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6.36 Schematic of simple tri-level neuron
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Multivalue threshold Typically, in neural networks individual neurons have a singular threshold (positive or negative). Once the threshold is exceeded, the output of the neuron is activated. In our example the output is compared to multivalues, with the output going to the best fit. Instead of thinking of the output as numeric values, think of each numeric range as a shape instead; a circle, square, and triangle will suffice. When the neuron is summed, it outputs a shape block (instead of a number). The receptor neurons (LEDs) have a shaped receiver unit that can fit in a shape block. When a shape block matches the receiver unit, the neuron becomes active (LED turns on). In our case each output neuron relates to a particular behavior, sleeping, hunting, and feeding, all essential behaviors for survival in a photovore-style robot. Each output shape represents the current light level. At low light levels, the photovore stops hunting and searching for food (light). It enters a sleep or hibernation mode. At medium light level, the photovore hunts and searches for the brightest light areas. At high light levels, the photovore stops and feeds via solar cells to recharge its batteries.
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Instead of building a photovore robot in this chapter, we will use an LED to distinguish between each behavior state (see Fig. 6.37). You can label the three LEDs sleeping, hunting, and feeding. Each LED will become active depending upon the light level received by the CdS cells.
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6.37 Schematic of basic neural circuit
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The program for PICBASIC compiler is as follows:
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Neural Demo Set up low 0 low 1 low 2 Start: pot 3,255,b0 pot 4,255,b1 w2 = b0 * 3 w3 = b1 * 2 w4 = w2 + w3 Read first sensor Read second sensor Apply weight Apply weight Sum results Lots of light, feed Medium light, hunt Little light, sleep LED 0 off Sleep LED 1 off Hunt LED 2 off Feed
Apply thresholds if w4 < 40 then feed if w4 <= 300 then hunt if w4 > 300 then snooze Actions feed: low 0 low 1 high 2 goto start hunt: low 0 high 1 low 2 goto start snooze: high 0 low 1 low 2 goto start Sleeping * DON T USE KEYWORD SLEEP * Hunting Feeding
Parts list for programming the microcontroller
PICBASIC compiler $99.95 PICBASIC Pro compiler (includes CodeDesigner Lite) $249.95 EPIC programmer $59.95 PICBASIC Pro compiler and EPIC programmer $299.95 PICBASIC compiler and EPIC programmer $149.95 CodeDesigner hobbyist version $45.00
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CodeDesigner standard $75.00 (1) 16F84-4 $7.95* (1) 4.0-MHz crystal $1.50* (2) 22-pF caps $0.10 each* (1) 0.1- F cap $0.35* (1) 100- F, 12V cap $0.50* (1) 4.7K-ohm, 1 4-W resistor $0.05* (2) 470-ohm, 1 4-W resistors $0.05 each* (1) 7805 voltage regulator $0.90* (2) Miniature LEDs $0.25 each* (1) Solderless breadboard $8.95* PIC-LED-02 PIC EXPERIMENTORS KIT [Consists of: (1) PIC16F84, (1) 4-MHz crystal, (2) 22-pF caps, (1) 10K-ohm, 1 4-W resistor, (1) 7805 voltage regulator, (1) solderless breadboard (2.1 3.6 270 tie points), (8) 470-ohm resistors, (8) subminiature LEDs, (1) push-button switch, booklet with tutorial on binary number system, logic, and I/O of ports A and B] $25.50 42-oz servo motor $16.75
Parts list for fuzzy light tracker and neural demonstration
(2) CdS photocells (1) Flex sensor (nominal resistance 10K ohms) (2) 0.022- F capacitors (1) 0.01- F capacitor (4) TIP 120 NPN Darlington transistors (2) 10K-ohm resistors (6) 1N514 diodes (2) 1K-ohm resistor (1) 4000:1 gearbox motor Parts available from: Images Company James Electronics JDR MicroDevices
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Radio Shack Images SI, Inc. 39 Seneca Loop Staten Island, NY 10314 (718) 698-8305 (718) 982-6145 (fax) (1) Solderless breadboard (1) 0.1- F capacitor (8) Red LEDs (8) 470-ohm resistors* (1) 4.7K-ohm resistor (8) 10K-ohm resistors (1) 7805 voltage regulator (2) 4-position PC-mounted switches (1) 9V battery clip Parts available from: Radio Shack James Electronics JDR MicroDevices
Radio Shack PN# 276-175 Radio Shack PN# 272-1069 Radio Shack PN# 276-208 Radio Shack PN# 270-1115 Radio Shack PN# 271-1124 Radio Shack PN# 271-1126 Radio Shack PN# 276-1770 Radio Shack PN# 275-1301 Radio Shack PN# 270 325
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