Mercurial > cortex
comparison thesis/cortex.org @ 507:f2f029e1a6a9
fixing problems with listings.
author | Robert McIntyre <rlm@mit.edu> |
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date | Sun, 30 Mar 2014 00:53:14 -0400 |
parents | c15e24d24396 |
children | c11d3fc3e6f0 |
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39 #+name: name | 39 #+name: name |
40 #+ATTR_LaTeX: :width 10cm | 40 #+ATTR_LaTeX: :width 10cm |
41 [[./images/aurellem-gray.png]] | 41 [[./images/aurellem-gray.png]] |
42 | 42 |
43 | 43 |
44 * COMMENT Empathy and Embodiment as problem solving strategies | 44 * Empathy and Embodiment as problem solving strategies |
45 | 45 |
46 By the end of this thesis, you will have seen a novel approach to | 46 By the end of this thesis, you will have seen a novel approach to |
47 interpreting video using embodiment and empathy. You will have also | 47 interpreting video using embodiment and empathy. You will have also |
48 seen one way to efficiently implement empathy for embodied | 48 seen one way to efficiently implement empathy for embodied |
49 creatures. Finally, you will become familiar with =CORTEX=, a system | 49 creatures. Finally, you will become familiar with =CORTEX=, a system |
372 own. To this end, wherver I have had to make archetictural choices | 372 own. To this end, wherver I have had to make archetictural choices |
373 about =CORTEX=, I have chosen to give as much freedom to the user as | 373 about =CORTEX=, I have chosen to give as much freedom to the user as |
374 possible, so that =CORTEX= may be used for things I have not | 374 possible, so that =CORTEX= may be used for things I have not |
375 forseen. | 375 forseen. |
376 | 376 |
377 ** COMMENT Simulation or Reality? | 377 ** Simulation or Reality? |
378 | 378 |
379 The most important archetictural decision of all is the choice to | 379 The most important archetictural decision of all is the choice to |
380 use a computer-simulated environemnt in the first place! The world | 380 use a computer-simulated environemnt in the first place! The world |
381 is a vast and rich place, and for now simulations are a very poor | 381 is a vast and rich place, and for now simulations are a very poor |
382 reflection of its complexity. It may be that there is a significant | 382 reflection of its complexity. It may be that there is a significant |
435 time in the simulated world can be slowed down to accommodate the | 435 time in the simulated world can be slowed down to accommodate the |
436 limitations of the character's programming. In terms of cost, | 436 limitations of the character's programming. In terms of cost, |
437 doing everything in software is far cheaper than building custom | 437 doing everything in software is far cheaper than building custom |
438 real-time hardware. All you need is a laptop and some patience. | 438 real-time hardware. All you need is a laptop and some patience. |
439 | 439 |
440 ** COMMENT Because of Time, simulation is perferable to reality | 440 ** Because of Time, simulation is perferable to reality |
441 | 441 |
442 I envision =CORTEX= being used to support rapid prototyping and | 442 I envision =CORTEX= being used to support rapid prototyping and |
443 iteration of ideas. Even if I could put together a well constructed | 443 iteration of ideas. Even if I could put together a well constructed |
444 kit for creating robots, it would still not be enough because of | 444 kit for creating robots, it would still not be enough because of |
445 the scourge of real-time processing. Anyone who wants to test their | 445 the scourge of real-time processing. Anyone who wants to test their |
458 the simulation. The cost is that =CORTEX= can sometimes run slower | 458 the simulation. The cost is that =CORTEX= can sometimes run slower |
459 than real time. This can also be an advantage, however --- | 459 than real time. This can also be an advantage, however --- |
460 simulations of very simple creatures in =CORTEX= generally run at | 460 simulations of very simple creatures in =CORTEX= generally run at |
461 40x on my machine! | 461 40x on my machine! |
462 | 462 |
463 ** COMMENT What is a sense? | 463 ** What is a sense? |
464 | 464 |
465 If =CORTEX= is to support a wide variety of senses, it would help | 465 If =CORTEX= is to support a wide variety of senses, it would help |
466 to have a better understanding of what a ``sense'' actually is! | 466 to have a better understanding of what a ``sense'' actually is! |
467 While vision, touch, and hearing all seem like they are quite | 467 While vision, touch, and hearing all seem like they are quite |
468 different things, I was supprised to learn during the course of | 468 different things, I was supprised to learn during the course of |
536 #+caption: density of touch sensors at the tip. | 536 #+caption: density of touch sensors at the tip. |
537 #+name: finger-side-view | 537 #+name: finger-side-view |
538 #+ATTR_LaTeX: :width 10cm | 538 #+ATTR_LaTeX: :width 10cm |
539 [[./images/finger-1.png]] | 539 [[./images/finger-1.png]] |
540 | 540 |
541 ** COMMENT Video game engines provide ready-made physics and shading | 541 ** Video game engines provide ready-made physics and shading |
542 | 542 |
543 I did not need to write my own physics simulation code or shader to | 543 I did not need to write my own physics simulation code or shader to |
544 build =CORTEX=. Doing so would lead to a system that is impossible | 544 build =CORTEX=. Doing so would lead to a system that is impossible |
