| Preface | p. 1 |
| Fundamentals | |
| Biological Evidence for Synapse Modification Relevant for Neural Network Modelling | |
| Introduction | p. 7 |
| The Synapse | p. 11 |
| Long Term Potentiation | p. 13 |
| Two Characteristic Types of Experiment | p. 15 |
| Food Discrimination Learning in Chicks | p. 15 |
| Electrical Stimulation of Nervous Cell Cultures | p. 18 |
| Conclusion | p. 19 |
| References and Further Reading | p. 20 |
| What is Different with Spiking Neurons? | |
| Spikes and Rates | p. 23 |
| Temporal Average-Spike Count | p. 24 |
| Spatial Average-Population Activity | p. 26 |
| Pulse Coding-Correlations and Synchrony | p. 27 |
| 'Integrate and Fire' Model | p. 28 |
| Spike Response Model | p. 30 |
| Rapid Transients | p. 33 |
| Perfect Synchrony | p. 36 |
| Coincidence Detection | p. 38 |
| Spike Time Dependent Hebbian Learning | p. 39 |
| Temporal Coding in the Auditory System | p. 42 |
| Conclusion | p. 43 |
| References | p. 45 |
| Recurrent Neural Networks: Properties and Models | |
| Introduction | p. 49 |
| Universality of Recurrent Networks | p. 52 |
| Discrete Time Dynamics | p. 52 |
| Continuous Time Dynamics | p. 54 |
| Recurrent Learning Algorithms for Static Tasks | p. 56 |
| Hopfield Network | p. 56 |
| Boltzmann Machines | p. 58 |
| Recurrent Backpropagation Proposed by Fernando Pineda | p. 60 |
| Recurrent Learning Algorithms for Dynamical Tasks | p. 63 |
| Backpropagation Through Time | p. 63 |
| Jordan and Elman Networks | p. 64 |
| Real Time Recurrent Learning (RTRL) | p. 65 |
| Continuous Time RTRL | p. 65 |
| Discrete Time RTRL | p. 66 |
| Teacher Forced RTRL | p. 67 |
| Considerations about the Memory Requirements | p. 67 |
| Time Dependent Recurrent Backpropagation (TDRBP) | p. 68 |
| Other Recurrent Algorithms | p. 69 |
| Conclusion | p. 70 |
| References | p. 72 |
| A Derivation of the Learning Rules for Dynamic Recurrent Neural Networks | |
| A Look into the Calculus of Variations | p. 75 |
| Conditions of Constraint | p. 77 |
| Applications in Physics: Lagrangian and Hamiltonian Dynamics | p. 78 |
| Generalized Coordinates | p. 80 |
| Application to Optimal Control Systems | p. 82 |
| Time Dependent Recurrent Backpropagation: Learning Rules | p. 85 |
| References | p. 88 |
| Applications to Biology | |
| Simulation of the Human Oculomotor Integrator Using a Dynamic Recurrent Neural Network | |
| Introduction | p. 92 |
| The Different Neural Integrator Models | p. 95 |
| The Biologically Plausible Improvements | p. 99 |
| Fixed Sign Connection Weights | p. 100 |
| Artificial Distance between Inter-Neurons | p. 101 |
| Numerical Discretization of the Continuous Time Model | p. 101 |
| The General Supervisor | p. 102 |
| The Modified Network | p. 103 |
| Emergence of Clusters | p. 104 |
| Definition | p. 105 |
| Mathematical Identification of Clusters | p. 106 |
| Characterization of the Clustered Structure | p. 106 |
| Particular Locations | p. 110 |
| Discussion and Conclusion | p. 110 |
| References | p. 112 |
| Pattern Segmentation in an Associative Network of Spiking Neurons | |
| The Binding Problem | p. 117 |
| Spike Response Model | p. 118 |
| Simulation Results | p. 121 |
| Pattern Retrieval and Synchronization | p. 123 |
| Pattern Segmentation | p. 124 |
| Context Sensitive Binding in a Layered Network with Feedback | p. 126 |
| Related Work | p. 129 |
