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30 Νοε 2013 (πριν από 3 χρόνια και 8 μήνες)

48 εμφανίσεις

Conscious Robots,

Self
-
Aware Robots & Automata:


Engineering Computational Models & Architectures

for Cognitive Robotics and Machine Consciousness

Dr. John
-
Thones Amenyo

jta@york.cuny.edu

Dept. Math & CS


November 2008

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


1




Conscious Robots,

Self
-
Aware Robots & Automata


Talk Outline: Main Ideas

Who, Which:

Autonomous Robots; Mobile Robots; Autonomous Mobile
Robots; Intelligent Artifacts, Augmented Reality; Large
-
Scale, Distributed
Systems; Self
-
Aware Robots, Cognitive Robotics, Machine Consciousness


What:

Embed, Incorporate Consciousness + Self
-
Awareness in IT / ICT
Artifacts

Why:

Meta
-
Autonomy in support of Survival / Teleological Goals

Where:

Internal, Self
-
contained; “Creator
-
in
-
a
-
box”, Proxy
-
of
-
Designer

When:

Run
-
time; Operational Life
-
cycle Support

How:

Multi
-
scale, Multi
-
layer, Multi
-
level Computer Architecture
(PMSCIO) Models and Designs

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


2




Conscious Robots,

Self
-
Aware Robots & Automata


Consciousness: SOCAR



Wakefulness
, Wakeful/Awake State Occupancy. Graded / Fuzzy. (Arousal, Excitement). (Alternate States: Sleep;
Anaesthesia; Coma; Death; Development/Morphogenesis state)



(Alternate States: Unconscious, Sub
-
conscious; Hyper
-
conscious / Super
-
conscious / Ultra
-
conscious)



Attention
; Attentional Control / Focus; Sequential Switching, Ordering, Scheduling



Ego;
Self
; Unity; Coherence; “Soliton”



Conscious Awareness
; Sensation; Perception; Cognition, Concepts;
Verbal / Linguistic Awareness
, Conceptions



Inner Speech

(Talking to Self, Thinking?); Silent Speech; Mental Visual Imagery



Subjective Awareness;
Qualia
; Phenomenal Awareness



Emotional Valuation
(Feelings, Moods, Pains, Pleasures
)
;
Motivational Valuation

(Urge, Drive, Impetus, Obsession)



Memory
; Remembering; Recall; Learning; Imagination; Envisioning; What
-
if Scenarios; Deliberation; Expectations



Intention
; Intentional Actions, Behaviors; Will; Self
-
Initiative; Reaction; Pro
-
action; Interaction; Transaction, Volition



Self Awareness

+ Self
-
Control; Emotional Expression; Motivational Expression




SOCAR


Separation Of Concerns, Aspects & Roles

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY

3




Conscious Robots,

Self
-
Aware Robots & Automata


Self
-
Awareness + Self
-
Control: SOCAR

Self
-

Consciousness, Awareness, Monitoring; Evaluation; Assessment; Testing; Diagnosis;
Analysis; Prognosis, Identity; Identification; Individuation; Prediction; Forecasting; Learning;
Knowledge; Documenting; Archiving; Inspecting; (Introspection); Modeling; Simulation; Observation;
Cognition; Envisioning; Imagination; Intelligence (Espionage); Study; Reflection; Deliberation;


Self
-

Reliance; Reliant; Responsible; Customizing; Devising; Managing; Initiating; Directing;
Protecting; Control; Regulating; Supporting; Restructuring; Programming; Re
-
programming;
Reviewing; Adaptive; Sufficiency; Redesign; Re
-
engineering; Updating; Upgrading; Modifying;
Repairing; Maintaining; Healing; Discipline; Censorship; Sponsorship; Motivating; Drive; Deployment;
Instruction; Optimizing; Preservation


Self
-

Control, Generative; Regenerating; Evolving; Configuring; Re
-
configuring; Organizing

Implementing; Realizing; Intervention; Planning; Sustaining; Correcting; Recovery; Assembly,
Regulation


SOCAR


Separation Of Concerns, Aspects & Roles

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


4




Conscious Robots,

Self
-
Aware Robots & Automata


Applications & Related Areas

Autonomous Robots; Mobile Robots; Autonomous Mobile Robots; Intelligent Artifacts,
Augmented Reality; Large
-
Scale, Distributed Systems; Humanoid Robots,
Anthropomorphic Robots; Embodied Intelligence; Embodied Cognition; Embodied
Emotions, Affect & Connation;



Automonic Computing (IBM); Conscientious Software (Sun Microsys); Recovery
-
Oriented Programming; Fault
-
Tolerant Computing; Continuously Evolving IT/ICT


