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Conscious Robots, Self-Aware Robots & Automata:
Engineering Computational Models & Architectures for Cognitive Robotics and Machine Consciousness
Dr. John-Thones [email protected]. Math & CS
November 2008
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 1
Conscious Robots, Self-Aware Robots & Automata
Talk Outline: Main Ideas
Who, Which: Autonomous Robots; Mobile Robots; Autonomous Mobile Robots; Intelligent Artifacts, Augmented Reality; Large-Scale, Distributed Systems; Self-Aware Robots, Cognitive Robotics, Machine Consciousness
What: Embed, Incorporate Consciousness + Self-Awareness in IT / ICT Artifacts
Why: Meta-Autonomy in support of Survival / Teleological Goals
Where: Internal, Self-contained; “Creator-in-a-box”, Proxy-of-Designer
When: Run-time; Operational Life-cycle Support
How: Multi-scale, Multi-layer, Multi-level Computer Architecture (PMSCIO) Models and Designs
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 2
Conscious Robots, Self-Aware Robots & Automata
Consciousness: SOCAR
Wakefulness, Wakeful/Awake State Occupancy. Graded / Fuzzy. (Arousal, Excitement). (Alternate States: Sleep; Anaesthesia; Coma; Death; Development/Morphogenesis state)
(Alternate States: Unconscious, Sub-conscious; Hyper-conscious / Super-conscious / Ultra-conscious)
Attention; Attentional Control / Focus; Sequential Switching, Ordering, Scheduling
Ego; Self; Unity; Coherence; “Soliton”
Conscious Awareness; Sensation; Perception; Cognition, Concepts; Verbal / Linguistic Awareness, Conceptions
Inner Speech (Talking to Self, Thinking?); Silent Speech; Mental Visual Imagery
Subjective Awareness; Qualia; Phenomenal Awareness
Emotional Valuation (Feelings, Moods, Pains, Pleasures); Motivational Valuation (Urge, Drive, Impetus, Obsession)
Memory; Remembering; Recall; Learning; Imagination; Envisioning; What-if Scenarios; Deliberation; Expectations
Intention; Intentional Actions, Behaviors; Will; Self-Initiative; Reaction; Pro-action; Interaction; Transaction, Volition
Self Awareness + Self-Control; Emotional Expression; Motivational Expression
SOCAR – Separation Of Concerns, Aspects & Roles
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 3
Conscious Robots, Self-Aware Robots & Automata
Self-Awareness + Self-Control: SOCAR
Self- Consciousness, Awareness, Monitoring; Evaluation; Assessment; Testing; Diagnosis; Analysis; Prognosis, Identity; Identification; Individuation; Prediction; Forecasting; Learning; Knowledge; Documenting; Archiving; Inspecting; (Introspection); Modeling; Simulation; Observation; Cognition; Envisioning; Imagination; Intelligence (Espionage); Study; Reflection; Deliberation;
Self- Reliance; Reliant; Responsible; Customizing; Devising; Managing; Initiating; Directing; Protecting; Control; Regulating; Supporting; Restructuring; Programming; Re-programming; Reviewing; Adaptive; Sufficiency; Redesign; Re-engineering; Updating; Upgrading; Modifying; Repairing; Maintaining; Healing; Discipline; Censorship; Sponsorship; Motivating; Drive; Deployment; Instruction; Optimizing; Preservation
Self- Control, Generative; Regenerating; Evolving; Configuring; Re-configuring; OrganizingImplementing; Realizing; Intervention; Planning; Sustaining; Correcting; Recovery; Assembly, Regulation
SOCAR – Separation Of Concerns, Aspects & Roles
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 4
Conscious Robots, Self-Aware Robots & Automata
Applications & Related Areas
Autonomous Robots; Mobile Robots; Autonomous Mobile Robots; Intelligent Artifacts, Augmented Reality; Large-Scale, Distributed Systems; Humanoid Robots, Anthropomorphic Robots; Embodied Intelligence; Embodied Cognition; Embodied Emotions, Affect & Connation;
