Ring Attractors as the Basis of a Biomimetic Navigation System.

The ability to navigate effectively in a rich and complex world is crucial for the survival of all animals. Specialist neural structures have evolved that are implicated in facilitating this ability, one such structure being the ring attractor network. In this study, we model a trio of Spiking Neural Network (SNN) ring attractors as part of a bio-inspired navigation system to maintain an internal estimate of planar translation of an artificial agent. This estimate is dynamically calibrated using a memory recall system of landmark-free allotheic multisensory experiences. We demonstrate that the SNN-based ring attractor system can accurately model motion through 2D space by integrating ideothetic velocity information and use recalled allothetic experiences as a positive corrective mechanism. This SNN based navigation system has potential for use in mobile robotics applications where power supply is limited and external sensory information is intermittent or unreliable.

A Spiking Neural Network Model of Rodent Head Direction Calibrated With Landmark Free Learning.

Maintaining a stable estimate of head direction requires both self-motion (idiothetic) information and environmental (allothetic) anchoring. In unfamiliar or dark environments idiothetic drive can maintain a rough estimate of heading but is subject to inaccuracy, visual information is required to stabilize the head direction estimate. When learning to associate visual scenes with head angle, animals do not have access to the 'ground truth' of their head direction, and must use egocentrically derived imprecise head direction estimates. We use both discriminative and generative methods of visual processing to learn these associations without extracting explicit landmarks from a natural visual scene, finding all are sufficiently capable at providing a corrective signal. Further, we present a spiking continuous attractor model of head direction (SNN), which when driven by idiothetic input is subject to drift. We show that head direction predictions made by the chosen model-free visual learning algorithms can correct for drift, even when trained on a small training set of estimated head angles self-generated by the SNN. We validate this model against experimental work by reproducing cue rotation experiments which demonstrate visual control of the head direction signal.

Wind Farms and Power Lines Have Negative Effects on Territory Occupancy in Eurasian Eagle Owls (Bubo bubo).

Wind power is useful for reducing greenhouse gas emissions, but the construction and operation might have negative effects on biodiversity. The purpose of this study was to investigate any effects of wind farm and power line construction on territory occupancy in the vulnerable Eurasian eagle owl. We investigated 48 eagle owl territories before and after the whole construction period and a short operation period with the use of sound meters. We found that territorial eagle owls within 4-5 km from the wind farm and power line construction disturbance left their territories to a significantly higher extent (41% reduction in the number of territories with eagle owls) compared with the eagle owls in territories further away (23% reduction). The distance from the nest site to the disturbance was significantly shorter for those territories that were abandoned compared with territories where the birds stayed. Possible reasons for this decline might be a higher mortality caused by collisions, desertion and avoidance of wind power areas caused by the noise and disturbance from their construction. In addition, there are possible indirect effects, for example reductions in prey species may force eagle owls to abandon their territories. The construction period lasted much longer than the period with active wind turbines and power lines in this investigation, but we cannot separate the effects of the two because the investigations were only possible in the eagle owl breeding season, and the wind turbines were activated shortly after the construction period. Our results imply that careful investigations are needed to detect the possible occurrence of eagle owls near any type of construction work. Studies of these territories should strongly influence how and when the construction work can be carried out, but more investigations are needed to find details about the influence of distance.

Multimodal Representation Learning for Place Recognition Using Deep Hebbian Predictive Coding.

Recognising familiar places is a competence required in many engineering applications that interact with the real world such as robot navigation. Combining information from different sensory sources promotes robustness and accuracy of place recognition. However, mismatch in data registration, dimensionality, and timing between modalities remain challenging problems in multisensory place recognition. Spurious data generated by sensor drop-out in multisensory environments is particularly problematic and often resolved through adhoc and brittle solutions. An effective approach to these problems is demonstrated by animals as they gracefully move through the world. Therefore, we take a neuro-ethological approach by adopting self-supervised representation learning based on a neuroscientific model of visual cortex known as predictive coding. We demonstrate how this parsimonious network algorithm which is trained using a local learning rule can be extended to combine visual and tactile sensory cues from a biomimetic robot as it naturally explores a visually aliased environment. The place recognition performance obtained using joint latent representations generated by the network is significantly better than contemporary representation learning techniques. Further, we see evidence of improved robustness at place recognition in face of unimodal sensor drop-out. The proposed multimodal deep predictive coding algorithm presented is also linearly extensible to accommodate more than two sensory modalities, thereby providing an intriguing example of the value of neuro-biologically plausible representation learning for multimodal navigation.

