Phase response characteristics of model neurons determine which patterns are expressed in a ring circuit model of gait generation

Analyzing synchronized clusters in neuron networks

The presence of synchronized clusters in neuron networks is a hallmark of information transmission and processing. Common approaches to study cluster synchronization in networks of coupled oscillators ground on simplifying assumptions, which often neglect key biological features of neuron networks. Here we propose a general framework to study presence and stability of synchronous clusters in more realistic models of neuron networks, characterized by the presence of delays, different kinds of neurons and synapses. Application of this framework to two examples with different size and features (the directed network of the macaque cerebral cortex and the swim central pattern generator of a mollusc) provides an interpretation key to explain known functional mechanisms emerging from the combination of anatomy and neuron dynamics. The cluster synchronization analysis is carried out also by changing parameters and studying bifurcations. Despite some modeling simplifications in one of the examples, the obtained results are in good agreement with previously reported biological data.

Dynamics of unidirectionally-coupled ring neural network with discrete and distributed delays

In this paper, we consider a ring neural network with one-way distributed-delay coupling between the neurons and a discrete delayed self-feedback. In the general case of the distribution kernels, we are able to find a subset of the amplitude death regions depending on even (odd) number of neurons in the network. Furthermore, in order to show the full region of the amplitude death, we use particular delay distributions, including Dirac delta function and gamma distribution. Stability conditions for the trivial steady state are found in parameter spaces consisting of the synaptic weight of the self-feedback and the coupling strength between the neurons, as well as the delayed self-feedback and the coupling strength between the neurons. It is shown that both Hopf and steady-state bifurcations may occur when the steady state loses stability. We also perform numerical simulations of the fully nonlinear system to confirm theoretical findings.

Phase-locking and bistability in neuronal networks with synaptic depression

We consider a recurrent network of two oscillatory neurons that are coupled with inhibitory synapses. We use the phase response curves of the neurons and the properties of short-term synaptic depression to define Poincaré maps for the activity of the network. The fixed points of these maps correspond to phase-locked modes of the network. Using these maps, we analyze the conditions that allow short-term synaptic depression to lead to the existence of bistable phase-locked, periodic solutions. We show that bistability arises when either the phase response curve of the neuron or the short-term depression profile changes steeply enough. The results apply to any Type I oscillator and we illustrate our findings using the Quadratic Integrate-and-Fire and Morris-Lecar neuron models.

Adaptive Control Strategies for Interlimb Coordination in Legged Robots: A Review

Walking animals produce adaptive interlimb coordination during locomotion in accordance with their situation. Interlimb coordination is generated through the dynamic interactions of the neural system, the musculoskeletal system, and the environment, although the underlying mechanisms remain unclear. Recently, investigations of the adaptation mechanisms of living beings have attracted attention, and bio-inspired control systems based on neurophysiological findings regarding sensorimotor interactions are being developed for legged robots. In this review, we introduce adaptive interlimb coordination for legged robots induced by various factors (locomotion speed, environmental situation, body properties, and task). In addition, we show characteristic properties of adaptive interlimb coordination, such as gait hysteresis and different time-scale adaptations. We also discuss the underlying mechanisms and control strategies to achieve adaptive interlimb coordination and the design principle for the control system of legged robots.

Control of sleep-to-wake transitions via fast aminoacid and slow neuropeptide transmission

The Locus Coeruleus (LC) modulates cortical, subcortical, cerebellar, brainstem and spinal cord circuits and it expresses receptors for neuromodulators that operate in a time scale of several seconds. Evidences from anatomical, electrophysiological and optogenetic experiments have shown that LC neurons receive input from a group of neurons called Hypocretins (HCRTs) that release a neuropeptide called hypocretin. It is less known how these two groups of neurons can be coregulated using GABAergic neurons. Since the time scales of GABA _A inhibition is several orders of magnitude faster than the hypocretin neuropeptide effect, we investigate the limits of circuit activity regulation using a realistic model of neurons. Our investigation shows that GABA _A inhibition is insufficient to control the activity levels of the LCs. Despite slower forms of GABA _A can in principle work, there is not much plausibility due to the low probability of the presence of slow GABA _A and lack of robust stability at the maximum firing frequencies. The best possible control mechanism predicted by our modeling analysis is the presence of inhibitory neuropeptides that exert effects in a similar time scale as the hypocretin/orexin. Although the nature of these inhibitory neuropeptides has not been identified yet, it provides the most efficient mechanism in the modeling analysis. Finally, we present a reduced mean-field model that perfectly captures the dynamics and the phenomena generated by this circuit. This investigation shows that brain communication involving multiple time scales can be better controlled by employing orthogonal mechanisms of neural transmission to decrease interference between cognitive processes and hypothalamic functions.

