Synchronization of Pulse-Coupled Phase Oscillators over Multi-FPGA Communication Links

This study proposes an implementation of pulse-coupled phase oscillators over multiple field-programmable-gate-array (FPGA) communication links. Two FPGAs are connected by a gigabit transceiver and a First-In First-Out interface. To verify the effect of communication delay between FPGAs on oscillator synchronization, we implement four oscillators on the multi-FPGA platform. We have successfully observed synchronization over two FPGAs correctly, despite of a 0.1 μs communication delay. The measurement results show that first spike synchronization requires 12.47 μs with a 3.2 Gbps communication throughput

Perspectives on adaptive dynamical systems

Adaptivity is a dynamical feature that is omnipresent in nature, socio-economics, and technology. For example, adaptive couplings appear in various real-world systems, such as the power grid, social, and neural networks, and they form the backbone of closed-loop control strategies and machine learning algorithms. In this article, we provide an interdisciplinary perspective on adaptive systems. We reflect on the notion and terminology of adaptivity in different disciplines and discuss which role adaptivity plays for various fields. We highlight common open challenges and give perspectives on future research directions, looking to inspire interdisciplinary approaches

Perspectives on adaptive dynamical systems

Adaptivity is a dynamical feature that is omnipresent in nature, socio-economics, and technology. For example, adaptive couplings appear in various real-world systems like the power grid, social, and neural networks, and they form the backbone of closed-loop control strategies and machine learning algorithms. In this article, we provide an interdisciplinary perspective on adaptive systems. We reflect on the notion and terminology of adaptivity in different disciplines and discuss which role adaptivity plays for various fields. We highlight common open challenges, and give perspectives on future research directions, looking to inspire interdisciplinary approaches.Comment: 46 pages, 9 figure

18th IEEE Workshop on Nonlinear Dynamics of Electronic Systems: Proceedings

Proceedings of the 18th IEEE Workshop on Nonlinear Dynamics of Electronic Systems, which took place in Dresden, Germany, 26 – 28 May 2010.:Welcome Address ........................ Page I Table of Contents ........................ Page III Symposium Committees .............. Page IV Special Thanks ............................. Page V Conference program (incl. page numbers of papers) ................... Page VI Conference papers Invited talks ................................ Page 1 Regular Papers ........................... Page 14 Wednesday, May 26th, 2010 ......... Page 15 Thursday, May 27th, 2010 .......... Page 110 Friday, May 28th, 2010 ............... Page 210 Author index ............................... Page XII

Continuous-time analog circuits for statistical signal processing

Thesis (Ph. D.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2003.Vita.Includes bibliographical references (p. 205-209).This thesis proposes an alternate paradigm for designing computers using continuous-time analog circuits. Digital computation sacrifices continuous degrees of freedom. A principled approach to recovering them is to view analog circuits as propagating probabilities in a message passing algorithm. Within this framework, analog continuous-time circuits can perform robust, programmable, high-speed, low-power, cost-effective, statistical signal processing. This methodology will have broad application to systems which can benefit from low-power, high-speed signal processing and offers the possibility of adaptable/programmable high-speed circuitry at frequencies where digital circuitry would be cost and power prohibitive. Many problems must be solved before the new design methodology can be shown to be useful in practice: Continuous-time signal processing is not well understood. Analog computational circuits known as "soft-gates" have been previously proposed, but a complementary set of analog memory circuits is still lacking. Analog circuits are usually tunable, rarely reconfigurable, but never programmable. The thesis develops an understanding of the convergence and synchronization of statistical signal processing algorithms in continuous time, and explores the use of linear and nonlinear circuits for analog memory. An exemplary embodiment called the Noise Lock Loop (NLL) using these design primitives is demonstrated to perform direct-sequence spread-spectrum acquisition and tracking functionality and promises order-of-magnitude wins over digital implementations. A building block for the construction of programmable analog gate arrays, the "soft-multiplexer" is also proposed.by Benjamin Vigoda.Ph.D

Biologically inspired methods in speech recognition and synthesis: closing the loop

Current state-of-the-art approaches to computational speech recognition and synthesis are based on statistical analyses of extremely large data sets. It is currently unknown how these methods relate to the methods that the human brain uses to perceive and produce speech. In this thesis, I present a conceptual model, Sermo, which describes some of the computations that the human brain uses to perceive and produce speech. I then implement three large-scale brain models that accomplish tasks theorized to be required by Sermo, drawing upon techniques in automatic speech recognition, articulatory speech synthesis, and computational neuroscience. The first model extracts features from an audio signal by performing a frequency decomposition with an auditory periphery model, then decorrelating the information in that power spectrum with methods commonly used in audio and image compression. I show that the features produced by this model implemented with biologically plausible spiking neurons can be used to classify phones in pre-segmented speech with significantly better accuracy than the features typically used in automatic speech recognition systems. Additionally, I show that this model can be used to compare auditory periphery models in terms of their ability to support phone classification of pre-segmented speech. The second model uses a symbol-like neural representation of a sequence of syllables to generate a trajectory of premotor commands that can be used to control an articulatory synthesizer. I show that the model can produce trajectories up to several seconds in length from a static syllable sequence representation that result in intelligible synthesized speech. The trajectories reflect the high temporal variability of human speech, and smoothly transition between successive syllables, even in rapid utterances. The third model classifies syllables from a trajectory of premotor commands. I show that the model is able to classify syllables online despite high temporal variability, and can produce the same syllable representations used by the second model. These two models can be connected in future work in order to implement a closed-loop sensorimotor speech system. Unlike current computational approaches, all three of these models are implemented with biologically plausible spiking neurons, which can be simulated with neuromorphic hardware, and can interface naturally with artificial cochleas. All models are shown to scale to the level of adult human vocabularies in terms of the neural resources required, though limitations on their performance as a result of scaling will be discussed

