Adaptive networks for robotics and the emergence of reward anticipatory circuits

Currently the central challenge facing evolutionary robotics is to determine how best to extend the range and complexity of behaviour supported by evolved neural systems. Implicit in the work described in this thesis is the idea that this might best be achieved through devising neural circuits (tractable to evolutionary exploration) that exhibit complementary functional characteristics. We concentrate on two problem domains; locomotion and sequence learning. For locomotion we compare the use of GasNets and other adaptive networks. For sequence learning we introduce a novel connectionist model inspired by the role of dopamine in the basal ganglia (commonly interpreted as a form of reinforcement learning). This connectionist approach relies upon a new neuron model inspired by notions of energy efficient signalling. Two reward adaptive circuit variants were investigated. These were applied respectively to two learning problems; where action sequences are required to take place in a strict order, and secondly, where action sequences are robust to intermediate arbitrary states. We conclude the thesis by proposing a formal model of functional integration, encompassing locomotion and sequence learning, extending ideas proposed by W. Ross Ashby. A general model of the adaptive replicator is presented, incoporating subsystems that are tuned to continuous variation and discrete or conditional events. Comparisons are made with Ross W. Ashby's model of ultrastability and his ideas on adaptive behaviour. This model is intended to support our assertion that, GasNets (and similar networks) and reward adaptive circuits of the type presented here, are intrinsically complementary. In conclusion we present some ideas on how the co-evolution of GasNet and reward adaptive circuits might lead us to significant improvements in the synthesis of agents capable of exhibiting complex adaptive behaviour

Bioinspired robotic rehabilitation tool for lower limb motor learning after stroke

Mención Internacional en el título de doctorEsta tesis doctoral presenta, tras repasar la marcha humana, las principales patologíıas y condiciones que la afectan, y los distintos enfoques de rehabilitación con la correspondiente implicación neurofisiológica, el camino de investigación que desemboca en la herramienta robótica de rehabilitación y las terapias que se han desarrollado en el marco de los proyectos europeos BioMot: Smart Wearable Robots with Bioinspired Sensory-Motor Skills y HANK: European advanced exoskeleton for rehabilitation of Acquired Brain Damage (ABD) and/or spinal cord injury’s patients, y probado bajo el paraguas del proyecto europeo ASTONISH: Advancing Smart Optical Imaging and Sensing for Health y el proyecto nacional ASSOCIATE: A comprehensive and wearable robotics based approach to the rehabilitation and assistance to people with stroke and spinal cord injury.This doctoral thesis presents, after reviewing human gait, the main pathologies and conditions that affect it, and the different rehabilitation approaches with the corresponding neurophysiological implications, the research journey that leads to the development of the rehabilitation robotic tool, and the therapies that have been designed, within the framework of the European projects BioMot: Smart Wearable Robots with Bioinspired Sensory-Motor Skills and HANK: European advanced exoskeleton for rehabilitation of Acquired Brain Damage (ABD) and/or spinal cord injury’s patients and tested under the umbrella of the European project ASTONISH: Advancing Smart Optical Imaging and Sensing for Health and the national project ASSOCIATE: A comprehensive and wearable robotics based approach to the rehabilitation and assistance to people with stroke and spinal cord injury.This work has been carried out at the Neural Rehabilitation Group (NRG), Cajal Institute, Spanish National Research Council (CSIC). The research presented in this thesis has been funded by the Commission of the European Union under the BioMot project - Smart Wearable Robots with Bioinspired Sensory-Motor Skills (Grant Agreement number IFP7-ICT - 611695); under HANK Project - European advanced exoskeleton for rehabilitation of Acquired Brain Damage (ABD) and/or spinal cord injury’s patients (Grant Agreements number H2020-EU.2. - PRIORITY ’Industrial leadership’ and H2020-EU.3. - PRIORITY ’Societal challenges’ - 699796); also under the ASTONISH Project - Advancing Smart Optical Imaging and Sensing for Health (Grant Agreement number H2020-EU.2.1.1.7. - ECSEL - 692470); with financial support of Spanish Ministry of Economy and Competitiveness (MINECO) under the ASSOCIATE project - A comprehensive and wearable robotics based approach to the rehabilitation and assistance to people with stroke and spinal cord injury (Grant Agreement number 799158449-58449-45-514); and with grant RYC-2014-16613, also by Spanish Ministry of Economy and Competitiveness.Programa de Doctorado en Ingeniería Eléctrica, Electrónica y Automática por la Universidad Carlos III de MadridPresidente: Fernando Javier Brunetti Fernández.- Secretario: Dorin Sabin Copaci.- Vocal: Antonio Olivier

