Cybernetics

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Cybernetics
formica

• Social learning in robots supported by a trust
  mechanism

Toshaan Bharvani José Jaherra Jelle Van
Camp Christoph Wauters
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Executive summary

• Algorithm
• Acquiring general image
• Trust mechanism
• Translation
• Excel version
• Programming
• Implementation

• Soldering
• Waiting for components
• Actual building

Non-compatibility obstructs further implementation
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The cognitive architecture of the agents in the
simulations and their relationship with the
environment
(source Artificial life XI 2008, Simulated
Trust Towards robust social learning, D.
Vanderelst, R. Ahn and E. Barakova, p634)
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Encountered problems (1)Building the robot

• The basics of soldering (without any knowledge
  upfront), and also the removal of components,
  restarting all over and using the extra adhesive
  stick
• Availability of just 1 soldering iron
• Learning to understand the principles behind the
  electric schemes
• Waiting for the arrival of the components
• Time intensive / we spend a lot of effort on it
• How to fix the battery (the use of wire, metal,
  glue, sticking paste)
• What materials (and size) to use for the wheels
  (plastic bottle cap, LEGO, eraser)
• Pros and cons of putting the battery on top or
  underneath
• What materials to use for the skis, making it
  conductive
• How the robot should look like
• ...

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Encountered problems (2)Algorithm
E

• To read and understand the general principle
  (algorithm)
• Meaning of different matrices (mathematical and
  physical), and indices
• Connections between everything
• Mapping the outside world (how to generate
  stimuli and how to perceive them colors, BW)
• Trustmechanism and how it updates (scalar or
  matrix towards every robot)
• Rewardmatrix (absolute or relative)
• Developing a draft in Excel to figure out the
  principles
• Externalizing or internalizing of the reward
  matrix (dependent or independent learning)
• Possibility of introducing a mother robot, who
  accredits the rewards, slower learning but no
  setbacks
• Risk 1 vs 1 necessity to end the chain and to
  move on (towards other robots)
• Specializing 1 robots investigates all possible
  reactions on 1 percept until he knows the best
  reply, then exchange information with other
  robots who investigated other percepts (problems)
• ...

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Encountered problems (3)Programming

• firmware not compatible
• windows not strong enough
• linux not functional with Texas Instruments
• Incremental programming vs dynamic continual
  (which is more difficult)
• Learning how to program in C (in general)
• How to adapt the firmware to obtain a working
  robot
• Trying to make contact with the English
  developers (Jeff Gough 1 and Rob Spanton 2) for
  further information
• How to upload the firmware onto the chip
  (practical)
• How to retrieve the gathered information and
  learning steps (docking station)
• Loss of information when battery gets depleted
• Compiling of the firmware itself (with help of
  Hans)
• Getting a compiled and installed version of GCC
  and LIBC
• 1 warrantyvoidifremoved.com 2 Xgoat.com

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Encountered problems (4)Others

• what do the sensors measure
• what is meant with communication transmitting
  values according to indices? Or information in
  se?
• Communication in English between team members
• Chaining multiple robots to overcome an obstacle
  (physically / mechanically) which turned out to
  be less relevant in the end ?
• What do sensors measure? Colors? Gap black,
  food a value of grey and how do they process
  it?
• Speed of wheels? Too fast? Not enough grip?
• Charging the battery (through the computer
  connection? Or do they nee dan adaptor?
• Weight of the robot could be too big for the
  propulsion generated by the motors. No
  translation (even without friction with the
  surface, skis inclusive) and even without the
  weight of the battery. ? making a boat in EPS?
• Expectations raised too high
• Smoke generation? Glue on contact surfaces of the
  motor

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Executive summary

• Algorithm
• Acquiring general image
• Trust mechanism
• Translation
• Excel version
• Programming
• Implementation

• Soldering
• Waiting for components
• Actual building

Non-compatibility obstructs further implementation
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Questions?
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