15,720 research outputs found
Adaptive motor control and learning in a spiking neural network realised on a mixed-signal neuromorphic processor
Neuromorphic computing is a new paradigm for design of both the computing
hardware and algorithms inspired by biological neural networks. The event-based
nature and the inherent parallelism make neuromorphic computing a promising
paradigm for building efficient neural network based architectures for control
of fast and agile robots. In this paper, we present a spiking neural network
architecture that uses sensory feedback to control rotational velocity of a
robotic vehicle. When the velocity reaches the target value, the mapping from
the target velocity of the vehicle to the correct motor command, both
represented in the spiking neural network on the neuromorphic device, is
autonomously stored on the device using on-chip plastic synaptic weights. We
validate the controller using a wheel motor of a miniature mobile vehicle and
inertia measurement unit as the sensory feedback and demonstrate online
learning of a simple 'inverse model' in a two-layer spiking neural network on
the neuromorphic chip. The prototype neuromorphic device that features 256
spiking neurons allows us to realise a simple proof of concept architecture for
the purely neuromorphic motor control and learning. The architecture can be
easily scaled-up if a larger neuromorphic device is available.Comment: 6+1 pages, 4 figures, will appear in one of the Robotics conference
PyCARL: A PyNN Interface for Hardware-Software Co-Simulation of Spiking Neural Network
We present PyCARL, a PyNN-based common Python programming interface for
hardware-software co-simulation of spiking neural network (SNN). Through
PyCARL, we make the following two key contributions. First, we provide an
interface of PyNN to CARLsim, a computationally-efficient, GPU-accelerated and
biophysically-detailed SNN simulator. PyCARL facilitates joint development of
machine learning models and code sharing between CARLsim and PyNN users,
promoting an integrated and larger neuromorphic community. Second, we integrate
cycle-accurate models of state-of-the-art neuromorphic hardware such as
TrueNorth, Loihi, and DynapSE in PyCARL, to accurately model hardware latencies
that delay spikes between communicating neurons and degrade performance. PyCARL
allows users to analyze and optimize the performance difference between
software-only simulation and hardware-software co-simulation of their machine
learning models. We show that system designers can also use PyCARL to perform
design-space exploration early in the product development stage, facilitating
faster time-to-deployment of neuromorphic products. We evaluate the memory
usage and simulation time of PyCARL using functionality tests, synthetic SNNs,
and realistic applications. Our results demonstrate that for large SNNs, PyCARL
does not lead to any significant overhead compared to CARLsim. We also use
PyCARL to analyze these SNNs for a state-of-the-art neuromorphic hardware and
demonstrate a significant performance deviation from software-only simulations.
PyCARL allows to evaluate and minimize such differences early during model
development.Comment: 10 pages, 25 figures. Accepted for publication at International Joint
Conference on Neural Networks (IJCNN) 202
Memory and information processing in neuromorphic systems
A striking difference between brain-inspired neuromorphic processors and
current von Neumann processors architectures is the way in which memory and
processing is organized. As Information and Communication Technologies continue
to address the need for increased computational power through the increase of
cores within a digital processor, neuromorphic engineers and scientists can
complement this need by building processor architectures where memory is
distributed with the processing. In this paper we present a survey of
brain-inspired processor architectures that support models of cortical networks
and deep neural networks. These architectures range from serial clocked
implementations of multi-neuron systems to massively parallel asynchronous ones
and from purely digital systems to mixed analog/digital systems which implement
more biological-like models of neurons and synapses together with a suite of
adaptation and learning mechanisms analogous to the ones found in biological
nervous systems. We describe the advantages of the different approaches being
pursued and present the challenges that need to be addressed for building
artificial neural processing systems that can display the richness of behaviors
seen in biological systems.Comment: Submitted to Proceedings of IEEE, review of recently proposed
neuromorphic computing platforms and system
Dynamic Power Management for Neuromorphic Many-Core Systems
This work presents a dynamic power management architecture for neuromorphic
many core systems such as SpiNNaker. A fast dynamic voltage and frequency
scaling (DVFS) technique is presented which allows the processing elements (PE)
to change their supply voltage and clock frequency individually and
autonomously within less than 100 ns. This is employed by the neuromorphic
simulation software flow, which defines the performance level (PL) of the PE
based on the actual workload within each simulation cycle. A test chip in 28 nm
SLP CMOS technology has been implemented. It includes 4 PEs which can be scaled
from 0.7 V to 1.0 V with frequencies from 125 MHz to 500 MHz at three distinct
PLs. By measurement of three neuromorphic benchmarks it is shown that the total
PE power consumption can be reduced by 75%, with 80% baseline power reduction
and a 50% reduction of energy per neuron and synapse computation, all while
maintaining temporary peak system performance to achieve biological real-time
operation of the system. A numerical model of this power management model is
derived which allows DVFS architecture exploration for neuromorphics. The
proposed technique is to be used for the second generation SpiNNaker
neuromorphic many core system
Converting Static Image Datasets to Spiking Neuromorphic Datasets Using Saccades
Creating datasets for Neuromorphic Vision is a challenging task. A lack of
available recordings from Neuromorphic Vision sensors means that data must
typically be recorded specifically for dataset creation rather than collecting
and labelling existing data. The task is further complicated by a desire to
simultaneously provide traditional frame-based recordings to allow for direct
comparison with traditional Computer Vision algorithms. Here we propose a
method for converting existing Computer Vision static image datasets into
Neuromorphic Vision datasets using an actuated pan-tilt camera platform. Moving
the sensor rather than the scene or image is a more biologically realistic
approach to sensing and eliminates timing artifacts introduced by monitor
updates when simulating motion on a computer monitor. We present conversion of
two popular image datasets (MNIST and Caltech101) which have played important
roles in the development of Computer Vision, and we provide performance metrics
on these datasets using spike-based recognition algorithms. This work
contributes datasets for future use in the field, as well as results from
spike-based algorithms against which future works can compare. Furthermore, by
converting datasets already popular in Computer Vision, we enable more direct
comparison with frame-based approaches.Comment: 10 pages, 6 figures in Frontiers in Neuromorphic Engineering, special
topic on Benchmarks and Challenges for Neuromorphic Engineering, 2015 (under
review
Neuromorphic Learning towards Nano Second Precision
Temporal coding is one approach to representing information in spiking neural
networks. An example of its application is the location of sounds by barn owls
that requires especially precise temporal coding. Dependent upon the azimuthal
angle, the arrival times of sound signals are shifted between both ears. In
order to deter- mine these interaural time differences, the phase difference of
the signals is measured. We implemented this biologically inspired network on a
neuromorphic hardware system and demonstrate spike-timing dependent plasticity
on an analog, highly accelerated hardware substrate. Our neuromorphic
implementation enables the resolution of time differences of less than 50 ns.
On-chip Hebbian learning mechanisms select inputs from a pool of neurons which
code for the same sound frequency. Hence, noise caused by different synaptic
delays across these inputs is reduced. Furthermore, learning compensates for
variations on neuronal and synaptic parameters caused by device mismatch
intrinsic to the neuromorphic substrate.Comment: 7 pages, 7 figures, presented at IJCNN 2013 in Dallas, TX, USA. IJCNN
2013. Corrected version with updated STDP curves IJCNN 201
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