排爆机械臂逆运动学的模拟退火神经网络算法

采用传统方法计算没有封闭解的机械臂的逆运动学运算量大、精度无法保证,对于复杂结构很难满足实时精确控制的要求。六个并行三层双隐层前馈神经网络被设计用来解决排爆机器臂的逆运动学问题,神经网络的应用受到输出误差的限制,需要减小网络输出误差。针对机械臂结构,以神经网络输出为初始值,对网络输出关节变量进行实值编码,采用分离位姿模拟退火算法对的机械臂末端位置、姿态分别进行优化。仿真结果显示,该方法有效的减小了网络输出误差,在运算结果精确性和运算速度方面满足排爆机械臂求逆运动学解的要求。     

Design of artificial genetic regulatory networks with multiple delayed adaptive responses*

Genetic regulatory networks with adaptive responses are widely studied in biology. Usually, models consisting only of a few nodes have been considered. They present one input receptor for activation and one output node where the adaptive response is computed. In this work, we design genetic regulatory networks with many receptors and many output nodes able to produce delayed adaptive responses. This design is performed by using an evolutionary algorithm of mutations and selections that minimizes an error function defined by the adaptive response in signal shapes. We present several examples of network constructions with a predefined required set of adaptive delayed responses. We show that an output node can have different kinds of responses as a function of the activated receptor. Additionally, complex network structures are presented since processing nodes can be involved in several input-output pathways.     

Nonlinear transfer function encodes synchronization in a neural network from the mammalian brain

Synchronization is one of the mechanisms by which the brain encodes information. The observed synchronization of neuronal activity has, however, several levels of fluctuations, which presumably regulate local features of specific areas. This means that biological neural networks should have an intrinsic mechanism able to synchronize the neuronal activity but also to preserve the firing capability of individual cells. Here, we investigate the input-output relationship of a biological neural network from developing mammalian brain, i.e., the hippocampus. We show that the probability of occurrence of synchronous output activity (which consists in stereotyped population bursts recorded throughout the hippocampus) is encoded by a sigmoidal transfer function of the input frequency. Under this scope, low-frequency inputs will not produce any coherent output while high-frequency inputs will determine a synchronous pattern of output activity (population bursts). We analyze the effect of the network size (N) on the parameters of the transfer function (threshold and slope). We found that sigmoidal functions realistically simulate the synchronous output activity of hippocampal neural networks. This outcome is particularly important in the application of results from neural network models to neurobiology.     

Reconstruction of a random phase dynamics network from observations

We consider networks of coupled phase oscillators of different complexity: Kuramoto–Daido-type networks, generalized Winfree networks, and hypernetworks with triple interactions. For these setups an inverse problem of reconstruction of the network connections and of the coupling function from the observations of the phase dynamics is addressed. We show how a reconstruction based on the minimization of the squared error can be implemented in all these cases. Examples include random networks with full disorder both in the connections and in the coupling functions, as well as networks where the coupling functions are taken from experimental data of electrochemical oscillators. The method can be directly applied to asynchronous dynamics of units, while in the case of synchrony, additional phase resettings are necessary for reconstruction.     

Detecting overlapping communities by seed community in weighted complex networks

Detection of community structures in the weighted complex networks is significant to understand the network structures and analysis of the network properties. We present a unique algorithm to detect overlapping communities in the weighted complex networks with considerable accuracy. For a given weighted network, all the seed communities are first extracted. Then to each seed community, more community members are absorbed using the absorbing degree function. In addition, our algorithm successfully finds common nodes between communities. The experiments using some real-world networks show that the performance of our algorithm is satisfactory.     

