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Tj 3 0 TD ( ) Tj 3 0 TD ( ) Tj -247.8 -13.8 TD ( ) Tj 0 -13.8 TD -0.0108 Tc 2.4108 Tw (The conference series is thus inaugurated with a clear message: the defining goal of) Tj 0 Tc 0 Tw ( ) Tj T* -0.0047 Tc 0.5114 Tw (artificial life research is to gain a better scientific unde) Tj 265.92 0 TD 0.0009 Tc 0.4791 Tw (rstanding of the kind of autonomy) Tj 0 Tc -0.12 Tw ( ) Tj -265.92 -13.8 TD 0.0038 Tc 3.4912 Tw (that is characteristic of living systems. 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Tj 9 0 TD /F3 12 Tf 0.024 Tw ( ) Tj 9 0 TD /F1 12 Tf 0.005 Tc 0 Tw (Introduction) Tj 65.4 0 TD 0 Tc ( ) Tj -83.4 -13.56 TD /F0 12 Tf ( ) Tj 0 -13.8 TD 0.0024 Tc 0.131 Tw (In this paper we want to address the question of whether we can we take advantage of the ) Tj T* -0.0058 Tc 2.7898 Tw (progress that has already been mad) Tj 182.16 0 TD 0.0054 Tc 2.7546 Tw (e in synthesizing and analyzing the dynamics of) Tj 0 Tc 0.12 Tw ( ) Tj -182.16 -13.8 TD -0.006 Tc 0 Tw (embodied) Tj 47.28 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.0017 Tc 2.8817 Tw (embedded cognition in order to advance our understanding of constitutive) Tj 0 Tc -0.12 Tw ( ) Tj -51.24 -13.8 TD 0.0031 Tc 2.4269 Tw (autonomy. In particular, we will analyze the suitability of evolutionary robotics as a) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0035 Tc 1.1965 Tw (method to generate models of constituti) Tj 196.44 0 TD -0.0015 Tc 1.2215 Tw (vely autonomous agents. 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Tj 218.64 0 TD 0 Tc 0 Tw ( ) Tj -218.64 -13.8 TD ( ) Tj 0 -13.8 TD (1.1 ) Tj 18 0 TD 0.0135 Tc -0.0135 Tw (Two conceptions of autonomy) Tj 146.28 0 TD 0 Tc 0 Tw ( ) Tj -164.28 -13.8 TD ( ) Tj 0 -13.8 TD -0.0103 Tc 0.0103 Tw (How much) Tj 52.92 0 TD -0.0074 Tc 0.0314 Tw ( progress has been made to) Tj 129.72 0 TD -0.0042 Tc 0.0442 Tw (ward a better understanding of autonomous systems) Tj 249.36 0 TD 0 Tc 0 Tw ( ) Tj -432 -13.8 TD -0.0046 Tc 0.6286 Tw (in the artificial life community? ) Tj 159.12 0 TD -0.0062 Tc 0.7091 Tw (The problem is that the answer to th) Tj 177.72 0 TD 0.018 Tc 0 Tw (is) Tj 8.04 0 TD -0.0208 Tc 0.7408 Tw ( question depends) Tj 0 Tc -0.12 Tw ( ) Tj -344.88 -13.8 TD -0.0022 Tc 0.3622 Tw (to a large extent on what we mean by \221autonomy\222.) 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Tj 91.56 0 TD -0.078 Tc 1.158 Tw ( In) Tj 0 Tc 0.12 Tw ( ) Tj -418.08 -13.8 TD -0.0101 Tc 3.4901 Tw (order to address some of the confusion) Tj 0 Tc 0 Tw ( ) Tj 213 0 TD -0.0096 Tc 0.0096 Tw (which ) Tj 35.76 0 TD -0.0105 Tc 3.4905 Tw (this ambiguity entails, a conceptual) Tj 0 Tc 0 Tw ( ) Tj ET endstream endobj 25 0 obj 8442 endobj 23 0 obj << /Type /Page /Parent 5 0 R /Resources << /Font << /F0 6 0 R /F1 17 0 R /F2 21 0 R /F3 26 0 R >> /ProcSet 2 0 R >> /Contents 24 0 R >> endobj 29 0 obj << /Length 30 0 R >> stream BT 90 747.6 TD 0 0 0 rg /F0 9.96 Tf 0.0092 Tc 0.0208 Tw (Froese & Di Paolo) Tj 74.76 0 TD 0 Tc 0.03 Tw ( ) Tj 141.24 0 TD ( ) Tj 173.88 0 TD 0.0396 Tc -0.0096 Tw (CSRP 59) Tj 37.08 0 TD 0.06 Tc 0 Tw (8) Tj ET 90 746.04 432 0.48 re f BT 522 747.6 TD 0 Tc 0.03 Tw ( ) Tj -432 -709.68 TD ( ) Tj 426.96 -0.12 TD 0.06 Tc 0 Tw (4) Tj ET q 522 35.4 0.24 11.28 re h W n BT 522 37.8 TD 0 Tc 0.03 Tw ( ) Tj ET Q BT 90 709.2 TD /F0 12 Tf -0.0033 Tc 1.5633 Tw (distinction between) Tj 0 Tc 0 Tw ( ) Tj 99.72 0 TD /F2 12 Tf -0.016 Tc (beh) Tj 17.28 0 TD 0.0017 Tc -0.0017 Tw (avioral ) Tj 39.24 0 TD /F0 12 Tf -0.016 Tc 0.016 Tw (and ) Tj 21.84 0 TD /F2 12 Tf -0.003 Tc 1.443 Tw (constitutive autonomy) Tj 107.04 0 TD /F0 12 Tf 0 Tc 0 Tw ( ) Tj 4.56 0 TD -0.036 Tc (wa) Tj 13.92 0 TD 0.0084 Tc 1.5516 Tw (s advocated) Tj 57.84 0 TD -0.0098 Tc 1.5698 Tw ( in that paper) Tj 67.56 0 TD 0 Tc 0 Tw (. ) Tj -429 -13.8 TD 0.0072 Tc 1.1928 Tw (The former is intended to capture the fact that the notion of) Tj 0 Tc 0 Tw ( ) Tj 302.16 0 TD -0.036 Tc (\221) Tj 3.96 0 TD 0.006 Tc 1.194 Tw (autonomous robotics) Tj 101.64 0 TD -0.036 Tc 0 Tw (\222) Tj 3.96 0 TD 0.028 Tc 1.172 Tw ( has) Tj 0 Tc 0 Tw ( ) Tj -411.72 -13.8 TD -0.0131 Tc -0.2269 Tw (essentially ) Tj 56.64 0 TD 0.0092 Tc 3.1108 Tw (become a synonym for) Tj 0 Tc 0 Tw ( ) Tj 125.28 0 TD 0.144 Tc (any) Tj 17.28 0 TD 0.0022 Tc 3.1178 Tw ( methodology) Tj 0 Tc -0.24 Tw ( ) Tj 75.6 0 TD -0.0103 Tc 3.1303 Tw (aimed at) Tj 44.16 0 TD 0.0065 Tc 3.1135 Tw ( synthesizing artificial) Tj 0 Tc 0.12 Tw ( ) Tj -318.96 -13.8 TD -0.036 Tc 0 Tw (\221) Tj 3.96 0 TD -0.01 Tc (agents) Tj 30.6 0 TD -0.036 Tc (\222) Tj 3.96 0 TD 0 Tc ( ) Tj 4.92 0 TD 0.001 Tc 1.919 Tw (with situated) Tj 0 Tc 0 Tw ( ) Tj 68.52 0 TD -0.0064 Tc 1.9414 Tw (behavior for practical engineering or scientific purposes. 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Tj 333.6 0 TD 0 Tc 0 Tw ( ) Tj -333.6 -13.8 TD ( ) Tj 0 -13.8 TD -0 Tc 1.8175 Tw (Which of these two uses of the concept \221autonomy\222 did Bourgine and Varela have in) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.0094 Tc 0.8494 Tw (mind? If we interpret \223Towards a practice of autonomous systems\224, which is the title of) Tj 0 Tc -0.12 Tw ( ) Tj T* -0.012 Tc 0.732 Tw (their introduct) Tj 69 0 TD -0.001 Tc 0.7579 Tw (ory paper and the slogan of the European conference series as a whole, as) Tj 0 Tc 0.12 Tw ( ) Tj -69 -13.8 TD -0.01 Tc 1.69 Tw (referring to the practice of synthesizing artificial systems for the study of situated and) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0062 Tc 0.2185 Tw (embodied cognition, then there has clearly been progress toward the establishment of just ) Tj T* 0.012 Tc 0 Tw (s) Tj 4.68 0 TD -0.0141 Tc 1.0941 Tw (uch a research program \(e.g. Harvey, et al. 2005; Beer 2003\).) Tj 0 Tc 0 Tw ( ) Tj 308.4 0 TD -0.0107 Tc 1.0907 Tw (But are the) Tj 0 Tc 0 Tw ( ) Tj 58.8 0 TD -0.012 Tc (systems) Tj 37.92 0 TD 0 Tc ( ) Tj 4.08 0 TD 0.03 Tc 0.09 Tw (that ) Tj -413.88 -13.8 TD -0.0068 Tc 1.0868 Tw (are produced in this manner actually models of) Tj 0 Tc 0 Tw ( ) Tj 237.12 0 TD /F2 12 Tf -0.0028 Tc 1.0828 Tw (autonomous systems) Tj 99.36 0 TD /F0 12 Tf 0 Tc 0 Tw ( ) Tj 4.08 0 TD -0.008 Tc 1.088 Tw (in the sense which) Tj 0 Tc 0 Tw ( ) Tj -340.56 -13.8 TD -0.0093 Tc 0.0393 Tw (Bourgine and Varela originally intended?) Tj 199.32 0 TD 0 Tc 0 Tw ( ) Tj -199.32 -13.8 TD ( ) Tj 0 -13.8 TD -0.0138 Tc 2.0538 Tw (That this is not the case is clear from th) Tj 206.88 0 TD -0.0144 Tc 2.0544 Tw (e way in which they introduce the notion of) Tj 0 Tc -0.12 Tw ( ) Tj -206.88 -13.8 TD -0.0024 Tc 0.1052 Tw (autonomy in relation to actual living creatures, which leads them to claim that \223autonomy ) Tj 0 -13.8 TD -0.0048 Tc 3.2448 Tw (in this context refers to their basic and fundamental capacity to) Tj 0 Tc 0 Tw ( ) Tj 340.32 0 TD /F2 12 Tf -0.024 Tc (be) Tj 11.28 0 TD /F0 12 Tf -0.0069 Tc 3.2869 Tw (, to assert their) Tj 0 Tc 0 Tw ( ) Tj -351.6 -13.8 TD 0.006 Tc 1.194 Tw (existence and to bring forth a world) Tj 178.68 0 TD 0.0019 Tc 1.2131 Tw ( that is significant and pertinent without being pre) Tj 249.24 0 TD -0.036 Tc 0 Tw (-) Tj -427.92 -13.8 TD -0.0073 Tc 3.0523 Tw (digested in advance\224 \(Bourgine and Varela 1992\). Moreover, ) Tj 2.952 Tc 0 Tw (a) Tj 326.52 0 TD -0.004 Tc 3.084 Tw (s an example of) Tj 0 Tc 0 Tw ( ) Tj 90.84 0 TD -0.008 Tc (the) Tj 14.64 0 TD 0 Tc ( ) Tj -432 -13.8 TD -0 Tc 0.3006 Tw (conceptual unfolding ) Tj 105.84 0 TD 0.001 Tc 0.419 Tw (of \221autonomy\222 ) Tj 73.32 0 TD 0.0067 Tc 0.6083 Tw (they refer to the \223Closure Thesis\224, which states that) Tj 0 Tc 0.12 Tw ( ) Tj -179.16 -13.8 TD -0.0048 Tc 0.9648 Tw (every autonomous system is operati) Tj 175.68 0 TD -0.0189 Tc 1.0389 Tw (onally closed. Varela) Tj 0 Tc 0 Tw ( ) Tj 107.28 0 TD -0.0065 Tc 0.9665 Tw (\(1979, p. 55\)) Tj 0 Tc 0 Tw ( ) Tj 67.8 0 TD -0.0009 Tc 0.9609 Tw (provides us with) Tj 0 Tc -0.12 Tw ( ) Tj -350.76 -13.8 TD -0.024 Tc 0.024 Tw (an ) Tj 14.28 0 TD 0.015 Tc 0 Tw (explicit) Tj 36.12 0 TD 0 Tc ( ) Tj 3 0 TD -0.0044 Tc (description) Tj 53.28 0 TD 0 Tc ( ) Tj 3 0 TD 0 Tc -0 Tw (of this view:) Tj 60 0 TD 0 Tc 0 Tw ( ) Tj -169.68 -13.8 TD ( ) Tj 9.84 -13.8 TD 0.0027 Tc 2.3973 Tw (An autonomous system can be defined in operational terms as a system with an) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.0075 Tc 0.1375 Tw (organization that is characterized by processes such that \223\(1\) the processes are relate) Tj 406.2 0 TD 0.12 Tc 0 Tw (d ) Tj -406.2 -13.8 TD -0.0068 Tc 1.8068 Tw (as a network, so that they recursively depend on each other in the generation and) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.0059 Tc 0.7351 Tw (realization of the processes themselves, and \(2\) they constitute the system as a unity) Tj 0 Tc -0.12 Tw ( ) Tj T* -0.0012 Tc 0.0012 Tw (recognizable in the space \(domain) Tj 163.92 0 TD -0.0009 Tc 0.0009 Tw (\) in which the processes exist\224.) Tj 149.28 0 TD 0 Tc 0 Tw ( ) Tj -313.2 -13.8 TD -0.006 Tc 0.006 Tw (\(Varela 1979, p. 55) Tj 92.88 0 TD -0.036 Tc 0 Tw (\)) Tj 3.96 0 TD 0 Tc ( ) Tj -106.68 -13.8 TD ( ) Tj 0 -13.8 TD -0.0083 Tc 3.4883 Tw (The paradigmatic example of such constitutive autonomy is found in the chemical) Tj 0 Tc 0.12 Tw ( ) Tj T* 0.0084 Tc 0.8316 Tw (domain in the form of the metabolic self) Tj 199.68 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0026 Tc 0.8774 Tw (production of the living cell, an organizational) Tj 0 Tc 0 Tw ( ) Tj -203.64 -13.8 TD -0.0031 Tc 0.7231 Tw (property which has come to be known as) Tj 0 Tc 0 Tw ( ) Tj 204.96 0 TD /F2 12 Tf 0.0153 Tc (autopoiesis) Tj 54.84 0 TD /F0 12 Tf -0.0049 Tc 0.7489 Tw ( \(Maturana and Varela 1980\). How) Tj 0 Tc 0.12 Tw ( ) Tj -259.8 -13.8 TD -0.0095 Tc 3.2495 Tw (much progress has been mode toward a practice of such) Tj 0 Tc 0 Tw ( ) Tj 303.24 0 TD /F2 12 Tf 0.006 Tc (constitutively) Tj 63.96 0 TD /F0 12 Tf -0.0108 Tc 3.2508 Tw ( autonomous) Tj 0 Tc -0.12 Tw ( ) Tj -367.2 -13.8 TD 0.0135 Tc 0.2265 Tw (systems? ) Tj 46.44 0 TD 0 Tc 0 Tw ( ) Tj -46.44 -13.8 TD ( ) Tj 0 -13.8 TD (1.2 ) Tj 18 0 TD -0.0049 Tc 0.0049 Tw (Reappraising the progress in artificial life) Tj 199.44 0 TD 0 Tc 0 Tw ( ) Tj -217.44 -13.8 TD ( ) Tj 0 -13.8 TD -0.0072 Tc 4.5672 Tw (Unfortunately, Bourgine and Varela\222s \(1992\) original vision for the artificial life) Tj 0 Tc 0 Tw ( ) Tj T* -0.0036 Tc 3.0036 Tw (community has been diffused ove) Tj 174 0 TD -0.0073 Tc 3.0523 Tw (r the years. Nevertheless, there exists a small but) Tj 0 Tc -0.12 Tw ( ) Tj ET endstream endobj 30 0 obj 8835 endobj 28 0 obj << /Type /Page /Parent 5 0 R /Resources << /Font << /F0 6 0 R /F2 21 0 R >> /ProcSet 2 0 R >> /Contents 29 0 R >> endobj 32 0 obj << /Length 33 0 R >> stream BT 90 747.6 TD 0 0 0 rg /F0 9.96 Tf 0.0092 Tc 0.0208 Tw (Froese & Di Paolo) Tj 74.76 0 TD 0 Tc 0.03 Tw ( ) Tj 141.24 0 TD ( ) Tj 173.88 0 TD 0.0396 Tc -0.0096 Tw (CSRP 59) Tj 37.08 0 TD 0.06 Tc 0 Tw (8) Tj ET 90 746.04 432 0.48 re f BT 522 747.6 TD 0 Tc 0.03 Tw ( ) Tj -432 -709.68 TD ( ) Tj 426.96 -0.12 TD 0.06 Tc 0 Tw (5) Tj ET q 522 35.4 0.24 11.28 re h W n BT 522 37.8 TD 0 Tc 0.03 Tw ( ) Tj ET Q BT 90 709.2 TD /F0 12 Tf -0.0106 Tc 0.6198 Tw (dedicated group of researchers in the field who specifically engage with the challenge of) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0014 Tc 0.0014 Tw (modeling biological autonomous organizations. ) Tj 231.6 0 TD 0 Tc 0 Tw ( ) Tj -231.6 -13.8 TD ( ) Tj 0 -13.8 TD 0 Tc 0.1196 Tw (Since the paradigmatic example of constitutive autonomy is the liv) Tj 322.08 0 TD -0.0069 Tc 0.1509 Tw (ing cell it should come ) Tj -322.08 -13.8 TD 0.0034 Tc 3.1351 Tw (as no surprise that many attempts of producing a model of the minimal biological) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0023 Tc 3.7177 Tw (organization have focused on simulations of primitive cells in simplified chemical) Tj 0 Tc 0 Tw ( ) Tj T* -0.0149 Tc 1.6149 Tw (domains \(e.g. Ono and Ikegami 2000; Fernando 2005\). Interestingly, ) Tj 1.536 Tc 0 Tw (w) Tj 355.8 0 TD -0.0102 Tc 1.5702 Tw (ork in this area) Tj 0 Tc 0 Tw ( ) Tj -355.8 -13.8 TD 0.0021 Tc 0.3579 Tw (has already begun many years before the proper inception of the field by Langton \(1989\) ) Tj 0 -13.8 TD -0.0022 Tc 3.7222 Tw (when Varela, Maturana and Uribe \(1974\) developed a cellular automata model of) Tj 0 Tc 0 Tw ( ) Tj T* -0.0091 Tc 2.6611 Tw (autopoiesis. This approach has given rise to a tradition of computational) Tj 372.36 0 TD -0 Tc 2.64 Tw ( autopoiesis) Tj 0 Tc 0 Tw ( ) Tj -372.36 -13.8 TD 0.0039 Tc 2.6453 Tw (\(McMullin 2004\), and it has been shown that even the investigation of very simple) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.0015 Tc 4.7143 Tw (oscillatory cellular automata structures can be useful in explicating some of the) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.0101 Tc 0.4181 Tw (theoretical and conceptual issues of autopoiesis \(e.g. Beer 2004\). In addition,) Tj 373.32 0 TD -0.0033 Tc 0.2833 Tw ( the original ) Tj -373.32 -13.8 TD -0.0039 Tc 1.5857 Tw (model by Varela and colleagues has recently been expanded to include self) Tj 377.28 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.012 Tc 0.108 Tw (movement ) Tj -381.24 -13.8 TD -0.0012 Tc 0.2497 Tw (\(Ikegami and Suzuki 2008\), as well as being extended to three dimensions \(Bourgine and ) Tj 0 -13.8 TD -0.0049 Tc 3.3649 Tw (Stewart 2004\). Moreover, a more realistic study of the origins of minima) Tj 386.16 0 TD -0.027 Tc 3.387 Tw (l cells is) Tj 0 Tc -0.12 Tw ( ) Tj -386.16 -13.8 TD -0.0092 Tc 2.2892 Tw (beginning to be possible with the development of more plausible models of artificial) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0 Tc 1.92 Tw (chemistry \(e.g. Ruiz) Tj 101.16 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0059 Tc 1.9109 Tw (Mirazo and Mavelli 2008\) and attempts to synthesize autopoietic) Tj 0 Tc 0 Tw ( ) Tj -105.12 -13.8 TD -0.006 Tc 0.03 Tw (systems with actual chemistry \(Luisi 2003\).) Tj 209.88 0 TD 0 Tc 0 Tw ( ) Tj 3 0 TD ( ) Tj -212.88 -13.8 TD ( ) Tj 0 -13.8 TD 0.0029 Tc 2.3971 Tw (More recently, the situation) Tj 0 Tc 0 Tw ( ) Tj 145.32 0 TD -0.0068 Tc 2.4201 Tw (has started to look even more hopeful, as evidenced for) Tj 0 Tc 0 Tw ( ) Tj -145.32 -13.8 TD -0.0097 Tc 0.2326 Tw (example by two special journal issues devoted to the topic of autonomy \(Barandiaran and ) Tj 0 -13.8 TD 0.033 Tc 0 Tw (Ruiz) Tj 22.8 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.0055 Tc 4.9375 Tw (Mirazo 2008; Di Paolo 2004\). These special issues are especially valuable) Tj 0 Tc 0 Tw ( ) Tj -26.76 -13.8 TD -0.0024 Tc 0.7224 Tw (contributions because they demons) Tj 170.4 0 TD -0.0033 Tc 0.7433 Tw (trate that the methodological toolbox for synthesizing) Tj 0 Tc 0 Tw ( ) Tj -170.4 -13.8 TD -0.002 Tc 0.002 Tw (and understanding autonomy is being expanded in new directions.) Tj 317.52 0 TD 0 Tc 0 Tw ( ) Tj -317.52 -13.8 TD ( ) Tj 0 -13.8 TD 0.0067 Tc 3.2425 Tw (Nevertheless, despite these important efforts it is still the case that there has been) Tj 0 Tc 0.12 Tw ( ) Tj T* 0.0086 Tc 3.5914 Tw (relatively little progress on the problem of cons) Tj 253.2 0 TD 0 Tc 3.5996 Tw (titutive autonomy, especially when) Tj 0 Tc 0 Tw ( ) Tj -253.2 -13.8 TD 0.0047 Tc 5.0353 Tw (compared to the impressive advances that have been made in synthesizing and) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0055 Tc 0.6273 Tw (understanding the behavioral dynamics of artificial cognitive systems \(e.g. Harvey, et al.) Tj 0 Tc 0 Tw ( ) Tj T* -0.0068 Tc 0.9668 Tw (2005; Beer 2003\). Of course, that there has been a shi) Tj 267.24 0 TD -0.0152 Tc 0.9952 Tw (ft of focus away from Varela and) Tj 0 Tc 0.12 Tw ( ) Tj -267.24 -13.8 TD 0.0012 Tc 1.1088 Tw (Bourgine\222s original vision for the field does not necessarily entail that researchers have) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.0064 Tc 3.4264 Tw (become consumed by a ) Tj 3.312 Tc 0 Tw (\223) Tj 134.16 0 TD 0 Tc 3.3838 Tw (fascination with technological wizardry without direction) Tj 292.56 0 TD -0.048 Tc 0.048 Tw (\224 ) Tj -426.72 -13.8 TD -0.0022 Tc 0.7222 Tw (\(Bourgine and Varela 1992\). 