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  Digital image correlation and tracking

  Digital image correlation and tracking is an optical method that employs tracking and image registration techniques for accurate 2D and 3D measurements of changes in 2D images or 3D volumes. This method is often used to measure full-field displacement and strains, and it is widely applied in many areas of science and engineering. Compared to strain gauges and extensometers, digital image correlation methods provide finer details about deformation, due to the ability to provide both local and average data. == Overview == Digital image correlation (DIC) techniques have been increasing in popularity, especially in micro- and nano-scale mechanical testing applications due to their relative ease of implementation and use. Advances in computer technology and digital cameras have been the enabling technologies for this method and while white-light optics has been the predominant approach, DIC can be and has been extended to almost any imaging technology. The concept of using cross-correlation to measure shifts in datasets has been known for a long time, and it has been applied to digital images since at least the early 1970s. The present-day applications are almost innumerable, including image analysis, image compression, velocimetry, and strain estimation. Much early work in DIC in the field of mechanics was led by researchers at the University of South Carolina in the early 1980s and has been optimized and improved in recent years. Commonly, DIC relies on finding the maximum of the correlation array between pixel intensity array subsets on two or more corresponding images, which gives the integer translational shift between them. It is also possible to estimate shifts to a finer resolution than the resolution of the original images, which is often called "sub-pixel" registration because the measured shift is smaller than an integer pixel unit. For sub-pixel interpolation of the shift, other methods do not simply maximize the correlation coefficient. An iterative approach can also be used to maximize the interpolated correlation coefficient by using non-linear optimization techniques. The non-linear optimization approach tends to be conceptually simpler and can handle large deformations more accurately, but as with most nonlinear optimization techniques, it is slower. The two-dimensional discrete cross correlation r i j {\displaystyle r_{ij}} can be defined in several ways, one possibility being: r i j = ∑ m ∑ n [ f ( m + i , n + j ) − f ¯ ] [ g ( m , n ) − g ¯ ] ∑ m ∑ n [ f ( m , n ) − f ¯ ] 2 ∑ m ∑ n [ g ( m , n ) − g ¯ ] 2 . {\displaystyle r_{ij}={\frac {\sum _{m}\sum _{n}[f(m+i,n+j)-{\bar {f}}][g(m,n)-{\bar {g}}]}{\sqrt {\sum _{m}\sum _{n}{[f(m,n)-{\bar {f}}]^{2}}\sum _{m}\sum _{n}{[g(m,n)-{\bar {g}}]^{2}}}}}.} Here f(m, n) is the pixel intensity or the gray-scale value at a point (m, n) in the original image, g(m, n) is the gray-scale value at a point (m, n) in the translated image, f ¯ {\displaystyle {\bar {f}}} and g ¯ {\displaystyle {\bar {g}}} are mean values of the intensity matrices f and g respectively. However, in practical applications, the correlation array is usually computed using Fourier-transform methods, since the fast Fourier transform is a much faster method than directly computing the correlation. F = F { f } , G = F { g } . {\displaystyle \mathbf {F} ={\mathcal {F}}\{f\},\quad \mathbf {G} ={\mathcal {F}}\{g\}.} Then taking the complex conjugate of the second result and multiplying the Fourier transforms together elementwise, we obtain the Fourier transform of the correlogram, R {\displaystyle \ R} : R = F ∘ G ∗ , {\displaystyle R=\mathbf {F} \circ \mathbf {G} ^{},} where ∘ {\displaystyle \circ } is the Hadamard product (entry-wise product). It is also fairly common to normalize the magnitudes to unity at this point, which results in a variation called phase correlation. Then the cross-correlation is obtained by applying the inverse Fourier transform: r = F − 1 { R } . {\displaystyle \ r={\mathcal {F}}^{-1}\{R\}.} At this point, the coordinates of the maximum of r i j {\displaystyle r_{ij}} give the integer shift: ( Δ x , Δ y ) = arg ⁡ max ( i , j ) { r } . {\displaystyle (\Delta x,\Delta y)=\arg \max _{(i,j)}\{r\}.} == Deformation mapping == For deformation mapping, the mapping function that relates the images can be derived from comparing a set of subwindow pairs over the whole images. (Figure 1). The coordinates or grid points (xi, yj) and (xi, yj) are related by the translations that occur between the two images. If the deformation is small and perpendicular to the optical axis of the camera, then the relation between (xi, yj) and (xi, yj) can be approximated by a 2D affine transformation such as: x ∗ = x + u + ∂ u ∂ x Δ x + ∂ u ∂ y Δ y , {\displaystyle x^{}=x+u+{\frac {\partial u}{\partial x}}\Delta x+{\frac {\partial u}{\partial y}}\Delta y,} y ∗ = y + v + ∂ v ∂ x Δ x + ∂ v ∂ y Δ y . {\displaystyle y^{}=y+v+{\frac {\partial v}{\partial x}}\Delta x+{\frac {\partial v}{\partial y}}\Delta y.} Here u and v are translations of the center of the sub-image in the X and Y directions respectively. The distances from the center of the sub-image to the point (x, y) are denoted by Δ x {\displaystyle \Delta x} and Δ y {\displaystyle \Delta y} . Thus, the correlation coefficient rij is a function of displacement components (u, v) and displacement gradients ∂ u ∂ x , ∂ u ∂ y , ∂ v ∂ x , ∂ v ∂ y . {\displaystyle {\frac {\partial u}{\partial x}},{\frac {\partial u}{\partial y}},{\frac {\partial v}{\partial x}},{\frac {\partial v}{\partial y}}.} DIC has proven to be very effective at mapping deformation in macroscopic mechanical testing, where the application of specular markers (e.g. paint, toner powder) or surface finishes from machining and polishing provide the needed contrast to correlate images well. However, these methods for applying surface contrast do not extend to the application of free-standing thin films for several reasons. First, vapor deposition at normal temperatures on semiconductor grade substrates results in mirror-finish quality films with RMS roughnesses that are typically on the order of several nanometers. No subsequent polishing or finishing steps are required, and unless electron imaging techniques are employed that can resolve microstructural features, the films do not possess enough useful surface contrast to adequately correlate images. Typically this challenge can be circumvented by applying paint that results in a random speckle pattern on the surface, although the large and turbulent forces resulting from either spraying or applying paint to the surface of a free-standing thin film are too high and would break the specimens. In addition, the sizes of individual paint particles are on the order of μms, while the film thickness is only several hundred nanometers, which would be analogous to supporting a large boulder on a thin sheet of paper. == Digital volume correlation == Digital Volume Correlation (DVC, and sometimes called Volumetric-DIC) extends the 2D-DIC algorithms into three dimensions to calculate the full-field 3D deformation from a pair of 3D images. This technique is distinct from 3D-DIC, which only calculates the 3D deformation of an exterior surface using conventional optical images. The DVC algorithm is able to track full-field displacement information in the form of voxels instead of pixels. The theory is similar to above except that another dimension is added: the z-dimension. The displacement is calculated from the correlation of 3D subsets of the reference and deformed volumetric images, which is analogous to the correlation of 2D subsets described above. DVC can be performed using volumetric image datasets. These images can be obtained using confocal microscopy, X-ray computed tomography, Magnetic Resonance Imaging or other techniques. Similar to the other DIC techniques, the images must exhibit a distinct, high-contrast 3D "speckle pattern" to ensure accurate displacement measurement. DVC was first developed in 1999 to study the deformation of trabecular bone using X-ray computed tomography images. Since then, applications of DVC have grown to include granular materials, metals, foams, composites and biological materials. To date it has been used with images acquired by MRI imaging, Computer Tomography (CT), micro-CT, confocal microscopy, and lightsheet microscopy. DVC is currently considered to be ideal in the research world for 3D quantification of local displacements, strains, and stress in biological specimens. It is preferred because of the non-invasiveness of the method over traditional experimental methods. Two of the key challenges are improving the speed and reliability of the DVC measurement. The 3D imaging techniques produce noisier images than conventional 2D optical images, which reduces the quality of the displacement measurement. Computational speed is restricted by the file sizes of 3D images, which are significantly larger than 2D images. For example, an

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  Canonical correspondence analysis

  In multivariate analysis, canonical correspondence analysis (CCA) is an ordination technique that determines axes from the response data as a unimodal combination of measured predictors. CCA is commonly used in ecology in order to extract gradients that drive the composition of ecological communities. CCA extends correspondence analysis (CA) with regression, in order to incorporate predictor variables. == History == CCA was developed in 1986 by Cajo ter Braak and implemented in the program CANOCO, an extension of DECORANA. To date, CCA is one of the most popular multivariate methods in ecology, despite the availability of contemporary alternatives. CCA was originally derived and implemented using an algorithm of weighted averaging, though Legendre & Legendre (1998) derived an alternative algorithm. == Assumptions == The requirements of a CCA are that the samples are random and independent. Also, the data are categorical and that the independent variables are consistent within the sample site and error-free. The original publication states the need for equal species tolerances, equal species maxima, and equispaced or uniformly distributed species optima and site scores.

