Cognitive-developmental learning for a humanoid robot : a caregiver's gift

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2004.Includes bibliographical references (p. 319-341).(cont.) which are then applied to developmentally acquire new object representations. The humanoid robot therefore sees the world through the caregiver's eyes. Building an artificial humanoid robot's brain, even at an infant's cognitive level, has been a long quest which still lies only in the realm of our imagination. Our efforts towards such a dimly imaginable task are developed according to two alternate and complementary views: cognitive and developmental.The goal of this work is to build a cognitive system for the humanoid robot, Cog, that exploits human caregivers as catalysts to perceive and learn about actions, objects, scenes, people, and the robot itself. This thesis addresses a broad spectrum of machine learning problems across several categorization levels. Actions by embodied agents are used to automatically generate training data for the learning mechanisms, so that the robot develops categorization autonomously. Taking inspiration from the human brain, a framework of algorithms and methodologies was implemented to emulate different cognitive capabilities on the humanoid robot Cog. This framework is effectively applied to a collection of AI, computer vision, and signal processing problems. Cognitive capabilities of the humanoid robot are developmentally created, starting from infant-like abilities for detecting, segmenting, and recognizing percepts over multiple sensing modalities. Human caregivers provide a helping hand for communicating such information to the robot. This is done by actions that create meaningful events (by changing the world in which the robot is situated) thus inducing the "compliant perception" of objects from these human-robot interactions. Self-exploration of the world extends the robot's knowledge concerning object properties. This thesis argues for enculturating humanoid robots using infant development as a metaphor for building a humanoid robot's cognitive abilities. A human caregiver redesigns a humanoid's brain by teaching the humanoid robot as she would teach a child, using children's learning aids such as books, drawing boards, or other cognitive artifacts. Multi-modal object properties are learned using these tools and inserted into several recognition schemes,by Artur Miguel Do Amaral Arsenio.Ph.D

Asymptotics of wavelets and filters

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mathematics, 1998.Includes bibliographical references (p. 126-131).by Jianhong (Jackie) Shen.Ph.D

The poetry of N.H. Brettell : a critical edition

This thesis presents for the first time a critical reading edition of all known poems by N. H. Brettell. It makes no claim to being definitive, nor does it attempt to establish a final text. It represents merely the best thinking of the editor. Brettell printed and circulated his poetry primarily in hand-made illustrated volumes in a process reminiscent of the scribal publication of the seventeenth century. Only 137 of his 206 extant poems were commercially published during his lifetime. In this study all known printed versions of Brettell's poetry whether in privately printed or commercially published form were examined. All variant readings were recorded and are shown. Wherever possible the relationships between texts are also noted. The poems in this edition are ordered in each case according to the version in the latest datable privately produced collection. The commentary and critical introduction were compiled with the general reader in mind. No previous familiarity with southern African fauna and flora is assumed: animals, birds and insects are described and their scientific names supplied. Expressions current in ordinary British or South African English and present in non-specialist dictionaries are not glossed, but archaic and dialectal forms felt to require explication are briefly explained. So too are less familiar South African dialectal expressions which have been assimilated into the South African English lexicon. Intertextual, Christian and mythological references, both African and Western, are annotated in an attempt to make such references accessible to readers who may not share Brettell's cultural background. The intention is to close the changing distance between the text and the audience. An essay discussing the merits, potential and limitations of electronic scholarly editing is included as part of the textual introduction. A CD-Rom containing Brettell's watercolour illustrations in his privately produced collections and audio-clips of him reading his poetry accompanies this thesis