Navigating sensory conflict in dynamic environments using adaptive state estimation

Most conventional robots rely on controlling the location of the center of pressure to maintain balance, relying mainly on foot pressure sensors for information. By contrast, humans rely on sensory data from multiple sources, including proprioceptive, visual, and vestibular sources. Several models have been developed to explain how humans reconcile information from disparate sources to form a stable sense of balance. These models may be useful for developing robots that are able to maintain dynamic balance more readily using multiple sensory sources. Since these information sources may conflict, reliance by the nervous system on any one channel can lead to ambiguity in the system state. In humans, experiments that create conflicts between different sensory channels by moving the visual field or the support surface indicate that sensory information is adaptively reweighted. Unreliable information is rapidly down-weighted, then gradually up-weighted when it becomes valid again. Human balance can also be studied by building robots that model features of human bodies and testing them under similar experimental conditions. We implement a sensory reweighting model based on an adaptive Kalman filter in a bipedal robot, and subject it to sensory tests similar to those used on human subjects. Unlike other implementations of sensory reweighting in robots, our implementation includes vision, by using optic flow to calculate forward rotation using a camera (visual modality), as well as a three-axis gyro to represent the vestibular system (non-visual modality), and foot pressure sensors (proprioceptive modality). Our model estimates measurement noise in real time, which is then used to recompute the Kalman gain on each iteration, improving the ability of the robot to dynamically balance. We observe that we can duplicate many important features of postural sway in humans, including automatic sensory reweighting, effects, constant phase with respect to amplitude, and a temporal asymmetry in the reweighting gains.     

Information und Energie in der Physiologie

Research in sensory physiology proves the usefulness of describing distinct functions of sensory systems from the point of view of information processing, neglecting energetic (metabolic) processes, which may occur simultaneously. On the other hand, complex metabolic processes play an important role in sensory reception and sensory communication. Adaptation — in quite a few situations resulting in an actual gain of sensory information — is based upon interacting metabolic processes. It is conceivable that various enzyme systems, such as coenzyme B, involved in the building and destruction of a particular exitatory substance, e. g., acetylcholine and cholinesterase, influence the speed of these different metabolic processes within the sensory cells. It is even possible to separate the damage done to these processes by using an electrophysiological recording of combined action potentials on the auditory nerve and accounting for the time course of adaptation according toRanke's adaptation theory. The human central nervous system selects the 100 bit/sec processed for conscious perception from the 10⁹ bit/sec offered from all sensory receptors in two principal ways: (1) “Specific auditory information” is modulated by “unspecific” information processed through the reticular formation of the brain stem; (2) descending fiber systems alter selectively the information flow on every level of the auditory pathway. The filtered information perceived, in turn triggers a set of inborn and learned behavioral responses, such as speech and motor reaction, altogether representing appromaximately 10⁷ bit/sec. Metabolic processes possibly involved in this optimizing system are largely unknown.     

Information processing in mammalian olfactory system

In recent years, considerable progress has been made in understanding how the olfactory system uses neural space to encode sensory information. In this review, we focus on recent studies aimed at understanding the organizational strategies used by the mammalian olfactory system to encode information. The odorant receptor gene family is discussed in the context of its genomic organization as well as the specificity of olfactory sensory neurons. These data have important consequences for the mechanisms of odorant receptor gene choice by a given sensory neuron. Division of the olfactory epithelium into zones that express different sets of odorant receptors is the first level of input organization. The topographical relationship between periphery and olfactory bulb represents a further level of processing of information and results in the formation of a highly organized spatial map of information in the olfactory bulb. There, local circuitry refines the sensory input through various lateral interactions. Finally, the factors that may drive the development of such a spatial map are discussed. The onset of expression and the establishment of the zonal organization of odorant receptor genes in the epithelium are not dependent upon the presence of the olfactory bulb, suggesting that the functional identity of olfactory sensory neurons is determined independently of target selection. © 1996 John Wiley & Sons, Inc.     

