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Formation in Periodic Environments in

Isolated Neurons

K. Gopalsamy and Sariyasa

Abstract—The dynamical characteristics of a single isolated The purpose of this paper is to obtain sufficient conditions for

Hopfield-type neuron with dissipation and time-delayed self-inter- the existence (or encoding) of a globally attractive (heteroasso-

action under periodic stimuli are studied. Sufficient conditions for ciative recall) periodic solution (or a pattern) associated with a

the heteroassociative stable encoding of periodic external stimuli

are obtained. Both discrete and continuously distributed delays given periodic external stimulus. The neuronal parameters, dis-

are included. sipation and gain can either be temporally uniform or be peri-

odic with the same period as that of the stimulus. In particular we

Index Terms—Global attractivity, Hopfield-type neural net-

works, periodic environments, time delays. study the dynamics of a single artificial effective neuron model

in continuous time with time delays. The incorporation of delays

in the formulation is motivated by the following; delays are nat-

I. INTRODUCTION urally present biological networks through synaptic transmis-

sion, finite conduction velocity and neural processing of input

T HERE IS evidence from the experimental and theoretical

studies [21], [8] that a mammal’s brain may be exploiting

dynamic attractors for its encoding and subsequent associative

stimuli. We refer to the articles of Gopalsamy and He [10], [11]

and the references therein for literature related to the stability of

recall rather than temporally static (equilibrium-type) attractors neural networks with time delays in temporally uniform envi-

as it has been proposed in most studies of artificial neural ronments modeled by autonomous delay and integro-differen-

networks. Limit cycles, strange attractors and other dynamical tial equations.

phenomena have been used by many authors to represent en-

coded temporal patterns as associative memories [7], [22], [4], II. MODEL SPECIFICATION

[17], [14]. Most of the existing literature on theoretical studies We formulate a model of a single artificial effective neuron

of artificial neural networks is predominantly concerned with with dissipation and a processing delay subjected to an external

autonomous systems containing temporally uniform network temporally periodic stimulus. We want to obtain sufficient con-

parameters and external input stimuli. Literature dealing with ditions for the neuron to encode the stimulus in a temporally

time-varying stimuli or network parameters appears to be periodic pattern as the unique solution of a neuronic equation of

scarce; such studies are, however, important to understand the the Hopfield-type given by

dynamical characteristics of neuron behavior in time-varying

environments.

In this article, we study how a temporally varying, in partic-

(1)

ular a periodic environment, can influence the dynamics of a

single effective neuron of the Hopfield-type; in addition to the in which is a fixed real number; denotes the membrane

temporal variation of the input, we incorporate time delays in potential of the neuron modeled; , , denote contin-

the processing part of the neuron’s architecture. We consider uous real valued functions defined on and are peri-

discrete delays and delays distributed over a finite and infinite odic with period so that

interval. It will be found from the results of this article that while

the neural dissipation dominates the gain, time-delays do not re-

strict the associative recall of the encoded patterns. It has been

reported [5], [12], [6] that assemblies of cells in the visual cortex (2)

oscillate synchronously in response to external stimuli. Such a

The authors recognize the fact that it is unlikely for all of ,

synchrony is a manifestation of the encoding process of tempo-

, to have the same period . One of the possible cases

rally varying external stimuli.

that such an assumption includes is the following; the param-

eters and are temporally uniform while the stimulus

input is periodic. Our analysis includes this case. Alterna-

Manuscript receivedMarch 16, 1999; revised February 29, 2000. tively, the stimulus can be temporally uniform while

The authors are with the School of Informatics and Engineering, The or or both and can be periodic; our analysis in-

Flinders University of South Australia, Adelaide 5001, Australia (e-mail:

gopal@ist.flinders.edu.au). cludes this case also. A more general problem is concerned with

Publisher Item Identifier S 1045-9227(02)05005-1. the case where , and have integrally independent