Natural Computation: Biol.
-
inspired; Bio
-
mimetic; Bio
-
imitation;

Computational Intelligence; Biocomputing; Artificial Immune Systems;
Immunocomputing


Computational Neuroscience, Neurocomputing; Biological Information Processing


Military, Defense, Security; Space & Planetary Exploration; Undersea, Seafloor
Exploration / Exploitation; Nuclear / Hazardous Waste Storage Management

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


5




Conscious Robots,

Self
-
Aware Robots & Automata


Architectural Models & Theories: Meta
-
levels

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


6




M. Minsky:

A. Sloman:

External
Environment

A
-
Brain

Body

External
Environment

B
-
Brain

C
-
Brain

Body

Reactive
Control

Deliberative
Control

Meta
-
Management

B. Baars:

Consciousness:

Global Workspace Theory. Blackboard
Architecture of a Collection of Specialized Processes (Agents)

Conscious Robots,

Self
-
Aware Robots & Automata


Architectural Models & Theories: Meta
-
levels

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


7




M. Minsky:

External
Environment

Body

Instinctive

Reactive

Learned

Reactive

Deliberative

Thinking

Reflective

Thinking

Self
-
Reflective

Thinking

Self
-
Conscious

Reflection

Conscious Robots,

Self
-
Aware Robots & Automata


Why:
Plausible Reasons for Evolution

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


8






A Perfect,
Flawless
, synchronically and diachronically well
-
adapted System does NOT need
Consciousness

nor
Self
-
Awareness.
Only needed to cope with
Uncertainty
(plus
Fear, Doubt, Change, Diversity,
Entropy
)



Uncertainty = Potential for Expectation Violations in System Lifecycle: Goals, Needs,
Requirements, Specifications, Design, Architecture; Coding; Implementation; Configuration;
Deployment; Operation; Management; Use; etc.





Embed as Real
-
time, Run
-
time, Online
Creator
-
in
-
a
-
Box
, Internalized, Interiorized
Designer’s
Proxy
; GOD
-
in
-
a
-
Box. (G.O.D


Grappler / Generator Of Diversity)



Stored Creator
-
Designer Proxy concept: Regard as extension of J. von Neumann’s concept of
Stored Program Control (Puppeteer
-
in
-
a
-
Box).


(Also regard as beyond Tele
-
operation, Remote Control)


Use Top
-
Down
Inherited Attributes (c.f. Attribute Grammars)
to Obviate
Combinatorial Explosion
in
dealing with
Discrete Structures, (e.g., Kronecker products, or Cartesian, Cross, Tensor
products)

Conscious Robots,

Self
-
Aware Robots & Automata



GOD
-
in
-
a
-
Box: Stored Creator
-
Designer Proxy Concept

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


9




External
Environment

Operator
Proxy

Body


Creator
-
Designer Proxy

External
Environment

Cybernetics
Control
“Brain”

Body


Mind
Unconscious

Consciousness


Self

Self
-
Awareness

Conscious Robots,

Self
-
Aware Robots & Automata


Design Patterns: Diverse Organisms and Artifacts Can Evolve

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


10




External
Environment

Cybernetics
Control

Body


Mind
Unconscious

Consciousness


Self

Self
-
Awareness

External
Environment

Cybernetics
Control

Body


Mind
Unconscious





External
Environment

Control

Body





Conscious Robots,

Self
-
Aware Robots & Automata


Energetics / Informatics Dimensions

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


11




Body

Cybernetics
Control

Mind /
Unconscious

Consciousness
+
Self

Self
-
Awareness

Energetics

Hard, Real,

Physical

Material

Mechanics

Kinematics

Kinetics

Dynamics

Synergetics

Informatics

Soft, Virtual, Overlay

Immaterial

Unconscious

Sub
-
conscious

Fringe
-
conscious

Cybernetics

Command

Communications

Content Manip.

