There have been very few demonstrations ofthe application ofVLSI neural networks to real world problems. Yet there are many signal processing, pattern recognition or optimization problems where a large number of competing hypotheses need to be explored in parallel, most often in real time. The massive parallelism of VLSI neural network devices, with one multiplier circuit per synapse, is ideally suited to such problems. In this paper, we present preliminary results from our design for a real time robot navigation system based on VLSI neural network modules.

The goal has been to construct a supervised artificial neural network that learns incrementally an unknown mapping. As a result a network consisting of a combination of ART2 and backpropagation is proposed and is called an "ART2/BP" network. The ART2 network is used to build and focus a supervised backpropagation network. The ART2/BP network has the advantage of being able to dynamically expand itself in response to input patterns containing new information. Simulation results show that the ART2/BP network outperforms a classical maximum likelihood method for the estimation of a discrete dynamic and nonlinear transfer function.

This paper is a summary of SPRINT project aims and results. The project focus on the use of neuro-computing techniques to tackle various problems that remain unsolved in speech recognition. First results concern the use of feedforward nets for phonetic units classification, isolated word recognition, and speaker adaptation.

This work addresses three problems with reinforcement learning and adaptive neuro-control:1.

Bruno Caprile I.R.S.T. Povo, Italy, 38050 Learning an input-output mapping from a set of examples can be regarded as synthesizing an approximation of a multidimensional function.

In 4 of these methods the gradient is divided component-wise by a decaying average of either the second derivatives or their absolute values.

A high speed implementation of the CMAC neural network was designed using dedicated CMOS logic. This technology was then used to implement two general purpose CMAC associative memory boards for the VME bus. Each board implements up to 8 independent CMAC networks with a total of one million adjustable weights. Each CMAC network can be configured to have from 1 to 512 integer inputs and from 1 to 8 integer outputs. Response times for typical CMAC networks are well below 1 millisecond, making the networks sufficiently fast for most robot control problems, and many pattern recognition and signal processing problems.

Spokeninput to computers, however, has yet to pass the threshold of practicality.

We present a large vocabulary, continuous speech recognition system based on Linked Predictive Neural Networks (LPNN's). The system uses neural networksas predictors of speech frames, yielding distortion measures which are used by the One Stage DTW algorithm to perform continuous speech recognition. The system, already deployed in a Speech to Speech Translation system, currently achieves 95%, 58%, and 39% word accuracy on tasks with perplexity 5, 111, and 402 respectively, outperforming several simpleHMMs that we tested. We also found that the accuracy and speed of the LPNN can be slightly improved by the judicious use of hidden control inputs. We conclude by discussing the strengths and weaknesses of the predictive approach.

There have been very few demonstrations ofthe application ofVLSI neural networks to real world problems. Yet there are many signal processing, pattern recognition or optimization problems where a large number of competing hypotheses need to be explored in parallel, most often in real time. The massive parallelism of VLSI neural network devices, with one multiplier circuit per synapse, is ideally suited to such problems. In this paper, we present preliminary results from our design for a real time robot navigation system based on VLSI neural network modules. This is a - Also: RSRE, Great Malvern, Worcester, WR14 3PS 422 Real-time Autonomous Robot Navigation Using VLSI Neural Networks 423 real world problem which has not been fully solved by traditional AI methods; even when partial solutions have been proposed and implemented, these have required vast computational resources, usually remote from the robot and linked to it via an umbilical cord. 2 OVERVIEW The aim of our work is to develop an autonomous vehicle capable of real-time navigation, including obstacle avoidance, in a known indoor environment.