Toward robust phase-locking in Melibe swim central pattern generator models

Small groups of interneurons, abbreviated by CPG for central pattern generators, are arranged into neural networks to generate a variety of core bursting rhythms with specific phase-locked states, on distinct time scales, which govern vital motor behaviors in invertebrates such as chewing and swimming. These movements in lower level animals mimic motions of organs in higher animals due to evolutionarily conserved mechanisms. Hence, various neurological diseases can be linked to abnormal movement of body parts that are regulated by a malfunctioning CPG. In this paper, we, being inspired by recent experimental studies of neuronal activity patterns recorded from a swimming motion CPG of the sea slug Melibe leonina, examine a mathematical model of a 4-cell network that can plausibly and stably underlie the observed bursting rhythm. We develop a dynamical systems framework for explaining the existence and robustness of phase-locked states in activity patterns produced by the modeled CPGs. The proposed tools can be used for identifying core components for other CPG networks with reliable bursting outcomes and specific phase relationships between the interneurons. Our findings can be employed for identifying or implementing the conditions for normal and pathological functioning of basic CPGs of animals and artificially intelligent prosthetics that can regulate various movements.

A stability-based mechanism for hysteresis in the walk-trot transition in quadruped locomotion

Quadrupeds vary their gaits in accordance with their locomotion speed. Such gait transitions exhibit hysteresis. However, the underlying mechanism for this hysteresis remains largely unclear. It has been suggested that gaits correspond to attractors in their dynamics and that gait transitions are non-equilibrium phase transitions that are accompanied by a loss in stability. In the present study, we used a robotic platform to investigate the dynamic stability of gaits and to clarify the hysteresis mechanism in the walk-trot transition of quadrupeds. Specifically, we used a quadruped robot as the body mechanical model and an oscillator network for the nervous system model to emulate dynamic locomotion of a quadruped. Experiments using this robot revealed that dynamic interactions among the robot mechanical system, the oscillator network, and the environment generate walk and trot gaits depending on the locomotion speed. In addition, a walk-trot transition that exhibited hysteresis was observed when the locomotion speed was changed. We evaluated the gait changes of the robot by measuring the locomotion of dogs. Furthermore, we investigated the stability structure during the gait transition of the robot by constructing a potential function from the return map of the relative phase of the legs and clarified the physical characteristics inherent to the gait transition in terms of the dynamics.

Parameterized phase response curves for characterizing neuronal behaviors under transient conditions

Phase response curves (PRCs) are a simple model of how a neuron's spike time is affected by synaptic inputs. PRCs are useful in predicting how networks of neurons behave when connected. One challenge in estimating a neuron's PRCs experimentally is that many neurons do not have stationary firing rates. In this article we introduce a new method to estimate PRCs as a function of firing rate of the neuron. We call the resulting model a parameterized PRC (pPRC). Experimentally, we perturb the neuron applying a current with two parts: 1) a current held constant between spikes but changed at the onset of a spike, used to make the neuron fire at different rates, and 2) a pulse to emulate a synaptic input. A model of the applied constant current and the history is made to predict the interspike interval (ISI). A second model is then made to fit the modulation of the spike time from the expected ISI by the pulsatile stimulus. A polynomial with two independent variables, the stimulus phase and the expected ISI, is used to model the pPRC. The pPRC is validated in a computational model and applied to pyramidal neurons from the CA1 region of the hippocampal slices from rat. The pPRC can be used to model the effect of changing firing rates on network synchrony. It can also be used to characterize the effects of neuromodulators and genetic mutations (among other manipulations) on network synchrony. It can also easily be extended to account for more variables.

Hysteresis in the gait transition of a quadruped investigated using simple body mechanical and oscillator network models

We investigated the dynamics of quadrupedal locomotion by constructing a simple quadruped model that consists of a body mechanical model and an oscillator network model. The quadruped model has front and rear bodies connected by a waist joint with a torsional spring and damper system and four limbs controlled by command signals from the oscillator network model. The simulation results reveal that the quadruped model produces various gait patterns through dynamic interactions among the body mechanical system, the oscillator network system, and the environment. They also show that it undergoes a gait transition induced by changes in the waist joint stiffness and the walking speed. In addition, the gait pattern transition exhibits a hysteresis similar to that observed in human and animal locomotion. We examined the hysteresis mechanism from a dynamic viewpoint.

Cellularly-driven differences in network synchronization propensity are differentially modulated by firing frequency

Spatiotemporal pattern formation in neuronal networks depends on the interplay between cellular and network synchronization properties. The neuronal phase response curve (PRC) is an experimentally obtainable measure that characterizes the cellular response to small perturbations, and can serve as an indicator of cellular propensity for synchronization. Two broad classes of PRCs have been identified for neurons: Type I, in which small excitatory perturbations induce only advances in firing, and Type II, in which small excitatory perturbations can induce both advances and delays in firing. Interestingly, neuronal PRCs are usually attenuated with increased spiking frequency, and Type II PRCs typically exhibit a greater attenuation of the phase delay region than of the phase advance region. We found that this phenomenon arises from an interplay between the time constants of active ionic currents and the interspike interval. As a result, excitatory networks consisting of neurons with Type I PRCs responded very differently to frequency modulation compared to excitatory networks composed of neurons with Type II PRCs. Specifically, increased frequency induced a sharp decrease in synchrony of networks of Type II neurons, while frequency increases only minimally affected synchrony in networks of Type I neurons. These results are demonstrated in networks in which both types of neurons were modeled generically with the Morris-Lecar model, as well as in networks consisting of Hodgkin-Huxley-based model cortical pyramidal cells in which simulated effects of acetylcholine changed PRC type. These results are robust to different network structures, synaptic strengths and modes of driving neuronal activity, and they indicate that Type I and Type II excitatory networks may display two distinct modes of processing information.

