Cellular Nonlinear Networks: optimized implementation on FPGA and applications to robotics

L'objectiu principal d'aquesta tesi consisteix a estudiar la factibilitat d'implementar un sensor càmera CNN amb plena funcionalitat basat en FPGA de baix cost adequat per a aplicacions en robots mòbils. L'estudi dels fonaments de les xarxes cel•lulars no lineals (CNNs) i la seva aplicació eficaç en matrius de portes programables (FPGAs) s'ha complementat, d'una banda amb el paral•lelisme que s'estableix entre arquitectura multi-nucli de les CNNs i els eixams de robots mòbils, i per l'altre banda amb la correlació dinàmica de CNNs i arquitectures memristive. A més, els memristors es consideren els substituts dels futurs dispositius de memòria flash per la seva capacitat d'integració d'alta densitat i el seu consum d'energia prop de zero. En el nostre cas, hem estat interessats en el desenvolupament d’FPGAs que han deixat de ser simples dispositius per a la creació ràpida de prototips ASIC per esdevenir complets dispositius reconfigurables amb integració de la memòria i els elements de processament general. En particular, s'han explorat com les arquitectures implementades CNN en FPGAs poden ser optimitzades en termes d’àrea ocupada en el dispositiu i el seu consum de potència. El nostre objectiu final ens ah portat a implementar de manera eficient una CNN-UM amb complet funcionament a un baix cost i baix consum sobre una FPGA amb tecnología flash. Per tant, futurs estudis sobre l’arquitectura eficient de la CNN sobre la FPGA i la interconnexió amb els robots comercials disponibles és un dels objectius d'aquesta tesi que se seguiran en les línies de futur exposades en aquest treball.El objetivo principal de esta tesis consiste en estudiar la factibilidad de implementar un sensor cámara CNN con plena funcionalidad basado en FPGA de bajo coste adecuado para aplicaciones en robots móviles. El estudio de los fundamentos de las redes celulares no lineales (CNNs) y su aplicación eficaz en matrices de puertas programables (FPGAs) se ha complementado, por un lado con el paralelismo que se establece entre arquitectura multi -núcleo de las CNNs y los enjambres de robots móviles, y por el otro lado con la correlación dinámica de CNNs y arquitecturas memristive. Además, los memristors se consideran los sustitutos de los futuros dispositivos de memoria flash por su capacidad de integración de alta densidad y su consumo de energía cerca de cero. En nuestro caso, hemos estado interesados en el desarrollo de FPGAs que han dejado de ser simples dispositivos para la creación rápida de prototipos ASIC para convertirse en completos dispositivos reconfigurables con integración de la memoria y los elementos de procesamiento general. En particular, se han explorado como las arquitecturas implementadas CNN en FPGAs pueden ser optimizadas en términos de área ocupada en el dispositivo y su consumo de potencia. Nuestro objetivo final nos ah llevado a implementar de manera eficiente una CNN-UM con completo funcionamiento a un bajo coste y bajo consumo sobre una FPGA con tecnología flash. Por lo tanto, futuros estudios sobre la arquitectura eficiente de la CNN sobre la FPGA y la interconexión con los robots comerciales disponibles es uno de los objetivos de esta tesis que se seguirán en las líneas de futuro expuestas en este trabajo.The main goal of this thesis consists in studying the feasibility to implement a full-functionality CNN camera sensor based on low-cost FPGA device suitable for mobile robotic applications. The study of Cellular Nonlinear Networks (CNNs) fundamentals and its efficient implementation on Field Programmable Gate Arrays (FPGAs) has been complemented, on one side with the parallelism established between multi-core CNN architecture and swarm of mobile robots, and on the other side with the dynamics correlation of CNNs and memristive architectures. Furthermore, memristors are considered the future substitutes of flash memory devices because of its capability of high density integration and its close to zero power consumption. In our case, we have been interested in the development of FPGAs that have ceased to be simple devices for ASIC fast prototyping to become complete reconfigurable devices embedding memory and processing elements. In particular, we have explored how the CNN architectures implemented on FPGAs can be optimized in terms of area occupied on the device or power consumption. Our final accomplishment has been implementing efficiently a fully functional reconfigurable CNN-UM on a low-cost low-power FPGA based on flash technology. Therefore, further studies on an efficient CNN architecture on FPGA and interfacing it with commercially-available robots is one of the objectives of this thesis that will be followed in the future directions exposed in this work

A systematic review of physiological signals based driver drowsiness detection systems.

