Introduction to controversial topics in nonlinear science: is the normal heart rate chaotic?

Fourier phase index for extracting signatures of determinism and nonlinear features in time series

Detecting determinism and nonlinear properties from empirical time series is highly nontrivial. Traditionally, nonlinear time series analysis is based on an error-prone phase space reconstruction that is only applicable for stationary, largely noise-free data from a low-dimensional system and requires the nontrivial adjustment of various parameters. We present a data-driven index based on Fourier phases that detects determinism at a well-defined significance level, without using Fourier transform surrogate data. It extracts nonlinear features, is robust to noise, provides time-frequency resolution by a double running window approach, and potentially distinguishes regular and chaotic dynamics. We test this method on data derived from dynamical models as well as on real-world data, namely, intracranial recordings of an epileptic patient and a series of density related variations of sediments of a paleolake in Tlaxcala, Mexico.

Chaos in a bacterial stress response

Cellular responses to environmental changes are often highly heterogeneous and exhibit seemingly random dynamics. The astonishing insight of chaos theory is that such unpredictable patterns can, in principle, arise without the need for any random processes, i.e., purely deterministically without noise. However, while chaos is well understood in mathematics and physics, its role in cell biology remains unclear because the complexity and noisiness of biological systems make testing difficult. Here, we show that chaos explains the heterogeneous response of Escherichia coli cells to oxidative stress. We developed a theoretical model of the gene expression dynamics and demonstrate that chaotic behavior arises from rapid molecular feedbacks that are coupled with cell growth dynamics and cell-cell interactions. Based on theoretical predictions, we then designed single-cell experiments to show we can shift gene expression from periodic oscillations to chaos on demand. Our work suggests that chaotic gene regulation can be employed by cell populations to generate strong and variable responses to changing environments.

Characterization of Physiological Noise in Complex Cardiovascular Variability Series

The cardiovascular system can be analyzed using spectral, nonlinear, and complexity metrics. Nevertheless, dynamical noise may significantly impact these quantifiers. To our knowledge, there has been no attempt to quantify the intrinsic cardiovascular system noise driving heartbeat dynamics. To this end, this study presents a novel, model-free framework to define and quantify physiological noise using nonlinear Approximate Entropy profile. The framework was tested using analytical noisy series and then applied to real Heart Rate Variability (HRV) series gathered from a publicly-available dataset of recordings from 19 young and 19 elderly subjects watching the movie "Fantasia". Results suggest that physiological noise may account for over 15% of cardiovascular dynamics and is influenced by aging, with decreased cardiac noise in the elderly compared to the young subjects. Our findings indicate that physiological noise is a crucial factor in characterizing cardiovascular dynamics, and current spectral, nonlinear, and complexity assessments should take into account underlying dynamical noise estimates.

Characterization of autonomic states by complex sympathetic and parasympathetic dynamics

Assessment of heartbeat dynamics provides a promising framework for non-invasive monitoring of cardiovascular and autonomic states. Nevertheless, the non-specificity of such measurements among clinical populations and healthy conditions associated with different autonomic states severely limits their applicability and exploitation in naturalistic conditions. This limitation arises especially when pathological or postural change-related sympathetic hyperactivity is compared to autonomic changes across age and experimental conditions. In this frame, we investigate the intrinsic irregularity and complexity of cardiac sympathetic and vagal activity series in different populations, which are associated with different cardiac autonomic dynamics. Sample entropy, fuzzy entropy, and distribution entropy are calculated on the recently proposed sympathetic and parasympathetic activity indices (SAI and PAI) series, which are derived from publicly available heartbeat series of congestive heart failure patients, elderly and young subjects watching a movie in the supine position, and healthy subjects undergoing slow postural changes. Results show statistically significant differences between pathological/old subjects and young subjects in the resting state and during slow tilt, with interesting trends in SAI- and PAI-related entropy values. Moreover, while CHF patients and healthy subjects in upright position show the higher cardiac sympathetic activity, elderly and young subjects in resting state showed higher vagal activity. We conclude that quantification of intrinsic cardiac complexity from sympathetic and vagal dynamics may provide new physiology insights and improve on the non-specificity of heartbeat-derived biomarkers.

Datasets for learning of unknown characteristics of dynamical systems

The ability to uncover characteristics based on empirical measurement is an important step in understanding the underlying system that gives rise to an observed time series. This is especially important for biological signals whose characteristic contributes to the underlying dynamics of the physiological processes. Therefore, by studying such signals, the physiological systems that generate them can be better understood. The datasets presented consist of 33,000 time series of 15 dynamical systems (five chaotic and ten non-chaotic) of the first, second, or third order. Here, the order of a dynamical system means its dimension. The non-chaotic systems were divided into the following classes: periodic, quasi-periodic, and non-periodic. The aim is to propose datasets for machine learning methods, in particular deep learning techniques, to analyze unknown dynamical system characteristics based on obtained time series. In technical validation, three classifications experiments were conducted using two types of neural networks with long short-term memory modules and convolutional layers.

Dynamical behavior analysis of the heart system by the bifurcation structures

The functioning of the heart rhythm can exhibit a wide variety of dynamic behaviours under certain conditions. In the case of rhythm disorders or cardiac arrhythmias, the natural rhythm of the heart is usually involved in the sinoatrial node, the atrioventricular node, the atria of the carotid sinus, etc. The study of heart related disorders requires an important analysis of its rhythm because the regularity of cardiac activity is conditioned by a large number of factors. The cardiac system is made up of a combination of nodes ranging from the sinus node, the atrioventricular node to its Purkinje bundles, which interact with each other via communicative aspects. Due to the nature of their respective dynamics, the above are treated as self-oscillating elements and modelled by nonlinear oscillators. By modelling the cardiac conduction system as a model of three nonlinear oscillators coupled by delayed connections and subjected to external stimuli depicting the behavior of a pacemaker, its dynamic behavior is studied in this paper by nonlinear analysis tools. From an electrocardiogram (ECG) assessment, the heart rhythm reveals normal and pathological rhythms. Three forms of ventricular fibrillation, ventricular flutter, ventricular tachycardia and atrial fibrillation are observed. The results are confirmed by the respective maximum Lyapunov exponents. Considering the cardiac nodes as microchips, using microcontroller simulation technology, the cardiac conduction system was modelled as a network of four ATmega 328P microcontrollers. A similarity with the results obtained numerically can be observed.

