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Performance and storage requirements of topology-conserving maps for robot manipulator control
(1989)
A new programming paradigm for the control of a robot manipulator by learning the mapping between the Cartesian space and the joint space (inverse Kinematic) is discussed. It is based on a Neural Network model of optimal mapping between two high-dimensional spaces by Kohonen. This paper describes the approach and presents the optimal mapping, based on the principle of maximal information gain. It is shown that Kohonens mapping in the 2-dimensional case is optimal in this sense. Furthermore, the principal control error made by the learned mapping is evaluated for the example of the commonly used PUMA robot, the trade-off between storage resources and positional error is discussed and an optimal position encoding resolution is proposed.
It is well known that artificial neural nets can be used as approximators of any continous functions to any desired degree. Nevertheless, for a given application and a given network architecture the non-trivial task rests to determine the necessary number of neurons and the necessary accuracy (number of bits) per weight for a satisfactory operation. In this paper the problem is treated by an information theoretic approach. The values for the weights and thresholds in the approximator network are determined analytically. Furthermore, the accuracy of the weights and the number of neurons are seen as general system parameters which determine the the maximal output information (i.e. the approximation error) by the absolute amount and the relative distribution of information contained in the network. A new principle of optimal information distribution is proposed and the conditions for the optimal system parameters are derived. For the simple, instructive example of a linear approximation of a non-linear, quadratic function, the principle of optimal information distribution gives the the optimal system parameters, i.e. the number of neurons and the different resolutions of the variables.
We consider the problem of unifying a set of equations between second-order terms. Terms are constructed from function symbols, constant symbols and variables, and furthermore using monadic second-order variables that may stand for a term with one hole, and parametric terms. We consider stratified systems, where for every first-order and second-order variable, the string of second-order variables on the path from the root of a term to every occurrence of this variable is always the same. It is shown that unification of stratified second-order terms is decidable by describing a nondeterministic decision algorithm that eventually uses Makanin's algorithm for deciding the unifiability of word equations. As a generalization, we show that the method can be used as a unification procedure for non-stratified second-order systems, and describe conditions for termination in the general case.
We consider unification of terms under the equational theory of two-sided distributivity D with the axioms x*(y+z) = x*y + x*z and (x+y)*z = x*z + y*z. The main result of this paper is that Dunification is decidable by giving a non-deterministic transformation algorithm. The generated unification are: an AC1-problem with linear constant restrictions and a second-order unification problem that can be transformed into a word-unification problem that can be decided using Makanin's algorithm. This solves an open problem in the field of unification. Furthermore it is shown that the word-problem can be decided in polynomial time, hence D-matching is NP-complete.
Automatic termination proofs of functional programming languages are an often challenged problem Most work in this area is done on strict languages Orderings for arguments of recursive calls are generated In lazily evaluated languages arguments for functions are not necessarily evaluated to a normal form It is not a trivial task to de ne orderings on expressions that are not in normal form or that do not even have a normal form We propose a method based on an abstract reduction process that reduces up to the point when su cient ordering relations can be found The proposed method is able to nd termination proofs for lazily evaluated programs that involve non terminating subexpressions Analysis is performed on a higher order polymorphic typed language and termi nation of higher order functions can be proved too The calculus can be used to derive information on a wide range on di erent notions of termination.
A partial rehabilitation of side-effecting I/O : non-determinism in non-strict functional languages
(1996)
We investigate the extension of non-strict functional languages like Haskell or Clean by a non-deterministic interaction with the external world. Using call-by-need and a natural semantics which describes the reduction of graphs, this can be done such that the Church-Rosser Theorems 1 and 2 hold. Our operational semantics is a base to recognise which particular equivalencies are preserved by program transformations. The amount of sequentialisation may be smaller than that enforced by other approaches and the programming style is closer to the common one of side-effecting programming. However, not all program transformations used by an optimising compiler for Haskell remain correct in all contexts. Our result can be interpreted as a possibility to extend current I/O-mechanism by non-deterministic deterministic memoryless function calls. For example, this permits a call to a random number generator. Adding memoryless function calls to monadic I/O is possible and has a potential to extend the Haskell I/O-system.
This paper describes the development of a typesetting program for music in the lazy functional programming language Clean. The system transforms a description of the music to be typeset in a dvi-file just like TEX does with mathematical formulae. The implementation makes heavy use of higher order functions. It has been implemented in just a few weeks and is able to typeset quite impressive examples. The system is easy to maintain and can be extended to typeset arbitrary complicated musical constructs. The paper can be considered as a status report of the implementation as well as a reference manual for the resulting system.
