Reliable circuits from irregular neurons: a dynamical approach to understanding central pattern generators

Energy dependence of synchronization mode transitions in the delay-coupled FitzHugh-Nagumo system driven by chaotic activity

Energy absorption and consumption are essential for the activity of single neurons and neuronal networks. The synchronization mode transition and energy dependence in a delay-coupled FitzHugh-Nagumo (FHN) neuronal system driven by chaotic activity are investigated in this paper. With the change of chaotic current intensity, it was found that the synchronization mode of coupled neurons undergoes synchronous state, transition state, anti-phase state, alternating asynchronous and anti-phase state, and chaotic current-induced chaotic state. The Hamiltonian energy is much dependent on the synchronization mode of coupled neurons. The synchronization mode and the Hamiltonian energy of coupled neurons can be modulated by chaotic current intensity, coupling strength and time delay. The introduction of the time delay induces the system to become bistable state. Chaotic current as an external force induced transitions between the synchronous and anti-phase states. Coupling strength is an intrinsic property of the system and can change the properties of the bistable state. Furthermore, the synchronous and anti-phase states appear intermittently with the increasing of time delay. A chained neuronal network is used to prove that the synchronization mode transition of the system of multiple neurons is similar to the two neurons. The results of this paper might help one to understand the intrinsic energy alteration mechanisms of neuronal synchronization.

Stability and synchronization in neural network with delayed synaptic connections

In this paper, we investigate the stability of the synchronous state in a complex network using the master stability function technique. We use the extended Hindmarsh-Rose neuronal model including time delayed electrical, chemical, and hybrid couplings. We find the corresponding master stability equation that describes the whole dynamics for each coupling mode. From the maximum Lyapunov exponent, we deduce the stability state for each coupling mode. We observe that for electrical coupling, there exists a mixing between stable and unstable states. For a good setting of some system parameters, the position and the size of unstable areas can be modified. For chemical coupling, we observe difficulties in having a stable area in the complex plane. For hybrid coupling, we observe a stable behavior in the whole system compared to the case where these couplings are considered separately. The obtained results for each coupling mode help to analyze the stability state of some network topologies by using the corresponding eigenvalues. We observe that using electrical coupling can involve a full or partial stability of the system. In the case of chemical coupling, unstable states are observed whereas in the case of hybrid interactions a full stability of the network is obtained. Temporal analysis of the global synchronization is also done for each coupling mode, and the results show that when the network is stable, the synchronization is globally observed, while in the case when it is unstable, its nodes are not globally synchronized.

Automatized offline and online exploration to achieve a target dynamics in biohybrid neural circuits built with living and model neurons

Biohybrid circuits of interacting living and model neurons are an advantageous means to study neural dynamics and to assess the role of specific neuron and network properties in the nervous system. Hybrid networks are also a necessary step to build effective artificial intelligence and brain hybridization. In this work, we deal with the automatized online and offline adaptation, exploration and parameter mapping to achieve a target dynamics in hybrid circuits and, in particular, those that yield dynamical invariants between living and model neurons. We address dynamical invariants that form robust cycle-by-cycle relationships between the intervals that build neural sequences from such interaction. Our methodology first attains automated adaptation of model neurons to work in the same amplitude regime and time scale of living neurons. Then, we address the automatized exploration and mapping of the synapse parameter space that lead to a specific dynamical invariant target. Our approach uses multiple configurations and parallel computing from electrophysiological recordings of living neurons to build full mappings, and genetic algorithms to achieve an instance of the target dynamics for the hybrid circuit in a short time. We illustrate and validate such strategy in the context of the study of functional sequences in neural rhythms, which can be easily generalized for any variety of hybrid circuit configuration. This approach facilitates both the building of hybrid circuits and the accomplishment of their scientific goal.

Complex bifurcation analysis and synchronization optimal control for Hindmarsh-Rose neuron model under magnetic flow effect

In this contribution, the complex behaviour of the Hindmarsh-Rose neuron model under magnetic flow effect (mHR) is investigated in terms of bifurcation diagrams, Lyapunov exponent plots and time series when varying only the electromagnetic induction strength. Some exciting phenomena are found including, for instance, various firings patterns by applying appropriate magnetic strength and Hopf-fold bursting through fast-slow bifurcation. In addition to this, the interesting phenomenon of Hopf bifurcation is examined in the model. Thus, we prove that Hopf bifurcation occurs in this memristor-based HR neuron model when an appropriately chosen magnetic flux varies and reaches its critical value. Furthermore, one of the main results of this work was the optimal control approach to realize the synchronization of two mHR. The main advantage of the proposed optimal master-slave synchronization from a control point of view is that, in the practical application, the electrical activities (quiescent, bursting, spiking, period and chaos states) of a neuron can be regulated by a pacemaker (master) associated with biological neuron (slave) to treat some diseases such as epilepsy. A suitable electronic circuit is designed and used for the investigations. PSpice based simulation results confirm that the electrical activities and synchronization between coupled neurons can be modulated by electromagnetic flux.

