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selections made are influenced by information obtained from the environment E, so that the plan t typically generates different trajectories in different environments. The adaptive system's ability to discriminate among various environments is limited by the range I of stimuli or signals it can receive. More formally: Let the structure tried at time t be  . Then the particular environment E confronting the adaptive system reacts by producing a signal I(t). Different structures may of course be capable of receiving different ranges of signals. That is, if IA is the range of signals which A can receive, then for A' ¹ A it may be that IA¹ IA'. To keep the presentation simple, I is used to designate the total range of signals  receivable by structures in  . The particular information I(t) received by the adaptive system at time t will then be constrained to the subset of signals  which the structure at time t,  , can receive. I may have many components corresponding, say, to different sensors. Thus, referring to the example of section 1.3, I consists of ab components  . In this case Ii = {0,1} for all i since the ith component of I represents the range of values the ith sensor di |
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Fig. 2.
Schematic of adaptive plan's operation |
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