Synchronisation effects on the behavioural performance and information dynamics of a simulated minimally cognitive robotic agent

Oscillatory activity is ubiquitous in nervous systems, with solid evidence that synchronisation mechanisms underpin cognitive processes. Nevertheless, its informational content and relationship with behaviour are still to be fully understood. In addition, cognitive systems cannot be properly appreciated without taking into account brain-body- environment interactions. In this paper, we developed a model based on the Kuramoto Model of coupled phase oscillators to explore the role of neural synchronisation in the performance of a simulated robotic agent in two different minimally cognitive tasks. We show that there is a statistically significant difference in performance and evolvability depending on the synchronisation regime of the network. In both tasks, a combination of information flow and dynamical analyses show that networks with a definite, but not too strong, propensity for synchronisation are more able to reconfigure, to organise themselves functionally and to adapt to different behavioural conditions. The results highlight the asymmetry of information flow and its behavioural correspondence. Importantly, it also shows that neural synchronisation dynamics, when suitably flexible and reconfigurable, can generate minimally cognitive embodied behaviour.     

Chaotic behavior of semigroups related to the process of gene amplification-deamplification with cell proliferation

In the last few years there has been a renewed interest in infinite systems of differential equations, similar to the classical birth-and-death system of population dynamics, due to their r?le in modelling the evolution of drug resistance in cancer cells. In [J. Banasiak, M. Lachowicz, Topological chaos for birth-and-death models with proliferation, Math. Models Methods Appl. Sci. 12 (6) (2002) 755] such systems were shown to generate a chaotic dynamics under, however, very restrictive assumptions on the growth of coefficients. In this paper, using recently developed concept of subspace chaos [J. Banasiak, M. Moszyński, A generalization of Desch-Schappacher-Webb criteria for topological chaos with applications, Discrete Contin. Dyn. Syst. - A 12 (5) (2005) 959], we show that for a linear growth of the coefficients, which are more acceptable from biological point of view, the dynamics of these systems is chaotic in some subspaces of the original state space.     

State selection in coupled identical biochemical systems with coexisting stable states

This work examines state selection for coupled biochemical systems with coexisting stable states. For biochemically identical biochemical systems, different coupled systems are examined for the coexistence of (a) one steady state and one oscillatory state or (b) two oscillatory states. For case (a), it is revealed that state selection is always governed by two key factors: the values of kinetic parameters and the coupling strength. When the coupling strength is small, the coupled systems remain in the basin of attraction of their original states. When it is sufficiently large, all coupled systems are always entrained, independently of their original states. Furthermore, for the entrainment, which of the two coexisting states is selected depends sensitively on the activity of recycling enzyme (one of kinetic parameters). It is shown that this is because changing the activity of recycling enzyme alters the size of basin of attraction of each state. When both systems in the same oscillatory state are coupled, an additional factor, namely phase shift between two oscillations, may also affect state selection, and coupling may cause the systems to select either the original oscillatory state or the coexisting steady state. In addition to the features of case (a), case (b) also supports quasiperiodic oscillations and synchronisation of two periodic oscillations. Implications of the results for understanding state selection during the evolution of coupled biochemical systems with coexisting stable states are discussed.     

Can noise induce chaos?

An important component of the mathematical definition of chaos is sensitivity to initial conditions. Sensitivity to initial conditions is usually measured in a deterministic model by the dominant Lyapunov exponent (LE), with chaos indicated by a positive LE. The sensitivity measure has been extended to stochastic models; however, it is possible for the stochastic Lyapunov exponent (SLE) to be positive when the LE of the underlying deterministic model is negative, and vice versa. This occurs because the LE is a long-term average over the deterministic attractor while the SLE is the long-term average over the stationary probability distribution. The property of sensitivity to initial conditions, uniquely associated with chaotic dynamics in deterministic systems, is widespread in stochastic systems because of time spent near repelling invariant sets (such as unstable equilibria and unstable cycles). Such sensitivity is due to a mechanism fundamentally different from deterministic chaos. Positive SLE's should therefore not be viewed as a hallmark of chaos. We develop examples of ecological population models in which contradictory LE and SLE values lead to confusion about whether or not the population fluctuations are primarily the result of chaotic dynamics. We suggest that "chaos" should retain its deterministic definition in light of the origins and spirit of the topic in ecology. While a stochastic system cannot then strictly be chaotic, chaotic dynamics can be revealed in stochastic systems through the strong influence of underlying deterministic chaotic invariant sets.     

