Biological Cybernetics (Biol Cybern)

Publications in this journal

• Article: Spike width and frequency alter stability of phase-locking in electrically coupled neurons.

  Ramana Dodla, Charles J Wilson
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  ABSTRACT: The stability of phase-locked states of electrically coupled type-1 phase response curve neurons is studied using piecewise linear formulations for their voltage profile and phase response curves. We find that at low frequency and/or small spike width, synchrony is stable, and antisynchrony unstable. At high frequency and/or large spike width, these phase-locked states switch their stability. Increasing the ratio of spike width to spike height causes the antisynchronous state to transition into a stable synchronous state. We compute the interaction function and the boundaries of stability of both these phase-locked states, and present analytical expressions for them. We also study the effect of phase response curve skewness on the boundaries of synchrony and antisynchrony.
  Biological Cybernetics 04/2013;
• Article: A review of cell assemblies.

  Christian R Huyck, Peter J Passmore
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  ABSTRACT: Since the cell assembly (CA) was hypothesised, it has gained substantial support and is believed to be the neural basis of psychological concepts. A CA is a relatively small set of connected neurons, that through neural firing can sustain activation without stimulus from outside the CA, and is formed by learning. Extensive evidence from multiple single unit recording and other techniques provides support for the existence of CAs that have these properties, and that their neurons also spike with some degree of synchrony. Since the evidence is so broad and deep, the review concludes that CAs are all but certain. A model of CAs is introduced that is informal, but is broad enough to include, e.g. synfire chains, without including, e.g. holographic reduced representation. CAs are found in most cortical areas and in some sub-cortical areas, they are involved in psychological tasks including categorisation, short-term memory and long-term memory, and are central to other tasks including working memory. There is currently insufficient evidence to conclude that CAs are the neural basis of all concepts. A range of models have been used to simulate CA behaviour including associative memory and more process- oriented tasks such as natural language parsing. Questions involving CAs, e.g. memory persistence, CAs' complex interactions with brain waves and learning, remain unanswered. CA research involves a wide range of disciplines including biology and psychology, and this paper reviews literature directly related to the CA, providing a basis of discussion for this interdisciplinary community on this important topic. Hopefully, this discussion will lead to more formal and accurate models of CAs that are better linked to neuropsychological data.
  Biological Cybernetics 04/2013;
• Article: Valentino Braitenberg: From neuroanatomy to behavior and back.

  Mario Negrello
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  ABSTRACT: This article compiles an expose of Valentino Braitenberg's singular view on neuroanatomy and neuroscience. The review emphasizes his topologically informed work on neuroanatomy and his dialectics of brain-based explanations of motor behavior. Some of his early ideas on topologically informed neuroanatomy are presented, together with some of his more obscure work on the taxonomy of neural fiber bundles and synaptic arborizations. His functionally informed interpretations of neuroanatomy of the cerebellum, cortex, and hippocampus, are introduced. Finally, we will touch on his philosophical views and the inextricable role of function in the explanation of neural behavior.
  Biological Cybernetics 03/2013;
• Article: Metabolic cost of neuronal information in an empirical stimulus-response model.

  Lubomir Kostal, Petr Lansky, Mark D McDonnell
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  ABSTRACT: The limits on maximum information that can be transferred by single neurons may help us to understand how sensory and other information is being processed in the brain. According to the efficient-coding hypothesis (Barlow, Sensory Comunication, MIT press, Cambridge, 1961), neurons are adapted to the statistical properties of the signals to which they are exposed. In this paper we employ methods of information theory to calculate, both exactly (numerically) and approximately, the ultimate limits on reliable information transmission for an empirical neuronal model. We couple information transfer with the metabolic cost of neuronal activity and determine the optimal information-to-metabolic cost ratios. We find that the optimal input distribution is discrete with only six points of support, both with and without a metabolic constraint. However, we also find that many different input distributions achieve mutual information close to capacity, which implies that the precise structure of the capacity-achieving input is of lesser importance than the value of capacity.
  Biological Cybernetics 03/2013;
• Article: From lamprey to salamander: an exploratory modeling study on the architecture of the spinal locomotor networks in the salamander.

