A Self-Organizing Neural Model of Motor Equivalent Reaching and Tool Use by a Multijoint Arm

This paper describes a self-organizing neural model for eye-hand coordination. Called the DIRECT model, it embodies a solution of the classical motor equivalence problem. Motor equivalence computations allow humans and other animals to flexibly employ an arm with more degrees of freedom than the space in which it moves to carry out spatially defined tasks under conditions that may require novel joint configurations. During a motor babbling phase, the model endogenously generates movement commands that activate the correlated visual, spatial, and motor information that are used to learn its internal coordinate transformations. After learning occurs, the model is capable of controlling reaching movements of the arm to prescribed spatial targets using many different combinations of joints. When allowed visual feedback, the model can automatically perform, without additional learning, reaches with tools of variable lengths, with clamped joints, with distortions of visual input by a prism, and with unexpected perturbations. These compensatory computations occur within a single accurate reaching movement. No corrective movements are needed. Blind reaches using internal feedback have also been simulated. The model achieves its competence by transforming visual information about target position and end effector position in 3-D space into a body-centered spatial representation of the direction in 3-D space that the end effector must move to contact the target. The spatial direction vector is adaptively transformed into a motor direction vector, which represents the joint rotations that move the end effector in the desired spatial direction from the present arm configuration. Properties of the model are compared with psychophysical data on human reaching movements, neurophysiological data on the tuning curves of neurons in the monkey motor cortex, and alternative models of movement control.National Science Foundation (IRI 90-24877); Office of Naval Research (N00014-92-J-1309); Air Force Office of Scientific Research (F49620-92-J-0499); National Science Foundation (IRI 90-24877

Role of homeostasis in learning sparse representations

Neurons in the input layer of primary visual cortex in primates develop edge-like receptive fields. One approach to understanding the emergence of this response is to state that neural activity has to efficiently represent sensory data with respect to the statistics of natural scenes. Furthermore, it is believed that such an efficient coding is achieved using a competition across neurons so as to generate a sparse representation, that is, where a relatively small number of neurons are simultaneously active. Indeed, different models of sparse coding, coupled with Hebbian learning and homeostasis, have been proposed that successfully match the observed emergent response. However, the specific role of homeostasis in learning such sparse representations is still largely unknown. By quantitatively assessing the efficiency of the neural representation during learning, we derive a cooperative homeostasis mechanism that optimally tunes the competition between neurons within the sparse coding algorithm. We apply this homeostasis while learning small patches taken from natural images and compare its efficiency with state-of-the-art algorithms. Results show that while different sparse coding algorithms give similar coding results, the homeostasis provides an optimal balance for the representation of natural images within the population of neurons. Competition in sparse coding is optimized when it is fair. By contributing to optimizing statistical competition across neurons, homeostasis is crucial in providing a more efficient solution to the emergence of independent components

Intelligent optical performance monitor using multi-task learning based artificial neural network

An intelligent optical performance monitor using multi-task learning based artificial neural network (MTL-ANN) is designed for simultaneous OSNR monitoring and modulation format identification (MFI). Signals' amplitude histograms (AHs) after constant module algorithm are selected as the input features for MTL-ANN. The experimental results of 20-Gbaud NRZ-OOK, PAM4 and PAM8 signals demonstrate that MTL-ANN could achieve OSNR monitoring and MFI simultaneously with higher accuracy and stability compared with single-task learning based ANNs (STL-ANNs). The results show an MFI accuracy of 100% and OSNR monitoring root-mean-square error of 0.63 dB for the three modulation formats under consideration. Furthermore, the number of neuron needed for the single MTL-ANN is almost the half of STL-ANN, which enables reduced-complexity optical performance monitoring devices for real-time performance monitoring

Contributions of cortical feedback to sensory processing in primary visual cortex

Closing the structure-function divide is more challenging in the brain than in any other organ (Lichtman and Denk, 2011). For example, in early visual cortex, feedback projections to V1 can be quantified (e.g., Budd, 1998) but the understanding of feedback function is comparatively rudimentary (Muckli and Petro, 2013). Focusing on the function of feedback, we discuss how textbook descriptions mask the complexity of V1 responses, and how feedback and local activity reflects not only sensory processing but internal brain states

Efficient channel equalization algorithms for multicarrier communication systems

Blind adaptive algorithm that updates time-domain equalizer (TEQ) coefficients by Adjacent Lag Auto-correlation Minimization (ALAM) is proposed to shorten the channel for multicarrier modulation (MCM) systems. ALAM is an addition to the family of several existing correlation based algorithms that can achieve similar or better performance to existing algorithms with lower complexity. This is achieved by designing a cost function without the sum-square and utilizing symmetrical-TEQ property to reduce the complexity of adaptation of TEQ to half of the existing one. Furthermore, to avoid the limitations of lower unstable bit rate and high complexity, an adaptive TEQ using equal-taps constraints (ETC) is introduced to maximize the bit rate with the lowest complexity. An IP core is developed for the low-complexity ALAM (LALAM) algorithm to be implemented on an FPGA. This implementation is extended to include the implementation of the moving average (MA) estimate for the ALAM algorithm referred as ALAM-MA. Unit-tap constraint (UTC) is used instead of unit-norm constraint (UNC) while updating the adaptive algorithm to avoid all zero solution for the TEQ taps. The IP core is implemented on Xilinx Vertix II Pro XC2VP7-FF672-5 for ADSL receivers and the gate level simulation guaranteed successful operation at a maximum frequency of 27 MHz and 38 MHz for ALAM-MA and LALAM algorithm, respectively. FEQ equalizer is used, after channel shortening using TEQ, to recover distorted QAM signals due to channel effects. A new analytical learning based framework is proposed to jointly solve equalization and symbol detection problems in orthogonal frequency division multiplexing (OFDM) systems with QAM signals. The framework utilizes extreme learning machine (ELM) to achieve fast training, high performance, and low error rates. The proposed framework performs in real-domain by transforming a complex signal into a single 2–tuple real-valued vector. Such transformation offers equalization in real domain with minimum computational load and high accuracy. Simulation results show that the proposed framework outperforms other learning based equalizers in terms of symbol error rates and training speeds

A Model of Operant Conditioning for Adaptive Obstacle Avoidance

We have recently introduced a self-organizing adaptive neural controller that learns to control movements of a wheeled mobile robot toward stationary or moving targets, even when the robot's kinematics arc unknown, or when they change unexpectedly during operation. The model has been shown to outperform other traditional controllers, especially in noisy environments. This article describes a neural network module for obstacle avoidance that complements our previous work. The obstacle avoidance module is based on a model of classical and operant conditioning first proposed by Grossberg ( 1971). This module learns the patterns of ultrasonic sensor activation that predict collisions as the robot navigates in an unknown cluttered environment. Along with our original low-level controller, this work illustrates the potential of applying biologically inspired neural networks to the areas of adaptive robotics and control.Office of Naval Research (N00014-95-1-0409, Young Investigator Award