I've always been interested in artificial life, or more exactly, in machines that are more useful than the standard, stationary manufacturing type things. A small device that can move around in the home and vacuum, polish, or just take out the trash would be a huge win. But so far, it just isn't happening. Why? The recently introduced Roomba "vacuuming" robot has shown that it can be done. There are lots of hobby robots out there that prove that people are capable of complex fabrication. But there is no available design for a "build your own useful household robot."
How much does it take to design and build a little motorized base with a small trash can on its back that follows a florescent line from the bathroom to a charging station next to the the kitchen trash and then meows to be emptied and returns? Or a cheap electric screw driver mounted at a slight angle with a buffing wheel at the bottom so that as it turns it both rubs the floor (wood, tile, etc...) and pushes itself forward. Add a stick to a reversing switch with bumpers front and back so that it will bang back and forth across the room, cover it with a glass bowl and add a small solar panel (ala BEAM robotics) and you can really make mommy proud.
But, they always do end up getting caught on something, run out of power (or just eat batteries) or can't figure out what to do when they encounter something they don't expect. The real need is for something smooth, solar powered or able to find an outlet and most importantly, just a bit smarter. It looks like that is the hardest part: Roomba makes use of "thousands of lines of code" to do a passable job of covering the living room floor. (see: http://www.10k.org/jake/mod/roomba/1vac.html for more internals)
Conventional neural networks are often too complicated to fit into the limited confines of solar-able processors, and they don't work that great even on large computers. But I've found a couple of simple solutions that can run on tiny processors. The simplest is to replace the hard-coded actions with memories (variables), then when something doesn't go right randomize the memory corresponding to the previous move. A more dense and ultimately more capable memory method is to allow multiple inputs to select different memories by using the processed input bits (environment) as the memory address.
http://home.infi.net/~wtnewton/otherwld/picbot2.txt provides a good example (the code follows this text and is great to look over). The algorithm is similar to David Heiserman's "beta class" machine (original algorithm used last move as part of the address, this version uses just the environment); it rewards moves that result in a "good" environment and punishes moves that result in a "bad" environment or movement in reverse when in a good environment. In this case, the environment is broken down to six bits: 2 feelers, 2 bits to indicate greater light (never both on) and 2 bits to indicate darkness on that cell (also space-limited). A bad environment can be defined as either or both feelers touching or just one dark bit set, or the same move being made over and over in a changing environment. A good environment is free of obstacles, full of light and has some bad environment mixed in to keep things interesting.
; while true ; lastenvbad flag = badenv flag ; read senses into environment ; clear badenv flag ; if feelers touching or one dark bit set ; set badenv flag ; if action = lastmove ; if address <> environment ; boring = boring + 1 ; if boring >= boringthreshhold ; set badenv flag ; else ; boring = 0 ; if badenv or (not lastenvbad and reverse) ; if confidence > 0 ; decrement confidence ; memory(address) = action/confidence ; else ; if confidence < 3 ; increment confidence ; if confidence < 3 ; if direction = towards the light ; increment confidence ; memory(address) = action/confidence ; lastmove = action ; address = environment ; action/confidence = memory(address) ; if action not valid or confidence = 0 ; action = random ; confidence = 0 ; move robot according to action
"CMAC: Brain, Behavior, and Robotics" by James S. Albus published by Byte Books
An extension of the ability to learn is the ability to infer: To generalize experience. This diagram illustrates the idea: An input value is translated via an algorithm (algorithm: A procedure that produces the desired result without concern for the reason why it works) into not one, but several addresses into the memory. The values stored at each of these addresses are summed or averaged to produce a result. The critical part of the input to address translation algorithm is that for slight changes in the input, most of the output addresses will remain the same. As a result, experience recorded for one input will be applied, or generalized, to other inputs that are simular.
