Neural Information Processing: between synchrony and chaos

The brain is characterized by performing many different processing tasks ranging from elaborate processes such as pattern recognition, memory or decision-making to more simple functionalities such as linear filtering in image processing. Understanding the mechanisms by which the brain is able to produce such a different range of cortical operations remains a fundamental problem in neuroscience. Some recent empirical and theoretical results support the notion that the brain is naturally poised between ordered and chaotic states. As the largest number of metastable states exists at a point near the transition, the brain therefore has access to a larger repertoire of behaviours. Consequently, it is of high interest to know which type of processing can be associated with both ordered and disordered states. Here we show an explanation of which processes are related to chaotic and synchronized states based on the study of in-silico implementation of biologically plausible neural systems. The measurements obtained reveal that synchronized cells (that can be understood as ordered states of the brain) are related to non-linear computations, while uncorrelated neural ensembles are excellent information transmission systems that are able to implement linear transformations (as the realization of convolution products) and to parallelize neural processes. From these results we propose a plausible meaning for Hebbian and non-Hebbian learning rules as those biophysical mechanisms by which the brain creates ordered or chaotic ensembles depending on the desired functionality. The measurements that we obtain from the hardware implementation of different neural systems endorse the fact that the brain is working with two different states, ordered and chaotic, with complementary functionalities that imply non-linear processing (synchronized states) and information transmission and convolution (chaotic states)

A Digital Neuromorphic Realization of the 2-D Wilson Neuron Model

This brief presents a piecewise linear approximation of the nonlinear Wilson (NW) neuron model for the realization of an efficient digital circuit implementation. The accuracy of the proposed piecewise Wilson (PW) model is examined by calculating time domain signal shaping errors. Furthermore, bifurcation analyses demonstrate that the approximation follows the same bifurcation pattern as the NW model. As a proof of concept, both models are hardware synthesized and implemented on field programmable gate arrays, demonstrating that the PW model has a range of neuronal behaviors similar to the NW model with considerably higher computational performance and a lower hardware overhead. This approach can be used in hardware-based large scale biological neural network simulations and behavioral studies. The mean normalized root mean square error and maximum absolute error of the PW model are 6.32% and 0.31%, respectively, as compared to the NW model

Spiking Neural Networks: Modification and Digital Implementation

Real-time large-scale simulation of biological systems is a challenging task due to nonlinear functions describing biochemical reactions in the cells. Being fast, cost and power efficient alongside of capability to work in parallel have made hardware an attractive choice for simulation platform. This thesis proposes a neuromorphic platform for online Spike Timing Dependant Plasticity (STDP) learning, based on the COordinate Rotation DIgital Computer (CORDIC) algorithms. The implemented platform comprises two main components. First, the Izhikevich neuron model is modified for implementation using the CORDIC algorithm and simulated to ensure the model accuracy. Afterwards, the model was described as hardware and implemented on Field Programmable Gate Array (FPGA). Second, the STDP learning algorithm is adapted and optimized using the CORDIC method, synthesized for hardware, and implemented to perform on-FPGA online learning on a network of CORDIC Izhikevich neurons to demonstrate competitive Hebbian learning. The implementation results are compared with the original model and state-of-the-art to verify accuracy, effectiveness, and higher speed of the system. These comparisons confirm that the proposed neuromorphic system offers better performance and higher accuracy while being straightforward to implement and suitable to scale. New findings show that astrocytes are important parts of the information processing in brain and believed to be responsible for some brain diseases such as Alzheimer and Epilepsy. Astrocytes generate Ca$^{2+}$ waves and release neuro-transmitters over a large area. To study astrcoytes, one need to simulate large number of biologically realistic models of these cells alongside neuron models. Software simulation is flexible but slow. This thesis proposes a high-speed and low-cost digital hardware to replicate biological-plausible astrocyte and glutamate release mechanism. The nonlinear terms of these models were calculated using high-precision and cost-efficient algorithms. Subsequently, the modified models were simulated to study and validate their functions. Several hardware were developed by setting different constraints to investigate trade-offs and achieve best possible design. As proof of concept, the design was implemented on a FPGA device. Hardware implementation results confirmed the ability of the design to replicate biological cells in detail with high accuracy. As for performance, the proposed design turned out to be far more faster and area efficient than previously published works that targeted digital hardware for biological-plausible astrocytes. Spiking neurons, the models that mimic the biological cells in the brain, are described using ordinary differential equations. A common method to numerically solve these equations is Euler\u27s method. An important factor that has a significant impact on the performance and cost of the hardware implementation or software simulation of spiking neural networks and yet its importance has been neglected in the published literature, is the time step in Euler\u27s method. In this thesis, first the Izhikevich neuron\u27s accuracy as a function of the time step was measured. It was uncovered that the threshold time step that Izhikevich neuron becomes unstable is an exponential function of the input current. Software simulation performance, including total computational time and memory usage were compared for different time steps. Afterwards, the model was synthesized and implemented on the FPGA. Hardware performance metrics such as speed, area and power consumption were measured for each time step. Results indicated that time step has a negative linear effect on the performance. It was concluded that by determining maximum input current to the neuron, larger time steps comparable to those used in the previous works could be employed

