44 research outputs found
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
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
An AER to CAN Bridge for Spike-Based Robot Control
Address-Event-Representation (AER) is a bio-inspired communication
protocol between chips. A set of AER sensors (retina and cochleas), processors
(convolvers, WTA, mappers, …) and actuators can be found in the literature that
have been specifically designed for mimicking the communication principle in the
brain: spikes. The problem when developing complex robots based on AER (or
spikes) is to command actuators (motors) directly with spikes. Commercial robots
are usually based on commercial standards (CAN) that do not allow powering
actuators directly with spikes. This paper presents a co-design FPGA and
embedded computer system that implements a bridge between these two protocols:
CAN and AER. The bridge has been analyzed under the Spanish project
VULCANO1 with an arm robot and a Shadow anthropomorphic hand.Ministerio de Ciencia e Innovación TEC2009-10639-C04-0
Towards AER VITE: building spike gate signal
Neuromorphic engineers aim to mimic the precise and
efficient mechanisms of the nervous system to process
information using spikes from sensors to actuators. There are
many available works that sense and process information in a
spike-based way. But there are still several gaps in the actuation
and motor control field in a spike-based way. Spike-based
Proportional-Integrative-Derivative controllers (PID) are
present in the literature. On the other hand, neuro-inspired
control models as VITE (Vector Integration To End point) and
FLETE (Factorization of muscle Length and muscle Tension)
are also present in the literature. This paper presents another
step toward the spike implementation of those neuro-inspired
models. We present a spike-based ramp multiplier. VITE
algorithm generates the way to achieve a final position targeted
by a mobile robotic arm. The block presented is used as a gate
for the way involved and it also puts the incoming movement on
speed with a variable slope profile. Only spikes for information
representation were used and the process is in real time. The
software simulation based on Simulink and Xilinx System
Generator shows the accurate adjust to the traditional
processing for short time periods and the hardware tests
confirm and extend the previous simulated results for any time.
We have implemented the spikes generator, the ramp multiplier
and the low pass filter into the Virtex-5 FPGA and connected
this with an USB-AER (Address Event Representation) board to
monitor the spikes.Ministerio de Ciencia e Innovación TEC2009-10639-C04-0
Embedding Multi-Task Address-Event- Representation Computation
Address-Event-Representation, AER, is a communication protocol that is
intended to transfer neuronal spikes between bioinspired chips. There are
several AER tools to help to develop and test AER based systems, which may
consist of a hierarchical structure with several chips that transmit spikes
among them in real-time, while performing some processing. Although these
tools reach very high bandwidth at the AER communication level, they require
the use of a personal computer to allow the higher level processing of the
event information. We propose the use of an embedded platform based on a
multi-task operating system to allow both, the AER communication and
processing without the requirement of either a laptop or a computer. In this
paper, we present and study the performance of an embedded multi-task AER
tool, connecting and programming it for processing Address-Event
information from a spiking generator.Ministerio de Ciencia e Innovación TEC2006-11730-C03-0
Design and Testing of Torveastro: An Outer Space Service Robot
Space robots are one of the most promising solutions for on-orbit servicing (OOS) duties like docking, berthing, refueling, re-pairing, upgrading, transporting, rescuing, and orbital trash disposal. Numerous enabling techniques and technological demonstration missions have been developed and completed over the past two decades. There have been several successful manned on-orbit service missions, but unmanned service missions have not yet been conducted. Robotic maintenance continues to be an important area of investigation with numerous technical challenges. This report outlines the design and initial testing of Torveastro, an astronaut service robot. The specifications are provided concurrently with the design and simulation. In comparison with the simulation results, preliminary tests demonstrated promising behavior for future development
Estudio e implementación de algoritmos de fusión sensorial para sensores pulsantes y clásicos con protocolo AER de comunicación y aplicación en sistemas robóticos neuroinspirados
The objective of this thesis is to analyze, design, simulate and implement a model that follows the principles of the human nervous system when a reaching movement is made.