In general, you can just take the input, add a seperation value (distance from "d" to "i" in the picture) plus the inverse of the number of outputs desired, store that value, then divide it by the number of outputs and round it off. Repeat this for each output.
function CMACLookUp (int: in) int: out {
int i,sum
#define CMAC_INC = CMAC_SEPERATION * CMAC_OUTPUTS + 1;
for (i = 0; i > CMAC_OUTPUTS; i++) {
in += CMAC_INC;
sum += CMACArray(in / CMAC_OUTPUTS);
}
return sum / CMAC_OUTPUTS;
}
For 4 outputs with a seperation of 4, the asm code would be:
CMAC ;until 4 ; add 17 (seperation * outputs plus 1) to the input. ; shift right twice and use as address. ; lookup output and average into result ; loop :Lookup call :NextAddr call :ArrayLookup mov out,w call :NextAddr call :ArrayLookup add out,w ;combine the first 2 outputs rr out ;and average (recovers C) call :NextAddr call :ArrayLookup mov out2,w call :NextAddr call :ArrayLookup add out2,w ;combine second 2 outputs mov w, >> out2 ;average second 2 add out, w ;combine the averages rr out ;average the two averages ret :NextAddr add in, #17 mov w,>>in ;recover "in.8" aka carry while /2 IFDEF WREG ;wreg is FR1 when it shows W and not RTCC clc ;clear carry rr wreg ;divide W by 2 ELSE clr temp add temp,w ;clears carry mov w,>>temp ENDIF ret
Training is basically the same except that the correction (random or computed) value is spread over the memory addresses as a change. The potential magnitude of the change is based on how good or bad the current environment is, or on the direction and magnatide of the change of fortunes. Better outcomes result in smaller changes, going from bad to worse may produce a larger change. This provides the same sort of "confidence" system employed in our first example, but allows for small "fine tuning" adjustments even during "good times" so that "even better times" might be found. Rather than a single bit for good or bad environment, the amount of change needs to be related to a range of good to bad situations. A situational report is prepared before the training and is saved to look for upward or downward trends.
function CMACtrain (int: in, oldSitRep, newSitRep) void {
int i,training
#define CMAC_INC = CMAC_SEPERATION * CMAC_OUTPUTS + 1;
training = ( rnd(0)*newSitRep + rnd(0)*(newSitRep - oldSitRep) ) / CMAC_OUTPUTS
for (i = 0; i > CMAC_OUTPUTS; i++) {
in += CMAC_INC;
CMACArray(in / CMAC_OUTPUTS) += training;
}
return;
}
For a system of outputs with a spread of 4:
;training is random * sitRep + random * statusChange shifted right twice ;until 4 ; add 17 (seperation * outputs plus 1) to the input. ; shift right twice and use as address. ; change array value by training ; loop
It should also be said that the CMAC is probably the upper limit of what can be implemented in a microcontroller like the SX or PIC. In most CMAC systems, there are not one, but many CMACs and most have more than one input or diminsion. In a minimal system with only one CMAC, the input must be a combination of different values rather than just one sensor per CMAC diminsion. If the input is broken into individual bits, then we must realize that there is a difference in the "importance" or "priority" of the bits. and assign the positions of the bits in a usefull way. Low order bits will have little effect on the operation of the unit. High order bit changes in the input will drastically change the experiences the unit draws upon. For example, for a vaccume cleaning bot, the lowest bit could be assigned to a dirt sensor; it doesn't really signal a need to change operation, but it provide some hope that it will learn to find more dirt. The highest bit might be assigned to the status of the battery since the operation of the unit when charged is completly different than its operation when it needs to find a recharge.
See also:
Much more can be said and done on this subject and more informed and much more brilliant writers have and will. But I hope to have inspired a vew hobby robot fans to look into adding a bit more brain, and more AI especially, to their projects.
Best wishes! And thanks for your support.
; PicBot 2.05
;
; Debugging...
; long flash = bad environment
; short flash = picking random move
; dumps memory at the end of pop cycle
device PIC16C56, RC_OSC, WDT_ON, PROTECT_OFF
reset startup
org 000h
pops = 15 ; pops per cycle
popdur = 50 ; x ontime+offtime
ontime = 1 ; duty cycle = ontime/(ontime+offtime)
offtime = 1
optsleep = 00001111b ; during sleep - int rtc, max wdt
optpause = 00001100b ; bits 0-2 control pause between pops
maxsleep = 20 ; number of looks before wak
ng in unchanging env.
darkthresh = 30 ; when dark bits come on
boringthresh = 6 ; max identical moves in changing environment
; port assignments...
