1,518 research outputs found
Information driven self-organization of complex robotic behaviors
Information theory is a powerful tool to express principles to drive
autonomous systems because it is domain invariant and allows for an intuitive
interpretation. This paper studies the use of the predictive information (PI),
also called excess entropy or effective measure complexity, of the sensorimotor
process as a driving force to generate behavior. We study nonlinear and
nonstationary systems and introduce the time-local predicting information
(TiPI) which allows us to derive exact results together with explicit update
rules for the parameters of the controller in the dynamical systems framework.
In this way the information principle, formulated at the level of behavior, is
translated to the dynamics of the synapses. We underpin our results with a
number of case studies with high-dimensional robotic systems. We show the
spontaneous cooperativity in a complex physical system with decentralized
control. Moreover, a jointly controlled humanoid robot develops a high
behavioral variety depending on its physics and the environment it is
dynamically embedded into. The behavior can be decomposed into a succession of
low-dimensional modes that increasingly explore the behavior space. This is a
promising way to avoid the curse of dimensionality which hinders learning
systems to scale well.Comment: 29 pages, 12 figure
Coverage, Continuity and Visual Cortical Architecture
The primary visual cortex of many mammals contains a continuous
representation of visual space, with a roughly repetitive aperiodic map of
orientation preferences superimposed. It was recently found that orientation
preference maps (OPMs) obey statistical laws which are apparently invariant
among species widely separated in eutherian evolution. Here, we examine whether
one of the most prominent models for the optimization of cortical maps, the
elastic net (EN) model, can reproduce this common design. The EN model
generates representations which optimally trade of stimulus space coverage and
map continuity. While this model has been used in numerous studies, no
analytical results about the precise layout of the predicted OPMs have been
obtained so far. We present a mathematical approach to analytically calculate
the cortical representations predicted by the EN model for the joint mapping of
stimulus position and orientation. We find that in all previously studied
regimes, predicted OPM layouts are perfectly periodic. An unbiased search
through the EN parameter space identifies a novel regime of aperiodic OPMs with
pinwheel densities lower than found in experiments. In an extreme limit,
aperiodic OPMs quantitatively resembling experimental observations emerge.
Stabilization of these layouts results from strong nonlocal interactions rather
than from a coverage-continuity-compromise. Our results demonstrate that
optimization models for stimulus representations dominated by nonlocal
suppressive interactions are in principle capable of correctly predicting the
common OPM design. They question that visual cortical feature representations
can be explained by a coverage-continuity-compromise.Comment: 100 pages, including an Appendix, 21 + 7 figure
Rich-Club Organization in Effective Connectivity among Cortical Neurons.
The performance of complex networks, like the brain, depends on how effectively their elements communicate. Despite the importance of communication, it is virtually unknown how information is transferred in local cortical networks, consisting of hundreds of closely spaced neurons. To address this, it is important to record simultaneously from hundreds of neurons at a spacing that matches typical axonal connection distances, and at a temporal resolution that matches synaptic delays. We used a 512-electrode array (60 μm spacing) to record spontaneous activity at 20 kHz from up to 500 neurons simultaneously in slice cultures of mouse somatosensory cortex for 1 h at a time. We applied a previously validated version of transfer entropy to quantify information transfer. Similar to in vivo reports, we found an approximately lognormal distribution of firing rates. Pairwise information transfer strengths also were nearly lognormally distributed, similar to reports of synaptic strengths. Some neurons transferred and received much more information than others, which is consistent with previous predictions. Neurons with the highest outgoing and incoming information transfer were more strongly connected to each other than chance, thus forming a “rich club.” We found similar results in networks recorded in vivo from rodent cortex, suggesting the generality of these findings. A rich-club structure has been found previously in large-scale human brain networks and is thought to facilitate communication between cortical regions. The discovery of a small, but information-rich, subset of neurons within cortical regions suggests that this population will play a vital role in communication, learning, and memory.SIGNIFICANCE STATEMENT Many studies have focused on communication networks between cortical brain regions. In contrast, very few studies have examined communication networks within a cortical region. This is the first study to combine such a large number of neurons (several hundred at a time) with such high temporal resolution (so we can know the direction of communication between neurons) for mapping networks within cortex. We found that information was not transferred equally through all neurons. Instead, ∼70% of the information passed through only 20% of the neurons. Network models suggest that this highly concentrated pattern of information transfer would be both efficient and robust to damage. Therefore, this work may help in understanding how the cortex processes information and responds to neurodegenerative diseases
Integrated information theory in complex neural systems
This thesis concerns Integrated Information Theory (IIT), a branch of information theory aimed at providing a fundamental theory of consciousness. At its core, lie two powerful intuitions:
• That a system that is somehow more than the sum of its parts has non-zero integrated information, Φ; and
• That a system with non-zero integrated information is conscious.