Driving a vehicle is a complex, multidimensional, and potentially risky activity demanding full mobilization and utilization of physiological and cognitive abilities. Drowsiness, often caused by stress, fatigue, and illness declines cognitive capabilities that affect drivers' capability and cause many accidents. Drowsiness-related road accidents are associated with trauma, physical injuries, and fatalities, and often accompany economic loss. Drowsy-related crashes are most common in young people and night shift workers. Real-time and accurate driver drowsiness detection is necessary to bring down the drowsy driving accident rate. Many researchers endeavored for systems to detect drowsiness using different features related to vehicles, and drivers' behavior, as well as, physiological measures. Keeping in view the rising trend in the use of physiological measures, this study presents a comprehensive and systematic review of the recent techniques to detect driver drowsiness using physiological signals. Different sensors augmented with machine learning are utilized which subsequently yield better results. These techniques are analyzed with respect to several aspects such as data collection sensor, environment consideration like controlled or dynamic, experimental set up like real traffic or driving simulators, etc. Similarly, by investigating the type of sensors involved in experiments, this study discusses the advantages and disadvantages of existing studies and points out the research gaps. Perceptions and conceptions are made to provide future research directions for drowsiness detection techniques based on physiological signals. [Abstract copyright: © The Author(s), under exclusive licence to Springer Nature B.V. 2022. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Image Processing and Analysis for Preclinical and Clinical Applications

Radiomics is one of the most successful branches of research in the field of image processing and analysis, as it provides valuable quantitative information for the personalized medicine. It has the potential to discover features of the disease that cannot be appreciated with the naked eye in both preclinical and clinical studies. In general, all quantitative approaches based on biomedical images, such as positron emission tomography (PET), computed tomography (CT) and magnetic resonance imaging (MRI), have a positive clinical impact in the detection of biological processes and diseases as well as in predicting response to treatment. This Special Issue, “Image Processing and Analysis for Preclinical and Clinical Applications”, addresses some gaps in this field to improve the quality of research in the clinical and preclinical environment. It consists of fourteen peer-reviewed papers covering a range of topics and applications related to biomedical image processing and analysis

Synthesis and analysis of nonlinear, analog, ultra low power, Bernoulli cell based CytoMimetic circuits for biocomputation

A novel class of analog BioElectronics is introduced for the systematic implementation of ultra-low power microelectronic circuits, able to compute nonlinear biological dynamics. This class of circuits is termed ``CytoMimetic Circuits'', in an attempt to highlight their actual function, which is mimicking biological responses, as observed experimentally. Inspired by the ingenious Bernoulli Cell Formalism (BCF), which was originally formulated for the modular synthesis and analysis of linear, time-invariant, high-dynamic range, logarithmic filters, a new, modified mathematical framework has been conceived, termed Nonlinear Bernoulli Cell Formalism (NBCF), which forms the core mathematical framework, characterising the operation of CytoMimetic circuits. The proposed nonlinear, transistor-level mathematical formulation exploits the striking similarities existing between the NBCF and coupled ordinary differential equations, typically appearing in models of naturally encountered biochemical systems. The resulting continuous-time, continuous-value, low-power CytoMimetic electronic circuits succeed in simulating with good accuracy cellular and molecular dynamics and found to be in very good agreement with their biological counterparts. They usually occupy an area of a fraction of a square millimetre, while consuming between hundreds of nanowatts and few tenths of microwatts of power. The systematic nature of the NBCF led to the transformation of a wide variety of biochemical reactions into nonlinear Log-domain circuits, which span a large area of different biological model types. Moreover, a detailed analysis of the robustness and performance of the proposed circuit class is also included in this thesis. The robustness examination has been conducted via post-layout simulations of an indicative CytoMimetic circuit and also by providing fabrication-related variability simulations, obtained by means of analog Monte Carlo statistical analysis for each one of the proposed circuit topologies. Furthermore, a detailed mathematical analysis that is carefully addressing the effect of process-parameters and MOSFET geometric properties upon subthreshold translinear circuits has been conducted for the fundamental translinear blocks, CytoMimetic topologies are comprised of. Finally, an interesting sub-category of Neuromorphic circuits, the ``Log-Domain Silicon Synapses'' is presented and representative circuits are thoroughly analysed by a novel, generalised BC operator framework. This leads to the conclusion that the BC operator consists the heart of such Log-domain circuits, therefore, allows the establishment of a general class of BC-based silicon synaptic circuits, which includes most of the synaptic circuits, implemented so far in Log-domain.Open Acces