Autaptic Circuits for Neural Vehicles
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Transcript of Autaptic Circuits for Neural Vehicles
Autaptic Circuits for Neural Vehicles
@SteveBattle blog.stevebattle.me
Sysemia Ltd
#AISB50
Brains and Embodiment
Turing, Intelligent Machinery 1948
Grey Walter, The Living Brain 1953
Neural Vehicles1984 - Valentino Valentino Braitenberg, cyberneticist, neuro-anatomist and
musician, publishes a landmark series of thought experiments. "Vehicles: Experiments in Synthetic Psychology, explores the principles of
intelligence by defining a series of successively more complicated creatures.
Aplysia Feeding CPG
• B31/B32 is a bistable autaptic motor neuron
• Triggered by B63
• Reset by B64
B31/32B63
Protraction Group
Retraction group
ProtractionMuscle
B64
subset of CPG
BistableAutapse
stimulus, s
stimulus, -s
a
x y• Neuron synapses onto itself
• Recurrent excitation
• Saturating activation function
• No fine tuning of gain required
• Extrinsic ‘reset’
• tr=5, a=1, bias=0.5
Multivibrator /Astable• Matsuoka oscillator
• Lateral inhibition
• Adaptation
• tr=1, ta=12, s=2.9, b=5, bias=0
x1,v1 x2,v2s s
Monostable Autapse stimulus, s
a
x, v yv
b• Uses adaptation
• Intrinsic ‘reset’
• small bias prevents random triggering
• tr=3, ta=20, bias=0, a=1.7, b=1
• Whiskers trigger monostable
• monostable drives sustained reverse