Biomechanics of transduction by mechanosensory cilia for prey detection in aquatic organisms.

Surface-feeding aquatic animals navigate towards the source of water disturbances and must differentiate prey from other environmental stimuli. Medicinal leeches locate prey, in part, using a distribution of mechanosensory hairs along their body that deflect under fluid flow. Leech's behavioral responses to surface wave temporal frequency are well documented. However, a surface wave's temporal frequency depends on many underlying environmental and fluid properties that vary substantially in natural habitats (e.g., water depth, temperature). The impact of these variables on neural response and behavior is unknown. Here, we developed a physics-based leech mechanosensor model to examine the impact of environmental and fluid properties on neural response. Our model used the physical properties of a leech cilium and was verified against existing behavioral and electrophysiological data. The model's peak response occurred with waves where the effects of gravity and surface tension were nearly equal (i.e., the phase velocity minimum). This suggests that preferred stimuli are related to the interaction between fundamental properties of the surrounding medium and the mechanical properties of the sensor. This interaction likely tunes the sensor to detect the nondispersive components of the signal, filtering out irrelevant ambient stimuli, and may be a general property of cilia across the animal kingdom.

Navigation by magnetic signatures in a realistic model of Earth's magnetic field.

Certain animal species use the Earth's magnetic field (i.e. magnetoreception) alongside their other sensory modalities to navigate long distances that include continents and oceans. It is hypothesized that several animals use geomagnetic parameters, such as field intensity and inclination, to recognize specific locations or regions, potentially enabling migration without a pre-surveyed map. However, it is unknown how animals use geomagnetic information to generate guidance commands, or where in the world this type of strategy would maximize an animal's fitness. While animal experiments have been invaluable in advancing this area, the phenomenon is difficult to studyin vivoorin situ, especially on the global scale where the spatial layout of the geomagnetic field is not constant. Alongside empirical animal experiments, mathematical modeling and simulation are complementary tools that can be used to investigate animal navigation on a global scale, providing insights that can be informative across a number of species. In this study, we present a model in which a simulated animal (i.e. agent) navigates via an algorithm which determines travel heading based on local and goal magnetic signatures (here, combinations of geomagnetic intensity and inclination) in a realistic model of Earth's magnetic field. By varying parameters of the navigation algorithm, different regions of the world can be made more or less reliable to navigate. We present a mathematical analysis of the system. Our results show that certain regions can be navigated effectively using this strategy when these parameters are properly tuned, while other regions may require more complex navigational strategies. In a real animal, parameters such as these could be tuned by evolution for successful navigation in the animal's natural range. These results could also help with developing engineered navigation systems that are less reliant on satellite-based methods.

A computational framework for studying energetics and resource management in sea turtle migration and autonomous systems.

Sea turtles complete migrations across vast distances, covering entire ocean basins. To track these migrations, satellite tracking tags are attached to their shells. The impact of these tags must be considered to ensure that turtles' natural behavior is not artificially and adversely impacted through tag-related drag, and that the data collected by a small sample of sea turtles accurately represents the larger population. Additionally, it can be difficult to study animal energetics in the field over large migration distances. In this work, we modify a computational behavior model to study how satellite tracking tags affect turtle migration behavior. Our agent based model contains synthetic magnetic field environments that are used for navigation cues, an ocean current, resource distributions that represent locations of food, and an agent that attempts to migrate to several different goals. The agent loses energy as it progresses, and searches for the resource distributions to replenish itself. Our novel simulation framework demonstrates the relationship between an agent's available energy capacity, its energy consumption based on mechanical power expended, and its ability to navigate to all migratory goal points. This study can be utilized to (1) probe the impacts of an animal's energy capacity and foraging behavior on its resulting navigation and ecology, (2) guide future satellite tag designs, and (3) develop usage recommendations for a suitable tracking tag based on the type of experiment being conducted. Our model can be expanded beyond sea turtles to study other marine species (e.g., sharks, whales). Additionally, this model could be expanded to other domains within the marine environment. For example, it could be modified to examine design trade-offs in remotely operated vehicles (ROVs), which share many of the same operational constraints as sea turtles and other migratory species.

A bioinspired navigation strategy that uses magnetic signatures to navigate without GPS in a linearized northern Atlantic ocean: a simulation study.

