Adaptive filters and internal models: Multilevel description of cerebellar function

Neural Networks

Volumn 47, Issue , 2013, Pages 134-149

  Porrill, John ^a   Dean, Paul ^a   Anderson, Sean R ^a  

^a UNIVERSITY OF SHEFFIELD   (United Kingdom)

Author keywords

Adaptive control; Cerebellum; Internal model

Indexed keywords

ADAPTIVE CONTROL; ADAPTIVE INVERSE CONTROL; CEREBELLUM; CORTICAL MICROCIRCUITS; ENGINEERING APPLICATIONS; FEEDBACK-ERROR-LEARNING; INTERNAL MODELING; NOISE CANCELLATION;

ADAPTIVE FILTERS; ALGORITHMS; MODELS; SIGNAL PROCESSING;

BRAIN;

ALGORITHM; ARTICLE; BRAIN FUNCTION; CEREBELLUM; ENGINEERING; FEEDBACK SYSTEM; LEARNING; MOTOR CONTROL; NOISE; PRIORITY JOURNAL; SIGNAL PROCESSING;

ADAPTIVE CONTROL; CEREBELLUM; INTERNAL MODEL;

ALGORITHMS; CEREBELLUM; COMPUTER SIMULATION; FEEDBACK, SENSORY; HUMANS; MODELS, NEUROLOGICAL; NEURONS;

EID: 84884156467     PISSN: 08936080     EISSN: 18792782     Source Type: Journal    
DOI: 10.1016/j.neunet.2012.12.005     Document Type: Article

References (107)

