Anuran Vocal Communication: Effects of Genome Size, Cell Number and Cell Size.

Significant variation in genome size occurs among anuran amphibians and can affect cell size and number. In the gray treefrog complex in North America, increases in cell size in autotriploids of the diploid (Hyla chrysoscelis) altered the temporal structure of mate-attracting vocalizations and auditory selectivity for these properties. Here, we show that the tetraploid species (Hyla versicolor) also has significantly fewer brain neurons than H. chrysoscelis. With regard to cell size in tissues involved in vocal communication, spinal motor neurons were larger in tetraploids than in diploids and comparable to differences in erythrocyte size; smaller increases were found in one of the three auditory centers in the torus semicircularis. Future studies should address questions about how environmental conditions during development affect cell numbers and size and the causal relationships between these cellular changes and the vocal communication system.

On the Effectiveness of Impedance-Based Fingerprint Presentation Attack Detection.

Within the last few decades, the need for subject authentication has grown steadily, and biometric recognition technology has been established as a reliable alternative to passwords and tokens, offering automatic decisions. However, as unsupervised processes, biometric systems are vulnerable to presentation attacks targeting the capture devices, where presentation attack instruments (PAI) instead of bona fide characteristics are presented. Due to the capture devices being exposed to the public, any person could potentially execute such attacks. In this work, a fingerprint capture device based on thin film transistor (TFT) technology has been modified to additionally acquire the impedances of the presented fingers. Since the conductance of human skin differs from artificial PAIs, those impedance values were used to train a presentation attack detection (PAD) algorithm. Based on a dataset comprising 42 different PAI species, the results showed remarkable performance in detecting most attack presentations with an APCER = 2.89% in a user-friendly scenario specified by a BPCER = 0.2%. However, additional experiments utilising unknown attacks revealed a weakness towards particular PAI species.

Vulnerabilities of Connectionist AI Applications: Evaluation and Defense.

This article deals with the IT security of connectionist artificial intelligence (AI) applications, focusing on threats to integrity, one of the three IT security goals. Such threats are for instance most relevant in prominent AI computer vision applications. In order to present a holistic view on the IT security goal integrity, many additional aspects, such as interpretability, robustness and documentation are taken into account. A comprehensive list of threats and possible mitigations is presented by reviewing the state-of-the-art literature. AI-specific vulnerabilities, such as adversarial attacks and poisoning attacks are discussed in detail, together with key factors underlying them. Additionally and in contrast to former reviews, the whole AI life cycle is analyzed with respect to vulnerabilities, including the planning, data acquisition, training, evaluation and operation phases. The discussion of mitigations is likewise not restricted to the level of the AI system itself but rather advocates viewing AI systems in the context of their life cycles and their embeddings in larger IT infrastructures and hardware devices. Based on this and the observation that adaptive attackers may circumvent any single published AI-specific defense to date, the article concludes that single protective measures are not sufficient but rather multiple measures on different levels have to be combined to achieve a minimum level of IT security for AI applications.

Refinement of the dopaminergic system of anuran amphibians based on connectivity with habenula, basal ganglia, limbic system, pallium, and spinal cord.

Whereas our understanding of the dopaminergic system in mammals allows for a distinction between ventral tegmental area (VTA) and substantia nigra pars compacta (SNc), no clear evidence for separate structures in anamniotes has been presented to date. To broaden the insight into the organization and regulation of neuromodulatory systems in anuran amphibians, tracing and immunohistochemical investigations were performed in the Oriental fire-bellied toad, Bombina orientalis. Topographically organized catecholaminergic "nigrostriatal," "mesolimbic," "mesocortical," and spinal cord projections arising from the posterior tubercle and mesencephalic tegmentum were identified. We compared these results with published data from lampreys, chondrichthyes, teleosts, amphibians, reptiles, birds, and mammals. Based on the pattern of organization, as well as the differential innervation by the habenular nuclei, domains gradually comparable to the mammalian paranigral VTA, ventral tier of the SNc, interfascicular nucleus of the VTA, and supramamillary/retromamillary area were identified. Additionally, we could demonstrate topographic separate populations of habenula neurons projecting via a direct excitatory or indirect GABAergic pathway onto the catecholaminergic VTA/SNc homologs and serotonergic raphe nuclei. The indirect GABAergic habenula pathway derives from neurons in the superficial mamillary area, which in terms of its connectivity and chemoarchitecture resembles the mammalian rostromedial tegmental nucleus. These results demonstrate a much more elaborate interconnection principle of the anuran dopaminergic system than previously assumed. Based on the data presented it seems that most features of the dopaminergic system of amniotes had already evolved when the amphibian line of evolution diverged from that leading up to mammals, reptiles, and birds.

