2007 - Spheres, Bots & Brains.

Spheres of Knowledge - The team defined two major spheres of knowledge plus an integration sphere.
Sphere #1 - Artificial Intelligence - specifically Memory Prediction Frameworks (HTMs)
Sphere #2 - Robotics - specificially humanoid or reptilian (2 or 4 legs), sensory networks (laser, acoustic, visual, tactile feedback, etc.) and motion hardware (servos, motors, gyros, etc.).
Sphere #3 - Integration, CPUs & Memory, Simulation & Training

One member assigned to each sphere and the remaining member assigned to master both spheres of knowledge and the integration between the two. We're hoping this setup is optimal for a 3-man team to absorb the mountains of information in each sphere while maintaining some overlap of knowledge and expertise.

The Artificial Intelligence Sphere will center around memory prediction frameworks popularized by Jeff Hawkins of Numenta. Hawkins outlined an algorithmic framework sometimes referred to as Hierarchial Temporal Memory which tries to simulate neocortical behavior. The framework is based on the idea that most of the human neocortex is driven by a huge number of computational units (small neural networks) that perform a common cortical algorithm using memory as its central feature (jeff gave credit to the neuroscientist Vernon Mountcastle for the common algorithm observation). Hawkins notes that invariant representations of real world objects (sense-driven) eventually get represented in the neocortex by hierarchies of memory which hold sensory spatial and temporal pattern memories. Once the neocortex is "trained" and populated with these memories, it consequentially gains a powerful prediction engine for future (sensory) events. A recent study corroborates the central role that memory seems to play in prediction. The team has decided that a framework based on Hawkins HTM ideas show the most promise for our venture. An excellent working knowledge of Bayesian statistical methods will be essential. The other major aspect of this sphere will be the potential integration of knowledge bases (common sense databases, internet sources, etc.) along with the HTM framework to facilitate training and increase functional intelligence of the AI system. Rob has been selected to lead this sphere.

The Robotics Sphere is really The Substrate Sphere, we were primarily looking for a substrate to apply our AI efforts... we all quickly agreed that Robotics provided the most challenging (and fun) platform to test our AI-based engines. Since a career can be spent on development of a particular robotics platform -- we've decided to focus on COTS-based robots. Aligning with the recent MS release of Robotics Studio, the team will focus only on platforms that are supported by the Robotics Studio. This will leverage our current .NET programming expertise, allow us to integrate any .NET based AI algorithms while minimizing our time investment on the robotics side of the house by not focusing on proprietary hardware. The important aspects of this sphere are primarily hardware related including wireless communication between AI node and robotic brain, acuity (granularity) of sensors, noise filtration and locomotive strategy. Trev will lead this sphere.

The Third Sphere is an integration of the first 2 spheres with responsbilities covering development environments, integration, computational hardware (CPUs, memory, etc.), simulation and AI/Robot training. Training is a significant issue in both AI and robot development and requires careful planning and implementation. Duties involve mastery of MS Robotics Studio and Concurrency & Coordination Runtime (CCR), multithreading / multicore concepts, integration of AI engines and robotic "nervous system". Non functional duties involve facilitating cohesiveness between leaders of both spheres and ensuring that all members are working toward the stated goals.

It is important that each person masters their respective sphere and cross-train the rest of the team. Each member will present a technical summary by next meeting covering their corresponding sphere. This action item is meant to ramp up teammates on the relevant technical concepts and to get the team used to adjusting their busy schedules to include time for this new venture.

• Trev will present a technical robotics summary including robotics jargon & definitions, details on different sensor types and an overview on the initial platform selected - LEGO Mindstorms NXT.
• Rob will present a summary of the AI sphere concentrating on HTM concepts & algorithms.
• Bert will present an overview of the MS Robotics Studio and the CCR.

Some relevant links:

Artificial Intelligence Sphere:
Bayesian Models of Inductive Learning- Berkeley PowerPoint
onIntelligence Forum
Hierarchial Temporal Memory - Wikipedia
Science AAAS - article on Brain Science / HTM

Robotics Sphere:
MS Robotics Studio - Lego Mindstorms Tutorial
Lego Mindstorms NXT Community Site
Lego Mindstorms NXT Blog
Robotics Connection Store
The Tech Museum - Robotics