1045-9227/02$17.00 © 2002 IEEE

552 IEEE TRANSACTIONS ON NEURAL NETWORKS, VOL. 13, NO. 3, MAY 2002

periods. The authors intend to pursue this problem in a subse- of this type does not preclude them from being temporally uni-

quent investigation; this general case needs different mathemat- form. We remark that when the external input is time-varying,

ical tools and such a system will lead to quasiperiodic or almost the neuron is operating in a time-dependent environment. For

periodic neural responses. In this article we consider the above example, when one is listening to a piece of music, the tem-

simpler case and establish that as a special case, if and poral tones of the music can give rise to varying conditions of the

are time invariant (constants) satisfying the required sufficient brain. In an effort to investigate the effects of such varying con-

conditions while the stimulus is periodic, the neuron response ditions, we can let the dissipation and gain parameters time-de-

will inherit the period of the stimulus; the primary motivation for pendent. There is another plausible reason for assuming that

this article has been the derivation of this result. The assumption and in (1) are time-varying. Ott et al. [18] have shown the-

of periodicity of and has been incorporated for gener- oretically that one can convert a chaotic attractor to one of pos-

ality of analysis only. It will follow from our analysis that the sible attracting time periodic motions by making time dependent

neuron response will inherit the period of any one of , perturbations of system parameters. Our primary motivation for

or when at least one of them is periodic or when two or all making and in (1) to be time dependent is one of gener-

of them are periodic with a common period. alization rather than specialization; all our results and analyzes

It is believed that a self-connection in a single neuron is un- are valid if and in (1) are temporally uniform.

likely to occur. While this is plausible, there are some circum- The nonnegative number in (1) denotes a neural processing

stances where self-interaction is possible as it is in the case of or synaptic transmission delay; several possible types of delays

single effective neuron (see, for instance, [20], [23]). We provide will be considered in this article. In (1), denotes a quan-

some details in brief for the convenience of the reader. Consider titative measure of the neuronal dissipation or a negative feed-

for instance the deterministic Hopfield model [15] back term; denotes the neuron gain and denotes the

external stimulus or input. We have assumed that the activation

or response of the neuron is given by the monotonic function

(3)

. Using (2) and the continuity of , , , we define ,

, , , , by the following:

Suppose that the neurons 2 and 3 relax to a steady state at a much

faster rate than neuron 1 in the sense that ,

and furthermore suppose that , ; we can then

suppose that

and

(6)

(4) that

By using the assumption that and are small, we have

and hence

(5)

(7)

The equations in (5) are linear in and and

can be solved in terms of ; these values can be substi- where denotes the upper right derivative. It follows

tuted in the first equation of (3) so as to eliminate the presence of from (7) that

and and this procedure will lead to an equa-

tion for the dynamics of a single neuron with a self-connection for (8)

term.

Similarly we have from (1)

We briefly address the question, why should one consider

time dependence in the coefficients and in (1)? We re-

mark that there is no a priori reason for time dependence in

and ; however effects of dynamical environments have been

(9)

investigated in areas other than neural networks, especially in

population dynamics where temporal variations of the environ- and hence

ment have been incorporated in the parameters of systems like

the Lotka–Volterra equation by assuming that the system param- for (10)

eters are time dependent, periodic or almost periodic. If a neuron

is operating under a periodic environment such as being excited The interval

or inhibited by periodic inputs, it is not unreasonable to assume

that the dissipation and gain are also periodic; an assumption

GOPALSAMY AND SARIYASA: TIME DELAYS AND STIMULUS DEPENDENT PATTERN FORMATION 553

is invariant with respect to (1) in the sense that if the initial value which itself is satisfied if

, belongs to the invariant interval,

then the corresponding solution belongs to the same in-

terval for . In the next section we obtain sufficient condi-

Note that these conditions are delay independent and show that

tions for the uniform stability of solutions of (1) in the following

if the dissipation dominates the gain then the coding of

sense (see [13]).

the input stimulus is delay independent. The authors’ prelimi-

Definition 2.1: A solution of (1) is said to be uniformly

nary results toward these are promising and will be elaborated

stable if for every there exists a such that

in a subsequent article.

for Proof: Let and denote any two solutions of (11)

for corresponding to the respective initial values and . We obtain

from

where denotes a solution of (1) satisfying

, .

