One current aim of molecular biology is determination of the (3D) tertiary structures ofproteins in their folded native state from their sequences of amino acid 523 524 Fredholm, Bohr, Bohr, Brunak, Cotterill, Lautrup, and Thtersen residues. Since Kendrew & Perutz solved the first protein structures, myoglobin and hemoglobin, and explained from the discovered structures how these proteins perform their function, it has been widely recognized that protein function is intimately linkedwith protein structure[l]. Within the last two decades X-ray crystallographers have solved the 3-dimensional (3D) structures of a steadily increasing number of proteins in the crystalline state, and recently 2D-NMR spectroscopy has emerged as an alternative method for small proteins in solution. Today approximately three hundred 3D structures have been solved by these methods, although only about half of them can be considered as truly different, and only around a hundred of them are solved at high resolution (that is, less than 2A). The number of protein sequences known today is well over 20,000, and this number seems to be growing at least one order of magnitude faster than the number of known 3D protein structures. Obviously, it is of great importance to develop tools that can predict structural aspects of proteins on the basis of knowledge acquired from known 3D structures.

Neural network simulations of the dragonfly flight neurocontrol system have been developed to understand how this insect uses complex, unsteady aerodynamics. The simulation networks account for the ganglionic spatial distribution of cells as well as the physiologic operating range and the stochastic cellular fIring history of each neuron. In addition the motor neuron firing patterns, "flight command sequences", were utilized. Simulation training was targeted against both the cellular and flight motor neuron firing patterns. The trained networks accurately resynthesized the intraganglionic cellular firing patterns. These in tum controlled the motor neuron fIring patterns that drive wing musculature during flight. Such networks provide both neurobiological analysis tools and fIrst generation controls for the use of "unsteady" aerodynamics.

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

Determination of nearly optimalt or at least adequatet regions is left as an additional task that would require that the system dynamics be analyzedt which is not always possible. To address this problemt we move region boundaries adaptively t progressively altering the initial partitioning to a more appropriate representation with no need for a priori knowledge. Unlike previous work (Michiet 1968)t (Bartot 1983)t (Andersont 1982) which used fixed this approach produces adaptivecoderSt coders that contract and expand regions/ranges. During adaptationt frequently active regions/ranges contractt reducing the number of situations in which they will be activated, and increasing the chances that neighboring regions will receive input instead. This class of self-organization is discussed in Kohonen (Kohonent 1984)t (Rittert 1986t 1988).

However, a large class of continuous control problems require maintaining the system at a desired operating point, or setpoint, at a given time. We refer to this problem as the basic setpoint control problem [Guha 90], and have shown that reinforcement learning can be used, not surprisingly, quite well for such control tasks. A more general version of the same problem requires steering the system from some 479 480 Guha initial or starting state to a desired state or setpoint at specific times without knowledge of the dynamics of the system. We therefore wish to examine how control scheduling tasks, where the system must be steered through a sequence of setpoints at specific times.

Barto, Sutton and Watkins [2] introduced a grid task as a didactic example oftemporal difference planning and asynchronous dynamical pre gramming. Thispaper considers the effects of changing the coding of the input stimulus, and demonstrates that the self-supervised learning of a particular form of hidden unit representation improves performance.

We present a new connectionist planning method [TML90]. By interaction with an unknown environment, a world model is progressively constructed usinggradient descent. For deriving optimal actions with respect to future reinforcement, planning is applied in two steps: an experience network proposesa plan which is subsequently optimized by gradient descent with a chain of world models, so that an optimal reinforcement may be obtained when it is actually run. The appropriateness of this method is demonstrated by a robotics application and a pole balancing task.

We propose a new parallel-hierarchical neural network model to enable motor learning for simultaneous control of both trajectory and force.

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.

A recurrent back-propagation neural network architecture was then designed to numerically estimate the parameters of an optimal nonlinear control law for landing theaircraft. The performance of the network was then evaluated.