Massively parellel real-time network architectures for robots capable of self-calibrating their operating parameters through associative learning

A head-muscle interface circuit comprising;

• a photo-detection means;
• a means for receiving sampling signals over a conditionable circuit from an active population within a target position map;
• a means for receiving corollary discharge signals which provide photo-detection position data that the conditionable circuit will learn for encoding the photo-detection position as a function of time such that the target position stored within the target position may can learn the photo-detection position that is attained by a subsequent movement of the photo-detection means;
• wherein the conditionable pathways from the target position map to the head-muscle interface can learn only after a photo-detection movement is over;
• and
• gating signals which is generated after a movement is over for modulating the learning that occurs within an adaptive weight system of active conditionable pathways.

A linearization network for linearizing the response of nonlinear motor means comprising:

• inflow signals indicating the present position of the nonlinear motor means;
• unconditional movement signals for initiating a movement signal for activating the nonlinear motor means;
• an outflow-inflow stage which compares the unconditional movement signals with the inflow signals to generate error signals;
• an adaptive gain stage which generates conditioned movement signals whose gain is dependent on the gain of the error signal and the unconditioned movement signal;
• and
• a motorneuron stage for receiving the unconditioned movement signals and the conditioned movement signals to generate a total unconditioned movement signals which linearizes the response of the nonlinear motor means.

A saccade generator circuit comprising:

• a long-lead burster which adds signals from a retinotopic map which encodes a photo-detection movement and from a photo-detection position map which encodes the present position of a photo-detection means;
• a medium-lead burster which receives the excitatory signals from the long-lead burster and first inhibitory signals which generate signals for activating tonic cells and motorneuron cells, wherein the tonic cells integrate their input signals and relay the integrated signals to the motorneuron cells which activates the motor for moving the photo-detection means;
• pause cells which generate the first inhibitory signals received by the medium-lead burster;
• and
• second inhibitory signals generated as a function of time by the long-head burster for inhibiting the pause cells from generating the first inhibitory signals;
• wherein the tonic cells generate inhibitory feedback signals to the long-lead burster for terminating the movement of the photo-detection means.

A predictive command network that is capable of encoding a predictive sequence of movements in long term memory, and of reading out this movement sequence, comprising:

• a first target position map for initially storing all relevant target positions in a short term memory means, wherein temporal order information of attended target positions is encoded by a spatial pattern of activation across the target positions with more intensely activated positions performed first;
• a second target position map for selecting and storing the most active target positions stored within the first target position map for controlling a command movement of a photo-detection means;
• and
• a head-muscle interface network in communication with the second target position map for generating output vectors, wherein the head-muscle interface network calculates matches and mismatches between target positions in the second target position map and present positions detected by the photo-detection means for regulating the sequential performance and learning of predictive movements.

A predictive command network for moving a photo-detection means to that a target light is foveated, comprising:

• a first target position map for storing a spatial pattern of temporal command information which simultaneously stores several target lights to be foveated in short term memory;
• a second target position map in communication with the first target position map for detecting and storing the most active target position detected in the first target position map in short term memory until the target light at that position is foveated;
• and
• a head-muscle interface circuit having means for detecting the present position of the target light stored in the second target position map and comparing the present position of the target light detected with the target light stored to generate a movement signal for moving the photo-detection means during a mismatch and triggering a read-out signal of the next most active target position stored in the first target position map for storage in the second target position map.

A self-organizing input position map comprising:

• a retinotopic map, which stores positions of light detected on a photo-detection means in a short term memory means before a movement begins;
• a first photo-detection position map, which stores an initial photo-detection means position in short term memory before a photo-detection movement begins;
• a retinotopic command network for improving the accuracy of the saccades;
• a second photo-detection position map for encoding a target position after the retinotopic command network has improved the accuracy of a photo-detection movement;
• and
• a now print gate means for allowing the retinotopic map and the first photo-detection position map to sample the locus of activity within the second photo-detection position map after each accurate movement of the photo-detection means.

