18 May

As many of you may know, one great pastime of mine is thought-experiments about robotic gardening.

I’ve bought a mini-itx board for building my robot, so the obvious next step was to think about how the robot should think.

I’ve been interested in Artificial Neural Networks for a few years, and they seem like the right way to go about what I want.

Given a photo of what the robot is facing, make it figure out is the photo of something organic, or inorganic.

A very simplistic diagram of how the machine might do this is shown below:

The above shows a very basic neural net. I think it’s called a “feed-forward” net, because each column of units is connected directly to just the adjacent columns (note that the rightmost column is not connected to the leftmost).

In the actual net, the “input” units would correspond to individual pixels of the image. The image is most definitely not to-scale – hundreds of input units would be required, and much more than just two hidden units – possibly two or more layers would be required as well, but you get the picture.

This net, when trained, would give an adequate answer. But then, the question arose – could the same net be used to provide more detail?

ie; What if we want to know if what we’re looking at is a nettle?

Logically, it would be possible to rebuild the network with just that question in mind, but it occured to me that it may be possible to do both at the same time.

The two answers come from the same hidden data. This may end up with a little less accuracy, as the neurons are now providing answers tailored to two different end goals, instead of one.

Looking at the diagram, though, it becomes clear that the “is nettle” unit is not availing itself of all available data. One major point about nettles, is that they’re organic, so there really should be a link between the “is organic” and “is nettle” units. It would drastically aid in accuracy, I believe.

There is a subtle effect which would appear in the above network…

Let’s say that the network is looking at a photo of a brick wall. That photo is then replaced by a photo of a nettle. The units are all updated one at a time, from left column to right column, top to bottom.

A point to note here is that the “is nettle” unit would be updated before the “is organic” unit.

I expect that “is organic” would be very tightly bound to the answer to “is nettle”, so it’s weightings would be pretty high. But, as the “is organic” unit in this case would be still holding to answer to the brick wall question by the time it is polled by “is nettle”, that the “is nettle” unit would most likely not recognise the picture of a nettle for what it was.

Interestingly, it would get it right when the exact same image was put through immediately afterwards.

I think that is similar to how we ourselves take a moment to re-orient ourselves when suddenly changing focus from concentrating on one subject to another.

Expanding on that, I think it would be interesting to have every neuron connected directly to every other neuron. It would lead to some slower results, but I think that it would allow much more accurate results over time.

For example, in video, if ever frame was considered one at a time, with absolutely no memory of what had been viewed the time before, then it may be possible to get drastically different results from each frame. However, if, for example, the previous frame was of a man standing in a field, then with the new connection-based network, the network would be pre-disposed to expect a man standing in a field. I think this may be called “feed back”.

This will be very useful for my robot, as it means I can track actual live video, and not have to rely on just still frames.

09 May

I’ve been getting pretty annoyed at some readers of slashdot (and other pages…). There are some small grammatical errors that are slipping into common usage, and they need to be stomped out – surprisingly, Slashdot-users are usually the type of people that notice these things – geeks tend to be exacting, where syntax is concerned.

The first grammatical slip is the awful usage of “there’s”, which I find everywhere I look.

In the first paragraph of this entry, you can see the following text.

There are some small grammatical errors…

I see a lot of sentences such as the above written like this:

There’s some small grammatical errors…

People! There is an obvious rule which states that the latter quote is incorrect! Where the subject of a sentence is plural, it’s “are”, and where the subject is singular, it’s “is”. Is that so hard?

The second one really grates on my nerves…

In the sentence; “As far as Microsoft, Linux should just curl up and die”, what is missing?

If your answer is that there’s nothing missing, and that the sentence is fine, then you should get yourself to the back of the class. Let’s try again, with the problem area highlighted:

As far as Microsoft         , Linux should just curl up and die.

This is called a “verbless variant”. The missing, intimated phrase above is “is concerned”.

To point out the problem a bit more obviously, I’ll give you another example sentence. This is the full sentence:

As hard as the wind blows, it will not be long before the tree falls.

Now, I’ll remove the first verb:

As hard as the wind, it will not be long before the tree falls.

I don’t know about you, but I find myself itching to type the missing word in. Whenever I see an error like the above verbless variant, or the misplaced singular verb, I feel like attacking the author, and chaining the poor soul to a scratchy wooden school desk, with a pencil and paper, and instructions to write the following out two hundred times:

As far as grammar is concerned, there is an “is” where a singular subject is the context, not an “are”.