2,523 research outputs found
Towards a Theory of Scale-Free Graphs: Definition, Properties, and Implications (Extended Version)
Although the ``scale-free'' literature is large and growing, it gives neither
a precise definition of scale-free graphs nor rigorous proofs of many of their
claimed properties. In fact, it is easily shown that the existing theory has
many inherent contradictions and verifiably false claims. In this paper, we
propose a new, mathematically precise, and structural definition of the extent
to which a graph is scale-free, and prove a series of results that recover many
of the claimed properties while suggesting the potential for a rich and
interesting theory. With this definition, scale-free (or its opposite,
scale-rich) is closely related to other structural graph properties such as
various notions of self-similarity (or respectively, self-dissimilarity).
Scale-free graphs are also shown to be the likely outcome of random
construction processes, consistent with the heuristic definitions implicit in
existing random graph approaches. Our approach clarifies much of the confusion
surrounding the sensational qualitative claims in the scale-free literature,
and offers rigorous and quantitative alternatives.Comment: 44 pages, 16 figures. The primary version is to appear in Internet
Mathematics (2005
Deep Neural Networks Rival the Representation of Primate IT Cortex for Core Visual Object Recognition
The primate visual system achieves remarkable visual object recognition
performance even in brief presentations and under changes to object exemplar,
geometric transformations, and background variation (a.k.a. core visual object
recognition). This remarkable performance is mediated by the representation
formed in inferior temporal (IT) cortex. In parallel, recent advances in
machine learning have led to ever higher performing models of object
recognition using artificial deep neural networks (DNNs). It remains unclear,
however, whether the representational performance of DNNs rivals that of the
brain. To accurately produce such a comparison, a major difficulty has been a
unifying metric that accounts for experimental limitations such as the amount
of noise, the number of neural recording sites, and the number trials, and
computational limitations such as the complexity of the decoding classifier and
the number of classifier training examples. In this work we perform a direct
comparison that corrects for these experimental limitations and computational
considerations. As part of our methodology, we propose an extension of "kernel
analysis" that measures the generalization accuracy as a function of
representational complexity. Our evaluations show that, unlike previous
bio-inspired models, the latest DNNs rival the representational performance of
IT cortex on this visual object recognition task. Furthermore, we show that
models that perform well on measures of representational performance also
perform well on measures of representational similarity to IT and on measures
of predicting individual IT multi-unit responses. Whether these DNNs rely on
computational mechanisms similar to the primate visual system is yet to be
determined, but, unlike all previous bio-inspired models, that possibility
cannot be ruled out merely on representational performance grounds.Comment: 35 pages, 12 figures, extends and expands upon arXiv:1301.353
Unsupervised Heart-rate Estimation in Wearables With Liquid States and A Probabilistic Readout
Heart-rate estimation is a fundamental feature of modern wearable devices. In
this paper we propose a machine intelligent approach for heart-rate estimation
from electrocardiogram (ECG) data collected using wearable devices. The novelty
of our approach lies in (1) encoding spatio-temporal properties of ECG signals
directly into spike train and using this to excite recurrently connected
spiking neurons in a Liquid State Machine computation model; (2) a novel
learning algorithm; and (3) an intelligently designed unsupervised readout
based on Fuzzy c-Means clustering of spike responses from a subset of neurons
(Liquid states), selected using particle swarm optimization. Our approach
differs from existing works by learning directly from ECG signals (allowing
personalization), without requiring costly data annotations. Additionally, our
approach can be easily implemented on state-of-the-art spiking-based
neuromorphic systems, offering high accuracy, yet significantly low energy
footprint, leading to an extended battery life of wearable devices. We
validated our approach with CARLsim, a GPU accelerated spiking neural network
simulator modeling Izhikevich spiking neurons with Spike Timing Dependent
Plasticity (STDP) and homeostatic scaling. A range of subjects are considered
from in-house clinical trials and public ECG databases. Results show high
accuracy and low energy footprint in heart-rate estimation across subjects with
and without cardiac irregularities, signifying the strong potential of this
approach to be integrated in future wearable devices.Comment: 51 pages, 12 figures, 6 tables, 95 references. Under submission at
Elsevier Neural Network
Improving Model-Based Software Synthesis: A Focus on Mathematical Structures
Computer hardware keeps increasing in complexity. Software design needs to keep up with this. The right models and abstractions empower developers to leverage the novelties of modern hardware. This thesis deals primarily with Models of Computation, as a basis for software design, in a family of methods called software synthesis.
