Self-organization in the olfactory system: one shot odor recognition in insects

Investigating visual navigation using spiking neural network models of the insect mushroom bodies

Ants are capable of learning long visually guided foraging routes with limited neural resources. The visual scene memory needed for this behaviour is mediated by the mushroom bodies; an insect brain region important for learning and memory. In a visual navigation context, the mushroom bodies are theorised to act as familiarity detectors, guiding ants to views that are similar to those previously learned when first travelling along a foraging route. Evidence from behavioural experiments, computational studies and brain lesions all support this idea. Here we further investigate the role of mushroom bodies in visual navigation with a spiking neural network model learning complex natural scenes. By implementing these networks in GeNN-a library for building GPU accelerated spiking neural networks-we were able to test these models offline on an image database representing navigation through a complex outdoor natural environment, and also online embodied on a robot. The mushroom body model successfully learnt a large series of visual scenes (400 scenes corresponding to a 27 m route) and used these memories to choose accurate heading directions during route recapitulation in both complex environments. Through analysing our model's Kenyon cell (KC) activity, we were able to demonstrate that KC activity is directly related to the respective novelty of input images. Through conducting a parameter search we found that there is a non-linear dependence between optimal KC to visual projection neuron (VPN) connection sparsity and the length of time the model is presented with an image stimulus. The parameter search also showed training the model on lower proportions of a route generally produced better accuracy when testing on the entire route. We embodied the mushroom body model and comparator visual navigation algorithms on a Quanser Q-car robot with all processing running on an Nvidia Jetson TX2. On a 6.5 m route, the mushroom body model had a mean distance to training route (error) of 0.144 ± 0.088 m over 5 trials, which was performance comparable to standard visual-only navigation algorithms. Thus, we have demonstrated that a biologically plausible model of the ant mushroom body can navigate complex environments both in simulation and the real world. Understanding the neural basis of this behaviour will provide insight into how neural circuits are tuned to rapidly learn behaviourally relevant information from complex environments and provide inspiration for creating bio-mimetic computer/robotic systems that can learn rapidly with low energy requirements.

Beyond prediction error: 25 years of modeling the associations formed in the insect mushroom body

The insect mushroom body has gained increasing attention as a system in which the computational basis of neural learning circuits can be unraveled. We now understand in detail the key locations in this circuit where synaptic associations are formed between sensory patterns and values leading to actions. However, the actual learning rule (or rules) implemented by neural activity and leading to synaptic change is still an open question. Here, I survey the diversity of answers that have been offered in computational models of this system over the past decades, including the recurring assumption-in line with top-down theories of associative learning-that the core function is to reduce prediction error. However, I will argue, a more bottom-up approach may ultimately reveal a richer algorithmic capacity in this still enigmatic brain neuropil.

Brian2CUDA: Flexible and Efficient Simulation of Spiking Neural Network Models on GPUs

Graphics processing units (GPUs) are widely available and have been used with great success to accelerate scientific computing in the last decade. These advances, however, are often not available to researchers interested in simulating spiking neural networks, but lacking the technical knowledge to write the necessary low-level code. Writing low-level code is not necessary when using the popular Brian simulator, which provides a framework to generate efficient CPU code from high-level model definitions in Python. Here, we present Brian2CUDA, an open-source software that extends the Brian simulator with a GPU backend. Our implementation generates efficient code for the numerical integration of neuronal states and for the propagation of synaptic events on GPUs, making use of their massively parallel arithmetic capabilities. We benchmark the performance improvements of our software for several model types and find that it can accelerate simulations by up to three orders of magnitude compared to Brian's CPU backend. Currently, Brian2CUDA is the only package that supports Brian's full feature set on GPUs, including arbitrary neuron and synapse models, plasticity rules, and heterogeneous delays. When comparing its performance with Brian2GeNN, another GPU-based backend for the Brian simulator with fewer features, we find that Brian2CUDA gives comparable speedups, while being typically slower for small and faster for large networks. By combining the flexibility of the Brian simulator with the simulation speed of GPUs, Brian2CUDA enables researchers to efficiently simulate spiking neural networks with minimal effort and thereby makes the advancements of GPU computing available to a larger audience of neuroscientists.

Non-synaptic interactions between olfactory receptor neurons, a possible key feature of odor processing in flies

When flies explore their environment, they encounter odors in complex, highly intermittent plumes. To navigate a plume and, for example, find food, they must solve several challenges, including reliably identifying mixtures of odorants and their intensities, and discriminating odorant mixtures emanating from a single source from odorants emitted from separate sources and just mixing in the air. Lateral inhibition in the antennal lobe is commonly understood to help solving these challenges. With a computational model of the Drosophila olfactory system, we analyze the utility of an alternative mechanism for solving them: Non-synaptic ("ephaptic") interactions (NSIs) between olfactory receptor neurons that are stereotypically co-housed in the same sensilla. We find that NSIs improve mixture ratio detection and plume structure sensing and do so more efficiently than the traditionally considered mechanism of lateral inhibition in the antennal lobe. The best performance is achieved when both mechanisms work in synergy. However, we also found that NSIs decrease the dynamic range of co-housed ORNs, especially when they have similar sensitivity to an odorant. These results shed light, from a functional perspective, on the role of NSIs, which are normally avoided between neurons, for instance by myelination.

Drosophila reward system - A summary of current knowledge

The fruit fly Drosophila melanogaster brain is the most extensively investigated model of a reward system in insects. Drosophila can discriminate between rewarding and punishing environmental stimuli and consequently undergo associative learning. Functional models, especially those modelling mushroom bodies, are constantly being developed using newly discovered information, adding to the complexity of creating a simple model of the reward system. This review aims to clarify whether its reward system also includes a hedonic component. Neurochemical systems that mediate the 'wanting' component of reward in the Drosophila brain are well documented, however, the systems that mediate the pleasure component of reward in mammals, including those involving the endogenous opioid and endocannabinoid systems, are unlikely to be present in insects. The mushroom body components exhibit differential developmental age and different functional processes. We propose a hypothetical hierarchy of the levels of reinforcement processing in response to particular stimuli, and the parallel processes that take place concurrently. The possible presence of activity-silencing and meta-satiety inducing levels in Drosophila should be further investigated.

