Publications
pdf of this list
Neuroscience/robotics - books
  1. Living Machines: The first international conference on biomimetic and biohybrid systems (book)
    T. Prescott, N. Lepora A. Mura and P. Verschure
    Springer (London), 2012.
Neuroscience/robotics - refereed articles

2013
  1. The state of the art in biomimetics (preprint, paper)
    N. Lepora, P. Verschure and T. Prescott
    Bioinspiration and Biomimetics 8: 013001, 2013.

    Note: Featured article. Leading downloaded paper in journal this year.

  2. Active Bayesian perception for simultaneous object localization and identification
    N. Lepora, U. Martinez-Hernandez and T. Prescott
    Robotics: Science and Systems (RSS), 2013 (accepted; in press).

  3. A case for active Bayesian perception in robot touch
    N. Lepora, U. Martinez-Hernandez and T. Prescott
    Lecture Notes in Artificial Intelligence (Living Machines) 2013 (accepted, in press).

  4. Active touch for robust perception under position uncertainty (preprint)
    N. Lepora, U. Martinez-Hernandez and T. Prescott
    IEEE proceedings of ICRA, 2013.

  5. Active contour following to explore object shape (preprint)
    U. Martinez-Hernandez, T. Dodd, T. Prescott and N. Lepora
    IEEE World Haptics Conference, 2013.

  6. Intrinsically motivated action discovery: A biologically constrained formalisation (preprint, paper)
    K. Gurney, N. Lepora, A. Shah, A. Koene and P. Redgrave
    In: Intrinsically Motivated Learning in Natural and Artificial Systems (eds Baldassare, Mirolli), 2013.

  7. The effect of whisker movement on radial distance estimation: a case study in comparative robotics (paper)
    M. Evans, C. Fox, N. Lepora, M. Pearson, J. Sullivan and T. Prescott
    Frontiers in Neurorobotics 6: 12, 2013.

  8. Child robot using cerebellum-based adaptation for fine haptic control over the space of uncertain surfaces (preprint)
    H. Barron-Gonzalez, J. Porrill, N. Lepora, E. Chinellato, G. Metta and T. Prescott
    IEEE World Haptics Conference, 2013.
2012
  1. The basal ganglia optimize decision making over general perceptual hypotheses (preprint, paper)
    N. Lepora and K. Gurney
    Neural Computation 24 (11): 2924-2945, 2012.

  2. Optimal decision-making in mammals: insights from a robot study of rodent texture discrimination (preprint, paper)
    N. Lepora, C. Fox, M. Evans, M. Diamond, K. Gurney and T. Prescott
    Royal Society Interface 9 (72): 1517-1528, 2012.

    Media coverage:
    Robotic rat to the rescue, S. Williams, Science now, Jan 2012.
    Monkey-brained robot sees with whiskers, P. Manion, Futurity, Jan 2012.
    Whiskered robot used to model for monkey business, Machines like us.
    Robotic rat with a monkey's smarts to the rescue? J. Roach, NBC News.
    Robo Rat, J. Akst, The Scientist, April 2012.

  3. Efficient fitting of conductance-based model neurons from somatic current clamp (preprint, paper, supplementary, poster)
    N. Lepora, P. Overton and K. Gurney
    Journal of Computational Neuroscience 32(1): 1-24, 2012.

  4. Embodied hyperacuity from Bayesian perception: Shape and position discrimination with an iCub fingertip (preprint, paper)
    N. Lepora, U. Martinez-Hernandez, H. Barron-Gonzalez, M. Evans, G. Metta and T. Prescott
    IEEE proceedings of IROS, 4638-4643, 2012.

  5. Brain-inspired Bayesian perception for biomimetic robot touch (preprint, paper)
    N. Lepora, C. Sullivan, B. Mitchinson, M. Pearson, K. Gurney and T. Prescott
    IEEE proceedings of ICRA, 5111-5116, 2012.

  6. Tactile discrimination using active whisker sensors (paper)
    J. Sullivan, B. Mitchinson, M. Pearson, M. Evans, N. Lepora, C. Fox,
    C. Melhuish and T. Prescott
    IEEE Sensors 12(2): 350-362, 2012.

    Note: Robot featured on cover.