Brain-inspired chaotic backpropagation for MLP

Backpropagation (BP) algorithm is one of the most basic learning algorithms in deep learning. Although BP has been widely used, it still suffers from the problem of easily falling into the local minima due to its gradient dynamics. Inspired by the fact that the learning of real brains may exploit chaotic dynamics, we propose the chaotic backpropagation (CBP) algorithm by integrating the intrinsic chaos of real neurons into BP. By validating on multiple datasets (e.g. cifar10), we show that, for multilayer perception (MLP), CBP has significantly better abilities than those of BP and its variants in terms of optimization and generalization from both computational and theoretical viewpoints. Actually, CBP can be regarded as a general form of BP with global searching ability inspired by the chaotic learning process in the brain. Therefore, CBP not only has the potential of complementing or replacing BP in deep learning practice, but also provides a new way for understanding the learning process of the real brain.

Analysis of Heart-Sound Characteristics during Motion Based on a Graphic Representation

In this paper, the graphic representation method is used to study the multiple characteristics of heart sounds from a resting state to a state of motion based on single- and four-channel heart-sound signals. Based on the concept of integration, we explore the representation method of heart sound and blood pressure during motion. To develop a single- and four-channel heart-sound collector, we propose new concepts such as a sound-direction vector of heart sound, a motion-response curve of heart sound, the difference value, and a state-change-trend diagram. Based on the acoustic principle, the reasons for the differences between multiple-channel heart-sound signals are analyzed. Through a comparative analysis of four-channel motion and resting-heart sounds, from a resting state to a state of motion, the maximum and minimum similarity distances in the corresponding state-change-trend graphs were found to be 0.0038 and 0.0006, respectively. In addition, we provide several characteristic parameters that are both sensitive (such as heart sound amplitude, blood pressure, systolic duration, and diastolic duration) and insensitive (such as sound-direction vector, state-change-trend diagram, and difference value) to motion, thus providing a new technique for the diverse analysis of heart sounds in motion.

Heart rate variability and the dawn of complex physiological signal analysis: methodological and clinical perspectives

Spontaneous beat-to-beat variations of heart rate (HR) have intrigued scientists and casual observers for centuries; however, it was not until the 1970s that investigators began to apply engineering tools to the analysis of these variations, fostering the field we now know as heart rate variability or HRV. Since then, the field has exploded to not only include a wide variety of traditional linear time and frequency domain applications for the HR signal, but also more complex linear models that include additional physiological parameters such as respiration, arterial blood pressure, central venous pressure and autonomic nerve signals. Most recently, the field has branched out to address the nonlinear components of many physiological processes, the complexity of the systems being studied and the important issue of specificity for when these tools are applied to individuals. When the impact of all these developments are combined, it seems likely that the field of HRV will soon begin to realize its potential as an important component of the toolbox used for diagnosis and therapy of patients in the clinic. This article is part of the theme issue 'Advanced computation in cardiovascular physiology: new challenges and opportunities'.

Symmetric projection attractor reconstruction: Embedding in higher dimensions

Symmetric Projection Attractor Reconstruction (SPAR) provides an intuitive visualization and simple quantification of the morphology and variability of approximately periodic signals. The original method takes a three-dimensional delay coordinate embedding of a signal and subsequently projects this phase space reconstruction to a two-dimensional image with threefold symmetry, providing a bounded visualization of the waveform. We present an extension of the original work to apply delay coordinate embedding in any dimension N≥3 while still deriving a two-dimensional output with some rotational symmetry property that provides a meaningful visualization of the higher dimensional attractor. A generalized result is developed for taking N≥3 delay coordinates from a continuous periodic signal, where we determine invariant subspaces of the phase space that provide a two-dimensional projection with the required rotational symmetry. The result in each subspace is shown to be equivalent to following each pair of coefficients of the trigonometric interpolating polynomial of N evenly spaced points as the signal is translated horizontally. Bounds on the mean and the frequency response of our new coordinates are derived. We demonstrate how this aids our understanding of the attractor properties and its relationship to the underlying waveform. Our generalized result is then extended to real, approximately periodic signals, where we demonstrate that the higher dimensional SPAR method provides information on subtle changes in different parts of the waveform morphology.

Discriminating chaotic and stochastic time series using permutation entropy and artificial neural networks

Extracting relevant properties of empirical signals generated by nonlinear, stochastic, and high-dimensional systems is a challenge of complex systems research. Open questions are how to differentiate chaotic signals from stochastic ones, and how to quantify nonlinear and/or high-order temporal correlations. Here we propose a new technique to reliably address both problems. Our approach follows two steps: first, we train an artificial neural network (ANN) with flicker (colored) noise to predict the value of the parameter, [Formula: see text], that determines the strength of the correlation of the noise. To predict [Formula: see text] the ANN input features are a set of probabilities that are extracted from the time series by using symbolic ordinal analysis. Then, we input to the trained ANN the probabilities extracted from the time series of interest, and analyze the ANN output. We find that the [Formula: see text] value returned by the ANN is informative of the temporal correlations present in the time series. To distinguish between stochastic and chaotic signals, we exploit the fact that the difference between the permutation entropy (PE) of a given time series and the PE of flicker noise with the same [Formula: see text] parameter is small when the time series is stochastic, but it is large when the time series is chaotic. We validate our technique by analysing synthetic and empirical time series whose nature is well established. We also demonstrate the robustness of our approach with respect to the length of the time series and to the level of noise. We expect that our algorithm, which is freely available, will be very useful to the community.

