Homeostatic plasticity improves signal propagation in continuous-time recurrent neural networks

Continuous-time recurrent neural networks (CTRNNs) are potentially an excellent substrate for the generation of adaptive behaviour in artificial autonomous agents. However, node saturation effects in these networks can leave them insensitive to input and stop signals from propagating. Node saturation is related to the problems of hyper-excitation and quiescence in biological nervous systems, which are thought to be avoided through the existence of homeostatic plastic mechanisms. Analogous mechanisms are here implemented in a variety of CTRNN architectures and are shown to increase node sensitivity and improve signal propagation, with implications for robotics. These results lend support to the view that homeostatic plasticity may prevent quiescence and hyper-excitation in biological nervous systems.     

Optimal Information Representation and Criticality in an Adaptive Sensory Recurrent Neuronal Network

Recurrent connections play an important role in cortical function, yet their exact contribution to the network computation remains unknown. The principles guiding the long-term evolution of these connections are poorly understood as well. Therefore, gaining insight into their computational role and into the mechanism shaping their pattern would be of great importance. To that end, we studied the learning dynamics and emergent recurrent connectivity in a sensory network model based on a first-principle information theoretic approach. As a test case, we applied this framework to a model of a hypercolumn in the visual cortex and found that the evolved connections between orientation columns have a "Mexican hat" profile, consistent with empirical data and previous modeling work. Furthermore, we found that optimal information representation is achieved when the network operates near a critical point in its dynamics. Neuronal networks working near such a phase transition are most sensitive to their inputs and are thus optimal in terms of information representation. Nevertheless, a mild change in the pattern of interactions may cause such networks to undergo a transition into a different regime of behavior in which the network activity is dominated by its internal recurrent dynamics and does not reflect the objective input. We discuss several mechanisms by which the pattern of interactions can be driven into this supercritical regime and relate them to various neurological and neuropsychiatric phenomena.     

The incorporation of epigenetics in artificial gene regulatory networks

Artificial gene regulatory networks are computational models that draw inspiration from biological networks of gene regulation. Since their inception they have been used to infer knowledge about gene regulation and as methods of computation. These computational models have been shown to possess properties typically found in the biological world, such as robustness and self organisation. Recently, it has become apparent that epigenetic mechanisms play an important role in gene regulation. This paper describes a new model, the Artificial Epigenetic Regulatory Network (AERN) which builds upon existing models by adding an epigenetic control layer. Our results demonstrate that AERNs are more adept at controlling multiple opposing trajectories when applied to a chaos control task within a conservative dynamical system, suggesting that AERNs are an interesting area for further investigation.     

Hardware implementation of stochastic spiking neural networks

Spiking Neural Networks, the last generation of Artificial Neural Networks, are characterized by its bio-inspired nature and by a higher computational capacity with respect to other neural models. In real biological neurons, stochastic processes represent an important mechanism of neural behavior and are responsible of its special arithmetic capabilities. In this work we present a simple hardware implementation of spiking neurons that considers this probabilistic nature. The advantage of the proposed implementation is that it is fully digital and therefore can be massively implemented in Field Programmable Gate Arrays. The high computational capabilities of the proposed model are demonstrated by the study of both feed-forward and recurrent networks that are able to implement high-speed signal filtering and to solve complex systems of linear equations.     

Effects of Hebbian learning on the dynamics and structure of random networks with inhibitory and excitatory neurons

The aim of the present paper is to study the effects of Hebbian learning in random recurrent neural networks with biological connectivity, i.e. sparse connections and separate populations of excitatory and inhibitory neurons. We furthermore consider that the neuron dynamics may occur at a (shorter) time scale than synaptic plasticity and consider the possibility of learning rules with passive forgetting. We show that the application of such Hebbian learning leads to drastic changes in the network dynamics and structure. In particular, the learning rule contracts the norm of the weight matrix and yields a rapid decay of the dynamics complexity and entropy. In other words, the network is rewired by Hebbian learning into a new synaptic structure that emerges with learning on the basis of the correlations that progressively build up between neurons. We also observe that, within this emerging structure, the strongest synapses organize as a small-world network. The second effect of the decay of the weight matrix spectral radius consists in a rapid contraction of the spectral radius of the Jacobian matrix. This drives the system through the "edge of chaos" where sensitivity to the input pattern is maximal. Taken together, this scenario is remarkably predicted by theoretical arguments derived from dynamical systems and graph theory.     