The audacity of IIT’s claims about consciousness has (understandably) sparked vigorous criticism, and experimental evidence for IIT as a theory of consciousness remains scarce and indirect. Nevertheless, I argue that IIT still has merits as a theory of informational complexity within complexity science, leaving aside all claims about consciousness. In my work I follow this broad line of reasoning: showcasing applications where IIT yields rich analyses of complex systems, while critically examining its merits and limitations as a theory of consciousness.
This thesis is divided in three parts. First, I describe three example applications of IIT to complex systems from the computational neuroscience literature (coupled oscillators, spiking neurons, and cellular automata), and develop novel Φ estimators to extend IIT’s range of applicability. Second, I show two important limitations of current IIT: that its axiomatic foundation is not specific enough to determine a unique measure of integrated information; and that available measures do not behave as predicted by the theory when applied to neurophysiological data.
Finally, I present new theoretical developments aimed at alleviating some of IIT’s flaws. These are based on the concepts of partial information decomposition and lead to a unification of both theories, Integrated Information Decomposition, or ΦID. The thesis concludes with two experimental studies on M/EEG data, showing that a much simpler informational theory of consciousness – the entropic brain hypothesis – can yield valuable insight without the mathematical challenges brought by IIT.Open Acces
A combined experimental and computational approach to investigate emergent network dynamics based on large-scale neuronal recordings
Sviluppo di un approccio integrato computazionale-sperimentale per lo studio di reti neuronali mediante registrazioni elettrofisiologich
Recommended from our members
Neuronal dynamics and connectivity analysis of neuronal cultures on multi electrode arrays
Despite a number of attempts over the past two decades, research into reliable, controlled induction of long term evoked responses, mimicking low level learning and memory in dissociated cell cultures remains challenging. In addition, a full understanding of the stimulus-response relationships that underlie synaptic plasticity has not yet been achieved, and many of the underlying principles remain largely unknown. Plasticity studies have been predominantly limited to low density Multi/Micro Electrode Arrays (MEAs). With the advent of complementary metal-oxide-semiconductor (CMOS) based High-Density (HD) MEAs, unprecedented spatial and temporal resolution is now possible. In this thesis, an attempt to bridge the gap between studies of neural plasticity and the use of CMOS based HD-MEAs with thousands of electrodes, is reported. Additionally, since such HD-MEAs generate a large volume of data and require advanced analytics to efficiently process and analyse recordings, computational tools and novel algorithms to infer connectivity during plasticity have been developed.
The study showed that the responsiveness, stability and initial firing rate of neuronal cultures are the deciding factors to reliably induce evoked responses. With multi-site stimulation, sustained long term potentiation was achieved, which was validated both by evoked response plots and overall firing rates measured at five different time points - before and after repeated stimulation, and at a three day time points. In contrast, while depression responses were observed, it was found that the effects were not sustained over many days. The findings of the study suggest that appropriate selection of neuronal cultures is crucial for inducing desired evoked responses and criteria for this have been developed. Furthermore, it is concluded that the initial responses to test stimuli can be used to determine whether potentiated or depressed responses are to be expected.