  7. Whiskered texture classification with uncertain pose geometry (preprint, paper)
    M. Evans, M. Pearson, N. Lepora, T. Prescott and C. Fox
    IEEE proceedings of IROS, 7-13, 2012.
2011
  1. A simple electrophysiological method for characterizing passive and active neuronal properties applied to striatal neurons (preprint, paper)
    N. Lepora, C. Blomeley, D. Hoyland, E. Bracci, P. Overton and K. Gurney
    European Journal of Neuroscience 34(9): 1390-1405, 2011.

  2. A general classifier of whisker data using stationary naive Bayes: Application to BIOTACT Robots (preprint, paper)
    N. Lepora, C. Fox, M. Evans, B. Mitchinson, A. Motiwala, J. Sullivan,
    M. Pearson, J. Welsby, T. Pipe, K. Gurney and T. Prescott
    Lecture Notes in Computer Science (TAROS), Vol 6856, 13-23, 2011.

  3. CrunchBot: A mobile whiskered robot platform (paper)
    C. Fox, M. Evans, N. Lepora, M. Pearson, A. Hamm and T. Prescott
    Lecture Notes in Computer Science (TAROS), Vol 6856, 102-113, 2011.

  4. Sensing with artificial tactile sensors: An investigation of spatio-temporal inference (paper)
    A. Motiwala, C. Fox, N. Lepora and Prescott
    Lecture Notes in Computer Science (TAROS), Vol 6856, 253-264, 2011.
2010
  1. Sensory prediction or motor control? Application of Marr-Albus type models of cerebellar function to classical conditioning (paper)
    N. Lepora, J. Porrill, C. Yeo and P. Dean
    Frontiers in Computational Neuroscience 4: 140, 2010.

  2. Naive Bayes novelty detection for a moving robot with whiskers (preprint, paper)
    N. Lepora, M. Pearson, B. Mitchinson, M. Evans, C. Fox, T. Pipe,
    K. Gurney and T. Prescott
    IEEE Proceedings of ROBIO, 131-136, 2010.

  3. Naive Bayes texture classification applied to whisker data from a moving robot (preprint, paper)
    N. Lepora, M. Evans, C. Fox, M. Diamond, K. Gurney and T. Prescott
    IEEE Proceedings of IJCNN, 1-8, 2010.

  4. Nonlinear dynamic modelling of isometric force production in primate eye muscle (paper)
    S. Anderson, N. Lepora, J. Porrill and P. Dean
    IEEE Transactions in Biomedical Engineering 57 (7): 1554-1567, 2010.

  5. Whisker-object contact speed affects radial distance estimation (preprint, paper)
    M. Evans, C. Fox, M. Pearson, N. Lepora and T. Prescott
    IEEE Proceedings of ROBIO, 720-725, 2010.
2009
  1. Recruitment in retractor bulbi muscle during eyeblink conditioning: EMG analysis and common-drive model (preprint, paper)
    N. Lepora, J. Porrill, L. C. Evinger, C. Yeo and P. Dean.
    Journal of Neurophysiology 102(4): 2498-2513, 2009.

  2. Capturing dopaminergic modulation and bimodal membrane behaviour of striatal medium spiny neurons in accurate, reduced models (paper)
    M. Humphries, N. Lepora, R. Wood and K. Gurney.
    Frontiers in Computational Neuroscience 3: 26, 2009.
2007
  1. Evidence from retractor bulbi EMG for linearised control of conditioned nictitating membrane responses (preprint, paper)
    N. Lepora, E. Mavritsaki, J. Porrill, L. C. Evinger, C. Yeo and P. Dean.
    Journal of Neurophysiology 98(4): 2074-2088, 2007.

  2. Response linearity determined by recruitment strategy in detailed model of nictitating membrane control (preprint, paper)
    E. Mavritsaki, N. Lepora, J. Porrill, L. C. Evinger, C. Yeo and P. Dean.
    Biological Cybernetics 96(1): 397-357, 2007.
Neuroscience/robotics - conference abstracts
  1. A roadmap for Living Machines
    N. Lepora, P. Verschure and T. Prescott
    Lecture Notes in Artificial Intelligence (Living Machines) 2013.

  2. Embodied hyperacuity for robot touch (preprint)
    N. Lepora, U. Martinez-Hernandez, M. Evans, L. Natale, G. Metta and T. Prescott
    ICRA workshop on tactile sensing, 2013.