Statistical data assimilation for estimating electrophysiology simultaneously with connectivity within a biological neuronal network

A method of data assimilation (DA) is employed to estimate electrophysiological parameters of neurons simultaneously with their synaptic connectivity in a small model biological network. The DA procedure is cast as an optimization, with a cost function consisting of both a measurement error and a model error term. An iterative reweighting of these terms permits a systematic method to identify the lowest minimum, within a local region of state space, on the surface of a nonconvex cost function. In the model, two sets of parameter values are associated with two particular functional modes of network activity: simultaneous firing of all neurons and a pattern-generating mode wherein the neurons burst in sequence. The DA procedure is able to recover these modes if: (i) the stimulating electrical currents have chaotic waveforms and (ii) the measurements consist of the membrane voltages of all neurons in the circuit. Further, this method is able to prune a model of unnecessarily high dimensionality to a representation that contains the maximum dimensionality required to reproduce the provided measurements. This paper offers a proof-of-concept that DA has the potential to inform laboratory designs for estimating properties in small and isolatable functional circuits.

Robust dynamical invariants in sequential neural activity

By studying different sources of temporal variability in central pattern generator (CPG) circuits, we unveil fundamental aspects of the instantaneous balance between flexibility and robustness in sequential dynamics -a property that characterizes many systems that display neural rhythms. Our analysis of the triphasic rhythm of the pyloric CPG (Carcinus maenas) shows strong robustness of transient dynamics in keeping not only the activation sequences but also specific cycle-by-cycle temporal relationships in the form of strong linear correlations between pivotal time intervals, i.e. dynamical invariants. The level of variability and coordination was characterized using intrinsic time references and intervals in long recordings of both regular and irregular rhythms. Out of the many possible combinations of time intervals studied, only two cycle-by-cycle dynamical invariants were identified, existing even outside steady states. While executing a neural sequence, dynamical invariants reflect constraints to optimize functionality by shaping the actual intervals in which activity emerges to build the sequence. Our results indicate that such boundaries to the adaptability arise from the interaction between the rich dynamics of neurons and connections. We suggest that invariant temporal sequence relationships could be present in other networks, including those shaping sequences of functional brain rhythms, and underlie rhythm programming and functionality.

Analytical CPG model driven by limb velocity input generates accurate temporal locomotor dynamics

The ability of vertebrates to generate rhythm within their spinal neural networks is essential for walking, running, and other rhythmic behaviors. The central pattern generator (CPG) network responsible for these behaviors is well-characterized with experimental and theoretical studies, and it can be formulated as a nonlinear dynamical system. The underlying mechanism responsible for locomotor behavior can be expressed as the process of leaky integration with resetting states generating appropriate phases for changing body velocity. The low-dimensional input to the CPG model generates the bilateral pattern of swing and stance modulation for each limb and is consistent with the desired limb speed as the input command. To test the minimal configuration of required parameters for this model, we reduced the system of equations representing CPG for a single limb and provided the analytical solution with two complementary methods. The analytical and empirical cycle durations were similar (R 2 = 0.99) for the full range of walking speeds. The structure of solution is consistent with the use of limb speed as the input domain for the CPG network. Moreover, the reciprocal interaction between two leaky integration processes representing a CPG for two limbs was sufficient to capture fundamental experimental dynamics associated with the control of heading direction. This analysis provides further support for the embedded velocity or limb speed representation within spinal neural pathways involved in rhythm generation.

Asymmetry Factors Shaping Regular and Irregular Bursting Rhythms in Central Pattern Generators

Central Pattern Generator (CPG) circuits are neural networks that generate rhythmic motor patterns. These circuits are typically built of half-center oscillator subcircuits with reciprocally inhibitory connections. Another common property in many CPGs is the remarkable rich spiking-bursting dynamics of their constituent cells, which balance robustness and flexibility to generate their joint coordinated rhythms. In this paper, we use conductance-based models and realistic connection topologies inspired by the crustacean pyloric CPG to address the study of asymmetry factors shaping CPG bursting rhythms. In particular, we assess the role of asymmetric maximal synaptic conductances, time constants and gap-junction connectivity to establish the regularity of half-center oscillator based CPGs. We map and characterize the synaptic parameter space that lead to regular and irregular bursting activity in these networks. The analysis indicates that asymmetric configurations display robust regular rhythms and that large regions of both regular and irregular but coordinated rhythms exist as a function of the asymmetry in the circuit. Our results show that asymmetry both in the maximal conductances and in the temporal dynamics of mutually inhibitory neurons can synergistically contribute to shape wide regimes of regular spiking-bursting activity in CPGs. Finally, we discuss how a closed-loop protocol driven by a regularity goal can be used to find and characterize regular regimes when there is not time to perform an exhaustive search, as in most experimental studies.

