A Neuromorphic VLSI Navigation System Inspired By Rodent Neurobiology

Path planning is an essential capability for autonomous mobile robot navigation. Taking inspiration from long-range navigation in animals, a neuromorphic system was designed to implement waypoint path planning on place cells that represent the navigation space as a cognitive graph of places by embedding the place-to-place connectivity in their synaptic interconnections. Hippocampal place cells, along with other spatially modulated neurons of the mammalian brain, like grid cells, head-direction cells and boundary cells are believed to support navigation. Path planning using spike latency of place cells was demonstrated using custom-designed, multi-neuron chips on examples and applied to a robotic arm control problem to show the extension of this system to other application domains. Based on the observation that varying the synaptic current integration in place cells affects the path selection by the planning system, two models of current integration were compared. By considering the overall path execution cost increase in response to an obstruction in the planned path execution, reduced spike latency response of a place cell to simultaneously converging spikes from multiple paths in the network was found to bias the path selection to paths offering more alternatives at various choice points. Application of the planning system to a navigation scenario was completed in software by using a place-cell based map-creation method to generate a map prior to planning and co-opting a grid-cell based path execution system that interacts with the path planning system to enable a simulated agent to do goal-directed navigation

Learning Autonomous Flight Controllers with Spiking Neural Networks

The ability of a robot to adapt in-mission to achieve an assigned goal is highly desirable. This thesis project places an emphasis on employing learning-based intelligent control methodologies to the development and implementation of an autonomous unmanned aerial vehicle (UAV). Flight control is carried out by evolving spiking neural networks (SNNs) with Hebbian plasticity. The proposed implementation is capable of learning and self-adaptation to model variations and uncertainties when the controller learned in simulation is deployed on a physical platform. Controller development for small multicopters often relies on simulations as an intermediate step, providing cheap, parallelisable, observable and reproducible optimisation with no risk of damage to hardware. Although model-based approaches have been widely utilised in the process of development, loss of performance can be observed on the target platform due to simplification of system dynamics in simulation (e.g., aerodynamics, servo dynamics, sensor uncertainties). Ignorance of these effects in simulation can significantly deteriorate performance when the controller is deployed. Previous approaches often require mathematical or simulation models with a high level of accuracy which can be difficult to obtain. This thesis, on the other hand, attempts to cross the reality gap between a low-fidelity simulation and the real platform. This is done using synaptic plasticity to adapt the SNN controller evolved in simulation to the actual UAV dynamics. The primary contribution of this work is the implementation of a procedural methodology for SNN control that integrates bioinspired learning mechanisms with artificial evolution, with an SNN library package (i.e. eSpinn) developed by the author. Distinct from existing SNN simulators that mainly focus on large-scale neuron interactions and learning mechanisms from a neuroscience perspective, the eSpinn library draws particular attention to embedded implementations on hardware that is applicable for problems in the robotic domain. This C++ software package is not only able to support simulations in the MATLAB and Python environment, allowing rapid prototyping and validation in simulation; but also capable of seamless transition between simulation and deployment on the embedded platforms. This work implements a modified version of the NEAT neuroevolution algorithm and leverages the power of evolutionary computation to discover functional controller compositions and optimise plasticity mechanisms for online adaptation. With the eSpinn software package the development of spiking neurocontrollers for all degrees of freedom of the UAV is demonstrated in simulation. Plastic height control is carried out on a physical hexacopter platform. Through a set of experiments it is shown that the evolved plastic controller can maintain its functionality by self-adapting to model changes and uncertainties that take place after evolutionary training, and consequently exhibit better performance than its non-plastic counterpart

2006 Annual Research Symposium Abstract Book

2006 annual volume of abstracts for science research projects conducted by students at Trinity College

BIO-INSPIRED SONAR IN COMPLEX ENVIRONMENTS: ATTENTIVE TRACKING AND VIEW RECOGNITION

Bats are known for their unique ability to sense the world through echolocation. This allows them to perceive the world in a way that few animals do, but not without some difficulties. This dissertation explores two such tasks using a bio-inspired sonar system: tracking a target object in cluttered environments, and echo view recognition. The use of echolocation for navigating in dense, cluttered environments can be a challenge due to the need for rapid sampling of nearby objects in the face of delayed echoes from distant objects. If long-delay echoes from a distant object are received after the next pulse is sent out, these “aliased” echoes appear as close-range phantom objects. This dissertation presents three reactive strategies for a high pulse-rate sonar system to combat aliased echoes: (1) changing the interpulse interval to move the aliased echoes away in time from the tracked target, (2) changing positions to create a geometry without aliasing, and (3) a phase-based, transmission beam-shaping strategy to illuminate the target and not the aliasing object. While this task relates to immediate sensing needs and lower level motor loops, view recognition is involved in higher level navigation and planning. Neurons in the mammalian brain (specifically in the hippocampus formation) named “place cells” are thought to reflect this recognition of place and are involved in implementing a spatial map that can be used for path planning and memory recall. We propose hypothetical “echo view cells” that could contribute (along with odometry) to the creation of place cell representations actually observed in bats. We strive to recognize views over extended regions that are many body lengths in size, reducing the number of places to be remembered for a map. We have successfully demonstrated some of this spatial invariance by training feed-forward neural networks (traditional neural networks and spiking neural networks) to recognize 66 distinct places in a laboratory environment over a limited range of translations and rotations. We further show how the echo view cells respond in between known places and how the population of cell outputs can be combined over time for continuity

