206639466
Neural Networks and Genetic Algorithms for the Attitude Control Problem
A general adaptive control method using genetic algorithms and neural networks is proposed and applied to a highly nonlinear problem, the attitude control problem. Examples are given where the method successfully control a rigid body satellite with unknown dynamics, including an example where the satellite is subject to external forces trying to lead it into a chaotic motion.
14346877
The Construction of Smooth Models using Irregular Embeddings Determined by a Gamma Test Analysis
One of the key problems in forming a smooth model from input-output data is the determination of which input variables are relevant in predicting a given output. In this paper, we show how the Gamma test can be used to select that combination of input variables which can best be employed to form a smooth model of an output. For time series prediction this amounts to the selection of an appropriate irregular embedding. We give some simple zero noise examples of time series analysis, and illustrate how using these techniques a binary message encoded into a chaotic carrier can be retrieved without knowledge of the dynamics used to generate the carrier. Provided the underlying dynamics are such as to produce a smooth embedding model with bounded partial derivatives, the sampling distribution is dense in input space, and any associated distribution of measurement error has the first few moments bounded, so that the typical prerequisite conditions of the Gamma test are satisfied, we conclude that the Gamma test is an effective tool in the determination of irregular time series embeddings. These techniques can also be useful in practical applications which involve filtering seismic data to detect anomalous events.
3022268
Feature selection for genetic sequence classification
MOTIVATION
Most of the existing methods for genetic sequence classification are based on a computer search for homologies in nucleotide or amino acid sequences. The standard sequence alignment programs scale very poorly as the number of sequences increases or the degree of sequence identity is <30%. Some new computationally inexpensive methods based on nucleotide or amino acid compositional analysis have been proposed, but prediction results are still unsatisfactory and depend on the features chosen to represent the sequences.


RESULTS
In this paper, a feature selection method based on the Gamma (or near-neighbour) test is proposed. If there is a continuous or smooth map from feature space to the classification target values, the Gamma test gives an estimate for the mean-squared error of the classification, despite the fact that one has no a priori knowledge of the smooth mapping. We can search a large space of possible feature combinations for a combination which gives a smallest estimated mean-squared error using a genetic algorithm. The method was used for feature selection and classification of the large subunits of rRNA according to RDP (Ribosomal Database Project) phylogenetic classes. The sequences were represented by dinucleotide frequency distribution. The nearest-neighbour criterion has been used to estimate the predictive accuracy of the classification based on the selected features. For examples discussed, we found that the classification according to the first nearest neighbour is correct for 80% of the test samples. If we consider the set of the 10 nearest neighbours, then 94% of the test samples are classified correctly.


AVAILABILITY
The principal novel component of this method is the Gamma test and this can be downloaded compiled for Unix Sun 4, Windows 95 and MS-DOS from http://www.cs.cf.ac.uk/ec/


