Perception-Action Cycle Springer Series in Cognitive and Neural Systems Volume1 SeriesEditors JohnG.Taylor King’sCollege,London,UK VassilisCutsuridis BostonUniversity,Boston,MA,USA Forfurthervolumes http://www.springer.com/series/8572 Vassilis Cutsuridis (cid:2) Amir Hussain John G. Taylor Editors Perception-Action Cycle Models, Architectures, and Hardware ABC Editors VassilisCutsuridis JohnG.Taylor DepartmentofPsychology DepartmentofMathematics CenterforMemoryandBrain King’sCollege BostonUniversity London Boston,MA02215 UK USA [email protected] [email protected] AmirHussain DepartmentofComputingScienceand Mathematics UniversityofStirling StirlingFK94LA UK [email protected] ISBN978-1-4419-1451-4 e-ISBN978-1-4419-1452-1 DOI10.1007/978-1-4419-1452-1 SpringerNewYorkDordrechtHeidelbergLondon LibraryofCongressControlNumber:2011920805 (cid:3)c SpringerScience+BusinessMedia,LLC2011 Allrightsreserved.Thisworkmaynotbetranslatedorcopiedinwholeorinpartwithoutthewritten permission of the publisher (Springer Science+Business Media, LLC, 233 Spring Street, New York, NY10013, USA),except forbrief excerpts inconnection with reviews orscholarly analysis. Usein connectionwithanyformofinformationstorageandretrieval,electronicadaptation,computersoftware, orbysimilarordissimilarmethodologynowknownorhereafterdevelopedisforbidden. Theuseinthispublicationoftradenames,trademarks,servicemarks,andsimilarterms,eveniftheyare notidentifiedassuch,isnottobetakenasanexpressionofopinionastowhetherornottheyaresubject toproprietaryrights. Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Preface The perception–actioncycle has been describedby the eminentneuroscientistJM Fusterasthecircularflowofinformationthattakesplacebetweentheorganismand itsenvironmentinthecourseofasensory-guidedsequenceofbehaviourtowardsa goal.Eachactioninthesequencecausescertainchangesintheenvironmentthatare analysedbottom-upthroughtheperceptualhierarchyandleadstotheprocessingof furtheraction, top-downthroughthe executivehierarchy,towardsmotoreffectors. Thesecausenewchangesthatareanalysedandleadtonewaction,andsoon. This book provides a snapshot and a resume´ of the current state-of-the-art of the ongoingresearchavenuesconcerningthe perception–actioncycle. The central aimofthevolumeistobeaninformationalresourceandamethodologyforanyone interestedinconstructinganddevelopingmodels,algorithmsandhardwareimple- mentationsofautonomousmachinesempoweredwithcognitivecapabilities. The book is divided into three thematic areas: (1) computationalneuroscience models, (2) cognitive architectures and (3) hardware implementations. In the first thematicarea,leadingcomputationalneuroscientistspresentbrain-inspiredmodels ofperception,attention,cognitivecontrol,decisionmaking,conflictresolutionand monitoring, knowledge representation and reasoning, learning and memory, plan- ning and action, and consciousnessgroundedon experimentaldata. In the second thematicarea,architectures,algorithmsandsystemswithcognitivecapabilitiesand minimalguidancefromthebrainarediscussed.Thesearchitectures,algorithmsand systemsareinspiredfromtheareasofcognitivescience,computervision,robotics, information theory, machine learning, computer agents and artificial intelligence. In the third thematic area, the analysis, design and implementation of hardware systemswithrobustcognitiveabilitiesfromtheareasofmechatronics,sensingtech- nology,sensorfusion,smartsensornetworks,controlrules,controllability,stability, model/knowledgerepresentationandreasoningarediscussed. Thisengagingvolumewillbeinvaluabletocomputationalneuroscientists,cog- nitive scientists, robotists, electrical engineers, physicists, mathematicians and others interested in developing cognitive models, algorithms and systems of the perception–actioncycle. Graduate level students and trainees in all of these fields willfindthisbookasignificantsourceofinformation. v vi Preface Finally, there are many people whom we would like to thank for making this book possible. This includes all the contributing authors who did a great job. We wouldliketothankAnnH.Avouris,ourSpringersenioreditor,andmembersofthe productionteam,fortheirconsistenthelpandsupport.Wededicatethisworktoour families. Boston,USA VassilisCutsuridis Stirling,UK AmirHussain London,UK JohnG.Taylor Contents PartI ComputationalNeuroscienceModels 1 The Role of Attentionin Shaping Visual Perceptual Processes....................................................................... 5 JohnK.TsotsosandAlbertL.Rothenstein 2 SensoryFusion................................................................ 23 MauroUrsino,ElisaMagosso,andCristianoCuppini 3 Modelling Memory andLearning Consistently from PsychologytoPhysiology .................................................... 63 L.AndrewCoward 4 ValueMaps,Drives,andEmotions .........................................135 DanielS.Levine 5 ComputationalNeuroscienceModels:ErrorMonitoring, ConflictResolution,andDecisionMaking.................................169 JoshuaW.BrownandWilliamH.Alexander 6 NeuralNetworkModelsforReachingandDexterous ManipulationinHumansandAnthropomorphicRobotic Systems ........................................................................187 Rodolphe J. Gentili, Hyuk Oh, Javier Molina, andJose´L.Contreras-Vidal 7 SchemataLearning...........................................................219 RyunosukeNishimotoandJunTani 8 The Perception-Conceptualisation-Knowledge Representation-ReasoningRepresentation-ActionCycle: TheViewfromtheBrain ....................................................243 JohnG.Taylor vii viii Contents 9 Consciousness,Decision-MakingandNeuralComputation.............287 EdmundT.Rolls 10 AReviewofModelsofConsciousness......................................335 JohnG.Taylor PartII CognitiveArchitectures 11 Vision,AttentionControl,andGoalsCreationSystem ..................363 Konstantinos Rapantzikos, Yannis Avrithis, andStefanosKolias 12 Semantics Extraction From Multimedia Data: An Ontology-BasedMachineLearningApproach............................387 SergiosPetridisandStavrosJ.Perantonis 13 CognitiveAlgorithmsandSystemsofEpisodicMemory, SemanticMemory,andTheirLearnings...................................417 QiZhang 14 MotivationalProcessesWithinthePerception–Action Cycle ...........................................................................449 RonSunandNickWilson 15 CognitiveAlgorithmsandSystemsofErrorMonitoring, ConflictResolutionandDecisionMaking .................................473 PedroU.Lima 16 DevelopmentalLearningofCooperativeRobotSkills: AHierarchicalMulti-AgentArchitecture .................................497 John N. Karigiannis, Theodoros Rekatsinas, andCostasS.Tzafestas 17 ActionsandImaginedActionsinCognitiveRobots ......................539 VishwanathanMohan,PietroMorasso,GiorgioMetta, andStathisKasderidis 18 Cognitive Algorithms and Systems: Reasoning and KnowledgeRepresentation..................................................573 ArturS.d’AvilaGarcezandLuisC.Lamb 19 InformationTheoryofDecisionsandActions.............................601 NaftaliTishbyandDanielPolani Contents ix 20 ArtificialConsciousness......................................................637 AntonioChellaandRiccardoManzotti PartIII HardwareImplementations 21 SmartSensorNetworks......................................................675 AlvinS.Lim 22 MultisensorFusionforLow-PowerWirelessMicrosystems.............711 TongBoonTangandAlanF.Murray 23 Bio-InspiredMechatronicsandControlInterfaces.......................749 PanagiotisK.ArtemiadisandKostasJ.Kyriakopoulos Index.................................................................................777