Sensorimotor model of bat echolocation and prey capture.

A model of the bat sensorimotor system is developed using acoustics, signal processing, and control theory to illustrate the fundamental issues in accomplishing prey capture with echolocation. This model indicates that successful nonpredictive tracking of an ideal prey can be accomplished with a very simple system. Circular apertures approximate the mouth and ears for deriving acoustic beam patterns, using the big brown bat Eptesicus fuscus as a model. Fundamental and overtone frequency components in the emissions allow two simultaneous acoustic beams to be defined. A pair of nonlinear, time-variable, sampled-data controllers alter the bat's heading by applying yaw and pitch heading corrections. The yaw correction attempts to position the prey in the midsagittal plane by nulling the interaural intensity difference of the fundamental component. The pitch correction compares the intensities of the overtone and fundamental components and acts to null their difference. By initiating pitch correction when the overtone intensity first exceeds that of the fundamental, the ambiguity problem is solved and the prey is directed to the capture region. Simulations of passive prey capture indicate that the capture probability decreases as the prey speed increases. Both quick and sluggish prey are considered, with sluggish prey found to be caught with slightly better efficiency. The magnitude of the prey's lateral motion just prior to capture is observed to be an important factor determining capture. The presence of a blind stage is considered, during which the interference of the emission with the echo is assumed to disrupt any sonar information. The presence of such a blind stage is found to have negligible effect on capture efficiency.