Numerically evaluated functional equivalence between chaotic dynamics in neural networks and cellular automata under totalistic rules

Chaotic dynamics in a recurrent neural network model and in two-dimensional cellular automata, where both have finite but large degrees of freedom, are investigated from the viewpoint of harnessing chaos and are applied to motion control to indicate that both have potential capabilities for complex function control by simple rule(s). An important point is that chaotic dynamics generated in these two systems give us autonomous complex pattern dynamics itinerating through intermediate state points between embedded patterns (attractors) in high-dimensional state space. An application of these chaotic dynamics to complex controlling is proposed based on an idea that with the use of simple adaptive switching between a weakly chaotic regime and a strongly chaotic regime, complex problems can be solved. As an actual example, a two-dimensional maze, where it should be noted that the spatial structure of the maze is one of typical ill-posed problems, is solved with the use of chaos in both systems. Our computer simulations show that the success rate over 300 trials is much better, at least, than that of a random number generator. Our functional simulations indicate that both systems are almost equivalent from the viewpoint of functional aspects based on our idea, harnessing of chaos.     

Controlling chaos in ecology: From deterministic to individual-based models

The possibility of chaos control in biological systems has been stimulated by recent advances in the study of heart and brain tissue dynamics. More recently, some authors have conjectured that such a method might be applied to population dynamics and even play a nontrivial evolutionary role in ecology. In this paper we explore this idea by means of both mathematical and individual-based simulation models. Because of the intrinsic noise linked to individual behavior, controlling a noisy system becomes more difficult but, as shown here, it is a feasible task allowed to be experimentally tested.     

Boolean dynamics of biological networks with multiple coupled feedback loops

Boolean networks have been frequently used to study the dynamics of biological networks. In particular, there have been various studies showing that the network connectivity and the update rule of logical functions affect the dynamics of Boolean networks. There has been, however, relatively little attention paid to the dynamical role of a feedback loop, which is a circular chain of interactions between Boolean variables. We note that such feedback loops are ubiquitously found in various biological systems as multiple coupled structures and they are often the primary cause of complex dynamics. In this article, we investigate the relationship between the multiple coupled feedback loops and the dynamics of Boolean networks. We show that networks have a larger proportion of basins corresponding to fixed-point attractors as they have more coupled positive feedback loops, and a larger proportion of basins for limit-cycle attractors as they have more coupled negative feedback loops.     

Complex dynamics of defective interfering baculoviruses during serial passage in insect cells

Defective interfering (DI) viruses are thought to cause oscillations in virus levels, known as the ‘Von Magnus effect’. Interference by DI viruses has been proposed to underlie these dynamics, although experimental tests of this idea have not been forthcoming. For the baculoviruses, insect viruses commonly used for the expression of heterologous proteins in insect cells, the molecular mechanisms underlying DI generation have been investigated. However, the dynamics of baculovirus populations harboring DIs have not been studied in detail. In order to address this issue, we used quantitative real-time PCR to determine the levels of helper and DI viruses during 50 serial passages of Autographa californica multiple nucleopolyhedrovirus (AcMNPV) in Sf21 cells. Unexpectedly, the helper and DI viruses changed levels largely in phase, and oscillations were highly irregular, suggesting the presence of chaos. We therefore developed a simple mathematical model of baculovirus-DI dynamics. This theoretical model reproduced patterns qualitatively similar to the experimental data. Although we cannot exclude that experimental variation (noise) plays an important role in generating the observed patterns, the presence of chaos in the model dynamics was confirmed with the computation of the maximal Lyapunov exponent, and a Ruelle-Takens-Newhouse route to chaos was identified at decreasing production of DI viruses, using mutation as a control parameter. Our results contribute to a better understanding of the dynamics of DI baculoviruses, and suggest that changes in virus levels over passages may exhibit chaos.     

