Towards a Mirror System for the Development of Socially-Mediated Skills

We present a system that attempts to model the functional role of mirror neurons, namely the activation of structures in response to both the observation of a demonstrated task, and its generation. Through social situatedness and a set of innate skills, perceptual and motor structures develop for recognition and reproduction of demonstrated actions. We believe this is an implementation towards a mirror system, and we test it on two platforms, one in simulation involving imitation of object interactions, the second on a physical robot learning from a human to follow walls

From voice to knowledge: A proposal for a voice annotation system to support collaborative engineering design processes

This paper describes a novel voice interaction mechanism for capturing and managing design knowledge within a collaborative Computer-Aided Design (CAD) environment. We present a software module for speech recognition that integrates with a CAD application to allow the automatic creation of textual annotations in a 3D model directly from voice data. Audio is transcribed automatically, resulting in a textual note that is searchable and available to other users via a Product Data Management (PDM) system, providing an intuitive mechanism to document modeling processes and design knowledge. The system consists of three functional blocks: (1) audio recording, (2) speech recognition, and (3) query management against a cloud-based service. In this paper, we justify the need for our system from a human-computer interaction standpoint and discuss the rationale of its design and implementation in the context of collaborative design communication. Finally, we discuss some application spaces that demonstrate the capability of voice annotations for capturing knowledge

Towards a Mathematical Theory of Cortical Micro-circuits

The theoretical setting of hierarchical Bayesian inference is gaining acceptance as a framework for understanding cortical computation. In this paper, we describe how Bayesian belief propagation in a spatio-temporal hierarchical model, called Hierarchical Temporal Memory (HTM), can lead to a mathematical model for cortical circuits. An HTM node is abstracted using a coincidence detector and a mixture of Markov chains. Bayesian belief propagation equations for such an HTM node define a set of functional constraints for a neuronal implementation. Anatomical data provide a contrasting set of organizational constraints. The combination of these two constraints suggests a theoretically derived interpretation for many anatomical and physiological features and predicts several others. We describe the pattern recognition capabilities of HTM networks and demonstrate the application of the derived circuits for modeling the subjective contour effect. We also discuss how the theory and the circuit can be extended to explain cortical features that are not explained by the current model and describe testable predictions that can be derived from the model

Hardware neuromorphic learning systems utilizing memristive devices

As the efficiency of neuromorphic systems improves, biologically-inspired learning techniques are becoming more and more appealing for various computing applications, ranging from pattern and character recognition to general purpose reconfigurable logic. Due to their functional similarities to synapses in the brain, memristors are becoming a key element in the hardware realization of perceptron-based learning systems. By pairing memristive devices with a perceptron-based neuron model, previous work has shown that an efficient and low area neural logic block (NLB) can be developed. However, the use of a simple threshold activation function has limited the set of learnable functions for a single block, resulting in the need for multiple layers to implement certain functions. This complicates the training process, decreases the scalability of the system, and increases the overall energy and delay of large networks. In this work, three novel NLB designs are presented that overcome the limitations of previous hardware NLBs. First, an Adaptive Neural Logic Block (ANLB) and Robust Adaptive Neural Logic Block (RANLB) are proposed. By integrating an adaptive activation function into a perceptron model, these designs are capable of rapidly learning any function in a single layer. Next, a Multi Threshold Neural Logic Block (MTNLB) is proposed in which a static activation function is used to obtain the same functionality with minimal overhead. Using a Verilog-AMS model of a physical memristor, the proposed NLBs are applied to implement both reconfigurable logic and an Optical Character Recognition (OCR) system. When considering the MTNLB as a building block for ISCAS-85 benchmark circuits, it provides EDP improvements of over 90 percent over a standard LUT implementation on all benchmark circuits and up to a 99 percent improvement over a threshold NLB implementation. As a compromise, the ANLB and RANLB provide less of an EDP improvement in a static system, but achieve faster training convergence times for all functions. To show how the proposed design can simplify an OCR application, a simple 8x8 digit recognition system is developed. Using only four 16-input NLBs for each digit, the system is able to develop a model of each digit in only 90 us and correctly classify the majority of test images

