Spontaneous oscillations, signal amplification, and synchronization in a model of active hair bundle mechanics

Complex dynamics of hair bundle of auditory nervous system (II): forced oscillations related to two cases of steady state

The forced oscillations of hair bundle of inner hair cells of auditory nervous system evoked by external force from steady state are related to the fast adaption of hair cells, which are very important for auditory amplification. In the present paper, comprehensive and deep understandings to nonlinear dynamics of forced oscillations are acquired in four aspects. Firstly, the complex dynamics underlying the twitch (fast recoil of displacement X which is fast variable) induced from Case-1 and Case-2 steady states by external pulse force are obtained. With help of vector fields and nullclines, the phase trajectory of forced oscillations is identified to be an evolution process between two equilibrium points corresponding to zero force and pulse force, respectively, and then the twitch is obtained as the behavior running along the nonlinear part of X-nullcline. Especially, twitch observed in experiment are classified into 6 types, which are induced by negative change of force, negative and positive changes of force, and positive change of force, respectively, and further build relationships to three subcases of Case-2 steady state with N-shaped X-nullcline (equilibrium point locates on the left, middle, and right branches of X-nullcline, respectively). Secondly, the experimental observation of fatigue of twitch induced by continual two pulse forces, i.e. the reduced amplitude of the latter twitch when interval between two forces is short, is also explained as a nonlinear behavior beginning from an initial value different from that of the former one. Thirdly, the experimental observation of transition between sustained oscillations and steady state induced by pulse force can be simulated for Case-1 steady state with Z-shaped X-nullcline instead of Case-2, due to that there exists bifurcations with respect to external force for Case-1 while no bifurcations for Case-2. Last, the threshold phenomenon induced by simple pulse stimulation exists for Case-1 steady state rather than Case-2, due to that the upper and lower branches of Z-shaped X-nullcline close to the middle branch exhibit coexisting behaviors of variable X while N-shaped X-nullcline does not. The nonlinear dynamics of forced oscillations are helpful for explanations to the complex experimental observations, which presents potential measures to modulate the functions of twitch such as the fast adaption.

Active Biomechanics of Sensory Hair Bundles

During the detection of sound, hair bundles perform a crucial step by responding to mechanical deflections and converting them into changes in electrical potential that subsequently lead to the release of neurotransmitter. The sensory hair bundle response is characterized by an essential nonlinearity and an energy-consuming amplification of the incoming sound. The active response has been shown to enhance the hair bundle's sensitivity and frequency selectivity of detection. The biological phenomena shown by the bundle have been extensively studied in vitro, allowing comparisons to behaviors observed in vivo. The experimental observations have been well explained by numerical simulations, which describe the cellular mechanisms operant within the bundle, as well as by more sparse theoretical models, based on dynamical systems theory.

Noise-induced distortion of the mean limit cycle of nonlinear oscillators

We study the change in the size and shape of the mean limit cycle of a stochastically driven nonlinear oscillator as a function of noise amplitude. Such dynamics occur in a variety of nonequilibrium systems, including the spontaneous oscillations of hair cells of the inner ear. The noise-induced distortion of the limit cycle generically leads to its rounding through the elimination of sharp (high-curvature) features through a process we call corner cutting. We provide a criterion that may be used to identify limit cycle regions most susceptible to such noise-induced distortions. By using this criterion, one may obtain more meaningful parametric fits of nonlinear dynamical models from noisy experimental data, such as those coming from spontaneously oscillating hair cells.

Friction from Transduction Channels' Gating Affects Spontaneous Hair-Bundle Oscillations

