Closed loop interactions between spiking neural network and robotic simulators based on MUSIC and ROS

In order to properly assess the function and computational properties of simulated neural systems, it is necessary to account for the nature of the stimuli that drive the system. However, providing stimuli that are rich and yet both reproducible and amenable to experimental manipulations is technically challenging, and even more so if a closed-loop scenario is required. In this work, we present a novel approach to solve this problem, connecting robotics and neural network simulators. We implement a middleware solution that bridges the Robotic Operating System (ROS) to the Multi-Simulator Coordinator (MUSIC). This enables any robotic and neural simulators that implement the corresponding interfaces to be efficiently coupled, allowing real-time performance for a wide range of configurations. This work extends the toolset available for researchers in both neurorobotics and computational neuroscience, and creates the opportunity to perform closed-loop experiments of arbitrary complexity to address questions in multiple areas, including embodiment, agency, and reinforcement learning

Communicating Java Threads

The incorporation of multithreading in Java may be considered a significant part of the Java language, because it provides udimentary facilities for concurrent programming. However, we belief that the use of channels is a fundamental concept for concurrent programming. The channel approach as described in this paper is a realization of a systematic design method for concurrent programming in Java based on the CSP paradigm. CSP requires the availability of a Channel class and the addition of composition constructs for sequential, parallel and alternative processes. The Channel class and the constructs have been implemented in Java in compliance with the definitions in CSP. As a result, implementing communication between processes is facilitated, enabling the programmer to avoid deadlock more easily, and freeing the programmer from synchronization and scheduling constructs. The use of the Channel class and the additional constructs is illustrated in a simple application

Process-Oriented Collective Operations

Distributing process-oriented programs across a cluster of machines requires careful attention to the effects of network latency. The MPI standard, widely used for cluster computation, defines a number of collective operations: efficient, reusable algorithms for performing operations among a group of machines in the cluster. In this paper, we describe our techniques for implementing MPI communication patterns in process-oriented languages, and how we have used them to implement collective operations in PyCSP and occam-pi on top of an asynchronous messaging framework. We show how to make use of collective operations in distributed processoriented applications. We also show how the process-oriented model can be used to increase concurrency in existing collective operation algorithms

Components Interoperability through Mediating Connector Patterns

A key objective for ubiquitous environments is to enable system interoperability between system's components that are highly heterogeneous. In particular, the challenge is to embed in the system architecture the necessary support to cope with behavioral diversity in order to allow components to coordinate and communicate. The continuously evolving environment further asks for an automated and on-the-fly approach. In this paper we present the design building blocks for the dynamic and on-the-fly interoperability between heterogeneous components. Specifically, we describe an Architectural Pattern called Mediating Connector, that is the key enabler for communication. In addition, we present a set of Basic Mediator Patterns, that describe the basic mismatches which can occur when components try to interact, and their corresponding solutions.Comment: In Proceedings WCSI 2010, arXiv:1010.233

CAN Fieldbus Communication in the CSP-based CT Library

In closed-loop control systems several realworld entities are simultaneously communicated to through a multitude of spatially distributed sensors and actuators. This intrinsic parallelism and complexity motivates implementing control software in the form of concurrent processes deployed on distributed hardware architectures. A CSP based occam-like architecture seems to be the most convenient for such a purpose. Many, often conflicting, requirements make design and implementation of distributed real-time control systems an extremely difficult task. The scope of this paper is limited to achieving safe and real-time communication over a CAN fieldbus for an\ud existing CSP-based framework

Process Management in Distributed Operating Systems

As part of designing and building the Amoeba distributed operating system, we have come up with a simple set of mechanisms for process management that allows downloading process migration, checkpointing, remote debugging and emulation of alien operating system interfaces.\ud The basic process management facilities are realized by the Amoeba Kernel and can be augmented by user-space services: Debug Service, Load-Balancing Service, Unix-Emulation Service, Checkpoint Service, etc.\ud The Amoeba Kernel can produce a representation of the state of a process which can be given to another Kernel where it is accepted for continued execution. This state consists of the memory contents in the form of a collection of segments, and a Process Descriptor which contains the additional state, program counters, stack pointers, system call state, etc.\ud Careful separation of mechanism and policy has resulted in a compact set of Kernel operations for process creation and management. A collection of user-space services provides process management policies and a simple interface for application programs.\ud In this paper we shall describe the mechanisms as they are being implemented in the Amoeba Distributed System at the Centre for Mathematics and Computer Science in Amsterdam. We believe that the mechanisms described here can also apply to other distributed systems

SICStus MT - A Multithreaded Execution Environment for SICStus Prolog

The development of intelligent software agents and other complex applications which continuously interact with their environments has been one of the reasons why explicit concurrency has become a necessity in a modern Prolog system today. Such applications need to perform several tasks which may be very different with respect to how they are implemented in Prolog. Performing these tasks simultaneously is very tedious without language support. This paper describes the design, implementation and evaluation of a prototype multithreaded execution environment for SICStus Prolog. The threads are dynamically managed using a small and compact set of Prolog primitives implemented in a portable way, requiring almost no support from the underlying operating system

AER-based robotic closed-loop control system

Address-Event-Representation (AER) is an asynchronous protocol for transferring the information of spiking neuro-inspired systems. Actually AER systems are able to see, to ear, to process information, and to learn. Regarding to the actuation step, the AER has been used for implementing Central Pattern Generator algorithms, but not for controlling the actuators in a closed-loop spike-based way. In this paper we analyze an AER based model for a real-time neuro-inspired closed-loop control system. We demonstrate it into a differential control system for a two-wheel vehicle using feedback AER information. PFM modulation has been used to power the DC motors of the vehicle and translation into AER of encoder information is also presented for the close-loop. A codesign platform (called AER-Robot), based into a Xilinx Spartan 3 FPGA and an 8051 USB microcontroller, with power stages for four DC motors has been used for the demonstrator.Junta de Andalucía P06-TIC-01417Ministerio de Educación y Ciencia TEC2006-11730-C03-0

Modularizing and Specifying Protocols among Threads

We identify three problems with current techniques for implementing protocols among threads, which complicate and impair the scalability of multicore software development: implementing synchronization, implementing coordination, and modularizing protocols. To mend these deficiencies, we argue for the use of domain-specific languages (DSL) based on existing models of concurrency. To demonstrate the feasibility of this proposal, we explain how to use the model of concurrency Reo as a high-level protocol DSL, which offers appropriate abstractions and a natural separation of protocols and computations. We describe a Reo-to-Java compiler and illustrate its use through examples.Comment: In Proceedings PLACES 2012, arXiv:1302.579