IPC분류정보
| 국가/구분 |
United States(US) Patent
등록
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| 국제특허분류(IPC7판) |
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| 출원번호 |
US-0419524
(1989-10-10)
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발명자
/ 주소 |
- Edelman Gerald M. (35 E. 85th St. New York NY 10028) Reeke
- Jr. George N. (430 E. 63rd St.
- #11E New York NY 10021)
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| 인용정보 |
피인용 횟수 :
75 인용 특허 :
0 |
초록
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An apparatus capable of sensing the presence of objects in its environment, categorizing these objects without a prior description of the categories to be expected, and controlling robotic effector mechanisms to respond differentially to such objects according to their categories. Such responses inc
An apparatus capable of sensing the presence of objects in its environment, categorizing these objects without a prior description of the categories to be expected, and controlling robotic effector mechanisms to respond differentially to such objects according to their categories. Such responses include sorting objects, rejecting objects of certain types, and detecting novel or deviant objects. The invention includes a device called a “classification n-tuple”(of which a “classification couple”is a special case) capable of combining signals from two or more sensory modalities to arrive at the classification of the object. The invention operates by simulating certain features of animal nervous system, including neurons with responses determined at each moment of time by inputs received along synaptic connections from sensory means or form other neurons. In this invention, neurons are arranged in “groups”, which permits them to act cooperatively while still retaining characteristic individual responses. Groups in turn are arranged in “repertoires”, which provide a totality of response specificities sufficient to respond to any of a range of possible input objects. Some of these repertoires are organized as “maps”, such that groups responding to inputs that are similar along some dimensional (spatial or abstract) are close together in the repertoire, enabling the repertoire to respond correctly to novel objects that are similar to objects it has encountered previously. Maps in this invention are linked by connections, called “reentrant”connections, that enable the responses of one map to be reentered into the system as inputs to another map. Reentrant connections permit signals from different sensory modalities to be correlated in an ongoing fashion, and they are the basis for the operation of classification n-tuples. The responses of the apparatus of this invention may be improved and optimized for a particular task through the operation of “neuronal group selection”, a process which enhances the responses of those neuronal groups in the apparatus which were active in some time interval preceding the production of a useful output action. This process operates by modifying the strength of selected synaptic connections. The value of various output actions is determined, for the purpose of regulating selection, by means which are internal to the apparatus of this invention. Accordingly, the invention is capable of self-organization and learning, and does not require a predetermined specification of correct responses for all possible inputs.
대표청구항
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An apparatus for categorizing objects in an environment according to sensory input data relating to those objects and for sorting the objects in accord with such categories comprising one or more sensory means for sensing input signals, each of said sensory means identified with a specific sense fun
An apparatus for categorizing objects in an environment according to sensory input data relating to those objects and for sorting the objects in accord with such categories comprising one or more sensory means for sensing input signals, each of said sensory means identified with a specific sense function, processing means for receiving said input signals, for categorizing objects according to said input signals and for generating output signals in response to said input signals, output effector means for receiving said output signals and for sorting said objects in response to said output signals, each of said output effector means identified with a specific motor output function, said processing means comprising a plurality of cells, each of said cells characterized by a state of activation determined by a response function, a plurality of synapses, each of said synapses comprising a unidirectional connection between one of said cells and one of said sensory means, output effector means or another of said cells and each of said synapses having a strength capable of differential modification determined by a selective learning rule, a plurality of groups of cells, each of said groups comprising a collection of cells connected more strongly among themselves than they are connected to cells in other groups, a plurality of sensory repertoires each corresponding to one of said sense functions and each comprising collections of said groups, interconnected by mappings comprising synaptic connections, a plurality of motor repertoires each corresponding to one of said motor output functions and each comprising collections of said neuronal groups interconnected by mappings composed of synaptic connections, a plurality of value repertoires, each connected to one or more of said sensory repertoires or to other cells and capable of responding differentially to changes in the environment signaled by said input signals caused by the actions of the said output motor function, and each comprising collections of aid neuronal groups interconnected by mappings composed of synaptic connections, wherein said groups of cells comprise one or more primary repertoires of variant, overlapping response selectivities prior to selection by heterosynaptic input from said value repertoires, and comprise after selection secondary repertoires of such selectivities adapted to perform a particular categorization task and to perform particular output actions upon the categorization of certain types of objects, a plurality of processing repertoires, each connected to one or more of said sensory, motor and value repertoires by synaptic connection to form mappings, a plurality of reentrant signaling means between said neural mappings wherein during operation of said apparatus each sensory repertoire receives signals derived from at least one of said sensory means and outputs signals to at least one of said output effector means and the modification of said synaptic strengths alters the contributions of one or more neuronal groups to behavior providing integrated sensory and motor behavior, said neural mappings connected by reentrant signaling comprising classification n-tuples, wherein the apparatus is adapted to carry out categorization of the objects.
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