Non-synaptic interactions between olfactory receptor neurons, a possible key feature of odor processing in flies.. [DOI: 10.1101/2020.07.23.217216]

When flies explore their environment, they encounter odors in complex, highly intermittent plumes. To navigate a plume and, for example, find food, they must solve several challenges, including reliably identifying mixtures of odorants and their intensities, and discriminating odorant mixtures emanating from a single source from odorants emitted from separate sources and just mixing in the air. Lateral inhibition in the antennal lobe is commonly understood to help solving these challenges. With a computational model of the Drosophila olfactory system, we analyze the utility of an alternative mechanism for solving them: Non-synaptic (“ephaptic”) interactions (NSIs) between olfactory receptor neurons that are stereotypically co-housed in the same sensilla.

We found that NSIs improve mixture ratio detection and plume structure sensing and they do so more efficiently than the traditionally considered mechanism of lateral inhibition in the antennal lobe. However, we also found that NSIs decrease the dynamic range of co-housed ORNs, especially when they have similar sensitivity to an odorant. These results shed light, from a functional perspective, on the role of NSIs, which are normally avoided between neurons, for instance by myelination.

Author summary

Myelin is important to isolate neurons and avoid disruptive electrical interference between them; it can be found in almost any neural assembly. However, there are a few exceptions to this rule and it remains unclear why. One particularly interesting case is the electrical interaction between olfactory sensory neurons co-housed in the sensilla of insects. Here, we created a computational model of the early stages of the Drosophila olfactory system and observed that the electrical interference between olfactory receptor neurons can be a useful trait that can help flies, and other insects, to navigate the complex plumes of odorants in their natural environment.

With the model we were able to shed new light on the trade-off of adopting this mechanism: We found that the non-synaptic interactions (NSIs) improve both the identification of the concentration ratio in mixtures of odorants and the discrimination of odorant mixtures emanating from a single source from odorants emitted from separate sources – both highly advantageous. However, they also decrease the dynamic range of the olfactory sensory neurons – a clear disadvantage.

Circuit and Cellular Mechanisms Facilitate the Transformation from Dense to Sparse Coding in the Insect Olfactory System

Transformations between sensory representations are shaped by neural mechanisms at the cellular and the circuit level. In the insect olfactory system, the encoding of odor information undergoes a transition from a dense spatiotemporal population code in the antennal lobe to a sparse code in the mushroom body. However, the exact mechanisms shaping odor representations and their role in sensory processing are incompletely identified. Here, we investigate the transformation from dense to sparse odor representations in a spiking model of the insect olfactory system, focusing on two ubiquitous neural mechanisms: spike frequency adaptation at the cellular level and lateral inhibition at the circuit level. We find that cellular adaptation is essential for sparse representations in time (temporal sparseness), while lateral inhibition regulates sparseness in the neuronal space (population sparseness). The interplay of both mechanisms shapes spatiotemporal odor representations, which are optimized for the discrimination of odors during stimulus onset and offset. Response pattern correlation across different stimuli showed a nonmonotonic dependence on the strength of lateral inhibition with an optimum at intermediate levels, which is explained by two counteracting mechanisms. In addition, we find that odor identity is stored on a prolonged timescale in the adaptation levels but not in the spiking activity of the principal cells of the mushroom body, providing a testable hypothesis for the location of the so-called odor trace.

Brian2GeNN: accelerating spiking neural network simulations with graphics hardware

“Brian” is a popular Python-based simulator for spiking neural networks, commonly used in computational neuroscience. GeNN is a C++-based meta-compiler for accelerating spiking neural network simulations using consumer or high performance grade graphics processing units (GPUs). Here we introduce a new software package, Brian2GeNN, that connects the two systems so that users can make use of GeNN GPU acceleration when developing their models in Brian, without requiring any technical knowledge about GPUs, C++ or GeNN. The new Brian2GeNN software uses a pipeline of code generation to translate Brian scripts into C++ code that can be used as input to GeNN, and subsequently can be run on suitable NVIDIA GPU accelerators. From the user’s perspective, the entire pipeline is invoked by adding two simple lines to their Brian scripts. We have shown that using Brian2GeNN, two non-trivial models from the literature can run tens to hundreds of times faster than on CPU.

An unsupervised neuromorphic clustering algorithm

Brains perform complex tasks using a fraction of the power that would be required to do the same on a conventional computer. New neuromorphic hardware systems are now becoming widely available that are intended to emulate the more power efficient, highly parallel operation of brains. However, to use these systems in applications, we need "neuromorphic algorithms" that can run on them. Here we develop a spiking neural network model for neuromorphic hardware that uses spike timing-dependent plasticity and lateral inhibition to perform unsupervised clustering. With this model, time-invariant, rate-coded datasets can be mapped into a feature space with a specified resolution, i.e., number of clusters, using exclusively neuromorphic hardware. We developed and tested implementations on the SpiNNaker neuromorphic system and on GPUs using the GeNN framework. We show that our neuromorphic clustering algorithm achieves results comparable to those of conventional clustering algorithms such as self-organizing maps, neural gas or k-means clustering. We then combine it with a previously reported supervised neuromorphic classifier network to demonstrate its practical use as a neuromorphic preprocessing module.