Noise effects on robust synchronization of a small pacemaker neuronal ensemble via nonlinear controller: electronic circuit design

In this paper, we report on the synchronization of a pacemaker neuronal ensemble constituted of an AB neuron electrically coupled to two PD neurons. By the virtue of this electrical coupling, they can fire synchronous bursts of action potential. An external master neuron is used to induce to the whole system the desired dynamics, via a nonlinear controller. Such controller is obtained by a combination of sliding mode and feedback control. The proposed controller is able to offset uncertainties in the synchronized systems. We show how noise affects the synchronization of the pacemaker neuronal ensemble, and briefly discuss its potential benefits in our synchronization scheme. An extended Hindmarsh-Rose neuronal model is used to represent a single cell dynamic of the network. Numerical simulations and Pspice implementation of the synchronization scheme are presented. We found that, the proposed controller reduces the stochastic resonance of the network when its gain increases.

Analysis of Family Structures Reveals Robustness or Sensitivity of Bursting Activity to Parameter Variations in a Half-Center Oscillator (HCO) Model

The underlying mechanisms that support robustness in neuronal networks are as yet unknown. However, recent studies provide evidence that neuronal networks are robust to natural variations, modulation, and environmental perturbations of parameters, such as maximal conductances of intrinsic membrane and synaptic currents. Here we sought a method for assessing robustness, which might easily be applied to large brute-force databases of model instances. Starting with groups of instances with appropriate activity (e.g., tonic spiking), our method classifies instances into much smaller subgroups, called families, in which all members vary only by the one parameter that defines the family. By analyzing the structures of families, we developed measures of robustness for activity type. Then, we applied these measures to our previously developed model database, HCO-db, of a two-neuron half-center oscillator (HCO), a neuronal microcircuit from the leech heartbeat central pattern generator where the appropriate activity type is alternating bursting. In HCO-db, the maximal conductances of five intrinsic and two synaptic currents were varied over eight values (leak reversal potential also varied, five values). We focused on how variations of particular conductance parameters maintain normal alternating bursting activity while still allowing for functional modulation of period and spike frequency. We explored the trade-off between robustness of activity type and desirable change in activity characteristics when intrinsic conductances are altered and identified the hyperpolarization-activated (h) current as an ideal target for modulation. We also identified ensembles of model instances that closely approximate physiological activity and can be used in future modeling studies.

Multiscale modeling of brain dynamics: from single neurons and networks to mathematical tools

The extreme complexity of the brain naturally requires mathematical modeling approaches on a large variety of scales; the spectrum ranges from single neuron dynamics over the behavior of groups of neurons to neuronal network activity. Thus, the connection between the microscopic scale (single neuron activity) to macroscopic behavior (emergent behavior of the collective dynamics) and vice versa is a key to understand the brain in its complexity. In this work, we attempt a review of a wide range of approaches, ranging from the modeling of single neuron dynamics to machine learning. The models include biophysical as well as data-driven phenomenological models. The discussed models include Hodgkin-Huxley, FitzHugh-Nagumo, coupled oscillators (Kuramoto oscillators, Rössler oscillators, and the Hindmarsh-Rose neuron), Integrate and Fire, networks of neurons, and neural field equations. In addition to the mathematical models, important mathematical methods in multiscale modeling and reconstruction of the causal connectivity are sketched. The methods include linear and nonlinear tools from statistics, data analysis, and time series analysis up to differential equations, dynamical systems, and bifurcation theory, including Granger causal connectivity analysis, phase synchronization connectivity analysis, principal component analysis (PCA), independent component analysis (ICA), and manifold learning algorithms such as ISOMAP, and diffusion maps and equation-free techniques. WIREs Syst Biol Med 2016, 8:438-458. doi: 10.1002/wsbm.1348 For further resources related to this article, please visit the WIREs website.

Synchronization properties of coupled chaotic neurons: The role of random shared input

Spike-time correlations of neighbouring neurons depend on their intrinsic firing properties as well as on the inputs they share. Studies have shown that periodically firing neurons, when subjected to random shared input, exhibit asynchronicity. Here, we study the effect of random shared input on the synchronization of weakly coupled chaotic neurons. The cases of so-called electrical and chemical coupling are both considered, and we observe a wide range of synchronization behaviour. When subjected to identical shared random input, there is a decrease in the threshold coupling strength needed for chaotic neurons to synchronize in-phase. The system also supports lag-synchronous states, and for these, we find that shared input can cause desynchronization. We carry out a master stability function analysis for a network of such neurons and show agreement with the numerical simulations. The contrasting role of shared random input for complete and lag synchronized neurons is useful in understanding spike-time correlations observed in many areas of the brain.

