A biologically inspired neural net for trajectory formation and obstacle avoidance

In this paper we present a biologically inspired two-layered neural network for trajectory formation and obstacle avoidance. The two topographically ordered neural maps consist of analog neurons having continuous dynamics. The first layer, the sensory map, receives sensory information and builds up an activity pattern which contains the optimal solution (i.e. shortest path without collisions) for any given set of current position, target positions and obstacle positions. Targets and obstacles are allowed to move, in which case the activity pattern in the sensory map will change accordingly. The time evolution of the neural activity in the second layer, the motor map, results in a moving cluster of activity, which can be interpreted as a population vector. Through the feedforward connections between the two layers, input of the sensory map directs the movement of the cluster along the optimal path from the current position of the cluster to the target position. The smooth trajectory is the result of the intrinsic dynamics of the network only. No supervisor is required. The output of the motor map can be used for direct control of an autonomous system in a cluttered environment or for control of the actuators of a biological limb or robot manipulator. The system is able to reach a target even in the presence of an external perturbation. Computer simulations of a point robot and a multi-joint manipulator illustrate the theory.     

A biologically inspired measure for coexpression analysis

Two genes are said to be coexpressed if their expression levels have a similar spatial or temporal pattern. Ever since the profiling of gene microarrays has been in progress, computational modeling of coexpression has acquired a major focus. As a result, several similarity/distance measures have evolved over time to quantify coexpression similarity/dissimilarity between gene pairs. Of these, correlation coefficient has been established to be a suitable quantifier of pairwise coexpression. In general, correlation coefficient is good for symbolizing linear dependence, but not for nonlinear dependence. In spite of this drawback, it outperforms many other existing measures in modeling the dependency in biological data. In this paper, for the first time, we point out a significant weakness of the existing similarity/distance measures, including the standard correlation coefficient, in modeling pairwise coexpression of genes. A novel measure, called BioSim, which assumes values between -1 and +1 corresponding to negative and positive dependency and 0 for independency, is introduced. The computation of BioSim is based on the aggregation of stepwise relative angular deviation of the expression vectors considered. The proposed measure is analytically suitable for modeling coexpression as it accounts for the features of expression similarity, expression deviation and also the relative dependence. It is demonstrated how the proposed measure is better able to capture the degree of coexpression between a pair of genes as compared to several other existing ones. The efficacy of the measure is statistically analyzed by integrating it with several module-finding algorithms based on coexpression values and then applying it on synthetic and biological data. The annotation results of the coexpressed genes as obtained from gene ontology establish the significance of the introduced measure. By further extending the BioSim measure, it has been shown that one can effectively identify the variability in the expression patterns over multiple phenotypes. We have also extended BioSim to figure out pairwise differential expression pattern and coexpression dynamics. The significance of these studies is shown based on the analysis over several real-life data sets. The computation of the measure by focusing on stepwise time points also makes it effective to identify partially coexpressed genes. On the whole, we put forward a complete framework for coexpression analysis based on the BioSim measure.     

A biologically plausible acoustic motion detection neural network

In this paper we present an acoustic motion detection system to be used in a small mobile robot. While the first purpose of the system has been to be a reliable computational implementation, cheap enough to be built in hardware, effort has also been taken to construct a biologically plausible solution. The motion detector consists of a neural network composed of motion-direction sensitive neurons with a preferred direction and a preferred region of the azimuth. The system was designed to produce a higher response when stimulated by motion in the preferred direction than in the null direction and that is in fact what the system does, which means that, as desired, the system can detect motion and distinguish its direction.     

A biologically motivated neural network for phase extraction from complex sounds

We demonstrate that natural acoustic signals like speech or music contain synchronous phase information across multiple frequency bands and show how to extract this information using a spiking neural network. This network model is motivated by common neurophysiological findings in the auditory brainstem and midbrain of several species. A computer simulation of the model was tested by applying spoken vowels and organ pipe tones. As expected, spikes occurred synchronously in the activated frequency bands. This phase information may be used for sound separation with one microphone or sound localization with two microphones.     