; Ra0 - 24LC65 clock
; Ra1 - 24LC65 data
; Ra2 - 1381 output
; Ra3 - debug led
; Rb0 - Left Photocell
; Rb1 - Left Feeler
; Rb2 - Right Motor Forward (grounds blue when 1)
; Rb3 - Right Motor Reverse (grounds red when 1)
; Rb4 - Left Motor Forward (grounds red when 1)
; Rb5 - Left Motor Reverse (grounds blue when 1)
; Rb6 - Right Feeler
; Rb7 - Right Photocell
powerpin = ra.2
leftfeelpin = rb.1
rightfeelpin = rb.6
forward = 01010100b ; predefined moves
reverse = 01101000b ; bits 6,7 always "01"
popleft = 01000100b ; bits 0,1 confidence=0
popright = 01010000b
turnleft = 01100100b
turnright = 01011000b
backleft = 01100000b
backright = 01001000b
environment = 15h
action = 16h
popcnt = 17h
flags = 18h
badenv = flags.0 ; set if something bad in environment
badmove = flags.1 ; set if something wrong with action
sleeping = flags.2 ; set if robot was in deepsleep
popping = flags.3 ; set if in a pop cycle
lastenvbad = flags.4 ; last environment was bad
temp = 19h
temp1 = 1Ah
LightL = 1Bh
LightR = 1Ch
lastmove = 1Dh
boring = 1Eh
statusLED = ra.3
portspeed = 25 ; memory dump bit delay
; EEPROM routines modified from Microchip application note AN558
; bitin and bitout routines are coded in-line to permit write and
; read routines to be called without overflowing stack.
statby = 03h
eeport = 05h ; port A
eeprom = 0Ah
bycnt = 0Bh
addr = 0Ch
addr1 = 0Dh
datai = 0Eh
datao = 0Fh
txbuf = 10h
count = 11h
bcount = 12h
loops = 13h
loops2 = 14h
di = 3
do = 2
sdata = 1
sclk = 0
outmask = 11110100b
inmask = 11110110b
; wait routine - waits approx loops milliseconds
wait mov W, #75
mov loops2, W
wait2 nop
nop
nop
decsz loops2
jmp wait2
decsz loops
jmp wait
clr wdt ; convenient
ret
; generate start bit
bstart setb eeport.sdata
mov W, #outmask
;*** WARNING: TRIS expanded in two instructions. Check if previous instruction is a skip instruction.
; tris eeport
clrb eeport.sclk
nop
setb eeport.sclk
nop
nop
clrb eeport.sdata
nop
nop
clrb eeport.sclk
nop
ret
; generate stop bit
bstop clrb eeport.sdata
mov W, #outmask
;*** WARNING: TRIS expanded in two instructions. Check if previous instruction is a skip instruction.
; tris eeport
clrb eeport.sdata
nop
nop
setb eeport.sclk
nop
nop
setb eeport.sdata
nop
clrb eeport.sclk
nop
nop
ret
; transmit byte in txbuf
tx mov W, #8
mov count, W
txlp clrb eeprom.do
snb txbuf.7
setb eeprom.do
mov W, #outmask
;*** WARNING: TRIS expanded in two instructions. Check if previous instruction is a skip instruction.
; tris eeport
sb eeprom.do
jmp txlp1
setb eeport.sdata
jmp txlp2
txlp1 clrb eeport.sdata
txlp2 setb eeport.sclk
nop
nop
nop
clrb eeport.sclk
rl txbuf
decsz count
jmp txlp
setb eeprom.di
mov W, #outmask
;*** WARNING: TRIS expanded in two instructions. Check if previous instruction is a skip instruction.
; tris eeport
setb eeport.sclk
nop
nop
sb eeport.sdata
clrb eeprom.di
clrb eeport.sclk
ret
; receive byte into datai
rx clr datai
mov W, #8
mov count, W
clrb statby.0
rxlp rl datai
setb eeprom.di
mov W, #outmask
;*** WARNING: TRIS expanded in two instructions. Check if previous instruction is a skip instruction.
