The Forth Industrial Revolution

The Oxford Martin School predicts 47% of current jobs are at risk of being replaced by robots in the next 25 years. In the film, Blackwell and Walsh identify certain key industries likely to be threatened by automated disruption and come up with the approximate figure of 500 million people who will soon be made redundant.

Typically, these statistics are a launching pad for people to speculate about how humanity will find meaning in a world without labour. Although the film does tackle these questions, it also encourages viewers to think about what will happen to the half-billion-odd workers facing sudden redundancy.

“We saw all these futurists, some of them very articulate and very successful but we found they were just becoming too excited without thinking about the global repercussions on very fragile infrastructures in developing countries,” Blacknell says.

On this point, the Rise of the Robots author, Martin Ford, is especially prescient. Contrary to many of his fellow interviewees, he argues that technology alone offers no solution to the problems of massive job displacement.

Ford believes addressing the challenge will require social and political will to push the boundaries of capitalism – and although the idea of a universal basic income isn’t explicitly mentioned (it’s to be the subject of Blacknell and Walsh’s next film), it does serve as
the backdrop to much of the discussion.

The film-makers decided to intersperse interview footage with archival
footage, much of it in black and white. This helps to place contemporary questions about work in a deeper historical context.



Indeed there have been moments in the past when the rapid expansion of technology has both excited and terrified us. At the 1889 Paris Exhibition, guild artisans were invited to marvel at new labour-saving devices which, as the artisans quickly realized, would destroy their way of life and most likely leave them destitute. Whether they endured or not isn’t easily determined, though several interviewees acknowledge the enormous job displacement that occurred in this period.

Of course, there are strong moral arguments for progress, and Blacknell and Walsh don’t deny the potential benefits. But while The Future of Work and Death encourages viewers to look toward the leading edge of research, it also strongly advises us to keep the other eye on
what’s happening right now.

“You’ve got to ask yourself, what’s important on a global scale?” Walsh says. “I think it’s important to focus on the trailing edge [those in poverty] a little bit if you’re going to move forward at such pace.”

This is perhaps more significant in the discussion of death. The documentary includes a quote from Bill Gates: “It seems pretty egocentric while we still have malaria and TB [affecting impoverished communities] for rich people to fund things so they can live longer.”
When the documentary turns to mortality and humanity’s attempt to conquer death through longevity, the discussion of what the future is likely to look like gets even more opaque.



The film explores two different models of longevity: the attempt to conquer ageing, championed by the gerontologist Aubrey de Grey, and the project of digitally uploading human consciousness so our minds can live on without our bodies.

The unifying tenet behind these approaches is the philosophy of transhumanism, a movement that aims to reject the physical and intellectual limitations of humanity in favour of something greater. Given death is humanity’s greatest limitation, the holy grail of transhumanism is immortality.

The anthropologist Ernest Becker believed human life was defined by its avoidance of death – a theme the anthropologists Joanna Cook and Steve Fuller and the writer Will Self explore at length in the documentary. Becker also believed humans strived for immortality, though he thought we were more likely to achieve it through what we created. Instead of actual immortality, Becker believed humans undertake “immortality projects” to be remembered once they’re gone.
There’s a striking coincidence here: at the same time that humanity seeks genuine immortality, we’ve begun to phase out work – the attempt to fuse our labour with the world to create something new – perhaps the most common immortality project we’ve created.



The irony here is that the transhumanist desire to overcome humanity is motivated by perhaps the most deeply entrenched human instinct there is: survival. The transhumanists claim it is their zeal for life that motivates them.

Chesterton’s words again come to mind. “When men have come to the edge of a precipice,” he says, “it is the lover of life who has the spirit to leap backwards, and only the pessimist who continues to believe in
progress.”

Who the optimists and the pessimists are in the fight for humanity’s future remains to be seen, but The Future of Work and Death lends both a soapbox on which to state their case. And as technology takes us closer to either utopia or the cliff, the film helps along a conversation we desperately need to have.
Source: The Guardian news

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With Robots: Is a life without work one, we’d want to live?

Being gainfully employed is about more than money. We need to consider what will give our lives purpose and connections in the age of auto information.

When Aristotle described “the complete happiness of man”, he thought it would include, among other things, “self-sufficiency, leisureliness and unweariedness”. Unfortunately the philosopher concluded that “such a life would be too high for man” – it was suitable only for the gods. All the same, he encouraged humanity to keep striving to get as close to “complete happiness” as possible.

