Computational Methods for Cognitive and Cooperative Robotics

In the last decades design methods in control engineering made substantial progress in the areas of robotics and computer animation. Nowadays these methods incorporate the newest developments in machine learning and artificial intelligence. But the problems of flexible and online-adaptive combinations of motor behaviors remain challenging for human-like animations and for humanoid robotics. In this context, biologically-motivated methods for the analysis and re-synthesis of human motor programs provide new insights in and models for the anticipatory motion synthesis. This thesis presents the author’s achievements in the areas of cognitive and developmental robotics, cooperative and humanoid robotics and intelligent and machine learning methods in computer graphics. The first part of the thesis in the chapter “Goal-directed Imitation for Robots” considers imitation learning in cognitive and developmental robotics. The work presented here details the author’s progress in the development of hierarchical motion recognition and planning inspired by recent discoveries of the functions of mirror-neuron cortical circuits in primates. The overall architecture is capable of ‘learning for imitation’ and ‘learning by imitation’. The complete system includes a low-level real-time capable path planning subsystem for obstacle avoidance during arm reaching. The learning-based path planning subsystem is universal for all types of anthropomorphic robot arms, and is capable of knowledge transfer at the level of individual motor acts. Next, the problems of learning and synthesis of motor synergies, the spatial and spatio-temporal combinations of motor features in sequential multi-action behavior, and the problems of task-related action transitions are considered in the second part of the thesis “Kinematic Motion Synthesis for Computer Graphics and Robotics”. In this part, a new approach of modeling complex full-body human actions by mixtures of time-shift invariant motor primitives in presented. The online-capable full-body motion generation architecture based on dynamic movement primitives driving the time-shift invariant motor synergies was implemented as an online-reactive adaptive motion synthesis for computer graphics and robotics applications. The last chapter of the thesis entitled “Contraction Theory and Self-organized Scenarios in Computer Graphics and Robotics” is dedicated to optimal control strategies in multi-agent scenarios of large crowds of agents expressing highly nonlinear behaviors. This last part presents new mathematical tools for stability analysis and synthesis of multi-agent cooperative scenarios.In den letzten Jahrzehnten hat die Forschung in den Bereichen der Steuerung und Regelung komplexer Systeme erhebliche Fortschritte gemacht, insbesondere in den Bereichen Robotik und Computeranimation. Die Entwicklung solcher Systeme verwendet heutzutage neueste Methoden und Entwicklungen im Bereich des maschinellen Lernens und der künstlichen Intelligenz. Die flexible und echtzeitfähige Kombination von motorischen Verhaltensweisen ist eine wesentliche Herausforderung für die Generierung menschenähnlicher Animationen und in der humanoiden Robotik. In diesem Zusammenhang liefern biologisch motivierte Methoden zur Analyse und Resynthese menschlicher motorischer Programme neue Erkenntnisse und Modelle für die antizipatorische Bewegungssynthese. Diese Dissertation präsentiert die Ergebnisse der Arbeiten des Autors im Gebiet der kognitiven und Entwicklungsrobotik, kooperativer und humanoider Robotersysteme sowie intelligenter und maschineller Lernmethoden in der Computergrafik. Der erste Teil der Dissertation im Kapitel “Zielgerichtete Nachahmung für Roboter” behandelt das Imitationslernen in der kognitiven und Entwicklungsrobotik. Die vorgestellten Arbeiten beschreiben neue Methoden für die hierarchische Bewegungserkennung und -planung, die durch Erkenntnisse zur Funktion der kortikalen Spiegelneuronen-Schaltkreise bei Primaten inspiriert wurden. Die entwickelte Architektur ist in der Lage, ‘durch Imitation zu lernen’ und ‘zu lernen zu imitieren’. Das komplette entwickelte System enthält ein echtzeitfähiges Pfadplanungssubsystem zur Hindernisvermeidung während der Durchführung von Armbewegungen. Das lernbasierte Pfadplanungssubsystem ist universell und für alle Arten von anthropomorphen Roboterarmen in der Lage, Wissen auf der Ebene einzelner motorischer Handlungen zu übertragen. Im zweiten Teil der Arbeit “Kinematische Bewegungssynthese für Computergrafik und Robotik” werden die Probleme des Lernens und der Synthese motorischer Synergien, d.h. von räumlichen und räumlich-zeitlichen Kombinationen motorischer Bewegungselemente bei Bewegungssequenzen und bei aufgabenbezogenen Handlungs übergängen behandelt. Es wird ein neuer Ansatz zur Modellierung komplexer menschlicher Ganzkörperaktionen durch Mischungen von zeitverschiebungsinvarianten Motorprimitiven vorgestellt. Zudem wurde ein online-fähiger Synthesealgorithmus für Ganzköperbewegungen entwickelt, der auf dynamischen Bewegungsprimitiven basiert, die wiederum auf der Basis der gelernten verschiebungsinvarianten Primitive konstruiert werden. Dieser Algorithmus wurde für verschiedene Probleme der Bewegungssynthese für die Computergrafik- und Roboteranwendungen implementiert. Das letzte Kapitel der Dissertation mit dem Titel “Kontraktionstheorie und selbstorganisierte Szenarien in der Computergrafik und Robotik” widmet sich optimalen Kontrollstrategien in Multi-Agenten-Szenarien, wobei die Agenten durch eine hochgradig nichtlineare Kinematik gekennzeichnet sind. Dieser letzte Teil präsentiert neue mathematische Werkzeuge für die Stabilitätsanalyse und Synthese von kooperativen Multi-Agenten-Szenarien