  Andrej Bicanski, Dimitri Ryczko, Jean-Marie Cabelguen, Auke Jan Ijspeert
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  ABSTRACT: The evolutionary transition from water to land required new locomotor modes and corresponding adjustments of the spinal "central pattern generators" for locomotion. Salamanders resemble the first terrestrial tetrapods and represent a key animal for the study of these changes. Based on recent physiological data from salamanders, and previous work on the swimming, limbless lamprey, we present a model of the basic oscillatory network in the salamander spinal cord, the spinal segment. Model neurons are of the Hodgkin-Huxley type. Spinal hemisegments contain sparsely connected excitatory and inhibitory neuron populations, and are coupled to a contralateral hemisegment. The model yields a large range of experimental findings, especially the NMDA-induced oscillations observed in isolated axial hemisegments and segments of the salamander Pleurodeles waltlii. The model reproduces most of the effects of the blockade of AMPA synapses, glycinergic synapses, calcium-activated potassium current, persistent sodium current, and [Formula: see text]-current. Driving segments with a population of brainstem neurons yields fast oscillations in the in vivo swimming frequency range. A minimal modification to the conductances involved in burst-termination yields the slower stepping frequency range. Slow oscillators can impose their frequency on fast oscillators, as is likely the case during gait transitions from swimming to stepping. Our study shows that a lamprey-like network can potentially serve as a building block of axial and limb oscillators for swimming and stepping in salamanders.
  Biological Cybernetics 03/2013;
• Article: Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot.

  Federico L Moro, Alexander Spröwitz, Alexandre Tuleu, Massimo Vespignani, Nikos G Tsagarakis, Auke J Ijspeert, Darwin G Caldwell
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  ABSTRACT: This manuscript proposes a method to directly transfer the features of horse walking, trotting, and galloping to a quadruped robot, with the aim of creating a much more natural (horse-like) locomotion profile. A principal component analysis on horse joint trajectories shows that walk, trot, and gallop can be described by a set of four kinematic Motion Primitives (kMPs). These kMPs are used to generate valid, stable gaits that are tested on a compliant quadruped robot. Tests on the effects of gait frequency scaling as follows: results indicate a speed optimal walking frequency around 3.4 Hz, and an optimal trotting frequency around 4 Hz. Following, a criterion to synthesize gait transitions is proposed, and the walk/trot transitions are successfully tested on the robot. The performance of the robot when the transitions are scaled in frequency is evaluated by means of roll and pitch angle phase plots.
  Biological Cybernetics 03/2013;
• Article: Orientation enhancement in early visual processing can explain time course of brightness contrast and White's illusion.

  Subhajit Karmakar, Sandip Sarkar
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  ABSTRACT: Dynamics of orientation tuning in V1 indicates that computational model of V1 should not only comprise of bank of static spatially oriented filters but also include the contribution for dynamical response facilitation or suppression along orientation. Time evolution of orientation response in V1 can emerge due to time- dependent excitation and lateral inhibition in the orientation domain. Lateral inhibition in the orientation domain suggests that Ernst Mach's proposition can be applied for the enhancement of initial orientation distribution that is generated due to interaction of visual stimulus with spatially oriented filters and subcortical temporal filter. Oriented spatial filtering that appears much early ([Formula: see text]70 ms) in the sequence of visual information processing can account for many of the brightness illusions observed at steady state. It is therefore expected that time evolution of orientation response might be reflecting in the brightness percept over time. Our numerical study suggests that only spatio-temporal filtering at early phase can explain experimentally observed temporal dynamics of brightness contrast illusion. But, enhancement of orientation response at early phase of visual processing is the key mechanism that can guide visual system to predict the brightness by "Max-rule" or "Winner Takes All" (WTA) estimation and thus producing White's illusions at any exposure.
  Biological Cybernetics 03/2013;
• Article: Decoding the mechanisms of gait generation in salamanders by combining neurobiology, modeling and robotics.

