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J. theor. Biol. (1998) 195, 87–95 Article No. jt980782 Firing Frequency of Leaky Integrate-and-fire Neurons with Synaptic Current Dynamics N B*‡ S S† * LPS, Ecole Normale Supérieure, 24 rue Lhomond, 75231 Paris Cedex 05, France and † Dipartimento di Fisica, Università di Firenze Largo E. Fermi 3, 50100 Firenze, Italy (Received on 2 October 1997, Accepted in revised form 8 July 1998) We consider a model of an integrate-and-fire neuron with synaptic current dynamics, in which the synaptic time constant t' is much smaller than the membrane time constant t. We calculate analytically the firing frequency of such a neuron for inputs described by a random Gaussian process. We find that the first order correction to the frequency due to t' is proportional to the square root of the ratio between these time constants, zt'/t. This implies that the correction is important even when the synaptic time constant is small compared with that of the potential. The frequency of a neuron with t' q 0 can be reduced to that of the basic IF neuron (corresponding to t' = 0) using an ‘‘effective’’ threshold which has a linear dependence on zt'/t. Numerical simulations show a very good agreement with the analytical result, and permit an extrapolation of the ‘‘effective’’ threshold to higher orders in zt'/t. The obtained frequency agrees with simulation data for a wide range of parameters. 7 1998 Academic Press 1. Introduction A basic problem in modeling the stochastic spiking activity of a neuron is, given the statistics of the input, to determine the statistics of its output. This problem has proven difficult even for simple input statistics and simple models such as the leaky integrate-and-fire (IF) neuron (Knight, 1972). The IF neuron is essentially a capacitor charged by the spikes arriving on the dendrite and has no intrinsic spiking dynamics. The distribution of emitted inter spike intervals (ISI) has often been studied in the framework of the diffusion approximation, which consists in approximating the input of the neuron by a Gaussian stochastic process (see e.g. Tuckwell, ‡ Author to whom correspondence should be addressed. 0022–5193/98/021087 + 09 $30.00/0 1988). A relatively simple expression can be obtained for the mean frequency of such a neuron as a function of the statistics (mean and variance) of its input (Ricciardi, 1977; Amit & Tsodyks, 1991). It can in turn be used in models of networks of IF neurons to obtain a self-consistent theory which gives the firing rates in the stable stationary states of such networks (Amit & Brunel, 1997a,b). The distribution of ISIs for the simple IF neuron with a periodic input has also recently been considered by Bulsara et al. (1996) who studied stochastic resonance phenomena in such a model. Once a simple model like the basic leaky IF neuron is well understood, it is also important to determine how incorporating more realistic features modifies its properties. For example, the basic IF neuron has no synaptic current 7 1998 Academic Press . . 88 dynamics; this results in an excitatory postsynaptic potential (EPSP) rising instantaneously to its peak value when a spike is received at the synapse, in contrast with real synapses, whose EPSPs have a finite rise time. Such EPSPs can be modelled using a first order differential equation for the synaptic current (see e.g. Frolov & Medvedev 1986). Such current dynamics introduces temporal correlations in the synaptic current which are not present in the simple leaky IF neuron. In this approach, the stochastic dynamics of the neuron is described by two coupled equations for the membrane potential and the synaptic current, respectively. The goal of this paper is to understand how the introduction of such synaptic current dynamics modifies the firing properties of the neuron, when the diffusion input is first filtered by the synapses on an independent time scale. In this problem the relevant parameter is the square root k of the ratio between the time constants of the synaptic current and the potential. The average ISI is calculated analytically to first-order in k. This calculation suggests that a neuron with a finite synaptic time constant can be reduced to an effective IF neuron without synaptic current dynamics (k = 0), but with an ‘‘effective’’ threshold which has a linear dependence on k. We have performed extensive simulations in a wide range of parameters, for which we have confirmed that the diffusion approximation is valid (large number of arriving spikes per integration time constant, EPSPs small compared with threshold). Simulation results can be fitted by a quadratic polynomial in k for the effective threshold when the mean synaptic input drives the neuron below threshold. The linear term in the extrapolation is in good agreement with the analytical calculation. The numerical extrapolation of the effective threshold given by this fitting procedure yields a resulting average ISI consistent with simulation data in a wide range of k, for 0 Q k Q 1. 