Coordination

Conscious Robots,

Self
-
Aware Robots & Automata


Run
-
time “Creator
-
in
-
a
-
Box” “Engineering
-
ilities
” Goals


Performance, Productivity, Reliability, Availability, Dependability, Resilience,
Robustness, Fault
-
tolerance, Survivability, Integrity,


Autonomy,


Organizability, Complexity, Understandability


Upgradability, Maintainability, Evolvability, Mutability, Modifiability, Tunability,
Adaptability, Repairability, Serviceability


Functionality, Effectiveness, Adequacy, Capability, Ability,


Cost, Optimality, Efficiency, Accountability


Manageability, Transparency, Administrability, Controllability, Observability,
Diagnosability, Testability, Predictability, Operability


Quality, Assurance,


Coherence, Organizability, Assemblage, Designability, Buildability,
Constructability, Deployability, Scalability, Configurability, Embodiment


Safety, Security, Protection

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


12




Conscious Robots,

Self
-
Aware Robots & Automata


Run
-
time “Creator
-
in
-
a
-
Box” Coping With Uncertainty


Prediction, Forecasting, Prognosis


Analysis, Diagnosis, Characterization, Classification


Learning, Understanding, Comprehension, Mastery


Modeling, (Virtual, Inner) Simulation


Evaluation, Valuation, Signification, Denotation, Annotation


Structuring


Ranking, Rating, Grading, Gradation, Sorting


Transformation, Variation, Extension Modification, Mutation, Change


Generalization, Abstraction, Scaling


Specialization, Customization, “Personalization”


Selection, Choice, Multiplexing


Modulation


Command, Control, Coordination, Regulation


Instruction, Teaching

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


13




Conscious Robots,

Self
-
Aware Robots & Automata


Multi
-
Layer Architectural Model


Biological Systems


Goal Layer
:


Survival, Animal Needs


Computational Layer


Sensation, Perception


Emotions, Motivations


Memory, Learning, Cognition


Behaviors, Actions, Mobility


Physical / Material Layer


Neuron networks, circuits


Neuron, nerve cells


Neuron synapses, ion channels


Bio
-
molecules, Bio
-
physics


© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


14






Survival / Goal Layer



Computational Layer






Physical / Material Layer


Engineered Artifacts


Goal Layer
:


Survival, Assigned Needs


Computational Layer


Computations, Calculations


Information Processing


Content Manipulation


Cybernetics, Control, Coord.


Physical / Material Layer


Register Transfer Level


Digital Logic, Digital Electronics


Electronics, Optics, Photonics


Materials, Electro
-
Magnetics


Conscious Robots,

Self
-
Aware Robots & Automata


Multi
-
Layer / Multi
-
Scale Architecture Model

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


15




Teleological

Teleological

Teleological

Teleological

Teleological

Teleological

Environment

Computationa
l

Computational

Computational

Computational

Computational

Computational


Physical


Physical


Physical


Physical


Physical


Physical

Compare; ISO / OSI 7
-
layer & B
-
ISDN/ATM 7
-
layer x 3
-
plane data comm. protocol models

Body

Control / “Brain”

Mind /
“Unconscious”

Consciousness


+ Self

Self
-

Awareness

Conscious Robots,

Self
-
Aware Robots & Automata


Skip
-
Level / “Fat” Augmented Architecture

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


16




External
Environment

Cybernetics
Control

Body


Mind
Unconscious

Consciousness


Self

Self
-
Awareness

External
Environment

Body

Control

Mind

Consciousness
/ Self

B

C

B

C

M

B


Body Proxy

C


Control Proxy

M


Mind Proxy

Conscious Robots,

Self
-
Aware Robots & Automata


PMSCIO

Functional Roles in Architecture

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


17




External
Environment

Body

C/S

O

I

I

O

I

I

I

O

C/S

C/S
*

C/S

O

O

P


Processing, Processor

M


Memory, Storage

S


Switching, Communications, Exchange

C


Control, Coordination

IO


Input / Output (Transducers)

I


Input (Sensors) / O


Output (Effectors)

Control

“Mind”

Unconscious

Consciousness

+
Self

Self
-

Awareness

C/S


(Shared Resource) Resource
-
Sharing Multi
-
access
Conflict Resolution; Fuzzy Mux; *Attentional Controls

Conscious Robots,

Self
-
Aware Robots & Automata


PMSCIO

Architecture
2

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


18




External
Environment

Body

O

I

Control

“Mind”/Unconscious

Consciousness

+
Self

E


Emotional Proc

M


Motivational Proc.

m


Memory Proc.

C/S

IP

OP

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

C/S

IP

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

C/S

IP

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

OP

OP

Conscious Robots,

Self
-
Aware Robots & Automata


PMSCIO:
Body also has Internal IO units

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


19




External
Environment

Body

O

I

“Mind”/Unconscious etc

E


Emotional Proc

M


Motivational Proc.

m


Memory Proc.

Control / “Brain”

C/S

IP

OP

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

I

O

Conscious Robots,

Self
-
Aware Robots & Automata


PMSCIO:
Each Primary IO unit also has Aux I
2
/O
2

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


20






External
Environment



Body

O

I

“Mind”/Unconscious etc

E


Emotional Proc

M


Motivational Proc.

m


Memory Proc.

