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.

The pupil provides a rich, non-invasive measure of the neural bases of perception and cognition, and has been of particular value in uncovering the role of arousal-linked neuromodulation, which alters cortical processing as well as pupil size. But pupil size is subject to a multitude of influences, which complicates unique interpretation. We measured pupils of observers experiencing perceptual multistability -- an ever-changing subjective percept in the face of unchanging but inconclusive sensory input. In separate conditions the endogenously generated perceptual changes were either task-relevant or not, allowing a separation between perception-related and task-related pupil signals. Perceptual changes were marked by a complex pupil response that could be decomposed into two components: a dilation tied to task execution and plausibly indicative of an arousal-linked noradrenaline surge, and an overlapping constriction tied to the perceptual transient and plausibly a marker of altered visual cortical representation. Constriction, but not dilation, amplitude systematically depended on the time interval between perceptual changes, possibly providing an overt index of neural adaptation. These results show that the pupil provides a simultaneous reading on interacting but dissociable neural processes during perceptual multistability, and suggest that arousal-linked neuromodulation shapes action but not perception in these circumstances. This presentation covers work that was published in e-life

Threshold-linear networks (TLNs) display a wide variety of nonlinear dynamics including multistability, limit cycles, quasiperiodic attractors, and chaos. Over the past few years, we have developed a detailed mathematical theory relating stable and unstable fixed points of TLNs to graph-theoretic properties of the underlying network. In particular, we have discovered that a special type of unstable fixed points, corresponding to "core motifs," are predictive of dynamic attractors. Recently, we have used these ideas to classify dynamic attractors in a two-parameter family of inhibition-dominated TLNs spanning all 9608 directed graphs of size n=5. Remarkably, we find a striking modularity in the dynamic attractors, with identical or near-identical attractors arising in networks that are otherwise dynamically inequivalent. This suggests that, just as one can store multiple static patterns as stable fixed points in a Hopfield model, a variety of dynamic attractors can also be embedded in a TLN in a modular fashion.

Multistable structures can reversibly change between multiple stable configurations when a sufficient energetic input is provided. While originally the field focused on understanding what governs the snapping, more recently it has been shown that these systems also provide a powerful platform to design a wide range of smart structures. In this talk, I will first show that pressure-deployable origami structures characterized by two stable configurations provide opportunities for a new generation of large-scale inflatable structures that lock in place after deployment and provide a robust enclosure through their rigid faces. Then, I will demonstrate that the propagation of transition waves in a bistable one-dimensional linkage can be exploited as a robust mechanism to realize structures that can be quickly deployed. Finally, while in the first two examples multistability is harnessed to realize deployable architectures, I will demonstrate that bistable building blocks can also be exploited to design crawling and jumping robots. Unlike previously proposed robots that require complex input control of multiple actuators, a simple, slow input signal suffices to make our system move, as all features required for locomotion are embedded into the architecture of the building blocks.