Multimodal sensory integration in the strike-feeding behaviour of predatory fishes

The search for useful model systems for the study of sensory processing in vertebrate nervous systems has resulted in many neuroethological studies investigating the roles played by a single sensory modality in a given behaviour. However, behaviours relying solely upon information from one sensory modality are relatively rare. Animals behaving in a complex, three-dimensional environment receive a large amount of information from external and internal receptor arrays. Clearly, the integration of sensory afference arising from different modalities into a coherent 'gestalt' of the world is essential to the behaviours of most animals. In the last several years our laboratory team has examined the roles played by the visual and lateral line sensory systems in organizing the feeding behaviour of two species of predatory teleost fishes, the largemouth bass, Micropterus salmoides, and the muskellunge, Esox masquinongy. The free-field feeding behaviours of these fishes were studied quantitatively in intact animals and compared to animals in which the lateral line and visual systems had been selectively suppressed. All groups of animals continued to feed successfully, but significant differences were observed between each experimental group, providing strong clues as to the relative role played by each sensory system in the organization of the behaviour. Furthermore, significant differences exist between the two species. The differences in behaviour resulting when an animal is deprived of a given sensory modality reflect the nature of central integrative sensory processes, and these behavioural studies provide a foundation for further neuroanatomical and physiological studies of sensory integration in the vertebrate central nervous system.     

Boring's formulation: a scheme for identifying functional neuron groups in a sensory system

In 1935 Edwin Boring proposed that each attribute of sensation reflects the activity of a different neural circuit. If this idea is valid, it could facilitate both psychophysical and neurophysiological research on sensory systems. We think it likely that Boring's formulation is correct for three reasons: 1) Different sensory attributes reflect conscious information about different parameters of a stimulus. To be measured by any device, each of these parameters must be individually computed. Different neural circuits would appear to be necessary for the nervous system to carry out these different computations. 2) Perceived information about different sensory attributes can be made to diverge by appropriate manipulations of the stimuli. If there is a rigorous relationship between conscious sensory experience and neural activity, such a divergence implies that different sensory attributes are served by different neural circuits. 3) Accurate information about a sensory attribute requires that a human observer's attention be focused on that attribute. Changes in direction of attention are thought to involve a process of switching from one neural circuit to another, and provide another way to cause perceived information about different sensory attributes to diverge.     

Spatiotemporal dynamics of cortical sensorimotor integration in behaving mice

Tactile information is actively acquired and processed in the brain through concerted interactions between movement and sensation. Somatosensory input is often the result of self-generated movement during the active touch of objects, and conversely, sensory information is used to refine motor control. There must therefore be important interactions between sensory and motor pathways, which we chose to investigate in the mouse whisker sensorimotor system. Voltage-sensitive dye was applied to the neocortex of mice to directly image the membrane potential dynamics of sensorimotor cortex with subcolumnar spatial resolution and millisecond temporal precision. Single brief whisker deflections evoked highly distributed depolarizing cortical sensory responses, which began in the primary somatosensory barrel cortex and subsequently excited the whisker motor cortex. The spread of sensory information to motor cortex was dynamically regulated by behavior and correlated with the generation of sensory-evoked whisker movement. Sensory processing in motor cortex may therefore contribute significantly to active tactile sensory perception.     

Simple molecular model for sensing and adaptation based on receptor modification with application to bacterial chemotaxis

A series of simple models to explain adaptation in a sensory system based on reversible covalent modification is developed. The models are applied to the reversible methylation of chemoreceptors in bacteria and by analogy to other sensory transduction systems. The receptor modification system exhibits sensing and adaptation, i.e. raising the stimulus to a new level generates a transient response followed by a return to prestimulus behavior. By means of an analytical solution of the kinetic equation that governs the evolution of the receptor system. an exact expression is obtained for the time required for adaptation. The results account for the most conspicuous properties of the bacterial sensory system; namely, the response times in relation to stimulus changes, the proportionality of receptor modification to receptor occupancy, and the additivity of response times. The analysis indicates how these properties depend upon the parameters of the system, e.g. the rates of covalent modification and demodification, the accuracy of the detector, and the molecular nature of the response regulator. The theory developed for analysis of the bacterial system revealed properties that will be applicable to any system processing sensory information.     

The loss of scents: Do defects in olfactory sensory neuron development underlie human disease?

