Multi-layer perceptrons are often slow to learn nonlinear functions with complex local structure due to the global nature of their function approximations. It is shown that standard multi-layer perceptrons are actually a special case of a more general network formulation that incorporates B-splines into the node computations. This allows novel spline network architectures to be developed that can combine the generalization capabilities and scaling properties of global multi-layer feedforward networks with the computational efficiency and learning speed of local computational paradigms. Simulation results are presented for the well known spiral problem of Weiland and of Lang and Witbrock to show the effectiveness of the Spline Net approach.

The Hopfield network (Hopfield, 1982,1984) provides a simple model of an associative memory in a neuronal structure. This model, however, is based on highly artificial assumptions, especially the use of formal-two state neurons (Hopfield,1982) or graded-response neurons (Hopfield, 1984).

Sereno, 1987) showed that a feedforward network with area VIlike input-layer units and a Hebb rule can develop area MTlike second layer units that solve the aperture problem for pattern motion. The present study extends this earlier work to more complex motions. Saito et al. (1986) showed that neurons with large receptive fields in macaque visual area MST are sensitive to different senses of rotation and dilation, irrespective of the receptive field location of the movement singularity. A network with an MTlike second layer was trained and tested on combinations of rotating, dilating, and translating patterns. Third-layer units learn to detect specific senses of rotation or dilation in a position-independent fashion, despite having position-dependent direction selectivity within their receptive fields.

The neocognitron is a neural network for pattern recognition and feature extraction. An analog CCD parallel processing architecture developed at Lincoln Laboratory is particularly well suited to the computational requirements ofshared-weight networks such as the neocognitron, and implementation of the neocognitron using the CCD architecture was simulated. A modification to the neocognitron training procedure, which improves network performance under the limited arithmetic precision that would be imposed by the CCD architecture, is presented.

Learning can increase the rate of evolution of a population of biological organisms (the Baldwin effect). Our simulations show that in a population of artificial neural networks solving a pattern recognition problem, no learning or too much learning leads to slow evolution of the genes whereas an intermediate amount is optimal. Moreover, for a given total number of training presentations, fastest evoution occurs if different individuals within each generation receive different numbers of presentations, rather than equal numbers. Because genetic algorithms (GAs) help avoid local minima in energy functions, our hybrid learning-GA systems can be applied successfully to complex, highdimensional patternrecognition problems. INTRODUCTION The structure and function of a biological network derives from both its evolutionary precursors and real-time learning.

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.

Neural network algorithms have proven useful for recognition of individual, segmentedcharacters. However, their recognition accuracy has been limited by the accuracy of the underlying segmentation algorithm. Conventional, rule-basedsegmentation algorithms encounter difficulty if the characters are touching, broken, or noisy. The problem in these situations is that often one cannot properly segment a character until it is recognized yetone cannot properly recognize a character until it is segmented. We present here a neural network algorithm that simultaneously segments and recognizes in an integrated system. This algorithm has several novel features: it uses a supervised learning algorithm (backpropagation), but is able to take position-independent information as targets and self-organize the activities of the units in a competitive fashion to infer the positional information. We demonstrate this ability with overlapping hand-printed numerals.

In this paper, we prove that the vectors in the LVQ learning algorithm converge. We do this by showing that the learning algorithm performs stochastic approximation. Convergence is then obtained by identifying the appropriate conditions on the learning rate and on the underlying statistics of the classification problem. We also present a modification to the learning algorithm which we argue results in convergence of the LVQ error to the Bayesian optimal error as the appropriate parameters become large.

Basic computational functions of associative neural structures may be analytically studied within the framework of attractor neural networks where static patterns are stored as stable fixed-points for the system's dynamics. If the interactions between single neurons are instantaneous and mediated by symmetric couplings, there is a Lyapunov function for the retrieval dynamics (Hopfield 1982). The global computation correspondsin that case to a downhill motion in an energy landscape created by the stored information. Methods of equilibrium statistical mechanics may be applied andpermit a quantitative analysis of the asymptotic network behavior (Amit et al. 1985, 1987). The existence of a Lyapunov function is thus of great conceptual aswell as technical importance. Nevertheless, one should be aware that environmental inputs to a neural net always provide information in both space and time. It is therefore desirable to extend the original Hopfield scheme and to explore possibilities for a joint representation of static patterns and temporal associations.

We are exploring the significance of biological complexity for neuronal computation. Here we demonstrate that Hebbian synapses in realistically-modeled hippocampalpyramidal cells may give rise to two novel forms of self-organization in response to structured synaptic input. First, on the basis of the electrotonic relationships between synaptic contacts, a cell may become tuned to a small subset of its input space. Second, the same mechanisms may produce clusters of potentiated synapses across the space of the dendrites. The latter type of self-organization may be functionally significant in the presence of nonlinear dendritic conductances.