Intuitive control of mobile robots: an architecture for autonomous adaptive dynamic behaviour integration

In this paper, we present a novel approach to human–robot control. Taking inspiration from behaviour-based robotics and self-organisation principles, we present an interfacing mechanism, with the ability to adapt both towards the user and the robotic morphology. The aim is for a transparent mechanism connecting user and robot, allowing for a seamless integration of control signals and robot behaviours. Instead of the user adapting to the interface and control paradigm, the proposed architecture allows the user to shape the control motifs in their way of preference, moving away from the case where the user has to read and understand an operation manual, or it has to learn to operate a specific device. Starting from a tabula rasa basis, the architecture is able to identify control patterns (behaviours) for the given robotic morphology and successfully merge them with control signals from the user, regardless of the input device used. The structural components of the interface are presented and assessed both individually and as a whole. Inherent properties of the architecture are presented and explained. At the same time, emergent properties are presented and investigated. As a whole, this paradigm of control is found to highlight the potential for a change in the paradigm of robotic control, and a new level in the taxonomy of human in the loop systems.     

The neural correlates of driving performance identified using positron emission tomography

Driving is a complex behavior involving multiple cognitive domains. To identify neural correlates of driving performance, [15O]H2O positron emission tomography was performed using a simulated driving task. Compared with the resting condition, simulated driving increased regional cerebral blood flow (rCBF) in the cerebellum, occipital, and parietal cortices. Correlations between rCBF and measurements of driving performance were evaluated during simulated driving. Interestingly, rCBF in the thalamus, midbrain, and cerebellum were positively correlated with time required to complete the course and rCBF in the posterior cingulate gyrus was positively correlated with number of crashes during the task. These brain regions may thus play roles in the maintenance of driving performance.     

Rapid image-segmentation and perceptual transparency share a process which utilises X-junctions generated by temporal integration in the visual system

Perceptual transparency requires local same-polarity X-junctions, which can also be generated by temporal integration under natural dynamic conditions. In this study, segmentation performance and target appearance were measured for a uniform gray target embedded in a random-dot frame presented with a temporally adjacent mask. Although static cues for both segmentation and transparency were unavailable, transparency was observed only when collinear same-polarity edges reduced backward masking, in both the fovea and the perifovea. These results suggest that the visual system has a common underlying mechanism for rapid segmentation and transparency, which utilises same-polarity X-junctions generated by temporal integration.     

Hemispheric asymmetry in a perceptual priming task: evidence from patients with unilateral brain damage.

The present study examined the relationship between unilateral brain damage and the effect of nonverbal perceptual priming using a picture-fragment completion task. Subjects consisted of 11 left brain-damaged patients, 8 right brain-damaged patients, and 10 healthy normal controls. The mean score of normal controls was significantly higher than those of left and right brain-damaged patients. Although there were significant effects of priming in all the groups, a significant difference in amplitude of priming effects was found only between right brain-damaged patients and normal controls. The correlation between amount of fragmentation at which there was identification and priming effect was not significant. We conclude that the right hemisphere is more involved in perceptual priming of form than is the left hemisphere, and form-dependent processing in the perceptual priming task has an asymmetrical distribution in the right and left hemispheres.     

Developmental order driving the relationship between executive functions and theory of mind: a case study

Several studies have suggested there is a developmental link between executive functions and theory of mind. However, the developmental order driving the relationship is not well understood. The main reason is that the development of executive function parallels the development of theory of mind in normally developing children. In this paper, a case (H.Y.) is reported. H.Y. had lived in a persistent vegetative state for 6 years after encephalitis at the age of 10. He showed a developmental order driving the relationship between executive functions and theory of mind. These findings are consistent with recent suggestions that development of executive function might be important as a predecessor of either the ability to understand false beliefs or the ability to express that understanding.     

Left-side dominance for song discrimination in Bengalese finches (Lonchura striata var. domestica)

Male Bengalese finches are left-side dominant for the motor control of song in the sensorimotor nucleus (the high vocal center, or HVc) of the telencephalon. We examined whether perceptual discrimination of songs might also be lateralized in this species. Twelve male Bengalese finches were trained by operant conditioning to discriminate between a Bengalese finch song and a zebra finch song. Before training, the left HVc was lesioned in four birds and the right HVc was lesioned in four other birds. The remaining four birds were used as controls without surgery. Birds with a left HVc lesion required significantly more time to learn to discriminate between the two songs than did birds with a right HVc lesion or intact control birds. These results suggest that the left HVc is not only dominant for the motor control of song, but also for the perceptual discrimination of song. Accepted after revision: 11 September 2001 Electronic Publication     