Feedback control of variability in the cycle period of a central pattern generator

We address how feedback to a bursting biological pacemaker with intrinsic variability in cycle length can affect that variability. Specifically, we examine a hybrid circuit constructed of an isolated crab anterior burster (AB)/pyloric dilator (PD) pyloric pacemaker receiving virtual feedback via dynamic clamp. This virtual feedback generates artificial synaptic input to PD with timing determined by adjustable phase response dynamics that mimic average burst intervals generated by the lateral pyloric neuron (LP) in the intact pyloric network. Using this system, we measure network period variability dependence on the feedback element's phase response dynamics and find that a constant response interval confers minimum variability. We further find that these optimal dynamics are characteristic of the biological pyloric network. Building upon our previous theoretical work mapping the firing intervals in one cycle onto the firing intervals in the next cycle, we create a theoretical map of the distribution of all firing intervals in one cycle to the distribution of firing intervals in the next cycle. We then obtain an integral equation for a stationary self-consistent distribution of the network periods of the hybrid circuit, which can be solved numerically given the uncoupled pacemaker's distribution of intrinsic periods, the nature of the network's feedback, and the phase resetting characteristics of the pacemaker. The stationary distributions obtained in this manner are strongly predictive of the experimentally observed distributions of hybrid network period. This theoretical framework can provide insight into optimal feedback schemes for minimizing variability to increase reliability or maximizing variability to increase flexibility in central pattern generators driven by pacemakers with feedback.

A modeling approach on why simple central pattern generators are built of irregular neurons

The crustacean pyloric Central Pattern Generator (CPG) is a nervous circuit that endogenously provides periodic motor patterns. Even after about 40 years of intensive studies, the rhythm genesis is still not rigorously understood in this CPG, mainly because it is made of neurons with irregular intrinsic activity. Using mathematical models we addressed the question of using a network of irregularly behaving elements to generate periodic oscillations, and we show some advantages of using non-periodic neurons with intrinsic behavior in the transition from bursting to tonic spiking (as found in biological pyloric CPGs) as building components. We studied two- and three-neuron model CPGs built either with Hindmarsh-Rose or with conductance-based Hodgkin-Huxley-like model neurons. By changing a model’s parameter we could span the neuron’s intrinsic dynamical behavior from slow periodic bursting to fast tonic spiking, passing through a transition where irregular bursting was observed. Two-neuron CPG, half center oscillator (HCO), was obtained for each intrinsic behavior of the neurons by coupling them with mutual symmetric synaptic inhibition. Most of these HCOs presented regular antiphasic bursting activity and the changes of the bursting frequencies was studied as a function of the inhibitory synaptic strength. Among all HCOs, those made of intrinsic irregular neurons presented a wider burst frequency range while keeping a reliable regular oscillatory (bursting) behavior. HCOs of periodic neurons tended to be either hard to change their behavior with synaptic strength variations (slow periodic burster neurons) or unable to perform a physiologically meaningful rhythm (fast tonic spiking neurons). Moreover, 3-neuron CPGs with connectivity and output similar to those of the pyloric CPG presented the same results.

Exploring a Type of Central Pattern Generator Based on Hindmarsh–Rose Model: From Theory to Application

This paper proposes the idea that Hindmarsh–Rose (HR) neuronal model can be used to develop a new type of central pattern generator (CPG). Some key properties of HR model are studied and proved to meet the requirements of CPG. Pros and cons of HR model are provided. A CPG network based on HR model is developed and the related properties are investigated. We explore the bipedal primary gaits generated by the CPG network. The preliminary applications of HR model are tested on humanoid locomotion model and functional electrical stimulation (FES) walking system. The positive results of stimulation and experiment show the feasibility of HR model as a valid CPG.

Noise, transient dynamics, and the generation of realistic interspike interval variation in square-wave burster neurons

First return maps of interspike intervals for biological neurons that generate repetitive bursts of impulses can display stereotyped structures (neuronal signatures). Such structures have been linked to the possibility of multicoding and multifunctionality in neural networks that produce and control rhythmical motor patterns. In some cases, isolating the neurons from their synaptic network reveals irregular, complex signatures that have been regarded as evidence of intrinsic, chaotic behavior. We show that incorporation of dynamical noise into minimal neuron models of square-wave bursting (either conductance-based or abstract) produces signatures akin to those observed in biological examples, without the need for fine tuning of parameters or ad hoc constructions for inducing chaotic activity. The form of the stochastic term is not strongly constrained and can approximate several possible sources of noise, e.g., random channel gating or synaptic bombardment. The cornerstone of this signature generation mechanism is the rich, transient, but deterministic dynamics inherent in the square-wave (saddle-node and homoclinic) mode of neuronal bursting. We show that noise causes the dynamics to populate a complex transient scaffolding or skeleton in state space, even for models that (without added noise) generate only periodic activity (whether in bursting or tonic spiking mode).

