System-Level Cognitive Modeling with Ikaros
The goal of the Ikaros project is to develop an open infrastructure for system-level cognitive modelling. This includes system-level models of the brain, but also cognitive models that are not directly motivated by brain function. The article describes the background for the project and the details of the Ikaros system.
Map-making Robots: A Review of the Occupancy Grid Map Algorithm
Rasmus Arnling Bååth describes how grid maps can be implemented in Ikaros. The occupancy grid map algorithm was implemented and a number of experiments were conducted to investigate how it would perform given different types of sensor noise.
The Brain Database - A Proof of Concept
To what extent can ideas and techniques from the semantic web be used for testing cognitive models against neuroscientific data? In this article, Marie Gustafsson describes a first attempt to use semantic web techniques for validation of computational brain models.
Model of Pupil Dilation
January 17, 2017
A new computational model using Ikaros was published in Connections Science. Birger Johansson and Christian Balkenius present a system-level connectionist model of pupil control that includes brain regions believed to influence the size of the pupil. It includes parts of the sympathetic and parasympathetic nervous system together with the hypothalamus, amygdala, locus coeruleus, and cerebellum. Computer simulations show that the model is able to reproduce a number of important aspects of how the pupil reacts to different stimuli: (1) It reproduces the characteristic shape and latency of the light-reflex. (2) It elicits pupil dilation as a response to novel stimuli. (3) It produces pupil dilation when shown emotionally charged stimuli, and can be trained to respond to initially neutral stimuli through classical conditioning. (4) The model can learn to expect light changes for particular stimuli, such as images of the sun, and produces a “light-response” to such stimuli even when there is no change in light intensity. (5) It also reproduces the fear-inhibited light reflex effect where reactions to light increase is weaker after presentation of a conditioned stimulus that predicts punishment.
Johansson, B. and Balkenius, C. (2017). A Computational Model of Pupil Dilation. Connection Science
Exposition at LUX
January 20, 2017
A number of robots controlled by Ikaros were demonstrated at a public exposition at LUX, January 18-29, 2017. Students at Lund University Cognitive Science demonstrated different implementations in the robot Epi. One group used Ikaros to allow Epi to pick up an object and throw it at visitors. Another had implemented different emotional expressions. There were also demonstrations of visual following other looking behaviors.
Results form the Ikaros Workshop
April 13, 2015, 23.41
The Ikaros workshop was a great success and we would like to thank everyone who contributed. It was great to hear your comments and insights. The most important conclusion was the need for a graphical editor as well as introductory tutorials with videos and example code. This will be the main focus in the next few months. Another point is the consensus concerning a server based approach. May other interesting issues and suggestions were also discussed and we will try to incorporate many of them in the future, one of them being a mechanism to store the state of the system.
A number of models of haptic perception have used Ikaros to control different robot hands.