Neuromorphic auditory computing: towards a digital, event-based implementation of the hearing sense for robotics

In this work, it is intended to advance on the development of the neuromorphic audio processing systems in robots through the implementation of an open-source neuromorphic cochlea, event-based models of primary auditory nuclei, and their potential use for real-time robotics applications. First, the main gaps when working with neuromorphic cochleae were identified. Among them, the accessibility and usability of such sensors can be considered as a critical aspect. Silicon cochleae could not be as flexible as desired for some applications. However, FPGA-based sensors can be considered as an alternative for fast prototyping and proof-of-concept applications. Therefore, a software tool was implemented for generating open-source, user-configurable Neuromorphic Auditory Sensor models that can be deployed in any FPGA, removing the aforementioned barriers for the neuromorphic research community. Next, the biological principles of the animals' auditory system were studied with the aim of continuing the development of the Neuromorphic Auditory Sensor. More specifically, the principles of binaural hearing were deeply studied for implementing event-based models to perform real-time sound source localization tasks. Two different approaches were followed to extract inter-aural time differences from event-based auditory signals. On the one hand, a digital, event-based design of the Jeffress model was implemented. On the other hand, a novel digital implementation of the Time Difference Encoder model was designed and implemented on FPGA. Finally, three different robotic platforms were used for evaluating the performance of the proposed real-time neuromorphic audio processing architectures. An audio-guided central pattern generator was used to control a hexapod robot in real-time using spiking neural networks on SpiNNaker. Then, a sensory integration application was implemented combining sound source localization and obstacle avoidance for autonomous robots navigation. Lastly, the Neuromorphic Auditory Sensor was integrated within the iCub robotic platform, being the first time that an event-based cochlea is used in a humanoid robot. Then, the conclusions obtained are presented and new features and improvements are proposed for future works.En este trabajo se pretende avanzar en el desarrollo de los sistemas de procesamiento de audio neuromórficos en robots a través de la implementación de una cóclea neuromórfica de código abierto, modelos basados en eventos de los núcleos auditivos primarios, y su potencial uso para aplicaciones de robótica en tiempo real. En primer lugar, se identificaron los principales problemas a la hora de trabajar con cócleas neuromórficas. Entre ellos, la accesibilidad y usabilidad de dichos sensores puede considerarse un aspecto crítico. Los circuitos integrados analógicos que implementan modelos cocleares pueden no pueden ser tan flexibles como se desea para algunas aplicaciones específicas. Sin embargo, los sensores basados en FPGA pueden considerarse una alternativa para el desarrollo rápido y flexible de prototipos y aplicaciones de prueba de concepto. Por lo tanto, en este trabajo se implementó una herramienta de software para generar modelos de sensores auditivos neuromórficos de código abierto y configurables por el usuario, que pueden desplegarse en cualquier FPGA, eliminando las barreras mencionadas para la comunidad de investigación neuromórfica. A continuación, se estudiaron los principios biológicos del sistema auditivo de los animales con el objetivo de continuar con el desarrollo del Sensor Auditivo Neuromórfico (NAS). Más concretamente, se estudiaron en profundidad los principios de la audición binaural con el fin de implementar modelos basados en eventos para realizar tareas de localización de fuentes sonoras en tiempo real. Se siguieron dos enfoques diferentes para extraer las diferencias temporales interaurales de las señales auditivas basadas en eventos. Por un lado, se implementó un diseño digital basado en eventos del modelo Jeffress. Por otro lado, se diseñó una novedosa implementación digital del modelo de codificador de diferencias temporales y se implementó en FPGA. Por último, se utilizaron tres plataformas robóticas diferentes para evaluar el rendimiento de las arquitecturas de procesamiento de audio neuromórfico en tiempo real propuestas. Se utilizó un generador central de patrones guiado por audio para controlar un robot hexápodo en tiempo real utilizando redes neuronales pulsantes en SpiNNaker. A continuación, se implementó una aplicación de integración sensorial que combina la localización de fuentes de sonido y la evitación de obstáculos para la navegación de robots autónomos. Por último, se integró el Sensor Auditivo Neuromórfico dentro de la plataforma robótica iCub, siendo la primera vez que se utiliza una cóclea basada en eventos en un robot humanoide. Por último, en este trabajo se presentan las conclusiones obtenidas y se proponen nuevas funcionalidades y mejoras para futuros trabajos