Certain animal species use the Earth's magnetic field (i.e. magnetoreception) in conjunction with other sensory modalities to navigate long distances. It is hypothesized that several animals use combinations of magnetic inclination and intensity as unique signatures for localization, enabling migration without a pre-surveyed map. However, it is unknown how animals use magnetic signatures to generate guidance commands, and the extent to which species-specific capabilities and environmental factors affect a given strategy's efficacy or deterioration. Understanding animal magnetoreception can aid in developing better engineered navigation systems that are less reliant on satellites, which are expensive and can become unreliable or unavailable under a variety of circumstances. Building on previous studies, we implement an agent-based computer simulation that uses two variants of a magnetic signature-based navigation strategy. The strategy can successfully migrate to eight specified goal points in an environment that resembles the northern Atlantic ocean. In particular, one variant reaches all goal points with faster ocean current velocities, while the other variant reaches all goal points with slower ocean current velocities. We also employ dynamic systems tools to examine the stability of the strategy as a proxy for whether it is guaranteed to succeed. The findings demonstrate the efficacy of the strategy and can help in the development of new navigation technologies that are less reliant on satellites and pre-surveyed maps.

Long-distance transequatorial navigation using sequential measurements of magnetic inclination angle.

Diverse taxa use Earth's magnetic field in combination with other sensory modalities to accomplish navigation tasks ranging from local homing to long-distance migration across continents and ocean basins. Several animals have the ability to use the inclination or tilt of magnetic field lines as a component of a magnetic compass sense that can be used to maintain migratory headings. In addition, a few animals are able to distinguish among different inclination angles and, in effect, exploit inclination as a surrogate for latitude. Little is known, however, about the role that magnetic inclination plays in guiding long-distance migrations. In this paper, we use an agent-based modelling approach to investigate whether an artificial agent can successfully execute a series of transequatorial migrations by using sequential measurements of magnetic inclination. The agent was tested with multiple navigation strategies in both present-day and reversed magnetic fields. The findings (i) demonstrate that sequential inclination measurements can enable migrations between the northern and southern hemispheres, and (ii) demonstrate that an inclination-based strategy can tolerate a reversed magnetic field, which could be useful in the development of autonomous engineered systems that must be robust to magnetic field changes. The findings also appear to be consistent with the results of some animal navigation experiments, although whether any animal exploits a strategy of using sequential measurements of inclination remains unknown.

Bioinspired magnetoreception and navigation in nonorthogonal environments using magnetic signatures.

Diverse taxa use Earth's magnetic field in conjunction with other sensory modalities to accomplish navigation tasks ranging from local homing to long-distance migration across continents and ocean basins. However, despite extensive research, the mechanisms that underlie animal magnetoreception are not clearly understood, and how animals use Earth's magnetic field to navigate is an active area of investigation. Concurrently, Earth's magnetic field offers a signal that engineered systems can leverage for navigation in environments where man-made systems such as GPS are unavailable or unreliable. Using a proxy for Earth's magnetic field, and inspired by migratory animal behavior, this work implements a behavioral strategy that uses combinations of magnetic field inclination and intensity as rare or unique signatures that mark specific locations. Specifically, to increase the realism of previous work, in this study, a simulated agent uses a magnetic signatures based strategy to migrate in magnetic environments where lines of constant inclination and intensity are not necessarily orthogonal. The results further support existing notions that some animals may use combinations of magnetic properties as navigational markers, and provide insights into features and constraints that could enable navigational success or failure in either a biological or engineered system.

Bioinspired magnetoreception and navigation using magnetic signatures as waypoints.

Diverse taxa use Earth's magnetic field in conjunction with other sensory modalities to accomplish navigation tasks ranging from local homing to long-distance migration across continents and ocean basins. However, despite extensive research, the mechanisms that underlie animal magnetoreception are not clearly understood, and how animals use Earth's magnetic field to navigate is an active area of investigation. Concurrently, Earth's magnetic field offers a signal that engineered systems can leverage for navigation in environments where man-made systems such as GPS are unavailable or unreliable. Using a proxy for Earth's magnetic field, and inspired by migratory animal behavior, this work implements a behavioral strategy that uses combinations of magnetic field properties as rare or unique signatures that mark specific locations. Using a discrete number of these signatures as goal waypoints, the strategy navigates through a closed set of points several times in a variety of environmental conditions, and with various levels of sensor noise. The results from this engineering/quantitative biology approach support existing notions that some animals may use combinations of magnetic properties as navigational markers, and provides insights into features and constraints that would enable navigational success or failure. The findings also offer insights into how autonomous engineered platforms might be designed to leverage the magnetic field as a navigational resource.

Bioinspired magnetic reception and multimodal sensing.