Derivative-free neural network for optimizing the scoring functions associated with dynamic programming of pairwise-profile alignment

Background

A profile-comparison method with position-specific scoring matrix (PSSM) is among the most accurate alignment methods. Currently, cosine similarity and correlation coefficients are used as scoring functions of dynamic programming to calculate similarity between PSSMs. However, it is unclear whether these functions are optimal for profile alignment methods. By definition, these functions cannot capture nonlinear relationships between profiles. Therefore, we attempted to discover a novel scoring function, which was more suitable for the profile-comparison method than existing functions, using neural networks.

Results

Although neural networks required derivative-of-cost functions, the problem being addressed in this study lacked them. Therefore, we implemented a novel derivative-free neural network by combining a conventional neural network with an evolutionary strategy optimization method used as a solver. Using this novel neural network system, we optimized the scoring function to align remote sequence pairs. Our results showed that the pairwise-profile aligner using the novel scoring function significantly improved both alignment sensitivity and precision relative to aligners using existing functions.

Conclusions

We developed and implemented a novel derivative-free neural network and aligner (Nepal) for optimizing sequence alignments. Nepal improved alignment quality by adapting to remote sequence alignments and increasing the expressiveness of similarity scores. Additionally, this novel scoring function can be realized using a simple matrix operation and easily incorporated into other aligners. Moreover our scoring function could potentially improve the performance of homology detection and/or multiple-sequence alignment of remote homologous sequences. The goal of the study was to provide a novel scoring function for profile alignment method and develop a novel learning system capable of addressing derivative-free problems. Our system is capable of optimizing the performance of other sophisticated methods and solving problems without derivative-of-cost functions, which do not always exist in practical problems. Our results demonstrated the usefulness of this optimization method for derivative-free problems.

     

Sensory architectures for biologically inspired autonomous robotics

Engineers have a lot to gain from studying biology. The study of biological neural systems alone provides numerous examples of computational systems that are far more complex than any man-made system and perform real-time sensory and motor tasks in a manner that humbles the most advanced artificial systems. Despite the evolutionary genesis of these systems and the vast apparent differences between species, there are common design strategies employed by biological systems that span taxa, and engineers would do well to emulate these strategies. However, biologically-inspired computational architectures, which are continuous-time and parallel in nature, do not map well onto conventional processors, which are discrete-time and serial in operation. Rather, an implementation technology that is capable of directly realizing the layered parallel structure and nonlinear elements employed by neurobiology is required for power- and space-efficient implementation. Custom neuromorphic hardware meets these criteria and yields low-power dedicated sensory systems that are small, light, and ideal for autonomous robot applications. As examples of how this technology is applied, this article describes both a low-level neuromorphic hardware emulation of an elementary visual motion detector, and a large-scale, system-level spatial motion integration system.     

A biologically inspired hierarchical goal directed navigation model

We propose an extended version of our previous goal directed navigation model based on forward planning of trajectories in a network of head direction cells, persistent spiking cells, grid cells, and place cells. In our original work the animat incrementally creates a place cell map by random exploration of a novel environment. After the exploration phase, the animat decides on its next movement direction towards a goal by probing linear look-ahead trajectories in several candidate directions while stationary and picking the one activating place cells representing the goal location. In this work we present several improvements over our previous model. We improve the range of linear look-ahead probes significantly by imposing a hierarchical structure on the place cell map consistent with the experimental findings of differences in the firing field size and spacing of grid cells recorded at different positions along the dorsal to ventral axis of entorhinal cortex. The new model represents the environment at different scales by populations of simulated hippocampal place cells with different firing field sizes. Among other advantages this model allows simultaneous constant duration linear look-ahead probes at different scales while significantly extending each probe range. The extension of the linear look-ahead probe range while keeping its duration constant also limits the degrading effects of noise accumulation in the network. We show the extended model’s performance using an animat in a large open field environment.     

A goal programming network for linear programming

Tank and Hopfield have shown that networks of analog neurons can be used to solve linear programming (LP) problems. We have re-examined their approach and found that their network model frequently computes solutions that are only suboptimal or that violate the LP problem's constraints. As their approach has proven unreliable, we have developed a new network model: the goal programming network. To this end, a network model was first developed for goal programming problems, a particular type of LP problems. From the manner the network operates on such problems, it was concluded that overconstrainedness, which is possibly present in an LP formulation, should be removed, and we have provided a simple procedure to accomplish this.     