1. Albus J.S. A theory of cerebellar function. Mathematical Biosciences 1971, 10:25-61.
2. Anderson S.R., Pearson M.J., Pipe A., Prescott T., Dean P., Porrill J. Adaptive cancelation of self-generated sensory signals in a whisking robot. IEEE Transactions on Robotics 2010, 26(6):1065-1076. 10.1109/tro.2010.2069990.
3. Anderson S.R., Porrill J., Dean P. Adaptive filter model of cerebellum improves performance of simulated optokinetic reflex. 2007 abstract viewer/itinerary planner 2007, Society for Neuroscience, Washington, DC, (pp. Prog. No. 718.712).
4. Anderson S.R., Porrill J., Pearson M.J., Pipe A., Prescott T., Dean P. An internal model architecture for novelty detection: implications for cerebellar and collicular roles in sensory processing. PLoS One 2012, 7(9):e44560.
5. Barmack N.H. Recruitment and suprathreshold frequency modulation of single extraocular muscle fibers in the rabbit. Journal of Neurophysiology 1977, 40(4):779-790.
6. Bastian A.J. Moving, sensing and learning with cerebellar damage. Current Opinion in Neurobiology 2011, 21(4):596-601. 10.1016/j.conb.2011.06.007.
7. Bell C., Bodznick D., Montgomery J., Bastian J. The generation and subtraction of sensory expectations within cerebellum-like structures. Brain Behaviour and Evolution 1997, 50(31):17-31.
8. Bell C.C., Han V., Sawtell N.B. Cerebellum-like structures and their implications for cerebellar function. Annual Review of Neuroscience 2008, 31:1-24.
9. Blakemore S.J., Frith C., Wolpert D. Spatio-temporal prediction modulates the perception of self-produced stimuli. Journal of Cognitive Neuroscience 1999, 11(5):551-559.
10. Blakemore S.J., Frith C.D., Wolpert D.M. The cerebellum is involved in predicting the sensory consequences of action. NeuroReport 2001, 12(9):1879-1884.
11. Blakemore S.J., Wolpert D., Frith C. Central cancellation of self-produced tickle sensation. Nature Neuroscience 1998, 1(7):635-640.
12. Boyden E.S., Katoh A., Raymond J.L. Cerebellum-dependent learning: the role of multiple plasticity mechanisms. Annual Review of Neuroscience 2004, 27:581-609.
13. Neuroanatomy of the oculomotor system (vol. 2) 1988, Elsevier, Amsterdam. J.A. Büttner-Ennever (Ed.).
14. Carpenter R.H.S. Movements of the eyes 1988, Pion, London. 2nd ed.
15. Cerminara N.L., Apps R. Behavioural significance of cerebellar modules. Cerebellum 2011, 10(3):484-494. 10.1007/s12311-010-0209-2.
16. Cheng K.H. Adaptive fuzzy CMAC-based nonlinear control with dynamic memory architecture. Journal of the Franklin Institute-Engineering and Applied Mathematics 2011, 348(9):2480-2502. 10.1016/j.jfranklin.2011.07.011.
17. Commuri S., Lewis F.L. CMAC neural networks for control of nonlinear dynamical systems: structure, stability and passivity. Automatica 1997, 33(4):635-641. 10.1016/s0005-1098 96 00180-x.
18. Cullen K.E. Sensory signals during active versus passive movement. Current Opinion in Neurobiology 2004, 14:698-706.
19. Dean P. Motor unit recruitment in a distributed model of extraocular muscle. Journal of Neurophysiology 1996, 76(2):727-742.
20. Dean P. Simulated recruitment of medial rectus motoneurons by abducens internuclear neurons: synaptic specificity vs. intrinsic motoneuron properties. Journal of Neurophysiology 1997, 78:1531-1549.
21. Dean P., Jörntell H., Porrill J. Adaptive filter models. Handbook of the cerebellum and cerebellar disorders 2013, 1315-1335. Springer Netherlands, Heidelberg. M. Manto, D. Gruoi, J.D. Schmahmann, N. Koibuchi, F. Rossi (Eds.).
22. Dean P., Mayhew J.E.W., Langdon P. Learning and maintaining saccadic accuracy: a model of brainstem-cerebellar interactions. Journal of Cognitive Neuroscience 1994, 6(2):117-138.
23. Dean P., Mayhew J.E.W., Thacker N., Langdon P.M. Saccade control in a simulated robot camera-head system: neural net architectures for efficient learning of inverse kinematics. Biological Cybernetics 1991, 66:27-36.
24. Dean P., Porrill J. Eye orbital mechanics. Encyclopedic reference of neuroscience 2008, 1533-1539. Springer Verlag, Heidelberg. U. Windhorst, M.D. Binder, N. Hirokawa (Eds.).
25. Dean P., Porrill J. Oculomotor anatomy and the motor-error problem: the role of the paramedian tract nuclei. Progress in Brain Research 2008, 171:177-186. 10.1016/s0079-6123 08 00624-9.
26. Dean P., Porrill J. The cerebellum as an adaptive filter: a general model?. Functional Neurology 2010, 25(3):1-8.