To analyse the recordings, pipeline of computational tools was developed. Firstly, neuronal synchrony metrics were adapted for the first time for large HD-MEA recordings and shown to correspond effectively to the firing dynamics. To analyse functional connectivity, an information theoretic approach, Transfer Entropy(TE), was utilised. The method showed accurate estimation of functional connectivity with mid 80th percentile accuracy on simulated data. A superimposition method was proposed to enhance confidence in the connectivity estimation. To statistically evaluate connectivity estimation, a new surrogate method, based on ISI distribution approach, was proposed and validated with a simulated Izhikevich network. The method achieved improved accuracy, compared to the existing ISI shuffling method. This newly developed method was later utilised to infer connectivity and refine connections during the learning process of real neuronal cultures over many days of stimulation. The connectivity inference corresponded accurately to both the spontaneous and stimulated networks during evoked responses and the proposed method permitted observation of the evolution of connections for the potentiated network
Self-organization in Communicating Groups: the emergence of coordination, shared references and collective intelligence\ud
The present paper will sketch the basic ideas of the complexity paradigm, and then apply them to social systems, and in particular to groups of communicating individuals who together need to agree about how to tackle some problem or how to coordinate their actions. I will elaborate these concepts to provide an integrated foundation for a theory of self-organization, to be understood as a non-linear process of spontaneous coordination between actions. Such coordination will be shown to consist of the following components: alignment, division of labor, workflow and aggregation. I will then review some paradigmatic simulations and experiments that illustrate the alignment of references and communicative conventions between communicating agents. Finally, the paper will summarize the preliminary results of a series of experiments that I devised in order to observe the emergence of collective intelligence within a communicating group, and interpret these observations in terms of alignment, division of labor and workflow
The role of cortical oscillations in a spiking neural network model of the basal ganglia.
Although brain oscillations involving the basal ganglia (BG) have been the target of extensive research, the main focus lies disproportionally on oscillations generated within the BG circuit rather than other sources, such as cortical areas. We remedy this here by investigating the influence of various cortical frequency bands on the intrinsic effective connectivity of the BG, as well as the role of the latter in regulating cortical behaviour. To do this, we construct a detailed neural model of the complete BG circuit based on fine-tuned spiking neurons, with both electrical and chemical synapses as well as short-term plasticity between structures. As a measure of effective connectivity, we estimate information transfer between nuclei by means of transfer entropy. Our model successfully reproduces firing and oscillatory behaviour found in both the healthy and Parkinsonian BG. We found that, indeed, effective connectivity changes dramatically for different cortical frequency bands and phase offsets, which are able to modulate (or even block) information flow in the three major BG pathways. In particular, alpha (8-12Hz) and beta (13-30Hz) oscillations activate the direct BG pathway, and favour the modulation of the indirect and hyper-direct pathways via the subthalamic nucleus-globus pallidus loop. In contrast, gamma (30-90Hz) frequencies block the information flow from the cortex completely through activation of the indirect pathway. Finally, below alpha, all pathways decay gradually and the system gives rise to spontaneous activity generated in the globus pallidus. Our results indicate the existence of a multimodal gating mechanism at the level of the BG that can be entirely controlled by cortical oscillations, and provide evidence for the hypothesis of cortically-entrained but locally-generated subthalamic beta activity. These two findings suggest new insights into the pathophysiology of specific BG disorders
Linear and nonlinear approaches to unravel dynamics and connectivity in neuronal cultures
[eng] In the present thesis, we propose to explore neuronal circuits at the mesoscale, an approach in which one monitors small populations of few thousand neurons and concentrates in the emergence of collective behavior. In our case, we carried out such an exploration both experimentally and numerically, and by adopting an analysis perspective centered on time series analysis and dynamical systems. Experimentally, we used neuronal cultures and prepared more than 200 of them, which were monitored using fluorescence calcium imaging. By adjusting the experimental conditions, we could set two basic arrangements of neurons, namely homogeneous and aggregated. In the experiments, we carried out two major explorations, namely development and disintegration. In the former we investigated changes in network behavior as it matured; in the latter we applied a drug that reduced neuronal interconnectivity. All the subsequent analyses and modeling along the thesis are based on these experimental data. Numerically, the thesis comprised two aspects. The first one was oriented