A multizone cerebellar chip for bioinspired adaptive robot control and sensorimotor processing.

The cerebellum is a neural structure essential for learning, which is connected via multiple zones to many different regions of the brain, and is thought to improve human performance in a large range of sensory, motor and even cognitive processing tasks. An intriguing possibility for the control of complex robotic systems would be to develop an artificial cerebellar chip with multiple zones that could be similarly connected to a variety of subsystems to optimize performance. The novel aim of this paper, therefore, is to propose and investigate a multizone cerebellar chip applied to a range of tasks in robot adaptive control and sensorimotor processing. The multizone cerebellar chip was evaluated using a custom robotic platform consisting of an array of tactile sensors driven by dielectric electroactive polymers mounted upon a standard industrial robot arm. The results demonstrate that the performance in each task was improved by the concurrent, stable learning in each cerebellar zone. This paper, therefore, provides the first empirical demonstration that a synthetic, multizone, cerebellar chip could be embodied within existing robotic systems to improve performance in a diverse range of tasks, much like the cerebellum in a biological system.

Fast, Flexible Closed-Loop Feedback: Tracking Movement in "Real-Millisecond-Time".

One of the principal functions of the brain is to control movement and rapidly adapt behavior to a changing external environment. Over the last decades our ability to monitor activity in the brain, manipulate it while also manipulating the environment the animal moves through, has been tackled with increasing sophistication. However, our ability to track the movement of the animal in real time has not kept pace. Here, we use a dynamic vision sensor (DVS) based event-driven neuromorphic camera system to implement real-time, low-latency tracking of a single whisker that mice can move at ∼25 Hz. The customized DVS system described here converts whisker motion into a series of events that can be used to estimate the position of the whisker and to trigger a position-based output interactively within 2 ms. This neuromorphic chip-based closed-loop system provides feedback rapidly and flexibly. With this system, it becomes possible to use the movement of whiskers or in principal, movement of any part of the body to reward, punish, in a rapidly reconfigurable way. These methods can be used to manipulate behavior, and the neural circuits that help animals adapt to changing values of a sequence of motor actions.

Cerebellar-inspired algorithm for adaptive control of nonlinear dielectric elastomer-based artificial muscle.

Electroactive polymer actuators are important for soft robotics, but can be difficult to control because of compliance, creep and nonlinearities. Because biological control mechanisms have evolved to deal with such problems, we investigated whether a control scheme based on the cerebellum would be useful for controlling a nonlinear dielectric elastomer actuator, a class of artificial muscle. The cerebellum was represented by the adaptive filter model, and acted in parallel with a brainstem, an approximate inverse plant model. The recurrent connections between the two allowed for direct use of sensory error to adjust motor commands. Accurate tracking of a displacement command in the actuator's nonlinear range was achieved by either semi-linear basis functions in the cerebellar model or semi-linear functions in the brainstem corresponding to recruitment in biological muscle. In addition, allowing transfer of training between cerebellum and brainstem as has been observed in the vestibulo-ocular reflex prevented the steady increase in cerebellar output otherwise required to deal with creep. The extensibility and relative simplicity of the cerebellar-based adaptive-inverse control scheme suggests that it is a plausible candidate for controlling this type of actuator. Moreover, its performance highlights important features of biological control, particularly nonlinear basis functions, recruitment and transfer of training.

Biohybrid Control of General Linear Systems Using the Adaptive Filter Model of Cerebellum.

The adaptive filter model of the cerebellar microcircuit has been successfully applied to biological motor control problems, such as the vestibulo-ocular reflex (VOR), and to sensory processing problems, such as the adaptive cancelation of reafferent noise. It has also been successfully applied to problems in robotics, such as adaptive camera stabilization and sensor noise cancelation. In previous applications to inverse control problems, the algorithm was applied to the velocity control of a plant dominated by viscous and elastic elements. Naive application of the adaptive filter model to the displacement (as opposed to velocity) control of this plant results in unstable learning and control. To be more generally useful in engineering problems, it is essential to remove this restriction to enable the stable control of plants of any order. We address this problem here by developing a biohybrid model reference adaptive control (MRAC) scheme, which stabilizes the control algorithm for strictly proper plants. We evaluate the performance of this novel cerebellar-inspired algorithm with MRAC scheme in the experimental control of a dielectric electroactive polymer, a class of artificial muscle. The results show that the augmented cerebellar algorithm is able to accurately control the displacement response of the artificial muscle. The proposed solution not only greatly extends the practical applicability of the cerebellar-inspired algorithm, but may also shed light on cerebellar involvement in a wider range of biological control tasks.

