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Summary In this paper we discuss some of the new work we have been carrying out with the objective of making evolutionarily obtained behavior based architectures and modules for autonomous robots more standardized and interchangeable. The architectures contemplated here are based on a multiple behavior structure where all of the modules, as well as their interconnections, are automatically obtained through evolutionary processes. The main objective of this line of research is to obtain procedures that permit producing behavior based controllers that work on real robots operating in real environments as independently of the platform as possible. In this particular paper we will concentrate on different aspects regarding the inclusion of virtual sensors as a way to make improved use of the capabilities of the different platforms and on the reuse of behavior modules. This reuse will be contemplated within the same behavioral architecture and from the point of view of transferring behavior modules from one platform to a different one.  相似文献   

2.
Developing networks of the chick spinal cord become spontaneously active early in development and remain so until hatching. Experiments using an isolated preparation of the spinal cord have begun to reveal the mechanisms responsible for this activity. Whole-cell and optical recordings have shown that spinal neurons receive a rhythmic, depolarizing synaptic drive and experience rhythmic elevations of intracellular calcium during spontaneous episodes. Activity is expressed throughout the neuraxis and can be produced by different parts of the cord and by the isolated brain stem, suggesting that it does not depend upon the details of network architecture. Two factors appear to be particularly important for the production of endogenous activity. The first is the predominantly excitatory nature of developing synaptic connections, and the second is the presence of prolonged activity-dependent depression of network excitability. The interaction between high excitability and depression results in an equilibrium in which episodes are expressed periodically by the network. The mechanism of the rhythmic bursting within an episode is not understood, but it may be due to a “fast” form of network depression. Spontaneous embryonic activity has been shown to play a role in neuron and muscle development, but is probably not involved in the initial formation of connections between spinal neurons. It may be important in refining the initial connections, but this possibility remains to be explored. © 1998 John Wiley & Sons, Inc. J Neurobiol 37: 131–145, 1998
  • 1 This article is a US Government work and, as such, is in the public domain in the United States of America.
  •   相似文献   

    3.
    The specificity of GalNAc-transferase is consistent with the existence of an extended site composed of nine subsites, denoted by R4, R3, R2, R1, R0, R1, R2, R3, and R4, where the acceptor at R0 is either Ser or Thr to which the reducing monosaccharide is anchored. To predict whether a peptide will react with the enzyme to form a Ser- or Thr-conjugated glycopeptide, a neural network method—Kohonen's self-organization model is proposed in this paper. Three hundred five oligopeptides are chosen for the training site, with another 30 oligopeptides for the test set. Because of its high correct prediction rate (26/30=86.7%) and stronger fault-tolerant ability, it is expected that the neural network method can be used as a technique for predicting O-glycosylation and designing effective inhibitors of GalNAc-transferase. It might also be useful for targeting drugs to specific sites in the body and for enzyme replacement therapy for the treatment of genetic disorders.  相似文献   

    4.
    We propose a binary word encoding to improve the protein secondary structure prediction. A binary word encoding encodes a local amino acid sequence to a binary word, which consists of 0 or 1. We use an encoding function to map an amino acid to 0 or 1. Using the binary word encoding, we can statistically extract the multiresidue information, which depends on more than one residue. We combine the binary word encoding with the GOR method, its modified version, which shows better accuracy, and the neural network method. The binary word encoding improves the accuracy of GOR by 2.8%. We obtain similar improvement when we combine this with the modified GOR method and the neural network method. When we use multiple sequence alignment data, the binary word encoding similarly improves the accuracy. The accuracy of our best combined method is 68.2%. In this paper, we only show improvement of the GOR and neural network method, we cannot say that the encoding improves the other methods. But the improvement by the encoding suggests that the multiresidue interaction affects the formation of secondary structure. In addition, we find that the optimal encoding function obtained by the simulated annealing method relates to non-polarity. This means that nonpolarity is important to the multiresidue interaction. Proteins 27:36–46 © 1997 Wiley-Liss, Inc.  相似文献   

    5.
      总被引:2,自引:0,他引:2  
    The task of predicting the cysteine-bonding state in proteins starting from the residue chain is addressed by implementing a new hybrid system that combines a neural network and a hidden Markov model (hidden neural network). Training is performed using 4136 cysteine-containing segments extracted from 969 nonhomologous proteins of well-resolved three-dimensional structure. After a 20-fold cross-validation procedure, the efficiency of the prediction scores as high as 88% and 84%, when measured on cysteine and protein basis, respectively. These results outperform previously described methods for the same task.  相似文献   