Biological Mechanisms for Learning: A Computational Model of Olfactory Learning in the Manduca sexta Moth, With Applications to Neural Nets

The insect olfactory system, which includes the antennal lobe (AL), mushroom body (MB), and ancillary structures, is a relatively simple neural system capable of learning. Its structural features, which are widespread in biological neural systems, process olfactory stimuli through a cascade of networks where large dimension shifts occur from stage to stage and where sparsity and randomness play a critical role in coding. Learning is partly enabled by a neuromodulatory reward mechanism of octopamine stimulation of the AL, whose increased activity induces synaptic weight updates in the MB through Hebbian plasticity. Enforced sparsity in the MB focuses Hebbian growth on neurons that are the most important for the representation of the learned odor. Based upon current biophysical knowledge, we have constructed an end-to-end computational firing-rate model of the Manduca sexta moth olfactory system which includes the interaction of the AL and MB under octopamine stimulation. Our model is able to robustly learn new odors, and neural firing rates in our simulations match the statistical features of in vivo firing rate data. From a biological perspective, the model provides a valuable tool for examining the role of neuromodulators, like octopamine, in learning, and gives insight into critical interactions between sparsity, Hebbian growth, and stimulation during learning. Our simulations also inform predictions about structural details of the olfactory system that are not currently well-characterized. From a machine learning perspective, the model yields bio-inspired mechanisms that are potentially useful in constructing neural nets for rapid learning from very few samples. These mechanisms include high-noise layers, sparse layers as noise filters, and a biologically-plausible optimization method to train the network based on octopamine stimulation, sparse layers, and Hebbian growth.

The Complex Behaviour of a Simple Neural Oscillator Model in the Human Cortex

The brain is a complex organ responsible for memory storage and reasoning; however, the mechanisms underlying these processes remain unknown. This paper forms a contribution to a lot of theoretical studies devoted to regular or chaotic oscillations of interconnected neurons assuming that the smallest information unit in the brain is not a neuron but, instead, a coupling of inhibitory and excitatory neurons forming a simple oscillator. Several coefficients of variation for peak intervals and correlation coefficients for peak interval histograms are evaluated and the sensitivity of such oscillator units is tested to changes in initial membrane potentials, interconnection signal delays, and changes in synaptic weights based on known histologically verified neuron couplings. Results present only a low dependence of oscillation patterns to changes in initial membrane potentials or interconnection signal delays in comparison to a strong sensitivity to changes in synaptic weights showing the stability and robustness of encoded oscillating patterns to signal outages or remoteness of interconnected neurons. Presented simulations prove that the selected neuronal couplings are able to produce a variety of different behavioural patterns, with periodicity ranging from milliseconds to thousands of milliseconds between the spikes. Many detected different intrinsic frequencies then support the idea of possibly large informational capacity of such memory units.

A neural network model for familiarity and context learning during honeybee foraging flights

How complex is the memory structure that honeybees use to navigate? Recently, an insect-inspired parsimonious spiking neural network model was proposed that enabled simulated ground-moving agents to follow learned routes. We adapted this model to flying insects and evaluate the route following performance in three different worlds with gradually decreasing object density. In addition, we propose an extension to the model to enable the model to associate sensory input with a behavioral context, such as foraging or homing. The spiking neural network model makes use of a sparse stimulus representation in the mushroom body and reward-based synaptic plasticity at its output synapses. In our experiments, simulated bees were able to navigate correctly even when panoramic cues were missing. The context extension we propose enabled agents to successfully discriminate partly overlapping routes. The structure of the visual environment, however, crucially determines the success rate. We find that the model fails more often in visually rich environments due to the overlap of features represented by the Kenyon cell layer. Reducing the landmark density improves the agents route following performance. In very sparse environments, we find that extended landmarks, such as roads or field edges, may help the agent stay on its route, but often act as strong distractors yielding poor route following performance. We conclude that the presented model is valid for simple route following tasks and may represent one component of insect navigation. Additional components might still be necessary for guidance and action selection while navigating along different memorized routes in complex natural environments.

Motor-Skill Learning in an Insect Inspired Neuro-Computational Control System

In nature, insects show impressive adaptation and learning capabilities. The proposed computational model takes inspiration from specific structures of the insect brain: after proposing key hypotheses on the direct involvement of the mushroom bodies (MBs) and on their neural organization, we developed a new architecture for motor learning to be applied in insect-like walking robots. The proposed model is a nonlinear control system based on spiking neurons. MBs are modeled as a nonlinear recurrent spiking neural network (SNN) with novel characteristics, able to memorize time evolutions of key parameters of the neural motor controller, so that existing motor primitives can be improved. The adopted control scheme enables the structure to efficiently cope with goal-oriented behavioral motor tasks. Here, a six-legged structure, showing a steady-state exponentially stable locomotion pattern, is exposed to the need of learning new motor skills: moving through the environment, the structure is able to modulate motor commands and implements an obstacle climbing procedure. Experimental results on a simulated hexapod robot are reported; they are obtained in a dynamic simulation environment and the robot mimicks the structures of Drosophila melanogaster.

Classification of odorants across layers in locust olfactory pathway

Olfactory processing takes place across multiple layers of neurons from the transduction of odorants in the periphery, to odor quality processing, learning, and decision making in higher olfactory structures. In insects, projection neurons (PNs) in the antennal lobe send odor information to the Kenyon cells (KCs) of the mushroom bodies and lateral horn neurons (LHNs). To examine the odor information content in different structures of the insect brain, antennal lobe, mushroom bodies and lateral horn, we designed a model of the olfactory network based on electrophysiological recordings made in vivo in the locust. We found that populations of all types (PNs, LHNs, and KCs) had lower odor classification error rates than individual cells of any given type. This improvement was quantitatively different from that observed using uniform populations of identical neurons compared with spatially structured population of neurons tuned to different odor features. This result, therefore, reflects an emergent network property. Odor classification improved with increasing stimulus duration: for similar odorants, KC and LHN ensembles reached optimal discrimination within the first 300-500 ms of the odor response. Performance improvement with time was much greater for a population of cells than for individual neurons. We conclude that, for PNs, LHNs, and KCs, ensemble responses are always much more informative than single-cell responses, despite the accumulation of noise along with odor information.