Aerospace medicine and biology: A continuing bibliography, supplement 200

This bibliography lists 204 reports, articles, and other documents introduced into the NASA scientific and technical information system in November 1979

Affective Computing

This book provides an overview of state of the art research in Affective Computing. It presents new ideas, original results and practical experiences in this increasingly important research field. The book consists of 23 chapters categorized into four sections. Since one of the most important means of human communication is facial expression, the first section of this book (Chapters 1 to 7) presents a research on synthesis and recognition of facial expressions. Given that we not only use the face but also body movements to express ourselves, in the second section (Chapters 8 to 11) we present a research on perception and generation of emotional expressions by using full-body motions. The third section of the book (Chapters 12 to 16) presents computational models on emotion, as well as findings from neuroscience research. In the last section of the book (Chapters 17 to 22) we present applications related to affective computing

Aerospace Medicine and Biology: A continuing bibliography with indexes, supplement 267, January 1985

This publication is a cumulative index to the abstracts contained in the Supplements 255 through 266 of Aerospace Medicine and Biology: A Continuing Bibliography. It includes seven indexes--subject, personal author, corporate source, foreign technology, contract number, report number, and accession number

Aerospace Medicine and Biology: A cumulative index to the 1980 issues

A cumulative index to the abstracts contained in the Supplements 203 through 214 of Aerospace Medicine and Biology: A Continuing Bibliography is presented. It includes three indexes--subject, personal author, and corporate source

Aerospace Medicine and Biology: A cumulative index to a continuing bibliography

This publication is a cumulative index to the abstracts contained in Supplements 138 through 149 of AEROSPACE MEDICINE AND BIOLOGY: A CONTINUING BIBLIOGRAPHY. It includes three indexes -- subject, personal author, and corporate source

Aerospace Medicine and Biology: 1983 cumulative index

This publication is a cumulative index to the abstracts contained in the Supplements 242 through 253 of Aerospace Medicine and Biology: A Continuing Bibliography. It includes six indexes--subject, personal author, corporate source, contract number, report number, and accession number

Designing technology for young children: guidelines grounded in a literature investigation on child development and children's technology

This thesis is about the design of technology for children from five to eight years of age. The majority of available guidelines and principles for design or evaluation of technology support the design of products aimed at adults. The limited guidelines available for design of young children's technology do not focus sufficiently on age-related requirements or they offer high-level advice that is only useful in the planning stages of design. Working from the assumption that knowledge available in the literature provides sufficient information to support this process, my aim with this study was to demonstrate how a dependable and useful set of guidelines for the design of technology for children aged five to eight years could be derived from an existing body of knowledge. Development of the guidelines firstly involved research into the psychological theories of children's development to identify those elements of development and the characteristics of children that may have bearing on children's use of technology. Secondly, the literature on children's development of specific skills such as literacy and mathematics was investigated. The available literature on young children's use of technology was studied next and, finally, the applicability of existing design guidelines and principles for children's products evaluated. Throughout this literature investigation the researcher gathered design-relevant factors that could potentially become design guidelines. Using qualitative data analysis techniques, more than five hundred such data elements were systematically coded, processed, analysed and categorised. The result is three hundred and fifty guidelines organised into a framework of six categories and twenty-six subcategories that integrates the relevant theoretical fields and provides practical support for designers. To demonstrate the credibility and usefulness of the emerging guidelines they were used to do an evaluation and re-design of an existing product aimed at the target group. The thesis reports in detail on the different stages of the research, and systematically takes the reader through the process of deriving guidelines from existing theory and research findings, and integrating them into a useful framework.School of ComputingPhD. (Computer Science