Vector Vs. Scalar

[From Erling Jorgensen (2011.11.11 11:00 EST)]

This thread used to be called “twilight of the idols,” although I forget
how it got that original title. I want to pick up on the question
Martin Taylor raised in various posts, about whether perceptions (or
other related aspects of control loops, such as reference outputs to
the next power level) can be considered or controlled as vectors,
or whether there is a theoretical or experimental necessity that they
be considered scalar signals.

I’ve been puzzling over that question. And while I don’t think I
necessarily have theoretical or experimental evidence, I think there
may be a phenomenological basis for considering that control becomes
possible when a perceptual input function creates a scalar signal.

What got me thinking in this vein was watching my daughter’s indoor
soccer game recently. She is part of a team that had sought to be in
a “recreational” league for her age group, but there were not enough teams
for that, so they got lumped together with the girls’ teams who were
definitely (and previously) in a more “competitive” grouping.

During their last game, they were decidedly overmatched. The girls on
the other team, from what I heard, had largely played together in other
leagues & venues. They knew how to set up & proceed down the field in
triangular patterns, so that they had an incredible passing game. They
regularly utilized outlet passing back to their defensive backs, which
seemed to give them a whole extra degree of freedom that our kids never
utilized. They even were well practiced with “give and go” attack
formations, that kept our kids stymied.

Our kids had a lot of good individual performances. But it was like
there was a whole different dimension of the game that they weren’t
keying in on. They weren’t even perceiving it. Call it “strategy,” or
“playing as a team,” or having well-rehearsed “programs or tactics” to
guide the unfolding play. Those were the kinds of perceptions that
members of the opposing team seemed to be creating & controlling, to
great effect (in terms of both score & effective time of possession, etc.)

Getting back to the vector versus scalar question. This may just be a
metaphorical use of the notion of vector on my part, which may not hold
up if it were implemented or simulated in some way. But I had the
impression that the aspects of play the other team utilized & controlled
so effectively were just being seen by our kids as collections of
unexpected perceptions, which kept cropping up, but which never really
cohered into a whole that they could then control for.

When the opposing team kept flowing into these triangular patterns, which
always allowed for an effective pass to take place, our kids would just
play the ball, but never knew how to get in the way of the passing lanes.
When their players would give & go, by making a pass & then racing ahead
to an open space for a quick return pass, our kids had no idea of how to
coordinate with teammates to stick with the one racing ahead while someone
else checked the one receiving the initial pass.

It is as if [there’s the metaphor] the perceptions for our kids were a
bunch of changing vectors, having no clear rhyme or reason to them (other
than the resulting score…), while the other team had coalesced the
lower level constituting perceptions into scalar(?) variables at a higher
level, rendering them control-able.

It makes me wonder whether the vector-vs.-scalar distinction might apply
to that interface where a different logical level of perception is being
constructed by a new set of perceptual input functions. To say it perhaps
too boldly, perceptions get controlled (or capable of being controlled)
when they become “scalar”. Prior to that, various lower level perceptions
are taking place, some of which are being controlled, but collectively
they still have a “vector-like” quality to them. Relative to the as yet
unformed higher level perceptual input function, there is an amalgam
character to them, which renders them uncontrolled as a whole. So then,
the term “vector” might be an appropriate one to capture the components
of what willl become a more singular perception. But until that “scalar”
function creation happens – bringing into being a new type of ‘invariance’
capable of being perceived – the components do not get controlled in
concert with one another.

To say this in another way. I am trying to ‘take the viewpoint’ of a
perceptual input function as it comes into being. The “vectors” refer to
the various dimensions of the lower level perceptions. A vector has not
just magnitude, but magnitude & direction. Yes, each lower level
perception already has a scalar form. But relative to a higher level
perceptual input function which may be controlled, it also represents an
implementing degree of freedom. That’s the piece that represents its
directionality.

In the example that Martin raised of the glass on the table, there is a
coherent Configuration grouping of perceptions, which remains invariant to
rotation of the glass (changing the oriented line perceptions), & invariant
to alterations in lighting (changing the shading perceptions), & invariant
to variations in position (changing relational delimiters such as what it
is “on”.) Those are all degrees of freedom which are free to vary,
probably within certain limits – for instance, if the lighting is dimmed
too much, the glass will not be monitored by sight, but perhaps by touch.
Nonetheless, those perceptions which constitute the Configuration
perception now cohere & seem to covary with one another. Each one has
its own current scalar value, but those have become degrees of freedom
relative to the glass configuration, once it has been constructed.

This makes me think of going into a highly cluttered gift store, with all
sorts of knick-knacks crammed on the shelves. I initially have the
experience of not really knowing where to look. The individual items
haven’t quite resolved for me. I just kind of see shelving, with a bunch
of lower level perceptions like color, kind of in a jumble. Relative to
seeing a particular “knick-knack”, or the even higher level perception of
a “plausible gift”, the perceptions just seem to exist as vectors to me.
And as such, they don’t yet seem control-able to me as singular objects.

