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Hvid Hyde posted an update 6 months, 3 weeks ago
The Kalman filter provides a simple and efficient algorithm to compute the posterior distribution for state-space models where both the latent state and measurement models are linear and gaussian. Extensions to the Kalman filter, including the extended and unscented Kalman filters, incorporate linearizations for models where the observation model p(observation|state) is nonlinear. We argue that in many cases, a model for p(state|observation) proves both easier to learn and more accurate for latent state estimation. Approximating p(state|observation) as gaussian leads to a new filtering algorithm, the discriminative Kalman filter (DKF), which can perform well even when p(observation|state) is highly nonlinear and/or nongaussian. The approximation, motivated by the Bernstein-von Mises theorem, improves as the dimensionality of the observations increases. The DKF has computational complexity similar to the Kalman filter, allowing it in some cases to perform much faster than particle filters with similar precision, while better accounting for nonlinear and nongaussian observation models than Kalman-based extensions. When the observation model must be learned from training data prior to filtering, off-the-shelf nonlinear and nonparametric regression techniques can provide a gaussian model for p(observation|state) that cleanly integrates with the DKF. As part of the BrainGate2 clinical trial, we successfully implemented gaussian process regression with the DKF framework in a brain-computer interface to provide real-time, closed-loop cursor control to a person with a complete spinal cord injury. In this letter, we explore the theory underlying the DKF, exhibit some illustrative examples, and outline potential extensions.Stimulus equivalence (SE) and projective simulation (PS) study complex behavior, the former in human subjects and the latter in artificial agents. We apply the PS learning framework for modeling the formation of equivalence classes. For this purpose, we first modify the PS model to accommodate imitating the emergence of equivalence relations. Later, we formulate the SE formation through the matching-to-sample (MTS) procedure. The proposed version of PS model, called the equivalence projective simulation (EPS) model, is able to act within a varying action set and derive new relations without receiving feedback from the environment. To the best of our knowledge, it is the first time that the field of equivalence theory in behavior analysis has been linked to an artificial agent in a machine learning context. This model has many advantages over existing neural network models. Briefly, our EPS model is not a black box model, but rather a model with the capability of easy interpretation and flexibility for further modifications. To validate the model, some experimental results performed by prominent behavior analysts are simulated. The results confirm that the EPS model is able to reliably simulate and replicate the same behavior as real experiments in various settings, including formation of equivalence relations in typical participants, nonformation of equivalence relations in language-disabled children, and nodal effect in a linear series with nodal distance five. Moreover, through a hypothetical experiment, we discuss the possibility of applying EPS in further equivalence theory research.With the wide deployments of heterogeneous networks, huge amounts of data with characteristics of high volume, high variety, high velocity, and high veracity are generated. These data, referred to multimodal big data, contain abundant intermodality and cross-modality information and pose vast challenges on traditional data fusion methods. In this review, we present some pioneering deep learning models to fuse these multimodal big data. With the increasing exploration of the multimodal big data, there are still some challenges to be addressed. Thus, this review presents a survey on deep learning for multimodal data fusion to provide readers, regardless of their original community, with the fundamentals of multimodal deep learning fusion method and to motivate new multimodal data fusion techniques of deep learning. Specifically, representative architectures that are widely used are summarized as fundamental to the understanding of multimodal deep learning. signaling pathway Then the current pioneering multimodal data fusion deep learning models are summarized. Finally, some challenges and future topics of multimodal data fusion deep learning models are described.The ability to move fast and accurately track moving objects is fundamentally constrained by the biophysics of neurons and dynamics of the muscles involved. Yet the corresponding trade-offs between these factors and tracking motor commands have not been rigorously quantified. We use feedback control principles to quantify performance limitations of the sensorimotor control system (SCS) to track fast periodic movements. We show that (1) linear models of the SCS fail to predict known undesirable phenomena, including skipped cycles, overshoot and undershoot, produced when tracking signals in the “fast regime,” while nonlinear pulsatile control models can predict such undesirable phenomena, and (2) tools from nonlinear control theory allow us to characterize fundamental limitations in this fast regime. Using a validated and tractable nonlinear model of the SCS, we derive an analytical upper bound on frequencies that the SCS model can reliably track before producing such undesirable phenomena as a function of the neurons’ biophysical constraints and muscle dynamics. The performance limitations derived here have important implications in sensorimotor control. For example, if the primary motor cortex is compromised due to disease or damage, the theory suggests ways to manipulate muscle dynamics by adding the necessary compensatory forces using an assistive neuroprosthetic device to restore motor performance and, more important, fast and agile movements. Just how one should compensate can be informed by our SCS model and the theory developed here.Cell sheet engineering has become important in a variety of fields, including regenerative medicine and transplantation. Our research group previously developed micromesh cultures that enable cells to form a cell sheet on a microstructured mesh sheet. Here, we present a more usable micromesh culture and devices that make it possible, aiming for widespread use. The devices are mainly constituted of a polyester micromesh sheet and three-dimensional (3D)-printed simple frames that fix the mesh sheet on it. Cells such as fibroblast Tig-1-20 cells, hepatoma HepG2 cells, or mesenchymal stem cells (MSC) were easily seeded on the polyester mesh sheet in the device and cultured for 16 days, which was followed by the formation of a 100-400-μm-thick cell sheet. The cell sheet was very robust, easy to handle, and could be readily removed from the device for subsequent analysis. Optical coherence tomography revealed the structure of the cell sheet as having the mesh sheet layer in the center of the cell sheet. Confocal microscopy demonstrated that Tig-1-20 cells in the cell sheet were aligned according to the shape of the mesh apertures, indicating that cell orientation can be controlled with this micromesh culture.
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