18,051 research outputs found
Computational neural learning formalisms for manipulator inverse kinematics
An efficient, adaptive neural learning paradigm for addressing the inverse kinematics of redundant manipulators is presented. The proposed methodology exploits the infinite local stability of terminal attractors - a new class of mathematical constructs which provide unique information processing capabilities to artificial neural systems. For robotic applications, synaptic elements of such networks can rapidly acquire the kinematic invariances embedded within the presented samples. Subsequently, joint-space configurations, required to follow arbitrary end-effector trajectories, can readily be computed. In a significant departure from prior neuromorphic learning algorithms, this methodology provides mechanisms for incorporating an in-training skew to handle kinematics and environmental constraints
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
Machine Learning for Fluid Mechanics
The field of fluid mechanics is rapidly advancing, driven by unprecedented
volumes of data from field measurements, experiments and large-scale
simulations at multiple spatiotemporal scales. Machine learning offers a wealth
of techniques to extract information from data that could be translated into
knowledge about the underlying fluid mechanics. Moreover, machine learning
algorithms can augment domain knowledge and automate tasks related to flow
control and optimization. This article presents an overview of past history,
current developments, and emerging opportunities of machine learning for fluid
mechanics. It outlines fundamental machine learning methodologies and discusses
their uses for understanding, modeling, optimizing, and controlling fluid
flows. The strengths and limitations of these methods are addressed from the
perspective of scientific inquiry that considers data as an inherent part of
modeling, experimentation, and simulation. Machine learning provides a powerful
information processing framework that can enrich, and possibly even transform,
current lines of fluid mechanics research and industrial applications.Comment: To appear in the Annual Reviews of Fluid Mechanics, 202
Using humanoid robots to study human behavior
Our understanding of human behavior advances as our humanoid robotics work progresses-and vice versa. This team's work focuses on trajectory formation and planning, learning from demonstration, oculomotor control and interactive behaviors. They are programming robotic behavior based on how we humans âprogramâ behavior in-or train-each other
Validation of nonlinear PCA
Linear principal component analysis (PCA) can be extended to a nonlinear PCA
by using artificial neural networks. But the benefit of curved components
requires a careful control of the model complexity. Moreover, standard
techniques for model selection, including cross-validation and more generally
the use of an independent test set, fail when applied to nonlinear PCA because
of its inherent unsupervised characteristics. This paper presents a new
approach for validating the complexity of nonlinear PCA models by using the
error in missing data estimation as a criterion for model selection. It is
motivated by the idea that only the model of optimal complexity is able to
predict missing values with the highest accuracy. While standard test set
validation usually favours over-fitted nonlinear PCA models, the proposed model
validation approach correctly selects the optimal model complexity.Comment: 12 pages, 5 figure
A Self-Organizing Neural Model of Motor Equivalent Reaching and Tool Use by a Multijoint Arm
This paper describes a self-organizing neural model for eye-hand coordination. Called the DIRECT model, it embodies a solution of the classical motor equivalence problem. Motor equivalence computations allow humans and other animals to flexibly employ an arm with more degrees of freedom than the space in which it moves to carry out spatially defined tasks under conditions that may require novel joint configurations. During a motor babbling phase, the model endogenously generates movement commands that activate the correlated visual, spatial, and motor information that are used to learn its internal coordinate transformations. After learning occurs, the model is capable of controlling reaching movements of the arm to prescribed spatial targets using many different combinations of joints. When allowed visual feedback, the model can automatically perform, without additional learning, reaches with tools of variable lengths, with clamped joints, with distortions of visual input by a prism, and with unexpected perturbations. These compensatory computations occur within a single accurate reaching movement. No corrective movements are needed. Blind reaches using internal feedback have also been simulated. The model achieves its competence by transforming visual information about target position and end effector position in 3-D space into a body-centered spatial representation of the direction in 3-D space that the end effector must move to contact the target. The spatial direction vector is adaptively transformed into a motor direction vector, which represents the joint rotations that move the end effector in the desired spatial direction from the present arm configuration. Properties of the model are compared with psychophysical data on human reaching movements, neurophysiological data on the tuning curves of neurons in the monkey motor cortex, and alternative models of movement control.National Science Foundation (IRI 90-24877); Office of Naval Research (N00014-92-J-1309); Air Force Office of Scientific Research (F49620-92-J-0499); National Science Foundation (IRI 90-24877
Platonic model of mind as an approximation to neurodynamics
Hierarchy of approximations involved in simplification of microscopic theories, from sub-cellural to the whole brain level, is presented. A new approximation to neural dynamics is described, leading to a Platonic-like model of mind based on psychological spaces. Objects and events in these spaces correspond to quasi-stable states of brain dynamics and may be interpreted from psychological point of view. Platonic model bridges the gap between neurosciences and psychological sciences. Static and dynamic versions of this model are outlined and Feature Space Mapping, a neurofuzzy realization of the static version of Platonic model, described. Categorization experiments with human subjects are analyzed from the neurodynamical and Platonic model points of view
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