GeNN: a code generation framework for accelerated brain simulations

Large-scale numerical simulations of detailed brain circuit models are important for identifying hypotheses on brain functions and testing their consistency and plausibility. An ongoing challenge for simulating realistic models is, however, computational speed. In this paper, we present the GeNN (GPU-enhanced Neuronal Networks) framework, which aims to facilitate the use of graphics accelerators for computational models of large-scale neuronal networks to address this challenge. GeNN is an open source library that generates code to accelerate the execution of network simulations on NVIDIA GPUs, through a flexible and extensible interface, which does not require in-depth technical knowledge from the users. We present performance benchmarks showing that 200-fold speedup compared to a single core of a CPU can be achieved for a network of one million conductance based Hodgkin-Huxley neurons but that for other models the speedup can differ. GeNN is available for Linux, Mac OS X and Windows platforms. The source code, user manual, tutorials, Wiki, in-depth example projects and all other related information can be found on the project website http://genn-team.github.io/genn/.

Feed-Forward versus Feedback Inhibition in a Basic Olfactory Circuit

Inhibitory interneurons play critical roles in shaping the firing patterns of principal neurons in many brain systems. Despite difference in the anatomy or functions of neuronal circuits containing inhibition, two basic motifs repeatedly emerge: feed-forward and feedback. In the locust, it was proposed that a subset of lateral horn interneurons (LHNs), provide feed-forward inhibition onto Kenyon cells (KCs) to maintain their sparse firing—a property critical for olfactory learning and memory. But recently it was established that a single inhibitory cell, the giant GABAergic neuron (GGN), is the main and perhaps sole source of inhibition in the mushroom body, and that inhibition from this cell is mediated by a feedback (FB) loop including KCs and the GGN. To clarify basic differences in the effects of feedback vs. feed-forward inhibition in circuit dynamics we here use a model of the locust olfactory system. We found both inhibitory motifs were able to maintain sparse KCs responses and provide optimal odor discrimination. However, we further found that only FB inhibition could create a phase response consistent with data recorded in vivo. These findings describe general rules for feed-forward versus feedback inhibition and suggest GGN is potentially capable of providing the primary source of inhibition to the KCs. A better understanding of how inhibitory motifs impact post-synaptic neuronal activity could be used to reveal unknown inhibitory structures within biological networks.

Understanding how inhibitory neurons interact with excitatory neurons is critical for understanding the behaviors of neuronal networks. Here we address this question with simple but biologically relevant models based on the anatomy of the locust olfactory pathway. Two ubiquitous and basic inhibitory motifs were tested: feed-forward and feedback. Feed-forward inhibition typically occurs between different brain areas when excitatory neurons excite inhibitory cells, which then inhibit a group of postsynaptic excitatory neurons outside of the initializing excitatory neurons’ area. On the other hand, the feedback inhibitory motif requires a population of excitatory neurons to drive the inhibitory cells, which in turn inhibit the same population of excitatory cells. We found the type of the inhibitory motif determined the timing with which each group of cells fired action potentials in comparison to one another (relative timing). It also affected the range of inhibitory neurons’ activity, with the inhibitory neurons having a wider range in the feedback circuit than that in the feed-forward one. These results will allow predicting the type of the connectivity structure within unexplored biological circuits given only electrophysiological recordings.

Computational models to understand decision making and pattern recognition in the insect brain

Odor stimuli reaching olfactory systems of mammals and insects are characterized by remarkable non-stationary and noisy time series. Their brains have evolved to discriminate subtle changes in odor mixtures and find meaningful variations in complex spatio-temporal patterns. Insects with small brains can effectively solve two computational tasks: identify the presence of an odor type and estimate the concentration levels of the odor. Understanding the learning and decision making processes in the insect brain can not only help us to uncover general principles of information processing in the brain, but it can also provide key insights to artificial chemical sensing. Both olfactory learning and memory are dominantly organized in the Antennal Lobe (AL) and the Mushroom Bodies (MBs). Current computational models yet fail to deliver an integrated picture of the joint computational roles of the AL and MBs. This review intends to provide an integrative overview of the computational literature analyzed in the context of the problem of classification (odor discrimination) and regression (odor concentration estimation), particularly identifying key computational ingredients necessary to solve pattern recognition.

Universal dynamical properties preclude standard clustering in a large class of biochemical data

MOTIVATION

Clustering of chemical and biochemical data based on observed features is a central cognitive step in the analysis of chemical substances, in particular in combinatorial chemistry, or of complex biochemical reaction networks. Often, for reasons unknown to the researcher, this step produces disappointing results. Once the sources of the problem are known, improved clustering methods might revitalize the statistical approach of compound and reaction search and analysis. Here, we present a generic mechanism that may be at the origin of many clustering difficulties.

RESULTS

The variety of dynamical behaviors that can be exhibited by complex biochemical reactions on variation of the system parameters are fundamental system fingerprints. In parameter space, shrimp-like or swallow-tail structures separate parameter sets that lead to stable periodic dynamical behavior from those leading to irregular behavior. We work out the genericity of this phenomenon and demonstrate novel examples for their occurrence in realistic models of biophysics. Although we elucidate the phenomenon by considering the emergence of periodicity in dependence on system parameters in a low-dimensional parameter space, the conclusions from our simple setting are shown to continue to be valid for features in a higher-dimensional feature space, as long as the feature-generating mechanism is not too extreme and the dimension of this space is not too high compared with the amount of available data.

AVAILABILITY AND IMPLEMENTATION

For online versions of super-paramagnetic clustering see http://stoop.ini.uzh.ch/research/clustering.