  3. The state of the art in biomimetics
    N. Lepora, P. Verschure and T. Prescott
    Lecture Notes in Artificial Intelligence (Living Machines) 2012.

  4. Texture classification through tactile sensing
    U. Martinez-Hernandez, H. Barron-Gonzalez, M. Evans, N. Lepora, T. Dodd and T. Prescott
    Lecture Notes in Artificial Intelligence (Living Machines) 2012.

  5. Towards a framework for tactile perception in social robotics
    H. Barron-Gonzalez, N. Lepora, U. Martinez-Hernandez, M. Evans and T. Prescott
    Lecture Notes in Artificial Intelligence (Living Machines) 2012.

  6. Efficient current-based optimisation methods for parameter estimation in multi-compartmental neurons (abstract, poster)
    N. Lepora, P. Overton and K. Gurney,
    BMC Neuroscience 10, (Suppl 1), P347, 2009.

  7. Reduced models of striatal neurons: dopamine modulation and dynamics (abstract)
    M. Humphries, N. Lepora, R. Wood and K. Gurney.
    BMC Neuroscience, 10 (Suppl 1), P321, 2009.

  8. Integrated data collection and automated parameter estimation in the construction of conductance-based models of neostriatal neurons
    D. Hoyland, N. Lepora, R. Wood, P. Overton and K. Gurney,
    Soc. Neurosci. Abstracts 34:694.4, 2008.

  9. Contingency learning by an adaptive filter model of cerebellum in simulated eyeblink conditioning (abstract, poster)
    N. Lepora, J. Porrill, C. Yeo and P. Dean,
    Soc. Neurosci. Abstracts 33:636.11, 2007.

  10. A computational model of adaptive blink modification by the cerebellum (abstract, poster)
    P. Dean, J. Porrill, C. Yeo and N. Lepora (presenting author)
    Soc. Neurosci. Abstracts 33:190.7, 2007.

  11. Simple recruitment model describes control of conditioned nictitating membrane responses by retractor bulbi muscle (abstract, poster)
    N. Lepora, J. Porrill, P. Dean, C. Yeo and L. C. Evinger,
    Soc. Neurosci. Abstracts 32:345.16, 2006.

  12. Evidence for linearity in control of nictitating membrane by retractor bulbi motor units (abstract, poster)
    N. Lepora, E. Mavritsaki, J. Porrill, P. Dean, C. Yeo and L. C. Evinger,
    Soc. Neurosci. Abstracts 31:869.3, 2005.
Theoretical physics - journal publications
  1. Asymptotically embedded defects (preprint, paper)
    Nathan F. Lepora. Phys. Lett. B541:362-368, 2002.

  2. Some problems with calculating the quantum corrections to the 't Hooft-Polyakov monopole (preprint, paper)
    Nathan F. Lepora. Phys. Lett. B536:338-343, 2002.

  3. Some simpler analogues of the dual standard model and their relations to Bais' generalization of the Montenon-Olive conjecture (preprint, paper)
    Nathan F. Lepora. Phys. Lett. B524:383-388, 2002.

  4. Embedded monopoles (preprint, paper)
    Nathan F. Lepora. Phys. Lett. B533:131-137, 2002.

  5. Gauge interactions in the dual standard model (preprint, paper)
    Nathan F. Lepora. JHEP 0002:037, 2000.

  6. Gauge unification in the dual standard model (preprint, paper)
    Nathan F. Lepora. JHEP 0002:036, 2000.

  7. Vacuum geometry (preprint, paper)
    Nathan F. Lepora. JHEP 9911:034, 1999.

  8. Electroweak vacuum geometry (preprint, paper)
    Nathan F. Lepora and T.W.B. Kibble. JHEP 9904:027, 1999.

  9. Classifying vortex solutions to gauge theories (preprint, paper)
    Nathan F. Lepora and T.W.B. Kibble. Phys. Rev. D59:125019, 1999.

  10. Examples of embedded defects (in particle physics and condensed matter) (preprint, paper)
    Nathan F. Lepora and A.C. Davis. Phys. Rev. D58:125028, 1998.

  11. Embedded vortices (preprint, paper)
    Nathan F. Lepora and A.C. Davis. Phys. Rev. D58:125027, 1998.

  12. Embedded defects and symmetry breaking in flipped-SU(5) (preprint, paper)
    A.C. Davis and Nathan F. Lepora. Phys. Rev. D52:7265, 1995.