  Andrej Bicanski, Dimitri Ryczko, Jérémie Knuesel, Nalin Harischandra, Vanessa Charrier, Orjan Ekeberg, Jean-Marie Cabelguen, Auke Jan Ijspeert
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  ABSTRACT: Vertebrate animals exhibit impressive locomotor skills. These locomotor skills are due to the complex interactions between the environment, the musculo-skeletal system and the central nervous system, in particular the spinal locomotor circuits. We are interested in decoding these interactions in the salamander, a key animal from an evolutionary point of view. It exhibits both swimming and stepping gaits and is faced with the problem of producing efficient propulsive forces using the same musculo-skeletal system in two environments with significant physical differences in density, viscosity and gravitational load. Yet its nervous system remains comparatively simple. Our approach is based on a combination of neurophysiological experiments, numerical modeling at different levels of abstraction, and robotic validation using an amphibious salamander-like robot. This article reviews the current state of our knowledge on salamander locomotion control, and presents how our approach has allowed us to obtain a first conceptual model of the salamander spinal locomotor networks. The model suggests that the salamander locomotor circuit can be seen as a lamprey-like circuit controlling axial movements of the trunk and tail, extended by specialized oscillatory centers controlling limb movements. The interplay between the two types of circuits determines the mode of locomotion under the influence of sensory feedback and descending drive, with stepping gaits at low drive, and swimming at high drive.
  Biological Cybernetics 02/2013;
• Article: Erratum to: Fuzzy ART-based place recognition for visual loop closure detection.

  Karima Rebai, Ouahiba Azouaoui, Nouara Achour
  Biological Cybernetics 02/2013;
• Article: Contributions of phase resetting and interlimb coordination to the adaptive control of hindlimb obstacle avoidance during locomotion in rats: a simulation study.

  Shinya Aoi, Takahiro Kondo, Naohiro Hayashi, Dai Yanagihara, Sho Aoki, Hiroshi Yamaura, Naomichi Ogihara, Tetsuro Funato, Nozomi Tomita, Kei Senda, Kazuo Tsuchiya
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  ABSTRACT: Obstacle avoidance during locomotion is essential for safe, smooth locomotion. Physiological studies regarding muscle synergy have shown that the combination of a small number of basic patterns produces the large part of muscle activities during locomotion and the addition of another pattern explains muscle activities for obstacle avoidance. Furthermore, central pattern generators in the spinal cord are thought to manage the timing to produce such basic patterns. In the present study, we investigated sensory-motor coordination for obstacle avoidance by the hindlimbs of the rat using a neuromusculoskeletal model. We constructed the musculoskeletal part of the model based on empirical anatomical data of the rat and the nervous system model based on the aforementioned physiological findings of central pattern generators and muscle synergy. To verify the dynamic simulation by the constructed model, we compared the simulation results with kinematic and electromyographic data measured during actual locomotion in rats. In addition, we incorporated sensory regulation models based on physiological evidence of phase resetting and interlimb coordination and examined their functional roles in stepping over an obstacle during locomotion. Our results show that the phase regulation based on interlimb coordination contributes to stepping over a higher obstacle and that based on phase resetting contributes to quick recovery after stepping over the obstacle. These results suggest the importance of sensory regulation in generating successful obstacle avoidance during locomotion.
  Biological Cybernetics 02/2013;
• Article: A novel method for the identification of synchronization effects in multichannel ECoG with an application to epilepsy.

  A Graef, M Hartmann, C Flamm, C Baumgartner, M Deistler, T Kluge
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  ABSTRACT: In this paper, we present a novel method for the identification of synchronization effects in multichannel electrocorticograms (ECoG). Based on autoregressive modeling, we define a dependency measure termed extrinsic-to-intrinsic power ratio (EIPR) which quantifies directed coupling effects in the time domain. Hereby, a dynamic input channel selection algorithm assures the estimation of the model parameters despite the strong spatial correlation among the high number of involved ECoG channels. We compare EIPR to the partial directed coherence, show its ability to indicate Granger causality and successfully validate a signal model. Applying EIPR to ictal ECoG data of patients suffering from temporal lobe epilepsy allows us to identify the electrodes of the seizure onset zone. The results obtained by the proposed method are in good accordance with the clinical findings.
  Biological Cybernetics 02/2013;
• Article: Delay-induced oscillations in Wilson and Cowan's model: an analysis of the subthalamo-pallidal feedback loop in healthy and parkinsonian subjects.

