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Summary: Astrocytes play a significant role in the working memory (WM) mechanism, yet their contribution to spiking neuron-astrocyte networks (SNAN) is underexplored. This study proposes a non-probabilistic SNAN incorporating a self-repairing (SR) mechanism through endocannabinoid pathways to facilitate WM function. Four experiments were conducted with different damaging patterns, replicating close-to-realistic synaptic impairments. Simulation results suggest that the SR process enhances WM performance by improving the consistency of neuronal firing. Moreover, the intercellular astrocytic [Ca]2+ transmission via gap junctions improves WM and SR processes. With increasing damage, WM and SR activities initially fail for non-matched samples and then for smaller and minimally overlapping matched samples. Simulation results also indicate that the inclusion of the SR mechanism in both random and continuous forms of damage improves the resilience of the WM by approximately 20%. This study highlights the importance of astrocytes in synaptically impaired networks.

Natural listening involves a constant deployment of small head movement. Spatial listening is facilitated by head movements, especially when resolving front-back confusions, an otherwise common issue during sound localization under head-still conditions. The present study investigated which acoustic cues are utilized by human listeners to localize sounds using small head movements (below ±10° around the center). Seven normal-hearing subjects participated in a sound localization experiment in a virtual reality environment. Four acoustic cue stimulus conditions were presented (full spectrum, flattened spectrum, frozen spectrum, free-field) under three movement conditions (no movement, head rotations over the yaw axis and over the pitch axis). Localization performance was assessed using three metrics: lateral and polar precision error and front-back confusion rate. Analysis through mixed-effects models showed that even small yaw rotations provide a remarkable decrease in front-back confusion rate, whereas pitch rotations did not show much of an effect. Furthermore, MSS cues improved localization performance even in the presence of dITD cues. However, performance was similar between stimuli with and without dMSS cues. This indicates that human listeners utilize the MSS cues before the head moves, but do not rely on dMSS cues to localize sounds when utilizing small head movements.

As decentralized electricity generation is supporting grid development into the prosumer era, this paper investigates the economic viability of adding batteries to residential microgrids powered by photovoltaic units, under various electricity pricing schemes. Batteries bring the benefits of grid-stabilization and congestion relief, and they are also becoming cheaper. The problem identified is that the main grid effectively acts as a lossless storage system, especially under the net-metering scheme, whereas using a battery involves investment costs and energy losses. This mismatch is addressed by analysing residential microgrid projects under seven tariff designs, each in seven countries of the European Union, and compare the economic viability of photovoltaic systems with and without batteries. The findings show that the conditions most favourable to batteries are given by a capacity tariff scheme allowing price arbitrage. Based on these findings, the paper discusses possibilities for further support in order to bring the economic viability of microgrids with batteries on par with that of microgrids without batteries.

Abstract During vocal communication, the spectro-temporal structure of vocalizations conveys important contextual information. Bats excel in the use of sounds for echolocation by meticulous encoding of signals in the temporal domain. We therefore hypothesized that for social communication as well, bats would excel at detecting minute distortions in the spectro-temporal structure of calls. To test this hypothesis, we systematically introduced spectro-temporal distortion to communication calls of Phyllostomus discolor bats. We broke down each call into windows of the same length and randomized the phase spectrum inside each window. The overall degree of spectro-temporal distortion in communication calls increased with window length. Modelling the bat auditory periphery revealed that cochlear mechanisms allow discrimination of fast spectro-temporal envelopes. We evaluated model predictions with experimental psychophysical and neurophysiological data. We first assessed bats’ performance in discriminating original versions of calls from increasingly distorted versions of the same calls. We further examined cortical responses to determine additional specializations for call discrimination at the cortical level. Psychophysical and cortical responses concurred with model predictions, revealing discrimination thresholds in the range of 8–15 ms randomization-window length. Our data suggest that specialized cortical areas are not necessary to impart psychophysical resilience to temporal distortion in communication calls.

The use of audio systems that employ binaural synthesis with head tracking has become increasingly popular, particularly in virtual reality gaming systems. The binaural synthesis process uses the Head-Related Transfer Functions (HRTF) as an input required to assign the directions of arrival to sounds coming from virtual sound sources in the created virtual environments. Generic HRTFs are often used for this purpose to accommodate all potential listeners. The hypothesis of the research is that the use of individual HRTF in binaural synthesis instead of generic HRTF leads to improved accuracy and quality of virtual sound source localization, thus enhancing the user experience. A novel methodology is proposed that involves the use of dynamic virtual sound sources. In the experiments, the test participants were asked to determine the direction of a dynamic virtual sound source in both the horizontal and vertical planes using both generic and individual HRTFs. The gathered data are statistically analyzed, and the accuracy of localization is assessed with respect to the type of HRTF used. The individual HRTFs of the test participants are measured using a novel and efficient method that is accessible to a broad range of users.

