Download or read book Adaptive Internal Models for Motor Control and Visual Prediction written by Wolfram Schenck and published by Logos Verlag Berlin GmbH. This book was released on 2008 with total page 310 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, computational models of adaptive motor control and visuomotor coordination are explored and developed. These models relate to hypotheses on how sensorimotor processing in biological organisms might be organized at an abstract level; furthermore, these models and their specific implementations offer solutions for technical problems in the domain of adaptive robotics. For this reason, both biological and technical aspects are addressed. On the one hand, this thesis focuses on the learning of so-called internal models (Miall et al., 1993; Kawato, 1999): "forward models", which predict the sensory consequences of the agent''s own actions, and "inverse models", which act like motor controllers and generate motor commands. In this area, new strategies and algorithms for learning are suggested and tested on both simulated and real-world robot setups. This work contributes to the understanding of the "building blocks" of integrated sensorimotor processing. On the other hand, this thesis suggests complex models of sensorimotor coordination: In a study on the grasping to extrafoveal targets with a robot arm, it is explored how forward and inverse models may interact, and a second study addresses the question how visual perception of space might arise from the learning of sensorimotor relationships. The theoretical part of the thesis starts with a close view on sensorimotor processing. The cognitivist approach and the embodied approach to sensorimotor processing are contrasted with each other, providing evidence from psychological and neurophysiological studies in favor of the latter. It is outlined how the application of robots fits into the embodied approach as research method. Furthermore, internal models are defined in a formal way, and an overview of their role in models of perception and cognition is provided, with a special emphasis on anticipation and predictive forward models. Afterwards, a thorough overview of internal models in adaptive motor control (covering both kinematics and dynamics) and a novel learning strategy for kinematic control problems ("learning by averaging") are presented. The experimental work comprises four different studies. First, a detailed comparison study of various motor learning strategies for kinematic problems is presented. The performance of "feedback error learning" (Kawato et al., 1987), "distal supervised learning" (Jordan and Rumelhart, 1992), and "direct inverse modeling" (e.g., Kuperstein, 1987) is directly compared on several learning tasks from the domain of eye and arm control (on simulated setups). Moreover, an improved version of direct inverse modeling on the basis of abstract recurrent networks and learning by averaging are included in the comparison. The second study is dedicated to the learning of a visual forward model for a robot camera head. This forward model predicts the visual consequences of camera movements for all pixels of the camera image. The presented learning algorithm is able to overcome the two main difficulties of visual prediction: first, the high dimensionality of the input and output space, and second, the need to detect which part of the visual output is non-predictable. To demonstrate the robustness of the presented learning algorithm, the work is not carried out on plain camera images, but on distorted "retinal images" with a decreasing resolution towards the corners. In the third experimental chapter, a model for grasping to extrafoveal (non-fixated) targets is presented. It is implemented on a robot setup, consisting of a camera head and a robot arm. This model is based on the premotor theory of attention (Rizzolatti et al., 1994) and adds one specific hypothesis: Attention shifts caused by saccade programming imply a prediction of the retinal foveal images after the saccade. For this purpose, the visual forward model from the preceding study is used. Based on this model, several grasping modes are compared; the obtained results are qualitatively congruent with the performance that can be expected from human subjects. The fourth study is based on the theory that visual perception of space and shape is based on an internal simulation process which relies on forward models (Moeller, 1999). This theory is tested by synthetic modeling in the task domain of block pushing with a robot arm.

Download or read book Anticipatory Behavior in Adaptive Learning Systems written by Giovanni Pezzulo and published by Springer. This book was released on 2009-06-18 with total page 345 pages. Available in PDF, EPUB and Kindle. Book excerpt: Anticipatory behavior in adaptive learning systems continues attracting attention of researchers in many areas, including cognitive systems, neuroscience, psychology, and machine learning. This book constitutes the thoroughly refereed post-workshop proceedings of the 4th International Workshop on Anticipatory Behavior in Adaptive Learning Systems, ABiALS 2008, held in Munich, Germany, in June 2008, in collaboration with the six-monthly Meeting of euCognition 'The Role of Anticipation in Cognition'. The 18 revised full papers presented were carefully selected during two rounds of reviewing and improvement for inclusion in the book. The introductory chapter of this state-of-the-art survey not only provides an overview of the contributions included in this volume but also revisits the current available terminology on anticipatory behavior and relates it to the available system approaches. The papers are organized in topical sections on anticipation in psychology with focus on the ideomotor view, conceptualizations, anticipation and dynamical systems, computational modeling of psychological processes in the individual and social domains, behavioral and cognitive capabilities based on anticipation, and computational frameworks and algorithms for anticipation, and their evaluation.

