Biomedical subjects

Ali A Minai

Publications and source records attributed to Ali A Minai.

3 recordsLinked to original sources

PubMed2006

Balancing search and target response in cooperative unmanned aerial vehicle (UAV) teams.

This paper considers a heterogeneous team of cooperating unmanned aerial vehicles (UAVs) drawn from several distinct classes and engaged in a search and action mission over a spatially extended battlefield with targets of several types. During the mission, the UAVs seek to confirm and verifiably destroy suspected targets and discover, confirm, and verifiably destroy unknown targets. The locations of some (or all) targets are unknown a priori, requiring them to be located using cooperative search. In addition, the tasks to be performed at each target location by the team of cooperative UAVs need to be coordinated. The tasks must, therefore, be allocated to UAVs in real time as they arise, while ensuring that appropriate vehicles are assigned to each task. Each class of UAVs has its own sensing and attack capabilities, so the need for appropriate assignment is paramount. In this paper, an extensive dynamic model that captures the stochastic nature of the cooperative search and task assignment problems is developed, and algorithms for achieving a high level of performance are designed. The paper focuses on investigating the value of predictive task assignment as a function of the number of unknown targets and number of UAVs. In particular, it is shown that there is a tradeoff between search and task response in the context of prediction. Based on the results, a hybrid algorithm for switching the use of prediction is proposed, which balances the search and task response. The performance of the proposed algorithms is evaluated through Monte Carlo simulations.

Aircraft↗

PubMed2003

Phase transition in a swarm algorithm for self-organized construction.

This paper reports on a system where very simple, noncommunicating mobile agents in a cellular (lattice) environment use purely local rules to construct connected structures from initially randomly distributed building blocks. We study the effect of block density on the final structure, demonstrating a percolationlike phase transition: Low block densities lead to the formation of small, disconnected structures but a single connected structure emerges abruptly beyond a critical density. The empirical study of the structure at the transition point shows scaling behavior, providing strong evidence for criticality. We also demonstrate that a simple change of rules can completely change the phase-transition effect. The results have implications for the self-organized construction of complex structures by swarms.

Journal Article↗

PubMed2003

Network capacity analysis for latent attractor computation.

Attractor networks have been one of the most successful paradigms in neural computation, and have been used as models of computation in the nervous system. Recently, we proposed a paradigm called 'latent attractors' where attractors embedded in a recurrent network via Hebbian learning are used to channel network response to external input rather than becoming manifest themselves. This allows the network to generate context-sensitive internal codes in complex situations. Latent attractors are particularly helpful in explaining computations within the hippocampus--a brain region of fundamental significance for memory and spatial learning. Latent attractor networks are a special case of associative memory networks. The model studied here consists of a two-layer recurrent network with attractors stored in the recurrent connections using a clipped Hebbian learning rule. The firing in both layers is competitive--K winners take all firing. The number of neurons allowed to fire, K, is smaller than the size of the active set of the stored attractors. The performance of latent attractor networks depends on the number of such attractors that a network can sustain. In this paper, we use signal-to-noise methods developed for standard associative memory networks to do a theoretical and computational analysis of the capacity and dynamics of latent attractor networks. This is an important first step in making latent attractors a viable tool in the repertoire of neural computation. The method developed here leads to numerical estimates of capacity limits and dynamics of latent attractor networks. The technique represents a general approach to analyse standard associative memory networks with competitive firing. The theoretical analysis is based on estimates of the dendritic sum distributions using Gaussian approximation. Because of the competitive firing property, the capacity results are estimated only numerically by iteratively computing the probability of erroneous firings. The analysis contains two cases: the simple case analysis which accounts for the correlations between weights due to shared patterns and the detailed case analysis which includes also the temporal correlations between the network's present and previous state. The latter case predicts better the dynamics of the network state for non-zero initial spurious firing. The theoretical analysis also shows the influence of the main parameters of the model on the storage capacity.

Animals↗