Identifying crucial parameter correlations maintaining bursting activity

Recent experimental and computational studies suggest that linearly correlated sets of parameters (intrinsic and synaptic properties of neurons) allow central pattern-generating networks to produce and maintain their rhythmic activity regardless of changing internal and external conditions. To determine the role of correlated conductances in the robust maintenance of functional bursting activity, we used our existing database of half-center oscillator (HCO) model instances of the leech heartbeat CPG. From the database, we identified functional activity groups of burster (isolated neuron) and half-center oscillator model instances and realistic subgroups of each that showed burst characteristics (principally period and spike frequency) similar to the animal. To find linear correlations among the conductance parameters maintaining functional leech bursting activity, we applied Principal Component Analysis (PCA) to each of these four groups. PCA identified a set of three maximal conductances (leak current, _Leak; a persistent K current, _K2; and of a persistent Na+ current, _P) that correlate linearly for the two groups of burster instances but not for the HCO groups. Visualizations of HCO instances in a reduced space suggested that there might be non-linear relationships between these parameters for these instances. Experimental studies have shown that period is a key attribute influenced by modulatory inputs and temperature variations in heart interneurons. Thus, we explored the sensitivity of period to changes in maximal conductances of _Leak, _K2, and _P, and we found that for our realistic bursters the effect of these parameters on period could not be assessed because when varied individually bursting activity was not maintained.

Central pattern-generating networks (CPGs) must be remarkably robust, maintaining functional rhythmic activity despite fluctuations in internal and external conditions. Recent experimental evidence suggests that this robustness is achieved by the coordinated regulation of many membrane and synaptic current parameters. Experimental and computational studies showed that linearly correlated sets of such parameters allow CPG neurons to produce and maintain their rhythmic activity. However, the mechanisms that allow multiple parameters to interact, thereby producing and maintaining rhythmic single cell and network activity, are not clear. Here, we use a half-center oscillator (HCO) model that replicates the electrical activity (rhythmic alternating bursting of mutually inhibitory interneurons) of the leech heartbeat CPG to investigate potential relationships between parameters that maintain functional bursting activity in the HCOs and the isolated component neurons (bursters). We found a linearly correlated set of three maximal conductances that maintains functional bursting activity similar to the animal in burster model instances, therefore increasing robustness of bursting activity. In addition, we found that bursting activity was very sensitive to individual variation of these parameters; only correlated changes could maintain the activity type.

Differential roles of nonsynaptic and synaptic plasticity in operant reward learning-induced compulsive behavior

BACKGROUND

Rewarding stimuli in associative learning can transform the irregularly and infrequently generated motor patterns underlying motivated behaviors into output for accelerated and stereotyped repetitive action. This transition to compulsive behavioral expression is associated with modified synaptic and membrane properties of central neurons, but establishing the causal relationships between cellular plasticity and motor adaptation has remained a challenge.

RESULTS

We found previously that changes in the intrinsic excitability and electrical synapses of identified neurons in Aplysia's central pattern-generating network for feeding are correlated with a switch to compulsive-like motor output expression induced by in vivo operant conditioning. Here, we used specific computer-simulated ionic currents in vitro to selectively replicate or suppress the membrane and synaptic plasticity resulting from this learning. In naive in vitro preparations, such experimental manipulation of neuronal membrane properties alone increased the frequency but not the regularity of feeding motor output found in preparations from operantly trained animals. On the other hand, changes in synaptic strength alone switched the regularity but not the frequency of feeding output from naive to trained states. However, simultaneously imposed changes in both membrane and synaptic properties reproduced both major aspects of the motor plasticity. Conversely, in preparations from trained animals, experimental suppression of the membrane and synaptic plasticity abolished the increase in frequency and regularity of the learned motor output expression.

CONCLUSIONS

These data establish direct causality for the contributions of distinct synaptic and nonsynaptic adaptive processes to complementary facets of a compulsive behavior resulting from operant reward learning.

Single synapse information coding in intraburst spike patterns of central pattern generator motor neurons

Burst firing is ubiquitous in nervous systems and has been intensively studied in central pattern generators (CPGs). Previous works have described subtle intraburst spike patterns (IBSPs) that, despite being traditionally neglected for their lack of relation to CPG motor function, were shown to be cell-type specific and sensitive to CPG connectivity. Here we address this matter by investigating how a bursting motor neuron expresses information about other neurons in the network. We performed experiments on the crustacean stomatogastric pyloric CPG, both in control conditions and interacting in real-time with computer model neurons. The sensitivity of postsynaptic to presynaptic IBSPs was inferred by computing their average mutual information along each neuron burst. We found that details of input patterns are nonlinearly and inhomogeneously coded through a single synapse into the fine IBSPs structure of the postsynaptic neuron following burst. In this way, motor neurons are able to use different time scales to convey two types of information simultaneously: muscle contraction (related to bursting rhythm) and the behavior of other CPG neurons (at a much shorter timescale by using IBSPs as information carriers). Moreover, the analysis revealed that the coding mechanism described takes part in a previously unsuspected information pathway from a CPG motor neuron to a nerve that projects to sensory brain areas, thus providing evidence of the general physiological role of information coding through IBSPs in the regulation of neuronal firing patterns in remote circuits by the CNS.

