Quick and energy-efficient Bayesian computing of binocular disparity using stochastic digital signals

Reconstruction of the tridimensional geometry of a visual scene using the binocular disparity information is an important issue in computer vision and mobile robotics, which can be formulated as a Bayesian inference problem. However, computation of the full disparity distribution with an advanced Bayesian model is usually an intractable problem, and proves computationally challenging even with a simple model. In this paper, we show how probabilistic hardware using distributed memory and alternate representation of data as stochastic bitstreams can solve that problem with high performance and energy efficiency. We put forward a way to express discrete probability distributions using stochastic data representations and perform Bayesian fusion using those representations, and show how that approach can be applied to diparity computation. We evaluate the system using a simulated stochastic implementation and discuss possible hardware implementations of such architectures and their potential for sensorimotor processing and robotics.Comment: Preprint of article submitted for publication in International Journal of Approximate Reasoning and accepted pending minor revision

Robust sequence storage in bistable oscillators

International audienceNanoscale devices, like magnetic tunnel junction, have rich dynamics, including oscillatory ones. Such components may relieve us of the burden of integrating nonlinear equations. We propose a phenomenological model of bistable oscillators and we show that in a network, it achieves robust storage of sequences

Design of Stochastic Machines Dedicated to Approximate Bayesian inferences

International audienceWe present an architecture and a compilation toolchain for stochastic machines dedicated to Bayesian inferences. These machines are not Von Neumann and code information with stochastic bitstreams instead of using floating point representations. They only rely on stochastic arithmetic and on Gibbs sampling to perform approximate inferences. They use banks of binary random generators which capture the prior knowledge on which the inference is built. The output of the machine is devised to continuously sample the joint probability distribution of interest. While the method is explained on a simple example, we show that our machine computes a good approximation of the solution to a problem intractable in exact inference

The probabilistic cell: implementation of a probabilistic inference by the biochemical mechanisms of phototransduction

International audienceWhen we perceive the external world, our brain has to deal with the incompleteness and uncertainty associated with sensory inputs, memory and prior knowledge. In theoretical neuroscience probabilistic approaches have received a growing interest recently, as they account for the ability to reason with incomplete knowledge and to efficiently describe perceptive and behavioral tasks. How can the probability distributions that need to be estimated in these models be represented and processed in the brain, in particular at the single cell level? We consider the basic function carried out by photoreceptor cells which consists in detecting the presence or absence of light.We give a system-level understanding of the process of phototransduction based on a bayesian formalism: we show that the process of phototransduction is equivalent to a temporal probabilistic inference in a Hidden Markov Model (HMM), for estimating the presence or absence of light. Thus, the biochemical mechanisms of phototransduction underlie the estimation of the current state probability distribution of the presence of light. A classical descriptive model describes the interactions between the different molecular messengers, ions, enzymes and channel proteins occuring within the photoreceptor by a set of nonlinear coupled differential equations. In contrast, the probabilistic HMM model is described by a discrete recurrence equation. It appears that the binary HMM has a general solution in the case of constant input. This allows a detailed analysis of the dynamics of the system. The biochemical system and the HMM behave similarly under steady-state conditions. Consequently a formal equivalence can be found between the biochemical system and the HMM. Numerical simulations further extend the results to the dynamic case and to noisy input. All in all, we have derived a probabilistic model equivalent to a classical descriptive model of photransduction, which has the additional advantage of assigning a function to phototransduction. The example of phototransduction shows how simple biochemical interactions underlie simple probabilistic inferences

Bayesian Sensor Fusion with Fast and Low Power Stochastic Circuits

International audience—As the physical limits of Moore's law are being reached, a research effort is launched to achieve further performance improvements by exploring computation paradigms departing from standard approaches. The BAMBI project (Bottom-up Approaches to Machines dedicated to Bayesian Inference) aims at developing hardware dedicated to probabilistic computation , which extends logic computation realised by boolean gates in current computer chips. Such probabilistic computing devices would allow to solve faster and at a lower energy cost a wide range of Artificial Intelligence applications, especially when decisions need to be taken from incomplete data in an uncertain environment. This paper describes an architecture where very simple operators compute on a time coding of probability values as stochastic signals. Simulation tests and a reconfigurable logic hardware implementation demonstrated the feasibility and performances of the proposed inference machine. Hardware results show this architecture can quickly solve Bayesian sensor fusion problems and is very efficient in terms of energy consumption

Cell signaling as a probabilistic computer

International audienceLiving organisms survive and multiply even though they have uncertain and incomplete information about their environment and imperfect models to predict the consequences of their actions. Bayesian models have been proposed to face this challenge. Indeed, Bayesian inference is a way to do optimal reasoning when only uncertain and incomplete information is available. Various perceptive, sensory-motor, and cognitive functions have been successfully modeled this way. However, the biological mechanisms allowing animals and humans to represent and to compute probability distributions are not known. It has been proposed that neurons and assemblies of neurons could be the appropriate scale to search for clues to probabilistic reasoning. In contrast, in this paper, we propose that interacting populations of macromolecules and diffusible messengers can perform probabilistic computation. This suggests that probabilistic reasoning, based on cellular signaling pathways, is a fundamental skill of living organisms available to the simplest unicellular organisms as well as the most complex brains

Submersible Dielectric Probe for In Situ Monitoring of Suspensions and Its Application to Activated Sludge in Waste Water Treatment Plant

International audienceWe have developed a useful dielectric probe that allows real-time and in situ characterization of suspensions in the 0.4 to 10 MHz frequency range. It has been successfully tested throughout several weeks to monitor activated sludge of a waste water treatment plant. In this paper the results are compared with those obtained in parallel using both static or flow classic dielectric cells

EBSD_XRayTomography_20170907

<p>Electron backscatter diffraction and X-Ray Tomography images</p