Transitory memory retrieval in a biologically plausible neural network model

A number of memory models have been proposed. These all have the basic structure that excitatory neurons are reciprocally connected by recurrent connections together with the connections with inhibitory neurons, which yields associative memory (i.e., pattern completion) and successive retrieval of memory. In most of the models, a simple mathematical model for a neuron in the form of a discrete map is adopted. It has not, however, been clarified whether behaviors like associative memory and successive retrieval of memory appear when a biologically plausible neuron model is used. In this paper, we propose a network model for associative memory and successive retrieval of memory based on Pinsky-Rinzel neurons. The state of pattern completion in associative memory can be observed with an appropriate balance of excitatory and inhibitory connection strengths. Increasing of the connection strength of inhibitory interneurons changes the state of memory retrieval from associative memory to successive retrieval of memory. We investigate this transition.     

Analysis of reflex modulation with a biologically realistic neural network

In this study, a neuromusculoskeletal model was built to give insight into the mechanisms behind the modulation of reflexive feedback strength as experimentally identified in the human shoulder joint. The model is an integration of a biologically realistic neural network consisting of motoneurons and interneurons, modeling 12 populations of spinal neurons, and a one degree-of-freedom musculoskeletal model, including proprioceptors. The model could mimic the findings of human postural experiments, using presynaptic inhibition of the Ia afferents to modulate the feedback gains. In a pathological case, disabling one specific neural connection between the inhibitory interneurons and the motoneurons could mimic the experimental findings in complex regional pain syndrome patients. It is concluded that the model is a valuable tool to gain insight into the spinal contributions to human motor control. Applications lay in the fields of human motor control and neurological disorders, where hypotheses on motor dysfunction can be tested, like spasticity, clonus, and tremor. Action Editor: Karen Sigvardt     

A dynamic neural network with temporal coding and functional connectivity

A neural network model capable of altering its pattern classifying properties by program input is proposed. Here the “program input” is another source of input besides the pattern input. Unlike most neural network models, this model runs as a deterministic point process of spikes in continuous time; connections among neurons have finite delays, which are set randomly according to a normal distribution. Furthermore, this model utilizes functional connectivity which is dynamic connectivity among neurons peculiar to temporal-coding neural networks with short neuronal decay time constants. Computer simulation of the proposed network has been performed, and the results are considered in light of experimental results shown recently for correlated firings of neurons. Received: 6 December 1996 / Accepted in revised form: 15 September 1997     

A biologically inspired controller for hexapod walking: simple solutions by exploiting physical properties

The locomotor system of slowly walking insects is well suited for coping with highly irregular terrain and therefore might represent a paragon for an artificial six-legged walking machine. Our investigations of the stick insect Carausius morosus indicate that these animals gain their adaptivity and flexibility mainly from the extremely decentralized organization of the control system that generates the leg movements. Neither the movement of a single leg nor the coordination of all six legs (i.e., the gait) appears to be centrally pre-programmed. Thus, instead of using a single, central controller with global knowledge, each leg appears to possess its own controller with only procedural knowledge for the generation of the leg's movement. This is possible because exploiting the physical properties avoids the need for complete information on the geometry of the system that would be a prerequisite for explicitly solving the problems. Hence, production of the gait is an emergent property of the whole system, in which each of the six single-leg controllers obeys a few simple and local rules in processing state-dependent information about its neighbors.     

A biologically inspired validity measure for comparison of clustering methods over metabolic data sets

In the biological domain, clustering is based on the assumption that genes or metabolites involved in a common biological process are coexpressed/coaccumulated under the control of the same regulatory network. Thus, a detailed inspection of the grouped patterns to verify their memberships to well-known metabolic pathways could be very useful for the evaluation of clusters from a biological perspective. The aim of this work is to propose a novel approach for the comparison of clustering methods over metabolic data sets, including prior biological knowledge about the relation among elements that constitute the clusters. A way of measuring the biological significance of clustering solutions is proposed. This is addressed from the perspective of the usefulness of the clusters to identify those patterns that change in coordination and belong to common pathways of metabolic regulation. The measure summarizes in a compact way the objective analysis of clustering methods, which respects coherence and clusters distribution. It also evaluates the biological internal connections of such clusters considering common pathways. The proposed measure was tested in two biological databases using three clustering methods.     

