The Pooping Duck

clockwork The quest to create mechanical creatures goes back to the ancient Greeks, but the concept experienced a revival at the end of the Renaissance. Around 1640 Descartes put forth the idea that the human body works like a machine and could be understood as such. The idea that nature can be viewed as a mechanical process was solidified in 1687 when Newton published his Principia. In it, he describes in detail how nature follows mathematical rules. Indeed, Newton viewed the universe as a massive clock built by god and set into motion. These ideas were a precursor to the Industrial Revolution and also made clockwork automata a fad in Europe in the early 18th century.

vaucanson Jacques Vaucanson [1709-1782] was an unsung hero of the Industrial Revolution. The invention of the mechanical loom is usually credited to Joseph Jacquard, but it was Vaucanson who first came up with the idea of using punchcards to store textile patterns, a technology that would be used in the first computers 200 years later. Vaucanson also build the first functioning automaton, a mechanical flute player that emulated a human being. The lips and fingers of the player moved naturally on the flute, and he painstakingly copied the musculature and breathing of a human. Its breath could be felt emanating from the mouth as it played.

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After the success of the flute player, Vaucanson built an automated tambourine player, and finally his most famous work, a mechanical duck in 1738. The duck was made of gilded copper and contained over 400 moving parts hidden from view. The duck could drink, eat, quack, splash about and even defecate. Vaucanson used a new high-tech material, rubber, to design the ducks digestive system, and thus developed the world’s first flexible rubber tube. It was later discovered that the duck did not actually defecate as the “feces” were stored in a separate compartment, but this did not diminish the magnitude of his masterpiece.

reves_mechaniquesVaucanson was a showman and toured througout Europe with his duck, charging admission and wowing audiences with his creation. No-one had ever before seen a mechanism which appeared so alive. He eventually caught the attention of the French government who hired him as inspector of the manufacture of silk. It was during this time he invented the first fully automated loom which used punch cards, the machine later improved upon by Jacquard. The silk workers of Lyon rebelled against Vaucanson’s automatic loom by pelting him with stones in the street, insisting that no machine could replace them. This foreshadowed the later anti-industrial sentiment of the Luddite movement in Britain. Sadly, Vaucanson’s original automata were lost to history, but a replica of the duck is now kept in the Musee des Automates in Grenoble, France.

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The Luke Arm

skywalkerIn 2005, the U.S. Defense Advanced Research Projects Agency (DARPA) sought out the greatest inventor in the country. Too many soldiers were coming home from Iraq with missing limbs, and DARPA was determined to give them the best treatment and technology available. They approached prolific inventor, Dean Kamen, and gave him the challenge of building a lightweight prosthetic arm within 2 years that would have enough dexterity to allow the wearer to pick up and a grape without damaging it. Kamen was initially deterred by the ambitious timetable, but eventually decided it had to be done. At his DEKA Research labs, Kamen and his team developed what they called the “Luke Arm” within 18 months. The device is named after Luke Skywalker who, after losing a duel with Darth Vader in “The Empire Strikes Back”, was given a prosthetic arm that appeared so tightly integrated with his real body that he could trivially operate his new hand just as he did before.

luke_armTight integration means there must be many ways for the user to easily send commands to the prosthesis so that it becomes a natural extension of their body. The Luke Arm can be controlled by nerves, muscles, and foot pedals. A new user can comfortably control the artificial limb after just 10 hours of practice. The arm, loaded with processors, also has haptic feedback. Pressure sensors on the fingers send signals back in the form of vibrations, so the wearer can tell how hard they are grasping an object (a requirement for passing DARPA’s “grape test”). So far, DARPA has invested over $70m in the venture. The arm will be commercialized once the FDA conducts clinical trials and grants approval.

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Tierra

Tom Ray was a tropical biologist who conducted research in the Costa Rican rain forest from 1974 to 1989. His research focused on the ecologies and evolution of various species living there. Eventually he realized he there was a problem with studying evolution in the wild: it occurs far too slowly to actually observe it. He decided therefore to study evolution in a much faster medium, the digital computer. In 1991, he joined forces with the Santa Fe Institute in New Mexico to develop an evolutionary software platform called Tierra.

