Habit learning and brain–machine interfaces (BMI): a tribute to Valentino Braitenberg’s “Vehicles”

Brain–Machine Interfaces (BMI) allow manipulation of external devices and computers directly with brain activity without involvement of overt motor actions. The neurophysiological principles of such robotic brain devices and BMIs follow Hebbian learning rules as described and realized by Valentino Braitenberg in his book “Vehicles,” in the concept of a “thought pump” residing in subcortical basal ganglia structures. We describe here the application of BMIs for brain communication in totally locked-in patients and argue that the thought pump may extinguish—at least partially—in those people because of extinction of instrumentally learned cognitive responses and brain responses. We show that Pavlovian semantic conditioning may allow brain communication even in the completely paralyzed who does not show response-effect contingencies. Principles of skill learning and habit acquisition as formulated by Braitenberg are the building blocks of BMIs and neuroprostheses.     

Emotion Attribution to a Non-Humanoid Robot in Different Social Situations

In the last few years there was an increasing interest in building companion robots that interact in a socially acceptable way with humans. In order to interact in a meaningful way a robot has to convey intentionality and emotions of some sort in order to increase believability. We suggest that human-robot interaction should be considered as a specific form of inter-specific interaction and that human–animal interaction can provide a useful biological model for designing social robots. Dogs can provide a promising biological model since during the domestication process dogs were able to adapt to the human environment and to participate in complex social interactions. In this observational study we propose to design emotionally expressive behaviour of robots using the behaviour of dogs as inspiration and to test these dog-inspired robots with humans in inter-specific context. In two experiments (wizard-of-oz scenarios) we examined humans'' ability to recognize two basic and a secondary emotion expressed by a robot. In Experiment 1 we provided our companion robot with two kinds of emotional behaviour (“happiness” and “fear”), and studied whether people attribute the appropriate emotion to the robot, and interact with it accordingly. In Experiment 2 we investigated whether participants tend to attribute guilty behaviour to a robot in a relevant context by examining whether relying on the robot''s greeting behaviour human participants can detect if the robot transgressed a predetermined rule. Results of Experiment 1 showed that people readily attribute emotions to a social robot and interact with it in accordance with the expressed emotional behaviour. Results of Experiment 2 showed that people are able to recognize if the robot transgressed on the basis of its greeting behaviour. In summary, our findings showed that dog-inspired behaviour is a suitable medium for making people attribute emotional states to a non-humanoid robot.     

Levels or Domains of Life?

In the case of living beings – the very concept of “level” of organization becomes obscure: it suggests a value-based assessment, assigning notions like “lower” and “higher” with rather vague criteria for constructing the ladder of perfection, complexity, importance, etc. We prefer therefore the term “domain”, entities ranking equal. Domains may represent natural entities as well as purely human constructs developed in order to gain understanding of some facets of living things; living, evolved beings (e.g. viviparous animals, eukaryotic cells, etc.) as well as those abstract constructs, such as genotype and ‘niche’ which have been developed in the search for better understanding of such living things. Delimitation of such domains is sometimes a question of the dexterity of the researcher, and sometimes draws from the tradition in a given field. Such domains are not completely (canonically) translatable to each other. Rather, they interact by a process that we call here reciprocal formation. Life (including the biosphere and human cultures which are emergent within the frame of the biosphere) is unique among multi-domain systems. In contrast to purely physical systems, life is a semiotic system driven by the historical experience of lineages, interpreted and re-interpreted by the incessant turnover of both individuals and their communities. This paper provides cases of domain interrelations, and addresses two questions: (1) How do new qualities of inter-domain interaction emerge historically? (2) How do new domains (ways of understanding the world) emerge in evolution. Two approaches, physical and biosemiotic, are discussed as we seek to get a better understanding of the overarching tasks.     

Using insects to drive mobile robots — hybrid robots bridge the gap between biological and artificial systems

The use of mobile robots is an effective method of validating sensory–motor models of animals in a real environment. The well-identified insect sensory–motor systems have been the major targets for modeling. Furthermore, mobile robots implemented with such insect models attract engineers who aim to avail advantages from organisms. However, directly comparing the robots with real insects is still difficult, even if we successfully model the biological systems, because of the physical differences between them. We developed a hybrid robot to bridge the gap. This hybrid robot is an insect-controlled robot, in which a tethered male silkmoth (Bombyx mori) drives the robot in order to localize an odor source. This robot has the following three advantages: 1) from a biomimetic perspective, the robot enables us to evaluate the potential performance of future insect-mimetic robots; 2) from a biological perspective, the robot enables us to manipulate the closed-loop of an onboard insect for further understanding of its sensory–motor system; and 3) the robot enables comparison with insect models as a reference biological system. In this paper, we review the recent works regarding insect-controlled robots and discuss the significance for both engineering and biology.     

