791 research outputs found

    Baseband version of the bat-inspired spectrogram correlation and transformation receiver

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    Echolocating bats have evolved an excellent ability to detect and discriminate targets in highly challenging environments. They have had more than 50 million years of evolution to optimise their echolocation system with respect to their surrounding environment. Behavioural experiments have shown their exceptional ability to detect and classify targets even in highly cluttered surroundings. The way bats process signals is not exactly the same as in radar and hence it can be useful to investigate the differences. The Spectrogram Correlation And Transformation receiver (SCAT) is an existing model of the bat auditory system that takes into account the physiology and underlying neural organisation in bats which emit chirped signals. In this paper, we propose a baseband receiver equivalent to the SCAT. This will allow biologically inspired signal processing to be applied to radar baseband signals. It will also enable further theoretical analysis of the key concepts, advantages and limitations of the "bat signal processing" for the purpose of target detection, localisation and resolution. The equivalence is demonstrated by comparing the output of the original SCAT to that of our proposed baseband version using both simulated and experimental target echoes. Results show that the baseband receiver provides compatible frequency interference pattern for two closely located scatterers

    Dense Voxel 3D Reconstruction Using a Monocular Event Camera

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    Event cameras are sensors inspired by biological systems that specialize in capturing changes in brightness. These emerging cameras offer many advantages over conventional frame-based cameras, including high dynamic range, high frame rates, and extremely low power consumption. Due to these advantages, event cameras have increasingly been adapted in various fields, such as frame interpolation, semantic segmentation, odometry, and SLAM. However, their application in 3D reconstruction for VR applications is underexplored. Previous methods in this field mainly focused on 3D reconstruction through depth map estimation. Methods that produce dense 3D reconstruction generally require multiple cameras, while methods that utilize a single event camera can only produce a semi-dense result. Other single-camera methods that can produce dense 3D reconstruction rely on creating a pipeline that either incorporates the aforementioned methods or other existing Structure from Motion (SfM) or Multi-view Stereo (MVS) methods. In this paper, we propose a novel approach for solving dense 3D reconstruction using only a single event camera. To the best of our knowledge, our work is the first attempt in this regard. Our preliminary results demonstrate that the proposed method can produce visually distinguishable dense 3D reconstructions directly without requiring pipelines like those used by existing methods. Additionally, we have created a synthetic dataset with 39,73939,739 object scans using an event camera simulator. This dataset will help accelerate other relevant research in this field

    Sound Object Recognition

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    Humans are constantly exposed to a variety of acoustic stimuli ranging from music and speech to more complex acoustic scenes like a noisy marketplace. The human auditory perception mechanism is able to analyze these different kinds of sounds and extract meaningful information suggesting that the same processing mechanism is capable of representing different sound classes. In this thesis, we test this hypothesis by proposing a high dimensional sound object representation framework, that captures the various modulations of sound by performing a multi-resolution mapping. We then show that this model is able to capture a wide variety of sound classes (speech, music, soundscapes) by applying it to the tasks of speech recognition, speaker verification, musical instrument recognition and acoustic soundscape recognition. We propose a multi-resolution analysis approach that captures the detailed variations in the spectral characterists as a basis for recognizing sound objects. We then show how such a system can be fine tuned to capture both the message information (speech content) and the messenger information (speaker identity). This system is shown to outperform state-of-art system for noise robustness at both automatic speech recognition and speaker verification tasks. The proposed analysis scheme with the included ability to analyze temporal modulations was used to capture musical sound objects. We showed that using a model of cortical processing, we were able to accurately replicate the human perceptual similarity judgments and also were able to get a good classification performance on a large set of musical instruments. We also show that neither just the spectral feature or the marginals of the proposed model are sufficient to capture human perception. Moreover, we were able to extend this model to continuous musical recordings by proposing a new method to extract notes from the recordings. Complex acoustic scenes like a sports stadium have multiple sources producing sounds at the same time. We show that the proposed representation scheme can not only capture these complex acoustic scenes, but provides a flexible mechanism to adapt to target sources of interest. The human auditory perception system is known to be a complex system where there are both bottom-up analysis pathways and top-down feedback mechanisms. The top-down feedback enhances the output of the bottom-up system to better realize the target sounds. In this thesis we propose an implementation of top-down attention module which is complimentary to the high dimensional acoustic feature extraction mechanism. This attention module is a distributed system operating at multiple stages of representation, effectively acting as a retuning mechanism, that adapts the same system to different tasks. We showed that such an adaptation mechanism is able to tremendously improve the performance of the system at detecting the target source in the presence of various distracting background sources

    Interfacing of neuromorphic vision, auditory and olfactory sensors with digital neuromorphic circuits