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While this abstraction is undesirable from a scientific point) Tj 390.6 0 TD -0.054 Tc 1.254 Tw ( of view) Tj 0 Tc -0.12 Tw ( ) Tj -390.6 -13.8 TD -0.0038 Tc 0.2638 Tw (because cognition and constitutive autonomy are deeply intertwined in all living systems, ) Tj 0 -13.8 TD -0.0055 Tc 0.3741 Tw (it is nevertheless necessitated by the fact that \223a complete account of this situation would) Tj 0 Tc -0.12 Tw ( ) Tj T* -0.0107 Tc 0.7307 Tw (require a theory of biological organization, and the theoretical) Tj 302.88 0 TD -0.0057 Tc 0.7257 Tw ( situation here is even less) Tj 0 Tc 0 Tw ( ) Tj -302.88 -13.8 TD -0.0042 Tc 0.0162 Tw (well developed than it is for adaptive behavior\224 \(Beer 1997\). ) Tj 294.84 0 TD 0 Tc 0 Tw ( ) Tj -294.84 -13.8 TD ( ) Tj 0 -13.8 TD -0.0065 Tc 1.4557 Tw (It thus appears that Varela and Bourgine might have been slightly too optimistic when) Tj 0 Tc -0.12 Tw ( ) Tj T* -0.0146 Tc 1.2146 Tw (they characterized artificial life as a field ready to be committed to the ex) Tj 366.48 0 TD -0.017 Tc 1.217 Tw (plication of a) Tj 0 Tc 0 Tw ( ) Tj -366.48 -13.8 TD -0.003 Tc 0.3739 Tw (well developed theory of biological autonomy. Indeed, despite some important advances, ) Tj 0 -13.8 TD 0 Tc 2.9993 Tw (today such a theory of biological organization is still in need of significant further) Tj 0 Tc 0 Tw ( ) Tj T* -0.002 Tc 2.1791 Tw (development and concretization, in particular through the formulati) Tj 338.4 0 TD 0.0008 Tc 2.1992 Tw (on and analysis of) Tj 0 Tc 0 Tw ( ) Tj -338.4 -13.8 TD -0.006 Tc 0.036 Tw (theoretical models \(Beer 2004\). ) Tj 154.92 0 TD 0 Tc 0 Tw ( ) Tj -154.92 -13.8 TD ( ) Tj 0 -14.04 TD /F1 12 Tf (2.) Tj 9 0 TD /F3 12 Tf 0.024 Tw ( ) Tj 9 0 TD /F1 12 Tf 0.0024 Tc -0.0024 Tw (Methodological issues) Tj 111.72 0 TD 0 Tc 0 Tw ( ) Tj -129.72 -13.56 TD /F0 12 Tf ( ) Tj 0 -13.8 TD -0.0077 Tc 2.1677 Tw (Given that our understanding of how to synthesize and analyze simulation models of) Tj 0 Tc -0.12 Tw ( ) Tj T* -0.0118 Tc 2.1827 Tw (complex dynamics has advanced faster for models of minimal cognition compared to) Tj 0 Tc -0.12 Tw ( ) Tj T* 0.0008 Tc 0.2392 Tw (constitutive aut) Tj 73.92 0 TD 0.0012 Tc 0.2468 Tw (onomy, it is natural to ask whether we can use insights from the former to ) Tj -73.92 -13.8 TD -0.008 Tc 0.848 Tw (move the latter forward.) Tj 0 Tc 0 Tw ( ) Tj 122.28 0 TD -0.0011 Tc 0.8411 Tw (This section) Tj 0 Tc 0 Tw ( ) Tj 63 0 TD -0.0141 Tc 0.8541 Tw (therefore begins by) Tj 0 Tc -0.36 Tw ( ) Tj 97.92 0 TD 0.012 Tc 0 Tw (outlin) Tj 28.08 0 TD 0.008 Tc (ing) Tj 15.24 0 TD -0.008 Tc 0.888 Tw ( some challenges that) Tj 0 Tc -0.12 Tw ( ) Tj -326.52 -13.8 TD -0.0026 Tc 0.6119 Tw (can be raised against the possibility of using evolutionary robotics to generate models of) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.048 Tc 0 Tw (c) Tj 5.28 0 TD 0.0053 Tc 0.1233 Tw (onstitutive autonomy. For this critique we will draw on the extensive work on biological ) Tj -5.28 -13.8 TD -0.0113 Tc 1.4513 Tw (autonomy done by the San Sebastian group led by Alvaro Moreno \(e.g. Moreno, et al.) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0031 Tc 2.1969 Tw (2008; Barandiaran and Moreno 2006; Moreno and Etxeberria 2005; Ruiz) Tj 370.92 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0027 Tc 2.1627 Tw (Mirazo and) Tj 0 Tc 0 Tw ( ) Tj -374.88 -13.8 TD -0.0144 Tc (Moren) Tj 31.92 0 TD 0.0156 Tc 0.7044 Tw (o 2004; Ruiz) Tj 63.6 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0091 Tc 0.7309 Tw (Mirazo and Moreno 2000; Moreno and Ruiz) Tj 218.04 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0053 Tc 0.7147 Tw (Mirazo 1999; Moreno,) Tj 0 Tc 0.12 Tw ( ) Tj -321.48 -13.8 TD -0.0024 Tc 0.2504 Tw (et al. 1997\). We then introduce a novel way of conceptualizing evolutionary robotics as a ) Tj 0 -13.8 TD -0.015 Tc 0.015 Tw (more ) Tj 29.4 0 TD -0.0037 Tc 1.8237 Tw (general generative mechanism and argue that this) Tj 0 Tc 0 Tw ( ) Tj 252.84 0 TD 0.002 Tc -0.002 Tw (subtle ) Tj 33.48 0 TD -0.0103 Tc 1.8503 Tw (shift in perspective can) Tj 0 Tc 0.12 Tw ( ) Tj -315.72 -13.8 TD 0 Tw (potent) Tj 30 0 TD -0.0015 Tc 0.0015 Tw (ially help us to address some of the methodology\222s perceived shortcomings.) Tj 364.2 0 TD 0 Tc 0 Tw ( ) Tj -394.2 -13.8 TD ( ) Tj 0 -13.8 TD (2.1) Tj 15 0 TD /F4 12 Tf 0.024 Tw ( ) Tj 3 0 TD /F0 12 Tf -0.0049 Tc 0.0049 Tw (Problems with evolutionary robotics) Tj 174.84 0 TD 0 Tc 0 Tw ( ) Tj -192.84 -13.8 TD ( ) Tj 0 -13.8 TD -0.0066 Tc 0.5986 Tw (One of the main projects of the San Sebastian group has been to attempt a naturalization) Tj 0 Tc 0 Tw ( ) Tj T* -0.0096 Tc 0.9696 Tw (of the concept of autonomy by developing a biological) Tj 0 Tc 0 Tw ( ) Tj 273.84 0 TD -0.0107 Tc 0.9707 Tw (account that is well grounded in) Tj 0 Tc 0 Tw ( ) Tj -273.84 -13.8 TD 0 Tc 0.3337 Tw (the universal laws of physics and chemistry. Starting from a detailed consideration of the ) Tj 0 -13.8 TD 0.0035 Tc 0.1285 Tw (special material and energetic requirements of metabolism \(e.g. Moreno and Ruiz) Tj 393.48 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.016 Tc -0.104 Tw (Mirazo ) Tj -397.44 -13.8 TD -0.0052 Tc 0.9652 Tw (1999\), they introduce the notion of) Tj 0 Tc 0 Tw ( ) Tj 175.92 0 TD /F2 12 Tf 0.0015 Tc 0.9585 Tw (basic aut) Tj 44.64 0 TD -0.0384 Tc 0 Tw (onomy) Tj 31.8 0 TD /F0 12 Tf -0.0021 Tc 0.9621 Tw ( to denote any system which has the) Tj 0 Tc 0.12 Tw ( ) Tj -252.36 -13.8 TD -0.0063 Tc 1.2134 Tw (capacity to manage the flow of matter and energy through it so that it can, at the same) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0066 Tc 3.8466 Tw (time, regulate, modify, and control: \(i\) internal self) Tj 271.08 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0069 Tc 3.8469 Tw (constructive processes and \(ii\)) Tj 0 Tc 0 Tw ( ) Tj -275.04 -13.8 TD -0.0062 Tc 3.1742 Tw (processes of exchange with the environme) Tj 219.12 0 TD 0.0343 Tc 3.0857 Tw (nt \(Ruiz) Tj 42.36 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0091 Tc 3.1291 Tw (Mirazo and Moreno 2004\). This) Tj 0 Tc -0.12 Tw ( ) Tj -265.44 -13.8 TD -0.011 Tc 1.331 Tw (conception of) Tj 0 Tc 0 Tw ( ) Tj 71.28 0 TD -0.036 Tc (\221) Tj 3.96 0 TD 0.0231 Tc 1.4169 Tw (basic autonomy) Tj 77.04 0 TD -0.036 Tc 0 Tw (\222) Tj 3.96 0 TD 0.0032 Tc 1.3277 Tw ( leads them to the claim that the success of attempts to) Tj 0 Tc -0.12 Tw ( ) Tj -156.24 -13.8 TD -0.0016 Tc 1.5616 Tw (create artificially minimal autonomous systems is strongly linked to efforts of creating) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD 0.0044 Tc -0.0044 Tw (simple metabolic systems \(Ruiz) Tj 153.12 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0027 Tc 0.0027 Tw (Mirazo and) Tj 54.96 0 TD -0.009 Tc 0.009 Tw ( Moreno 2000\). ) Tj 77.88 0 TD 0 Tc 0 Tw ( ) Tj -289.92 -13.8 TD ( ) Tj 0 -13.8 TD -0.0049 Tc 1.2267 Tw (Accordingly, evolutionary robotics is rejected as a viable methodology, because it does) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.0017 Tc 0.1217 Tw (not deal with systems whose physical organization is self) Tj 275.4 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0048 Tc 0.1248 Tw (modifiable, in favor of artificial ) Tj -279.36 -13.8 TD 0 Tc 2.2796 Tw (synthesis of chemical systems \(Ruiz) Tj 183.12 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0013 Tc 2.2787 Tw (Mirazo and Moreno 2004) Tj 129.84 0 TD -0.0068 Tc 2.3468 Tw (\). More precisely,) Tj 0 Tc 0 Tw ( ) Tj 95.16 0 TD -0.009 Tc 2.289 Tw (it is) Tj 0 Tc -0.12 Tw ( ) Tj -412.08 -13.8 TD -0.0065 Tc 2.6465 Tw (claimed that) Tj 0 Tc 0 Tw ( ) Tj 67.2 0 TD 0.0032 Tc 2.6608 Tw (the difficulty with the evolutionary robotics approach is its reliance on) Tj 0 Tc 0.12 Tw ( ) Tj ET endstream endobj 36 0 obj 8350 endobj 34 0 obj << /Type /Page /Parent 5 0 R /Resources << /Font << /F0 6 0 R /F1 17 0 R /F2 21 0 R /F3 26 0 R /F4 37 0 R >> /ProcSet 2 0 R >> /Contents 35 0 R >> endobj 41 0 obj << /Length 42 0 R >> stream BT 90 747.6 TD 0 0 0 rg /F0 9.96 Tf 0.0092 Tc 0.0208 Tw (Froese & Di Paolo) Tj 74.76 0 TD 0 Tc 0.03 Tw ( ) Tj 141.24 0 TD ( ) Tj 173.88 0 TD 0.0396 Tc -0.0096 Tw (CSRP 59) Tj 37.08 0 TD 0.06 Tc 0 Tw (8) Tj ET 90 746.04 432 0.48 re f BT 522 747.6 TD 0 Tc 0.03 Tw ( ) Tj -432 -709.68 TD ( ) Tj 426.96 -0.12 TD 0.06 Tc 0 Tw (7) Tj ET q 522 35.4 0.24 11.28 re h W n BT 522 37.8 TD 0 Tc 0.03 Tw ( ) Tj ET Q BT 90 709.2 TD /F0 12 Tf 0.0022 Tc 1.9538 Tw (building blocks which are constitutively inert aggregates, since the material structures) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.0035 Tc 0.2435 Tw (which support the operational level of computer simulat) Tj 270.6 0 TD -0.0066 Tc 0.2226 Tw (ions are entirely passive \(Moreno ) Tj -270.6 -13.8 TD 0.012 Tc -0.012 Tw (and Ruiz) Tj 43.08 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.001 Tc 0.001 Tw (Mirazo 1999\). ) Tj 71.64 0 TD 0 Tc 0 Tw ( ) Tj -118.68 -13.8 TD ( ) Tj 0 -13.8 TD 0.0037 Tc 0.8581 Tw (Evolved artificial systems can thus never achieve \(full\) constructive closure because the) Tj 0 Tc 0 Tw ( ) Tj T* -0.0066 Tc 2.8866 Tw (inertness of their building blocks entails that the required external degree of design) Tj 0 Tc 0 Tw ( ) Tj T* -0.0087 Tc 0.8487 Tw (complexity must alwa) Tj 107.76 0 TD -0.0114 Tc 0.8514 Tw (ys be greater than the internal one. In natural systems this is not a) Tj 0 Tc 0 Tw ( ) Tj -107.76 -13.8 TD -0.0021 Tc 1.0821 Tw (problem because such systems always start with \223building blocks endowed with certain) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0 Tc 5.1603 Tw (interactive capacities, derived from their material structure, that is to say, with) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.0255 Tc 1.9455 Tw (intrinsically act) Tj 75.96 0 TD -0.0095 Tc 1.8229 Tw (ive elements whose combinations may generate new forms of activity\224) Tj 0 Tc 0.12 Tw ( ) Tj -75.96 -13.8 TD 0.0012 Tc 2.3988 Tw (\(Moreno and Etxeberria 2005\). Moreover, since evolutionary robotics does not make) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.0023 Tc 0.4923 Tw (explicit the complex underlying material organization of living systems, it cannot lead to) Tj 0 Tc 0 Tw ( ) Tj T* -0.0009 Tc 2.1609 Tw (models which in) Tj 83.64 0 TD 0.0054 Tc 2.1546 Tw (clude the thermodynamic requirements necessary for basic autonomy) Tj 0 Tc -0.12 Tw ( ) Tj -83.64 -13.8 TD -0.0017 Tc 3.1217 Tw (\(Moreno and Ruiz) Tj 94.2 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0039 Tc 3.1239 Tw (Mirazo 1999\). This leads them to conclude that basic autonomy) Tj 0 Tc -0.24 Tw ( ) Tj -98.16 -13.8 TD -0.0037 Tc 3.0037 Tw (cannot be realized but from a highly complex chemical organization and that, as a) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.0019 Tc 0.0319 Tw (consequence, we should not ex) Tj 149.16 0 TD -0 Tc 0.0271 Tw (pect that work in evolutionary robotics will generate forms ) Tj -149.16 -13.8 TD -0.0055 Tc 0.0273 Tw (of agency similar to that in living ones \(Moreno and Etxeberria 2005\).) Tj 337.2 0 TD 0 Tc 0 Tw ( ) Tj -337.2 -13.8 TD ( ) Tj 0 -13.8 TD -0.0069 Tc 2.5183 Tw (One way to respond to these considerations is to point out that the notion of) Tj 0 Tc 0 Tw ( ) Tj 403.56 0 TD -0.036 Tc (\221) Tj 3.96 0 TD -0.036 Tc -0.084 Tw (basic ) Tj -407.52 -13.8 TD 0.03 Tc 0 Tw (autonomy) Tj 47.88 0 TD -0.036 Tc (\222) Tj 3.96 0 TD -0.0144 Tc 0.7584 Tw ( is actually only concerned wi) Tj 147 0 TD -0.0034 Tc 0.7234 Tw (th one particular kind of constitutive autonomy,) Tj 0 Tc 0.12 Tw ( ) Tj -198.84 -13.8 TD 0.0087 Tc 1.6713 Tw (namely the metabolic self) Tj 128.76 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0017 Tc 1.6917 Tw (construction of living systems. As such we can accept their) Tj 0 Tc 0.12 Tw ( ) Tj -132.72 -13.8 TD -0.0097 Tc 2.1697 Tw (criticism of evolutionary robotics in the sense that it is not the method of choice for) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.01 Tc -0.11 Tw (synthesizing ) Tj 63.6 0 TD -0.016 Tc 0.016 Tw (actual ) Tj 32.16 0 TD -0.002 Tc 0.602 Tw (living system) Tj 65.04 0 TD 0.0062 Tc 0.6072 Tw (s. However, we will later argue that there is no) Tj 0 Tc 0 Tw ( ) Tj 233.64 0 TD /F2 12 Tf 0.0103 Tc 0.5897 Tw (a priori) Tj 37.56 0 TD /F0 12 Tf 0 Tc 0 Tw ( ) Tj -432 -13.8 TD -0.011 Tc 1.691 Tw (reason why it cannot be used as a more general generative method for the creation of) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD /F2 12 Tf -0.006 Tc 0 Tw (models) Tj 33.96 0 TD /F0 12 Tf 0.0009 Tc 0.7325 Tw ( which make explicit the requirements of a material organization) Tj 0 Tc 0 Tw ( ) Tj 320.64 0 TD (\226) Tj 6 0 TD -0.006 Tc 0.726 Tw ( a model, after) Tj 0 Tc 0 Tw ( ) Tj -360.6 -13.8 TD -0.0078 Tc 1.4478 Tw (all, should be measured ) Tj 1.44 Tc 0 Tw (b) Tj 128.04 0 TD -0.0106 Tc 1.4626 Tw (y its usefulness in helping to improve the understanding of a) Tj 0 Tc 0.12 Tw ( ) Tj -128.04 -13.8 TD -0.0083 Tc 2.6483 Tw (given problem even when it fails to capture essential elements since often this very) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.004 Tc 0.004 Tw (failure can be informative.) Tj 127.2 0 TD 0 Tc 0 Tw ( ) Tj -127.2 -13.8 TD ( ) Tj 0 -13.8 TD -0.0043 Tc 1.4643 Tw (Another possible response, and the one which we will develop more concretely in) Tj 0 Tc 0 Tw ( ) Tj 414.6 0 TD 0.015 Tc -0.015 Tw (this ) Tj -414.6 -13.8 TD -0.0071 Tc 0.8591 Tw (paper, is to argue that a supposed failure in terms of) Tj 0 Tc 0 Tw ( ) Tj 261 0 TD -0.036 Tc (\221) Tj 3.96 0 TD 0.0138 Tc 0.8262 Tw (basic autonomy) Tj 76.32 0 TD -0.036 Tc 0 Tw (\222) Tj 4.08 0 TD -0.0034 Tc 0.8434 Tw ( does not rule out) Tj 0 Tc -0.12 Tw ( ) Tj -345.36 -13.8 TD 0 Tc 1.1097 Tw (the possibility that evolutionary robotics might still be a suitable method for generating) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD 0.0019 Tc 1.2131 Tw (other forms of constitutive autonomy. One particularly attractive targ) Tj 342 0 TD 0.0052 Tc 1.1948 Tw (et, for example, is) Tj 0 Tc 0 Tw ( ) Tj -342 -13.8 TD -0.0051 Tc 1.0951 Tw (the constitutive autonomy found in the cognitive domain of the nervous system \(Varela) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0046 Tc 1.9314 Tw (1991\). While it is of course the case that the cognitive abilities of living systems are) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.0031 Tc 0.9631 Tw (deeply intertwined with their metabolic self) Tj 214.2 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0032 Tc 0.9568 