Human-Inspired Eigenmovement Concept Provides Coupling-Free Sensorimotor Control in Humanoid Robot.

Control of a multi-body system in both robots and humans may face the problem of destabilizing dynamic coupling effects arising between linked body segments. The state of the art solutions in robotics are full state feedback controllers. For human hip-ankle coordination, a more parsimonious and theoretically stable alternative to the robotics solution has been suggested in terms of the Eigenmovement (EM) control. Eigenmovements are kinematic synergies designed to describe the multi DoF system, and its control, with a set of independent, and hence coupling-free, scalar equations. This paper investigates whether the EM alternative shows "real-world robustness" against noisy and inaccurate sensors, mechanical non-linearities such as dead zones, and human-like feedback time delays when controlling hip-ankle movements of a balancing humanoid robot. The EM concept and the EM controller are introduced, the robot's dynamics are identified using a biomechanical approach, and robot tests are performed in a human posture control laboratory. The tests show that the EM controller provides stable control of the robot with proactive ("voluntary") movements and reactive balancing of stance during support surface tilts and translations. Although a preliminary robot-human comparison reveals similarities and differences, we conclude (i) the Eigenmovement concept is a valid candidate when different concepts of human sensorimotor control are considered, and (ii) that human-inspired robot experiments may help to decide in future the choice among the candidates and to improve the design of humanoid robots and robotic rehabilitation devices.

Comparison of Seven Methods for Boolean Factor Analysis and Their Evaluation by Information Gain.

An usual task in large data set analysis is searching for an appropriate data representation in a space of fewer dimensions. One of the most efficient methods to solve this task is factor analysis. In this paper, we compare seven methods for Boolean factor analysis (BFA) in solving the so-called bars problem (BP), which is a BFA benchmark. The performance of the methods is evaluated by means of information gain. Study of the results obtained in solving BP of different levels of complexity has allowed us to reveal strengths and weaknesses of these methods. It is shown that the Likelihood maximization Attractor Neural Network with Increasing Activity (LANNIA) is the most efficient BFA method in solving BP in many cases. Efficacy of the LANNIA method is also shown, when applied to the real data from the Kyoto Encyclopedia of Genes and Genomes database, which contains full genome sequencing for 1368 organisms, and to text data set R52 (from Reuters 21578) typically used for label categorization.

Recurrent-neural-network-based Boolean factor analysis and its application to word clustering.

The objective of this paper is to introduce a neural-network-based algorithm for word clustering as an extension of the neural-network-based Boolean factor analysis algorithm (Frolov , 2007). It is shown that this extended algorithm supports even the more complex model of signals that are supposed to be related to textual documents. It is hypothesized that every topic in textual data is characterized by a set of words which coherently appear in documents dedicated to a given topic. The appearance of each word in a document is coded by the activity of a particular neuron. In accordance with the Hebbian learning rule implemented in the network, sets of coherently appearing words (treated as factors) create tightly connected groups of neurons, hence, revealing them as attractors of the network dynamics. The found factors are eliminated from the network memory by the Hebbian unlearning rule facilitating the search of other factors. Topics related to the found sets of words can be identified based on the words' semantics. To make the method complete, a special technique based on a Bayesian procedure has been developed for the following purposes: first, to provide a complete description of factors in terms of component probability, and second, to enhance the accuracy of classification of signals to determine whether it contains the factor. Since it is assumed that every word may possibly contribute to several topics, the proposed method might be related to the method of fuzzy clustering. In this paper, we show that the results of Boolean factor analysis and fuzzy clustering are not contradictory, but complementary. To demonstrate the capabilities of this attempt, the method is applied to two types of textual data on neural networks in two different languages. The obtained topics and corresponding words are at a good level of agreement despite the fact that identical topics in Russian and English conferences contain different sets of keywords.

Boolean factor analysis by attractor neural network.

A common problem encountered in disciplines such as statistics, data analysis, signal processing, textual data representation, and neural network research, is finding a suitable representation of the data in the lower dimension space. One of the principles used for this reason is a factor analysis. In this paper, we show that Hebbian learning and a Hopfield-like neural network could be used for a natural procedure for Boolean factor analysis. To ensure efficient Boolean factor analysis, we propose our original modification not only of Hopfield network architecture but also its dynamics as well. In this paper, we describe neural network implementation of the Boolean factor analysis method. We show the advantages of our Hopfield-like network modification step by step on artificially generated data. At the end, we show the efficiency of the method on artificial data containing a known list of factors. Our approach has the advantage of being able to analyze very large data sets while preserving the nature of the data.

Informational Capacity and Recall Quality in Sparsely Encoded Hopfield-like Neural Network: Analytical Approaches and Computer Simulation.

A sparsely encoded Hopfield-like attractor neural network is investigated analytically and by computer simulation. Informational capacity and recall quality are evaluated. Three analytical approaches are used: replica method (RM); method of statistical neurodynamics (SN); and single-step approximation (SS). Computer simulation confirmed the good accuracy of RM and SN for all levels of network activity. SS is accurate only for large sparseness. It is shown that informational capacity monotonically increases when sparseness increases, while recall quality changes nonmonotonically: initially it decreases and then increases. Computer simulation revealed the main features of network behaviour near the saturation which are not predicted by the used analytical approaches. Copyright 1997 Elsevier Science Ltd.