Synchronization of the firing of neurons in the brain is related to many cognitive functions, such as recognizing faces, discriminating odors, and coordinating movement. It is therefore important to understand what properties of neuronal networks promote synchrony of neural firing. One measure that is often used to determine the contribution of individual neurons to network synchrony is called the phase response curve (PRC). PRCs describe how the timing of neuronal firing changes depending on when input, such as a synaptic signal, is received by the neuron. A characteristic of PRCs that has previously not been well understood is that they change dramatically as the neuron's firing frequency is modulated. This effect carries potential significance, since cognitive functions are often associated with specific frequencies of network activity in the brain. We showed computationally that the frequency dependence of PRCs can be explained by the relative timing of ionic membrane currents with respect to the time between spike firings. Our simulations also showed that the frequency dependence of neuronal PRCs leads to frequency-dependent changes in network synchronization that can be different for different neuron types. These results further our understanding of how synchronization is generated in the brain to support various cognitive functions.

Adaptive oscillator networks with conserved overall coupling: sequential firing and near-synchronized states

Motivated by recent observations in neuronal systems we investigate all-to-all networks of nonidentical oscillators with adaptive coupling. The adaptation models spike-timing-dependent plasticity in which the sum of the weights of all incoming links is conserved. We find multiple phase-locked states that fall into two classes: near-synchronized states and splay states. Among the near-synchronized states are states that oscillate with a frequency that depends only very weakly on the coupling strength and is essentially given by the frequency of one of the oscillators, which is, however, neither the fastest nor the slowest oscillator. In sufficiently large networks the adaptive coupling is found to develop effective network topologies dominated by one or two loops. This results in a multitude of stable splay states, which differ in their firing sequences. With increasing coupling strength their frequency increases linearly and the oscillators become less synchronized. The essential features of the two classes of states are captured analytically in perturbation analyses of the extended Kuramoto model used in the simulations.

Non-weak inhibition and phase resetting at negative values of phase in cells with fast-slow dynamics at hyperpolarized potentials

Phase response is a powerful concept in the analysis of both weakly and non-weakly perturbed oscillators such as regularly spiking neurons, and is applicable if the oscillator returns to its limit cycle trajectory between successive perturbations. When the latter condition is violated, a formal application of the phase return map may yield phase values outside of its definition domain; in particular, strong synaptic inhibition may result in negative values of phase. The effect of a second perturbation arriving close to the first one is undetermined in this case. However, here we show that for a Morris-Lecar model of a spiking cell with strong time scale separation, extending the phase response function definition domain to an additional negative value branch allows to retain the accuracy of the phase response approach in the face of such strong inhibitory coupling. We use the resulting extended phase response function to accurately describe the response of a Morris-Lecar oscillator to consecutive non-weak synaptic inputs. This method is particularly useful when analyzing the dynamics of three or more non-weakly coupled cells, whereby more than one synaptic perturbation arrives per oscillation cycle into each cell. The method of perturbation prediction based on the negative-phase extension of the phase response function may be applicable to other excitable cell models characterized by slow voltage dynamics at hyperpolarized potentials.

Phase-response curves and synchronized neural networks

We review the principal assumptions underlying the application of phase-response curves (PRCs) to synchronization in neuronal networks. The PRC measures how much a given synaptic input perturbs spike timing in a neural oscillator. Among other applications, PRCs make explicit predictions about whether a given network of interconnected neurons will synchronize, as is often observed in cortical structures. Regarding the assumptions of the PRC theory, we conclude: (i) The assumption of noise-tolerant cellular oscillations at or near the network frequency holds in some but not all cases. (ii) Reduced models for PRC-based analysis can be formally related to more realistic models. (iii) Spike-rate adaptation limits PRC-based analysis but does not invalidate it. (iv) The dependence of PRCs on synaptic location emphasizes the importance of improving methods of synaptic stimulation. (v) New methods can distinguish between oscillations that derive from mutual connections and those arising from common drive. (vi) It is helpful to assume linear summation of effects of synaptic inputs; experiments with trains of inputs call this assumption into question. (vii) Relatively subtle changes in network structure can invalidate PRC-based predictions. (viii) Heterogeneity in the preferred frequencies of component neurons does not invalidate PRC analysis, but can annihilate synchronous activity.

Stability of two cluster solutions in pulse coupled networks of neural oscillators

Phase response curves (PRCs) have been widely used to study synchronization in neural circuits comprised of pacemaking neurons. They describe how the timing of the next spike in a given spontaneously firing neuron is affected by the phase at which an input from another neuron is received. Here we study two reciprocally coupled clusters of pulse coupled oscillatory neurons. The neurons within each cluster are presumed to be identical and identically pulse coupled, but not necessarily identical to those in the other cluster. We investigate a two cluster solution in which all oscillators are synchronized within each cluster, but in which the two clusters are phase locked at nonzero phase with each other. Intuitively, one might expect this solution to be stable only when synchrony within each isolated cluster is stable, but this is not the case. We prove rigorously the stability of the two cluster solution and show how reciprocal coupling can stabilize synchrony within clusters that cannot synchronize in isolation. These stability results for the two cluster solution suggest a mechanism by which reciprocal coupling between brain regions can induce local synchronization via the network feedback loop.