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  Clustering illusion

  The clustering illusion is the tendency to erroneously consider the inevitable "streaks" or "clusters" arising in small samples from random distributions to be non-random. The illusion is caused by a human tendency to underpredict the amount of variability likely to appear in a small sample of random or pseudorandom data. Thomas Gilovich, an early author on the subject, argued that the effect occurs for different types of random dispersions. Some might perceive patterns in stock market price fluctuations over time, or clusters in two-dimensional data such as the locations of impact of World War II V-1 flying bombs on maps of London. Although Londoners developed specific theories about the pattern of impacts within London, a statistical analysis by R. D. Clarke originally published in 1946 showed that the impacts of V-2 rockets on London were a close fit to a random distribution. == Similar biases == Using this cognitive bias in causal reasoning may result in the Texas sharpshooter fallacy, in which differences in data are ignored and similarities are overemphasized. More general forms of erroneous pattern recognition are pareidolia and apophenia. Related biases are the illusion of control which the clustering illusion could contribute to, and insensitivity to sample size in which people don't expect greater variation in smaller samples. A different cognitive bias involving misunderstanding of chance streams is the gambler's fallacy. == Possible causes == Daniel Kahneman and Amos Tversky explained this kind of misprediction as being caused by the representativeness heuristic (which itself they also first proposed).

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  Multiple kernel learning

  Multiple kernel learning refers to a set of machine learning methods that use a predefined set of kernels and learn an optimal linear or non-linear combination of kernels as part of the algorithm. Reasons to use multiple kernel learning include a) the ability to select for an optimal kernel and parameters from a larger set of kernels, reducing bias due to kernel selection while allowing for more automated machine learning methods, and b) combining data from different sources (e.g. sound and images from a video) that have different notions of similarity and thus require different kernels. Instead of creating a new kernel, multiple kernel algorithms can be used to combine kernels already established for each individual data source. Multiple kernel learning approaches have been used in many applications, such as event recognition in video, object recognition in images, and biomedical data fusion. == Algorithms == Multiple kernel learning algorithms have been developed for supervised, semi-supervised, as well as unsupervised learning. Most work has been done on the supervised learning case with linear combinations of kernels, however, many algorithms have been developed. The basic idea behind multiple kernel learning algorithms is to add an extra parameter to the minimization problem of the learning algorithm. As an example, consider the case of supervised learning of a linear combination of a set of n {\displaystyle n} kernels K {\displaystyle K} . We introduce a new kernel K ′ = ∑ i = 1 n β i K i {\displaystyle K'=\sum _{i=1}^{n}\beta _{i}K_{i}} , where β {\displaystyle \beta } is a vector of coefficients for each kernel. Because the kernels are additive (due to properties of reproducing kernel Hilbert spaces), this new function is still a kernel. For a set of data X {\displaystyle X} with labels Y {\displaystyle Y} , the minimization problem can then be written as min β , c E ( Y , K ′ c ) + R ( K , c ) {\displaystyle \min _{\beta ,c}\mathrm {E} (Y,K'c)+R(K,c)} where E {\displaystyle \mathrm {E} } is an error function and R {\displaystyle R} is a regularization term. E {\displaystyle \mathrm {E} } is typically the square loss function (Tikhonov regularization) or the hinge loss function (for SVM algorithms), and R {\displaystyle R} is usually an ℓ n {\displaystyle \ell _{n}} norm or some combination of the norms (i.e. elastic net regularization). This optimization problem can then be solved by standard optimization methods. Adaptations of existing techniques such as the Sequential Minimal Optimization have also been developed for multiple kernel SVM-based methods. === Supervised learning === For supervised learning, there are many other algorithms that use different methods to learn the form of the kernel. The following categorization has been proposed by Gonen and Alpaydın (2011) ==== Fixed rules approaches ==== Fixed rules approaches such as the linear combination algorithm described above use rules to set the combination of the kernels. These do not require parameterization and use rules like summation and multiplication to combine the kernels. The weighting is learned in the algorithm. Other examples of fixed rules include pairwise kernels, which are of the form k ( ( x 1 i , x 1 j ) , ( x 2 i , x 2 j ) ) = k ( x 1 i , x 2 i ) k ( x 1 j , x 2 j ) + k ( x 1 i , x 2 j ) k ( x 1 j , x 2 i ) {\displaystyle k((x_{1i},x_{1j}),(x_{2i},x_{2j}))=k(x_{1i},x_{2i})k(x_{1j},x_{2j})+k(x_{1i},x_{2j})k(x_{1j},x_{2i})} . These pairwise approaches have been used in predicting protein-protein interactions. ==== Heuristic approaches ==== These algorithms use a combination function that is parameterized. The parameters are generally defined for each individual kernel based on single-kernel performance or some computation from the kernel matrix. Examples of these include the kernel from Tenabe et al. (2008). Letting π m {\displaystyle \pi _{m}} be the accuracy obtained using only K m {\displaystyle K_{m}} , and letting δ {\displaystyle \delta } be a threshold less than the minimum of the single-kernel accuracies, we can define β m = π m − δ ∑ h = 1 n ( π h − δ ) {\displaystyle \beta _{m}={\frac {\pi _{m}-\delta }{\sum _{h=1}^{n}(\pi _{h}-\delta )}}} Other approaches use a definition of kernel similarity, such as A ( K 1 , K 2 ) = ⟨ K 1 , K 2 ⟩ ⟨ K 1 , K 1 ⟩ ⟨ K 2 , K 2 ⟩ {\displaystyle A(K_{1},K_{2})={\frac {\langle K_{1},K_{2}\rangle }{\sqrt {\langle K_{1},K_{1}\rangle \langle K_{2},K_{2}\rangle }}}} Using this measure, Qui and Lane (2009) used the following heuristic to define β m = A ( K m , Y Y T ) ∑ h = 1 n A ( K h , Y Y T ) {\displaystyle \beta _{m}={\frac {A(K_{m},YY^{T})}{\sum _{h=1}^{n}A(K_{h},YY^{T})}}} ==== Optimization approaches ==== These approaches solve an optimization problem to determine parameters for the kernel combination function. This has been done with similarity measures and structural risk minimization approaches. For similarity measures such as the one defined above, the problem can be formulated as follows: max β , tr ⁡ ( K t r a ′ ) = 1 , K ′ ≥ 0 A ( K t r a ′ , Y Y T ) . {\displaystyle \max _{\beta ,\operatorname {tr} (K'_{tra})=1,K'\geq 0}A(K'_{tra},YY^{T}).} where K t r a ′ {\displaystyle K'_{tra}} is the kernel of the training set. Structural risk minimization approaches that have been used include linear approaches, such as that used by Lanckriet et al. (2002). We can define the implausibility of a kernel ω ( K ) {\displaystyle \omega (K)} to be the value of the objective function after solving a canonical SVM problem. We can then solve the following minimization problem: min tr ⁡ ( K t r a ′ ) = c ω ( K t r a ′ ) {\displaystyle \min _{\operatorname {tr} (K'_{tra})=c}\omega (K'_{tra})} where c {\displaystyle c} is a positive constant. Many other variations exist on the same idea, with different methods of refining and solving the problem, e.g. with nonnegative weights for individual kernels and using non-linear combinations of kernels. ==== Bayesian approaches ==== Bayesian approaches put priors on the kernel parameters and learn the parameter values from the priors and the base algorithm. For example, the decision function can be written as f ( x ) = ∑ i = 0 n α i ∑ m = 1 p η m K m ( x i m , x m ) {\displaystyle f(x)=\sum _{i=0}^{n}\alpha _{i}\sum _{m=1}^{p}\eta _{m}K_{m}(x_{i}^{m},x^{m})} η {\displaystyle \eta } can be modeled with a Dirichlet prior and α {\displaystyle \alpha } can be modeled with a zero-mean Gaussian and an inverse gamma variance prior. This model is then optimized using a customized multinomial probit approach with a Gibbs sampler. These methods have been used successfully in applications such as protein fold recognition and protein homology problems ==== Boosting approaches ==== Boosting approaches add new kernels iteratively until some stopping criteria that is a function of performance is reached. An example of this is the MARK model developed by Bennett et al. (2002) f ( x ) = ∑ i = 1 N ∑ m = 1 P α i m K m ( x i m , x m ) + b {\displaystyle f(x)=\sum _{i=1}^{N}\sum _{m=1}^{P}\alpha _{i}^{m}K_{m}(x_{i}^{m},x^{m})+b} The parameters α i m {\displaystyle \alpha _{i}^{m}} and b {\displaystyle b} are learned by gradient descent on a coordinate basis. In this way, each iteration of the descent algorithm identifies the best kernel column to choose at each particular iteration and adds that to the combined kernel. The model is then rerun to generate the optimal weights α i {\displaystyle \alpha _{i}} and b {\displaystyle b} . === Semisupervised learning === Semisupervised learning approaches to multiple kernel learning are similar to other extensions of supervised learning approaches. An inductive procedure has been developed that uses a log-likelihood empirical loss and group LASSO regularization with conditional expectation consensus on unlabeled data for image categorization. We can define the problem as follows. Let L = ( x i , y i ) {\displaystyle L={(x_{i},y_{i})}} be the labeled data, and let U = x i {\displaystyle U={x_{i}}} be the set of unlabeled data. Then, we can write the decision function as follows. f ( x ) = α 0 + ∑ i = 1 | L | α i K i ( x ) {\displaystyle f(x)=\alpha _{0}+\sum _{i=1}^{|L|}\alpha _{i}K_{i}(x)} The problem can be written as min f L ( f ) + λ R ( f ) + γ Θ ( f ) {\displaystyle \min _{f}L(f)+\lambda R(f)+\gamma \Theta (f)} where L {\displaystyle L} is the loss function (weighted negative log-likelihood in this case), R {\displaystyle R} is the regularization parameter (Group LASSO in this case), and Θ {\displaystyle \Theta } is the conditional expectation consensus (CEC) penalty on unlabeled data. The CEC penalty is defined as follows. Let the marginal kernel density for all the data be g m π ( x ) = ⟨ ϕ m π , ψ m ( x ) ⟩ {\displaystyle g_{m}^{\pi }(x)=\langle \phi _{m}^{\pi },\psi _{m}(x)\rangle } where ψ m ( x ) = [ K m ( x 1 , x ) , … , K m ( x L , x ) ] T {\displaystyle \psi _{m}(x)=[K_{m}(x_{1},x),\ldots ,K_{m}(x_{L},x)]^{T}} (the kernel distance between the labe