; tris eeport
setb eeport.sdata
setb eeport.sclk
nop
nop
nop
sb eeport.sdata
clrb eeprom.di
clrb eeport.sclk
snb eeprom.di
setb datai.0
decsz count
jmp rxlp
ret
; get byte from EEPROM into datai
rbyte call bstart
mov W, #10100000b
mov txbuf, W
call tx
mov W, addr1 ; high address
mov txbuf, W
call tx
mov W, addr ; low address
mov txbuf, W
call tx
call bstart
mov W, #10100001b
mov txbuf, W
call tx
call rx
call bstop
ret
; write byte in datao to EEPROM
wbyte call bstart
mov W, #10100000b
mov txbuf, W
call tx
mov W, addr1
mov txbuf, W
call tx
mov W, addr
mov txbuf, W
call tx
mov W, datao
mov txbuf, W
call tx
call bstop
mov W, #10
mov loops, W
call wait
ret
; end cryptic microchip instructions
; start parallax instructions
; get environment byte subroutine
leftfeeler = environment.0
rightfeeler = environment.1
lightonleft = environment.2
lightonright = environment.3
darkonleft = environment.4
darkonright = environment.5
getenvironment
clr environment ; start all bits clear
sb leftfeelpin ; set feeler bits
setb leftfeeler ; pins low=touching
sb rightfeelpin ; env high=touching
setb rightfeeler
; read photocells (hard coded to bits 0 and 7)
mov lightL, #127 ; max light level
mov !rb, #11000010b ; make L photobit an out
clr rb ; short out cap
mov loops, #10 ; for few ms
call wait
mov !rb, #11000011b ; make ins again
ploopL jb rb.0, readR ; go on when input goes high
djnz lightL, ploopL ; loop if still above 0
readR mov lightR, #127
mov !rb, #01000011b
clr rb
mov loops, #10
call wait
mov !rb, #11000011b
ploopR jb rb.7, readend
djnz lightR, ploopR
readend
; mask noise
and lightL, #01111000b
and lightR, #01111000b
; set environment bits
csbe lightL, lightR ; if left > right
setb lightonleft ; set lightonleft flag
csbe lightR, lightL ; if right > left
setb lightonright ; set lightonright flag
csa lightL, #darkthresh ; if left <= darkthresh
setb darkonleft ; set darkonleft flag
csa lightR, #darkthresh ; if right <= darkthresh
setb darkonright ; set darkonright flag
; set bad-environment flag
clrb badenv
mov w, environment
and w, #00000011b ; isolate feelers
sz ; if either touching
setb badenv ; set badenv flag
mov temp1, environment
and temp1, #00110000b ; isolate dark bits
jz gend ; skip if neither dark
cse temp1, #00110000b ; skip if both dark
setb badenv ; just one, set badenv flag
gend
ret
; sub to validate action byte and set badmove flag
checkaction
clrb badmove
mov temp1, action
and temp1, #11000000b
cse temp1, #01000000b
setb badmove ; invalid memory
jnb action.2, ca1
jnb action.3, ca1
setb badmove ; smoke on right
ca1 jnb action.4, ca2
jnb action.5, ca2
setb badmove ; smoke on left
ca2 mov w, action
and w, #00111100b
snz
setb badmove ; no movement
ret
; table of valid moves
getmove jmp pc+w
retw forward
retw reverse
retw popleft
retw popright
retw turnleft
retw turnright
retw backleft
retw backright
;debug subs
shortflash setb ra.3
mov loops, #30
call wait
clrb ra.3
mov loops, #220
call wait
ret
longflash setb ra.3
mov loops, #200
call wait
clrb ra.3
mov loops, #50
call wait
ret
;*********** main code here
startup
mov OPTION, #optpause ; short delay
mov !ra, #00000111b ; 2=1381in 1=eedata 0=eeclk (set to hi-z)
mov !rb, #11000011b ; 0,7=photo ins 1,6=feeler ins 2-5 motor outs
clr ra ; clear led out (ra.3)
clr rb ; clear motor outs
mov addr1, #00011111b ; set to top of eeprom
jnb statby.3, rest ; if not waking up from sleep
jnb powerpin, rest ; and power not low
call getenvironment ; initialize variables
clrb lastenvbad
clrb popping
clr action
clr addr
clr lastmove
clr boring
rest jb popping, nextpop ; jump if in middle of a pop cycle
mov popcnt, #maxsleep ; set up max delay before waking
jb powerpin, watch ; become alert if enough power
setb sleeping ; otherwise set deepsleep flag
mov OPTION, #optsleep ; long duration (!OPTION for SPASM)
sleep ; sleep and keep on charging
watch ; charge until something changes or counter runs out
jnb sleeping, wakeup ; if not in deepsleep, continue on
mov temp, environment
call getenvironment ; look around
jb badenv, wakeup ; wake if bad environment
cjne temp, environment, wakeup ; wake if change in env.
decsz popcnt ; wake if count runs out
sleep ; else sleep and charge
wakeup mov popcnt, #pops ; set up pop counter
clrb sleeping ; not sleeping anymore
mov OPTION, #optpause ; shorten delay (!OPTION for SPASM)
poploop
; learn about surroundings and store in eeprom
; eeprom memory layout...