545 for anyone but myself to use anyway. Instead, I use a video game | 545 for anyone but myself to use anyway. Instead, I use a video game |
546 engine as a base and modify it to accomodate the additional needs | 546 engine as a base and modify it to accomodate the additional needs |
560 texture to a model. Finally, because video game engines support a | 560 texture to a model. Finally, because video game engines support a |
561 large number of users, as long as =CORTEX= doesn't stray too far | 561 large number of users, as long as =CORTEX= doesn't stray too far |
562 from the base system, other researchers can turn to this community | 562 from the base system, other researchers can turn to this community |
563 for help when doing their research. | 563 for help when doing their research. |
564 | 564 |
565 ** COMMENT =CORTEX= is based on jMonkeyEngine3 | 565 ** =CORTEX= is based on jMonkeyEngine3 |
566 | 566 |
567 While preparing to build =CORTEX= I studied several video game | 567 While preparing to build =CORTEX= I studied several video game |
568 engines to see which would best serve as a base. The top contenders | 568 engines to see which would best serve as a base. The top contenders |
569 were: | 569 were: |
570 | 570 |
602 I chose jMonkeyEngine3 because it because it had the most features | 602 I chose jMonkeyEngine3 because it because it had the most features |
603 out of all the free projects I looked at, and because I could then | 603 out of all the free projects I looked at, and because I could then |
604 write my code in clojure, an implementation of =LISP= that runs on | 604 write my code in clojure, an implementation of =LISP= that runs on |
605 the JVM. | 605 the JVM. |
606 | 606 |
607 ** COMMENT =CORTEX= uses Blender to create creature models | 607 ** =CORTEX= uses Blender to create creature models |
608 | 608 |
609 For the simple worm-like creatures I will use later on in this | 609 For the simple worm-like creatures I will use later on in this |
610 thesis, I could define a simple API in =CORTEX= that would allow | 610 thesis, I could define a simple API in =CORTEX= that would allow |
611 one to create boxes, spheres, etc., and leave that API as the sole | 611 one to create boxes, spheres, etc., and leave that API as the sole |
612 way to create creatures. However, for =CORTEX= to truly be useful | 612 way to create creatures. However, for =CORTEX= to truly be useful |
2047 #+caption: part of the ground. | 2047 #+caption: part of the ground. |
2048 #+name: touch-cube-uv-map | 2048 #+name: touch-cube-uv-map |
2049 #+ATTR_LaTeX: :width 15cm | 2049 #+ATTR_LaTeX: :width 15cm |
2050 [[./images/touch-cube.png]] | 2050 [[./images/touch-cube.png]] |
2051 | 2051 |
2052 ** COMMENT Proprioception is the sense that makes everything ``real'' | 2052 ** Proprioception is the sense that makes everything ``real'' |
2053 | 2053 |
2054 Close your eyes, and touch your nose with your right index finger. | 2054 Close your eyes, and touch your nose with your right index finger. |
2055 How did you do it? You could not see your hand, and neither your | 2055 How did you do it? You could not see your hand, and neither your |
2056 hand nor your nose could use the sense of touch to guide the path | 2056 hand nor your nose could use the sense of touch to guide the path |
2057 of your hand. There are no sound cues, and Taste and Smell | 2057 of your hand. There are no sound cues, and Taste and Smell |
2181 #+caption: pitch, and White is roll. | 2181 #+caption: pitch, and White is roll. |
2182 #+name: proprio | 2182 #+name: proprio |
2183 #+ATTR_LaTeX: :width 11cm | 2183 #+ATTR_LaTeX: :width 11cm |
2184 [[./images/proprio.png]] | 2184 [[./images/proprio.png]] |
2185 | 2185 |
2186 ** COMMENT Muscles are both effectors and sensors | 2186 ** Muscles are both effectors and sensors |
2187 | 2187 |
2188 Surprisingly enough, terrestrial creatures only move by using | 2188 Surprisingly enough, terrestrial creatures only move by using |
2189 torque applied about their joints. There's not a single straight | 2189 torque applied about their joints. There's not a single straight |
2190 line of force in the human body at all! (A straight line of force | 2190 line of force in the human body at all! (A straight line of force |
2191 would correspond to some sort of jet or rocket propulsion.) | 2191 would correspond to some sort of jet or rocket propulsion.) |
2324 function: it returns the percent of the total muscle strength that | 2324 function: it returns the percent of the total muscle strength that |
2325 is currently being employed. This is analogous to muscle tension | 2325 is currently being employed. This is analogous to muscle tension |
2326 in humans and completes the sense of proprioception begun in the | 2326 in humans and completes the sense of proprioception begun in the |
2327 last section. | 2327 last section. |
2328 | 2328 |
2329 ** COMMENT =CORTEX= brings complex creatures to life! | 2329 ** =CORTEX= brings complex creatures to life! |
2330 | 2330 |
2331 The ultimate test of =CORTEX= is to create a creature with the full | 2331 The ultimate test of =CORTEX= is to create a creature with the full |
2332 gamut of senses and put it though its paces. | 2332 gamut of senses and put it though its paces. |
2333 | 2333 |
2334 With all senses enabled, my right hand model looks like an | 2334 With all senses enabled, my right hand model looks like an |