Automonic Computing (IBM); Conscientious Software (Sun Microsys); Recovery-Oriented Programming; Fault-Tolerant Computing; Continuously Evolving IT/ICT
Natural Computation: Biol.-inspired; Bio-mimetic; Bio-imitation;Computational Intelligence; Biocomputing; Artificial Immune Systems; Immunocomputing
Computational Neuroscience, Neurocomputing; Biological Information Processing
Military, Defense, Security; Space & Planetary Exploration; Undersea, Seafloor Exploration / Exploitation; Nuclear / Hazardous Waste Storage Management
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 5
Conscious Robots, Self-Aware Robots & Automata
Architectural Models & Theories: Meta-levels
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 6
M. Minsky:
A. Sloman:
External Environment
A-BrainBody
External Environment
B-Brain C-Brain
Body ReactiveControl
DeliberativeControl
Meta-Management
B. Baars: Consciousness: Global Workspace Theory. Blackboard Architecture of a Collection of Specialized Processes (Agents)
Conscious Robots, Self-Aware Robots & Automata
Architectural Models & Theories: Meta-levels
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 7
M. Minsky:
External Environment
Body Instinctive
Reactive
Learned
Reactive
Deliberative
Thinking
Reflective
Thinking
Self-Reflective
Thinking
Self-Conscious
Reflection
Conscious Robots, Self-Aware Robots & Automata
Why: Plausible Reasons for Evolution
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 8
A Perfect, Flawless, synchronically and diachronically well-adapted System does NOT need Consciousness nor Self-Awareness. Only needed to cope with Uncertainty (plus Fear, Doubt, Change, Diversity, Entropy)
Uncertainty = Potential for Expectation Violations in System Lifecycle: Goals, Needs, Requirements, Specifications, Design, Architecture; Coding; Implementation; Configuration; Deployment; Operation; Management; Use; etc.
Embed as Real-time, Run-time, Online Creator-in-a-Box, Internalized, Interiorized Designer’s Proxy; GOD-in-a-Box. (G.O.D Grappler / Generator Of Diversity)
Stored Creator-Designer Proxy concept: Regard as extension of J. von Neumann’s concept of Stored Program Control (Puppeteer-in-a-Box).
(Also regard as beyond Tele-operation, Remote Control)
Use Top-Down Inherited Attributes (c.f. Attribute Grammars) to Obviate Combinatorial Explosion in dealing with Discrete Structures, (e.g., Kronecker products, or Cartesian, Cross, Tensor products)
Conscious Robots, Self-Aware Robots & Automata
GOD-in-a-Box: Stored Creator-Designer Proxy Concept
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 9
External Environment
Operator Proxy
Body Creator-Designer Proxy
External Environment
Cybernetics Control “Brain”
Body Mind Unconscious
Consciousness
Self
Self-Awareness
Conscious Robots, Self-Aware Robots & Automata
Design Patterns: Diverse Organisms and Artifacts Can Evolve
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 10
External Environment
Cybernetics Control
Body Mind Unconscious
Consciousness
Self
Self-Awareness
External Environment
Cybernetics Control
Body Mind Unconscious
External Environment
ControlBody
Conscious Robots, Self-Aware Robots & Automata
Energetics / Informatics Dimensions
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 11
BodyCybernetics Control
Mind / Unconscious
Consciousness+ Self
Self-Awareness
Energetics
Hard, Real,
Physical
Material
Mechanics
Kinematics
Kinetics
Dynamics
Synergetics
Informatics
Soft, Virtual, Overlay
Immaterial
Unconscious
Sub-conscious
Fringe-conscious
Cybernetics
Command
Communications
Content Manip.