We focus on Kahn Process Networks and dataïŹow applications as abstractions, both for programming and for deriving an eïŹcient execution on heterogeneous multicores. The latter we accomplish by exploring the design space of possible mappings of computation and data to hardware resources. Mapping algorithms are not at the center of this thesis, however. Instead, we examine the mathematical structure of the mapping
space, leveraging its inherent symmetries or geometric properties to improve mapping methods in general.
This thesis thoroughly explores the process of model-based design, aiming to go beyond the more established software synthesis on dataïŹow applications. We starting with the problem of assessing these methods through benchmarking, and go on to formally examine the general goals of benchmarks. In this context, we also consider the role modern machine learning methods play in benchmarking.
We explore different established semantics, stretching the limits of Kahn Process Networks. We also discuss novel models, like Reactors, which are designed to be a deterministic, adaptive model with time as a ïŹrst-class citizen. By investigating abstractions and transformations in the Ohua language for implicit dataïŹow programming, we also focus on programmability.
The focus of the thesis is in the models and methods, but we evaluate them in diverse use-cases, generally centered around Cyber-Physical Systems. These include the 5G telecommunication standard, automotive and signal processing domains. We even go beyond embedded systems and discuss use-cases in GPU programming and microservice-based architectures
An On-chip Spiking Neural Network for Estimation of the Head Pose of the iCub Robot
In this work, we present a neuromorphic architecture for head pose estimation and scene representation for the humanoid iCub robot. The spiking neuronal network is fully realized in Intel's neuromorphic research chip, Loihi, and precisely integrates the issued motor commands to estimate the iCub's head pose in a neuronal path-integration process. The neuromorphic vision system of the iCub is used to correct for drift in the pose estimation. Positions of objects in front of the robot are memorized using on-chip synaptic plasticity. We present real-time robotic experiments using 2 degrees of freedom (DoF) of the robot's head and show precise path integration, visual reset, and object position learning on-chip. We discuss the requirements for integrating the robotic system and neuromorphic hardware with current technologies
Bio-inspired computation: where we stand and what's next
In recent years, the research community has witnessed an explosion of literature dealing with the adaptation of behavioral patterns and social phenomena observed in nature towards efficiently solving complex computational tasks. This trend has been especially dramatic in what relates to optimization problems, mainly due to the unprecedented complexity of problem instances, arising from a diverse spectrum of domains such as transportation, logistics, energy, climate, social networks, health and industry 4.0, among many others. Notwithstanding this upsurge of activity, research in this vibrant topic should be steered towards certain areas that, despite their eventual value and impact on the field of bio-inspired computation, still remain insufficiently explored to date. The main purpose of this paper is to outline the state of the art and to identify open challenges concerning the most relevant areas within bio-inspired optimization. An analysis and discussion are also carried out over the general trajectory followed in recent years by the community working in this field, thereby highlighting the need for reaching a consensus and joining forces towards achieving valuable insights into the understanding of this family of optimization techniques
Bio-inspired computation: where we stand and what's next
In recent years, the research community has witnessed an explosion of literature dealing with the adaptation of behavioral patterns and social phenomena observed in nature towards efficiently solving complex computational tasks. This trend has been especially dramatic in what relates to optimization problems, mainly due to the unprecedented complexity of problem instances, arising from a diverse spectrum of domains such as transportation, logistics, energy, climate, social networks, health and industry 4.0, among many others. Notwithstanding this upsurge of activity, research in this vibrant topic should be steered towards certain areas that, despite their eventual value and impact on the field of bio-inspired computation, still remain insufficiently explored to date. The main purpose of this paper is to outline the state of the art and to identify open challenges concerning the most relevant areas within bio-inspired optimization. An analysis and discussion are also carried out over the general trajectory followed in recent years by the community working in this field, thereby highlighting the need for reaching a consensus and joining forces towards achieving valuable insights into the understanding of this family of optimization techniques
Review of Neurobiologically Based Mobile Robot Navigation System Research Performed Since 2000
In an attempt to better understand how the navigation part of the brain works and to possibly create smarter and more reliable navigation systems, many papers have been written in the field of biomimetic systems. This paper presents a literature survey of state-of-the-art research performed since the year 2000 on rodent neurobiological and neurophysiologically based navigation systems that incorporate models of spatial awareness and navigation brain cells. The main focus is to explore the functionality of the cognitive maps developed in these mobile robot systems with respect to route planning, as well as a discussion/analysis of the computational complexity required to scale these systems.http://dx.doi.org/10.1155/2016/863725
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