27. Dean P., Porrill J. Evaluating the adaptive-filter model of the cerebellum. Journal of Physiology London 2011, 589(Pt 14):3459-3470. [pii]. 10.1113/jphysiol.2010.201574.
28. Dean P., Porrill J., Ekerot C.F., Jorntell H. The cerebellar microcircuit as an adaptive filter: experimental and computational evidence. Nature Reviews Neuroscience 2010, 11(1):30-43. [pii]. 10.1038/nrn2756.
29. Dean P., Porrill J., Stone J.V. Decorrelation control by the cerebellum achieves oculomotor plant compensation in simulated vestibulo-ocular reflex. Proceedings of the Royal Society of London. Series B: Biological Sciences 2002, 269(1503):1895-1904.
30. Dean P., Porrill J., Warren P.A. Optimality of static force control by horizontal eye muscles: a test of the minimum norm rule. Journal of Neurophysiology 1999, 81:735-757.
31. De Luca C.J., Erim Z. Common drive of motor units in regulation of muscle force. Trends in Neurosciences 1994, 17(7):299-305.
32. Demer J.L. Evidence supporting extraocular muscle pulleys: refuting the platygean view of extraocular muscle mechanics. Journal of Pediatric Ophthalmology and Strabismus 2006, 43(5):296-305.
33. Ebner T.J., Hewitt A.L., Popa L.S. What features of limb movements are encoded in the discharge of cerebellar neurons?. Cerebellum 2011, 10(4):683-693. 10.1007/s12311-010-0243-0.
34. Eccles J.C. The dynamic loop hypothesis of movement control. Information processing in the central nervous system 1969, 245-269. Springer, New York. K.N. Leibovic (Ed.).
35. Eccles J.C., Ito M., Szentágothai J. The cerebellum as a neuronal machine 1967, Springer-Verlag, Berlin.
36. Fujita M. Adaptive filter model of the cerebellum. Biological Cybernetics 1982, 45:195-206.
37. Gamlin P.D., Miller J.M. Extraocular muscle motor units characterized by spike-triggered averaging in alert monkey. Journal of Neuroscience Methods 2012, 204(1):159-167. 10.1016/j.jneumeth.2011.11.012.
38. Gao Z.Y., van Beugen B.J., De Zeeuw C.I. Distributed synergistic plasticity and cerebellar learning. Nature Reviews Neuroscience 2012, 13(9):619-635. 10.1038/nrn3312.
39. Gomi H., Kawato M. Adaptive feedback control models of the vestibulocerebellum and spinocerebellum. Biological Cybernetics 1992, 68(2):105-114.
40. Gomi H., Kawato M. Neural network control for a closed-loop system using feedback-error-learning. Neural Networks 1993, 6:933-946.
41. Haith A., Vijayakumar S. Implications of different classes of sensorimotor disturbance for cerebellar-based motor learning models. Biological Cybernetics 2009, 100:81-95.
42. Hazel T.R., Sklavos S.G., Dean P. Estimation of premotor synaptic drives to simulated abducens motoneurons for control of eye position. Experimental Brain Research 2002, 146(2):184-196.
43. Henneman E., Mendell L.M. Functional organization of motoneuron pool and its inputs. Handbook of physiology, the nervous system, motor control, vol. II, Sect.I, Part 1 1981, 423-507. American Physiological Society, Bethesda, Md. V.B. Brooks (Ed.).
44. Herculano-Houzel S. Coordinated scaling of cortical and cerebellar numbers of neurons. Frontiers in Neuroanatomy 2010, 4. Article 12. 10.3389/fnana.2010.00012.
45. Imamizu H. Prediction of sensorimotor feedback from the efference copy of motor commands: a review of behavioral and functional neuroimaging studies. Japanese Psychological Research 2010, 52(2):107-120. 10.1111/j.1468-5884.2010.00428.x.
46. Imamizu H., Kuroda T., Miyauchi S., Yoshioka T., Kawato M. Modular organization of internal models of tools in the human cerebellum. Proceedings of the National Academy of Sciences of the United States of America 2003, 100(9):5461-5466.
47. Ito M. Neurophysiological aspects of the cerebellar motor control system. International Journal of Neurology (Montevideo) 1970, 7:162-176.
48. Ito M. Cerebellar microcomplexes. International Review of Neurobiology 1997, 41:475-487.
49. Jordan M.I. Computational aspects of motor control and motor learning. Handbook of perception and action, volume 2: motor skills 1996, 71-120. Academic Press, London. H. Heuer, S. Keele (Eds.).
50. Jordan M.I., Wolpert D.M. Computational motor control. The new cognitive neurosciences 2000, 601-618. MIT Press, Cambridge MA. 2nd ed. M.S. Gazzaniga (Ed.).
51. Kawato M. Cerebellum and motor control. The handbook of brain theory and neural networks 1995, 172-178. The MIT Press, Cambridge, MA. M.A. Arbib (Ed.).
52. Kawato M. Learning internal models of the motor apparatus. The acquisition of motor behaviors in vertebrates 1996, 409-430. MIT Press, Cambridge MA. J.R. Bloedel, T.J. Ebner, S.P. Wise (Eds.).
