Artificial Spatial Cognition for Robotics and Mobile Systems: brief survey and current open challenges

Remarkable and impressive advancements in the areas of perception, mapping and navigation of artificial mobile systems have been witnessed in the last decades. However, it is clear that important limitations remain regarding the spatial cognition capabilities of existing available implementations and the current practical functionality of high level cognitive models [1, 2]. For enhanced robustness and flexibility in different kinds of real world scenarios, a deeper understanding of the environment, the system, and their interactions -in general terms- is desired. This long abstract aims at outlining connections between recent contributions in the above mentioned areas and research in cognitive architectures and biological systems. We try to summarize, integrate and update previous reviews, highlighting the main open issues and aspects not yet unified or integrated in a common architectural framework

Neural processes underpinning episodic memory

Episodic memory is the memory for our personal past experiences. Although numerous functional magnetic resonance imaging (fMRI) studies investigating its neural basis have revealed a consistent and distributed network of associated brain regions, surprisingly little is known about the contributions individual brain areas make to the recollective experience. In this thesis I address this fundamental issue by employing a range of different experimental techniques including neuropsychological testing, virtual reality environments, whole brain and high spatial resolution fMRI, and multivariate pattern analysis. Episodic memory recall is widely agreed to be a reconstructive process, one that is known to be critically reliant on the hippocampus. I therefore hypothesised that the same neural machinery responsible for reconstruction might also support ‘constructive’ cognitive functions such as imagination. To test this proposal, patients with focal damage to the hippocampus bilaterally were asked to imagine new experiences and were found to be impaired relative to matched control participants. Moreover, driving this deficit was a lack of spatial coherence in their imagined experiences, pointing to a role for the hippocampus in binding together the disparate elements of a scene. A subsequent fMRI study involving healthy participants compared the recall of real memories with the construction of imaginary memories. This revealed a fronto-temporo-parietal network in common to both tasks that included the hippocampus, ventromedial prefrontal, retrosplenial and parietal cortices. Based on these results I advanced the notion that this network might support the process of ‘scene construction’, defined as the generation and maintenance of a complex and coherent spatial context. Furthermore, I argued that this scene construction network might underpin other important cognitive functions besides episodic memory and imagination, such as navigation and thinking about the future. It is has been proposed that spatial context may act as the scaffold around which episodic memories are built. Given the hippocampus appears to play a critical role in imagination by supporting the creation of a rich coherent spatial scene, I sought to explore the nature of this hippocampal spatial code in a novel way. By combining high spatial resolution fMRI with multivariate pattern analysis techniques it proved possible to accurately determine where a subject was located in a virtual reality environment based solely on the pattern of activity across hippocampal voxels. For this to have been possible, the hippocampal population code must be large and non-uniform. I then extended these techniques to the domain of episodic memory by showing that individual memories could be accurately decoded from the pattern of activity across hippocampal voxels, thus identifying individual memory traces. I consider these findings together with other recent advances in the episodic memory field, and present a new perspective on the role of the hippocampus in episodic recollection. I discuss how this new (and preliminary) framework compares with current prevailing theories of hippocampal function, and suggest how it might account for some previously contradictory data

A Neural Signal Processor for Low-Latency Spike Inference

This thesis describes the development of a system that can assign identities to a population of single-units, in multi-electrode recordings, at single-spike resolution with low-latency. The system has two parts. The first is a Field-Programmable Gate Array (FPGA)-based Neural Signal Processor (NSP) that receives raw input and generates labelled spikes as output, a process referred to as real-time spike inference. The second is a piece of software (Spiketag) that runs on a PC, communicates with the NSP, and generates a spike-sorted model to guide the real-time spike inference. The NSP provides clocks and control signals to five 32-channel INTAN RHD2132 chips to manage the acquisition of 160 channels of raw neural data. In parallel, the NSP further filters, detects and extracts extracellular spike waveforms from the raw neural data recorded by tetrodes or silicon probes and assigns single-unit identity to each detected spike. A set of Python application programming interfaces (APIs) was developed in Spiketag to enable the communication between the NSP and the PC. These APIs allow the NSP to obtain a model from the PC, which holds parameters such as reference channels, spike detection thresholds, spike feature transformation matrix and vector quantized clusters generated by spike sorting a short recording session. Using the spike-sorted model, the NSP performs data acquisition and real-time spike inference simultaneously. Algorithmic modules were implemented in the FPGA and pipelined to compute during 40 ms acquisition intervals. At the output end of the FPGA NSP, the real-time assigned single-unit identity (spike-id) is packaged with the timestamp, the electrode group, and the spike features as a spike-id packet. Spike-id packets are asynchronously transmitted through a low-latency Peripheral Component Interconnect Express (PCIe) interface to the PC, producing the real-time spike trains. The real-time spike trains can be used for further processing, such as real-time decoding. Several types of ground-truth data, including intracellular/extracellular paired recordings, synthesized tetrode extracellular waveforms with ground-truth spike timing and high-channel-count silicon probe recordings with ground-truth animal positions during navigation were used to validate the low-latency (1 ms) and high-accuracy (as high as state-of-the-art offline sorting and decoding algorithms) of the NSP’s real-time spike inference and the NSP-based real-time population decoding performance

