José Antonio Villacorta-Atienza

Alteration and Reorganization of Functional Networks: A New Perspective in Brain Injury Study

Plasticity is the mechanism underlying the brain’s potential capability to compensate injury. Recently several studies have shown how functional connections among the brain areas are severely altered by brain injury and plasticity leading to a reorganization of the networks. This new approach studies the impact of brain injury by means of alteration of functional interactions. The concept of functional connectivity refers to the statistical interdependencies between physiological time series simultaneously recorded in various areas of the brain and it could be an essential tool for brain functional studies, being its deviation from healthy reference an indicator for damage. In this article, we review studies investigating functional connectivity changes after brain injury and subsequent recovery, providing an accessible introduction to common mathematical methods to infer functional connectivity, exploring their capabilities, future perspectives, and clinical uses in brain injury studies.

Neural Network Architecture for Cognitive Navigation in Dynamic Environments

Navigation in time-evolving environments with moving targets and obstacles requires cognitive abilities widely demonstrated by even simplest animals. However, it is a long-standing challenging problem for artificial agents. Cognitive autonomous robots coping with this problem must solve two essential tasks: 1) understand the environment in terms of what may happen and how I can deal with this and 2) learn successful experiences for their further use in an automatic subconscious way. The recently introduced concept of compact internal representation (CIR) provides the ground for both the tasks. CIR is a specific cognitive map that compacts time-evolving situations into static structures containing information necessary for navigation. It belongs to the class of global approaches, i.e., it finds trajectories to a target when they exist but also detects situations when no solution can be found. Here we extend the concept of situations with mobile targets. Then using CIR as a core, we propose a closed-loop neural network architecture consisting of conscious and subconscious pathways for efficient decision-making. The conscious pathway provides solutions to novel situations if the default subconscious pathway fails to guide the agent to a target. Employing experiments with roving robots and numerical simulations, we show that the proposed architecture provides the robot with cognitive abilities and enables reliable and flexible navigation in realistic time-evolving environments. We prove that the subconscious pathway is robust against uncertainty in the sensory information. Thus if a novel situation is similar but not identical to the previous experience (because of, e.g., noisy perception) then the subconscious pathway is able to provide an effective solution.

Compact internal representation of dynamic situations: neural network implementing the causality principle

Animals for survival in complex, time-evolving environments can estimate in a “single parallel run” the fitness of different alternatives. Understanding of how the brain makes an effective compact internal representation (CIR) of such dynamic situations is a challenging problem. We propose an artificial neural network capable of creating CIRs of dynamic situations describing the behavior of a mobile agent in an environment with moving obstacles. The network exploits in a mental world model the principle of causality, which enables reduction of the time-dependent structure of real situations to compact static patterns. It is achieved through two concurrent processes. First, a wavefront representing the agent’s virtual present interacts with mobile and immobile obstacles forming static effective obstacles in the network space. The dynamics of the corresponding neurons in the virtual past is frozen. Then the diffusion-like process relaxes the remaining neurons to a stable steady state, i.e., a CIR is given by a single point in the multidimensional phase space. Such CIRs can be unfolded into real space for execution of motor actions, which allows a flexible task-dependent path planning in realistic time-evolving environments. Besides, the proposed network can also work as a part of “autonomous thinking”, i.e., some mental situations can be supplied for evaluation without direct motor execution. Finally we hypothesize the existence of a specific neuronal population responsible for detection of possible time-space coincidences of the animal and moving obstacles.

Prediction-for-CompAction: navigation in social environments using generalized cognitive maps

The ultimate navigation efficiency of mobile robots in human environments will depend on how we will appraise them: merely as impersonal machines or as human-like agents. In the latter case, an agent may take advantage of the cooperative collision avoidance, given that it possesses recursive cognition, i.e., the agent’s decisions depend on the decisions made by humans that in turn depend on the agent’s decisions. To deal with this high-level cognitive skill, we propose a neural network architecture implementing Prediction-for-CompAction paradigm. The network predicts possible human–agent collisions and compacts the time dimension by projecting a given dynamic situation into a static map. Thereby emerging compact cognitive map can be readily used as a “dynamic GPS” for planning actions or mental evaluation of the convenience of cooperation in a given context. We provide numerical evidence that cooperation yields additional room for more efficient navigation in cluttered pedestrian flows, and the agent can choose path to the target significantly shorter than a robot treated by humans as a functional machine. Moreover, the navigation safety, i.e., the chances to avoid accidental collisions, increases under cooperation. Remarkably, these benefits yield no additional load to the mean society effort. Thus, the proposed strategy is socially compliant, and the humanoid agent can behave as “one of us.”