2. The Model We study a leaky integrate-and-fire (IF) neuron (see e.g. Knight, 1972; Ricciardi, 1977; 2.1. Tuckwell, 1988), characterized by its depolarization at the soma V(t), which obeys the integrator equation tV (t) = −V(t) + tI(t) (1) where t is the integration time of the membrane depolarization at the spike emitting part of the soma and I(t) is the synaptic current charging that part of the membrane. When the depolarization reaches the threshold u the neuron emits a spike, and the potential is reset to a value H, after an absolute refractory period t0 . The effective afferent current I(t), due to the temporal variation of the synaptic conductances provoked by afferent spikes charging the spike-emitting integrator in eqn (1), obeys the equation: 2.2. N t'I (t) = −I(t) + s Ji s d(tik − t) i=1 (2) k The sum over i is over the synaptic sites on the dendrites, while the sum over k is over all spikes arriving at a given site, and tik is the time of arrival of spike number k at synapse i. t' is the time constant of the conductance changes at the synaptic sites (see e.g. Frolov & Medvedev, 1986; Amit & Tsodyks, 1991). Ji is the efficacy of synapse i, and N is the number of afferent synapses. In the following, for simplicity, we set Ji = J for all i. A single spike arriving at a resting neuron at time t = 0 (V(t = 0) = 0) provokes an EPSP of the form V(t) = J $ 0 1 0 1% t t t exp − − exp − t − t' t t' U(t) if t $ t', or 0 1 t t V(t) = J exp − U(t) t t if t = t'. In both equations U is the Heaviside function, U(x) = 1 for x q 0 and 0 otherwise. Some EPSPs are shown in Fig. 1 for J = 0.1 mV, t = 10 ms, and three different values of t' = 0, 5, -- in which j is a Gaussian white noise with zero mean and unit variance, Qj(t)j(t ') q = d(t − t '). We perform a change of variables 0.12 0.10 V(t) (mV) 89 0.08 I = m̃ + 0.06 s̃ z2t ' z and V = tm̃ + X t s̃x, 2 to obtain dimensionless variables x and z. With these new variables the system of eqns (1,2) becomes 0.04 0.02 x z xt = − + t ztt' 0.00 0 10 20 30 40 t (ms) F. 1. Single EPSP for J = 0.1 mV, t = 10 ms, and three different values of t' = 0, (—), 5 ms (– – –) and 10 ms (- - -). 10 ms. The EPSP amplitude (the value of the potential at its maximum) decreases when t' increases, but the integrate EPSP (the area under the curve) is independent of t'. We suppose that the spike train received by the neuron is a Poisson process with rate Nn, where n is the rate of activation of an individual synapse and N is the number of synapses. If n is low, but in an interval t the number of arriving spikes is high due to the large number of input channels N (i.e. Nn1), and if the individual synaptic efficacies are small compared with threshold (i.e. Ju), we can use a diffusion approximation (e.g. Tuckwell, 1988), which consists in approximating the Poisson process corresponding to the input spike train, 2.3. z zt = − + t' The threshold u and the reset potential H, in these new variables, are u = m = m̃t = NJnt, by a diffusion process with the same mean and variance as the Poisson process S. The two first moments of S are QS(t) q = JnN 0 m̃ QS(t)S(t ') q c = J 2nNd(t − t ') 0 s̃2d(t − t ') Thus we rewrite S as S(t) = m̃ + s̃j(t) H = H−m z2 s s = s̃zt = JzNnt In this way we have extracted the dependencies on t' and t from the stationary distribution of z, which is now a Gaussian distribution with zero mean and unit variance. The characteristic time-scales of the system are t' and t. Our purpose is to study the behaviour of the system for small values of t'/t. We rescale time t : tt, and define k = zt'/t. Equations (1,2) become N k u−m z2, s where S(t) = s Ji s d(tik − t), i=1 X 2 j(t) t' z xt = −x + . k (3) z z2 zt = − 2 + j(t). k k (4) The correlation function of the current is: 0 1 =t= k2 lim Q z(t)z(t + t) q = exp − t:a The variable z has a correlation time k 2. On time-scales much longer than k2 the current may be considered as Gaussian white noise. To understand the effect of the current dynamics, we consider two stochastic processes corresponding to two neurons, one with k = 0 and the other . . 