| Segmentation with LEGION | p. 129 |
| How about Real Brains? | p. 130 |
| References | p. 131 |
| Cortical Models for Movement Control | |
| Introduction: Constraints on Modeling Biological Neural Networks | p. 135 |
| Cellular Firing Patterns in Monkey Cortical Areas 4 and 5 | p. 137 |
| Anatomical Links between Areas 4 and 5, Spinal Motoneurons, and Sensory Systems | p. 140 |
| How Insertion of a Time Delay can Create a Niche for Deliberation | p. 141 |
| A Volition-Deliberation Nexus and Voluntary Trajectory Generation | p. 142 |
| Cortical-Subcortical Cooperation for Deliberation and Task-Dependent Configuration | p. 146 |
| Cortical Layers, Neural Population Codes, and Posture-Dependent Recruitment of Muscle Synergies | p. 150 |
| Trajectory Generation in Handwriting and Viapoint Movements | p. 151 |
| Satisfying Constraints of Reaching to Intercept or Grasp | p. 155 |
| Conclusions: Online Action Composition by Cortical Circuits | p. 156 |
| References | p. 157 |
| Implications of Activity Dependent Processes in Spinal Cord Circuits for the Development of Motor Control; a Neural Network Model | |
| Introduction | p. 164 |
| Sensorimotor Development | p. 165 |
| Reflex Contributions to Joint Stiffness | p. 166 |
| The Model | p. 167 |
| Neural Model | p. 168 |
| Musculo-Skeletal Model | p. 170 |
| Muscle Model | p. 172 |
| Sensory Model | p. 173 |
| Model Dynamics | p. 174 |
| Experiments | p. 174 |
| Training | p. 176 |
| Neural Control Properties | p. 177 |
| Perturbation Experiments | p. 179 |
| Discussion | p. 182 |
| References | p. 185 |
| Cortical Maps as Topology-Representing Neural Networks Applied to Motor Control: Articulatory Speech Synthesis | |
| Lateral Connections in Cortical Maps | p. 190 |
| A Neural Network Model | p. 191 |
| Spatial Maps as Internal Representations for Motor Planning | p. 193 |
| Dynamical Behavior of Spatial Maps | p. 194 |
| Function Approximation by Interconnected Maps | p. 196 |
| Dynamical Inversion | p. 199 |
| Application of Cortical Maps to Articulatory Speech Synthesis | p. 200 |
| Cortical Control of Speech Movements | p. 202 |
| An Experimental Study | p. 203 |
| The Training Procedure | p. 204 |
| Field Representation of Phonemic Targets | p. 208 |
| Non-Audible Gestures and Compensation | p. 211 |
| Generation of VVV ... Sequences | p. 211 |
| Conclusions | p. 215 |
| References | p. 216 |
| Line and Edge Detection by Curvature-Adaptive Neural Networks | |
| Introduction | p. 220 |
| Biological Constraints | p. 223 |
| Construction of the Gabor Filters | p. 224 |
| The One-Dimensional Case | p. 224 |
| The Two-Dimensional Case | p. 225 |
| Simple Detection Scheme | p. 225 |
| An Extended Detection Scheme | p. 226 |
| Intermezzo: A Multi-Scale Approach | p. 230 |
| Advanced Detection Scheme | p. 231 |
| Biological Plausibility of the Adaptive Algorithm | p. 233 |
| Conclusion and Discussion | p. 235 |
| References | p. 238 |
| Path Planning and Obstacle Avoidance Using a Recurrent Neural Network | |
| Introduction | p. 241 |
| Problem Description | p. 242 |
| Task Descriptions | p. 243 |
| Representations | p. 243 |
| Fusing the Representations into a Neuronal Map | p. 245 |
| Path Planning and Heading Decision | p. 246 |
| Results | p. 248 |
| Conclusions | p. 251 |
| References | p. 253 |
| Index | p. 255 |
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