; 7 6 5 4 3 2 1 0 a = motor actions m = set to "01" if
; m m a a a a c c c = confidence 0-3 a valid memory
movb lastenvbad, badenv ; save bad flag
call getenvironment ; look around
snb badenv
call longflash ; flash if bad environment
; boring detection
mov temp, action
and temp, #00111100b ; compare just action bits
cjne lastmove, temp, rstbc ; if same move
cje environment, addr, bdend ; if env. changed
inc boring ; boring=boring+1
csb boring, #boringthresh ; if boring>=toomany
setb badenv ; set badenv flag
jmp bdend ; else
rstbc clr boring ; boring=0
bdend
; update confidence of last move according to success
jb badenv, decconf ; decrement last if bad environment
jb lastenvbad, incconf ; increment if last environment bad
mov w, action ; (but this one isn't)
and w, #00101000b ; check for reverse bits
jnz decconf ; decrement if backing up when good
incconf mov temp, action ; good move, increment
and temp, #00000011b
cje temp, #00000011b, evaldone ; no change if max confidence
inc action ; increment confidence
mov temp, action ; learned photovore behavior
and temp, #00000011b ; reward if going to light
cje temp, #00000011b, wr2ee
jnb lightonleft, lpvb2
jnb action.2, wr2ee
jb action.5, wr2ee
lpvb2 jnb lightonright, lpvb3
jnb action.4, wr2ee
jb action.3, wr2ee
lpvb3 inc action
wr2ee mov datao, action ; write action
call wbyte ; to eeprom (addr)
jmp evaldone
decconf mov w, action
and w, #00000011b
jz evaldone ; no change if conf already 0
dec action ; decrement confidence
jmp wr2ee ; jmp to write
evaldone
mov lastmove, action ; save last move
and lastmove, #00111100b ; minus extra data
; access memory from eeprom
mov addr, environment
call rbyte
mov action, datai ; action = memory
call checkaction
jb badmove, rmove ; select random if bad move
mov w, action
and w, #00000011b
jnz move ; confidence > 0, go with move
; select random move
rmove
call shortflash ; short flash when picking random
; variable delay based on light
mov !rb, #11000010b ; discharge left photo input cap
clr rb
mov loops, #10
call wait
mov !rb, #11000011b
mov temp, #255 ; set max loops
vdelay jb rb.0, loadrnd ; go if photo input high
djnz temp, vdelay ; loop until temp = 0
loadrnd mov temp, rtcc ; who knows what
and temp, #00000111b ; mask off all but bottom 3
mov w, temp ; convert 0-7 into
call getmove ; valid predefined move
mov action, w ; get move in action
; move robot with move in action variable
; (bits 2-5 to motors, rest ignored)
move
call checkaction ; validate action
jb badmove, drstop ; stop if forbidden move
mov temp, #popdur ; how much
drloop mov rb, action
mov loops, #ontime
call wait
clr rb
mov loops, #offtime
call wait
djnz temp, drloop ; loop until done
drstop
setb popping ; tell startup we're in a move cycle
sleep ; sleep between pops to save power
nextpop ; here if wakes with popping set
clrb popping ; end of move cycle
djnz popcnt, poploop ; next pop
mov OPTION, #optsleep ; long duration (!OPTION for SPASM)
; dump contents of memory to LED then go to sleep
; each byte ...1-0-m0-m1-m2-m3-m4-m5-m6-m7-1-0-0...