A Neural Signal Processor for Low-Latency Spike Inference

This thesis describes the development of a system that can assign identities to a population of single-units, in multi-electrode recordings, at single-spike resolution with low-latency. The system has two parts. The first is a Field-Programmable Gate Array (FPGA)-based Neural Signal Processor (NSP) that receives raw input and generates labelled spikes as output, a process referred to as real-time spike inference. The second is a piece of software (Spiketag) that runs on a PC, communicates with the NSP, and generates a spike-sorted model to guide the real-time spike inference. The NSP provides clocks and control signals to five 32-channel INTAN RHD2132 chips to manage the acquisition of 160 channels of raw neural data. In parallel, the NSP further filters, detects and extracts extracellular spike waveforms from the raw neural data recorded by tetrodes or silicon probes and assigns single-unit identity to each detected spike. A set of Python application programming interfaces (APIs) was developed in Spiketag to enable the communication between the NSP and the PC. These APIs allow the NSP to obtain a model from the PC, which holds parameters such as reference channels, spike detection thresholds, spike feature transformation matrix and vector quantized clusters generated by spike sorting a short recording session. Using the spike-sorted model, the NSP performs data acquisition and real-time spike inference simultaneously. Algorithmic modules were implemented in the FPGA and pipelined to compute during 40 ms acquisition intervals. At the output end of the FPGA NSP, the real-time assigned single-unit identity (spike-id) is packaged with the timestamp, the electrode group, and the spike features as a spike-id packet. Spike-id packets are asynchronously transmitted through a low-latency Peripheral Component Interconnect Express (PCIe) interface to the PC, producing the real-time spike trains. The real-time spike trains can be used for further processing, such as real-time decoding. Several types of ground-truth data, including intracellular/extracellular paired recordings, synthesized tetrode extracellular waveforms with ground-truth spike timing and high-channel-count silicon probe recordings with ground-truth animal positions during navigation were used to validate the low-latency (1 ms) and high-accuracy (as high as state-of-the-art offline sorting and decoding algorithms) of the NSP’s real-time spike inference and the NSP-based real-time population decoding performance