I reckon he’d be proud of where we’ve got. Today, the fourth industrial revolution– which ranges from artificial intelligence to genetic engineering and automation – promises almost total freedom from weariness and uninterrupted leisure time as demands of work are taken away from us by better, cheaper and more efficient artificial technology.

The robots are coming and apparently they’re here to work.
But will all the free time we’re being promised actually make our lives any better? Is a life without work one we’d actually want to live?

I’ve often debated the merits of continuing to work after winning the lotto with friends and family – I maintain that I wouldn’t but I always find myself in the minority. Apparently this isn’t unique to my social circle – a 2013 Gallup poll found 68% of people would keep working after winning lotto. I’m assuming they’re not thinking they’ll still need the money, so what is it about the daily grind that’s more appealing than putting your feet up on a beach?



People view a robot during the Taiwan Automation Intelligence and Robot Show in Taipei, Taiwan, in August.

The obvious answer is that we don’t only work for income we do it because it adds meaning to our lives and gives a sense of purpose. Even though I insist I wouldn’t work if I struck it rich, what I mean is that I’d choose the type of work I would do and how often I’d do it. For instance, I would still write and give talks on subjects I’m passionate about.

It’s not necessarily because “if you do what you love, you’ll never work a day in your life”. Writing, preparing talks and doing research are all work but it’s work I think is worth doing and the financial wealth would mean I could balance it with everything else I value in life. To put it simply, I’d do it because it would bring me closer to Aristotle’s “complete happiness”.

There’s new research to back up this popular mode of thinking. The economist Paul Dolan’s recent book Happiness by Design shows the happiest people are those who experience feelings of both purpose and pleasure over time. All the work and no play might make Jack a dull boy but all play and no work, isn’t going to make him happy either.

Of course not all work is going to provide us with a profound sense of purpose. Some of it is both pointless and unpleasant – a total happiness suck. Someone in a role they hate, working for a company whose values don’t match their own or not earning enough money to live off isn’t going to be nourished by their work. Assuming their financial needs could be met, they’d seem to be much better off quitting and leaving the work to a robot.



Here’s where the challenges for automation start to arise. It’s easy to say there are certain individuals who would be happier if they left their jobs to a robot but automation isn’t going to replace individual roles – it’s going to replace entire industries. Experts say 47% of jobs in America are likely to be robots and other automated processes and researchers reckon the situation is likely to be similar in Australia.

There are almost undoubtedly people who find purpose or pleasure in the work they do and will not be happier having their jobs replaced. But automation looks likely to capture the satisfied and dissatisfied alike across a range of industries – cabbies, surgeons, accountants, artists, – the list goes on.

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Deep Learning: A Giant Step for Robots

The prospect of robots that can learn for themselves — through artificial intelligence and adaptive learning — has fascinated scientists and movie-goers alike. Films like Short Circuit, Terminator, Millennial Man, Chappie and Ex Machina flirt with the idea of a machine intelligence beyond the restricted rules of a set program.

Robots today can be programmed to reliably carry out a straightforward task over and over, such as installing a part on an assembly line. But a robot that can respond appropriately to changing conditions without specific instructions for how to do so has remained an elusive goal.

A robot that could learn from experience would be far more versatile than one needing detailed, baked-in instructions for each new act. It could rely on what artificial intelligence researchers call deep learning and reinforcement learning.



Deep learning enables the robot to perceive its immediate environment, including the location and movement of its limbs. Reinforcement learning means improving at a task by trial and error. A robot with these two skills could refine its performance based on real-time feedback.

For the past 15 years, Berkeley robotics researcher Pieter Abbeel has been looking for ways to make robots learn. In 2010 he and his students programmed a robot they named BRETT (Berkeley Robot for the Elimination of Tedious Tasks) to pick up different sized towels, figure out their shape and neatly fold them.

The key instructions allowed the robot to visualize the towel’s limp shape when held by one gripper and its outline when held by two. It may not seem like much but the challenge was daunting for the robot. After as many as a hundred trials — holding a towel in different places each time — BRETT knew the towel’s size and shape and could start folding. A YouTube video of BRETT’s skills was viewed hundreds of thousands of times.

