Minimalist Hardware Architectures for Agent Tracking and Guidance

The philosophy of minimalism in robotics promotes gaining an understanding of sensing and computational requirements for solving a task. This minimalist approach lies in contrast to the common practice of first taking an existing sensory motor system, and only afterwards determining how to apply the robotic system to the task. While it may seem convenient to simply apply existing hardware systems to the task at hand, this design philosophy often proves to be wasteful in terms of energy consumption and cost, along with unnecessary complexity and decreased reliability. While impressive in terms of their versatility, complex robots such as the PR2 (which cost hundreds of thousands of dollars) are impractical for many common applications. Instead, if a specific task is required, sensing and computational requirements can be determined specific to that task, and a clever hardware implementation can be built to accomplish the task. Since this minimalist hardware would be designed around accomplishing the specified task, significant reductions in hardware complexity can be obtained. This can lead to huge advantages in battery life, cost, and reliability. Even if cost is of no concern, battery life is often a limiting factor in many applications. Thus, a minimalist hardware system is critical in achieving the system requirements. In this thesis, we will discuss an implementation of a counting, tracking, and actuation system as it relates to ergodic bodies to illustrate a minimalist design methodology.

Effects of efficient fronto-temporal circuitry on lexical ambiguity resolution: converging evidence from cross-age comparisons in eye-tracking and ERP data

Eye-tracking was used to examine how younger and older adults use syntactic and semantic information to disambiguate noun/verb (NV) homographs (e.g., park). We find that young adults exhibit inflated first fixations to NV-homographs when only syntactic cues are available for disambiguation (i.e., in syntactic prose). This effect is eliminated with the addition of disambiguating semantic information. Older adults (60+) as a group fail to show the first fixation effect in syntactic prose; they instead reread NV homographs longer. This pattern mirrors that in prior event-related potential work (Lee & Federmeier, 2009, 2011), which reported a sustained frontal negativity to NV-homographs in syntactic prose for young adults, which was eliminated by semantic constraints. The frontal negativity was not observed in older adults as a group, although older adults with high verbal fluency showed the young-like pattern. Analyses of individual differences in eye-tracking patterns revealed a similar effect of verbal fluency in both young and older adults: high verbal fluency groups of both ages show larger first fixation effects, while low verbal fluency groups show larger downstream costs (rereading and/or refixating NV homographs). Jointly, the eye-tracking and ERP data suggest that effortful meaning selection recruits frontal brain areas important for suppressing contextually inappropriate meanings, which also slows eye movements. Efficacy of fronto-temporal circuitry, as captured by verbal fluency, predicts the success of engaging these mechanisms in both young and older adults. Failure to recruit these processes requires compensatory rereading or leads to comprehension failures (Lee & Federmeier, in press).