It is well known that first order uni cation is decidable, whereas second order and higher order unification is undecidable. Bounded second order unification (BSOU) is second order unification under the restriction that only a bounded number of holes in the instantiating terms for second order variables is permitted, however, the size of the instantiation is not restricted. In this paper, a decision algorithm for bounded second order unification is described. This is the fist non-trivial decidability result for second order unification, where the (finite) signature is not restricted and there are no restrictions on the occurrences of variables. We show that the monadic second order unification (MSOU), a specialization of BSOU is in sum p s. Since MSOU is related to word unification, this is compares favourably to the best known upper bound NEXPTIME (and also to the announced upper bound PSPACE) for word unification. This supports the claim that bounded second order unification is easier than context unification, whose decidability is currently an open question.
This paper describes context analysis, an extension to strictness analysis for lazy functional languages. In particular it extends Wadler's four point domain and permits in nitely many abstract values. A calculus is presented based on abstract reduction which given the abstract values for the result automatically finds the abstract values for the arguments. The results of the analysis are useful for veri fication purposes and can also be used in compilers which require strictness information.
The extraction of strictness information marks an indispensable element of an efficient compilation of lazy functional languages like Haskell. Based on the method of abstract reduction we have developed an e cient strictness analyser for a core language of Haskell. It is completely written in Haskell and compares favourably with known implementations. The implementation is based on the G#-machine, which is an extension of the G-machine that has been adapted to the needs of abstract reduction.
Classically, encoding of images by only a few, important components is done by the Principal Component Analysis (PCA). Recently, a data analysis tool called Independent Component Analysis (ICA) for the separation of independent influences in signals has found strong interest in the neural network community. This approach has also been applied to images. Whereas the approach assumes continuous source channels mixed up to the same number of channels by a mixing matrix, we assume that images are composed by only a few image primitives. This means that for images we have less sources than pixels. Additionally, in order to reduce unimportant information, we aim only for the most important source patterns with the highest occurrence probabilities or biggest information called „Principal Independent Components (PIC)“. For the example of a synthetic picture composed by characters this idea gives us the most important ones. Nevertheless, for natural images where no a-priori probabilities can be computed this does not lead to an acceptable reproduction error. Combining the traditional principal component criteria of PCA with the independence property of ICA we obtain a better encoding. It turns out that this definition of PIC implements the classical demand of Shannon’s rate distortion theory.
Context unification is a variant of second-order unification and also a generalization of string unification. Currently it is not known whether context uni cation is decidable. An expressive fragment of context unification is stratified context unification. Recently, it turned out that stratified context unification and one-step rewrite constraints are equivalent. This paper contains a description of a decision algorithm SCU for stratified context unification together with a proof of its correctness, which shows decidability of stratified context unification as well as of satisfiability of one-step rewrite constraints.
The efficient management of large multimedia databases requires the development of new techniques to process, characterize, and search for multimedia objects. Especially in the case of image data, the rapidly growing amount of documents prohibits a manual description of the images’ content. Instead, the automated characterization is highly desirable to support annotation and retrieval of digital images. However, this is a very complex and still unsolved task. To contribute to a solution of this problem, we have developed a mechanism for recognizing objects in images based on the query by example paradigm. Therefore, the most salient image features of an example image representing the searched object are extracted to obtain a scale-invariant object model. The use of this model provides an efficient and robust strategy for recognizing objects in images independently of their size. Further applications of the mechanism are classical recognition tasks such as scene decomposition or object tracking in video sequences.
Erkennung kritischer Zustände von Patienten mit der Diagnose "Septischer Schock" mit einem RBF-Netz
(2000)