  William Pasillas-Lépine
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  ABSTRACT: The model proposed by Wilson and Cowan (1972) describes the dynamics of two interacting subpopulations of excitatory and inhibitory neurons. It has been used to model neural structures like the olfactory bulb, whisker barrels, and the subthalamo-pallidal system. It is well-known that this system can exhibit an oscillatory behavior that is amplified by the presence of delays. In the absence of delays, the conditions for stability are well-known. The aim of our paper is to clarify these conditions when delays are included in the model. The first ingredient of our methods is a new necessary and sufficient condition for the existence of multiple equilibria. This condition is related to those for local asymptotic stability. In addition, a sufficient condition for global stability is also proposed. The second and main ingredient is a stability analysis of the system in the frequency-domain, based on the Nyquist criterion, that takes the four independent delays into account. The methods proposed in this paper can be applied to analyse the stability of the subthalamo-pallidal feedback loop, a deep brain structure involved in Parkinson's disease. Our stability conditions are easy to compute and characterize sharply the system's parameters for which spontaneous oscillations appear.
  Biological Cybernetics 02/2013;
• Article: Instantaneous kinematic phase reflects neuromechanical response to lateral perturbations of running cockroaches.

  Shai Revzen, Samuel A Burden, Talia Y Moore, Jean-Michel Mongeau, Robert J Full
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  ABSTRACT: Instantaneous kinematic phase calculation allows the development of reduced-order oscillator models useful in generating hypotheses of neuromechanical control. When perturbed, changes in instantaneous kinematic phase and frequency of rhythmic movements can provide details of movement and evidence for neural feedback to a system-level neural oscillator with a time resolution not possible with traditional approaches. We elicited an escape response in cockroaches (Blaberus discoidalis) that ran onto a movable cart accelerated laterally with respect to the animals' motion causing a perturbation. The specific impulse imposed on animals (0.50 [Formula: see text] 0.04 m s[Formula: see text]; mean, SD) was nearly twice their forward speed (0.25 [Formula: see text] 0.06 m s[Formula: see text]. Instantaneous residual phase computed from kinematic phase remained constant for 110 ms after the onset of perturbation, but then decreased representing a decrease in stride frequency. Results from direct muscle action potential recordings supported kinematic phase results in showing that recovery begins with self-stabilizing mechanical feedback followed by neural feedback to an abstracted neural oscillator or central pattern generator. Trials fell into two classes of forward velocity changes, while exhibiting statistically indistinguishable frequency changes. Animals pulled away from the side with front and hind legs of the tripod in stance recovered heading within 300 ms, whereas animals that only had a middle leg of the tripod resisting the pull did not recover within this period. Animals with eight or more legs might be more robust to lateral perturbations than hexapods.
  Biological Cybernetics 02/2013;
• Article: Measuring frequency domain granger causality for multiple blocks of interacting time series.

  Luca Faes, Giandomenico Nollo
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  ABSTRACT: In the past years, several frequency-domain causality measures based on vector autoregressive time series modeling have been suggested to assess directional connectivity in neural systems. The most followed approaches are based on representing the considered set of multiple time series as a realization of two or three vector-valued processes, yielding the so-called Geweke linear feedback measures, or as a realization of multiple scalar-valued processes, yielding popular measures like the directed coherence (DC) and the partial DC (PDC). In the present study, these two approaches are unified and generalized by proposing novel frequency-domain causality measures which extend the existing measures to the analysis of multiple blocks of time series. Specifically, the block DC (bDC) and block PDC (bPDC) extend DC and PDC to vector-valued processes, while their logarithmic counterparts, denoted as multivariate total feedback [Formula: see text] and direct feedback [Formula: see text], represent into a full multivariate framework the Geweke's measures. Theoretical analysis of the proposed measures shows that they: (i) possess desirable properties of causality measures; (ii) are able to reflect either direct causality (bPDC, [Formula: see text] or total (direct + indirect) causality (bDC, [Formula: see text] between time series blocks; (iii) reduce to the DC and PDC measures for scalar-valued processes, and to the Geweke's measures for pairs of processes; (iv) are able to capture internal dependencies between the scalar constituents of the analyzed vector processes. Numerical analysis showed that the proposed measures can be efficiently estimated from short time series, allow to represent in an objective, compact way the information derived from the causal analysis of several pairs of time series, and may detect frequency domain causality more accurately than existing measures. The proposed measures find their natural application in the evaluation of directional interactions in neurophysiological settings where several brain activity signals are simultaneously recorded from multiple regions of interest.
  Biological Cybernetics 01/2013;
• Article: Asymmetry in neural fields: a spatiotemporal encoding mechanism.

