Artificial intelligence research has foundered on the issue of representation. When intelligence is approached in an incremental manner, with strict reliance on interfacing to the real world through perception and action, reliance on representation disappears. In this paper we outline our approach to incrementally building complete intelligent Creatures. The fundamental decomposition of the intelligent system is not into independent information processing units which must interface with each other via representations. Instead, the intelligent system is decomposed into independent and parallel activity (...) producers which all interface directly to the world through perception and action, rather than interface to each other particularly much. The notions of central and peripheral systems evaporateeverything is both central and peripheral. Based on these principles we have built a very successful series of mobile robots which operate without supervision as Creatures in standard office environments. (shrink)

Most animals have significant behavioral expertise built in without having to explicitly learn it all from scratch. This expertise is a product of evolution of the organism; it can be viewed as a very long term form of learning which provides a structured system within which individuals might learn more specialized skills or abilities. This paper suggests one possible mechanism for analagous robot evolution by describing a carefully designed series of networks, each one being a strict augmentation of the previous (...) one, which control a six legged walking machine capable of walking over rough terrain and following a person passively sensed in the infrared spectrum. As the completely decentralized networks are augmented. the robot’s performance and behavior repetoire demonstrably improve. The rationale for such demonstrations is that they may provide a hint as to the requirements for automatically building massive networks to carry out complex sensory-motor tasks. The experiments with an actual robot ensure that an essence of reality is maintained and that no critical disabling problems have been ignored. (shrink)

In order to build autonomous robots that can carry out useful work in unstructured environments new approaches have been developed to building intelligent systems. The relationship to traditional academic robotics and traditional artificial intelligence is examined. In the new approaches a tight coupling of sensing to action produces architectures for intelligence that are networks of simple computational elements which are quite broad, but not very deep. Recent work within this approach has demonstrated the use of representations, expectations, plans, goals, and (...) learning, but without resorting to the traditional uses, of central, abstractly manipulable or symbolic representations. Perception within these systems is often an active process, and the dynamics of the interactions with the world are extremely important. The question of how to evaluate and compare the new to traditional work still provokes vigorous discussion. (shrink)

Both direct, and evolved, behavior-based approaches to mobile robots have yielded a number of interesting demonstrations of robots that navigate, map, plan and operate in the real world. The work can best be described as attempts to emulate insect level locomotion and navigation, with very little work on behavior-based non-trivial manipulation of the world. There have been some behavior-based attempts at exploring social interactions, but these too have been modeled after the sorts of social interactions we see in insects. But (...) thinking how to scale from all this insect level work to full human level intelligence and social interactions leads to a synthesis that is very di erent from that imagined in traditional Arti cial Intelligence and Cognitive Science. We report on work towards that goal. (shrink)

Artificial Intelligence as a discipline has gotten bogged down in subproblems of intelligence. These subproblems are the result of applying reductionist methods to the goal of creating a complete artificial thinking mind. In Brooks (1987) 1 have argued that these methods will lead us to solving irrelevant problems; interesting as intellectual puzzles, but useless in the long run for creating an artificial being.

The first part of this paper explores the general issues in using Artificial Life techniques to program actual mobile robots. In particular it explores the difficulties inherent in transferring programs evolved in a simulated environment to run on an actual robot. It examines the dual evolution of organism morphology and nervous systems in biology. It proposes techniques to capture some of the search space pruning that dual evolution offers in the domain of robot programming. It explores the relationship between robot (...) morphology and program structure, and techniques for capturing regularities across this mapping. (shrink)

We describe an algorithm which allows a behavior-based robot to learn on the basis of positive and negative feedback when to activate its behaviors. In accordance with the philosophy of behavior-based robots, the algorithm is completely distributed: each of the behaviors independently tries to find out (i) whether it is relevant (ie. whether it is at all correlated to positive feedback) and (ii) what the conditions are under which it becomes reliable (i.e. the conditions under which i t maximizes the (...) probability of receiving positive feedback and minimizes the probability of receiving negative feedback). The algorithm has been tested successfully on an autonomous 6-legged robot which had to learn how to coordinate its legs so as to walk forward. (shrink)

Behavior based systems require an orthogonal view of integration issues. In this paper we highlight those issues, discuss what is easy, what is hard, and where the research frontiers lie.

