Telepresence: Immersion with the iCub Humanoid Robot and the Oculus Rift

In this paper we present an architecture for the study of telepresence and human-robot interaction. The telepresence system uses the visual and gaze control systems of the iCub humanoid robot coupled with the Oculus Rift virtual reality system. The human is able to observe a remote location from the visual feedback displayed in the Oculus Rift. The exploration of the remote environment is achieved by controlling the eyes and head of the iCub humanoid robot with orientation information from human head movements. Our system was tested from various remote locations in a local network and through the internet, producing a smooth control of the robot. This provides a robust architecture for immersion of humans in a robotic system for remote observation and exploration of the environment

Extending a Hippocampal Model for Navigation Around a Maze Generated from Real-World Data

An essential component in the formation of understanding is the ability to use past experience to comprehend the here and now, and to aid selection of future action. Past experience is stored as memories which are then available for recall at very short notice, allowing for understanding of short and long term action. Autobiographical memory (ABM) is a form of temporally organised memory and is the organisation of episodes and contextual information from an individual’s experience into a coherent narrative, which is key to a sense of self. Formation and recall of memories is essential for effective and adaptive behaviour in the world, providing contextual information necessary for planning actions and memory functions, such as event reconstruction. Here we tested and developed a previously defined computational memory model, based on hippocampal structure and function, as a first step towards developing a synthetic model of human ABM (SAM). The hippocampal model chosen has functions analogous to that of human ABM. We trained the model on real-world sensory data and demonstrate successful, biologically plausible memory formation and recall, in a navigational task. The hippocampal model will later be extended for application in a biologically inspired system for human-robot interaction

An integrated probabilistic framework for robot perception, learning and memory

Learning and perception from multiple sensory modalities are crucial processes for the development of intelligent systems capable of interacting with humans. We present an integrated probabilistic framework for perception, learning and memory in robotics. The core component of our framework is a computational Synthetic Autobiographical Memory model which uses Gaussian Processes as a foundation and mimics the functionalities of human memory. Our memory model, that operates via a principled Bayesian probabilistic framework, is capable of receiving and integrating data flows from multiple sensory modalities, which are combined to improve perception and understanding of the surrounding environment. To validate the model, we implemented our framework in the iCub humanoid robotic, which was able to learn and recognise human faces, arm movements and touch gestures through interaction with people. Results demonstrate the flexibility of our method to successfully integrate multiple sensory inputs, for accurate learning and recognition. Thus, our integrated probabilistic framework offers a promising core technology for robust intelligent systems, which are able to perceive, learn and interact with people and their environments

Bidirectional alterations in brain temperature profoundly modulate spatiotemporal neurovascular responses in-vivo

Neurovascular coupling (NVC) is a mechanism that, amongst other known and latent critical functions, ensures activated brain regions are adequately supplied with oxygen and glucose. This biological phenomenon underpins non-invasive perfusion-related neuroimaging techniques and recent reports have implicated NVC impairment in several neurodegenerative disorders. Yet, much remains unknown regarding NVC in health and disease, and only recently has there been burgeoning recognition of a close interplay with brain thermodynamics. Accordingly, we developed a novel multi-modal approach to systematically modulate cortical temperature and interrogate the spatiotemporal dynamics of sensory-evoked NVC. We show that changes in cortical temperature profoundly and intricately modulate NVC, with low temperatures associated with diminished oxygen delivery, and high temperatures inducing a distinct vascular oscillation. These observations provide novel insights into the relationship between NVC and brain thermodynamics, with important implications for brain-temperature related therapies, functional biomarkers of elevated brain temperature, and in-vivo methods to study neurovascular coupling

Theoretical influence of female mating status and remating propensity on male sperm allocation patterns

Engqvist L, Reinhold K. Theoretical influence of female mating status and remating propensity on male sperm allocation patterns. JOURNAL OF EVOLUTIONARY BIOLOGY. 2006;19(5):1448-1458.Theoretical models predict that males should allocate more sperm in matings where the immediate risk of sperm competition is high. It has therefore often been argued that males should invest less sperm in matings with virgin females compared with matings with already mated females. However, with relatively polyandrous females, high sperm competition risk will covary with high sperm competition intensity leading to more unpredictable conditions, as high competition intensity should favour smaller ejaculates. With the use of a genetic algorithm, we found that males should allocate more sperm in matings with virgin females when female mating frequency is relatively high, whereas low remating rates will select for higher effort in matings with nonvirgin females. At higher remating rates, first male sperm precedence favours larger ejaculates in matings with virgin females and second male precedence favours the reverse. These results shed some light on several findings that have been difficult to explain adaptively by the hitherto developed theory on sperm allocation