Dynamic clamp with StdpC software

Dynamic clamp is a powerful method that allows the introduction of artificial electrical components into target cells to simulate ionic conductances and synaptic inputs. This method is based on a fast cycle of measuring the membrane potential of a cell, calculating the current of a desired simulated component using an appropriate model and injecting this current into the cell. Here we present a dynamic clamp protocol using free, fully integrated, open-source software (StdpC, for spike timing-dependent plasticity clamp). Use of this protocol does not require specialist hardware, costly commercial software, experience in real-time operating systems or a strong programming background. The software enables the configuration and operation of a wide range of complex and fully automated dynamic clamp experiments through an intuitive and powerful interface with a minimal initial lead time of a few hours. After initial configuration, experimental results can be generated within minutes of establishing cell recording.

Neural mechanisms of operant conditioning and learning-induced behavioral plasticity in Aplysia

Associative learning in goal-directed behaviors, in contrast to reflexive behaviors, can alter processes of decision-making in the selection of appropriate action and its initiation, thereby enabling animals, including humans, to gain a predictive understanding of their external environment. In the mollusc Aplysia, recent studies on appetitive operant conditioning in which the animal learns about the positive consequences of its behavior have provided insights into this form of associative learning which, although ubiquitous, remains mechanistically poorly understood. The findings support increasing evidence that central circuit- and cell-wide sites other than chemical synaptic connections, including electrical coupling and membrane conductances controlling intrinsic neuronal excitability and underlying voltage-dependent plateauing or oscillatory mechanisms, may serve as the neural substrates for behavioral plasticity resulting from operant conditioning. Aplysia therefore continues to provide a model system for understanding learning and memory formation that enables establishing the neurobiological links between behavioral, network, and cellular levels of analysis.

Sequentially switching cell assemblies in random inhibitory networks of spiking neurons in the striatum

The striatum is composed of GABAergic medium spiny neurons with inhibitory collaterals forming a sparse random asymmetric network and receiving an excitatory glutamatergic cortical projection. Because the inhibitory collaterals are sparse and weak, their role in striatal network dynamics is puzzling. However, here we show by simulation of a striatal inhibitory network model composed of spiking neurons that cells form assemblies that fire in sequential coherent episodes and display complex identity-temporal spiking patterns even when cortical excitation is simply constant or fluctuating noisily. Strongly correlated large-scale firing rate fluctuations on slow behaviorally relevant timescales of hundreds of milliseconds are shown by members of the same assembly whereas members of different assemblies show strong negative correlation, and we show how randomly connected spiking networks can generate this activity. Cells display highly irregular spiking with high coefficients of variation, broadly distributed low firing rates, and interspike interval distributions that are consistent with exponentially tailed power laws. Although firing rates vary coherently on slow timescales, precise spiking synchronization is absent in general. Our model only requires the minimal but striatally realistic assumptions of sparse to intermediate random connectivity, weak inhibitory synapses, and sufficient cortical excitation so that some cells are depolarized above the firing threshold during up states. Our results are in good qualitative agreement with experimental studies, consistent with recently determined striatal anatomy and physiology, and support a new view of endogenously generated metastable state switching dynamics of the striatal network underlying its information processing operations.

Generating spatiotemporal joint torque patterns from dynamical synchronization of distributed pattern generators

Pattern generators found in the spinal cord are no more seen as simple rhythmic oscillators for motion control. Indeed, they achieve flexible and dynamical coordination in interaction with the body and the environment dynamics giving to rise motor synergies. Discovering the mechanisms underlying the control of motor synergies constitutes an important research question not only for neuroscience but also for robotics: the motors coordination of high dimensional robotic systems is still a drawback and new control methods based on biological solutions may reduce their overall complexity. We propose to model the flexible combination of motor synergies in embodied systems via partial phase synchronization of distributed chaotic systems; for specific coupling strength, chaotic systems are able to phase synchronize their dynamics to the resonant frequencies of one external force. We take advantage of this property to explore and exploit the intrinsic dynamics of one specified embodied system. In two experiments with bipedal walkers, we show how motor synergies emerge when the controllers phase synchronize to the body's dynamics, entraining it to its intrinsic behavioral patterns. This stage is characterized by directed information flow from the sensors to the motors exhibiting the optimal situation when the body dynamics drive the controllers (mutual entrainment). Based on our results, we discuss the relevance of our findings for modeling the modular control of distributed pattern generators exhibited in the spinal cord, and for exploring the motor synergies in robots.

Determining Burst Firing Time Distributions from Multiple Spike Trains

Recent experimental findings have shown the presence of robust and cell-type-specific intraburst firing patterns in bursting neurons. We address the problem of characterizing these patterns under the assumption that the bursts exhibit well-defined firing time distributions. We propose a method for estimating these distributions based on a burst alignment algorithm that minimizes the overlap among the firing time distributions of the different spikes within the burst. This method provides a good approximation to the burst's intrinsic temporal structure as a set of firing time distributions. In addition, the method allows labeling the spikes in any particular burst, establishing a correspondence between each spike and the distribution that best explains it, and identifying missing spikes. Our results on both simulated and experimental data from the lobster stomatogastric ganglion show that the proposed method provides a reliable characterization of the intraburst firing patterns and avoids the errors derived from missing spikes. This method can also be applied to nonbursting neurons as a general tool for the study and the interpretation of firing time distributions as part of a temporal neural code.