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  Developmental robotics

  Developmental robotics (DevRob), sometimes called epigenetic robotics, is a scientific field which aims at studying the developmental mechanisms, architectures and constraints that allow lifelong and open-ended learning of new skills and new knowledge in embodied machines. As in human children, learning is expected to be cumulative and of progressively increasing complexity, and to result from self-exploration of the world in combination with social interaction. The typical methodological approach consists in starting from theories of human and animal development elaborated in fields such as developmental psychology, neuroscience, developmental and evolutionary biology, and linguistics, then to formalize and implement them in robots, sometimes exploring extensions or variants of them. The experimentation of those models in robots allows researchers to confront them with reality, and as a consequence, developmental robotics also provides feedback and novel hypotheses on theories of human and animal development. Developmental robotics is related to but differs from evolutionary robotics (ER). ER uses populations of robots that evolve over time, whereas DevRob is interested in how the organization of a single robot's control system develops through experience, over time. DevRob is also related to work done in the domains of robotics and artificial life. == Background == Can a robot learn like a child? Can it learn a variety of new skills and new knowledge unspecified at design time and in a partially unknown and changing environment? How can it discover its body and its relationships with the physical and social environment? How can its cognitive capacities continuously develop without the intervention of an engineer once it is "out of the factory"? What can it learn through natural social interactions with humans? These are the questions at the center of developmental robotics. Alan Turing, as well as a number of other pioneers of cybernetics, already formulated those questions and the general approach in 1950, but it is only since the end of the 20th century that they began to be investigated systematically. Because the concept of adaptive intelligent machines is central to developmental robotics, it has relationships with fields such as artificial intelligence, machine learning, cognitive robotics or computational neuroscience. Yet, while it may reuse some of the techniques elaborated in these fields, it differs from them from many perspectives. It differs from classical artificial intelligence because it does not assume the capability of advanced symbolic reasoning and focuses on embodied and situated sensorimotor and social skills rather than on abstract symbolic problems. It differs from cognitive robotics because it focuses on the processes that allow the formation of cognitive capabilities rather than these capabilities themselves. It differs from computational neuroscience because it focuses on functional modeling of integrated architectures of development and learning. More generally, developmental robotics is uniquely characterized by the following three features: It targets task-independent architectures and learning mechanisms, i.e. the machine/robot has to be able to learn new tasks that are unknown by the engineer; It emphasizes open-ended development and lifelong learning, i.e. the capacity of an organism to acquire continuously novel skills. This should not be understood as a capacity for learning "anything" or even “everything”, but just that the set of skills that is acquired can be infinitely extended at least in some (not all) directions; The complexity of acquired knowledge and skills shall increase (and the increase be controlled) progressively. Developmental robotics emerged at the crossroads of several research communities including embodied artificial intelligence, enactive and dynamical systems cognitive science, connectionism. Starting from the essential idea that learning and development happen as the self-organized result of the dynamical interactions among brains, bodies and their physical and social environment, and trying to understand how this self-organization can be harnessed to provide task-independent lifelong learning of skills of increasing complexity, developmental robotics strongly interacts with fields such as developmental psychology, developmental and cognitive neuroscience, developmental biology (embryology), evolutionary biology, and cognitive linguistics. As many of the theories coming from these sciences are verbal and/or descriptive, this implies a crucial formalization and computational modeling activity in developmental robotics. These computational models are then not only used as ways to explore how to build more versatile and adaptive machines but also as a way to evaluate their coherence and possibly explore alternative explanations for understanding biological development. == Research directions == === Skill domains === Due to the general approach and methodology, developmental robotics projects typically focus on having robots develop the same types of skills as human infants. A first category that is important being investigated is the acquisition of sensorimotor skills. These include the discovery of one's own body, including its structure and dynamics such as hand-eye coordination, locomotion, and interaction with objects as well as tool use, with a particular focus on the discovery and learning of affordances. A second category of skills targeted by developmental robots are social and linguistic skills: the acquisition of simple social behavioural games such as turn-taking, coordinated interaction, lexicons, syntax and grammar, and the grounding of these linguistic skills into sensorimotor skills (sometimes referred as symbol grounding). In parallel, the acquisition of associated cognitive skills are being investigated such as the emergence of the self/non-self distinction, the development of attentional capabilities, of categorization systems and higher-level representations of affordances or social constructs, of the emergence of values, empathy, or theories of mind. === Mechanisms and constraints === The sensorimotor and social spaces in which humans and robot live are so large and complex that only a small part of potentially learnable skills can actually be explored and learnt within a life-time. Thus, mechanisms and constraints are necessary to guide developmental organisms in their development and control of the growth of complexity. There are several important families of these guiding mechanisms and constraints which are studied in developmental robotics, all inspired by human development: Motivational systems, generating internal reward signals that drive exploration and learning, which can be of two main types: extrinsic motivations push robots/organisms to maintain basic specific internal properties such as food and water level, physical integrity, or light (e.g. in phototropic systems); intrinsic motivations push robot to search for novelty, challenge, compression or learning progress per se, thus generating what is sometimes called curiosity-driven learning and exploration, or alternatively active learning and exploration; Social guidance: as humans learn a lot by interacting with their peers, developmental robotics investigates mechanisms that can allow robots to participate to human-like social interaction. By perceiving and interpreting social cues, this may allow robots both to learn from humans (through diverse means such as imitation, emulation, stimulus enhancement, demonstration, etc. ...) and to trigger natural human pedagogy. Thus, social acceptance of developmental robots is also investigated; Statistical inference biases and cumulative knowledge/skill reuse: biases characterizing both representations/encodings and inference mechanisms can typically allow considerable improvement of the efficiency of learning and are thus studied. Related to this, mechanisms allowing to infer new knowledge and acquire new skills by reusing previously learnt structures is also an essential field of study; The properties of embodiment, including geometry, materials, or innate motor primitives/synergies often encoded as dynamical systems, can considerably simplify the acquisition of sensorimotor or social skills, and is sometimes referred as morphological computation. The interaction of these constraints with other constraints is an important axis of investigation; Maturational constraints: In human infants, both the body and the neural system grow progressively, rather than being full-fledged already at birth. This implies, for example, that new degrees of freedom, as well as increases of the volume and resolution of available sensorimotor signals, may appear as learning and development unfold. Transposing these mechanisms in developmental robots, and understanding how it may hinder or on the contrary ease the acquisition of novel complex skills is a central questi

