Contribuições à análise de robustez de sistemas de controle usando redes neurais

This work develops a robustness analysis with respect to the modeling errors, being applied to the strategies of indirect control using Artificial Neural Networks - ANN s, belong to the multilayer feedforward perceptron class with on-line training based on gradient method (backpropagation). The presented schemes are called Indirect Hybrid Control and Indirect Neural Control. They are presented two Robustness Theorems, being one for each proposed indirect control scheme, which allow the computation of the maximum steady-state control error that will occur due to the modeling error what is caused by the neural identifier, either for the closed loop configuration having a conventional controller - Indirect Hybrid Control, or for the closed loop configuration having a neural controller - Indirect Neural Control. Considering that the robustness analysis is restrict only to the steady-state plant behavior, this work also includes a stability analysis transcription that is suitable for multilayer perceptron class of ANN s trained with backpropagation algorithm, to assure the convergence and stability of the used neural systems. By other side, the boundness of the initial transient behavior is assured by the assumption that the plant is BIBO (Bounded Input, Bounded Output) stable. The Robustness Theorems were tested on the proposed indirect control strategies, while applied to regulation control of simulated examples using nonlinear plants, and its results are presented

Contribuição diferencial do hipocampo ventral e do complexo amidalóide na modulação de respostas defensivas inatas e condicionadas de camundongos

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Compulsive features in behavioural addictions: the case of pathological gambling

Aims To describe, in the context of DSM-V, how a focus on addiction and compulsion is emerging in the consideration of pathological gambling (PG). Methods A systematic literature review of evidence for the proposed re-classification of PG as an addiction. Results Findings include: (i) phenomenological models of addiction highlighting a motivational shift from impulsivity to compulsivity associated with a protracted withdrawal syndrome and blurring of the ego-syntonic/ego-dystonic dichotomy; (ii) common neurotransmitter (dopamine, serotonin) contributions to PG and substance use disorders (SUDs); (iii) neuroimaging support for shared neurocircuitries between behavioural and substance addictions and differences between obsessivecompulsive disorder (OCD), impulse control disorders (ICDs) and SUDs; (iv) genetic findings more closely related to endophenotypic constructs such as compulsivity and impulsivity than to psychiatric disorders; (v) psychological measures such as harm avoidance identifying a closer association between SUDs and PG than with OCD; (vi) community and pharmacotherapeutic trials data supporting a closer association between SUDs and PG than with OCD. Adapted behavioural therapies, such as exposure therapy, appear applicable to OCD, PG or SUDs, suggesting some commonalities across disorders. Conclusions PG shares more similarities with SUDs than with OCD. Similar to the investigation of impulsivity, studies of compulsivity hold promising insights concerning the course, differential diagnosis and treatment of PG, SUDs, and OCD.

The role of the ventrolateral caudoputamen in predatory hunting

The ventrolateral caudoputamen (VLCP) is well known to participate in the control of orofacial movements and forepaw usage accompanying feeding behavior. Previous studies from our laboratory have shown that insect hunting is associated with a distinct Fos up-regulation in the VLCP at intermediate rostro-caudal levels. Moreover, using the reversible blockade with lidocaine, we have previously suggested that the VLCP implements the stereotyped actions seen during prey capture and handling, and may influence the motivational drive to start attacking the roaches, as well. However, considering that (1) lidocaine suppresses action potentials not only in neurons, but also in fibers-of-passage, rendering the observed behavioral effect not specific to the ventrolateral caudoputamen; (2) the short lidocaine-induced inactivation period had left a relatively narrow window to observe the behavioral changes; and (3) that the restriction stress to inject the drug could have also disturbed hunting behavior, in the present study, we have examined the role of the VLCP in predatory hunting by placing bilateral NMDA lesions three weeks previous to the behavior testing. We were able to confirm that the VLCP serves to implement the stereotyped sequence of actions seen during prey capture and handling, but the study did not confirm its role in influencing the motivational drive to hunt. Together with other studies from our group, the present work serves as an important piece of information that helps to reveal the neural systems underlying predatory hunting. (C) 2011 Elsevier Inc. All rights reserved.