Brain Computations and Connectivity [2nd edition]

This is an open access title available under the terms of a CC BY-NC-ND 4.0 International licence. It is free to read on the Oxford Academic platform and offered as a free PDF download from OUP and selected open access locations. Brain Computations and Connectivity is about how the brain works. In order to understand this, it is essential to know what is computed by different brain systems; and how the computations are performed. The aim of this book is to elucidate what is computed in different brain systems; and to describe current biologically plausible computational approaches and models of how each of these brain systems computes. Understanding the brain in this way has enormous potential for understanding ourselves better in health and in disease. Potential applications of this understanding are to the treatment of the brain in disease; and to artificial intelligence which will benefit from knowledge of how the brain performs many of its extraordinarily impressive functions. This book is pioneering in taking this approach to brain function: to consider what is computed by many of our brain systems; and how it is computed, and updates by much new evidence including the connectivity of the human brain the earlier book: Rolls (2021) Brain Computations: What and How, Oxford University Press. Brain Computations and Connectivity will be of interest to all scientists interested in brain function and how the brain works, whether they are from neuroscience, or from medical sciences including neurology and psychiatry, or from the area of computational science including machine learning and artificial intelligence, or from areas such as theoretical physics

Deep Brain Stimulation (DBS) Applications

The issue is dedicated to applications of Deep Brain Stimulation and, in this issue, we would like to highlight the new developments that are taking place in the field. These include the application of new technology to existing indications, as well as ‘new’ indications. We would also like to highlight the most recent clinical evidence from international multicentre trials. The issue will include articles relating to movement disorders, pain, psychiatric indications, as well as emerging indications that are not yet accompanied by clinical evidence. We look forward to your expert contribution to this exciting issue

Proceedings of the 9th Conference on Autonomous Robot Systems and Competitions

Welcome to ROBOTICA 2009. This is the 9th edition of the conference on Autonomous Robot Systems and Competitions, the third time with IEEE‐Robotics and Automation Society Technical Co‐Sponsorship. Previous editions were held since 2001 in Guimarães, Aveiro, Porto, Lisboa, Coimbra and Algarve. ROBOTICA 2009 is held on the 7th May, 2009, in Castelo Branco , Portugal. ROBOTICA has received 32 paper submissions, from 10 countries, in South America, Asia and Europe. To evaluate each submission, three reviews by paper were performed by the international program committee. 23 papers were published in the proceedings and presented at the conference. Of these, 14 papers were selected for oral presentation and 9 papers were selected for poster presentation. The global acceptance ratio was 72%. After the conference, eighth papers will be published in the Portuguese journal Robótica, and the best student paper will be published in IEEE Multidisciplinary Engineering Education Magazine. Three prizes will be awarded in the conference for: the best conference paper, the best student paper and the best presentation. The last two, sponsored by the IEEE Education Society ‐ Student Activities Committee. We would like to express our thanks to all participants. First of all to the authors, whose quality work is the essence of this conference. Next, to all the members of the international program committee and reviewers, who helped us with their expertise and valuable time. We would also like to deeply thank the invited speaker, Jean Paul Laumond, LAAS‐CNRS France, for their excellent contribution in the field of humanoid robots. Finally, a word of appreciation for the hard work of the secretariat and volunteers. Our deep gratitude goes to the Scientific Organisations that kindly agreed to sponsor the Conference, and made it come true. We look forward to seeing more results of R&D work on Robotics at ROBOTICA 2010, somewhere in Portugal

The selective updating of working memory: a predictive coding account

Goal-relevant information maintained in working memory is remarkably robust and resistant to distractions. However, our nervous system is endowed with exceptional flexibility; therefore such information can be updated almost effortlessly. A scenario – not uncommon in our daily life – is that selective maintaining and updating information can be achieved concurrently. This is an intriguing example of how our brain balances stability and flexibility, when organising its knowledge. A possibility – one may draw upon to understand this capacity – is that working memory is represented as beliefs, or its probability densities, which are updated in a context-sensitive manner. This means one could treat working memory in the same way as perception – i.e., memories are based on inferring the cause of sensations, except that the time scale ranges from an instant to prolonged anticipation. In this setting, working memory is susceptible to prior information encoded in the brain’s model of its world. This thesis aimed to establish an interpretation of working memory processing that rests on the (generalised) predictive coding framework, or hierarchical inference in the brain. Specifically, the main question it asked was how anticipation modulates working memory updating (or maintenance). A novel working memory updating task was designed in this regard. Blood-oxygen-level dependent (BOLD) imaging, machine learning, and dynamic causal modelling (DCM) were applied to identify the neural correlates of anticipation and the violation of anticipation, as well as the causal structure generating these neural correlates. Anticipation induced neural activity in the dopaminergic midbrain and the striatum. Whereas, the fronto-parietal and cingulo-operculum network were implicated when an anticipated update was omitted, and the midbrain, occipital cortices, and cerebellum when an update was unexpected. DCM revealed that anticipation is a modulation of backward connections, whilst the associated surprise is mediated by forward and local recurrent modulations. Two mutually antagonistic pathways were differentially modulated under anticipatory flexibility and stability, respectively. The overall results indicate that working memory may as well follow the cortical message-passing scheme that enables hierarchical inference