12,545 research outputs found
Grid Cell Hexagonal Patterns Formed by Fast Self-Organized Learning within Entorhinal Cortex
Grid cells in the dorsal segment of the medial entorhinal cortex (dMEC) show remarkable hexagonal activity patterns, at multiple spatial scales, during spatial navigation. How these hexagonal patterns arise has excited intense interest. It has previously been shown how a selforganizing map can convert firing patterns across entorhinal grid cells into hippocampal place cells that are capable of representing much larger spatial scales. Can grid cell firing fields also arise during navigation through learning within a self-organizing map? A neural model is proposed that converts path integration signals into hexagonal grid cell patterns of multiple scales. This GRID model creates only grid cell patterns with the observed hexagonal structure, predicts how these hexagonal patterns can be learned from experience, and can process biologically plausible neural input and output signals during navigation. These results support a unified computational framework for explaining how entorhinal-hippocampal interactions support spatial navigation.CELEST, a National Science Foundation Science of Learning Center (SBE-0354378); SyNAPSE program of Defense Advanced Research Projects Agency (HR00ll-09-3-0001, HR0011-09-C-0011
The Parameter-Less Self-Organizing Map algorithm
The Parameter-Less Self-Organizing Map (PLSOM) is a new neural network
algorithm based on the Self-Organizing Map (SOM). It eliminates the need for a
learning rate and annealing schemes for learning rate and neighbourhood size.
We discuss the relative performance of the PLSOM and the SOM and demonstrate
some tasks in which the SOM fails but the PLSOM performs satisfactory. Finally
we discuss some example applications of the PLSOM and present a proof of
ordering under certain limited conditions.Comment: 29 pages, 27 figures. Based on publication in IEEE Trans. on Neural
Network
Growing Self-Organizing Maps for Data Analysis
Currently, there exist many research areas that produce large multivariable datasets that are difficult to visualize in order to extract useful information. Kohonen self organizing maps have been used successfully in the visualization and analysis of multidimensional data. In this work, a projection technique that compresses multidimensional datasets into two dimensional space using growing self-organizing maps is described. With this embedding scheme, traditional Kohonen visualization methods have been implemented using growing cell structures networks. New graphical map display have been compared with Kohonen graphs using two groups of simulated data and one group of real multidimensional data selected from a satellite scene
Fast Algorithm and Implementation of Dissimilarity Self-Organizing Maps
In many real world applications, data cannot be accurately represented by
vectors. In those situations, one possible solution is to rely on dissimilarity
measures that enable sensible comparison between observations. Kohonen's
Self-Organizing Map (SOM) has been adapted to data described only through their
dissimilarity matrix. This algorithm provides both non linear projection and
clustering of non vector data. Unfortunately, the algorithm suffers from a high
cost that makes it quite difficult to use with voluminous data sets. In this
paper, we propose a new algorithm that provides an important reduction of the
theoretical cost of the dissimilarity SOM without changing its outcome (the
results are exactly the same as the ones obtained with the original algorithm).
Moreover, we introduce implementation methods that result in very short running
times. Improvements deduced from the theoretical cost model are validated on
simulated and real world data (a word list clustering problem). We also
demonstrate that the proposed implementation methods reduce by a factor up to 3
the running time of the fast algorithm over a standard implementation
Structure in the 3D Galaxy Distribution: I. Methods and Example Results
Three methods for detecting and characterizing structure in point data, such
as that generated by redshift surveys, are described: classification using
self-organizing maps, segmentation using Bayesian blocks, and density
estimation using adaptive kernels. The first two methods are new, and allow
detection and characterization of structures of arbitrary shape and at a wide
range of spatial scales. These methods should elucidate not only clusters, but
also the more distributed, wide-ranging filaments and sheets, and further allow
the possibility of detecting and characterizing an even broader class of
shapes. The methods are demonstrated and compared in application to three data
sets: a carefully selected volume-limited sample from the Sloan Digital Sky
Survey redshift data, a similarly selected sample from the Millennium
Simulation, and a set of points independently drawn from a uniform probability
distribution -- a so-called Poisson distribution. We demonstrate a few of the
many ways in which these methods elucidate large scale structure in the
distribution of galaxies in the nearby Universe.Comment: Re-posted after referee corrections along with partially re-written
introduction. 80 pages, 31 figures, ApJ in Press. For full sized figures
please download from: http://astrophysics.arc.nasa.gov/~mway/lss1.pd