The olfactory system is a fascinating and beguiling sensory system: olfactory sensory neurons detect odors underlying behaviors essential for mate choice, food selection, and escape from predators, among others. These sensory neurons are unique in that they have dendrites contacting the outside world, yet their first synapse lies in the central nervous system. The information entering the central nervous system is used to create odor memories that play a profound role in recognition of individuals, places, and appropriate foods. Here, the structure of the olfactory epithelium is given as an overview to discuss the origin of the olfactory placode, the plasticity of the olfactory sensory neurons, and finally the origins of the gonadotropin‐releasing hormone neuroendocrine cells. For the purposes of this review, the development of the peripheral sensory system will be analyzed, incorporating recently published studies highlighting the potential novelties in development mechanisms. Specifically, an emerging model where the olfactory epithelium and olfactory bulb develop simultaneously from a continuous neurectoderm patterned at the end of gastrulation, and the multiple origins of the gonadotropin‐releasing hormone neuroendocrine cells associated with the olfactory sensory system development will be presented. Advances in the understanding of the basic mechanisms underlying olfactory sensory system development allows for a more thorough understanding of the potential causes of human disease. Birth Defects Research (Part C) 105:114–125, 2015. © 2015 Wiley Periodicals, Inc.     

Duration channels mediate human time perception

The task of deciding how long sensory events seem to last is one that the human nervous system appears to perform rapidly and, for sub-second intervals, seemingly without conscious effort. That these estimates can be performed within and between multiple sensory and motor domains suggest time perception forms one of the core, fundamental processes of our perception of the world around us. Given this significance, the current paucity in our understanding of how this process operates is surprising. One candidate mechanism for duration perception posits that duration may be mediated via a system of duration-selective 'channels', which are differentially activated depending on the match between afferent duration information and the channels' 'preferred' duration. However, this model awaits experimental validation. In the current study, we use the technique of sensory adaptation, and we present data that are well described by banks of duration channels that are limited in their bandwidth, sensory-specific, and appear to operate at a relatively early stage of visual and auditory sensory processing. Our results suggest that many of the computational principles the nervous system applies to coding visual spatial and auditory spectral information are common to its processing of temporal extent.     

Mapping information flow in sensorimotor networks

Biological organisms continuously select and sample information used by their neural structures for perception and action, and for creating coherent cognitive states guiding their autonomous behavior. Information processing, however, is not solely an internal function of the nervous system. Here we show, instead, how sensorimotor interaction and body morphology can induce statistical regularities and information structure in sensory inputs and within the neural control architecture, and how the flow of information between sensors, neural units, and effectors is actively shaped by the interaction with the environment. We analyze sensory and motor data collected from real and simulated robots and reveal the presence of information structure and directed information flow induced by dynamically coupled sensorimotor activity, including effects of motor outputs on sensory inputs. We find that information structure and information flow in sensorimotor networks (a) is spatially and temporally specific; (b) can be affected by learning, and (c) can be affected by changes in body morphology. Our results suggest a fundamental link between physical embeddedness and information, highlighting the effects of embodied interactions on internal (neural) information processing, and illuminating the role of various system components on the generation of behavior.     

A Model of the Hippocampal–cortical Memory System

Based on physiological evidence, we propose a theoretical model of the hippocampal–cortical memory system. The model consists of the following components: the sensory system, the hippocampus (short-term memory), and the association cortex (long-term memory). A series of key codes (local information) is supplied from the sensory system, while context (global information) is inputted from the hippocampus. The two inputs interact dynamically in the association cortex. The interactive neurons work as a detector of coincidence. The cortical network learns the memory information through the coincidence window and, finally, stores it in the form of attractors. This local–global information works as an addressor to designate the stored location of the memory in the association cortex and accelerates the process of storing and retrieving memory information.     

Synapse formation by sensory neurons after cross-species transplantation in crickets: the role of positional information

The role of positional information in synapse formation was studied in the cricket cercal sensory system by transplanting epidermis from one species of cricket to another. Strips of cercal epidermis containing identified sensory neurons were transplanted from a black donor species to a tan host species; the color difference was used to distinguish between donor and host tissue in adults. Transplanted sensory neurons regenerated axons into the host terminal abdominal ganglion where they formed functional chimeric synapses. These methods were used to test the role of positional information in central synapse formation. Newly generated sensory neurons, formed by the donor tissue at the border between graft and host, were examined to test the idea that their position would determine their structure, function, and projection pattern. These "intercalated" sensory neurons support the positional information hypothesis. First, they had directional sensitivities which were appropriate to their location on the cercus; receptors of this directionality would never be made by the donor tissue if left in its original position. Second, these sensory neurons projected to regions of the CNS known to be appropriate for their directionality. Finally, simultaneous recordings from these ectopic sensory neurons and host interneurons demonstrated the expected synaptic connection, based on the overlap of pre- and postsynaptic cells. Thus three aspects of receptor function, directionality, afferent projection, and choice of synaptic partners, appeared to be controlled by positional information.     

