Michael Recce | New Jersey Institute of Technology (original) (raw)

Papers by Michael Recce

This paper describes a new method by which a mobile robot can construct a map of its environment ... more This paper describes a new method by which a mobile robot can construct a map of its environment from sonar sensory data. A model of sensor behaviour is used to construct a probability function on the space of all maps, which is then searched for the map of highest probability. Because of the very large dimension of this space, specialised search techniques are required. The algorithm was tested on real sonar data collected in three heterogeneous environments, and the quality of maps produced by the new method were quantitatively compared to those of two previous mapping systems.

Connection, 1999

A genetic algorithm is used to search for the rhythmical control of eight joints in a quadruped r... more A genetic algorithm is used to search for the rhythmical control of eight joints in a quadruped robot. The search is used to find a fixed number of Fourier coefficients for each joint. Each set of coefficients is considered to be a controller for the robot, and it is evaluated using a ...

Proceedings of the 1997 Ieee International Symposium on Computational Intelligence in Robotics and Automation, Jun 10, 1997

Abstract The study of navigation and spatial localization in mobile robots might benefit from a c... more Abstract The study of navigation and spatial localization in mobile robots might benefit from a closer interaction with the similar search for the nature of animal navigation and for the ways in which spatial information is represented in the brain. One strategy used by ...

Neural Networks 7 1065 1081, 1994

In Hanson Sj and Giles Cl and Cowan Jd Advances in Neural Information Processing Systems Morgan Kaufmann, 1993

ABSTRACT Associative network models with binary synapses are widely studied as a biologically pla... more ABSTRACT Associative network models with binary synapses are widely studied as a biologically plausible memory mechanism. These models often include a single interneuron, used to set a global threshold for a network of sparsely interconnected principal cells, and the storage capacity improves with the use of a multi-step recall process[1]. We demonstrate that the inclusion of non-saturating modifiable Hebbian synaptic weights in the projection from the interneuron to the principal cells drastically improves the performance of the network. These synaptic weights reduce the influence of the principal cells that are active in a disproportionate number of memory events. The authors prefer ORAL presentation. Category: Modeling & Simulation (and also, Theory & Analysis) Theme: Learning and Memory corresponding author Interneuron plasticity in associative networks Hajime Hirase y & Michael Recce Department of Anatomy and Developmental Biology University College London London WC1E 6BT, UK e...

Immersive virtual reality was used to investigate spatial memory in 17 right and 19 left unilater... more Immersive virtual reality was used to investigate spatial memory in 17 right and 19 left unilateral temporal lobectomy patients and 18 control subjects. The subjects were administered a task consisting of a virtual room and table with radially arranged 'shells' on top. The subjects moved around the table and had to find a blue cube, which was under one of the shells. On subsequent searches, the cube moved to a new location and the subject had to find it whilst avoiding the previous location, and so on until all locations had been used. A selective deficit was observed in the right temporal lobectomy group only, linking allocentric memory to the function of the right hippocampal formation.

Journal of Theoretical Biology, Feb 7, 1999

We present a model of the cell signalling network based on the generic properties of interactions... more We present a model of the cell signalling network based on the generic properties of interactions between protein kinases (PKs) and protein phosphatases (PPs) inside cells. The model is designed to examine the global properties and intrinsic dynamics of the phosphorylation system. A genetic algorithm (GA) is used to evolve populations of "cells". The GA selects cells and ranks them based on an analysis of the dynamics of the proteins within the networks from a series of different random starting conditions. The fittest cells are taken to be those which can generate a variety of different "behaviours" from a series of different initial conditions. During the GA, intracellular protein interactions evolve via mutation and an analogue of domain shuffling between protein types that is thought to occur during biological evolution. The dynamics of the simulated networks are presented and we discuss the hypothesis that changes in the behaviour of a cell may be interpretable as a switch between attractor basins in the intracellular signalling network.

In Eeckman Fh Computation in Neurons and Neural Systems Kluwer Accademic Publishers, 1994

Abstract A simulation of the rat hippocampus as a mechanism for representing spatial information ... more Abstract A simulation of the rat hippocampus as a mechanism for representing spatial information which is used to guide navigation is presented. A nt&amp;#x27;uronal simulation of the firing patterns of four layers of cells: sensory, entorhinal, place and subicular cells, and a ...

The objective of this research is to propose a novel approach for using a behavioral biometric kn... more The objective of this research is to propose a novel approach for using a behavioral biometric known as keystroke analysis, to facilitate decision making in the context of an intrusion detection system (IDS). Regardless of the situation, individuals have a specific baseline or disposition ...

Http Dx Doi Org 10 1080 095400999116278, Jul 1, 2010

ABSTRACT A genetic algorithm is used to search for the rhythmical control of eight joints in a qu... more ABSTRACT A genetic algorithm is used to search for the rhythmical control of eight joints in a quadruped robot. The search is used to find a fixed number of Fourier coefficients for each joint. Each set of coefficients is considered to be a controller for the robot, and it is evaluated using a simulator of the dynamics of the walking pattern generated by the controller. The fitness of a controller is higher if it generates more stable and faster walking. Effective controllers are further evaluated using a purpose-built robot that is physically modeled in the simulator. We present initial results from this simulation system, and show good correspondence between the simulator-generated dynamics and the movement of the robot under control of the same set of coefficients. The results presented here suggest that stable limit cycles may exist in the dynamics of quadruped walking.

![Research paper thumbnail of Using Hippocampal `Plane Cells' for Navigation, Exploiting Phase Coding](https://a.academia-assets.com/images/blank-paper.jpg)

Advances in Neural Information Processing Systems 5 Nips Conference, 1992

ABSTRACT A model of the hippocampus as a central element in rat navigation is presented. Simulati... more ABSTRACT A model of the hippocampus as a central element in rat navigation is presented. Simulations show both the behaviour of single cells and the resultant navigation of the rat. These are compared with single unit recordings and behavioural data. The firing of CA1 place cells is simulated as the (artificial) rat moves in an en- vironment. This is the input for a neuronal network whose output, at each theta (8) cycle, is the next direction of travel for the rat. Cells are characterised by the number of spikes fired and the time of firing with respect to hippocampal rhythm. 'Learning' occurs in 'on-off' synapses that are switched on by simultaneous pre- and post-synaptic activity. The simulated rat navigates successfully to goals encountered one or more times during exploration in open fields. One minute of random exploration of a lrr 2 environment allows navigation to a newly-presented goal from novel starting positions. A limited number of obstacles can be successfully avoided. I Background Experiments have shown the hippocampus to be crucial to the spatial memory and navigational ability of the rat (O'Keefe & Nadel, 1978). Single unit recordings in freely moving rats have revealed 'place cells' in fields CA3 and CA1 of the hip- pocampus whose firing is restricted to small portions of the rafts environment (the corresponding 'place fields') (O'Keefe & Dostrovsky, 1971), see Fig. la. In addi- tion cells have been found in the dorsal pre-subiculum whose primary behavioural IC [mll I II II III IIII II I Time [s] Figure 1: a) A typical CA1 place field, max. rate (over is) is 13.6 spikes/s. b) One second of the EEG rhythm is shown in C, as the rat runs through a place field. A shows the times of firing of the place cell. Vertical ticks immediately above and below the EEG mark ...