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Theory of Neural Information
Processing Systems
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Theory of Neural
Information Processing
Systems
1
3
Great Clarendon Street, Oxford OX2 6DP
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First published 2005
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Printed in Great Britain
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ISBN 0–19–853023–4 978–0–19–853023–7
ISBN 0–19–853024–2(Pbk.) 978–0–19–853024–4 (Pbk.)
1 3 5 7 9 10 8 6 4 2
Preface
They are excellent expositions, but often quite specialized, and focused
primarily on the questions and methods of a single discipline.
The present textbook aims to partly remedy this situation, by giving an
explicit, coherent, and up-to-date account of the modern theory of neural
information processing systems, aimed at students with an undergraduate
degree in any quantitative discipline (e.g. computer science, physics,
engineering, biology, or mathematics). The book tries to cover all the major
theoretical developments from the 1940s right up to the present day, as they
have been contributed over the years by the different disciplines, within a
uniform style of presentation and of mathematical notation. It starts with
simple model neurons in the spirit of McCulloch and Pitts, and includes
not only the mainstream topics of the 1960s and 1980s (perceptrons,
multilayer networks, learning rules and learning dynamics, Boltzmann
machines, statistical mechanics of recurrent networks etc.) but also the more
recent developments of, say, the last 15 years (such as the application
of Bayesian methods, Gaussian processes and support vector machines)
and an introduction to Amari’s information geometry. The text is fully
self-contained, including introductions to the various discipline-specific
mathematical tools (e.g. information theory, or statistical mechanics), and
with multiple exercises on each topic. It does not assume prior familiar-
ity with neural networks; only the basic elements of calculus and linear
algebra, and an open mind. The book is pitched at the typical postgraduate
student: it hopes to bring students with an undergraduate degree to the level
where they can actually contribute to research in an academic or industrial
environment. As such, the book could be used either in the classroom as
a textbook for postgraduate lecture courses, or for the training of indi-
vidual PhD students in the first phase of their studies, or as a reference
text for those who are already involved in neural information processing
research. The material has been developed, used, and tested by the authors
over a period of some 8 years, split into four individual one semester lecture
courses, in the context of a one-year inter-disciplinary Master’s programme
in Information Processing and Neural Networks at King’s College London.
It is our great pleasure to thank all those colleagues who, through dis-
cussions, joint research, joint teaching, or otherwise, have directly or
indirectly contributed towards this textbook. Especially we would like to
thank (in alphabetical order): David Barber, Michael Biehl, Siegfried Bös,
Zoubin Ghahramani, Dieter Grensing, Leo van Hemmen, Heinz Horner,
Wolfgang Kinzel, Charles Mace, Jort van Mourik, Hidetoshi Nishimori,
Manfred Opper, Hamish Rae, David Saad, David Sherrington, Nikos
Skantzos, Chris Williams, and Annette Zippelius.
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Contents
1 General introduction 3
2 Layered networks 29
References 555
Index 563
Part Introduction to neural
I networks
This first part of the text more or less covers the main principles and
developments in neural information processing theory from its beginnings
in the 1940s up to the mid-1980s (albeit expanded in places with further
calculations, examples, and pointers to later developments, in order to link
the material to that in subsequent chapters). The particular cutoff point
chosen more or less marks the stage where the field became significantly
more mathematical in nature. As a result, this first part is mathematically
less demanding than the others.
We start with an introduction to the basic characteristics and principles
of information processing by networks of interacting nerve cells (neurons),
as observed in biology. The next stage is to use this knowledge to define
simplified versions (mathematical models) of neuron-type information
processing units and their connections, hopefully capturing the essence
of their functioning, followed by a demonstration of the universality
(in information processing terms) of one specific important neuron model:
the McCulloch–Pitts neuron.
We then turn to the so-called perceptrons (McCulloch–Pitts neurons
equipped with clever ‘learning rules’), proving convergence and also
presenting a preliminary analysis of the dynamics of these learning rules,
and to the so-called error backpropagation learning algorithm for mul-
tilayer feed-forward networks of model neurons. In addition we explore
via a number of simple examples the dynamical properties and the possible
use in information processing tasks of recurrent neural networks, including
a brief discussion of the crucial role of synaptic symmetry.
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General introduction
1
1.1 Principles of neural information processing
The brain is a piece of hardware that performs quite sophisticated
information processing tasks, using microscopic elements and operations
which are fundamentally different from the ones on which present-day
computers are based. The microscopic processors in the brain, the nerve
cells or neurons (see Figure 1.1), are excitable brain cells which can
be triggered to produce electrical pulses (spikes), by which they commun-
icate with neighbouring cells. These neurons are rather noisy elements,
which operate in parallel. They do not execute a fixed ‘program’ on a
given set of ‘data’, but they communicate signals through relay stations
(the synapses), located at the junctions where the output channel (axon)
of one neuron meets an input channel (dendrite) or the cell body of
another. The strengths of these relay stations, or synaptic efficacies, are
continuously being updated, albeit slowly. The neurons of each given brain
region are organized and wired in a specific network, the structure of
which can vary from very regular (especially in regions responsible for
pre-processing of sensory data) to almost amorphous (especially in the
‘higher’ regions of the brain, where cognitive functions are performed),
see Figure 1.2. The dynamic relay stations, or synapses, in combination
with some adjustable intrinsic neuron properties, represent both ‘data’ and
‘program’ of the network. Hence program and data change all the time.