An internal model architecture for novelty detection: implications for cerebellar and collicular roles in sensory processing.

The cerebellum is thought to implement internal models for sensory prediction, but details of the underlying circuitry are currently obscure. We therefore investigated a specific example of internal-model based sensory prediction, namely detection of whisker contacts during whisking. Inputs from the vibrissae in rats can be affected by signals generated by whisker movement, a phenomenon also observable in whisking robots. Robot novelty-detection can be improved by adaptive noise-cancellation, in which an adaptive filter learns a forward model of the whisker plant that allows the sensory effects of whisking to be predicted and thus subtracted from the noisy sensory input. However, the forward model only uses information from an efference copy of the whisking commands. Here we show that the addition of sensory information from the whiskers allows the adaptive filter to learn a more complex internal model that performs more robustly than the forward model, particularly when the whisking-induced interference has a periodic structure. We then propose a neural equivalent of the circuitry required for adaptive novelty-detection in the robot, in which the role of the adaptive filter is carried out by the cerebellum, with the comparison of its output (an estimate of the self-induced interference) and the original vibrissal signal occurring in the superior colliculus, a structure noted for its central role in novelty detection. This proposal makes a specific prediction concerning the whisker-related functions of a region in cerebellar cortical zone A(2) that in rats receives climbing fibre input from the superior colliculus (via the inferior olive). This region has not been observed in non-whisking animals such as cats and primates, and its functional role in vibrissal processing has hitherto remained mysterious. Further investigation of this system may throw light on how cerebellar-based internal models could be used in broader sensory, motor and cognitive contexts.

Alfaxalone compared with ketamine for induction of anaesthesia in horses following xylazine and guaifenesin.

OBJECTIVE: To compare anaesthesia induced with either alfaxalone or ketamine in horses following premedication with xylazine and guaifenesin. STUDY DESIGN: Randomized blinded cross-over experimental study. ANIMALS: Six adult horses, five Standardbreds and one Thoroughbred; two mares and four geldings. METHODS: Each horse received, on separate occasions, induction of anaesthesia with either ketamine 2.2 mg kg(-1) or alfaxalone 1 mg kg(-1) . Premedication was with xylazine 0.5 mg kg(-1) and guaifenesin 35 mg kg(-1) . Incidence of tremors/shaking after induction, recovery and ataxia on recovery were scored. Time to recovery was recorded. Partial pressure of arterial blood oxygen (PaO(2) ) and carbon dioxide (PaO(2) ), arterial blood pressures, heart rate (HR) and respiratory rates were recorded before premedication and at intervals during anaesthesia. Data were analyzed using Wilcoxon matched pairs signed rank test and are expressed as median (range). RESULTS: There was no difference in the quality of recovery or in ataxia scores. Horses receiving alfaxalone exhibited a higher incidence of tremors/shaking on induction compared with those receiving ketamine (five and one of six horses respectively). Horses recovered to standing similarly [28 (24-47) minutes for alfaxalone; 22 (18-35) for ketamine] but took longer to recover adequately to return to the paddock after alfaxalone [44 (38-67) minutes] compared with ketamine [35 (30-47)]. There was no statistical difference between treatments in effect on HR, PaO(2) or PaCO(2) although for both regimens, PaO(2) decreased with respect to before premedication values. There was no difference between treatments in effect on blood pressure. CONCLUSIONS AND CLINICAL RELEVANCE: Both alfaxalone and ketamine were effective at inducing anaesthesia, although at induction there were more muscle tremors after alfaxalone. As there were no differences between treatments in relation to cardiopulmonary responses or quality of recovery, and only minor differences in recovery times, both agents appear suitable for this purpose following the premedication regimen used in this study.

Plasma pharmacokinetics and pharmacodynamics of alfaxalone in neonatal foals after an intravenous bolus of alfaxalone following premedication with butorphanol tartrate.