Download or read book Re Enacting Sensorimotor Experience for Cognition written by Guido Schillaci and published by Frontiers Media SA. This book was released on 2017-03-29 with total page 165 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mastering the sensorimotor capabilities of our body is a skill that we acquire and refine over time, starting at the prenatal stages of development. This learning process is linked to brain development and is shaped by the rich set of multimodal information experienced while exploring and interacting with the environment. Evidence coming from neuroscience suggests the brain forms and mantains body representations as the main strategy to this mastering. Although it is still not clear how this knowledge is represented in our brain, it is reasonable to think that such internal models of the body undergo a continuous process of adaptation. They need to match growing corporal dimensions during development, as well as temporary changes in the characteristics of the body, such as the transient morphological alterations produced by the usage of tools. In the robotics community there is an increasing interest in reproducing similar mechanisms in artificial agents, mainly motivated by the aim of producing autonomous adaptive systems that can deal with complexity and uncertainty in human environments. Although promising results have been achieved in the context of sensorimotor learning and autonomous generation of body representations, it is still not clear how such low-level representations can be scaled up to more complex motor skills and how they can enable the development of cognitive capabilities. Recent findings from behavioural and brain studies suggests that processes of mental simulations of action-perception loops are likely to be executed in our brain and are dependent on internal motor representations. The capability to simulate sensorimotor experience might represent a key mechanism behind the implementation of further cognitive skills, such as self-detection, self-other distinction and imitation. Empirical investigation on the functioning of similar processes in the brain and on their implementation in artificial agents is fragmented. This e-book comprises a collection of manuscripts published by Frontiers in Robotics and Artificial Intelligence, under the section Humanoid Robotics, on the research topic re-enactment of sensorimotor experience for cognition in artificial agents. This compendium aims at condensing the latest theoretical, review and experimental studies that address new paradigms for learning and integrating multimodal sensorimotor information in artificial agents, re-use of the sensorimotor experience for cognitive development and further construction of more complex strategies and behaviours using these concepts. The authors would like to thank M.A. Dylan Andrade for his art work for the cover.

Download or read book Measuring modelling and minimizing perceived motion incongruence for vehicle motion simulation written by Diane Cleij and published by Logos Verlag Berlin GmbH. This book was released on 2020-01-28 with total page 294 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humans always wanted to go faster and higher than their own legs could carry them. This led them to invent numerous types of vehicles to move fast over land, water and air. As training how to handle such vehicles and testing new developments can be dangerous and costly, vehicle motion simulators were invented. Motion-based simulators in particular, combine visual and physical motion cues to provide occupants with a feeling of being in the real vehicle. While visual cues are generally not limited in amplitude, physical cues certainly are, due to the limited simulator motion space. A motion cueing algorithm (MCA) is used to map the vehicle motions onto the simulator motion space. This mapping inherently creates mismatches between the visual and physical motion cues. Due to imperfections in the human perceptual system, not all visual/physical cueing mismatches are perceived. However, if a mismatch is perceived, it can impair the simulation realism and even cause simulator sickness. For MCA design, a good understanding of when mismatches are perceived, and ways to prevent these from occurring, are therefore essential. In this thesis a data-driven approach, using continuous subjective measures of the time-varying Perceived Motion Incongruence (PMI), is adopted. PMI in this case refers to the effect that perceived mismatches between visual and physical motion cues have on the resulting simulator realism. The main goal of this thesis was to develop an MCA-independent off-line prediction method for time-varying PMI during vehicle motion simulation, with the aim of improving motion cueing quality. To this end, a complete roadmap, describing how to measure and model PMI and how to apply such models to predict and minimize PMI in motion simulations is presented. Results from several human-in-the-loop experiments are used to demonstrate the potential of this novel approach.