“The algorithms instructed the robot to perform in a very specific set of conditions, and although it succeeded, it took 20 minutes to fold each towel,” laughs Abbeel, associate professor of electrical engineering and computer science.




“We stepped back and asked ‘How can we make it easier to equip robots with the ability to perfect new skills so that we can apply the learning process to many different skills?’”

This year in a first for the field Abbeel gave a new version of BRETT the ability to improve its performance through both deep learning and reinforcement learning. The deep learning component employs so-called neural networks to provide moment-to-moment visual and sensory feedback to the software that controls the robot’s movements.

With these programmed skills, BRETT learned to screw a cap onto a bottle, to place a clothes hanger on a rack and to pull out a nail with the claw end of a hammer.

Its onboard camera allowed BRETT to pinpoint the nail to be extracted, as well as the position of its own arms and hands. Through trial and error, it learned to adjust the vertical and horizontal position of the hammer claw as well as maneuver the angle to the right position to pull out the nail.

The deep reinforcement learning strategy opens the way for training robots to carry out increasingly complex tasks. The achievement gained widespread attention, including an article in The New York Times.



BRETT learned to complete his chores in 30 to 40 trials, with each attempt taking only a few seconds. Still, he has more trial and error ahead: Learning to screw a cap on a bottle doesn’t prepare him to screw a lid on a jar. Instead, he re-starts learning as if he had never mastered caps and bottles. Abbeel has begun research aimed at enabling robots to do something humans take for granted, generalize from one task to another.

Starting this year, the Bakar Fellows Program will support Abbeel’s lab with $75,000 a year for five years to help him refine the deep-learning strategy and move the research towards commercial viability. In addition to financial support, the Bakar Fellows Program provides mentoring in such crucial areas as the intricacies of venture capital and strategies to secure intellectual property rights.

“The Bakar support will allow us to improve the robot’s deep-learning ability and to apply a learned skill to new tasks,” Abbeel says.

Applications for such a skilled robot might range from helping humans with tedious housekeeping chores all the way to assisting in highly detailed surgery. In fact, Abbeel says, “Robots might even be able to teach other robots.”
Source: NEUROSCIENCE NEWS

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Mind over matter: Our Thoughts may control Robots

We can use the power of thought to control a robot that helps to move a paralyzed hand: a project from the ETH Rehabilitation Engineering Laboratory could fundamentally change the therapy and daily lives of stroke patients.

One in six people will suffer a stroke in their lifetime. In Switzerland alone, stroke affects 16,000 people every year. Two thirds of those affected suffer from paralysis of the arm. Intensive training can -- depending on the extent of damage to the brain -- help patients regain a certain degree of control over their arms and hands. This may take the form of classic physio- and occupational therapy, or it may also involve robots.

Roger Gassert, Professor of Rehabilitation Engineering at ETH Zurich, has developed a number of robotic devices that train hand functions and sees this as a good way to support patient therapy. However, both physio- and robot-assisted therapy are usually limited to one or two training sessions a day; and for patients, travelling to and from therapy can also be time consuming.



Exoskeletons as exercise robots
"My vision is that instead of performing exercises in an abstract situation at the clinic, patients will be able to integrate them into their daily life at home, supported -- depending on the severity of their impairments -- by a robot," Gassert says, presenting an exoskeleton for the hand. He developed the idea for this robotic device together with Professor Jumpei Arata from Kyushu University (Japan) while the latter was working in Gassert's laboratory during a sabbatical in 2010.

"Existing exoskeletons are heavy, and this is a problem for our patients because it renders them unable to lift their hands," Gassert says, explaining the concept. The patients also have difficulty feeling objects and exerting the right amount of force. "That's why we wanted to develop a model that leaves the palm of the hand more or less free, allowing patients to perform daily activities that support not only motor functions but somatosensory functions as well," he says. Arata developed a mechanism for the finger featuring three overlapping leaf springs. A motor moves the middle spring, which transmits the force to the different segments of the finger through the other two springs. The fingers thus automatically adapt to the shape of the object the patient wants to grasp.



However, the integrated motors brought the weight of the exoskeleton to 250 grams, which in clinical tests proved too heavy for patients. The solution was to remove the motors from the hand and fix them to the patient's back. The force is transmitted to the exoskeleton using a bicycle brake cable. The hand module now weighs slightly less than 120 grams and is strong enough to lift a liter bottle of mineral water.

