mandyam srinivasan · 0.9 m/s 1.6 m/s 2.8 m/s 3.8 m/s ground speed m/s volts headwind speed...
TRANSCRIPT
Queensland Brain Institute and Institute of Electrical and Electronic
Engineering University of Queensland
and ARC Centre of Excellence in Vision Science
Mandyam Srinivasan
Vision and navigation in bees and birds and applications to robotics
Sam Baker, Daniel Bland, Natalie Bland, Nikolai Liebsch, Richard Moore, Gavin Taylor, Saul Thurrowgood, Dean Soccol
Peculiarities of insect vision
Small interocular separation
Therefore, stereo vision is difficult
Insects rely heavily on image motion cues to infer object distance, perceive the world in 3-D and navigate in it
Dr. Miriam Lehrer University of Zürich
Kirchner & Srinivasan Naturwissenschaften (1988)
Srinivasan, Lehrer, Kirchner & Zhang Vis. Neurosci. (1991)
Bees negotiate narrow gaps by balancing the image velocities in the two eyes
Centering response in budgerigars P. Bhagavatula, C. Claudianos, M. Ibbotson, M.V. Srinivasan Current Biology (2011)
N.S.
Visual control of flight speed - bees
~300 deg/sec
Baird, Srinivasan, Zhang and Cowley, J Exp Biol (2005)
Speed of flight is regulated by holding the global image velocity constant
Control of flight speed
Srinivasan, Zhang, Lehrer & Collett J. Exp. Biol. (1996)
0
0.1
0.2
0.4
0.3
0.5
Battling headwind
Barron and Srinivasan, J. Exp. Biol. (2006)
0 40 80 120 160
0.9 m/s 1.6 m/s 2.8 m/s 3.8 m/s
Ground speed m/s
Volts
Headwind speed
Headwind
Landing
How does a bee perform a smooth, grazing landing ?
h
(height above surface)
(Forward speed)
(Descent speed) V d
V f !=Tan-1"
V f
V d
!"(Descent angle)
Landing parameters
Horizontal flight speed versus height
Srinivasan, Zhang, Chahl, Barth & Venkatesh, Biol. Cybern (2000)
Landing on a vertical surface
With Emily Baird, Norbert Boeddeker, Michael Ibbotson
0 100 200 300 400 500 600 700-300
-200
-100
0
100
200
300
400
Time (t), msec
Posi
tion
(Z),
mm
S61
Z=-273.48+519.7*exp(-0.0028*t)
Stat 6 arms
11 flights
Distance decreases exponentially as a function of time, suggesting that approach speed is controlled by holding rate of image expansion constant
Honeybee landing
Baird, Boeddeker, Ibbotson, Srinivasan: PNAS (in press)
0 200 400 600 800 1000 1200-250
-200
-150
-100
-50
0
50
100
150
200
250Expanding 1 rpsContracting 1rpsStatic
Posi
tion
(Z),
mm
Time (t), msec
Test of hypothesis: Expanding spiral reduces approach speed; contracting spiral increases it
Baird, Boeddeker, Ibbotson, Srinivasan: PNAS (in press)
200 deg/sec
Constant approach speed
Baird, Boeddeker, Ibbotson, Srinivasan: PNAS (in press)
The waggle dance
Honeybee odometry
Wag
gle
dura
tion
(sec
)
Q: How does a bee work out how far she has flown?
Karl von Frisch
Round dance
(feeder distance < 50m)
Waggle dance
(feeder distance > 50m)
Honeybee navigation: How does a bee estimate how far it has flown?
6 m
Feeder
6 m
Feeder
Hive
Hive
Feeder Hive
6 m
Dance signal
~ 0 m
~ 200 m
Round dance
Waggle dance
Round dance ~ 0 m
Srinivasan, Zhang, Altwein & Tautz, Science (2000) Esch, Zhang, Srinivasan & Tautz Nature (2001)
1 msec of waggle corresponds to 18o of image movement in the eye during flight
18o
Visual calibration of the honeybee’s odometer and dance
Srinivasan, Zhang, Altwein & Tautz, Science (2000)
Scouts returning from 8 m tunnel signal a distance of 140 m
Recruits search at 140 m
8 m
How do the recruits respond to the dancing tunnel bees?
Esch, Zhang, Srinivasan & Tautz Nature (2001)
Image courtesy Jeff Wilson and Judith Reinhard
Honeybee perception and ‘cognition’
Maze learning
Maze navigation: following a colour mark
Music in the wind
Bev Doolittle
Rewarded Unrewarded 49.0% 51.0%
63.1% 36.9%
61.2% 38.8%
(n=1099, P > 0.50
(n=141, P < 0.005)
(n=509, P < 0.001) 62.6% 37.4%
(n=238, P < 0.001)
“Top-down” processing in honeybees
Zhang & Srinivasan Nature (1994)
Associative recall
2m
Rose-scented feeder
Hive
21 individually marked bees
Lemon-scented feeder
Training paradigm
Can scent trigger memories of locations?
Reinhard, Srinivasan and Zhang, Nature (2004)
2m
Former “rose” feeder
Former “lemon” feeder
rose scent
4
41 40
5
Hive
21 individually marked bees
lemon scent
Test
Can scent trigger memories of locations?
Reinhard, Srinivasan and Zhang, Nature (2004)
