Performance and storage requirements of topology-conserving maps for robot manipulator control

A new programming paradigm for the control of a robot manipulator by learning the mapping between the Cartesian space and the joint space (inverse Kinematic) is discussed. It is based on a Neural Network model of optimal mapping between two high-dimensional spaces by Kohonen. This paper describes the approach and presents the optimal mapping, based on the principle of maximal information gain. It is shown that Kohonens mapping in the 2-dimensional case is optimal in this sense. Furthermore, the principal control error made by the learned mapping is evaluated for the example of the commonly used PUMA robot, the trade-off between storage resources and positional error is discussed and an optimal position encoding resolution is proposed

Approximator networks and the principle of optimal information distribution

It is well known that artificial neural nets can be used as approximators of any continous functions to any desired degree. Nevertheless, for a given application and a given network architecture the non-trivial task rests to determine the necessary number of neurons and the necessary accuracy (number of bits) per weight for a satisfactory operation. In this paper the problem is treated by an information theoretic approach. The values for the weights and thresholds in the approximator network are determined analytically. Furthermore, the accuracy of the weights and the number of neurons are seen as general system parameters which determine the the maximal output information (i.e. the approximation error) by the absolute amount and the relative distribution of information contained in the network. A new principle of optimal information distribution is proposed and the conditions for the optimal system parameters are derived. For the simple, instructive example of a linear approximation of a non-linear, quadratic function, the principle of optimal information distribution gives the the optimal system parameters, i.e. the number of neurons and the different resolutions of the variables

Magnification Control in Winner Relaxing Neural Gas

An important goal in neural map learning, which can conveniently be accomplished by magnification control, is to achieve information optimal coding in the sense of information theory. In the present contribution we consider the winner relaxing approach for the neural gas network. Originally, winner relaxing learning is a slight modification of the self-organizing map learning rule that allows for adjustment of the magnification behavior by an a priori chosen control parameter. We transfer this approach to the neural gas algorithm. The magnification exponent can be calculated analytically for arbitrary dimension from a continuum theory, and the entropy of the resulting map is studied numerically conf irming the theoretical prediction. The influence of a diagonal term, which can be added without impacting the magnification, is studied numerically. This approach to maps of maximal mutual information is interesting for applications as the winner relaxing term only adds computational cost of same order and is easy to implement. In particular, it is not necessary to estimate the generally unknown data probability density as in other magnification control approaches.Comment: 14pages, 2 figure

A survey of outlier detection methodologies

Outlier detection has been used for centuries to detect and, where appropriate, remove anomalous observations from data. Outliers arise due to mechanical faults, changes in system behaviour, fraudulent behaviour, human error, instrument error or simply through natural deviations in populations. Their detection can identify system faults and fraud before they escalate with potentially catastrophic consequences. It can identify errors and remove their contaminating effect on the data set and as such to purify the data for processing. The original outlier detection methods were arbitrary but now, principled and systematic techniques are used, drawn from the full gamut of Computer Science and Statistics. In this paper, we introduce a survey of contemporary techniques for outlier detection. We identify their respective motivations and distinguish their advantages and disadvantages in a comparative review

Magnification Control in Self-Organizing Maps and Neural Gas

We consider different ways to control the magnification in self-organizing maps (SOM) and neural gas (NG). Starting from early approaches of magnification control in vector quantization, we then concentrate on different approaches for SOM and NG. We show that three structurally similar approaches can be applied to both algorithms: localized learning, concave-convex learning, and winner relaxing learning. Thereby, the approach of concave-convex learning in SOM is extended to a more general description, whereas the concave-convex learning for NG is new. In general, the control mechanisms generate only slightly different behavior comparing both neural algorithms. However, we emphasize that the NG results are valid for any data dimension, whereas in the SOM case the results hold only for the one-dimensional case.Comment: 24 pages, 4 figure

Modelling and tracking objects with a topology preserving self-organising neural network