SUPPLEMENTARY INFORMATION

Supplementary data are available at Bioinformatics online.

A spiking neural network model of self-organized pattern recognition in the early mammalian olfactory system

Olfactory sensory information passes through several processing stages before an odor percept emerges. The question how the olfactory system learns to create odor representations linking those different levels and how it learns to connect and discriminate between them is largely unresolved. We present a large-scale network model with single and multi-compartmental Hodgkin-Huxley type model neurons representing olfactory receptor neurons (ORNs) in the epithelium, periglomerular cells, mitral/tufted cells and granule cells in the olfactory bulb (OB), and three types of cortical cells in the piriform cortex (PC). Odor patterns are calculated based on affinities between ORNs and odor stimuli derived from physico-chemical descriptors of behaviorally relevant real-world odorants. The properties of ORNs were tuned to show saturated response curves with increasing concentration as seen in experiments. On the level of the OB we explored the possibility of using a fuzzy concentration interval code, which was implemented through dendro-dendritic inhibition leading to winner-take-all like dynamics between mitral/tufted cells belonging to the same glomerulus. The connectivity from mitral/tufted cells to PC neurons was self-organized from a mutual information measure and by using a competitive Hebbian-Bayesian learning algorithm based on the response patterns of mitral/tufted cells to different odors yielding a distributed feed-forward projection to the PC. The PC was implemented as a modular attractor network with a recurrent connectivity that was likewise organized through Hebbian-Bayesian learning. We demonstrate the functionality of the model in a one-sniff-learning and recognition task on a set of 50 odorants. Furthermore, we study its robustness against noise on the receptor level and its ability to perform concentration invariant odor recognition. Moreover, we investigate the pattern completion capabilities of the system and rivalry dynamics for odor mixtures.

How nervous systems evolve in relation to their embodiment: what we can learn from octopuses and other molluscs

Cephalopods such as the octopus show the most advanced behavior among invertebrates, which they accomplish with an exceptionally flexible body plan. In this review I propose that the embodied organization approach, developed by roboticists to design efficient autonomous robots, is useful for understanding the evolution and development of the efficient adaptive interaction of animals with their environment, using the octopus as the leading example. The embodied organization approach explains adaptive behavior as emerging from the continuous dynamical and reciprocal physical and informational interactions between four elements: the controller, the mechanical and the sensory systems and the environment. In contrast to hierarchical organization, in embodied organization, self-organization processes can take part in the emergence of the adaptive properties. I first discuss how the embodiment concept explains covariation of body form, nervous system organization, and level of behavioral complexity using the Mollusca as an example. This is an ideal phylum to test such a qualitative correlation between body/brain/behavior, because they show the greatest variations of body plan within a single phylum. In some cases the covariation of nervous system and body structure seems to arise independently of close phylogenetic relationships. Next, I dwell on the octopus as an ideal model to test the embodiment concept within a single biological system. Here, the unusual body morphology of the octopus exposes the uniqueness of the four components comprising the octopus' embodiment. Considering together the results from behavioral, physiological, anatomical, and motor control research suggests that these four elements mutually influence each other. It is this mutual interactions and self-organization which have led to their unique evolution and development to create the unique and highly efficient octopus embodiment.

Gain control network conditions in early sensory coding

Gain control is essential for the proper function of any sensory system. However, the precise mechanisms for achieving effective gain control in the brain are unknown. Based on our understanding of the existence and strength of connections in the insect olfactory system, we analyze the conditions that lead to controlled gain in a randomly connected network of excitatory and inhibitory neurons. We consider two scenarios for the variation of input into the system. In the first case, the intensity of the sensory input controls the input currents to a fixed proportion of neurons of the excitatory and inhibitory populations. In the second case, increasing intensity of the sensory stimulus will both, recruit an increasing number of neurons that receive input and change the input current that they receive. Using a mean field approximation for the network activity we derive relationships between the parameters of the network that ensure that the overall level of activity of the excitatory population remains unchanged for increasing intensity of the external stimulation. We find that, first, the main parameters that regulate network gain are the probabilities of connections from the inhibitory population to the excitatory population and of the connections within the inhibitory population. Second, we show that strict gain control is not achievable in a random network in the second case, when the input recruits an increasing number of neurons. Finally, we confirm that the gain control conditions derived from the mean field approximation are valid in simulations of firing rate models and Hodgkin-Huxley conductance based models.

Data-driven honeybee antennal lobe model suggests how stimulus-onset asynchrony can aid odour segregation

Insects have a remarkable ability to identify and track odour sources in multi-odour backgrounds. Recent behavioural experiments show that this ability relies on detecting millisecond stimulus asynchronies between odourants that originate from different sources. Honeybees, Apis mellifera, are able to distinguish mixtures where both odourants arrive at the same time (synchronous mixtures) from those where odourant onsets are staggered (asynchronous mixtures) down to an onset delay of only 6ms. In this paper we explore this surprising ability in a model of the insects' primary olfactory brain area, the antennal lobe. We hypothesize that a winner-take-all inhibitory network of local neurons in the antennal lobe has a symmetry-breaking effect, such that the response pattern in projection neurons to an asynchronous mixture is different from the response pattern to the corresponding synchronous mixture for an extended period of time beyond the initial odourant onset where the two mixture conditions actually differ. The prolonged difference between response patterns to synchronous and asynchronous mixtures could facilitate odoursegregation in downstream circuits of the olfactory pathway. We present a detailed data-driven model of the bee antennal lobe that reproduces a large data set of experimentally observed physiological odour responses, successfully implements the hypothesised symmetry-breaking mechanism and so demonstrates that this mechanism is consistent with our current knowledge of the olfactory circuits in the bee brain. This article is part of a Special Issue entitled Neural Coding 2012.