Recent advances in evolutionary and bio-inspired adaptive robotics: Exploiting embodied dynamics

This paper explores current developments in evolutionary and bio-inspired approaches to autonomous robotics, concentrating on research from our group at the University of Sussex. These developments are discussed in the context of advances in the wider fields of adaptive and evolutionary approaches to AI and robotics, focusing on the exploitation of embodied dynamics to create behaviour. Four case studies highlight various aspects of such exploitation. The first exploits the dynamical properties of a physical electronic substrate, demonstrating for the first time how component-level analog electronic circuits can be evolved directly in hardware to act as robot controllers. The second develops novel, effective and highly parsimonious navigation methods inspired by the way insects exploit the embodied dynamics of innate behaviours. Combining biological experiments with robotic modeling, it is shown how rapid route learning can be achieved with the aid of navigation-specific visual information that is provided and exploited by the innate behaviours. The third study focuses on the exploitation of neuromechanical chaos in the generation of robust motor behaviours. It is demonstrated how chaotic dynamics can be exploited to power a goal-driven search for desired motor behaviours in embodied systems using a particular control architecture based around neural oscillators. The dynamics are shown to be chaotic at all levels in the system, from the neural to the embodied mechanical. The final study explores the exploitation of the dynamics of brain-body-environment interactions for efficient, agile flapping winged flight. It is shown how a multi-objective evolutionary algorithm can be used to evolved dynamical neural controllers for a simulated flapping wing robot with feathered wings. Results demonstrate robust, stable, agile flight is achieved in the face of random wind gusts by exploiting complex asymmetric dynamics partly enabled by continually changing wing and tail morphologies.

A Persistent Homology Approach to Heart Rate Variability Analysis With an Application to Sleep-Wake Classification

Persistent homology is a recently developed theory in the field of algebraic topology to study shapes of datasets. It is an effective data analysis tool that is robust to noise and has been widely applied. We demonstrate a general pipeline to apply persistent homology to study time series, particularly the instantaneous heart rate time series for the heart rate variability (HRV) analysis. The first step is capturing the shapes of time series from two different aspects—the persistent homologies and hence persistence diagrams of its sub-level set and Taken's lag map. Second, we propose a systematic and computationally efficient approach to summarize persistence diagrams, which we coined persistence statistics. To demonstrate our proposed method, we apply these tools to the HRV analysis and the sleep-wake, REM-NREM (rapid eyeball movement and non rapid eyeball movement) and sleep-REM-NREM classification problems. The proposed algorithm is evaluated on three different datasets via the cross-database validation scheme. The performance of our approach is better than the state-of-the-art algorithms, and the result is consistent throughout different datasets.

Prediction of Paroxysmal Atrial Fibrillation From Complexity Analysis of the Sinus Rhythm ECG: A Retrospective Case/Control Pilot Study

Paroxysmal atrial fibrillation (PAF) is the most common cardiac arrhythmia, conveying a stroke risk comparable to persistent AF. It poses a significant diagnostic challenge given its intermittency and potential brevity, and absence of symptoms in most patients. This pilot study introduces a novel biomarker for early PAF detection, based upon analysis of sinus rhythm ECG waveform complexity. Sinus rhythm ECG recordings were made from 52 patients with (n = 28) or without (n = 24) a subsequent diagnosis of PAF. Subjects used a handheld ECG monitor to record 28-second periods, twice-daily for at least 3 weeks. Two independent ECG complexity indices were calculated using a Lempel-Ziv algorithm: R-wave interval variability (beat detection, BD) and complexity of the entire ECG waveform (threshold crossing, TC). TC, but not BD, complexity scores were significantly greater in PAF patients, but TC complexity alone did not identify satisfactorily individual PAF cases. However, a composite complexity score (h-score) based on within-patient BD and TC variability scores was devised. The h-score allowed correct identification of PAF patients with 85% sensitivity and 83% specificity. This powerful but simple approach to identify PAF sufferers from analysis of brief periods of sinus-rhythm ECGs using hand-held monitors should enable easy and low-cost screening for PAF with the potential to reduce stroke occurrence.

Multi-Chaotic Analysis of Inter-Beat (R-R) Intervals in Cardiac Signals for Discrimination between Normal and Pathological Classes

Cardiac signals have complex structures representing a combination of simpler structures. In this paper, we develop a new data analytic tool that can extract the complex structures of cardiac signals using the framework of multi-chaotic analysis, which is based on the p-norm for calculating the largest Lyapunov exponent (LLE). Appling the p-norm is useful for deriving the spectrum of the generalized largest Lyapunov exponents (GLLE), which is characterized by the width of the spectrum (which we denote by W). This quantity measures the degree of multi-chaos of the process and can potentially be used to discriminate between different classes of cardiac signals. We propose the joint use of the GLLE and spectrum width to investigate the multi-chaotic behavior of inter-beat (R-R) intervals of cardiac signals recorded from 54 healthy subjects (hs), 44 subjects diagnosed with congestive heart failure (chf), and 25 subjects diagnosed with atrial fibrillation (af). With the proposed approach, we build a regression model for the diagnosis of pathology. Multi-chaotic analysis showed a good performance, allowing the underlying dynamics of the system that generates the heart beat to be examined and expert systems to be built for the diagnosis of cardiac pathologies.

Multiplex recurrence networks from multi-lead ECG data

We present an integrated approach to analyze the multi-lead electrocardiogram (ECG) data using the framework of multiplex recurrence networks (MRNs). We explore how their intralayer and interlayer topological features can capture the subtle variations in the recurrence patterns of the underlying spatio-temporal dynamics of the cardiac system. We find that MRNs from ECG data of healthy cases are significantly more coherent with high mutual information and less divergence between respective degree distributions. In cases of diseases, significant differences in specific measures of similarity between layers are seen. The coherence is affected most in the cases of diseases associated with localized abnormality such as bundle branch block. We note that it is important to do a comprehensive analysis using all the measures to arrive at disease-specific patterns. Our approach is very general and as such can be applied in any other domain where multivariate or multi-channel data are available from highly complex systems.

