Synthesizing cognition in neuromorphic electronic systems

The quest to implement intelligent processing in electronic neuromorphic systems lacks methods for achieving reliable behavioral dynamics on substrates of inherently imprecise and noisy neurons. Here we report a solution to this problem that involves first mapping an unreliable hardware layer of spiking silicon neurons into an abstract computational layer composed of generic reliable subnetworks of model neurons and then composing the target behavioral dynamics as a “soft state machine” running on these reliable subnets. In the first step, the neural networks of the abstract layer are realized on the hardware substrate by mapping the neuron circuit bias voltages to the model parameters. This mapping is obtained by an automatic method in which the electronic circuit biases are calibrated against the model parameters by a series of population activity measurements. The abstract computational layer is formed by configuring neural networks as generic soft winner-take-all subnetworks that provide reliable processing by virtue of their active gain, signal restoration, and multistability. The necessary states and transitions of the desired high-level behavior are then easily embedded in the computational layer by introducing only sparse connections between some neurons of the various subnets. We demonstrate this synthesis method for a neuromorphic sensory agent that performs real-time context-dependent classification of motion patterns observed by a silicon retina

A Spiking Self-Organising Map Combining STDP, Oscillations and Continuous Learning

Open Access article EPSRC EP/C010841/1, EP/J004561/

Self Organisation and Hierarchical Concept Representation in Networks of Spiking Neurons

The aim of this work is to introduce modular processing mechanisms for cortical functions implemented in networks of spiking neurons. Neural maps are a feature of cortical processing found to be generic throughout sensory cortical areas, and self-organisation to the fundamental properties of input spike trains has been shown to be an important property of cortical organisation. Additionally, oscillatory behaviour, temporal coding of information, and learning through spike timing dependent plasticity are all frequently observed in the cortex. The traditional self-organising map (SOM) algorithm attempts to capture the computational properties of this cortical self-organisation in a neural network. As such, a cognitive module for a spiking SOM using oscillations, phasic coding and STDP has been implemented. This model is capable of mapping to distributions of input data in a manner consistent with the traditional SOM algorithm, and of categorising generic input data sets. Higher-level cortical processing areas appear to feature a hierarchical category structure that is founded on a feature-based object representation. The spiking SOM model is therefore extended to facilitate input patterns in the form of sets of binary feature-object relations, such as those seen in the field of formal concept analysis. It is demonstrated that this extended model is capable of learning to represent the hierarchical conceptual structure of an input data set using the existing learning scheme. Furthermore, manipulations of network parameters allow the level of hierarchy used for either learning or recall to be adjusted, and the network is capable of learning comparable representations when trained with incomplete input patterns. Together these two modules provide related approaches to the generation of both topographic mapping and hierarchical representation of input spaces that can be potentially combined and used as the basis for advanced spiking neuron models of the learning of complex representations

Event-Driven Technologies for Reactive Motion Planning: Neuromorphic Stereo Vision and Robot Path Planning and Their Application on Parallel Hardware

Die Robotik wird immer mehr zu einem Schlüsselfaktor des technischen Aufschwungs. Trotz beeindruckender Fortschritte in den letzten Jahrzehnten, übertreffen Gehirne von Säugetieren in den Bereichen Sehen und Bewegungsplanung noch immer selbst die leistungsfähigsten Maschinen. Industrieroboter sind sehr schnell und präzise, aber ihre Planungsalgorithmen sind in hochdynamischen Umgebungen, wie sie für die Mensch-Roboter-Kollaboration (MRK) erforderlich sind, nicht leistungsfähig genug. Ohne schnelle und adaptive Bewegungsplanung kann sichere MRK nicht garantiert werden. Neuromorphe Technologien, einschließlich visueller Sensoren und Hardware-Chips, arbeiten asynchron und verarbeiten so raum-zeitliche Informationen sehr effizient. Insbesondere ereignisbasierte visuelle Sensoren sind konventionellen, synchronen Kameras bei vielen Anwendungen bereits überlegen. Daher haben ereignisbasierte Methoden ein großes Potenzial, schnellere und energieeffizientere Algorithmen zur Bewegungssteuerung in der MRK zu ermöglichen. In dieser Arbeit wird ein Ansatz zur flexiblen reaktiven Bewegungssteuerung eines Roboterarms vorgestellt. Dabei wird die Exterozeption durch ereignisbasiertes Stereosehen erreicht und die Pfadplanung ist in einer neuronalen Repräsentation des Konfigurationsraums implementiert. Die Multiview-3D-Rekonstruktion wird durch eine qualitative Analyse in Simulation evaluiert und auf ein Stereo-System ereignisbasierter Kameras übertragen. Zur Evaluierung der reaktiven kollisionsfreien Online-Planung wird ein Demonstrator mit einem industriellen Roboter genutzt. Dieser wird auch für eine vergleichende Studie zu sample-basierten Planern verwendet. Ergänzt wird dies durch einen Benchmark von parallelen Hardwarelösungen wozu als Testszenario Bahnplanung in der Robotik gewählt wurde. Die Ergebnisse zeigen, dass die vorgeschlagenen neuronalen Lösungen einen effektiven Weg zur Realisierung einer Robotersteuerung für dynamische Szenarien darstellen. Diese Arbeit schafft eine Grundlage für neuronale Lösungen bei adaptiven Fertigungsprozesse, auch in Zusammenarbeit mit dem Menschen, ohne Einbußen bei Geschwindigkeit und Sicherheit. Damit ebnet sie den Weg für die Integration von dem Gehirn nachempfundener Hardware und Algorithmen in die Industrierobotik und MRK

