Quantifying Morphological Computation

The field of embodied intelligence emphasises the importance of the morphology and environment with respect to the behaviour of a cognitive system. The contribution of the morphology to the behaviour, commonly known as morphological computation, is well-recognised in this community. We believe that the field would benefit from a formalisation of this concept as we would like to ask how much the morphology and the environment contribute to an embodied agent's behaviour, or how an embodied agent can maximise the exploitation of its morphology within its environment. In this work we derive two concepts of measuring morphological computation, and we discuss their relation to the Information Bottleneck Method. The first concepts asks how much the world contributes to the overall behaviour and the second concept asks how much the agent's action contributes to a behaviour. Various measures are derived from the concepts and validated in two experiments which highlight their strengths and weaknesses

Morphological Computation: Nothing but Physical Computation

The purpose of this paper is to argue against the claim that morphological computation is substantially different from other kinds of physical computation. I show that some (but not all) purported cases of morphological computation do not count as specifically computational, and that those that do are solely physical computational systems. These latter cases are not, however, specific enough: all computational systems, not only morphological ones, may (and sometimes should) be studied in various ways, including their energy efficiency, cost, reliability, and durability. Second, I critically analyze the notion of “offloading” computation to the morphology of an agent or robot, by showing that, literally, computation is sometimes not offloaded but simply avoided. Third, I point out that while the morphology of any agent is indicative of the environment that it is adapted to, or informative about that environment, it does not follow that every agent has access to its morphology as the model of its environment

Algorithms for morphological profile filters and their comparison

Morphological filters, regarded as the complement of mean-line based filters, are useful in the analysis of surface texture and the prediction of functional performance. The paper first recalls two existing algorithms, the naive algorithm and the motif combination algorithm, originally developed for the traditional envelope filter. With minor extension, they could be used to compute morphological filters. A recent novel approach based on the relationship between the alpha shape and morphological closing and opening operations is presented as well. Afterwards two novel algorithms are developed. By correlating the convex hull and morphological operations, the Graham scan algorithm, original developed for the convex hull is modified to compute the morphological envelopes. The alpha shape method depending on the Delaunay triangulation is costly and redundant for the computation for the alpha shape for a given radius. A recursive algorithm is proposed to solve this problem. A series of observations are presented for searching the contact points. Based on the proposed observations, the algorithm partitions the profile data into small segments and searches the contact points in a recursive manner. The paper proceeds to compare the five distinct algorithms in five aspects: algorithm verification, algorithm analysis, performance evaluation, end effects correction, and areal extension. By looking into these aspects, the merits and shortcomings of these algorithms are evaluated and compared

Resolving Two Tensions in 4E Cognition Using Wide Computationalism

Recently, some authors have begun to raise questions about the potential unity of 4E (enactive, embedded, embodied, extended) cognition as a distinct research programme within cognitive science. Two tensions, in particular, have been raised:(i) that the body-centric claims embodied cognition militate against the distributed tendencies of extended cognition and (ii) that the body/environment distinction emphasized by enactivism stands in tension with the world-spanning claims of extended cognition. The goal of this paper is to resolve tensions (i) and (ii). The proposal is that a form of ‘wide computationalism’can be used to reconcile the two tensions and, in so doing, articulate a common theoretical core for 4E cognition

Vision-Based Road Detection in Automotive Systems: A Real-Time Expectation-Driven Approach

The main aim of this work is the development of a vision-based road detection system fast enough to cope with the difficult real-time constraints imposed by moving vehicle applications. The hardware platform, a special-purpose massively parallel system, has been chosen to minimize system production and operational costs. This paper presents a novel approach to expectation-driven low-level image segmentation, which can be mapped naturally onto mesh-connected massively parallel SIMD architectures capable of handling hierarchical data structures. The input image is assumed to contain a distorted version of a given template; a multiresolution stretching process is used to reshape the original template in accordance with the acquired image content, minimizing a potential function. The distorted template is the process output.Comment: See http://www.jair.org/ for any accompanying file

Disconnected Skeleton: Shape at its Absolute Scale

We present a new skeletal representation along with a matching framework to address the deformable shape recognition problem. The disconnectedness arises as a result of excessive regularization that we use to describe a shape at an attainably coarse scale. Our motivation is to rely on the stable properties of the shape instead of inaccurately measured secondary details. The new representation does not suffer from the common instability problems of traditional connected skeletons, and the matching process gives quite successful results on a diverse database of 2D shapes. An important difference of our approach from the conventional use of the skeleton is that we replace the local coordinate frame with a global Euclidean frame supported by additional mechanisms to handle articulations and local boundary deformations. As a result, we can produce descriptions that are sensitive to any combination of changes in scale, position, orientation and articulation, as well as invariant ones.Comment: The work excluding {\S}V and {\S}VI has first appeared in 2005 ICCV: Aslan, C., Tari, S.: An Axis-Based Representation for Recognition. In ICCV(2005) 1339- 1346.; Aslan, C., : Disconnected Skeletons for Shape Recognition. Masters thesis, Department of Computer Engineering, Middle East Technical University, May 200