Intrinsic Complexity of Sympathetic and Parasympathetic Dynamics from HRV series: a Preliminary Study on Postural Changes

The analysis of complex heartbeat dynamics has been widely used to characterize heartbeat autonomic control in healthy and pathological conditions. However, underlying physiological correlates of complexity measurements from heart rate variability (HRV) series have not been identified yet. To this extent, we investigated intrinsic irregularity and complexity of cardiac sympathetic and vagal activity time series during postural changes. We exploited our recently proposed HRV-based, time-varying Sympathetic and Parasympathetic Activity Indices (SAI and PAI) and performed Sample Entropy, Fuzzy Entropy, and Distribution Entropy calculations on publicly-available heartbeat series gathered from 10 healthy subjects undergoing resting state and passive slow tilt sessions. Results show significantly higher entropy values during the upright position than resting state in both SAI and PAI series. We conclude that an increase in HRV complexity resulting from postural changes may derive from sympathetic and vagal activities with higher complex dynamics.

Random effects inducing heart pathological dynamics: An approach based on mathematical models

This work deals with an investigation of randomness effects on heart rhythm analysis. A mathematical model composed by three-coupled nonlinear oscillators coupled by time-delayed connections is employed for this aim. In this regard, heart rhythm is governed by delayed-differential equations. Nondeterministic aspects are incorporated considering random connections among oscillators. The main idea is to show that nonlinearities and randomness define together the great variety of possibilities in the heart dynamical system. In general, results corroborate that the model is able to capture the main behaviors of the cardiac system showing that pathological behaviors can evolve from normal rhythms due to random couplings. Experimental data corroborate this argues pointing that nonlinear dynamical analysis is useful for a proper physiological comprehension.

Extracting new information from old waveforms: Symmetric projection attractor reconstruction: Where maths meets medicine

NEW FINDINGS

What is the topic of this review? Symmetric Projection Attractor Reconstruction (SPAR) is a relatively new mathematical method that can extract additional information pertaining to the morphology and variability of physiological waveforms, such as arterial pulse pressure. Herein, we describe the potential utility of the method for more sensitive quantification of cardiovascular changes. What advances does it highlight? We use a simple example of a human tilt table to illustrate these concepts. SPAR can be used on any approximately periodic waveform and may add value to experimental and clinical settings, where such signals are collected routinely.

ABSTRACT

Periodic physiological waveform data, such as blood pressure, pulse oximetry and ECG, are routinely sampled between 100 and 1000 Hz in preclinical research and in the clinical setting from a wide variety of implantable, bedside and wearable monitoring devices. Despite the underlying numerical waveform data being captured at such high fidelity, conventional analysis tends to reside in reporting only averages of minimum, maximum, amplitude and rate, as single point averages. Although these averages are undoubtedly of value, simplification of the data in this way means that most of the available numerical data are discarded. In turn, this may lead to subtle physiological changes being missed when investigating the cardiovascular system over time. We have developed a mathematical method (symmetric projection attractor reconstruction) that uses all the numerical data, replotting and revisualizing them in a manner that allows unique quantification of multiple changes in waveform morphology and variability. We propose that the additional quantification of these features will allow the complex behaviour of the cardiovascular system to be mapped more sensitively in different physiological and pathophysiological settings.

A simple method for detecting chaos in nature

Chaos, or exponential sensitivity to small perturbations, appears everywhere in nature. Moreover, chaos is predicted to play diverse functional roles in living systems. A method for detecting chaos from empirical measurements should therefore be a key component of the biologist's toolkit. But, classic chaos-detection tools are highly sensitive to measurement noise and break down for common edge cases, making it difficult to detect chaos in domains, like biology, where measurements are noisy. However, newer tools promise to overcome these limitations. Here, we combine several such tools into an automated processing pipeline, and show that our pipeline can detect the presence (or absence) of chaos in noisy recordings, even for difficult edge cases. As a first-pass application of our pipeline, we show that heart rate variability is not chaotic as some have proposed, and instead reflects a stochastic process in both health and disease. Our tool is easy-to-use and freely available.

Comparison of methods for the assessment of nonlinearity in short-term heart rate variability under different physiopathological states

Despite the widespread diffusion of nonlinear methods for heart rate variability (HRV) analysis, the presence and the extent to which nonlinear dynamics contribute to short-term HRV are still controversial. This work aims at testing the hypothesis that different types of nonlinearity can be observed in HRV depending on the method adopted and on the physiopathological state. Two entropy-based measures of time series complexity (normalized complexity index, NCI) and regularity (information storage, IS), and a measure quantifying deviations from linear correlations in a time series (Gaussian linear contrast, GLC), are applied to short HRV recordings obtained in young (Y) and old (O) healthy subjects and in myocardial infarction (MI) patients monitored in the resting supine position and in the upright position reached through head-up tilt. The method of surrogate data is employed to detect the presence and quantify the contribution of nonlinear dynamics to HRV. We find that the three measures differ both in their variations across groups and conditions and in the percentage and strength of nonlinear HRV dynamics. NCI and IS displayed opposite variations, suggesting more complex dynamics in O and MI compared to Y and less complex dynamics during tilt. The strength of nonlinear dynamics is reduced by tilt using all measures in Y, while only GLC detects a significant strengthening of such dynamics in MI. A large percentage of detected nonlinear dynamics is revealed only by the IS measure in the Y group at rest, with a decrease in O and MI and during T, while NCI and GLC detect lower percentages in all groups and conditions. While these results suggest that distinct dynamic structures may lie beneath short-term HRV in different physiological states and pathological conditions, the strong dependence on the measure adopted and on their implementation suggests that physiological interpretations should be provided with caution.

Lessons from "a first-principles approach to understanding the internet's router-level topology"

Our main purpose for this editorial is to reiterate the main message that we tried to convey in our SIGCOMM'04 paper but that got largely lost in all the hype surrounding the use of scale-free network models throughout the sciences in the last two decades. That message was that because of (1) the Internet's highly-engineered architecture, (2) a thorough understanding of its component technologies, and (3) the availability of extensive (but typically noisy) measurements, this complex man-made system affords unique opportunities to unambiguously resolve most claims about its properties, structure, and functionality. In the process, we point out the fallacy of popular approaches that consider complex systems such as the Internet from the perspective of disorganized complexity and argue for renewed efforts and increased focus on advancing an "architecture first" view with its emphasis on studying the organized complexity of systems such as the Internet.