A Heterosynaptic Spiking Neural System for the Development of Autonomous Agents

Artificial neural systems for computation were first proposed three quarters of a century ago and the concepts developed by the pioneers still shape the field today. The first generation of neural systems was developed in the nineteen forties in the context of analogue electronics and the theoretical research in logic and mathematics that led to the first digital computers in nineteen forties and fifties. The second generation of neural systems implemented on digital computers was born in the nineteen fifties and great progress was made in the subsequent half century with neural networks being applied to many problems in pattern recognition and machine learning. Through this history there has been an interplay between biologically inspired neural systems and their implementation by engineers on digital machines. This thesis concerns the third generation of neural networks, Spiking Neural Networks, which is making possible the creation of new kinds of brain inspired computing architectures that offer the potential to increase the level of realism and sophistication in terms of autonomous machine behaviour and cognitive computing. This thesis presents the development and demonstration of a new theoretical architecture for third generation neural systems, the Integrate-and-Fire based Spiking Neural Model with extended Neuro-modulated Spike Timing Dependent Plasticity capabilities. This proposed architecture overcomes the limitation of the homosynaptic architecture underlying existing implementations of spiking neural networks that it lacks a natural spike timing dependent plasticity regulation mechanism, and this results in ‘run away’ dynamics. To overcome this ad hoc procedures have been implemented to overcome the ‘run away’ dynamics that emerge from the use of spike timing dependent plasticity among other hebbian-based plasticity rules. The new heterosynaptic architecture presented, explicitly abstracts the modulation of complex biochemical mechanisms into a simplified mechanism that is suitable for the engineering of artificial systems with low computational complexity. Neurons work by receiving input signals from other neurons through synapses. The difference between homosynaptic and heterosynaptic plasticity is that, in the former the change in the properties of a synapse (e.g. synaptic efficacy) depends on the point to point activity in either of the sending and receiving neurons, in contrast for heterosynaptic plasticity the change in the properties of a synapse can be elicited by neurons that are not necessary presynaptic or postsynaptic to the synapse in question. The new architecture is tested by a number of implementations in simulated and real environments. This includes experiments with a simulation environment implemented in Netlogo, and an implementation using Lego Mindstorms as the physical robot platform. These experiments demonstrate the problems with the traditional Spike timing dependent plasticity homosynaptic architecture and how the new heterosynaptic approach can overcome them. It is concluded that the new theoretical architecture provides a natural, theoretically sound, and practical new direction for research into the role of modulatory neural systems applied to spiking neural networks

Area-efficient Neuromorphic Silicon Circuits and Architectures using Spatial and Spatio-Temporal Approaches

In the field of neuromorphic VLSI connectivity is a huge bottleneck in implementing brain-inspired circuits due to the large number of synapses needed for performing brain-like functions. (E.g. pattern recognition, classification, etc.). In this thesis I have addressed this problem using a two pronged approach namely spatial and temporal.Spatial: The real-estate occupied by silicon synapses have been an impediment to implementing neuromorphic circuits. In recent years, memristors have emerged as a nano-scale analog synapse. Furthermore, these nano-devices can be integrated on top of CMOS chips enabling the realization of dense neural networks. As a first step in realizing this vision, a programmable CMOS chip enabling direct integration of memristors was realized. In a collaborative MURI project, a CMOS memory platform was designed for the memristive memory array in a hybrid/3D architecture (CMOL architecture) and memristors were successfully integrated on top of it. After demonstrating feasibility of post-CMOS integration of memristors, a second design containing an array of spiking CMOS neurons was designed in a 5mm x 5mm chip in a 180nm CMOS process to explore the role of memristors as synapses in neuromorphic chips.8Temporal: While physical miniaturization by integrating memristors is one facet of realizing area-efficient neural networks, on-chip routing between silicon neurons prevents the complete realization of complex networks containing large number of neurons. A promising solution for the connectivity problem is to employ spatio-temporal coding to encode neuronal information in the time of arrival of the spikes. Temporal codes open up a whole new range of coding schemes which not only are energy efficient (computation with one spike) but also have much larger information capacity than their conventional counterparts. This can result in reducing the number of connections to do similar tasks with traditional rate-based methods.By choosing an efficient temporal coding scheme we developed a system architecture by which pattern classification can be done using a “Winners-share-all” instead of a “Winner-takes-all” mechanism. Winner-takes-all limits the code space to the number of output neurons, meaning n output neurons can only classify n pattern. In winners-share-all we exploit the code space provided by the temporal code by training different combination of k out of n neurons to fire together in response to different patterns. Optimal values of k in order to maximize information capacity using n output neurons were theoretically determined and utilized. An unsupervised network of 3 layers was trained to classify 14 patterns of 15 x 15 pixels while using only 6 output neurons to demonstrate the power of the technique. The reduction in the number of output neurons results in the reduction of number of training parameters and results in lower power, area and memory required for the same functionality

