Rodney M. Goodman

An information theoretic approach to rule induction from databases

An algorithm for the induction of rules from examples is introduced. The algorithm is novel in the sense that it not only learns rules for a given concept (classification), but it simultaneously learns rules relating multiple concepts. This type of learning, known as generalized rule induction, is considerably more general than existing algorithms, which tend to be classification oriented. Initially, it is focused on the problem of determining a quantitative, well-defined rule preference measure. In particular, a quantity called the J-measure is proposed as an information-theoretic alternative to existing approaches. The J-measure quantifies the information content of a rule or a hypothesis. The information theoretic origins of this measure are outlined, and its plausibility as a hypothesis preference measure is examined. The ITRULE algorithm, which uses the measure to learn a set of optimal rules from a set of data samples, is defined. Experimental results on real-world data are analyzed. >

Distributed odor source localization

This paper presents an investigation of odor localization by groups of autonomous mobile robots. First, we describe a distributed algorithm by which groups of agents can solve the full odor localization task. Next, we establish that conducting polymer-based odor sensors possess the combination of speed and sensitivity necessary to enable real world odor plume tracing and we demonstrate that simple local position, odor, and flow information, tightly coupled with robot behavior, is sufficient to allow a robot to localize the source of an odor plume. Finally, we show that elementary communication among a group of agents can increase the efficiency of the odor localization system performance.

Application of neural networks to turbulence control for drag reduction

A new adaptive controller based on a neural network was constructed and applied to turbulent channel flow for drag reduction. A simple control network, which employs blowing and suction at the wall based only on the wall-shear stresses in the spanwise direction, was shown to reduce the skin friction by as much as 20% in direct numerical simulations of a low-Reynolds number turbulent channel flow. Also, a stable pattern was observed in the distribution of weights associated with the neural network. This allowed us to derive a simple control scheme that produced the same amount of drag reduction. This simple control scheme generates optimum wall blowing and suction proportional to a local sum of the wall-shear stress in the spanwise direction. The distribution of corresponding weights is simple and localized, thus making real implementation relatively easy. Turbulence characteristics and relevant practical issues are also discussed.

A real-time neural system for color constancy

A neural network approach to the problem of color constancy is presented. Various algorithms based on Lands retinex theory are discussed with respect to neurobiological parallels, computational efficiency, and suitability for VLSI implementation. The efficiency of one algorithm is improved by the application of resistive grids and is tested in computer simulations; the simulations make clear the strengths and weaknesses of the algorithm. A novel extension to the algorithm is developed to address its weaknesses. An electronic system that is based on the original algorithm and that operates at video rates was built using subthreshold analog CMOS VLSI resistive grids. The system displays color constancy abilities and qualitatively mimics aspects of human color perception.

Learning finite machines with self-clustering recurrent networks

Recent work has shown that recurrent neural networks have the ability to learn finite state automata from examples. In particular, networks using second-order units have been successful at this task. In studying the performance and learning behavior of such networks we have found that the second-order network model attempts to form clusters in activation space as its internal representation of states. However, these learned states become unstable as longer and longer test input strings are presented to the network. In essence, the network forgets where the individual states are in activation space. In this paper we propose a new method to force such a network to learn stable states by introducing discretization into the network and using a pseudo-gradient learning rule to perform training. The essence of the learning rule is that in doing gradient descent, it makes use of the gradient of a sigmoid function as a heuristic hint in place of that of the hard-limiting function, while still using the discretized value in the feedback update path. The new structure uses isolated points in activation space instead of vague clusters as its internal representation of states. It is shown to have similar capabilities in learning finite state automata as the original network, but without the instability problem. The proposed pseudo-gradient learning rule may also be used as a basis for training other types of networks that have hard-limiting threshold activation functions.

Recurrent correlation associative memories

A model for a class of high-capacity associative memories is presented. Since they are based on two-layer recurrent neural networks and their operations depend on the correlation measure, these associative memories are called recurrent correlation associative memories (RCAMs). The RCAMs are shown to be asymptotically stable in both synchronous and asynchronous (sequential) update modes as long as their weighting functions are continuous and monotone nondecreasing. In particular, a high-capacity RCAM named the exponential correlation associative memory (ECAM) is proposed. The asymptotic storage capacity of the ECAM scales exponentially with the length of memory patterns, and it meets the ultimate upper bound for the capacity of associative memories. The asymptotic storage capacity of the ECAM with limited dynamic range in its exponentiation nodes is found to be proportional to that dynamic range. Design and fabrication of a 3-mm CMOS ECAM chip is reported. The prototype chip can store 32 24-bit memory patterns, and its speed is higher than one associative recall operation every 3 mus. An application of the ECAM chip to vector quantization is also described.

Rotation invariant texture recognition using a steerable pyramid

A rotation-invariant texture recognition system is presented. A steerable oriented pyramid is used to extract representative features for the input textures. The steerability of the filter set allows a shift to an invariant representation via a DFT-encoding step. Supervised classification follows. State-of-the-art recognition results are presented on a 30 texture database with a comparison across the performance of the k-NN, backpropagation and rule-based classifiers. In addition, high accuracy estimation of the input rotation angle is demonstrated.

Swarm robotic odor localization

This paper presents an investigation of odor localization by groups of autonomous mobile robots using principles of swarm intelligence. We describe a distributed algorithm by which groups of agents can solve the full odor localization task more efficiently than a single agent. We then demonstrate that a group of real robots under fully distributed control can successfully traverse a real odor plume. Finally, we show that an embodied simulator can faithfully reproduce the real robots experiments and thus can be a useful tool for off-line study and optimization of odor localization in the real world.

Swarm robotic odor localization: Off-line optimization and validation with real robots

This paper presents an investigation of odor localization by groups of autonomous mobile robots using principles of Swarm Intelligence. First, we describe a distributed algorithm by which groups of agents can solve the full odor localization task more efficiently than a single agent. Next, we demonstrate that a group of real robots under fully distributed control can successfully traverse a real odor plume, and that an embodied simulator can faithfully reproduce these real robots experiments. Finally, we use the embodied simulator combined with a reinforcement learning algorithm to optimize performance across group size, showing that it can be useful not only for improving real world odor localization, but also for quantitatively characterizing the influence of group size on task performance.

A surface-micromachined shear stress imager

A new MEMS shear stress sensor imager has been developed and its capability of imaging surface shear stress distribution has been demonstrated. The imager consists of multi-rows of vacuum-insulated shear stress sensors with a 300 /spl mu/m pitch. This small spacing allows it to detect surface flow patterns that could not be directly measured before. The high frequency response (30 kHz) of the sensor under constant temperature bias mode also allows it to be used in high Reynolds number turbulent flow studies. The measurement results in a fully developed turbulent flow agree well with the numerical and experimental results previously published.