Embodied neuromechanical chaos through homeostatic regulation

In this paper, we present detailed analyses of the dynamics of a number of embodied neuromechanical systems of a class that has been shown to efficiently exploit chaos in the development and learning of motor behaviors for bodies of arbitrary morphology. This class of systems has been successfully used in robotics, as well as to model biological systems. At the heart of these systems are neural central pattern generating (CPG) units connected to actuators which return proprioceptive information via an adaptive homeostatic mechanism. Detailed dynamical analyses of example systems, using high resolution largest Lyapunov exponent maps, demonstrate the existence of chaotic regimes within a particular region of parameter space, as well as the striking similarity of the maps for systems of varying size. Thanks to the homeostatic sensory mechanisms, any single CPG "views" the whole of the rest of the system as if it was another CPG in a two coupled system, allowing a scale invariant conceptualization of such embodied neuromechanical systems. The analysis reveals chaos at all levels of the systems; the entire brain-body-environment system exhibits chaotic dynamics which can be exploited to power an exploration of possible motor behaviors. The crucial influence of the adaptive homeostatic mechanisms on the system dynamics is examined in detail, revealing chaotic behavior characterized by mixed mode oscillations (MMOs). An analysis of the mechanism of the MMO concludes that they stems from dynamic Hopf bifurcation, where a number of slow variables act as "moving" bifurcation parameters for the remaining part of the system.

Mitochondrial chaotic dynamics: Redox-energetic behavior at the edge of stability

Mitochondria serve multiple key cellular functions, including energy generation, redox balance, and regulation of apoptotic cell death, thus making a major impact on healthy and diseased states. Increasingly recognized is that biological network stability/instability can play critical roles in determining health and disease. We report for the first-time mitochondrial chaotic dynamics, characterizing the conditions leading from stability to chaos in this organelle. Using an experimentally validated computational model of mitochondrial function, we show that complex oscillatory dynamics in key metabolic variables, arising at the “edge” between fully functional and pathological behavior, sets the stage for chaos. Under these conditions, a mild, regular sinusoidal redox forcing perturbation triggers chaotic dynamics with main signature traits such as sensitivity to initial conditions, positive Lyapunov exponents, and strange attractors. At the “edge” mitochondrial chaos is exquisitely sensitive to the antioxidant capacity of matrix Mn superoxide dismutase as well as to the amplitude and frequency of the redox perturbation. These results have potential implications both for mitochondrial signaling determining health maintenance, and pathological transformation, including abnormal cardiac rhythms.

Sleep-wake classification via quantifying heart rate variability by convolutional neural network

OBJECTIVE

Fluctuations in heart rate are intimately related to changes in the physiological state of the organism. We exploit this relationship by classifying a human participant's wake/sleep status using his instantaneous heart rate (IHR) series.

APPROACH

We use a convolutional neural network (CNN) to build features from the IHR series extracted from a whole-night electrocardiogram (ECG) and predict every 30 s whether the participant is awake or asleep. Our training database consists of 56 normal participants, and we consider three different databases for validation; one is private, and two are public with different races and apnea severities.

MAIN RESULTS

On our private database of 27 participants, our accuracy, sensitivity, specificity, and [Formula: see text] values for predicting the wake stage are [Formula: see text], 52.4%, 89.4%, and 0.83, respectively. Validation performance is similar on our two public databases. When we use the photoplethysmography instead of the ECG to obtain the IHR series, the performance is also comparable. A robustness check is carried out to confirm the obtained performance statistics.

SIGNIFICANCE

This result advocates for an effective and scalable method for recognizing changes in physiological state using non-invasive heart rate monitoring. The CNN model adaptively quantifies IHR fluctuation as well as its location in time and is suitable for differentiating between the wake and sleep stages.

Meditation-Induced Coherence and Crucial Events

In this paper we emphasize that 1/f noise has two different origins, one compatible with Laplace determinism and one determined by unpredictable crucial events. The dynamics of heartbeats, manifest as heart rate variability (HRV) time series, are determined by the joint action of these different memory sources with meditation turning the Laplace memory into a strongly coherent process while exerting an action on the crucial events favoring the transition from the condition of ideal 1/f noise to the Gaussian basin of attraction. This theoretical development affords a method of statistical analysis that establishes a quantitative approach to the evaluation of the stress reduction realized by the practice of Chi meditation and Kundalini Yoga.

Improving the understanding of sleep apnea characterization using Recurrence Quantification Analysis by defining overall acceptable values for the dimensionality of the system, the delay, and the distance threshold

Our contribution focuses on the characterization of sleep apnea from a cardiac rate point of view, using Recurrence Quantification Analysis (RQA), based on a Heart Rate Variability (HRV) feature selection process. Three parameters are crucial in RQA: those related to the embedding process (dimension and delay) and the threshold distance. There are no overall accepted parameters for the study of HRV using RQA in sleep apnea. We focus on finding an overall acceptable combination, sweeping a range of values for each of them simultaneously. Together with the commonly used RQA measures, we include features related to recurrence times, and features originating in the complex network theory. To the best of our knowledge, no author has used them all for sleep apnea previously. The best performing feature subset is entered into a Linear Discriminant classifier. The best results in the “Apnea-ECG Physionet database” and the “HuGCDN2014 database” are, according to the area under the receiver operating characteristic curve, 0.93 (Accuracy: 86.33%) and 0.86 (Accuracy: 84.18%), respectively. Our system outperforms, using a relatively small set of features, previously existing studies in the context of sleep apnea. We conclude that working with dimensions around 7–8 and delays about 4–5, and using for the threshold distance the Fixed Amount of Nearest Neighbours (FAN) method with 5% of neighbours, yield the best results. Therefore, we would recommend these reference values for future work when applying RQA to the analysis of HRV in sleep apnea. We also conclude that, together with the commonly used vertical and diagonal RQA measures, there are newly used features that contribute valuable information for apnea minutes discrimination. Therefore, they are especially interesting for characterization purposes. Using two different databases supports that the conclusions reached are potentially generalizable, and are not limited by database variability.

