51,564 research outputs found
Nanophotonic reservoir computing with photonic crystal cavities to generate periodic patterns
Reservoir computing (RC) is a technique in machine learning inspired by neural systems. RC has been used successfully to solve complex problems such as signal classification and signal generation. These systems are mainly implemented in software, and thereby they are limited in speed and power efficiency. Several optical and optoelectronic implementations have been demonstrated, in which the system has signals with an amplitude and phase. It is proven that these enrich the dynamics of the system, which is beneficial for the performance. In this paper, we introduce a novel optical architecture based on nanophotonic crystal cavities. This allows us to integrate many neurons on one chip, which, compared with other photonic solutions, closest resembles a classical neural network. Furthermore, the components are passive, which simplifies the design and reduces the power consumption. To assess the performance of this network, we train a photonic network to generate periodic patterns, using an alternative online learning rule called first-order reduced and corrected error. For this, we first train a classical hyperbolic tangent reservoir, but then we vary some of the properties to incorporate typical aspects of a photonics reservoir, such as the use of continuous-time versus discrete-time signals and the use of complex-valued versus real-valued signals. Then, the nanophotonic reservoir is simulated and we explore the role of relevant parameters such as the topology, the phases between the resonators, the number of nodes that are biased and the delay between the resonators. It is important that these parameters are chosen such that no strong self-oscillations occur. Finally, our results show that for a signal generation task a complex-valued, continuous-time nanophotonic reservoir outperforms a classical (i.e., discrete-time, real-valued) leaky hyperbolic tangent reservoir (normalized root-mean-square errors = 0.030 versus NRMSE = 0.127)
Learning parametric dictionaries for graph signals
In sparse signal representation, the choice of a dictionary often involves a
tradeoff between two desirable properties -- the ability to adapt to specific
signal data and a fast implementation of the dictionary. To sparsely represent
signals residing on weighted graphs, an additional design challenge is to
incorporate the intrinsic geometric structure of the irregular data domain into
the atoms of the dictionary. In this work, we propose a parametric dictionary
learning algorithm to design data-adapted, structured dictionaries that
sparsely represent graph signals. In particular, we model graph signals as
combinations of overlapping local patterns. We impose the constraint that each
dictionary is a concatenation of subdictionaries, with each subdictionary being
a polynomial of the graph Laplacian matrix, representing a single pattern
translated to different areas of the graph. The learning algorithm adapts the
patterns to a training set of graph signals. Experimental results on both
synthetic and real datasets demonstrate that the dictionaries learned by the
proposed algorithm are competitive with and often better than unstructured
dictionaries learned by state-of-the-art numerical learning algorithms in terms
of sparse approximation of graph signals. In contrast to the unstructured
dictionaries, however, the dictionaries learned by the proposed algorithm
feature localized atoms and can be implemented in a computationally efficient
manner in signal processing tasks such as compression, denoising, and
classification
Pyroomacoustics: A Python package for audio room simulations and array processing algorithms
We present pyroomacoustics, a software package aimed at the rapid development
and testing of audio array processing algorithms. The content of the package
can be divided into three main components: an intuitive Python object-oriented
interface to quickly construct different simulation scenarios involving
multiple sound sources and microphones in 2D and 3D rooms; a fast C
implementation of the image source model for general polyhedral rooms to
efficiently generate room impulse responses and simulate the propagation
between sources and receivers; and finally, reference implementations of
popular algorithms for beamforming, direction finding, and adaptive filtering.
Together, they form a package with the potential to speed up the time to market
of new algorithms by significantly reducing the implementation overhead in the
performance evaluation step.Comment: 5 pages, 5 figures, describes a software packag
Developing an embodied gait on a compliant quadrupedal robot
Incorporating the body dynamics of compliant robots into their controller architectures can drastically reduce the complexity of locomotion control. An extreme version of this embodied control principle was demonstrated in highly compliant tensegrity robots, for which stable gait generation was achieved by using only optimized linear feedback from the robot's sensors to its actuators. The morphology of quadrupedal robots has previously been used for sensing and for control of a compliant spine, but never for gait generation. In this paper, we successfully apply embodied control to the compliant, quadrupedal Oncilla robot. As initial experiments indicated that mere linear feedback does not suffice, we explore the minimal requirements for robust gait generation in terms of memory and nonlinear complexity. Our results show that a memory-less feedback controller can generate a stable trot by learning the desired nonlinear relation between the input and the output signals. We believe this method can provide a very useful tool for transferring knowledge from open loop to closed loop control on compliant robots
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