Mechanismen der Caveolin-Genregulation in neuralen Zellsystemen

Caveolae sind vesikuläre Invaginationen der eukaryontischen Zellmembran, die bei einer Vielzahl zellbiologischer Prozesse eine bedeutende Rolle spielen. Die strukturellen und funktionellen Hauptbestandteile der Caveolae sind die Caveolin-Proteine, welche von drei homologen Genen (Caveolin-1,-2,-3) kodiert werden. Die Caveoline stellen die Struktur-Organisatoren der Caveolae dar, und regulieren direkt die Aktivität von zahlreichen Caveolae-assoziierten Rezeptorproteinen und Signalmolekülen. Oftmals werden die pleiotropen Effekte der Caveoline über eine Veränderung der Caveolin-Genexpressionsstärke moduliert. In der vorliegenden Arbeit wurden drei unterschiedliche biologische Steuerfaktoren identifiziert, unter deren Kontrolle die Caveolin-Genexpression in neuralen Zellsystemen steht. Bei diesen Faktoren handelt es sich um das Steroidhormon Oestrogen und seine Rezeptoren, den Wachstumsfaktor TGFa und den sekundären Botenstoff zyklisches AMP (cAMP). Oestrogen wirkt über die Aktivierung von Oestrogen-Rezeptoren (ERs) im zentralen Nervensystem in der Regel als neurotropher Faktor. In der vorliegenden Arbeit konnte erstmalig gezeigt werden, daß in humanen Neuroblastom-Zellen (SK-N-MC) die stabile, rekombinante Expression des ERa-Subtyps zu einer drastischen Reduktion der Caveolin-1/-2-Transkription führt, und daß in der Folge die zelluläre Caveolin-Biosynthese eingestellt wird. Eine Analyse des Caveolin-1-Gens ergab, daß einhergehend mit der Inaktivierung der Caveolin-1-Transkription eine Vielzahl der im Promoter enthaltenen CpG-Dinukleotide methyliert vorliegen. Durch pharmakologische Inhibition der nukleären DNA-Methyltransferasen sowie der Histon-Deacetylasen konnte die Caveolin-1-Transkription teilweise wiederhergestellt werden. Diese Befunde lassen auf die Existenz eines DNA-Methylierungs-abhängigen Stilllegungsmechanismus der Caveolin-Genexpression durch ERa schließen. Dagegen führte die Überexpression des ERb-Subtyps in SK-N-MC-Zellen zu keiner Veränderung der Caveolin-1/-2-Expression. Interessanterweise wurde die supprimierende Wirkung des ERa durch die gleichzeitige Überexpression des ERb vollständig aufgehoben. Der mitogene Wachstumsfaktor TGFa wurde als zweites extrazelluläres Signalmolekül identifiziert, welches eine Reduktion der Caveolin-1/-2-Genexpression bewirkt. In primären kortikalen Astrozyten konnte gezeigt werden, daß TGFa seine supprimierende Wirkung auf die Caveolin-1-Expression partiell über die Aktivierung des PI3-Kinase-abhängigen Signalweges vermittelt. Zudem wurde die supprimierende Wirkung von TGFa durch einen Inhibitior der Histon-Deacetylasen relativiert. Daher scheinen sowohl für den ERa als auch für TGFa epigenetische Prozesse bei der Suppression der Caveolin-1-Genexpression eine entscheidende Rolle zu spielen. Intrazellulär wirkte neben der PI3-Kinase auch der Botenstoff cAMP in kortikalen Astrozyten als Suppressor der Caveolin-Genexpression. Es wäre denkbar, daß die Caveolin-Suppression funktioneller Bestandteil des seit langem etablierten Effekts der cAMP-induzierten Astrozyten-Differenzierung ist. Desweiteren wiesen der cAMP- und TGFa-abhängige Signalweg ein überlappendes, Gehirnregion-spezifisches Regulationsprofil der Caveolin-Expression in Astrozyten auf: während in Kortex und Striatum eine Regulation durch cAMP und TGFa erfolgte, blieb diese in Klein- und Zwischenhirn aus. Somit bewirken drei zentrale regulatorische Faktoren der Proliferation und Differenzierung neuraler Zellen eine Reduktion in der Konzentration der pleiotrop funktionellen Caveoline. Zukünftige Studien müssen zeigen, inwieweit die reduzierte Caveolin-Expression für die morphologischen und biochemischen Primärwirkungen dieser Faktoren während der Entwicklung und im Zuge der Tumorgenese mitverantwortlich ist. Außerdem könnten über die Beobachtungen der zellbiologischen Auswirkungen reduzierter Caveolin-Spiegel neue Erkenntnisse über die Funktion dieser Proteine gewonnen werden.