90 with k q 0. The potential of the first neuron, x0 , is described by t = 0, i.e. a Gaussian distribution with mean zero and unit variance. Thus xt = −x + z2j(t) p(x, z,0) = d(x − H ) The second, xk , follows eqns (4, 3), in which we use the same white noise j(t) as for x0 . To investigate the effect of k q 0 we consider the square root of the mean quadratic difference between these two processes z2p z2 e− 2 (6) The Fokker–Planck equation, eqn (5) may be written in the form of the continuity equation (see e.g. Risken, 1984) k2 D(t) = z(xk (t) − x0 (t))2 , 1p 1Jz 1Jx + + =0 1t 1z 1x where the probability currents Jx and Jz are defined by and find D(t) = kzz(0)2(e−2t − e−2t/k ) + 1 − e−2t/k 2 2 Jx = kzp − k 2xp, + O(k2 ) This means that the same stochastic white noise input will typically yield a difference in the potentials of these two neurons of order k. Thus we anticipate the effect of synaptic current dynamics to be of order k. 3. Analytical Results: First-order Correction to the First Passage Time Our aim is to study the average time needed for a neuron whose potential is initially at H, due to the post-spike reset, to emit its first spike, i.e. the average time for the potential to escape the interval ] − a, u]. We define p(x, z, t) as the probability density that at time t the neuron has depolarization x and current z, and has not yet crossed the spiking threshold by time t. This density obeys the Fokker–Planck equation associated to the system of stochastic eqns (3, 4) k2 1 0 1 1p 12p 1zp 1xp 1p = − kz + + k2 1t 1z2 1x 1x 1z (5) At t = 0, the potential of the neuron starts again to integrate its input after the absolute refractory period. Thus the potential is at reset potential x = H . The distribution of the current when a spike is emitted is conditioned by the fact that the current has driven the potential above threshold. If t' is smaller than the refractory period, however, the distribution of the current will come back to its stationary distribution at 0 Jz = − zp + 1p 1z 1 The dynamics of the neuron is restricted to the half plane x E u. The neuron can escape from the half plane only on the line x = u, and by definition it is only possible to cross this line from below. This means that the probability current should vanish at z = 2a and x = −a, while it should be positive at x = u. The conditions on J at z = 2a and x = −a correspond to the following conditions on p: lim xp(x, z, t) = 0, x:−a lim zp(x, z, t) = 0, z:2a and lim z:2a 1p(x, z, t) = 0. 1z The last condition on J is specific to this problem: Jx (x = u , z, t) = k(z − ku )p(x = u , z, t) e 0. This condition requests that p(u , z, t) = 0 (an absorbing boundary condition) for z E ku . It means that we have no chance of finding the neuron with a current z smaller than ku at the boundary x = u , because that would mean the potential of the neuron was above threshold immediately before. The fact that we need to solve a problem in which the boundary condition is assigned only on a half line complicates the solution of the Fokker–Planck equation. This boundary condition is represented in the x − z plane in Fig. 2. -- 91 in which ueff is an ‘‘effective’’ threshold z ueff = u − z k F. 2. The half-plane boundary condition: p(x, z, t) has to be zero on the bold line, x = u, z Q ku . We turn now to the mean first passage time T. Since the potential of the neuron can escape from the interval ] − a, u], but it is not possible to return to this interval, the probability that the potential has not reached threshold in the whole interval [0, t] is equal to the probability it is below threshold at time t. Thus the probability that the first passage time T is larger than t is g g u a dx −a dzp(x, z, t). (7) −a P(t) obeys the time boundary conditions P(0) = 1 lim P(t) = 0. and t:+a We have been able to calculate the mean first passage time using an expansion in k. The idea and a few details of the calculation can be found in the Appendix. For more details, see (Brunel & Sergi, in prep). We obtain, to the first order in k = zt'/t T = tzp g u − m/s c(w) dw H − m/s X 01 −t 0 1 t' 1 zp u−m z c t 2 z2 s (8) where c(w) = exp(w 2 )[erf(w) + 1] (9) and z is the Riemann zeta function (see e.g. Abramovitz & Stegun, 1964). Note that this equation is identical to the first order development in zt'/t