In a standard state-of-the-art measurement the head-related transfer function (HRTF) is obtained in an anechoic room with an elaborate setup involving multiple calibrated loudspeakers. In search for a simplified method that would open up the possibility for an HRTF measurement in a home environment, it has been suggested that this setup could be replaced with one with a single, fixed loudspeaker. In such a setup, the subject samples different directions by moving the head with respect to this loudspeaker, while the head movements are tracked in some way. In this paper, the feasibility of such an approach is studied. To this end, the HRTF is measured in an unmodified (non-anechoic) room by means of a single external speaker and a high resolution head tracking system. The differences between the dynamically obtained HRTF and the standard static HRTF are investigated, and are shown to be mostly due to variable torso reflections.

In most animals, natural stimuli are characterized by a high degree of redundancy, limiting the ensemble of ecologically valid stimuli to a significantly reduced subspace of the representation space. Neural encodings can exploit this redundancy and increase sensing efficiency by generating low-dimensional representations that retain all information essential to support behavior. In this study, we investigate whether such an efficient encoding can be found to support a broad range of echolocation tasks in bats. Starting from an ensemble of echo signals collected with a biomimetic sonar system in natural indoor and outdoor environments, we use independent component analysis to derive a low-dimensional encoding of the output of a cochlear model. We show that this compressive encoding retains all essential information. To this end, we simulate a range of psycho-acoustic experiments with bats. In these simulations, we train a set of neural networks to use the encoded echoes as input while performing the experiments. The results show that the neural networks' performance is at least as good as that of the bats. We conclude that our results indicate that efficient encoding of echo information is feasible and, given its many advantages, very likely to be employed by bats. Previous studies have demonstrated that low-dimensional encodings allow for task resolution at a relatively high level. In contrast to previous work in this area, we show that high performance can also be achieved when low-dimensional filters are derived from a data set of realistic echo signals, not tailored to specific experimental conditions.

Most objects and vegetation making up the habitats of echolocating bats return a multitude of overlapping echoes. Recent evidence suggests that the limited temporal and spatial resolution of bio-sonar prevents bats from separately perceiving the objects giving rise to these overlapping echoes. Therefore, bats often operate under conditions where their ability to localize obstacles is severely limited. Nevertheless, bats excel at avoiding complex obstacles. In this paper, we present a robotic model of bat obstacle avoidance using interaural level differences and distance to the nearest obstacle as the minimal set of cues. In contrast to previous robotic models of bats, the current robot does not attempt to localize obstacles. We evaluate two obstacle avoidance strategies. First, the Fixed Head Strategy keeps the acoustic gaze direction aligned with the direction of flight. Second, the Delayed Linear Adaptive Law (DLAL) Strategy uses acoustic gaze scanning, as observed in hunting bats. Acoustic gaze scanning has been suggested to aid the bat in hunting for prey. Here, we evaluate its adaptive value for obstacle avoidance when obstacles can not be localized. The robot's obstacle avoidance performance is assessed in two environments mimicking (highly cluttered) experimental setups commonly used in behavioral experiments: a rectangular arena containing multiple complex cylindrical reflecting surfaces and a corridor lined with complex reflecting surfaces. The results indicate that distance to the nearest object and interaural level differences allows steering the robot clear of obstacles in environments that return non-localizable echoes. Furthermore, we found that using acoustic gaze scanning reduced performance, suggesting that gaze scanning might not be beneficial under conditions where the animal has limited access to angular information, which is in line with behavioral evidence.

Echolocating bats have excellent spatial memory and are able to navigate to salient locations using bio-sonar. Navigating and route-following require animals to recognize places. Currently, it is mostly unknown how bats recognize places using echolocation. In this paper, we propose template based place recognition might underlie sonar-based navigation in bats. Under this hypothesis, bats recognize places by remembering their echo signature - rather than their 3D layout. Using a large body of ensonification data collected in three different habitats, we test the viability of this hypothesis assessing two critical properties of the proposed echo signatures: (1) they can be uniquely classified and (2) they vary continuously across space. Based on the results presented, we conclude that the proposed echo signatures satisfy both criteria. We discuss how these two properties of the echo signatures can support navigation and building a cognitive map.