Tw (construction \(Mo) Tj 84 0 TD -0.0125 Tc 0.9725 Tw (reno, et al. 1997\), it might) Tj 0 Tc -0.12 Tw ( ) Tj -302.16 -13.8 TD -0.0078 Tc 1.3363 Tw (also be possible to give an account of cognitive autonomy that is decoupled from such) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0046 Tc 0.0046 Tw (material requirements. ) Tj 110.88 0 TD 0 Tc 0 Tw ( ) Tj -110.88 -13.8 TD ( ) Tj 0 -13.8 TD -0.0022 Tc 2.4262 Tw (Barandiaran and Moreno \(2006\) have recently proposed such a \223minimally cognitive) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.009 Tc 0.609 Tw (organization program\224 which focuses) Tj 181.8 0 TD -0.0041 Tc 0.5291 Tw ( on the organizational requirements of cognition on ) Tj -181.8 -13.8 TD 0.002 Tc 3.718 Tw (the basis that the nervous system is) Tj 0 Tc 0 Tw ( ) Tj 197.76 0 TD /F2 12 Tf -0.0031 Tc 3.7231 Tw (hierarchically decoupled) Tj 123.96 0 TD /F0 12 Tf -0.0064 Tc 3.8064 Tw ( from the underlying) Tj 0 Tc -0.12 Tw ( ) Tj -321.72 -13.8 TD 0.0035 Tc 0.4765 Tw (processes of metabolic self) Tj 131.04 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0021 Tc 0.4521 Tw (construction. In other words, while metabolism produces and ) Tj -135 -13.8 TD -0.0066 Tc 2.8866 Tw (maintains the architecture of the) Tj 0 Tc 0 Tw ( ) Tj 171.84 0 TD -0.0024 Tc 2.8824 Tw (nervous system, it nevertheless minimizes its local) Tj 0 Tc 0 Tw ( ) Tj -171.84 -13.8 TD -0.0081 Tc 0.6081 Tw (interference with the nervous system in such a way that we can speak of the constitution) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.0036 Tc 1.4522 Tw (of a new dynamic domain that consists of both its internal dynamics and its embodied) Tj 0 Tc -0.12 Tw ( ) Tj ET endstream endobj 42 0 obj 8216 endobj 39 0 obj << /Type /Page /Parent 40 0 R /Resources << /Font << /F0 6 0 R /F2 21 0 R >> /ProcSet 2 0 R >> /Contents 41 0 R >> endobj 44 0 obj << /Length 45 0 R >> stream BT 90 747.6 TD 0 0 0 rg /F0 9.96 Tf 0.0092 Tc 0.0208 Tw (Froese & Di Paolo) Tj 74.76 0 TD 0 Tc 0.03 Tw ( ) Tj 141.24 0 TD ( ) Tj 173.88 0 TD 0.0396 Tc -0.0096 Tw (CSRP 59) Tj 37.08 0 TD 0.06 Tc 0 Tw (8) Tj ET 90 746.04 432 0.48 re f BT 522 747.6 TD 0 Tc 0.03 Tw ( ) Tj -432 -709.68 TD ( ) Tj 426.96 -0.12 TD 0.06 Tc 0 Tw (8) Tj ET q 522 35.4 0.24 11.28 re h W n BT 522 37.8 TD 0 Tc 0.03 Tw ( ) Tj ET Q BT 90 709.2 TD /F0 12 Tf -0.0009 Tc 7.3209 Tw (sensorimotor coupling with the) Tj 171.6 0 TD -0.0126 Tc 7.3326 Tw ( environment. Their attempt at specifying the) Tj 0 Tc 0.12 Tw ( ) Tj -171.6 -13.8 TD -0.0072 Tc 4.2072 Tw (requirements of constitutive autonomy in terms of a dynamic organization in the) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.006 Tc 1.59 Tw (cognitive domain makes this approach especially amenable to an evolutionary robotics) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.008 Tc 0.008 Tw (program of research.) Tj 99.48 0 TD 0 Tc 0 Tw ( ) Tj -99.48 -13.8 TD ( ) Tj 0 -13.8 TD (2.2) Tj 15 0 TD /F4 12 Tf 0.024 Tw ( ) Tj 3 0 TD /F0 12 Tf 0.0291 Tc 0 Tw (Organismically) Tj 73.92 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.003 Tc (inspired) Tj 38.64 0 TD 0.123 Tw ( robotics) Tj 41.76 0 TD 0 Tc 0 Tw ( ) Tj -176.28 -13.8 TD ( ) Tj 0 -13.8 TD -0.0038 Tc 3.2971 Tw (There exists a line of evolutionary robotics research called \223organismically) Tj 389.28 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.012 Tc -0.012 Tw (inspired ) Tj -393.24 -13.8 TD 0.0026 Tc 1.0974 Tw (robotics\224 \(Di Paolo 2003\) that advocates the necessity of using models that incorporate) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0024 Tc 5.0376 Tw (elements of) Tj 0 Tc 0.12 Tw ( ) Tj 68.76 0 TD -0.009 Tc 0.009 Tw (such ) Tj 30.12 0 TD 0.0035 Tc 5.0565 Tw (cognitive organization. Indeed, the introduction of ho) Tj 287.16 0 TD -0.004 Tc 0.004 Tw (meostatic ) Tj -386.04 -13.8 TD 0.0086 Tc 2.2807 Tw (mechanisms into the evolving \221agents\222 has resulted in models that allow us to begin) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD 0.0021 Tc 1.3179 Tw (exploring the possibility of the autonomous constitution of an identity in the combined) Tj 0 Tc 0 Tw ( ) Tj T* 0.0031 Tc 0.9969 Tw (neural and behavioral dynamics of the evolved systems \(e.g. Di Paolo and ) Tj 1.044 Tc 0 Tw (I) Tj 374.52 0 TD 0.0192 Tc 0.9408 Tw (izuka 2008;) Tj 0 Tc 0 Tw ( ) Tj -374.52 -13.8 TD -0.007 Tc 3.857 Tw (Iizuka and Di Paolo 2007\). In terms of our scientific understanding of biological) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0 Tc 1.2552 Tw (autonomy and cognition these first examples represent a significant advance over work) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.0062 Tc 0.0302 Tw (which solely focuses on functional aspects of these biological phenomena. ) Tj 360.24 0 TD 0 Tc 0 Tw ( ) Tj -360.24 -13.8 TD ( ) Tj 0 -13.8 TD 0.0108 Tc 2.2692 Tw (However, while the organismically) Tj 175.44 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0065 Tc 2.2735 Tw (inspired approach provides an important first step) Tj 0 Tc 0.12 Tw ( ) Tj -179.4 -13.8 TD -0.0024 Tc 0.4824 Tw (because it enables us to investigate the emergence of self) Tj 277.68 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0027 Tc 0.3573 Tw (maintaining dynamic cognitive ) Tj -281.64 -13.8 TD -0.0082 Tc 1.0882 Tw (structures that are comprised of neural and behavioral elements, it falls short of) Tj 392.64 0 TD -0.0189 Tc 1.0989 Tw ( the full) Tj 0 Tc -0.12 Tw ( ) Tj -392.64 -13.8 TD 0.0038 Tc 2.2762 Tw (requirements for the self) Tj 124.32 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.004 Tc 2.284 Tw (constitution of a cognitive system. Barandiaran and Moreno) Tj 0 Tc 0 Tw ( ) Tj -128.28 -13.8 TD 0.005 Tc 3.367 Tw (\(2006\) hypothesize that \223an autonomous level of normativity emerges when neural) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.0064 Tc 2.2864 Tw (dynamics have a self) Tj 107.04 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0054 Tc 2.2854 Tw (maintaining organization, i.e. when the web is homeostatic ) Tj 2.232 Tc 0 Tw (a) Tj 308.88 0 TD 0.06 Tc 0.06 Tw (nd ) Tj -419.88 -13.8 TD 0.0041 Tc 0.3559 Tw (behavior is directed towards the self) Tj 175.56 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0016 Tc 0.3584 Tw (maintenance of the global stability conditions of the ) Tj -179.52 -13.8 TD 0.0089 Tc 5.0311 Tw (web \(and not only of a unique dynamic structure\)\224. The problem here is that) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0137 Tc 0 Tw (organismically) Tj 71.16 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.002 Tc 5.882 Tw (inspired robotics still requires that the experimenter provides the) Tj 0 Tc -0.12 Tw ( ) Tj -75.12 -13.8 TD -0.024 Tc 0 Tw (ev) Tj 11.28 0 TD -0.0015 Tc 1.1184 Tw (olutionary algorithm with the global identity of the system which for the purposes of) Tj 0 Tc 0 Tw ( ) Tj -11.28 -13.8 TD -0.0025 Tc 0.0025 Tw (the model is to count as the cognitive \221agent\222.) Tj 218.88 0 TD 0 Tc 0 Tw ( ) Tj -218.88 -13.8 TD ( ) Tj 0 -13.8 TD -0.0078 Tc 0.4728 Tw (Thus, there remains one important issue that needs to be addressed even if we do change ) Tj T* 0 Tc 3.5996 Tw (the evolutionary robotics method) Tj 0 Tc 0 Tw ( ) Tj 176.4 0 TD 0.0017 Tc 3.5983 Tw (so that it explicitly models material or cognitive) Tj 0 Tc 0.12 Tw ( ) Tj -176.4 -13.8 TD -0.0032 Tc 1.9532 Tw (organizational requirements. It could be argued that this method) Tj 323.04 0 TD 0.018 Tc 1.902 Tw ( is) Tj 0 Tc 0 Tw ( ) Tj 17.88 0 TD -0.0024 Tc 0.0024 Tw (still ) Tj 22.8 0 TD 0.0028 Tc 1.9172 Tw (unsuitable for) Tj 0 Tc 0.12 Tw ( ) Tj -363.72 -13.8 TD -0.0075 Tc -0.1125 Tw (studying ) Tj 48 0 TD 0.0138 Tc 3.7062 Tw (constitutive autonomy) Tj 110.52 0 TD -0.0029 Tc 3.7229 Tw ( because the evolutionary algorithm presupposes the) Tj 0 Tc -0.12 Tw ( ) Tj -158.52 -13.8 TD -0.0057 Tc 3.1257 Tw (existence of individual) Tj 115.56 0 TD -0.018 Tc 3.138 Tw ( \221agent) Tj 36 0 TD 0.012 Tc 0 Tw (s) Tj 4.68 0 TD -0.036 Tc (\222) Tj 3.96 0 TD 3.204 Tc 0.036 Tw ( f) Tj 10.2 0 TD 0.0069 Tc 3.1131 Tw (or selection and) Tj 0 Tc 0 Tw ( ) Tj 88.44 0 TD 0.0012 Tc 3.1188 Tw (the generation of new individuals) Tj 0 Tc 0 Tw ( ) Tj -258.84 -13.8 TD -0.0118 Tc 1.7011 Tw (\(Froese, et al. 2007\). In other words, evolutionary robotics cannot be used to generate) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD 0.0015 Tc 1.9185 Tw (models of systems which self) Tj 148.92 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0018 Tc 1.9218 Tw (constitute their own identity because) Tj 183.48 0 TD -0.0017 Tc 1.9217 Tw ( what counts as an) Tj 0 Tc 0 Tw ( ) Tj -336.36 -13.8 TD 0.0048 Tc -0.0048 Tw (individual ) Tj 54.96 0 TD -0.0213 Tc 3.3013 Tw (\221agent\222, i.e. what co) Tj 104.76 0 TD -0.0103 Tc 3.2503 Tw (nstitutes its systemic identity,) Tj 0 Tc 0 Tw ( ) Tj 157.68 0 TD 0.018 Tc -0.018 Tw (is ) Tj 14.28 0 TD 0.006 Tc -0.006 Tw (always ) Tj 39.6 0 TD -0.024 Tc 3.264 Tw (already pre) Tj 56.64 0 TD -0.036 Tc 0 Tw (-) Tj -427.92 -13.8 TD -0.0073 Tc 0.6473 Tw (determined by the experimenter.) Tj 0 Tc 0 Tw ( ) Tj 161.28 0 TD -0.001 Tc 0.613 Tw (The main contribution of this paper is to argue that this) Tj 0 Tc 0.12 Tw ( ) Tj -161.28 -13.8 TD -0.0054 Tc 0.347 Tw (seemingly insurmountable limitation of the method can be avoided by a relatively simple ) Tj 0 -13.8 TD -0.0063 Tc 0.0063 Tw (shift in perspective.) Tj 94.2 0 TD 0 Tc 0 Tw ( ) Tj -94.2 -13.8 TD ( ) Tj 0 -13.8 TD (2.3) Tj 15 0 TD /F4 12 Tf 0.024 Tw ( ) Tj 3 0 TD /F0 12 Tf -0.0115 Tc 0.0915 Tw (Evolutionary robotics: a re) Tj 128.28 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0042 Tc (conceptualization) Tj 84.72 0 TD 0 Tc ( ) Tj -234.96 -13.8 TD ( ) Tj 0 -13.8 TD -0.0095 Tc 1.4595 Tw (How can we use evolutionary robotics to generate models of systems with constitutive) Tj 0 Tc -0.12 Tw ( ) Tj T* 0.0017 Tc 0.0133 Tw (autonomy if the method requires that we specify the identity of the systems that it evolves ) Tj T* 0.0097 Tc 1.3103 Tw (in advance? At first sight this) Tj 0 Tc 0 Tw ( ) Tj 152.16 0 TD 0.0041 Tc 1.3309 Tw (appears to be a fundamental limitation, one which holds) Tj 0 Tc 0 Tw ( ) Tj ET endstream endobj 45 0 obj 8287 endobj 43 0 obj << /Type /Page /Parent 40 0 R /Resources << /Font << /F0 6 0 R /F4 37 0 R >> /ProcSet 2 0 R >> /Contents 44 0 R >> endobj 47 0 obj << /Length 48 0 R >> stream BT 90 747.6 TD 0 0 0 rg /F0 9.96 Tf 0.0092 Tc 0.0208 Tw (Froese & Di Paolo) Tj 74.76 0 TD 0 Tc 0.03 Tw ( ) Tj 141.24 0 TD ( ) Tj 173.88 0 TD 0.0396 Tc -0.0096 Tw (CSRP 59) Tj 37.08 0 TD 0.06 Tc 0 Tw (8) Tj ET 90 746.04 432 0.48 re f BT 522 747.6 TD 0 Tc 0.03 Tw ( ) Tj -432 -709.68 TD ( ) Tj 426.96 -0.12 TD 0.06 Tc 0 Tw (9) Tj ET q 522 35.4 0.24 11.28 re h W n BT 522 37.8 TD 0 Tc 0.03 Tw ( ) Tj ET Q BT 90 709.2 TD /F0 12 Tf -0.0066 Tc 1.2199 Tw (independently of whether we explicitly include material and/or cognitive organizational) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0068 Tc 0.0068 Tw (requirements or not. What can be done?) Tj 191.64 0 TD 0 Tc 0 Tw ( ) Tj -191.64 -13.8 TD ( ) Tj 0 -13.8 TD 0.0024 Tc 1.1076 Tw (Ironically, a solution to this dilemma becomes available as soon as we ) Tj 1.092 Tc 0 Tw (s) Tj 358.56 0 TD -0.0051 Tc 1.2051 Tw (eriously accept) Tj 0 Tc 0.12 Tw ( ) Tj -358.56 -13.8 TD -0.0059 Tc 0.3499 Tw (the criticism of the San Sebastian group that the artificial systems being evolved with the ) Tj 0 -13.8 TD 0.0057 Tc 2.7636 Tw (use of evolutionary robotics cannot be said to be models of biological agency \(e.g.) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.01 Tc 1.21 Tw (Moreno and Etxeberria 2005\). The solution is therefore a concept) Tj 324.84 0 TD -0.0057 Tc 1.2057 Tw (ual shift: by dropping) Tj 0 Tc 0 Tw ( ) Tj -324.84 -13.8 TD 0.0062 Tc 2.4031 Tw (the label \221agent\222 to denote what is being \221evolved\222 we can sidestep the fundamental) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.013 Tc 1.933 Tw (problem of pre) Tj 75 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0116 Tc 1.9643 Tw (defined identities. Instead, we conceive of what is being selected as a) Tj 0 Tc 0 Tw ( ) Tj -78.96 -13.8 TD -0 Tc 0.6004 Tw (desired property of some kind of model) Tj 0 Tc 0 Tw ( ) Tj 197.16 0 TD /F2 12 Tf 0.0027 Tc (component) Tj 52.68 0 TD /F0 12 Tf -0.0228 Tc 0.6628 Tw (. Indeed, in ) Tj 0.6 Tc 0 Tw (o) Tj 64.68 0 TD 0.0017 Tc 0.5983 Tw (rder to further minimize) Tj 0 Tc -0.12 Tw ( ) Tj -314.52 -13.8 TD -0.0044 Tc 1.9244 Tw (any potential confusion entailed by this conceptual shift we will speak of \221optimized\222) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD 0.0066 Tc 1.4334 Tw (rather than \221evolved\222 components and of \221desirable\222 rather than \221fit\222 solutions. We can) Tj 0 Tc 0 Tw ( ) Tj T* -0.008 Tc 5.648 Tw (thus re) Tj 37.92 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.002 Tc 5.642 Tw (conceptualize the \221evolutionary\222 algorithm as a) Tj 0 Tc 0 Tw ( ) Tj 263.04 0 TD -0.0074 Tc 5.6474 Tw (more general generative) Tj 0 Tc 0.12 Tw ( ) Tj -304.92 -13.8 TD -0.0075 Tc 0.9675 Tw (mechanism, one which can be used for optimizing models of) Tj 0 Tc 0 Tw ( ) Tj 304.2 0 TD /F2 12 Tf -0.0013 Tc 0.9613 Tw (dynamical substrates) Tj 102.6 0 TD /F0 12 Tf 0.008 Tc 0.952 Tw ( wit) Tj 19.32 0 TD -0.12 Tc 0 Tw (h ) Tj -426.12 -13.8 TD 0.0009 Tc -0.0009 Tw (certain desirable properties:) Tj 133.32 0 TD 0 Tc 0 Tw ( ) Tj -133.32 -13.8 TD ( ) Tj 0 -13.8 TD /F2 12 Tf 0.0053 Tc 1.3147 Tw (This shift) Tj 0 Tc 0 Tw ( ) Tj 49.92 0 TD -0.0111 Tc 1.3311 Tw (in perspective) Tj 0 Tc 0 Tw ( ) Tj 72.48 0 TD -0.0118 Tc 1.3318 Tw (entails that the evaluation function can now be geared toward) Tj 0 Tc -0.12 Tw ( ) Tj -122.4 -13.8 TD 0.006 Tc 0.084 Tw (the optimization of a ) Tj 102.6 0 TD 0.0206 Tc 0 Tw (dynamic) Tj 40.68 0 TD 0.012 Tc -0.012 Tw (al ) Tj 12.48 0 TD 0.0078 Tc 0.1122 Tw (substrate with initial conditions that favor the emergence ) Tj -155.76 -13.8 TD 0.008 Tc -0.008 Tw (of a) Tj 18.36 0 TD 0.0011 Tc -0.0011 Tw (n autonomous) Tj 67.68 0 TD -0.0032 Tc 0.0032 Tw ( system which self) Tj 86.28 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (constitutes its own identity.) Tj 130.68 0 TD ( ) Tj -306.96 -13.8 TD /F0 12 Tf ( ) Tj 0 -13.8 TD 0.0065 Tc 2.0335 Tw (Thus, there are two important implications of this shift in perspective: \(i\) there is no) Tj 0 Tc 0 Tw ( ) Tj T* -0.0116 Tc 1.5716 Tw (longer any problem of the evolutionary) Tj 0 Tc -0.24 Tw ( ) Tj 200.28 0 TD -0.0075 Tc 1.5675 Tw (robotics method being limited to \221agents\222 with) Tj 0 Tc -0.12 Tw ( ) Tj -200.28 -13.8 TD -0.028 Tc 0 Tw (pre) Tj 15.24 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.0018 Tc 1.9338 Tw (defined identities, and \(ii\) whether a particular simulation model actually includes) Tj 0 Tc 0.12 Tw ( ) Tj -19.2 -13.8 TD 0.0015 Tc 1.8285 Tw (any systems that are characterized by constitutive autonomy must be determined on a) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0024 Tc 2.7824 Tw (case by case basis. The second impli) Tj 192.24 0 TD -0 Tc 2.7603 Tw (cation also presents a methodological problem.) Tj 0 Tc 0 Tw ( ) Tj -192.24 -13.8 TD 0.0032 Tc 1.086 Tw (However, rather than being a fundamental limitation of the method, it presents a useful) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD 0.0038 Tc 2.6462 Tw (challenge in that it forces us to sharpen our conceptual requirements for identifying) Tj 0 Tc 0 Tw ( ) Tj T* -0.0075 Tc 1.4475 Tw (constitutive autonomy and encourage) Tj 183.72 0 TD -0.0084 Tc 1.4484 Tw (s us to devise methods which allow us to reliably) Tj 0 Tc -0.24 Tw ( ) Tj -183.72 -13.8 TD -0 Tc 0.04 Tw (distinguish such systems. ) Tj 124.68 0 TD 0 Tc 0 Tw ( ) Tj -124.68 -13.8 TD ( ) Tj 0 -13.8 TD 0.0091 Tc -0.0091 Tw (To demonstrate the potential ) Tj 140.88 0 TD 0.0075 Tc 0.0325 Tw (of this conceptual ) Tj 88.44 0 TD -0.006 Tc 0.006 Tw (move ) Tj 29.64 0 TD 0.0114 Tc -0.0114 Tw (in more concrete terms ) Tj 113.52 0 TD -0.004 Tc 0.064 Tw (we will ) Tj 38.76 0 TD 0.032 Tc 0.088 Tw (now ) Tj -411.24 -13.8 TD -0.007 Tc 2.527 Tw (analyze a recent simulation) Tj 0 Tc 0 Tw ( ) Tj 143.88 0 TD -0 Tc 0 Tw (model ) Tj 35.52 0 TD -0.018 Tc 0.018 Tw (of ) Tj 15.48 0 TD -0.015 Tc 0 Tw (coordination) Tj 60.48 0 TD 0 Tc ( ) Tj 5.52 0 TD -0.009 Tc 2.529 Tw (dynamics that has been generated) Tj 0 Tc 0.12 Tw ( ) Tj -260.88 -13.8 TD -0.0168 Tc 1.9368 Tw (using ) Tj 1.944 Tc 0 Tw (t) Tj 34.2 0 TD 0.0038 Tc 1.9462 Tw (he standard evolutionary robotics methodology) Tj 234.24 0 TD 0.0048 Tc 1.9152 Tw (. This will allow us to hone our) Tj 0 Tc 0.12 Tw ( ) Tj -268.44 -13.8 TD -0.0019 Tc 0.0019 Tw (intuitions about what dynamical self) Tj 174.48 0 TD -0.036 Tc 0 Tw (-) Tj 4.08 0 TD -0.0024 Tc -0.0216 Tw (constitution might or might not be.) Tj 167.16 0 TD 0 Tc 0 Tw ( ) Tj -345.72 -13.8 TD ( ) Tj 0 -14.04 TD /F1 12 Tf (3.) Tj 9 0 TD /F3 12 Tf 0.024 Tw ( ) Tj 9 0 TD /F1 12 Tf -0.0127 Tc 0.0127 Tw (The simulation model) Tj 111.24 0 TD 0 Tc 0 Tw ( ) Tj -129.24 -13.56 TD /F0 12 Tf ( ) Tj 0 -13.8 TD 0.0052 Tc 0.8448 Tw (The simulation model outlined in this section is based on recent work by) Tj 0 Tc -0.12 Tw ( ) Tj 363 0 TD -0.015 Tc 0.975 Tw (Froese an) Tj 47.16 0 TD 0 Tc 0.84 Tw (d Di) Tj 0 Tc 0 Tw ( ) Tj -410.16 -13.8 TD -0.0044 Tc 4.8044 Tw (Paolo \(2008\)) Tj 67.08 0 TD 0 Tc 0 Tw (.) Tj 3 0 TD ( ) Tj 7.8 0 TD 0.0092 Tc 4.8042 Tw (While the original model was conceived of within the traditional) Tj 0 Tc 0.12 Tw ( ) Tj -77.88 -13.8 TD -0.0032 Tc 4.4672 Tw (evolutionary robotics framework, namely to investigate a particular aspect of the) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0009 Tc 3.9691 Tw (dynamics of social cognition, here we will describe it only with the terminology) Tj 0 Tc -0.12 Tw ( ) Tj T* -0.0133 Tc 0 Tw (developed) Tj 49.2 0 TD 0 Tc -0 Tw ( in the previous section so as to avoid any potential confusion. ) Tj 301.68 0 TD 0 Tc 0 Tw ( ) Tj -350.88 -13.8 TD ( ) Tj 0 -13.8 TD -0.008 Tc 0.3851 Tw (In essence, Froese and Di Paolo \(2008\) used) Tj 215.64 0 TD 0 Tc 0 Tw ( ) Tj 3.36 0 TD -0.024 Tc 0.024 Tw (an ) Tj 14.64 0 TD -0.0102 Tc 0.1902 Tw (evolutionary robotics ) Tj 105.84 0 TD 0.02 Tc -0.02 Tw (method ) Tj 39.48 0 TD -0.03 Tc 0.15 Tw (to generate ) Tj -378.96 -13.8 TD -0.001 Tc 0.241 Tw (a simulation model of a system) Tj 150.96 0 TD 0 Tc 0 Tw (, ) Tj 6.36 0 TD -0.008 Tc 0.008 Tw (comprised ) Tj 53.16 0 TD 0.042 Tc -0.042 Tw (of ) Tj 13.32 0 TD 0 Tc 0 Tw (two) Tj 18 0 TD 0 Tc ( ) Tj 3.36 0 TD 0 Tc 0.2394 Tw (dynamical components) Tj 111.24 0 TD 0 Tc 0 Tw (, ) Tj 6.24 0 TD 0.006 Tc 0.114 Tw (that is ) Tj 32.52 0 TD 0.0274 Tc 0.0926 Tw (capable ) Tj ET endstream endobj 48 0 obj 8520 endobj 46 0 obj << /Type /Page /Parent 40 0 R /Resources << /Font << /F0 6 0 R /F1 17 0 R /F2 21 0 R /F3 26 0 R >> /ProcSet 2 0 R >> /Contents 47 0 R >> endobj 50 0 obj << /Length 51 0 R >> stream BT 90 747.6 TD 0 0 0 rg /F0 9.96 Tf 0.0092 Tc 0.0208 Tw (Froese & Di Paolo) Tj 74.76 0 TD 0 Tc 0.03 Tw ( ) Tj 141.24 0 TD ( ) Tj 173.88 0 TD 0.0396 Tc -0.0096 Tw (CSRP 59) Tj 37.08 0 TD 0.06 Tc 0 Tw (8) Tj ET 90 746.04 432 0.48 re f BT 522 747.6 TD 0 Tc 0.03 Tw ( ) Tj -432 -709.68 TD ( ) Tj 421.92 -0.12 TD 0.06 Tc 0 Tw (10) Tj ET q 522 35.4 0.24 11.28 re h W n BT 522 37.8 TD 0 Tc 0.03 Tw ( ) Tj ET Q BT 90 709.2 TD /F0 12 Tf -0.011 Tc 1.031 Tw (of reliably es) Tj 64.56 0 TD 0.0065 Tc 0.9535 Tw (tablishing and maintaining ) Tj 0.912 Tc 0 Tw (a) Tj 139.32 0 TD 0.028 Tc 0.932 Tw (n oscillatory) Tj 60.6 0 TD 0.0051 Tc 1.0749 Tw ( pattern) Tj 0 Tc 0 Tw ( ) Tj 41.4 0 TD 0.018 Tc 0.942 Tw (of movement) Tj 0 Tc 0 Tw ( ) Tj 68.76 0 TD 0.0072 Tc 0.9528 Tw (under noisy) Tj 0 Tc -0.12 Tw ( ) Tj -374.64 -13.8 TD 0.001 Tc -0.001 Tw (conditions. A ) Tj 67.68 0 TD 0.006 Tc -0.006 Tw (simple ) Tj 35.04 0 TD -0.006 Tc 0.006 Tw (schematic of the simu) Tj 104.88 0 TD -0.0008 Tc 0.0008 Tw (lation model is depicted in Figure) Tj 161.64 0 TD 0 Tc 0 Tw ( 1. ) Tj 15 0 TD ( ) Tj -384.24 -13.8 TD ( ) Tj 282.24 -74.88 TD ( ) Tj -66.24 -10.8 TD ( ) Tj -216 -13.8 TD /F1 12 Tf -0.009 Tc 0.729 Tw (Figure 1:) Tj 47.76 0 TD /F0 12 Tf 0.0115 Tc 0.7085 Tw ( A schematic view of the simulation model. The two identical) Tj 0 Tc 0 Tw ( ) Tj 307.8 0 TD 0.0055 Tc 0.4145 Tw (components are ) Tj -355.56 -13.8 TD 0.0057 Tc 1.4583 Tw (40 units wide, only able to move in a horizontal direction, and equipped with a single) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.0038 Tc 2.2931 Tw (on/off interface at their centre. They face each other in an unlimited continuous ) Tj 2.28 Tc 0 Tw (1) Tj 419.4 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.024 Tc 0.024 Tw (D ) Tj -423.36 -13.8 TD -0.0072 Tc 0.029 Tw (space. For more detailed information see text, and Froese and Di Pao) Tj 331.44 0 TD 0.008 Tc -0.008 Tw (lo \(2008\).) Tj 47.4 0 TD 0 Tc 0 Tw ( ) Tj -378.84 -13.8 TD ( ) Tj 0 -13.8 TD 0 Tc 0.4795 Tw (In the evolutionary process ) Tj 0.504 Tc 0 Tw (t) Tj 138.6 0 TD -0.024 Tc 0.024 Tw (he ) Tj 14.76 0 TD 0.0013 Tc 0.4521 Tw (desirability of the model was measured according to how ) Tj -153.36 -13.8 TD -0.0018 Tc 2.4318 Tw (far away from their initial starting positions the components) Tj 307.32 0 TD 0 Tc 0 Tw ( ) Tj 5.4 0 TD 0.0048 Tc 2.3952 Tw (came into contact. This) Tj 0 Tc 0.12 Tw ( ) Tj -312.72 -13.8 TD -0.0088 Tc 0.2488 Tw (evaluation criterion) Tj 93.72 0 TD 0 Tc 0 Tw ( ) Tj 3.24 0 TD 0.0018 Tc 0.2382 Tw (optimizes the dynamics of the two components in a) Tj 248.4 0 TD -0.0026 Tc 0.1226 Tw ( complex manner, ) Tj -345.36 -13.8 TD -0.003 Tc 2.043 Tw (namely such that their activity results in) Tj 0 Tc 0 Tw ( ) Tj 209.16 0 TD 0 Tc 2.0394 Tw (mutual localization, convergence on a target) Tj 0 Tc 0.12 Tw ( ) Tj -209.16 -13.8 TD 0.0009 Tc 0.8391 Tw (direction, and) Tj 0 Tc 0.12 Tw ( ) Tj 70.68 0 TD 0.0098 Tc -0.0098 Tw (coordinated ) Tj 60.6 0 TD 0.0078 Tc 0.8322 Tw (movement in that direction) Tj 132.36 0 TD 0 Tc 0 Tw (.) Tj 3 0 TD ( ) Tj 3.84 0 TD 0.0069 Tc 0.8331 Tw (Since the components are started) Tj 0 Tc 0 Tw ( ) Tj -270.48 -13.8 TD 0.0111 Tc 0.4689 Tw (in opposite orientation \(\221up\222 vs. \221down\222\), it is not possible f) Tj 289.56 0 TD 0 Tc 0.3595 Tw (or the evolutionary algorithm ) Tj -289.56 -13.8 TD -0.0104 Tc 0.9784 Tw (to result in the hard coding of any trivial solution \(e.g. \221always move left\222\). In addition,) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.001 Tc 1.221 Tw (this task is made even more non) Tj 161.28 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.005 Tc 1.195 Tw (trivial since \221sensory\222 stimulation only correlates with) Tj 0 Tc 0.12 Tw ( ) Tj -165.24 -13.8 TD -0.0123 Tc 0.4923 Tw (the overlapping of position \(when the center) Tj 215.04 0 TD -0.0093 Tc 0.4893 Tw (s of the components are less than 20 units of) Tj 0 Tc -0.12 Tw ( ) Tj -215.04 -13.8 TD -0.0015 Tc 3.49 Tw (space apart\); it does not convey the direction or speed of movement of the other) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0047 Tc 1.463 Tw (component. Moreover, if the components are not in direct contact with each other, the) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.0051 Tc 0.0051 Tw (environment holds no information about thei) Tj 214.92 0 TD 0.0038 Tc -0.0038 Tw (r relative positions.) Tj 92.4 0 TD 0 Tc 0 Tw ( ) Tj -307.32 -13.8 TD ( ) Tj 0 -13.8 TD -0.0069 Tc 1.0955 Tw (The basic elements of the simulation model can be described as follows: There are two) Tj 0 Tc 0 Tw ( ) Tj T* -0.0056 Tc 3.4856 Tw (components which) Tj 93.72 0 TD -0.004 Tc 3.484 Tw ( face each other in an unlimited cont) Tj 199.2 0 TD 0.006 Tc 3.474 Tw (inuous ) Tj 3.48 Tc 0 Tw (1) Tj 44.52 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.0103 Tc 3.4903 Tw (D space \(i.e. one) Tj 0 Tc 0.12 Tw ( ) Tj -341.4 -13.8 TD -0.0053 Tc 0 Tw (component) Tj 53.28 0 TD -0.0064 Tc 0.9664 Tw ( faces \221up\222 and one) Tj 0 Tc 0 Tw ( ) Tj 99 0 TD -0.0053 Tc (component) Tj 53.28 0 TD -0.004 Tc 0.964 Tw ( faces \221down\222\). Distance and) Tj 0 Tc 0 Tw ( ) Tj 145.32 0 TD -0.0069 Tc 0.9669 Tw (time units of the) Tj 0 Tc -0.12 Tw ( ) Tj -350.88 -13.8 TD -0.014 Tc 2.414 Tw (simulation are of an arbitrary scale. Each) Tj 0 Tc 0 Tw ( ) Tj 216.24 0 TD 0.008 Tc (component) Tj 53.4 0 TD -0.0155 Tc 2.4155 Tw ( can only move horizontally.) Tj 0 Tc 0 Tw ( ) Tj 152.4 0 TD -0.018 Tc 0.138 Tw (In ) Tj -422.04 -13.8 TD -0.006 Tc 2.766 Tw (terms of non) Tj 66.12 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.004 Tc 2.756 Tw (linear interaction, ) Tj 2.76 Tc 0 Tw (o) Tj 99.24 0 TD 0.003 Tc 2.757 Tw (ne on/off) Tj 0 Tc 0 Tw ( ) Tj 52.2 0 TD -0.0107 Tc (interface) Tj 42 0 TD 0.0078 Tc 2.7522 Tw ( is located in the centre of each) Tj 0 Tc 0.12 Tw ( ) Tj -263.52 -13.8 TD -0.0053 Tc 0 Tw (component) Tj 53.28 0 TD -0.015 Tc 1.215 Tw (. The) Tj 0 Tc 0 Tw ( ) Tj 30 0 TD 0.016 Tc (interface) Tj 42 0 TD -0.0092 Tc 1.2092 Tw ( is activated \(set to 1\) when the) Tj 0 Tc 0 Tw ( ) Tj 162 0 TD -0.0053 Tc (component) Tj 53.28 0 TD -0.0083 Tc 1.2083 Tw (s cross each other,) Tj 0 Tc 0 Tw ( ) Tj -340.56 -13.8 TD 0.3 Tw (otherwise it is set to 0. ) Tj 113.28 0 TD -0.0307 Tc 0 Tw (Interface) Tj 42.36 0 TD -0.0048 Tc 0.3648 Tw ( and mo) Tj 39.36 0 TD 0.012 Tc 0 Tw (vement) Tj 35.4 0 TD 0.002 Tc 0.298 Tw ( noise is introduced into the simulation in ) Tj -230.4 -13.8 TD -0.0032 Tc 1.3232 Tw (order to increase the robustness of the evolved coordination) Tj 0 Tc 0 Tw ( ) Tj 301.32 0 TD -0.012 Tc (pattern) Tj 33.24 0 TD -0.0155 Tc 1.3655 Tw (. In order to further) Tj 0 Tc 0.12 Tw ( ) Tj -334.56 -13.8 TD -0.0057 Tc 1.1457 Tw (increase the robustness) Tj 112.8 0 TD 0 Tc 0 Tw (,) Tj 3 0 TD -0.0009 Tc 1.1109 Tw ( the initial relative displace) Tj 134.4 0 TD 0.0051 Tc 1.0749 Tw (ment between the) Tj 0 Tc 0 Tw ( ) Tj 90.96 0 TD 0.008 Tc (component) Tj 53.4 0 TD 0.0051 Tc 1.0749 Tw (s varies) Tj 0 Tc 0.12 Tw ( ) Tj -394.56 -13.8 TD -0.0111 Tc 0.0111 Tw (between trials ) Tj 69.84 0 TD 0.0051 Tc -0.0051 Tw (\(range [) Tj 37.8 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.006 Tc -0.006 Tw (25, 25]\). ) Tj 44.04 0 TD 0 Tc 0 Tw ( ) Tj -155.64 -13.8 TD ( ) Tj 0 -13.8 TD -0.006 Tc 2.166 Tw (The two components) Tj 104.88 0 TD 0 Tc 2.1597 Tw ( are controlled by two identical continuous) Tj 218.28 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0038 Tc 2.1638 Tw (time recurrent neural) Tj 0 Tc 0 Tw ( ) Tj -327.12 -13.8 TD 0 Tc 0.96 Tw (networks \(CTRNNs\), ) Tj 0.912 Tc 0 Tw (a) Tj 113.52 0 TD 0.0013 Tc 1.0307 Tw (s described by Beer \(1995\), each) Tj 162.48 0 TD 0.0213 Tc 0.9987 Tw ( consisting of 3 fully) Tj 103.44 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0053 Tc 0.0053 Tw (connected ) Tj -383.4 -13.8 TD 0.0046 Tc 1.0754 Tw (nodes with self) Tj 74.76 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0028 Tc 1.0657 Tw (connections. The time evolution of the node activation) Tj 0 Tc 0 Tw ( ) Tj 273.36 0 TD -0.0163 Tc 1.0963 Tw (is determined as) Tj 0 Tc 0 Tw ( ) Tj -352.08 -13.8 TD 0.003 Tc (follows:) Tj 39.36 0 TD 0 Tc ( ) Tj 116.76 -25.8 TD /F5 18.0206 Tf -0.0087 Tc (\345) Tj 5.16 -8.76 TD /F5 7.008 Tf -0.0074 Tc (=) Tj 58.92 11.52 TD /F5 12.0137 Tf 0.0045 Tc (+) Tj -73.32 0 TD (+) Tj -20.16 0 TD (-) Tj -9.84 0 TD (=) Tj 43.2 12.24 TD /F2 7.008 Tf 0.0057 Tc (N) Tj -1.44 -23.76 TD -0.0282 Tc (j) Tj 82.2 8.52 TD (i) Tj -31.2 0 TD (j) Tj -16.8 0 TD (j) Tj -12.6 0 TD (ji) Tj -39.6 0 TD (i) Tj -30.96 0 TD (i) Tj -10.08 0 TD (i) Tj 130.08 3 TD /F2 12.0137 Tf -0.0237 Tc (SI) Tj -27.36 0 TD -0.0541 Tc (y) Tj -16.32 0 TD 0.0067 Tc (z) Tj -15.12 0 TD 0.0269 Tc (w) Tj -36.12 0 TD -0.0541 Tc (y) Tj -30.84 0 TD (y) Tj 60.96 -11.52 TD /F0 7.008 Tf -0.024 Tc (1) Tj 48.84 11.52 TD /F0 12.0137 Tf -0.0406 Tc (\)) Tj -16.8 0 TD (\() Tj -92.16 0.6 TD /F6 12.0137 Tf (&) Tj -12.12 -0.6 TD /F7 12.0137 Tf 0.006 Tc (t) Tj 241.8 -0.72 TD /F0 12.348 Tf -0.0319 Tc (\)) Tj -38.4 0 TD -0.054 Tc (1) Tj -6.6 0 TD 0.0677 Tc (/\() Tj -6.72 0 TD -0.054 Tc (1) Tj -14.64 0 TD -0.0319 Tc (\)) Tj -10.92 0 TD (\() Tj 73.92 4.2 TD /F2 4.41 Tf -0.026 Tc (i) Tj -2.64 1.44 TD /F2 6.174 Tf 0.033 Tc (b) Tj -6.48 0 TD 0.0187 Tc (x) Tj -68.04 -8.76 TD -0.0364 Tc (i) Tj 57.96 3.12 TD /F2 12.348 Tf 0.0375 Tc (e) Tj -49.68 0 TD (x) Tj -12.96 0 TD -0.0034 Tc (z) Tj 75.84 5.64 TD /F5 6.174 Tf -0.0295 Tc (-) Tj -7.32 0 TD (-) Tj ET q 393.12 114 6.84 15.12 re h W n BT 393.12 116.76 TD /F5 12.348 Tf -0.0591 Tc (+) Tj ET Q q 364.68 114 6.84 15.12 re h W n BT 364.68 116.76 TD /F5 12.348 Tf -0.0591 Tc (=) Tj ET Q BT 429.72 117.48 TD /F0 12 Tf 0 Tc ( ) Tj -339.72 -25.8 TD ( ) Tj ET 249.24 672.24 m 249.24 672.24 l 249.48 672.24 249.6 672 249.6 671.88 c 249.6 671.64 249.48 671.52 249.24 671.52 c 249.24 671.52 l 249 671.52 248.88 671.64 248.88 671.88 c 248.88 672 249 672.24 249.24 672.24 c 250.8 672.24 m 250.8 672.24 l 250.92 672.24 251.16 672 251.16 671.88 c 251.16 671.64 250.92 671.52 250.8 671.52 c 250.8 671.52 l 250.56 671.52 250.32 671.64 250.32 671.88 c 250.32 672 250.56 672.24 250.8 672.24 c 252.24 672.24 m 252.24 672.24 l 252.48 672.24 252.6 672 252.6 671.88 c 252.6 671.64 252.48 671.52 252.24 671.52 c 252.24 671.52 l 252 671.52 251.88 671.64 251.88 671.88 c 251.88 672 252 672.24 252.24 672.24 c 253.8 672.24 m 253.8 672.24 l 253.92 672.24 254.16 672 254.16 671.88 c 254.16 671.64 253.92 671.52 253.8 671.52 c 253.8 671.52 l 253.56 671.52 253.32 671.64 253.32 671.88 c 253.32 672 253.56 672.24 253.8 672.24 c 255.24 672.24 m 255.24 672.24 l 255.48 672.24 255.6 672 255.6 671.88 c 255.6 671.64 255.48 671.52 255.24 671.52 c 255.24 671.52 l 255 671.52 254.88 671.64 254.88 671.88 c 254.88 672 255 672.24 255.24 672.24 c 256.8 672.24 m 256.8 672.24 l 256.92 672.24 257.16 672 257.16 671.88 c 257.16 671.64 256.92 671.52 256.8 671.52 c 256.8 671.52 l 256.56 671.52 256.32 671.64 256.32 671.88 c 256.32 672 256.56 672.24 256.8 672.24 c 258.24 672.24 m 258.24 672.24 l 258.48 672.24 258.6 672 258.6 671.88 c 258.6 671.64 258.48 671.52 258.24 671.52 c 258.24 671.52 l 258 671.52 257.88 671.64 257.88 671.88 c 257.88 672 258 672.24 258.24 672.24 c 259.8 672.24 m 259.8 672.24 l 259.92 672.24 260.16 672 260.16 671.88 c 260.16 671.64 259.92 671.52 259.8 671.52 c 259.8 671.52 l 259.56 671.52 259.32 671.64 259.32 671.88 c 259.32 672 259.56 672.24 259.8 672.24 c 261.24 672.24 m 261.24 672.24 l 261.48 672.24 261.6 672 261.6 671.88 c 261.6 671.64 261.48 671.52 261.24 671.52 c 261.24 671.52 l 261 671.52 260.88 671.64 260.88 671.88 c 260.88 672 261 672.24 261.24 672.24 c 262.8 672.24 m 262.8 672.24 l 262.92 672.24 263.16 672 263.16 671.88 c 263.16 671.64 262.92 671.52 262.8 671.52 c 262.8 671.52 l 262.56 671.52 262.32 671.64 262.32 671.88 c 262.32 672 262.56 672.24 