of the function T = tzp g ueff − m/s H − m/s c(w) dw X t' t' s = u + 1.03 s 2t t Integrating G with respect to z gives the probability density n(x) of the potential. Developing n(x) near x = u gives: x Pr(T e t) 0 P(t) = 0 1X 1 2 (10) n(x) = g0 (x) − z 01 −x + u 1 ke 2 2 −x + u + 1.46k 2 2 2 This means that the density is not zero at x = u , but rather at x = u + 1.46k. Thus a neuron with a small k q 0 has the same behaviour as a neuron with k = 0 with a renormalized, or ‘‘effective’’ threshold ueff . Note that this corrective term of order k is in agreement with the qualitative discussion of the end of Section 2. This suggests that a practical solution to investigating higher order terms in k is to find the effective threshold taking into account higher order terms in k that gives the right mean first passage time. This is done in the next section, using numerical simulations both to check the first order term and to obtain an extrapolation to higher orders. 4. Simulations Numerical simulations were performed to check the validity of eqns (8, 10). First, the validity of the diffusion approximation was checked with t' = 0. A Poisson spike train with frequency nin was generated as an input to the IF neuron. The threshold was set to u = 1, the reset potential to H = 0, and the synaptic efficacy to J = 0.01. The output frequency was estimated by dividing the total number of emitted spikes by the duration of the simulation. The simulation was composed of 10 different runs of duration 1000s each, with t = 10ms. Thus during each run the neuron received about 108 spikes. In this way we obtained, for each nin an average frequency nout and a corresponding standard error. The resulting output frequency was compared with eqn (8), for t' = 0, m = Jnin t and s = Jznin t. The result shown in Fig. 3 indicates that for this value of J the diffusion approximation is a very good approximation to . . 92 to fit the data in the whole interval 0 Q k Q 1 by nout = 1/T(k) where 0.35 0.30 0.25 T(k) = tzp 0.20 g ueff − m/s c(w) dw + c (11) out H − m/s 0.15 in which the ‘‘effective’’ threshold is 0.10 ueff = u + s(ak + bk2 ) 0.05 with fitting parameters a, b and c, a and b signal linear and quadratic deviations from the standard IF transfer function due to synaptic current dynamics. In some cases, the finite value of J causes a significant deviation from the diffusion approximation. This deviation was signalled by a significant non-zero value of c. When such a value was met, the corresponding parameter set (a, b) was rejected for further consideration (this was the case for low input and output frequencies, i.e. nin t = 85). The insertion of a cubic term in the limits of the interval did not improve significantly the quality of the fit, and the value of the coefficient of the cubic term was not significantly different from zero. We thus limited ourselves to the quadratic expression. The results of the fitting procedure are shown in Table 1. In all cases the value of a obtained numerically is consistent with the analytical estimate a 0 1.03. In the other hand the value of b depends on nin . The values of b are a function of u = (u − m)/s, i.e. 0.00 70 75 80 85 90 95 100 in F. 3. Testing the theory for the diffusion approximation, eqn (8), for t' = 0 ms. (—) eqn (8); (r): simulation results. Both input and output frequencies have been multiplied by t so that they represent average numbers of either received or emitted spikes per integration time constant. For t = 10 ms, the corresponding numbers have to be multiplied by 100 to obtain frequencies in Hz. Thus the output frequency range is 0–35 Hz. Note that the errorbars are smaller than the diamonds. a Poisson input. The advantage of using a Poisson input in the simulation is that it avoids the difficulties of simulating a continuous Gaussian process. We then simulated an IF neuron with finite synaptic time constant t'. The simulation was performed essentially in the same manner, integrating the equations for both potential and current between two successive input spikes. The output frequency was again estimated dividing the total number of emitted spikes by the duration of the simulation. We made four series of simulations, for nin t = 85, 90, 95, 100. All series correspond to an average synaptic input depolarizing the neuron below threshold. In the case nin t = 100 the average input is exactly equal to the threshold. We indeed expect changes due to a finite t' to be the most important in