40,188 research outputs found
Exploring haptic interfacing with a mobile robot without visual feedback
Search and rescue scenarios are often complicated by low or no visibility conditions. The lack of visual feedback hampers orientation and causes significant stress for human rescue workers. The Guardians project [1] pioneered a group of autonomous mobile robots assisting a human rescue worker operating within close range. Trials were held with fire fighters of South Yorkshire Fire and Rescue. It became clear that the subjects by no means were prepared to give up their procedural routine and the feel of security they provide: they simply ignored instructions that contradicted their routines
Event tracking for real-time unaware sensitivity analysis (EventTracker)
This is the author's accepted manuscript. The final published article is available from the link below. Copyright @ 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.This paper introduces a platform for online Sensitivity Analysis (SA) that is applicable in large scale real-time data acquisition (DAQ) systems. Here we use the term real-time in the context of a system that has to respond to externally generated input stimuli within a finite and specified period. Complex industrial systems such as manufacturing, healthcare, transport, and finance require high quality information on which to base timely responses to events occurring in their volatile environments. The motivation for the proposed EventTracker platform is the assumption that modern industrial systems are able to capture data in real-time and have the necessary technological flexibility to adjust to changing system requirements. The flexibility to adapt can only be assured if data is succinctly interpreted and translated into corrective actions in a timely manner. An important factor that facilitates data interpretation and information modelling is an appreciation of the affect system inputs have on each output at the time of occurrence. Many existing sensitivity analysis methods appear to hamper efficient and timely analysis due to a reliance on historical data, or sluggishness in providing a timely solution that would be of use in real-time applications. This inefficiency is further compounded by computational limitations and the complexity of some existing models. In dealing with real-time event driven systems, the underpinning logic of the proposed method is based on the assumption that in the vast majority of cases changes in input variables will trigger events. Every single or combination of events could subsequently result in a change to the system state. The proposed event tracking sensitivity analysis method describes variables and the system state as a collection of events. The higher the numeric occurrence of an input variable at the trigger level during an event monitoring interval, the greater is its impact on the final analysis of the system state. Experiments were designed to compare the proposed event tracking sensitivity analysis method with a comparable method (that of Entropy). An improvement of 10% in computational efficiency without loss in accuracy was observed. The comparison also showed that the time taken to perform the sensitivity analysis was 0.5% of that required when using the comparable Entropy based method.EPSR
Practical Hidden Voice Attacks against Speech and Speaker Recognition Systems
Voice Processing Systems (VPSes), now widely deployed, have been made
significantly more accurate through the application of recent advances in
machine learning. However, adversarial machine learning has similarly advanced
and has been used to demonstrate that VPSes are vulnerable to the injection of
hidden commands - audio obscured by noise that is correctly recognized by a VPS
but not by human beings. Such attacks, though, are often highly dependent on
white-box knowledge of a specific machine learning model and limited to
specific microphones and speakers, making their use across different acoustic
hardware platforms (and thus their practicality) limited. In this paper, we
break these dependencies and make hidden command attacks more practical through
model-agnostic (blackbox) attacks, which exploit knowledge of the signal
processing algorithms commonly used by VPSes to generate the data fed into
machine learning systems. Specifically, we exploit the fact that multiple
source audio samples have similar feature vectors when transformed by acoustic
feature extraction algorithms (e.g., FFTs). We develop four classes of
perturbations that create unintelligible audio and test them against 12 machine
learning models, including 7 proprietary models (e.g., Google Speech API, Bing
Speech API, IBM Speech API, Azure Speaker API, etc), and demonstrate successful
attacks against all targets. Moreover, we successfully use our maliciously
generated audio samples in multiple hardware configurations, demonstrating
effectiveness across both models and real systems. In so doing, we demonstrate
that domain-specific knowledge of audio signal processing represents a
practical means of generating successful hidden voice command attacks
Action and behavior: a free-energy formulation