What is hierarchical selection?

It has been proposed that natural selection occurs on a hierarchy of levels, of which the organismic level is neither the top nor the bottom. This hypothesis leads to the following practical problem: in general, how does one tell if a given phenomenon is a result of selection on level X or level Y. How does one tell what the units of selection actually are? It is convenient to assume that a unit of selection may be defined as a type of entity for which there exists, among all entities on the same “level” as that entity, an additive component of variance for some specific component F of fitness which does not appear as an additive component of variance in any decomposition of this F among entities at any lower level. But such a definition implicitly assumes that if f(x, y) depends nonadditively on its arguments, there must be interaction between the quantities which x and y represent. This assumption is incorrect. And one cannot avoid this error by speaking of “transformability to additivity” instead of merely “additivity”. A general mathematical formulation of the concepts of interaction and non-interaction is proposed, followed by a correspondingly modified approach to the definition of a unit of selection. The practical difficulty of verifying the presence of hierarchical selection is discussed.     

Meet the new mammoth,same as the old? Resurrecting the <Emphasis Type="Italic">Mammuthus primigenius</Emphasis>

Media reporters often announce that we are on the verge of bringing back the woolly mammoth, even while there is growing consensus among scientists that resurrecting the mammoth is unlikely. In fact, current “de-extinction” efforts are not designed to bring back a mammoth, but rather adaptations of the mammoth using close relatives. For example, Harvard scientists are working on creating an Asian elephant with the thick coat of a mammoth by merging mammoth and elephant DNA. But how should such creatures be classified? Are they elephants, mammoths, or both? Answering these questions requires getting clear about the concept of reproduction. What I hope to show is that with an appropriate notion of reproduction—one for which I will argue—resurrecting a member of Mammuthus primigenius is a genuine possibility.     

Comparison of human and humanoid robot control of upright stance

There is considerable recent interest in developing humanoid robots. An important substrate for many motor actions in both humans and biped robots is the ability to maintain a statically or dynamically stable posture. Given the success of the human design, one would expect there are lessons to be learned in formulating a postural control mechanism for robots. In this study we limit ourselves to considering the problem of maintaining upright stance. Human stance control is compared to a suggested method for robot stance control called zero moment point (ZMP) compensation. Results from experimental and modeling studies suggest there are two important subsystems that account for the low- and mid-frequency (DC to 1 Hz) dynamic characteristics of human stance control. These subsystems are (1) a “sensory integration” mechanism whereby orientation information from multiple sensory systems encoding body kinematics (i.e. position, velocity) is flexibly combined to provide an overall estimate of body orientation while allowing adjustments (sensory re-weighting) that compensate for changing environmental conditions and (2) an “effort control” mechanism that uses kinetic-related (i.e., force-related) sensory information to reduce the mean deviation of body orientation from upright. Functionally, ZMP compensation is directly analogous to how humans appear to use kinetic feedback to modify the main sensory integration feedback loop controlling body orientation. However, a flexible sensory integration mechanism is missing from robot control leaving the robot vulnerable to instability in conditions where humans are able to maintain stance. We suggest the addition of a simple form of sensory integration to improve robot stance control. We also investigate how the biological constraint of feedback time delay influences the human stance control design. The human system may serve as a guide for improved robot control, but should not be directly copied because the constraints on robot and human control are different.     

Theme F “medical robotics for training and guidance”: Results and future work

This paper presents the projects of the Theme F “medical robotics for training and guidance” inside the GdR STIC-Santé. Three scientific meeting days have been organized during the period 2011–2012. They were devoted to physical simulators of behavior for gesture learning, command of hand prostheses by myoelectric signals or brain activity and the manipulation of objects by the artificial hand, and the last to the use of robots for medical gestures. The next event, scheduled for early 2013, will focus on the evaluation of gesture and especially “evaluation of gesture – to do what?”.     