Hair cells of the inner ear can power spontaneous oscillations of their mechanosensory hair bundle, resulting in amplification of weak inputs near the characteristic frequency of oscillation. Recently, dynamic force measurements have revealed that delayed gating of the mechanosensitive ion channels responsible for mechanoelectrical transduction produces a friction force on the hair bundle. The significance of this intrinsic source of dissipation for the dynamical process underlying active hair-bundle motility has remained elusive. The aim of this work is to determine the role of friction in spontaneous hair-bundle oscillations. To this end, we characterized key oscillation properties over a large ensemble of individual hair cells and measured how viscosity of the endolymph that bathes the hair bundles affects these properties. We found that hair-bundle movements were too slow to be impeded by viscous drag only. Moreover, the oscillation frequency was only marginally affected by increasing endolymph viscosity by up to 30-fold. Stochastic simulations could capture the observed behaviors by adding a contribution to friction that was 3-8-fold larger than viscous drag. The extra friction could be attributed to delayed changes in tip-link tension as the result of the finite activation kinetics of the transduction channels. We exploited our analysis of hair-bundle dynamics to infer the channel activation time, which was ∼1 ms. This timescale was two orders-of-magnitude shorter than the oscillation period. However, because the channel activation time was significantly longer than the timescale of mechanical relaxation of the hair bundle, channel kinetics affected hair-bundle dynamics. Our results suggest that friction from channel gating affects the waveform of oscillation and that the channel activation time can tune the characteristic frequency of the hair cell. We conclude that the kinetics of transduction channels' gating plays a fundamental role in the dynamic process that shapes spontaneous hair-bundle oscillations.

Bottom-up approach to torus bifurcation in neuron models

We study the quasi-periodicity phenomena occurring at the transition between tonic spiking and bursting activities in exemplary biologically plausible Hodgkin-Huxley type models of individual cells and reduced phenomenological models with slow and fast dynamics. Using the geometric slow-fast dissection and the parameter continuation approach, we show that the transition is due to either the torus bifurcation or the period-doubling bifurcation of a stable periodic orbit on the 2D slow-motion manifold near a characteristic fold. Various torus bifurcations including stable and saddle torus-canards, resonant tori, the co-existence of nested tori, and the torus breakdown leading to the onset of complex and bistable dynamics in such systems are examined too.

Molding the asymmetry of localized frequency-locking waves by a generalized forcing and implications to the inner ear

Frequency locking to an external forcing frequency is a well-known phenomenon. In the auditory system, it results in a localized traveling wave, the shape of which is essential for efficient discrimination between incoming frequencies. An amplitude equation approach is used to show that the shape of the localized traveling wave depends crucially on the relative strength of additive versus parametric forcing components; the stronger the parametric forcing, the more asymmetric is the response profile and the sharper is the traveling-wave front. The analysis qualitatively captures the empirically observed regions of linear and nonlinear responses and highlights the potential significance of parametric forcing mechanisms in shaping the resonant response in the inner ear.

Nonequilibrium limit-cycle oscillators: Fluctuations in hair bundle dynamics

We develop a framework for the general interpretation of the stochastic dynamical system near a limit cycle. Such quasiperiodic dynamics are commonly found in a variety of nonequilibrium systems, including the spontaneous oscillations of hair cells of the inner ear. We demonstrate quite generally that in the presence of noise, the phase of the limit cycle oscillator will diffuse, while deviations in the directions locally orthogonal to that limit cycle will display the Lorentzian power spectrum of a damped oscillator. We identify two mechanisms by which these stochastic dynamics can acquire a complex frequency dependence and discuss the deformation of the mean limit cycle as a function of temperature. The theoretical ideas are applied to data obtained from spontaneously oscillating hair cells of the amphibian sacculus.

Frequency sensitivity in mammalian hearing from a fundamental nonlinear physics model of the inner ear

A dominant view holds that the outer and middle ear are the determining factors for the frequency dependence of mammalian hearing sensitivity, but this view has been challenged. In the ensuing debate, there has been a missing element regarding in what sense and to what degree the biophysics of the inner ear might contribute to this frequency dependence. Here, we show that a simple model of the inner ear based on fundamental physical principles, reproduces, alone, the experimentally observed frequency dependence of the hearing threshold. This provides direct cochlea modeling support of the possibility that the inner ear could have a substantial role in determining the frequency dependence of mammalian hearing.