Genetic Algorithms, programs that simulate evolution to solve a specific problem, had already been well established, but Tierra was different. It wasn’t optimizing anything in particular. Small chunks of machine code were simply left on their own to replicate and compete for space within the computer’s memory, and that was all. Occasional mutations in the copying process allowed evolution to take place. But, this wasn’t a simulation of evolution, these entities were actually evolving. What emerged from Tierra surprised Tom and most of the Santa Fe research team.



The first thing Tom noticed was that these replicating programs became smaller and smaller. A smaller program could replicate faster and so had an advantage over others. Some became so small that they evolved into parasites, tricking other programs into doing the copying for them. The hosts then evolved mechanisms to resist parasites. Some of the host programs were even able to trick the parasites into helping them. Eventually, a form of cooperation emerged where programs helped each other replicate. Then, free-riders emerged who took advantage of this group trust. All of this robust behavior, previously only observed in nature, emerged from Tierra automatically, and all from an amazingly simple set of rules.

Tierra was groundbreaking for the field of Artificial Life, and inspired many systems like it afterwards, including the very robust evolutionary platform, Avida. Most importantly, it gave a demonstration of real evolution occuring in a medium other than nature.

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Anthropomorphize Me

DogTiltan·thro·po·mor·phize to ascribe human characteristics to things not human. [ref]

“Humans spontaneously imbue the world with social meaning: we see not only emotions and intentional behaviors in humans and other animals, but also anger in the movements of thunderstorms and willful sabotage in crashing computers.” [ref]

The amygdalae are ancient brain structures located deep within the medial temporal lobes of the human brain responsible for quickly processing memories of emotion. Side effects include: tendency to anthropomorphize anything lifelike. The robot, Keepon, developed by Hideki Kozima shows how easy it is to tap into that part of our brains. Below: Keepon dancing to the Spoon song, “Don’t You Evah.”



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Baby Steps

Passive dynamics is an approach to robotics which uses the momentum of swinging limbs for greater efficiency. A purely passive dynamic robot requires no power at all. It will able down a plank all by itself if it’s configured just right. Of course, in the real world robots can’t be expected to always walk downhill. Ideally, one could combine the efficiency of passive dynamics with some kind of power so it can walk efficiently on a flat surface.




In 2003 at the University of Sussex, Eric Vaughan used artificial evolution to create powered bipedal walkers in simulation. Evolving both the passive dynamic body and the neural control system all at once didn’t work, so the evolution was given some assistance. First, the robot was evolved to walk down an incline passively. As the evolution progressed, the plank was gradually lowered until it was completely horizontal, gradually bringing the neural control system into play. The final result was a robot design that could walk on a flat surface using very little energy, much like a human.

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The Replicators

In 1970, noting the extreme cost of space exploration, the physicist Freeman Dyson proposed a wild idea: send a machine into space that is capable of building copies of itself from materials it finds. This would provide an unlimited production and exploration capacity for a finite cost.

Although just a thought experiment, Dyson’s idea is not as crazy as it sounds. In the early 1980s, NASA funded a series of investigations into cheap space colonization which involved building self-replicating factories on the moon. It’s theoretically possible, but robot factories building more robot factories poses a huge maintenance problem. After all, you’d need an army of repair robots to fix things when they break down. And, who repairs the repair robots?

Eric Drexler, a proponent of nanotechnology, describes a more elegant solution. He envisions tiny, molecular “assemblers” that can build copies of themselves and other items of greater complexity — a bottom-up version of the self-replicating factory idea. He also notes that such technology, if not tamed properly, could replicate out of control consuming all the resources on the planet resulting in the so called Grey Goo Scenario.

 

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Copyright Shane Willis

Thought experiments aside, some researchers have succeeded in building primitive, yet practical self-replicating machines. Adrian Bowyer from the University of Bath developed a rapid prototyping machine called RepRap that can make most of the parts necessary to build… another RepRap machine.

Bowyer’s RepRap project is now replicating “in the wild”. On November 30, 2008, the first user outside the lab used one of the machines to produce and sell a set of RepRap parts to someone else. Being a prototyping machine, RepRap is not limited to copying itself. It has been used to create ordinary objects including a coathook, a pair of sandals, and a fly swatter. The potential for such a machine is vast and is fortunately not likely to turn the world into goo anytime soon.

