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fixing problems with listings.
author Robert McIntyre <rlm@mit.edu>
date Sun, 30 Mar 2014 00:53:14 -0400
parents c15e24d24396
children c11d3fc3e6f0
comparison
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506:9ab8c19143f2 507:f2f029e1a6a9
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