Synaptic and intrinsic determinants of the phase resetting curve for weak coupling

A phase resetting curve (PRC) keeps track of the extent to which a perturbation at a given phase advances or delays the next spike, and can be used to predict phase locking in networks of oscillators. The PRC can be estimated by convolving the waveform of the perturbation with the infinitesimal PRC (iPRC) under the assumption of weak coupling. The iPRC is often defined with respect to an infinitesimal current as z(i)(ϕ), where ϕ is phase, but can also be defined with respect to an infinitesimal conductance change as z(g)(ϕ). In this paper, we first show that the two approaches are equivalent. Coupling waveforms corresponding to synapses with different time courses sample z(g)(ϕ) in predictably different ways. We show that for oscillators with Type I excitability, an anomalous region in z(g)(ϕ) with opposite sign to that seen otherwise is often observed during an action potential. If the duration of the synaptic perturbation is such that it effectively samples this region, PRCs with both advances and delays can be observed despite Type I excitability. We also show that changing the duration of a perturbation so that it preferentially samples regions of stable or unstable slopes in z(g)(ϕ) can stabilize or destabilize synchrony in a network with the corresponding dynamics.

Pulse coupled oscillators and the phase resetting curve

Limit cycle oscillators that are coupled in a pulsatile manner are referred to as pulse coupled oscillators. In these oscillators, the interactions take the form of brief pulses such that the effect of one input dies out before the next is received. A phase resetting curve (PRC) keeps track of how much an input advances or delays the next spike in an oscillatory neuron depending upon where in the cycle the input is applied. PRCs can be used to predict phase locking in networks of pulse coupled oscillators. In some studies of pulse coupled oscillators, a specific form is assumed for the interactions between oscillators, but a more general approach is to formulate the problem assuming a PRC that is generated using a perturbation that approximates the input received in the real biological network. In general, this approach requires that circuit architecture and a specific firing pattern be assumed. This allows the construction of discrete maps from one event to the next. The fixed points of these maps correspond to periodic firing modes and are easier to locate and analyze for stability compared to locating and analyzing periodic modes in the original network directly. Alternatively, maps based on the PRC have been constructed that do not presuppose a firing order. Specific circuits that have been analyzed under the assumption of pulsatile coupling include one to one lockings in a periodically forced oscillator or an oscillator forced at a fixed delay after a threshold event, two bidirectionally coupled oscillators with and without delays, a unidirectional N-ring of oscillators, and N all-to-all networks.

Phase resetting curves allow for simple and accurate prediction of robust N:1 phase locking for strongly coupled neural oscillators

Existence and stability criteria for harmonic locking modes were derived for two reciprocally pulse coupled oscillators based on their first and second order phase resetting curves. Our theoretical methods are general in the sense that no assumptions about the strength of coupling, type of synaptic coupling, and model are made. These methods were then tested using two reciprocally inhibitory Wang and Buzsáki model neurons. The existence of bands of 2:1, 3:1, 4:1, and 5:1 phase locking in the relative frequency parameter space was predicted correctly, as was the phase of the slow neuron's spike within the cycle of the fast neuron in which it occurred. For weak coupling the bands are very narrow, but strong coupling broadens the bands. The predictions of the pulse coupled method agreed with weak coupling methods in the weak coupling regime, but extended predictability into the strong coupling regime. We show that our prediction method generalizes to pairs of neural oscillators coupled through excitatory synapses, and to networks of multiple oscillatory neurons. The main limitation of the method is the central assumption that the effect of each input dies out before the next input is received.

Phase-resetting curves determine synchronization, phase locking, and clustering in networks of neural oscillators

Networks of model neurons were constructed and their activity was predicted using an iterated map based solely on the phase-resetting curves (PRCs). The predictions were quite accurate provided that the resetting to simultaneous inputs was calculated using the sum of the simultaneously active conductances, obviating the need for weak coupling assumptions. Fully synchronous activity was observed only when the slope of the PRC at a phase of zero, corresponding to spike initiation, was positive. A novel stability criterion was developed and tested for all-to-all networks of identical, identically connected neurons. When the PRC generated using N-1 simultaneously active inputs becomes too steep, the fully synchronous mode loses stability in a network of N model neurons. Therefore, the stability of synchrony can be lost by increasing the slope of this PRC either by increasing the network size or the strength of the individual synapses. Existence and stability criteria were also developed and tested for the splay mode in which neurons fire sequentially. Finally, N/M synchronous subclusters of M neurons were predicted using the intersection of parameters that supported both between-cluster splay and within-cluster synchrony. Surprisingly, the splay mode between clusters could enforce synchrony on subclusters that were incapable of synchronizing themselves. These results can be used to gain insights into the activity of networks of biological neurons whose PRCs can be measured.