262.8 672.24 c 264.24 672.24 m 264.24 672.24 l 264.48 672.24 264.6 672 264.6 671.88 c 264.6 671.64 264.48 671.52 264.24 671.52 c 264.24 671.52 l 264 671.52 263.88 671.64 263.88 671.88 c 263.88 672 264 672.24 264.24 672.24 c 265.8 672.24 m 265.8 672.24 l 265.92 672.24 266.16 672 266.16 671.88 c 266.16 671.64 265.92 671.52 265.8 671.52 c 265.8 671.52 l 265.56 671.52 265.32 671.64 265.32 671.88 c 265.32 672 265.56 672.24 265.8 672.24 c 267.24 672.24 m 267.24 672.24 l 267.48 672.24 267.6 672 267.6 671.88 c 267.6 671.64 267.48 671.52 267.24 671.52 c 267.24 671.52 l 267 671.52 266.88 671.64 266.88 671.88 c 266.88 672 267 672.24 267.24 672.24 c 268.8 672.24 m 268.8 672.24 l 268.92 672.24 269.16 672 269.16 671.88 c 269.16 671.64 268.92 671.52 268.8 671.52 c 268.8 671.52 l 268.56 671.52 268.44 671.64 268.44 671.88 c 268.44 672 268.56 672.24 268.8 672.24 c 270.24 672.24 m 270.24 672.24 l 270.48 672.24 270.6 672 270.6 671.88 c 270.6 671.64 270.48 671.52 270.24 671.52 c 270.24 671.52 l 270 671.52 269.88 671.64 269.88 671.88 c 269.88 672 270 672.24 270.24 672.24 c 271.8 672.24 m 271.8 672.24 l 271.92 672.24 272.16 672 272.16 671.88 c 272.16 671.64 271.92 671.4 271.8 671.4 c 271.8 671.4 l 271.56 671.4 271.44 671.64 271.44 671.88 c 271.44 672 271.56 672.24 271.8 672.24 c 273.24 672.24 m 273.24 672.24 l 273.48 672.24 273.6 672 273.6 671.88 c 273.6 671.64 273.48 671.4 273.24 671.4 c 273.24 671.4 l 273 671.4 272.88 671.64 272.88 671.88 c 272.88 672 273 672.24 273.24 672.24 c 274.8 672.24 m 274.8 672.24 l 274.92 672.24 275.16 672 275.16 671.88 c 275.16 671.64 274.92 671.4 274.8 671.4 c 274.8 671.4 l 274.56 671.4 274.44 671.64 274.44 671.88 c 274.44 672 274.56 672.24 274.8 672.24 c 276.24 672.24 m 276.24 672.24 l 276.48 672.24 276.6 672 276.6 671.88 c 276.6 671.64 276.48 671.4 276.24 671.4 c 276.24 671.4 l 276 671.4 275.88 671.64 275.88 671.88 c 275.88 672 276 672.24 276.24 672.24 c 277.8 672.24 m 277.8 672.24 l 277.92 672.24 278.16 672 278.16 671.88 c 278.16 671.64 277.92 671.4 277.8 671.4 c 277.8 671.4 l 277.56 671.4 277.44 671.64 277.44 671.88 c 277.44 672 277.56 672.24 277.8 672.24 c 279.24 672.24 m 279.24 672.24 l 279.48 672.24 279.6 672 279.6 671.88 c 279.6 671.64 279.48 671.4 279.24 671.4 c 279.24 671.4 l 279 671.4 278.88 671.64 278.88 671.88 c 278.88 672 279 672.24 279.24 672.24 c 280.8 672.24 m 280.8 672.24 l 280.92 672.24 281.16 672 281.16 671.88 c 281.16 671.64 280.92 671.4 280.8 671.4 c 280.8 671.4 l 280.56 671.4 280.44 671.64 280.44 671.88 c 280.44 672 280.56 672.24 280.8 672.24 c 282.24 672.24 m 282.24 672.24 l 282.48 672.24 282.6 672 282.6 671.88 c 282.6 671.64 282.48 671.4 282.24 671.4 c 282.24 671.4 l 282 671.4 281.88 671.64 281.88 671.88 c 281.88 672 282 672.24 282.24 672.24 c 283.8 672.24 m 283.8 672.24 l 283.92 672.24 284.16 672 284.16 671.88 c 284.16 671.64 283.92 671.4 283.8 671.4 c 283.8 671.4 l 283.56 671.4 283.44 671.64 283.44 671.88 c 283.44 672 283.56 672.24 283.8 672.24 c 285.24 672.24 m 285.24 672.24 l 285.48 672.24 285.6 672 285.6 671.88 c 285.6 671.64 285.48 671.4 285.24 671.4 c 285.24 671.4 l 285 671.4 284.88 671.64 284.88 671.88 c 284.88 672 285 672.24 285.24 672.24 c 286.8 672.24 m 286.8 672.24 l 286.92 672.24 287.16 672 287.16 671.88 c 287.16 671.64 286.92 671.4 286.8 671.4 c 286.8 671.4 l 286.56 671.4 286.44 671.64 286.44 671.88 c 286.44 672 286.56 672.24 286.8 672.24 c 288.24 672.24 m 288.24 672.24 l 288.48 672.24 288.6 672 288.6 671.88 c 288.6 671.64 288.48 671.4 288.24 671.4 c 288.24 671.4 l 288 671.4 287.88 671.64 287.88 671.88 c 287.88 672 288 672.24 288.24 672.24 c 289.8 672.24 m 289.8 672.24 l 289.92 672.24 290.16 672 290.16 671.88 c 290.16 671.64 289.92 671.4 289.8 671.4 c 289.8 671.4 l 289.56 671.4 289.44 671.64 289.44 671.88 c 289.44 672 289.56 672.24 289.8 672.24 c 291.24 672.24 m 291.24 672.24 l 291.48 672.24 291.6 672 291.6 671.88 c 291.6 671.64 291.48 671.4 291.24 671.4 c 291.24 671.4 l 291 671.4 290.88 671.64 290.88 671.88 c 290.88 672 291 672.24 291.24 672.24 c 292.8 672.24 m 292.8 672.24 l 292.92 672.24 293.16 672 293.16 671.88 c 293.16 671.64 292.92 671.4 292.8 671.4 c 292.8 671.4 l 292.56 671.4 292.44 671.64 292.44 671.88 c 292.44 672 292.56 672.24 292.8 672.24 c 294.24 672.24 m 294.24 672.24 l 294.48 672.24 294.6 672 294.6 671.76 c 294.6 671.64 294.48 671.4 294.24 671.4 c 294.24 671.4 l 294.12 671.4 293.88 671.64 293.88 671.76 c 293.88 672 294.12 672.24 294.24 672.24 c 295.8 672.24 m 295.8 672.24 l 295.92 672.24 296.16 672 296.16 671.76 c 296.16 671.64 295.92 671.4 295.8 671.4 c 295.8 671.4 l 295.56 671.4 295.44 671.64 295.44 671.76 c 295.44 672 295.56 672.24 295.8 672.24 c 297.24 672.24 m 297.24 672.24 l 297.48 672.24 297.6 672 297.6 671.76 c 297.6 671.64 297.48 671.4 297.24 671.4 c 297.24 671.4 l 297.12 671.4 296.88 671.64 296.88 671.76 c 296.88 672 297.12 672.24 297.24 672.24 c 298.8 672.24 m 298.8 672.24 l 298.92 672.24 299.16 672 299.16 671.76 c 299.16 671.64 298.92 671.4 298.8 671.4 c 298.8 671.4 l 298.56 671.4 298.44 671.64 298.44 671.76 c 298.44 672 298.56 672.24 298.8 672.24 c 300.24 672.24 m 300.24 672.24 l 300.48 672.24 300.6 672 300.6 671.76 c 300.6 671.64 300.48 671.4 300.24 671.4 c 300.24 671.4 l 300.12 671.4 299.88 671.64 299.88 671.76 c 299.88 672 300.12 672.24 300.24 672.24 c 301.8 672.24 m 301.8 672.24 l 301.92 672.24 302.16 672 302.16 671.76 c 302.16 671.64 301.92 671.4 301.8 671.4 c 301.8 671.4 l 301.56 671.4 301.44 671.64 301.44 671.76 c 301.44 672 301.56 672.24 301.8 672.24 c 303.24 672.24 m 303.24 672.24 l 303.48 672.24 303.6 672 303.6 671.76 c 303.6 671.64 303.48 671.4 303.24 671.4 c 303.24 671.4 l 303.12 671.4 302.88 671.64 302.88 671.76 c 302.88 672 303.12 672.24 303.24 672.24 c 304.8 672.24 m 304.8 672.24 l 305.04 672.24 305.16 672 305.16 671.76 c 305.16 671.64 305.04 671.4 304.8 671.4 c 304.8 671.4 l 304.56 671.4 304.44 671.64 304.44 671.76 c 304.44 672 304.56 672.24 304.8 672.24 c 306.24 672.24 m 306.24 672.24 l 306.48 672.24 306.6 672 306.6 671.76 c 306.6 671.64 306.48 671.4 306.24 671.4 c 306.24 671.4 l 306.12 671.4 305.88 671.64 305.88 671.76 c 305.88 672 306.12 672.24 306.24 672.24 c 307.8 672.24 m 307.8 672.24 l 308.04 672.24 308.16 672 308.16 671.76 c 308.16 671.64 308.04 671.4 307.8 671.4 c 307.8 671.4 l 307.56 671.4 307.44 671.64 307.44 671.76 c 307.44 672 307.56 672.24 307.8 672.24 c 309.24 672.24 m 309.24 672.24 l 309.48 672.24 309.6 672 309.6 671.76 c 309.6 671.64 309.48 671.4 309.24 671.4 c 309.24 671.4 l 309.12 671.4 308.88 671.64 308.88 671.76 c 308.88 672 309.12 672.24 309.24 672.24 c 310.8 672.24 m 310.8 672.24 l 311.04 672.24 311.16 672 311.16 671.76 c 311.16 671.64 311.04 671.4 310.8 671.4 c 310.8 671.4 l 310.56 671.4 310.44 671.64 310.44 671.76 c 310.44 672 310.56 672.24 310.8 672.24 c 250.2 668.88 m 244.2 671.88 l 250.2 674.88 l 311.04 674.76 m 317.04 671.76 l 311.04 668.76 l h f 297.96 615.12 m 297.96 615.12 l 298.2 615.12 298.32 615 298.32 614.76 c 298.32 614.64 298.2 614.4 297.96 614.4 c 297.96 614.4 l 297.84 614.4 297.6 614.64 297.6 614.76 c 297.6 615 297.84 615.12 297.96 615.12 c 299.52 615.12 m 299.52 615.12 l 299.76 615.12 299.88 615 299.88 614.76 c 299.88 614.52 299.76 614.4 299.52 614.4 c 299.52 614.4 l 299.28 614.4 299.16 614.52 299.16 614.76 c 299.16 615 299.28 615.12 299.52 615.12 c 300.96 615.12 m 300.96 615.12 l 301.2 615.12 301.32 615 301.32 614.76 c 301.32 614.52 301.2 614.4 300.96 614.4 c 300.96 614.4 l 300.84 614.4 300.6 614.52 300.6 614.76 c 300.6 615 300.84 615.12 300.96 615.12 c 302.52 615.12 m 302.52 615.12 l 302.76 615.12 302.88 615 302.88 614.76 c 302.88 614.52 302.76 614.4 302.52 614.4 c 302.52 614.4 l 302.28 614.4 302.16 614.52 302.16 614.76 c 302.16 615 302.28 615.12 302.52 615.12 c 303.96 615.12 m 303.96 615.12 l 304.2 615.12 304.32 615 304.32 614.76 c 304.32 614.52 304.2 614.4 303.96 614.4 c 303.96 614.4 l 303.84 614.4 303.6 614.52 303.6 614.76 c 303.6 615 303.84 615.12 303.96 615.12 c 305.52 615.12 m 305.52 615.12 l 305.76 615.12 305.88 614.88 305.88 614.76 c 305.88 614.52 305.76 614.4 305.52 614.4 c 305.52 614.4 l 305.28 614.4 305.16 614.52 305.16 614.76 c 305.16 614.88 305.28 615.12 305.52 615.12 c 306.96 615.12 m 306.96 615.12 l 307.2 615.12 307.32 614.88 307.32 614.76 c 307.32 614.52 307.2 614.28 306.96 614.28 c 306.96 614.28 l 306.84 614.28 306.6 614.52 306.6 614.76 c 306.6 614.88 306.84 615.12 306.96 615.12 c 308.52 615.12 m 308.52 615.12 l 308.76 615.12 308.88 614.88 308.88 614.64 c 308.88 614.52 308.76 614.28 308.52 614.28 c 308.52 614.28 l 308.28 614.28 308.16 614.52 308.16 614.64 c 308.16 614.88 308.28 615.12 308.52 615.12 c 309.96 615 m 309.96 615 l 310.2 615 310.32 614.88 310.32 614.64 c 310.32 614.52 310.2 614.28 309.96 614.28 c 309.96 614.28 l 309.84 614.28 309.6 614.52 309.6 614.64 c 309.6 614.88 309.84 615 309.96 615 c 311.52 615 m 311.52 615 l 311.76 615 311.88 614.88 311.88 614.64 c 311.88 614.4 311.76 614.28 311.52 614.28 c 311.52 614.28 l 311.28 614.28 311.16 614.4 311.16 614.64 c 311.16 614.88 311.28 615 311.52 615 c 312.96 615 m 312.96 615 l 313.2 615 313.32 614.88 313.32 614.64 c 313.32 614.4 313.2 614.28 312.96 614.28 c 312.96 614.28 l 312.84 614.28 312.6 614.4 312.6 614.64 c 312.6 614.88 312.84 615 312.96 615 c 314.52 615 m 314.52 615 l 314.76 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0 Tw (11) Tj ET q 522 35.4 0.24 11.28 re h W n BT 522 37.8 TD 0 Tc 0.03 Tw ( ) Tj ET Q BT 90 709.2 TD /F0 12 Tf -0.0103 Tc 0.0503 Tw (In this equation ) Tj 77.64 0 TD /F2 12 Tf -0.048 Tc 0 Tw (y) Tj 5.28 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.28 1.56 TD /F0 12 Tf 0.0037 Tc -0.0037 Tw ( represents the ) Tj 72.36 0 TD -0.0048 Tc 0 Tw (activation) Tj 47.28 0 TD 0.026 Tc -0.026 Tw ( of node ) Tj 42.48 0 TD /F2 12 Tf 0.024 Tc 0 Tw (i) Tj 3.36 0 TD /F0 12 Tf 0 Tc (, ) Tj 6 0 TD /F2 12 Tf 0.012 Tc (z) Tj 4.68 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.28 1.56 TD /F0 12 Tf 0.0024 Tc -0.0024 Tw ( is the ) Tj 31.68 0 TD 0 Tc 0 Tw (node output) Tj 57 0 TD 0.0026 Tc -0.0626 Tw ( as calculated by ) Tj -352.32 -13.8 TD -0.0071 Tc 0.0971 Tw (the standard sigmoid function, ) Tj 149.28 0 TD /F2 12 Tf 0.024 Tc 0 Tw (t) Tj 4.32 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.16 1.56 TD /F0 12 Tf -0.0135 Tc 0.1035 Tw ( \(range [1, 100]\) is its time constant, ) Tj 177.84 0 TD /F2 12 Tf 0 Tc 0 Tw (b) Tj 6 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.28 1.56 TD /F0 12 Tf -0.0291 Tc 0.1491 Tw ( \(range [) Tj 40.68 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0255 Tc 0.0855 Tw (3, 3]\) is a ) Tj -386.52 -13.8 TD -0.008 Tc 0.848 Tw (bias term, and) Tj 0 Tc 0 Tw ( ) Tj 73.08 0 TD /F2 12 Tf 0.036 Tc (w) Tj 8.04 -1.56 TD /F2 8.04 Tf -0.0751 Tc (ji) Tj 4.44 0 TD /F0 8.04 Tf 0 Tc 0.03 Tw ( ) Tj 2.76 1.56 TD /F0 12 Tf -0.028 Tc 0.988 Tw (\(range ) Tj 0.924 Tc 0 Tw ([) Tj 38.52 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.0108 Tc 0.8508 Tw (8, 8]\) is the strength of the connection from the) Tj 0 Tc 0 Tw ( ) Tj 237.6 0 TD -0.012 Tc (node) Tj 23.28 0 TD /F2 12 Tf 0.864 Tc -0.024 Tw ( j) Tj 7.2 0 TD /F0 12 Tf 0.012 Tc 0.828 Tw ( to) Tj 13.08 0 TD /F2 12 Tf 0.864 Tc -0.024 Tw ( i) Tj 7.2 0 TD /F0 12 Tf 0 Tc 0 Tw (. ) Tj 6.84 0 TD /F2 12 Tf -0.036 Tc (I) Tj 3.84 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.16 1.56 TD /F0 12 Tf 0 Tc ( ) Tj -432 -13.8 TD 0.003 Tc -0.003 Tw (represents the input to node ) Tj 135.72 0 TD /F2 12 Tf 0.024 Tc 0 Tw (i) Tj 3.36 0 TD /F0 12 Tf -0.016 Tc 0.016 Tw ( and ) Tj 23.28 0 TD /F2 12 Tf 0 Tc 0 Tw (S) Tj 6 0 TD /F0 12 Tf 0.0024 Tc -0.0024 Tw ( is the ) Tj 31.68 0 TD 0.0096 Tc 0 Tw (input) Tj 24.72 0 TD 0.0018 Tc 0.0153 Tw ( gain. The total number of nodes ) Tj 159.48 0 TD /F2 12 Tf 0.036 Tc 0 Tw (N) Tj 8.04 0 TD /F0 12 Tf 0.0069 Tc -0.0069 Tw ( is set to ) Tj -392.28 -13.8 TD 0.012 Tc 0 Tw (3;) Tj 9.36 0 TD -0.0044 Tc 1.8044 Tw ( there are no hidden nodes \(all nodes) Tj 0 Tc 0 Tw ( ) Tj 193.56 0 TD -0.0071 Tc 1.8271 Tw (are affected by changes to the interface) Tj 198.6 0 TD 0.0048 Tc 1.7952 Tw (\). The) Tj 0 Tc 0 Tw ( ) Tj -401.52 -13.8 TD -0.0072 Tc 1.5822 Tw (input is calculated by multiplying 1/0 \(on/off\) by an) Tj 0 Tc 0 Tw ( ) Tj 266.16 0 TD 0.0096 Tc (input) Tj 24.72 0 TD -0.0092 Tc 1.6292 Tw ( gain parameter) Tj 0 Tc 0 Tw ( ) Tj 82.32 0 TD /F2 12 Tf (S) Tj 6 0 TD /F0 12 Tf 0.004 Tc 1.556 Tw ( \(range [1,) Tj 0 Tc 0 Tw ( ) Tj -379.2 -13.8 TD -0.0071 Tc 0.8551 Tw (100]\), and this is applied to all nodes. There is one node, which only receives inp) Tj 401.52 0 TD -0.0048 Tc 0.8448 Tw (ut and) Tj 0 Tc 0 Tw ( ) Tj -401.52 -13.8 TD -0.0017 Tc 1.3217 Tw (does not) Tj 0 Tc 0 Tw ( ) Tj 45.96 0 TD -0.0025 Tc 1.3525 Tw (directly affect the external position,) Tj 176.28 0 TD -0.0042 Tc 1.3242 Tw ( and two nodes for controlling movement;) Tj 0 Tc 0 Tw ( ) Tj -222.24 -13.8 TD 0.0015 Tc 2.4077 Tw (one for leftward and the other for rightward velocity. Each velocity is calculated by) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD 0 Tc 2.2796 Tw (mapping the output onto the range ) Tj 2.244 Tc 0 Tw ([) Tj 185.76 0 TD -0.036 Tc (-) Tj 3.96 0 TD 0.0058 Tc 2.2892 Tw (1, 1] and then multiplying it by an out) Tj 200.88 0 TD 0 Tc 2.4 Tw (put gain) Tj 0.12 Tw ( ) Tj -390.6 -13.8 TD 0.0025 Tc 0.5975 Tw (parameter \(range [1, 50]\). The overall) Tj 0 Tc 0 Tw ( ) Tj 188.28 0 TD -0.0053 Tc (component) Tj 53.28 0 TD -0.0038 Tc 0.6638 Tw ( velocity is calculated as the difference) Tj 0 Tc 0.12 Tw ( ) Tj -241.56 -13.8 TD 0.0069 Tc 1.2031 Tw (between the left and right velocities. The time evolution of the simulation environment) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0274 Tc 0.2674 Tw (and each ) Tj 46.08 0 TD -0.0057 Tc 0.4857 Tw (component\222s dynamics) Tj 111.36 0 TD -0.0095 Tc 0.5095 Tw ( is calculated by using Euler integratio) Tj 187.32 0 TD -0.0094 Tc 0.5194 Tw (n with a time step) Tj 0 Tc -0.12 Tw ( ) Tj -344.76 -13.8 TD -0.006 Tc 0.006 Tw (of 0.1. ) Tj 33.96 0 TD 0 Tc 0 Tw ( ) Tj -33.96 -13.8 TD ( ) Tj 0 -13.8 TD -0 Tc 0.6 Tw (The system of component) Tj 126 0 TD 0.012 Tc -0.012 Tw (s ) Tj 8.28 0 TD 0.018 Tc 0 Tw (is) Tj 8.04 0 TD -0.0165 Tc 0.6298 Tw ( generated by using a simple genetic algorithm \(GA\) which) Tj 0 Tc -0.12 Tw ( ) Tj -142.32 -13.8 TD 0.0186 Tc 0.7014 Tw (is based on the microbial GA, a steady) Tj 190.44 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0038 Tc 0.7562 Tw (state GA with \(rank) Tj 97.32 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0096 Tc 0.7104 Tw (based\) tournament selection) Tj 0 Tc 0.12 Tw ( ) Tj -295.68 -13.8 TD -0.0068 Tc 4.4468 Tw (\(Harvey 2001\). Until some termination criterion is reac) Tj 296.04 0 TD -0.0069 Tc 4.4469 Tw (hed, two) Tj 0 Tc 0 Tw ( ) Tj 53.16 0 TD 0.0107 Tc (solutions) Tj 43.44 0 TD -0.036 Tc 4.476 Tw ( of the) Tj 0 Tc -0.12 Tw ( ) Tj -392.64 -13.8 TD 0.0082 Tc 1.6718 Tw (population are chosen at random, both have their) Tj 0 Tc 0 Tw ( ) Tj 251.4 0 TD 0.03 Tc (desirability) Tj 54 0 TD -0 Tc 1.74 Tw ( evaluated, and while the) Tj 0 Tc 0 Tw ( ) Tj -305.4 -13.8 TD -0.0072 Tc 1.0872 Tw (\221winner\222 of the tournament remains unchanged in the population, the \221loser\222 is replaced) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0044 Tc 1.9364 Tw (by a slightly mutated copy of the \221winner\222. We define ) Tj 1.992 Tc 0 Tw (a) Tj 285.36 0 TD -0.0021 Tc 1.9461 Tw ( generation as the number of) Tj 0 Tc 0.12 Tw ( ) Tj -285.36 -13.8 TD -0.0037 