Perspective: How to overcome dynamical density functional theory

We argue in favour of developing a comprehensive dynamical theory for rationalizing, predicting, designing, and machine learning nonequilibrium phenomena that occur in soft matter. To give guidance for navigating the theoretical and practical challenges that lie ahead, we discuss and exemplify the limitations of dynamical density functional theory. Instead of the implied adiabatic sequence of equilibrium states that this approach provides as a makeshift for the true time evolution, we posit that the pending theoretical tasks lie in developing a systematic understanding of the dynamical functional relationships that govern the genuine nonequilibrium physics. While static density functional theory gives a comprehensive account of the equilibrium properties of many-body systems, we argue that power functional theory is the only present contender to shed similar insights into nonequilibrium dynamics, including the recognition and implementation of exact sum rules that result from the Noether theorem. As~a~demonstration of the power functional point of view, we consider an idealized steady sedimentation flow of the three-dimensional Lennard-Jones fluid and machine-learn the kinematic map from the mean motion to the internal force field. The trained model is capable of both predicting and designing the steady state dynamics universally for various target density modulations. This demonstrates the significant potential of using such techniques in nonequilibrium many-body physics and overcomes both the conceptual constraints of dynamical density functional theory as well as the limited availability of its analytical functional approximations.Comment: 21 pages, 5 figure

A Biologically Motivated Software Retina for Robotic Sensors for ARM-Based Mobile Platform Technology

A key issue in designing robotics systems is the cost of an integrated camera sensor that meets the bandwidth/processing requirement for many advanced robotics applications, especially lightweight robotics applications, such as visual surveillance or SLAM in autonomous aerial vehicles. There is currently much work going on to adapt smartphones to provide complete robot vision systems, as the smartphone is so exquisitely integrated by having camera(s), inertial sensing, sound I/O and excellent wireless connectivity. Mass market production makes this a very low-cost platform and manufacturers from quadrotor drone suppliers to children’s toys, such as the Meccanoid robot [5], employ a smartphone to provide a vision system/control system [7,8]. Accordingly, many research groups are attempting to optimise image analysis, computer vision and machine learning libraries for the smartphone platform. However current approaches to robot vision remain highly demanding for mobile processors such as the ARM, and while a number of algorithms have been developed, these are very stripped down, i.e. highly compromised in function or performance. For example, the semi-dense visual odometry implementation of [1] operates on images of only 320x240pixels. In our research we have been developing biologically motivated foveated vision algorithms based on a model of the mammalian retina [2], potentially 100 times more efficient than their conventional counterparts. Accordingly, vision systems based on the foveated architectures found in mammals have also the potential to reduce bandwidth and processing requirements by about x100 - it has been estimated that our brains would weigh ~60Kg if we were to process all our visual input at uniform high resolution. We have reported a foveated visual architecture [2,3,4] that implements a functional model of the retina-visual cortex to produce feature vectors that can be matched/classified using conventional methods, or indeed could be adapted to employ Deep Convolutional Neural Nets for the classification/interpretation stage. Given the above processing/bandwidth limitations, a viable way forward would be to perform off-line learning and implement the forward recognition path on the mobile platform, returning simple object labels, or sparse hierarchical feature symbols, and gaze control commands to the host robot vision system and controller. We are now at the early stages of investigating how best to port our foveated architecture onto an ARM-based smartphone platform. To achieve the required levels of performance we propose to port and optimise our retina model to the mobile ARM processor architecture in conjunction with their integrated GPUs. We will then be in the position to provide a foveated smart vision system on a smartphone with the advantage of processing speed gains and bandwidth optimisations. Our approach will be to develop efficient parallelising compilers and perhaps propose new processor architectural features to support this approach to computer vision, e.g. efficient processing of hexagonally sampled foveated images. Our current goal is to have a foveated system running in real-time on at least a 1080p input video stream to serve as a front-end robot sensor for tasks such as general purpose object recognition and reliable dense SLAM using a commercial off-the-shelf smartphone. Initially this system would communicate a symbol stream to conventional hardware performing back-end visual classification/interpretation, although simple object detection and recognition tasks should be possible on-board the device. We propose that, as in Nature, foveated vision is the key to achieving the necessary data reduction to be able to implement complete visual recognition and learning processes on the smartphone itself

Login Authentication with Facial Gesture Recognition

Facial recognition has proven to be very useful and versatile, from Facebook photo tagging and Snapchat filters to modeling fluid dynamics and designing for augmented reality. However, facial recognition has only been used for user login services in conjunction with expensive and restrictive hardware technologies, such as in smart phone devices like the iPhone x. This project aims to apply machine learning techniques to reliably distinguish user accounts with only common cameras to make facial recognition logins more accessible to website and software developers. To show the feasibility of this idea, we created a web API that recognizes a users face to log them in to their account, and we will create a simple website to test the reliability of our system. In this paper, we discuss our database-centric architecture model, use cases and activity diagrams, technologies we used for the website, API, and machine learning algorithms. We also provide the screenshots of our system, the user manual, and our future plan