cortex: thesis/cortex.org comparison

comparison thesis/cortex.org @ 567:7837ca42d82c

final thesis printed!

author	Robert McIntyre <rlm@mit.edu>
date	Mon, 12 May 2014 16:33:34 -0400
parents	b9b8567c14ee
children

comparison

equal deleted inserted replaced

-:b9b8567c14ee
+:7837ca42d82c
 - You can design new creatures using Blender (\cite{blender}), a
 popular, free 3D modeling program. Each sense can be specified
 using special Blender nodes with biologically inspired
 parameters. You need not write any code to create a creature, and
-can use a wide library of pre-existing blender models as a base
+can use a wide library of pre-existing Blender models as a base
 for your own creatures.
 - =CORTEX= implements a wide variety of senses: touch,
 proprioception, vision, hearing, and muscle tension. Complicated
 senses like touch and vision involve multiple sensory elements
 =CORTEX= creates a creature in two steps: first, it traverses the
 nodes in the Blender file and creates physical representations for
 any of them that have mass defined in their Blender meta-data.
-#+caption: Program for iterating through the nodes in a blender file
+#+caption: Program for iterating through the nodes in a Blender file
 #+caption: and generating physical jMonkeyEngine3 objects with mass
 #+caption: and a matching physics shape.
 #+name: physical
 #+begin_listing clojure
 #+begin_src clojure
 (defn add-eye!
 "Create a Camera centered on the current position of 'eye which
 follows the closest physical node in 'creature. The camera will
 point in the X direction and use the Z vector as up as determined
 by the rotation of these vectors in Blender coordinate space. Use
-XZY rotation for the node in blender."
+XZY rotation for the node in Blender."
 [#^Node creature #^Spatial eye]
 (let [target (closest-node creature eye)
 [cam-width cam-height]
 ;;[640 480] ;; graphics card on laptop doesn't support
 ;; arbitrary dimensions.
 [[./images/worm-vision.png]]
 The vision code is not much more complicated than the body code,
 and enables multiple further paths for simulated vision. For
 example, it is quite easy to create bifocal vision -- you just
-make two eyes next to each other in blender! It is also possible
+make two eyes next to each other in Blender! It is also possible
 to encode vision transforms in the retinal files. For example, the
 human like retina file in figure \ref{retina} approximates a
 log-polar transform.
 This vision code has already been absorbed by the jMonkeyEngine
 With this special context-switching device, and some ugly JNI
 bindings that are not worth mentioning, =CORTEX= gains the ability
 to access multiple sound streams from =OpenAL=.
-#+caption: Program to create an ear from a blender empty node. The ear
+#+caption: Program to create an ear from a Blender empty node. The ear
 #+caption: follows around the nearest physical object and passes
 #+caption: all sensory data to a continuation function.
 #+name: add-ear
 #+begin_listing clojure
 #+BEGIN_SRC clojure
 #+caption: file's metadata.
 #+name: motor-pool
 #+begin_listing clojure
 #+BEGIN_SRC clojure
 (defn muscle-profile-image
-"Get the muscle-profile image from the node's blender meta-data."
+"Get the muscle-profile image from the node's Blender meta-data."
 [#^Node muscle]
 (if-let [image (meta-data muscle "muscle")]
 (load-image image)))
 (defn muscle-strength
 The worm's previous experience of lying on the ground and lifting
 its head generates possible interpretations for each frame (the
 numbers are experience-indices):
+\clearpage
 #+BEGIN_EXAMPLE
 [ flat, flat, flat, flat, flat, flat, flat, lift-head ]
 1     1     1     1     1     1     1     4
 2     2     2     2     2     2     2
 3     3     3     3     3     3     3
 #+caption: From only proprioceptive data, =EMPATH= was able to infer
 #+caption: the complete sensory experience and classify four poses
 #+caption: (The last panel shows a composite image of /wiggling/,
 #+caption: a dynamic pose.)
 #+name: empathy-debug-image
-#+ATTR_LaTeX: :width 10cm :placement [H]
+#+ATTR_LaTeX: :width 10cm
 [[./images/empathy-1.png]]
 One way to measure the performance of =EMPATH= is to compare the
 suitability of the imagined sense experience to trigger the same
 action predicates as the real sensory experience.
 #+caption: This is the tactile-sensor-profile for the upper segment
 #+caption: of a fingertip. It defines regions of high touch sensitivity
 #+caption: (where there are many white pixels) and regions of low
 #+caption: sensitivity (where white pixels are sparse).
 #+name: guide-fingertip-UV
-#+ATTR_LaTeX: :width 9cm :placement [H]
+#+ATTR_LaTeX: :width 9cm
 [[./images/finger-UV.png]]
 #+caption: The fingertip UV-image form above applied to a simple
 #+caption: model of a fingertip.
 #+name: guide-fingertip
-#+ATTR_LaTeX: :width 9cm :placement [H]
+#+ATTR_LaTeX: :width 9cm
 [[./images/finger-1.png]]
 *** Proprioception
 Proprioception is tied to each joint node -- nothing special must
 #+caption: of each motor neuron in a muscle. White is weakest
 #+caption: and dark red is strongest. This particular pattern
 #+caption: has weaker motor neurons at the beginning, just
 #+caption: like human muscle.
 #+name: muscle-recruit
-#+ATTR_LaTeX: :width 7cm :placement [H]
+#+ATTR_LaTeX: :width 7cm
 [[./images/basic-muscle.png]]
 Muscles twist the nearest physical object about the muscle node's
 Z-axis. I recommend using the ``Single Arrow'' display mode for
 muscles and using the right hand rule to determine which way the

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comparison thesis/cortex.org @ 567:7837ca42d82c