The shaping of social perception by stimulus and knowledge cues to human animacy

Although robots are becoming an ever-growing presence in society, we do not hold the same expectations for robots as we do for humans, nor do we treat them the same. As such, the ability to recognize cues to human animacy is fundamental for guiding social interactions. We review literature that demonstrates cortical networks associated with person perception, action observation and mentalizing are sensitive to human animacy information. In addition, we show that most prior research has explored stimulus properties of artificial agents (humanness of appearance or motion), with less investigation into knowledge cues (whether an agent is believed to have human or artificial origins). Therefore, currently little is known about the relationship between stimulus and knowledge cues to human animacy in terms of cognitive and brain mechanisms. Using fMRI, an elaborate belief manipulation, and human and robot avatars, we found that knowledge cues to human animacy modulate engagement of person perception and mentalizing networks, while stimulus cues to human animacy had less impact on social brain networks. These findings demonstrate that self–other similarities are not only grounded in physical features but are also shaped by prior knowledge. More broadly, as artificial agents fulfil increasingly social roles, a challenge for roboticists will be to manage the impact of pre-conceived beliefs while optimizing human-like design.     

Double-site enzymes and squatting. A study of the regulation by one or several ligands binding at two different classes of site

The existence of two (generally different) binding sites per protomer for the same ligand has already been observed (“double-site enzymes”). Furthermore, in some instances, the two sites appear to be shared in common by two or more ligands (“squatting”). The theoretical implications of such cases have been emphasized here using a generalization of an allosteric V model. This model, by taking into account the competition between ligands which occurs in vivo, evidences various, or even peculiar regulatory patterns, and could be of general physiological interest. It has been illustrated here by some real systems.     

Paraphyly,ancestors, and the goals of taxonomy: A botanical defense of cladism

Cronquist (1987) criticizes cladism for its rejection of paraphyletic groups, which he would retain if he feels they are “conceptually useful.” We argue that paraphyletic higher taxa are artificial classes created by taxonomists who wish to emphasize particular characters or phenetic “gaps,” and that formal recognition of such taxa conveys a misleading picture of common ancestry and character evolution. In our view, classifications should accurately reflect the nested hierarchy of monophyletic groups that is the natural outcome of the evolutionary process. Such systems facilitate the study of evolution and provide an efficient summary of character distributions. Paraphyletic groups, such as “prokaryotes,” “green algae,” “bryophytes,” and “gymnosperms,” should be abandoned, as continued recognition of such groups will only serve to retard progress in understanding evolution. Contrary to Cronquist’s (1987) assertions, cladistic theory is not at odds with standard views on speciation and the existence of ancestors. Groups of interbreeding organisms can continue to exist after giving rise to descendant species, and there are several ways in which such groups, whether extant or extinct, can be incorporated into cladistic classification. In contrast, paraphyletic higher taxa are neither cohesive (integrated by gene flow) nor whole, do not serve as ancestors, and are unacceptable in the phylogenetic system. Fossils may be of great value in assessing phylogenetic relationships and are readily accommodated in cladistic classification. Cladistic studies are helping to answer major questions about plant evolution, and we anticipate increased efforts to develop a truly phylogenetic system.     

Microbial diversity and the “lower-limit” problem of biodiversity

Science is now studying biodiversity on a massive scale. These studies are occurring not just at the scale of larger plants and animals, but also at the scale of minute entities such as bacteria and viruses. This expansion has led to the development of a specific sub-field of “microbial diversity”. In this paper, I investigate how microbial diversity faces two of the classical issues encountered by the concept of “biodiversity”: the issues of defining the units of biodiversity and of choosing a mathematical measure of diversity. I also show that the extension of the scope of biodiversity to microbial entities such as viruses and many other not-clearly-alive entities raises yet another foundational issue: that of defining a “lower-limit” of biodiversity.     

Designing an assistive robot for older adults: The ROBADOM project

ObjectiveThe ROBADOM project was devoted to the design of a “robot butler”, capable of providing verbal and non-verbal interactions and feedbacks for assisting older adults at home. In this article we focused on the following issues: (1) study the social context for designing social robot; define the robot appearance and investigate the perceptions and attitudes of older adults towards an assistive robot; (2) examine the perception of the expressivity of the robot, the social signals showing the end-user engagement level and the role of agent embodiment during the interaction between older adults and a robot.MethodThe design of the studies involved both qualitative and experimental methods.Results & DiscussionSmall robots with some traits between human/animal and machine were appreciated by the participants. As regards services, cognitive stimulation, reminder and object localization were positively rated. Although the participants considered an assistive robot as useful, they were not yet ready to adopt it. The expressions of the robot were perceived differently in older and young adults. Thus, a robotic system dedicated to older adults should be tailored to the specific characteristics of this population. We also identified social signals as indicators of the user's engagement level during interaction. Finally, the issue of the added valued of a robotic system in comparison to a laptop was raised by our participants. Therefore, various issues (technological development, human-robot interaction, social context…) are to be explored before testing the impact of the robot at home.     

