Efficient learning of reactive robot behaviors with a Neural-Q_learning approach

The purpose of this paper is to propose a Neural-Q_learning approach designed for online learning of simple and reactive robot behaviors. In this approach, the Q_function is generalized by a multi-layer neural network allowing the use of continuous states and actions. The algorithm uses a database of the most recent learning samples to accelerate and guarantee the convergence. Each Neural-Q_learning function represents an independent, reactive and adaptive behavior which maps sensorial states to robot control actions. A group of these behaviors constitutes a reactive control scheme designed to fulfill simple missions. The paper centers on the description of the Neural-Q_learning based behaviors showing their performance with an underwater robot in a target following task. Real experiments demonstrate the convergence and stability of the learning system, pointing out its suitability for online robot learning. Advantages and limitations are discussed

Optimising memory usage in n-tuple neural networks

The use of n-tuple or weightless neural networks as pattern recognition devices is well known (Aleksander and Stonham, 1979). They have some significant advantages over the more common and biologically plausible networks, such as multi-layer perceptrons; for example, n-tuple networks have been used for a variety of tasks, the most popular being real-time pattern recognition, and they can be implemented easily in hardware as they use standard random access memories. In operation, a series of images of an object are shown to the network, each being processed suitably and effectively stored in a memory called a discriminator. Then, when another image is shown to the system, it is processed in a similar manner and the system reports whether it recognises the image; is the image sufficiently similar to one already taught? If the system is to be able to recognise and discriminate between m-objects, then it must contain m-discriminators. This can require a great deal of memory. This paper describes various ways in which memory requirements can be reduced, including a novel method for multiple discriminator n-tuple networks used for pattern recognition. By using this method, the memory normally required to handle m-objects can be used to recognise and discriminate between 2^m — 2 objects.

A model of UK domestic appliance-use using Artificial Neural Networks

The development of an Artificial Neural Network model of UK domestic appliance energy consumption is presented. The model uses diary-style appliance use data and a survey questionnaire collected from 51 households during the summer of 2010. It also incorporates measured energy data and is sensitive to socioeconomic, physical dwelling and temperature variables. A prototype model is constructed in MATLAB using a two layer feed forward network with backpropagation training and has a12:10:24architecture.Model outputs include appliance load profiles which can be applied to the fields of energy planning (micro renewables and smart grids), building simulation tools and energy policy.

Parkinson’s Disease tremor classification – a comparison between Support Vector Machines and neural networks

Deep Brain Stimulation has been used in the study of and for treating Parkinson’s Disease (PD) tremor symptoms since the 1980s. In the research reported here we have carried out a comparative analysis to classify tremor onset based on intraoperative microelectrode recordings of a PD patient’s brain Local Field Potential (LFP) signals. In particular, we compared the performance of a Support Vector Machine (SVM) with two well known artificial neural network classifiers, namely a Multiple Layer Perceptron (MLP) and a Radial Basis Function Network (RBN). The results show that in this study, using specifically PD data, the SVM provided an overall better classification rate achieving an accuracy of 81% recognition.

Artificial Neural Networks and the Study of the Psychoactivity of Cannabinoid Compounds

Cannabinoid compounds have widely been employed because of its medicinal and psychotropic properties. These compounds are isolated from Cannabis sativa (or marijuana) and are used in several medical treatments, such as glaucoma, nausea associated to chemotherapy, pain and many other situations. More recently, its use as appetite stimulant has been indicated in patients with cachexia or AIDS. In this work, the influence of several molecular descriptors on the psychoactivity of 50 cannabinoid compounds is analyzed aiming one obtain a model able to predict the psychoactivity of new cannabinoids. For this purpose, initially, the selection of descriptors was carried out using the Fisher`s weight, the correlation matrix among the calculated variables and principal component analysis. From these analyses, the following descriptors have been considered more relevant: E(LUMO) (energy of the lowest unoccupied molecular orbital), Log P (logarithm of the partition coefficient), VC4 (volume of the substituent at the C4 position) and LP1 (Lovasz-Pelikan index, a molecular branching index). To follow, two neural network models were used to construct a more adequate model for classifying new cannabinoid compounds. The first model employed was multi-layer perceptrons, with algorithm back-propagation, and the second model used was the Kohonen network. The results obtained from both networks were compared and showed that both techniques presented a high percentage of correctness to discriminate psychoactive and psychoinactive compounds. However, the Kohonen network was superior to multi-layer perceptrons.

An alternative approach to solve convergence problems in the backpropagation algorithm

The multilayer perceptron network has become one of the most used in the solution of a wide variety of problems. The training process is based on the supervised method where the inputs are presented to the neural network and the output is compared with a desired value. However, the algorithm presents convergence problems when the desired output of the network has small slope in the discrete time samples or the output is a quasi-constant value. The proposal of this paper is presenting an alternative approach to solve this convergence problem with a pre-conditioning method of the desired output data set before the training process and a post-conditioning when the generalization results are obtained. Simulations results are presented in order to validate the proposed approach.

Prediction of occurrences of diverse chemical classes in the Asteraceae through artificial neural networks

The training and the application of a neural network system for the prediction of occurrences of secondary metabolites belonging to diverse chemical classes in the Asteraceae is described. From a database containing about 604 genera and 28,000 occurrences of secondary metabolites in the plant family, information was collected encompassing nine chemical classes and their respective occurrences for training of a multi-layer net using the back-propagation algorithm. The net supplied as output the presence or absence of the chemical classes as well as the number of compounds isolated from each taxon. The results provided by the net from the presence or absence of a chemical class showed a 89% hit rate; by excluding triterpenes from the analysis, only 5% of the genera studied exhibited errors greater than 10%. Copyright (C) 2004 John Wiley Sons, Ltd.

