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Universal laws and architectures: Theory and lessons from nets, grids, brains, bugs, planes, docs, fire, fashion, art, turbulence, music, buildings, cities, earthquakes, bodies, running, throwing, S y n e s t h e s i a , spacecraft, statistical mechanics. fragile. slow. waste.
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Universal laws and architectures: Theory and lessons fromnets, grids, brains, bugs, planes, docs, fire, fashion, art, turbulence, music, buildings, cities, earthquakes, bodies, running, throwing, Synesthesia, spacecraft, statistical mechanics fragile slow waste inflexible
Understand this more deeply? Mechanics+ Gravity + Light + Control theory error error eye vision C + Neuroscience + delay noise noise P Control Act
Understand this more deeply? error eye vision + Neuroscience delay Motion noise Vision Control Act
Robust vision w/motion • Object motion • Self motion noise eye error vision Motion delay Vision Control Act
Layering Feedback Explain this amazing system. Slow Vision Fast Flexible Inflexible
Robust vision with • Hand motion • Head motion • Experiment • Motion/vision control without blurring • Which is easier and faster?
Why? • Mechanism • Tradeoff Slow vision VOR Fast Cerebellum
Mechanism Vestibular Ocular Reflex (VOR) vision Slow Tradeoff VOR Fast Flexible Inflexible
vision slow eye Act delay Slow vision Fast Inflexible Flexible
vision fast eye slow Act delay Slow vision VOR Fast Inflexible Flexible
fast eye Act Vestibular Ocular Reflex (VOR) Slow VOR Fast Inflexible Flexible
It works in the dark or with your eyes closed, but you can’t tell. fast eye Act Slow VOR Fast Inflexible Flexible
vision fast eye slow Act delay Slow vision VOR Fast Inflexible Flexible
vision Layering Feedback slow Act Highly evolved (hidden) architecture eye delay Slow vision Illusion VOR Fast Inflexible Flexible
vision Layering Partially Conscious Act eye Automatic Unconscious VOR Cerebellum
vision Layering Feedback fast slow Act eye delay VOR
Architecture layered/ distributed vision fast slow Act eye delay Slow vision Illusion VOR Fast Inflexible Flexible
Architecture layered/ distributed vision fast slow Act eye delay Slow vision Robust or fine-tuned? Both Modular or plastic? Both Illusion VOR Fast Inflexible Flexible
Error Cortex Object motion vision + fast slow eye Act Head motion delay VOR Very rough cartoon
Error Cortex Object motion vision + Head motion fast slow eye Act delay gain VOR AOS Tune gain Error Cerebellum AOS = Accessory Optical system Slightly better
Error Cortex Object motion vision + Head motion slow Needs “feedback” tuning eye Act delay gain VOR AOS This fast “forward” path Tune gain Error Via AOS and cerebellum (not cortex) Cerebellum AOS = Accessory Optical system Slightly better
noise Cortex Object motion vision + Head motion fast slow eye Highly evolved (hidden) architecture Act delay AOS gain VOR Error Tune gain Cerebellum Act AOS = Accessory Optical system
noise Cortex Object motion vision + Head motion fast slow eye Act delay AOS gain VOR Error Tune gain Cerebellum slowest Act AOS = Accessory Optical system
noise Cortex Object motion vision + Distributed control Head motion fast slow eye Act delay AOS gain VOR Error Tune gain Cerebellum slowest Delays everywhere Act AOS = Accessory Optical system
noise Cortex Object motion vision + Head motion fast slow eye Act delay AOS gain VOR Error Tune gain Cerebellum slowest Heterogeneous delays everywhere Act
Color? 3D + motion vision eye fast slow Act delay Slow vision VOR Fast See Marge Livingstone Inflexible Flexible
Slowest color vision 3D + motion vision eye fast slow Act delay Slow vision VOR Fast See Marge Livingstone Inflexible Flexible
Slowest color vision 3D + motion vision eye fast slow Act delay Slow vision VOR Fast Inflexible Flexible
Seeing is dreaming • is simulation • requiring “internal model” color vision Slow vision VOR Fast Inflexible Flexible
Ligand Motion Motor CheY Signal Transduction Biased random walk gradient
motor ligand binding FAST +ATT -ATT flagellar motor R +CH 3 SLOW MCPs MCPs CW W W P P -CH 3 A A ~ ~ B Y ~ P Z ATP ADP ATP P P B Y i i Bacterial chemotaxis • Internal model necessary for robust chemotaxis • Reality is 3d, but… • Internal model virtual and 1d
Layering Distributed Feedback color vision Slow vision VOR Fast Inflexible Flexible
Universal laws and architectures (Turing) Architecture (constraints that deconstrain) Slow Architecture Impossible (law) Fast ideal Inflexible Flexible Special General
Computation (on and off-line) Slow Decidable Npspace=Pspace NP(time) P(time) Fast analytic Inflexible Flexible Special General
Compute Research progress Decidable Slow Pspace NP From toys to “real” systems P Fast analytic Insight Inflexible Flexible Control, OR
Compute Research progress Improved algorithms Decidable Slow Pspace NP P Fast analytic Insight Inflexible Flexible Control, OR
Layering Distributed Feedback color vision Slow vision VOR Fast Inflexible Flexible
Error Cortex Object motion vision + Head motion slow Needs “feedback” tuning eye Act delay gain VOR AOS This fast “forward” path Tune gain Error Via AOS and cerebellum (not cortex) Cerebellum AOS = Accessory Optical system Slightly better
noise Cortex Object motion vision + Head motion fast slow eye Act delay AOS gain VOR Error Tune gain Cerebellum Act AOS = Accessory Optical system
Scale with dimension? Uncertainty everywhere • Real (NP hard) • Complex = LTI (??) • Operator valued or Noncomm (P)
vision Layering Distributed Feedback slow Act Highly evolved (hidden) architecture eye delay Slow vision Illusion VOR Fast Inflexible Flexible
noise error vision eye delay delay .3s Control Act