1.1 --- a/org/joint.org	Mon Jul 23 07:59:55 2012 -0500
     1.2 +++ b/org/joint.org	Tue Mar 05 18:54:52 2013 +0000
     1.3 @@ -1,14 +1,12 @@
     1.4 +* Summary of Senses
     1.5  
     1.6 -
     1.7 -* A joint
     1.8 -
     1.9 -The point of this joint is that it uses exploratory motor movements to
    1.10 -learn how to move to any particular position.
    1.11 -
    1.12 -visual-information -- list of functions which must each be called with
    1.13 -the world the argument, each of which returns [topology data]. Each
    1.14 +vision -- list of functions which must each be called with
    1.15 +the world as their argument, each of which returns [topology data]. Each
    1.16  element of data is a number between 0 and 255 representing the
    1.17 -intensity of the light recieved at that sensor.
    1.18 +intensity of the light recieved at that sensor. Each element of
    1.19 +topology is a pair of numbers [x, y] such that numbers whose pairs
    1.20 +have a short euclidean distance are generally physically close on the
    1.21 +actual sensor.
    1.22  
    1.23  proprioception -- list of nullary functions, one for each joint, which
    1.24  return [heding pitch roll].
    1.25 @@ -20,9 +18,39 @@
    1.26  
    1.27  touch -- list of functions which must each be called with a Node
    1.28  (normally the root node of the simulation) the argument, each of which
    1.29 -returns [topology data]. Each element of data is a posive float
    1.30 -between 0.0 and the max length of the "hairs" of which the touch sense
    1.31 -is composed.
    1.32 +returns [topology data]. Each element of data is [length limit] where
    1.33 +limit is the length of that particular "hair" and length is the amount
    1.34 +of the hair that has been activated so far. (= limit length) means that
    1.35 +nothing is touching the hair.
    1.36 +
    1.37 +
    1.38 +* A Flower
    1.39 +
    1.40 +A flower is a basic creature that tries to maximize the amount of
    1.41 +light that it sees. It can have one or more eyes, with one eye being
    1.42 +"special" in that it is this eye which must recieve maximum light. It
    1.43 +can have multiple articulated joints and mulcles.
    1.44 +
    1.45 +Want an algorithm that uses the sense data of =vision=
    1.46 +=proprioception=, and =movement= to maximum benefit in order to look
    1.47 +at the light source.
    1.48 +
    1.49 +The light source will move from place to place and the flower will
    1.50 +have to follow it. 
    1.51 +
    1.52 +The algorithm should be generalize to any number of eyes and muscles,
    1.53 +and should become /more/ preformant the more sensory data is
    1.54 +available.
    1.55 +
    1.56 +I will punt on working out an elegant model of motivation for the
    1.57 +flower which makes it want to go to the light.
    1.58 +
    1.59 +Maybe I need a motivationless entity first, which just learns how its
    1.60 +own body works? But then, wouldn't that just be a motivation itself?
    1.61 +
    1.62 +
    1.63 +
    1.64 +
    1.65  
    1.66  #+name: load-creature
    1.67  #+begin_src clojure