Not sure if this argument is holding together or not. It’s at least
another take on how to view this matter of vectors.

All the best,
Erling

  NOTICE: This e-mail communication (including any attachments) is CONFIDENTIAL and the materials contained herein are PRIVILEGED and intended only for disclosure to or use by the person(s) listed above. If you are neither the intended recipient(s), nor a person responsible for the delivery of this communication to the intended recipient(s), you are hereby notified that any retention, dissemination, distribution or copying of this communication is strictly prohibited. If you have received this communication in error, please notify me immediately by using the "reply" feature or by calling me at the number listed above, and then immediately delete this message and all attachments from your computer. Thank you.

[From Bill Powers (2011.11.11.1125 MDT)]

Erling Jorgensen (2011.11.11 11:00 EST)

···

EJ: Getting back to the vector versus scalar question. This may
just be a metaphorical use of the notion of vector on my part, which may
not hold
up if it were implemented or simulated in some way. But I had
the
impression that the aspects of play the other team utilized &
controlled
so effectively were just being seen by our kids as collections of
unexpected perceptions, which kept cropping up, but which never
really
cohered into a whole that they could then control for.

It makes me wonder whether the vector-vs.-scalar distinction might
apply
to that interface where a different logical level of perception is
being
constructed by a new set of perceptual input functions. To say
it perhaps
too boldly, perceptions get controlled (or capable of being
controlled)
when they become “scalar”.

Very useful post, Erling. That’s how it looks to me, too. Just consider
controlling the magnitude of a 3-D spatial vector. If there is no scalar
representation of the magnitude, the only way to control for a specific
length would be to have one reference signal, perceptual signal, and
comparator for each of X, Y, and Z. But how could that lead to control of
length? Somehow the three reference signals would have to be adjusted so
the square root of the sum of their squares was the length desired. One
way or another, something has to compute the scalar magnitude. If
that’s done on the output side by a higher-level system, we end up with
the compute-and-execute kind of model, with no check to see that the
actual values of the X, Y and Z components really have the intended
length. If the output computations were not perfectly linear and
perfectly transformed into resulting positions, the result would not be
exactly what the reference signals are supposed to specify even if X, Y,
and Z exactly match their respective reference signals.

In Demo 8-3 of LCS3, a hand reaches out to bring the distance between a
fingertip and the center of a triangular target to zero. The radial
distance from shoulder to fingertip and shoulder to target is computed
and the difference is represented as a scalar perception. One higher
system perceives and controls reach distance, while two other systems act
to bring elevation and lateral errors to zero independently, despite the
interactions (elevation and reach control use the same joint angles at
the shoulder and elbow). The distance is a scalar, which is affected
equally by the position of the fingertip that the control system affects
directly, and the position of the target which only you, the user,
affect. If the distance were being precomputed with the expectation that
the lower systems would carry out the required actions, control would
fail as soon as the target moved. Moving the target would change the
distance but wouldn’t change the computation based on old target
information.

The computation has to be based on current information about distance,
and that puts the computation of distance into the input side and makes
it both a perception and a
scalar.

EJ: To say this in another way. I am trying to ‘take the
viewpoint’ of a
perceptual input function as it comes into being. The
“vectors” refer to
the various dimensions of the lower level perceptions. A vector
has not
just magnitude, but magnitude & direction. Yes, each lower
level
perception already has a scalar form. But relative to a higher
level
perceptual input function which may be controlled, it also represents
an
implementing degree of freedom. That’s the piece that
represents its
directionality.
I think you’ve just about nailed it down, though there may still be
a loophole somewhere. As long as a collection of signals is a vector, it
is just a collection. It becomes a controllable variable only when there
is an input function that selects a scalar measure of the collection to
represent as a scalar perception. Ah, I think you have led me to the
right place.

Exactly the same vector can give rise to as many
independently-controllable functions as there are components of the
vector (at most). The same vector therefore can (as it does in Demo 8-3)
give rise to a number of independently-controllable scalars, which I call
“aspects” of the vector.

I think that may take us pretty close to the demonstration or proof that
Martin has been looking for.

Best,

Bill P.

[From Erling Jorgensen (2011.11.11.1510 EST)]
(did we "Fall back" to Standard time or Daylight-savings time...? Time
never has been my forte.)

Bill Powers (2011.11.11.1125 MDT)

One way or another, something
has to compute the scalar magnitude. If that's done on the output
side by a higher-level system, we end up with the compute-and-execute
kind of model, with no check to see that the actual values of the X,
Y and Z components really have the intended length.
...
The computation has to be based on current information about
distance, and that puts the computation of distance into the input
side and makes it both a perception and a scalar.