A Cognitive Approach to Mobile Robot Environment Mapping and Path Planning

This thesis presents a novel neurophysiological based navigation system which uses less memory and power than other neurophysiological based systems, as well as traditional navigation systems performing similar tasks. This is accomplished by emulating the rodent’s specialized navigation and spatial awareness brain cells, as found in and around the hippocampus and entorhinal cortex, at a higher level of abstraction than previously used neural representations. Specifically, the focus of this research will be on replicating place cells, boundary cells, head direction cells, and grid cells using data structures and logic driven by each cell’s interpreted behavior. This method is used along with a unique multimodal source model for place cell activation to create a cognitive map. Path planning is performed by using a combination of Euclidean distance path checking, goal memory, and the A* algorithm. Localization is accomplished using simple, low power sensors, such as a camera, ultrasonic sensors, motor encoders and a gyroscope. The place code data structures are initialized as the mobile robot finds goal locations and other unique locations, and are then linked as paths between goal locations, as goals are found during exploration. The place code creates a hybrid cognitive map of metric and topological data. In doing so, much less memory is needed to represent the robot’s roaming environment, as compared to traditional mapping methods, such as occupancy grids. A comparison of the memory and processing savings are presented, as well as to the functional similarities of our design to the rodent’ specialized navigation cells

Motion representation with spiking neural networks for grasping and manipulation

Die Natur bedient sich Millionen von Jahren der Evolution, um adaptive physikalische Systeme mit effizienten Steuerungsstrategien zu erzeugen. Im Gegensatz zur konventionellen Robotik plant der Mensch nicht einfach eine Bewegung und führt sie aus, sondern es gibt eine Kombination aus mehreren Regelkreisen, die zusammenarbeiten, um den Arm zu bewegen und ein Objekt mit der Hand zu greifen. Mit der Forschung an humanoiden und biologisch inspirierten Robotern werden komplexe kinematische Strukturen und komplizierte Aktor- und Sensorsysteme entwickelt. Diese Systeme sind schwierig zu steuern und zu programmieren, und die klassischen Methoden der Robotik können deren Stärken nicht immer optimal ausnutzen. Die neurowissenschaftliche Forschung hat große Fortschritte beim Verständnis der verschiedenen Gehirnregionen und ihrer entsprechenden Funktionen gemacht. Dennoch basieren die meisten Modelle auf groß angelegten Simulationen, die sich auf die Reproduktion der Konnektivität und der statistischen neuronalen Aktivität konzentrieren. Dies öffnet eine Lücke bei der Anwendung verschiedener Paradigmen, um Gehirnmechanismen und Lernprinzipien zu validieren und Funktionsmodelle zur Steuerung von Robotern zu entwickeln. Ein vielversprechendes Paradigma ist die ereignis-basierte Berechnung mit SNNs. SNNs fokussieren sich auf die biologischen Aspekte von Neuronen und replizieren deren Arbeitsweise. Sie sind für spike- basierte Kommunikation ausgelegt und ermöglichen die Erforschung von Mechanismen des Gehirns für das Lernen mittels neuronaler Plastizität. Spike-basierte Kommunikation nutzt hoch parallelisierten Hardware-Optimierungen mittels neuromorpher Chips, die einen geringen Energieverbrauch und schnelle lokale Operationen ermöglichen. In dieser Arbeit werden verschiedene SNNs zur Durchführung von Bewegungss- teuerung für Manipulations- und Greifaufgaben mit einem Roboterarm und einer anthropomorphen Hand vorgestellt. Diese basieren auf biologisch inspirierten funktionalen Modellen des menschlichen Gehirns. Ein Motor-Primitiv wird auf parametrische Weise mit einem Aktivierungsparameter und einer Abbildungsfunktion auf die Roboterkinematik übertragen. Die Topologie des SNNs spiegelt die kinematische Struktur des Roboters wider. Die Steuerung des Roboters erfolgt über das Joint Position Interface. Um komplexe Bewegungen