The role of medial entorhinal cortex activity in hippocampal CA1 spatiotemporally correlated sequence generation and object selectivity for memory function

The hippocampus is crucial for episodic memory and certain forms of spatial navigation. Firing activity of hippocampal principal neurons contains environmental information, including the presence of specific objects, as well as the animal’s spatial and temporal position relative to environmental and behavioral cues. The organization of these firing correlates may allow the formation of memory traces through the integration of object and event information onto a spatiotemporal framework of cell assemblies. Characterizing how external inputs guide internal dynamics in the hippocampus to enable this process across different experiences is crucial to understanding hippocampal function. A body of literature implicates the medial entorhinal cortex (MEC) in supplying spatial and temporal information to the hippocampus. Here we develop a protocol utilizing bilaterally implanted custom designed triple fiber optic arrays and the red-shifted inhibitory opsin JAWS to transiently inactivate large volumes of MEC in freely behaving rats. This was coupled with extracellular tetrode recording of ensembles in CA1 of the hippocampus during a novel memory task involving temporal, spatial and object related epochs, in order to assess the importance of MEC activity for hippocampal feature selectivity during a rich and familiar experience. We report that inactivation of MEC during a mnemonic temporal delay disrupts the existing temporal firing field sequence in CA1 both during and following the inactivation period. Neurons with firing fields prior to the inactivation on each trial remained relatively stable. The disruption of CA1 temporal firing field sequences was accompanied by a behavioral deficit implicating MEC activity and hippocampal temporal field sequences in effective memory across time. Inactivating MEC during the object or spatial epochs of the task did not significantly alter CA1 object selective or spatial firing fields and behavioral performance remained stable. Our findings suggest that MEC is crucial specifically for temporal field organization and expression during a familiar and rich experience. These results support a role for MEC in guiding hippocampal cell assembly sequences in the absence of salient changing stimuli, which may extend to the navigation of cognitive organization in humans and support memory formation and retrieval

Analysis of Activity Dependent Development of Topographic Maps in Neural Field Theory with Short Time Scale Dependent Plasticity

Topographic maps are a brain structure connecting pre-synpatic and post-synaptic brain regions. Topographic development is dependent on Hebbian-based plasticity mechanisms working in conjunction with spontaneous patterns of neural activity generated in the pre-synaptic regions. Studies performed in mouse have shown that these spontaneous patterns can exhibit complex spatial-temporal structures which existing models cannot incorporate. Neural field theories are appropriate modelling paradigms for topographic systems due to the dense nature of the connections between regions and can be augmented with a plasticity rule general enough to capture complex time-varying structures. We propose a theoretical framework for studying the development of topography in the context of complex spatial-temporal activity fed-forward from the pre-synaptic to post-synaptic regions. Analysis of the model leads to an analytic solution corroborating the conclusion that activity can drive the refinement of topographic projections. The analysis also suggests that biological noise is used in the development of topography to stabilise the dynamics. MCMC simulations are used to analyse and understand the differences in topographic refinement between wild-type and the $\beta2$ knock-out mutant in mice. The time scale of the synaptic plasticity window is estimated as $0.56$ seconds in this context with a model fit of $R^2 = 0.81$.</jats:p