Computational aspects of cellular intelligence and their role in artificial intelligence.

The work presented in this thesis is concerned with an exploration of the computational aspects of the primitive intelligence associated with single-celled organisms. The main aim is to explore this Cellular Intelligence and its role within Artificial Intelligence. The findings of an extensive literature search into the biological characteristics, properties and mechanisms associated with Cellular Intelligence, its underlying machinery - Cell Signalling Networks and the existing computational methods used to capture it are reported. The results of this search are then used to fashion the development of a versatile new connectionist representation, termed the Artificial Reaction Network (ARN). The ARN belongs to the branch of Artificial Life known as Artificial Chemistry and has properties in common with both Artificial Intelligence and Systems Biology techniques, including: Artificial Neural Networks, Artificial Biochemical Networks, Gene Regulatory Networks, Random Boolean Networks, Petri Nets, and S-Systems. The thesis outlines the following original work: The ARN is used to model the chemotaxis pathway of Escherichia coli and is shown to capture emergent characteristics associated with this organism and Cellular Intelligence more generally. The computational properties of the ARN and its applications in robotic control are explored by combining functional motifs found in biochemical network to create temporal changing waveforms which control the gaits of limbed robots. This system is then extended into a complete control system by combining pattern recognition with limb control in a single ARN. The results show that the ARN can offer increased flexibility over existing methods. Multiple distributed cell-like ARN based agents termed Cytobots are created. These are first used to simulate aggregating cells based on the slime mould Dictyostelium discoideum. The Cytobots are shown to capture emergent behaviour arising from multiple stigmergic interactions. Applications of Cytobots within swarm robotics are investigated by applying them to benchmark search problems and to the task of cleaning up a simulated oil spill. The results are compared to those of established optimization algorithms using similar cell inspired strategies, and to other robotic agent strategies. Consideration is given to the advantages and disadvantages of the technique and suggestions are made for future work in the area. The report concludes that the Artificial Reaction Network is a versatile and powerful technique which has application in both simulation of chemical systems, and in robotic control, where it can offer a higher degree of flexibility and computational efficiency than benchmark alternatives. Furthermore, it provides a tool which may possibly throw further light on the origins and limitations of the primitive intelligence associated with cells

The Evolution, Analysis, and Design of Minimal Spiking Neural Networks for Temporal Pattern Recognition

All sensory stimuli are temporal in structure. How a pattern of action potentials encodes the information received from the sensory stimuli is an important research question in neurosciencce. Although it is clear that information is carried by the number or the timing of spikes, the information processing in the nervous system is poorly understood. The desire to understand information processing in the animal brain led to the development of spiking neural networks (SNNs). Understanding information processing in spiking neural networks may give us an insight into the information processing in the animal brain. One way to understand the mechanisms which enable SNNs to perform a computational task is to associate the structural connectivity of the network with the corresponding functional behaviour. This work demonstrates the structure-function mapping of spiking networks evolved (or handcrafted) for recognising temporal patterns. The SNNs are composed of simple yet biologically meaningful adaptive exponential integrate-and-fire (AdEx) neurons. The computational task can be described as identifying a subsequence of three signals (say ABC) in a random input stream of signals ("ABBBCCBABABCBBCAC"). The topology and connection weights of the networks are optimised using a genetic algorithm such that the network output spikes only for the correct input pattern and remains silent for all others. The fitness function rewards the network output for spiking after receiving the correct pattern and penalises spikes elsewhere. To analyse the effect of noise, two types of noise are introduced during evolution: (i) random fluctuations of the membrane potential of neurons in the network at every network step, (ii) random variations of the duration of the silent interval between input signals. It has been observed that evolution in the presence of noise produced networks that were robust to perturbation of neuronal parameters. Moreover, the networks also developed a form of memory, enabling them to maintain network states in the absence of input activity. It has been demonstrated that the network states of an evolved network have a one-to-one correspondence with the states of a finite-state transducer (FST) { a model of computation for time-structured data. The analysis of networks indicated that the task of recognition is accomplished by transitions between network states. Evolution may overproduce synaptic connections, pruning these superfluous connections pronounced structural similarities among individuals obtained from different independent runs. Moreover, the analysis of the pruned networks highlighted that memory is a property of self-excitation in the network. Neurons with self-excitatory loops (also called autapses) could sustain spiking activity indefinitely in the absence of input activity. To recognise a pattern of length n, a network requires n+1 network states, where n states are maintained actively with autapses and the penultimate state is maintained passively by no activity in the network. Simultaneously, the role of other connections in the network is identified. Of particular interest, three interneurons in the network are found to have a specialized role: (i) the lock neuron is always active, preventing the output from spiking unless it is released by the penultimate signal in the correct pattern, exposing the output neuron to spike for the correct last signal, (ii) the switch neuron is responsible for switching the network between the inter-signal states and the start state, and (iii) the accept neuron produces spikes in the output neuron when the network receives the last correct input. It also sends a signal to the switch neuron, transforming the network back into the start state Understanding how information is processed in the evolved networks led to handcrafting network topologies for recognising more extended patterns. The proposed rules can extend network topologies to recognize temporal patterns up to length six. To validate the handcrafted topology, a genetic algorithm is used to optimise its connection weights. It has been observed that the maximum number of active neurons representing a state in the network increases with the pattern length. Therefore, the suggested rules can handcraft network topologies only up to length 6. Handcrafting network topologies, representing a network state with a fixed number of active neurons requires further investigation