Download or read book Progress in Motor Control written by Michael J. Richardson and published by Springer Science & Business Media. This book was released on 2013-01-09 with total page 205 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume is the most recent installment of the Progress in Motor Control series. It contains contributions based on presentations by invited speakers at the Progress in Motor Control VIII meeting held in Cincinnati, OH, USA in July, 2011. Progress in Motor Control is the official scientific meeting of the International Society of Motor Control (ISMC). The Progress in Motor Control VIII meeting, and consequently this volume, provide a broad perspective on the latest research on motor control in humans and other species.

Download or read book Intelligent Data Engineering and Automated Learning IDEAL 2019 written by Hujun Yin and published by Springer Nature. This book was released on 2019-11-07 with total page 575 pages. Available in PDF, EPUB and Kindle. Book excerpt: This two-volume set of LNCS 11871 and 11872 constitutes the thoroughly refereed conference proceedings of the 20th International Conference on Intelligent Data Engineering and Automated Learning, IDEAL 2019, held in Manchester, UK, in November 2019. The 94 full papers presented were carefully reviewed and selected from 149 submissions. These papers provided a timely sample of the latest advances in data engineering and machine learning, from methodologies, frameworks, and algorithms to applications. The core themes of IDEAL 2019 include big data challenges, machine learning, data mining, information retrieval and management, bio-/neuro-informatics, bio-inspired models (including neural networks, evolutionary computation and swarm intelligence), agents and hybrid intelligent systems, real-world applications of intelligent techniques and AI.

Download or read book Sensory Guidance of Movement written by Gregory R. Bock and published by John Wiley & Sons. This book was released on 2008-04-30 with total page 354 pages. Available in PDF, EPUB and Kindle. Book excerpt: Sensory Guidance of Movement Chairman: Mitchell Glickstein, 1998 In the past few years there has been an increasing recognition of the multiplicity of sensory and motor areas of the cerebral cortex. However, still relatively little is known about the way in which sensory areas are functionally linked to motor areas. On the basis of current anatomical evidence, there are three major pathways involved in this linking. One of these routes is by way of cortico-cortical links, beginning in the primary sensory areas of the cortex, and connecting via a series of synaptic relays to motor or premotor areas. There are also two massive subcortical routes. One of these involves the basal ganglia, the other the cerebellum. This book focuses on current research on the structure and functions of these three pathways and their role in the sensory guidance of movement. Motor psychophysicists have made progress in characterizing the nature of movements such as reaching and grasping, and how such movements are modified by incoming sensory information. Anatomical studies have revealed important new information about the ways in which sensory information is relayed to the basal ganglia and cerebellum. There is now a volume of scanning evidence about the activity of brain areas in humans and recordings from individual neurons in animals during sensory guided movement. This book summarizes much of this recent knowledge and provides a forum for suggesting new avenues for further study. The topics covered also have important implications for understanding the role of these pathways in human disease.

Download or read book Encyclopedia of Neuroscience written by Marc D. Binder and published by Springer. This book was released on 2008-10-13 with total page 4398 pages. Available in PDF, EPUB and Kindle. Book excerpt: This 5000-page masterwork is literally the last word on the topic and will be an essential resource for many. Unique in its breadth and detail, this encyclopedia offers a comprehensive and highly readable guide to a complex and fast-expanding field. The five-volume reference work gathers more than 10,000 entries, including in-depth essays by internationally known experts, and short keynotes explaining essential terms and phrases. In addition, expert editors contribute detailed introductory chapters to each of 43 topic fields ranging from the fundamentals of neuroscience to fascinating developments in the new, inter-disciplinary fields of Computational Neuroscience and Neurophilosophy. Some 1,000 multi-color illustrations enhance and expand the writings.

Download or read book Robot Learning written by Suraiya Jabin and published by BoD – Books on Demand. This book was released on 2010-08-12 with total page 162 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot Learning is intended for one term advanced Machine Learning courses taken by students from different computer science research disciplines. This text has all the features of a renowned best selling text. It gives a focused introduction to the primary themes in a Robot learning course and demonstrates the relevance and practicality of various Machine Learning algorithms to a wide variety of real-world applications from evolutionary techniques to reinforcement learning, classification, control, uncertainty and many other important fields. Salient features: - Comprehensive coverage of Evolutionary Techniques, Reinforcement Learning and Uncertainty. - Precise mathematical language used without excessive formalism and abstraction. - Included applications demonstrate the utility of the subject in terms of real-world problems. - A separate chapter on Anticipatory-mechanisms-of-human-sensory-motor-coordination and biped locomotion. - Collection of most recent research on Robot Learning.

