555 research outputs found
AER Neuro-Inspired interface to Anthropomorphic Robotic Hand
Address-Event-Representation (AER) is a
communication protocol for transferring asynchronous events
between VLSI chips, originally developed for neuro-inspired
processing systems (for example, image processing). Such
systems may consist of a complicated hierarchical structure
with many chips that transmit data among them in real time,
while performing some processing (for example, convolutions).
The information transmitted is a sequence of spikes coded using
high speed digital buses. These multi-layer and multi-chip AER
systems perform actually not only image processing, but also
audio processing, filtering, learning, locomotion, etc. This paper
present an AER interface for controlling an anthropomorphic
robotic hand with a neuro-inspired system.Unión Europea IST-2001-34124 (CAVIAR)Ministerio de Ciencia y Tecnología TIC-2003-08164-C03-02Ministerio de Ciencia y Tecnología TIC2000-0406-P4- 0
An AER-Based Actuator Interface for Controlling an Anthropomorphic Robotic Hand
Bio-Inspired and Neuro-Inspired systems or circuits are a
relatively novel approaches to solve real problems by mimicking the biology
in its efficient solutions. Robotic also tries to mimic the biology and
more particularly the human body structure and efficiency of the muscles,
bones, articulations, etc. Address-Event-Representation (AER) is
a communication protocol for transferring asynchronous events between
VLSI chips, originally developed for neuro-inspired processing systems
(for example, image processing). Such systems may consist of a complicated
hierarchical structure with many chips that transmit data among
them in real time, while performing some processing (for example, convolutions).
The information transmitted is a sequence of spikes coded using
high speed digital buses. These multi-layer and multi-chip AER systems
perform actually not only image processing, but also audio processing,
filtering, learning, locomotion, etc. This paper present an AER interface
for controlling an anthropomorphic robotic hand with a neuro-inspired
system.Unión Europea IST-2001-34124 (CAVIAR)Ministerio de Ciencia y Tecnología TIC-2003-08164-C03-0
Robotic tele-existence
Tele-existence is an advanced type of teleoperation system that enables a human operator at the controls to perform remote manipulation tasks dexterously with the feeling that he or she exists in the remote anthropomorphic robot in the remote environment. The concept of a tele-existence is presented, the principle of the tele-existence display method is explained, some of the prototype systems are described, and its space application is discussed
Using FPGA for visuo-motor control with a silicon retina and a humanoid robot
The address-event representation (AER) is a
neuromorphic communication protocol for transferring
asynchronous events between VLSI chips. The event
information is transferred using a high speed digital parallel
bus. This paper present an experiment based on AER for
visual sensing, processing and finally actuating a robot. The
AER output of a silicon retina is processed by an AER filter
implemented into a FPGA to produce a mimicking behaviour
in a humanoid robot (The RoboSapiens V2). We have
implemented the visual filter into the Spartan II FPGA of the
USB-AER platform and the Central Pattern Generator (CPG)
into the Spartan 3 FPGA of the AER-Robot platform, both
developed by authors.Unión Europea IST-2001-34124 (CAVIAR)Ministerio de Ciencia y Tecnología TIC-2003-08164-C03-0
A FPGA Spike-Based Robot Controlled with Neuro-inspired VITE
This paper presents a spike-based control system applied to a fixed
robotic platform. Our aim is to take a step forward to a future complete spikes
processing architecture, from vision to direct motor actuation. This paper covers
the processing and actuation layer over an anthropomorphic robot. In this way,
the processing layer uses the neuro-inspired VITE algorithm, for reaching a target,
based on PFM taking advantage of spike system information: its frequency.
Thus, all the blocks of the system are based on spikes. Each layer is implemented
within a FPGA board and spikes communication is codified under the
AER protocol. The results show an accurate behavior of the robotic platform
with 6-bit resolution for a 130º range per joint, and an automatic speed control
of the algorithm. Up to 96 motor controllers could be integrated in the same
FPGA, allowing the positioning and object grasping by more complex anthropomorphic
robots.Ministerio de Ciencia e Innovación TEC2009-10639-C04-02Ministerio de Economía y Competitividad TEC2012-37868-C04-0
Live Demonstration: On the distance estimation of moving targets with a Stereo-Vision AER system
Distance calculation is always one of the most
important goals in a digital stereoscopic vision system. In an
AER system this goal is very important too, but it cannot be
calculated as accurately as we would like. This demonstration
shows a first approximation in this field, using a disparity
algorithm between both retinas. The system can make a distance
approach about a moving object, more specifically, a qualitative
estimation. Taking into account the stereo vision system
features, the previous retina positioning and the very important
Hold&Fire building block, we are able to make a correlation
between the spike rate of the disparity and the distance.Ministerio de Ciencia e Innovación TEC2009-10639-C04-0
A LVDS Serial AER Link
Address-Event-Representation (AER) is a
communication protocol for transferring asynchronous events
between VLSI chips, originally developed for bio-inspired
processing systems (for example, image processing). Such
systems may consist of a complicated hierarchical structure
with many chips that transmit data among them in real time,
while performing some processing (for example, convolutions).
The event information is transferred using a high speed digital
parallel bus (typically 16 bits and 20ns-40ns per event). This
paper presents a testing platform for AER systems that allows
to analyse a LVDS Serial AER link. The interface allows up to
0.7 Gbps (~40Mev/s, 16 bits/ev). The eye diagram ensures that
the platform could support 1.2 Gbps.Commission of the European Communities IST-2001-34124 (CAVIAR)Comisión Interministerial de Ciencia y Tecnología TIC-2003-08164-C03-0
Synthetic retina for AER systems development
Neuromorphic engineering tries to mimic biology in
information processing. Address-Event Representation (AER) is
a neuromorphic communication protocol for spiking neurons
between different layers. AER bio-inspired image sensor are
called “retina”. This kind of sensors measure visual information
not based on frames from real life and generates corresponding
events. In this paper we provide an alternative, based on cheap
FPGA, to this image sensors that takes images provided by an
analog video source (video composite signal), digitalizes it and
generates AER streams for testing purposes.Junta de Andalucía P06-TIC-01417Ministerio de Educación y Ciencia TEC2006-11730-C03-0
A short curriculum of the robotics and technology of computer lab
Our research Lab is directed by Prof. Anton Civit. It is an interdisciplinary group of 23
researchers that carry out their teaching and researching labor at the Escuela
Politécnica Superior (Higher Polytechnic School) and the Escuela de Ingeniería
Informática (Computer Engineering School). The main research fields are: a)
Industrial and mobile Robotics, b) Neuro-inspired processing using electronic spikes,
c) Embedded and real-time systems, d) Parallel and massive processing computer
architecture, d) Information Technologies for rehabilitation, handicapped and elder
people, e) Web accessibility and usability
In this paper, the Lab history is presented and its main publications and research
projects over the last few years are summarized.Nuestro grupo de investigación está liderado por el profesor Civit. Somos un grupo
multidisciplinar de 23 investigadores que realizan su labor docente e investigadora
en la Escuela Politécnica Superior y en Escuela de Ingeniería Informática. Las
principales líneas de investigaciones son: a) Robótica industrial y móvil. b)
Procesamiento neuro-inspirado basado en pulsos electrónicos. c) Sistemas
empotrados y de tiempo real. d) Arquitecturas paralelas y de procesamiento masivo.
e) Tecnología de la información aplicada a la discapacidad, rehabilitación y a las
personas mayores. f) Usabilidad y accesibilidad Web.
En este artículo se reseña la historia del grupo y se resumen las principales
publicaciones y proyectos que ha conseguido en los últimos años
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