When can noise induce chaos and why does it matter: a critique

Noise‐induced chaos illustrates how small amounts of exogenous noise can have disproportionate qualitative impacts on the long term dynamics of a nonlinear system. This property is particularly clear in chaotic systems but is also important for the majority of ecological systems which are nonchaotic, and has direct implications for analyzing ecological time series and testing models against field data. Dennis et al. point out that a definition of chaos which we advocated allows a noise‐dominated system to be classified as chaotic when its Lyapunov exponent λ is positive, which misses what is really going on. As a solution, they propose to eliminate the concept of noise‐induced chaos: chaos “should retain its strictly deterministic definition”, hence “ecological populations cannot be strictly chaotic”. Instead, they suggest that ecologists ask whether ecological systems are strongly influenced by “underlying skeletons with chaotic dynamics or whatever other dynamics”– the skeleton being the hypothetical system that would result if all external and internal noise sources were eliminated. We agree with Dennis et al. about the problem – noise‐dominated systems should not be called chaotic – but not the solution. Even when an estimated skeleton predicts a system's short term dynamics with extremely high accuracy, the skeleton's long term dynamics and attractor may be very different from those of the actual noisy system. Using theoretical models and empirical data on microtine rodent cycles and laboratory populations of Tribolium, we illustrate how data analyses focusing on attributes of the skeleton and its attractor – such as the “deterministic Lyapunov exponent”λ₀ that Dennis et al. have used as their primary indicator of chaos – will frequently give misleading results. In contrast, quantitative measures of the actual noisy system, such as λ, provide useful information for characterizing observed dynamics and for testing proposed mechanistic explanations.     

The dynamics of coupled populations subject to control

The dynamics of coupled populations have mostly been studied in the context of metapopulation viability with application to, for example, species at risk. However, when considering pests and pathogens, eradication, not persistence, is often the end goal. Humans may intervene to control nuisance populations, resulting in reciprocal interactions between the human and natural systems that can lead to unexpected dynamics. The incidence of these human-natural couplings has been increasing, hastening the need to better understand the emergent properties of such systems in order to predict and manage outbreaks of pests and pathogens. For example, the success of the growing aquaculture industry depends on our ability to manage pathogens and maintain a healthy environment for farmed and wild fish. We developed a model for the dynamics of connected populations subject to control, motivated by sea louse parasites that can disperse among salmon farms. The model includes exponential population growth with a forced decline when populations reach a threshold, representing control interventions. Coupling two populations with equal growth rates resulted in phase locking or synchrony in their dynamics. Populations with different growth rates had different periods of oscillation, leading to quasiperiodic dynamics when coupled. Adding small amounts of stochasticity destabilized quasiperiodic cycles to chaos, while stochasticity was damped for periodic or stable dynamics. Our analysis suggests that strict treatment thresholds, although well intended, can complicate parasite dynamics and hinder control efforts. Synchronizing populations via coordinated management among farms leads to more effective control that is required less frequently. Our model is simple and generally applicable to other systems where dispersal affects the management of pests and pathogens.     

The stability of ecosystems: A brief overview of the paradox of enrichment

In theory, enrichment of resource in a predator-prey model leads to destabilization of the system,thereby collapsing the trophic interaction,a phenomenon referred to as "the paradox of enrichment". After it was first pro posed by Rosenzweig (1971), a number of subsequent studies were carried out on this dilemma over many decades. In this article, we review these theoretical and experimental works and give a brief overview of the proposed solutions to the paradox. The mechanisms that have been discussed are modifications of simple predator -prey models in the presence of prey that is inedible, invulnerable, unpalatable and toxic. Another class of mechanisms includes an incorporation of a ratio-dependent functional form,inducible defence of prey and density-dependent mortality of the predator. Moreover, we find a third set of explanations based on complex population dynamics including chaos in space and time. We conclude that,although any one of the various mechanisms proposed so far might potentially prevent destabilization of the predator-prey dynamics following enrichment, in nature different mechanisms may combine to cause stability, even when a system is enriched. The exact mechanisms,which may differ among systems,need to be disentangled through extensive field studies and laboratory experiments coupled with realistic theoretical models.     