mov temp, addr ; save current addr
mov addr, #0 ; start at 0
dumplp call rbyte ; get byte
setb statusLED
mov loops,#50 ; '1' start bit
Await mov loops2,#portspeed
Await2 djnz loops2, Await2
djnz loops, Await
clrb statusLED
mov loops,#50 ; '0' start bit
Bwait mov loops2,#portspeed
Bwait2 djnz loops2, Bwait2
djnz loops, Bwait
mov count, #8 ; 8 data bits
LEDfla2 clrb statusLED
snb datai.0
setb statusLED ; 1 if lsb set
clr wdt ; don't bomb
mov loops,#50
Cwait mov loops2,#portspeed
Cwait2 djnz loops2, Cwait2
djnz loops, Cwait
rr datai ; next bit
djnz count, LEDfla2
setb statusLED
mov loops,#50 ; '1' stop bit
Dwait mov loops2,#portspeed
Dwait2 djnz loops2, Dwait2
djnz loops, Dwait
clrb statusLED
mov loops, #100 ; 2 '0' stop bits
Ewait mov loops2,#portspeed
Ewait2 djnz loops2, Ewait2
djnz loops, Ewait
inc addr ; next address
jnb addr.6, dumplp ; loop if under 64
mov addr, temp ; restore old address
sleep ; rest and charge
; end
/* CMAC - Cerebellum Model Articulation Controller
as described in AI Expert, June 1992, pp. 32-41
and Transactions of ASME, Sept. 1975, pp. 220-227
__________________
\ | |---|**** |----------|
\ | |---|AND *--| x Weight |--+
\ >---| |---|**** |----------| |
X Input1-* X | | |
X >---| | |
X Input2-* X | | : |
/ >---| | |
/ | | |
/ | | : |
| Interconnect | |
\ | Matrix | |
\ | | : | |-----------|
\ >---| | +-+ |
Y Input1-* X | |---|**** |----------| | | Output
X >---| |---|AND *--| x Weight |----+ Output +------->
Y Input2-* X | |---|**** |----------| | Summation |
/ >---| | +-+ |
/ | | : | |-----------|
/ | | |
| | |
\ | | : |
\ | | |
\ >---| | |
Z Input1-* X | | |
X >---| | : |
Z Input2-* X | | |
/ >---| | |
/ | |---|**** |----------| |
/ | |---|AND *--| x Weight |--+
| |---|**** |----------|
------------------
^ trainable weight vector
^ AND gates (eg. dimension=3)
^connection matrix (connects inputs to AND gates)
^overlapping input sensors (eg. width=2 inputs/sensor)
^inputs (eg. quant=2 bits/dimension)
^dimension (eg. 3)
Notes:
1. Only one input per dimension can be active (= 1) at any time.
Input values must be quantized into 1 of "quant" values.
2. Input sensors overlap and cover to "1 to width" number of inputs.
Width can vary between 1 to "quant". Low numbers usually work best.
3. Interconnect matrix is such that each input vector (eg. X,Y,Z)
activates exactly "width" number of AND gates.
4. Each AND gate has "dimension" number of inputs.
5. Output is a summation of weights corresponding to activated AND gates.
6. Weights are trained using the Delta rule.
7. CMAC converges very rapidly. Three bit parity example can be solved to
an accuracy of .001 in about 20 training passes.
8. All nonlinearity comes from input mapping instead, of sigmoid
function like FFNNs.
9. Visualize input vectors as locations in an N-dimensional space.
The Output is then the value of the function at that location.
10. Interpolation between multiple outputs can be added to reduce
effect of quantization.
11. Once the weights have been trained, the compute_output routine
can be used alone to determine output quickly.
12. CMAC can be used to find approximations to N-dimensional nonlinear
functions like sqrt or distance calculations quickly.
13. CMAC has been used successfully to linearize transducers or to form
the inverse function of unknown plant dynamics.