Energy efficient walking with central pattern generators: from passive dynamic walking to biologically inspired control

Like human walking, passive dynamic walking—i.e. walking down a slope with no actuation except gravity—is energy efficient by exploiting the natural dynamics. In the animal world, neural oscillators termed central pattern generators (CPGs) provide the basic rhythm for muscular activity in locomotion. We present a CPG model, which automatically tunes into the resonance frequency of the passive dynamics of a bipedal walker, i.e. the CPG model exhibits resonance tuning behavior. Each leg is coupled to its own CPG, controlling the hip moment of force. Resonance tuning above the endogenous frequency of the CPG—i.e. the CPG’s eigenfrequency—is achieved by feedback of both limb angles to their corresponding CPG, while integration of the limb angles provides resonance tuning at and below the endogenous frequency of the CPG. Feedback of the angular velocity of both limbs to their corresponding CPG compensates for the time delay in the loop coupling each limb to its CPG. The resonance tuning behavior of the CPG model allows the gait velocity to be controlled by a single parameter, while retaining the energy efficiency of passive dynamic walking.     

Template learning of cellular neural network using genetic programming

A new learning algorithm for space invariant Uncoupled Cellular Neural Network is introduced. Learning is formulated as an optimization problem. Genetic Programming has been selected for creating new knowledge because they allow the system to find new rules both near to good ones and far from them, looking for unknown good control actions. According to the lattice Cellular Neural Network architecture, Genetic Programming will be used in deriving the Cloning Template. Exploration of any stable domain is possible by the current approach. Details of the algorithm are discussed and several application results are shown.     

A neural network model of the cerebellar cortex performing dynamic associations

The present paper proposes a model which applies formal neural network modeling techniques to construct a theoretical representation of the cerebellar cortex and its performances in motor control. A schema that makes explicit use of propagation delays of neural signals, is introduced to describe the ability to store temporal sequences of patterns in the Golgi-granule cell system. A perceptron association is then performed on these sequences of patterns by the Purkinje cell layer. The model conforms with important biological constraints, such as the known excitatory or inhibitory nature of the various synapses. Also, as suggested by experimental evidence, the synaptic plasticity underlying the learning ability of the model, is confined to the parallel fiber — Purkinje cell synapses, and takes place under the control of the climbing fibers. The result is a neural network model, constructed according to the anatomy of the cerebellar cortex, and capable of learning and retrieval of temporal sequences of patterns. It provides a framework to represent and interpret properties of learning and control of movements by the cerebellum, and to assess the capacity of formal neural network techniques for modeling of real neural systems.     

A simple work flow for biologically inspired model reduction - application to early JAK-STAT signaling

Background  

Modeling of biological pathways is a key issue in systems biology. When constructing a model, it is tempting to incorporate all known interactions of pathway species, which results in models with a large number of unknown parameters. Fortunately, unknown parameters need not necessarily be measured directly, but some parameter values can be estimated indirectly by fitting the model to experimental data. However, parameter fitting, or, more precisely, maximum likelihood parameter estimation, only provides valid results, if the complexity of the model is in balance with the amount and quality of the experimental data. If this is the case the model is said to be identifiable for the given data. If a model turns out to be unidentifiable, two steps can be taken. Either additional experiments need to be conducted, or the model has to be simplified.     

First controlled vertical flight of a biologically inspired microrobot

In this paper, we present experimental results on altitude control of a flying microrobot. The problem is approached in two stages. In the first stage, system identification of two relevant subsystems composing the microrobot is performed, using a static flapping experimental setup. In the second stage, the information gathered through the static flapping experiments is employed to design the controller used in vertical flight. The design of the proposed controller relies on the idea of treating an exciting signal as a subsystem of the microrobot. The methods and results presented here are a key step toward achieving total autonomy of bio-inspired flying microrobots.