Coordination
Conscious Robots, Self-Aware Robots & Automata
Run-time “Creator-in-a-Box” “Engineering -ilities” Goals
Performance, Productivity, Reliability, Availability, Dependability, Resilience, Robustness, Fault-tolerance, Survivability, Integrity,Autonomy,Organizability, Complexity, UnderstandabilityUpgradability, Maintainability, Evolvability, Mutability, Modifiability, Tunability, Adaptability, Repairability, ServiceabilityFunctionality, Effectiveness, Adequacy, Capability, Ability, Cost, Optimality, Efficiency, AccountabilityManageability, Transparency, Administrability, Controllability, Observability, Diagnosability, Testability, Predictability, OperabilityQuality, Assurance, Coherence, Organizability, Assemblage, Designability, Buildability, Constructability, Deployability, Scalability, Configurability, EmbodimentSafety, Security, Protection
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 12
Conscious Robots, Self-Aware Robots & Automata
Run-time “Creator-in-a-Box” Coping With Uncertainty
Prediction, Forecasting, PrognosisAnalysis, Diagnosis, Characterization, ClassificationLearning, Understanding, Comprehension, MasteryModeling, (Virtual, Inner) Simulation Evaluation, Valuation, Signification, Denotation, Annotation StructuringRanking, Rating, Grading, Gradation, SortingTransformation, Variation, Extension Modification, Mutation, Change Generalization, Abstraction, ScalingSpecialization, Customization, “Personalization”Selection, Choice, MultiplexingModulationCommand, Control, Coordination, RegulationInstruction, Teaching
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 13
Conscious Robots, Self-Aware Robots & Automata
Multi-Layer Architectural Model
Biological Systems
Goal Layer: Survival, Animal Needs
Computational Layer Sensation, Perception Emotions, Motivations Memory, Learning, Cognition Behaviors, Actions, Mobility
Physical / Material Layer Neuron networks, circuits Neuron, nerve cells Neuron synapses, ion channels Bio-molecules, Bio-physics
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 14
Survival / Goal Layer
Computational Layer
Physical / Material Layer
Engineered Artifacts
Goal Layer: Survival, Assigned Needs
Computational Layer Computations, Calculations Information Processing Content Manipulation Cybernetics, Control, Coord.
Physical / Material Layer Register Transfer Level Digital Logic, Digital Electronics Electronics, Optics, Photonics Materials, Electro-Magnetics
Conscious Robots, Self-Aware Robots & Automata
Multi-Layer / Multi-Scale Architecture Model
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 15
Teleological Teleological Teleological Teleological Teleological Teleological
Environment
Computational Computational Computational Computational Computational Computational
Physical Physical Physical Physical Physical Physical
Compare; ISO / OSI 7-layer & B-ISDN/ATM 7-layer x 3-plane data comm. protocol models
Body Control / “Brain” Mind / “Unconscious”
Consciousness
+ Self
Self- Awareness
Conscious Robots, Self-Aware Robots & Automata
Skip-Level / “Fat” Augmented Architecture
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 16
External Environment
Cybernetics Control
Body Mind Unconscious
Consciousness
Self
Self-Awareness
External Environment
Body Control Mind Consciousness / Self
B C B C M
B – Body Proxy
C – Control Proxy
M – Mind Proxy
Conscious Robots, Self-Aware Robots & Automata
PMSCIO Functional Roles in Architecture
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 17
External Environment
Body C/SO
I I
O
I I I
OC/S C/S* C/S
O O
P – Processing, Processor
M – Memory, Storage
S – Switching, Communications, Exchange
C – Control, Coordination
IO – Input / Output (Transducers)
I – Input (Sensors) / O – Output (Effectors)
Control “Mind”
Unconscious
Consciousness + Self
Self - Awareness
C/S – (Shared Resource) Resource-Sharing Multi-access Conflict Resolution; Fuzzy Mux; *Attentional Controls
Conscious Robots, Self-Aware Robots & Automata
PMSCIO Architecture2
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 18
External Environment
BodyO
I
Control “Mind”/Unconscious Consciousness + Self
E – Emotional Proc
M – Motivational Proc.
m – Memory Proc.
C/S
IP
OP
E|M|m
E|M|m
E|M|m
E|M|m
E|M|m
E|M|m
C/S
IP
E|M|m
E|M|m
E|M|m
E|M|m
E|M|m
E|M|m
C/S
IP
E|M|m
E|M|m
E|M|m
E|M|m
E|M|m
E|M|m
OPOP
Conscious Robots, Self-Aware Robots & Automata
PMSCIO: Body also has Internal IO units
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 19
External Environment
BodyO
I “Mind”/Unconscious etc
E – Emotional Proc
M – Motivational Proc.
m – Memory Proc. Control / “Brain”
C/S
IP
OP
E|M|m
E|M|m
E|M|m
E|M|m
E|M|m
E|M|m
I
O
Conscious Robots, Self-Aware Robots & Automata
PMSCIO: Each Primary IO unit also has Aux I2/O2
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 20
External Environment
Body
O
I
“Mind”/Unconscious etc
E – Emotional Proc
M – Motivational Proc.
m – Memory Proc. Control / “Brain”
C/S
IP
OP
E|M|m
E|M|m
E|M|m
E|M|m
E|M|m
E|M|m
I
O
O2
I2
Conscious Robots, Self-Aware Robots & Automata
Each IP (or OP) has at least 4 post- (pre-) Transduction Stages
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 21
Env / Body etc
Control / “Brain”
“Mind”/Unconscious etc
IP Ip IIp IIIp IVp
E|M|m E|M|m E|M|m E|M|m E|M|m
E|M|m E|M|m E|M|m E|M|m E|M|m
OP Ip IIp IIIp IVp
E|M|m
E|M|m
E|M|m
E|M|m E|M|m E|M|m E|M|m
E|M|m E|M|m E|M|m
C/S
E – Emotional Proc
M – Motivational Proc.
m – Memory Proc.
