Conscious Robots, Self-Aware Robots & Automata: Engineering Computational Models & Architectures for...

Conscious Robots, Self-Aware Robots & Automata:

Engineering Computational Models & Architectures for Cognitive Robotics and Machine Consciousness

Dr. John-Thones [email protected]. 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



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



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

SOCAR – Separation Of Concerns, Aspects & Roles



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



Architectural Models & Theories: Meta-levels


M. Minsky:

A. Sloman:

External Environment

A-BrainBody


B-Brain C-Brain

Body ReactiveControl

DeliberativeControl

Meta-Management

B. Baars: Consciousness: Global Workspace Theory. Blackboard Architecture of a Collection of Specialized Processes (Agents)


Architectural Models & Theories: Meta-levels


M. Minsky:


Body Instinctive

Reactive

Learned

Reactive

Deliberative

Thinking

Reflective

Thinking

Self-Reflective

Thinking

Self-Conscious

Reflection


Why: Plausible Reasons for Evolution


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)


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



Operator Proxy

Body Creator-Designer Proxy


Cybernetics Control “Brain”

Body Mind Unconscious

Consciousness

Self

Self-Awareness


Design Patterns: Diverse Organisms and Artifacts Can Evolve



Cybernetics Control


Consciousness

Self

Self-Awareness


Cybernetics Control



ControlBody


Energetics / Informatics Dimensions


BodyCybernetics 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


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

Performance, Productivity, Reliability, Availability, Dependability, Resilience, Robustness, Fault-tolerance, Survivability, Integrity,Autonomy,Organizability, Complexity, UnderstandabilityUpgradability, Maintainability, Evolvability, Mutability, Modifiability, Tunability, Adaptability, Repairability, ServiceabilityFunctionality, Effectiveness, Adequacy, Capability, Ability, Cost, Optimality, Efficiency, AccountabilityManageability, Transparency, Administrability, Controllability, Observability, Diagnosability, Testability, Predictability, OperabilityQuality, Assurance, Coherence, Organizability, Assemblage, Designability, Buildability, Constructability, Deployability, Scalability, Configurability, EmbodimentSafety, Security, Protection



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

Prediction, Forecasting, PrognosisAnalysis, Diagnosis, Characterization, ClassificationLearning, Understanding, Comprehension, MasteryModeling, (Virtual, Inner) Simulation Evaluation, Valuation, Signification, Denotation, Annotation StructuringRanking, Rating, Grading, Gradation, SortingTransformation, Variation, Extension Modification, Mutation, Change Generalization, Abstraction, ScalingSpecialization, Customization, “Personalization”Selection, Choice, MultiplexingModulationCommand, Control, Coordination, RegulationInstruction, Teaching



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


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


Multi-Layer / Multi-Scale Architecture Model


Teleological Teleological Teleological Teleological Teleological Teleological

Environment

Computational 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


Skip-Level / “Fat” Augmented Architecture



Cybernetics Control


Consciousness

Self

Self-Awareness


Body Control Mind Consciousness / Self

B C B C M

B – Body Proxy

C – Control Proxy

M – Mind Proxy


PMSCIO Functional Roles in Architecture



Body C/SO

I I

O

I I I

OC/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


PMSCIO Architecture2



BodyO

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

OPOP


PMSCIO: Body also has Internal IO units



BodyO

I “Mind”/Unconscious etc



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


PMSCIO: Each Primary IO unit also has Aux I2/O2



Body

O

I

“Mind”/Unconscious etc



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

O2

I2


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


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



m – Memory Proc.


PMSCIO: C/S: SOCAR: Communications + Control




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


Some Biologically Plausible Models



Cybernetics Control


Consciousness

Self

Self-Awareness

Wakefulness


Cybernetics Control


Consciousness

Self

Self-Awareness

Sleep


Some Biologically Plausible Models2


Control“Mind”

UnconsciousConsciousness + Self

Self - Awareness


Body C/SO

I I’

O

I’ I’ I’

OC/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


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



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.



Engineering Computational Models & Architectures for Cognitive Robotics and Machine Consciousness

Thank You


Conscious Robots, Self-Aware Robots & Automata: Engineering Computational Models & Architectures for...

Documents

Transcript of Conscious Robots, Self-Aware Robots & Automata: Engineering Computational Models & Architectures for...