Regulation of Mammalian Physiology by Interconnected Circadian and Feeding Rhythms.

Circadian clocks are endogenous timekeeping systems that adapt in an anticipatory fashion the physiology and behavior of most living organisms. In mammals, the master pacemaker resides in the suprachiasmatic nucleus and entrains peripheral clocks using a wide range of signals that differentially schedule physiology and gene expression in a tissue-specific manner. The peripheral clocks, such as those found in the liver, are particularly sensitive to rhythmic external cues like feeding behavior, which modulate the phase and amplitude of rhythmic gene expression. Consequently, the liver clock temporally tunes the expression of many genes involved in metabolism and physiology. However, the circadian modulation of cellular functions also relies on multiple layers of posttranscriptional and posttranslational regulation. Strikingly, these additional regulatory events may happen independently of any transcriptional oscillations, showing that complex regulatory networks ultimately drive circadian output functions. These rhythmic events also integrate feeding-related cues and adapt various metabolic processes to food availability schedules. The importance of such temporal regulation of metabolism is illustrated by metabolic dysfunctions and diseases resulting from circadian clock disruption or inappropriate feeding patterns. Therefore, the study of circadian clocks and rhythmic feeding behavior should be of interest to further advance our understanding of the prevention and therapy of metabolic diseases

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

Towards a continuous dynamic model of the Hopfield theory on neuronal interaction and memory storage

The purpose of this work is to study the Hopfield model for neuronal interaction and memory storage, in particular the convergence to the stored patterns. Since the hypothesis of symmetric synapses is not true for the brain, we will study how we can extend it to the case of asymmetric synapses using a probabilistic approach. We then focus on the description of another feature of the memory process and brain: oscillations. Using the Kuramoto model we will be able to describe them completely, gaining the presence of synchronization between neurons. Our aim is therefore to understand how and why neurons can be seen as oscillators and to establish a strong link between this model and the Hopfield approach

Bio-Inspired Synchronization of Pulse-Coupled Oscillators and its Application to Wireless Sensor Networks

Precise synchronization among networked agents is responsible for phenomena as diverse as coral spawning and consistency in stock market transactions. The importance of synchronization in biological and engineering systems has triggered an avalanche of studies analyzing the emergence of a synchronized behavior within a network of, possibly heterogeneous, agents. In particular, synchronization of networks of coupled oscillators has received great attention since limit cycle oscillators are a natural abstraction for systems where periodicity is a distinctive property. Examples of such systems include circadian rhythms and alternate-current power generators. This work deals with synchronization of pulse-coupled limit cycle oscillators (PCOs). A reverse engineering approach is taken with the objective of obtaining an abstraction for PCO networks able to capture the key properties observed in the classical biological PCO model, to finally implement it in an en gineering system. To this end, we first reformulate the PCO model as a hybrid system, able to integrate in a smooth manner the continuous-time dynamics of the individual oscillators and the impulsive effect of the coupling. Using our new model, we analyze the existence and stability of synchronization in a variety of PCO network topologies, starting from the simplest all-to-all network where global synchronization is proven to exist, to end giving synchronization conditions in the general strongly connected network case. Inspired by the strong synchronization properties of PCO networks we design a PCO-inspired time synchronization protocol for wireless sensor networks that enjoys all the advantages of our optimized PCO setup. A pilot implementation is presented going from a simulation stage to a hardware implementation in Gumstix development boards and industrial acoustic sensors. To test the potential of the protocol in a real application, we implement the PCO-based time synchronization protocol in a distributed acoustic event detection system, where a sensor network combines local measurements over an infrastructure-free wireless network to find the source of an acoustic event. An evaluation by simulation is given to illustrate the advantages of using the pulse-coupled synchronization strategy.The contributions of this thesis range from the theoretical synchronization conditions for a variety of PCO networks to the design and implementation of a synchronization strategy for wireless sensor networks that seems to be the natural choice when using an infrastructure-free wireless network due to its simple formulation and natural scalability