At the MIT Arti cial Intelligence Laboratory we have been working on technologies for an Intelligent Room. Rather than pull people into the virtual world of the computer we are trying to pull the computer out into the real world of people. To do this we are combining robotics and vision technology with speech understanding systems, and agent based architectures to provide ready at hand computation and information services for people engaged in day to day activities, both on their own (...) and in conjunction with others. We have built a layered architecture where at the bottom level vision systems track people and identify their activities and gestures, and through word spotting decide whether people in the room are talking to each other or to the room itself. At the next level an agent architecture provides a uniform interface to such specially built systems, and to other o the shelf software, such as web browsers, etc. At the highest level we are able to build application systems that provide occupants of the room with specialized services; examples we have built include systems for command and control situations rooms and as a room for giving presentations. (shrink)

We present a novel methodology for building humanlike artificially intelligent systems. We take as a model the only existing systems which are universally accepted as intelligent: humans. We emphasize building intelligent systems which are not masters of a single domain, but, like humans, are adept at performing a variety of complex tasks in the real world. Using evidence from cognitive science and neuroscience, we suggest four alternative essences of intelligence to those held by classical AI. These are the parallel themes (...) of development, social interaction, embodiment, and integration. Following a methodology based on these themes, we have built a physical humanoid robot. In this paper we present our methodology and the insights it affords for facilitating learning, simplifying the computation underlying rich behavior, and building systems that can scale to more complex tasks in more challenging environments. (shrink)

There are a number of reasons to be interested in building humanoid robots. They include (1) since almost all human artifacts have been designed to easy for humans to interact with, humanoid robots provide backward compatibility with the existing human constructed world, (2) humanoid robots provide a natural form for humans to operate through telepresence since they have the same kinematic design as humans themselves, (3) by building humanoid robots that model humans directly they will be a useful tool in (...) understanding how humans develop and operate as they provide a platform for experimenting with different hypotheses about humans and (4) humanoid robots, given su cient abilities, will present a natural interface to people and people will be able to use their instinctive and culturally developed subconscious techniques for communicating with other people to communicate with humanoid robots. In this paper we take reason (4) seriously, and examine some of the technologies that are necessary to make this hope a reality. (shrink)

Complex systems and complex missions take years of planning and force launches to become incredibly expensive. The longer the planning and the more expensive the mission, the more catastrophic if it fails. The solution has always been to plan better, add redundancy, test thoroughly and use high quality components. Based on our experience in building ground based mobile robots (legged and wheeled) we argue here for cheap, fast missions using large numbers of mass produced simple autonomous robots that are small (...) b y today's standards (1 to 2 Kg). We argue that the time between mission conception and implementation can be radically reduced, that launch mass can be slashed, that totally autonomous robots can be more reliable than ground controlled robots, and that large numbers of robots can change the tradeoff between reliability of individual components and overall mission success. Lastly, we suggest that within a few years it will be possible at modest cost to invade a planet with millions of tiny robots. (shrink)

Both direct, and evolved, behavior-based approaches to mobile robots have yielded a number of interesting demonstrations of robots that navigate, map, plan and operate in the real world. The work can best be described as attempts to emulate insect level locomotion and navigation, with very little work on behavior-based non-trivial manipulation of the world. There have been some behavior-based attempts at exploring social interactions, but these too have been modeled after the sorts of social interactions we see in insects. But (...) thinking how to scale from all this insect level work to full human level intelligence and social interactions leads to a synthesis that is very different from that imagined in traditional Artificial Intelligence and Cognitive Science. We report on work towards that goal. (shrink)

Applications of learning to autonomous agents (simulated or real) have often been restricted to learning a mapping from perceived state of the world to the next action to take. Often this is couched in terms of learning from no previous knowledge. This general case for real autonomous robots is very difficult. In any case, when building a real robot there is usually a lot of a priori knowledge (e.g., from the engineering that went into its design) which doesn’t need to (...) be learned. We describe the behavior-based approach to autonomous robots, and then examine four classes of learning problems associated with such robots. (shrink)

We want to build tiny gnat-sized robots, a millimeter or two in diameter. They will be cheap, disposable, totally sefcontained autonomous agents able to do useful things in the world. This paper consists of two parts. The first describes why we want to build them. The second is a technical outline of how to go about it. Gnat robots are going to change the world.

