Recovery of dynamical similarity from lossy representations of collective behavior of midge swarms.

Understanding emergent collective phenomena in biological systems is a complex challenge due to the high dimensionality of state variables and the inability to directly probe agent-based interaction rules. Therefore, if one wants to model a system for which the underpinnings of the collective process are unknown, common approaches such as using mathematical models to validate experimental data may be misguided. Even more so, if one lacks the ability to experimentally measure all the salient state variables that drive the collective phenomena, a modeling approach may not correctly capture the behavior. This problem motivates the need for model-free methods to characterize or classify observed behavior to glean biological insights for meaningful models. Furthermore, such methods must be robust to low dimensional or lossy data, which are often the only feasible measurements for large collectives. In this paper, we show that a model-free and unsupervised clustering of high dimensional swarming behavior in midges (Chironomus riparius), based on dynamical similarity, can be performed using only two-dimensional video data where the animals are not individually tracked. Moreover, the results of the classification are physically meaningful. This work demonstrates that low dimensional video data of collective motion experiments can be equivalently characterized, which has the potential for wide applications to data describing animal group motion acquired in both the laboratory and the field.

An agent-based model reveals lost person behavior based on data from wilderness search and rescue.

Thousands of people are reported lost in the wilderness in the United States every year and locating these missing individuals as rapidly as possible depends on coordinated search and rescue (SAR) operations. As time passes, the search area grows, survival rate decreases, and searchers are faced with an increasingly daunting task of searching large areas in a short amount of time. To optimize the search process, mathematical models of lost person behavior with respect to landscape can be used in conjunction with current SAR practices. In this paper, we introduce an agent-based model of lost person behavior which allows agents to move on known landscapes with behavior defined as independent realizations of a random variable. The behavior random variable selects from a distribution of six known lost person reorientation strategies to simulate the agent's trajectory. We systematically simulate a range of possible behavior distributions and find a best-fit behavioral profile for a hiker with the International Search and Rescue Incident Database. We validate these results with a leave-one-out analysis. This work represents the first time-discrete model of lost person dynamics validated with data from real SAR incidents and has the potential to improve current methods for wilderness SAR.

Transfer Entropy Analysis of Interactions between Bats Using Position and Echolocation Data.

Many animal species, including many species of bats, exhibit collective behavior where groups of individuals coordinate their motion. Bats are unique among these animals in that they use the active sensing mechanism of echolocation as their primary means of navigation. Due to their use of echolocation in large groups, bats run the risk of signal interference from sonar jamming. However, several species of bats have developed strategies to prevent interference, which may lead to different behavior when flying with conspecifics than when flying alone. This study seeks to explore the role of this acoustic sensing on the behavior of bat pairs flying together. Field data from a maternity colony of gray bats (Myotis grisescens) were collected using an array of cameras and microphones. These data were analyzed using the information theoretic measure of transfer entropy in order to quantify the interaction between pairs of bats and to determine the effect echolocation calls have on this interaction. This study expands on previous work that only computed information theoretic measures on the 3D position of bats without echolocation calls or that looked at the echolocation calls without using information theoretic analyses. Results show that there is evidence of information transfer between bats flying in pairs when time series for the speed of the bats and their turning behavior are used in the analysis. Unidirectional information transfer was found in some subsets of the data which could be evidence of a leader-follower interaction.

Extracting Interactions between Flying Bat Pairs Using Model-Free Methods.

Social animals exhibit collective behavior whereby they negotiate to reach an agreement, such as the coordination of group motion. Bats are unique among most social animals, since they use active sensory echolocation by emitting ultrasonic waves and sensing echoes to navigate. Bats' use of active sensing may result in acoustic interference from peers, driving different behavior when they fly together rather than alone. The present study explores quantitative methods that can be used to understand whether bats flying in pairs move independently of each other or interact. The study used field data from bats in flight and is based on the assumption that interactions between two bats are evidenced in their flight patterns. To quantify pairwise interaction, we defined the strength of coupling using model-free methods from dynamical systems and information theory. We used a control condition to eliminate similarities in flight path due to environmental geometry. Our research question is whether these data-driven methods identify directed coupling between bats from their flight paths and, if so, whether the results are consistent between methods. Results demonstrate evidence of information exchange between flying bat pairs, and, in particular, we find significant evidence of rear-to-front coupling in bats' turning behavior when they fly in the absence of obstacles.