Code-specific learning rules improve action selection by populations of spiking neurons

Population coding is widely regarded as a key mechanism for achieving reliable behavioral decisions. We previously introduced reinforcement learning for population-based decision making by spiking neurons. Here we generalize population reinforcement learning to spike-based plasticity rules that take account of the postsynaptic neural code. We consider spike/no-spike, spike count and spike latency codes. The multi-valued and continuous-valued features in the postsynaptic code allow for a generalization of binary decision making to multi-valued decision making and continuous-valued action selection. We show that code-specific learning rules speed up learning both for the discrete classification and the continuous regression tasks. The suggested learning rules also speed up with increasing population size as opposed to standard reinforcement learning rules. Continuous action selection is further shown to explain realistic learning speeds in the Morris water maze. Finally, we introduce the concept of action perturbation as opposed to the classical weight- or node-perturbation as an exploration mechanism underlying reinforcement learning. Exploration in the action space greatly increases the speed of learning as compared to exploration in the neuron or weight space.

Homeobox gene Prx3 expression in rodent brain and extraneural tissues

Different cDNA clones encoding a rat homeobox gene and the mouse homologue OG-12 were cloned from adult rat brain and mouse embryo mRNA, respectively. The predicted amino acid sequences of the proteins belong to the paired-related subfamily of homeodomain proteins (Prx homeodomains). Hence, the gene was named Prx3 and the mouse and rat genes are indicated as mPrx3 and rPrx3, respectively. In the mouse as well as in the rat, the predicted Prx3 proteins share the homeodomain but have three different N termini, a 12-aa residue variation in the C terminus, and contain a 14-aa residue motif common to a subset of homeodomain proteins, termed the “aristaless domain.” Genetic mapping of Prx3 in the mouse placed this gene on chromosome 3. In situ hybridization on whole mount 12.5-day-old mouse embryos and sections of rat embryos at 14.5 and 16.5 days postcoitum revealed marked neural expression in discrete regions in the lateral and medial geniculate complex, superior and inferior colliculus, the superficial gray layer of the superior colliculus, pontine reticular formation, and inferior olive. In rat and mouse embryos, nonneuronal structures around the oral cavity and in hip and shoulder regions also expressed the Prx3 gene. In the adult rat brain, Prx3 gene expression was restricted to thalamic, tectal, and brainstem structures that include relay nuclei of the visual and auditory systems as well as other ascending systems conveying somatosensory information. Prx3 may have a role in specifying neural systems involved in processing somatosensory information, as well as in face and body structure formation.

Dissociation of response conflict, attentional selection, and expectancy with functional magnetic resonance imaging

Two different attentional networks have been associated with visuospatial attention and conflict resolution. In most situations either one of the two networks is active or both are increased in activity together. By using functional magnetic resonance imaging and a flanker task, we show conditions in which one network (anterior attention system) is increased in activity whereas the other (visuospatial attention system) is reduced, showing that attentional conflict and selection are separate aspects of attention. Further, we distinguish between neural systems involved in different forms of conflict. Specifically, we dissociate patterns of activity in the basal ganglia and insula cortex during simple violations in expectancies (i.e., sudden changes in the frequency of an event) from patterns of activity in the anterior attention system specifically correlated with response conflict as evidenced by longer response latencies and more errors. These data provide a systems-level approach in understanding integrated attentional networks.

Face encoding and recognition in the human brain.

A dissociation between human neural systems that participate in the encoding and later recognition of new memories for faces was demonstrated by measuring memory task-related changes in regional cerebral blood flow with positron emission tomography. There was almost no overlap between the brain structures associated with these memory functions. A region in the right hippocampus and adjacent cortex was activated during memory encoding but not during recognition. The most striking finding in neocortex was the lateralization of prefrontal participation. Encoding activated left prefrontal cortex, whereas recognition activated right prefrontal cortex. These results indicate that the hippocampus and adjacent cortex participate in memory function primarily at the time of new memory encoding. Moreover, face recognition is not mediated simply by recapitulation of operations performed at the time of encoding but, rather, involves anatomically dissociable operations.