Human gestures form an integral part in our everyday communication. We use gestures not only to reinforce meaning, but also to describe the shape of objects, to play games, and to communicate in noisy environments. Vision systems that exploit gestures are often limited by inaccuracies inherent in handcrafted models. These models are generated from a collection of training examples which requires segmentation and alignment. Segmentation in gesture recognition typically involves manual intervention, a time consuming process that is feasible only for a limited set of gestures. Ideally gesture models should be automatically acquired via a learning scheme that enables the acquisition of detailed behavioural knowledge only from topological and temporal observation. The research described in this thesis is motivated by a desire to provide a framework for the unsupervised acquisition and tracking of gesture models. In any learning framework, the initialisation of the shapes is very crucial. Hence, it would be beneficial to have a robust model not prone to noise that can automatically correspond the set of shapes. In the first part of this thesis, we develop a framework for building statistical 2D shape models by extracting, labelling and corresponding landmark points using only topological relations derived from competitive hebbian learning. The method is based on the assumption that correspondences can be addressed as an unsupervised classification problem where landmark points are the cluster centres (nodes) in a high-dimensional vector space. The approach is novel in that the network can be used in cases where the topological structure of the input pattern is not known a priori thus no topology of fixed dimensionality is imposed onto the network. In the second part, we propose an approach to minimise the user intervention in the adaptation process, which requires to specify a priori the number of nodes needed to represent an object, by utilising an automatic criterion for maximum node growth. Furthermore, this model is used to represent motion in image sequences by initialising a suitable segmentation that separates the object of interest from the background. The segmentation system takes into consideration some illumination tolerance, images as inputs from ordinary cameras and webcams, some low to medium cluttered background avoiding extremely cluttered backgrounds, and that the objects are at close range from the camera. In the final part, we extend the framework for the automatic modelling and unsupervised tracking of 2D hand gestures in a sequence of k frames. The aim is to use the tracked frames as training examples in order to build the model and maintain correspondences. To do that we add an active step to the Growing Neural Gas (GNG) network, which we call Active Growing Neural Gas (A-GNG) that takes into consideration not only the geometrical position of the nodes, but also the underlined local feature structure of the image, and the distance vector between successive images. The quality of our model is measured through the calculation of the topographic product. The topographic product is our topology preserving measure which quantifies the neighbourhood preservation. In our system we have applied specific restrictions in the velocity and the appearance of the gestures to simplify the difficulty of the motion analysis in the gesture representation. The proposed framework has been validated on applications related to sign language. The work has great potential in Virtual Reality (VR) applications where the learning and the representation of gestures becomes natural without the need of expensive wear cable sensors

The impact of urbanisation on chipmunks, arboreal and flying squirrels: a global systematic review

The current, rapid urbanisation process impacts global biodiversity and can be a driver for phenotypic changes in mammals that persist in cities. Animals display different response strategies in urban environments compared to natural areas, but patterns may differ among species. To better comprehend this process, we focused on a limited number of species that are present in many urban green spaces around the globe.The aim of this systematic review is to investigate which response strategies chipmunks, arboreal and flying squirrels use to cope with urban environments, exploring whether there are general response patterns, and to reveal potential adaptations to life in urban areas. We included studies that compared trait differences among conspecifics living in different areas along an urbanisation gradient (rural-urban) and studies comparing individuals or populations between urban areas with different environmental characteristics.The effects of urbanisation on chipmunks, arboreal and flying squirrels, at the individual and at the population levels, were identified in nine topics. Included articles explored at least one of these topics and their key findings were described.Effects of urbanisation are evident in all considered topics. However, we found contrasting patterns between species or even among individuals of the same species studied in different geographical areas. Overall, we reported two knowledge gaps: some phenotypic traits were considered in few studies, and many species, especially those living in the Global South, where urban growth rate is higher, have not been studied.This systematic review suggests that urbanisation can be an important driver for adaptation in small mammals, underlining the complexity and differentiation of response patterns. Since target species have important ecological and social roles, additional comparative studies, increasing our understanding of processes that determine their presence in cities, are essential for urban green planning which aims to conserve biodiversity

Mobile Robots Navigation

Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described