This paper presents an autonomous vision-based obstacle avoidance system. The system consists of three independent vision modules for obstacle detection, each of which is computationally simple and uses a di erent criterion for detection purposes. These criteria are based on brightness gradients, RGB Red, Green, Blue color, and HSV Hue, Saturation, Value color, respectively. Selection of which modules are used to command the robot proceeds exclusively from the outputs of the modules themselves. The system is implemented on a small monocular (...) mobile robot and uses very low resolution images. It has been tested for over 200 hours in diverse environments. Keywords: Vision-based navigation, space exploration, modular design, reactive control, unstructured terrain. (shrink)

We have previously built a small IKg ([Angle 89] and [Brooks 89]) six legged walking robot named Genghis. It was remarkably successful as a testbed to develop walking and learning algorithms. It encouraged us to build a more fully engineered robot with higher performance. We are building two copies of the robot, both 1.6Kg in mass. Their generic name is Attila. Attila has 24 actuators and over 150 sensors, all connected via a local network (the I2C bus) to 11 onboard (...) computers. (shrink)

We describe new results in parametrized complexity theory. In particular, we prove a number of concrete hardness results for W[P], the top level of the hardness hierarchy introduced by Downey and Fellows in a series of earlier papers. We also study the parametrized complexity of analogues of PSPACE via certain natural problems concerning k-move games. Finally, we examine several aspects of the structural complexity of W [P] and related classes. For instance, we show that W[P] can be characterized in terms (...) of the DTIME ) and NP. (shrink)

Cenzer, D., R. Downey, C. Jockusch and R.A. Shore, Countable thin Π01 classes, Annals of Pure and Applied Logic 59 79–139. A Π01 class P {0, 1}ω is thin if every Π01 subclass of P is the intersection of P with some clopen set. Countable thin Π01 classes are constructed having arbitrary recursive Cantor- Bendixson rank. A thin Π01 class P is constructed with a unique nonisolated point A and furthermore A is of degree 0’. It is shown that no (...) set of degree ≥0” can be a member of any thin Π01 class. An r.e. degree d is constructed such that no set of degree d can be a member of any thin Π01 class. It is also shown that between any two distinct comparable r.e. degrees, there is a degree that contains a set which is of rank one in some thin Π01 class. It is shown that no maximal set can have rank one in any Π01 class, while there exist maximal sets of rank 2. The connection between Π01 classes, propositional theories and recursive Boolean algebras is explored, producing several corollaries to the results on Π01 classes. For example, call a recursive Boolean algebra thin if it has no proper nonprincipal recursive ideals. Then no thin recursive Boolean algebra can have a maximal ideal of degree ≥0”. (shrink)

Given two incomparable c.e. Turing degrees a and b, we show that there exists a c.e. degree c such that c = (a ⋃ c) ⋂ (b ⋃ c), a ⋃ c | b ⋃ c, and c < a ⋃ b.

Moral distress is a phenomenon that has been receiving increasing attention in nursing and other health care disciplines. Moral distress is a concept that entered the nursing literature – and subsequently the health care ethics lexicon – in 1984 as a result of the work done by American philosopher and bioethicist Andrew Jameton. Over the past decade, research into moral distress has extended beyond the profession of nursing as other health care disciplines have come to question the impact of moral (...) constraint on individual practitioners, professional practice, and patient outcomes. Along with increased interest in the phenomenon of moral distress have come increasing critiques – critiques that in their essence point to a serious lack of conceptual clarity in the definition, study, and application of the concept. Foundational to gaining conceptual clarity in moral distress in order to develop strategies to prevent and ameliorate the experience is a careful revisiting of the epistemological assumptions underpinning our knowledge and use of the concept of moral distress. It is our contention that the conceptual challenges reveal flaws in the original understanding of moral distress that are based on an epistemological stance that holds a linear conception of cause and effect coupled with a simplistic perspective of ‘constraint’ and ‘agency’. We need a more nuanced approach to our study of moral distress such that our ontological and epistemological stances help us to better appreciate the complexity of moral agents acting in organizational contexts. We believe that critical realism offers such a nuanced approach. (shrink)

