cortex: thesis/cortex.org comparison

comparison thesis/cortex.org @ 545:b2c66ea58c39

changes from athena.

author	Robert McIntyre <rlm@mit.edu>
date	Mon, 28 Apr 2014 12:59:08 -0400
parents	97d45f796ad6
children	5d89879fc894

comparison

equal deleted inserted replaced

-:431e6aedf67d
+:b2c66ea58c39
 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
+senses like touch and vision involve multiple sensory elements
 embedded in a 2D surface. You have complete control over the
 distribution of these sensor elements through the use of simple
 png image files. In particular, =CORTEX= implements more
 comprehensive hearing than any other creature simulation system
 available.
 #+caption: Here, the camera is created based on metadata on the
 #+caption: eye-node and attached to the nearest physical object
 #+caption: with =bind-sense=
 #+name: add-eye
 #+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
 cam (float 45)
 (float (/ (.getWidth cam) (.getHeight cam)))
 (float 1)
 (float 1000))
 (bind-sense target cam) cam))
+#+end_src
 #+end_listing
 *** Simulated Retina
 An eye is a surface (the retina) which contains many discrete
 #+caption: edges and is inspired by the human retina.
 #+name: retina
 #+ATTR_LaTeX: :width 7cm
 [[./images/retina-small.png]]
-Together, the number 0xFF0000 and the image image above describe
+Together, the number 0xFF0000 and the image above describe the
-the placement of red-sensitive sensory elements.
+placement of red-sensitive sensory elements.
 Meta-data to very crudely approximate a human eye might be
 something like this:
 #+begin_src clojure
 #+end_listing
 *** Proprioception Kernel
 Given a joint, =proprioception-kernel= produces a function that
-calculates the Euler angles between the the objects the joint
+calculates the Euler angles between the objects the joint
 connects. The only tricky part here is making the angles relative
 to the joint's initial ``straightness''.
 #+caption: Program to return biologically reasonable proprioceptive
 #+caption: data for each joint.
 the senses to directly describe any action.
 ** Action recognition is easy with a full gamut of senses
 Embodied representations using multiple senses such as touch,
-proprioception, and muscle tension turns out be be exceedingly
+proprioception, and muscle tension turns out be exceedingly
 efficient at describing body-centered actions. It is the right
 language for the job. For example, it takes only around 5 lines of
 LISP code to describe the action of curling using embodied
 primitives. It takes about 10 lines to describe the seemingly
 complicated action of wiggling.
 To use =EMPATH= with the worm, I first need to gather a set of
 experiences from the worm that includes the actions I want to
 recognize. The =generate-phi-space= program (listing
 \ref{generate-phi-space} runs the worm through a series of
-exercises and gatherers those experiences into a vector. The
+exercises and gathers those experiences into a vector. The
 =do-all-the-things= program is a routine expressed in a simple
 muscle contraction script language for automated worm control. It
 causes the worm to rest, curl, and wiggle over about 700 frames
 (approx. 11 seconds).

Mercurial > cortex

comparison thesis/cortex.org @ 545:b2c66ea58c39