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  Log-linear model

  A log-linear model is a mathematical model that takes the form of a function whose logarithm equals a linear combination of the parameters of the model, which makes it possible to apply (possibly multivariate) linear regression. That is, it has the general form exp ⁡ ( c + ∑ i w i f i ( X ) ) {\displaystyle \exp \left(c+\sum _{i}w_{i}f_{i}(X)\right)} , in which the fi(X) are quantities that are functions of the variable X, in general a vector of values, while c and the wi stand for the model parameters. The term may specifically be used for: A log-linear plot or graph, which is a type of semi-log plot. Poisson regression for contingency tables, a type of generalized linear model. The specific applications of log-linear models are where the output quantity lies in the range 0 to ∞, for values of the independent variables X, or more immediately, the transformed quantities fi(X) in the range −∞ to +∞. This may be contrasted to logistic models, similar to the logistic function, for which the output quantity lies in the range 0 to 1. Thus the contexts where these models are useful or realistic often depends on the range of the values being modelled.

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  Mating pool

  Mating pool is a concept used in evolutionary algorithms and means a population of parents for the next population. The mating pool is formed by candidate solutions that the selection operators deem to have the highest fitness in the current population. Solutions that are included in the mating pool are referred to as parents. Individual solutions can be repeatedly included in the mating pool, with individuals of higher fitness values having a higher chance of being included multiple times. Crossover operators are then applied to the parents, resulting in recombination of genes recognized as superior. Lastly, random changes in the genes are introduced through mutation operators, increasing the genetic variation in the gene pool. Those two operators improve the chance of creating new, superior solutions. A new generation of solutions is thereby created, the children, who will constitute the next population. Depending on the selection method, the total number of parents in the mating pool can be different to the size of the initial population, resulting in a new population that’s smaller. To continue the algorithm with an equally sized population, random individuals from the old populations can be chosen and added to the new population. At this point, the fitness value of the new solutions is evaluated. If the termination conditions are fulfilled, processes come to an end. Otherwise, they are repeated. The repetition of the steps result in candidate solutions that evolve towards the most optimal solution over time. The genes will become increasingly uniform towards the most optimal gene, a process called convergence. If 95% of the population share the same version of a gene, the gene has converged. When all the individual fitness values have reached the value of the best individual, i.e. all the genes have converged, population convergence is achieved. == Mating pool creation == Several methods can be applied to create a mating pool. All of these processes involve the selective breeding of a particular number of individuals within a population. There are multiple criteria that can be employed to determine which individuals make it into the mating pool and which are left behind. The selection methods can be split into three general types: fitness proportionate selection, ordinal based selection and threshold based selection. === Fitness proportionate selection === In the case of fitness proportionate selection, random individuals are selected to enter the pool. However, the ones with a higher level of fitness are more likely to be picked and therefore have a greater chance of passing on their features to the next generation. One of the techniques used in this type of parental selection is the roulette wheel selection. This approach divides a hypothetical circular wheel into different slots, the size of which is equal to the fitness values of each potential candidate. Afterwards, the wheel is rotated and a fixed point determines which individual gets picked. The greater the fitness value of an individual, the higher the probability of being chosen as a parent by the random spin of the wheel. Alternatively, stochastic universal sampling can be implemented. This selection method is also based on the rotation of a spinning wheel. However, in this case there is more than one fixed point and as a result all of the mating pool members will be selected simultaneously. === Ordinal based selection === The ordinal based selection methods include the tournament and ranking selection. Tournament selection involves the random selection of individuals of a population and the subsequent comparison of their fitness levels. The winners of these “tournaments” are the ones with the highest values and will be put into the mating pool as parents. In ranking selection all the individuals are sorted based on their fitness values. Then, the selection of the parents is made according to the rank of the candidates. Every individual has a chance of being chosen, but higher ranked ones are favored === Threshold based selection === The last type of selection method is referred to as the threshold based method. This includes the truncation selection method, which sorts individuals based on their phenotypic values on a specific trait and later selects the proportion of them that are within a certain threshold as parents.

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  Latent Dirichlet allocation