Identification of Bifurcations from Observations of Noisy Biological Oscillators

Hair bundles are biological oscillators that actively transduce mechanical stimuli into electrical signals in the auditory, vestibular, and lateral-line systems of vertebrates. A bundle’s function can be explained in part by its operation near a particular type of bifurcation, a qualitative change in behavior. By operating near different varieties of bifurcation, the bundle responds best to disparate classes of stimuli. We show how to determine the identity of and proximity to distinct bifurcations despite the presence of substantial environmental noise. Using an improved mechanical-load clamp to coerce a hair bundle to traverse different bifurcations, we find that a bundle operates within at least two functional regimes. When coupled to a high-stiffness load, a bundle functions near a supercritical Hopf bifurcation, in which case it responds best to sinusoidal stimuli such as those detected by an auditory organ. When the load stiffness is low, a bundle instead resides close to a subcritical Hopf bifurcation and achieves a graded frequency response—a continuous change in the rate, but not the amplitude, of spiking in response to changes in the offset force—a behavior that is useful in a vestibular organ. The mechanical load in vivo might therefore control a hair bundle’s responsiveness for effective operation in a particular receptor organ. Our results provide direct experimental evidence for the existence of distinct bifurcations associated with a noisy biological oscillator, and demonstrate a general strategy for bifurcation analysis based on observations of any noisy system.

Voltage-Mediated Control of Spontaneous Bundle Oscillations in Saccular Hair Cells

Hair cells of the vertebrate vestibular and auditory systems convert mechanical inputs into electrical signals that are relayed to the brain. This transduction involves mechanically gated ion channels that open following the deflection of mechanoreceptive hair bundles that reside on top of these cells. The mechano-electrical transduction includes one or more active feedback mechanisms to keep the mechanically gated ion channels in their most sensitive operating range. Coupling between the gating of the mechanosensitive ion channels and this adaptation mechanism leads to the occurrence of spontaneous limit-cycle oscillations, which indeed have been observed in vitro in hair cells from the frog sacculus and the turtle basilar papilla. We obtained simultaneous optical and electrophysiological recordings from bullfrog saccular hair cells with such spontaneously oscillating hair bundles. The spontaneous bundle oscillations allowed us to characterize several properties of mechano-electrical transduction without artificial loading the hair bundle with a mechanical stimulus probe. We show that the membrane potential of the hair cell can modulate or fully suppress innate oscillations, thus controlling the dynamic state of the bundle. We further demonstrate that this control is exerted by affecting the internal calcium concentration, which sets the resting open probability of the mechanosensitive channels. The auditory and vestibular systems could use the membrane potential of hair cells, possibly controlled via efferent innervation, to tune the dynamic states of the cells.

Mechanical amplification exhibited by quiescent saccular hair bundles

Spontaneous oscillations exhibited by free-standing hair bundles from the Bullfrog sacculus suggest the existence of an active process that might underlie the exquisite sensitivity of the sacculus to mechanical stimulation. However, this spontaneous activity is suppressed by coupling to an overlying membrane, which applies a large mechanical load on the bundle. How a quiescent hair bundle utilizes its active process is still unknown. We studied the dynamics of motion of individual hair bundles under different offsets in the bundle position, and observed the occurrence of spikes in hair-bundle motion, associated with the generation of active work. These mechanical spikes can be evoked by a sinusoidal stimulus, leading to an amplified movement of the bundle with respect to the passive response. Amplitude gain reached as high as 100-fold at small stimulus amplitudes. Amplification of motion decreased with increasing amplitude of stimulation, ceasing at ∼6–12 pN stimuli. Results from numerical simulations suggest that the adaptation process, mediated by myosin 1c, is not required for the production of mechanical spikes.

Effect of bidirectional mechanoelectrical coupling on spontaneous oscillations and sensitivity in a model of hair cells

Sensory hair cells of amphibians exhibit spontaneous activity in their hair bundles and membrane potentials, reflecting two distinct active amplification mechanisms employed in these peripheral mechanosensors. We use a two-compartment model of the bullfrog's saccular hair cell to study how the interaction between its mechanical and electrical compartments affects the emergence of distinct dynamical regimes, and the role of this interaction in shaping the response of the hair cell to weak mechanical stimuli. The model employs a Hodgkin-Huxley-type system for the basolateral electrical compartment and a nonlinear hair bundle oscillator for the mechanical compartment, which are coupled bidirectionally. In the model, forward coupling is provided by the mechanoelectrical transduction current, flowing from the hair bundle to the cell soma. Backward coupling is due to reverse electromechanical transduction, whereby variations of the membrane potential affect adaptation processes in the hair bundle. We isolate oscillation regions in the parameter space of the model and show that bidirectional coupling affects significantly the dynamics of the cell. In particular, self-sustained oscillations of the hair bundles and membrane potential can result from bidirectional coupling, and the coherence of spontaneous oscillations can be maximized by tuning the coupling strength. Consistent with previous experimental work, the model demonstrates that dynamical regimes of the hair bundle change in response to variations in the conductances of basolateral ion channels. We show that sensitivity of the hair cell to weak mechanical stimuli can be maximized by varying coupling strength, and that stochasticity of the hair bundle compartment is a limiting factor of the sensitivity.