Control / “Brain”

C/S

IP

OP

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

I

O

O
2

I
2

Conscious Robots,

Self
-
Aware Robots & Automata


Each IP (or OP) has at least 4 post
-

(pre
-
) Transduction Stages

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


21




Env / Body etc

Control / “Brain”

“Mind”/Unconscious etc

IP

Ip

IIp

IIIp

IVp

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

OP

Ip

IIp

IIIp

IVp

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m

E|M|m


C/S

E


Emotional Proc

M


Motivational Proc.

m


Memory Proc.

Conscious Robots,

Self
-
Aware Robots & Automata


PMSCIO:
C/S: SOCAR: Communications + Control

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


22




E


Emotional Proc

M


Motivational Proc.

m


Memory Proc.

E|M|m

E|M|m


C

E|M|m

E|M|m

C/S

E|M|m

E|M|m

S

E|M|m

E|M|m

IOP

Conscious Robots,

Self
-
Aware Robots & Automata


Some Biologically Plausible Models

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


23




External
Environment

Cybernetics
Control

Body


Mind
Unconscious

Consciousness


Self

Self
-
Awareness

Wakefulness

External
Environment

Cybernetics
Control

Body


Mind
Unconscious

Consciousness


Self

Self
-
Awareness

Sleep

Conscious Robots,

Self
-
Aware Robots & Automata:



Some Biologically Plausible Models
2

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


24




Control

“Mind”

Unconscious

Consciousness

+
Self

Self
-

Awareness

External
Environment

Body

C/S

O

I

I’

O

I’

I’

I’

O

C/S

C/S

C/S

O

O

P|E|M|m

P|E|M|m

P|E|M|m

Cerebrum / Cerebral Cortex / Neo
-
Cortex

Fore
-
Brain + Thalamus + Limbic Sys

Brain Stem + CNS/PNS

Conscious Robots,

Self
-
Aware Robots & Automata


An Engineer in the Land of Evolution: Speculations



Why do Automobiles Make Noise? Why do most Birds make Noise, when Awake?




Why do Humans and Some Other Animals have Overt Emotional Expression?



Could Human Sound
-
based Language be a Derivation of Emotional Expression?



M. Faraday’s co
-
induction phenomena: Movement of Electrical Charges is Always
Accompanied by Induced Magnetic Field.




Overt Leakage Manifestation: Maybe cannot Help it. Overt Accompaniment to Physical
Activity, Exertion, Effort, Much Like Thermal Heat Production with Many Physical Processes.



Wave
-
Particle Duality; Time
-
Frequency Embodiments, Manifestations, Representations.



Could Self (Ego, Unity) be a Manifestation of Wave
-
Particle Duality?



Lamarckian Evolution Path for Engineered Artifacts


© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


25




Conscious Robots,

Self
-
Aware Robots & Automata


Quick & Brief Guide to the Literature


Minsky, M., Society of Mind, Simon & Schuster (1988)


Minsky, M., Emotion Machine, Simon & Schuster (2006)


Kari, L. & Rozenberg, G., The Many Facets of Natural Computing, Comm. of ACM, Vol. 51, No. 10 (Oct. 2008),
pp. 72


83.


Aleksander, O., Modeling Consciousness in Virtual Computational Machines…, Synthesis Philosophica, Vol.
44, No. 2 (2007), pp. 447


454.


Sloman, A., What Sort of Architecture is Required for a Human
-
like Agent?, (eds) Wooldridge, M. and Rao,
A., Foundations of Rational Agency, (1999).


Sloman, A. & Chrisley, R., Virtual Machines and Consciousness, Journal of Conscious Studies, Vol. 10, No.
4/5 (Apr./May 2003), pp. 133


172.


Kephart, JO. & Chess, DM., The Vision of Autonomic Computing, IEEE Computer, (January 2003), pp. 41


50.


Gabriel, RP & Goldman, R., Conscientious Software, Sun Microsystems
http://www.dreamsongs.com/Files/ConscientiousSoftwareCC.pdf


Baars, B., A Cognitive Theory of Consciousness, Cambridge University Press (1988)


Haikonen, P., Robot Brains: Circuits for Conscious Machines, Wiley (2007)


Gamez, D., Progress in Machine Consciousness, Consciousness & Cognition, Vol. 17 (2008), pp. 887


910.


© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


26




Conscious Robots,

Self
-
Aware Robots & Automata:


Engineering Computational Models & Architectures

for Cognitive Robotics and Machine Consciousness

Thank You

© 2008. John
-
Thones Amenyo. Conscious Robots & Self
-
Aware Robots. York College


CUNY


27