We show that three fundamental information-theoretic constraints -- the impossibility of superluminal information transfer between two physical systems by performing measurements on one of them, the impossibility of broadcasting the information contained in an unknown physical state, and the impossibility of unconditionally secure bit commitment -- suffice to entail that the observables and state space of a physical theory are quantum-mechanical. We demonstrate the converse derivation in part, and consider the implications of alternative answers to a remaining open question about (...) nonlocality and bit commitment. (shrink)

"Written in a racy, persuasive style, the book impresses the reader as a work of significant scholarship...I encourage students of comparative religions- and especially those of Islamic economics- to read it with great care."&$151; Islamic Studies The worlds of economics and theology rarely intersect. The former appears occupied exclusively with the concrete equations of supply and demand, while the latter revolves largely around the less tangible concerns of the soul and spirit. Intended as an interfaith clarification of the relationship between (...) the material and the spiritual worlds, this volume first inspects secular beliefs about the relationship between economics and ethics. Exploring the differences and similarities between the treatment of economic issues in each of the great monotheistic religions, Rodney Wilson reveals how each tradition considers such subjects as individual wealth, lending, economic regulation, usury, insurance capitalism, socialism, and banking. He concludes with an intriguing epilogue on the rapidly expanding field of business ethics. (shrink)

The challenge that confronts corporate decision-makers in connection with global labor conditions is often in identifying the standardsby which they should govern themselves. In an effort to provide greater direction in the face of possible global cultural conflicts, ethicistsThomas Donaldson and Thomas Dunfee draw on social contract theory to develop a method for identifying basic human rights: Integrated Social Contract Theory (ISCT). In this paper, we apply ISCT to the challenge of global labor standards, attempting to identify labor rights that (...) could serve as guides for corporations producing or outsourcing outside of their home country. In addition to identifying areas of universal agreement, we also examine whether ISCT is, in fact, a sufficient basis for determining worker rights; we seek to define the parameters of the “sweatshop” problem; we include the application and results of our ISCT analysis as applied to labor standards: the global labor rights hypernorms; and conclude that ISCT is sufficient only for rights that are universal. We also discuss whether market-driven decisions can identify the boundaries of labor rights, or at least assure that market outcomes are compatible with maintaining labor rights, in order to respond to the shortcomings of ISCT. We conclude with some comments on directions of analysis for labor rights determination. (shrink)

In this paper I shall outline the approach to consciousness adopted by ethnomethodology and its `associate'conversation analysis. I shall attempt to do this by taking a minimalist stance, namely a basic formulation of the elements of these approaches, trying to strip away the ornate superstructures which have been erected upon that basis. I shall proceed in two ways. First, I shall seek to define ethnomethodology and conversation analysis by contrasting them to varying degrees with a variety of other approaches: symbolic (...) interactionism and, derivatively, the work of Goffman, the -social psychology of Rom Harre and his associates and with Norbert Wiley. Secondly, I shall give some examples of the use of the notion of `self'held by ethnomethodologists and conversation analysts that take a definitive turn towards a non-ironic, non-mentalist, non-essentialist and non-cognitivist approach to knowledge, consciousness and self. (shrink)

