Embodied neuromechanical chaos through homeostatic regulation

In this paper, we present detailed analyses of the dynamics of a number of embodied neuromechanical systems of a class that has been shown to efficiently exploit chaos in the development and learning of motor behaviors for bodies of arbitrary morphology. This class of systems has been successfully used in robotics, as well as to model biological systems. At the heart of these systems are neural central pattern generating (CPG) units connected to actuators which return proprioceptive information via an adaptive homeostatic mechanism. Detailed dynamical analyses of example systems, using high resolution largest Lyapunov exponent maps, demonstrate the existence of chaotic regimes within a particular region of parameter space, as well as the striking similarity of the maps for systems of varying size. Thanks to the homeostatic sensory mechanisms, any single CPG “views” the whole of the rest of the system as if it was another CPG in a two coupled system, allowing a scale invariant conceptualization of such embodied neuromechanical systems. The analysis reveals chaos at all levels of the systems; the entire brain-body-environment system exhibits chaotic dynamics which can be exploited to power an exploration of possible motor behaviors. The crucial influence of the adaptive homeostatic mechanisms on the system dynamics is examined in detail, revealing chaotic behavior characterized by mixed mode oscillations (MMOs). An analysis of the mechanism of the MMO concludes that they stems from dynamic Hopf bifurcation, where a number of slow variables act as “moving” bifurcation parameters for the remaining part of the system

Brain-Inspired Spatio-Temporal Associative Memories for Neuroimaging Data Classification: EEG and fMRI

Humans learn from a lot of information sources to make decisions. Once this information is learned in the brain, spatio-temporal associations are made, connecting all these sources (variables) in space and time represented as brain connectivity. In reality, to make a decision, we usually have only part of the information, either as a limited number of variables, limited time to make the decision, or both. The brain functions as a spatio-temporal associative memory. Inspired by the ability of the human brain, a brain-inspired spatio-temporal associative memory was proposed earlier that utilized the NeuCube brain-inspired spiking neural network framework. Here we applied the STAM framework to develop STAM for neuroimaging data, on the cases of EEG and fMRI, resulting in STAM-EEG and STAM-fMRI. This paper showed that once a NeuCube STAM classification model was trained on a complete spatio-temporal EEG or fMRI data, it could be recalled using only part of the time series, or/and only part of the used variables. We evaluated both temporal and spatial association and generalization accuracy accordingly. This was a pilot study that opens the field for the development of classification systems on other neuroimaging data, such as longitudinal MRI data, trained on complete data but recalled on partial data. Future research includes STAM that will work on data, collected across different settings, in different labs and clinics, that may vary in terms of the variables and time of data collection, along with other parameters. The proposed STAM will be further investigated for early diagnosis and prognosis of brain conditions and for diagnostic/prognostic marker discovery