The habenula as an evolutionary conserved link between basal ganglia, limbic, and sensory systems-A phylogenetic comparison based on anuran amphibians.

Based on anatomical and functional data, the habenula-a phylogenetically old brain structure present in all vertebrates-takes part in the integration of limbic, sensory, and basal ganglia information to guide effective response strategies appropriate to environmental conditions. In the present study, we investigated the connections of the habenular nuclei of the oriental fire-bellied toad, Bombina orientalis, and compared them with published data from lampreys, chondrichthyes, teleosts, reptiles, birds, and mammals. During phylogenetic development, the primordial habenula circuitry underwent various evolutionary adaptations and in the tetrapod line, the circuit complexity increased. The habenula circuitry of anuran amphibians, decedents of the first land-living tetrapods, seem to exhibit a mix of ancient as well as modern features. The anuran medial and lateral habenula homologs receive differential input from the septum, nucleus of the diagonal band of Broca, preoptic area, hypothalamus, rostral pallium, nucleus accumbens, ventral pallidum, and bed nucleus of the stria terminalis. Additional input arises from a border region in the ventral prethalamus, here discussed as a putative homolog of the entopeduncular nucleus of rodents. The habenular subnuclei also differentially innervate the interpeduncular nucleus, raphe nuclei, substantia nigra pars compacta and ventral tegmental area homologs, superficial mamillary area, laterodorsal tegmental nucleus, locus coeruleus, inferior and superior colliculus homologs, hypothalamus, preoptic area, septum, nucleus of the diagonal band of Broca, and main olfactory bulb. It seems likely that the main connectivity between the habenula and the basal ganglia, limbic, and sensory systems was already present in the common tetrapod ancestor.

Individual Dopaminergic Neurons of Lamprey SNc/VTA Project to Both the Striatum and Optic Tectum but Restrict Co-release of Glutamate to Striatum Only.

Dopaminergic neurons in the substantia nigra (SNc) innervate both striatum and the superior colliculus in mammals, as well as its homolog the optic tectum in lampreys, belonging to the oldest group of living vertebrates [1-3]. In the lamprey, we have previously shown that the same neuron sends axonal branches to both striatum and the optic tectum [3]. Here, we show that most neurons in the lamprey SNc and ventral tegmental area (VTA) (also referred to as the nucleus of the posterior tuberculum) express not only tyrosine hydroxylase (TH), in lamprey a marker of dopaminergic neurons [4], but also the vesicular glutamate transporter (vGluT), suggesting that glutamate is a co-transmitter. Remarkably, the axonal branches that project to striatum elicit both dopaminergic and glutamatergic synaptic effects on striatal neurons, whereas the axonal projections to the optic tectum only evoke dopaminergic effects. Thus, axonal branches from the same neuron can use two transmitters in one branch and only one in the other. Previous studies suggest that, along an individual dopaminergic axon, there can be microdomains of either TH or vGluT [5-8]. In addition, the present results demonstrate that entire axonal branches to one target structure can differ from that of branches to another target, both originating from the same dopamine neuron. This implies that a given dopamine neuron can exert different effects on two different target structures. The combined release of dopamine and glutamate may be appropriate in striatum, whereas the effects exerted on the tectal motor center may be better served with a selective dopaminergic modulation.

Swing Velocity Profiles of Small Limbs Can Arise from Transient Passive Torques of the Antagonist Muscle Alone.