Embodied Cognitive Science of Music. Modeling Experience and Behavior in Musical Contexts

Recently, the role of corporeal interaction has gained wide recognition within cognitive musicology. This thesis reviews evidence from different directions in music research supporting the importance of body-based processes for the understanding of music-related experience and behaviour. Stressing the synthetic focus of cognitive science, cognitive science of music is discussed as a modeling approach that takes these processes into account and may theoretically be embedded within the theory of dynamic systems. In particular, arguments are presented for the use of robotic devices as tools for the investigation of processes underlying human music-related capabilities (musical robotics)

MediaSync: Handbook on Multimedia Synchronization

This book provides an approachable overview of the most recent advances in the fascinating field of media synchronization (mediasync), gathering contributions from the most representative and influential experts. Understanding the challenges of this field in the current multi-sensory, multi-device, and multi-protocol world is not an easy task. The book revisits the foundations of mediasync, including theoretical frameworks and models, highlights ongoing research efforts, like hybrid broadband broadcast (HBB) delivery and users' perception modeling (i.e., Quality of Experience or QoE), and paves the way for the future (e.g., towards the deployment of multi-sensory and ultra-realistic experiences). Although many advances around mediasync have been devised and deployed, this area of research is getting renewed attention to overcome remaining challenges in the next-generation (heterogeneous and ubiquitous) media ecosystem. Given the significant advances in this research area, its current relevance and the multiple disciplines it involves, the availability of a reference book on mediasync becomes necessary. This book fills the gap in this context. In particular, it addresses key aspects and reviews the most relevant contributions within the mediasync research space, from different perspectives. Mediasync: Handbook on Multimedia Synchronization is the perfect companion for scholars and practitioners that want to acquire strong knowledge about this research area, and also approach the challenges behind ensuring the best mediated experiences, by providing the adequate synchronization between the media elements that constitute these experiences

Computational Study of the Mechanisms Underlying Oscillation in Neuronal Locomotor Circuits

In this thesis we model two very different movement-related neuronal circuits, both of which produce oscillatory patterns of activity. In one case we study oscillatory activity in the basal ganglia under both normal and Parkinsonian conditions. First, we used a detailed Hodgkin-Huxley type spiking model to investigate the activity patterns that arise when oscillatory cortical input is transmitted to the globus pallidus via the subthalamic nucleus. Our model reproduced a result from rodent studies which shows that two anti-phase oscillatory groups of pallidal neurons appear under Parkinsonian conditions. Secondly, we used a population model of the basal ganglia to study whether oscillations could be locally generated. The basal ganglia are thought to be organised into multiple parallel channels. In our model, isolated channels could not generate oscillations, but if the lateral inhibition between channels is sufficiently strong then the network can act as a rhythm-generating ``pacemaker'' circuit. This was particularly true when we used a set of connection strength parameters that represent the basal ganglia under Parkinsonian conditions. Since many things are not known about the anatomy and electrophysiology of the basal ganglia, we also studied oscillatory activity in another, much simpler, movement-related neuronal system: the spinal cord of the Xenopus tadpole. We built a computational model of the spinal cord containing approximately 1,500 biologically realistic Hodgkin-Huxley neurons, with synaptic connectivity derived from a computational model of axon growth. The model produced physiological swimming behaviour and was used to investigate which aspects of axon growth and neuron dynamics are behaviourally important. We found that the oscillatory attractor associated with swimming was remarkably stable, which suggests that, surprisingly, many features of axonal growth and synapse formation are not necessary for swimming to emerge. We also studied how the same spinal cord network can generate a different oscillatory pattern in which neurons on both sides of the body fire synchronously. Our results here suggest that under normal conditions the synchronous state is unstable or weakly stable, but that even small increases in spike transmission delays act to stabilise it. Finally, we found that although the basal ganglia and the tadpole spinal cord are very different systems, the underlying mechanism by which they can produce oscillations may be remarkably similar. Insights from the tadpole model allow us to predict how the basal ganglia model may be capable of producing multiple patterns of oscillatory activity