Final Technical Report For The Enhancement Of Autonomous Marine Vehicle Testing In The South Florida Testing Facility Range

The purpose of this grant was to carry out the six scientific experiments on the South Florida Testing Facility (SFTF) Range. In addition to the enhancements to the range, work was performed on all six with some being successfully completed while research continues on the long term tasks

Circles within spirals, wheels within wheels; Body rotation facilitates critical insights into animal behavioural ecology

How animals behave is fundamental to enhancing their lifetime fitness, so defining how animals move in space and time relates to many ecological questions, including resource selection, activity budgets and animal movement networks. Historically, animal behaviour and movement has been defined by direct observation, however recent advancements in biotelemetry have revolutionised how we now assess behaviour, particularly allowing animals to be monitored when they cannot be seen. Studies now pair ‘convectional’ radio telemetries with motion sensors to facilitate more detailed investigations of animal space-use. Motion sensitive tags (containing e.g., accelerometers and magnetometers) provide precise data on body movements which characterise behaviour, and this has been exemplified in extensive studies using accelerometery data, which has been linked to space-use defined by GPS. Conversely, consideration of body rotation (particularly change in yaw) is virtually absent within the biologging literature, even though various scales of yaw rotation can reveal important patterns in behaviour and movement, with animal heading being a fundamental component characterising space-use. This thesis explores animal body angles, particularly about the yaw axis, for elucidating animal movement ecology. I used five model species (a reptile, a mammal and three birds) to demonstrate the value of assessing body rotation for investigating fine-scale movement-specific behaviours. As part of this, I advanced the ‘dead-reckoning’ method, where fine-scale animal movement between temporally poorly resolved GPS fixes can be deduced using heading vectors and speed. I addressed many issues with this protocol, highlighting errors and potential solutions but was able to show how this approach leads to insights into many difficult-to-study animal behaviours. These ranged from elucidating how and where lions cross supposedly impermeable man-made barriers to examining how penguins react to tidal currents and then navigate their way to their nests far from the sea in colonies enclosed within thick vegetation

Reinforcement Learning

Brains rule the world, and brain-like computation is increasingly used in computers and electronic devices. Brain-like computation is about processing and interpreting data or directly putting forward and performing actions. Learning is a very important aspect. This book is on reinforcement learning which involves performing actions to achieve a goal. The first 11 chapters of this book describe and extend the scope of reinforcement learning. The remaining 11 chapters show that there is already wide usage in numerous fields. Reinforcement learning can tackle control tasks that are too complex for traditional, hand-designed, non-learning controllers. As learning computers can deal with technical complexities, the tasks of human operators remain to specify goals on increasingly higher levels. This book shows that reinforcement learning is a very dynamic area in terms of theory and applications and it shall stimulate and encourage new research in this field

Time and Space in Video Games: A Cognitive-Formalist Approach

Video games are temporal artifacts: They change with time as players interact with them in accordance with rules. In this study, the author investigates the formal aspects of video games that determine how these changes are produced and sequenced. Theories of time perception drawn from the cognitive sciences lay the groundwork for an in-depth analysis of these features, making for a comprehensive account of time in this novel medium. This book-length study dedicated to time perception and video games is an indispensable resource for game scholars and game developers alike. Its reader-friendly style makes it readily accessible to the interested layperson

The role of phonology in visual word recognition: evidence from Chinese

Posters - Letter/Word Processing V: abstract no. 5024The hypothesis of bidirectional coupling of orthography and phonology predicts that phonology plays a role in visual word recognition, as observed in the effects of feedforward and feedback spelling to sound consistency on lexical decision. However, because orthography and phonology are closely related in alphabetic languages (homophones in alphabetic languages are usually orthographically similar), it is difficult to exclude an influence of orthography on phonological effects in visual word recognition. Chinese languages contain many written homophones that are orthographically dissimilar, allowing a test of the claim that phonological effects can be independent of orthographic similarity. We report a study of visual word recognition in Chinese based on a mega-analysis of lexical decision performance with 500 characters. The results from multiple regression analyses, after controlling for orthographic frequency, stroke number, and radical frequency, showed main effects of feedforward and feedback consistency, as well as interactions between these variables and phonological frequency and number of homophones. Implications of these results for resonance models of visual word recognition are discussed.postprin