The nervous system is fundamentally a closed loop control device: the output of actions continually influences the internal state and subsequent actions. This is true at the single cell and even the molecular level, where “actions” take the form of signals that are fed back to achieve a variety of functions, including homeostasis, excitability and various kinds of multistability that allow switching and storage of memory. It is also true at the behavioural level, where an animal’s motor actions directly influence sensory input on short timescales, and higher level information about goals and intended actions are continually updated on the basis of current and past actions. Studying the brain in a closed loop setting requires a multidisciplinary approach, leveraging engineering and theory as well as advances in measuring and manipulating the nervous system. I will describe our recent attempts to achieve this fusion of approaches at multiple levels in the nervous system, from synaptic signalling to closed loop brain machine interfaces.

Humans and other animals can estimate rapidly the number of items in a scene, flashes or tones in a sequence and motor actions. Adaptation techniques provide clear evidence in humans for the existence of specialized numerosity mechanisms that make up the numbersense. This sense of number is truly general, encoding the numerosity of both spatial arrays and sequential sets, in vision and audition, and interacting strongly with action. The adaptation (cross-sensory and cross-format) acts on sensory mechanisms rather than decisional processes, pointing to a truly general sense.

Animals control motor actions at multiple timescales. We use larval zebrafish and advanced optical microscopy to understand the underlying neural mechanisms. First, we examined the mechanisms of short-term motor learning by using whole-brain neural activity imaging. We found that the 5-HT system integrates the sensory outcome of actions and determines future motor patterns. Second, we established a method for recording spiking activity and membrane potential from a population of neurons during behavior. We identified putative motor command signals and internal copy signals that encode millisecond-scale details of the swimming dynamics. These results demonstrate that zebrafish provide a holistic and mechanistic understanding of the neural basis of motor control in vertebrate brains.