Librarian robot controlled by mathematical AIM model

This paper presents a librarian robot that has sleep and wake functions. This robot is equipped with a laser range finder for tracking library users´ behaviors, a microphone for conversation with a user and a stereo vision. A lot of processes run in parallel in this system, operations of these processes are controlled by our proposed mathematical activation-input-modulation (AIM) model, that can express consciousness states, such as wake or sleep based on stimuli detected by the external sensors. In a waking state, sensory information with stimuli is mainly processed. In a sleep state, most processing is paused, or information stored in memories during waking is mainly processed. Moreover, this system has two kinds of memories. One is a memory stored when external stimuli are detected, the other is a memory stored when no stimulus is detected. Both dynamic and gradual changes of sensory information can be stored by these functions.