Si elegans: a computational model of C. elegans muscle response to light

It has long been the goal of computational neuroscientists to understand animal nervous systems, but their vast complexity has made it very difficult to fully understand even basic functions such as movement. The C. elegans nematode offers the opportunity to study a fully described connectome and link neural network to behaviour. In this paper a model of the responses of the body wall muscle in C. elegans to a random light stimulus is presented. An algorithm has been developed that tracks synapses in the nematode nervous system from the stimulus in the phototaxis sensory neurons to the muscles cells. A linear second order model was used to calculate the isometric force in each of the C. elegans body wall muscle cells. The isometric force calculated resembles that of previous investigations in muscle modelling

Novel design methods of central nervous system of C. elegans and olfactory bulb model of mammal based on sequential logic and numerical integration

This study proposes a novel design method of a neuromorphic electronic circuit: design of a neuromorphic circuit based on appropriately selected hybrid dynamics of synchronous sequential logic, asynchronous sequential logic, and numerical integration. Based on the proposed design method, a novel central nervous system model of C. elegans, and an olfactory bulb model are presented. It is then shown that the presented models can realize typical responses of a conventional central nervous system model of C. elegans, and the observation of chaos in the olfactory bulb. Furthermore, the presented models are implemented by a field programmable gate array and the presented model of C.elegans is used to control a prototype robot of C. elegans body. Then, experiments validate that the presented central nervous system model enables the body robot to reproduce typical chemotaxis behaviors of the conventional C. elegans model. In addition, comparisons show that the presented model consumes fewer circuit elements and lower power compared to various central nervous system models of C. elegans based on synchronous sequential logic, asynchronous sequential logic, and numerical integration

A neural circuit for navigation inspired by C. elegans Chemotaxis

We develop an artificial neural circuit for contour tracking and navigation inspired by the chemotaxis of the nematode Caenorhabditis elegans. In order to harness the computational advantages spiking neural networks promise over their non-spiking counterparts, we develop a network comprising 7-spiking neurons with non-plastic synapses which we show is extremely robust in tracking a range of concentrations. Our worm uses information regarding local temporal gradients in sodium chloride concentration to decide the instantaneous path for foraging, exploration and tracking. A key neuron pair in the C. elegans chemotaxis network is the ASEL & ASER neuron pair, which capture the gradient of concentration sensed by the worm in their graded membrane potentials. The primary sensory neurons for our network are a pair of artificial spiking neurons that function as gradient detectors whose design is adapted from a computational model of the ASE neuron pair in C. elegans. Simulations show that our worm is able to detect the set-point with approximately four times higher probability than the optimal memoryless Levy foraging model. We also show that our spiking neural network is much more efficient and noise-resilient while navigating and tracking a contour, as compared to an equivalent non-spiking network. We demonstrate that our model is extremely robust to noise and with slight modifications can be used for other practical applications such as obstacle avoidance. Our network model could also be extended for use in three-dimensional contour tracking or obstacle avoidance

A computational model of internal representations of chemical gradients in environments for chemotaxis of Caenorhabditis elegans

The small roundworm Caenorhabditis elegans employs two strategies, termed pirouette and weathervane, which are closely related to the internal representation of chemical gradients parallel and perpendicular to the travelling direction, respectively, to perform chemotaxis. These gradients must be calculated from the chemical information obtained at a single point, because the sensory neurons are located close to each other at the nose tip. To formulate the relationship between this sensory input and internal representations of the chemical gradient, this study proposes a simple computational model derived from the directional decomposition of the chemical concentration at the nose tip that can generate internal representations of the chemical gradient. The ability of the computational model was verified by using a chemotaxis simulator that can simulate the body motions of pirouette and weathervane, which confirmed that the computational model enables the conversion of the sensory input and head-bending angles into both types of gradients with high correlations of approximately r > 0.90 (p < 0.01) with the true gradients. In addition, the chemotaxis index of the model was 0.64, which is slightly higher than that in the actual animal (0.57). In addition, simulation using a connectome-based neural network model confirmed that the proposed computational model is implementable in the actual network structure.This work was supported by JSPS KAKENHI Grant Number 15H03950 to T.T and MEXT KAKENHI Grant Numbers 20115010 to T.T. and 20115002 to Y.I

匂い源探索における状態依存的な複数感覚統合に関する研究

学位の種別: 課程博士審査委員会委員 : （主査）東京大学教授 神崎 亮平, 東京大学教授 下山 勲, 東京大学教授 竹内 昌治, 東京大学特任講師 安藤 規泰, 総合研究大学院大学講師 木下 充代University of Tokyo(東京大学

Neural dynamics of social behavior : An evolutionary and mechanistic perspective on communication, cooperation, and competition among situated agents

Social behavior can be found on almost every level of life, ranging from microorganisms to human societies. However, explaining the evolutionary emergence of cooperation, communication, or competition still challenges modern biology. The most common approaches to this problem are based on game-theoretic models. The problem is that these models often assume fixed and limited rules and actions that individual agents can choose from, which excludes the dynamical nature of the mechanisms that underlie the behavior of living systems. So far, there exists a lack of convincing modeling approaches to investigate the emergence of social behavior from a mechanistic and evolutionary perspective. Instead of studying animals, the methodology employed in this thesis combines several aspects from alternative approaches to study behavior in a rather novel way. Robotic models are considered as individual agents which are controlled by recurrent neural networks representing non-linear dynamical system. The topology and parameters of these networks are evolved following an open-ended evolution approach, that is, individuals are not evaluated on high-level goals or optimized for specific functions. Instead, agents compete for limited resources to enhance their chance of survival. Further, there is no restriction with respect to how individuals interact with their environment or with each other. As its main objective, this thesis aims at a complementary approach for studying not only the evolution, but also the mechanisms of basic forms of communication. For this purpose it can be shown that a robot does not necessarily have to be as complex as a human, not even as complex as a bacterium. The strength of this approach is that it deals with rather simple, yet complete and situated systems, facing similar real world problems as animals do, such as sensory noise or dynamically changing environments. The experimental part of this thesis is substantiated in a five-part examination. First, self-organized aggregation patterns are discussed. Second, the advantages of evolving decentralized control with respect to behavioral robustness and flexibility is demonstrated. Third, it is shown that only minimalistic local acoustic communication is required to coordinate the behavior of large groups. This is followed by investigations of the evolutionary emergence of communication. Finally, it is shown how already evolved communicative behavior changes during further evolution when a population is confronted with competition about limited environmental resources. All presented experiments entail thorough analysis of the dynamical mechanisms that underlie evolved communication systems, which has not been done so far in the context of cooperative behavior. This framework leads to a better understanding of the relation between intrinsic neurodynamics and observable agent-environment interactions. The results discussed here provide a new perspective on the evolution of cooperation because they deal with aspects largely neglected in traditional approaches, aspects such as embodiment, situatedness, and the dynamical nature of the mechanisms that underlie behavior. For the first time, it can be demonstrated how noise influences specific signaling strategies and that versatile dynamics of very small-scale neural networks embedded in sensory-motor feedback loops give rise to sophisticated forms of communication such as signal coordination, cooperative intraspecific communication, and, most intriguingly, aggressive interspecific signaling. Further, the results demonstrate the development of counteractive niche construction based on a modification of communication strategies which generates an evolutionary feedback resulting in an active reduction of selection pressure, which has not been shown so far. Thus, the novel findings presented here strongly support the complementary nature of robotic experiments to study the evolution and mechanisms of communication and cooperation.</p