In this section, we establish sufficient conditions for the as- with an application of the mean value theorem of differential

sociative encoding of a given external periodic stimulus in the calculus that

form of a periodic solution of the neuronic equation. We first

consider the uniform stability of solutions of equations of the

form

(14)

where lies between and . By using the

(11) positivity of , one can simplify (14) to the form

where , , are continuous real-valued and bounded

functions defined on ; denotes a nonnegative

constant. We assume that (11) is supplemented with an initial

(15)

condition of the form

We can rewrite (15) in the form

(12)

where denotes the space of all continuous real valued

functions defined on endowed with the supremum norm

with the implication

defined by

for

with such an an element of denoted by where

, for . The next result provides

sufficient conditions for the uniform stability of all solutions of

(11).

Theorem 3.1: Assume that the coefficients , and the

delay satisfy

(16)

(13)

We let

where

(17)

Then every solution of (11) and (12) is uniformly stable.

Before we proceed to the proof of the above result, some re-

marks regarding the implication of (13) are provided. We note

that the requirement (13) is only a sufficient condition and it (18)

appears that (13) is not a necessary condition. A very much im-

proved sufficient condition is the following: An application of Gronwall’s inequality in (18) leads to

(19)

554 IEEE TRANSACTIONS ON NEURAL NETWORKS, VOL. 13, NO. 3, MAY 2002

Now by using (13) in (19), we obtain Then has a fixed point such that .

Theorem 3.3: Assume that the neuron parameters ,

and the external stimulus are periodic in with period so

that

(20)

Let be a nonnegative real number such that . Suppose

Let be arbitrary. Choose a as follows: further that

(21) (29)

The uniform stability of an arbitrary solution, say , follows (30)

from (20) and (21) on using the hypothesis (13). This completes

the proof. Then (11) has a periodic solution of period which is a global

Corollary 3.2: If instead of (13) one assumes that attractor.

Proof: The global attractivity of a periodic solution of

(22) (11), if it exists, follows from Theorem 3.1. Hence we will

then prove only the existence of a periodic solution. Let and

denote the solutions of (11) corresponding to the initial

as (23) values and , respectively, satisfying

.

Proceeding as in the proof of Theorem 3.1, we obtain

Proof: Consider a Lyapunov functional of the

form

(31)

(24)

A direct calculation of the upper right derivative in (24) which implies that

along the solutions of (11) leads to

(25) (32)

obtain

(33)

(26)

(34)

From the boundedness of solutions (Section II) of (11), the

boundedness of the derivatives of solutions of (11) follows From (34), we derive

implying the uniform continuity of solutions of (11) on .

One can conclude from (26) that is bounded and nonnegative

for ; also (26) implies that

(27) (35)

By a lemma due to Barbalat (see [9]), we can conclude that (23) We define : and :

holds and the proof is complete. as follows:

We now proceed to prove the existence of a periodic solution

of (11). In our proof of the existence of a periodic solution of (36)

(11) we use a fixed point theorem due to [3] and our formulation

(37)

of this result is extracted from [1, p. 248].

Caristi’s Fixed Point Theorem: Let denote a complete As a consequence of (35)–(37)

metric space with a metric . Let : be a single

valued map and let : be a bounded lower semicon- (38)

tinuous function such that

It follows from (38) and Caristi’s fixed point theorem that :

for all (28) has a fixed point, say such that

GOPALSAMY AND SARIYASA: TIME DELAYS AND STIMULUS DEPENDENT PATTERN FORMATION 555

; these two solutions satisfy

then (39) has a globally attracting periodic solution of period .

Proof: The details of proof are analogous to those of

Theorems 3.1 and 3.3; we shall be brief. Let

and hence by the uniqueness of solutions of (11) we have and be any two solutions of (39) with initial

for all values , , respectively. We can then obtain from (39)

uniqueness and global attractivity of this periodic solution

follow from Theorem 3.1.

Time delays in the dynamics of neural networks need not nec-

essarily be discrete and temporally uniform as it has been pro-

posed in (11). It is quite plausible for the time delay in synaptic

transmission or processing to be continuously distributed over

a finite or infinite duration; the intensity of influence of the

delay-effects can vary over the length of the time delay and this

influence is usually modeled by a delay kernel. Accordingly we

consider a modification of (11) given by

(39)

form

(40)

uous and bounded functions defined on . The

delay kernel : is assumed to be contin-

uous. We assume that the state space of (39) is the space of

real-valued functions defined on which are continuous

and endowed with the supremum norm; in conventional nota-

tion this space is where (43)

and

(44)

The existence of a globally attracting periodic solution of (39) is

established in the following. We use the notation of the previous and hence

section in the following.