On bifurcations and chaos in random neural networks

Chaos in nervous system is a fascinating but controversial field of investigation. To approach the role of chaos in the real brain, we theoretically and numerically investigate the occurrence of chaos inartificial neural networks. Most of the time, recurrent networks (with feedbacks) are fully connected. This architecture being not biologically plausible, the occurrence of chaos is studied here for a randomly diluted architecture. By normalizing the variance of synaptic weights, we produce a bifurcation parameter, dependent on this variance and on the slope of the transfer function, that allows a sustained activity and the occurrence of chaos when reaching a critical value. Even for weak connectivity and small size, we find numerical results in accordance with the theoretical ones previously established for fully connected infinite sized networks. The route towards chaos is numerically checked to be a quasi-periodic one, whatever the type of the first bifurcation is. Our results suggest that such high-dimensional networks behave like low-dimensional dynamical systems.     

Hysteresis Dynamics,Bursting Oscillations and Evolution to Chaotic Regimes

This article describes new aspects of hysteresis dynamics which have been uncovered through computer experiments. There are several motivations to be interested in fast-slow dynamics. For instance, many physiological or biological systems display different time scales. The bursting oscillations which can be observed in neurons, beta-cells of the pancreas and population dynamics are essentially studied via bifurcation theory and analysis of fast-slow systems (Keener and Sneyd, 1998; Rinzel, 1987). Hysteresis is a possible mechanism to generate bursting oscillations. A first part of this article presents the computer techniques (the dotted-phase portrait, the bifurcation of the fast dynamics and the wave form) we have used to represent several patterns specific to hysteresis dynamics. This framework yields a natural generalization to the notion of bursting oscillations where, for instance, the active phase is chaotic and alternates with a quiescent phase. In a second part of the article, we emphasize the evolution to chaos which is often associated with bursting oscillations on the specific example of the Hindmarsh-Rose system. This evolution to chaos has already been studied with classical tools of dynamical systems but we give here numerical evidence on hysteresis dynamics and on some aspects of the wave form. The analytical proofs will be given elsewhere.     

Time-dependent regimes of a tourism-based social–ecological system: Period-doubling route to chaos

The period-doubling route to chaos has occupied a prominent position and it is still object of great interest among the different complex phenomena observed in nonlinear dynamical systems. The reason of such interest is that such route to chaos has been observed in many physical, chemical and ecological models when they change over from simple periodic to complex aperiodic motion. In interlinked social–ecological systems (SESs) there might be an apparent great ability to cope with change and adapt if analysed only in their social dimension. However, such an adaptation may be at the expense of changes in the capacity of ecosystems to sustain the adaptation and it could affect the quality of ecosystem goods and services since it could degrade natural renewable and non-renewable resources and generate traps and breakpoints in the whole SES eventually leading to chaotic behaviour. This paper is rooted in previous results on modelling tourism-based SESs, only recently object of theoretical investigations, focusing on the dynamics of the coexistence between mass-tourists and eco-tourists. Here we describe a finer scale analysis of time-dependent regimes in the ranges of the degradation coefficient (bifurcation parameter), for which the system can exhibit coexistence. This bifurcation parameter is determined by objective changes in the real world in the quality of ecosystem goods and services together with whether and how such changes are perceived by different tourist typologies. Varying the bifurcation parameter, the dynamical system may in fact evolve toward an aperiodical dynamical state in many ways, showing that there could be different scenarios for the transition to chaos. This paper provides a further evidence for the period-doubling route to chaos with reference to tourism-based socio-ecological models, and for a period locking behaviour, where a small variation in the bifurcation parameter can lead to alternating regular and chaotic dynamics. Moreover, for many models undergoing chaos via period-doubling, it has been showed that structural perturbations with real ecological justification, may break and reverse the expected period-doublings, hence inhibiting chaos. This feature may be of a certain relevance also in the context of adaptive management of tourism-based SESs: these period-doubling reversals might in fact be used to control chaos, since they potentially act in way to suppress possibly dangerous fluctuations.     