A computational framework for understanding decision making through integration of basic learning rules

Nonassociative and associative learning rules simultaneously modify neural circuits. However, it remains unclear how these forms of plasticity interact to produce conditioned responses. Here we integrate nonassociative and associative conditioning within a uniform model of olfactory learning in the honeybee. Honeybees show a fairly abrupt increase in response after a number of conditioning trials. The occurrence of this abrupt change takes many more trials after exposure to nonassociative trials than just using associative conditioning. We found that the interaction of unsupervised and supervised learning rules is critical for explaining latent inhibition phenomenon. Associative conditioning combined with the mutual inhibition between the output neurons produces an abrupt increase in performance despite smooth changes of the synaptic weights. The results show that an integrated set of learning rules implemented using fan-out connectivities together with neural inhibition can explain the broad range of experimental data on learning behaviors.

Modeling the insect mushroom bodies: application to a delayed match-to-sample task

Despite their small brains, insects show advanced capabilities in learning and task solving. Flies, honeybees and ants are becoming a reference point in neuroscience and a main source of inspiration for autonomous robot design issues and control algorithms. In particular, honeybees demonstrate to be able to autonomously abstract complex associations and apply them in tasks involving different sensory modalities within the insect brain. Mushroom Bodies (MBs) are worthy of primary attention for understanding memory and learning functions in insects. In fact, even if their main role regards olfactory conditioning, they are involved in many behavioral achievements and learning capabilities, as has been shown in honeybees and flies. Owing to the many neurogenetic tools, the fruit fly Drosophila became a source of information for the neuroarchitecture and biochemistry of the MBs, although the MBs of flies are by far simpler in organization than their honeybee orthologs. Electrophysiological studies, in turn, became available on the MBs of locusts and honeybees. In this paper a novel bio-inspired neural architecture is presented, which represents a generalized insect MB with the basic features taken from fruit fly neuroanatomy. By mimicking a number of different MB functions and architecture, we can replace and improve formerly used artificial neural networks. The model is a multi-layer spiking neural network where key elements of the insect brain, the antennal lobes, the lateral horn region, the MBs, and their mutual interactions are modeled. In particular, the model is based on the role of parts of the MBs named MB-lobes, where interesting processing mechanisms arise on the basis of spatio-temporal pattern formation. The introduced network is able to model learning mechanisms like olfactory conditioning seen in honeybees and flies and was found able also to perform more complex and abstract associations, like the delayed matching-to-sample tasks known only from honeybees. A biological basis of the proposed model is presented together with a detailed description of the architecture. Simulation results and remarks on the biological counterpart are also reported to demonstrate the possible applications of the designed computational model. Such neural architecture, able to autonomously learn complex associations is envisaged to be a suitable basis for an immediate implementation within an robot control architecture.

Ensemble response in mushroom body output neurons of the honey bee outpaces spatiotemporal odor processing two synapses earlier in the antennal lobe

Neural representations of odors are subject to computations that involve sequentially convergent and divergent anatomical connections across different areas of the brains in both mammals and insects. Furthermore, in both mammals and insects higher order brain areas are connected via feedback connections. In order to understand the transformations and interactions that this connectivity make possible, an ideal experiment would compare neural responses across different, sequential processing levels. Here we present results of recordings from a first order olfactory neuropile – the antennal lobe (AL) – and a higher order multimodal integration and learning center – the mushroom body (MB) – in the honey bee brain. We recorded projection neurons (PN) of the AL and extrinsic neurons (EN) of the MB, which provide the outputs from the two neuropils. Recordings at each level were made in different animals in some experiments and simultaneously in the same animal in others. We presented two odors and their mixture to compare odor response dynamics as well as classification speed and accuracy at each neural processing level. Surprisingly, the EN ensemble significantly starts separating odor stimuli rapidly and before the PN ensemble has reached significant separation. Furthermore the EN ensemble at the MB output reaches a maximum separation of odors between 84–120 ms after odor onset, which is 26 to 133 ms faster than the maximum separation at the AL output ensemble two synapses earlier in processing. It is likely that a subset of very fast PNs, which respond before the ENs, may initiate the rapid EN ensemble response. We suggest therefore that the timing of the EN ensemble activity would allow retroactive integration of its signal into the ongoing computation of the AL via centrifugal feedback.

Inhibition in multiclass classification

The role of inhibition is investigated in a multiclass support vector machine formalism inspired by the brain structure of insects. The so-called mushroom bodies have a set of output neurons, or classification functions, that compete with each other to encode a particular input. Strongly active output neurons depress or inhibit the remaining outputs without knowing which is correct or incorrect. Accordingly, we propose to use a classification function that embodies unselective inhibition and train it in the large margin classifier framework. Inhibition leads to more robust classifiers in the sense that they perform better on larger areas of appropriate hyperparameters when assessed with leave-one-out strategies. We also show that the classifier with inhibition is a tight bound to probabilistic exponential models and is Bayes consistent for 3-class problems. These properties make this approach useful for data sets with a limited number of labeled examples. For larger data sets, there is no significant comparative advantage to other multiclass SVM approaches.

Parallel representation of stimulus identity and intensity in a dual pathway model inspired by the olfactory system of the honeybee

The honeybee Apis mellifera has a remarkable ability to detect and locate food sources during foraging, and to associate odor cues with food rewards. In the honeybee's olfactory system, sensory input is first processed in the antennal lobe (AL) network. Uniglomerular projection neurons (PNs) convey the sensory code from the AL to higher brain regions via two parallel but anatomically distinct pathways, the lateral and the medial antenno-cerebral tract (l- and m-ACT). Neurons innervating either tract show characteristic differences in odor selectivity, concentration dependence, and representation of mixtures. It is still unknown how this differential stimulus representation is achieved within the AL network. In this contribution, we use a computational network model to demonstrate that the experimentally observed features of odor coding in PNs can be reproduced by varying lateral inhibition and gain control in an otherwise unchanged AL network. We show that odor coding in the l-ACT supports detection and accurate identification of weak odor traces at the expense of concentration sensitivity, while odor coding in the m-ACT provides the basis for the computation and following of concentration gradients but provides weaker discrimination power. Both coding strategies are mutually exclusive, which creates a tradeoff between detection accuracy and sensitivity. The development of two parallel systems may thus reflect an evolutionary solution to this problem that enables honeybees to achieve both tasks during bee foraging in their natural environment, and which could inspire the development of artificial chemosensory devices for odor-guided navigation in robots.

