SOVEREIGN: An Autonomous Neural System for Incrementally Learning Planned Action Sequences to Navigate Towards a Rewarded Goal

How do reactive and planned behaviors interact in real time? How are sequences of such behaviors released at appropriate times during autonomous navigation to realize valued goals? Controllers for both animals and mobile robots, or animats, need reactive mechanisms for exploration, and learned plans to reach goal objects once an environment becomes familiar. The SOVEREIGN (Self-Organizing, Vision, Expectation, Recognition, Emotion, Intelligent, Goaloriented Navigation) animat model embodies these capabilities, and is tested in a 3D virtual reality environment. SOVEREIGN includes several interacting subsystems which model complementary properties of cortical What and Where processing streams and which clarify similarities between mechanisms for navigation and arm movement control. As the animat explores an environment, visual inputs are processed by networks that are sensitive to visual form and motion in the What and Where streams, respectively. Position-invariant and sizeinvariant recognition categories are learned by real-time incremental learning in the What stream. Estimates of target position relative to the animat are computed in the Where stream, and can activate approach movements toward the target. Motion cues from animat locomotion can elicit head-orienting movements to bring a new target into view. Approach and orienting movements are alternately performed during animat navigation. Cumulative estimates of each movement are derived from interacting proprioceptive and visual cues. Movement sequences are stored within a motor working memory. Sequences of visual categories are stored in a sensory working memory. These working memories trigger learning of sensory and motor sequence categories, or plans, which together control planned movements. Predictively effective chunk combinations are selectively enhanced via reinforcement learning when the animat is rewarded. Selected planning chunks effect a gradual transition from variable reactive exploratory movements to efficient goal-oriented planned movement sequences. Volitional signals gate interactions between model subsystems and the release of overt behaviors. The model can control different motor sequences under different motivational states and learns more efficient sequences to rewarded goals as exploration proceeds.Riverside Reserach Institute; Defense Advanced Research Projects Agency (N00014-92-J-4015); Air Force Office of Scientific Research (F49620-92-J-0225); National Science Foundation (IRI 90-24877, SBE-0345378); Office of Naval Research (N00014-92-J-1309, N00014-91-J-4100, N00014-01-1-0624, N00014-01-1-0624); Pacific Sierra Research (PSR 91-6075-2

Exploratory landscape metrics for agricultural sustainability

Socioeconomic growth and urban change have been an increasing concern for decision makers in recent decades. The monitoring, mapping, and analysis of agricultural land use change, especially in areas where urban change has been high, is crucial. The collision between traditional economic activities related to agriculture in tourist areas such as the Algarve and current demand for tourism infrastructures in urban regions is also leading to loss of economic activity. This article uses a combined geographical information system approach with CORINE land cover datasets to perform a Shannon’s diversity index quantifying changes in agricultural areas. The article then expands on the nature of the agricultural changes observed, and offers a multi-temporal assessment by means of landscape metrics in order to understand the shifting land use patterns for the Algarve in land use planning and regional economic equilibrium: a) forest regions become transformed into agricultural areas and agricultural areas become urban; b) areas that are initially agricultural become scattered residential regions created by economic investors; and c) agricultural land use changes have a cyclical nature in which—in the course of the economic recession—such dynamic effects brought about a decrease in tourism and focus on traditional sectors

Dynamic Construction of Stimulus Values in the Ventromedial Prefrontal Cortex

Signals representing the value assigned to stimuli at the time of choice have been repeatedly observed in ventromedial prefrontal cortex (vmPFC). Yet it remains unknown how these value representations are computed from sensory and memory representations in more posterior brain regions. We used electroencephalography (EEG) while subjects evaluated appetitive and aversive food items to study how event-related responses modulated by stimulus value evolve over time. We found that value-related activity shifted from posterior to anterior, and from parietal to central to frontal sensors, across three major time windows after stimulus onset: 150–250 ms, 400–550 ms, and 700–800 ms. Exploratory localization of the EEG signal revealed a shifting network of activity moving from sensory and memory structures to areas associated with value coding, with stimulus value activity localized to vmPFC only from 400 ms onwards. Consistent with these results, functional connectivity analyses also showed a causal flow of information from temporal cortex to vmPFC. Thus, although value signals are present as early as 150 ms after stimulus onset, the value signals in vmPFC appear relatively late in the choice process, and seem to reflect the integration of incoming information from sensory and memory related regions

Decision map for spatial decision making in urban planning

In this paper, we introduce the concept of decision map and illustrate the way this new concept can be used effectively to support participation in spatial decision making and in urban planning. First, we start by introducing our spatial decision process which is composed of five, non-necessary sequential, phases: problem identification and formulation, analysis, negotiation, concertation, and evaluation and choice. Negotiation and concertation are two main phases in spatial decision making but most available frameworks do not provide tools to support them effectively. The solution proposed here is based on the concept of decision map which is defined as an advanced version of conventional geographic maps which is enriched with preferential information and especially designed to clarify decision making. It looks like a set of homogenous spatial units; each one is characterised with a global, often ordinal, evaluation that represents an aggregation of several partial evaluations relative to different criteria. The decision map is also enriched with different spatial data exploration tools. The procedure of the construction of a decision map contains four main steps: definition of the problem (i.e. generation of criteria maps), generation of an intermediate map, inference of preferential parameters, and generation of a final decision map. The concept of decision map as defined here is a generic tool that may be applied in different domains. This paper focuses on the role of the decision map in supporting participation in spatial decision making and urban planning. Indeed, the decision map is an efficient communication tool in the sense that it permits to the different groups implied in the spatial decision process to ‘think visually’ and to communicate better between each other.ou

Usability testing for improving interactive geovisualization techniques

Usability describes a product’s fitness for use according to a set of predefined criteria. Whatever the aim of the product, it should facilitate users’ tasks or enhance their performance by providing appropriate analysis tools. In both cases, the main interest is to satisfy users in terms of providing relevant functionality which they find fit for purpose. “Testing usability means making sure that people can find and work with [a product’s] functions to meet their needs” (Dumas and Redish, 1999: 4). It is therefore concerned with establishing whether people can use a product to complete their tasks with ease and at the same time help them complete their jobs more effectively. This document describes the findings of a usability study carried out on DecisionSite Map Interaction Services (Map IS). DecisionSite, a product of Spotfire, Inc.,1 is an interactive system for the visual and dynamic exploration of data designed for supporting decisionmaking. The system was coupled to ArcExplorer (forming DecisionSite Map IS) to provide limited GIS functionality (simple user interface, basic tools, and data management) and support users of spatial data. Hence, this study set out to test the suitability of the coupling between the two software components (DecisionSite and ArcExplorer) for the purpose of exploring spatial data. The first section briefly discusses DecisionSite’s visualization functionality. The second section describes the test goals, its design, the participants and data used. The following section concentrates on the analysis of results, while the final section discusses future areas of research and possible development

From SpaceStat to CyberGIS: Twenty Years of Spatial Data Analysis Software

This essay assesses the evolution of the way in which spatial data analytical methods have been incorporated into software tools over the past two decades. It is part retrospective and prospective, going beyond a historical review to outline some ideas about important factors that drove the software development, such as methodological advances, the open source movement and the advent of the internet and cyberinfrastructure. The review highlights activities carried out by the author and his collaborators and uses SpaceStat, GeoDa, PySAL and recent spatial analytical web services developed at the ASU GeoDa Center as illustrative examples. It outlines a vision for a spatial econometrics workbench as an example of the incorporation of spatial analytical functionality in a cyberGIS.