Theorem 4.1: Suppose , , are continuous and pe-

riodic with period ; we assume that in (39) and

(45)

(41)

Now by using (41) in (45)

(46)

556 IEEE TRANSACTIONS ON NEURAL NETWORKS, VOL. 13, NO. 3, MAY 2002

By assumption and hence we have from (46) Proof: Suppose is a periodic solution of period of

(48). Then

(47)

Theorem 3.3 and we omit these to avoid repetition. The

global attractivity of the periodic solution is a consequence of By the periodicity of and the uniform convergence in (51),

(45). we have

In the next result we consider the case of delays distributed

over an infinite (unbounded) interval characterized by

a delay kernel : satisfying certain con-

(53)

ditions to be specified. In particular we consider an equation of

implying that is a solution of (52). Now if is a periodic

the form

solution of period of (52), then one can reverse the above

sequence of steps and show that is also a periodic solution

of (48). We omit these details.

Lemma 4.3: If the delay kernel : sat-

(48) isfies (50) and (51) then

(54)

is bounded and continuous (49) in (51) and

. The delay kernel is assumed to satisfy the integra-

bility condition

(50)

of periodic solutions of (48).

Lemma 4.2: Assume that : is such

that the infinite series

(55)

converges uniformly in and we let

(51)

(56)

Then is a periodic solution of (48) if and only if is a

periodic solution of period of Then (52) has a periodic solution of period .

Proof: Let and be two

solutions of (52) corresponding to the initial values

(52)

GOPALSAMY AND SARIYASA: TIME DELAYS AND STIMULUS DEPENDENT PATTERN FORMATION 557

Proceeding as in the proof of Theorem 4.1, one can obtain The boundedness of solutions of (48) implies that of their

derivatives on and hence the solutions of (48) are

uniformly continuous on . By Barbalat’s lemma we can

conclude from (66) that

(57)

as (67)

We let Now if denotes a periodic solution and denotes any

(58) arbitrary solution, then (67) implies the global attractivity of

the periodic solution . The global attractivity of the periodic

solution also implies its uniqueness. The proof is complete.

and obtain from (55)–(58) that

(59) V. PERIODICALLY VARYING DELAYS

One can now proceed as in the proof of Theorem 4.1 and com- In this section we consider the dynamics of

plete the remaining details to establish the existence of a peri-

odic solution of (52). We omit further details.

Theorem 4.5: Assume that the hypotheses of Theorem 4.4 (68)

hold. Then (48) has a periodic solution which is globally where , , are as before continuous real-valued func-

attractive. tions defined on and are periodic with a common pe-

Proof: Let and denote any two solutions of (48). riod . The time delay is defined on and is

Then we have from (48) after an application of the mean value assumed to be continuous and periodic with period sat-

theorem of differential calculus and simplification isfying

as

(69)

(60)

The initial values associated with (68) are of the form

Let us consider a Lyapunov functional de-

fined by

where denotes the space of continuous real-valued

functions defined on endowed with the supremum

norm. In this section we establish the existence of a globally

(61) attractive periodic solution of (68). First we establish an

improved version of inequality due to [13].

From (55) we have Lemma 5.1: Let , and be positive numbers and let

be a nonnegative solution of

(62)

(70)

and hence from which it will follow that

If , then there exists a positive real number such that

(63) (71)

due to the boundedness of initial values and the solutions Note: The inequality established by Halanay [13] for (70) when

of (48) on . Calculating the upper right derivative is of the form

of along the solutions of (48) and by using

(60)

for some positive numbers and . We need detailed informa-

tion about the constant in our application.

(64) Proof: By assumption and we define as follows:

leading to (72)

Note that ; due to the continuity of , there

exists a positive number say satisfying

(65) (73)

It follows from (65) that Define by the following:

(66) (74)

558 IEEE TRANSACTIONS ON NEURAL NETWORKS, VOL. 13, NO. 3, MAY 2002

with an initial value from .