this region, where firing is purely driven by the fluctuations in the input. For each value of nin , we performed simulations for different values of k = zt'/t, 0 Q k Q 1. The simulations were again composed of 10 different runs of duration 1000s each, with t = 10ms. In this way we obtained, for each nin , an average frequency nout (k) and a corresponding standard error. Then, using eqn (10) as a guideline we tried (12) b = b0 + b1 u with b0 0 − 0.35 and b1 0 0.27. Figure 4 compares the results of numerical simulations for different values of nin as well as the theoretical results obtained using eqns (11,12), with the parameters obtained with the fit, i.e. a = 1.03, b0 = −0.35, b1 = 0.27. This figure shows that using an effective threshold T 1 Table of fitted coefficients for each value of nin used in the simulation nin u a b 90 95 100 1.05 0.51 0.00 1.00 2 0.01 1.04 2 0.01 1.03 2 0.01 −0.04 2 0.01 −0.19 2 0.01 −0.35 2 0.01 -- 0.35 0.30 in = 100 in = 95 in = 90 0.25 out 0.20 0.15 0.10 0.05 in = 85 0.00 0.0 0.2 0.4 0.6 0.8 1.0 '/ F. 4. Comparison of simulation results (symbols), with eqn (11) (– – –) in which the effective threshold is given by eqn (12), with parameters a = 1.03, b = −0.34 + 0.29u and c = 0, in the regime below threshold. Input rates are indicated next to the corresponding curves. Frequency units as in Fig. 3. Standard errors are smaller than the size of symbols. which is quadratic in k in the usual IF transfer function yields a good agreement with simulation data up to k = 1. On the other hand, trying a fit of the type T(k) = tzp g u − m/s c(w) dw + ak + bk2 + g H − m/s gives very poor results in the same interval. Thus eqn (10) seems to take into account higher order terms in the development in k in such a way as to give a good approximation to the numerical results. These simulations show that the use of the IF transfer function with an effective threshold which is polynomial in k succeeds in reproducing simulation results up to k = 1. Note that if we limit ourselves to the (exact) first order correction to the first passage time, the agreement holds in a much smaller region, for t' smaller than about 0.1t. 5. Discussion Using a combination of analytical and numerical techniques we have found an expression for the frequency of an IF neuron with finite synaptic current time constants, for inputs 93 described by a random Gaussian process. The expression is exact to first order in zt'/t, and is in very good agreement with simulations in the whole range 0 Q t' Q t. We restricted t' Q t since the time constant of conductance changes is typically shorter than the membrane time constant (see e.g. Douglas et al., 1991; Mason et al., 1991; Tsodyks & Markram, 1997). The dependence of the firing frequency on the synaptic time constant t' could be in principle obtained in single neuron recordings in in vitro slice preparations. Whittington et al. have manipulated pharmacologically the decay time constant of inhibitory post-synaptic currents (IPSCs) in a slice preparation of the rat hippocampus using either pentobarbital (Whittington et al., 1995) or thiopental (Traub et al., 1996). The firing frequency at different values of IPSC time constants could then be obtained by intracellular recording of single neurons in slice preparations, while an arbitrary spike train is injected to the cell. This is in principle feasible using current techniques (see e.g. Tsodyks & Markram, 1997). The transfer function determined in the present paper could be used in a self-consistent theory of a recurrent neural network (Amit & Brunel, 1997a,b). It would be interesting in particular to investigate how the synaptic properties modify the collective properties of these networks (stability conditions of a low activity spontaneous state, firing frequencies in ‘‘memory states’’, etc. . . .). Furthermore, the time constant of conductance changes is thought to play a fundamental role in dynamical phenomena underlying collective oscillations and synchronization in such networks. We hope the present study could be a first step to understanding the influence of these time constants on such properties. Last, we suggest such a mixture of analytical and numerical techniques could be useful to study more complex neuronal models, including, for example, nonlinearities in the subthreshold dynamics of the membrane potential. We thank Daniel Amit for his encouragement and many comments on the manuscript, Fabio Martinelli for useful discussions, and Sid Wiener for a careful reading of the manuscript. . . 