53. Kawato M. Internal models for motor control and trajectory planning. Current Opinion in Neurobiology 1999, 9:718-727.
54. Kawato M. From 'understanding the brain by creating the brain' towards manipulative neuroscience. Philosophical Transactions of the Royal Society, Series B (Biological Sciences) 2008, 363(1500):2201-2214.
55. Kawato M., Furukawa K., Suzuki R. A hierarchical neural-network model for control and learning of voluntary movement. Biological Cybernetics 1987, 57:169-185.
56. Kawato M., Gomi H. The cerebellum and VOR/OKR learning models. Trends in Neuroscience 1992, 15(11):445-453.
57. Kawato M., Gomi H. Feedback-error-learning model of cerebellar motor control. Role of the cerebellum and basal ganglia in voluntary movement 1993, 51-61. Elsevier Science Publishers B.V, North Holland. N. Mano, I. Hamada, M.R. DeLong (Eds.).
58. Kim Y.H., Lewis F.L. Optimal design of CMAC neural-network controller for robot manipulators. IEEE Transactions on Systems, Man, and Cybernetics Part C: Applications and Reviews 2000, 30(1):22-31. 10.1109/5326.827451.
59. Kording K.P., Tenenbaum J.B., Shadmehr R. The dynamics of memory as a consequence of optimal adaptation to a changing body. Nature Neuroscience 2007, 10(6):779-786.
60. Lin C.M., Chen L.Y., Yeung D.S. Adaptive filter design using recurrent cerebellar model articulation controller. IEEE Transactions on Neural Networks 2010, 21(7):1149-1157. 10.1109/tnn.2010.2050700.
61. Lisberger S.G. Physiologic basis for motor learning in the vestibulo-ocular reflex. Otolaryngology-Head and Neck Surgery 1998, 119(1):43-48.
62. Lisberger S.G. Internal models of eye movement in the floccular complex of the monkey cerebellum. Neuroscience 2009, 162(3):763-776. 10.1016/j.neuroscience.2009.03.059.
63. Lisberger S.G., Pavelko T.A., Broussard D.M. Responses during eye movements of brain stem neurons that receive monosynaptic inhibition from the flocculus and ventral paraflocculus in monkeys. Journal of Neurophysiology 1994, 72(2):909-927.
64. Lu C.J., Wu J.Y. An efficient CMAC neural network for stock index forecasting. Expert Systems with Applications 2011, 38(12):15194-15201. 10.1016/j.eswa.2011.05.082.
65. Marr D. A theory of cerebellar cortex. Journal of Physiology London 1969, 202:437-470.
66. McFarland J.L., Fuchs A.F. Discharge patterns in nucleus prepositus hypoglossi and adjacent medial vestibular nucleus during horizontal eye movement in behaving macaques. Journal of Neurophysiology 1992, 68(1):319-332.
67. Medina J.F. The multiple roles of Purkinje cells in sensori-motor calibration: to predict, teach and command. Current Opinion in Neurobiology 2011, 21(4):616-622. 10.1016/j.conb.2011.05.025.
68. Miall R.C., Christensen L.O., Cain O., Stanley J. Disruption of state estimation in the human lateral cerebellum. PLoS Biology 2007, 5(11):2733-2744.
69. Miall R.C., Reckess G.Z. The cerebellum and the timing of coordinated eye and hand tracking. Brain and Cognition 2002, 48:212-226.
70. Miall R.C., Weir D.J., Wolpert D.M., Stein J.F. Is the cerebellum a Smith predictor?. Journal of Motor Behavior 1993, 25(3):203-216.
71. Miall R.C., Wolpert D.M. Forward models for physiological motor control. Neural Networks 1996, 9(8):1265-1279.
72. Middleton F.A., Strick P.L. Basal ganglia and cerebellar loops: motor and cognitive circuits. Brain Research Reviews 2000, 31:236-250.
73. Miyamura A., Kimura H. Stability of feedback error learning scheme. Systems and Control Letters 2002, 45:303-316.
74. Montgomery J.C., Bodznick D., Yopak K.E. The cerebellum and cerebellum-like structures of cartilaginous fishes. Brain Behaviour and Evolution 2012, 80(2):152-165. 10.1159/000339868.
75. Munuera J., Morel P., Duhamel J.R., Deneve S. Optimal sensorimotor control in eye movement sequences. Journal of Neuroscience 2009, 29(10):3026-3035. 10.1523/Jneurosci.1169-08.2009.
76. Nakanishi J., Schaal S. Feedback error learning and nonlinear adaptive control. Neural Networks 2004, 17(10):1453-1465.
77. Ohtsuki G., Piochon C., Hansel C. Climbing fiber signaling and cerebellar gain control. Frontiers in Cellular Neuroscience 2009, 3. Article 4. 10.3389/neuro.03.004.2009.
78. Paulin M.G. Evolution of the cerebellum as a neuronal machine for Bayesian state estimation. Journal of Neural Engineering 2005, 2:S219-S234.
79. Porrill J., Dean P. Cerebellar motor learning: when is cortical plasticity not enough?. PLoS Computational Biology 2007, 3(10):1935-1950.
