Download error backpropagation algorithm

ERROR BACKPROPAGATION ALGORITHM
Why Error Back Propagation Algorithm is required?
Lack of suitable training methods for multilayer
perceptrons (MLP)s led to a waning of interest in NN
in 1960s and 1970s. This was changed by the
reformulation of the backPropagation training
method for MLPs in the mid-1980s by Rumelhart et
al. Backpropagation was created by generalizing the
Widrow-Hoff learning rule to multiple-layer networks
and nonlinear differentiable transfer functions.
Standard back propagation is a gradient descent
algorithm, as is the Widrow-Hoff learning rule, in
which the network weights are moved along the
negative of the gradient of the performance function.
The term back propagation refers to the manner in
which the gradient is computed for nonlinear
multilayer networks.
As in simple cases of the delta learning rule training
studied before, input patterns are
submitted during the back-propagation training
sequentially. If a pattern is submitted and its
classification or association is determined to be
erroneous, the synaptic weights as well as the
thresholds are adjusted so that the current least mean
square classification error is reduced. The input
/output mapping, comparison of target and actual
values, and adjustment, if needed, continue until all
mapping examples from the training set are learned
within an acceptable overall error. Usually, mapping
error is cumulative and computed over the full
training set.
During the association or classification phase, the
trained neural network itself operates in a feed
forward manner. However, the weight adjustments
enforced by the learning rules propagate exactly
backward from the output layer through the so-called
"hidden layers" toward the input layer.
The input and output values of the network are
denoted yj and ok, respectively. We thus, denote yj,
for j = 1, 2. . . J, and ok, for k = 1, 2. . . K, as signal
values at the j'th column of nodes, and k'th column of
nodes, respectively. As before, the weight wkj
connects the output of the j'th neuron with the input
to the k'th neuron.
The activation function netk of layer k is expressed as
Eqn. 1
The error expression generalized to include all
squared errors at the outputs k=1,2,3…K
Eqn:2
Where p is a specific pattern and p=1 2……P
Delta learning rule can be formally derived for a
multiperceptron layer. Assumptions made are
1. gradient descent search is performed to reduce
the error Ep through adjustments of weights
2. threshold values are adjustable with other
weights and no distinction is made between
threshold and weights during learning
3. Fixed input of value
during both the
training and recall phases
Minimization of error requires the weight changes to
be in the negative gradient direction. Individual
weight adjustments are computed as follows
Eqn:3
Error E is defined in Eqn:2.
Now for each node in layer k where k=1,2,….K
Eqn:4
And the corresponding neuron output is given by
Eqn:5
Eqn:6
Eqn:7
Since
Eqn:8
Substituting Eqn 8, Eqn 6 in Eqn 7 we get
Eqn:9
The weight adjustment formula of Eqn 3 can
accordingly be rewritten as
Eqn: 10
Eqn 10 represents the general formula for delta
training/learning weight adjustments for a singlelayer network. It also follows that the adjustments of
weight wkj is proportional to the input activation yj,
and to the error signal value at the kth neuron’s
output.
The delta value needs to be explicitly computed for
specifically chosen activation functions.
Eqn: 11
Thus we have from equation 6
Eqn: 12
Denoting the second term in the above equation as a
derivative of activation function
Eqn: 13
And
Eqn: 14
And rewriting eqn 12 we have
Eqn: 15
Eqn 15 shows that the error signal term depicts the
local error (dk-ok) at the output of the k’th neuron
scaled by the multiplicative factor f’k(netk).
The final formula for the weight adjustment of the
single-layer network can be obtained from Eqn 10 as
Eqn: 16
Eqn 16 is identical to the delta training rule. The
updated weight values become
Eqn: 17
Delta Training rules for unipolar continuous
activation function:
Eqn: 18
Eqn: 19
or
Eqn: 20
Therefore the delta value for unipolar activation
function becomes
Eqn: 21
Delta Training rules for bipolar continuous
activation function:
The activation function in the case of bipolar
continuous activation function is given by
We obtain
An useful identity can be applied here
Verification of identity
Letting o=f(net)
LHS=RHS
The delta value for a bipolar continuous activation
function is given by
Summarzing the updated weights are given by
The updated weights under the delta training rule for
the single-layer network can be expressed using the
vector notation
where the error signal δo is defined as a column
vector consisting of the individual error signal terms
Generalized Delta Learning Rule
The negative gradient neurons for the hidden neurons
is given by
There are two modes of updation of weights
1. Batch mode
2. Incremental mode
When the weights are being changed immediately
after a training pattern is presented then it is called
as incremental approach.
When the weights are changed only after all the
training patterns are presented then it is called as
batch mode. This mode requires additional local
storage for each connection to maintain the
immediate weight changes.
The BP learning algorithm is an example of
optimization problem. [Note:- an optimization
problem is the problem of finding the best solution
from all feasible solutions]. The essence of the error
back-propagation algorithm is the evaluation of the
contribution of each particular weight to the output
error. There are many difficulties that arise in the
implementation of the algorithm. One of the problems
is that the error minimization procedure may produce
only a local minimum of the error function.
The learning is successful if it is well below the
acceptable Erms value. Erms (Root Mean Square
Normalized Error) and is given by the following
formula
Where P=number of training patterns K=number of
outputs
But there are 2 such troughs in wl1 and wl2. So if the
learning commences at point 2 we may end up in a
local minima instead of a global minima wg. Thus the
trained network will be unable to produce the desired
performance in terms of its acceptable terminal
error. To ensure convergence to a satisfactory
minimum the starting point should be changed to 1.
The problem of local minima can however be avoided
by inserting some form of randomness to the training.
The convergence of EBPTA depends on various
factors. To name a few we have
1. learning rate
2. Selection of initial weights
3. Momentum
4. Number of training data
5. Number of hidden layer nodes
Selection of Initial weights
The weights of the network to be trained are typically
initialized at small random values. The initialization
strongly affects the ultimate solution.
 If all weights start out with equal weight values,
and if the solution requires that unequal weights
be developed the network may not train properly.
 Weights can’t be very high because the
sigmoidal activation function used may get
saturated from the beginning itself and the
system may be stuck at a local minima or at a
very flat plateau at the starting point itself
 One method of choosing the weight wij is
choosing it in the range of
 3
 oi