Modeling of price and profit in coupled-ring networks

We study the behaviors of magnetization, price, and profit profiles in ring networks inthe presence of the external magnetic field. The Ising model is used to determine thestate of each node, which is mapped to the buy-or-sell state in a financial market, where+1 is identified as the buying state, and ?1 as the selling state. Price and profit mechanisms are modeled basedon the assumption that price should increase if demand is larger than supply, and itshould decrease otherwise. We find that the magnetization can be induced between two ringsvia coupling links, where the induced magnetization strength depends on the number of thecoupling links. Consequently, the price behaves linearly with time, where its rate ofchange depends on the magnetization. The profit grows like a quadratic polynomial withcoefficients dependent on the magnetization. If two rings have opposite direction of netspins, the price flows in the direction of the majority spins, and the network with theminority spins gets a loss in profit.     

Complexity in human transportation networks: a comparative analysis of worldwide air transportation and global cargo-ship movements

We present a comparative network-theoretic analysis of the two largest global transportation networks: the worldwide air-transportation network (WAN) and the global cargo-ship network (GCSN). We show that both networks exhibit surprising statistical similarities despite significant differences in topology and connectivity. Both networks exhibit a discontinuity in node and link betweenness distributions which implies that these networks naturally segregate into two different classes of nodes and links. We introduce a technique based on effective distances, shortest paths and shortest path trees for strongly weighted symmetric networks and show that in a shortest path tree representation the most significant features of both networks can be readily seen. We show that effective shortest path distance, unlike conventional geographic distance measures, strongly correlates with node centrality measures. Using the new technique we show that network resilience can be investigated more precisely than with contemporary techniques that are based on percolation theory. We extract a functional relationship between node characteristics and resilience to network disruption. Finally we discuss the results, their implications and conclude that dynamic processes that evolve on both networks are expected to share universal dynamic characteristics.     

Dynamics of electricity market correlations

Electricity market participants rely on demand and price forecasts to decide their bidding strategies, allocate assets, negotiate bilateral contracts, hedge risks, and plan facility investments. However, forecasting is hampered by the non-linear and stochastic nature of price time series. Diverse modeling strategies, from neural networks to traditional transfer functions, have been explored. These approaches are based on the assumption that price series contain correlations that can be exploited for model-based prediction purposes. While many works have been devoted to the demand and price modeling, a limited number of reports on the nature and dynamics of electricity market correlations are available. This paper uses detrended fluctuation analysis to study correlations in the demand and price time series and takes the Australian market as a case study. The results show the existence of correlations in both demand and prices over three orders of magnitude in time ranging from hours to months. However, the Hurst exponent is not constant over time, and its time evolution was computed over a subsample moving window of 250 observations. The computations, also made for two Canadian markets, show that the correlations present important fluctuations over a seasonal one-year cycle. Interestingly, non-linearities (measured in terms of a multifractality index) and reduced price predictability are found for the June-July periods, while the converse behavior is displayed during the December-January period. In terms of forecasting models, our results suggest that non-linear recursive models should be considered for accurate day-ahead price estimation. On the other hand, linear models seem to suffice for demand forecasting purposes.     

Activities and sensitivities in boolean network models

We study how the notions of importance of variables in Boolean functions as well as the sensitivities of the functions to changes in these variables impact the dynamical behavior of Boolean networks. The activity of a variable captures its influence on the output of the function and is a measure of that variable's importance. The average sensitivity of a Boolean function captures the smoothness of the function and is related to its internal homogeneity. In a random Boolean network, we show that the expected average sensitivity determines the well-known critical transition curve. We also discuss canalizing functions and the fact that the canalizing variables enjoy higher importance, as measured by their activities, than the noncanalizing variables. Finally, we demonstrate the important role of the average sensitivity in determining the dynamical behavior of a Boolean network.     