Tc 0.4929 Tw (tournaments required to generate a number of offspring equal to the population size. The) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD 0.0031 Tc 1.5669 Tw (population size is set to 40 and the algorithm terminates after 5000 generations.) Tj 400.68 0 TD -0.009 Tc 1.689 Tw ( For a) Tj 0 Tc 0.12 Tw ( ) Tj -400.68 -13.8 TD -0.0074 Tc 0.0074 Tw (more detailed description of the evolutionary algo) Tj 239.76 0 TD -0.003 Tc 0.023 Tw (rithm, see Froese and Di Paolo \(2008\).) Tj 186 0 TD 0 Tc 0 Tw ( ) Tj -425.76 -13.8 TD ( ) Tj 0 -13.8 TD 0.0016 Tc 0.8384 Tw (It was possible to optimize models which are highly successful at shaping the dynamics) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.0139 Tc 0.0539 Tw (of the components so that they ) Tj 150.48 0 TD -0.016 Tc 0.136 Tw (come into contact) Tj 85.44 0 TD -0.0086 Tc 0.1152 Tw ( as far away as possible from their initial ) Tj -235.92 -13.8 TD 0.0107 Tc 0 Tw (positions) Tj 43.44 0 TD -0.0016 Tc 0.3616 Tw ( \(i.e. a long distance trave) Tj 125.4 0 TD 0.008 Tc 0.352 Tw (led together\)) Tj 61.44 0 TD 0 Tc 0 Tw (. ) Tj 6.6 0 TD -0.0049 Tc 0.1849 Tw (Interestingly, the ) Tj 84.96 0 TD 0.0084 Tc 0 Tw (components) Tj 58.08 0 TD 0 Tc ( ) Tj 3.36 0 TD 0.0036 Tc 0.1764 Tw (interact in ) Tj -383.28 -13.8 TD -0.0038 Tc 0.7237 Tw (such a way that they) Tj 0 Tc -0.24 Tw ( ) Tj 104.52 0 TD -0.0031 Tc 0.7531 Tw (always end up with positive) Tj 0 Tc 0 Tw ( ) Tj 140.64 0 TD /F2 12 Tf -0.0075 Tc (relative) Tj 36.6 0 TD /F0 12 Tf -0.0025 Tc 0.7525 Tw ( displacement after their initial) Tj 0 Tc 0 Tw ( ) Tj -281.76 -13.8 TD 0.0109 Tc 4.4291 Tw (localization. With this) Tj 0 Tc 0 Tw ( ) Tj 122.76 0 TD -0.0087 Tc (arrangement) Tj 59.88 0 TD 0.012 Tc 4.428 Tw ( the complexity of the task) Tj 150.12 0 TD 0.0034 Tc 4.5166 Tw ( has been reduced) Tj 0 Tc 0.12 Tw ( ) Tj -332.76 -13.8 TD 0.03 Tc 0 Tw (considerably) Tj 61.2 0 TD 0.02 Tc 0.34 Tw (: while ) Tj 37.32 0 TD -0.003 Tc 0 Tw (perturba) Tj 39.96 0 TD -0.0031 Tc 0.6631 Tw (tion of a component\222s interface) Tj 152.64 0 TD 0.0153 Tc 0.5847 Tw ( is ambiguous ) Tj 0.564 Tc 0 Tw (\() Tj 75.6 0 TD 0.006 Tc 0.594 Tw (in addition to) Tj 0 Tc 0 Tw ( ) Tj -366.72 -13.8 TD -0.0057 Tc 1.3257 Tw (the interference of noise,) Tj 0 Tc 0 Tw ( ) Tj 127.44 0 TD -0.0103 Tc 1.3303 Tw (there is) Tj 0 Tc 0 Tw ( ) Tj 40.56 0 TD -0.003 Tc 0.003 Tw (also ) Tj 23.64 0 TD -0.0041 Tc 1.3241 Tw (no indication about the direction or speed of the) Tj 0 Tc 0.12 Tw ( ) Tj -191.64 -13.8 TD -0.012 Tc 0.012 Tw (other ) Tj 28.68 0 TD -0.0053 Tc 0 Tw (component) Tj 53.28 0 TD 0.003 Tc 1.077 Tw (\222s movement\),) Tj 0 Tc 0 Tw ( ) Tj 74.52 0 TD -0.0095 Tc 1.0895 Tw (the impact of a perturbation) Tj 0 Tc 0 Tw ( ) Tj 141.48 0 TD -0.0036 Tc 1.0836 Tw (has now been) Tj 0 Tc 0 Tw ( ) Tj 71.52 0 TD -0.024 Tc (co) Tj 11.28 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.004 Tc (organized) Tj 47.28 0 TD 0 Tc ( ) Tj -432 -13.8 TD 0.012 Tc 0.828 Tw (as a ) Tj 0.804 Tc 0 Tw (\221) Tj 27 0 TD -0.0137 Tc (contact) Tj 34.68 0 TD 0.0432 Tc 0.7968 Tw ( on the) Tj 34.44 0 TD 0.0077 Tc 0.8323 Tw ( left\222 indicator) Tj 70.44 0 TD 0.0109 Tc 0.8291 Tw (. This change) Tj 0 Tc 0 Tw ( ) Tj 69.96 0 TD 0.078 Tc -0.078 Tw (is ) Tj 12 0 TD -0.018 Tc 0.018 Tw (made ) Tj 29.76 0 TD 0.01 Tc 0.83 Tw (possible because the) Tj 0 Tc 0 Tw ( ) Tj 103.68 0 TD 0.0053 Tc -0.0053 Tw (dynamical ) Tj -381.96 -13.8 TD -0 Tc 0 Tw (systems controlling the components) Tj 172.32 0 TD -0.0083 Tc 0.0083 Tw ( are not symmetric.) Tj 92.52 0 TD 0 Tc 0 Tw ( ) Tj -264.84 -13.8 TD ( ) Tj 0 -13.8 TD -0.0081 Tc 1.5681 Tw (After the initial alignment we find that) Tj 0 Tc 0 Tw ( ) Tj 198.96 0 TD -0.0154 Tc 1.5754 Tw (the component\222s) Tj 0 Tc 0 Tw ( ) Tj 85.56 0 TD -0.0075 Tc 1.5675 Tw (coordinated movement in one) Tj 0 Tc 0 Tw ( ) Tj -284.52 -13.8 TD -0.0017 Tc 3.0017 Tw (direction consists of continuous) Tj 0 Tc 0 Tw ( ) Tj 167.28 0 TD 0.004 Tc 2.876 Tw (oscillations ) Tj 2.904 Tc 0 Tw (i) Tj 63.96 0 TD -0.0097 Tc 3.0097 Tw (nduced through mutual perturbation) Tj 181.68 0 TD 0 Tc 0 Tw (. ) Tj 9.12 0 TD -0.018 Tc 0.138 Tw (In ) Tj -422.04 -13.8 TD -0.0094 Tc 3.4894 Tw (other words, the) Tj 84.6 0 TD 0.0309 Tc 3.4491 Tw ( velocit) Tj 39.36 0 TD 0 Tc 0 Tw (y) Tj 5.76 0 TD ( ) Tj 6.48 0 TD -0.0043 Tc 3.5443 Tw (of each component is adjusted) Tj 0 Tc 0 Tw ( ) Tj 165.84 0 TD -0.005 Tc 3.485 Tw (such that they) Tj 0 Tc -0.24 Tw ( ) Tj 80.16 0 TD -0 Tc 3.48 Tw (engage in) Tj 0 Tc 0 Tw ( ) Tj -382.2 -13.8 TD 0.0087 Tc 1.1913 Tw (structural coupling) Tj 91.44 0 TD -0.0023 Tc 1.2156 Tw ( at relatively regular intervals. It was found that this) Tj 0 Tc 0 Tw ( ) Tj 263.64 0 TD 0.0037 Tc 1.1963 Tw (ongoing mutual) Tj 0 Tc 0 Tw ( ) Tj -355.08 -13.8 TD -0.008 Tc (perturbation) Tj 58.56 0 TD -0.0017 Tc 3.5057 Tw ( is necessary for the establishme) Tj 172.32 0 TD -0.0032 Tc 3.4832 Tw (nt and maintenance of the coordinat) Tj 189.72 0 TD -0.024 Tc 0 Tw (ed) Tj 11.4 0 TD 0 Tc ( ) Tj -432 -13.8 TD -0.012 Tc (pattern) Tj 33.24 0 TD -0.0008 Tc 0.0008 Tw ( of movement in one common direction) Tj 189.96 0 TD 0 Tc 0 Tw (. ) Tj 6 0 TD ( ) Tj -229.2 -13.8 TD ( ) Tj 0 -13.8 TD -0.0088 Tc 1.4488 Tw (Can we account for the oscillating pattern in dynamical terms?) Tj 0 Tc 0.12 Tw ( ) Tj 317.88 0 TD -0.0158 Tc 1.4558 Tw (Since the output of the) Tj 0 Tc -0.12 Tw ( ) Tj -317.88 -13.8 TD 0.003 Tc 2.1662 Tw (\221internal\222 node of each component is always saturated at 1 during oscillation we can) Tj 432 0 TD 0 Tc 0 Tw ( ) Tj -432 -13.8 TD -0 Tc 1.4403 Tw (focus on the dynamics of the two \221output\222 nodes.) Tj 0 Tc 0 Tw ( ) Tj 251.04 0 TD -0.096 Tc 0.096 Tw (If ) Tj 12.24 0 TD -0.0046 Tc 1.4446 Tw (the components) Tj 77.04 0 TD -0.012 Tc 1.482 Tw ( are not in contact) Tj 0 Tc -0.12 Tw ( ) Tj ET endstream endobj 61 0 obj 12663 endobj 59 0 obj << /Type /Page /Parent 40 0 R /Resources << /Font << /F0 6 0 R /F2 21 0 R >> /ProcSet 2 0 R >> /Contents 60 0 R >> endobj 63 0 obj << /Length 64 0 R >> stream BT 90 747.6 TD 0 0 0 rg /F0 9.96 Tf 0.0092 Tc 0.0208 Tw (Froese & Di Paolo) Tj 74.76 0 TD 0 Tc 0.03 Tw ( ) Tj 141.24 0 TD ( ) Tj 173.88 0 TD 0.0396 Tc -0.0096 Tw (CSRP 59) Tj 37.08 0 TD 0.06 Tc 0 Tw (8) Tj ET 90 746.04 432 0.48 re f BT 522 747.6 TD 0 Tc 0.03 Tw ( ) Tj -432 -709.68 TD ( ) Tj 421.92 -0.12 TD 0.06 Tc 0 Tw (12) Tj ET q 522 35.4 0.24 11.28 re h W n BT 522 37.8 TD 0 Tc 0.03 Tw ( ) Tj ET Q BT 90 709.2 TD /F0 12 Tf 0.0017 Tc 0.1583 Tw (with each other \() Tj 81.24 0 TD /F2 12 Tf -0.036 Tc 0 Tw (I) Tj 3.96 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.28 1.56 TD /F0 12 Tf -0.0018 Tc 0.1328 Tw ( = 0\), there is a globally attracting stable equilibrium point ) Tj 284.88 0 TD -0.012 Tc 0.012 Tw (in activation ) Tj -372.36 -13.8 TD -0.0264 Tc 0.0264 Tw (space ) Tj 31.68 0 TD -0.012 Tc 2.172 Tw (at ) Tj 2.124 Tc 0 Tw (\() Tj 17.76 0 TD -0.036 Tc (-) Tj 3.96 0 TD 0 Tc (3.4, ) Tj 23.28 0 TD -0.036 Tc (-) Tj 3.96 0 TD -0.0047 Tc 2.1648 Tw (7.5\). Being in this state effectively slows down rightwa) Tj 282.48 0 TD 0.018 Tc 2.142 Tw (rd velocity) Tj 53.64 0 TD 0.042 Tc 2.118 Tw ( of) Tj 0 Tc 0.12 Tw ( ) Tj -416.76 -13.8 TD -0.0092 Tc 1.2092 Tw (component \221up\222) Tj 77.4 0 TD -0.0014 Tc 1.2314 Tw (. Because of this the) Tj 0 Tc 0 Tw ( ) Tj 106.08 0 TD -0.0053 Tc (component) Tj 53.28 0 TD 0.0013 Tc 1.1987 Tw (s eventually make contact. When) Tj 0 Tc 0 Tw ( ) Tj 168 0 TD /F2 12 Tf -0.036 Tc (I) Tj 3.96 -1.56 TD /F2 8.04 Tf 0.0449 Tc (i) Tj 2.28 1.56 TD /F0 12 Tf -0.084 Tc 1.284 Tw ( = 1) Tj 0 Tc -0.12 Tw ( ) Tj -411 -13.8 TD -0.0109 Tc 2.0509 Tw (the equilibrium point is shifted to \(0.3, 1.9\). This effectively speeds up the) Tj 380.4 0 TD -0.0107 Tc 2.0507 Tw ( rightward) Tj 0 Tc 0.12 Tw ( ) Tj -380.4 -13.8 TD 0.0049 Tc -0.0049 Tw (velocity of the component) Tj 125.64 0 TD 0 Tc 0 Tw (. ) Tj 6 0 TD ( ) Tj -131.64 -13.8 TD ( ) Tj 0 -13.8 TD -0 Tc 1.0807 Tw (Interestingly, under normal conditions) Tj 0 Tc 0 Tw ( ) Tj 191.28 0 TD -0.0108 Tc 1.0908 Tw (the dynamical system never reaches either of the) Tj 0 Tc 0 Tw ( ) Tj -191.28 -13.8 TD -0.0061 Tc 1.5661 Tw (two equilibrium points, because their existence is made transitory through the ongoing) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0285 Tc (interact) Tj 35.88 0 TD -0.0091 Tc 1.6891 Tw (ion. This is illustrated in Figure) Tj 159.48 0 TD 0.0046 Tc 1.6754 Tw ( 2 in terms of the) Tj 0 Tc 0 Tw ( ) Tj 94.8 0 TD -0.036 Tc (\221) Tj 3.96 0 TD 0.0024 Tc (motor) Tj 28.68 0 TD -0.036 Tc (\222) Tj 3.96 0 TD -0.0067 Tc 1.6867 Tw ( node firing rates for) Tj 0 Tc 0.12 Tw ( ) Tj -326.76 -13.8 TD -0.0053 Tc 0 Tw (component) Tj 53.28 0 TD -0.018 Tc 1.722 Tw ( \221up\222 over a whole ) Tj 1.644 Tc 0 Tw (r) Tj 103.2 0 TD -0.008 Tc 1.688 Tw (un \(50 units of time\).) Tj 108.24 0 TD -0.0047 Tc 1.6847 Tw ( Starting from a situation of high) Tj 0 Tc 0.12 Tw ( ) Tj -264.72 -13.8 TD -0.009 Tc 0.849 Tw (activation of both \221motor\222 nodes, the system then decreases its left \221motor\222 firing rate in) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0009 Tc -0.0009 Tw (an oscillatory fashion until remains oscillating around a transitory equilibrium point.) Tj 405.72 0 TD 0 Tc 0 Tw ( ) Tj -405.72 -13.8 TD ( ) Tj ET q 167.28 0 0 -92.28 222.36 540.6 cm /im2 Do endstream endobj 64 0 obj 3398 endobj 66 0 obj << /Type /XObject /Subtype /Image /Name /im2 /Width 223 /Height 123 /BitsPerComponent 4 /ColorSpace [ /Indexed /DeviceRGB 15 65 0 R ] /Length 67 0 R >> stream  "  " " ""   " "  "" " " "" " " " " ""  "  DDD@0DDD033333333333333333333333334DDD33333333333333333333333333333333333333333333333333333333330DDD0DD@0D00""" 0""  " 0"0""" 03333333333333333333333333333333"" 0 0 0"""""  00""0   ""03333333333333333333333333333333"" 0 0 0 0"" 0 00 """ 3333# 333333333333333333333333330 0  0""   """"  " 0   0 "#0"""" " "" "  " 0  " 033333233333"#3333333333333333333"""  "" "" """""  "" 0  "" 0 """" 0" " "" """"  """"  " " """" 0 " " """""0"""""" "" """""0" """ """"""""""" "" "" """""""" """""""" """333""""""""""#3333333333333333333333"""""3""""" " endstream endobj 67 0 obj 13776 endobj 65 0 obj << /Length 68 0 R /Filter /ASCII85Decode >> stream rr2mk9hbTf!)-'[J:N.Mzzzzzzzz~> endstream endobj 68 0 obj 30 endobj 69 0 obj << /Length 70 0 R >> stream Q BT 389.64 448.32 TD ( ) Tj -299.64 -10.8 TD /F1 12 Tf -0.024 Tc 2.424 Tw (Figure 2:) Tj 49.2 0 TD /F0 12 Tf 0 Tc 2.4 Tw ( State) Tj 0 Tw ( ) Tj 34.8 0 TD -0.0024 Tc 2.4024 Tw (trajectory of the outputs for the 2 \221motor\222 nodes of component \221up\222) Tj 348 0 TD 0 Tc 0 Tw ( ) Tj -432 -13.8 TD -0.0015 Tc 3.0015 Tw (during mutual \(two) Tj 98.64 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0112 Tc 2.9888 Tw (way\) interaction) Tj 81.48 0 TD -0.0046 Tc 3.0646 Tw (. The gray and black dot represent the globally) Tj 0 Tc -0.24 Tw ( ) Tj -184.08 -13.8 TD -0 Tc 0 Tw (attracting stable equilibrium point when sensory input ) Tj 262.32 0 TD /F2 12 Tf -0.036 Tc 0 Tw (I) Tj 3.96 0 TD /F0 12 Tf -0.0192 Tc 0.0192 Tw ( = 0 and ) Tj 42 0 TD /F2 12 Tf -0.036 Tc 0 Tw (I) Tj 3.96 0 TD /F0 12 Tf -0.0195 Tc 0.0595 Tw ( = 1, respectively.) Tj 85.8 0 TD 0 Tc 0 Tw ( ) Tj -398.04 -13.8 TD ( ) Tj 0 -13.8 TD -0.0096 Tc 2.1696 Tw (But do these compo) Tj 102 0 TD -0.005 Tc 2.1868 Tw (nents act independently of each other or do they actually form a) Tj 0 Tc 0.12 Tw ( ) Tj -102 -13.8 TD -0.0195 Tc 0.0195 Tw (coherent ) Tj 45.72 0 TD 0.0025 Tc 1.5575 Tw (system of relations? This can be tested operationally simply by recording the) Tj 0 Tc 0.12 Tw ( ) Tj -45.72 -13.8 TD -0.0028 Tc 1.8028 Tw (movement of component \221down\222 during a successful trial and then restarting that trial) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD 0.0008 Tc 4.0792 Tw (with the same init) Tj 97.92 0 TD -0.01 Tc 4.09 Tw (ial conditions while playing back its recorded movement while) Tj 0 Tc 0 Tw ( ) Tj -97.92 -13.8 TD -0.0087 Tc 1.6962 Tw (component \221up\222 is allowed to interact as normally. It turns out that in the case of this) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.036 Tc 0 Tw (\221) Tj 3.96 0 TD -0.015 Tc (playback) Tj 43.32 0 TD -0.036 Tc (\222) Tj 3.96 0 TD -0.009 Tc 2.649 Tw ( regime the directed coordinated movement pattern fails to be established.) Tj 0 Tc 0 Tw ( ) Tj -51.24 -13.8 TD 0.0037 Tc 0.9563 Tw (After some initial ) Tj 0.912 Tc 0 Tw (c) Tj 95.88 0 TD 0.0064 Tc 0.9776 Tw (ontact between the two components they proceed to move past each) Tj 0 Tc 0.12 Tw ( ) Tj -95.88 -13.8 TD 0.0023 Tc 0.4477 Tw (other and head into opposite directions until the end of the trial. These two situations are ) Tj 0 -13.8 TD -0.0051 Tc 0.0051 Tw (illustrated in Figure 3.) Tj 106.56 0 TD 0 Tc 0 Tw ( ) Tj -96.48 -13.68 TD ( ) Tj ET q 209.4 0 0 -91.2 206.28 255.24 cm /im3 Do endstream endobj 70 0 obj 2568 endobj 72 0 obj << /Type /XObject /Subtype /Image /Name /im3 /Width 349 /Height 152 /BitsPerComponent 4 /ColorSpace [ /Indexed /DeviceRGB 15 71 0 R ] /Length 73 0 R >> stream ""0""B# "#"#""0""B# "#"# U @%R URUR  R"""D $&%P RR" BRB% "#""@ BRB% "#""@%U "%R%RB UD 2"0B#B# """$"" "  ""  ""  ""  "p"  "Aw""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""! a` ""0"wa` ""0"w  "q`" """ """"qaf% "wABU "pABU "p" %U "qpA 2"0"wpaw"p"" ""0"wp"" ""0"wpD  "p" " """垐垐垁垁垐垐垁垁垐垐垁垁垐垐垁垁垐垐垁垁垐垐垁垁垐垐垁垁垐垐垁D垁垐垁垁垐垁垁"@ "qpD "qD "q%U %U "wB"02"0"p"qp""0"qp""0"qpaf  "@ """"qw "w "pw "p%U "qw2"0"q"q"" ""0q"" ""0qqwD  "qpa" """垐q垁垁垐垐垁垁垐垐垏q垐p垐垁垁垐垐垁垁垐垐垁垁垐垐垁垁垐垁垁垐垁垁@"@ "pqwGD "wpqGD "wpqqAw%U %U "pB"02"0"pqp"ww ""0"w ""0"  "@""" """"af% "BU "BU "" %U 2"0""0""B# "#"# U @%R URUR  R"""D  R"""D $&%P RR" BRB% "#""@%U "%R%RB UD 2"0B#B# """$"" 2"0B#B# """$"" "  ""  ""  "p"  "p"  "Aw""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" a` ""0"  "" """ """"" """ """"af% "ABU "" %U "A 2"0"A 2"0"aw""" ""0"D  "" " """垐垐垁垁垐垐垁垁垐垐垁垁垐垐垁垁垐垐垁垁垐垐垁垁垐垐垁垁垐垐垁垁垐垁垁垐垁垁" " """垐垐垁垁垐垐垁垁垐垐垁垁垐垐垁垁垐垐垁垁垐垐垁垁垐垐垁垁垐垐垁垁垐垁垁垐垁垁"@ "D "%U %U "%U %U "B"02"0""""0"af  "af  "@ """" "w "%U "%U "2"0"""qw"" ""0qw"" ""0aD  "qpp@" """垐q垁垁垐垐垁垁垐w垁q垐垁垇垐qw垁垁G"@ "pqqqAwD "wpwpqAwD "wpwp%U %U "ppB"02"0"pqpw"wpw ""0"qp ""0"qp@  "af""" """"% "BU "BU "" %U 2"0 endstream endobj 73 0 obj 26600 endobj 71 0 obj << /Length 74 0 R /Filter /ASCII85Decode >> stream rr2m""9_Fn:"S"Kh;-oPlKZ1#^s($HR@0J9TVRm>Q2gmbzzz~> endstream endobj 74 0 obj 50 endobj 75 0 obj << /Length 76 0 R >> stream Q BT 415.68 164.04 TD ( ) Tj -325.68 -10.8 TD /F1 12 Tf -0.009 Tc 0.129 Tw (Figure 3:) Tj 47.16 0 TD /F0 12 Tf 0.0102 Tc 0.1098 Tw ( Change in relative displacement between the two components d) Tj 310.44 0 TD 0.0104 Tc 0.0696 Tw (uring the initial ) Tj -357.6 -13.8 TD 0.0034 Tc 1.6966 Tw (time steps of a trial run for two different regimes. Top: mutual \(two) Tj 345 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.003 Tc 1.677 Tw (way\) interaction.) Tj 0 Tc 0 Tw ( ) Tj -348.96 -13.8 TD 0.0025 Tc -0.0025 Tw (Bottom: playback \(one) Tj 109.92 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.003 Tc -0.003 Tw (way\) interaction.) Tj 81.36 0 TD 0 Tc 0 Tw ( ) Tj -195.24 -13.8 TD ( ) Tj 0 -13.8 TD 0 Tc 3.7196 Tw (From this we can conclude that the evolutionary process did indeed result in the) Tj 0 Tc 0 Tw ( ) Tj T* -0 Tc 0.6005 Tw (generation of a system whose) Tj 144.24 0 TD -0.0061 Tc 0.6061 Tw ( existence depends on the active and responsive interaction) Tj 0 Tc 0 Tw ( ) Tj ET endstream endobj 