We have previously tried to explain perceptual inference and learning under a free-energy principle that pursues Helmholtz’s agenda to understand the brain in terms of energy minimization. It is fairly easy to show that making inferences about the causes of sensory data can be cast as the minimization of a free-energy bound on the likelihood of sensory inputs, given an internal model of how they were caused. In this article, we consider what would happen if the data themselves were sampled to minimize this bound. It transpires that the ensuing active sampling or inference is mandated by ergodic arguments based on the very existence of adaptive agents. Furthermore, it accounts for many aspects of motor behavior; from retinal stabilization to goal-seeking. In particular, it suggests that motor control can be understood as fulfilling prior expectations about proprioceptive sensations. This formulation can explain why adaptive behavior emerges in biological agents and suggests a simple alternative to optimal control theory. We illustrate these points using simulations of oculomotor control and then apply to same principles to cued and goal-directed movements. In short, the free-energy formulation may provide an alternative perspective on the motor control that places it in an intimate relationship with perception
On the emergence and evolution of artificial cell signaling networks
This PhD project is concerned with the evolution of Cell
Signaling Networks (CSNs) in silico. CSNs are complex biochemical networks responsible for the coordination of cellular activities. We are investigating the possibility to build an evolutionary simulation platform that would allow the spontaneous emergence and evolution of Artificial Cell Signaling Networks (ACSNs). From a practical point of view, realizing and evolving ACSNs may provide novel computational paradigms for a variety of application areas. This work may also contribute to the biological understanding of the origins and evolution of real CSNs
Learning with Delayed Synaptic Plasticity
The plasticity property of biological neural networks allows them to perform
learning and optimize their behavior by changing their configuration. Inspired
by biology, plasticity can be modeled in artificial neural networks by using
Hebbian learning rules, i.e. rules that update synapses based on the neuron
activations and reinforcement signals. However, the distal reward problem
arises when the reinforcement signals are not available immediately after each
network output to associate the neuron activations that contributed to
receiving the reinforcement signal. In this work, we extend Hebbian plasticity
rules to allow learning in distal reward cases. We propose the use of neuron
activation traces (NATs) to provide additional data storage in each synapse to
keep track of the activation of the neurons. Delayed reinforcement signals are
provided after each episode relative to the networks' performance during the
previous episode. We employ genetic algorithms to evolve delayed synaptic
plasticity (DSP) rules and perform synaptic updates based on NATs and delayed
reinforcement signals. We compare DSP with an analogous hill climbing algorithm
that does not incorporate domain knowledge introduced with the NATs, and show
that the synaptic updates performed by the DSP rules demonstrate more effective
training performance relative to the HC algorithm.Comment: GECCO201
The application of parameter sensitivity analysis methods to inverse simulation models
Knowledge of the sensitivity of inverse solutions to variation of parameters of a model can be very useful in making engineering design decisions. This paper describes how parameter sensitivity analysis can be carried out for
inverse simulations generated through approximate transfer function inversion methods and also by the use of feedback principles. Emphasis is placed on the use of sensitivity models and the paper includes examples and a case study involving a model of an underwater vehicle. It is shown that the use of sensitivity models can provide physical understanding of inverse simulation solutions that is not directly available using parameter sensitivity analysis methods that involve parameter perturbations and response
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Introduction of variability in pantograph-catenary dynamic simulations
Currently, pantograph-catenary dynamic simulations codes are mainly based on deterministic approaches. However, the contact force between catenary and pantograph depends on many key parameters that are not always quantified precisely. To get a better chance of addressing extreme or combinations of critical conditions, methodologies to consider variability are thus necessary. Aerodynamic forces and geometrical irregularities of catenaries are thought to be significant sources of variability in measurement and this paper proposes methods to take them into account. Results are compared with measurements to see the importance of the considered parameters with respect to global variability observed in measurements
Visual attention deficits in schizophrenia can arise from inhibitory dysfunction in thalamus or cortex
Schizophrenia is associated with diverse cognitive deficits, including disorders of attention-related oculomotor behavior. At the structural level, schizophrenia is associated with abnormal inhibitory control in the circuit linking cortex and thalamus. We developed a spiking neural network model that demonstrates how dysfunctional inhibition can degrade attentive gaze control. Our model revealed that perturbations of two functionally distinct classes of cortical inhibitory neurons, or of the inhibitory thalamic reticular nucleus, disrupted processing vital for sustained attention to a stimulus, leading to distractibility. Because perturbation at each circuit node led to comparable but qualitatively distinct disruptions in attentive tracking or fixation, our findings support the search for new eye movement metrics that may index distinct underlying neural defects. Moreover, because the cortico-thalamic circuit is a common motif across sensory, association, and motor systems, the model and extensions can be broadly applied to study normal function and the neural bases of other cognitive deficits in schizophrenia.R01 MH057414 - NIMH NIH HHS; R01 MH101209 - NIMH NIH HHS; R01 NS024760 - NINDS NIH HHSPublished versio
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