The background of the thesis is the neuromorphic engineering field. This term was first coined in the late eighties by Caver Mead. Its main objective is to develop hardware devices, based on the neuron as the basic unit, to develop a range of tasks such as: decision making, image processing, learning, etc.
During the last twenty years, this field of research has gathered a large number of researchers around the world. Spike-based sensors and devices that perform spike processing tasks have been developed.
A neuro-inspired controller model based on the classic algorithms VITE and FLETE is proposed in this thesis (specifically, the two algorithms presented are: the VITE model which generates a non-planned trajectory and the FLETE model to generate the forces needed to hold a position reached). The hardware platforms used to implement them are a FPGA and a VLSI multi-chip setup. Then, considering how a reaching movement is performed by humans, these algorithms are translated under the constraints of each hardware device. The constraints are: spike-processing blocks described in VHDL for the FPGA and neurons LIF for the VLSI chips. To reach a successful translation of VITE algorithm under the constraints of the FPGA, a new spike-processing block is designed, simulated and implemented: GO Block.
On the other hand, to perform an accurate translation of the VITE algorithm under VLSI requirements, the recent biological advances are studied. Then, a model which implements the co-activation of NMDA channels (this activity is related to the activity detected in the basal ganglia short time before a movement is made) is modeled, simulated and implemented.
Once the model is defined for both platforms, it is simulated using the Matlab Simulink environment for FPGA and Brian simulator for VLSI chips.
The hardware results of the algorithms translated are presented. The open-loop spike-based VITE (on both platforms) and closed-loop (FPGA) applied and connected to a robotic platform using the AER bus show an excellent behaviour in terms of power and resources consumption. They show also an accurate and precise functioning for reaching and tracking movements when the target is supplied by an AER retina or jAER. Thus, a full neuro-inspired architecture is implemented: from the sensor (retina) to the end effector (robot) going through the neuro-inspired controller designed.
An alternative for the SVITE platform is also presented. A random element is added to the neuron model to include variability in the neural response. The results obtained for this variant, show a similar behaviour if a comparison with the deterministic algorithms is made. The possibility to include this pseudo-random controller in noise and / or random environment is demonstrated.
Finally, this thesis claims that PFM is the most suitable modulation to drive motors in a neuromorphic hardware environment. It allows supplying the events directly to the motors. Furthermore, it is achieved that the system is not affected by spurious or noisy events.
The novel results achieved with the VLSI multi-chip setup, this is the first attempt to control a robotic platform using sub-thresold low-power neurons, intended to set the basis for designing neuro-inspired controllers
Parallel computing for brain simulation
[Abstract] Background: The human brain is the most complex system in the known universe, it is therefore one of the greatest mysteries. It provides human beings with extraordinary abilities. However, until now it has not been understood yet how and why most of these abilities are produced.
Aims: For decades, researchers have been trying to make computers reproduce these abilities, focusing on both understanding the nervous system and, on processing data in a more efficient way than before. Their aim is to make computers process information similarly to the brain. Important technological developments and vast multidisciplinary projects have allowed creating the first simulation with a number of neurons similar to that of a human brain.
Conclusion: This paper presents an up-to-date review about the main research projects that are trying to simulate and/or emulate the human brain. They employ different types of computational models using parallel computing: digital models, analog models and hybrid models. This review includes the current applications of these works, as well as future trends. It is focused on various works that look for advanced progress in Neuroscience and still others which seek new discoveries in Computer Science (neuromorphic hardware, machine learning techniques). Their most outstanding characteristics are summarized and the latest advances and future plans are presented. In addition, this review points out the importance of considering not only neurons: Computational models of the brain should also include glial cells, given the proven importance of astrocytes in information processing.Galicia. Consellería de Cultura, Educación e Ordenación Universitaria; GRC2014/049Galicia. Consellería de Cultura, Educación e Ordenación Universitaria; R2014/039Instituto de Salud Carlos III; PI13/0028
Design and control of a nonlinearly compliant robotic finger
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1997.Includes bibliographical references (p. 65-67).by Vinay Kishore Shah.M.S