In large limbs, changing motor neuron activity typically controls within-movement velocity. For example, sequential agonist-antagonist-agonist motor neuron firing typically underlies the slowing often present at the end of human reaches. In physiological movements of large limbs, antagonistic muscle passive torque is generally negligible. In small limbs, alternatively, passive torques can determine limb rest position, generate restoring movements to it, and decrease agonist-generated movement amplitude and velocity maxima. These observations suggest that, in small limbs, passive forces might also control velocity changes within movements. We investigated this issue in stick insect middle leg femur-tibia (FT) joint. During swing, the FT joint extensor muscle actively shortens and the flexor muscle passively lengthens. As in human reaching, after its initial acceleration, FT joint velocity continuously decreases. We measured flexor passive forces during imposed stretches spanning the ranges of FT joint angles, angular velocities, and movement amplitudes present in leg swings. The viscoelastic "transient" passive force that occurs during and soon after stretch depended on all three variables and could be tens of times larger than the "steady-state" passive force commonly measured long after stretch end. We combined these data, the flexor and extensor moment arms, and an existing extensor model to simulate FT joint swing. To measure only passive (flexor) muscle-dependent effects, we used constant extensor activations in these simulations. In simulations using data from ten flexor muscles, flexor passive torque could always produce swings with, after swing initiation, continuously decreasing velocities. Antagonist muscle passive torques alone can thus control within-movement velocity.

The blueprint of the vertebrate forebrain - With special reference to the habenulae.

The medial and lateral habenulae are conserved throughout vertebrate evolution, and form an integrated part in the forebrain control of behavior together with the basal ganglia, the dopamine and serotonin systems and cortex. The lateral habenula plays a role in the control of dopamine activity in the context of aversive behavior and the converse, a reward situation. These circuits are important for a value-based evaluation of the success of prior actions. The medial habenula is involved in mediating escape and freezing behavior. These structures are reviewed with a focus on the lamprey, belonging to the oldest group of now living vertebrate, showing that most aspects of the habenular structure and function have been conserved throughout vertebrate phylogeny.

The pretectal connectome in lamprey.

In vertebrates, the pretectum and optic tectum (superior colliculus in mammals) are visuomotor areas that process sensory information and shape motor responses. Whereas the tectum has been investigated in great detail, the pretectum has received far less attention. The present study provides a detailed analysis of the connectivity and neuronal properties of lamprey pretectal cells. The pretectum can be subdivided roughly into three areas based on cellular location and projection pattern: superficial, central, and periventricular. Three different types of pretectal cells could be distinguished based on neuronal firing patterns. One type, the rapid spike-inactivation cells, preferentially lie within the periventricular zone; the other cell types are distributed more generally. In terms of afferentation, the pretectum receives electro- and mechanoreceptive inputs in addition to retinal input. Histological data reveal that a large number of pretectal cells in the superficial and central areas extend dendrites into the optic tract, suggesting a predominant retinal influence even outside of the normal retinal terminal areas. The pretectum receives inhibitory input from the basal ganglia, and input from the pallium (cortex in mammals) and torus semicircularis. In addition, the pretectum is reciprocally connected with the thalamus, tectum, octavolateral area, and habenula. The main pretectal output is to the reticulospinal nuclei, and thus the pretectum indirectly affects the control of movement. Efference copies of some of this output are relayed to the thalamus and tectum. Overall, its extensive circuitry-especially the reciprocal connectivity with other retinorecipient areas-underlines the importance of the pretectum for sensory integration and visuomotor functions. J. Comp. Neurol. 525:753-772, 2017. © 2016 Wiley Periodicals, Inc.

Controlling legs for locomotion-insights from robotics and neurobiology.

Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. We try to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.

Deriving neural network controllers from neuro-biological data: implementation of a single-leg stick insect controller.

This article presents modular recurrent neural network controllers for single legs of a biomimetic six-legged robot equipped with standard DC motors. Following arguments of Ekeberg et al. (Arthropod Struct Dev 33:287-300, 2004), completely decentralized and sensori-driven neuro-controllers were derived from neuro-biological data of stick-insects. Parameters of the controllers were either hand-tuned or optimized by an evolutionary algorithm. Employing identical controller structures, qualitatively similar behaviors were achieved for robot and for stick insect simulations. For a wide range of perturbing conditions, as for instance changing ground height or up- and downhill walking, swing as well as stance control were shown to be robust. Behavioral adaptations, like varying locomotion speeds, could be achieved by changes in neural parameters as well as by a mechanical coupling to the environment. To a large extent the simulated walking behavior matched biological data. For example, this was the case for body support force profiles and swing trajectories under varying ground heights. The results suggest that the single-leg controllers are suitable as modules for hexapod controllers, and they might therefore bridge morphological- and behavioral-based approaches to stick insect locomotion control.