Designing Behaviour in Bio-inspired Robots Using Associative Topologies of Spiking-Neural-Networks

This study explores the design and control of the behaviour of agents and robots using simple circuits of spiking neurons and Spike Timing Dependent Plasticity (STDP) as a mechanism of associative and unsupervised learning. Based on a "reward and punishment" classical conditioning, it is demonstrated that these robots learnt to identify and avoid obstacles as well as to identify and look for rewarding stimuli. Using the simulation and programming environment NetLogo, a software engine for the Integrate and Fire model was developed, which allowed us to monitor in discrete time steps the dynamics of each single neuron, synapse and spike in the proposed neural networks. These spiking neural networks (SNN) served as simple brains for the experimental robots. The Lego Mindstorms robot kit was used for the embodiment of the simulated agents. In this paper the topological building blocks are presented as well as the neural parameters required to reproduce the experiments. This paper summarizes the resulting behaviour as well as the observed dynamics of the neural circuits. The Internet-link to the NetLogo code is included in the annex.

A Model for Foraging Ants, Controlled by Spiking Neural Networks and Double Pheromones

A model of an Ant System where ants are controlled by a spiking neural circuit and a second order pheromone mechanism in a foraging task is presented. A neural circuit is trained for individual ants and subsequently the ants are exposed to a virtual environment where a swarm of ants performed a resource foraging task. The model comprises an associative and unsupervised learning strategy for the neural circuit of the ant. The neural circuit adapts to the environment by means of classical conditioning. The initially unknown environment includes different types of stimuli representing food and obstacles which, when they come in direct contact with the ant, elicit a reflex response in the motor neural system of the ant: moving towards or away from the source of the stimulus. The ants are released on a landscape with multiple food sources where one ant alone would have difficulty harvesting the landscape to maximum efficiency. The introduction of a double pheromone mechanism yields better results than traditional ant colony optimization strategies. Traditional ant systems include mainly a positive reinforcement pheromone. This approach uses a second pheromone that acts as a marker for forbidden paths (negative feedback). This blockade is not permanent and is controlled by the evaporation rate of the pheromones. The combined action of both pheromones acts as a collective stigmergic memory of the swarm, which reduces the search space of the problem. This paper explores how the adaptation and learning abilities observed in biologically inspired cognitive architectures is synergistically enhanced by swarm optimization strategies. The model portraits two forms of artificial intelligent behaviour: at the individual level the spiking neural network is the main controller and at the collective level the pheromone distribution is a map towards the solution emerged by the colony.

Neural Hypernetwork Approach for Pulmonary Embolism diagnosis

This work introduces an integrative approach based on Q-analysis with machine learning. The new approach, called Neural Hypernetwork, has been applied to a case study of pulmonary embolism diagnosis. The objective of the application of neural hyper-network to pulmonary embolism (PE) is to improve diagnose for reducing the number of CT-angiography needed. Hypernetworks, based on topological simplicial complex, generalize the concept of two-relation to many-body relation. Furthermore, Hypernetworks provide a significant generalization of network theory, enabling the integration of relational structure, logic and analytic dynamics. Another important results is that Q-analysis stays close to the data, while other approaches manipulate data, projecting them into metric spaces or applying some filtering functions to highlight the intrinsic relations. A pulmonary embolism (PE) is a blockage of the main artery of the lung or one of its branches, frequently fatal. Our study uses data on 28 diagnostic features of 1,427 people considered to be at risk of PE. The resulting neural hypernetwork correctly recognized 94% of those developing a PE. This is better than previous results that have been obtained with other methods (statistical selection of features, partial least squares regression, topological data analysis in a metric space).