Bat echolocation is an ability consisting of many subtasks such as navigation, prey detection and object recognition. Understanding the echolocation capabilities of bats comes down to isolating the minimal set of acoustic cues needed to complete each task. For some tasks, the minimal cues have already been identified. However, while a number of possible cues have been suggested, little is known about the minimal cues supporting obstacle avoidance in echolocating bats. In this paper, we propose that the Interaural Intensity Difference (IID) and travel time of the first millisecond of the echo train are sufficient cues for obstacle avoidance. We describe a simple control algorithm based on the use of these cues in combination with alternating ear positions modeled after the constant frequency bat Rhinolophus rouxii. Using spatial simulations (2D and 3D), we show that simple phonotaxis can steer a bat clear from obstacles without performing a reconstruction of the 3D layout of the scene. As such, this paper presents the first computationally explicit explanation for obstacle avoidance validated in complex simulated environments. Based on additional simulations modelling the FM bat Phyllostomus discolor, we conjecture that the proposed cues can be exploited by constant frequency (CF) bats and frequency modulated (FM) bats alike. We hypothesize that using a low level yet robust cue for obstacle avoidance allows bats to comply with the hard real-time constraints of this basic behaviour.

At first sight, echolocating bats face a difficult trade-off. As flying animals, they would benefit from a streamlined geometric shape to reduce aerodynamic drag and increase flight efficiency. However, as echolocating animals, their pinnae generate the acoustic cues necessary for navigation and foraging. Moreover, species emitting sound through their nostrils often feature elaborate noseleaves that help in focussing the emitted echolocation pulses. Both pinnae and noseleaves reduce the streamlined character of a bat's morphology. It is generally assumed that by compromising the streamlined charactered of the geometry, the head morphology generates substantial drag, thereby reducing flight efficiency. In contrast, it has also been suggested that the pinnae of bats generate lift forces counteracting the detrimental effect of the increased drag. However, very little data exist on the aerodynamic properties of bat pinnae and noseleaves. In this work, the aerodynamic forces generated by the heads of seven species of bats, including noseleaved bats, are measured by testing detailed 3D models in a wind tunnel. Models of Myotis daubentonii, Macrophyllum macrophyllum, Micronycteris microtis, Eptesicus fuscus, Rhinolophus formosae, Rhinolophus rouxi and Phyllostomus discolor are tested. The results confirm that non-streamlined facial morphologies yield considerable drag forces but also generate substantial lift. The net effect is a slight increase in the lift-to-drag ratio. Therefore, there is no evidence of high aerodynamic costs associated with the morphology of bat heads.

Target location is coded into the pattern of spikes that run up the auditory nerve to the bat's brain. Realistic scenes containing multiple, closely spaced, reflectors give rise to complex echo signals consisting of multiple filtered copies of the bat's own vocalisation. Some of this filtering is due to the directivity of the bat’s reception system i.e., the outer ears, and some of it is due to sound absorption and the reflection process. The analysis below concentrates on the conspicuous ridges (notches) these filter operations give rise to in the time-frequency representation of the echo as produced by the bat's inner ear. Assuming multiple threshold detecting neurons for each frequency channel it is shown how the distribution of spike times within the generated spike bursts is linked to the presence and characteristics of these notches. A neural network decoding the spike bursts in terms of target location is described.

In this paper we describe a procedure for the search of the optimal transducer geometry for a monaural, broadband sonar system. We restrict ourselves to a simple transducer morphology that can be technologically realized: a radially symmetric two-dimensional piston transducer with adaptable electrode shape. We use a genetic algorithm to obtain the `optimal' geometry, and show that the generated transducer performs significantly better in simulated localization experiments.

We propose to combine a biomimetic navigation model which solves a simultaneous localization and mapping task with a biomimetic sonar mounted on a mobile robot to address two related questions. First, can robotic sonar sensing lead to intelligent interactions with complex environments? Second, can we model sonar based spatial orientation and the construction of spatial maps by bats? To address these questions we adapt the mapping module of RatSLAM, a previously published navigation system based on computational models of the rodent hippocampus. We analyze the performance of the proposed robotic implementation operating in the real world. We conclude that the biomimetic navigation model operating on the information from the biomimetic sonar allows an autonomous agent to map unmodified (office) environments efficiently and consistently. Furthermore, these results also show that successful navigation does not require the readings of the biomimetic sonar to be interpreted in terms of individual objects/landmarks in the environment. We argue that the system has applications in robotics as well as in the field of biology as a simple, first order, model for sonar based spatial orientation and map building.

Localization systems are increasingly valuable, but their location estimates are only useful when the uncertainty of the estimate is known. This uncertainty is currently calculated as the location error given a ground truth, which is then used as a static measure in sometimes very different environments. In contrast, we propose the use of the conditional entropy of a posterior probability distribution as a complementary measure of uncertainty. This measure has the advantage of being dynamic, i.e., it can be calculated during localization based on individual sensor measurements, does not require a ground truth, and can be applied to discrete localization algorithms. Furthermore, for every consistent location estimation algorithm, both the location error and the conditional entropy measures must be related, i.e., a low entropy should always correspond with a small location error, while a high entropy can correspond with either a small or large location error. We validate this relationship experimentally by calculating both measures of uncertainty in three publicly available datasets using probabilistic Wi-Fi fingerprinting with eight different implementations of the sensor model. We show that the discrepancy between these measures, i.e., many location estimates having a high location error while simultaneously having a low conditional entropy, is largest for the least realistic implementations of the probabilistic sensor model. Based on the results presented in this paper, we conclude that conditional entropy, being dynamic, complementary to location error, and applicable to both continuous and discrete localization, provides an important extra means of characterizing a localization method.