At the Edge of Chaos: How Cerebellar Granular Layer Network Dynamics Can Provide the Basis for Temporal Filters

Models of the cerebellar microcircuit often assume that input signals from the mossy-fibers are expanded and recoded to provide a foundation from which the Purkinje cells can synthesize output filters to implement specific input-signal transformations. Details of this process are however unclear. While previous work has shown that recurrent granule cell inhibition could in principle generate a wide variety of random outputs suitable for coding signal onsets, the more general application for temporally varying signals has yet to be demonstrated. Here we show for the first time that using a mechanism very similar to reservoir computing enables random neuronal networks in the granule cell layer to provide the necessary signal separation and extension from which Purkinje cells could construct basis filters of various time-constants. The main requirement for this is that the network operates in a state of criticality close to the edge of random chaotic behavior. We further show that the lack of recurrent excitation in the granular layer as commonly required in traditional reservoir networks can be circumvented by considering other inherent granular layer features such as inverted input signals or mGluR2 inhibition of Golgi cells. Other properties that facilitate filter construction are direct mossy fiber excitation of Golgi cells, variability of synaptic weights or input signals and output-feedback via the nucleocortical pathway. Our findings are well supported by previous experimental and theoretical work and will help to bridge the gap between system-level models and detailed models of the granular layer network.     

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.     

Asynchronous Rate Chaos in Spiking Neuronal Circuits

The brain exhibits temporally complex patterns of activity with features similar to those of chaotic systems. Theoretical studies over the last twenty years have described various computational advantages for such regimes in neuronal systems. Nevertheless, it still remains unclear whether chaos requires specific cellular properties or network architectures, or whether it is a generic property of neuronal circuits. We investigate the dynamics of networks of excitatory-inhibitory (EI) spiking neurons with random sparse connectivity operating in the regime of balance of excitation and inhibition. Combining Dynamical Mean-Field Theory with numerical simulations, we show that chaotic, asynchronous firing rate fluctuations emerge generically for sufficiently strong synapses. Two different mechanisms can lead to these chaotic fluctuations. One mechanism relies on slow I-I inhibition which gives rise to slow subthreshold voltage and rate fluctuations. The decorrelation time of these fluctuations is proportional to the time constant of the inhibition. The second mechanism relies on the recurrent E-I-E feedback loop. It requires slow excitation but the inhibition can be fast. In the corresponding dynamical regime all neurons exhibit rate fluctuations on the time scale of the excitation. Another feature of this regime is that the population-averaged firing rate is substantially smaller in the excitatory population than in the inhibitory population. This is not necessarily the case in the I-I mechanism. Finally, we discuss the neurophysiological and computational significance of our results.     

“Neural” computation of decisions in optimization problems

Highly-interconnected networks of nonlinear analog neurons are shown to be extremely effective in computing. The networks can rapidly provide a collectively-computed solution (a digital output) to a problem on the basis of analog input information. The problems to be solved must be formulated in terms of desired optima, often subject to constraints. The general principles involved in constructing networks to solve specific problems are discussed. Results of computer simulations of a network designed to solve a difficult but well-defined optimization problem-the Traveling-Salesman Problem-are presented and used to illustrate the computational power of the networks. Good solutions to this problem are collectively computed within an elapsed time of only a few neural time constants. The effectiveness of the computation involves both the nonlinear analog response of the neurons and the large connectivity among them. Dedicated networks of biological or microelectronic neurons could provide the computational capabilities described for a wide class of problems having combinatorial complexity. The power and speed naturally displayed by such collective networks may contribute to the effectiveness of biological information processing.     

Towards a more general understanding of the algorithmic utility of recurrent connections

Lateral and recurrent connections are ubiquitous in biological neural circuits. Yet while the strong computational abilities of feedforward networks have been extensively studied, our understanding of the role and advantages of recurrent computations that might explain their prevalence remains an important open challenge. Foundational studies by Minsky and Roelfsema argued that computations that require propagation of global information for local computation to take place would particularly benefit from the sequential, parallel nature of processing in recurrent networks. Such “tag propagation” algorithms perform repeated, local propagation of information and were originally introduced in the context of detecting connectedness, a task that is challenging for feedforward networks. Here, we advance the understanding of the utility of lateral and recurrent computation by first performing a large-scale empirical study of neural architectures for the computation of connectedness to explore feedforward solutions more fully and establish robustly the importance of recurrent architectures. In addition, we highlight a tradeoff between computation time and performance and construct hybrid feedforward/recurrent models that perform well even in the presence of varying computational time limitations. We then generalize tag propagation architectures to propagating multiple interacting tags and demonstrate that these are efficient computational substrates for more general computations of connectedness by introducing and solving an abstracted biologically inspired decision-making task. Our work thus clarifies and expands the set of computational tasks that can be solved efficiently by recurrent computation, yielding hypotheses for structure in population activity that may be present in such tasks.     

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.     