Predictions of phase-locking in excitatory hybrid networks: excitation does not promote phase-locking in pattern-generating networks as reliably as inhibition

Phase-locked activity is thought to underlie many high-level functions of the nervous system, the simplest of which are produced by central pattern generators (CPGs). It is not known whether we can define a theoretical framework that is sufficiently general to predict phase-locking in actual biological CPGs, nor is it known why the CPGs that have been characterized are dominated by inhibition. Previously, we applied a method based on phase response curves measured using inputs of biologically realistic amplitude and duration to predict the existence and stability of 1:1 phase-locked modes in hybrid networks of one biological and one model bursting neuron reciprocally connected with artificial inhibitory synapses. Here we extend this analysis to excitatory coupling. Using the pyloric dilator neuron from the stomatogastric ganglion of the American lobster as our biological cell, we experimentally prepared 86 networks using five biological neurons, four model neurons, and heterogeneous synapse strengths between 1 and 10,000 nS. In 77% of networks, our method was robust to biological noise and accurately predicted the phasic relationships. In 3%, our method was inaccurate. The remaining 20% were not amenable to analysis because our theoretical assumptions were violated. The high failure rate for excitation compared with inhibition was due to differential effects of noise and feedback on excitatory versus inhibitory coupling and suggests that CPGs dominated by excitatory synapses would require precise tuning to function, which may explain why CPGs rely primarily on inhibitory synapses.

Multistability in spiking neuron models of delayed recurrent inhibitory loops

We consider the effect of the effective timing of a delayed feedback on the excitatory neuron in a recurrent inhibitory loop, when biological realities of firing and absolute refractory period are incorporated into a phenomenological spiking linear or quadratic integrate-and-fire neuron model. We show that such models are capable of generating a large number of asymptotically stable periodic solutions with predictable patterns of oscillations. We observe that the number of fixed points of the so-called phase resetting map coincides with the number of distinct periods of all stable periodic solutions rather than the number of stable patterns. We demonstrate how configurational information corresponding to these distinct periods can be explored to calculate and predict the number of stable patterns.

Using phase resetting to predict 1:1 and 2:2 locking in two neuron networks in which firing order is not always preserved

Our goal is to understand how nearly synchronous modes arise in heterogenous networks of neurons. In heterogenous networks, instead of exact synchrony, nearly synchronous modes arise, which include both 1:1 and 2:2 phase-locked modes. Existence and stability criteria for 2:2 phase-locked modes in reciprocally coupled two neuron circuits were derived based on the open loop phase resetting curve (PRC) without the assumption of weak coupling. The PRC for each component neuron was generated using the change in synaptic conductance produced by a presynaptic action potential as the perturbation. Separate derivations were required for modes in which the firing order is preserved and for those in which it alternates. Networks composed of two model neurons coupled by reciprocal inhibition were examined to test the predictions. The parameter regimes in which both types of nearly synchronous modes are exhibited were accurately predicted both qualitatively and quantitatively provided that the synaptic time constant is short with respect to the period and that the effect of second order resetting is considered. In contrast, PRC methods based on weak coupling could not predict 2:2 modes and did not predict the 1:1 modes with the level of accuracy achieved by the strong coupling methods. The strong coupling prediction methods provide insight into what manipulations promote near-synchrony in a two neuron network and may also have predictive value for larger networks, which can also manifest changes in firing order. We also identify a novel route by which synchrony is lost in mildly heterogenous networks.

Beyond Two-Cell Networks: Experimental Measurement of Neuronal Responses to Multiple Synaptic Inputs

Oscillations of large populations of neurons are thought to be important in the normal functioning of the brain. We have used phase response curve (PRC) methods to characterize the dynamics of single neurons and predict population dynamics. Our past experimental work was limited to special circumstances (e.g., 2-cell networks of periodically firing neurons). Here, we explore the feasibility of extending our methods to predict the synchronization properties of stellate cells (SCs) in the rat entorhinal cortex under broader conditions. In particular, we test the hypothesis that PRCs in SCs scale linearly with changes in synaptic amplitude, and measure how well responses to Poisson process-driven inputs can be predicted in terms of PRCs. Although we see nonlinear responses to excitatory and inhibitory inputs, we find that models based on weak coupling account for scaling and Poisson process-driven inputs reasonably accurately.

Phase resetting and phase locking in hybrid circuits of one model and one biological neuron

To determine why elements of central pattern generators phase lock in a particular pattern under some conditions but not others, we tested a theoretical pattern prediction method. The method is based on the tabulated open loop pulsatile interactions of bursting neurons on a cycle-by-cycle basis and was tested in closed loop hybrid circuits composed of one bursting biological neuron and one bursting model neuron coupled using the dynamic clamp. A total of 164 hybrid networks were formed by varying the synaptic conductances. The prediction of 1:1 phase locking agreed qualitatively with the experimental observations, except in three hybrid circuits in which 1:1 locking was predicted but not observed. Correct predictions sometimes required consideration of the second order phase resetting, which measures the change in the timing of the second burst after the perturbation. The method was robust to offsets between the initiation of bursting in the presynaptic neuron and the activation of the synaptic coupling with the postsynaptic neuron. The quantitative accuracy of the predictions fell within the variability (10%) in the experimentally observed intrinsic period and phase resetting curve (PRC), despite changes in the burst duration of the neurons between open and closed loop conditions.

