Neural network control of a simple mobile robot

In recent years researchers in the Department of Cybernetics have been developing simple mobile robots capable of exploring their environment on the basis of the information obtained from a few simple sensors. These robots are used as the test bed for exploring various behaviours of single and multiple organisms: the work is inspired by considerations of natural systems. In this paper we concentrate on that part of the work which involves neural networks and related techniques. These neural networks are used both to process the sensor information and to develop the strategy used to control the robot. Here the robots, their sensors, and the neural networks used and all described. 1.

Auto-associative memory using n-tuple techniques

The use of n-tuple or weightless neural networks as pattern recognition devices has been well documented. They have a significant advantages over more common networks paradigms, such as the multilayer perceptron in that they can be easily implemented in digital hardware using standard random access memories. To date, n-tuple networks have predominantly been used as fast pattern classification devices. The paper describes how n-tuple techniques can be used in the hardware implementation of a general auto-associative network.

Multi-microprocessor control of processes with pure time delay

In 1967 a novel scheme was proposed for controlling processes with large pure time delay (Fellgett et al, 1967) and some of the constituent parts of the scheme were investigated (Swann, 1970; Atkinson et al, 1973). At that time the available computational facilities were inadequate for the scheme to be implemented practically, but with the advent of modern microcomputers the scheme becomes feasible. This paper describes recent work (Mitchell, 1987) in implementing the scheme in a new multi-microprocessor configuration and shows the improved performance it provides compared with conventional three-term controllers.

A Note on Dividing Integers by Two

This note describes a simple method of dividing all integers, positive and negative, by two when represented in two's complement arithmetic.

An agent based approach to distributed task modeling for co-operative task support

This paper describes the design and implementation of an agent based network for the support of collaborative switching tasks within the control room environment of the National Grid Company plc. This work includes aspects from several research disciplines, including operational analysis, human computer interaction, finite state modelling techniques, intelligent agents and computer supported co-operative work. Aspects of these procedures have been used in the analysis of collaborative tasks to produce distributed local models for all involved users. These models have been used as the basis for the production of local finite state automata. These automata have then been embedded within an agent network together with behavioural information extracted from the task and user analysis phase. The resulting support system is capable of task and communication management within the transmission despatch environment.

Examination of long-wave radiative bias in general circulation models over North Africa during May–July

Satellite data are used to quantify and examine the bias in the outgoing long-wave (LW) radiation over North Africa during May–July simulated by a range of climate models and the Met Office global numerical weather prediction (NWP) model. Simulations from an ensemble-mean of multiple climate models overestimate outgoing clear-sky long-wave radiation (LWc) by more than 20 W m−2 relative to observations from Clouds and the Earth's Radiant Energy System (CERES) for May–July 2000 over parts of the west Sahara, and by 9 W m−2 for the North Africa region (20°W–30°E, 10–40°N). Experiments with the atmosphere-only version of the High-resolution Hadley Centre Global Environment Model (HiGEM), suggest that including mineral dust radiative effects removes this bias. Furthermore, only by reducing surface temperature and emissivity by unrealistic amounts is it possible to explain the magnitude of the bias. Comparing simulations from the Met Office NWP model with satellite observations from Geostationary Earth Radiation Budget (GERB) instruments suggests that the model overestimates the LW by 20–40 W m−2 during North African summer. The bias declines over the period 2003–2008, although this is likely to relate to improvements in the model and inhomogeneity in the satellite time series. The bias in LWc coincides with high aerosol dust loading estimated from the Ozone Monitoring Instrument (OMI), including during the GERBILS field campaign (18–28 June 2007) where model overestimates in LWc greater than 20 W m−2 and OMI-estimated aerosol optical depth (AOD) greater than 0.8 are concurrent around 20°N, 0–20°W. A model-minus-GERB LW bias of around 30 W m−2 coincides with high AOD during the period 18–21 June 2007, although differences in cloud cover also impact the model–GERB differences. Copyright © Royal Meteorological Society and Crown Copyright, 2010

Patterns of nucleotide substitution in angiosperm cpDNA trnL (UAA)-trnF (GAA) regions

Patterns of substitution in chloroplast encoded trnL_F regions were compared between species of Actaea (Ranunculales), Digitalis (Scrophulariales), Drosera (Caryophyllales), Panicoideae (Poales), the small chromosome species clade of Pelargonium (Geraniales), each representing a different order of flowering plants, and Huperzia (Lycopodiales). In total, the study included 265 taxa, each with > 900-bp sequences, totaling 0.24 Mb. Both pairwise and phylogeny-based comparisons were used to assess nucleotide substitution patterns. In all six groups, we found that transition/transversion ratios, as estimated by maximum likelihood on most-parsimonious trees, ranged between 0.8 and 1.0 for ingroups. These values occurred both at low sequence divergences, where substitutional saturation, i.e., multiple substitutions having occurred at the same (homologous) nucleotide position, was not expected, and at higher levels of divergence. This suggests that the angiosperm trnL-F regions evolve in a pattern different from that generally observed for nuclear and animal mtDNA (transitional/transversion ratio > or = 2). Transition/transversion ratios in the intron and the spacer region differed in all alignments compared, yet base compositions between the regions were highly similar in all six groups. A>-C transversions were significantly less frequent than the other four substitution types. This correlates with results from studies on fidelity mechanisms in DNA replication that predict A<->T and G<->C transversions to be least likely to occur. It therefore strengthens confidence in the link between mutation bias at the polymerase level and the actual fixation of substitutions as recorded on evolutionary trees, and concomitantly, in the neutrality of nucleotide substitutions as phylogenetic markers.