  In natural language processing, latent Dirichlet allocation (LDA) is a generative statistical model that explains how a collection of text documents can be described by a set of unobserved "topics." For example, given a set of news articles, LDA might discover that one topic is characterized by words like "president", "government", and "election", while another is characterized by "team", "game", and "score". It is one of the most common topic models. The LDA model was first presented as a graphical model for population genetics by J. K. Pritchard, M. Stephens and P. Donnelly in 2000. The model was subsequently applied to machine learning by David Blei, Andrew Ng, and Michael I. Jordan in 2003. Although its most frequent application is in modeling text corpora, it has also been used for other problems, such as in clinical psychology, social science, and computational musicology. The core assumption of LDA is that documents are represented as a random mixture of latent topics, and each topic is characterized by a probability distribution over words. The model is a generalization of probabilistic latent semantic analysis (pLSA), differing primarily in that LDA treats the topic mixture as a Dirichlet prior, leading to more reasonable mixtures and less susceptibility to overfitting. Learning the latent topics and their associated probabilities from a corpus is typically done using Bayesian inference, often with methods like Gibbs sampling or variational Bayes. == History == In the context of population genetics, LDA was proposed by J. K. Pritchard, M. Stephens and P. Donnelly in 2000. LDA was applied in machine learning by David Blei, Andrew Ng and Michael I. Jordan in 2003. == Overview == === Population genetics === In population genetics, the model is used to detect the presence of structured genetic variation in a group of individuals. The model assumes that alleles carried by individuals under study have origin in various extant or past populations. The model and various inference algorithms allow scientists to estimate the allele frequencies in those source populations and the origin of alleles carried by individuals under study. The source populations can be interpreted ex-post in terms of various evolutionary scenarios. In association studies, detecting the presence of genetic structure is considered a necessary preliminary step to avoid confounding. === Clinical psychology, mental health, and social science === In clinical psychology research, LDA has been used to identify common themes of self-images experienced by young people in social situations. Other social scientists have used LDA to examine large sets of topical data from discussions on social media (e.g., tweets about prescription drugs). Additionally, supervised Latent Dirichlet Allocation with covariates (SLDAX) has been specifically developed to combine latent topics identified in texts with other manifest variables. This approach allows for the integration of text data as predictors in statistical regression analyses, improving the accuracy of mental health predictions. One of the main advantages of SLDAX over traditional two-stage approaches is its ability to avoid biased estimates and incorrect standard errors, allowing for a more accurate analysis of psychological texts. In the field of social sciences, LDA has proven to be useful for analyzing large datasets, such as social media discussions. For instance, researchers have used LDA to investigate tweets discussing socially relevant topics, like the use of prescription drugs and cultural differences in China. By analyzing these large text corpora, it is possible to uncover patterns and themes that might otherwise go unnoticed, offering valuable insights into public discourse and perception in real time. === Musicology === In the context of computational musicology, LDA has been used to discover tonal structures in different corpora. === Machine learning === One application of LDA in machine learning – specifically, topic discovery, a subproblem in natural language processing – is to discover topics in a collection of documents, and then automatically classify any individual document within the collection in terms of how "relevant" it is to each of the discovered topics. A topic is considered to be a set of terms (i.e., individual words or phrases) that, taken together, suggest a shared theme. For example, in a document collection related to pet animals, the terms dog, spaniel, beagle, golden retriever, puppy, bark, and woof would suggest a DOG_related theme, while the terms cat, siamese, Maine coon, tabby, manx, meow, purr, and kitten would suggest a CAT_related theme. There may be many more topics in the collection – e.g., related to diet, grooming, healthcare, behavior, etc. that we do not discuss for simplicity's sake. (Very common, so called stop words in a language – e.g., "the", "an", "that", "are", "is", etc., – would not discriminate between topics and are usually filtered out by pre-processing before LDA is performed. Pre-processing also converts terms to their "root" lexical forms – e.g., "barks", "barking", and "barked" would be converted to "bark".) If the document collection is sufficiently large, LDA will discover such sets of terms (i.e., topics) based upon the co-occurrence of individual terms, though the task of assigning a meaningful label to an individual topic (i.e., that all the terms are DOG_related) is up to the user, and often requires specialized knowledge (e.g., for collection of technical documents). The LDA approach assumes that: The semantic content of a document is composed by combining one or more terms from one or more topics. Certain terms are ambiguous, belonging to more than one topic, with different probability. (For example, the term training can apply to both dogs and cats, but are more likely to refer to dogs, which are used as work animals or participate in obedience or skill competitions.) However, in a document, the accompanying presence of specific neighboring terms (which belong to only one topic) will disambiguate their usage. Most documents will contain only a relatively small number of topics. In the collection, e.g., individual topics will occur with differing frequencies. That is, they have a probability distribution, so that a given document is more likely to contain some topics than others. Within a topic, certain terms will be used much more frequently than others. In other words, the terms within a topic will also have their own probability distribution. When LDA machine learning is employed, both sets of probabilities are computed during the training phase, using Bayesian methods and an expectation–maximization algorithm. LDA is a generalization of older approach of probabilistic latent semantic analysis (pLSA), The pLSA model is equivalent to LDA under a uniform Dirichlet prior distribution. pLSA relies on only the first two assumptions above and does not care about the remainder. While both methods are similar in principle and require the user to specify the number of topics to be discovered before the start of training (as with k-means clustering) LDA has the following advantages over pLSA: LDA yields better disambiguation of words and a more precise assignment of documents to topics. Computing probabilities allows a "generative" process by which a collection of new "synthetic documents" can be generated that would closely reflect the statistical characteristics of the original collection. Unlike LDA, pLSA is vulnerable to overfitting especially when the size of corpus increases. The LDA algorithm is more readily amenable to scaling up for large data sets using the MapReduce approach on a computing cluster. == Model == With plate notation, which is often used to represent probabilistic graphical models (PGMs), the dependencies among the many variables can be captured concisely. The boxes are "plates" representing replicates, which are repeated entities. The outer plate represents documents, while the inner plate represents the repeated word positions in a given document; each position is associated with a choice of topic and word. The variable names are defined as follows: M denotes the number of documents N is number of words in a given document (document i has N i {\displaystyle N_{i}} words) α is the parameter of the Dirichlet prior on the per-document topic distributions β is the parameter of the Dirichlet prior on the per-topic word distribution θ i {\displaystyle \theta _{i}} is the topic distribution for document i φ k {\displaystyle \varphi _{k}} is the word distribution for topic k z i j {\displaystyle z_{ij}} is the topic for the j-th word in document i w i j {\displaystyle w_{ij}} is the specific word. The fact that W is grayed out means that words w i j {\displaystyle w_{ij}} are the only observable variables, and the other variables are latent variables. As proposed in the original paper, a sparse Dirichlet prior can be used to model the to

