Mark E. Nelson

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This paper describes a six-legged robot based on the features of an agile insect, the American cockroach, Periplaneta americana. The robot is designed with insect-like leg structure and placement, and actuators that mimic muscles. A test leg is also described that shows how sensory feedback can serve as the basis of the control system for the robot in order(More)
A simple model of spike generation is described that gives rise to negative correlations in the interspike interval (ISI) sequence and leads to long-term spike train regularization. This regularization can be seen by examining the variance of the kth-order interval distribution for large k (the times between spike i and spike i + k). The variance is much(More)
Animals respond to changes in their environment based on the information encoded in neu-ronal spike activity. One key issue is to determine how quickly and reliably the system can detect that a behaviorally relevant change has taken place. What are the neural mechanisms and computational principles that allow fast, reliable detection of changes in spike(More)
We study the encoding of weak signals in spike trains with interspike interval (ISI) correlations and the signals' subsequent detection in sensory neurons. Motivated by the observation of negative ISI correlations in auditory and electrosensory afferents, we assess the theoretical performance limits of an individual detector neuron receiving a weak signal(More)
The detection of weak sensory signals is an important aspect of neuronal information processing. Behaviorally relevant signals are often encoded as perturbations of ongoing spiking activity in primary aaerents. Here, we show that a biologically plausible model, the leaky integrate-and-ÿre (LIAF) neuron, is capable of eecient and reliable detection of a(More)
We present a new hypothesis that the cerebellum plays a key role in actively controlling the acquisition of sensory infonnation by the nervous system. In this paper we explore this idea by examining the function of a simple cerebellar-related behavior, the vestibula-ocular reflex or VOR, in which eye movements are generated to minimize image slip on the(More)