Hybrid LQG-Neural Controller for Inverted Pendulum System

The paper presents a hybrid system controller, incorporating a neural and an LQG controller. The neural controller has been optimized by genetic algorithms directly on the inverted pendulum system. The failure free optimization process stipulated a relatively small region of the asymptotic stability of the neural controller, which is concentrated around the regulation point. The presented hybrid controller combines benefits of a genetically optimized neural controller and an LQG controller in a single system controller. High quality of the regulation process is achieved through utilization of the neural controller, while stability of the system during transient processes and a wide range of operation are assured through application of the LQG controller. The hybrid controller has been validated by applying it to a simulation model of an inherently unstable system of inverted pendulum

Chaotic exploration and learning of locomotion behaviours

We present a general and fully dynamic neural system, which exploits intrinsic chaotic dynamics, for the real-time goal-directed exploration and learning of the possible locomotion patterns of an articulated robot of an arbitrary morphology in an unknown environment. The controller is modeled as a network of neural oscillators that are initially coupled only through physical embodiment, and goal-directed exploration of coordinated motor patterns is achieved by chaotic search using adaptive bifurcation. The phase space of the indirectly coupled neural-body-environment system contains multiple transient or permanent self-organized dynamics, each of which is a candidate for a locomotion behavior. The adaptive bifurcation enables the system orbit to wander through various phase-coordinated states, using its intrinsic chaotic dynamics as a driving force, and stabilizes on to one of the states matching the given goal criteria. In order to improve the sustainability of useful transient patterns, sensory homeostasis has been introduced, which results in an increased diversity of motor outputs, thus achieving multiscale exploration. A rhythmic pattern discovered by this process is memorized and sustained by changing the wiring between initially disconnected oscillators using an adaptive synchronization method. Our results show that the novel neurorobotic system is able to create and learn multiple locomotion behaviors for a wide range of body configurations and physical environments and can readapt in realtime after sustaining damage

Intelligent Fault Analysis in Electrical Power Grids

Power grids are one of the most important components of infrastructure in today's world. Every nation is dependent on the security and stability of its own power grid to provide electricity to the households and industries. A malfunction of even a small part of a power grid can cause loss of productivity, revenue and in some cases even life. Thus, it is imperative to design a system which can detect the health of the power grid and take protective measures accordingly even before a serious anomaly takes place. To achieve this objective, we have set out to create an artificially intelligent system which can analyze the grid information at any given time and determine the health of the grid through the usage of sophisticated formal models and novel machine learning techniques like recurrent neural networks. Our system simulates grid conditions including stimuli like faults, generator output fluctuations, load fluctuations using Siemens PSS/E software and this data is trained using various classifiers like SVM, LSTM and subsequently tested. The results are excellent with our methods giving very high accuracy for the data. This model can easily be scaled to handle larger and more complex grid architectures.Comment: In proceedings of the 29th IEEE International Conference on Tools with Artificial Intelligence (ICTAI) 2017 (full paper); 6 pages; 13 figure

From synaptic interactions to collective dynamics in random neuronal networks models: critical role of eigenvectors and transient behavior

The study of neuronal interactions is currently at the center of several neuroscience big collaborative projects (including the Human Connectome, the Blue Brain, the Brainome, etc.) which attempt to obtain a detailed map of the entire brain matrix. Under certain constraints, mathematical theory can advance predictions of the expected neural dynamics based solely on the statistical properties of such synaptic interaction matrix. This work explores the application of free random variables (FRV) to the study of large synaptic interaction matrices. Besides recovering in a straightforward way known results on eigenspectra of neural networks, we extend them to heavy-tailed distributions of interactions. More importantly, we derive analytically the behavior of eigenvector overlaps, which determine stability of the spectra. We observe that upon imposing the neuronal excitation/inhibition balance, although the eigenvalues remain unchanged, their stability dramatically decreases due to strong non-orthogonality of associated eigenvectors. It leads us to the conclusion that the understanding of the temporal evolution of asymmetric neural networks requires considering the entangled dynamics of both eigenvectors and eigenvalues, which might bear consequences for learning and memory processes in these models. Considering the success of FRV analysis in a wide variety of branches disciplines, we hope that the results presented here foster additional application of these ideas in the area of brain sciences.Comment: 24 pages + 4 pages of refs, 8 figure

Analysis of fault-tolerant neurocontrol architectures

The fault-tolerance of analog parallel distributed implementations of a multivariable aircraft neurocontroller is analyzed by simulating weight and neuron failures in a simplified scheme of analog processing based on the functional architecture of the ETANN chip (Electrically Trainable Artificial Neural Network). The neural information processing is found to be only partially distributed throughout the set of weights of the neurocontroller synthesized with the backpropagation algorithm. Although the degree of distribution of the neural processing, and consequently the fault-tolerance of the neurocontroller, could be enhanced using Locally Distributed Weight and Neuron Approaches, a satisfactory level of fault-tolerance could only be obtained by retraining the degrated VLSI neurocontroller. The possibility of maintaining neurocontrol performance and stability in the presence of single weight of neuron failures was demonstrated through an automated retraining procedure of the neurocontroller based on a pre-programmed choice and sequence of the training parameters

Non-normal Recurrent Neural Network (nnRNN): learning long time dependencies while improving expressivity with transient dynamics

A recent strategy to circumvent the exploding and vanishing gradient problem in RNNs, and to allow the stable propagation of signals over long time scales, is to constrain recurrent connectivity matrices to be orthogonal or unitary. This ensures eigenvalues with unit norm and thus stable dynamics and training. However this comes at the cost of reduced expressivity due to the limited variety of orthogonal transformations. We propose a novel connectivity structure based on the Schur decomposition and a splitting of the Schur form into normal and non-normal parts. This allows to parametrize matrices with unit-norm eigenspectra without orthogonality constraints on eigenbases. The resulting architecture ensures access to a larger space of spectrally constrained matrices, of which orthogonal matrices are a subset. This crucial difference retains the stability advantages and training speed of orthogonal RNNs while enhancing expressivity, especially on tasks that require computations over ongoing input sequences

Locally-Stable Macromodels of Integrated Digital Devices for Multimedia Applications

This paper addresses the development of accurate and efficient behavioral models of digital integrated circuits for the assessment of high-speed systems. Device models are based on suitable parametric expressions estimated from port transient responses and are effective at system level, where the quality of functional signals and the impact of supply noise need to be simulated. A potential limitation of some state-of-the-art modeling techniques resides in hidden instabilities manifesting themselves in the use of models, without being evident in the building phase of the same models. This contribution compares three recently-proposed model structures, and selects the local-linear state-space modeling technique as an optimal candidate for the signal integrity assessment of data links. In fact, this technique combines a simple verification of the local stability of models with a limited model size and an easy implementation in commercial simulation tools. An application of the proposed methodology to a real problem involving commercial devices and a data-link of a wireless device demonstrates the validity of this approac