Currently (2010) the Hartline-Ratliff model, of dynamics in the thousand-faceted retina of the horseshoe crab Limulus, presents the only example of a fully characterized and solved large neural network, in an actual living species, which yields accurate and insightful prediction of that network's response to fairly arbitrary stimuli. This is achieved with a combination of standard advanced methods of dynamical system analysis.
The Hartline-Ratliff model was influential over the time-span of its publication. It gave the neuroscience community a first demonstration of a neural subsystem actually transforming input through the interaction of excitatory and inhibitory effects. It also demonstrated the potential utility of applied mathematics in the area of neurophysiology.
The early history of this study is documented in the volume edited by Ratliff (1974). (Included is Hartline's summary Nobel Lecture of 1967.) At the start of the 1930s, the compound eye of Limulus was identified by Keffer Hartline as a particularly convenient model system for the study of visual neurophysiology. The earliest single-cell recordings from visual neurons were done in Limulus and reported by Hartline and Graham (1932). In the following years a quantitative picture of Limulus vision took form. In 1949 Hartline (1949) reported the presence of a lateral inhibitory interaction between nearby Limulus retinal neurons. By 1958, quantitative measurements had advanced to the point that Hartline and Ratliff (1958) were able to present a set of equations which summarized, in the steady state, the total effect of all lateral interactions upon the firing-rate output of every given facet of the eye.
The steady state
The mathematical analysis, in the steady state, of the Hartline-Ratliff model of the Limulus retina, gives clear guidance for the solution of the more challenging case of full dynamical response. We present this steady state analysis before returning to a brief discussion of that retina's physiology. If the visual neuron behind one facet (the <math>m^{th}</math>) fires at a rate <math>e_m</math> when it alone is illuminated, then the effect of illuminating further facets is to reduce its firing rate to
<math>\label{eq1}
r_{m} =e_{m} -\sum_{n}k_{mn} r_{n}
</math>
where the remaining <math>r_n</math> are the firing rates at the other facets and the constants <math>k_{mn}</math> we may reasonably call inhibitory interaction coefficients. The Equation \eqref{eq1} set has become known as the "Hartline-Ratliff equations".
These equations are manifestly linear, in terms of their inputs <math>e_m</math> and outputs <math>r_m\ ,</math> a striking feature which was experimentally confirmed in many ways prior to their publication. As a matter of mathematical convenience, an excellent approximation has proved to be the replacement of the discrete representation of \eqref{eq1} by a continuous one, in which a point located on the retina is indexed by a vector <math>\textbf{x}</math> in two dimensions:
The dependence of the inhibitory interaction <math>K</math> only upon the difference in location follows from the retina's invariant modular construction, and was experimentally verified by Barlow (1969), (see also Barlow (1967) (Thesis, 198 pages)) whose measurements also showed that it has the shape of a "volcano with a central crater, symmetric about any line through its center". A 3-dimensional perspective graph of <math>-K</math> is shown in Barlow (1969) Figure 4 on page 8, or Figure (3.6) of Barlow's thesis.
The inhibitory interactive kernel <math>K</math> in \eqref{eq2} acts upon its input <math>r</math> in exactly the same way as does the point-spread function which arises in the study of image processing. This suggests that we mimic the practice in image processing, and follow an analysis in terms of the corresponding "spatial modulation transfer function"
which is a sinusoidal wave with spatial modulation frequency <math>\left|{\textbf q}\right|/2\pi,</math> and if we guess that this input will lead to a proportional output
It is worth observing, at this point, that the specialization to a sinusoidal input at \eqref{eq4} reduced the problem to equations which, in form, no longer had an explicit spatial dependence and which were consequently tractable for solution at \eqref{eq6}. In that equation all the dependence on spatial structure resides in a single multiplicative factor whose value depends on the wavenumber parameter. Also note that \eqref{eq2} expresses inhibition of response at one point in terms of feedback from responses at other points. The manifestation of feedback as a denominator term in \eqref{eq8} is typical for problems of this nature.
Returning to the general case, by Fourier analysis any reasonably behaved input may be expressed as a sum of spatial frequency components
and because our system is linear and hence respects superposition, from \eqref{eq8} we can now explicitly write down the consequent response determined by \eqref{eq2} as
Thus the Fourier representation \eqref{eq9} of arbitrary input and the spatial modulation transfer function \eqref{eq3} enable us to solve the Hartline-Ratliff equations \eqref{eq2} for the steady-state output which is sculptured from arbitrary input by the inhibitory interactions.