Transient dynamics between displaced fixed points: an alternate nonlinear dynamical framework for olfaction

Significant insights into the dynamics of neuronal populations have been gained in the olfactory system where rich spatio-temporal dynamics is observed during, and following, exposure to odours. It is now widely accepted that odour identity is represented in terms of stimulus-specific rate patterning observed in the cells of the antennal lobe (AL). Here we describe a nonlinear dynamical framework inspired by recent experimental findings which provides a compelling account of both the origin and the function of these dynamics. We start by analytically reducing a biologically plausible conductance based model of the AL to a quantitatively equivalent rate model and construct conditions such that the rate dynamics are well described by a single globally stable fixed point (FP). We then describe the AL's response to an odour stimulus as rich transient trajectories between this stable baseline state (the single FP in absence of odour stimulation) and the odour-specific position of the single FP during odour stimulation. We show how this framework can account for three phenomena that are observed experimentally. First, for an inhibitory period often observed immediately after an odour stimulus is removed. Second, for the qualitative differences between the dynamics in the presence and the absence of odour. Lastly, we show how it can account for the invariance of a representation of odour identity to both the duration and intensity of an odour stimulus. We compare and contrast this framework with the currently prevalent nonlinear dynamical framework of 'winnerless competition' which describes AL dynamics in terms of heteroclinic orbits. This article is part of a Special Issue entitled "Neural Coding".

A model study on the circuit mechanism underlying decision-making in Drosophila

Previous elegant experiments in a flight simulator showed that conditioned Drosophila is able to make a clear-cut decision to avoid potential danger. When confronted with conflicting visual cues, the relative saliency of two competing cues is found to be a sensory ruler for flies to judge which cue should be used for decision-making. Further genetic manipulations and immunohistological analysis revealed that the dopamine system and mushroom bodies are indispensable for such a clear-cut or nonlinear decision. The neural circuit mechanism, however, is far from being clear. In this paper, we adopt a computational modeling approach to investigate how different brain areas and the dopamine system work together to drive a fly to make a decision. By developing a systems-level neural network, a two-pathway circuit is proposed. Besides a direct pathway from a feature binding area to the motor center, another connects two areas via the mushroom body, a target of dopamine release. A raised dopamine level is hypothesized to be induced by complex choice tasks and to enhance lateral inhibition and steepen the units' response gain in the mushroom body. Simulations show that training helps to assign values to formerly neutral features. For a circuit model with a blocked mushroom body, the direct pathway passes all alternatives to the motor center without changing original values, giving rise to a simple choice characterized by a linear choice curve. With respect to an intact circuit, enhanced lateral inhibition dependent on dopamine critically promotes competition between alternatives, turning the linear- into nonlinear choice behavior. Results account well for experimental data, supporting the reasonableness of model working hypotheses. Several testable predictions are made for future studies.

Fast and Robust Learning by Reinforcement Signals: Explorations in the Insect Brain

We propose a model for pattern recognition in the insect brain. Departing from a well-known body of knowledge about the insect brain, we investigate which of the potentially present features may be useful to learn input patterns rapidly and in a stable manner. The plasticity underlying pattern recognition is situated in the insect mushroom bodies and requires an error signal to associate the stimulus with a proper response. As a proof of concept, we used our model insect brain to classify the well-known MNIST database of handwritten digits, a popular benchmark for classifiers. We show that the structural organization of the insect brain appears to be suitable for both fast learning of new stimuli and reasonable performance in stationary conditions. Furthermore, it is extremely robust to damage to the brain structures involved in sensory processing. Finally, we suggest that spatiotemporal dynamics can improve the level of confidence in a classification decision. The proposed approach allows testing the effect of hypothesized mechanisms rather than speculating on their benefit for system performance or confidence in its responses.

Bio-benchmarking of electronic nose sensors

BACKGROUND

Electronic noses, E-Noses, are instruments designed to reproduce the performance of animal noses or antennae but generally they cannot match the discriminating power of the biological original and have, therefore, been of limited utility. The manner in which odorant space is sampled is a critical factor in the performance of all noses but so far it has been described in detail only for the fly antenna.

METHODOLOGY

Here we describe how a set of metal oxide (MOx) E-Nose sensors, which is the most commonly used type, samples odorant space and compare it with what is known about fly odorant receptors (ORs).

PRINCIPAL FINDINGS

Compared with a fly's odorant receptors, MOx sensors from an electronic nose are on average more narrowly tuned but much more highly correlated with each other. A set of insect ORs can therefore sample broader regions of odorant space independently and redundantly than an equivalent number of MOx sensors. The comparison also highlights some important questions about the molecular nature of fly ORs.

CONCLUSIONS

The comparative approach generates practical learnings that may be taken up by solid-state physicists or engineers in designing new solid-state electronic nose sensors. It also potentially deepens our understanding of the performance of the biological system.

