Seventh European Conference on Artificial Life
Evolving Embodied Genetic Regulatory Network-driven Control Systems

Reference
Quick, T., Nehaniv, C.L., Dautenhahn, K. and Roberts, G.: Evolving Embodied Genetic Regulatory Network-driven Control Systems. In Wolfgang Banzhaf, Thomas Christaller, Peter Dittrich, Jan T. Kim, Jens Ziegler, Eds., Proc. Seventh European Conference on Artificial Life. September 14-17 2003, Dortmund, Germany (ECAL 2003), 2003, LNAI 2801, pp. 266-277.

Abstract
We demonstrate the evolution of simple embodied Genetic Regulatory Networks (GRNs) as real-time control systems for robotic and software-based embodied Artificial Organisms, and present results from two experimental test-beds: homeostatic temperature regulation in an abstract software environment, and phototactic robot behaviour maximising exposure to light. The GRN controllers are continually coupled to the organisms' environments throughout their lifetimes, and constitute the primary basis for the organisms' behaviour from moment to moment. The environment in which the organisms are embodied is shown to play a significant role in the dynamics of the GRNs, and the behaviour of the organisms.

Fifth European Conference on Artificial Life
On bots and bacteria: Ontology independent embodiment

Reference
Quick, T., Dautenhahn, K., Nehaniv, C.L. and Roberts, G.: On bots and bacteria: Ontology independent embodiment. In D. Floreano, J.D. Nicoud, F. Mondada, Eds., Proc. Fifth European Conference on Artificial Life. September 13-17 1999, Lausanne, Switzerland (ECAL 99), 1999, LNAI 1674, pp. 339-343.

Abstract
A framework for understanding and exploiting embodiment is presented which is not dependent on any specific ontological context. This framework is founded on a new definition of embodiment, based on the relational dynamics that exist between biological organisms and their environments, and inspired by the structural dynamics of the bacterium Escherichia coli. Full recognition is given to the role played by physically instantiated bodies, but in such a way that this can be meaningfully abstracted within the constraints implied by the term 'embodiment', and applied in a variety of operational contexts. This is illustrated by ongoing experimental work in which the relational dynamics that exist between E. coli and its environment are applied in a variety of software environments, using Cellular Automata (CA) with artificial 'sensory' and 'effector' surfaces, producing qualitatively similar 'chemotactic' behaviours in a variety of operational domains.

Original version
This is the original Reseach Note submitted to ECAL. It is roughly twice as long as the published version above, has more detail, and is less polished.

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quick_rn-99-14.ps.gz

Third International Conference on Computing Anticipatory Systems
The Essence of Embodiment: A Framework for Understanding and Exploiting Structural Coupling Between System and Environment

Note
This paper is effectively a 'filled-in' version of the ECAL paper, containing quite a lot more detail and explanation, as well an updated implementational model and experimental program.

Reference
Quick, T., Dautenhahn, K., Nehaniv, C.L. and Roberts, G.: The Essence of Embodiment: A Framework for Understanding and Exploiting Structural Coupling Between System and Environment. In Daniel M. Dubois, Ed., Proc. Third International Conference on Computing Anticipatory Systems, Symposium 4 on Anticipatory, Control and Robotic Systems, Liège, Belgium, August 9-14, 1999 (CASYS'99), pp. 649-660.

Abstract
A framework for understanding and exploiting embodiment is presented which is not dependent on any specific ontological context. This framework is founded on a new definition of embodiment, based on the relational dynamics that exist between biological organisms and their environments, and inspired by the structural dynamics of the bacterium Escherichia coli. The definition draws on the idea of mutual perturbation between a system (biological organism, robot, or software agent) and its environment, enabling structural coupling between the two. The framework provides a vocabulary and concepts that can be used to discuss and analyse embodiment in any kind of environment, not just the material world. Rather than blurring boundaries between disciplines and domains, this permits the characterisation of distinctions and common features between them, in a manner meaningful to all parties. Other benefits include the potential quantification of embodiment, and access to practical and theoretical ideas associated with material embodiment for those working with non-material systems. The relational embodiment definition is illustrated by ongoing experimental work in which the relational dynamics that exist between E. coli and its environment are applied in a variety of environments, both software and material, using a Cellular Automata-based system with artificial 'sensory' and 'effector' surfaces. This experimental system is also used to outline a biologically grounded, dynamical systems-based approach to the generation of behaviour in a variety of operational environments, exploiting features of the embodiment framework presented.

Genetic and Evolutionary Computation Conference
Embodiment as situated structural coupling

Note
1 page poster for the GECCO-99 PhD workshop. Essentially, a very condensed version of Bots and Bacteria

Reference
Quick, T.: Embodiment as situated structural coupling. 1999 Genetic and Evolutionary Computation Conference, Orlando, Florida. July 13-17 (GECCO-99), 1999.

Abstract
This document summarises research investigating what it means for a system to be embodied in some environment. A definition based on the concept of structural coupling is offered, which allows the term to be meaningfully applied in non-physical contexts. An ongoing program of research, embodying a dynamical system based on the bacterium Escherichia coli in a variety of environments, including the Internet, supports this definition.

4. Fachtagung der Gesellschaft für Kognitionswissenschaft
(BabelFish Trans: 'Fourth Conference of the Society for Cognitive Science')
Making embodiment measurable

Note
KogWis99 Online paper for workshop on Embodied Mind / Artificial Life

Reference
Quick, T., and Dautenhahn, K.: Making embodiment measurable. 4th Fachtagung der Gesellschaft für Kognitionswissenschaft; Workshop "Embodied Mind / ALife." 28 September - 1 October, 1999 (KogWis'99). To Appear.

Abstract
Recognising the embodiment of physical systems in their environment impacts hugely on the design of robots, in terms of both challenges and opportunities for the designer. Despite this significance, use of the term 'embodiment' is governed largely by tacit assumptions with regard to its meaning. We present a new and explicit definition of what it means for a system to be embodied. This definition provides a solid and intuitive basis for the quantification of embodiment, offering significant practical benefits for practitioners.

World Multi-Conference on Systemics, Cybernetics and Informatics
Dynamic semantic systems - an information systems' impact model

Note
A pre-embodiment / ALife paper.

Reference
Quick, T., and McDonnell, J.: Dynamic semantic systems - an information systems' impact model. International Conference on Systematics, Cybernetics and Informatics / Information Systems Analysis and Synthesis (WMSCI / ISAS 98), July 12-16, Orlando, Florida, 1998.

Abstract
This paper presents a descriptive framework comprised of a high level model of the manner in which information systems impact on social systems - in particular the dynamic semantic systems which determine how information is interpreted and used. The framework draws on existing theoretical components: Wittgenstein's language-games, and the concepts of bifurcation, resilience and stability in social systems qua complex systems far from thermodynamic equilibrium. It is suggested that the framework is valuable in three respects.

First, it provides a model of the impact which information systems and information technologies have on the human systems within which they find meaning and application. This furnishes us with a basis for predicting the kind and extent of the disruption likely to be caused to a dynamic semantic system through the introduction of or changes to an information system. It also provides a basis for designing intervention strategies to exert control over such disruption and the likely results thereof.

Second, it is built upon an appreciation of and hence provides a conceptual 'handle' on the constant, dynamic and temporally distributed relationship between human systems and information systems.

Third, through appeal to 'indirect steering' and the concept of structural coupling between a system and its environment, it offers a novel approach to the problem of steering and controlling highly complex equilibrium far systems.