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Plastic Brain

human_brainHow does the brain learn? Understanding that process would allow one to write software that could learn the same way humans do. But, prior to 1949, no one had a very good answer. It had already been well established that the functional unit of the brain was the neuron, and the structure of these neuronal cells had been studied extensively. However, psychologists did not have a good theory about how neurons produced human behavior.

donald_hebbEnter Donald Hebb, a Canadian Psychologist who was fascinated by how the brain worked. Hebb postulated that neurons form cell assemblies, collections of neurons that act in concert to produce behavior. This idea formed the beginnings of the field of connectionism, an approach to the mind that views complex behavior as emerging from an interconnected network of simpler units. But how do these networks form? To answer this, Hebb proposed a mechanism which has come to be known as “Hebbian Learning.” The idea stated simply is: “Neurons that fire together, wire together.”

neuronsThe brain is fully connected at birth, but the strength of these connections changes through time as we learn, forming the cell assemblies that Hebb theorized were responsible for behavior. Hebbian learning postulates that when neuron A activates, and then causes neuron B to activate, then the connection strength between the two neurons is increased, and it will be easier for A to activate B in the future. The idea sounds simple, but it goes a long way in explaining how neural networks form in the brain. Not every learning process in the brain can be explained by Hebbian learning, but it does provide an explanation of how complex networks of neurons could form.

annAfter Hebbian learning made its debut in the 1949 book, “The Organization of Behavior,” it then became possible to program computers with the Hebbian rule, giving them the ability to learn. Today, many different types of artificial neural networks (ANNs) are used extensively in the field of artificial intelligence, including applications in face identification, speech and handwriting recognition, financial applications, data mining, and even autonomous vehicles. Hebb’s discovery spawned a whole branch of artificial intelligence and methods for constructing learning mechanisms on computers. ANNs are not yet sufficient for creating human-level intelligence on a computer though. Real neurons are complex biochemical engines, whose behavior can only be approximated with ANNs. Also, human brains come pre-configured to some degree, and without understanding this innate structure well, building large artificial neural networks is not practical.

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Nature’s Best

jose_delgado
When building a robot that emulates an existing animal or other life form, engineers must accept the humble truth: nature always does it better. You just can’t compete with billions of years of evolution. Consider the agility of a simple house fly, or the fact that certain moths can identify pheromones when there are only a few molecules present. Some researchers have therefore concluded that it is far more effective to try and interface with some of nature’s technology instead of building it from scratch.

Jose Delgado pioneered the research into electrical brain stimulation at Yale in the 1940s by inserting electrodes into cats and monkeys to evoke responses in the brain. In a famous media stunt in 1963, he fitted a bull with a remote control device which stimulated a specific part of its brain. He stepped into the ring with the bull and let it charge him. At the last second, he activated the stimulator, stopping the bull in its tracks.

Since then, the military has gained interest in this technology as it could be used on insects for surveillance purposes. Various DARPA funded projects have succeeded in controlling insects and beetles, getting their wings to flap at different speeds based on a computer controlled electrodes inserted into specific parts of their brains. The big problem is trying to design components small enough that can be inserted into an insect’s body without disrupting its flight.



 

chuck_higginsChuck Higgins from the University of Arizona thinks a better approach is to turn the problem inside out by embedding insects into the robot. If a robot could leverage the chemical sniffing ability of a moth, for example, then it could be used by the military for detecting explosives. Higgins and his team have been able to build a robot that can read visual information directly from its passenger Hawk Moth’s brain using electrodes and amplifiers and send this information back into the robot’s control system. In the future, he’d like to integrate with other parts of the moth brain, including the olfactory system which would give his robots one of the most sophisticated sensory systems available.

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True Love

kissing_robotIn the West, robots are not to be trusted. After all, they might someday become super-intelligent and kill everyone. The Czech writer Karel Capek laid it all out for us in his play “Rossum’s Universal Robots” (1921), the first publication to use the word “robot.” In the play, robots are used for slave labor, but eventually stage a rebellion and destroy humanity. That basic theme has remained in Western sci-fi literature and movies ever since.