Effect of visual and auditory sensing cues on collective behavior in Vicsek models.

In the present study, we consider two independent sensing modes (auditory and visual) in Vicsek-like models and compare the emergent group-level behaviors in terms of polarization, cohesion, and cluster size. The auditory and visual modes differ in the determination of particle neighbors, which at the level of groups results in higher polarization, lower cohesion, and larger cluster size for the auditory mode relative to the visual. With the increase in average density of the particles, these differences are more pronounced. These differences are due to the fact that these sense modalities robustly generate distinct spatial distributions of the particles. We demonstrate the use of a data-driven approach, called transfer entropy, to distinguish the sensing modalities by considering only a pair of particle trajectories. Such an approach could be applicable to real-world systems, where it may be a challenge to measure the position and velocity of every particle within a swarm.

Comparing brain connectivity metrics: a didactic tutorial with a toy model and experimental data.

OBJECTIVE: The objective of this paper is to didactically compare resting state connectivity networks computed using two different methods called phase locking value (PLV) and convergent cross-mapping (CCM). PLV is a ubiquitous measure of connectivity in electrophysiological research but is less often applied to fMRI BOLD timeseries since this model-based metric assumes that oscillatory coupling is a sufficient condition for connectivity. Alternatively, CCM is a model-free method, which detects potentially nonlinear causal influences based on the ability to estimate one timeseries with another and does not assume an oscillatory structure. APPROACH: We use a toy dataset to test the PLV and CCM algorithms under different known synchronization conditions. Additionally, experimental resting state EEG and fMRI datasets are used for comparison. MAIN RESULTS: The results show that the resting state brain networks computed using both algorithms produce similar results for both resting state EEG and fMRI datasets. For both neuroimaging datasets, the network characteristics follow the same trends and the similarity between the computed networks, for both algorithms, is highly significant. SIGNIFICANCE: CCM is able to identify low or one-way connection strengths better than PLV but takes exponentially longer to compute. Based on these results, PLV provides a good metric for on-line network identification because it is both computationally fast and an excellent approximation of the network computed with CCM.

Biodiversifying bioinspiration.

Bioinspiration-using insights into the function of biological systems for the development of new engineering concepts-is already a successful and rapidly growing field. However, only a small portion of the world's biodiversity has thus far been considered as a potential source for engineering inspiration. This means that vast numbers of biological systems of potentially high value to engineering have likely gone unnoticed. Even more important, insights into form and function that reside in the evolutionary relationships across the tree of life have not yet received attention by engineers. These insights could soon become accessible through recent developments in disparate areas of research; in particular, advancements in digitization of museum specimens, methods to describe and analyze complex biological shapes, quantitative prediction of biological function from form, and analysis of large digital data sets. Taken together, these emerging capabilities should make it possible to mine the world's known biodiversity as a natural resource for knowledge relevant to engineering. This transformation of bioinspiration would be very timely in the development of engineering, because it could yield exactly the kind of insights that are needed to make technology more autonomous, adaptive, and capable of operation in complex environments.

Interactional dynamics of same-sex marriage legislation in the United States.

Understanding how people form opinions and make decisions is a complex phenomenon that depends on both personal practices and interactions. Recent availability of real-world data has enabled quantitative analysis of opinion formation, which illuminates phenomena that impact physical and social sciences. Public policies exemplify complex opinion formation spanning individual and population scales, and a timely example is the legalization of same-sex marriage in the United States. Here, we seek to understand how this issue captures the relationship between state-laws and Senate representatives subject to geographical and ideological factors. Using distance-based correlations, we study how physical proximity and state-government ideology may be used to extract patterns in state-law adoption and senatorial support of same-sex marriage. Results demonstrate that proximal states have similar opinion dynamics in both state-laws and senators' opinions, and states with similar state-government ideology have analogous senators' opinions. Moreover, senators' opinions drive state-laws with a time lag. Thus, change in opinion not only results from negotiations among individuals, but also reflects inherent spatial and political similarities and temporal delays. We build a social impact model of state-law adoption in light of these results, which predicts the evolution of state-laws legalizing same-sex marriage over the last three decades.