76 0 obj 1020 endobj 62 0 obj << /Type /Page /Parent 40 0 R /Resources << /Font << /F0 6 0 R /F1 17 0 R /F2 21 0 R >> /XObject << /im2 66 0 R /im3 72 0 R >> /ProcSet 2 0 R >> /Contents [ 63 0 R 69 0 R 75 0 R ] >> endobj 79 0 obj << /Length 80 0 R >> stream BT 90 747.6 TD 0 0 0 rg /F0 9.96 Tf 0.0092 Tc 0.0208 Tw (Froese & Di Paolo) Tj 74.76 0 TD 0 Tc 0.03 Tw ( ) Tj 141.24 0 TD ( ) Tj 173.88 0 TD 0.0396 Tc -0.0096 Tw (CSRP 59) Tj 37.08 0 TD 0.06 Tc 0 Tw (8) Tj ET 90 746.04 432 0.48 re f BT 522 747.6 TD 0 Tc 0.03 Tw ( ) Tj -432 -709.68 TD ( ) Tj 421.92 -0.12 TD 0.06 Tc 0 Tw (13) Tj ET q 522 35.4 0.24 11.28 re h W n BT 522 37.8 TD 0 Tc 0.03 Tw ( ) Tj ET Q BT 90 709.2 TD /F0 12 Tf -0 Tc 0.48 Tw (of its two components. On their own, the components are unable to engage in oscillatory) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD 0.0057 Tc 1.0743 Tw (movement. Moreover, once this system has been established during the initial stages of) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.0087 Tc 2.1687 Tw (the trial, the system) Tj 100.44 0 TD 0.0011 Tc 2.1723 Tw ( displays its own \(global\) coherence, which constrains the \(local\)) Tj 0 Tc 0.12 Tw ( ) Tj -100.44 -13.8 TD 0 Tc 0.006 Tw (dynamics of the components in such a way that they both move in the same direction, in a ) Tj 0 -13.8 TD -0.0045 Tc 0.0045 Tw (manner that is robust to large quantities of noise. ) Tj 237.24 0 TD 0 Tc 0 Tw ( ) Tj -237.24 -13.8 TD ( ) Tj 0 -14.04 TD /F1 12 Tf (4.) Tj 9 0 TD /F3 12 Tf 0.024 Tw ( ) Tj 9 0 TD /F1 12 Tf 0.0108 Tc 0 Tw (Discussion) Tj 54.12 0 TD 0 Tc ( ) Tj -72.12 -13.56 TD /F0 12 Tf ( ) Tj 0 -13.8 TD 0.0064 Tc 1.9136 Tw (Now that we have used) Tj 0 Tc 0.12 Tw ( ) Tj 124.68 0 TD -0.024 Tc 0.024 Tw (an ) Tj 16.2 0 TD 0.0027 Tc 0 Tw (evolution) Tj 45.36 0 TD 0.0011 Tc 2.0389 Tw (ary robotics) Tj 0 Tc 0 Tw ( ) Tj 63.96 0 TD -0.0129 Tc 2.0529 Tw (methodology, re) Tj 80.52 0 TD -0.036 Tc 0 Tw (-) Tj 4.08 0 TD 0.0035 Tc 1.9165 Tw (conceptualized as a) Tj 0 Tc 0.12 Tw ( ) Tj -334.8 -13.8 TD -0.007 Tc 2.967 Tw (more general generative mechanism,) Tj 0 Tc 0 Tw ( ) Tj 191.16 0 TD 0.0032 Tc 2.8968 Tw (to produce a simulation model with dynamical) Tj 0 Tc 0 Tw ( ) Tj -191.16 -13.8 TD -0.0081 Tc 0.7281 Tw (properties which might lead to the emergence of a constitutively autonomous system we) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.0124 Tc 0.2524 Tw (are faced with the task of determining wh) Tj 200.88 0 TD -0.0048 Tc 0.2148 Tw (ether such a system can indeed be distinguished ) Tj -200.88 -13.8 TD 0 Tc 0.0294 Tw (within the model. In what manner would such a system manifest itself? ) Tj 345.12 0 TD 0 Tc 0 Tw ( ) Tj -345.12 -13.8 TD ( ) Tj 0 -13.8 TD -0.0096 Tc 1.0896 Tw (Of course, since our model does not include any explicit aspects of the special material) Tj 0 Tc 0 Tw ( ) Tj T* -0.0028 Tc 2.2828 Tw (organization required for material/energetic se) Tj 231.48 0 TD 0.054 Tc 0 Tw (lf) Tj 7.32 0 TD -0.036 Tc (-) Tj 4.08 0 TD -0.0073 Tc 2.2873 Tw (construction, it clearly fails to satisfy) Tj 0 Tc -0.24 Tw ( ) Tj -242.88 -13.8 TD -0.0085 Tc 0.6194 Tw (that particular essential requirement for \221basic autonomy\222. But what about the possibility) Tj 0 Tc -0.36 Tw ( ) Tj 0 -13.8 TD -0.0072 Tc 1.2072 Tw (of finding a system with constitutive autonomy in a domain of abstract dynamics?) Tj 0 Tc 0.24 Tw ( ) Tj 412.08 0 TD -0.024 Tc 0.024 Tw (One ) Tj -412.08 -13.8 TD -0.0046 Tc 1.4446 Tw (important clue) Tj 0 Tc 0 Tw ( ) Tj 75.48 0 TD -0.017 Tc 1.457 Tw (in this regard) Tj 0 Tc 0 Tw ( ) Tj 70.44 0 TD 0.015 Tc 1.425 Tw (is th) Tj 21.84 0 TD -0.0135 Tc 1.4535 Tw (at in the case of the) Tj 0 Tc 0 Tw ( ) Tj 104.4 0 TD -0.036 Tc (\221) Tj 3.96 0 TD 0.0138 Tc 1.4262 Tw (basic autonomy) Tj 76.92 0 TD -0.036 Tc 0 Tw (\222) Tj 4.2 0 TD -0.01 Tc 1.45 Tw ( of metabolism) Tj 0 Tc -0.12 Tw ( ) Tj -357.24 -13.8 TD -0.0096 Tc 0.2762 Tw (\223the system can achieve constructive closure because it creates high) Tj 328.2 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0042 Tc 0.1642 Tw (level constraints that ) Tj -332.16 -13.8 TD -0.011 Tc 2.771 Tw (act on the \(low) Tj 79.92 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0012 Tc 2.7588 Tw (level\) individual elements, harnessing their dynamics, which in turn) Tj 0 Tc 0 Tw ( ) Tj -83.88 -13.8 TD -0.002 Tc 1.562 Tw (recursively produces those) Tj 130.92 0 TD -0.0083 Tc 1.5683 Tw ( control constraints\224 \(Moreno and Etxeberria 2005\).) Tj 0 Tc 0 Tw ( ) Tj 263.16 0 TD 0.0072 Tc 1.5528 Tw (Can we) Tj 0 Tc 0.12 Tw ( ) Tj -394.08 -13.8 TD -0 Tc 0.0136 Tw (find something akin to such constructive closure in the model?) Tj 301.2 0 TD 0 Tc 0 Tw ( ) Tj -301.2 -14.04 TD /F1 12 Tf ( ) Tj 0 -13.56 TD /F0 12 Tf (4.1 ) Tj 18 0 TD -0.0099 Tc 0.0699 Tw (A systemic analysis) Tj 95.28 0 TD 0 Tc 0 Tw ( ) Tj -113.28 -14.04 TD /F1 12 Tf ( ) Tj 0 -13.56 TD /F0 12 Tf -0.0024 Tc 1.3295 Tw (If we treat the two components in our model as a systemic whole then it is clearly the) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0071 Tc 1.8071 Tw (case that this whole) Tj 0 Tc 0 Tw ( ) Tj 104.4 0 TD -0.0081 Tc 1.8081 Tw (constrains the movements of the individual components. On their) Tj 0 Tc 0 Tw ( ) Tj -104.4 -13.8 TD -0.0033 Tc 0.8433 Tw (own they will always move in opposite directions, while in combination they move into) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0045 Tc 1.1955 Tw (one of the two directions together. Moreover, this constraint harnesses the dynamics of) Tj 0 Tc 0.12 Tw ( ) Tj T* -0 Tc 3.6 Tw (the individual com) Tj 97.2 0 TD -0.0118 Tc 3.6238 Tw (ponents in a novel manner such that they engage in oscillatory) Tj 0 Tc -0.24 Tw ( ) Tj -97.2 -13.8 TD 0.0045 Tc 1.5647 Tw (movement. A single component will fail to coordinate with an \221inert\222 recording of the) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.005 Tc 2.165 Tw (other component\222s movement \(even if the conditions are the same as in the previous) Tj 0 Tc 0 Tw ( ) Tj T* -0.0092 Tc 0.0092 Tw (interaction\). ) Tj 65.4 0 TD -0.0105 Tc 4.2105 Tw (We are thu) Tj 60.96 0 TD -0.0114 Tc 4.1964 Tw (s faced with a peculiar situation in which the) Tj 0 Tc 0 Tw ( ) Tj 254.88 0 TD 0.0087 Tc -0.1287 Tw (oscillatory ) Tj -381.24 -13.8 TD -0.003 Tc 0 Tw (movement) Tj 50.64 0 TD -0.0088 Tc 2.1688 Tw ( of the individual) Tj 0 Tc 0 Tw ( ) Tj 93.84 0 TD -0.0036 Tc (components) Tj 57.96 0 TD -0.0048 Tc 2.1648 Tw ( brings forth the interaction process, and that) Tj 0 Tc 0 Tw ( ) Tj -202.44 -13.8 TD -0.003 Tc 0.003 Tw (interaction process enables the ) Tj 149.88 0 TD 0.0038 Tc -0.0038 Tw (oscillatory movement) Tj 104.4 0 TD -0.0008 Tc 0.0008 Tw ( of the individual ) Tj 85.32 0 TD -0.0036 Tc 0 Tw (components) Tj 57.96 0 TD 0 Tc (. ) Tj 6 0 TD ( ) Tj -403.56 -13.8 TD ( ) Tj 0 -13.8 TD -0.0146 Tc 0.3746 Tw (The fact that this interact) Tj 121.32 0 TD -0.0126 Tc 0.3726 Tw (ion process is not only) Tj 0 Tc -0.36 Tw ( ) Tj 112.68 0 TD /F2 12 Tf 0.0065 Tc 0.3535 Tw (constituted by) Tj 67.44 0 TD /F0 12 Tf 0.0017 Tc 0.2383 Tw ( but also ) Tj 44.76 0 TD /F2 12 Tf -0.0077 Tc 0.3677 Tw (constitutive of) Tj 67.92 0 TD /F0 12 Tf -0.048 Tc 0.168 Tw ( the ) Tj -414.12 -13.8 TD -0.0046 Tc 2.7646 Tw (oscillatory movement of each component) Tj 0 Tc 0 Tw ( ) Tj 215.28 0 TD 0.0164 Tc 2.7436 Tw (points to the) Tj 0 Tc 0 Tw ( ) Tj 70.8 0 TD 0.003 Tc -0.003 Tw (constitutive ) Tj 61.8 0 TD 0.03 Tc 0 Tw (autonomy) Tj 47.88 0 TD 0.012 Tc 2.748 Tw ( of the) Tj 0 Tc 0.12 Tw ( ) Tj -395.76 -13.8 TD -0.0101 Tc 0.6101 Tw (interaction process.) Tj 93.72 0 TD -0.0057 Tc 0.6157 Tw ( But does the organization of this system fulfil Varela\222s \(1979, p. 55\)) Tj 0 Tc 0 Tw ( ) Tj -93.72 -13.8 TD 0.0065 Tc 0.7135 Tw (operational de) Tj 69 0 TD 0.0073 Tc 0.7607 Tw (finition \(see quote in the Introduction\)?) Tj 0 Tc 0.24 Tw ( ) Tj 196.8 0 TD -0.0096 Tc 0 Tw (First) Tj 21.96 0 TD 0 Tc (,) Tj 3 0 TD 0.0097 Tc 0.7103 Tw ( we need to address the non) Tj 137.16 0 TD -0.036 Tc 0 Tw (-) Tj -427.92 -13.8 TD -0.0084 Tc 0.1284 Tw (trivial issue of what exactly constitutes a ) Tj 198.96 0 TD /F2 12 Tf -0.0086 Tc 0 Tw (process) Tj 36.6 0 TD /F0 12 Tf 0.024 Tc 0.056 Tw ( in the ) Tj 33.48 0 TD -0.036 Tc 0 Tw (system) Tj 33.24 0 TD 0 Tc (. ) Tj 6.12 0 TD 0.002 Tc 0.078 Tw (The CTRNN components ) Tj -308.4 -13.8 TD -0.0048 Tc 1.822 Tw (are clearly not created by any activity within the model. What is created, however, is) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0024 Tc 0 Tw (oscil) Tj 22.68 0 TD -0.0024 Tc 0.6024 Tw (latory movement. Solitary components cannot give rise to such behavior. Thus, as a) Tj 0 Tc 0 Tw ( ) Tj -22.68 -13.8 TD 0.0025 Tc -0.0025 Tw (first approximation w) Tj 104.04 0 TD -0.048 Tc 0.048 Tw (e ) Tj 8.28 0 TD 0.0144 Tc -0.0144 Tw (might ) Tj 31.08 0 TD 0.012 Tc -0.012 Tw (say that ) Tj 40.08 0 TD -0.008 Tc 0 Tw (the) Tj 14.64 0 TD 0.0092 Tc -0.0092 Tw ( transient dynamics ) Tj 96.48 0 TD 0.0008 Tc 0.0392 Tw (of each component ) Tj 94.44 0 TD -0.024 Tc 0 Tw (model) Tj 30 0 TD 0.012 Tc (s) Tj 4.68 0 TD -0.048 Tc 0.048 Tw ( a ) Tj -423.72 -13.8 TD -0.0072 Tc 0.0312 Tw (process which manifests itself through a) Tj 192.84 0 TD 0.028 Tc -0.028 Tw (n oscillatory) Tj 59.64 0 TD -0.0021 Tc 0.0321 Tw ( change in position. ) Tj 97.08 0 TD 0 Tc 0 Tw ( ) Tj ET endstream endobj 80 0 obj 9349 endobj 77 0 obj << /Type /Page /Parent 78 0 R /Resources << /Font << /F0 6 0 R /F1 17 0 R /F2 21 0 R /F3 26 0 R >> /ProcSet 2 0 R >> /Contents 79 0 R >> endobj 82 0 obj << /Length 83 0 R >> stream BT 90 747.6 TD 0 0 0 rg /F0 9.96 Tf 0.0092 Tc 0.0208 Tw (Froese & Di Paolo) Tj 74.76 0 TD 0 Tc 0.03 Tw ( ) Tj 141.24 0 TD ( ) Tj 173.88 0 TD 0.0396 Tc -0.0096 Tw (CSRP 59) Tj 37.08 0 TD 0.06 Tc 0 Tw (8) Tj ET 90 746.04 432 0.48 re f BT 522 747.6 TD 0 Tc 0.03 Tw ( ) Tj -432 -709.68 TD ( ) Tj 421.92 -0.12 TD 0.06 Tc 0 Tw (14) Tj ET q 522 35.4 0.24 11.28 re h W n BT 522 37.8 TD 0 Tc 0.03 Tw ( ) Tj ET Q BT 90 709.2 TD /F0 12 Tf 0 Tc ( ) Tj 0 -13.8 TD -0.0069 Tc 0.9669 Tw (Second, ) Tj 0.936 Tc 0 Tw (w) Tj 50.88 0 TD 0.0109 Tc 0.9577 Tw (e need to show that these two processes are related in the form of a) Tj 0 Tc 0.12 Tw ( ) Tj 339.36 0 TD /F2 12 Tf 0.0137 Tc 0 Tw (network) Tj 38.64 0 TD /F0 12 Tf 0.12 Tc (. ) Tj -428.88 -13.8 TD -0.0049 Tc 1.9249 Tw (Fortunately, this criterion is) Tj 138.96 0 TD -0.015 Tc 1.935 Tw ( more) Tj 29.52 0 TD -0.0104 Tc 1.9304 Tw ( easily fulfilled as the two) Tj 0 Tc 0 Tw ( ) Tj 138.6 0 TD -0.023 Tc 1.943 Tw (processes are) Tj 65.28 0 TD 0.005 Tc 1.915 Tw ( structurally) Tj 0 Tc -0.12 Tw ( ) Tj -372.36 -13.8 TD 0 Tc 0.9593 Tw (coupled through the) Tj 0 Tc 0 Tw ( ) Tj 101.88 0 TD 0.016 Tc (interface) Tj 42 0 TD 0 Tc ( ) Tj 3.96 0 TD 0.0088 Tc 0.9512 Tw (of each component) Tj 93.48 0 TD 0.0066 Tc 0.9706 Tw (. Moreover, it has been shown that the) Tj 0 Tc 0.12 Tw ( ) Tj -241.32 -13.8 TD 0.024 Tc 0 Tw (t) Tj 3.36 0 TD -0.0153 Tc 2.6553 Tw (wo processes) Tj 0 Tc 0 Tw ( ) Tj 71.76 0 TD /F2 12 Tf 0.0086 Tc 2.6614 Tw (recursively depend on each other) Tj 170.76 0 TD /F0 12 Tf -0.0047 Tc 2.6687 Tw ( for their generation and realization:) Tj 0 Tc -0.12 Tw ( ) Tj -245.88 -13.8 TD 0 Tw (o) Tj 6 0 TD -0.0082 Tc 3.7282 Tw (scillatory movement is only possible when there is \(two) Tj 297.36 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0033 Tc 3.7233 Tw (way\) structural coupling) Tj 0 Tc 0 Tw ( ) Tj -307.32 -13.8 TD -0.0168 Tc 0.1368 Tw (between the ) Tj 60.96 0 TD 0.008 Tc 0.232 Tw (two processes) Tj 67.32 0 TD -0.0132 Tc 0.2532 Tw (. It appears that we can describe the ) Tj 176.04 0 TD 0.0042 Tc 0.1558 Tw (organization of the ) Tj 94.44 0 TD -0.016 Tc 0.016 Tw (system ) Tj -398.76 -13.8 TD -0.0073 Tc 0.3673 Tw (consisting of the two ) Tj 105.12 0 TD -0.0084 Tc 0.4884 Tw (oscillatory processes) Tj 99.96 0 TD -0.0045 Tc 0.4518 Tw ( in such a way that it fulfils criterion \(1\). Does ) Tj -205.08 -13.8 TD 0.0065 Tc 0.0415 Tw (it also satisfy criterion \(2\)? ) Tj 132.48 0 TD 0 Tc 0 Tw ( ) Tj -132.48 -13.8 TD ( ) Tj 0 -13.8 TD -0.0127 Tc 0.4644 Tw (The problem here is that it is not quite clear what Varela means by \223a unity recognizable ) Tj T* 0.0045 Tc 0.1326 Tw (in the space \(domain\) in which the proc) Tj 191.28 0 TD 0.0127 Tc 0.0773 Tw (esses exist\224. What is ) Tj 102.36 0 TD -0.008 Tc 0 Tw (the) Tj 14.64 0 TD 0 Tc 0.1394 Tw ( unity and what exactly is ) Tj -308.28 -13.8 TD 0.0168 Tc 2.9832 Tw (the domain?) Tj 0 Tc 0.24 Tw ( ) Tj 68.04 0 TD 0.0009 Tc 2.9991 Tw (Perhaps we could consider the one) Tj 181.32 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.0008 Tc 2.9992 Tw (dimensional environment to be the) Tj 0 Tc 0 Tw ( ) Tj -253.32 -13.8 TD 0.0107 Tc 1.5493 Tw (domain, but how do we distinguish a unity in that domain?) Tj 0 Tc 0.24 Tw ( ) Tj 303 0 TD 0.006 Tc 1.554 Tw (One way to approach this) Tj 0 Tc 0.12 Tw ( ) Tj -303 -13.8 TD -0.0038 Tc 1.8038 Tw (question is by considering some of Varela) Tj 212.64 0 TD -0.0058 Tc 1.8058 Tw (\222s later writings on the topic of constitutive) Tj 0 Tc -0.12 Tw ( ) Tj -212.64 -13.8 TD 0.0014 Tc 1.5853 Tw (autonomy, in which he characterizes such a unity as a) Tj 0 Tc 0.12 Tw ( ) Tj 276.84 0 TD -0.048 Tc 0 Tw (\223) Tj 5.28 0 TD 0.012 Tc 1.548 Tw (selfless self) Tj 57.36 0 TD -0.0046 Tc 1.6246 Tw (\224 \(Varela 1991\)) Tj 78.48 0 TD 0.024 Tc -0.024 Tw (: ) Tj 7.92 0 TD /F2 12 Tf 0.12 Tc 0 Tw (a ) Tj -425.88 -13.8 TD 0.0047 Tc 2.0433 Tw (coherent whole that is nowhere to be found and yet can provide an occasion for the) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0 Tc 1.8007 Tw (coordinated activity of ensembles of pr) Tj 195.96 0 TD 0.0017 Tc 0 Tw (ocesses) Tj 36 0 TD /F0 12 Tf 0 Tc (. ) Tj 7.92 0 TD 0.0016 Tc 1.7984 Tw (He considers this) Tj 86.28 0 TD -0.0144 Tc 1.8144 Tw ( unity) Tj 0 Tc -0.24 Tw ( ) Tj 34.32 0 TD 0.0055 Tc 1.7945 Tw (of coordinated) Tj 0 Tc 0.12 Tw ( ) Tj -360.48 -13.8 TD -0.015 Tc -0.225 Tw (activity ) Tj 39.84 0 TD 0.0045 Tc 0.8355 Tw (as a point of reference for a domain of interactions) Tj 250.68 0 TD 0.0073 Tc 0.8567 Tw ( in which we can distinguish) Tj 0 Tc 0.12 Tw ( ) Tj -290.52 -13.8 TD 0.0087 Tc 1.0713 Tw (the behavior of the system) Tj 131.16 0 TD 0.0086 Tc 1.0714 Tw (. While it would be possible to use the recurrent dependence) Tj 0 Tc 0.12 Tw ( ) Tj -131.16 -13.8 TD -0.0129 Tc 4.0929 Tw (between processes as the criter) Tj 163.92 0 TD -0.0071 Tc 4.0871 Tw (ion to determine whether they belong or not to a) Tj 0 Tc 0 Tw ( ) Tj -163.92 -13.8 TD -0.0105 Tc 0.3625 Tw (dynamical \221unity\222, such a move would be more convincing if the model included a richer ) Tj 0 -13.8 TD 0.0074 Tc -0.0074 Tw (context than it ) Tj 71.76 0 TD -0.0267 Tc -0.2133 Tw (currently ) Tj 46.2 0 TD -0.0072 Tc 0 Tw (does.) Tj 24.96 0 TD 0 Tc ( ) Tj -142.92 -13.8 TD ( ) Tj 0 -13.8 TD -0.006 Tc 1.3352 Tw (We have already stated that the ensemble of the two processes gives rise to) Tj 377.16 0 TD -0.0132 Tc 1.3332 Tw ( coordinate) Tj 0 Tc 0 Tw ( ) Tj -377.16 -13.8 TD 0.03 Tc (activity) Tj 35.88 0 TD -0.0067 Tc 0.8381 Tw ( and that this activity manifests itself in a particular form of behavior, namely as) Tj 0 Tc 0.12 Tw ( ) Tj -35.88 -13.8 TD -0.0029 Tc 0.3629 Tw (oscillatory movement toward a common direction) Tj 241.32 0 TD -0.001 Tc 0.271 Tw (. 