Not so in Japan, however. The Japanese are absolutely head-over-heels in love with robots. They are viewed as saviors, not destroyers. The cultural icon, “Astro Boy,” sums up the Japanese attitude well. Astro Boy was a wildly successful comic started after WWII that eventually became an animated series that endured for decades. It tells the adventures of a cute and beneficent android with incredible powers. He is brave, gentle, and wise, protecting humans from danger including alien invaders, robots gone berserk, and even robot-hating humans.

astro_boyThe development of robot technologies in Japan, funded in large part by the government, is focused on human-robot interaction, or social robotics. Big projects include robot receptionists, household servants, nurses and companions. While Americans are content to just switch on their robot vacuum cleaners and leave them be, the Japanese long for ongoing interaction. Paro, for example, is a cuddly model resembling a seal. Its purpose is therapeutic, providing comfort to the elderly and infirm. Only in Japan could such a conspicuously unemotional machine provide real long-term emotional comfort and companionship.

paro_cuddleJapan’s robophilia can be partially explained by its demographics. Japan’s population has one of the highest average lifespans, but the country also has one of the lowest fertility rates. Soon, there will simply not be enough young workers to maintain the elderly population. Combine that with a healthy dose of xenophobia, and the most attractive option is to employ robots as the caretakers. The Japanese may be culturally primed for such a solution, because the native Shinto religion often blurs boundaries between the animate and inanimate.

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Japan’s obsession with robots has made it the world leader in the field with twice as many industrial robots per worker as any other country. It has also created some of the most impressive demonstrations of advanced artificial intelligence, from Sony’s cute Aibo dog to the anthropomorphic servant, Asimo, built by Honda. There is still a long way to go with those technologies, but in the meantime, the Japanese are content to be surrounded by as many robots as possible. As their population ages, they look forward to having their mechanical friends and caretakers look after them to the very end.

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Hive Mind

beeA “super-organism” is a group of organisms that act collectively to ensure their own survival. For example, a beehive consisting of thousands of individual bees can be considered a single organism. The hive has a life of its own, usually living 8-10 years, while the individual bees that comprise it live only 1-2 months each. A hive also exhibits division of labor, similar to the organs of an animal, where groups of bees are responsible for specific functions. Reproduction is even specialized within the hive, as the Queen is the only bee allowed to reproduce. Individual worker bees are therefore selfless, working only to ensure the survival of the Queen and her DNA. Like a single cell in your body, a worker bee’s own survival is trivial as compared to the reproductive process of the organism as a whole.

beesBut, does a beehive have a collective mind? For an outside observer, it would appear so. For example, when new sources of nectar are discovered nearby, the entire hive can be rallied into activity, as more foragers are sent to the source, and more storer bees are recruited inside the hive to handle the influx. Also, when it’s time to move the nest, the hive considers optimal locations by sending out scouts. Then, once a suitable location is chosen, the entire hive is quickly relocated in an organized fashion. No single bee has the entire plan. In fact, each bee only has a tiny bit of information about the activities of the hive as a whole, including the Queen. A beehive is therefore a good example of Emergence, where complex behavior can result from the interactions of a set of relatively simpler behaviors.

In the case of beehives, the key to generating complex behavior is based on 1) the concentric organization of the hive, 2) the presence of environmental cues, and 3) bees’ ability to communicate with each other. Hives are organized from the Queen outwards, and this physical organization will dictate an individual bee’s career path. When a bee is born, it stays close to the Queen, grooming it and cleaning nearby cells. Then it can be recruited to storage tasks, taking incoming nectar, pollen, and water and storing it in the honeycomb. Finally, the bee can be recruited to a scouting or foraging role outside the hive. Within the hive, each bee has access to certain “global variables,” such as temperature and nectar throughput. This information, combined with the bees’ ability to communicate with each other through the various “recruitment” dances, results in the complex behavior we see.

tradersArtificial intelligence researchers are interested in emergent behavior as this might be a viable means of creating complex systems that exhibit intelligent behavior. Like the hive, the human brain is comprised of smaller, simpler units, whose individual behavior is simpler to describe. Examples of emergence abound in nature, but also in human societies, economics in particular. No single trader can fully understand the nature of the stock market as a whole, but the collective actions of traders together result in a complex system capable of maintaining efficient prices, and sometimes acting quickly and collectively in response to new economic environments.

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