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  Kuwahara filter

  The Kuwahara filter is a non-linear smoothing filter used in image processing for adaptive noise reduction. Most filters that are used for image smoothing are linear low-pass filters that effectively reduce noise but also blur out the edges. However the Kuwahara filter is able to apply smoothing on the image while preserving the edges. It is named after Michiyoshi Kuwahara, Ph.D., who worked at Kyoto and Osaka Sangyo Universities in Japan, developing early medical imaging of dynamic heart muscle in the 1970s and 80s. == The Kuwahara operator == Suppose that I ( x , y ) {\displaystyle I(x,y)} is a grey scale image and that we take a square window of size 2 a + 1 {\displaystyle 2a+1} centered around a point ( x , y ) {\displaystyle (x,y)} in the image. This square can be divided into four smaller square regions Q i = 1 ⋯ 4 {\displaystyle Q_{i=1\cdots 4}} each of which will be Q i ( x , y ) = { [ x , x + a ] × [ y , y + a ] if i = 1 [ x − a , x ] × [ y , y + a ] if i = 2 [ x − a , x ] × [ y − a , y ] if i = 3 [ x , x + a ] × [ y − a , y ] if i = 4 {\displaystyle Q_{i}(x,y)={\begin{cases}\left[x,x+a\right]\times \left[y,y+a\right]&{\mbox{ if }}i=1\\\left[x-a,x\right]\times \left[y,y+a\right]&{\mbox{ if }}i=2\\\left[x-a,x\right]\times \left[y-a,y\right]&{\mbox{ if }}i=3\\\left[x,x+a\right]\times \left[y-a,y\right]&{\mbox{ if }}i=4\\\end{cases}}} where × {\displaystyle \times } is the cartesian product. Pixels located on the borders between two regions belong to both regions so there is a slight overlap between subregions. The arithmetic mean m i ( x , y ) {\displaystyle m_{i}(x,y)} and standard deviation σ i ( x , y ) {\displaystyle \sigma _{i}(x,y)} of the four regions centered around a pixel (x,y) are calculated and used to determine the value of the central pixel. The output of the Kuwahara filter Φ ( x , y ) {\displaystyle \Phi (x,y)} for any point ( x , y ) {\displaystyle (x,y)} is then given by Φ ( x , y ) = m i ( x , y ) {\textstyle \Phi (x,y)=m_{i}(x,y)} where i = a r g min j ⁡ σ j ( x , y ) {\displaystyle i=\operatorname {arg\min } _{j}\sigma _{j}(x,y)} . This means that the central pixel will take the mean value of the area that is most homogenous. The location of the pixel in relation to an edge plays a great role in determining which region will have the greater standard deviation. If for example the pixel is located on a dark side of an edge it will most probably take the mean value of the dark region. On the other hand, should the pixel be on the lighter side of an edge it will most probably take a light value. On the event that the pixel is located on the edge it will take the value of the more smooth, least textured region. The fact that the filter takes into account the homogeneity of the regions ensures that it will preserve the edges while using the mean creates the blurring effect. Similarly to the median filter, the Kuwahara filter uses a sliding window approach to access every pixel in the image. The size of the window is chosen in advance and may vary depending on the desired level of blur in the final image. Bigger windows typically result in the creation of more abstract images whereas small windows produce images that retain their detail. Typically windows are chosen to be square with sides that have an odd number of pixels for symmetry. However, there are variations of the Kuwahara filter that use rectangular windows. Additionally, the subregions do not need to overlap or have the same size as long as they cover all of the window. == Color images == For color images, the filter should not be performed by applying the filter to each RGB channel separately, and then recombining the three filtered color channels to form the filtered RGB image. The main problem with that is that the quadrants will have different standard deviations for each of the channels. For example, the upper left quadrant may have the lowest standard deviation in the red channel, but the lower right quadrant may have the lowest standard deviation in the green channel. This situation would result in the color of the central pixel to be determined by different regions, which might result in color artifacts or blurrier edges. To overcome this problem, for color images a slightly modified Kuwahara filter must be used. The image is first converted into another color space, the HSV color space. The modified filter then operates on only the "brightness" channel, the Value coordinate in the HSV model. The variance of the "brightness" of each quadrant is calculated to determine the quadrant from which the final filtered color should be taken from. The filter will produce an output for each channel which will correspond to the mean of that channel from the quadrant that had the lowest standard deviation in "brightness". This ensures that only one region will determine the RGB values of the central pixel. ImageMagick uses a similar approach, but using the Rec. 709 Luma as the brightness metric. === Julia Implementation === == Applications == Originally the Kuwahara filter was proposed for use in processing RI-angiocardiographic images of the cardiovascular system. The fact that any edges are preserved when smoothing makes it especially useful for feature extraction and segmentation and explains why it is used in medical imaging. The Kuwahara filter however also finds many applications in artistic imaging and fine-art photography due to its ability to remove textures and sharpen the edges of photographs. The level of abstraction helps create a desirable painting-like effect in artistic photographs especially in the case of the colored image version of the filter. These applications have known great success and have encouraged similar research in the field of image processing for the arts. Although the vast majority of applications have been in the field of image processing there have been cases that use modifications of the Kuwahara filter for machine learning tasks such as clustering. The Kuwahara filter has been implemented in CVIPtools. The Kuwahara filter is present as a shader node in Blender. == Drawbacks and restrictions == The Kuwahara filter despite its capabilities in edge preservation has certain drawbacks. At a first glance it is noticeable that the Kuwahara filter does not take into account the case where two regions have equal standard deviations. This is not often the case in real images since it is rather hard to find two regions with exactly the same standard deviation due to the noise that is always present. In cases where two regions have similar standard deviations the value of the center pixel could be decided at random by the noise in these regions. Again this would not be a problem if the regions had the same mean. However, it is not unusual for regions of very different means to have the same standard deviation. This makes the Kuwahara filter susceptible to noise. Different ways have been proposed for dealing with this issue, one of which is to set the value of the center pixel to ( m 1 + m 2 ) / 2 {\textstyle (m_{1}+m_{2})/2} in cases where the standard deviation of two regions do not differ more than a certain value D {\displaystyle D} . The Kuwahara filter is also known to create block artifacts in the images especially in regions of the image that are highly textured. These blocks disrupt the smoothness of the image and are considered to have a negative effect in the aesthetics of the image. This phenomenon occurs due to the division of the window into square regions. A way to overcome this effect is to take windows that are not rectangular(i.e. circular windows) and separate them into more non-rectangular regions. There have also been approaches where the filter adapts its window depending on the input image. == Extensions of the Kuwahara filter == The success of the Kuwahara filter has spurred an increase the development of edge-enhancing smoothing filters. Several variations have been proposed for similar use most of which attempt to deal with the drawbacks of the original Kuwahara filter. The "Generalized Kuwahara filter" proposed by P. Bakker considers several windows that contain a fixed pixel. Each window is then assigned an estimate and a confidence value. The value of the fixed pixel then takes the value of the estimate of the window with the highest confidence. This filter is not characterized by the same ambiguity in the presence of noise and manages to eliminate the block artifacts. The "Mean of Least Variance"(MLV) filter, proposed by M.A. Schulze also produces edge-enhancing smoothing results in images. Similarly to the Kuwahara filter it assumes a window of size 2 d − 1 × 2 d − 1 {\displaystyle 2d-1\times 2d-1} but instead of searching amongst four subregions of size d × d {\displaystyle d\times d} for the one with minimum variance it searches amongst all possible d × d {\displaystyle d\times d} subregions. This means the central pixel of the window will be assigned the mean of the one subregion out of a poss

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  Sample exclusion dimension

  In computational learning theory, sample exclusion dimensions arise in the study of exact concept learning with queries. In algorithmic learning theory, a concept over a domain X is a Boolean function over X. Here we only consider finite domains. A partial approximation S of a concept c is a Boolean function over Y ⊆ X {\displaystyle Y\subseteq X} such that c is an extension to S. Let C be a class of concepts and c be a concept (not necessarily in C). Then a specifying set for c w.r.t. C, denoted by S is a partial approximation S of c such that C contains at most one extension to S. If we have observed a specifying set for some concept w.r.t. C, then we have enough information to verify a concept in C with at most one more mind change. The exclusion dimension, denoted by XD(C), of a concept class is the maximum of the size of the minimum specifying set of c' with respect to C, where c' is a concept not in C.

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  Dispersive flies optimisation

  Dispersive flies optimisation (DFO) is a bare-bones swarm intelligence algorithm which is inspired by the swarming behaviour of flies hovering over food sources. DFO is a simple optimiser which works by iteratively trying to improve a candidate solution with regard to a numerical measure that is calculated by a fitness function. Each member of the population, a fly or an agent, holds a candidate solution whose suitability can be evaluated by their fitness value. Optimisation problems are often formulated as either minimisation or maximisation problems. DFO was introduced with the intention of analysing a simplified swarm intelligence algorithm with the fewest tunable parameters and components. In the first work on DFO, this algorithm was compared against a few other existing swarm intelligence techniques using error, efficiency and diversity measures. It is shown that despite the simplicity of the algorithm, which only uses agents’ position vectors at time t to generate the position vectors for time t + 1, it exhibits a competitive performance. Since its inception, DFO has been used in a variety of applications including medical imaging and image analysis as well as data mining and machine learning. == Algorithm == DFO bears many similarities with other existing continuous, population-based optimisers (e.g. particle swarm optimization and differential evolution). In that, the swarming behaviour of the individuals consists of two tightly connected mechanisms, one is the formation of the swarm and the other is its breaking or weakening. DFO works by facilitating the information exchange between the members of the population (the swarming flies). Each fly x {\displaystyle \mathbf {x} } represents a position in a d-dimensional search space: x = ( x 1 , x 2 , … , x d ) {\displaystyle \mathbf {x} =(x_{1},x_{2},\ldots ,x_{d})} , and the fitness of each fly is calculated by the fitness function f ( x ) {\displaystyle f(\mathbf {x} )} , which takes into account the flies' d dimensions: f ( x ) = f ( x 1 , x 2 , … , x d ) {\displaystyle f(\mathbf {x} )=f(x_{1},x_{2},\ldots ,x_{d})} . The pseudocode below represents one iteration of the algorithm: for i = 1 : N flies x i . fitness = f ( x i ) {\displaystyle \mathbf {x_{i}} .{\text{fitness}}=f(\mathbf {x} _{i})} end for i x s {\displaystyle \mathbf {x} _{s}} = arg min [ f ( x i ) ] , i ∈ { 1 , … , N } {\textstyle [f(\mathbf {x} _{i})],\;i\in \{1,\ldots ,N\}} for i = 1 : N and i ≠ s {\displaystyle i\neq s} for d = 1 : D dimensions if U ( 0 , 1 ) < Δ {\displaystyle U(0,1)<\Delta } x i d t + 1 = U ( x min , d , x max , d ) {\displaystyle x_{id}^{t+1}=U(x_{\min ,d},x_{\max ,d})} else x i d t + 1 = x i n d t + U ( 0 , 1 ) ( x s d t − x i d t ) {\displaystyle x_{id}^{t+1}=x_{i_{nd}}^{t}+U(0,1)(x_{sd}^{t}-x_{id}^{t})} end if end for d end for i In the algorithm above, x i d t + 1 {\displaystyle x_{id}^{t+1}} represents fly i {\displaystyle i} at dimension d {\displaystyle d} and time t + 1 {\displaystyle t+1} ; x i n d t {\displaystyle x_{i_{nd}}^{t}} presents x i {\displaystyle x_{i}} 's best neighbouring fly in ring topology (left or right, using flies indexes), at dimension d {\displaystyle d} and time t {\displaystyle t} ; and x s d t {\displaystyle x_{sd}^{t}} is the swarm's best fly. Using this update equation, the swarm's population update depends on each fly's best neighbour (which is used as the focus μ {\displaystyle \mu } , and the difference between the current fly and the best in swarm represents the spread of movement, σ {\displaystyle \sigma } ). Other than the population size N {\displaystyle N} , the only tunable parameter is the disturbance threshold Δ {\displaystyle \Delta } , which controls the dimension-wise restart in each fly vector. This mechanism is proposed to control the diversity of the swarm. Other notable minimalist swarm algorithm is Bare bones particle swarms (BB-PSO), which is based on particle swarm optimisation, along with bare bones differential evolution (BBDE) which is a hybrid of the bare bones particle swarm optimiser and differential evolution, aiming to reduce the number of parameters. Alhakbani in her PhD thesis covers many aspects of the algorithms including several DFO applications in feature selection as well as parameter tuning. == Applications == Some of the recent applications of DFO are listed below: Optimising support vector machine kernel to classify imbalanced data Quantifying symmetrical complexity in computational aesthetics Analysing computational autopoiesis and computational creativity Identifying calcifications in medical images Building non-identical organic structures for game's space development Deep Neuroevolution: Training Deep Neural Networks for False Alarm Detection in Intensive Care Units Identification of animation key points from 2D-medialness maps