Classical and adaptive control of ex vivo skeletal muscle contractions using Functional Electrical Stimulation (FES).

Functional Electrical Stimulation is a promising approach to treat patients by stimulating the peripheral nerves and their corresponding motor neurons using electrical current. This technique helps maintain muscle mass and promote blood flow in the absence of a functioning nervous system. The goal of this work is to control muscle contractions from FES via three different algorithms and assess the most appropriate controller providing effective stimulation of the muscle. An open-loop system and a closed-loop system with three types of model-free feedback controllers were assessed for tracking control of skeletal muscle contractions: a Proportional-Integral (PI) controller, a Model Reference Adaptive Control algorithm, and an Adaptive Augmented PI system. Furthermore, a mathematical model of a muscle-mass-spring system was implemented in simulation to test the open-loop case and closed-loop controllers. These simulations were carried out and then validated through experiments ex vivo. The experiments included muscle contractions following four distinct trajectories: a step, sine, ramp, and square wave. Overall, the closed-loop controllers followed the stimulation trajectories set for all the simulated and tested muscles. When comparing the experimental outcomes of each controller, we concluded that the Adaptive Augmented PI algorithm provided the best closed-loop performance for speed of convergence and disturbance rejection.

The effect of binaural beats on verbal working memory and cortical connectivity.

OBJECTIVE: Synchronization in activated regions of cortical networks affect the brain's frequency response, which has been associated with a wide range of states and abilities, including memory. A non-invasive method for manipulating cortical synchronization is binaural beats. Binaural beats take advantage of the brain's response to two pure tones, delivered independently to each ear, when those tones have a small frequency mismatch. The mismatch between the tones is interpreted as a beat frequency, which may act to synchronize cortical oscillations. Neural synchrony is particularly important for working memory processes, the system controlling online organization and retention of information for successful goal-directed behavior. Therefore, manipulation of synchrony via binaural beats provides a unique window into working memory and associated connectivity of cortical networks. APPROACH: In this study, we examined the effects of different acoustic stimulation conditions during an N-back working memory task, and we measured participant response accuracy and cortical network topology via EEG recordings. Six acoustic stimulation conditions were used: None, Pure Tone, Classical Music, 5 Hz binaural beats, 10 Hz binaural beats, and 15 Hz binaural beats. MAIN RESULTS: We determined that listening to 15 Hz binaural beats during an N-Back working memory task increased the individual participant's accuracy, modulated the cortical frequency response, and changed the cortical network connection strengths during the task. Only the 15 Hz binaural beats produced significant change in relative accuracy compared to the None condition. SIGNIFICANCE: Listening to 15 Hz binaural beats during the N-back task activated salient frequency bands and produced networks characterized by higher information transfer as compared to other auditory stimulation conditions.

Leader-follower consensus and synchronization in numerosity-constrained networks with dynamic leadership.

In this work, we study leader-follower consensus and synchronization protocols over a stochastically switching network. The agents representing the followers can communicate with any other agent, whereas the agents serving as leaders are restricted to interact only with the other leaders. The model incorporates the phenomenon of numerosity, which limits the perceptual capacity of the agents while allowing for shuffling with whom each individual interacts at each time step. We derive closed form expressions for necessary and sufficient conditions for consensus, the rate of convergence to consensus, and conditions for stochastic synchronization in terms of the asymptotic convergence factor. We provide simulation results to validate the theoretical findings and to illustrate the dependence of this factor on system parameters. The closed form results enable us to study the factors affecting the feasibility of consensus. We show that agents' traits can be chosen for an engineered system to maximize the convergence speed and that protocol speed is enhanced as the proportion of the leaders increases in certain cases. These results may find application in the design and control of an engineered leader-follower system, where consensus or synchronization at the fastest possible rate is desired.