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    The conventional Von Neumann architecture imposes strict constraints on the development of intelligent adaptive systems. The requirements of substantial computing power to process and analyse complex data make such an approach impractical to be used in implementing smart systems. Neuromorphic engineering has produced promising results in applications such as electronic sensing, networking architectures and complex data processing. This interdisciplinary field takes inspiration from neurobiological architecture and emulates these characteristics using analogue Very Large Scale Integration (VLSI). The unconventional approach of exploiting the non-linear current characteristics of transistors has aided in the development of low-power adaptive systems that can be implemented in intelligent systems. The neuromorphic approach is widely applied in electronic sensing, particularly in vision, auditory, tactile and olfactory sensors. While conventional sensors generate a huge amount of redundant output data, neuromorphic sensors implement the biological concept of spike-based output to generate sparse output data that corresponds to a certain sensing event. The operation principle applied in these sensors supports reduced power consumption with operating efficiency comparable to conventional sensors. Although neuromorphic sensors such as Dynamic Vision Sensor (DVS), Dynamic and Active pixel Vision Sensor (DAVIS) and AEREAR2 are steadily expanding their scope of application in real-world systems, the lack of spike-based data processing algorithms and complex interfacing methods restricts its applications in low-cost standalone autonomous systems. This research addresses the issue of interfacing between neuromorphic sensors and digital neuromorphic circuits. Current interfacing methods of these sensors are dependent on computers for output data processing. This approach restricts the portability of these sensors, limits their application in a standalone system and increases the overall cost of such systems. The proposed methodology simplifies the interfacing of these sensors with digital neuromorphic processors by utilizing AER communication protocols and neuromorphic hardware developed under the Convolution AER Vision Architecture for Real-time (CAVIAR) project. The proposed interface is simulated using a JAVA model that emulates a typical spikebased output of a neuromorphic sensor, in this case an olfactory sensor, and functions that process this data based on supervised learning. The successful implementation of this simulation suggests that the methodology is a practical solution and can be implemented in hardware. The JAVA simulation is compared to a similar model developed in Nengo, a standard large-scale neural simulation tool. The successful completion of this research contributes towards expanding the scope of application of neuromorphic sensors in standalone intelligent systems. The easy interfacing method proposed in this thesis promotes the portability of these sensors by eliminating the dependency on computers for output data processing. The inclusion of neuromorphic Field Programmable Gate Array (FPGA) board allows reconfiguration and deployment of learning algorithms to implement adaptable systems. These low-power systems can be widely applied in biosecurity and environmental monitoring. With this thesis, we suggest directions for future research in neuromorphic standalone systems based on neuromorphic olfaction

    Novel Bidirectional Body - Machine Interface to Control Upper Limb Prosthesis

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    Objective. The journey of a bionic prosthetic user is characterized by the opportunities and limitations involved in adopting a device (the prosthesis) that should enable activities of daily living (ADL). Within this context, experiencing a bionic hand as a functional (and, possibly, embodied) limb constitutes the premise for mitigating the risk of its abandonment through the continuous use of the device. To achieve such a result, different aspects must be considered for making the artificial limb an effective support for carrying out ADLs. Among them, intuitive and robust control is fundamental to improving amputees’ quality of life using upper limb prostheses. Still, as artificial proprioception is essential to perceive the prosthesis movement without constant visual attention, a good control framework may not be enough to restore practical functionality to the limb. To overcome this, bidirectional communication between the user and the prosthesis has been recently introduced and is a requirement of utmost importance in developing prosthetic hands. Indeed, closing the control loop between the user and a prosthesis by providing artificial sensory feedback is a fundamental step towards the complete restoration of the lost sensory-motor functions. Within my PhD work, I proposed the development of a more controllable and sensitive human-like hand prosthesis, i.e., the Hannes prosthetic hand, to improve its usability and effectiveness. Approach. To achieve the objectives of this thesis work, I developed a modular and scalable software and firmware architecture to control the Hannes prosthetic multi-Degree of Freedom (DoF) system and to fit all users’ needs (hand aperture, wrist rotation, and wrist flexion in different combinations). On top of this, I developed several Pattern Recognition (PR) algorithms to translate electromyographic (EMG) activity into complex movements. However, stability and repeatability were still unmet requirements in multi-DoF upper limb systems; hence, I started by investigating different strategies to produce a more robust control. To do this, EMG signals were collected from trans-radial amputees using an array of up to six sensors placed over the skin. Secondly, I developed a vibrotactile system to implement haptic feedback to restore proprioception and create a bidirectional connection between the user and the prosthesis. Similarly, I implemented an object stiffness detection to restore tactile sensation able to connect the user with the external word. This closed-loop control between EMG and vibration feedback is essential to implementing a Bidirectional Body - Machine Interface to impact amputees’ daily life strongly. For each of these three activities: (i) implementation of robust pattern recognition control algorithms, (ii) restoration of proprioception, and (iii) restoration of the feeling of the grasped object's stiffness, I performed a study where data from healthy subjects and amputees was collected, in order to demonstrate the efficacy and usability of my implementations. In each study, I evaluated both the algorithms and the subjects’ ability to use the prosthesis by means of the F1Score parameter (offline) and the Target Achievement Control test-TAC (online). With this test, I analyzed the error rate, path efficiency, and time efficiency in completing different tasks. Main results. Among the several tested methods for Pattern Recognition, the Non-Linear Logistic Regression (NLR) resulted to be the best algorithm in terms of F1Score (99%, robustness), whereas the minimum number of electrodes needed for its functioning was determined to be 4 in the conducted offline analyses. Further, I demonstrated that its low computational burden allowed its implementation and integration on a microcontroller running at a sampling frequency of 300Hz (efficiency). Finally, the online implementation allowed the subject to simultaneously control the Hannes prosthesis DoFs, in a bioinspired and human-like way. In addition, I performed further tests with the same NLR-based control by endowing it with closed-loop proprioceptive feedback. In this scenario, the results achieved during the TAC test obtained an error rate of 15% and a path efficiency of 60% in experiments where no sources of information were available (no visual and no audio feedback). Such results demonstrated an improvement in the controllability of the system with an impact on user experience. Significance. The obtained results confirmed the hypothesis of improving robustness and efficiency of a prosthetic control thanks to of the implemented closed-loop approach. The bidirectional communication between the user and the prosthesis is capable to restore the loss of sensory functionality, with promising implications on direct translation in the clinical practice
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