Maybe that's the 'theoretical' rationale Martin was asking about --
Occam's Razor. To calculate a scalar signal greatly simplifies the
mechanics of control. You are saying (I think) it has to be calculated
in any event, because that is how vectors are formed. To wait & do it
on the output side does not allow for measuring (and thereby correcting
for) the effects of disturbances. Rather, the disturbances would need
to be calculated.

That is extremely unparsimonious from an evolutionary standpoint, or so
it seems to me. It has taken quite a large scientific enterprise over
a few hundred years to develop models which might give us precise details
about the presumed source of various disturbances. Do we really think
that the earliest & most rudimentary forms of negative feedback control
had to rely on knowing about, and thereby calculating, where disturbances
came from? How much more parsimonious to suppose that disturbances were
simply measured as to their effect, on the input side, with whatever
perceptual functions get created. How much more straightforward to
consider that outputs could affect those same inputs, all rolled in
together with the effects of any disturbances, without having to know
a blasted thing about disturbances themselves.

When evolution stumbled upon that kind of wiring arrangement, an
incredibly robust kind of emergent property became possible -- that
which we call "control." That introduced a new kind of stability into
the world, perceptual stability, which could then be built upon. And in
that arrangement, disturbances held much less sway.

Exactly the same vector can give rise to as many
independently-controllable functions as there are components of the
vector (at most).

Mathematics is not really my forte, but I think you are saying that any
given vector could be composed of many different sets of vectors,
depending on the dimensionality of the space. That makes it hard for
me to see how the original vector could actually be _controlled_, as such.
If there were many different ways to reproduce that vector, wouldn't that
suggest that one set of reference output vectors could almost act as a
disturbance to a different set of reference output vectors, both of which
are trying to control the same perceptual vector. (As I said, the math
here is not my strong point, so I may have to leave it to you and Martin
to sort out these aspects.)

Thanks. All the best,
Erling

[From Bill Powers (2011.11.11.1440 MST)]

Erling Jorgensen (2011.11.11.1510 EST)–

(did we “Fall back” to
Standard time or Daylight-savings time…? Time

never has been my forte.)

Don’t blame me, blame the third finger on my left hand, which is used to
hitting “D” and is too old to change its ways. I threatened it
with amputation to get the above result, but that may not be
sufficient.
I love your evolutionary argument – that the earliest systems surely
couldn’t have figured out how to calculate effects of disturbances when a
much simpler and more effective way to achieve control is
available.
I think we need a demo that makes clear a fact I’ve noticed while working
out demos. If you give a person doing a tracking task exact information
that shows at every instant (an instant is 1/60 second) the actual
magnitude and direction of a disturbance that is acting, the person’s
performance will deteriorate if the person pays any attention to this
information
. All the people who talk about anticipation and
prediction and calculating effects of disturbances just assume that such
things improve control. Well, except under special or contrived
circumstances in which control is poor to begin with, they don’t. That is
a simple observable fact that outweighs any accumulation of convincing
logic. In most circumstances, simple negative feedback control is about
the best you can do. Slight improvements can sometimes be achieved by
“quickening,” which augments rate-of-change information, but
nothing dramatic is achieved, while noise is amplified and the control
point tends to drift.

···

=================================================================

EJ: Mathematics is not really my forte, but I think you are saying
that any given vector could be composed of many different sets of
vectors,
depending on the dimensionality of the space. That makes it
hard for
me to see how the original vector could actually be controlled, as
such.
Close, but not quite it. Consider about the simplest possible
vector: two variables, x and y. One possible function of these two
variables is

v1 = x + y

and another possible function is

v2 = x - y

Suppose I pick two numbers out of the air, 17 and -123, and I say that I
want v1 to equal 17 at the same time that v2 = -123.

x + y = 17

x - y = -123

Are there any values of x and y that will make both of those equations
true at the same time? I’m glad you asked.

Add the upper equation to the lower one, left side to left side and right
side to right side:

x + y + x - y = 17 - 123 = -106

2x = -106

x = -53

since x - y = -123, if x= -53 then

-53 - y = -123, so

y = 123 - 53 = 70

Check:

x + y = -53 + 70 = 17

x - y = -53 - 70 = -123

The answer is yes, you can make x + y = 17 at the same time x - y = -123.
But the kicker is this: this will work for ANY two constants, not just 17
and

-123. If you’re a control system receiving the vector made up of x and y,
you can control the scalar value of x + y at any fixed or changing
reference level you please, while another control system that also
receives the same values of x and y controls the scalar value of x - y at
any number it pleases, fixed or changing. The sum and difference of x and
y are aspects of the vector that can be independently controlled. With
only two elements in the vector, there are only two aspects that can be
controlled independently. There are many pairs of functions that would
work, not just sum and difference, but onluy two at a time. If the vector
has more components, that many more aspects can be controlled
independently at the same time. Google “orthogonal
trajectories” for added details about control of nonlinear aspects
of a vector.