Distinguishing error from chaos in ecological time series

Over the years, there has been much discussion about the relative importance of environmental and biological factors in regulating natural populations. Often it is thought that environmental factors are associated with stochastic fluctuations in population density, and biological ones with deterministic regulation. We revisit these ideas in the light of recent work on chaos and nonlinear systems. We show that completely deterministic regulatory factors can lead to apparently random fluctuations in population density, and we then develop a new method (that can be applied to limited data sets) to make practical distinctions between apparently noisy dynamics produced by low-dimensional chaos and population variation that in fact derives from random (high-dimensional) noise, such as environmental stochasticity or sampling error. To show its practical use, the method is first applied to models where the dynamics are known. We then apply the method to several sets of real data, including newly analysed data on the incidence of measles in the United Kingdom. Here the additional problems of secular trends and spatial effects are explored. In particular, we find that on a city-by-city scale measles exhibits low-dimensional chaos (as has previously been found for measles in New York City), whereas on a larger, country-wide scale the dynamics appear as a noisy two-year cycle. In addition to shedding light on the basic dynamics of some nonlinear biological systems, this work dramatizes how the scale on which data is collected and analysed can affect the conclusions drawn.     

Small Heterogeneity Has Large Effects on Synchronization of Ecological Oscillators

Heterogeneity in habitat plays a crucial role in the dynamics of spatially extended populations and is often ignored by both empiricists and theoreticians. A common assumption made is that spatially homogeneous systems and those with slight heterogeneity will behave similarly and, therefore, the results and data from studies of the former can be applied to the latter. Here, we test this assumption by deriving a phase model from two weakly coupled predator-prey oscillators and analyze the effect of spatial heterogeneity on the phase dynamics of this system. We find that even small heterogeneity between the two patches causes substantial changes in the phase dynamics of the system which can have dramatic effects on both population dynamics and persistence. Additionally, if the prey and predator time scales are similar, the effect of heterogeneity is much greater.     

Autogenous Formation of Spiral Waves by Coupled Chaotic Attractors

When large arrays of strange attractors are coupled diffusively through one of the variables, chaotic systems become periodic and form large archimedean spirals or concentric bands. This observation may have importance for many applications in the field of deterministic chaos and seems particularly relevant to the question of the formal temporal structure of the biological clock in metazoan organisms. In particular, although individual cellular oscillators, as manifested in the cell cycle, may have deep basins of attraction and appear to be more or less periodic, we suggest that cells oscillate with chaotic dynamics in the ultradian domain. Only when large aggregates of these cells are tightly coupled can a precise circadian clock emerge. For changing coupling strength or parameter values, period increase occurs through quantal or integral multiple increments of the fundamental. All calculations were implemented on a 386AT, using a Mercury MC6400 floating point processor.     

Autogenous Formation of Spiral Waves by Coupled Chaotic Attractors

When large arrays of strange attractors are coupled diffusively through one of the variables, chaotic systems become periodic and form large archimedean spirals or concentric bands. This observation may have importance for many applications in the field of deterministic chaos and seems particularly relevant to the question of the formal temporal structure of the biological clock in metazoan organisms. In particular, although individual cellular oscillators, as manifested in the cell cycle, may have deep basins of attraction and appear to be more or less periodic, we suggest that cells oscillate with chaotic dynamics in the ultradian domain. Only when large aggregates of these cells are tightly coupled can a precise circadian clock emerge. For changing coupling strength or parameter values, period increase occurs through quantal or integral multiple increments of the fundamental. All calculations were implemented on a 386AT, using a Mercury MC6400 floating point processor.