Theorem 5.2: Let , , and be continuous and

be periodic in with period ; suppose that

, ; let be differentiable satisfying

and

(75) as

Let for . If

Let be defined by

(76) (82)

show that

(83)

for (77)

then (68) has a globally attractive periodic solution of period .

It is true from the definition of that Proof: Let , denote two

solutions of (68) corresponding to the initial values

for , , . We derive from

(68)

If (77) is not valid, then there exists a such that

for

But we have from (75) and (78)

and leads to

(84)

We derive from (84) that

which is not possible. Hence (77) holds. Since is arbitrary,

we have from (76)

(85)

as for (79)

By a change of variable in the integral in (85) in the form

From the definition of and , we derive that , we obtain

(80)

and the proof is complete.

We note that if denotes a solution of (68) defined for

, then is also a solution of (68) defined for

due to the periodicity of , , and . Therefore in

order to prove the existence of a periodic solution of (68) it is

sufficient to prove the existence of a fixed point of a Poincare

map. Let denote a solution of (68) satisfying

the following:

(81) (86)

GOPALSAMY AND SARIYASA: TIME DELAYS AND STIMULUS DEPENDENT PATTERN FORMATION 559

sufficient conditions for the existence of periodic solution of

(87) period 7 are satisfied, in fact we have with , ,

,

Taking the supremum on both sides of (87) over the interval

, we obtain

and

(88)

By hypothesis and hence we have from (88) Numerical simulations of (93) are generated from the dis-

crete-time analogs of (93) in the form

(89)

orem 4.1 to show the existence of a satisfying

from which it will follow that

(68) has a periodic solution of period . The global attractivity (97)

of the periodic solution follows from Lemma 5.1. For instance

if is a periodic solution of (68) and is any arbitrary so-

where denotes the greatest integer contained in and de-

lution of (68), then we have from

notes a positive real number such that . In the discrete

form, (94)–(96) become

(90)

(98)

that

(99)

(100)

(91)

In Fig. 1 we demonstrate the periodic solution of (97) with

It follows from (82) that and hence we obtain by virtue , and initial value , .

of Lemma 5.1 Fig. 2 shows the solutions of (97) corresponding to two initial

values and , . As

in Fig. 1, we use and .

As another example, we choose the parameters and

(92)

to be constant and as in (100) with the delay .

for some positive number . The global attractivity of together

For instance, we have

with its uniform stability will follow from (92). This completes

the proof.

(101)

VI. NUMERICAL SIMULATIONS (102)

We consider (11) with the delay (103)

The neuron parameters and and the external stimulus eters and initial value , . Here we take

are, respectively, given by and .

We now consider (11) with a delay kernel as in (48)

(94)

(95)

(104)

560 IEEE TRANSACTIONS ON NEURAL NETWORKS, VOL. 13, NO. 3, MAY 2002

Fig. 1. Encoded pattern of period 7 (solid line) and the input stimulus f (t) of period 7 (dashed line).

Fig. 2. Two encoded patterns of period 7 corresponding to two initial values ' (s) (solid line) and ' (s) (circle) merge. The input stimulus f (t) of period 7 is

shown (dashed line).

in which , , are periodic with period . The equation (107) can be converted into a system of ordinary

The delay kernel is assumed to satisfy the integrability differential equations by introducing an auxiliary variable de-

condition fined by

(105) (108)

We assume the delay kernel are of the form It is found from (107) and (108) that and are governed by

(106)

(109)

Using this kernel, equation (104) can be written in the form

Runge–Kutta scheme. Assuming the neuron parameters

(107) as in (94)–(96) and the delay kernel as in (106) with , it is

GOPALSAMY AND SARIYASA: TIME DELAYS AND STIMULUS DEPENDENT PATTERN FORMATION 561

Fig. 3. Encoded pattern of period 7 (solid line) along with the input stimulus f (t) of period 7 (dashed line).

Fig. 4. Two encoded patterns x(t) of period 7 corresponding to two initial values x(0) = 2 (solid line) and x(0) = 01 (circle) along with the input stimulus

f (t) of period 7 (dashed line).

found that the integrability condition in (105) and the assump- Upon substituting the delay kernel given in (106), (110)

tions of Theorem 4.4 are satisfied. Two periodic solutions of becomes

period of (107) corresponding to and two initial

values and is illustrated in Fig. 4.