towards a simulation of neuronal connectivity and dynamics. The second one was oriented towards the development of linear and nonlinear analysis tools to unravel dynamic and connectivity aspects of the measured experimental networks. For the first aspect, we developed a sophisticated software package to simulate single neuronal dynamics using a quadratic integrate–and–fire model with adaptation and depression. This model was plug into a synthetic graph in which the nodes of the network are neurons, and the edges connections. The graph was created using spatial embedding and realistic biology. We carried out hundreds of simulations in which we tuned the density of neurons, their spatial arrangement and the characteristics of the fluorescence signal. As a key result, we observed that homogeneous networks required a substantial number of neurons to fire and exhibit collective dynamics, and that the presence of aggregation significantly reduced the number of required neurons. For the second aspect, data analysis, we analyzed experiments and simulations to tackle three major aspects: network dynamics reconstruction using linear descriptions, dynamics reconstruction using nonlinear descriptors, and the assessment of neuronal connectivity from solely activity data. For the linear study, we analyzed all experiments using the power spectrum density (PSD), and observed that it was sufficiently good to describe the development of the network or its disintegration. PSD also allowed us to distinguish between healthy and unhealthy networks, and revealed dynamical heterogeneities across the network. For the nonlinear study, we used techniques in the context of recurrence plots. We first characterized the embedding dimension m and the time delay δ for each experiment, built the respective recurrence plots, and extracted key information of the dynamics of the system through different descriptors. Experimental results were contrasted with numerical simulations. After analyzing about 400 time series, we concluded that the degree of dynamical complexity in neuronal cultures changes both during development and disintegration. We also observed that the healthier the culture, the higher its dynamic complexity. Finally, for the reconstruction study, we first used numerical simulations to determine the best measure of ‘statistical interdependence’ among any two neurons, and took Generalized Transfer Entropy. We then analyzed the experimental data. We concluded that young cultures have a weak connectivity that increases along maturation. Aggregation increases average connectivity, and more interesting, also the assortativity, i.e. the tendency of highly connected nodes to connect with other highly connected node. In turn, this assortativity may delineates important aspects of the dynamics of the network. Overall, the results show that spatial arrangement and neuronal dynamics are able to shape a very rich repertoire of dynamical states of varying complexity.[cat] L’habilitat dels teixits neuronals de processar i transmetre informació de forma eficient depèn de les propietats dinàmiques intrínseques de les neurones i de la connectivitat entre elles. La present tesi proposa explorar diferents tècniques experimentals i de simulació per analitzar la dinàmica i connectivitat de xarxes neuronals corticals de rata embrionària. Experimentalment, la gravació de l’activitat espontània d’una població de neurones en cultiu, mitjançant una càmera ràpida i tècniques de fluorescència, possibilita el seguiment de forma controlada de l’activitat individual de cada neurona, així com la modificació de la seva connectivitat. En conjunt, aquestes eines permeten estudiar el comportament col.lectiu emergent de la població neuronal. Amb l’objectiu de simular els patrons observats en el laboratori, hem implementat un model mètric aleatori de creixement neuronal per simular la xarxa física de connexions entre neurones, i un model quadràtic d’integració i dispar amb adaptació i depressió per modelar l’ampli espectre de dinàmiques neuronals amb un cost computacional reduït. Hem caracteritzat la dinàmica global i individual de les neurones i l’hem correlacionat amb la seva estructura subjacent mitjançant tècniques lineals i no–lineals de series temporals. L’anàlisi espectral ens ha possibilitat la descripció del desenvolupament i els canvis en connectivitat en els cultius, així com la diferenciació entre cultius sans dels patològics. La reconstrucció de la dinàmica subjacent mitjançant mètodes d’incrustació i l’ús de gràfics de recurrència ens ha permès detectar diferents transicions dinàmiques amb el corresponent guany o pèrdua de la complexitat i riquesa dinàmica del cultiu durant els diferents estudis experimentals. Finalment, a fi de reconstruir la connectivitat interna hem testejat, mitjançant simulacions, diferents quantificadors per mesurar la dependència estadística entre neurona i neurona, seleccionant finalment el mètode de transferència d’entropia gereralitzada. Seguidament, hem procedit a caracteritzar les xarxes amb diferents paràmetres. Malgrat presentar certs tres de xarxes tipus ‘petit món’, els nostres cultius mostren una distribució de grau ‘exponencial’ o ‘esbiaixada’ per, respectivament, cultius joves i madurs. Addicionalment, hem observat que les xarxes homogènies presenten la propietat de disassortativitat, mentre que xarxes amb un creixent nivell d’agregació espaial presenten assortativitat. Aquesta propietat impacta fortament en la transmissió, resistència i sincronització de la xarxa
- …