In this paper, the authors present recent research on water presence detection in concrete cracks using piezoceramic-based smart aggregate (SA) transducers. The active sensing approach, in which one piezoceramic transducer is used to generate stress waves and others are used to detect the stress wave responses, is adopted in this research. Cracks formed in concrete structures act as stress reliefs, which attenuate the energy of the signals received by the SAs. In case of a crack being filled with liquid, which changes the wave impedance, the piezoceramic transducers will report higher received energy levels. A wavelet packet-based approach is developed to provide calculated energy values of the received signal. These different values can help detect the liquid presence in a concrete crack. A concrete beam specimen with three embedded SAs was fabricated and tested. Experimental results verified that the SA-based active sensing approach can detect a concrete crack and further detect the liquid presence in the concrete crack.

This article presents: (i) a formal, generic model for active sensing tasks; (ii) the insight that active sensing actions can very often be searched on less than six-dimensional configuration spaces (bringing an exponential reduction in the computational costs involved in the search); (iii) an algorithm for selecting actions explicitly trading off information gain, execution time and computational cost; and (iv) experimental results of touch-based localization in an industrial setting. Generalizing from prior work, the formal model represents an active sensing task by six primitives: configuration space, information space, object model, action space, inference scheme and action-selection scheme; prior work applications conform to the model as illustrated by four concrete examples. On top of the mentioned primitives, the task graph is then introduced as the relationship to represent an active sensing task as a sequence of low-complexity actions defined over different configuration spaces of the object. The presented act-reason algorithm is an action selection scheme to maximize the expected information gain of each action, explicitly constraining the time allocated to compute and execute the actions. The experimental contributions include localization of objects with: (1) a force-controlled robot equipped with a spherical touch probe; (2) a geometric complexity of the to-be-localized objects up to industrial relevance; (3) an initial uncertainty of (0.4 m, 0.4 m, 2Π); and (4) a configuration of act-reason to constrain the allocated time to compute and execute the next action as a function of the current uncertainty. Localization is accomplished when the probability mass within a 5-mm tolerance reaches a specified threshold of 80%. Four objects are localized with final {mean; standard-deviation} error spanning from {0.0043 m; 0.0034 m} to {0.0073 m; 0.0048 m}.