The Effect of Binaural Beats on Visuospatial Working Memory and Cortical Connectivity.

Binaural beats utilize a phenomenon that occurs within the cortex when two different frequencies are presented separately to each ear. This procedure produces a third phantom binaural beat, whose frequency is equal to the difference of the two presented tones and which can be manipulated for non-invasive brain stimulation. The effects of binaural beats on working memory, the system in control of temporary retention and online organization of thoughts for successful goal directed behavior, have not been well studied. Furthermore, no studies have evaluated the effects of binaural beats on brain connectivity during working memory tasks. In this study, we determined the effects of different acoustic stimulation conditions on participant response accuracy and cortical network topology, as measured by EEG recordings, during a visuospatial working memory task. Three acoustic stimulation control conditions and three binaural beat stimulation conditions were used: None, Pure Tone, Classical Music, 5Hz binaural beats, 10Hz binaural beats, and 15Hz binaural beats. We found that listening to 15Hz binaural beats during a visuospatial working memory task not only increased the response accuracy, but also modified the strengths of the cortical networks during the task. The three auditory control conditions and the 5Hz and 10Hz binaural beats all decreased accuracy. Based on graphical network analyses, the cortical activity during 15Hz binaural beats produced networks characteristic of high information transfer with consistent connection strengths throughout the visuospatial working memory task.

Bats adjust their pulse emission rates with swarm size in the field.

Flying in swarms, e.g., when exiting a cave, could pose a problem to bats that use an active biosonar system because the animals could risk jamming each other's biosonar signals. Studies from current literature have found different results with regard to whether bats reduce or increase emission rate in the presence of jamming ultrasound. In the present work, the number of Eastern bent-wing bats (Miniopterus fuliginosus) that were flying inside a cave during emergence was estimated along with the number of signal pulses recorded. Over the range of average bat numbers present in the recording (0 to 14 bats), the average number of detected pulses per bat increased with the average number of bats. The result was interpreted as an indication that the Eastern bent-wing bats increased their emission rate and/or pulse amplitude with swarm size on average. This finding could be explained by the hypothesis that the bats might not suffer from substantial jamming probabilities under the observed density regimes, so jamming might not have been a limiting factor for their emissions. When jamming did occur, the bats could avoid it through changing the pulse amplitude and other pulse properties such as duration or frequency, which has been suggested by other studies. More importantly, the increased biosonar activities may have addressed a collision-avoidance challenge that was posed by the increased swarm size.

Modeling perspectives on echolocation strategies inspired by bats flying in groups.

Bats navigating with echolocation - which is a type of active sensing achieved by interpreting echoes resulting from self-generated ultrasonic pulses - exhibit unique behaviors during group flight. While bats may benefit from eavesdropping on their peers׳ echolocation, they also potentially suffer from confusion between their own and peers׳ pulses, caused by an effect called frequency jamming. This hardship of group flight is supported by experimental observations of bats simplifying their sound-scape by shifting their pulse frequencies or suppressing echolocation altogether. Here, we investigate eavesdropping and varying pulse emission rate from a modeling perspective to understand these behaviors׳ potential benefits and detriments. We define an agent-based model of echolocating bats avoiding collisions in a three-dimensional tunnel. Through simulation, we show that bats with reasonably accurate eavesdropping can reduce collisions compared to those neglecting information from peers. In large populations, bats minimize frequency jamming by decreasing pulse emission rate, while collision risk increases; conversely, increasing pulse emission rate minimizes collisions by allowing more sensing information generated per bat. These strategies offer benefits for both biological and engineered systems, since frequency jamming is a concern in systems using active sensing.

The effect of geography and citizen behavior on motor vehicle deaths in the United States.