Chemosensor-driven artificial antennal lobe transient dynamics enable fast recognition and working memory

The speed and accuracy of odor recognition in insects can hardly be resolved by the raw descriptors provided by olfactory receptors alone due to their slow time constant and high variability. The animal overcomes these barriers by means of the antennal lobe (AL) dynamics, which consolidates the classificatory information in receptor signal with a spatiotemporal code that is enriched in odor sensitivity, particularly in its transient. Inspired by this fact, we propose an easily implementable AL-like network and show that it significantly expedites and enhances the identification of odors from slow and noisy artificial polymer sensor responses. The device owes its efficiency to two intrinsic mechanisms: inhibition (which triggers a competition) and integration (due to the dynamical nature of the network). The former functions as a sharpening filter extracting the features of receptor signal that favor odor separation, whereas the latter implements a working memory by accumulating the extracted features in trajectories. This cooperation boosts the odor specificity during the receptor transient, which is essential for fast odor recognition.

Techniques for temporal detection of neural sensitivity to external stimulation

We propose a simple measure of neural sensitivity for characterizing stimulus coding. Sensitivity is defined as the fraction of neurons that show positive responses to n stimuli out of a total of N. To determine a positive response, we propose two methods: Fisherian statistical testing and a data-driven Bayesian approach to determine the response probability of a neuron. The latter is non-parametric, data-driven, and captures a lower bound for the probability of neural responses to sensory stimulation. Both methods are compared with a standard test that assumes normal probability distributions. We applied the sensitivity estimation based on the proposed method to experimental data recorded from the mushroom body (MB) of locusts. We show that there is a broad range of sensitivity that the MB response sweeps during odor stimulation. The neurons are initially tuned to specific odors, but tend to demonstrate a generalist behavior towards the end of the stimulus period, meaning that the emphasis shifts from discrimination to feature learning.

A model of associative learning in the mushroom body

The mushroom body is a prominent invertebrate neuropil strongly associated with learning and memory. We built a high-level computational model of this structure using simplified but realistic models of neurons and synapses, and developed a learning rule based on activity dependent pre-synaptic facilitation. We show that our model, which is consistent with mushroom body Drosophila data and incorporates Aplysia learning, is able to both acquire and later recall CS-US associations. We demonstrate that a highly divergent input connectivity to the mushroom body and strong periodic inhibition both serve to improve overall learning performance. We also examine the problem of how synaptic conductance, driven by successive training events, obtains a value appropriate for the stimulus being learnt. We employ two feedback mechanisms: one stabilises strength at an initial level appropriate for an association; another prevents strength increase for established associations.

Oscillations and synchrony in large-scale cortical network models

Intrinsic neuronal and circuit properties control the responses of large ensembles of neurons by creating spatiotemporal patterns of activity that are used for sensory processing, memory formation, and other cognitive tasks. The modeling of such systems requires computationally efficient single-neuron models capable of displaying realistic response properties. We developed a set of reduced models based on difference equations (map-based models) to simulate the intrinsic dynamics of biological neurons. These phenomenological models were designed to capture the main response properties of specific types of neurons while ensuring realistic model behavior across a sufficient dynamic range of inputs. This approach allows for fast simulations and efficient parameter space analysis of networks containing hundreds of thousands of neurons of different types using a conventional workstation. Drawing on results obtained using large-scale networks of map-based neurons, we discuss spatiotemporal cortical network dynamics as a function of parameters that affect synaptic interactions and intrinsic states of the neurons.

Processing and classification of chemical data inspired by insect olfaction

The chemical sense of insects has evolved to encode and classify odorants. Thus, the neural circuits in their olfactory system are likely to implement an efficient method for coding, processing, and classifying chemical information. Here, we describe a computational method to process molecular representations and classify molecules. The three-step approach mimics neurocomputational principles observed in olfactory systems. In the first step, the original stimulus space is sampled by "virtual receptors," which are chemotopically arranged by a self-organizing map. In the second step, the signals from the virtual receptors are decorrelated via correlation-based lateral inhibition. Finally, in the third step, olfactory scent perception is modeled by a machine learning classifier. We found that signal decorrelation during the second stage significantly increases the accuracy of odorant classification. Moreover, our results suggest that the proposed signal transform is capable of dimensionality reduction and is more robust against overdetermined representations than principal component scores. Our olfaction-inspired method was successfully applied to predicting bioactivities of pharmaceutically active compounds with high accuracy. It represents a way to efficiently connect chemical structure with biological activity space.

The Drosophila larva as a model for studying chemosensation and chemosensory learning: a review

Understanding the relationship between brain and behavior is the fundamental challenge in neuroscience. We focus on chemosensation and chemosensory learning in larval Drosophila and review what is known about its molecular and cellular bases. Detailed analyses suggest that the larval olfactory system, albeit much reduced in cell number, shares the basic architecture, both in terms of receptor gene expression and neuronal circuitry, of its adult counterpart as well as of mammals. With respect to the gustatory system, less is known in particular with respect to processing of gustatory information in the central nervous system, leaving generalizations premature. On the behavioral level, a learning paradigm for the association of odors with food reinforcement has been introduced. Capitalizing on the knowledge of the chemosensory pathways, we review the first steps to reveal the genetic and cellular bases of olfactory learning in larval Drosophila. We argue that the simplicity of the larval chemosensory system, combined with the experimental accessibility of Drosophila on the genetic, electrophysiological, cellular, and behavioral level, makes this system suitable for an integrated understanding of chemosensation and chemosensory learning.

Multimodal sensory integration in insects--towards insect brain control architectures

Although a variety of basic insect behaviours have inspired successful robot implementations, more complex capabilities in these 'simple' animals are often overlooked. By reviewing the general architecture of their nervous systems, we gain insight into how they are able to integrate behaviours, perform pattern recognition, context-dependent learning, and combine many sensory inputs in tasks such as navigation. We review in particular what is known about two specific 'higher' areas in the insect brain, the mushroom bodies and the central complex, and how they are involved in controlling an insect's behaviour. While much of the functional interpretation of this information is still speculative, it nevertheless suggests some promising new approaches to obtaining adaptive behaviour in robots.