Download or read book Biomechanics and Neural Control of Posture and Movement written by Jack M. Winters and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 690 pages. Available in PDF, EPUB and Kindle. Book excerpt: Most routine motor tasks are complex, involving load transmission through out the body, intricate balance, and eye-head-shoulder-hand-torso-leg coor dination. The quest toward understanding how we perform such tasks with skill and grace, often in the presence of unpredictable perturbations, has a long history. This book arose from the Ninth Engineering Foundation Con ference on Biomechanics and Neural Control of Movement, held in Deer Creek, Ohio, in June 1996. This unique conference, which has met every 2 to 4 years since the late 1960s, is well known for its informal format that promotes high-level, up-to-date discussions on the key issues in the field. The intent is to capture the high quality ofthe knowledge and discourse that is an integral part of this conference series. The book is organized into ten sections. Section I provides a brief intro duction to the terminology and conceptual foundations of the field of move ment science; it is intended primarily for students. All but two of the re maining nine sections share a common format: (l) a designated section editor; (2) an introductory didactic chapter, solicited from recognized lead ers; and (3) three to six state-of-the-art perspective chapters. Some per spective chapters are followed by commentaries by selected experts that provide balance and insight. Section VI is the largest section, and it con sists of nine perspective chapters without commentaries.

Download or read book The Nature of Explanation written by K. J. W. Craik and published by CUP Archive. This book was released on 1967-10 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt: In his only complete work of any length, Kenneth Craik considers thought as a term for the conscious working of a highly complex machine.

Download or read book Biosignal Processing and Computational Methods to Enhance Sensory Motor Neuroprosthetics written by Mitsuhiro Hayashibe and published by Frontiers Media SA. This book was released on 2016-01-22 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt: Though there have been many developments in sensory/motor prosthetics, they have not yet reached the level of standard and worldwide use like pacemakers and cochlear implants. One challenging issue in motor prosthetics is the large variety of patient situations, which depending on the type of neurological disorder. To improve neuroprosthetic performance beyond the current limited use of such systems, robust bio-signal processing and model-based control involving actual sensory motor state (with biosignal feedback) would bring about new modalities and applications, and could be a breakthrough toward adaptive neuroprosthetics. Recent advances of Brain Computer Interfaces (BCI) now enable patients to transmit their intention of movement. However, the functionality and controllability of motor prosthetics itself can be further improved to take advantage of BCI interfaces. In this Research Topic we welcome contribution of original research articles, computational and experimental studies, review articles, and methodological advances related to biosignal processing that may enhance the functionality of sensory motor neuroprosthetics. The scope of this topic includes, but is not limited to, studies aimed at enhancing: 1) computational biosignal processing in EMG (Electromyography), EEG (Electroencephalography), and other modalities of biofeedback information; 2) the computational method in modeling and control of sensory motor neuroprosthetics; 3) the systematic functionality aiming to provide solutions for specific pathological movement disorders; 4) human interfaces such as BCI - but in the case of BCI study, manuscripts should be experimental studies which are applied to sensory/motor neuroprosthetics in patients with motor disabilities.

Download or read book Modularity in Motor Control From Muscle Synergies to Cognitive Action Representation written by Andrea d'Avella and published by Frontiers Media SA. This book was released on 2016-04-21 with total page 794 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mastering a rich repertoire of motor behaviors, as humans and other animals do, is a surprising and still poorly understood outcome of evolution, development, and learning. Many degrees-of-freedom, non-linear dynamics, and sensory delays provide formidable challenges for controlling even simple actions. Modularity as a functional element, both structural and computational, of a control architecture might be the key organizational principle that the central nervous system employs for achieving versatility and adaptability in motor control. Recent investigations of muscle synergies, motor primitives, compositionality, basic action concepts, and related work in machine learning have contributed to advance, at different levels, our understanding of the modular architecture underlying rich motor behaviors. However, the existence and nature of the modules in the control architecture is far from settled. For instance, regularity and low-dimensionality in the motor output are often taken as an indication of modularity but could they simply be a byproduct of optimization and task constraints? Moreover, what are the relationships between modules at different levels, such as muscle synergies, kinematic invariants, and basic action concepts? One important reason for the new interest in understanding modularity in motor control from different viewpoints is the impressive development in cognitive robotics. In comparison to animals and humans, the motor skills of today’s best robots are limited and inflexible. However, robot technology is maturing to the point at which it can start approximating a reasonable spectrum of isolated perceptual, cognitive, and motor capabilities. These advances allow researchers to explore how these motor, sensory and cognitive functions might be integrated into meaningful architectures and to test their functional limits. Such systems provide a new test bed to explore different concepts of modularity and to address the interaction between motor and cognitive processes experimentally. Thus, the goal of this Research Topic is to review, compare, and debate theoretical and experimental investigations of the modular organization of the motor control system at different levels. By bringing together researchers seeking to understand the building blocks for coordinating many muscles, for planning endpoint and joint trajectories, and for representing motor and behavioral actions in memory we aim at promoting new interactions between often disconnected research areas and approaches and at providing a broad perspective on the idea of modularity in motor control. We welcome original research, methodological, theoretical, review, and perspective contributions from behavioral, system, and computational motor neuroscience research, cognitive psychology, and cognitive robotics.