WAVES IN ISOTROPIC TOTALISTIC CELLULAR AUTOMATA: APPLICATION TO REAL-TIME ROBOT NAVIGATION

Totalistic cellular automata (CA) are an efficient tool for simulating numerous wave phenomena in discrete media. However, their inherent anisotropy often leads to a significant deviation of the model results from experimental data. Here, we propose a computationally efficient isotropic CA with the standard Moore neighborhood. Our model exploits a single postulate: the information transfer in an isotropic medium occurs at constant rate. To fulfill this requirement, we introduce in each cell a local counter keeping track of the distance run by the wave from its source. This allows maintaining the wave velocity constant in all possible directions even in the presence of nonconductive local areas (obstacles) with complex spatial geometry. Then, we illustrate the model on the problem of real-time building of cognitive maps used for navigation of a mobile robot. The isotropic property of the CA helps obtaining “smooth” trajectories and hence natural robot movement. The accuracy and flexibility of the approach are proved experimentally by driving the robot to a target avoiding collisions with obstacles.

Trigeminal intersubnuclear neurons: morphometry and input-dependent structural plasticity in adult rats.

Intersubnuclear neurons in the caudal division of the spinal trigeminal nucleus that project to the principal nucleus (Pr5) play an active role in shaping the receptive fields of other neurons, at different levels in the ascending sensory system that processes information originating from the vibrissae. By using retrograde labeling and digital reconstruction, we investigated the morphometry and topology of the dendritic trees of these neurons and the changes induced by long‐term experience‐dependent plasticity in adult male rats. Primary afferent input was either eliminated by transection of the right infraorbital nerve (IoN), or selectively altered by repeated whisker clipping on the right side. These neurons do not display asymmetries between sides in basic metric and topologic parameters (global number of trees, nodes, spines, or dendritic ends), although neurons on the left tend to have longer terminal segments. Ipsilaterally, both deafferentation (IoN transection) and deprivation (whisker trimming) reduced the density of spines, and the former also caused a global increase in total dendritic length and a relative increase in more complex arbors. Contralaterally, deafferentation reduced more complex dendritic trees, and caused a moderate decline in dendritic length and spatial reach, and a loss of spines in number and density. Deprivation caused a similar, but more profound, effect on spines. Our findings provide original quantitative descriptions of a scarcely known cell population, and show that denervation‐ or deprivation‐derived plasticity is expressed not only by neurons at higher levels of the sensory pathways, but also by neurons in key subcortical circuits for sensory processing. J. Comp. Neurol. 522:1597–1617, 2014.

Effects of Spike Anticipation on the Spiking Dynamics of Neural Networks

Synchronization is one of the central phenomena involved in information processing in living systems. It is known that the nervous system requires the coordinated activity of both local and distant neural populations. Such an interplay allows to merge different information modalities in a whole processing supporting high-level mental skills as understanding, memory, abstraction, etc. Though, the biological processes underlying synchronization in the brain are not fully understood there have been reported a variety of mechanisms supporting different types of synchronization both at theoretical and experimental level. One of the more intriguing of these phenomena is the anticipating synchronization, which has been recently reported in a pair of unidirectionally coupled artificial neurons under simple conditions (Pyragiene and Pyragas, 2013), where the slave neuron is able to anticipate in time the behavior of the master one. In this paper, we explore the effect of spike anticipation over the information processing performed by a neural network at functional and structural level. We show that the introduction of intermediary neurons in the network enhances spike anticipation and analyse how these variations in spike anticipation can significantly change the firing regime of the neural network according to its functional and structural properties. In addition we show that the interspike interval (ISI), one of the main features of the neural response associated with the information coding, can be closely related to spike anticipation by each spike, and how synaptic plasticity can be modulated through that relationship. This study has been performed through numerical simulation of a coupled system of Hindmarsh–Rose neurons.