Predicting single spikes and spike patterns with the Hindmarsh-Rose model

Most simple neuron models are only able to model traditional spiking behavior. As physiologists discover and classify different electrical phenotypes, computational neuroscientists become interested in using simple phenomenological models that can exhibit these different types of spiking patterns. The Hindmarsh-Rose model is a three-dimensional relaxation oscillator which can show both spiking and bursting patterns and has a chaotic regime. We test the predictive powers of the Hindmarsh-Rose model on two different test databases. We show that the Hindmarsh-Rose model can predict the spiking response of rat layer 5 neocortical pyramidal neurons on a stochastic input signal with a precision comparable to the best known spiking models. We also show that the Hindmarsh-Rose model can capture qualitatively the electrical footprints in a database of different types of neocortical interneurons. When the model parameters are fit from sub-threshold measurements only, the model still captures well the electrical phenotype, which suggests that the sub-threshold signals contain information about the firing patterns of the different neurons.

Probing the dynamics of identified neurons with a data-driven modeling approach

In controlling animal behavior the nervous system has to perform within the operational limits set by the requirements of each specific behavior. The implications for the corresponding range of suitable network, single neuron, and ion channel properties have remained elusive. In this article we approach the question of how well-constrained properties of neuronal systems may be on the neuronal level. We used large data sets of the activity of isolated invertebrate identified cells and built an accurate conductance-based model for this cell type using customized automated parameter estimation techniques. By direct inspection of the data we found that the variability of the neurons is larger when they are isolated from the circuit than when in the intact system. Furthermore, the responses of the neurons to perturbations appear to be more consistent than their autonomous behavior under stationary conditions. In the developed model, the constraints on different parameters that enforce appropriate model dynamics vary widely from some very tightly controlled parameters to others that are almost arbitrary. The model also allows predictions for the effect of blocking selected ionic currents and to prove that the origin of irregular dynamics in the neuron model is proper chaoticity and that this chaoticity is typical in an appropriate sense. Our results indicate that data driven models are useful tools for the in-depth analysis of neuronal dynamics. The better consistency of responses to perturbations, in the real neurons as well as in the model, suggests a paradigm shift away from measuring autonomous dynamics alone towards protocols of controlled perturbations. Our predictions for the impact of channel blockers on the neuronal dynamics and the proof of chaoticity underscore the wide scope of our approach.

Connection topology selection in central pattern generators by maximizing the gain of information

A study of a general central pattern generator (CPG) is carried out by means of a measure of the gain of information between the number of available topology configurations and the output rhythmic activity. The neurons of the CPG are chaotic Hindmarsh-Rose models that cooperate dynamically to generate either chaotic or regular spatiotemporal patterns. These model neurons are implemented by computer simulations and electronic circuits. Out of a random pool of input configurations, a small subset of them maximizes the gain of information. Two important characteristics of this subset are emphasized: (1) the most regular output activities are chosen, and (2) none of the selected input configurations are networks with open topology. These two principles are observed in living CPGs as well as in model CPGs that are the most efficient in controlling mechanical tasks, and they are evidence that the information-theoretical analysis can be an invaluable tool in searching for general properties of CPGs.

Generation and reshaping of sequences in neural systems

The generation of informational sequences and their reorganization or reshaping is one of the most intriguing subjects for both neuroscience and the theory of autonomous intelligent systems. In spite of the diversity of sequential activities of sensory, motor, and cognitive neural systems, they have many similarities from the dynamical point of view. In this review we discus the ideas, models, and mathematical image of sequence generation and reshaping on different levels of the neural hierarchy, i.e., the role of a sensory network dynamics in the generation of a motor program (hunting swimming of marine mollusk Clione), olfactory dynamical coding, and sequential learning and decision making. Analysis of these phenomena is based on the winnerless competition principle. The considered models can be a basis for the design of biologically inspired autonomous intelligent systems.

Neural signatures: multiple coding in spiking-bursting cells

Recent experiments have revealed the existence of neural signatures in the activity of individual cells of the pyloric central pattern generator (CPG) of crustacean. The neural signatures consist of cell-specific spike timings in the bursting activity of the neurons. The role of these intraburst neural fingerprints is still unclear. It has been reported previously that some muscles can reflect small changes in the spike timings of the neurons that innervate them. However, it is unclear to what extent neural signatures contribute to the command message that the muscles receive from the motoneurons. It is also unknown whether the signatures have any functional meaning for the neurons that belong to the same CPG or to other interconnected CPGs. In this paper, we use realistic neural models to study the ability of single cells and small circuits to recognize individual neural signatures. We show that model cells and circuits can respond distinctly to the incoming neural fingerprints in addition to the properties of the slow depolarizing waves. Our results suggest that neural signatures can be a general mechanism of spiking-bursting cells to implement multicoding.