Download or read book Biological Learning and Control written by Reza Shadmehr and published by MIT Press. This book was released on 2023-10-31 with total page 397 pages. Available in PDF, EPUB and Kindle. Book excerpt: A novel theoretical framework that describes a possible rationale for the regularity in how we move, how we learn, and how our brain predicts events. In Biological Learning and Control, Reza Shadmehr and Sandro Mussa-Ivaldi present a theoretical framework for understanding the regularity of the brain's perceptions, its reactions to sensory stimuli, and its control of movements. They offer an account of perception as the combination of prediction and observation: the brain builds internal models that describe what should happen and then combines this prediction with reports from the sensory system to form a belief. Considering the brain's control of movements, and variations despite biomechanical similarities among old and young, healthy and unhealthy, and humans and other animals, Shadmehr and Mussa-Ivaldi review evidence suggesting that motor commands reflect an economic decision made by our brain weighing reward and effort. This evidence also suggests that the brain prefers to receive a reward sooner than later, devaluing or discounting reward with the passage of time; then as the value of the expected reward changes in the brain with the passing of time (because of development, disease, or evolution), the shape of our movements will also change. The internal models formed by the brain provide the brain with an essential survival skill: the ability to predict based on past observations. The formal concepts presented by Shadmehr and Mussa-Ivaldi offer a way to describe how representations are formed, what structure they have, and how the theoretical concepts can be tested.

Download or read book Adaptive Internal Models in Neuroscience written by Mireille E. Broucke and published by . This book was released on 2022 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the open questions in neuroscience is the function of the cerebellum, a major brain region involved in regulation of the motor systems, speech, emotion, and other cognitive functions of the body. In this monograph the author makes and tests a hypothesis that the primary function of the cerebellum is disturbance rejection of exogenous reference and disturbance signals. In achieving this goal, the author provides a brief historical overview of computational theories of cerebellar function and of the relevant parts of control theory in the area of regulator theory, and then presents a chronological review of subjects in control theory related to the hypothesis.The author begins with classical regulator theory and highlight some aspects that are not suited to the modeling of the cerebellum. Then adaptive control theory is reviewed in terms of error models. To test the hypothesis on cerebellar function, the author applies adaptive internal model designs to several motor systems regulated by the cerebellum. These include the slow eye movement systems: the vestibulo-ocular reflex, gaze holding, smooth pursuit, and the optokinetic system. Finally, discrete time behaviors regulated by the cerebellum are investigated. In all, this monograph provides a unifying framework to explain how the cerebellum can contribute to so many different systems in the body. This monograph is an important comprehensive study of modeling the cerebellum using control theory techniques. It will be of interest to neuroscientists and control theorists working on understanding the function of the human brain.

Download or read book Predictive Mechanisms of the Cerebello Cerebral Networks written by Mario U. Manto and published by Frontiers Media SA. This book was released on 2020-01-24 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Handbook of Virtual Environments written by Kelly S. Hale and published by CRC Press. This book was released on 2002-01-01 with total page 1273 pages. Available in PDF, EPUB and Kindle. Book excerpt: This Handbook, with contributions from leading experts in the field, provides a comprehensive, state-of-the-art account of virtual environments (VE). It serves as an invaluable source of reference for practitioners, researchers, and students in this rapidly evolving discipline. It also provides practitioners with a reference source to guide