4.5 Globalist versus Localist Representations 93 informative about the emotion, so that positioning an emotion on the given dimensions tells one a. lot. 4.5.12 Knowledge Representation, Action Selection and Planning in Psi In addition to the basic motivation/emotion architecture of Psi, which has been adopted (with some minor changes) for use in CogPrime, Psi has a number of other aspects that are somewhat different from their CogPrime analogues. First of all, on the micro level, Psi represents knowledge using structures called “quads.” Each quad is a cluster of 5 neurons containing a core neuron, and four other neurons representing before/after and part-of/has-part relationships in regard to that core neuron. Quads are natu- rally assembled into spatiotemporal hierarchies, though they are not required to form part of such a structure. Psi stores knowledge using quads arranged in three networks, which are conceptually similar to the networks in Albus’s 4D/RCS and Arel’s DeSTIN architectures: e A sensory network, which stores declarative knowledge: schemas representing images, ob- jects, events and situations as hierarchical structures. e A motor network, which contains procedural knowledge by way of hierarchical behavior programs e A motivational network handling demands Perception in Psi, which is centered in the sensory network, follows principles similar to DeSTIN (which are shared also by other systems), for instance the principle of perception as prediction. Psi’s “HyPercept” mechanism performs hypothesis-based perception: it attempts to predict what is there to be perceived and then attempts to verify these predictions using sen- sation and memory. Furthermore HyPercept is intimately coupled with actions in the external world, according to the concept of “Neisser’s perceptual cycle,” the cycle between exploration and representation of reality. Perceptually acquired information is translated into schemas ca- pable of guiding behaviors, and these are