Event-Driven Technologies for Reactive Motion Planning: Neuromorphic Stereo Vision and Robot Path Planning and Their Application on Parallel Hardware
Die Robotik wird immer mehr zu einem Schlüsselfaktor des technischen Aufschwungs. Trotz beeindruckender Fortschritte in den letzten Jahrzehnten, übertreffen Gehirne von Säugetieren in den Bereichen Sehen und Bewegungsplanung
noch immer selbst die leistungsfähigsten Maschinen. Industrieroboter sind sehr schnell und präzise, aber ihre Planungsalgorithmen sind in hochdynamischen Umgebungen, wie sie für die Mensch-Roboter-Kollaboration (MRK) erforderlich sind, nicht leistungsfähig genug. Ohne schnelle und adaptive Bewegungsplanung kann sichere MRK nicht garantiert werden. Neuromorphe Technologien, einschließlich visueller Sensoren und Hardware-Chips, arbeiten asynchron und verarbeiten so raum-zeitliche Informationen sehr effizient. Insbesondere ereignisbasierte visuelle Sensoren sind konventionellen, synchronen Kameras bei vielen Anwendungen bereits überlegen. Daher haben ereignisbasierte Methoden
ein großes Potenzial, schnellere und energieeffizientere Algorithmen zur Bewegungssteuerung in der MRK zu ermöglichen. In dieser Arbeit wird ein Ansatz zur flexiblen reaktiven Bewegungssteuerung eines Roboterarms vorgestellt. Dabei
wird die Exterozeption durch ereignisbasiertes Stereosehen erreicht und die Pfadplanung ist in einer neuronalen Repräsentation des Konfigurationsraums implementiert. Die Multiview-3D-Rekonstruktion wird durch eine qualitative Analyse in Simulation evaluiert und auf ein Stereo-System ereignisbasierter Kameras übertragen. Zur Evaluierung der reaktiven kollisionsfreien Online-Planung wird ein Demonstrator mit einem industriellen Roboter genutzt. Dieser wird auch für eine vergleichende Studie zu sample-basierten Planern verwendet. Ergänzt wird
dies durch einen Benchmark von parallelen Hardwarelösungen wozu als Testszenario Bahnplanung in der Robotik gewählt wurde. Die Ergebnisse zeigen, dass die vorgeschlagenen neuronalen Lösungen einen effektiven Weg zur Realisierung einer Robotersteuerung für dynamische Szenarien darstellen. Diese Arbeit schafft eine Grundlage für neuronale Lösungen bei adaptiven Fertigungsprozesse, auch in Zusammenarbeit mit dem Menschen, ohne Einbußen bei Geschwindigkeit und Sicherheit. Damit ebnet sie den Weg für die Integration von dem Gehirn nachempfundener Hardware und Algorithmen in die Industrierobotik und MRK
Geometric and Bayesian models for safe navigation in dynamic environments
Autonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art. Basically, these problems may be classified into three main categories: (a) SLAM in dynamic environments; (b) detection, characterization, and behavior prediction of the potential moving obstacles; and (c) online motion planning and safe navigation decision based on world state predictions. This paper addresses some aspects of these problems and presents our latest approaches and results. The solutions we have implemented are mainly based on the followings paradigms: multiscale world representation of static obstacles based on the wavelet occupancy grid; adaptative clustering for moving obstacle detection inspired on Kohonen networks and the growing neural gas algorithm; and characterization and motion prediction of the observed moving entities using Hidden Markov Models coupled with a novel algorithm for structure and parameter learnin
Unsupervised classification of remote sensing images combining Self Organizing Maps and segmentation techniques
Dissertation submitted in partial fulfillment of the requirements for the Degree of Master of Science in Geospatial Technologies.This study aimed a procedure of unsupervised classification for remote sensing images based on a combination of Self-Organizing maps (SOM) and segmentation. The integration is conceived first obtaining clusters of the spectral behavior of the satellite
image using Self-Organizing Maps. As visualization technique for the SOM is used the
U-matrix. Subsequently is used seeded region growing segmentation technique to obtain
a delimitation of the clusters in the data. Finally, from the regions of neurons in the
U-matrix are deduced the clusters in the original pixels of the image.
To evaluate the proposed methodology it was considered a subset of a satellite image as
use case. The results were measured through accuracy assessment of the case and comparing definition of the obtained clusters against each technique separately. Cramers'V was used to evaluate the association between clustering obtained each method separately and reference data for the specific use case
3D Maps Representation Using GNG
Current RGB-D sensors provide a big amount of valuable information for mobile robotics tasks like 3D map reconstruction, but the storage and processing of the incremental data provided by the different sensors through time quickly become unmanageable. In this work, we focus on 3D maps representation and propose the use of the Growing Neural Gas (GNG) network as a model to represent 3D input data. GNG method is able to represent the input data with a desired amount of neurons or resolution while preserving the topology of the input space. Experiments show how GNG method yields a better input space adaptation than other state-of-the-art 3D map representation methods.This work was partially funded by the Spanish Government DPI2013-40534-R grant
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