OBJECTIVE: To determine the pharmacokinetics and pharmacodynamics of the neurosteroid anaesthetic, alfaxalone, in neonatal foals after a single intravenous (IV) injection of alfaxalone following premedication with butorphanol tartrate. STUDY DESIGN: Prospective experimental study. ANIMALS: Five clinically healthy Australian Stock Horse foals of mean ± SD age of 12 ± 3 days and weighing 67.3 ± 12.4 kg. METHODS: Foals were premedicated with butorphanol (0.05 mg kg(-1) IV) and anaesthesia was induced 10 minutes later by IV injection with alfaxalone 3 mg kg(-1) . Cardiorespiratory variables (pulse rate, respiratory rate, direct arterial blood pressure, arterial blood gases) and clinical signs of anaesthetic depth were evaluated throughout anaesthesia. Venous blood samples were collected at strategic time points and alfaxalone plasma concentrations were assayed using liquid chromatography-mass spectrometry (LC/MS) and analysed by noncompartmental pharmacokinetic analysis. RESULTS: The harmonic, mean ± SD plasma elimination half life (t½) for alfaxalone was 22.8 ± 5.2 minutes. The observed mean plasma clearance (Cl(p) ) and volume of distribution (Vd) were 19.9 ± 5.9 mL minute kg(-1) and 0.6 ± 0.2 L kg(-1) , respectively. Overall, the quality of the anaesthetic inductions and recoveries was good and most monitored physiological variables were clinically acceptable in all foals, although some foals became hypoxaemic for a short period following recumbency. The mean durations of anaesthesia from induction to first movement and from induction to standing were 18.7 ± 7 and 37.2 ± 4.7 minutes, respectively. CONCLUSIONS: The anaesthetic protocol used provided a predictable and consistent plane of anaesthesia in the five foals studied, with minimal cardiovascular depression. In foals, as in the adult horse, alfaxalone has a short elimination half life. CLINICAL RELEVANCE: Alfaxalone appears to be an adequate anaesthetic induction agent in foals and the pharmacokinetics suggest that, with continuous infusion, it might be suitable to provide more prolonged anaesthesia. Oxygen supplementation is recommended.

The effect of whisker movement on radial distance estimation: a case study in comparative robotics.

Whisker movement has been shown to be under active control in certain specialist animals such as rats and mice. Though this whisker movement is well characterized, the role and effect of this movement on subsequent sensing is poorly understood. One method for investigating this phenomena is to generate artificial whisker deflections with robotic hardware under different movement conditions. A limitation of this approach is that assumptions must be made in the design of any artificial whisker actuators, which will impose certain restrictions on the whisker-object interaction. In this paper we present three robotic whisker platforms, each with different mechanical whisker properties and actuation mechanisms. A feature-based classifier is used to simultaneously discriminate radial distance to contact and contact speed for the first time. We show that whisker-object contact speed predictably affects deflection magnitudes, invariant of whisker material or whisker movement trajectory. We propose that rodent whisker control allows the animal to improve sensing accuracy by regulating contact speed induced touch-to-touch variability.

Biomimetic vibrissal sensing for robots.

Active vibrissal touch can be used to replace or to supplement sensory systems such as computer vision and, therefore, improve the sensory capacity of mobile robots. This paper describes how arrays of whisker-like touch sensors have been incorporated onto mobile robot platforms taking inspiration from biology for their morphology and control. There were two motivations for this work: first, to build a physical platform on which to model, and therefore test, recent neuroethological hypotheses about vibrissal touch; second, to exploit the control strategies and morphology observed in the biological analogue to maximize the quality and quantity of tactile sensory information derived from the artificial whisker array. We describe the design of a new whiskered robot, Shrewbot, endowed with a biomimetic array of individually controlled whiskers and a neuroethologically inspired whisking pattern generation mechanism. We then present results showing how the morphology of the whisker array shapes the sensory surface surrounding the robot's head, and demonstrate the impact of active touch control on the sensory information that can be acquired by the robot. We show that adopting bio-inspired, low latency motor control of the rhythmic motion of the whiskers in response to contact-induced stimuli usefully constrains the sensory range, while also maximizing the number of whisker contacts. The robot experiments also demonstrate that the sensory consequences of active touch control can be usefully investigated in biomimetic robots.

The pharmacokinetics and pharmacodynamics of the injectable anaesthetic alfaxalone in the horse.