3 
oi 

where oi is the number of processing
elements j that feed-forward to processing element
i.
Steepness of activation function
λ is the steepness factor in the activation function.
It was assumed to be 1 in the computation of
f’(net). f’(net) serves as a multiplying factor in the
computation of error signals. Thus the choice and
shape of the activation function would strongly
affect the speed of network learning.
The derivation of activation function can be
computed as follows
and it reaches a maximum of 1/2 λ when net=0.
Since the weights are adjusted in proportion to the
f’(net), the weights that are connected to the
midrange are changed the most. Since the error
signals are computed with f’(net) as multiplier, the
back propagated errors are large for only those
neurons which are in the steep thresholding mode.
The other feature which is apparent from the graph
is that for fixed learning constant all adjustments
in weight are in proportion to steepness coefficient.
This observation leads to a conclusion that using
activation functions with larger values of λ may
yield results with larger learning constant. So it is
advisable to keep λ fixed at 1 and control only the
learning constant, rather than controlling both.
Effect of learning rate
Affects the convergence of BPA. A larger value of α
speeds up the convergence but might result in
overshooting, while a smaller value of α results in
overshooting and vice versa. The learning
constants should be chosen experimentally for each
problem. The range of learning constants are from
10-3to 10 have been reported throughout the
technical literature as successful for many
computational back-propagation experiments.
Based on the above observations some heuristics
for improving the rate of convergence are
proposed.
Momentum Method
This method is used for accelerating the
convergence of EBPTA. This method involves
supplementing the current weight adjustments with
a fraction of most recent weight adjustments. This
is usually done according to the formula
where t and t-1 represents the current and most
recent training step respectively and a is userselected positive momentum constant. This second
term is called as momentum term. For N steps
using momentum method, the current weight is
expressed as
Typically a is choosen between 0.1 and 0.8.
What is the significance of this momentum term?
From the above figure it is seen that in the case of
A’and A”the signs are same. So combining the
gradient component of adjacent step would result
in convergence speed-up. But in the case of B’ and
B” the signs are different. This shows that if the
gradient component changes sign in two
consecutive iterations, the learning rate along this
axis should be decreased.
This indicates that the momentum term typically
helps to speed up convergence and to achieve an
efficient and more reliable learning profile.
Momentum term technique can be recommended
for problems where convergence occur too slowly
or for cases when learning is difficult to achieve.
Network architecture versus data representation
Starting from a simple case of single hidden layer
the number of input nodes are determined by the
dimension, size of the input vector to be classified,
generalized or associated with a certain output
quantity.
The input vector size corresponds to the number of
inputs to be classified, generalized or associated
with a certain output quantity.
In planar images, size of input vector is sometimes
made equal to the total number of pixels in the
evaluated images.
The conditions for selecting the number of output
neurons depends on the type of neural processing.
In the case of auto-associator which associates the
distorted input vector with undistorted class
prototype then we have I=K.
In the case of classifier the number of output
neurons are equal to the number of classes.
Necessary number of Hidden neurons
The number of Hidden neurons depends on the
dimension n of the input vector and on the number
of separable regions in n-dimensional input space.