EJ: If there were many different ways to reproduce that vector,
wouldn’t that suggest that one set of reference output vectors could
almost act as a disturbance to a different set of reference output
vectors, both of which are trying to control the same perceptual
vector.

Spot on. The trick is to pick orthogonal functions, such that the
value of one function can be changed without affecting the value of the
other function or functions. Without affecting it too much, that is –
some mutual interference can be taken care of by the normal resistance of
a control system to disturbances.

Most of the demos in LCS3 that involve reorganization show how control
systems can be reorganized until they successfully control different
aspects of the same vector of variables without creating crippling
conflict.

Best,

Bill P.

[From Rick Marken (2011.11.11.1530 PST)]

Bill Powers (2011.11.11.1440 MST)--
Erling Jorgensen (2011.11.11.1510 EST)--

Now _this_ is what I can an informative discussion. Thank you Erling and Bill.

BP: I think we need a demo that makes clear a fact I've noticed while working
out demos. If you give a person doing a tracking task exact information that
shows at every instant (an instant is 1/60 second) the actual magnitude and
direction of a disturbance that is acting, the person's performance will
deteriorate if the person pays any attention to this information.

RM: In the demos I've seen the information about the disturbance is
shown on the display near the controlled variable (cursor-target
distance) so it is necessary for the subject to look away a bit from
the controlled variable to see the predictive disturbance. How about
using the loudness of a tone as the information about the disturbance?
That way the subject could continue to focus (visually) on the
controlled variable but attend to the loudness of the sound to get
information about how to move the mouse. I'm sure that the subject's
performance in this case would get worse when he or she tries to use
the loudness as a basis for how to move the mouse. I bet you could
program this up in no time.

Best

Rick

···

All the
people who talk about anticipation and prediction and calculating effects of
disturbances just assume that such things improve control. Well, except
under special or contrived circumstances in which control is poor to begin
with, they don't. That is a simple observable fact that outweighs any
accumulation of convincing logic. In most circumstances, simple negative
feedback control is about the best you can do. Slight improvements can
sometimes be achieved by "quickening," which augments rate-of-change
information, but nothing dramatic is achieved, while noise is amplified and
the control point tends to drift.

EJ: Mathematics is not really my forte, but I think you are saying that any
given vector could be composed of many different sets of vectors,
depending on the dimensionality of the space.� That makes it hard for me to
see how the original vector could actually be _controlled_, as such.

Close, but not quite it. Consider about the simplest possible vector: two
variables, x and y. One possible function of these two variables is

v1 = x + y

and another possible function is

v2 = x - y

Suppose I pick two numbers out of the air, 17 and -123, and I say that I
want v1 to equal 17 at the same time that v2 = -123.

x + y =�� 17
x - y = -123

Are there any values of x and y that will make both of those equations true
at the same time? I'm glad you asked.

Add the upper equation to the lower one, left side to left side and right
side to right side:

x + y + x - y = 17 - 123 = -106

2x = -106

x = -53

since x - y = -123, if x= -53 then

-53 - y = -123, so

y = 123 - 53 = 70

Check:

x + y = -53 + 70 = 17

x - y = -53 - 70 = -123

The answer is yes, you can make x + y = 17 at the same time x - y = -123.
But the kicker is this: this will work for ANY two constants, not just 17
and
-123. If you're a control system receiving the vector made up of x and y,
you can control the scalar value of x + y at any fixed or changing reference
level you please, while another control system that also receives the same
values of x and y controls the scalar value of x - y at any number it
pleases, fixed or changing. The sum and difference of x and y are aspects of
the vector that can be independently controlled. With only two elements in
the vector, there are only two aspects that can be controlled independently.
There are many pairs of functions that would work, not just sum and
difference, but onluy two at a time. If the vector has more components, that
many more aspects can be controlled independently at the same time. Google
"orthogonal trajectories" for added details about control of nonlinear
aspects of a vector.

EJ: If there were many different ways to reproduce that vector, wouldn't
that suggest that one set of reference output vectors could almost act as a
disturbance to a different set of reference output vectors, both of which
are trying to control the same perceptual vector.

Spot on. The trick is to pick orthogonal functions, such that the value of
one function can be changed without affecting the value of the other
function or functions. Without affecting it too much, that is -- some mutual
interference can be taken care of by the normal resistance of a control
system to disturbances.

Most of the demos in LCS3 that involve reorganization show how control
systems can be reorganized until they successfully control different aspects
of the same vector of variables without creating crippling conflict.

Best,

Bill P.

--
Richard S. Marken PhD
rsmarken@gmail.com
www.mindreadings.com