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  Neocognitron

  The neocognitron is a hierarchical, multilayered artificial neural network proposed by Kunihiko Fukushima in 1979. It has been used for Japanese handwritten character recognition and other pattern recognition tasks, and served as the inspiration for convolutional neural networks. Previously in 1969, he published a similar architecture, but with hand-designed kernels inspired by convolutions in mammalian vision. In 1975 he improved it to the Cognitron, and in 1979 he improved it to the neocognitron, which learns all convolutional kernels by unsupervised learning (in his terminology, "self-organized by 'learning without a teacher'"). The neocognitron was inspired by the model proposed by Hubel & Wiesel in 1959. They found two types of cells in the visual primary cortex called simple cell and complex cell, and also proposed a cascading model of these two types of cells for use in pattern recognition tasks. The neocognitron is a natural extension of these cascading models. The neocognitron consists of multiple types of cells, the most important of which are called S-cells and C-cells. The local features are extracted by S-cells, and these features' deformation, such as local shifts, are tolerated by C-cells. Local features in the input are integrated gradually and classified in the higher layers. The idea of local feature integration is found in several other models, such as the Convolutional Neural Network model, the SIFT method, and the HoG method. There are various kinds of neocognitron. For example, some types of neocognitron can detect multiple patterns in the same input by using backward signals to achieve selective attention.

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  Application enablement

  Application enablement is an approach which brings telecommunications network providers and developers together to combine their network and web abilities in creating and delivering high demand advanced services and new intelligent applications. Network providers, in addition to bandwidth, provide abilities such as billing, location, presence, and security, which have allowed them to establish long-term relationships with end-users. By offering these select abilities as application programming interfaces (APIs), providers give developers access to a set of tools to create (mashup) new applications and services to run on provider networks. Unifying the strengths of providers and developers facilitates the creation of mash-up applications, and in turn, a better end user quality of experience (QoE) for improved profit margins. Apple's iOS with App Store, and Google's Android with Android Market exemplify this approach. Both have introduced mobile platforms that are supported by a comprehensive ecosystem in order to perpetuate innovation in product design, content and service offerings, and overall consumer behavior. By the end of April 2010, downloadable applications numbered over 200,000 for iPhone and over 50,000 for Android. == Background == Historically, telecommunication providers primarily based their business models on network performance, emphasizing connectivity, availability, and quality of service (QoS) as key sources of revenue and customer value. With the increasing demand for bandwidth-intensive data and video applications, maintaining service continuity has required substantial infrastructure investments. To address rising operational costs and declining average revenue per user (ARPU), providers have increasingly adopted customer-oriented strategies and diversified business models to expand their roles within the telecommunications value chain. Application enablement supports providers in making this transition by providing an environment, or ecosystem, where providers and developers can collaborate to build, test, manage, and distribute applications across networks including television, broadband, Internet, and mobile. This cooperative effort produces mutually beneficial results for all parties, opening up new revenue streams while enhancing value and rate of return (ROI). The following are some examples of key network abilities which function as application enablers in the telecommunications market: Billing systems Security for private transactions Network-based storage of digital content End-to-end bandwidth for high-quality transmissions Scoring abilities to identify end-user preferences and behaviors Subscriber data to customize the end-user experience Context information, such as location and presence, to localize services. == New business models == As network providers work toward effective collaboration with application and content developers, several new business models are emerging to help facilitate the business relationships: === Vendor-led === A type of business model driven by telecommunications vendors, who assist network providers in building relationships with application and content developers to lower the cost and complexity of managing third parties. Examples of this model include: Forum Nokia IBM Technology Partner Ecosystem Ng Connect Huawei Intouch program === Operator-led === Characterized by network providers who want to maintain a high degree of flexibility and control over applications created for their end-consumers, this model lets them create and manage their own developer program, development platform, and application store. Under this arrangement, independent developers provide their own branding, marketing communications, pricing and customer care. Network providers pursuing this model will often seek to partner with a large number of third parties using standardized on-boarding processes. Examples of this model include: o2 Litmus Orange Partner Joint Innovation Lab === Aggregator === Network providers who choose not to create/manage their own developer relationships will partner with one or multiple aggregators, to administer a portion of or their entire application strategy. Examples of this model include: Ovi Operator Partnership Blackberry Operator Partnership Cellmania Buongiorno === Mass wholesale === Select network providers also participate in wholesale models that exist primarily for applications (BT's Ribbit- an Internet Protocol (IP) based calling and messaging platform) and devices (Verizon's Open Device initiative). This business-to-business approach reduces a large portion of the potential costs of third party application enablement (marketing, acquisition and support). Examples of this model include: BT's Ribbit Verizon Wireless ODI AT&T Synaptic Hosting === The enterprise customer === Some network providers are focusing on enabling applications in the enterprise space. In this model, the network provider establishes a platform for their large enterprise customers who want to blend custom software with enhanced abilities, and will provide standardized processes around mobilizing enterprise applications, and exposing core back-office abilities to allow for dynamic customer interaction. Examples of this model include: Vodafone Applications Service Verizon Private Network Sprint Solution Launchpad === Trusted partner === In this model, the network provider builds one-on-one relationships with trusted third-party developers by exposing customized network abilities, bringing a greater variety of brands to the network provider's portfolio. Network providers using this model tend to only have a few partners (in contrast to the operator led model). Under this scenario, network providers benefit from a pre-established customer base and the developer's marketing resources. Examples of this model include: 3/Skype Partnership (UK) Virgin Media and BBC iPlayer == Network operator developer resources == Operator led model o2 Litmus Orange Partner Joint Innovations Lab Aggregator model Ovi Operator Partnership Cellmania Buongiorno Mass wholesale model BT Ribbit Verizon Wireless ODI AT&T Synaptic Hosting Enterprise customer model Vodafone Applications Service Verizon Private Network Sprint Solution Launchpad == Rerencesfe ==

