Hybrid control device

Abstract

A brain-based device (BBD) for moving in a real-world environment has sensors that provide data about the environment, actuators to move the BBD, and a hybrid controller which includes a neural controller having a simulated nervous system being a model of selected areas of the human brain and a non-neural controller based on a computational algorithmic network. The neural controller and non-neural controller interact with one another to control movement of the BBD.

1 . A device comprising:
 sensors;   a controller receiving inputs from the sensors, the controller including a neuronal controller portion and a non-neuronal controller portion; and   actuators receiving commands from the controller.   
     
     
         2 . The device of  claim 1 , wherein at least one of the actuators is controlled by the neuronal controller portion and wherein at least another one of the actuators is controlled by the non-neuronal controller portion. 
     
     
         3 . The device of  claim 2 , wherein an actuator of the actuators is controlled by both the neuronal controller portion and non-neuronal controller portion. 
     
     
         4 . The device of  claim 1 , wherein an actuator of the actuators is controlled by both the neuronal controller portion and the non-neuronal controller portion. 
     
     
         5 . The device of  claim 1 , wherein the device is a robot. 
     
     
         6 . The device of  claim 5 , wherein both the neuronal controller portion and the non-neuronal controller portion are on the robot. 
     
     
         7 . The device of  claim 5 , wherein one of the actuators adjusts the orientation of a camera and wherein the neuronal portion controls an orientation of the camera. 
     
     
         8 . The device of  claim 5 , wherein one of the actuators adjusts the movement of the robot and wherein the neuronal controller portion and the non-neuronal controller portion share control of the movement of the robot. 
     
     
         9 . The device of  claim 5 , wherein the device includes an actuator to manipulate an object, wherein the manipulation of the object is controlled by the non-neuronal portion. 
     
     
         10 . The device of  claim 1 , wherein the non-neuronal controller portion includes a probabilistic localization module, the probabilistic localization module providing data to the neuronal controller portion. 
     
     
         11 . The device of  claim 1 , wherein the neuronal controller portion includes neuronal units. 
     
     
         12 . The device of  claim 11 , wherein the neuronal units do pre-synaptic and post-synaptic processing. 
     
     
         13 . The device of  claim 11 , wherein the neuronal units have synaptic connections to other neuronal units, the synaptic connections being associated with a connection strength. 
     
     
         14 . The device of  claim 13 , wherein connection strengths are modified in plasticity processing. 
     
     
         15 . A device comprising:
 sensors;   a controller receiving inputs from the sensors, the controller including a neuronal controller portion and a non-neuronal controller portion; and   actuators receiving control commands from the controller, wherein at least one of the actuators is controlled by the neuronal controller portion and wherein at least another one of the actuators is controlled by the non-neuronal controller portion.   
     
     
         16 . The device of  claim 15 , wherein an actuator of the actuators is controlled by both the neuronal controller portion and non-neuronal controller portion. 
     
     
         17 . The device of  claim 16 , wherein the device is a robot. 
     
     
         18 . The device of  claim 17 , wherein both the neuronal controller portion and the non-neuronal controller portion are on the robot. 
     
     
         19 . A device comprising:
 sensors;   a controller receiving inputs from the sensors, the controller including a neuronal controller portion and a non-neuronal controller portion, the non-neuronal controller portion including a localization module, the localization module providing data to the neuronal controller portion; and   actuators receiving control commands from the controller.   
     
     
         20 . The device of  claim 19 , wherein the neuronal controller portion provides data to the localization module. 
     
     
         21 . The device of  claim 19 , wherein at least one of the actuators is controlled by the neuronal controller portion. 
     
     
         22 . The device of  claim 19 , wherein the device is a robot. 
     
     
         23 . The device of  claim 19 , wherein the localization module is a probabilistic location module. 
     
     
         24 . A computer program product comprising a computer useable medium having control logic stored therein, wherein said control logic when executed causes one or more processors to perform functions of a neuronal control portion of a brain based device, said control logic comprising:
 means for causing said one or more processors to perform visual functions;   means for causing said one or more processors to perform head direction functions;   means for causing said one or more processors to perform hippocampus functions;   means for causing said one or more processors to perform value functions; and   means for causing said one or more processors to perform action selection functions.   
     
     
         25 . A computer program product comprising a computer useable medium having control logic stored therein, wherein said control logic when executed causes one or more processors to simulate one or more neuronal units, said control logic comprising:
 means for causing said one or more processors to simulate operation of one or more neuronal units in a visual system;   means for causing said one or more processors to simulate operation of one or more neuronal units in a head direction system;   means for causing said one or more processors to simulate operation of one or more neuronal units in a hippocampus formation;   means for causing said one or more processors to simulate operation of one or more neuronal units in a value system; and   means for causing said one or more processors to simulate operation of one or more neuronal units in an action selection system.