FPGA implementation of a modified FitzHugh-Nagumo neuron based causal neural network for compact internal representation of dynamic environments

Animals for surviving have developed cognitive abilities allowing them an abstract representation of the environment. This internal representation (IR) may contain a huge amount of information concerning the evolution and interactions of the animal and its surroundings. The temporal information is needed for IRs of dynamic environments and is one of the most subtle points in its implementation as the information needed to generate the IR may eventually increase dramatically. Some recent studies have proposed the compaction of the spatiotemporal information into only space, leading to a stable structure suitable to be the base for complex cognitive processes in what has been called Compact Internal Representation (CIR). The Compact Internal Representation is especially suited to be implemented in autonomous robots as it provides global strategies for the interaction with real environments. This paper describes an FPGA implementation of a Causal Neural Network based on a modified FitzHugh-Nagumo neuron to generate a Compact Internal Representation of dynamic environments for roving robots, developed under the framework of SPARK and SPARK II European project, to avoid dynamic and static obstacles.

Compact Internal Representation as a Protocognitive Scheme for Robots in Dynamic Environments

Animals for surviving have developed cognitive abilities allowing them an abstract representation of the environment. This Internal Representation (IR) could contain a huge amount of information concerning the evolution and interactions of the elements in their surroundings. The complexity of this information should be enough to ensure the maximum fidelity in the representation of those aspects of the environment critical for the agent, but not so high to prevent the management of the IR in terms of neural processes, i.e. storing, retrieving, etc. One of the most subtle points is the inclusion of temporal information, necessary in IRs of dynamic environments. This temporal information basically introduces the environmental information for each moment, so the information required to generate the IR would eventually be increased dramatically. The inclusion of this temporal information in biological neural processes remains an open question. In this work we propose a new IR, the Compact Internal Representation (CIR), based on the compaction of spatiotemporal information into only space, leading to a stable structure (with no temporal dimension) suitable to be the base for complex cognitive processes, as memory or learning. The Compact Internal Representation is especially appropriate for be implemented in autonomous robots because it provides global strategies for the interaction with real environments (roving robots, manipulators, etc.). This paper presents the mathematical basis of CIR hardware implementation in the context of navigation in dynamic environments. The aim of such implementation is the obtaining of free-collision trajectories under the requirements of an optimal performance by means of a fast and accurate process.

Wave-Processing of Long-Scale Information by Neuronal Chains

Investigation of mechanisms of information handling in neural assemblies involved in computational and cognitive tasks is a challenging problem. Synergetic cooperation of neurons in time domain, through synchronization of firing of multiple spatially distant neurons, has been widely spread as the main paradigm. Complementary, the brain may also employ information coding and processing in spatial dimension. Then, the result of computation depends also on the spatial distribution of long-scale information. The latter bi-dimensional alternative is notably less explored in the literature. Here, we propose and theoretically illustrate a concept of spatiotemporal representation and processing of long-scale information in laminar neural structures. We argue that relevant information may be hidden in self-sustained traveling waves of neuronal activity and then their nonlinear interaction yields efficient wave-processing of spatiotemporal information. Using as a testbed a chain of FitzHugh-Nagumo neurons, we show that the wave-processing can be achieved by incorporating into the single-neuron dynamics an additional voltage-gated membrane current. This local mechanism provides a chain of such neurons with new emergent network properties. In particular, nonlinear waves as a carrier of long-scale information exhibit a variety of functionally different regimes of interaction: from complete or asymmetric annihilation to transparent crossing. Thus neuronal chains can work as computational units performing different operations over spatiotemporal information. Exploiting complexity resonance these composite units can discard stimuli of too high or too low frequencies, while selectively compress those in the natural frequency range. We also show how neuronal chains can contextually interpret raw wave information. The same stimulus can be processed differently or identically according to the context set by a periodic wave train injected at the opposite end of the chain.