A system for coupling a retinotopic command network and a vector command network comprising:

• a first retinotopic map for registering light sensitive activations on a photo-detection means;
• a target position map in communication with the first retinotopic map having means activating a target position;
• a head-muscle interface circuit for comparing the target position map with the present position of the photo-detection means position to generate vector difference used for activating a movement signal, which reposition the photo-detection means;
• a second retinotopic map in communication with the head-muscle interface circuit for storing in short term memory a first light indicative of the target position until a photo-detection movement has terminated so that a second light, serving as an error signal, can be sampled;
• a third retinotopic map in communication with the photo-detection means for registering light sensitive activations on the photo-detection means, and in communication with the second retinotopic maps for distributing conditionable signals across the second retinotopic map when the retinotopic command network generates correct foveations;
• a long term memory trace which stores communication from the third retinotopic map to the second retinotopic map;
• an adaptive gain stage for sampling unconditioned movement signals generated by the third retinotopic map and generating a conditioned movement signal;
• a saccade generator for combining the unconditioned movement signals generated by the third retinotopic map and the conditioned movement signal generated by the adaptive gain stage for generating first movement signals;
• tonic cells in communication with the saccade generator for generating corollary discharge signals to the head-muscle interface indicating the position of the photo-detection means;
• and
• motorneurons in communication with the saccade generator and the tonic cells for combining the movement signals and corollary discharge signals to generate a total unconditional movement signal for moving the photo-detection means to a point which foveates the target.

A system for coupling a retinotopic command network and a vector command network comprising:

• a first retinotopic map for recording light sensitive activations on a photo-detection means;
• a first target position map in communication with the first retinotopic map having means for encoding several active target positions;
• a second target position map in communication with the first target position map for choosing the target position from the first target position map which achieves the largest activation and the storing of that target position until the movement of the photo-detection means has terminated;
• a target position map in communication with the first retinotopic map having means for receiving a spatial pattern of activated retinotopic positions such that a target position is activated;
• a head-muscle interface circuit in communication with the first target position map for comparing the target position map with the present position of the photo-detection means position to generator vector differences used for activating the direction and length of a movement signal which repositions the photo-detection means;
• a second retinotopic map in communication with the head-muscle interface circuit for storing in short term memory a first light indicative of the target position until movement of the photo-detection means has terminated so that a second light, serving as a visual error signal, can be sampled;
• a third retinotopic map in communication with the photo-detection means for recording and for determining the most intense light detected on the photo-detection means for generating an error signal;
• a fourth rectinotopic map in communication with the third retinotopic map having means for storing in short term memory the most intense light detected by the third retinotopic map until the resposition of the photo-detection means terminates, and having means for generating an unconditional signal;
• a long term memory trace which stores communication from the fourth retinotopic map to the second retinotopic map;
• an adaptive gain stage which samples unconditioned movement signals generated by the fourth retinotopic map and the error signal from the third retinotopic map for generating a conditioned movement signal;
• a saccade generator for combining the unconditioned movement signals generated by the fourth retinotopic map and the conditioned movement signal generated by the adaptive gain stage for generating the movement signals used for repositioning the photo-detection means;
• tonic cells in communication with the saccade generator for generating corollary discharge signals to the head-muscle interface indicating the position of the photo-detection means;
• and
• motorneurons in communication with the saccade generator and the tonic cells for combining the movement signals and corollary discharge signals to generate a total unconditional movement signal for moving the photo-detection means to a point which foveates the target.

A network for moving a photo-detection means relative to a body supporting the photo-detection means in response to light detected by the photo-detection means comprising:

• a photo-detection position map for storing the position of the photo-detection means relative to the body;
• a retinotopic map for storing light sensitive activations on the photo-detection means for generating a first unconditioned signal;
• an adaptive gain stage in communication with the photo-detection position map and the retinotopic map for generating conditioned movement signals;
• a saccade generator for combining the first unconditioned signal and the conditioned movement signal to generate a second unconditioned movement signal;
• tonic cells in communication with the saccade generator for generating corollary discharge signals;
• and
• motorneurons in communication with the saccade generator, the tonic cells, and the adaptive gain stage for combining the movement signals, conditioned movement signals and the corollary discharge signals to generate a total movement signal for moving the photo-detection means relative to the body.

A tension equalization network for preventing post-movement drift comprising:

• a photo-detection means;
• a body supporting the photo-detection means;
• motor means responsive to movement signals for moving the photo-detection means relative to the body;
• tonic cells for detecting activity patterns from a visual field on the photo-detection means;
• a photo-detection position map for spatially encoding the activity patterns detected by the tonic cells for generating conditionable signals;
• an accessory optic system for generating error signals when motions of the whole visual field are detected;
• an adaptive gain stage in communication with the photo-detection position map and the accessory optic system for processing the conditionable signals and the error signals to generate the movement signals;
• and
• means for generating a gating signal at the end of a movement of the photo-detection means relative to the body for activating the motor means so that it is receptive to the movement signals.