Neuronal control of leech behavior

The medicinal leech has served as an important experimental preparation for neuroscience research since the late 19th century. Initial anatomical and developmental studies dating back more than 100 years ago were followed by behavioral and electrophysiological investigations in the first half of the 20th century. More recently, intense studies of the neuronal mechanisms underlying leech movements have resulted in detailed descriptions of six behaviors described in this review; namely, heartbeat, local bending, shortening, swimming, crawling, and feeding. Neuroethological studies in leeches are particularly tractable because the CNS is distributed and metameric, with only 400 identifiable, mostly paired neurons in segmental ganglia. An interesting, yet limited, set of discrete movements allows students of leech behavior not only to describe the underlying neuronal circuits, but also interactions among circuits and behaviors. This review provides descriptions of six behaviors including their origins within neuronal circuits, their modification by feedback loops and neuromodulators, and interactions between circuits underlying with these behaviors.

Block structured dynamics and neuronal coding

When certain control parameters of nervous cell models are varied, complex bifurcation structures develop in which the dynamical behaviors available appear classified in blocks, according to criteria of dynamical likelihood. This block structured dynamics may be a clue to understand how activated neurons encode information by firing spike trains of their action potentials.

Variability of swallowing performance in intact, freely feeding aplysia

Variability in nervous systems is often taken to be merely "noise." Yet in some cases it may play a positive, active role in the production of behavior. The central pattern generator (CPG) that drives the consummatory feeding behaviors of Aplysia generates large, quasi-random variability in the parameters of the feeding motor programs from one cycle to the next; the variability then propagates through the firing patterns of the motor neurons to the contractions of the feeding muscles. We have proposed that, when the animal is faced with a new, imperfectly known feeding task in each cycle, the variability implements a trial-and-error search through the space of possible feeding movements. Although this strategy will not be successful in every cycle, over many cycles it may be the optimal strategy for feeding in an uncertain and changing environment. To play this role, however, the variability must actually appear in the feeding movements and, presumably, in the functional performance of the feeding behavior. Here we have tested this critical prediction. We have developed a technique to measure, in intact, freely feeding animals, the performance of Aplysia swallowing behavior, by continuously recording with a length transducer the movement of the seaweed strip being swallowed. Simultaneously, we have recorded with implanted electrodes activity at each of the internal levels, the CPG, motor neurons, and muscles, of the feeding neuromusculature. Statistical analysis of a large data set of these recordings suggests that functional performance is not determined strongly by one or a few parameters of the internal activity, but weakly by many. Most important, the internal variability does emerge in the behavior and its functional performance. Even when the animal is swallowing a long, perfectly regular seaweed strip, remarkably, the length swallowed from cycle to cycle is extremely variable, as variable as the parameters of the activity of the CPG, motor neurons, and muscles.

Whole cell stochastic model reproduces the irregularities found in the membrane potential of bursting neurons

Irregular intrinsic behavior of neurons seems ubiquitous in the nervous system. Even in circuits specialized to provide periodic and reliable patterns to control the repetitive activity of muscles, such as the pyloric central pattern generator (CPG) of the crustacean stomatogastric ganglion (STG), many bursting motor neurons present irregular activity when deprived from synaptic inputs. Moreover, many authors attribute to these irregularities the role of providing flexibility and adaptation capabilities to oscillatory neural networks such as CPGs. These irregular behaviors, related to nonlinear and chaotic properties of the cells, pose serious challenges to developing deterministic Hodgkin-Huxley-type (HH-type) conductance models. Only a few deterministic HH-type models based on experimental conductance values were able to show such nonlinear properties, but most of these models are based on slow oscillatory dynamics of the cytosolic calcium concentration that were never found experimentally in STG neurons. Based on an up-to-date single-compartment deterministic HH-type model of a STG neuron, we developed a stochastic HH-type model based on the microscopic Markovian states that an ion channel can achieve. We used tools from nonlinear analysis to show that the stochastic model is able to express the same kind of irregularities, sensitivity to initial conditions, and low dimensional dynamics found in the neurons isolated from the STG. Without including any nonrealistic dynamics in our whole cell stochastic model, we show that the nontrivial dynamics of the membrane potential naturally emerge from the interplay between the microscopic probabilistic character of the ion channels and the nonlinear interactions among these elements. Moreover, the experimental irregular behavior is reproduced by the stochastic model for the same parameters for which the membrane potential of the original deterministic model exhibits periodic oscillations.

A small-systems approach to motor pattern generation

How neuronal networks enable animals, humans included, to make coordinated movements is a continuing goal of neuroscience research. The stomatogastric nervous system of decapod crustaceans, which contains a set of distinct but interacting motor circuits, has contributed significantly to the general principles guiding our present understanding of how rhythmic motor circuits operate at the cellular level. This results from a detailed documentation of the circuit dynamics underlying motor pattern generation in this system as well as its modulation by individual transmitters and neurons.