IcoLearner.java

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package sim.app.socialsystemsanalog;

import sim.util.MutableDouble3D;

/**
 *
 * @author epokh
 * This class only compute the output generated by the distal error
 */
public class IcoLearner {


    private boolean isLearning=true;
    private double output;
    public double range;
    public double saturation;
    private MutableDouble3D derivReflex;
    private MutableDouble3D reflex;
    private MutableDouble3D Wdistal;
    private MutableDouble3D Wreflex;
    private MutableDouble3D Wtemp;
    private double Wdistal0=0.1;
    //this define the learning rate
    private double mu=0.1;
    private MutableDouble3D deltaWdistal;
    //two main inhibition methods
    private boolean feedback_inhibition=false;
    private MutableDouble3D fb_gain;
    private boolean input_inhibition=false;
    private MutableDouble3D in_gain;

    //private MutableDouble3D Wreflex;
    //initialize with initial weights
    public IcoLearner(boolean flag, double Wx,double Wy,double Wz)
    {
        Wdistal=new MutableDouble3D(Wx, Wy, Wz);
        Wreflex=new MutableDouble3D(1.0, 1.0, 1.0);
        if(Wx<0.01) Wreflex.setX(0.0);
        if(Wy<0.01) Wreflex.setY(0.0);
        if(Wz<0.01) Wreflex.setZ(0.0);
        Wtemp=new MutableDouble3D();
        reflex=new MutableDouble3D();
        derivReflex=new MutableDouble3D();
        deltaWdistal=new MutableDouble3D();
        fb_gain=new MutableDouble3D(1.0,1.0,1.0);
        in_gain=new MutableDouble3D(1.0,1.0,1.0);
        derivReflex.zero();
        reflex.zero();
        Wtemp.zero();
        isLearning=flag;
        range=4;
        saturation=0.01;
    }
    
    public IcoLearner(boolean flag)
    {
        Wdistal=new MutableDouble3D(Wdistal0, Wdistal0, Wdistal0);
        Wreflex=new MutableDouble3D(1.0, 1.0, 1.0);
        Wtemp=new MutableDouble3D();
        reflex=new MutableDouble3D();
        derivReflex=new MutableDouble3D();
        deltaWdistal=new MutableDouble3D();
        fb_gain=new MutableDouble3D(1.0,1.0,1.0);
        in_gain=new MutableDouble3D(1.0,1.0,1.0);
        derivReflex.zero();
        reflex.zero();
        Wtemp.zero();
        isLearning=flag;
        range=4;
        saturation=0.01;
    }
    public void setLearning(boolean flag)
    {
        isLearning=flag;
    }

    public boolean getLearning()
    {
        return isLearning;
    }
    //input is the distal error
    public void calculate(MutableDouble3D reflex_double,MutableDouble3D distal_double)
    {

        //if(input_inhibition)
        //    distal_double.multiplyDot(distal_double,in_gain);
        
	// if there's no learning the agent is only reactive
	  if(!isLearning)
	  {
		/*! compute the next output only from the reflex*/
               // if(feedback_inhibition)
                   // output=Wreflex.dot(reflex_double,fb_gain);
                //else
                    output=Wreflex.dot(reflex_double);
                
                /*! if the agent has learnt something let's use the new weight */
                if(Wdistal.x!= Wdistal0 || Wdistal.y!= Wdistal0 || Wdistal.z!= Wdistal0)
                output +=Wdistal.dot(distal_double);
                //find the maximum output motor value and normalize to a unitary vector
                //fb_gain.maxnorm(Wdistal,distal_double);
	  }
	  else
	  {								
          //compute output firs for the reflex
          //if(feedback_inhibition)
         // {
          //   output=Wreflex.dot(reflex_double,fb_gain);
         //    output +=Wdistal.dot(distal_double,fb_gain);
         // }
        //  else
         // {
             output=Wreflex.dot(reflex_double);
             output +=Wdistal.dot(distal_double);
        //  }

          //find the maximum output motor value and normalize to a unitary vector
          //fb_gain.maxnorm(Wdistal,distal_double);
          //compute derivative of reflex dr=r(t)-r(t-1)
          derivReflex.subtract(reflex_double, reflex);
          //update r(t-1) WARNING CHECK THIS
          reflex.setTo(reflex_double);
          // Learn and update the distal synaptic weights
          Wtemp.zero();
          Wtemp.multiply(derivReflex, mu);
          Wtemp.multiplyDot(Wtemp, distal_double);
          Wdistal.addIn(Wtemp);
	  }
      //return IcoLearner.getSigmaValue(output,range,saturation);
    }

    public double getOutput() throws Exception
    {
       return IcoLearner.getSigmaValue(output,range,saturation);  
    }
    public int getDiscreteOutput() throws Exception
    {
       return (int)Math.round(IcoLearner.getSigmaValue(output,range,saturation));  
    }
    public double getWeight(int type) {
        switch(type)
        {
            case 0:
                return Wdistal.x;
            case 1:
                return Wdistal.y;
            case 2:
                return Wdistal.z;
            default:
                return 0;
        }
    }

    public static double getSigmaValue(double val,double range,double saturation) throws Exception
    {
        double temp=range/(1+Math.exp(-val/(saturation/2)))-range/2;
        if(Math.abs(temp)>range/2) throw new Exception("Sigmoid out of saturation range");
        else return temp;
        
    }
    public void setWeight(int type,double value) {
        switch(type)
        {
            case 0:
                Wdistal.x=value;
                break;
            case 1:
                Wdistal.y=value;
                break;
            case 2:
                Wdistal.z=value;
                break;
            default:
          
        }
    }
    
    public synchronized boolean isSeeker()
    {
        deltaWdistal.zero();
        deltaWdistal.percentage(Wdistal,Wdistal0);
        if(Math.abs(Wdistal.y)>Math.abs(Wdistal.z))
            return true;
        else return false;
    }

    public void setLearningRate(double rate) {
        this.mu=rate;
    }

    public void setFeedbackInhibition(boolean flag)
    {
        feedback_inhibition=flag;

    }

    public void setInputInhibition(boolean flag)
    {

        input_inhibition=flag;
    }
}