Adaptive cancelation of self-generated sensory signals in a whisking robot

Sensory signals are often caused by one's own active movements. This raises a problem of discriminating between self-generated sensory signals and signals generated by the external world. Such discrimination is of general importance for robotic systems, where operational robustness is dependent on the correct interpretation of sensory signals. Here, we investigate this problem in the context of a whiskered robot. The whisker sensory signal comprises two components: one due to contact with an object (externally generated) and another due to active movement of the whisker (self-generated). We propose a solution to this discrimination problem based on adaptive noise cancelation, where the robot learns to predict the sensory consequences of its own movements using an adaptive filter. The filter inputs (copy of motor commands) are transformed by Laguerre functions instead of the often-used tapped-delay line, which reduces model order and, therefore, computational complexity. Results from a contact-detection task demonstrate that false positives are significantly reduced using the proposed scheme

1 V CMOS subthreshold log domain PDM

A new CMOS circuit strategy for very low-voltage Pulse-Duration Modulators (PDM) is proposed. Optimization of voltage supply scaling below the sum of threshold voltages is based on Instantaneous Log Companding processing through the MOSFET operating in weak inversion. A 1 V VLSI PDM circuit for very low-voltage audio applications such as Hearing Aids is presented, showing good agreement between simulated and experimental data.Comisión Interministerial de Ciencia y Tecnología TIC97-1159, TIC99-1084European Union 2306

Fundamentals of Recurrent Neural Network (RNN) and Long Short-Term Memory (LSTM) Network

Because of their effectiveness in broad practical applications, LSTM networks have received a wealth of coverage in scientific journals, technical blogs, and implementation guides. However, in most articles, the inference formulas for the LSTM network and its parent, RNN, are stated axiomatically, while the training formulas are omitted altogether. In addition, the technique of "unrolling" an RNN is routinely presented without justification throughout the literature. The goal of this paper is to explain the essential RNN and LSTM fundamentals in a single document. Drawing from concepts in signal processing, we formally derive the canonical RNN formulation from differential equations. We then propose and prove a precise statement, which yields the RNN unrolling technique. We also review the difficulties with training the standard RNN and address them by transforming the RNN into the "Vanilla LSTM" network through a series of logical arguments. We provide all equations pertaining to the LSTM system together with detailed descriptions of its constituent entities. Albeit unconventional, our choice of notation and the method for presenting the LSTM system emphasizes ease of understanding. As part of the analysis, we identify new opportunities to enrich the LSTM system and incorporate these extensions into the Vanilla LSTM network, producing the most general LSTM variant to date. The target reader has already been exposed to RNNs and LSTM networks through numerous available resources and is open to an alternative pedagogical approach. A Machine Learning practitioner seeking guidance for implementing our new augmented LSTM model in software for experimentation and research will find the insights and derivations in this tutorial valuable as well.Comment: 43 pages, 10 figures, 78 reference

A 0.18 μm CMOS low noise, highly linear continuous-time seventh-order elliptic low-pass filter

This paper presents a fast procedure for the system-level evaluation of noise and distortion in continuous-time integrated filters. The presented approach is based on Volterra's series theory and matrix algebra manipulation. This procedure has been integrated in a constrained optimization routine to improve the dynamic range of the filter while keeping the area and power consumption at a minimum. The proposed approach is demonstrated with the design, from system- to physical-level, of a seventh-order low-pass continuous-time elliptic filter for a high-performance broadband power-line communication receiver. The filter shows a nominal cut-off frequency of fc = 34MHz, less than 1dB ripple in the pass-band, and a maximum stop-band rejection of 65dB. Additionally, the filter features 12dB programmable boost in the pass-band to counteract high frequency components attenuation. Taking into account its wideband transfer characteristic, the filter has been implemented using G m-C techniques. The basic building block of its structure, the transconductor, uses a source degeneration topology with local feedback for linearity improving and shows a worst-case intermodulation distortion of -70 dB for two tones close to the passband edge, separated by 1MHz, with 70mV of amplitude. The filter combines very low noise (peak root spectral noise density below 56nV/√Hz) and high linearity (more than 64dB of MTPR for a DMT signal of 0.5Vpp amplitude) properties. The filter has been designed in a 0.18μm CMOS technology and it is compliant with industrial operation conditions (-40 to 85°C temperature variation and ±5% power supply deviation). The filter occupies 13mm2 and exhibits a typical power consumption of 450 mW from a 1.8V voltage supply.Ministerio de Ciencia y Tecnología TIC2003-0235

Communication Subsystems for Emerging Wireless Technologies

The paper describes a multi-disciplinary design of modern communication systems. The design starts with the analysis of a system in order to define requirements on its individual components. The design exploits proper models of communication channels to adapt the systems to expected transmission conditions. Input filtering of signals both in the frequency domain and in the spatial domain is ensured by a properly designed antenna. Further signal processing (amplification and further filtering) is done by electronics circuits. Finally, signal processing techniques are applied to yield information about current properties of frequency spectrum and to distribute the transmission over free subcarrier channels

On the Systematic Synthesis of OTA-Based KHN Filters

According to the nullor-mirror descriptions of OTA, the NAM expansion method for three different types of KHN filters employing OTAs is considered. The type-A filters employing five OTAs have 32 different forms, the type-B filters employing four OTAs have 32 different forms, and the type-C filters employing three OTAs have eight different forms. At last a total of 72 circuits are received. Having used canonic number of components, the circuits are easy to be integrated and both pole frequency and Q-factor can be tuned electronically through tuning bias currents of the OTAs. The MULTISIM simulation results have been included to verify the workability of the derived circuit

A 0.18μm CMOS low-noise elliptic low-pass continuous-time filter

This paper presents a seventh order low-pass continuous-time elliptic filter for use in a high-performance wireline communication receiver. As an additional attribute, the filter provides programmable boost in the pass-band to counteract high frequency components attenuation. The filter shows a nominal cutoff frequency of fc=34 MHz , less than 1dB ripple in the pass-band, and a maximum stop-band rejection of 65dB. The filter also exhibits low noise feature (peak root spectral noise density below 56nV√Hz) and high linearity (more than 64dB of MTPR for a DMT signal of 0.5Vpp amplitude). It has been designed in a 0.18μm CMOS technology and it is compliant with industrial operation conditions (-40 to 85° C temperature variation and ± 5% power supply deviation). Simulations show a typical power consumption of 450 mW @ 1.8V supply.Ministerio de Ciencia y Tecnología TIC2003-0235

Log-domain All-pass Filter-based Multiphase Sinusoidal Oscillators

Log-domain current-mode multiphase sinusoidal oscillators based on all-pass filters are presented in this paper. The first-order differential equation is used for obtaining inverting and non-inverting all-pass filters. The proposed oscillators are realized by all-pass filters which can be electronically tuned their natural frequency and stage gain by adjusting the bias currents. Each all pass filter contains 10 NPN transistors and a grounded capacitor. The validated BJT model which used in SPICE simulation operated by a single power supply as low as 2.5 V. The frequency of oscillation can be controlled over four decades. The total harmonic distortions of these MSO at frequency 56.67 MHz and 54.44 MHz, obtained around 0.52% and 0.75%, respectively. The proposed circuits enable fully integrated in telecommunication systems and also suit to high-frequency applications. Nonideality studies and PSpice simulation results are included to confirm the theory