A linear model for characterization of synchronization frequencies of neural networks

The synchronization frequency of neural networks and its dynamics have important roles in deciphering the working mechanisms of the brain. It has been widely recognized that the properties of functional network synchronization and its dynamics are jointly determined by network topology, network connection strength, i.e., the connection strength of different edges in the network, and external input signals, among other factors. However, mathematical and computational characterization of the relationships between network synchronization frequency and these three important factors are still lacking. This paper presents a novel computational simulation framework to quantitatively characterize the relationships between neural network synchronization frequency and network attributes and input signals. Specifically, we constructed a series of neural networks including simulated small-world networks, real functional working memory network derived from functional magnetic resonance imaging, and real large-scale structural brain networks derived from diffusion tensor imaging, and performed synchronization simulations on these networks via the Izhikevich neuron spiking model. Our experiments demonstrate that both of the network synchronization strength and synchronization frequency change according to the combination of input signal frequency and network self-synchronization frequency. In particular, our extensive experiments show that the network synchronization frequency can be represented via a linear combination of the network self-synchronization frequency and the input signal frequency. This finding could be attributed to an intrinsically-preserved principle in different types of neural systems, offering novel insights into the working mechanism of neural systems.     

Recurrent fractal neural networks: a strategy for the exchange of local and global information processing in the brain

The regulation of biological networks relies significantly on convergent feedback signaling loops that render a global output locally accessible. Ideally, the recurrent connectivity within these systems is self-organized by a time-dependent phase-locking mechanism. This study analyzes recurrent fractal neural networks (RFNNs), which utilize a self-similar or fractal branching structure of dendrites and downstream networks for phase-locking of reciprocal feedback loops: output from outer branch nodes of the network tree enters inner branch nodes of the dendritic tree in single neurons. This structural organization enables RFNNs to amplify re-entrant input by over-the-threshold signal summation from feedback loops with equivalent signal traveling times. The columnar organization of pyramidal neurons in the neocortical layers V and III is discussed as the structural substrate for this network architecture. RFNNs self-organize spike trains and render the entire neural network output accessible to the dendritic tree of each neuron within this network. As the result of a contraction mapping operation, the local dendritic input pattern contains a downscaled version of the network output coding structure. RFNNs perform robust, fractal data compression, thus coping with a limited number of feedback loops for signal transport in convergent neural networks. This property is discussed as a significant step toward the solution of a fundamental problem in neuroscience: how is neuronal computation in separate neurons and remote brain areas unified as an instance of experience in consciousness? RFNNs are promising candidates for engaging neural networks into a coherent activity and provide a strategy for the exchange of global and local information processing in the human brain, thereby ensuring the completeness of a transformation from neuronal computation into conscious experience.     

Oscillations and waves in the models of interactive neural populations

The dynamics of activity in interactive neural populations is simulated by the networks of Wilson–Cowan oscillators. Two extreme cases of connection architectures in the networks are considered: (1) 1D and 2D regular and homogeneous grids with local connections and (2) sparse random coupling. Propagating waves in the network have been found under the stationary external input and the regime of partial synchronization has been obtained for the periodic input. It has been shown that in the case of random coupling about 60% of neural populations demonstrate oscillatory activity and some of these oscillations are synchronous. The role of different types of dynamics in information processing is discussed. In particular, we discuss the regime of partial synchronization in the context of cortical microcircuits.     

An Attractor-Based Complexity Measurement for Boolean Recurrent Neural Networks

We provide a novel refined attractor-based complexity measurement for Boolean recurrent neural networks that represents an assessment of their computational power in terms of the significance of their attractor dynamics. This complexity measurement is achieved by first proving a computational equivalence between Boolean recurrent neural networks and some specific class of -automata, and then translating the most refined classification of -automata to the Boolean neural network context. As a result, a hierarchical classification of Boolean neural networks based on their attractive dynamics is obtained, thus providing a novel refined attractor-based complexity measurement for Boolean recurrent neural networks. These results provide new theoretical insights to the computational and dynamical capabilities of neural networks according to their attractive potentialities. An application of our findings is illustrated by the analysis of the dynamics of a simplified model of the basal ganglia-thalamocortical network simulated by a Boolean recurrent neural network. This example shows the significance of measuring network complexity, and how our results bear new founding elements for the understanding of the complexity of real brain circuits.     

Oscillations and waves in the models of interactive neural populations

The dynamics of activity in interactive neural populations is simulated by the networks of Wilson-Cowan oscillators. Two extreme cases of connection architectures in the networks are considered: (1) 1D and 2D regular and homogeneous grids with local connections and (2) sparse random coupling. Propagating waves in the network have been found under the stationary external input and the regime of partial synchronization has been obtained for the periodic input. It has been shown that in the case of random coupling about 60% of neural populations demonstrate oscillatory activity and some of these oscillations are synchronous. The role of different types of dynamics in information processing is discussed. In particular, we discuss the regime of partial synchronization in the context of cortical microcircuits.     

