Partial Information Decomposition as a Unified Approach to the Specification of Neural Goal Functions

In many neural systems anatomical motifs are present repeatedly, but despite their structural similarity they can serve very different tasks. A prime example for such a motif is the canonical microcircuit of six-layered neo-cortex, which is repeated across cortical areas, and is involved in a number of different tasks (e.g.sensory, cognitive, or motor tasks). This observation has spawned interest in finding a common underlying principle, a 'goal function', of information processing implemented in this structure. By definition such a goal function, if universal, cannot be cast in processing-domain specific language (e.g. 'edge filtering', 'working memory'). Thus, to formulate such a principle, we have to use a domain-independent framework. Information theory offers such a framework. However, while the classical framework of information theory focuses on the relation between one input and one output (Shannon's mutual information), we argue that neural information processing crucially depends on the combination of \textit{multiple} inputs to create the output of a processor. To account for this, we use a very recent extension of Shannon Information theory, called partial information decomposition (PID). PID allows to quantify the information that several inputs provide individually (unique information), redundantly (shared information) or only jointly (synergistic information) about the output. First, we review the framework of PID. Then we apply it to reevaluate and analyze several earlier proposals of information theoretic neural goal functions (predictive coding, infomax, coherent infomax, efficient coding). We find that PID allows to compare these goal functions in a common framework, and also provides a versatile approach to design new goal functions from first principles. Building on this, we design and analyze a novel goal function, called 'coding with synergy'. [...]Comment: 21 pages, 4 figures, appendi

Global Exponential Attitude Tracking Controls on SO(3)

This paper presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to track a given desired attitude trajectory, while guaranteeing almost semi-global exponential stability. It is extended to achieve global exponential stability by using a hybrid control scheme based on multiple configuration error functions. They are further extended to obtain robustness with respect to a fixed disturbance using an integral term. The resulting robust, global exponential stability for attitude tracking is the unique contribution of this paper, and these are developed directly on the special orthogonal group to avoid singularities of local coordinates, or ambiguities associated with quaternions. The desirable features are illustrated by numerical examples

Implications of control technology on aircraft design

New controls technologies are now available for implementation with aircraft systems. Many aircraft with state of the art technology in the fields of aerodynamics, structures, and propulsion require extensive augmentation merely for safety of flight considerations in addition to potential performance improvements. The actual performance benefits of integrating the new controls concepts with other new technologies is optimized by including such considerations early in the design process. Recently, several advanced aircraft designs have run into considerable problems related to control systems and flying qualities during flight test, requiring costly redesign and fine tuning efforts. It is no longer possible for the aircraft design to be completed prior to getting the control specialists involved. The challenge to the control system designer has become so great that his concerns must be considered at the conceptual design level. A computer program developed at NASA for evaluating the economic payoffs of integrating controls into the design of transport aircraft at the beginning will be described

Partial information decomposition as a unified approach to the specification of neural goal functions

In many neural systems anatomical motifs are present repeatedly, but despite their structural similarity they can serve very different tasks. A prime example for such a motif is the canonical microcircuit of six-layered neo-cortex, which is repeated across cortical areas, and is involved in a number of different tasks (e.g. sensory, cognitive, or motor tasks). This observation has spawned interest in finding a common underlying principle, a ‘goal function’, of information processing implemented in this structure. By definition such a goal function, if universal, cannot be cast in processing-domain specific language (e.g. ‘edge filtering’, ‘working memory’). Thus, to formulate such a principle, we have to use a domain-independent framework. Information theory offers such a framework. However, while the classical framework of information theory focuses on the relation between one input and one output (Shannon’s mutual information), we argue that neural information processing crucially depends on the combination of multiple inputs to create the output of a processor. To account for this, we use a very recent extension of Shannon Information theory, called partial information decomposition (PID). PID allows to quantify the information that several inputs provide individually (unique information), redundantly (shared information) or only jointly (synergistic information) about the output. First, we review the framework of PID. Then we apply it to reevaluate and analyze several earlier proposals of information theoretic neural goal functions (predictive coding, infomax and coherent infomax, efficient coding). We find that PID allows to compare these goal functions in a common framework, and also provides a versatile approach to design new goal functions from first principles. Building on this, we design and analyze a novel goal function, called ‘coding with synergy’, which builds on combining external input and prior knowledge in a synergistic manner. We suggest that this novel goal function may be highly useful in neural information processing