Researching brain processes
Gassert is currently driven by the question of what happens in the brain and how commands pass from the brain to reach the extremities after a stroke. "Especially with seriously affected patients, the connection between the brain and the hand is often severely or completely disrupted," Gassert explains, "so we are looking for a solution that will help patients pass on commands to the robotic device intuitively." The idea is to detect in the brain a patient's intention to move his or her hand and directly pass this information on to the exoskeleton. This may also produce a therapeutic benefit. According to Gassert, a number of studies show that it is possible to strengthen existing neural connections between the brain and the hand with regular exercise. An important component for this is that the brain receives somatosensory feedback from the hand when it produces a command to move.

In order to understand what goes on in the brain, Gassert is carrying out fundamental research with clinicians, neuroscientists and therapists. For their research, the scientists can draw on a number of imaging techniques, such as functional magnetic resonance imaging (fMRI), which allows them to map the activities of the whole brain. While this technology allows them to gain fundamental new insights, fMRI is both very expensive and highly complex and consequently not suitable for therapy. "And of course, it's not portable," Gassert adds with a mind to his project. He therefore focuses on simpler techniques such as electroencephalography (EEG) -- and in particular functional near-infrared spectroscopy (fNIRS), the least expensive of these technologies. Gassert is currently engaged in the challenging task of figuring out whether and how fNIRS can be robustly employed. He is working on this together with a group from the University Hospital, who are contributing their experience in clinical application of the technology.



Fundamental insights
Another question that is still not fully understood is how the brain controls limbs that interact with the environment. "Here, robotics is making a valuable contribution to basic research because it is ideally suited for capturing a movement, perturbing it and measuring the reaction," Gassert explains. For example, the robotics experts have developed an exoskeleton that makes it possible to block the knee for 200 milliseconds while walking and extend it by 5 degrees. With the help of sensors, the scientists measure the forces that are involved and use this data to infer how the brain modulates the stiffness of the knee. These findings then flow into applications such as the control of new, active prostheses.

If the researchers succeed in establishing an interaction between the brain and the exoskeleton, the result will be a device that is ideally suited for therapy. If, on the other hand, the deficits are permanent, a robotic device could offer long-term support -- as an alternative to invasive methods, which are also being researched. These for instance envisage implanting electrodes in the brain and triggering stimulators in the muscles. However, as long as stroke patients can expect to experience a reasonable degree of recovery, the robot-assisted therapy will be the obvious choice.
Source: ETH Zurich

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Is your Job secured?

Soon 95 million jobs going to Robots in the next 10 to 20 years

Sooner or later, the robot uprising and the ultimate downfall of man will be upon us. Or, at least, that’s how robot doomsayers tell it.

Robots will play more and more important roles in our lives in the future, likely becoming essential components of our daily routines. In the process, they may end up taking over the world, but not in a Terminator or Matrix kind of way, but rather in a WALL-E kind of fashion. We might end up using robots for various tasks that will only grow in complexity as robotics advance to the point they can replace humans for plenty of jobs, including tasks that require plenty of creativity. These smarter robots might put 50% of jobs at risk in the U.S. and the U.K., a new report show.

The Bank of England believes that machines might take over 80 million American and 15 million British jobs over the next 10 to 20 years, “CNN Money report”, or 50% of the workforce in each of the two countries.



“These machines are different,” the bank’s chief economist Andy Haldane said. “Unlike in the past, they have the potential to substitute for human brains as well as hands.”

According to the bank, administrative, clerical and production workers might be the first to be replaced by robots in the coming years. That’s not to say unemployment will suddenly rise. Humans will “adapt their skills to the tasks where they continue to have a comparative advantage over machines.”

A recent Oxford University study says that the jobs at risk of being replaced by robots include loan officers, receptionists, paralegals, salespeople, drivers, security guards, fast food cooks, and bartenders.

Other jobs including marketers, journalists and lawyers might also be added to the list in the future, founder of Webbmedia Group Amy Webb said at the Milken Global Conference this year.



Haldane says that unlike during the Industrial Revolution, where manual laborers were forced to improve their skills and adapt to more sophisticated jobs, robots will simply replace humans this time around. The more intelligent machines would be able to take over mid-skilled jobs, leaving low-skilled or very high-skilled jobs for humans.