In the following we consider another form of (104) given by

(112)

We let

(110)

where , , are periodic with period and the

delay kernel satisfies the integrability condition

(111)

562 IEEE TRANSACTIONS ON NEURAL NETWORKS, VOL. 13, NO. 3, MAY 2002

Fig. 5. Two encoded patterns x(t) of period 7 corresponding to two initial values x(0) = 2 (solid line) and x(0) = 02 (circle) along with the input stimulus

f (t) of period 7 (dashed line).

(116)

and obtain the following system of differential equations: Thus the dissipativity assumption on guarantees the exis-

tence of a periodic solution given by (115) precluding any reso-

nance type behavior in the absence of self-connection. Nonres-

(113) onance is due to the dissipative nature of the system (114). If

is any other solution of (114) then we have

(117)

We again assume the neuron parameters as in (94)–(96) and the It is not difficult to see that (117) leads to

delay kernel as in (106) with , it is found that the integra-

bility condition in (111) and the assumptions of Theorem 4.4 are

satisfied. Fig. 5 displays two periodic solutions of period

of (112) corresponding to and two initial values

and . as

implying that the periodic solution is asymptotically stable.

VII. CONCLUDING REMARKS The dynamics of neural networks subjected to time varying

We note that if the recurrent stimulus in (1) is negligible or external stimuli have been considered by Rescigno et al. [19],

absent and if the dissipation rate has exactly the same pe- König and Schillen [16], Bondarenko [2]. In this article we have

riod as that of the input stimulus, our (1) reduces to the simpler obtained sufficient conditions for encoding of an external pe-

equation riodic stimulus by a single neuron-like processor having pro-

cessing delays of various types. The dynamics of neural net-

(114) works with two or more neurons with inhibitory and excitatory

connections with transmission delays and external periodic and

where

almost-periodic stimuli will be considered in the forthcoming

articles.

The linear equation (114) can be solved to obtain a periodic ACKNOWLEDGMENT

solution given by

The authors wish to thank the referees for their helpful com-

ments and suggestions.

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[10] K. Gopalsamy and X. Z. He, “Delay-independent stability in bidirec- matics and Engineering at the Flinders University of

tional associative memory networks,” IEEE Trans. Neural Networks, South Australia, Adelaide, Australia, where he is cur-

vol. 5, pp. 998–1002, 1994. rently a Professor of Mathematics. His research inter-

[11] , “Stability in asymmetric Hopfield nets with transmission delays,” ests include dynamical systems and delay differential

Phys. D, vol. 76, pp. 344–358, 1994. equations with applications to population dynamics

[12] C. M. Gray, P. König, A. K. Engel, and W. Singer, “Oscillatory responses and neural networks.

in cat visual cortex exhibit inter-columnar synchronization which re-

flects global stimulus properties,” Nature, vol. 338, pp. 334–337, 1989.

[13] A. Halanay, Differential Equations: Stability, Oscillations, Time Lags,

ser. Math. Sci. Eng.. New York: Academic, 1966, vol. 23.

[14] A. Hjelmfelt and J. Ross, “Pattern recognition, chaos, and multiplicity

in neural networks of excitable systems,” Proc. Nat. Academy Sci., vol. Sariyasa received the M.Sc. degree in mathematics

91, pp. 63–67, 1994. from the Flinders University of South Australia, Ade-

[15] J. J. Hopfield, “Neurons with graded response have collective computa- laide, Australia, in 1995, where he is currently pur-

tional properties like those of two-state neurons,” Proc. Nat. Academy suing the Ph.D. degree under the AusAID Program.

Sci., vol. 81, pp. 3088–3092, 1984. His research interests include dynamical systems

[16] P. König and T. B. Schillen, “Stimulus-dependent assembly formation of and their applications.

oscillatory responses: I. Synchronization,” Neural Comput., vol. 3, pp.

155–166, 1991.

[17] J. E. Moreira and D. M. Auto, “Intermittency in a neural network with

variable threshold,” Europhys. Lett., vol. 21, p. 639, March 1993.

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