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    Frenz CM 《Proteins》2005,59(2):147-151
    Protein-based therapeutics are playing an increasingly important role in the treatment of diseases, including diabetes and cancer. The viability of these treatments, however, are highly dependent on the stability of the therapeutic, since stability affects both the shelf life of the therapeutic as well as its active life in the body. Stability engineering can, therefore, be used to increase the effectiveness of protein-based therapeutics. Computational methods of protein stability prediction have been under development for about a decade, but complex molecular interactions make stability prediction difficult and computationally intensive. A rapid computational method of protein stability prediction is developed using feed-forward neural networks and used to predict mutation-induced stability changes in Staphylococcal nuclease. The input to the neural network consisted of sequences of evolutionarily based amino acid similarity scores that were obtained through the comparison of the amino acids in a mutation containing sequence to their positional counterparts in the baseline wild-type amino acid sequence. A training set was created which consisted of similarity score sequences, for which the stabilities of the corresponding amino acid sequences were known, paired with the relative stabilities of the sequences to that of the baseline. Back-propagation of error was used to train the network to output accurate relative stability scores for the sequences in the training set. Neural network-based relative stability predictions for 55 sequences containing mutation combinations not found in the training set had an accuracy of 92.8%.  相似文献   

    8.
    Constrained optimization problems arise in a wide variety of scientific and engineering applications. Since several single recurrent neural networks when applied to solve constrained optimization problems for real-time engineering applications have shown some limitations, cooperative recurrent neural network approaches have been developed to overcome drawbacks of these single recurrent neural networks. This paper surveys in details work on cooperative recurrent neural networks for solving constrained optimization problems and their engineering applications, and points out their standing models from viewpoint of both convergence to the optimal solution and model complexity. We provide examples and comparisons to shown advantages of these models in the given applications.  相似文献   

    9.
    本文提出了一种基于卷积神经网络和循环神经网络的深度学习模型,通过分析基因组序列数据,识别人基因组中环形RNA剪接位点.首先,根据预处理后的核苷酸序列,设计了2种网络深度、8种卷积核大小和3种长短期记忆(long short term memory,LSTM)参数,共8组16个模型;其次,进一步针对池化层进行均值池化和最大池化的测试,并加入GC含量提高模型的预测能力;最后,对已经实验验证过的人类精浆中环形RNA进行了预测.结果表明,卷积核尺寸为32×4、深度为1、LSTM参数为32的模型识别率最高,在训练集上为0.9824,在测试数据集上准确率为0.95,并且在实验验证数据上的正确识别率为83%.该模型在人的环形RNA剪接位点识别方面具有较好的性能.  相似文献   

    10.
        
    Variation in life-history traits (growth, condition, mortality and recruitment) and relative abundance of 11 large-bodied fish species was investigated among three water-management regimes (unimpounded, run-of-the-river and winter reservoirs) in the large regulated Ottawa River, Canada. If waterpower management had an effect on fishes, then (1) would be expected community structuring among water-management regimes and (2) species with similar life-history traits should be affected in a similar manner. Large-bodied fish communities were assessed using two different standard index-netting techniques, one using trap nets and the other gillnets. Community structure could be discriminated based on species caught in nets using holographic neural networks (78·8% correct overall classification rate using trap nets and 76·0% using gillnets); therefore, water-management regimes affected community structure in the Ottawa River. Littoral zone benthivores were significantly lower in abundance ( P < 0·001) or absent in winter reservoirs, whereas the abundance of planktivores or species that were planktivorous at young ages were significantly greater than in unimpounded river reaches. Growth, condition and mortality did not vary among reach types except smallmouth bass Micropterus dolomieu were in better condition in winter reservoirs than unimpounded reaches. Lake sturgeon Acipenser fulvescens recruitment was impaired in run-of-the-river reaches, whereas recruitment for other species that spawn in fast water was not affected.  相似文献   