*/
#include <stdio.h>
#include <math.h>
/* User selectable values */
#define dimension 3 /* input dimensions */
#define quant 2 /* input quantization per dimension */
#define width 2 /* width of input sensors */
#define max_gates 10 /* ==> set to (quant**dimension)+width) */
#define beta 0.4 /* learning rate for weight training */
#define err_limit 0.001 /* maximum error for any input */
#define k1 (quant+width-1) /* intermediate calculation */
#define max(a,b) ((a>=b)?a:b) /* max macro */
#define min(a,b) ((a<=b)?a:b) /* min macro */
struct list_of_conns{
int n; /* number of gates in list */
int gate_ptr[(max_gates)]; /* indices of gates */
} conn[quant][dimension], /* connections between inputs and gates */
activated, /* list of activated gates */
*c; /* pointer to list_of_conns */
int n_inputs; /* number of possible input vectors */
int n_sensors; /* number of possible input sensors */
int input[dimension]; /* input vector */
int nbr_gates = 0; /* num of gates used */
int gate[max_gates]; /* AND gates */
double weight[max_gates]; /* weight matrix */
double output, desired, error, total_error;
void form_interconnects();
void compute_output();
void train();
int main()
{
register int i, j, k;
int pass=1;
double max_error=err_limit;
printf("\n\n CMAC \n\n");
n_inputs=(int)pow((double)quant,(double)dimension);
n_sensors=(int)pow((double)(quant+width-1),(double)dimension);
form_interconnects();
printf("cmac: finished interconnects, beginning training.\n");
while(max_error>=err_limit){ /* for each pass */
total_error=0.0;
max_error=0.0;
for(i=0;i<n_inputs;i++){ /* for each possible input */
for(k=1,j=0;j<dimension;k*=quant,j++) /* form input vector */
input[j]=(i/k)%quant;
compute_output();
for(desired=0,j=0;j<dimension;j++) /* compute desired output */
desired=(double)(((int)desired) ^ input[j]); /* parity bit example */
train();
total_error+=fabs(error);
max_error=max(fabs(error),max_error);
}
printf("Pass=%d \tmax_error=%g\tAvg Err=%g\n",
pass++,max_error,total_error/n_inputs);
}
printf("cmac: finished training.\n\n");
for(i=0;i<nbr_gates;i++) /* display weights */
printf("W[%d]=%f\n",i,weight[i]);
}
void form_interconnects() /* generate interconnect lists */
{
register int i, j, k, m, n, p, found;
for(c = &conn[0][0],i=0; i<quant*dimension; c++,i++) /* initialization */
c->n=0;
for (k=0; k<width; k++){
for(i=0;i<n_sensors;i++){ /* for each combination of input sensors */
found=1;
for(m=1,j=0; j<dimension; m*=k1,j++) /* for each dimension */
if((((i/m)%k1)%width)!=k){ /* check acceptance criteria */
found=0; /* rejected, try another */
break;
}
if(found==1){ /* if acceptable */
for(m=1,j=0; j<dimension; m*=k1,j++){ /* for each dimension */
n=(i/m)%k1; /* n=input sensor */
for(p=max(0,n-width+1); p<=min(n,(quant-1)); p++){
c = &conn[p][j]; /* p=input connected to sensor n */
c->gate_ptr[(c->n)++]=nbr_gates;
}
}
nbr_gates++;
if(nbr_gates > max_gates){
printf("cmac: error, maximum number of gates exceeded!\n");
exit(3); /* increase #define max_gates */
}
}
}
}
}
void compute_output() /* usable during and after training */
{
register int g, i, j;
activated.n=0; /* initialization */
output=0;
for(g=0;g<nbr_gates;g++) gate[g]=0;
for(i=0;i<dimension;i++){ /* for all dimensions */
c = &conn[input[i]][i];
for(j=0;j<c->n;j++){ /*increment all gates in list */
g=c->gate_ptr[j];
gate[g]++;
if(((i+1)==dimension)&&(gate[g]==dimension)){ /* if activated */
/* generate list of activated gates */
activated.gate_ptr[activated.n++]=g;
output += weight[g]; /* update output */
}
}
}
}
void train() /* compute error and modify weights */
{
register int i;
error=desired-output;
for(i=0;i<activated.n;i++) /* using list of activated gates */
weight[activated.gate_ptr[i]]+=beta*error;
}
+
| file: /Techref/new/letter/news0307.htm, 35KB, , updated: 2016/2/24 14:06, local time: 2024/12/26 19:33,
18.217.228.195:LOG IN
|
| ©2024 These pages are served without commercial sponsorship. (No popup ads, etc...).Bandwidth abuse increases hosting cost forcing sponsorship or shutdown. This server aggressively defends against automated copying for any reason including offline viewing, duplication, etc... Please respect this requirement and DO NOT RIP THIS SITE. Questions? <A HREF="http://ecomorder.com/Techref/new/letter/news0307.htm"> July 2003 SXList.com newsletter - SX Learning Robotics / CMAC</A> |
| Did you find what you needed? |
Welcome to ecomorder.com! |
Welcome to ecomorder.com! |
.