The physics of hearing: fluid mechanics and the active process of the inner ear

Most sounds of interest consist of complex, time-dependent admixtures of tones of diverse frequencies and variable amplitudes. To detect and process these signals, the ear employs a highly nonlinear, adaptive, real-time spectral analyzer: the cochlea. Sound excites vibration of the eardrum and the three miniscule bones of the middle ear, the last of which acts as a piston to initiate oscillatory pressure changes within the liquid-filled chambers of the cochlea. The basilar membrane, an elastic band spiraling along the cochlea between two of these chambers, responds to these pressures by conducting a largely independent traveling wave for each frequency component of the input. Because the basilar membrane is graded in mass and stiffness along its length, however, each traveling wave grows in magnitude and decreases in wavelength until it peaks at a specific, frequency-dependent position: low frequencies propagate to the cochlear apex, whereas high frequencies culminate at the base. The oscillations of the basilar membrane deflect hair bundles, the mechanically sensitive organelles of the ear's sensory receptors, the hair cells. As mechanically sensitive ion channels open and close, each hair cell responds with an electrical signal that is chemically transmitted to an afferent nerve fiber and thence into the brain. In addition to transducing mechanical inputs, hair cells amplify them by two means. Channel gating endows a hair bundle with negative stiffness, an instability that interacts with the motor protein myosin-1c to produce a mechanical amplifier and oscillator. Acting through the piezoelectric membrane protein prestin, electrical responses also cause outer hair cells to elongate and shorten, thus pumping energy into the basilar membrane's movements. The two forms of motility constitute an active process that amplifies mechanical inputs, sharpens frequency discrimination, and confers a compressive nonlinearity on responsiveness. These features arise because the active process operates near a Hopf bifurcation, the generic properties of which explain several key features of hearing. Moreover, when the gain of the active process rises sufficiently in ultraquiet circumstances, the system traverses the bifurcation and even a normal ear actually emits sound. The remarkable properties of hearing thus stem from the propagation of traveling waves on a nonlinear and excitable medium.

Low frequency entrainment of oscillatory bursts in hair cells

Sensitivity of mechanical detection by the inner ear is dependent upon a highly nonlinear response to the applied stimulus. Here we show that a system of differential equations that support a subcritical Hopf bifurcation, with a feedback mechanism that tunes an internal control parameter, captures a wide range of experimental results. The proposed model reproduces the regime in which spontaneous hair bundle oscillations are bistable, with sporadic transitions between the oscillatory and the quiescent state. Furthermore, it is shown, both experimentally and theoretically, that the application of a high-amplitude stimulus to the bistable system can temporarily render it quiescent before recovery of the limit cycle oscillations. Finally, we demonstrate that the application of low-amplitude stimuli can entrain bundle motility either by mode-locking to the spontaneous oscillation or by mode-locking the transition between the quiescent and oscillatory states.

Phase slips in oscillatory hair bundles

Hair cells of the inner ear contain an active amplifier that allows them to detect extremely weak signals. As one of the manifestations of an active process, spontaneous oscillations arise in fluid immersed hair bundles of in vitro preparations of selected auditory and vestibular organs. We measure the phase-locking dynamics of oscillatory bundles exposed to low-amplitude sinusoidal signals, a transition that can be described by a saddle-node bifurcation on an invariant circle. The transition is characterized by the occurrence of phase slips, at a rate that is dependent on the amplitude and detuning of the applied drive. The resultant staircase structure in the phase of the oscillation can be described by the stochastic Adler equation, which reproduces the statistics of phase slip production.