Beyond HRV: attractor reconstruction using the entire cardiovascular waveform data for novel feature extraction

Advances in monitoring technology allow blood pressure waveforms to be collected at sampling frequencies of 250-1000 Hz for long time periods. However, much of the raw data are under-analysed. Heart rate variability (HRV) methods, in which beat-to-beat interval lengths are extracted and analysed, have been extensively studied. However, this approach discards the majority of the raw data.

OBJECTIVE

Our aim is to detect changes in the shape of the waveform in long streams of blood pressure data.

APPROACH

Our approach involves extracting key features from large complex data sets by generating a reconstructed attractor in a three-dimensional phase space using delay coordinates from a window of the entire raw waveform data. The naturally occurring baseline variation is removed by projecting the attractor onto a plane from which new quantitative measures are obtained. The time window is moved through the data to give a collection of signals which relate to various aspects of the waveform shape.

MAIN RESULTS

This approach enables visualisation and quantification of changes in the waveform shape and has been applied to blood pressure data collected from conscious unrestrained mice and to human blood pressure data. The interpretation of the attractor measures is aided by the analysis of simple artificial waveforms.

SIGNIFICANCE

We have developed and analysed a new method for analysing blood pressure data that uses all of the waveform data and hence can detect changes in the waveform shape that HRV methods cannot, which is confirmed with an example, and hence our method goes 'beyond HRV'.

Complexity Variability Assessment of Nonlinear Time-Varying Cardiovascular Control

The application of complex systems theory to physiology and medicine has provided meaningful information about the nonlinear aspects underlying the dynamics of a wide range of biological processes and their disease-related aberrations. However, no studies have investigated whether meaningful information can be extracted by quantifying second-order moments of time-varying cardiovascular complexity. To this extent, we introduce a novel mathematical framework termed complexity variability, in which the variance of instantaneous Lyapunov spectra estimated over time serves as a reference quantifier. We apply the proposed methodology to four exemplary studies involving disorders which stem from cardiology, neurology and psychiatry: Congestive Heart Failure (CHF), Major Depression Disorder (MDD), Parkinson's Disease (PD), and Post-Traumatic Stress Disorder (PTSD) patients with insomnia under a yoga training regime. We show that complexity assessments derived from simple time-averaging are not able to discern pathology-related changes in autonomic control, and we demonstrate that between-group differences in measures of complexity variability are consistent across pathologies. Pathological states such as CHF, MDD, and PD are associated with an increased complexity variability when compared to healthy controls, whereas wellbeing derived from yoga in PTSD is associated with lower time-variance of complexity.

Dynamic Cross-Entropy

BACKGROUND

Complexity measures for time series have been used in many applications to quantify the regularity of one dimensional time series, however many dynamical systems are spatially distributed multidimensional systems.

NEW METHOD

We introduced Dynamic Cross-Entropy (DCE) a novel multidimensional complexity measure that quantifies the degree of regularity of EEG signals in selected frequency bands. Time series generated by discrete logistic equations with varying control parameter r are used to test DCE measures.

RESULTS

Sliding window DCE analyses are able to reveal specific period doubling bifurcations that lead to chaos. A similar behavior can be observed in seizures triggered by electroconvulsive therapy (ECT). Sample entropy data show the level of signal complexity in different phases of the ictal ECT. The transition to irregular activity is preceded by the occurrence of cyclic regular behavior. A significant increase of DCE values in successive order from high frequencies in gamma to low frequencies in delta band reveals several phase transitions into less ordered states, possible chaos in the human brain.

COMPARISON WITH EXISTING METHOD

To our knowledge there are no reliable techniques able to reveal the transition to chaos in case of multidimensional times series. In addition, DCE based on sample entropy appears to be robust to EEG artifacts compared to DCE based on Shannon entropy.

CONCLUSIONS

The applied technique may offer new approaches to better understand nonlinear brain activity.

Local noise sensitivity: Insight into the noise effect on chaotic dynamics

Noise contamination in experimental data with underlying chaotic dynamics is one of the significant problems limiting the application of many nonlinear time series analysis methods. Although numerous studies have been devoted to the investigation of different aspects of noise-nonlinear dynamics interactions, the effects produced by noise on chaotic dynamics are not fully understood. This study sought to analyze the local effects produced by noise on chaotic dynamics with a smooth attractor. Local Wayland test translation errors were calculated for noise-induced Lorenz and Rössler chaotic models, and for experimental green light photoplethysmogram data. Results demonstrated that under noise induction, local regions on the chaotic attractor with high values of local translation error can be observed. This phenomenon was defined as the local noise sensitivity. It was found that for both models, local noise-sensitive regions were located close to the system's equilibrium points. Additionally, it was found that the reconstructed dynamics represent well the local noise sensitivity of the original dynamics. The concept of local noise sensitivity is expected to contribute to various applied studies, as it reveals regions of chaotic attractors that are sensitive to the presence of noise.