Avaliação estatística de métodos de poda aplicados em neurônios intermediários da rede neural MLP

There are several papers on pruning methods in the artificial neural networks area. However, with rare exceptions, none of them presents an appropriate statistical evaluation of such methods. In this article, we proved statistically the ability of some methods to reduce the number of neurons of the hidden layer of a multilayer perceptron neural network (MLP), and to maintain the same landing of classification error of the initial net. They are evaluated seven pruning methods. The experimental investigation was accomplished on five groups of generated data and in two groups of real data. Three variables were accompanied in the study: apparent classification error rate in the test group (REA); number of hidden neurons, obtained after the application of the pruning method; and number of training/retraining epochs, to evaluate the computational effort. The non-parametric Friedman's test was used to do the statistical analysis.

New contributions to the determination of resonance frequencies of rectangular microstrip antennas by neural networks

This paper uses artificial neural networks (ANN) to compute the resonance frequencies of rectangular microstrip antennas (MSA), used in mobile communications. Perceptron Multi-layers (PML) networks were used, with the Quasi-Newton method proposed by Broyden, Fletcher, Goldfarb and Shanno (BFGS). Due to the nature of the problem, two hundred and fifty networks were trained, and the resonance frequency for each test antenna was calculated by statistical methods. The estimate resonance frequencies for six test antennas were compared with others results obtained by deterministic and ANN based empirical models from the literature, and presented a better agreement with the experimental values.

Correlação de poços com múltiplos perfis através da rede neural multicamadas

A correlação estratigráfica busca a determinação da continuidade lateral das rochas, ou a equivalência espacial entre unidades litológicas em subsuperfície, a partir de informações geológico-geofísicas oriundas de poços tubulares, que atravessam estas rochas. Normalmente, mas não exclusivamente, a correlação estratigráfica é realizada a partir das propriedades físicas registradas nos perfis geofísicos de poço. Neste caso, busca-se a equivalência litológica a partir da equivalência entre as propriedades físicas, medidas nos vários poços de um campo petrolífero. A técnica da correlação estratigráfica com perfis geofísicos de poço não é uma atividade trivial e sim, sujeita a inúmeras possibilidades de uma errônea interpretação da disposição geométrica ou da continuidade lateral das rochas em subsuperfície, em função da variabilidade geológica e da ambigüidade das respostas das ferramentas. Logo, é recomendável a utilização de um grande número de perfis de um mesmo poço, para uma melhor interpretação. A correlação estratigráfica é fundamental para o engenheiro de reservatório ou o geólogo, pois a partir da mesma, é possível a definição de estratégias de explotação de um campo petrolífero e a interpretação das continuidades hidráulicas dos reservatórios, bem como auxílio para a construção do modelo geológico para os reservatórios, a partir da interpretação do comportamento estrutural das diversas camadas em subsuperfície. Este trabalho apresenta um método de automação das atividades manuais envolvidas na correlação estratigráfica, com a utilização de vários perfis geofísicos de poço, através de uma arquitetura de rede neural artificial multicamadas, treinada com o algoritmo de retropropagação do erro. A correlação estratigráfica, obtida a partir da rede neural artificial, possibilita o transporte da informação geológica do datum de correlação ao longo do campo, possibilitando ao intérprete, uma visão espacial do comportamento do reservatório e a simulação dos possíveis paleoambientes. Com a metodologia aqui apresentada foi possível a construção automática de um bloco diagrama, mostrando a disposição espacial de uma camada argilosa, utilizando-se os perfis de Raio Gama (RG), Volume de Argila (Vsh), Densidade (ρ_b) e de Porosidade Neutrônica (φ_n) selecionados em cinco poços da região do Lago Maracaibo, na Venezuela.

Utilização de redes neurais artificiais aplicadas na discriminação de padrões de doenças florestais

Pós-graduação em Ciência Florestal - FCA

Detecting and sorting targeting peptides wtih neural networks and support vector machines

This paper presents a composite multi-layer classifier system for predicting the subcellular localization of proteins based on their amino acid sequence. The work is an extension of our previous predictor PProwler v1.1 which is itself built upon the series of predictors SignalP and TargetP. In this study we outline experiments conducted to improve the classifier design. The major improvement came from using Support Vector machines as a "smart gate" sorting the outputs of several different targeting peptide detection networks. Our final model (PProwler v1.2) gives MCC values of 0.873 for non-plant and 0.849 for plant proteins. The model improves upon the accuracy of our previous subcellular localization predictor (PProwler v1.1) by 2% for plant data (which represents 7.5% improvement upon TargetP).

Neural Approach in Multi-Agent Routing for Static Telecommunication Networks

The problem of multi-agent routing in static telecommunication networks with fixed configuration is considered. The problem is formulated in two ways: for centralized routing schema with the coordinator-agent (global routing) and for distributed routing schema with independent agents (local routing). For both schemas appropriate Hopfield neural networks (HNN) are constructed.

An ArcGIS Tool for Modeling the Climate Envelope with Feed-Forward ANN

This paper is about the development and the application of an ESRI ArcGIS tool which implements multi-layer, feed-forward artificial neural network (ANN) to study the climate envelope of species. The supervised learning is achieved by backpropagation algorithm. Based on the distribution and the grids of the climate (and edaphic data) of the reference and future periods the tool predicts the future potential distribution of the studied species. The trained network can be saved and loaded. A modeling result based on the distribution of European larch (Larix decidua Mill.) is presented as a case study.

Guiding Monte Carlo tree searches with neural networks in the game of go

A dissertation submitted in fulfillment of the requirements to the degree of Master in Computer Science and Computer Engineering