Conscious Robots, Self-Aware Robots & Automata
PMSCIO: C/S: SOCAR: Communications + Control
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 22
E – Emotional Proc
M – Motivational Proc.
m – Memory Proc.
E|M|m
E|M|m
C
E|M|m
E|M|m
C/S
E|M|m
E|M|m
S
E|M|m
E|M|m
IOP
Conscious Robots, Self-Aware Robots & Automata
Some Biologically Plausible Models
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 23
External Environment
Cybernetics Control
Body Mind Unconscious
Consciousness
Self
Self-Awareness
Wakefulness
External Environment
Cybernetics Control
Body Mind Unconscious
Consciousness
Self
Self-Awareness
Sleep
Conscious Robots, Self-Aware Robots & Automata:
Some Biologically Plausible Models2
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 24
Control“Mind”
UnconsciousConsciousness + Self
Self - Awareness
External Environment
Body C/SO
I I’
O
I’ I’ I’
OC/S C/S C/S
O O
P|E|M|m P|E|M|m P|E|M|m Cerebrum / Cerebral Cortex / Neo-Cortex
Fore-Brain + Thalamus + Limbic Sys
Brain Stem + CNS/PNS
Conscious Robots, Self-Aware Robots & Automata
An Engineer in the Land of Evolution: Speculations
Why do Automobiles Make Noise? Why do most Birds make Noise, when Awake?
Why do Humans and Some Other Animals have Overt Emotional Expression?
Could Human Sound-based Language be a Derivation of Emotional Expression?
M. Faraday’s co-induction phenomena: Movement of Electrical Charges is Always Accompanied by Induced Magnetic Field.
Overt Leakage Manifestation: Maybe cannot Help it. Overt Accompaniment to Physical Activity, Exertion, Effort, Much Like Thermal Heat Production with Many Physical Processes.
Wave-Particle Duality; Time-Frequency Embodiments, Manifestations, Representations.
Could Self (Ego, Unity) be a Manifestation of Wave-Particle Duality?
Lamarckian Evolution Path for Engineered Artifacts
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 25
Conscious Robots, Self-Aware Robots & Automata
Quick & Brief Guide to the Literature
Minsky, M., Society of Mind, Simon & Schuster (1988)Minsky, M., Emotion Machine, Simon & Schuster (2006)Kari, L. & Rozenberg, G., The Many Facets of Natural Computing, Comm. of ACM, Vol. 51, No. 10 (Oct. 2008), pp. 72 – 83.Aleksander, O., Modeling Consciousness in Virtual Computational Machines…, Synthesis Philosophica, Vol. 44, No. 2 (2007), pp. 447 – 454.Sloman, A., What Sort of Architecture is Required for a Human-like Agent?, (eds) Wooldridge, M. and Rao, A., Foundations of Rational Agency, (1999).Sloman, A. & Chrisley, R., Virtual Machines and Consciousness, Journal of Conscious Studies, Vol. 10, No. 4/5 (Apr./May 2003), pp. 133 – 172.Kephart, JO. & Chess, DM., The Vision of Autonomic Computing, IEEE Computer, (January 2003), pp. 41 – 50.Gabriel, RP & Goldman, R., Conscientious Software, Sun Microsystems http://www.dreamsongs.com/Files/ConscientiousSoftwareCC.pdf Baars, B., A Cognitive Theory of Consciousness, Cambridge University Press (1988)Haikonen, P., Robot Brains: Circuits for Conscious Machines, Wiley (2007)Gamez, D., Progress in Machine Consciousness, Consciousness & Cognition, Vol. 17 (2008), pp. 887 – 910.
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 26
Conscious Robots, Self-Aware Robots & Automata:
Engineering Computational Models & Architectures for Cognitive Robotics and Machine Consciousness
Thank You
© 2008. John-Thones Amenyo. Conscious Robots & Self-Aware Robots. York College – CUNY 27