We can roughly summarize the main similarities and differences between
conventional computer systems and biological neural networks in the
following table:
Processors Neurons
operation speed ∼ 109 Hz operation speed ∼ 102 Hz
signal/noise 1 signal/noise ∼ 1
signal velocity ∼ 108 m/s signal velocity ∼ 1 m/s
connections ∼ 10 connections ∼ 104
Sequential operation Parallel operation
Program and data Connections and neuron characteristics
External programming Self-programming and adaptation
Not robust against hardware failure Robust against hardware failure
Cannot deal with unforeseen data Messy, unforeseen, and inconsistent data
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CONTINUOUS PROGRESS.
Already the new bakery was becoming too small for the work, and
in August 1908 it was agreed to complete the central portion of the
building by the addition of other two storeys at a cost of £2,263. Just
prior to this time, however, the committee felt compelled to dispense
with the services of their foreman baker, and Mr W. H. Bell, who had
been his assistant, was appointed in his place. For several years
Belfast Society used the stable at the bakery for stabling their horses,
while they were also permitted to erect a cart shed and a shoeing
forge. Later this society erected stables, etc., for themselves on
property adjoining the bakery, and the ground which had been
occupied by them was utilised by the Federation for necessary
extensions to the bakery.
By March 1909 the extended premises were ready for occupation.
It was not long ere the directors were in the mortar tub again,
however, for another extension costing almost £4,000 was entered
on in the autumn of 1910; and not long after it was completed there
came, in December 1911, an urgent request from the advisory
committee for more ovens, and another extension, at a total cost of
almost £5,000, was entered on and completed in 1912. These various
extensions practically completed the bakery as it stands at present,
except for alterations, minor in themselves, which were made from
time to time during the war period with the object of increasing the
working facilities.
In July 1909 the committee recorded their satisfaction that the
average weekly sales from the bakery amounted to £1,219, while in
March 1910 the weekly turnover had reached 500 sacks; and to meet
the increasing demand three new ovens had to be erected. The
Bakery continued to win prizes at the Agricultural Hall and other
exhibitions, thus proving that Co-operative bread baking on a large
scale was equal to producing bread of the finest quality.
Early in 1910 the directors were saddened by the news that one of
the members of the first advisory committee, Mr Crook, of Lisburn,
had passed away.
Although most of the societies in the North were doing well, there
were one or two which were in a bad way. In 1908 Lurgan Society
had to close its doors. The Federation were creditors to the extent of
£114, and when settling day came it was found that the assets of the
dead society were only capable of returning 1/6 in the pound. In 1910
Newry Society went the same way. The Federation were creditors to
the extent of £200, and it was expected that the assets would realise
10/ per pound. In Newry the Federation made temporary
arrangements to carry on the bread trade, as had been done in
Banbridge, but after some time this course was abandoned.
Shortly after the new bakery was opened the two Dublin societies
were in consultation with the committee of the Federation about the
erection of a bakery, and the committee agreed to assist them. The
two societies were unable to agree, however, and the idea of a federal
bakery for Dublin was departed from. In 1910 Dublin Industrial
Society erected a bakery for themselves, and the opening of this
bakery was followed in a short time by the amalgamation of the two
societies. The Dublin Society, however, experienced considerable
difficulty in acquiring the knack of baking good bread—their position
in this respect recalls some of the earlier experiences of the U.C.B.S.
—and the Federation readily consented to Mr Bell or his assistant
visiting Dublin to put them on right lines. In 1913, when the distress
due to the strike was at its height in Dublin and the Trade Unions
Congress was coming to the rescue with financial support, the
Industrial Society received a contract for the supply of from 3,000 to
5,000 loaves daily. As they were unable to handle the contract in
their own bakery they secured the assistance of the U.C.B.S. bakery
in Belfast, which supplied them with the needed quantity of bread
during the period covered by the contract. Later, during the period of
the war, the Industrial Society was in considerable difficulty for a
time, and those responsible for its management were exceedingly
anxious that the U.C.B.S. should take over the bakery. This was not
done, however, and fortunately the society was able to maintain and
even to improve its position.
GOVERNMENT CONTRACTS.
At the beginning of 1909 the Bakery secured a contract for the
supply of bread and flour to Newtownards Barracks, and since then
have supplied from time to time that Barracks, as well as those of
Holywood, Belfast, and Kilroot, while, either directly or through local
societies, they have been successful in securing contracts for various
local institutions, one society during the war securing the contract
for the Admiralty.