Exogenous oxytocin reduces signs of sickness behavior and modifies heart rate fluctuations of endotoxemic rats

Besides the well-known roles of oxytocin on birth, maternal bonding, and lactation, recent evidence shows that this hypothalamic hormone possesses cardioprotective, anti-inflammatory and parasympathetic neuromodulation properties. In this study, we explore the heart rate fluctuations (HRF) in an endotoxemic rodent model that was accompanied by the administration of exogenous oxytocin. The assessment of HRF has been widely used as an indirect measure of the cardiac autonomic function. In this context, adult male Dark Agouti rats were equipped with a telemetric transmitter to continuously and remotely measure the electrocardiogram, temperature, and locomotion. In a between-subjects experimental design, rats received the following peripheral treatment: saline solution as a vehicle (V); lipopolysaccharide (LPS); oxytocin (Ox); lipopolysaccharide + oxytocin (LPS+Ox). Linear and non-linear parameters of HRF were estimated starting 3h before to 24h after treatments. Our results showed that exogenous oxytocin does not modify by itself the HRF of oxytocin-treated rats in comparison to vehicle-treated rats. However, in animals undergoing endotoxemia it: a) provokes a less anticorrelated pattern in HRF, b) decreased mean heart rate, c) moderated the magnitude and duration of the LPS-induced hyperthermia, and d) increased locomotion, up to 6h after the LPS injection. The less anticorrelated pattern in the HRF and decreased mean heart rate may reflect a cardiac pacemaker coupling with cholinergic influences mediated by oxytocin during LPS-induced endotoxemia. Finally, the anti-lethargic and long-term temperature moderating effects of the administration of oxytocin during endotoxemia could be a consequence of the systemic anti-inflammatory properties of oxytocin.

Nonlinear analysis of pupillary dynamics

Pupil size reflects autonomic response to different environmental and behavioral stimuli, and its dynamics have been linked to other autonomic correlates such as cardiac and respiratory rhythms. The aim of this study is to assess the nonlinear characteristics of pupil size of 25 normal subjects who participated in a psychophysiological experimental protocol with four experimental conditions, namely “baseline”, “anger”, “joy”, and “sadness”. Nonlinear measures, such as sample entropy, correlation dimension, and largest Lyapunov exponent, were computed on reconstructed signals of spontaneous fluctuations of pupil dilation. Nonparametric statistical tests were performed on surrogate data to verify that the nonlinear measures are an intrinsic characteristic of the signals. We then developed and applied a piecewise linear regression model to detrended fluctuation analysis (DFA). Two joinpoints and three scaling intervals were identified: slope α0, at slow time scales, represents a persistent nonstationary long-range correlation, whereas α1 and α2, at middle and fast time scales, respectively, represent long-range power-law correlations, similarly to DFA applied to heart rate variability signals. Of the computed complexity measures, α0 showed statistically significant differences among experimental conditions (p<0.001). Our results suggest that (a) pupil size at constant light condition is characterized by nonlinear dynamics, (b) three well-defined and distinct long-memory processes exist at different time scales, and (c) autonomic stimulation is partially reflected in nonlinear dynamics.

Uncertainty and variability in models of the cardiac action potential: Can we build trustworthy models?

Cardiac electrophysiology models have been developed for over 50 years, and now include detailed descriptions of individual ion currents and sub-cellular calcium handling. It is commonly accepted that there are many uncertainties in these systems, with quantities such as ion channel kinetics or expression levels being difficult to measure or variable between samples. Until recently, the original approach of describing model parameters using single values has been retained, and consequently the majority of mathematical models in use today provide point predictions, with no associated uncertainty.

In recent years, statistical techniques have been developed and applied in many scientific areas to capture uncertainties in the quantities that determine model behaviour, and to provide a distribution of predictions which accounts for this uncertainty. In this paper we discuss this concept, which is termed uncertainty quantification, and consider how it might be applied to cardiac electrophysiology models.

We present two case studies in which probability distributions, instead of individual numbers, are inferred from data to describe quantities such as maximal current densities. Then we show how these probabilistic representations of model parameters enable probabilities to be placed on predicted behaviours. We demonstrate how changes in these probability distributions across data sets offer insight into which currents cause beat-to-beat variability in canine APs. We conclude with a discussion of the challenges that this approach entails, and how it provides opportunities to improve our understanding of electrophysiology.

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Uncertainty and variability in action potential models can be quantified.

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A probabilistic method for inferring maximal current densities is developed and applied.

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We use this to infer the currents responsible for canine beat-to-beat variability.

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Emulation of mathematical models provides rich information at low computational cost.

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The importance of considering uncertainty and variability in future is discussed.

Dynamical disease: Challenges for nonlinear dynamics and medicine

Dynamical disease refers to illnesses that are associated with striking changes in the dynamics of some bodily function. There is a large literature in mathematics and physics which proposes mathematical models for the physiological systems and carries out analyses of the properties of these models using nonlinear dynamics concepts involving analyses of the stability and bifurcations of attractors. This paper discusses how these concepts can be applied to medicine.

An easy-to-use technique to characterize cardiodynamics from first-return maps on ΔRR-intervals

Heart rate variability analysis using 24-h Holter monitoring is frequently performed to assess the cardiovascular status of a patient. The present retrospective study is based on the beat-to-beat interval variations or ΔRR, which offer a better view of the underlying structures governing the cardiodynamics than the common RR-intervals. By investigating data for three groups of adults (with normal sinus rhythm, congestive heart failure, and atrial fibrillation, respectively), we showed that the first-return maps built on ΔRR can be classified according to three structures: (i) a moderate central disk, (ii) a reduced central disk with well-defined segments, and (iii) a large triangular shape. These three very different structures can be distinguished by computing a Shannon entropy based on a symbolic dynamics and an asymmetry coefficient, here introduced to quantify the balance between accelerations and decelerations in the cardiac rhythm. The probability P111111 of successive heart beats without large beat-to-beat fluctuations allows to assess the regularity of the cardiodynamics. A characteristic time scale, corresponding to the partition inducing the largest Shannon entropy, was also introduced to quantify the ability of the heart to modulate its rhythm: it was significantly different for the three structures of first-return maps. A blind validation was performed to validate the technique.