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  LamaH

  LamaH (Large-Sample Data for Hydrology and Environmental Sciences) is a cross-state initiative for unified data preparation and collection in the field of catchment hydrology. Hydrological datasets, for example, are an integral component for creating flood forecasting models. == Features == LamaH datasets always consist of a combination of meteorological time series (e.g., precipitation, temperature) and hydrologically relevant catchment attributes (e.g., elevation, slope, forest area, soil, bedrock) aggregated over the respective catchment as well as associated hydrological time series at the catchment outlet (discharge). By evaluating the large and heterogeneous sample (large-sample) of catchments, it is possible to gain insights into the hydrological cycle that would probably not be achievable with local and small-scale studies. The structure of the dataset allows an evaluation based on machine learning methods (deep learning). The accompanying paper explains not only the data preparation but also any limitations, uncertainties and possible applications. == Difference to CAMELS == The LamaH datasets are quite similar to the CAMELS datasets, but additionally feature: Further basin delineations (based on intermediate catchments) and attributes (e.g. flow distance and altitude difference between two topologically adjacent discharge gauges), enabling the setup of an interconnected hydrological network Attributes for classifying catchments and runoff gauges according to the degree and type of (anthropogenic) influence == Availability == LamaH datasets are available for the following regions: Central Europe (Austria and its hydrological upstream areas in Germany, Czech Republic, Switzerland, Slovakia, Italy, Liechtenstein, Slovenia and Hungary) / 859 catchments CAMELS datasets are available for (ranked by publication date): Contiguous USA (exclusive Alaska and Hawaii) / 671 catchments Chile / 516 catchments Brazil / 897 catchments Great Britain / 671 catchments Australia / 222 catchments Both the CAMELS and LamaH datasets are licensed with Creative Commons and are therefore available barrier-free for the public.

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  Genetic programming

  Genetic programming (GP) is an evolutionary algorithm, an artificial intelligence technique mimicking natural evolution, which operates on a population of programs. It applies the genetic operators selection according to a predefined fitness measure, mutation and crossover. The crossover operation involves swapping specified parts of selected pairs (parents) to produce new and different offspring that become part of the new generation of programs. Some programs not selected for reproduction are copied from the current generation to the new generation. Mutation involves substitution of some random part of a program with some other random part of a program. Then the selection and other operations are recursively applied to the new generation of programs. Typically, members of each new generation are on average more fit than the members of the previous generation, and the best-of-generation program is often better than the best-of-generation programs from previous generations. Termination of the evolution usually occurs when some individual program reaches a predefined proficiency or fitness level. It may and often does happen that a particular run of the algorithm results in premature convergence to some local maximum that is not a globally optimal or even good solution. Multiple runs (dozens to hundreds) are usually necessary to produce a very good result. It may also be necessary to have a large starting population size and variability of the individuals to avoid pathologies. == History == The first record of the proposal to evolve programs is probably that of Alan Turing in 1950 in "Computing Machinery and Intelligence". There was a gap of 25 years before the publication of John Holland's 'Adaptation in Natural and Artificial Systems' laid out the theoretical and empirical foundations of the science. In 1981, Richard Forsyth demonstrated the successful evolution of small programs, represented as trees, to perform classification of crime scene evidence for the UK Home Office. Although the idea of evolving programs, initially in the computer language Lisp, was current amongst John Holland's students, it was not until they organised the first Genetic Algorithms (GA) conference in Pittsburgh that Nichael Cramer published evolved programs in two specially designed languages, which included the first statement of modern "tree-based" genetic programming (that is, procedural languages organized in tree-based structures and operated on by suitably defined GA-operators). In 1988, John Koza (also a PhD student of John Holland) patented his invention of a GA for program evolution. This was followed by publication in the International Joint Conference on Artificial Intelligence IJCAI-89. Koza followed this with 205 publications on "genetic programming", a term coined by David Goldberg, also a PhD student of John Holland. However, it is the series of 4 books by Koza, starting in 1992 with accompanying videos, that really established GP. Subsequently, there was an enormous expansion of the number of publications with the Genetic Programming Bibliography, surpassing 10,000 entries. In 2010, Koza listed 77 results where genetic programming was human competitive. The departure of GP from the rigid, fixed-length representations typical of early GA models was not entirely without precedent. Early work on variable-length representations laid the groundwork. One notable example is messy genetic algorithms, which introduced irregular, variable-length chromosomes to address building block disruption and positional bias in standard GAs. Another precursor was robot trajectory programming, where genome representations encoded program instructions for robotic movements—structures inherently variable in length. Even earlier, unfixed-length representations were proposed in a doctoral dissertation by Cavicchio, who explored adaptive search using simulated evolution. His work provided foundational ideas for flexible program structures. In 1996, Koza started the annual Genetic Programming conference, which was followed in 1998 by the annual EuroGP conference, and the first book in a GP series edited by Koza. 1998 also saw the first GP textbook. GP continued to flourish, leading to the first specialist GP journal and three years later (2003) the annual Genetic Programming Theory and Practice (GPTP) workshop was established by Rick Riolo. Genetic programming papers continue to be published at a diversity of conferences and associated journals. Today there are nineteen GP books including several for students. === Foundational work in GP === Early work that set the stage for current genetic programming research topics and applications is diverse, and includes software synthesis and repair, predictive modeling, data mining, financial modeling, soft sensors, design, and image processing. Applications in some areas, such as design, often make use of intermediate representations, such as Fred Gruau's cellular encoding. Industrial uptake has been significant in several areas including finance, the chemical industry, bioinformatics and the steel industry. == Methods == === Program representation === GP evolves computer programs, traditionally represented in memory as tree structures. Trees can be easily evaluated in a recursive manner. Every internal node has an operator function and every terminal node has an operand, making mathematical expressions easy to evolve and evaluate. Thus traditionally GP favors the use of programming languages that naturally embody tree structures (for example, Lisp; other functional programming languages are also suitable). Non-tree representations have been suggested and successfully implemented, such as linear genetic programming, which perhaps suits the more traditional imperative languages. The commercial GP software Discipulus uses automatic induction of binary machine code ("AIM") to achieve better performance. μGP uses directed multigraphs to generate programs that fully exploit the syntax of a given assembly language. Multi expression programming uses three-address code for encoding solutions. Other program representations on which significant research and development have been conducted include programs for stack-based virtual machines, and sequences of integers that are mapped to arbitrary programming languages via grammars. Cartesian genetic programming is another form of GP, which uses a graph representation instead of the usual tree based representation to encode computer programs. Most representations have structurally noneffective code (introns). Such non-coding genes may seem to be useless because they have no effect on the performance of any one individual. However, they alter the probabilities of generating different offspring under the variation operators, and thus alter the individual's variational properties. Experiments seem to show faster convergence when using program representations that allow such non-coding genes, compared to program representations that do not have any non-coding genes. Instantiations may have both trees with introns and those without; the latter are called canonical trees. Special canonical crossover operators are introduced that maintain the canonical structure of parents in their children. === Initialisation === The methods for creation of the initial population include: Grow creates the individuals sequentially. Every GP tree is created starting from the root, creating functional nodes with children as well as terminal nodes up to a certain depth. Full is similar to the Grow. The difference is that all brunches in a tree are of same predetermined depth. Ramped half-and-half creates a population consisting of m d − 1 {\displaystyle md-1} parts and a maximum depth of m d {\displaystyle md} for its trees. The first part has a maximum depth of 2, second of 3 and so on up to the m d − 1 {\displaystyle md-1} -th part with maximum depth m d {\displaystyle md} . Half of every part is created by Grow, while the other part is created by Full. === Selection === Selection is a process whereby certain individuals are selected from the current generation that would serve as parents for the next generation. The individuals are selected probabilistically such that the better performing individuals have a higher chance of getting selected. The most commonly used selection method in GP is tournament selection, although other methods such as fitness proportionate selection, lexicase selection, and others have been demonstrated to perform better for many GP problems. Elitism, which involves seeding the next generation with the best individual (or best n individuals) from the current generation, is a technique sometimes employed to avoid regression. === Crossover === In genetic programming two fit individuals are chosen from the population to be parents for one or two children. In tree genetic programming, these parents are represented as inverted lisp like trees, with their root nodes at the top. In subtree cro

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