The linear form of the Hartline-Ratliff equations \eqref{eq1} is definitely not a simple general consequence of the Limulus retina's underlying electrophysiology, which conforms to active-membrane nonlinear dynamical relationships as described by Hodgkin and Huxley. Rather it appears that nature has somehow overcome those nonlinearities, and has managed to craft a linear-responding device because the pressures of survival favored that outcome, presumably for reasons similar to those for the importance of linearity in the electronic reproduction of speech or music. This observation, together with the confirmed linearity of input-output in the steady state \eqref{eq1} suggests that we should also find linearity in the full dynamics of input-output.
Anatomy and electrophysiology
The anatomical layout of the Limulus retina neural network has been investigated in detail. Likewise the locations, where transductions are preformed on its sensory input, have been determined by electrophysiological measurements. If, in addition, we may assume that those transductions are linear, then we have in fact enough knowledge to first devise experiments which will quantify those transductions and second to furnish a fully solved mathematical model of this retina's input-output dynamics.
<figref>Horseshoe-crab-limulus-micrograph_v2.png</figref> is a micrograph, by William H. Miller, of a slice through the retina of the horseshoe crab, which has been silver-stained to reveal at the top the individual light-sensitive facets of the eye, below them some of the lateral nerve fibers which are responsible for inhibitory interactions between facets, and at the bottom optic nerve fibers on their way to the brain. Superimposed is a schematic representation of information flow. The function of the eye depends on 3 different sorts of information transducers. At the top in the box marked "1" the black object is a visual cell which contains, within an insulating membrane, biophysical machinery of molecular size which produces voltage in response to light. This signal proceeds downward within a nerve fiber (stained black in the figure), a narrow tube of electrically conducting fluid bounded by insulating membrane. It leads to the second transducer which is in the region marked "2". There the input voltage generates a train of nerve impulses which proceed (downward in the picture) along the optic nerve to the creature's brain. The rate of impulse generation at "2" is modulated by the level of voltage there.
The box marked "3" is a convergence point for lateral connections from other visual cells' impulse generators, and at "3" this merged impulse traffic modulates another (inhibitory) output voltage which likewise is fed into the impulse-train generator at "2".
Dynamic response
It is very natural and convenient to address the topic of linear temporal system response in a way that is very similar to what we have done above for linear spatial image processing, and in the present case where both arise together, we can address them together with a single mathematical machinery. A general signal which changes both in 2-dimensional space and in time always may be expressed (following what we did above) as a weighted superposition of sinusoidal plane-waves oscillating sinusoidally in time, which individually are of the form (by generalizing \eqref{eq4} and \eqref{eq5} derivations):
<math>\label{eq11}
S({\textbf x},t)=S_{\textbf{q}, \; \omega} \cdot \left(\left( \exp i{\textbf q} \cdot \textbf{x} \right) \left( \exp i \omega t \right) \right).
</math>
The coefficient <math>S_{\textbf{q}, \; \omega}</math> is a complex number which may be expressed in terms of an amplitude and a phase. The passage of such a signal, through a linear spatiotemporal transducer whose action is homogeneous over both space and time, will produce a sinusoidal output with altered amplitude and phase, but with the same spatial wave number <math>\textbf{q}</math> and temporal frequency <math>\omega</math> as were input. So for such a signal, analysis of its passage through linked spatiotemporal transducers may be reduced to the algebra of complex numbers.
As suggested by <figref>Horseshoe-crab-limulus-micrograph_v2.png</figref>, there is a whole armory of different experimental ways from which we may deduce these complex numbers by confronting our network with input signals which are sinusoidally modulated in time or in space or both. Box "1" we may drive with modulated light, and through a microelectrode, measure the amplitude and phase of the resulting modulated voltage response. Or at box "1" we can drive current through the microelectrode to force a known modulated voltage, and measure the resulting modulated firing-rate response of box "2". Or we can alternatively measure the responding modulation in the firing rate of box "2" when we induce backward-directed modulated firing in all the other optic nerve fibers, thereby forcing the modulated rate-to-voltage transduction in box "3".
Once experiments have verified that the input-output dynamics of this retina indeed respects linear superposition, we may proceed to assemble the pieces we have collected in the laboratory, and we may construct a complete dynamical model.