80. Porrill J., Dean P. Recurrent cerebellar loops simplify adaptive control of redundant and nonlinear motor systems. Neural Computation 2007, 19(1):170-193.
81. Porrill J., Dean P., Stone J.V. Recurrent cerebellar architecture solves the motor error problem. Proceedings of the Royal Society of London. Series B: Biological Sciences 2004, 271:789-796.
82. Ramnani N., Miall C. Expanding cerebellar horizons. Trends in Cognitive Sciences 2001, 5(4):135-136.
83. Requarth T., Sawtell N.B. Neural mechanisms for filtering self-generated sensory signals in cerebellum-like circuits. Current Opinion in Neurobiology 2011, 21(4):602-608. 10.1016/j.conb.2011.05.031.
84. Roberts P.D. Computational consequences of temporally asymmetric learning rules: I. Differential Hebbian learning. Journal of Computational Neuroscience 1999, 7(3):235-246.
85. Roberts P.D., Bell C.C. Computational consequences of temporally asymmetric learning rules: II. Sensory image cancellation. Journal of Computational Neuroscience 2000, 9(1):67-83.
86. Robinson D.A. The use of control systems analysis in the neurophysiology of eye movements. Annual Review of Neuroscience 1981, 4:463-503.
87. Sabourin C., Bruneau O., Buche G. Control strategy for the robust dynamic walk of a biped robot. International Journal of Robotics Research 2006, 25(9):843-860. 10.1177/0278364906069151.
88. Sastry S., Bodson M. Adaptive control: stability, convergence, and robustness 1989, Prentice-Hall International, Englewood Cliffs, NJ.
89. Sawtell N.B., Williams A. Transformations of electrosensory encoding associated with an adaptive filter. Journal of Neuroscience 2008, 28(7):1598-1612.
90. Schenck W. Kinematic motor learning. Connection Science 2011, 23(4):239-283. 10.1080/09540091.2011.625077.
91. Schutte S., van den Bedem S.P., van Keulen F., van der Helm F.C., Simonsz H.J. A finite-element analysis model of orbital biomechanics. Vision Research 2006, 46(11):1724-1731.
92. Schweighofer N., Spoelstra J., Arbib M.A., Kawato M. Role of the cerebellum in reaching movements in humans. II. A neural model of the intermediate cerebellum. European Journal of Neuroscience 1998, 10(1):95-105.
93. Scudder C.A., Fuchs A.F. Physiological and behavioral identification of vestibular nucleus neurons mediating the horizontal vestibuloocular reflex in trained monkeys. Journal of Neurophysiology 1992, 68:244-264.
94. Sejnowski T.J. Storing covariance with nonlinearly interacting neurons. Journal of Mathematical Biology 1977, 4:303-321.
95. Shmuelof L., Krakauer J.W. Are we ready for a natural history of motor learning?. Neuron 2011, 72(3):469-476. 10.1016/j.neuron.2011.10.017.
96. Skavenski A.A., Robinson D.A. Role of abducens neurons in vestibuloocular reflex. Journal of Neurophysiology 1973, 36:724-738.
97. Tao T., Su S.F. CMAC-based previous step supervisory control schemes for relaxing bound in adaptive fuzzy control. Applied Soft Computing 2011, 11(8):5715-5723. 10.1016/j.asoc.2011.03.019.
98. Todorov E. Stochastic optimal control and estimation methods adapted to the noise characteristics of the sensorimotor system. Neural Computation 2005, 17(5):1084-1108. 10.1162/0899766053491887.
99. Tolu S., Vanegas M., Luque N.R., Garrido J.A., Ros E. Bio-inspired adaptive feedback error learning architecture for motor control. Biological Cybernetics 2012, 106(8-9):507-522. 10.1007/s00422-012-0515-5.
100. Voogd J. Cerebellar zones: a personal history. Cerebellum 2011, 10:334-350. 10.1007/s12311-010-0221-6.
101. Wang S.S.-H., Denk W., Häusser M. Coincidence detection in single dendritic spines mediated by calcium release. Nature Neuroscience 2000, 3(12):1266-1273.
102. Widrow B., Stearns S.D. Adaptive signal processing 1985, Prentice-Hall Inc., Engelwood Cliffs, NJ.
103. Wolpert D.M. Computational approaches to motor control. Trends in Cognitive Sciences 1997, 1(6):209-216.
104. Wolpert D.M., Ghahramani Z. Computational principles of movement neuroscience. Nature Neuroscience 2000, 3(Suppl.):1212-1217.
105. Wolpert D.M., Ghahramani Z., Jordan M.I. An internal model for sensorimotor integration. Science 1995, 269:1880-1882.
106. Wolpert D.M., Kawato M. Multiple paired forward and inverse models for motor control. Neural Networks 1998, 11(7-8):1317-1329. doi:S0893-6080(98)00066-5. [pii].
107. Wolpert D.M., Miall R.C., Kawato M. Internal models in the cerebellum. Trends in Cognitive Science 1998, 2(9):338-347.