94 REFERENCES A, M. & S, I. (1964). Handbook of Mathematical Functions. Washington, DC: National Bureau of Standards A, D. J. & B, N. (1997a). Model of global spontaneous activity and local structured activity during delay periods in the cerebral cortex. Cerebral Cortex 7, 237. A, D. J. & B, N. (1997b). Dynamics of a recurrent network of spiking neurons before and following learning. Network 8, 373. A, D. J. & T, M. V. (1991). Quantitative study of attractor neural networks retrieving at low spike rates. Networks 3, 121. B, R. & P, V. (1983). Half-range completeness for the Fokker–Planck equation. J. Stat. Phys. 32, 565. B, A. R., E, T. C., D, C. R., L, S. B. & L, K. (1996). Cooperative behaviour in periodically driven noisy integrate-and-fire models of neuronal dynamics. Phys. Rev. E 53, 3958–3969. D, R. 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Nature 373, 612. passage time QT q writing QT q = − g +a t 0 1P(t) dt = 1t g g g a = as a function of p u dz −a P(t) dt 0 a dx −a g +a dtp(x, z, t). 0 We may recast the mean exit time problem as a stationary problem by defining G(x, z) = g a p(x, z, t) dt. 0 Integrating eqn (5) with respect to time between 0 and +a, and using the time boundary condition eqn (6) yields −k d(x − H ) = −z2 1 2 z2p 0 e 2 1 12G 1zG 1xG 1G − kz . + + k2 1z 2 1x 1x 1z (A.1) The boundary conditions on G are identical to those on p since G is simply the integral of p over time. Once G is known, the mean first passage time is simply given by the integral of G over the whole half-plane x Q u . Our strategy is to develop the solution of eqn (A.1) in powers if k = zt'/t. We look for a solution in the form G = Gl + G b, where Gl is the solution of the problem without the boundary condition at x = u , and Gb is the solution different from zero in a narrow interval close to x = u . We then choose the sum of these two solutions that matches the prescribed boundary condition in x = u . In the following, G l will be called ‘‘free solution’’ while G b will be called ‘‘boundary solution’’. In the following only the main steps of the calculation of both solutions are presented. The details can be found in (Brunel & Sergi, in prep.). Free Solution We look for a solution as a power series in k, APPENDIX From the relation Pr(t Q T Q t + dt) = −(1P/1t) dt, we can express the mean first Gl = 1 z2p a s k rfr (x, z); r=0 (A.2) -- we find: −z2 f0 (x, z) = g0 (x)e ; 2 0 f1 (x, z) = g1 (x) − z 1 1g0 (x) −z e2. 1x 2 The functions g0 , g1 satisfying the boundary condition at x = −a are g0 (x) = exp + c0 exp −x 2 2 −x 2 2 g u U(y − H )exp x and y2 dy 2 g1 (x) = c1 exp −x 2 2 (A.3) where c0 , c1 will be determined by the half line boundary condition. Boundary Solution We look now for a solution which is non-zero in an area whose width is of order k near threshold. The natural change of variable is r= x − u , k s = z − ku . This corresponds to concentrating in a stripe of width k close to the line x = u , and to translate the point (u , ku ) to the origin of the new coordinate system. We choose to concentrate on a region of width of order k because, as we have discussed at the end of Section 2, the effect of the current dynamics on the potential is of order k. We are looking for a solution which is equal to 95 zero for r : −a, and such that the sum of the free and the boundary solutions locally satisfies the boundary condition. In this coordinate system the reset potential H : −a as k : 0, since u − H k; this allows us to discard the l.h.s. of eqn (A.1). The calculation of the first orders in k of this solution is more involved and is presented elsewhere (Brunel & Sergi, in prep.). It uses recently developed half-range expansion techniques (Beals & Protopopescu, 1983; Hagan et al., 1989). Once the boundary solution is obtained, the sum of the free and the boundary solutions is required to vanish on the half line x = u , z Q ku in order to satisfy the boundary condition at orders 0 and 1 in k. The result is G(x, s) = G0 (x, s) + kG1 (x, s) + O(k2 ) G0 (x, s) = G1 (x, s) = z2p 1 z2p g s2 −x2 1 s2 e− 2 e 2 u y2 U(y − H )e 2 dy x 0 01 e− 2 − z 1 −x + u 1g (x) e 2 −s 0 2 1x 2 2 1 in which z is the Riemann zeta function (see e.g. Abramovitz & Stegun, 1964). The mean first passage time is the integral of G(x, s) over the half plane QT q = g g u +a dx −a dsG(x, s) −a and after some straightforward algebra we obtain, to the first order in k = zt'/t, eqn (8).