und Verhaltensweisen modellieren zu können, werden die Primitive in verschiedenen Schichten einer Hierarchie angeordnet. Dies ermöglicht die Kombination und Parametrisierung der Primitiven und die Wiederverwendung von einfachen Primitiven für verschiedene Bewegungen. Es gibt verschiedene Aktivierungsmechanismen für den Parameter, der ein Motorprimitiv steuert — willkürliche, rhythmische und reflexartige. Außerdem bestehen verschiedene Möglichkeiten neue Motorprimitive entweder online oder offline zu lernen. Die Bewegung kann entweder als Funktion modelliert oder durch Imitation der menschlichen Ausführung gelernt werden. Die SNNs können in andere Steuerungssysteme integriert oder mit anderen SNNs kombiniert werden. Die Berechnung der inversen Kinematik oder die Validierung von Konfigurationen für die Planung ist nicht erforderlich, da der Motorprimitivraum nur durchführbare Bewegungen hat und keine ungültigen Konfigurationen enthält. Für die Evaluierung wurden folgende Szenarien betrachtet, das Zeigen auf verschiedene Ziele, das Verfolgen einer Trajektorie, das Ausführen von rhythmischen oder sich wiederholenden Bewegungen, das Ausführen von Reflexen und das Greifen von einfachen Objekten. Zusätzlich werden die Modelle des Arms und der Hand kombiniert und erweitert, um die mehrbeinige Fortbewegung als Anwendungsfall der Steuerungsarchitektur mit Motorprimitiven zu modellieren. Als Anwendungen für einen Arm (3 DoFs) wurden die Erzeugung von Zeigebewegungen und das perzeptionsgetriebene Erreichen von Zielen modelliert. Zur Erzeugung von Zeigebewegun- gen wurde ein Basisprimitiv, das auf den Mittelpunkt einer Ebene zeigt, offline mit vier Korrekturprimitiven kombiniert, die eine neue Trajektorie erzeugen. Für das wahrnehmungsgesteuerte Erreichen eines Ziels werden drei Primitive online kombiniert unter Verwendung eines Zielsignals. Als Anwendungen für eine Fünf-Finger-Hand (9 DoFs) wurden individuelle Finger-aktivierungen und Soft-Grasping mit nachgiebiger Steuerung modelliert. Die Greif- bewegungen werden mit Motor-Primitiven in einer Hierarchie modelliert, wobei die Finger-Primitive die Synergien zwischen den Gelenken und die Hand-Primitive die unterschiedlichen Affordanzen zur Koordination der Finger darstellen. Für jeden Finger werden zwei Reflexe hinzugefügt, zum Aktivieren oder Stoppen der Bewegung bei Kontakt und zum Aktivieren der nachgiebigen Steuerung. Dieser Ansatz bietet enorme Flexibilität, da Motorprimitive wiederverwendet, parametrisiert und auf unterschiedliche Weise kombiniert werden können. Neue Primitive können definiert oder gelernt werden. Ein wichtiger Aspekt dieser Arbeit ist, dass im Gegensatz zu Deep Learning und End-to-End-Lernmethoden, keine umfangreichen Datensätze benötigt werden, um neue Bewegungen zu lernen. Durch die Verwendung von Motorprimitiven kann der gleiche Modellierungsansatz für verschiedene Roboter verwendet werden, indem die Abbildung der Primitive auf die Roboterkinematik neu definiert wird. Die Experimente zeigen, dass durch Motor- primitive die Motorsteuerung für die Manipulation, das Greifen und die Lokomotion vereinfacht werden kann. SNNs für Robotikanwendungen ist immer noch ein Diskussionspunkt. Es gibt keinen State-of-the-Art-Lernalgorithmus, es gibt kein Framework ähnlich dem für Deep Learning, und die Parametrisierung von SNNs ist eine Kunst. Nichtsdestotrotz können Robotikanwendungen - wie Manipulation und Greifen - Benchmarks und realistische Szenarien liefern, um neurowissenschaftliche Modelle zu validieren. Außerdem kann die Robotik die Möglichkeiten der ereignis- basierten Berechnung mit SNNs und neuromorpher Hardware nutzen. Die physikalis- che Nachbildung eines biologischen Systems, das vollständig mit SNNs implementiert und auf echten Robotern evaluiert wurde, kann neue Erkenntnisse darüber liefern, wie der Mensch die Motorsteuerung und Sensorverarbeitung durchführt und wie diese in der Robotik angewendet werden können. Modellfreie Bewegungssteuerungen, inspiriert von den Mechanismen des menschlichen Gehirns, können die Programmierung von Robotern verbessern, indem sie die Steuerung adaptiver und flexibler machen