OBJECTIVE: To determine the pharmacokinetics and pharmacodynamics of the neurosteroidal anaesthetic, alfaxalone, in horses after a single intravenous (IV) injection of alfaxalone, following premedication with acepromazine, xylazine and guaiphenesin. STUDY DESIGN: Prospective experimental study. ANIMALS: Ten (five male and five female), adult, healthy, Standardbred horses. METHODS: Horses were premedicated with acepromazine (0.03 mg kg(-1) IV). Twenty minutes later they received xylazine (1 mg kg(-1) IV), then after 5 minutes, guaiphenesin (35 mg kg(-1) IV) followed immediately by IV induction of anaesthesia with alfaxalone (1 mg kg(-1) ). Cardiorespiratory variables (pulse rate, respiratory rate, pulse oximetry) and clinical signs of anaesthetic depth were evaluated throughout anaesthesia. Venous blood samples were collected at strategic time points and plasma concentrations of alfaxalone were assayed using liquid chromatography-mass spectrometry (LC/MS) and analysed by noncompartmental pharmacokinetic analysis. The quality of anaesthetic induction and recovery was scored on a scale of 1-5 (1 very poor, 5 excellent). RESULTS: The median (range) induction and recovery scores were 4 (3-5) (good: horse slowly and moderately gently attained recumbency with minimal or no rigidity or paddling) and 4 (1-5) (good: horse stood on first attempt with some knuckling and ataxia) respectively. The monitored cardiopulmonary variables were within the range expected for clinical equine anaesthesia. The mean ± SD durations of anaesthesia from induction to sternal recumbency and from induction to standing were 42.7 ± 8.4 and 47 ± 9.6 minutes, respectively. The mean ± SD plasma elimination half life (t(1/2) ), plasma clearance (Clp) and volume of distribution (V(d) ) for alfaxalone were 33.4 minutes, 37.1 ± 11.1 mL minute(-1) kg(-1) and 1.6 ± 0.4 L kg(-1) , respectively. CONCLUSIONS AND CLINICAL RELEVANCE: Alfaxalone, in a 2-hydroxypropyl-beta-cyclodextrin formulation, provides anaesthesia with a short duration of recumbency that is characterised by a smooth induction and satisfactory recovery in the horse. As in other species, alfaxalone is rapidly cleared from the plasma in the horse.

Frequency and nature of rumination in chronic depression: a preliminary study.

This study explores the phenomenological experience of rumination in a sample of 22 chronically depressed people and looks at the extent to which it is consistent with theoretical ideas. The findings indicate that, on average, depressed people ruminate about at least two different topics, and that there is wide variability in how long each episode lasts. Rumination is a complex process frequently involving imagery as well as verbal thoughts and is almost invariably associated with multiple emotions. Although there was some evidence for stop rules being involved, most individuals attributed ending a period of rumination to distraction, whether external or internally generated.

Implementing spiking neural networks for real-time signal-processing and control applications: a model-validated FPGA approach.

In this paper, we present two versions of a hardware processing architecture for modeling large networks of leaky-integrate-and-fire (LIF) neurons; the second version provides performance enhancing features relative to the first. Both versions of the architecture use fixed-point arithmetic and have been implemented using a single field-programmable gate array (FPGA). They have successfully simulated networks of over 1000 neurons configured using biologically plausible models of mammalian neural systems. The neuroprocessor has been designed to be employed primarily for use on mobile robotic vehicles, allowing bio-inspired neural processing models to be integrated directly into real-world control environments. When a neuroprocessor has been designed to act as part of the closed-loop system of a feedback controller, it is imperative to maintain strict real-time performance at all times, in order to maintain integrity of the control system. This resulted in the reevaluation of some of the architectural features of existing hardware for biologically plausible neural networks (NNs). In addition, we describe a development system for rapidly porting an underlying model (based on floating-point arithmetic) to the fixed-point representation of the FPGA-based neuroprocessor, thereby allowing validation of the hardware architecture. The developmental system environment facilitates the cooperation of computational neuroscientists and engineers working on embodied (robotic) systems with neural controllers, as demonstrated by our own experience on the Whiskerbot project, in which we developed models of the rodent whisker sensory system.

Empirically inspired simulated electro-mechanical model of the rat mystacial follicle-sinus complex.

In whiskered animals, activity is evoked in the primary sensory afferent cells (trigeminal nerve) by mechanical stimulation of the whiskers. In some cell populations this activity is correlated well with continuous stimulus parameters such as whisker deflection magnitude, but in others it is observed to represent events such as whisker-stimulator contact or detachment. The transduction process is mediated by the mechanics of the whisker shaft and follicle-sinus complex (FSC), and the mechanics and electro-chemistry of mechanoreceptors within the FSC. An understanding of this transduction process and the nature of the primary neural codes generated is crucial for understanding more central sensory processing in the thalamus and cortex. However, the details of the peripheral processing are currently poorly understood. To overcome this deficiency in our knowledge, we constructed a simulated electro-mechanical model of the whisker-FSC-mechanoreceptor system in the rat and tested it against a variety of data drawn from the literature. The agreement was good enough to suggest that the model captures many of the key features of the peripheral whisker system in the rat.