Several animals use Earth's magnetic field in concert with other sensor modes to accomplish navigational tasks ranging from local homing to continental scale migration. However, despite extensive research, animal magnetic reception remains poorly understood. Similarly, the Earth's magnetic field offers a signal that engineered systems can leverage to navigate in environments where man-made positioning systems such as GPS are either unavailable or unreliable. This work uses a behavioral strategy inspired by the migratory behavior of sea turtles to locate a magnetic goal and respond to wind when it is present. Sensing is performed using a number of distributed sensors. Based on existing theoretical biology considerations, data processing is performed using combinations of circles and ellipses to exploit the distributed sensing paradigm. Agent-based simulation results indicate that this approach is capable of using two separate magnetic properties to locate a goal from a variety of initial conditions in both noiseless and noisy sensory environments. The system's ability to locate the goal appears robust to noise at the cost of overall path length.

Detection of magnetic field properties using distributed sensing: a computational neuroscience approach.

Diverse taxa use Earth's magnetic field to aid both short- and long-distance navigation. Study of these behaviors has led to a variety of postulated sensory and processing mechanisms that remain unconfirmed. Although several models have been proposed to explain and understand these mechanisms' underpinnings, they have not necessarily connected a putative sensory signal to the nervous system. Using mathematical software simulation, hardware testing and the computational neuroscience tool of dynamic neural fields, the present work implements a previously developed conceptual model for processing magnetite-based magnetosensory data. Results show that the conceptual model, originally constructed to stimulate thought and generate insights into future physiological experiments, may provide a valid approach to encoding magnetic field information. Specifically, magnetoreceptors that are each individually capable of sensing directional information can, as a population, encode magnetic intensity and direction. The findings hold promise both as a biological magnetoreception concept and for generating engineering innovations in sensing and processing.

Validating a model for detecting magnetic field intensity using dynamic neural fields.

Several animals use properties of Earth's magnetic field as a part of their navigation toolkit to accomplish tasks ranging from local homing to continental migration. Studying these behaviors has led to the postulation of both a magnetite-based sense, and a chemically based radical-pair mechanism. Several researchers have proposed models aimed at both understanding these mechanisms, and offering insights into future physiological experiments. The present work mathematically implements a previously developed conceptual model for sensing and processing magnetite-based magnetosensory feedback by using dynamic neural fields, a computational neuroscience tool for modeling nervous system dynamics and processing. Results demonstrate the plausibility of the conceptual model's predictions. Specifically, a population of magnetoreceptors in which each individual can only sense directional information can encode magnetic intensity en masse. Multiple populations can encode both magnetic direction, and intensity, two parameters that several animals use in their navigational toolkits. This work can be expanded to test other magnetoreceptor models.

The He-LiH potential energy surface revisited. II. Rovibrational energy transfer on a three-dimensional surface.

We use our rigid rotor He-LiH potential energy surface [B. K. Taylor and R. J. Hinde, J. Phys. Chem. 111, 973 (1999)] as a starting point to develop a three-dimensional potential surface that describes the interaction between He and a rotating and vibrating LiH molecule. We use a fully quantum treatment of the collision dynamics on the current potential surface to compute rovibrational state-to-state cross sections. We compute excitation and relaxation vibrational rate constants as a function of temperature by integrating these cross sections over a Maxwell-Boltzmann translational energy distribution and summing over Boltzmann-weighted initial rotational levels. The rate constants for vibrational excitation of LiH are very small for temperatures below 300 K. Rate constants for vibrational relaxation of excited LiH molecules, however, are several orders of magnitude larger and show very little temperature dependence, suggesting that the collisions that result in vibrational relaxation are governed by long-range attractive interactions.

A three-dimensional He-NaH potential energy surface for rovibrational energy transfer studies.

A three-dimensional potential energy surface for the He-NaH van der Waals complex is calculated at the coupled cluster singles-and-doubles with noniterative inclusion of connected triples [CCSD(T)] level of theory. Estimates of CCSD(T) interaction energies for an infinitely large basis set is obtained using a basis set extrapolation scheme. The He-NaH potential energy surface is much different than the He-LiH surface. In particular, the He-NaH system has a binding energy of De=19.73 cm(-1) in comparison to De=176.7 cm(-1) for He-LiH. These minima are at the theta=180 degrees linear geometry where the helium is located at the metal end of the metal hydride. The He-NaH and He-LiH potentials are very similar for the theta=0 degrees linear geometry. The He-NaH potential energy surface supports one vibrational bound state with E=-1.48 cm(-1). Since this energy is smaller than the accuracy of the potential energy surface, the existence of a bound He-NaH complex is questionable.