Death due to motor vehicle collisions (MVCs) remains a leading cause of death in the US and alcohol plays a prominent role in a large proportion of these fatalities nationwide. Rates for these incidents vary widely among states and over time. Here, we explore the extent to which driving volume, alcohol consumption, legislation, political ideology, and geographical factors influence MVC deaths across states and time. We specify structural equation models for extracting associations between the factors and outcomes for MVC deaths and compute correlation functions of states' relative geographic and political positions to elucidate the relative contribution of these factors. We find evidence that state-level variation in MVC deaths is associated with time-varying driving volume, alcohol consumption, and legislation. These relationships are modulated by state spatial proximity, whereby neighboring states are found to share similar MVC death rates over the thirty-year observation period. These results support the hypothesis that neighboring states exhibit similar risk and protective characteristics, despite differences in political ideology.

Collective behaviour across animal species.

We posit a new geometric perspective to define, detect, and classify inherent patterns of collective behaviour across a variety of animal species. We show that machine learning techniques, and specifically the isometric mapping algorithm, allow the identification and interpretation of different types of collective behaviour in five social animal species. These results offer a first glimpse at the transformative potential of machine learning for ethology, similar to its impact on robotics, where it enabled robots to recognize objects and navigate the environment.

Gait detection in children with and without hemiplegia using single-axis wearable gyroscopes.

In this work, we develop a novel gait phase detection algorithm based on a hidden Markov model, which uses data from foot-mounted single-axis gyroscopes as input. We explore whether the proposed gait detection algorithm can generate equivalent results as a reference signal provided by force sensitive resistors (FSRs) for typically developing children (TD) and children with hemiplegia (HC). We find that the algorithm faithfully reproduces reference results in terms of high values of sensitivity and specificity with respect to FSR signals. In addition, the algorithm distinguishes between TD and HC and is able to assess the level of gait ability in patients. Finally, we show that the algorithm can be adapted to enable real-time processing with high accuracy. Due to the small, inexpensive nature of gyroscopes utilized in this study and the ease of implementation of the developed algorithm, this work finds application in the on-going development of active orthoses designed for therapy and locomotion in children with gait pathologies.

Collective behavior and predation success in a predator-prey model inspired by hunting bats.

We establish an agent-based model to study the impact of prey behavior on the hunting success of predators. The predators and prey are modeled as self-propelled particles moving in a three-dimensional domain and subject to specific sensing abilities and behavioral rules inspired by bat hunting. The predators randomly search for prey. The prey either align velocity directions with peers, defined as "interacting" prey, or swarm "independently" of peer presence; both types of prey are subject to additive noise. In a simulation study, we find that interacting prey using low noise have the maximum predation avoidance because they form localized large groups, while they suffer high predation as noise increases due to the formation of broadly dispersed small groups. Independent prey, which are likely to be uniformly distributed in the domain, have higher predation risk under a low noise regime as they traverse larger spatial extents. These effects are enhanced in large prey populations, which exhibit more ordered collective behavior or more uniform spatial distribution as they are interacting or independent, respectively.

Topological analysis of complexity in multiagent systems.

Social organisms at every level of evolutionary complexity live in groups, such as fish schools, locust swarms, and bird flocks. The complex exchange of multifaceted information across group members may result in a spectrum of salient spatiotemporal patterns characterizing collective behaviors. While instances of collective behavior in animal groups are readily identifiable by trained and untrained observers, a working definition to distinguish these patterns from raw data is not yet established. In this work, we define collective behavior as a manifestation of low-dimensional manifolds in the group motion and we quantify the complexity of such behaviors through the dimensionality of these structures. We demonstrate this definition using the ISOMAP algorithm, a data-driven machine learning algorithm for dimensionality reduction originally formulated in the context of image processing. We apply the ISOMAP algorithm to data from an interacting self-propelled particle model with additive noise, whose parameters are selected to exhibit different behavioral modalities, and from a video of a live fish school. Based on simulations of such model, we find that increasing noise in the system of particles corresponds to increasing the dimensionality of the structures underlying their motion. These low-dimensional structures are absent in simulations where particles do not interact. Applying the ISOMAP algorithm to fish school data, we identify similar low-dimensional structures, which may act as quantitative evidence for order inherent in collective behavior of animal groups. These results offer an unambiguous method for measuring order in data from large-scale biological systems and confirm the emergence of collective behavior in an applicable mathematical model, thus demonstrating that such models are capable of capturing phenomena observed in animal groups.