Exploring developmental, functional, and evolutionary aspects of amphioxus sensory cells

Amphioxus has neither elaborated brains nor definitive sensory organs, so that the two may have evolved in a mutually affecting manner and given rise to the forms seen in extant vertebrates. Clarifying the developmental and functional aspects of the amphioxus sensory system is thus pivotal for inferring the early evolution of vertebrates. Morphological studies have identified and classified amphioxus sensory cells; however, it is completely unknown whether the morphological classification makes sense in functional and evolutionary terms. Molecular markers, such as gene expression, are therefore indispensable for investigating the developmental and functional aspects of amphioxus sensory cells. This article reviews recent molecular studies on amphioxus sensory cells. Increasing evidence shows that the non-neural ectoderm of amphioxus can be subdivided into molecularly distinct subdomains by the combinatorial code of developmental cues involving the RA-dependent Hox code, suggesting that amphioxus epithelial sensory cells developed along positional information. This study focuses particularly on research involving the molecular phylogeny and expression of the seven-transmembrane, G protein-coupled receptor (GPCR) genes and discusses the usefulness of this information for characterizing the sensory cells of amphioxus.     

活体动物全细胞记录技术及其应用

活体动物全细胞记录技术不仅可以用于研究感觉系统对自然刺激（如视觉系统的光刺激、听觉系统的声音刺激等）反应的特性和规律,还可以较准确地记录细胞的突触电位（包括阈下反应）,实现EPSP和IPSP的相对分离,并实现活体细胞内灌流,从而进一步研究感觉信息的处理机制。本文较为详细地介绍了在活体动物上进行全细胞记录的方法,包括一些技术细节和关键仪器设备的选取原则,举例说明了该技术在视觉系统研究和体感系统研究中的应用,并讨论了这一方法在神经科学中的应用前景。     

Muscle Receptor Organs in the Crayfish Abdomen: A Student Laboratory Exercise in Proprioception

The primary purpose of this experiment is to demonstrate primary sensory neurons conveying information of joint movements and positions as proprioceptive information for an animal. An additional objective of this experiment is to learn anatomy of the preparation by staining, dissection and viewing of neurons and sensory structures under a dissecting microscope. This is performed by using basic neurophysiological equipment to record the electrical activity from a joint receptor organ and staining techniques. The muscle receptor organ (MRO) system in the crayfish is analogous to the intrafusal muscle spindle in mammals, which aids in serving as a comparative model that is more readily accessible for electrophysiological recordings. In addition, these are identifiable sensory neurons among preparations. The preparation is viable in a minimal saline for hours which is amenable for student laboratory exercises. The MRO is also susceptible to neuromodulation which encourages intriguing questions in the sites of modulatory action and integration of dynamic signals of movements and static position along with a gain that can be changed in the system.     

Regulation of chemosensory receptor expression and sensory signaling by the KIN-29 Ser/Thr kinase

Sensory signals regulate multiple developmental and behavioral circuits in C. elegans, providing a genetically tractable system in which to investigate the mechanisms underlying the acquisition and integration of sensory information. kin-29 mutants are defective in the expression of a set of chemoreceptor genes, and exhibit characteristics associated with altered sensory signaling, including increased lifespan, decreased body size, and deregulated entry into the dauer developmental stage. kin-29 encodes a Ser/Thr kinase with similarity to the MARK and AMPK/SNF1 family of kinases. We show that KIN-29 acts cell-autonomously and non-cell-autonomously in sensory neurons to regulate chemoreceptor expression, body size, and the dauer decision, suggesting that kin-29 function is essential for the correct acquisition and transduction of sensory information.     