Factors shaping vividness of memory episodes: visitors' long-term memories of the 1970 Japan World Exposition

This study investigated how visitors' psychological and behavioural factors, identified in the literature, shaped their vivid long-term memories of their experiences of the Japan World Exposition, Osaka, 1970 (Expo '70) as a context. In this study, 112 memory episodes were identified from the long-term memories of 48 participants; they were rated in terms of their memory vividness and on a set of factors including affect, agenda fulfilment, intentionality, and rehearsal. The influence of these factors on the vividness of episodic and/or autobiographic memories of experiences that occurred 34 years ago was examined in two stages. First, the relationship between memory vividness and individual factors was investigated separately. Second, the relationship between memory vividness and all factors was examined through a multiple regression analysis, and the relative importance of these factors on memory vividness identified. Stage one analysis showed that all factors except intentionality were related to memory vividness in individual analyses, and curvilinear relationships between memory vividness and the factors found. Stage two analysis, in which all factors were included in a multiple regression analysis, found that rehearsal was positively related to memory vividness and all other factors not significant in the presence of rehearsal.     

Dopamine D1 receptors regulate protein synthesis-dependent long-term recognition memory via extracellular signal-regulated kinase 1/2 in the prefrontal cortex

Several lines of evidence suggest that extracellular signal-regulated kinase1/2 (ERK1/2) and dopaminergic system is involved in learning and memory. However, it remains to be determined if the dopaminergic system and ERK1/2 pathway contribute to cognitive function in the prefrontal cortex (PFC). The amount of phosphorylated ERK1/2 was increased in the PFC immediately after exposure to novel objects in the training session of the novel object recognition test. An inhibitor of ERK kinase impaired long-term recognition memory 24 h after the training although short-term memory tested 1 h after the training was not affected by the treatment. The dopamine D1 receptor agonist increased ERK1/2 phosphorylation in the PFC in vivo as well as in cortical neurons in vitro. Microinjection of the dopamine D1 receptor antagonist into the PFC impaired long-term recognition memory whereas the D2 receptor antagonist had no effect. Immunohistochemistry revealed that exposure to novel objects resulted in an increase in c-Fos expression in the PFC. Microinjection of the protein synthesis inhibitor anisomycin into the PFC impaired the long-term recognition memory. These results suggest that the activation of ERK1/2 following the stimulation of dopamine D1 receptors is necessary for the protein synthesis-dependent long-term retention of recognition memory in the PFC.     

Effect of spatial position on visual search for 3-D objects

We examined whether the position of objects in external space affects the visual-search task associated with the tilt of 3-D objects. An array of cube-like objects was stereoscopically displayed at a distance of 4.5 m on a large screen 1.5 m above or below eye height. Subjects were required to detect a downward-tilted target among upward-tilted distractors or an upward-tilted target among downward-tilted distractors. When the stimuli consisted of shaded parallelepipeds whose upper/bottom faces were lighter than their side faces, the upward-tilted target was detected faster. This result was in accordance with the 'top-view assumption' reported in previous research. Displaying stimuli in the upper position degraded overall performance. However, when the shaded objects whose upper/bottom faces were darker than their side faces were displayed, the detection of a downward-tilted target became as efficient as that of an upward-tilted target only at the upper position. These results indicate that it is possible for the spatial position of the stimulus to promote the detection of a downward-tilted target when shading and perspective information are consistent with the viewing direction.     

Perceived group identity of outgroup members and anticipated rejection: People think that strongly identified group members reject non‐group members

Many studies of intergroup relations have examined the effects of group identity on various types of intergroup cognition and behavior. However, few studies have focused on the perceived group identity of outgroup members. This study examined the effects of perceptions of outgroup identity on anticipated rejection by an outgroup. In Study 1, we administered a questionnaire pertaining to 30 social groups to Japanese undergraduate and vocational students. The collective images and intra‐individual processes relating to perceived outgroup identity were investigated by applying correlation analysis and multilevel structural equation modeling. In Study 2, we conducted an experiment in which we manipulated the participants' perceptions of relative levels of outgroup members' identity. Both studies demonstrated, as predicted, that people anticipated rejection by strongly identified outgroup members more than by weakly identified outgroup members. Furthermore, in Study 2, anticipated same‐group favoritism mediated the relationship between the manipulation of perceived outgroup identity and anticipated rejection. These findings suggest the important role of perceived outgroup identity in intergroup cognition.