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Its existence can only be ascertained) Tj 0 Tc 0.12 Tw ( ) Tj -148.68 -13.8 TD 0.0019 Tc 3.3581 Tw (through operational tests, for example by observing the breakdown of coordination) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD -0.004 Tc 3.484 Tw (during the) Tj 0 Tc 0.12 Tw ( ) Tj 58.92 0 TD -0.036 Tc 0 Tw (\221) Tj 3.96 0 TD -0 Tc (playback) Tj 43.32 0 TD -0.036 Tc (\222) Tj 3.96 0 TD 0.0144 Tc 3.5856 Tw ( condition.) Tj 0 Tc 0 Tw ( ) Tj 61.56 0 TD -0.0067 Tc 3.521 Tw (Moreover, the system as whole displays a certain) Tj 0 Tc 0 Tw ( ) Tj -171.72 -13.8 TD -0.013 Tc 1.633 Tw (coherence as indicated by its) Tj 144.12 0 TD -0 Tc 1.5605 Tw ( robustness to large amounts of) Tj 0 Tc 0 Tw ( ) Tj 162 0 TD -0.0015 Tc 0.0015 Tw (external ) Tj 43.2 0 TD 0.0216 Tc 0 Tw (noise) Tj 25.32 0 TD 1.524 Tc 0.036 Tw ( \() Tj 8.52 0 TD -0.028 Tc 0.028 Tw (cf. ) Tj 16.92 0 TD -0.012 Tc 0.012 Tw (Froese ) Tj -400.08 -13.8 TD -0.004 Tc 0.004 Tw (and Di Paolo 2008\)) Tj 93.6 0 TD 0 Tc 0 Tw (. ) Tj 6 0 TD ( ) Tj -99.6 -13.8 TD ( ) Tj 0 -13.8 TD 0.0016 Tc 0.6155 Tw (Due to the shift of perspective on evolutionary robotics that we have advocated we have) Tj 0 Tc 0 Tw ( ) Tj T* -0.0028 Tc 0.9971 Tw (been able to distinguish several important features associ) Tj 280.56 0 TD 0.0129 Tc 0.9471 Tw (ated with the organization of a) Tj 0 Tc 0.12 Tw ( ) Tj -280.56 -13.8 TD -0.0071 Tc 1.9271 Tw (system with constitutive autonomy in the evolved simulation model. 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For this reason the system also ) Tj ET endstream endobj 83 0 obj 9611 endobj 81 0 obj << /Type /Page /Parent 78 0 R /Resources << /Font << /F0 6 0 R /F2 21 0 R >> /ProcSet 2 0 R >> /Contents 82 0 R >> endobj 85 0 obj << /Length 86 0 R >> stream BT 90 747.6 TD 0 0 0 rg /F0 9.96 Tf 0.0092 Tc 0.0208 Tw (Froese & Di Paolo) Tj 74.76 0 TD 0 Tc 0.03 Tw ( ) Tj 141.24 0 TD ( ) Tj 173.88 0 TD 0.0396 Tc -0.0096 Tw (CSRP 59) Tj 37.08 0 TD 0.06 Tc 0 Tw (8) Tj ET 90 746.04 432 0.48 re f BT 522 747.6 TD 0 Tc 0.03 Tw ( ) Tj -432 -709.68 TD ( ) Tj 421.92 -0.12 TD 0.06 Tc 0 Tw (15) Tj ET q 522 35.4 0.24 11.28 re h W n BT 522 37.8 TD 0 Tc 0.03 Tw ( ) Tj ET Q BT 90 709.2 TD /F0 12 Tf 0.0019 Tc 0.7509 Tw (fails to satisfy Barandiaran and Moreno\222s \(2006\) two necessary and sufficient principles) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.018 Tc 0.018 Tw (of ) Tj 13.92 0 TD /F2 12 Tf 0.015 Tc 0 Tw (identity) Tj 36 0 TD /F0 12 Tf -0.016 Tc 0.976 Tw ( and) Tj 0 Tc 0 Tw ( ) Tj 25.2 0 TD /F2 12 Tf -0.024 Tc (agency) Tj 33.84 0 TD /F0 12 Tf -0.0057 Tc 0.979 Tw (, which characterize the existence of constitutive autonomy in the) Tj 0 Tc 0.12 Tw ( ) Tj -108.96 -13.8 TD -0.0045 Tc 0.0045 Tw (neurodynamic domain, because the latter) Tj 196.8 0 TD -0.001 Tc 0.081 Tw ( requires that ) Tj 65.88 0 TD -0.0132 Tc 0.0132 Tw (behavioral ) Tj 53.52 0 TD 0.0063 Tc -0.0063 Tw (interactions result in the ) Tj -316.2 -13.8 TD -0.012 Tc 0.012 Tw (maintenance of the identity.) Tj 133.92 0 TD 0 Tc 0 Tw ( ) Tj -133.92 -14.04 TD /F1 12 Tf ( ) Tj 0 -13.56 TD /F0 12 Tf (4.) Tj 9 0 TD (2) Tj 6 0 TD -0.0072 Tc 0.0072 Tw ( Future work) Tj 61.92 0 TD 0 Tc 0 Tw ( ) Tj -76.92 -14.04 TD /F1 12 Tf ( ) Tj 0 -13.56 TD /F0 12 Tf -0.0016 Tc 0.6016 Tw (While the system we have distinguished within the simulation model falls short of being) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0062 Tc 1.2195 Tw (adequately describable as a simple model of constitutive autonomy, ) Tj 1.224 Tc 0 Tw (t) Tj 341.88 0 TD -0.0045 Tc 1.2045 Tw (hese shortcomings) Tj 0 Tc 0 Tw ( ) Tj -341.88 -13.8 TD 0.0034 Tc 2.6466 Tw (are not the kind of seemingly insurmountable problems that the use of evolutionary) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.0075 Tc 2.7775 Tw (robotics is commonly believed to entail. Instead, they provide the motivations for a) Tj 0 Tc 0 Tw ( ) Tj T* 0 Tc 2.8927 Tw (research program aimed at overcoming them, for example by introducing) Tj 0 Tc -0.12 Tw ( ) Tj 383.88 0 TD 0.012 Tc 0.108 Tw (additional ) Tj -383.88 -13.8 TD -0.0074 Tc 2.2774 Tw (\221background\222 components into the model such that the system can interact with \(and) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0024 Tc 1.8024 Tw (distinguish itself from\) them. The next step would therefore be to think about how to) Tj 0 Tc 0 Tw ( ) Tj T* -0.0093 Tc 2.2893 Tw (change the 1D spatial environment such that it promotes the appearance of a) Tj 0 Tc 0 Tw ( ) Tj 398.64 0 TD 0.004 Tc -0.004 Tw (system ) Tj -398.64 -13.8 TD 0 Tc 5.2794 Tw (exhibiting global behavior which can be said to be necessary for the ongoing) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0 Tc 1.0902 Tw (maintenance of the coherent systemic \221whole\222. This would also enable us to investigate) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.0071 Tc 0.7271 Tw (the relationship between constitutive autonomy and adaptivity, both of which are cruc) Tj 419.88 0 TD 0.04 Tc 0.08 Tw (ial ) Tj -419.88 -13.8 TD -0.0044 Tc 0.0044 Tw (for the sense) Tj 60.6 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0.002 Tc -0.002 Tw (making abilities of living systems \(cf. Di Paolo 2005\).) Tj 260.76 0 TD 0 Tc 0 Tw ( ) Tj -325.32 -13.8 TD ( ) Tj 0 -13.8 TD 0.0008 Tc 1.0901 Tw (Moreover, this approach to evolutionary robotics offers the possibility of advancing the) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.0032 Tc 1.4432 Tw (mathematical formulation of constitutive autonomy, in particular because the dynamics) Tj 0 Tc 0 Tw ( ) Tj T* 0.0048 Tc 1.3152 Tw (of CTR) Tj 37.68 0 TD -0.0068 Tc 1.3545 Tw (NNs have already been the target of extensive study \(e.g. Beer 2003; 1995\). In) Tj 0 Tc 0.12 Tw ( ) Tj -37.68 -13.8 TD -0 Tc 0.6262 Tw (this manner it might be possible to gain a deeper understanding of the general principles) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0051 Tc 1.1942 Tw (of biological organization. One possibility could be to combine this modeling approach) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.0029 Tc 1.8029 Tw (with a descriptive formalism such as the hierarchy of dynamical systems proposed by) Tj 0 Tc -0.12 Tw ( ) Tj T* -0.0028 Tc 4.0828 Tw (McGregor and Fernando \(2005\). On the other hand, an investigation of the self) Tj 427.92 0 TD -0.036 Tc 0 Tw (-) Tj -427.92 -13.8 TD 0.0046 Tc 0.0054 Tw (constituting system\222s dynamics could also be insightful. Bourgine and Stewart \(2004\), for ) Tj 0 -13.8 TD -0.018 Tc 0 Tw (exam) Tj 26.04 0 TD -0.006 Tc 1.818 Tw (ple, hypothesize that the dynamics of constitutive autonomy are characterized by) Tj 0 Tc -0.12 Tw ( ) Tj -26.04 -13.8 TD -0.0041 Tc 0.1241 Tw (two \221attractors\222 separated by a point of bifurcation, where one \221attractor\222 must correspond ) Tj 0 -13.8 TD 0 Tc 2.0655 Tw (to the disintegration of the system and the other to viable activity \(see also Ono) Tj 0 Tc 0 Tw ( ) Tj 414.72 0 TD -0.016 Tc 0.016 Tw (and ) Tj -414.72 -13.8 TD 0.0061 Tc 0.3539 Tw (Ikegami \(2000\) for a similar claim\). Further work needs to be done in order to determine ) Tj 0 -13.8 TD -0.0037 Tc 0.0157 Tw (whether this is actually the case in the current model. ) Tj 258.24 0 TD 0 Tc 0 Tw ( ) Tj -258.24 -13.8 TD ( ) Tj 0 -13.8 TD -0.0087 Tc 0.7287 Tw (However, at first sight, an interpretation of Figure 2 suggests a radical alternative to this) Tj 0 Tc -0.12 Tw ( ) Tj T* 0.016 Tc 0.224 Tw (view. The s) Tj 56.04 0 TD 0.1 Tc 0 Tw (elf) Tj 12.72 0 TD -0.036 Tc (-) Tj 3.96 0 TD 0.001 Tc 0.227 Tw (maintaining dynamics result precisely from the balancing act between two ) Tj -72.72 -13.8 TD -0.0059 Tc 0.8559 Tw (\(potentially many\) attractors that lead both to the \221destruction\222 of the dynamical pattern.) Tj 0 Tc 0.12 Tw ( ) Tj 0 -13.8 TD 0.0018 Tc 0.7182 Tw (It is precisely ) Tj 0.72 Tc 0 Tw (b) Tj 75.84 0 TD 0.0158 Tc 0.7042 Tw (ecause the components are) Tj 130.68 0 TD 0 Tc 0 Tw ( ) Tj 3.72 0 TD /F2 12 Tf 0.008 Tc (not) Tj 15.36 0 TD /F0 12 Tf 0.0011 Tc 0.7704 Tw ( falling into any of the available attrac) Tj 188.4 0 TD 0 Tc 0 Tw (tors ) Tj -414 -13.8 TD 0.0016 Tc 1.3277 Tw (that the coherence of the system maintains itself. Perhaps a similar shift of perspective) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0032 Tc 0.0182 Tw (may apply to the dynamics of autonomy in general.) Tj 246.96 0 TD 0 Tc 0 Tw ( ) Tj -246.96 -13.8 TD ( ) Tj 0 -14.04 TD /F1 12 Tf (5.) Tj 9 0 TD /F3 12 Tf 0.024 Tw ( ) Tj 9 0 TD /F1 12 Tf -0.0042 Tc 0.0042 Tw (Concluding remarks) Tj 105.6 0 TD 0 Tc 0 Tw ( ) Tj -123.6 -13.56 TD /F0 12 Tf ( ) Tj 0 -13.8 TD -0.0016 Tc 0.5016 Tw (When Varela and Bourgine organized the first) Tj 0 Tc 0 Tw ( ) Tj 228.36 0 TD /F2 12 Tf 0.0099 Tc 0.4701 Tw (European Conference on Artificial Life) Tj 190.8 0 TD /F0 12 Tf 0.012 Tc 0.228 Tw ( in ) Tj -419.16 -13.8 TD 0 Tc 0 Tw (199) Tj 18 0 TD -0.0053 Tc 2.0533 Tw (1 they hoped that it would push the field toward the study of the organization of) Tj 0 Tc -0.12 Tw ( ) Tj -18 -13.8 TD -0.0029 Tc 2.4247 Tw (biological autonomy. However, today we find that most artificial life researchers are) Tj 0 Tc 0.12 Tw ( ) Tj ET endstream endobj 86 0 obj 7464 endobj 84 0 obj << /Type /Page /Parent 78 0 R /Resources << /Font << /F0 6 0 R /F1 17 0 R /F2 21 0 R /F3 26 0 R >> /ProcSet 2 0 R >> /Contents 85 0 R >> endobj 88 0 obj << /Length 89 0 R >> stream BT 90 747.6 TD 0 0 0 rg /F0 9.96 Tf 0.0092 Tc 0.0208 Tw (Froese & Di Paolo) Tj 74.76 0 TD 0 Tc 0.03 Tw ( ) Tj 141.24 0 TD ( ) Tj 173.88 0 TD 0.0396 Tc -0.0096 Tw (CSRP 59) Tj 37.08 0 TD 0.06 Tc 0 Tw (8) Tj ET 90 746.04 432 0.48 re f BT 522 747.6 TD 0 Tc 0.03 Tw ( ) Tj -432 -709.68 TD ( ) Tj 421.92 -0.12 TD 0.06 Tc 0 Tw (16) Tj ET q 522 35.4 0.24 11.28 re h W n BT 522 37.8 TD 0 Tc 0.03 Tw ( ) Tj ET Q BT 90 709.2 TD /F0 12 Tf 0.0019 Tc 0.0199 Tw (focused on synthesizing and understanding the behavioral dynamics of cognitive systems, ) Tj 0 -13.8 TD -0.0081 Tc 1.099 Tw (while the investigation of constitutive autonomy has been largely marginalized. A large) Tj 0 Tc 0.12 Tw ( ) Tj T* -0.0094 Tc 0.8494 Tw (determining factor for this shift of focus is surely that autonomy, as the defining quality) Tj 0 Tc -0.24 Tw ( ) Tj T* -0.0078 Tc 1.8078 Tw (of all living beings, turned out to be more difficult to tackle than origina) Tj 368.88 0 TD -0 Tc 1.8 Tw (lly expected.) Tj 0 Tc 0.12 Tw ( ) Tj -368.88 -13.8 TD -0.0074 Tc 2.6474 Tw (However, it is time that the field of artificial life makes another concerted effort to) Tj 0 Tc -0.12 Tw ( ) Tj 0 -13.8 TD -0.006 Tc 1.926 Tw (improve our understanding of constitutive autonomy. Such an undertaking is not only) Tj 0 Tc -0.24 Tw ( ) Tj T* -0.0112 Tc 1.4512 Tw (desirable from the point of view of providing a strong foundation for) Tj 0 Tc 0 Tw ( ) Tj 349.92 0 TD -0.0024 Tc 1.4424 Tw (systems biology,) Tj 0 Tc 0 Tw ( ) Tj -349.92 -13.8 TD 0 Tc 0.4478 Tw (but is also crucial for the development and establishment of the enactive paradigm in the ) Tj 0 -13.8 TD -0.0047 Tc 0.0647 Tw (cognitive sciences \() Tj 94.56 0 TD -0.028 Tc 0.028 Tw (cf. ) Tj 15.36 0 TD -0.009 Tc 0.009 Tw (Froese 2007\). ) Tj 68.88 0 TD 0 Tc 0 Tw ( ) Tj -178.8 -13.8 TD ( ) Tj 0 -13.8 TD -0.0074 Tc 1.8074 Tw (Fortunately, it appears that a resurgence of interest in constitutive autonomy might be) Tj 0 Tc 0 Tw ( ) Tj T* 0 Tc 0.4793 Tw (underway in the artif) Tj 101.64 0 TD 0.0051 Tc 0.438 Tw (icial life community. The aim of this paper was to contribute to this ) Tj -101.64 -13.8 TD -0.0083 Tc 1.8083 Tw (new focus of interest by showing that we can take advantage of the progress that has) Tj 0 Tc 0 Tw ( ) Tj 0 -13.8 TD -0.0046 Tc 1.7064 Tw (already been made in using the methodology of evolutionary robotics for synthesizing) Tj 0 Tc 0 Tw ( ) Tj T* -0.008 Tc 1.208 Tw (and understandin) Tj 83.52 0 TD -0.012 Tc 1.212 Tw (g behavioral dynamics. We) Tj 0 Tc 0 Tw ( ) Tj 138.84 0 TD 0.006 Tc 0.114 Tw (have ) Tj 26.88 0 TD -0.0024 Tc 0 Tw (argue) Tj 26.52 0 TD 0 Tc (d) Tj 6 0 TD -0.0029 Tc 1.2029 Tw ( that this can be accomplished) Tj 0 Tc 0.12 Tw ( ) Tj -281.76 -13.8 TD -0.0143 Tc 3.7343 Tw (through a simple re) Tj 103.92 0 TD -0.036 Tc 0 Tw (-) Tj 4.08 0 TD -0.0067 Tc 3.7267 Tw (conceptualization of the method as a more general generative) Tj 0 Tc 0.12 Tw ( ) Tj -108 -13.8 TD -0 Tc 1.4407 Tw (mechanism. While the) Tj 0 Tc 0 Tw ( ) Tj 114.96 0 TD 0.0096 Tc 0.1104 Tw (particular ) Tj 50.52 0 TD 0.0073 Tc 1.4594 Tw (model that we investigated in this paper fails to fully) Tj 0 Tc -0.24 Tw ( ) Tj -165.48 -13.8 TD 0.003 Tc 2.517 Tw (satisfy all the org) Tj 90.36 0 TD -0.0021 Tc 2.5221 Tw (anizational criteria that are required for constitutive autonomy, this) Tj 0 Tc -0.12 Tw ( ) Tj -90.36 -13.8 TD -0.003 Tc 0.333 Tw (study nevertheless served to illustrate that evolutionary robotics has the potential become ) Tj 0 -13.8 TD -0.0105 Tc 0.0105 Tw (a valuable tool for ) Tj 90.48 0 TD 0.0022 Tc -0.0022 Tw (investigating this most basic biological organization) Tj 250.44 0 TD 0 Tc 0 Tw (.) Tj 3 0 TD ( ) Tj -343.92 -13.8 TD ( ) Tj 0 -14.04 TD /F1 12 Tf -0.0052 Tc (Acknowledgements) Tj 99.24 0 TD 0 Tc ( ) Tj -99.24 -13.56 TD /F0 12 Tf ( ) Tj 0 -13.8 TD -0.0059 Tc 2.6559 Tw (Tom Froese wishes to thank Nathaniel Virgo and Eduardo Izquierdo for their many) Tj 0 Tc -0.12 Tw ( ) Tj T* 0.0024 Tc -0.0024 Tw (helpful comments and discussions.) Tj 167.4 0 TD 0 Tc 0 Tw ( ) Tj -167.4 -13.8 TD ( ) Tj 0 -14.04 TD /F1 12 Tf -0.0168 Tc (References) Tj 55.8 0 TD 0 Tc ( ) Tj -55.8 -13.56 TD /F0 12 Tf ( ) Tj 0 -13.8 TD -0.0057 Tc 2.8966 Tw (Barandiaran, X. and Moreno, A. \(2006\). On what makes certain dynamical systems) Tj 0 Tc 0.12 Tw ( ) Tj 18.72 -13.8 TD -0.0076 Tc 2.0716 Tw (cognitive: A minimally cognitive organization pro) Tj 251.64 0 TD -0.012 Tc 0.012 Tw (gram. ) Tj 32.64 0 TD /F2 12 Tf 0.0067 Tc 2.0333 Tw (Adaptive Behavior) Tj 91.8 0 TD /F0 12 Tf 0 Tc 0 Tw (, ) Tj 8.04 0 TD /F1 12 Tf (14) Tj 12 0 TD /F0 12 Tf -0.042 Tc -0.078 Tw (\(2\): ) Tj -396.12 -13.8 TD 0 Tc 0 Tw (171) Tj 18 0 TD -0.036 Tc (-) Tj 3.96 0 TD 0 Tc (185) Tj 18 0 TD (.) Tj 3 0 TD ( ) Tj -61.68 -19.8 TD -0.0011 Tc 5.4011 Tw (Barandiaran, X. and Ruiz) Tj 138.48 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.0115 Tc 5.4355 Tw (Mirazo, K. \(2008\). Introduction. Modelling autonomy:) Tj 0 Tc 0 Tw ( ) Tj -123.72 -13.8 TD -0.0012 Tc 0.0012 Tw (Simulating the essence of life and cognition. ) Tj 216.6 0 TD /F2 12 Tf 0.006 Tc 0 Tw (BioSystems) Tj 54.72 0 TD /F0 12 Tf 0 Tc (, ) Tj 6 0 TD /F1 12 Tf (91) Tj 12 0 TD /F0 12 Tf -0.0069 Tc 0.0069 Tw (\(2\): 295) Tj 38.28 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (304) Tj 18 0 TD (.) Tj 3 0 TD ( ) Tj -371.28 -19.8 TD 0.0029 Tc 0.2505 Tw (Beer, R. D. \(1995\). On the dynamics of small continuous) Tj 276.72 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD -0.01 Tc 0.25 Tw (time re) Tj 33.84 0 TD 0.0016 Tc 0.1584 Tw (current neural networks. ) Tj -295.8 -13.8 TD /F2 12 Tf -0.0083 Tc 0.0083 Tw (Adaptive Behavior) Tj 89.52 0 TD /F0 12 Tf 0 Tc 0 Tw (, ) Tj 6 0 TD /F1 12 Tf (3) Tj 6 0 TD /F0 12 Tf 0.0103 Tc -0.0103 Tw (\(4\): 471) Tj 38.4 0 TD -0.036 Tc 0 Tw (-) Tj 3.96 0 TD 0 Tc (511.) Tj 21 0 TD ( ) Tj -183.6 -19.8 TD 0.0057 Tc 1.4343 Tw (Beer, R. D. \(1997\). The dynamics of adaptive behavior: A research program.) 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