Adaptive Tesselation CMAC

An ndaptive tessellation variant of the CMAC architecture is introduced. Adaptive tessellation is an error-based scheme for distributing input representations. Simulations show that the new network outperforms the original CMAC at a vnriety of learning tasks, including learning the inverse kinematics of a two-link arm.Office of Naval Research (N00014-92-J-4015, N00014-91-J-4100); National Science Foundation (IRI-90-00530); Boston University Presidential Graduate Fellowshi

A Real-Time Novelty Detector for a Mobile Robot

Recognising new or unusual features of an environment is an ability which is potentially very useful to a robot. This paper demonstrates an algorithm which achieves this task by learning an internal representation of `normality' from sonar scans taken as a robot explores the environment. This model of the environment is used to evaluate the novelty of each sonar scan presented to it with relation to the model. Stimuli which have not been seen before, and therefore have more novelty, are highlighted by the filter. The filter has the ability to forget about features which have been learned, so that stimuli which are seen only rarely recover their response over time. A number of robot experiments are presented which demonstrate the operation of the filter.Comment: 8 pages, 6 figures. In Proceedings of EUREL European Advanced Robotics Systems Masterclass and Conference, 200

New Ideas for Brain Modelling

This paper describes some biologically-inspired processes that could be used to build the sort of networks that we associate with the human brain. New to this paper, a 'refined' neuron will be proposed. This is a group of neurons that by joining together can produce a more analogue system, but with the same level of control and reliability that a binary neuron would have. With this new structure, it will be possible to think of an essentially binary system in terms of a more variable set of values. The paper also shows how recent research associated with the new model, can be combined with established theories, to produce a more complete picture. The propositions are largely in line with conventional thinking, but possibly with one or two more radical suggestions. An earlier cognitive model can be filled in with more specific details, based on the new research results, where the components appear to fit together almost seamlessly. The intention of the research has been to describe plausible 'mechanical' processes that can produce the appropriate brain structures and mechanisms, but that could be used without the magical 'intelligence' part that is still not fully understood. There are also some important updates from an earlier version of this paper

Molecular self-organisation in a developmental model for the evolution of large-scale artificial neural networks

We argue that molecular self-organisation during embryonic development allows evolution to perform highly nonlinear combinatorial optimisation. A structured approach to architectural optimisation of large-scale Artificial Neural Networks using this principle is presented. We also present simulation results demonstrating the evolution of an edge detecting retina using the proposed methodology

Towards adaptive multi-robot systems: self-organization and self-adaptation

Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The development of complex systems ensembles that operate in uncertain environments is a major challenge. The reason for this is that system designers are not able to fully specify the system during specification and development and before it is being deployed. Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour. Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world application. In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics. We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework possible

Robotic ubiquitous cognitive ecology for smart homes

Robotic ecologies are networks of heterogeneous robotic devices pervasively embedded in everyday environments, where they cooperate to perform complex tasks. While their potential makes them increasingly popular, one fundamental problem is how to make them both autonomous and adaptive, so as to reduce the amount of preparation, pre-programming and human supervision that they require in real world applications. The project RUBICON develops learning solutions which yield cheaper, adaptive and efficient coordination of robotic ecologies. The approach we pursue builds upon a unique combination of methods from cognitive robotics, machine learning, planning and agent- based control, and wireless sensor networks. This paper illustrates the innovations advanced by RUBICON in each of these fronts before describing how the resulting techniques have been integrated and applied to a smart home scenario. The resulting system is able to provide useful services and pro-actively assist the users in their activities. RUBICON learns through an incremental and progressive approach driven by the feed- back received from its own activities and from the user, while also self-organizing the manner in which it uses available sensors, actuators and other functional components in the process. This paper summarises some of the lessons learned by adopting such an approach and outlines promising directions for future work

Neural Networks: Implementations and Applications

Artificial neural networks, also called neural networks, have been used successfully in many fields including engineering, science and business. This paper presents the implementation of several neural network simulators and their applications in character recognition and other engineering area

The analysis of user behaviour of a network management training tool using a neural network

A novel method for the analysis and interpretation of data that describes the interaction between trainee network managers and a network management training tool is presented. A simulation based approach is currently being used to train network managers, through the use of a simulated network. The motivation is to provide a tool for exposing trainees to a life like situation without disrupting a live network. The data logged by this system describes the detailed interaction between trainee network manager and simulated network. The work presented here provides an analysis of this interaction data that enables an assessment of the capabilities of the trainee network manager as well as an understanding of how the network management tasks are being approached. A neural network architecture is implemented in order to perform an exploratory data analysis of the interaction data. The neural network employs a novel form of continuous self-organisation to discover key features in the data and thus provide new insights into the learning and teaching strategies employed