A modified Ising model of Barabási–Albert network with gene-type spins

The central question of systems biology is to understand how individual components of a biological system such as genes or proteins cooperate in emerging phenotypes resulting in the evolution of diseases. As living cells are open systems in quasi-steady state type equilibrium in continuous exchange with their environment, computational techniques that have been successfully applied in statistical thermodynamics to describe phase transitions may provide new insights to the emerging behavior of biological systems. Here we systematically evaluate the translation of computational techniques from solid-state physics to network models that closely resemble biological networks and develop specific translational rules to tackle problems unique to living systems. We focus on logic models exhibiting only two states in each network node. Motivated by the apparent asymmetry between biological states where an entity exhibits boolean states i.e. is active or inactive, we present an adaptation of symmetric Ising model towards an asymmetric one fitting to living systems here referred to as the modified Ising model with gene-type spins. We analyze phase transitions by Monte Carlo simulations and propose a mean-field solution of a modified Ising model of a network type that closely resembles a real-world network, the Barabási–Albert model of scale-free networks. We show that asymmetric Ising models show similarities to symmetric Ising models with the external field and undergoes a discontinuous phase transition of the first-order and exhibits hysteresis. The simulation setup presented herein can be directly used for any biological network connectivity dataset and is also applicable for other networks that exhibit similar states of activity. The method proposed here is a general statistical method to deal with non-linear large scale models arising in the context of biological systems and is scalable to any network size.

     

Volume signalling in real and robot nervous systems

Summary This paper presents recent work in computational modelling of diffusing gaseous neuromodulators in biological nervous systems. A variety of interesting and significant properties of such four dimensional neural signalling systems are demonstrated. It is shown that the morphology of the neuromodulator source plays a highly significant role in the diffusion patterns observed. The paper goes on to describe work in adaptive autonomous systems directly inspired by this: an exploration of the use of virtual diffusing modulators in robot nervous systems built from non-standard artificial neural networks. These virtual chemicals act over space and time modulating a variety of node and connection properties in the networks. A wide variety of rich dynamics are possible in such systems; in the work described here, evolutionary robotics techniques have been used to harness the dynamics to produce autonomous behaviour in mobile robots. Detailed comparative analyses of evolutionary searches, and search spaces, for robot controllers with and without the virtual gases are introduced. The virtual diffusing modulators are found to provide significant advantages.     

Fine-tuning and the stability of recurrent neural networks

A central criticism of standard theoretical approaches to constructing stable, recurrent model networks is that the synaptic connection weights need to be finely-tuned. This criticism is severe because proposed rules for learning these weights have been shown to have various limitations to their biological plausibility. Hence it is unlikely that such rules are used to continuously fine-tune the network in vivo. We describe a learning rule that is able to tune synaptic weights in a biologically plausible manner. We demonstrate and test this rule in the context of the oculomotor integrator, showing that only known neural signals are needed to tune the weights. We demonstrate that the rule appropriately accounts for a wide variety of experimental results, and is robust under several kinds of perturbation. Furthermore, we show that the rule is able to achieve stability as good as or better than that provided by the linearly optimal weights often used in recurrent models of the integrator. Finally, we discuss how this rule can be generalized to tune a wide variety of recurrent attractor networks, such as those found in head direction and path integration systems, suggesting that it may be used to tune a wide variety of stable neural systems.     

Nonlinear Dynamics Analysis of a Self-Organizing Recurrent Neural Network: Chaos Waning

Self-organization is thought to play an important role in structuring nervous systems. It frequently arises as a consequence of plasticity mechanisms in neural networks: connectivity determines network dynamics which in turn feed back on network structure through various forms of plasticity. Recently, self-organizing recurrent neural network models (SORNs) have been shown to learn non-trivial structure in their inputs and to reproduce the experimentally observed statistics and fluctuations of synaptic connection strengths in cortex and hippocampus. However, the dynamics in these networks and how they change with network evolution are still poorly understood. Here we investigate the degree of chaos in SORNs by studying how the networks'' self-organization changes their response to small perturbations. We study the effect of perturbations to the excitatory-to-excitatory weight matrix on connection strengths and on unit activities. We find that the network dynamics, characterized by an estimate of the maximum Lyapunov exponent, becomes less chaotic during its self-organization, developing into a regime where only few perturbations become amplified. We also find that due to the mixing of discrete and (quasi-)continuous variables in SORNs, small perturbations to the synaptic weights may become amplified only after a substantial delay, a phenomenon we propose to call deferred chaos.