Duality Between Spin Networks and the 2D Ising Model

The goal of this paper is to exhibit a deep relation between the partition function of the Ising model on a planar trivalent graph and the generating series of the spin network evaluations on the same graph. We provide respectively a fermionic and a bosonic Gaussian integral formulation for each of these functions and we show that they are the inverse of each other (up to some explicit constants) by exhibiting a supersymmetry relating the two formulations. We investigate three aspects and applications of this duality. First, we propose higher order supersymmetric theories that couple the geometry of the spin networks to the Ising model and for which supersymmetric localization still holds. Secondly, after interpreting the generating function of spin network evaluations as the projection of a coherent state of loop quantum gravity onto the flat connection state, we find the probability distribution induced by that coherent state on the edge spins and study its stationary phase approximation. It is found that the stationary points correspond to the critical values of the couplings of the 2D Ising model, at least for isoradial graphs. Third, we analyze the mapping of the correlations of the Ising model to spin network observables, and describe the phase transition on those observables on the hexagonal lattice. This opens the door to many new possibilities, especially for the study of the coarse-graining and continuum limit of spin networks in the context of quantum gravity.     

Power law decay of stored pattern stability in sparse Hopfield neural networks

Hopfield neural networks on scale-free networks display the power law relation between the stability of patterns and the number of patterns.The stability is measured by the overlap between the output state and the stored pattern which is presented to a neural network.In simulations the overlap declines to a constant by a power law decay.Here we provide the explanation for the power law behavior through the signal-to-noise ratio analysis.We show that on sparse networks storing a plenty of patterns the stability of stored patterns can be approached by a power law function with the exponent-0.5.There is a difference between analytic and simulation results that the analytic results of overlap decay to 0.The difference exists because the signal and noise term of nodes diverge from the mean-field approach in the sparse finite size networks.     

Unified index to quantifying heterogeneity of complex networks

Although recent studies have revealed that degree heterogeneity of a complex network has significant impact on the network performance and function, a unified definition of the heterogeneity of a network with any degree distribution is absent. In this paper, we define a heterogeneity index 0≤H<1 to quantify the degree heterogeneity of any given network. We analytically show the existence of an upper bound of H=0.5 for exponential networks, thus explain why exponential networks are homogeneous. On the other hand, we also analytically show that the heterogeneity index of an infinite power law network is between 1 and 0.5 if and only if its degree exponent is between 2 and 2.5. We further show that for any power law network with a degree exponent greater than 2.5, there always exists an exponential network such that both networks have the same heterogeneity index. This may help to explain why 2.5 is a critical degree exponent for some dynamic behaviors on power law networks.     

Topological Effects on the Performance of Transportation Networks

We investigate the influence of the network topology on the performance （characterized by the total system cost and maximal tratffic volume） of transportation networks, where the weights are not static （constant）, but dynamic （a function of the flow on the link）. Four classes of networks are used in the simulation, including regular networks, random networks, small-world networks and scale-free networks. The initial simulation results show that topologies play important roles on the performance of transportation networks, and random networks have better performance than other networks. Also, we find that there are distinct difference of the link flow distribution for various networks in both the distribution function form and the span between the minimum and the maximum of the link flow, explaining the difference of the performance among distinct networks. These findings will be useful in network design problems of transportation systems.     

Imperfect targeted immunization in scale-free networks

Scale-free networks are prone to epidemic spreading. To provide cost-effective protection for such networks, targeted immunization was proposed to selectively immunize the hub nodes. In many real-life applications, however, the targeted immunization may not be perfect, either because some hub nodes are hidden and consequently not immunized, or because the vaccination simply cannot provide perfect protection. We investigate the effects of imperfect targeted immunization in scale-free networks. Analysis and simulation results show that there exists a linear relationship between the inverse of the epidemic threshold and the effectiveness of targeted immunization. Therefore, the probability of epidemic outbreak cannot be significantly lowered unless the protection is reasonably strong. On the other hand, even a relatively weak protection over the hub nodes significantly decreases the number of network nodes ever getting infected and therefore enhances network robustness against virus. We show that the above conclusions remain valid where there exists a negative correlation between nodal degree and infectiousness.     