Central representation of visceral function

Recent studies of the visceral sensory system, using both electrophysiological and neuroanatomical methods, indicate that there is representation of multiple visceral modalities at all levels of the central nervous system. In the nucleus of the solitary tract gustatory afferents are represented rostrally, and general visceral afferents caudally. At the pontine relay, the parabrachial nucleus, the gustatory afferents are represented medially, and the general visceral afferents laterally. Although the evidence for anatomical separation of visceral projections is incomplete for the hypothalamus and amygdala, the visceral sensory thalamus and cortex are viscerotopically organized. The results indicate that the ascending visceral sensory system is viscerotopically organized at all levels of the brain, and that this information is important for the integration of autonomic responses at all levels of the neuroaxis.     

Modelling neural informational propagation and functional auditory sensory memory with temporal multi-scale operators

In this paper we prove that both diffusion and the leaky integrators cascade based transport mechanisms have as their inherent property the effect of temporal multi-scaling. The two transport mechanisms are modeled not as convolution based algorithms but as causal physical processes. This implies that propagation of information through a neural map may act as a mechanism for achieving temporal multi-scale analysis in the auditory system. Specifically, we are interested in the effects of such a transport process on the formation and the dynamics of auditory sensory memory. Two temporal models of information propagation are discussed and compared in terms of their ability to model auditory sensory memory effects and the biological plausibility of their structure: the causal diffusion based operator (CD) and the leaky integrator cascade based operator (LINC). We show that temporal multi-scale representations achieved by both models exhibit the effects similar to those of auditory sensory memory (filtering, time delay and binding of information). As regards higher-level functions of auditory sensory memory such as change detection, the LINC operator seems to be a biologically more plausible solution for modeling temporal cortical processing.     

Bottlenecks of Motion Processing during a Visual Glance: The Leaky Flask Model

Where do the bottlenecks for information and attention lie when our visual system processes incoming stimuli? The human visual system encodes the incoming stimulus and transfers its contents into three major memory systems with increasing time scales, viz., sensory (or iconic) memory, visual short-term memory (VSTM), and long-term memory (LTM). It is commonly believed that the major bottleneck of information processing resides in VSTM. In contrast to this view, we show major bottlenecks for motion processing prior to VSTM. In the first experiment, we examined bottlenecks at the stimulus encoding stage through a partial-report technique by delivering the cue immediately at the end of the stimulus presentation. In the second experiment, we varied the cue delay to investigate sensory memory and VSTM. Performance decayed exponentially as a function of cue delay and we used the time-constant of the exponential-decay to demarcate sensory memory from VSTM. We then decomposed performance in terms of quality and quantity measures to analyze bottlenecks along these dimensions. In terms of the quality of information, two thirds to three quarters of the motion-processing bottleneck occurs in stimulus encoding rather than memory stages. In terms of the quantity of information, the motion-processing bottleneck is distributed, with the stimulus-encoding stage accounting for one third of the bottleneck. The bottleneck for the stimulus-encoding stage is dominated by the selection compared to the filtering function of attention. We also found that the filtering function of attention is operating mainly at the sensory memory stage in a specific manner, i.e., influencing only quantity and sparing quality. These results provide a novel and more complete understanding of information processing and storage bottlenecks for motion processing.     

A mathematical modeling study of inter-segmental coordination during stick insect walking

The biomechanical conditions for walking in the stick insect require a modeling approach that is based on the control of pairs of antagonistic motoneuron (MN) pools for each leg joint by independent central pattern generators (CPGs). Each CPG controls a pair of antagonistic MN pools. Furthermore, specific sensory feedback signals play an important role in the control of single leg movement and in the generation of inter-leg coordination or the interplay between both tasks. Currently, however, no mathematical model exists that provides a theoretical approach to understanding the generation of coordinated locomotion in such a multi-legged locomotor system. In the present study, I created such a theoretical model for the stick insect walking system, which describes the MN activity of a single forward stepping middle leg and helps to explain the neuronal mechanisms underlying coordinating information transfer between ipsilateral legs. In this model, CPGs that belong to the same leg, as well as those belonging to different legs, are connected by specific sensory feedback pathways that convey information about movements and forces generated during locomotion. The model emphasizes the importance of sensory feedback, which is used by the central nervous system to enhance weak excitatory and inhibitory synaptic connections from front to rear between the three thorax-coxa-joint CPGs. Thereby the sensory feedback activates caudal pattern generation networks and helps to coordinate leg movements by generating in-phase and out-of-phase thoracic MN activity.