Contexto e modularização em redes neurais recorrentes para aprendizagem de seqüências temporais

Este trabalho apresenta um sistema neural modular, que processa separadamente informações de contexto espacial e temporal, para a tarefa de reprodução de sequências temporais. Para o desenvolvimento do sistema neural foram considerados redes neurais recorrentes, modelos estocásticos, sistemas neurais modulares e processamento de informações de contexto. Em seguida, foram estudados três modelos com abordagens distintas para aprendizagem de seqüências temporais: uma rede neural parcialmente recorrente, um exemplo de sistema neural modular e um modelo estocástico utilizando a teoria de modelos markovianos escondidos. Com base nos estudos e modelos apresentados, esta pesquisa propõe um sistema formado por dois módulos sucessivos distintos. Uma rede de propagação direta (módulo estimador de contexto espacial) realiza o processamento de contexto espacial identificando a seqüência a ser reproduzida e fornecendo um protótipo do contexto para o segundo módulo. Este é formado por uma rede parcialmente recorrente (módulo de reprodução de sequências temporais) para aprender as informações de contexto temporal e reproduzir em suas saídas a seqüência identificada pelo módulo anterior. Para a finalidade mencionada, este mestrado utiliza a distribuição de Gibbs na saída do módulo para contexto espacial de forma que este forneça probabilidades de contexto espacial, indicando o grau de certeza do módulo e possibilitando a utilização de procedimentos especiais para os casos de dúvida. O sistema neural foi testado em conjuntos contendo trajetórias abertas, fechadas, e com diferentes situações de ambigüidade e complexidade. Duas situações distintas foram avaliadas: (a) capacidade do sistema em reproduzir trajetórias a partir de pontos iniciais treinados; e (b) capacidade de generalização do sistema reproduzindo trajetórias considerando pontos iniciais ou finais em situações não treinadas. A situação (b) é um problema de difícil ) solução em redes neurais devido à falta de contexto temporal, essencial na reprodução de seqüências. Foram realizados experimentos comparando o desempenho do sistema modular proposto com o de uma rede parcialmente recorrente operando sozinha e um sistema modular neural (TOTEM). Os resultados sugerem que o sistema proposto apresentou uma capacidade de generalização significamente melhor, sem que houvesse uma deterioração na capacidade de reproduzir seqüências treinadas. Esses resultados foram obtidos em sistema mais simples que o TOTEM.

Mathematical modelling of the lower urinary tract

The lower urinary tract is one of the most complex biological systems of the human body as it involved hydrodynamic properties of urine and muscle. Moreover, its complexity is increased to be managed by voluntary and involuntary neural systems. In this paper, a mathematical model of the lower urinary tract it is proposed as a preliminary study to better understand its functioning. Furthermore, another goal of that mathematical model proposal is to provide a basis for developing artificial control systems. Lower urinary tract is comprised of two interacting systems: the mechanical system and the neural regulator. The latter has the function of controlling the mechanical system to perform the voiding process. The results of the tests reproduce experimental data with high degree of accuracy. Also, these results indicate that simulations not only with healthy patients but also of patients with dysfunctions with neurological etiology present urodynamic curves very similar to those obtained in clinical studies.

Human brain regions required for the dividing and switching of attention between two features of a single object

This combined PET and ERP study was designed to identify the brain regions activated in switching and divided attention between different features of a single object using matched sensory stimuli and motor response. The ERP data have previously been reported in this journal [64]. We now present the corresponding PET data. We identified partially overlapping neural networks with paradigms requiring the switching or dividing of attention between the elements of complex visual stimuli. Regions of activation were found in the prefrontal and temporal cortices and cerebellum. Each task resulted in different prefrontal cortical regions of activation lending support to the functional subspecialisation of the prefrontal and temporal cortices being based on the cognitive operations required rather than the stimuli themselves. (C) 2003 Elsevier Science B.V. All rights reserved.