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    A modular small-world topology in functional and anatomical networks of the cortex is eminently suitable as an information processing architecture. This structure was shown in model studies to arise adaptively; it emerges through rewiring of network connections according to patterns of synchrony in ongoing oscillatory neural activity. However, in order to improve the applicability of such models to the cortex, spatial characteristics of cortical connectivity need to be respected, which were previously neglected. For this purpose we consider networks endowed with a metric by embedding them into a physical space. We provide an adaptive rewiring model with a spatial distance function and a corresponding spatially local rewiring bias. The spatially constrained adaptive rewiring principle is able to steer the evolving network topology to small world status, even more consistently so than without spatial constraints. Locally biased adaptive rewiring results in a spatial layout of the connectivity structure, in which topologically segregated modules correspond to spatially segregated regions, and these regions are linked by long-range connections. The principle of locally biased adaptive rewiring, thus, may explain both the topological connectivity structure and spatial distribution of connections between neuronal units in a large-scale cortical architecture.  相似文献   

    12.
    宇宙创生→生命爆发→智能演生→人工智能,这是一条演化的历史长河。时代在问,脑与心智从哪里来,将到哪里去?人工智能的前途和命运是怎样的?人类文明的前途和命运是怎样的?大脑智能和人工智能怎样才能相互照亮?是否有不依赖于大数据、大算力和大模型的智能路线?人工智能可否通过完全不同于生物进化的另一条道路通向“心智”?脑智创造力如何演化为新质生产力?这些问题的核心仍然是人类大脑在整体上是怎样工作的?本文将从微观—介观—宏观—宇观的尺度上来勾勒一幅复杂性与简约性辩证统一的图景。  相似文献   

    13.
    Recent research that tests interactive devices for prolonged therapy practice has revealed new prospects for robotics combined with graphical and other forms of biofeedback. Previous human-robot interactive systems have required different software commands to be implemented for each robot leading to unnecessary developmental overhead time each time a new system becomes available. For example, when a haptic/graphic virtual reality environment has been coded for one specific robot to provide haptic feedback, that specific robot would not be able to be traded for another robot without recoding the program. However, recent efforts in the open source community have proposed a wrapper class approach that can elicit nearly identical responses regardless of the robot used. The result can lead researchers across the globe to perform similar experiments using shared code. Therefore modular "switching out"of one robot for another would not affect development time. In this paper, we outline the successful creation and implementation of a wrapper class for one robot into the open-source H3DAPI, which integrates the software commands most commonly used by all robots.  相似文献   

    14.
    In order to probe into the self-organizing emergence of simple cell orientation selectivity, we tried to construct a neural network model that consists of LGN neurons and simple cells in visual cortex and obeys the Hebbian learning rule. We investigated the neural coding and representation of simple cells to a natural image by means of this model. The results show that the structures of their receptive fields are determined by the preferred orientation selectivity of simple cells. However, they are also decided by the emergence of self-organization in the unsupervision learning process. This kind of orientation selectivity results from dynamic self-organization based on the interactions between LGN and cortex.  相似文献   

    15.
    具时滞的Hopfield型神经网络模型的全局渐近稳定性   总被引:14,自引:6,他引:14  
    本文研究了具时滞的Hopfield型神经网络模型平衡点的全局渐近稳定性,获得了一系列充分条件。  相似文献   

    16.
    《Current biology : CB》2021,31(17):3784-3796.e3
    Download : Download video (15MB)  相似文献   

    17.
    In this paper, we propose an iterative learning rule that allows the imprinting of correlated oscillatory patterns in a model of the hippocampus able to work as an associative memory for oscillatory spatio-temporal patterns. We analyze the dynamics in the Fourier domain, showing how the network selectively amplify or distort the Fourier components of the input, in a manner which depends on the imprinted patterns. We also prove that the proposed iterative local rule converges to the pseudo-inverse rule generalized to oscillatory patterns.  相似文献   

    18.
        
    In order to probe into the self-organizing emergence of simple cell orientation selectivity, we tried to construct a neural network model that consists of LGN neurons and simple cells in visual cortex and obeys the Hebbian learning rule. We investigated the neural coding and representation of simple cells to a natural image by means of this model. The results show that the structures of their receptive fields are determined by the preferred orientation selectivity of simple cells. However, they are also decided by the emergence of self-organization in the unsupervision learning process. This kind of orientation selectivity results from dynamic self-organization based on the interactions between LGN and cortex.  相似文献   

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