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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" " """D"@ "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" """qqp@"@ "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# """$"" "  ""  ""  "p"  "p"  "Aw""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" a` ""0"  "" """ """"" """ """"af% "ABU "" %U "A 2"0"A 2"0"aw""" ""0"D  "" " """" " """"@ "D "%U %U "%U %U "B"02"0""""0"af  "af  "@ """" "w "%U "%U "2"0"""qw"" ""0qw"" ""0aD  "qpp@" """qwqqwG"@ "pqqqAwD "wpwpqAwD "wpwp%U %U "ppB"02"0"pqpw"wpw ""0"qp ""0"qp@  "af""" """"% "BU "BU "" %U 2"0 endstream endobj 73 0 obj 26600 endobj 71 0 obj << /Length 74 0 R /Filter /ASCII85Decode >> stream rr2m""9_Fn:"S"Kh;-oPlKZ1#^s($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. \(2006\). 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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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