Tales of the phylogenetic woods: The evolution and significance of evolutionary trees

The styles of continuing intellectual traditions can have a major effect on the way in which scientific findings are expressed. Darwin and Huxley, for all their intellectual daring followed the skeptical tactics of the Scottish Enlightenment and avoided the construction of human phylogenetic trees, even though they were aware of the evidence on which such could have been constructed. The romantic evolutionism of Haeckel, Keith, and many subsequent writers in English produced suggested phylogenies on the basis of largely hypothetical forms including Homo “alalus,” “stupidus,” and “Eoanthropus.” The structural aspects of phylogenetic schemes that derive from the French intellectual ethos, from catastrophism to cladistics and punctuated equilibria, have stressed discrete categorical entities in the tradition of Platonic essentialism and have tended to avoid a consideration of evolutionary dynamics.     

Pollinator response to male floral display size in two Sagittaria (Alismataceae) species

One hypothesis for the evolution of maleness in plants postulates the following: male plants appear that have re-allocated resources from female parts into a larger number of male flowers, creating a larger floral display. Pollinators respond “dramatically” to the increased display, driving the spread of males in the population (Bawa, K. S., 1980, Annual Review of Ecology and Systematics 11:15–40). To test this, we measured the total number of flowers and the size of male displays in dioecious Sagittaria latifolia and monoecious S. australis. We also measured how fast visitors arrived at “target” flowers in the displays. Then we used the Cox Model, a failure time analysis procedure, to analyze the relationship between visitor arrival and display size. We found that male display sizes were somewhat larger in the dioecious than the monoecious plants, but this was due to more compressed blooming rather than to a larger total number of flowers. The visitors to both plants were similar arrays of generalist bees. Visitors did not show the predicted “dramatic” response, however, but rather a plateauing response to larger display sizes, so our results do not support the hypothesis. Reviewing the literature, we found no reports of the “dramatic” response the hypothesis asserts. Instead, relative insensitivity to display size is the rule.     

Sex Cells: Gender and the Language of Bacterial Genetics

Between 1946 and 1960, a new phenomenon emerged in the field of bacteriology. “Bacterial sex,” as it was called, revolutionized the study of genetics, largely by making available a whole new class of cheap, fast-growing, and easily manipulated organisms. But what was “bacterial sex?” How could single-celled organisms have “sex” or even be sexually differentiated? The technical language used in the scientific press – the public and inalienable face of 20th century science – to describe this apparently neuter organism was explicit: the cells “copulated,” had “intimate contract,” “conjugal unions,” and engaged in “ménage ã trois” relationships. And yet, to describe bacteria as sexually reproducing organisms, the definition of sex itself had to change. Despite manifold contradictions and the availability of alternative language, the notion of sexually active (even promiscuous) single-celled organisms has persisted, even into contemporary textbooks on cell biology and genetics. In this paper I examine the ways in which bacteria were brought into the genetic fold, sexualized, and given gender; I also consider the issues underlying the durability of “bacterial sex.”     

The Urfold: Structural similarity just above the superfold level?

We suspect that there is a level of granularity of protein structure intermediate between the classical levels of “architecture” and “topology,” as reflected in such phenomena as extensive three‐dimensional structural similarity above the level of (super)folds. Here, we examine this notion of architectural identity despite topological variability, starting with a concept that we call the “Urfold.” We believe that this model could offer a new conceptual approach for protein structural analysis and classification: indeed, the Urfold concept may help reconcile various phenomena that have been frequently recognized or debated for years, such as the precise meaning of “significant” structural overlap and the degree of continuity of fold space. More broadly, the role of structural similarity in sequence?structure?function evolution has been studied via many models over the years; by addressing a conceptual gap that we believe exists between the architecture and topology levels of structural classification schemes, the Urfold eventually may help synthesize these models into a generalized, consistent framework. Here, we begin by qualitatively introducing the concept.