Perception in real and artificial insects: a robotic investigation of cricket phonotaxis

The aim of this thesis is to investigate a methodology for studying percep¬ tual systems by building artificial ones. It is proposed that useful results can be obtained from detailed robotic modelling of specific sensorimotor mechanisms in lower animals. By looking at the sensory control of behaviour in simple biological organisms, and in working robots, it is argued that proper appreciation of the physical interaction of the system with the environment and the task is essential for discovering how perceptual mechanisms function. Although links to biology, and concern with perceptual competence, are fields of growing interest in Artificial Intelligence, much of the current research fails to adequately address these issues, as the model systems being built do not represent real sensorimotor problems.By analyzing what is required for a model of a system to contribute to ex¬ plaining that system, a particular approach to modeling perceptual systems is suggested. This involves choosing an appropriate target system to model, building a system that validly represents the target with respect to a particular hypothesis, and properly evaluating the behaviour of the model system to draw conclusions about the target. The viability and potential contribution of this approach is demonstrated in the design, implementation and evaluation of a mobile robot model of a hypothesised mechanism for phonotaxis in the cricket.The result is a robot that successfully locates a specific sound source under a variety of conditions, with a range of behaviour that resembles the cricket in many ways. This provides some support for the hypothesis that the neural mechanism for phonotaxis in crickets does not involve separate processing for recognition and location of the signal, as is generally supposed. It also shows the importance of un¬ derstanding the physical interaction of the system's structure with its environment in devising and implementing perceptual systems. Both these results vindicate the proposed methodology

Coordination dynamics in the sensorimotor loop

The last two decades have witnessed radical changes of perspective about the nature of intelligence and cognition, leaving behind some of the assumptions of computational functionalism. From the myriad of approaches seeking to substitute the old rule-based symbolic perception of mind, we are especially interested in two of them. The first is Embodied and Situated Cognition, where the advances in modeling complex adaptive systems through computer simulations have reconfigured the way in which mechanistic, embodied and interactive explanations can conceptualize the mind. We are particularly interested in the concept of sensorimotor loop, which brings a new perspective about what is needed for a meaningful interaction with the environment, emphasizing the role of the coordination of effector and sensor activities while performing a concrete task. The second one is the framework of Coordination Dynamics, which has been developed as a result of the increasing focus of neuroscience on self-organized oscillatory brain dynamics. It provides formal tools to study the mechanisms through which complex biological systems stabilize coordination states under conditions in which they would otherwise become unstable. We will merge both approaches and define coordination in the sensorimotor loop as the main phenomena behind the emergence of cognitive behavior. At the same time, we will provide methodological tools and concepts to address this hypothesis. Finally, we will present two case studies based on the proposed approach: 1. We will study the phenomenon known as “intermittent behavior”, which is observed in organisms at different levels (from microorganisms to higher animals). We will propose a model that understands intermittent behavior as a general strategy of biologica organization when an organism has to adapt to complex changing environments, and would allow to establish effective sensorimotor loops even in situations of instable engagement with the world. 2. We will perform a simulation of a phonotaxis task performed by an agent with an oscillator network as neural controller. The objective will be to characterize robust adaptive coupling between perceptive activity and the environmental dynamics just through phase information processing. We will observe how the robustness of the coupling crucially depends of how the sensorimotor loop structures and constrains both the emergent neural and behavioral patterns. We will hypothesize that this structuration of the sensorimotor space, in which only meaningful behavioral patterns can be stabilized, is a key ingredient for the emergence of higher cognitive abilities