Rhinolophidae or Horseshoe bats emit long and narrowband calls. Fluttering insect prey generates echoes in which amplitude and frequency shifts are present, i.e. glints. These glints are reliable cues about the presence of prey and also encode certain properties of the prey. In this paper, we propose that these glints, i.e. the dominant glints, are also reliable signals upon which to base prey localization. In contrast to the spectral cues used by many other bats, the localization cues in Rhinolophidae are most likely provided by self-induced amplitude modulations generated by pinnae movement. Amplitude variations in the echo not introduced by the moving pinnae can be considered as noise interfering with the localization process. The amplitude of the dominant glints is very stable. Therefore, these parts of the echoes contain very little noise. However, using only the dominant glints potentially comes at a cost. Depending on the flutter rate of the insect, a limited number of dominant glints will be present in each echo giving the bat a limited number of sample points on which to base localization. We evaluate the feasibility of a strategy under which Rhinolophidae use only dominant glints. We use a computational model of the echolocation task faced by Rhinolophidae. Our model includes the spatial filtering of the echoes by the morphology of the sonar apparatus of Rhinolophus rouxii as well as the amplitude modulations introduced by pinnae movements. Using this model, we evaluate whether the dominant glints provide Rhinolophidae with enough information to perform localization. Our simulations show that Rhinolophidae can use dominant glints in the echoes as carriers for self-induced amplitude modulations serving as localization cues. In particular, it is shown that the reduction in noise achieved by using only the dominant glints outweighs the information loss that occurs by sampling the echo.

Bats typically emit multi harmonic calls. Their head morphology shapes the emission and hearing sound fields as a function of frequency. Therefore, the sound fields are markedly different for the various harmonics. As the sound field provides bats with all necessary cues to locate objects in space, different harmonics might provide them with variable amounts of information about the location of objects. Also, the ability to locate objects in different parts of the frontal hemisphere might vary across harmonics. This paper evaluates this hypothesis in R. rouxi, using an information theoretic framework. We estimate the reflector position information transfer in the echolocation system of R. rouxi as a function of frequency. This analysis shows that localization performance reaches a global minimum and a global maximum at the two most energetic frequency components of R. rouxi call indicating tuning of morphology and harmonic structure. Using the fundamental the bat is able to locate objects in a large portion of the frontal hemisphere. In contrast, using the 1st overtone, it can only locate objects, albeit with a slightly higher accuracy, in a small portion of the frontal hemisphere by reducing sensitivity to echoes from outside this region of interest. Hence, different harmonic components provide the bat either with a wide view or a focused view of its environment. We propose these findings can be interpreted in the context of the foraging behaviour of R. rouxi, i.e., hunting in cluttered environments. Indeed, the focused view provided by the 1st overtone suggests that at this frequency its morphology is tuned for clutter rejection and accurate localization in a small region of interest while the finding that overall localization performance is best at the fundamental indicates that the morphology is simultaneously tuned to optimize overall localization performance at this frequency.

BACKGROUND: Many bats vocalizing through their nose carry a prominent noseleaf that is involved in shaping the emission beam of these animals. To our knowledge, the exact role of these appendages has not been thoroughly investigated as for no single species both the hearing and the emission spatial sensitivities have been obtained. In this paper, we set out to evaluate the complete spatial sensitivity of two species of New World leaf-nosed bats: Micronycteris microtis and Phyllostomus discolor. From an ecological point of view, these species are interesting as they belong to the same family (Phyllostomidae) and their noseleaves are morphologically similar. They differ vastly in the niche they occupy. Comparing these species allows us to relate differences in function of the noseleaf to the ecological background of bat species. METHODOLOGY/PRINCIPAL FINDINGS: We simulate the spatial sensitivity of both the hearing and the emission subsystems of two species, M. microtis and P. discolor. This technique allows us to evaluate the respective roles played by the noseleaf in the echolocation system of these species. We find that the noseleaf of M. microtis focuses the radiated energy better and yields better control over the emission beam. CONCLUSIONS: From the evidence presented we conclude that the noseleaves serve quantitatively different functions for different bats. The main function of the noseleaf is to serve as an energy focusing mechanism that increases the difference between the reflected energy from objects in the focal area and objects in the periphery. However, despite the gross morphological similarities between the noseleaves of the two Phyllostomid species they focus the energy to a different extent, a capability that can be linked to the different ecological niches occupied by the two species.