Synchronization in hybrid neuronal networks of the hippocampal formation

Understanding the mechanistic bases of neuronal synchronization is a current challenge in quantitative neuroscience. We studied this problem in two putative cellular pacemakers of the mammalian hippocampal theta rhythm: glutamatergic stellate cells (SCs) of the medial entorhinal cortex and GABAergic oriens-lacunosum-molecular (O-LM) interneurons of hippocampal region CA1. We used two experimental methods. First, we measured changes in spike timing induced by artificial synaptic inputs applied to individual neurons. We then measured responses of free-running hybrid neuronal networks, consisting of biological neurons coupled (via dynamic clamp) to biological or virtual counterparts. Results from the single-cell experiments predicted network behaviors well and are compatible with previous model-based predictions of how specific membrane mechanisms give rise to empirically measured synchronization behavior. Both cell types phase lock stably when connected via homogeneous excitatory-excitatory (E-E) or inhibitory-inhibitory (I-I) connections. Phase-locked firing is consistently synchronous for either cell type with E-E connections and nearly anti-synchronous with I-I connections. With heterogeneous connections (e.g., excitatory-inhibitory, as might be expected if members of a given population had heterogeneous connections involving intermediate interneurons), networks often settled into phase locking that was either stable or unstable, depending on the order of firing of the two cells in the hybrid network. Our results imply that excitatory SCs, but not inhibitory O-LM interneurons, are capable of synchronizing in phase via monosynaptic mutual connections of the biologically appropriate polarity. Results are largely independent of synaptic strength and synaptic kinetics, implying that our conclusions are robust and largely unaffected by synaptic plasticity.

Multimodal behavior in a four neuron ring circuit: mode switching

We study a four-neuron ring circuit comprised of oscillating burst-type neurons unidirectionally coupled via inhibitory synapses. Simple circuits of this type have been used previously to study gait patterns. The ring circuit itself is a variant of the basic reciprocal inhibition network, and it exhibits the property of multistability (multiple stable modes of behavior). That is, different gait modes can be achieved via appropriate initialization of and parameterization of this self-excited oscillatory network. We demonstrate three common gait modes with this circuit: the walk, the bound, and a slightly rotated trot mode. Attention is focused mainly on the mechanisms of rapidly and effectively switching between these modes. Our simulations suggest that neuron membrane dynamics, as well as synaptic junctional properties, strongly influence phase sensitivity in the network; each synapse is a combination of both and can be characterized by a transient phase response curve (PRC). We use the same bursting neuron model to characterize all network neurons, and shape different transient PRCs by using different synaptic properties. The characteristics of these PRCs determine the gait modes sustained in any network configuration, as well as, the ability to switch between modes. The mechanisms explored in this simple circuit, may find application in the switching of more complicated gait pattern networks, as well as, in the design of neuromorphic gait pattern circuits.

Synchronization of strongly coupled excitatory neurons: relating network behavior to biophysics

Behavior of a network of neurons is closely tied to the properties of the individual neurons. We study this relationship in models of layer II stellate cells (SCs) of the medial entorhinal cortex. SCs are thought to contribute to the mammalian theta rhythm (4-12 Hz), and are notable for the slow ionic conductances that constrain them to fire at rates within this frequency range. We apply "spike time response" (STR) methods, in which the effects of synaptic perturbations on the timing of subsequent spikes are used to predict how these neurons may synchronize at theta frequencies. Predictions from STR methods are verified using network simulations. Slow conductances often make small inputs "effectively large"; we suggest that this is due to reduced attractiveness or stability of the spiking limit cycle. When inputs are (effectively) large, changes in firing times depend nonlinearly on synaptic strength. One consequence of nonlinearity is to make a periodically firing model skip one or more beats, often leading to the elimination of the anti-synchronous state in bistable models. Biologically realistic membrane noise makes such "cycle skipping" more prevalent, and thus can eradicate bistability. Membrane noise also supports "sparse synchrony," a phenomenon in which subthreshold behavior is uncorrelated, but there are brief periods of synchronous spiking.

Dynamics from a time series: can we extract the phase resetting curve from a time series?

Recordings of the membrane potential from a bursting neuron were used to reconstruct the phase curve for that neuron for a limited set of perturbations. These perturbations were inhibitory synaptic conductance pulses able to shift the membrane potential below the most hyperpolarized level attained in the free running mode. The extraction of the phase resetting curve from such a one-dimensional time series requires reconstruction of the periodic activity in the form of a limit cycle attractor. Resetting was found to have two components. In the first component, if the pulse was applied during a burst, the burst was truncated, and the time until the next burst was shortened in a manner predicted by movement normal to the limit cycle. By movement normal to the limit cycle, we mean a switch between two well-defined solution branches of a relaxation-like oscillator in a hysteretic manner enabled by the existence of a singular dominant slow process (variable). In the second component, the onset of the burst was delayed until the end of the hyperpolarizing pulse. Thus, for the pulse amplitudes we studied, resetting was independent of amplitude but increased linearly with pulse duration. The predicted and the experimental phase resetting curves for a pyloric dilator neuron show satisfactory agreement. The method was applied to only one pulse per cycle, but our results suggest it could easily be generalized to accommodate multiple inputs.