Advances in heart rate variability signal analysis: joint position statement by the e-Cardiology ESC Working Group and the European Heart Rhythm Association co-endorsed by the Asia Pacific Heart Rhythm Society

Following the publication of the Task Force document on heart rate variability (HRV) in 1996, a number of articles have been published to describe new HRV methodologies and their application in different physiological and clinical studies. This document presents a critical review of the new methods. A particular attention has been paid to methodologies that have not been reported in the 1996 standardization document but have been more recently tested in sufficiently sized populations. The following methods were considered: Long-range correlation and fractal analysis; Short-term complexity; Entropy and regularity; and Nonlinear dynamical systems and chaotic behaviour. For each of these methods, technical aspects, clinical achievements, and suggestions for clinical application were reviewed. While the novel approaches have contributed in the technical understanding of the signal character of HRV, their success in developing new clinical tools, such as those for the identification of high-risk patients, has been rather limited. Available results obtained in selected populations of patients by specialized laboratories are nevertheless of interest but new prospective studies are needed. The investigation of new parameters, descriptive of the complex regulation mechanisms of heart rate, has to be encouraged because not all information in the HRV signal is captured by traditional methods. The new technologies thus could provide after proper validation, additional physiological, and clinical meaning. Multidisciplinary dialogue and specialized courses in the combination of clinical cardiology and complex signal processing methods seem warranted for further advances in studies of cardiac oscillations and in the understanding normal and abnormal cardiac control processes.

Characterizing psychological dimensions in non-pathological subjects through autonomic nervous system dynamics

The objective assessment of psychological traits of healthy subjects and psychiatric patients has been growing interest in clinical and bioengineering research fields during the last decade. Several experimental evidences strongly suggest that a link between Autonomic Nervous System (ANS) dynamics and specific dimensions such as anxiety, social phobia, stress, and emotional regulation might exist. Nevertheless, an extensive investigation on a wide range of psycho-cognitive scales and ANS non-invasive markers gathered from standard and non-linear analysis still needs to be addressed. In this study, we analyzed the discerning and correlation capabilities of a comprehensive set of ANS features and psycho-cognitive scales in 29 non-pathological subjects monitored during resting conditions. In particular, the state of the art of standard and non-linear analysis was performed on Heart Rate Variability, InterBreath Interval series, and InterBeat Respiration series, which were considered as monovariate and multivariate measurements. Experimental results show that each ANS feature is linked to specific psychological traits. Moreover, non-linear analysis outperforms the psychological assessment with respect to standard analysis. Considering that the current clinical practice relies only on subjective scores from interviews and questionnaires, this study provides objective tools for the assessment of psychological dimensions.

Temporal trends of neuro-autonomic complexity during severe episodes of bipolar disorders

Bipolar disorder is a chronic psychiatric condition during which patients experience mood swings among depression, hypomania or mania, mixed state (depression-hypomania) and euthymia, i.e., good affective balance. Nowadays, an objective characterization of the temporal trends of the disease as a response to the pharmacological treatment through physiological signatures, especially during severe episodes, is still missing. In this study we show interesting findings relating neuro-autonomic complexity to severe pathological mood states. More specifically, we studied Sample Entropy (SampEn) measures on Heart Rate Variability series gathered from four bipolar patients recruited within the frame of the European project PSYCHE. Patients were monitored through long term ECG recordings from the first hospital admission until clinical remission, i.e., the euthymic state. We observed that a mood transition from mixed-state to euthymia passing through depression can be characterized by increased SampEn values, i.e. as the patient is going to recover, SampEn increases. These results are in agreement with the current literature reporting on the complexity dynamics of the cardiovascular system and can provide a promising and viable clinical decision support to objectify the diagnosis and improve the management of psychiatric disorders.

Nonlinear and Stochastic Dynamics in the Heart

In a normal human life span, the heart beats about 2 to 3 billion times. Under diseased conditions, a heart may lose its normal rhythm and degenerate suddenly into much faster and irregular rhythms, called arrhythmias, which may lead to sudden death. The transition from a normal rhythm to an arrhythmia is a transition from regular electrical wave conduction to irregular or turbulent wave conduction in the heart, and thus this medical problem is also a problem of physics and mathematics. In the last century, clinical, experimental, and theoretical studies have shown that dynamical theories play fundamental roles in understanding the mechanisms of the genesis of the normal heart rhythm as well as lethal arrhythmias. In this article, we summarize in detail the nonlinear and stochastic dynamics occurring in the heart and their links to normal cardiac functions and arrhythmias, providing a holistic view through integrating dynamics from the molecular (microscopic) scale, to the organelle (mesoscopic) scale, to the cellular, tissue, and organ (macroscopic) scales. We discuss what existing problems and challenges are waiting to be solved and how multi-scale mathematical modeling and nonlinear dynamics may be helpful for solving these problems.

Robust efficiency and actuator saturation explain healthy heart rate control and variability

The correlation of healthy states with heart rate variability (HRV) using time series analyses is well documented. Whereas these studies note the accepted proximal role of autonomic nervous system balance in HRV patterns, the responsible deeper physiological, clinically relevant mechanisms have not been fully explained. Using mathematical tools from control theory, we combine mechanistic models of basic physiology with experimental exercise data from healthy human subjects to explain causal relationships among states of stress vs. health, HR control, and HRV, and more importantly, the physiologic requirements and constraints underlying these relationships. Nonlinear dynamics play an important explanatory role--most fundamentally in the actuator saturations arising from unavoidable tradeoffs in robust homeostasis and metabolic efficiency. These results are grounded in domain-specific mechanisms, tradeoffs, and constraints, but they also illustrate important, universal properties of complex systems. We show that the study of complex biological phenomena like HRV requires a framework which facilitates inclusion of diverse domain specifics (e.g., due to physiology, evolution, and measurement technology) in addition to general theories of efficiency, robustness, feedback, dynamics, and supporting mathematical tools.

Two chaotic global models for cereal crops cycles observed from satellite in northern Morocco

The dynamics underlying cereal crops in the northern region of Morocco is investigated using a global modelling technique applied to a vegetation index time series derived from satellite measurements, namely, the normalized difference vegetation index from 1982 to 2008. Two three-dimensional chaotic global models of reduced size (14-term and 15-term models) are obtained. The model validation is performed by comparing their horizons of predictability with those provided in previous studies. The attractors produced by the two global models have a complex foliated structure-evidenced in a Poincaré section-rending a topological characterization difficult to perform. Thus, the Kaplan-Yorke dimension is estimated from the synthetic data produced by our global models. Our results suggest that cereal crops in the northern Morocco are governed by a weakly dissipative three-dimensional chaotic dynamics.