  Mauricio Cerda, Bernard Girau
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  ABSTRACT: Neural field models have been successfully applied to model diverse brain mechanisms like visual attention, motor control, and memory. Most theoretical and modeling works have focused on the study of the dynamics of such systems under variations in neural connectivity, mainly symmetric connectivity among neurons. However, less attention has been given to the emerging properties of neuron populations when neural connectivity is asymmetric, although asymmetric activity propagation has been observed in cortical tissue. Here we explore the dynamics of neural fields with asymmetric connectivity and show, in the case of front propagation, that it can bias the population to follow a certain trajectory with higher activation. We find that asymmetry relates linearly to the input speed when the input is spatially localized, and this relation holds for different kernels and input shapes. To illustrate the behavior of asymmetric connectivity, we present an application: standard video sequences of human motion were encoded using the asymmetric neural field and compared to computer vision techniques. Overall, our results indicate that asymmetric neural fields are a competitive approach for spatiotemporal encoding with two main advantages: online classification and distributed operation.
  Biological Cybernetics 01/2013;
• Article: Where are we in understanding salamander locomotion: biological and robotic perspectives on kinematics.

  Konstantinos Karakasiliotis, Nadja Schilling, Jean-Marie Cabelguen, Auke Jan Ijspeert
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  ABSTRACT: Salamanders have captured the interest of biologists and roboticists for decades because of their ability to locomote in different environments and their resemblance to early representatives of tetrapods. In this article, we review biological and robotic studies on the kinematics (i.e., angular profiles of joints) of salamander locomotion aiming at three main goals: (i) to give a clear view of the kinematics, currently available, for each body part of the salamander while moving in different environments (i.e., terrestrial stepping, aquatic stepping, and swimming), (ii) to examine what is the status of our current knowledge and what remains unclear, and (iii) to discuss how much robotics and modeling have already contributed and will potentially contribute in the future to such studies.
  Biological Cybernetics 12/2012;
• Article: Synchronization regulation in a model of coupled neural masses.

  Zhen Ma, Weidong Zhou, Shujuan Geng, Qi Yuan, Xueli Li
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  ABSTRACT: A model of coupled neural masses can generate seizure-like events and dynamics similar to those observed during interictal to ictal transitions and thus can be used for theoretical study of the control of epileptic seizures. In an effort to understand the mechanisms underlying epileptic seizures and how to avoid them, we added a control input to this model. Epileptic seizures are always accompanied by hypersynchronous firing of neurons, so research on synchronization among cortical areas is significant for seizure control. In this study, principal component analysis (PCA) was used to identify synchronization clusters composed of several neural masses. A method for calculating the synchronization cluster strength and participation rate is presented. The synchronization cluster strength can be used to identify synchronization clusters and the participation rate can be employed to identify neural masses that participate in the clusters. Each synchronization cluster is controlled as a whole using a proportional-integral-derivative (PID) controller. We illustrate these points using coupled neural mass models of synchronization to show their responses to increased (between node) coupling with and without control. Experiment results indicated that PID control can effectively regulate synchronization between neural masses and has the potential for seizure prevention.
  Biological Cybernetics 12/2012;
• Article: On dependency properties of the ISIs generated by a two-compartmental neuronal model.

  Elisa Benedetto, Laura Sacerdote
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  ABSTRACT: One-dimensional leaky integrate and fire neuronal models describe interspike intervals (ISIs) of a neuron as a renewal process and disregarding the neuron geometry. Many multi-compartment models account for the geometrical features of the neuron but are too complex for their mathematical tractability. Leaky integrate and fire two-compartment models seem a good compromise between mathematical tractability and an improved realism. They indeed allow to relax the renewal hypothesis, typical of one-dimensional models, without introducing too strong mathematical difficulties. Here, we pursue the analysis of the two-compartment model studied by Lansky and Rodriguez (Phys D 132:267-286, 1999), aiming of introducing some specific mathematical results used together with simulation techniques. With the aid of these methods, we investigate dependency properties of ISIs for different values of the model parameters. We show that an increase of the input increases the strength of the dependence between successive ISIs.
  Biological Cybernetics 12/2012;