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| 1 | +NAME: Sonar, Mines vs. Rocks |
| 2 | + |
| 3 | +SUMMARY: This is the data set used by Gorman and Sejnowski in their study |
| 4 | +of the classification of sonar signals using a neural network [1]. The |
| 5 | +task is to train a network to discriminate between sonar signals bounced |
| 6 | +off a metal cylinder and those bounced off a roughly cylindrical rock. |
| 7 | + |
| 8 | +SOURCE: The data set was contributed to the benchmark collection by Terry |
| 9 | +Sejnowski, now at the Salk Institute and the University of California at |
| 10 | +San Deigo. The data set was developed in collaboration with R. Paul |
| 11 | +Gorman of Allied-Signal Aerospace Technology Center. |
| 12 | + |
| 13 | +MAINTAINER: Scott E. Fahlman |
| 14 | + |
| 15 | +PROBLEM DESCRIPTION: |
| 16 | + |
| 17 | +The file "sonar.mines" contains 111 patterns obtained by bouncing sonar |
| 18 | +signals off a metal cylinder at various angles and under various |
| 19 | +conditions. The file "sonar.rocks" contains 97 patterns obtained from |
| 20 | +rocks under similar conditions. The transmitted sonar signal is a |
| 21 | +frequency-modulated chirp, rising in frequency. The data set contains |
| 22 | +signals obtained from a variety of different aspect angles, spanning 90 |
| 23 | +degrees for the cylinder and 180 degrees for the rock. |
| 24 | + |
| 25 | +Each pattern is a set of 60 numbers in the range 0.0 to 1.0. Each number |
| 26 | +represents the energy within a particular frequency band, integrated over |
| 27 | +a certain period of time. The integration aperture for higher frequencies |
| 28 | +occur later in time, since these frequencies are transmitted later during |
| 29 | +the chirp. |
| 30 | + |
| 31 | +The label associated with each record contains the letter "R" if the object |
| 32 | +is a rock and "M" if it is a mine (metal cylinder). The numbers in the |
| 33 | +labels are in increasing order of aspect angle, but they do not encode the |
| 34 | +angle directly. |
| 35 | + |
| 36 | +METHODOLOGY: |
| 37 | + |
| 38 | +This data set can be used in a number of different ways to test learning |
| 39 | +speed, quality of ultimate learning, ability to generalize, or combinations |
| 40 | +of these factors. |
| 41 | + |
| 42 | +In [1], Gorman and Sejnowski report two series of experiments: an |
| 43 | +"aspect-angle independent" series, in which the whole data set is used |
| 44 | +without controlling for aspect angle, and an "aspect-angle dependent" |
| 45 | +series in which the training and testing sets were carefully controlled to |
| 46 | +ensure that each set contained cases from each aspect angle in |
| 47 | +appropriate proportions. |
| 48 | + |
| 49 | +For the aspect-angle independent experiments the combined set of 208 cases |
| 50 | +is divided randomly into 13 disjoint sets with 16 cases in each. For each |
| 51 | +experiment, 12 of these sets are used as training data, while the 13th is |
| 52 | +reserved for testing. The experiment is repeated 13 times so that every |
| 53 | +case appears once as part of a test set. The reported performance is an |
| 54 | +average over the entire set of 13 different test sets, each run 10 times. |
| 55 | + |
| 56 | +It was observed that this random division of the sample set led to rather |
| 57 | +uneven performance. A few of the splits gave poor results, presumably |
| 58 | +because the test set contains some samples from aspect angles that are |
| 59 | +under-represented in the corresponding training set. This motivated Gorman |
| 60 | +and Sejnowski to devise a different set of experiments in which an attempt |
| 61 | +was made to balance the training and test sets so that each would have a |
| 62 | +representative number of samples from all aspect angles. Since detailed |
| 63 | +aspect angle information was not present in the data base of samples, the |
| 64 | +208 samples were first divided into clusters, using a 60-dimensional |
| 65 | +Euclidian metric; each of these clusters was then divided between the |
| 66 | +104-member training set and the 104-member test set. |
| 67 | + |
| 68 | +The actual training and testing samples used for the "aspect angle |
| 69 | +dependent" experiments are marked in the data files. The reported |
| 70 | +performance is an average over 10 runs with this single division of the |
| 71 | +data set. |
| 72 | + |
| 73 | +A standard back-propagation network was used for all experiments. The |
| 74 | +network had 60 inputs and 2 output units, one indicating a cylinder and the |
| 75 | +other a rock. Experiments were run with no hidden units (direct |
| 76 | +connections from each input to each output) and with a single hidden layer |
| 77 | +with 2, 3, 6, 12, or 24 units. Each network was trained by 300 epochs over |
| 78 | +the entire training set. |
| 79 | + |
| 80 | +The weight-update formulas used in this study were slightly different from |
| 81 | +the standard form. A learning rate of 2.0 and momentum of 0.0 was used. |
| 82 | +Errors less than 0.2 were treated as zero. Initial weights were uniform |
| 83 | +random values in the range -0.3 to +0.3. |
| 84 | + |
| 85 | +RESULTS: |
| 86 | + |
| 87 | +For the angle independent experiments, Gorman and Sejnowski report the |
| 88 | +following results for networks with different numbers of hidden units: |
| 89 | + |
| 90 | +Hidden % Right on Std. % Right on Std. |
| 91 | +Units Training set Dev. Test Set Dev. |
| 92 | +------ ------------ ---- ---------- ---- |
| 93 | +0 89.4 2.1 77.1 8.3 |
| 94 | +2 96.5 0.7 81.9 6.2 |
| 95 | +3 98.8 0.4 82.0 7.3 |
| 96 | +6 99.7 0.2 83.5 5.6 |
| 97 | +12 99.8 0.1 84.7 5.7 |
| 98 | +24 99.8 0.1 84.5 5.7 |
| 99 | + |
| 100 | +For the angle-dependent experiments Gorman and Sejnowski report the |
| 101 | +following results: |
| 102 | + |
| 103 | +Hidden % Right on Std. % Right on Std. |
| 104 | +Units Training set Dev. Test Set Dev. |
| 105 | +------ ------------ ---- ---------- ---- |
| 106 | +0 79.3 3.4 73.1 4.8 |
| 107 | +2 96.2 2.2 85.7 6.3 |
| 108 | +3 98.1 1.5 87.6 3.0 |
| 109 | +6 99.4 0.9 89.3 2.4 |
| 110 | +12 99.8 0.6 90.4 1.8 |
| 111 | +24 100.0 0.0 89.2 1.4 |
| 112 | + |
| 113 | +Not surprisingly, the network's performance on the test set was somewhat |
| 114 | +better when the aspect angles in the training and test sets were balanced. |
| 115 | + |
| 116 | +Gorman and Sejnowski further report that a nearest neighbor classifier on |
| 117 | +the same data gave an 82.7% probability of correct classification. |
| 118 | + |
| 119 | +Three trained human subjects were each tested on 100 signals, chosen at |
| 120 | +random from the set of 208 returns used to create this data set. Their |
| 121 | +responses ranged between 88% and 97% correct. However, they may have been |
| 122 | +using information from the raw sonar signal that is not preserved in the |
| 123 | +processed data sets presented here. |
| 124 | + |
| 125 | +REFERENCES: |
| 126 | + |
| 127 | +1. Gorman, R. P., and Sejnowski, T. J. (1988). "Analysis of Hidden Units |
| 128 | +in a Layered Network Trained to Classify Sonar Targets" in Neural Networks, |
| 129 | +Vol. 1, pp. 75-89. |
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