As shown in <figref>Horseshoe-crab-limulus-micrograph_v2.png</figref>, the Limulus eye may be regarded as a collection of three such homogeneous spatial and temporal signal transducers. To enable algebraic manipulation, in <figref>Hartline-Ratliff_model_figure2.png</figref> we assign letters to both the several transduced signals and to their spatial and temporal transducers. If the stimulating input light signal <math>I(\textbf{x},t)</math> is in the moving-wave form of \eqref{eq11}, then so will be its transduced voltage signal <math>v_{1}(\textbf{x},t)</math> from box "1", as will be the firing-rate induced feedback voltage signal <math>v_{3}(\textbf{x},t)</math> from box "3", and likewise the output rate signal <math>r(\textbf{x},t)\ .</math> Similarly to what occurred in the steady-state exercise above, with this particular choice of input all explicit dependence upon position and time is replaced by simply occurring coefficients which may, however, show complicated dependencies on the wavenumber <math>\textbf{q}</math> and on the frequency <math>\omega\ .</math>
In <figref>Hartline-Ratliff_model_figure2.png</figref>, boxes "1" and "3" of <figref>Horseshoe-crab-limulus-micrograph_v2.png</figref> are each replaced by two boxes which label the consecutive action of spatial followed by temporal transduction. Following the arrows in <figref>Hartline-Ratliff_model_figure2.png</figref>, the input signal <math>I</math> first encounters the Limulus eye's lens optics which somewhat blur it with a point-spread function whose corresponding spatial-modulation transfer function we call <math>\tilde{P}\left({\textbf q}\right)\ .</math> The signal then passes through the light-to-voltage "generator potential" transduction which multiplies it by the laboratory-measured <math>G(\omega)</math> (amplitude and phase) giving rise to the output voltage <math>v_{1}\ .</math> This in turn goes to the laboratory-measured (amplitude and phase) voltage-to-rate transduction <math>E(\omega)</math> (box "2") and thereafter the firing rate <math>r</math> is propagated down the optic nerve. But this rate signal also is spatially distributed, through collateral branches of the optic nerve-fiber to rate-to-voltage transduction points, with different weightings at different distances, which feature was analyzed above in the discussion of the steady state. The total, convergent at one point, is given as above by multiplying with the spatial-modulation transfer-function <math>-\tilde{K}(\textbf{q})\ .</math> (The negative sign here traces all way back to \eqref{eq1}, and recognizes the important feature that the lateral interaction is inhibitory.) This signal then passes through the rate-to-voltage transduction (amplitude and phase measured in the laboratory) which here we call <math>T_{L}(\omega)\ ,</math> giving rise to the box "3" output signal <math>v_{3}\ .</math>
Finally, the signal <math>v_3</math> is fed into the voltage to spike-rate transducer (box "2" with its transduction <math>E(\omega)</math>) where it acts additively with the signal <math>v_1\ .</math>
Working back from the optic nerve in <figref>Horseshoe-crab-limulus-micrograph_v2.png</figref> and <figref>Hartline-Ratliff_model_figure2.png</figref> we see that our quantitative model may be assembled from the following equations:
(The somewhat disorderly choice of symbols here has been done in an attempt to minimize notational departure from a large number of publications which were addressed, over a span of years, to different features of this program.)
Equations from \eqref{eq12} to \eqref{eq14} can be reduced to a single relationship between input <math>I</math> and output <math>r\ ,</math> by substituting the expressions for <math>v_1</math> and <math>v_3</math> into \eqref{eq12}:
r=\frac{E\left(\omega \right)G\left(\omega \right)\tilde{P}\left({\textbf q}\right)}{1+E\left(\omega \right)T_{L} \left(\omega \right)\tilde{K}\left({\textbf q}\right)} I.
</math>
Thus the spatiotemporal pattern of firing-rate <math>r</math> in the optic nerve may be derived from the oscillating plane-wave input image <math>I</math> by
<math>\label{eq18}
r=F\left({\textbf q},\omega \right)I
</math>
where the spatiotemporal transfer-function <math>F\left({\textbf q},\omega \right)\ ,</math> a complex number, is given explicitly (from laboratory measurements) by
(Again, the denominator which appears in \eqref{eq19} is the algebraic consequence of feedback from recurrent neuronal connections.)
We now observe (much as we did before in \eqref{eq9} above) that any reasonable spatiotemporal image <math>I\left({\textbf x},t\right)</math> may be Fourier-analyzed in the form
Knight, B.W., Jr. (1984) How Hamiltonian dynamical theory in the complex domain yields asymptotic solutions to the non-Hermitian integral equations of visual nerve-networks. In Mathematical Physics VII. Eds: Brittin, W.E.; Gustafson, K.; Wyss, W. p. 431-453. (online)
Knight, B.W. (2008) Some hidden physiology in naturalistic spike rasters. The faithful copy neuron. Brain Connectivity Workshop, Sydney. (online)