Mechanisms underlying fictive feeding in aplysia: coupling between a large neuron with plateau potentials activity and a spiking neuron

The buccal ganglia of Aplysia contain a central pattern generator (CPG) that organizes the rhythmic movements of the radula and buccal mass during feeding. Many of the cellular and synaptic elements of this CPG have been identified and characterized. However, the roles that specific cellular and synaptic properties play in generating patterns of activity are not well understood. To examine these issues, the present study developed computational models of a portion of this CPG and used simulations to investigate processes underlying the initiation of patterned activity. Simulations were done with the SNNAP software package. The simulated network contained two neurons, B31/B32 and B63. The development of the model was guided and constrained by the available current-clamp data that describe the properties of these two protraction-phase interneurons B31/B32 and B63, which are coupled via electrical and chemical synapses. Several configurations of the model were examined. In one configuration, a fast excitatory postsynaptic potential (EPSP) from B63 to B31/B32 was implemented in combination with an endogenous plateau-like potential in B31/B32. In a second configuration, the excitatory synaptic connection from B63 to B31/B32 produced both fast and slow EPSPs in B31/B32 and the plateau-like potential was removed from B31/B32. Simulations indicated that the former configuration (i.e., electrical and fast chemical coupling in combination with a plateau-like potential) gave rise to a circuit that was robust to changes in parameter values and stochastic fluctuations, that closely mimicked empirical observations, and that was extremely sensitive to inputs controlling the onset of a burst. The coupling between the two simulated neurons served to amplify exogenous depolarizations via a positive feedback loop and the subthreshold activation of the plateau-like potential. Once a burst was initiated, the circuit produced the program in an all-or-none fashion. The slow kinetics of the simulated plateau-like potential played important roles in both initiating and maintaining the burst activity. Thus the present study identified cellular and network properties that contribute to the ability of the simulated network to integrate information over an extended period before a decision is made to initiate a burst of activity and suggests that similar mechanisms may operate in the buccal ganglia in initiating feeding movements.

The influence of limit cycle topology on the phase resetting curve

Understanding the phenomenology of phase resetting is an essential step toward developing a formalism for the analysis of circuits composed of bursting neurons that receive multiple, and sometimes overlapping, inputs. If we are to use phase-resetting methods to analyze these circuits, we can either generate phase-resetting curves (PRCs) for all possible inputs and combinations of inputs, or we can develop an understanding of how to construct PRCs for arbitrary perturbations of a given neuron. The latter strategy is the goal of this study. We present a geometrical derivation of phase resetting of neural limit cycle oscillators in response to short current pulses. A geometrical phase is defined as the distance traveled along the limit cycle in the appropriate phase space. The perturbations in current are treated as displacements in the direction corresponding to membrane voltage. We show that for type I oscillators, the direction of a perturbation in current is nearly tangent to the limit cycle; hence, the projection of the displacement in voltage onto the limit cycle is sufficient to give the geometrical phase resetting. In order to obtain the phase resetting in terms of elapsed time or temporal phase, a mapping between geometrical and temporal phase is obtained empirically and used to make the conversion. This mapping is shown to be an invariant of the dynamics. Perturbations in current applied to type II oscillators produce significant normal displacements from the limit cycle, so the difference in angular velocity at displaced points compared to the angular velocity on the limit cycle must be taken into account. Empirical attempts to correct for differences in angular velocity (amplitude versus phase effects in terms of a circular coordinate system) during relaxation back to the limit cycle achieved some success in the construction of phase-resetting curves for type II model oscillators. The ultimate goal of this work is the extension of these techniques to biological circuits comprising type II neural oscillators, which appear frequently in identified central pattern-generating circuits.

Extended dynamic clamp: controlling up to four neurons using a single desktop computer and interface

The dynamic clamp protocol allows an experimenter to simulate the presence of membrane conductances in, and synaptic connections between, biological neurons. Existing protocols and commercial ADC/DAC boards provide ready control in and between < or =2 neurons. Control at >2 sites is desirable when studying neural circuits with serial or ring connectivity. Here, we describe how to extend dynamic clamp control to four neurons and their associated synaptic interactions, using a single IBM-compatible PC, an ADC/DAC interface with two analog outputs, and an additional demultiplexing circuit. A specific C++ program, DYNCLAMP4, implements these procedures in a Windows environment, allowing one to change parameters while the dynamic clamp is running. Computational efficiency is increased by varying the duration of the input-output cycle. The program simulates < or =8 Hodgkin-Huxley-type conductances and < or =18 (chemical and/or electrical) synapses in < or =4 neurons and runs at a minimum update rate of 5 kHz on a 450 MHz CPU. (Increased speed is possible in a two-neuron version that does not need auxiliary circuitry). Using identified neurons of the crustacean stomatogastric ganglion, we illustrate on-line parameter modification and the construction of three-member synaptic rings.

Multistability in recurrent neural loops arising from delay

The dynamics of a recurrent inhibitory neural loop composed of a periodically spiking Aplysia motoneuron reciprocally connected to a computer are investigated as a function of the time delay, tau, for propagation around the loop. It is shown that for certain choices of tau, multiple qualitatively different neural spike trains co-exist. A mathematical model is constructed for the dynamics of this pulsed-coupled recurrent loop in which all parameters are readily measured experimentally: the phase resetting curve of the neuron for a given simulated postsynaptic current and tau. For choices of the parameters for which multiple spiking patterns co-exist in the experimental paradigm, the model exhibits multistability. Numerical simulations suggest that qualitatively similar results will occur if the motoneuron is replaced by several other types of neurons and that once tau becomes sufficiently long, multistability will be the dominant form of dynamical behavior. These observations suggest that great care must be taken in determining the etiology of qualitative changes in neural spiking patterns, particularly when propagation times around polysynaptic loops are long.

