993 research outputs found
A Contraction Theory Approach to Stochastic Incremental Stability
We investigate the incremental stability properties of It\^o stochastic
dynamical systems. Specifically, we derive a stochastic version of nonlinear
contraction theory that provides a bound on the mean square distance between
any two trajectories of a stochastically contracting system. This bound can be
expressed as a function of the noise intensity and the contraction rate of the
noise-free system. We illustrate these results in the contexts of stochastic
nonlinear observers design and stochastic synchronization.Comment: 23 pages, 2 figure
Synchronization and Redundancy: Implications for Robustness of Neural Learning and Decision Making
Learning and decision making in the brain are key processes critical to
survival, and yet are processes implemented by non-ideal biological building
blocks which can impose significant error. We explore quantitatively how the
brain might cope with this inherent source of error by taking advantage of two
ubiquitous mechanisms, redundancy and synchronization. In particular we
consider a neural process whose goal is to learn a decision function by
implementing a nonlinear gradient dynamics. The dynamics, however, are assumed
to be corrupted by perturbations modeling the error which might be incurred due
to limitations of the biology, intrinsic neuronal noise, and imperfect
measurements. We show that error, and the associated uncertainty surrounding a
learned solution, can be controlled in large part by trading off
synchronization strength among multiple redundant neural systems against the
noise amplitude. The impact of the coupling between such redundant systems is
quantified by the spectrum of the network Laplacian, and we discuss the role of
network topology in synchronization and in reducing the effect of noise. A
range of situations in which the mechanisms we model arise in brain science are
discussed, and we draw attention to experimental evidence suggesting that
cortical circuits capable of implementing the computations of interest here can
be found on several scales. Finally, simulations comparing theoretical bounds
to the relevant empirical quantities show that the theoretical estimates we
derive can be tight.Comment: Preprint, accepted for publication in Neural Computatio
Collective stability of networks of winner-take-all circuits
The neocortex has a remarkably uniform neuronal organization, suggesting that
common principles of processing are employed throughout its extent. In
particular, the patterns of connectivity observed in the superficial layers of
the visual cortex are consistent with the recurrent excitation and inhibitory
feedback required for cooperative-competitive circuits such as the soft
winner-take-all (WTA). WTA circuits offer interesting computational properties
such as selective amplification, signal restoration, and decision making. But,
these properties depend on the signal gain derived from positive feedback, and
so there is a critical trade-off between providing feedback strong enough to
support the sophisticated computations, while maintaining overall circuit
stability. We consider the question of how to reason about stability in very
large distributed networks of such circuits. We approach this problem by
approximating the regular cortical architecture as many interconnected
cooperative-competitive modules. We demonstrate that by properly understanding
the behavior of this small computational module, one can reason over the
stability and convergence of very large networks composed of these modules. We
obtain parameter ranges in which the WTA circuit operates in a high-gain
regime, is stable, and can be aggregated arbitrarily to form large stable
networks. We use nonlinear Contraction Theory to establish conditions for
stability in the fully nonlinear case, and verify these solutions using
numerical simulations. The derived bounds allow modes of operation in which the
WTA network is multi-stable and exhibits state-dependent persistent activities.
Our approach is sufficiently general to reason systematically about the
stability of any network, biological or technological, composed of networks of
small modules that express competition through shared inhibition.Comment: 7 Figure
Competition through selective inhibitory synchrony
Models of cortical neuronal circuits commonly depend on inhibitory feedback
to control gain, provide signal normalization, and to selectively amplify
signals using winner-take-all (WTA) dynamics. Such models generally assume that
excitatory and inhibitory neurons are able to interact easily, because their
axons and dendrites are co-localized in the same small volume. However,
quantitative neuroanatomical studies of the dimensions of axonal and dendritic
trees of neurons in the neocortex show that this co-localization assumption is
not valid. In this paper we describe a simple modification to the WTA circuit
design that permits the effects of distributed inhibitory neurons to be coupled
through synchronization, and so allows a single WTA to be distributed widely in
cortical space, well beyond the arborization of any single inhibitory neuron,
and even across different cortical areas. We prove by non-linear contraction
analysis, and demonstrate by simulation that distributed WTA sub-systems
combined by such inhibitory synchrony are inherently stable. We show
analytically that synchronization is substantially faster than winner
selection. This circuit mechanism allows networks of independent WTAs to fully
or partially compete with each other.Comment: in press at Neural computation; 4 figure
Solving constraint-satisfaction problems with distributed neocortical-like neuronal networks
Finding actions that satisfy the constraints imposed by both external inputs
and internal representations is central to decision making. We demonstrate that
some important classes of constraint satisfaction problems (CSPs) can be solved
by networks composed of homogeneous cooperative-competitive modules that have
connectivity similar to motifs observed in the superficial layers of neocortex.
The winner-take-all modules are sparsely coupled by programming neurons that
embed the constraints onto the otherwise homogeneous modular computational
substrate. We show rules that embed any instance of the CSPs planar four-color
graph coloring, maximum independent set, and Sudoku on this substrate, and
provide mathematical proofs that guarantee these graph coloring problems will
convergence to a solution. The network is composed of non-saturating linear
threshold neurons. Their lack of right saturation allows the overall network to
explore the problem space driven through the unstable dynamics generated by
recurrent excitation. The direction of exploration is steered by the constraint
neurons. While many problems can be solved using only linear inhibitory
constraints, network performance on hard problems benefits significantly when
these negative constraints are implemented by non-linear multiplicative
inhibition. Overall, our results demonstrate the importance of instability
rather than stability in network computation, and also offer insight into the
computational role of dual inhibitory mechanisms in neural circuits.Comment: Accepted manuscript, in press, Neural Computation (2018
Oblique triangular antiferromagnetic phase in CsCuCoCl
The spin-1/2 stacked triangular antiferromagnet CsCuCoCl with
undergoes two phase transitions at zero field. The
low-temperature phase is produced by the small amount of Co doping. In
order to investigate the magnetic structures of the two ordered phases, the
neutron elastic scattering experiments have been carried out for the sample
with . It is found that the intermediate phase is identical to
the ordered phase of CsCuCl, and that the low-temperature phase is an
oblique triangular antiferromagnetic phase in which the spins form a triangular
structure in a plane tilted from the basal plane. The tilting angle which is
42 at K decreases with increasing temperature, and becomes
zero at K. An off-diagonal exchange term is proposed as the
origin of the oblique phase.Comment: 6 pages, 7 figure
Hybrid fuzzy and sliding-mode control for motorised tether spin-up when coupled with axial vibration
A hybrid fuzzy sliding mode controller is applied to the control of motorised tether spin-up coupled with an axial oscillation phenomenon. A six degree of freedom dynamic model of a motorised momentum exchange tether is used as a basis for interplanetary payload exchange. The tether comprises a symmetrical double payload configuration, with an outrigger counter inertia and massive central facility. It is shown that including axial elasticity permits an enhanced level of performance prediction accuracy and a useful departure from the usual rigid body representations, particularly for accurate payload positioning at strategic points. A special simulation program has been devised in MATLAB and MATHEMATICA for a given initial condition data case
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