Mechanical overstimulation of hair bundles: suppression and recovery of active motility

We explore the effects of high-amplitude mechanical stimuli on hair bundles of the bullfrog sacculus. Under in vitro conditions, these bundles exhibit spontaneous limit cycle oscillations. Prolonged deflection exerted two effects. First, it induced an offset in the position of the bundle. Recovery to the original position displayed two distinct time scales, suggesting the existence of two adaptive mechanisms. Second, the stimulus suppressed spontaneous oscillations, indicating a change in the hair bundle’s dynamic state. After cessation of the stimulus, active bundle motility recovered with time. Both effects were dependent on the duration of the imposed stimulus. External calcium concentration also affected the recovery to the oscillatory state. Our results indicate that both offset in the bundle position and calcium concentration control the dynamic state of the bundle.

Dynamics of freely oscillating and coupled hair cell bundles under mechanical deflection

In vitro, attachment to the overlying membrane was found to affect the resting position of the hair cell bundles of the bullfrog sacculus. To assess the effects of such a deflection on mechanically decoupled hair bundles, comparable offsets were imposed on decoupled spontaneously oscillating bundles. Strong modulation was observed in their dynamic state under deflection, with qualitative changes in the oscillation profile, amplitude, and characteristic frequency of oscillation seen in response to stimulus. Large offsets were found to arrest spontaneous oscillation, with subsequent recovery upon reversal of the stimulus. The dynamic state of the hair bundle displayed hysteresis and a dependence on the direction of the imposed offset. The coupled system of hair bundles, with the overlying membrane left on top of the preparation, also exhibited a dependence on offset position, with an increase in the linear response function observed under deflections in the inhibitory direction.

Synchronization between integer-order chaotic systems and a class of fractional-order chaotic systems via sliding mode control

In this paper, we focus on the synchronization between integer-order chaotic systems and a class of fractional-order chaotic system using the stability theory of fractional-order systems. A new sliding mode method is proposed to accomplish this end for different initial conditions and number of dimensions. More importantly, the vector controller is one-dimensional less than the system. Furthermore, three examples are presented to illustrate the effectiveness of the proposed scheme, which are the synchronization between a fractional-order Chen chaotic system and an integer-order T chaotic system, the synchronization between a fractional-order hyperchaotic system based on Chen's system and an integer-order hyperchaotic system, and the synchronization between a fractional-order hyperchaotic system based on Chen's system and an integer-order Lorenz chaotic system. Finally, numerical results are presented and are in agreement with theoretical analysis.

Multiple-timescale dynamics underlying spontaneous oscillations of saccular hair bundles

Spontaneous oscillations displayed by hair bundles of the bullfrog sacculus have complex temporal profiles, not fully captured by single limit-cycle descriptions. Quiescent intervals are typically interspersed with oscillations, leading to a bursting-type behavior. Temporal characteristics of the oscillation are strongly affected by imposing a mechanical load or by the application of a steady-state deflection to the resting position of the bundle. Separate spectral components of the spontaneous motility are differently affected by increases in the external calcium concentration. We use numerical modeling to explore the effects of internal parameters on the oscillatory profiles, and to reproduce the experimental modulation induced by mechanical or ionic manipulation.

Spontaneous voltage oscillations and response dynamics of a Hodgkin-Huxley type model of sensory hair cells

We employ a Hodgkin-Huxley type model of basolateral ionic currents in bullfrog saccular hair cells to study the genesis of spontaneous voltage oscillations and their role in shaping the response of the hair cell to external mechanical stimuli. Consistent with recent experimental reports, we find that the spontaneous dynamics of the model can be categorized using conductance parameters of calcium activated potassium, inward rectifier potassium, and mechano-electrical transduction ionic currents. The model is demonstrated to exhibit a broad spectrum of autonomous rhythmic activity, including periodic and quasiperiodic oscillations with two independent frequencies as well as various regular and chaotic bursting patterns. Complex patterns of spontaneous oscillations in the model emerge at small values of the conductance of Ca(2+) activated potassium currents. These patterns are significantly affected by thermal fluctuations of the mechano-electrical transduction current. We show that self-sustained regular voltage oscillations lead to enhanced and sharply tuned sensitivity of the hair cell to weak mechanical periodic stimuli. While regimes of chaotic oscillations are argued to result in poor tuning to sinusoidal driving, chaotically oscillating cells do provide a high sensitivity to low-frequency variations of external stimuli.