Es wurde gezeigt, dass der Arzt mit dem wachsenden RBF-Netz durch die Ausgabe von verlässlichen Warnungen unterstützt werden kann. Wie in der Clusteranalyse erläutert, leiden die Ergebnisse jedoch unter den wenigen Patienten und unter der ungenauen zeitlichen Erfassung der Daten. Da jeder Patient sehr individuelle Zustände annimmt, ist ein größeres Patientenkollektiv notwendig, um eine umfassende Wissensbasis zu lernen. Eine medizinische Nachbearbeitung der Wissensbasis durch die Analyse der Fälle ließe eine weitere Verbesserung des Ergebnisses erwarten. Somit könnten unbekannte Zusammenhänge durch das Lernen aus Beispielen und medizinisches Fachwissen kombiniert werden. Abstraktere Merkmale, die weniger abhängig von individuellen Zuständen sind, könnten eine Klassifikation noch weiter verbessern. Ein Ansatzpunkt ist z.B. die Abweichung der Messwerte vom gleitenden Mittelwert. Dieses Maß ist unempfindlicher gegenüber den individuellen Arbeitspunkten der Patienten und bildet auch die Basis von relativen Abhängigkeiten zwischen zwei Variablen, die in einem weiteren Schritt ebenfalls als Merkmal herangezogen wurden. Obwohl die Verwendung der relativen Abhängigkeiten zwischen zwei Variablen als Merkmal nicht deutlichere oder häufigere Warnungen hervorbringen konnte, weist doch die Clusteranalyse auf eine bessere Verteilung der Patienten hin. Einige Cluster sind besser für die Vorhersage geeignet, als dieses bei einer Clusterung auf Basis der Zustände erreicht werden kann. Unterstützt wird dieses Ergebnis auch durch den größeren Unterschied der Sicherheiten von falschen und richtigen Klassifikationen. Neben den bisher untersuchten Merkmalen scheinen auch die Variablen interessant zu sein, bei denen festgestellt wurde, dass sie sich trotz Medikamentengabe und adäquater Behandlung schwer stabilisieren lassen. Durch den behandelnden Arzt werden diese Werte üblicherweise in einem gewissen Bereich gehalten. Falls sich das Paar Medikament/physiologischer Parameter nicht mehr in einem sinnvollen Verhältnis befindet, kann dieses ein wichtiger Indikator sein. Nach dem Aufbau der grundlegenden Funktionalität der hier untersuchten Methoden ist die Suche nach geeigneten Merkmalen als Eingabe für ein neuronales Netz ein wesentlicher Bestandteil folgender Arbeiten. Abgesehen von dem generell anspruchsvollen Vorhaben aus Klinikdaten deutliche Hinweise für die Mortalität septischer-Schock-Patienten zu erhalten, liegen die wesentlichen Probleme in dem Umfang und der Messhäufigkeit der Frankfurter Vorstudie begründet, so dass eine Anwendung von Klassifikationsverfahren auf das umfassendere Patientenkollektiv der MEDAN Multicenter-Studie klarere Ergebnisse erwarten lässt. Eine weitere, für medizinische Anwendungen interessante, Analysemöglichkeit ist die Regelgenerierung, die zur Zeit in einem anderen Teilprojekt in der MEDAN-Arbeitsgruppe bearbeitet wird. Hier können im Fall metrischer Daten zusätzliche Hinweise für die Leistung eines reinen Klassifikationsverfahrens gewonnen werden mit dem Vorteil einer expliziten Regelausgabe. Zum anderen werden in diesem Teilprojekt auch Verfahren zur Regelgenerierung eingesetzt, die ordinale und nominale Variablen wie Diagnosen, Operationen, Therapien und Medikamentenangaben (binär, ohne genaue Dosis) auswerten können. Diese werden in den Multicenter-Daten vorhanden sein. Durch Kopplung der Regelgeneratoren für metrische Daten auf der einen Seite und für diskrete Variablen auf der anderen Seite, besteht durchaus die Hoffnung bessere Ergebnisse zu erzielen. Da der Regelgenerator für metrische Daten auf dem RBF-DDA (Abk. für: Dynamic Decay Adjustment)-Netz [BERTHOLD und DIAMOND, 1995] beruht, bietet es sich innerhalb des MEDAN-Projekts an, einen (bislang nicht durchgeführten) Vergleich mit dem hier verwendeten Netztyp durchzuführen. Der Vergleich ist allerdings nur von prinzipiellem Interesse und kann auf den hier betrachteten Daten kein grundsätzlich besseres Ergebnis liefern als die bislang durchgeführten Analysen; er kann aber zu einer umfangreichen Bewertung der Ergebnisse beitragen.
Context unification is a variant of second order unification. It can also be seen as a generalization of string unification to tree unification. Currently it is not known whether context unification is decidable. A specialization of context unification is stratified context unification, which is decidable. However, the previous algorithm has a very bad worst case complexity. Recently it turned out that stratified context unification is equivalent to satisfiability of one-step rewrite constraints. This paper contains an optimized algorithm for strati ed context unification exploiting sharing and power expressions. We prove that the complexity is determined mainly by the maximal depth of SO-cycles. Two observations are used: i. For every ambiguous SO-cycle, there is a context variable that can be instantiated with a ground context of main depth O(c*d), where c is the number of context variables and d is the depth of the SO-cycle. ii. the exponent of periodicity is O(2 pi ), which means it has an O(n)sized representation. From a practical point of view, these observations allow us to conclude that the unification algorithm is well-behaved, if the maximal depth of SO-cycles does not grow too large.
We study the descriptional complexity of cellular automata (CA), a parallel model of computation. We show that between one of the simplest cellular models, the realtime-OCA. and "classical" models like deterministic finite automata (DFA) or pushdown automata (PDA), there will be savings concerning the size of description not bounded by any recursive function, a so-called nonrecursive trade-off. Furthermore, nonrecursive trade-offs are shown between some restricted classes of cellular automata. The set of valid computations of a Turing machine can be recognized by a realtime-OCA. This implies that many decidability questions are not even semi decidable for cellular automata. There is no pumping lemma and no minimization algorithm for cellular automata.