Lucy and the quest for theholy grail

Steve GrandNESTA Fellow

Hon. Research Fellow:

Biomimetics, Mech. Eng., Bath University

Psychology, Cardiff University

steve@cyberlife-research.com

Lucy GrandRobot

www.cyberlife-research.com

BIRTH

BIRTH

FERTILEFERTILE CONCEPTIONCONCEPTION

HatchHatch

FertileFertile

PregnantPregnantGonadotrophinGonadotrophin

ProgesteroneProgesterone

ReceptiveReceptive

Male mating ritual

Male mating ritual

Sex driveSex drive

GlucoseGlucose

OestrogenOestrogen

STARCHSTARCH

GLUCOSEGLUCOSE GLYCOGENGLYCOGEN

HUNGERHUNGER

HUNGER--HUNGER--

DE

AT

HD

EA

TH

DR

IVE

DR

IVE

H2OH2O CO2CO2

HEXOKINASEHEXOKINASE

+

+

MusclesMuscles

Smack!

Draw

attention

“Fast pain pathway”

“Slow pain pathway”“Slow pain pathway”

Pain++

Pain++

PainPain PunishPunish

ReinforcementReinforcement

Side effects

Fear++Fear++

Anger++Anger++

Sleepiness--Sleepiness--

StimulusStimulus

“Flinch” reflex

“Flinch” reflex

Sensory schemata

Drives Verbs Nouns Sources of

stimuli

Perceptible senses

Action schemata Attention

General

senses

Oh no, what have I done?

Hours of fun for the whole family

H8S

cpld

RA

M

Bus i/f

H8S

cpld

RA

M

Bus i/f

Mus

cles

Vis

ion

H8S

cpld

RA

M

Bus i/f

H8S

cpld

RA

M

Bus i/f

Hea

ring

Voi

ce

H8S

cpld

RA

M

Bus i/f

PS

U

cpld

Sha

red

RA

M

Bus i/f

RS

232

PIC

1

I2CP

IC2

mic mic

filter

amp

ADCMCU

Cochlea

L.S.Olive

L/R volume L/R phase

Frequency spectrum

lungs

glottis

mouth

Vocal cords

amp

MCU

DAC

To PC

The “intuitive” brain

SENSES

MUSCLES

Feature abstraction Command sequences

Genetically specified,

Possibly ad hoc architectures

Discrete signalling

Binding

Feed-forward

Senses

Muscles???

?

SENSES

PRIMARY MOTOR

Self-organising,

Initially uniform

Hip

po

camp

al system

SENSES

SENSES

ACCESSORY MOTOR

YIN: Feature extraction

Feedback Episodic

YANG: Anticipation, attention, volition

?

SM SM SM SM

HC?

?

Optic nerveVisual

saccades

V1

IV

V, VI

II

DowngoingUpcoming

Upgoing Downcoming

III

Servos: attention, intention, anticipation

sense

desire

PROPRIO-CEPTORS

MUSCLES

DESIRE

ACTUAL

FIXED DRIVE

(intention / expectation)

(sensation)

Camera Anamorphic Centre/surround

Infragranular Supragranular Layer IV

WTA Saccade target96 x 96

Boundary resonance & isolation96 x 96

Orientation bias96 x 96

RETINA

V1

Intrinsic excitation Short-range excitationLong-range inhibition

Inhibition / normalisation

Superior Colliculus(Saccade target)

V2(bounded surface)

From V2(attentional prime)

Initial RFs RFs after learning Vertical lines only

0

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

2

-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1

actual

target

sum

Buildup

Gaze angle Transform

Motor mapProprio map

Saccade targetEye-relative96 x 96

Gain fieldgaze + targ =body-centred targ96 x 96

Dome buildup96 x 96

Head & eye4 X 4

Head & eye4 X 4

Neck & ocular musclesNeck & ocular proprioceptors

V1 infragranular(isolated boundary?)

Environmental coupling

SuperiorColliculus

Working on a self-training version

Direct from LGN (motion)

Concentric Radial Layer IV

Summation & wave synchronisation –rotation invariance

Travelling waves – scale invariance

Fusion of orientation columns into

macrocolumns32 X 32

“V2”

Concentric inhibitory

To V4 etc.

Signature map

Correlated time signatures –

surface classification

Concentric excitatory

Prime – wave synchronisation

To V1 attentional prime

From V1

Hypothetical “V2”

Local excite / long-range inhibit

0

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

2

-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1

actual

target

sum

Intention

Actual Servo

Basal ganglia etc.Somatosensory

Higher motorintention

Environmental coupling Motor sequencing

Progress signal

Gain fields modulate coordinate frames for

kinematics?

Auditory

Visual

Motor

TEST-CARD SIGNALS

Extension of ocular dominance column

formation

“It still seems remarkable that a cell should not only be wired with the precision necessary to produce complex or hypercomplex properties, but should have duplicate sets of connections, one from each eye”

David Hubel

Stryker & Strickland

www.cyberlife-research.com

Out at ChristmasVery modestly priced!

Subliminal plugfor my books

…and thanks to for making Lucy MkII possible