Analog VLSI-Based Modeling of the Primate Oculomotor System

One way to understand a neurobiological system is by building a simulacrum that replicates its behavior in real time using similar constraints. Analog very large-scale integrated (VLSI) electronic circuit technology provides such an enabling technology. We here describe a neuromorphic system that is part of a long-term effort to understand the primate oculomotor system. It requires both fast sensory processing and fast motor control to interact with the world. A one-dimensional hardware model of the primate eye has been built that simulates the physical dynamics of the biological system. It is driven by two different analog VLSI chips, one mimicking cortical visual processing for target selection and tracking and another modeling brain stem circuits that drive the eye muscles. Our oculomotor plant demonstrates both smooth pursuit movements, driven by a retinal velocity error signal, and saccadic eye movements, controlled by retinal position error, and can reproduce several behavioral, stimulation, lesion, and adaptation experiments performed on primates

A Foveated Silicon Retina for Two-Dimensional Tracking

A silicon retina chip with a central foveal region for smooth-pursuit tracking and a peripheral region for saccadic target acquisition is presented. The foveal region contains a 9 x 9 dense array of large dynamic range photoreceptors and edge detectors. Two-dimensional direction of foveal motion is computed outside the imaging array. The peripheral region contains a sparse array of 19 x 17 similar, but larger, photoreceptors with in-pixel edge and temporal ON-set detection. The coordinates of moving or flashing targets are computed with two one-dimensional centroid localization circuits located on the outskirts of the peripheral region. The chip is operational for ambient intensities ranging over six orders of magnitude, targets contrast as low as 10%, foveal speed ranging from 1.5 to 10K pixels/s, and peripheral ON-set frequencies from \u3c0.1 to 800 kHz. The chip is implemented in 2-μm N well CMOS process and consumes 15 mW (V dd = 4 V) in normal indoor light (25 μW/cm2). It has been used as a person tracker in a smart surveillance system and a road follower in an autonomous navigation system

An Analog VLSI Saccadic Eye Movement System

In an effort to understand saccadic eye movements and their relation to visual attention and other forms of eye movements, we - in collaboration with a number of other laboratories - are carrying out a large-scale effort to design and build a complete primate oculomotor system using analog CMOS VLSI technology. Using this technology, a low power, compact, multi-chip system has been built which works in real-time using real-world visual inputs. We describe in this paper the performance of an early version of such a system including a 1-D array of photoreceptors mimicking the retina, a circuit computing the mean location of activity representing the superior colliculus, a saccadic burst generator, and a one degree-of-freedom rotational platform which models the dynamic properties of the primate oculomotor plant

Visual motion processing and human tracking behavior

The accurate visual tracking of a moving object is a human fundamental skill that allows to reduce the relative slip and instability of the object's image on the retina, thus granting a stable, high-quality vision. In order to optimize tracking performance across time, a quick estimate of the object's global motion properties needs to be fed to the oculomotor system and dynamically updated. Concurrently, performance can be greatly improved in terms of latency and accuracy by taking into account predictive cues, especially under variable conditions of visibility and in presence of ambiguous retinal information. Here, we review several recent studies focusing on the integration of retinal and extra-retinal information for the control of human smooth pursuit.By dynamically probing the tracking performance with well established paradigms in the visual perception and oculomotor literature we provide the basis to test theoretical hypotheses within the framework of dynamic probabilistic inference. We will in particular present the applications of these results in light of state-of-the-art computer vision algorithms

A spike-based head-movement and echolocation model of the bat superior colliculus

Echolocating bats use sonar to sense their environment and hunt for food in darkness. To understand this unusual sensory system from a computational perspective with aspirations towards developing high performance electronic implementations, we study the bat brain. The midbrain superior colliculus (SC) has been shown (in many species) to support multisensory integration and orientation behaviors, namely eye saccades and head turns. Previous computational models of the SC have emphasized the behavior typical to monkeys, barn owls, and cats. Using unique neurobiological data for the bat and incorporating knowledge from other species, a computational spiking model has been developed to produce both head-movement and sonar vocalization. The model accomplishes this with simple neuron equations and synapses, which is promising for implementation on a VLSI chip. This model can serve as a foundation for further developments, using new data from bat experiments, and be easily connected to spiking motor and vocalization systems

A half century of progress towards a unified neural theory of mind and brain with applications to autonomous adaptive agents and mental disorders

Invited article for the book Artificial Intelligence in the Age of Neural Networks and Brain Computing R. Kozma, C. Alippi, Y. Choe, and F. C. Morabito, Eds. Cambridge, MA: Academic PressThis article surveys some of the main design principles, mechanisms, circuits, and architectures that have been discovered during a half century of systematic research aimed at developing a unified theory that links mind and brain, and shows how psychological functions arise as emergent properties of brain mechanisms. The article describes a theoretical method that has enabled such a theory to be developed in stages by carrying out a kind of conceptual evolution. It also describes revolutionary computational paradigms like Complementary Computing and Laminar Computing that constrain the kind of unified theory that can describe the autonomous adaptive intelligence that emerges from advanced brains. Adaptive Resonance Theory, or ART, is one of the core models that has been discovered in this way. ART proposes how advanced brains learn to attend, recognize, and predict objects and events in a changing world that is filled with unexpected events. ART is not, however, a “theory of everything” if only because, due to Complementary Computing, different matching and learning laws tend to support perception and cognition on the one hand, and spatial representation and action on the other. The article mentions why a theory of this kind may be useful in the design of autonomous adaptive agents in engineering and technology. It also notes how the theory has led to new mechanistic insights about mental disorders such as autism, medial temporal amnesia, Alzheimer’s disease, and schizophrenia, along with mechanistically informed proposals about how their symptoms may be ameliorated

Robust Models for Optic Flow Coding in Natural Scenes Inspired by Insect Biology

The extraction of accurate self-motion information from the visual world is a difficult problem that has been solved very efficiently by biological organisms utilizing non-linear processing. Previous bio-inspired models for motion detection based on a correlation mechanism have been dogged by issues that arise from their sensitivity to undesired properties of the image, such as contrast, which vary widely between images. Here we present a model with multiple levels of non-linear dynamic adaptive components based directly on the known or suspected responses of neurons within the visual motion pathway of the fly brain. By testing the model under realistic high-dynamic range conditions we show that the addition of these elements makes the motion detection model robust across a large variety of images, velocities and accelerations. Furthermore the performance of the entire system is more than the incremental improvements offered by the individual components, indicating beneficial non-linear interactions between processing stages. The algorithms underlying the model can be implemented in either digital or analog hardware, including neuromorphic analog VLSI, but defy an analytical solution due to their dynamic non-linear operation. The successful application of this algorithm has applications in the development of miniature autonomous systems in defense and civilian roles, including robotics, miniature unmanned aerial vehicles and collision avoidance sensors

A Focus on Selection for Fixation

A computational explanation of how visual attention, interpretation of visual stimuli, and eye movements combine to produce visual behavior, seems elusive. Here, we focus on one component: how selection is accomplished for the next fixation. The popularity of saliency map models drives the inference that this is solved, but we argue otherwise. We provide arguments that a cluster of complementary, conspicuity representations drive selection, modulated by task goals and history, leading to a hybrid process that encompasses early and late attentional selection. This design is also constrained by the architectural characteristics of the visual processing pathways. These elements combine into a new strategy for computing fixation targets and a first simulation of its performance is presented. A sample video of this performance can be found by clicking on the "Supplementary Files" link under the "Article Tools" heading