Expressivity in Natural and Artificial Systems

Roboticists are trying to replicate animal behavior in artificial systems. Yet, quantitative bounds on capacity of a moving platform (natural or artificial) to express information in the environment are not known. This paper presents a measure for the capacity of motion complexity -- the expressivity -- of articulated platforms (both natural and artificial) and shows that this measure is stagnant and unexpectedly limited in extant robotic systems. This analysis indicates trends in increasing capacity in both internal and external complexity for natural systems while artificial, robotic systems have increased significantly in the capacity of computational (internal) states but remained more or less constant in mechanical (external) state capacity. This work presents a way to analyze trends in animal behavior and shows that robots are not capable of the same multi-faceted behavior in rich, dynamic environments as natural systems.Comment: Rejected from Nature, after review and appeal, July 4, 2018 (submitted May 11, 2018

An Analytical Model for Repositioning of 6 D.O.F Fixturing System

Lien vers la version éditeur: http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=8749247&fulltextType=RA&fileId=S2257777712000164Dimensional errors of the parts from a part family cause the initial misplacement of the workpiece on the fixture affecting the final product quality. Even if the part is positioned correctly, the external machining forces and clamping load cause the part to deviate from its position. This deviation depends on the external load and the fixture stiffness. In this article, a comprehensive analytical model of a 3-2-1 fixturing system is proposed, consisting of a kinematic and a mechanical part. The kinematic model relocates the initially misplaced workpiece in the machine reference through the axial advancements of six locators taking all the fixturing elements to be rigid. The repositioned part then shifts again from the corrected position due to the deformation of fixturing elements under clamping and machining forces. The mechanical model calculates this displacement of the part considering the locators and clamps to be elastic. The rigid cuboid baseplate, used to precisely re-locate the workpiece, is also considered elastic at the interface with the locators. Using small displacement hypothesis with zero friction at the contact points, Lagrangian formulation enables us to calculate the rigid body displacement of the workpiece, deformation of each locator, as well as the stiffness matrix and mechanical behavior of the fixturing system. This displacement of the workpiece is then finally compensated by the advancement of the six axial locators calculated through the kinematic model

Defect Particle Kinematics in One-Dimensional Cellular Automata

Let A^Z be the Cantor space of bi-infinite sequences in a finite alphabet A, and let sigma be the shift map on A^Z. A `cellular automaton' is a continuous, sigma-commuting self-map Phi of A^Z, and a `Phi-invariant subshift' is a closed, (Phi,sigma)-invariant subset X of A^Z. Suppose x is a sequence in A^Z which is X-admissible everywhere except for some small region we call a `defect'. It has been empirically observed that such defects persist under iteration of Phi, and often propagate like `particles'. We characterize the motion of these particles, and show that it falls into several regimes, ranging from simple deterministic motion, to generalized random walks, to complex motion emulating Turing machines or pushdown automata. One consequence is that some questions about defect behaviour are formally undecidable.Comment: 37 pages, 9 figures, 3 table

Digital Genesis: Computers, Evolution and Artificial Life

The application of evolution in the digital realm, with the goal of creating artificial intelligence and artificial life, has a history as long as that of the digital computer itself. We illustrate the intertwined history of these ideas, starting with the early theoretical work of John von Neumann and the pioneering experimental work of Nils Aall Barricelli. We argue that evolutionary thinking and artificial life will continue to play an integral role in the future development of the digital world.Comment: Extended abstract of talk presented at the 7th Munich-Sydney-Tilburg Philosophy of Science Conference: Evolutionary Thinking, University of Sydney, 20-22 March 2014. Presentation slides from talk available at http://www.tim-taylor.com/papers/digital-genesis-presentation.pd

The physical Church-Turing thesis and the principles of quantum theory

Notoriously, quantum computation shatters complexity theory, but is innocuous to computability theory. Yet several works have shown how quantum theory as it stands could breach the physical Church-Turing thesis. We draw a clear line as to when this is the case, in a way that is inspired by Gandy. Gandy formulates postulates about physics, such as homogeneity of space and time, bounded density and velocity of information --- and proves that the physical Church-Turing thesis is a consequence of these postulates. We provide a quantum version of the theorem. Thus this approach exhibits a formal non-trivial interplay between theoretical physics symmetries and computability assumptions.Comment: 14 pages, LaTe