Deployment of Dynamics-Based Information Processing Model of Intelligence

1.动态信息处理理论建立了基于多项式的动态信息处理机构和基于物理动力学系统的动态信息处理机构的设计方法。我们还引入了一个表示动力系统可塑性的参数，建立了基于可塑性的学习和发展模型。利用动力系统的吸引子实现了一种通信模型。镜像神经元的数学模型我们利用隐马尔可夫模型(HMM)建立了镜像神经元的数学模型及其计算算法。在层次隐马尔可夫模型的基础上，实现了行为的抽象。将分层镜像神经元模型与配备常识库的语言分析系统相结合。仿人机器人感知和生成行为的实验研究我们设计并建造了一种顺着重力移动的仿人机器人。我们还开发了一种通过测量人体运动来获取运动模式和控制器的方法。最后，将仿人机器人与动态信息处理系统、语言分析系统、行为感知与生成系统相结合，进行了多个实验。基于详细人体肌肉骨骼模型的大规模传感器-运动系统仿真我们开发了基于运动捕捉数据的肌肉张力估计和人体运动仿真算法。我们采用并行处理的方法加速了详细人体模型的算法。开发了一种模拟人体传感器-电机系统的大型模型，并将其与动态信息处理系统相结合。

1. Dynamical Information Processing Theory We have established two methods for designing dynamical information processing mechanisms based on polynomials and physical dynamics systems. We also introduced a parameter representing the plasticity of dynamical systems and developed learning and development model based on the plasticity. A communication model was realized utilizing the attractors of the dynamical system.2. Mathematical Model of Mirror Neurons We established a mathematical model and its computational algorithms for modeling mirror neurons using Hidden Markov Models (HMM). Based on hierarchical HMMs, we realized the abstract ion of behaviors. We also combined the hierarchical mirror neuron model with language analysis system equipped with a common sense database.3. Experimental Study on Perception and Generation of Behaviors through Humanoid Robots We designed and built a humanoid robot that moves in accordance with the gravity. We also developed a method for acquiring motion patterns and controllers by measuring human motions. Finally, we performed several experiments combining the humanoid robot with the dynamical information processing system, language analysis system, and behavior perception and generation system.4. Simulation of Large-Scale Sensor-Motor System through Detailed Human Musculo-Skeletal Models We developed algorithms for estimating the muscle tensions and simulation human motions based on motion capture data. We accelerated the algorithms for detailed human model by employing parallel processing. A large-scale model was developed for simulating the sensor-motor system of the human body and combined with the dynamical information processing system.