From topology to dynamics in biochemical networks

Abstract formulations of the regulation of gene expression as random Boolean switching networks have been studied extensively over the past three decades. These models have been developed to make statistical predictions of the types of dynamics observed in biological networks based on network topology and interaction bias, p. For values of mean connectivity chosen to correspond to real biological networks, these models predict disordered dynamics. However, chaotic dynamics seems to be absent from the functioning of a normal cell. While these models use a fixed number of inputs for each element in the network, recent experimental evidence suggests that several biological networks have distributions in connectivity. We therefore study randomly constructed Boolean networks with distributions in the number of inputs, K, to each element. We study three distributions: delta function, Poisson, and power law (scale free). We analytically show that the critical value of the interaction bias parameter, p, above which steady state behavior is observed, is independent of the distribution in the limit of the number of elements N--> infinity. We also study these networks numerically. Using three different measures (types of attractors, fraction of elements that are active, and length of period), we show that finite, scale-free networks are more ordered than either the Poisson or delta function networks below the critical point. Thus the topology of scale-free biochemical networks, characterized by a wide distribution in the number of inputs per element, may provide a source of order in living cells. (c) 2001 American Institute of Physics.     

Dynamical encoding by networks of competing neuron groups: winnerless competition

Following studies of olfactory processing in insects and fish, we investigate neural networks whose dynamics in phase space is represented by orbits near the heteroclinic connections between saddle regions (fixed points or limit cycles). These networks encode input information as trajectories along the heteroclinic connections. If there are N neurons in the network, the capacity is approximately e(N-1)!, i.e., much larger than that of most traditional network structures. We show that a small winnerless competition network composed of FitzHugh-Nagumo spiking neurons efficiently transforms input information into a spatiotemporal output.     

基于Kendall改进的同步算法癫痫脑网络分析

提出了一种基于Kendall等级相关改进的同步算法IRC(inverse rank correlation).Kendall等级相关是非线性动力学分析的一般化算法,可有效地度量变量间的非线性相关性.复杂网络的研究已逐渐深入到社会科学的各个领域,脑网络的研究已经成为当今脑功能研究的热点.利用改进的IRC算法,基于脑电EEG(electroencephalogram)数据来构建大脑功能性网络.对构建的脑功能网络的度指标进行了分析,以调查癫痫脑功能网络是否异于正常人.结果显示:使用该改进的算法能够对癫痫和正常脑功能网络显著区分,且只需要记录很短的脑电数据.实验结果数据表明,该方法适用于区分癫痫和正常脑组织网络度指标,它可有助于进一步地加深对大脑的神经动力学行为的研究,并为临床诊断提供有效工具.     

Robustness of Cyber-Physical Supply Networks in Cascading Failures

A cyber-physical supply network is composed of an undirected cyber supply network and a directed physical supply network. Such interdependence among firms increases efficiency but creates more vulnerabilities. The adverse effects of any failure can be amplified and propagated throughout the network. This paper aimed at investigating the robustness of the cyber-physical supply network against cascading failures. Considering that the cascading failure is triggered by overloading in the cyber supply network and is provoked by underload in the physical supply network, a realistic cascading model for cyber-physical supply networks is proposed. We conducted a numerical simulation under cyber node and physical node failure with varying parameters. The simulation results demonstrated that there are critical thresholds for both firm’s capacities, which can determine whether capacity expansion is helpful; there is also a cascade window for network load distribution, which can determine the cascading failures occurrence and scale. Our work may be beneficial for developing cascade control and defense strategies in cyber-physical supply networks.     

神经元传输函数对人工神经网络动力学特性的影响

以神经元局域场分布为基础，重新研究了连续神经元传输函数对具有联想记忆的人工神经网络功能的影响.与以往的认识不同的是，研究发现连续传输函数与硬极限传输函数相比并不存在明显的优越性，相反，连续传输函数对网络的某些功能，如最大存储率具有负面影响.研究表明神经网络的特性主要决定于网络的动力学结构(具体体现为网络吸引子对应的神经元局域场分布)，网络的动力学结构可以通过选择合适的设计规则进行有效控制，不同的传输函数虽然也能影响到网络的动力学结构，但是它所带来的影响是被动的，可控性很差. 关键词： 联想记忆 神经网络 吸引子 局域场分布