In this paper we argue that there are valuable consonances between democratic theory and music theory, and between democratization and musical performance and enjoyment. We suggest that this connection is not as trite as it may first appear, but that, since democracy is learned and practiced in a myriad ofways, music is one such place to learn democratic citizenship. The paper begins with a normative account of democratic theory that is present in two movements. The first, “foundations,” explicates the essential (...) components, criteria, and conditions of democracy. The second, “flows,” addresses the dynamism of democratization. Here is an account of what democracy looks like in action. We then turn to an explication of music theory and improvisation. Here, we focus on jazz as a way to hear the kind of interplay, responsiveness, accountability, discipline, and extemporaneousness that occurs in good jazz, and in authentic (radical) democracy. (shrink)

The emergence of private authority has become a feature of the post-Cold War world. The contributors to this volume examine the implications of this erosion of the power of the state for global governance. They analyse actors as diverse as financial institutions, multinational corporations, religious terrorists and organised criminals. The themes of the book relate directly to debates concerning globalization and the role of international law, and will be of interest to scholars and students of international relations, politics, sociology and (...) law. (shrink)

In a pair of articles (1996, 1997) and in his recent book (1998), Miklos Redei has taken enormous strides toward characterizing the conditions under which relativistic quantum field theory is a safe setting for the deployment of causal talk. Here, we challenge the adequacy of the accounts of causal dependence and screening off on which rests the relevance of Redei's theorems to the question of causal good behavior in the theory.

We study thorn forking and rosiness in the context of continuous logic. We prove that the Urysohn sphere is rosy (with respect to finitary imaginaries), providing the first example of an essentially continuous unstable theory with a nice notion of independence. In the process, we show that a real rosy theory which has weak elimination of finitary imaginaries is rosy with respect to finitary imaginaries, a fact which is new even for discrete first-order real rosy theories.

We develop a basic theory of rosy groups and we study groups of small Uþ-rank satisfying NIP and having finitely satisfiable generics: Uþ-rank 1 implies that the group is abelian-by-finite, Uþ-rank 2 implies that the group is solvable-by-finite, Uþ-rank 2, and not being nilpotent-by-finite implies the existence of an interpretable algebraically closed field.

In their article "On What It Takes To Be a World", David Albert and Jeffrey Barrett raise "a rather urgent question about what the proponents of a many-worlds interpretation [of quantum mechanics] can possibly mean by the term 'worlds' " (1995, 35). I argue that their considerations do not translate into an argument against the Many-Worlds conception of a world unless one requires that the dispositions that measurement devices display through the outcomes they record be explainable in terms of facts (...) particular to the worlds in which those devices do their recording. Granting that their conception of a world takes away the possibility of such an explanation, a Many-Worlds proponent can claim that the Universal quantum state, which does not represent a fact about any world in particular, is enough to ground the dispositions of measurement devices. (shrink)

In their article "On What It Takes To Be a World", David Albert and Jeffrey Barrett raise "a rather urgent question about what the proponents of a many-worlds interpretation [of quantum mechanics] can possibly mean by the term 'worlds' ". I argue that their considerations do not translate into an argument against the Many-Worlds conception of a world unless one requires that the dispositions that measurement devices display through the outcomes they record be explainable in terms of facts particular to (...) the worlds in which those devices do their recording. Granting that their conception of a world takes away the possibility of such an explanation, a Many-Worlds proponent can claim that the Universal quantum state, which does not represent a fact about any world in particular, is enough to ground the dispositions of measurement devices. (shrink)

This is an exciting time for brain science. Recent progress has been such that it now seems realistic to look toward an explanation of mind in terms of the brain's anatomy and physiology. Models based on artificially symmetrical arrays of idealized neurons are now being superseded by ones which properly take into account the brain's actual circuitry. This book presents a comprehensive overview of the current state of brain modeling, containing contributions from many leading researchers in this field. It will (...) be of interest not only to researchers in the fields of brain science and neurobiology, but also to psychologists and those involved in the study of artificial intelligence. (shrink)

Improving the Odds: Raising the Class is a book aimed at legislators, school administrators, home school advocates, and college and university professors which examines the education system and provides a paradigm for improvement. The aim of this book is to find simple ways to approach improving the school system in America based on a belief that we need to build a system that has improvement built into the process of training and educating both teacher and students.