In 1912 the Society had loaned some motor lorries for an
excursion, and during the day a painful accident took place whereby
one child was killed and three others were severely injured. The
Society’s motorman was completely exonerated from blame for the
accident, but in token of their sympathy the Society paid the doctor’s
fees and granted £55 to the relatives. In 1913 two of the societies
were experiencing difficulty in selling the bread because of the unfair
competition to which they were being subjected in attempts to cause
them to give up the bread trade, but the Federation came to their
assistance by allowing them a little additional discount on their
purchases. In 1911 the Irish Agricultural Wholesale Society was
appointed agent in Ireland for the Federation, and some time later it
was stated that since that federation had become agent the trade had
increased. At the Dublin Congress in 1914 the Federation erected a
scone and oatcake baking plant as part of their exhibit in the
Congress exhibition, and this exhibit was an object of much interest
to the Dublin visitors to the exhibition.
THE WAR AND ITS EFFECTS.
In Ireland, as in Scotland, the commanding position of the
U.C.B.S. had a steadying effect on the price of bread at the outbreak
of war. The Society carried good stocks of flour, and by adopting the
fixed policy of regulating the price of bread by the average price of
the flour in stock was able to maintain the price at a lower level than
the current price of flour warranted. In this way, while it was
possible to maintain full stocks of flour, the Bakery was able to keep
the price of bread at a halfpenny per 4–lb. loaf below the price at
which other bakers wished to sell it, and so saved the people of the
North many thousands of pounds.
The difficulties of transport were experienced by the branch,
however, in a much more marked degree than by the parent body. All
coal, flour, sugar, etc., used in the bakery had to be imported, and as
transport costs went up so also did prices, until bread was being sold
in Belfast at one shilling for the 4–lb. loaf. So short did the supply of
coal become that in 1915 Belfast Corporation was unable to supply
the Bakery with coke for firing purposes and a supply had to be sent
over from Glasgow. Flour and sugar also became very scarce, but
notwithstanding those facts the output of the Bakery continued to
increase rapidly until the coming of Government Regulation flour,
with its huge proportion of offal and other nastinesses, created a
distaste for bread amongst the public. At the outbreak of war the
output of the Bakery averaged 766 sacks per week, while by the end
of 1916 this had risen to 892 sacks per week, an increase of 16½ per
cent. in two and a half years. From then it gradually declined, until at
the end of the 63rd quarter of the working life of the branch it was
only 683 sacks per week. From that time and during the next six
months the trade again increased, so that by the end of the period
with which this history deals, although it had not reached the high-
water mark of 1916, all the evidence went to show that that point
would soon be left behind.
In 1918, with the object of relieving the congestion at M‘Neil
Street, it was resolved to establish an oatcake baking department at
Belfast, and for this purpose several hot-plates were transferred to
the Belfast bakery, as well as several girls from the M‘Neil Street
oatcake factory. This department has since proved a valuable adjunct
to the branch, the plant having had to be augmented and the number
of bakers employed increased.
Just at the end of the period Belfast became involved in one of the
most widespread strikes in the history of the Labour movement, and
practically all work except that of bread baking was brought to a
standstill. The electricity workers of the Corporation came out on
strike along with the other workmen, but fortunately for the branch
it had a power-generating plant of its own, and so was able to
continue at work. By this means the trade of the branch was
materially increased. The fact that the Federation has always been
willing to meet the requests of the employees in a reasonable manner
has always enabled the branch to maintain its popularity with the
Belfast workmen, and so impressed were the executives of the
Operative Bakers’ Society with the fairness and even liberality of the
committee that on one occasion an official letter was sent from the
union in which the board of management were thanked for the
assistance which their prompt action in agreeing to the request of the
union for a shorter working week had been in enabling that
concession to be imposed in the baking trade of the city.
When the branch was established in Belfast the distinct
understanding on which the U.C.B.S. took action was that as soon as
convenient it should be taken over by the local societies, but as the
years pass the likelihood of this being done seems to become more
remote. As has already been stated, the branch has been of great
assistance not only to Belfast Society but also to the majority of other
societies in the North. It has fostered the Co-operative spirit and Co-
operative idealism. From a weakling which was very much in need of
the fostering care of the movement in Scotland Co-operation in
Ireland, and especially in the North of Ireland, has grown to be a
strong and healthy organisation, with its centre in Belfast and with
branches scattered all over Ulster. It is probable that the Irish
societies are strong enough now to take over the branch if they were
so disposed, but the farseeing spirits amongst them see that there is
other work lying to their hand to which, relieved of the working of
the bakery, they can turn their undivided attention.
On the other hand, the proposal, adopted in 1917, that the
Federation should proceed, as and when expedient, to plant
branches in other centres of Co-operation in Ireland, will in course of
time cause the U.C.B.S. in Ireland to cease to be an exclusively North
of Ireland concern. It will do much, just as the other federation in
Ireland, the I.A.W.S., is doing much, to weld together into one united
movement the whole of the Co-operative societies in the country. It
will serve for Ireland, as it and its kindred associations in Scotland
and England are serving to-day, as an illustration of the fact that Co-
operation is not merely a principle for adoption by a few farmers or a
few workmen in a given district, but is also a principle on which
these isolated groups can be united into one powerful whole, by
becoming an institution where all can meet on a common platform.
CHAPTER XV.
A NEW PRESIDENT.