In vitro analog of operant conditioning in aplysia. II. Modifications of the functional dynamics of an identified neuron contribute to motor pattern selection

Previously, an analog of operant conditioning was developed using the buccal ganglia of Aplysia, the probabilistic occurrences of a specific motor pattern (i.e., pattern I), a contingent reinforcement (i.e., stimulation of the esophageal nerve), and monotonic stimulation of a peripheral nerve (i.e., n.2,3). This analog expressed a key feature of operant conditioning (i.e., selective enhancement of the probability of occurrence of a designated motor pattern by contingent reinforcement). In addition, the training induced changes in the dynamical properties of neuron B51, an element of the buccal central pattern generator. To gain insights into the neuronal mechanisms that mediate features of operant conditioning, the present study identified a neuronal element that was critically involved in the selective enhancement of pattern I. We found that bursting activity in cell B51 contributed significantly to the expression of pattern I and that changes in the dynamical properties of this cell were associated with the selective enhancement of pattern I. These changes could be induced by an explicit association of reinforcement with random depolarization of B51. No stimulation of n.2,3 was required. These results indicate that the selection of a designated motor pattern by contingent reinforcement and the underlying neuronal plasticity resulted from the association of reinforcement with a component of central neuronal activity that contributes to a specific motor pattern. The sensory stimulus that allows for occurrences of different motor acts may not be critical for induction of plasticity that mediates the selection of a motor output by contingent reinforcement in operant conditioning.

In vitro analog of operant conditioning in aplysia. I. Contingent reinforcement modifies the functional dynamics of an identified neuron

Previously, an analog of operant conditioning in Aplysia was developed using the rhythmic motor activity in the isolated buccal ganglia. This analog expressed a key feature of operant conditioning, namely a selective enhancement in the occurrence of a designated motor pattern by contingent reinforcement. Different motor patterns generated by the buccal central pattern generator were induced by monotonic stimulation of a peripheral nerve (i.e., n.2,3). Phasic stimulation of the esophageal nerve (E n.) was used as an analog of reinforcement. The present study investigated the neuronal mechanisms associated with the genesis of different motor patterns and their modifications by contingent reinforcement. The genesis of different motor patterns was related to changes in the functional states of the pre-motor neuron B51. During rhythmic activity, B51 dynamically switched between inactive and active states. Bursting activity in B51 was associated with, and predicted, characteristic features of a specific motor pattern (i.e., pattern I). Contingent reinforcement of pattern I modified the dynamical properties of B51 by decreasing its resting conductance and threshold for eliciting plateau potentials and thus increased the occurrences of pattern I-related activity in B51. These modifications were not observed in preparations that received either noncontingent reinforcement (i.e., yoke control) or no reinforcement (i.e., control). These results suggest that a contingent reinforcement paradigm can regulate the dynamics of neuronal activity that is centrally programmed by the intrinsic cellular properties of neurons.

Intersegmental coordination in invertebrates and vertebrates

How does the CNS coordinate muscle contractions between different body segments during normal locomotion? Work on several preparations has shown that this coordination relies on excitability gradients and on differences between ascending and descending intersegmental coupling. Abstract models involving chains of coupled oscillators have defined properties of coordinating circuits that would permit them to establish a constant intersegmental phase in the face of changing periods. Analyses that combine computational and experimental strategies have led to new insights into the cellular organization of intersegmental coordinating circuits and the neural control of swimming in lamprey, tadpole, crayfish and leech.

Intersegmental coordination of limb movements during locomotion: mathematical models predict circuits that drive swimmeret beating

Normal locomotion in arthropods and vertebrates is a complex behavior, and the neural mechanisms that coordinate their limbs during locomotion at different speeds are unknown. The neural modules that drive cyclic movements of swimmerets respond to changes in excitation by changing the period of the motor pattern. As period changes, however, both intersegmental phase differences and the relative durations of bursts of impulses in different sets of motor neurons are preserved. To investigate these phenomena, we constructed a cellular model of the local pattern-generating circuit that drives each swimmeret. We then constructed alternative intersegmental circuits that might coordinate these local circuits. The structures of both the model of the local circuit and the alternative models of the coordinating circuit were based on and constrained by previous experimental results on pattern-generating neurons and coordinating interneurons. To evaluate the relative merits of these alternatives, we compared their dynamics with the performance of the real circuit when the level of excitation was changed. Many of the alternative coordinating circuits failed. One coordinating circuit, however, did effectively match the performance of the real system as period changed from 1 to 3.2 Hz. With this coordinating circuit, both the intersegmental phase differences and the relative durations of activity within each of the local modules fell within the ranges characteristic of the normal motor pattern and did not change significantly as period changed. These results predict a mechanism of coordination and a pattern of intersegmental connections in the CNS that is amenable to experimental test.