“The smarter machines become, the greater the likelihood that the space remaining for uniquely-human skills could shrink further,” he warned.

Just to give an example of how the Robotic will affect the future, let us introduce Pepper the robot, one of the smartest AI creations on the market today, is capable of recognizing human facial expressions and interacting with them accordingly. It’s because of this that Pepper has found use as a ‘companion’ robot for elderly people and children, primarily.

Now, however, Pepper is being used as a receptionist in two Belgian hospitals, offering the first insight of how it fares in a dedicated healthcare environment.

While Softbank has been making Pepper in batches of 1,000 for less than $2,000 each, that’s not quite the same model that will be gracing the reception desks in those hospitals. Instead, that’s an upgraded $34,000 model, according to the BBC.



Among Pepper’s special abilities is its understanding of 20 different languages, and being able whether its talking to a man, woman or child.

According to the Beeb, in one hospital, Pepper will remain in reception, but in another trial location, he’ll be accompanying visitors to other departments and wards. Meanwhile in Singapore, Pepper’s been employed to take food at some specialty Pizza Hut stores.

The future is very nearly here, people.

Source: Chris Smith

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Soft-bodied robots: Actuators inspired by muscle

The new actuators could pave the way for entirely soft-bodied robots that are safer than their conventional rigid counterparts

To make robots more cooperative and have them perform tasks in close proximity to humans, they must be softer and safer. A new actuator developed by a team led by George Whitesides, Ph.D. -- who is a Core Faculty member at Harvard's Wyss Institute for Biologically Inspired Engineering and the Woodford L. and Ann A. Flowers University Professor of Chemistry and Chemical Biology in Harvard University's Faculty of Arts and Sciences (FAS) -- generates movements similar to those of skeletal muscles using vacuum power to automate soft, rubber beams.

Like real muscles, the actuators are soft, shock absorbing, and pose no danger to their environment or humans working collaboratively alongside them or the potential future robots equipped with them. The work was reported June 1 in the journal Advanced Materials Technologies.

"Functionally, our actuator models the human bicep muscle," said Whitesides, who is also a Director of the Kavli Institute for Bionano Science and Technology at Harvard University. "There are other soft actuators that have been developed, but this one is most similar to muscle in terms of response time and efficiency."



Whitesides' team took an unconventional approach to its design, relying on vacuum to decrease the actuator's volume and cause it to buckle. While conventional engineering, would consider bucking to be a mechanical instability and a point of failure, in this case the team leveraged this instability to develop VAMPs (vacuum-actuated muscle-inspired pneumatic structures). Whereas previous soft actuators rely on pressurized systems that expand in volume, VAMPs mimic true muscle because they contract, which makes them an attractive candidate for use in confined spaces and for a variety of purposes.

The actuator -- comprising soft rubber or 'elastomeric' beams -- is filled with small, hollow chambers of air like a honeycomb. By applying vacuum the chambers collapse and the entire actuator contracts, generating movement. The internal honeycomb structure can be custom tailored to enable linear, twisting, bending, or combinatorial motions.

"Having VAMPs built of soft elastomers would make it much easier to automate a robot that could be used to help humans in the service industry," said the study's first author Dian Yang, who was a graduate researcher pursuing his Ph.D. in Engineering Sciences at Harvard during the time of the work, and is now a Postdoctoral Researcher.

The team envisions that robots built with VAMPs could be used to assist the disabled or elderly, to serve food, deliver goods, and perform other tasks related to the service industry. What's more, soft robots could make industrial production lines safer, faster and quality control easier to manage by enabling human operators to work in the same space.



Although a complex control system has not yet been developed for VAMPs, this type of actuation is easy to control due to its simplicity: when vacuum is applied, VAMPs will contract. They could be used as part of a tethered or untethered system depending on environmental or performance needs. Additionally, VAMPs are designed to prevent failure -- even when damaged with a 2mm hole, the team showed that VAMPs will still function. In the event that major damage is caused to the system, it fails safely.

"It can't explode, so it's intrinsically safe," said Whitesides.
Whereas other actuators powered by electricity or combustion could cause damage to humans or their surroundings, loss of vacuum pressure in VAMPs would simply render the actuator motionless.