Borrowing from models of motor control to translate cognitive processes: Evidence for hypokinetic-hyperkinetic linguistic homologues?

In relation to motor control, the basal ganglia have been implicated in both the scaling and focusing of movement. Hypokinetic and hyperkinetic movement disorders manifest as a consequence of overshooting and undershooting GPi (globus pallidus internus) activity thresholds, respectively. Recently, models of motor control have been borrowed to translate cognitive processes relating to the overshooting and undershooting of GPi activity, including attention and executive function. Linguistic correlates, however, are yet to be extrapolated in sufficient detail. The aims of the present investigation were to: (1) characterise cognitive-linguistic processes within hypokinetic and hyperkinetic neural systems, as defined by motor disturbances; (2) investigate the impact of surgically-induced GPi lesions upon language abilities. Two Parkinsonian cases with opposing motor symptoms (akinetic versus dystonic/dyskinetic) served as experimental subjects in this research. Assessments were conducted both prior to as well as 3 and 12 months following bilateral posteroventral pallidotomy (PVP). Reliable changes in performance (i.e. both improvements and decrements) were typically restricted to tasks demanding complex linguistic operations across subjects. Hyperkinetic motor symptoms were associated with an initial overall improvement in complex language function as a consequence of bilateral PVP, which diminished over time, suggesting a decrescendo effect relative to surgical beneficence. In contrast, hypokinetic symptoms were associated with a more stable longitudinal linguistic profile, albeit defined by higher proportions of reliable decline versus improvement in postoperative assessment scores. The above findings endorsed the integration of the GPi within cognitive mechanisms involved in the arbitration of complex language functions. In relation to models of motor control, 'focusing' was postulated to represent the neural processes underpinning lexical-semantic manipulation, and 'scaling' the potential allocation of cognitive resources during the mediation of high-level linguistic tasks. (c) 2005 Elsevier Ltd. All rights reserved.

Alcoholic neurobiology: Changes in dependence and recovery

This article presents the proceedings of a symposium held at the meeting of the International Society for Biomedical Research on Alcoholism (ISBRA) in Mannheim, Germany, in October, 2004. Chronic alcoholism follows a fluctuating course, which provides a naturalistic experiment in vulnerability, resilience, and recovery of human neural systems in response to presence, absence, and history of the neurotoxic effects of alcoholism. Alcohol dependence is a progressive chronic disease that is associated with changes in neuroanatomy, neurophysiology, neural gene expression, psychology, and behavior. Specifically, alcohol dependence is characterized by a neuropsychological profile of mild to moderate impairment in executive functions, visuospatial abilities, and postural stability, together with relative sparing of declarative memory, language skills, and primary motor and perceptual abilities. Recovery from alcoholism is associated with a partial reversal of CNS deficits that occur in alcoholism. The reversal of deficits during recovery from alcoholism indicates that brain structure is capable of repair and restructuring in response to insult in adulthood. Indirect support of this repair model derives from studies of selective neuropsychological processes, structural and functional neuroimaging studies, and preclinical studies on degeneration and regeneration during the development of alcohol dependence and recovery from dependence. Genetics and brain regional specificity contribute to unique changes in neuropsychology and neuroanatomy in alcoholism and recovery. This symposium includes state-of-the-art presentations on changes that occur during active alcoholism as well as those that may occur during recovery-abstinence from alcohol dependence. Included are human neuroimaging and neuropsychological assessments, changes in human brain gene expression, allelic combinations of genes associated with alcohol dependence and preclinical studies investigating mechanisms of alcohol induced neurotoxicity, and neuroprogenetor cell expansion during recovery from alcohol dependence.

Efficient training of RBF networks for classification.

Radial Basis Function networks with linear outputs are often used in regression problems because they can be substantially faster to train than Multi-layer Perceptrons. For classification problems, the use of linear outputs is less appropriate as the outputs are not guaranteed to represent probabilities. We show how RBFs with logistic and softmax outputs can be trained efficiently using the Fisher scoring algorithm. This approach can be used with any model which consists of a generalised linear output function applied to a model which is linear in its parameters. We compare this approach with standard non-linear optimisation algorithms on a number of datasets.