2,064 research outputs found
Duplication of modules facilitates the evolution of functional specialization
The evolution of simulated robots with three different architectures is studied. We compared a non-modular feed forward network, a hardwired modular and a duplication-based modular motor control network. We conclude that both modular architectures outperform the non-modular architecture, both in terms of rate of adaptation as well as the level of adaptation achieved. The main difference between the hardwired and duplication-based modular architectures is that in the latter the modules reached a much higher degree of functional specialization of their motor control units with regard to high level behavioral functions. The hardwired architectures reach the same level of performance, but have a more distributed assignment of functional tasks to the motor control units. We conclude that the mechanism through which functional specialization is achieved is similar to the mechanism proposed for the evolution of duplicated genes. It is found that the duplication of multifunctional modules first leads to a change in the regulation of the module, leading to a differentiation of the functional context in which the module is used. Then the module adapts to the new functional context. After this second step the system is locked into a functionally specialized state. We suggest that functional specialization may be an evolutionary absorption state
Ongoing Emergence: A Core Concept in Epigenetic Robotics
We propose ongoing emergence as a core concept in
epigenetic robotics. Ongoing emergence refers to the
continuous development and integration of new skills
and is exhibited when six criteria are satisfied: (1)
continuous skill acquisition, (2) incorporation of new
skills with existing skills, (3) autonomous development
of values and goals, (4) bootstrapping of initial skills, (5)
stability of skills, and (6) reproducibility. In this paper
we: (a) provide a conceptual synthesis of ongoing
emergence based on previous theorizing, (b) review
current research in epigenetic robotics in light of ongoing
emergence, (c) provide prototypical examples of ongoing
emergence from infant development, and (d) outline
computational issues relevant to creating robots
exhibiting ongoing emergence
Building Brains for Bodies
We describe a project to capitalize on newly available levels of computational resources in order to understand human cognition. We will build an integrated physical system including vision, sound input and output, and dextrous manipulation, all controlled by a continuously operating large scale parallel MIMD computer. The resulting system will learn to "think'' by building on its bodily experiences to accomplish progressively more abstract tasks. Past experience suggests that in attempting to build such an integrated system we will have to fundamentally change the way artificial intelligence, cognitive science, linguistics, and philosophy think about the organization of intelligence. We expect to be able to better reconcile the theories that will be developed with current work in neuroscience
Emerging Linguistic Functions in Early Infancy
This paper presents results from experimental
studies on early language acquisition in infants and
attempts to interpret the experimental results within
the framework of the Ecological Theory of
Language Acquisition (ETLA) recently proposed
by (Lacerda et al., 2004a). From this perspective,
the infant’s first steps in the acquisition of the
ambient language are seen as a consequence of the
infant’s general capacity to represent sensory input
and the infant’s interaction with other actors in its
immediate ecological environment. On the basis of
available experimental evidence, it will be argued
that ETLA offers a productive alternative to
traditional descriptive views of the language
acquisition process by presenting an operative
model of how early linguistic function may emerge
through interaction
Robotic Architectures
In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging and complex task. With a number of existing architectures and tools to choose from, a review of the existing robotic architecture is essential. This paper surveys the different paradigms in robotic architectures. A classification of the existing robotic architectures and comparison of different proposals attributes and properties have been carried out. The paper also provides a view on the current state of designing robot architectures. It also proposes a conceptual model of a generalised robotic architecture for mobile autonomous robots.Defence Science Journal, 2010, 60(1), pp.15-22, DOI:http://dx.doi.org/10.14429/dsj.60.9
Learning mobile robotics using lego mindstorms
The learning of some areas of knowledge requires the application
of new learning methods in order to motivate and involve the
students in the learning process. This paper describes an
experience of the introduction of the flexible, modular and
educational LEGO Mindstorms platform at high-degree studies to
support the learning of mobile robotics topics
An autonomous satellite architecture integrating deliberative reasoning and behavioural intelligence
This paper describes a method for the design of autonomous spacecraft, based upon behavioral approaches to intelligent robotics. First, a number of previous spacecraft automation projects are reviewed. A methodology for the design of autonomous spacecraft is then presented, drawing upon both the European Space Agency technological center (ESTEC) automation and robotics methodology and the subsumption architecture for autonomous robots. A layered competency model for autonomous orbital spacecraft is proposed. A simple example of low level competencies and their interaction is presented in order to illustrate the methodology. Finally, the general principles adopted for the control hardware design of the AUSTRALIS-1 spacecraft are described. This system will provide an orbital experimental platform for spacecraft autonomy studies, supporting the exploration of different logical control models, different computational metaphors within the behavioral control framework, and different mappings from the logical control model to its physical implementation
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