CONTACT
s.margetts@cs.cf.ac.uk
172513
Comparing networks with differing neural-node functions using transputer-based genetic algorithms
Different neural net node computational functions are compared using feedforward backpropagation networks. Three node types are examined: the standard model, ellipsoidal nodes and quadratic nodes. After preliminary experiments on simple small problems, in which quadratic nodes performed very well, networks of differing nodes types are applied to the speech recognition 104 speaker E-task using a fixed architecture. Ellipsoidal nodes were found to work well, but not as well as the standard model. Quadratic nodes did not perform well on the larger task. To facilitate an architecture independent comparison a transputer-based genetic algorithm is then used to compare ellipsoidal and mixed ellipsoidal and standard networks with the standard model. These experiments confirmed the earlier conclusion that ellipsoidal networks could not compare favourably with the standard model on the 104 speaker E-task. In an evolutionary search in which layer node types were free to adjust ellipsoidal nodes had a tendency to become extinct or barely survive. If the presence of ellipsoidal nodes was enforced then the resulting networks again performed poorly when compared with the standard model.
14418558
Adaptive neuro-genetic control of chaos applied to the attitude control problem
Conventional adaptive control techniques have, for the most part, been based on methods for linear or weakly non-linear systems. More recently, neural network and genetic algorithm controllers have started to be applied to complex, non-linear dynamic systems. The control of chaotic dynamic systems poses a series of especially challenging problems. In this paper, an adaptive control architecture using neural networks and genetic algorithms is applied to a complex, highly nonlinear, chaotic dynamic system: the adaptive attitude control problem (for a satellite), in the presence of large, external forces (which left to themselves led the system into a chaotic motion). In contrast to the OGY method, which uses small control adjustments to stabilize a chaotic system in an otherwise unstable but natural periodic orbit of the system, the neuro-genetic controller may use large control adjustments and proves capable of effectively attaining any specified system state, with no a prioriknowledge of the dynamics, even in the presence of significant noise.
11348191
A note on the Gamma test
This note describes a simple technique, the Gamma (or Near Neighbour) test, which in many cases can be used to considerably simplify the design process of constructing a smooth data model such as a neural network. The Gamma test is a data analysis routine, that (in an optimal implementation) runs in time O(MlogM)as M→∞,where Mis the number of sample data points, and which aims to estimate the best Mean Squared Error (MSError) that can be achieved by any continuous or smooth (bounded first partial derivatives) data model constructed using the data.
47276
A multi-processing software infrastructure for robotic systems
Robotic systems and their software design are based on the same principles found in other computer applications. However, while many computer systems to date are deeply rooted in concepts such as multi-processing, multi-threads, modularity, etc., robotic systems are still limited by mono-processing, centralized designs. The paper addresses these limitations by proposing a new philosophy for robotic system software design - software infrastructure $that allows for the design of an efficient, modular, fault-tolerant, and distributed software architecture. Two examples of this infrastructure applied to mobile robot navigation are also discussed.
9096556
A language extension for expressing constraints on data access
Controlled sharing of information is needed and desirable for many applications and is supported in operating systems by access control mechanisms. This paper shows how to extend programming languages to provide controlled sharing. The extension permits expression of access constraints on shared data. Access constraints can apply both to simple objects, and to objects that are components of larger objects, such as bank account records in a bank's data base. The constraints are stated declaratively, and can be enforced by static checking similar to type checking. The approach can be used to extend any strongly-typed language, but is particularly suitable for extending languages that support the notion of abstract data types.
4157117
Data Access and Integration in the ISPIDER Proteomics Grid
Grid computing has great potential for supporting the integration of complex, fast changing biological data repositories to enable distributed data analysis. One scenario where Grid computing has such potential is provided by proteomics resources which are rapidly being developed with the emergence of affordable, reliable methods to study the proteome. The protein identifications arising from these methods derive from multiple repositories which need to be integrated to enable uniform access to them. A number of technologies exist which enable these resources to be accessed in a Grid environment, but the independent development of these resources means that significant data integration challenges, such as heterogeneity and schema evolution, have to be met. This paper presents an architecture which supports the combined use of Grid data access (OGSA-DAI), Grid distributed querying (OGSA-DQP) and data integration (AutoMed) software tools to support distributed data analysis. We discuss the application of this architecture for the integration of several autonomous proteomics data resources.
206840293
Formal Specification of Security Requirements using the Theory of Normative Positions
We use a number of the examples presented in [Ting 1990] to illustrate how the formal theory of normative positions may serve as a tool for clarifying, and making precise, the specification of security requirements, particularly in regard to access control. We describe the basic features of the theory of normative positions (which has its roots in the analytical theory of law), and of the modal logics (deontic and action logics) involved in its formulation. We then indicate three levels of software we have under development, which aim to turn the analytical procedures into a practical tool. Our concluding remarks relate our discussion of Ting's examples to some particular issues in the formal specification of computer systems.
6839309
Five 1951 BBC broadcasts on automatic calculating machines
In May and June 1951, five leading figures of British computing - Douglas Hartree, Max Newman, Alan Turing, Frederic ("Freddie") Williams, and Maurice Wilkes - spoke about their work on BBC radio. We examine surviving texts of their broadcasts, and the speakers' principal points are summarized through quotations and commentary. The broadcasts are placed in the context of contemporary developments in computing and the particular BBC service on which they were broadcast.