Publications

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The purpose of this LDRD is to develop technology allowing warfighters to provide high-level commands to their unmanned assets, freeing them to command a group of them or commit the bulk of their attention elsewhere. To this end, a brain-emulating cognition and control architecture (BECCA) was developed, incorporating novel and uniquely capable feature creation and reinforcement learning algorithms. BECCA was demonstrated on both a mobile manipulator platform and on a seven degree of freedom serial link robot arm. Existing military ground robots are almost universally teleoperated and occupy the complete attention of an operator. They may remove a soldier from harm's way, but they do not necessarily reduce manpower requirements. Current research efforts to solve the problem of autonomous operation in an unstructured, dynamic environment fall short of the desired performance. In order to increase the effectiveness of unmanned vehicle (UV) operators, we proposed to develop robots that can be 'directed' rather than remote-controlled. They are instructed and trained by human operators, rather than driven. The technical approach is modeled closely on psychological and neuroscientific models of human learning. Two Sandia-developed models are utilized in this effort: the Sandia Cognitive Framework (SCF), a cognitive psychology-based model of human processes, and BECCA, a psychophysical-based model of learning, motor control, and conceptualization. Together, these models span the functional space from perceptuo-motor abilities, to high-level motivational and attentional processes.

Events of interest to data analysts are sometimes difficult to characterize in detail. Rather, they consist of anomalies, events that are unpredicted, unusual, or otherwise incongruent. The purpose of this LDRD was to test the hypothesis that a biologically-inspired anomaly detection algorithm could be used to detect contextual, multi-modal anomalies. There currently is no other solution to this problem, but the existence of a solution would have a great national security impact. The technical focus of this research was the application of a brain-emulating cognition and control architecture (BECCA) to the problem of anomaly detection. One aspect of BECCA in particular was discovered to be critical to improved anomaly detection capabilities: it's feature creator. During the course of this project the feature creator was developed and tested against multiple data types. Development direction was drawn from psychological and neurophysiological measurements. Major technical achievements include the creation of hierarchical feature sets created from both audio and imagery data.

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Automatic feature creation is a powerful tool for identifying and reaching goals in the natural world. This paper describes in detail a biologically-inspired method of feature creation that can be applied to sensory information of any modality. The algorithm is incremental and on-line; it enforces sparseness in the features it creates; and it can form features from other features, making a hierarchical feature set. Here it demonstrates the creation of both visual and auditory features. © 2011 The authors and IOS Press. All rights reserved.

A key challenge in developing complete human equivalence is how to ground a synoptic theory of cognition in neural reality. Both cognitive architectures and neural models provide insight into how biological brains work, but from opposite directions. Here the authors report on initial work aimed at interpreting connectomic data in terms of algorithms. Sandia National Laboratories is a multi-program laboratory managed and operated by Sandia Corporation, a wholly owned subsidiary of Lockheed Martin Corporation, for the U.S. Department of Energy's National Nuclear Security Administration under contract DE-AC04-94AL85000. © 2011 The authors and IOS Press. All rights reserved.

The neocortex is perhaps the highest region of the human brain, where audio and visual perception takes place along with many important cognitive functions. An important research goal is to describe the mechanisms implemented by the neocortex. There is an apparent regularity in the structure of the neocortex [Brodmann 1909, Mountcastle 1957] which may help simplify this task. The work reported here addresses the problem of how to describe the putative repeated units ('cortical circuits') in a manner that is easily understood and manipulated, with the long-term goal of developing a mathematical and algorithmic description of their function. The approach is to reduce each algorithm to an enhanced perceptron-like structure and describe its computation using difference equations. We organize this algorithmic processing into larger structures based on physiological observations, and implement key modeling concepts in software which runs on parallel computing hardware.

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A Brain-Emulating Cognition and Control Architecture (BECCA) is presented. It is consistent with the hypothesized functions of pervasive intra-cortical and cortico-subcortical neural circuits. It is able to reproduce many salient aspects of human voluntary movement and motor learning. It also provides plausible mechanisms for many phenomena described in cognitive psychology, including perception and mental modeling. Both "inputs" (afferent channels) and "outputs"' (efferent channels) are treated as neural signals; they are all binary (either on or off) and there is no meaning, information, or tag associated with any of them. Although BECCA initially has no internal models, it learns complex interrelations between outputs and inputs through which it bootstraps a model of the system it is controlling and the outside world. BECCA uses two key algorithms to accomplish this: S-Learning and Context-Based Similarity (CBS).

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While existing work in neural interfaces is largely geared toward the restoration of lost function in amputees or victims of neurological injuries, similar technology may also facilitate augmentation of healthy subjects. One example is the potential to learn a new, unnatural sense through a neural interface. The use of neural interfaces in healthy subjects would require an even greater level of safety and convenience than in disabled subjects, including reliable, robust bidirectional implants with highly-portable components outside the skin. We present our progress to date in the development of a bidirectional neural interface system intended for completely untethered use. The system consists of a wireless stimulating and recording peripheral nerve implant powered by a rechargeable battery, and a wearable package that communicates wirelessly both with the implant and with a computer or a network of independent sensor nodes. Once validated, such a system could permit the exploration of increasingly realistic use of neural interfaces both for restoration and for augmentation. © 2007 IEEE.

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