"These self-healing, bioinspired actuators bring us another step closer to being able to build entirely soft-bodied robots, which may help to bridge the gap between humans and robots and open entirely new application areas in medicine and beyond," said Wyss Founding Director Donald Ingber, M.D., Ph.D., who is also the Judah Folkman Professor of Vascular Biology at Harvard Medical School and the Boston Children's Hospital Vascular Biology Program, as well as Professor of Bioengineering at Harvard's John A. Paulson School of Engineering and Applied Sciences (SEAS).



Source: Wyss Institute for Biologically Inspired Engineering at Harvard.

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Bioengineers created a "Psychic Robot" that can predict our intentions

In a stunning breakthrough in the field of "Artificial Intelligence", scientists at the University of Illinois, Chicago developed what is called the "Psychic Robot". Although this indicates that the technology advance, in conjunction with biology, continue their relentless march towards duplication of human beings, is not free of severe criticism of great scientists such as Stephen Hawking who said that AI can lead our society to a humanistic deterioration. He says “if one day the robots reach the same or higher level of intelligence than the human being, they could destroy our race." Although this scenario looks improbable or fictional, the AI science is developing intelligent models every day, beyond our imagination.
Let us for a moment explain this concept of AI, specifically the robotics, or perhaps refresh their knowledge in this field. -The AI is considered a discipline which, in
conjunction with other sciences, research, studies and applies designs that are able to provide solutions to particular situations and using as a model the human intelligence. Among the sciences that help the AI, we can mention mathematics, logic, philosophy, neuroscience, computer science, and of course the Psychology, among others.
This discipline, with the help of the above sciences, seeks to create machines that are capable of "thinking". This concept applies only to non-living agents. Specifically the computerized science is the generator of this discipline. This term was created in 1956 by Dr. John McCarthy (1927-2011). Those who are familiar with his work, he was the creator of the LISP programming language, which later on influenced the development of the ALGOL language and believe it or not, he was the creator of "time sharing" (timeshare), being the pioneer of what today is known as "social networking" (social networks).
He defined this concept "as the science and ingenuity of making intelligent machines, especially intelligent computer program, once he said,” they were only machines, such as the coffee machine”.
Some of the applications of AI are controls systems, automatic planning, handwriting recognition, speech recognition, and another field of use includes economics, medicine, engineering, military, video games, etc. -.
This progress in the field of AI opens a world, still unexplored to humans. Imagine, create robots able to guess the intentions of human beings. These scientists in the field of bioengineering, with the development of "mental robot", can predict our physical actions, with the help of a mathematical algorithm - containing group operations, step by step, attempts to solve problems, such as the formalization of Gödel-Herbrand-Kleene - recursive functions (mathematical logic) – or Alan Turin’s machines. This algorithm designs, analyzes and estimate the intentions of individuals based on a complex analysis of their previous actions.

The scientists at the University of Illinois based their research on the creation of a virtual-desk where subjects attempted to reach an object with their hand and it was pushed in the opposite direction. Registering these actions - using a complex algorithm - to analyze and predict the intended movement of the subject. Even though the action was interrupted, the algorithm may calculate the way of how the subject intent to move.
This model was called "Psychic Robot," and it was published in the journal "Plus One". Justin Horowitz said, "If you know how someone moves and what the disturbance is, you can predict the underlying intention."
This model actually is not new. What is new is the logic and mathematical breakthrough in how the algorithms are applied. This model developed by the University of Illinois can be applied to large areas or applications that might be very useful in our lives. Examples mentioned by scientists is the use of intelligent prosthesis, where subjects experiencing muscle tremors, could have a "smart" prosthesis capable to calculate their intentions and thus help to complete actions without any problem, even with a physical agitation.
Another application of the algorithm could be in the field of Neuroscience, with the implantation of a micro prosthesis in the prefrontal cortex, this could analyze the electricity frequency of the neurons when transmitting information, to predict the moment neurotransmitters modulates the flow of dopamine and glutamate, and then the "smart" neural prosthesis regulate the neural biorhythm to level the frequency of the neurotransmitter to avoid the psychotic episode.
For now the new robots could have the ability to predict our actions and in the near future read our minds, but could robots be aware of whether evil can influence good? Or decide whether robots can be better than humans?
Just remember that all scientific progress is to improve the advancement of human beings in our universe and not to move forward and try to “improve it”.
The New Mind Journal