Live Demonstration: Real-time neuro-inspired sound source localization and tracking architecture applied to a robotic platform

This live demonstration presents a sound source localization and tracking system implemented with Spike Signal Processing (SSP) building blocks on FPGA devices. The system architecture is based on the ability of the mammalian auditory system to locate the direction of a sound in the horizontal plane using the interaural intensity difference. We used a binaural Neuromorphic Auditory Sensor to obtain spike rates similar to those generated by the inner hair cells of the human auditory system and the component that obtains the interaural intensity difference is inspired by the lateral superior olive. The spike stream that represents the interaural intensity difference is used to turn a robotic platform towards the sound source direction. The system was tested with pure tones (1-kHz, 2.5-kHz and 5- kHz sounds) with an average error of 2.32 degrees.Ministerio de Economía y Competitividad TEC2016-77785-

Warning system for avian influenza

Trabajo de Fin de Grado en Ingeniería Del Software, Facultad de Informática UCM, Departamento de Arquitectura de Computadores y Automática, Curso 2021/2022.La situación de la gripe aviar en España empeora cada vez más. El número de brotes sigue creciendo a pesar de las altas temperaturas. La repercusión en la sociedad castiga de forma económica, sanitaria y social y produce el sacrificio de aves en buen estado de salud. Las mejoras desarroladas para el proyecto DiFlusion han sido la automatización de instalación de la propia aplicación y el desarrolo de una nueva interfaz. La automatización evita tiempo de preparación y complejidad a la hora de instalar la aplicación. A su vez, facilita el almacenamiento de datos ya que se trata de dos contenedores independientes pero que funcionan como servidor propio; sin necesidad de dependencia de Google Drive o de Github permite el almacenamiento de datos en local. Por otro lado, la interfaz no generará problemas de licencia debido a la librería escogida para el desarrolo; también se trata de una nueva interfaz más ligera y eficiente, pero con funcionalidades muy similares a la anterior.The avian flu situation in Spain is getting worse and worse. The number of outbreaks continues to grow despite the high temperatures. The impact on society imposes economic, health and social penalties and leads to the slaughter of healthy birds. Improvements developed for the DiFlusion project have been the automation of the instalation of the application and the development of a new interface. Automation avoids preparation time and complexity when instaling the application. At the same time, it facilitates data storage due to two separate containers that work as a server; without the need for Google Drive or Github dependencies, it alows data storage localy. On the other hand, the interface wil not cause license problems due to the library chosen for development; it is also a new interface that is lighter and more efficient, but with functionalities very similar to the previous one.Depto. de Arquitectura de Computadores y AutomáticaFac. de InformáticaTRUEunpu

Persistencia de medicamentos biológicos durante ocho años en pacientes con artritis reumatoide y espondiloartritis

Objective: To calculate the persistence, over a period of eight years, the retention rate of first and second-line of treatment with biological agents in patients with rheumatoid arthritis, spondyloarthritis and psoriatic arthritis and to compare retention rates of the various drugs for each pathology. Method: Retrospective observational study that included patients affected by rheumatoid arthritis, spondyloarthritis and psoriatic arthritis, who started treatment with biological agents between January 2009 and December 2012 and followed until December 2016. Results: 132, 87 and 33 patients were included in rheumatoid arthritis, spondyloarthritis and psoriatic arthritis, respectively. The median retention duration of all biological agents for the first and second-line, was 30.9 months and 14.0 months, respectively for rheumatoid arthritis; 63.06 months and 25.6 months, respectively in spondyloarthritis. Psoriatic arthritis did not reach the median (> 70 months in first-line) (first line p = 0.002). Individual drug survival in first line: the median retention duration of tocilizumab was 58.3 months, followed by etanercept (p = 0.79) in rheumatoid arthritis. For spondyloarthritis, golimumab and etanercept had greater retention than the other drugs (they did not reach the median): adalimumab was 63.0 months and for infliximab was 50.1 months. In psoriatic arthritis, golimumab, infliximab and etanercept not reach the median and they had greater retention arthritis, and golimumab for spondyloarthritis and psoriatic arthritis. Conclusions: Tocilizumab and etanercept in rheumatoid arthritis, and golimumab in spondyloarthritis and psoriatic arthritis also, were the most persistent drugs in first-line and second-line treatmentObjetivo: Calcular y analizar la persistencia global y por medicamento, en primera y segunda línea de tratamiento, en pacientes con artritis reumatoide, espondiloartritis axial radiográfica y no radiográfica y artritis psoriásica durante un periodo de ocho años. Método: Estudio retrospectivo observacional de persistencia en pacientes que iniciaron su terapia con medicamentos biológicos entre enero de 2009 y diciembre de 2012 en seguimiento hasta diciembre de 2016. Resultados: Se analizaron 132, 87 y 33 pacientes con artritis reumatoide, espondiloartritis y artritis psoriásica, respectivamente. La persistencia mediana global para los biológicos en primera y segunda línea fueron: 30,9 meses y 14 meses, respectivamente, en artritis reumatoide; 63,06 meses y 25,6 meses en espondiloartritis. No se alcanzó la persistencia mediana en los ocho años de seguimiento en artritis psoriásica (> 70 meses) (p = 0,002 para la función de supervivencia entre patologías en primera línea). Persistencia mediana alcanzada en primera línea por medicamento: tocilizumab (58,3 meses), seguido de etanercept (44 meses) en artritis reumatoide (p = 0,79); en espondiloartritis golimumab y etanercept fueron los más persistentes (no alcanzaron la mediana), seguidos de adalimumab (44 meses) e infliximab (50,1 meses). En artritis psoriásica, golimumab seguido de infliximab y etanercept fueron los más persistentes (no alcanzaron la mediana), y adalimumab (59,4 meses). Persistencia mediana alcanzada en segunda línea por medicamento: tocilizumab (22,1 meses) en artritis reumatoide. Golimumab fue el más persistente en espondiloartritis y artritis psoriásica (sin alcanzar la mediana). Conclusiones: Tocilizumab y etanercept fueron los medicamentos más persistentes en artritis reumatoide, y golimumab en espondiloartritis y artritis psoriásica en primera y segunda línea de tratamient

On the Designing of Spikes Band-Pass Filters for FPGA

In this paper we present two implementations of spike-based bandpass filters, which are able to reject out-of-band frequency components in the spike domain. First one is based on the use of previously designed spike-based low-pass filters. With this architecture the quality factor, Q, is lower than 0.5. The second implementation is inspired in the analog multi-feedback filters (MFB) topology, it provides a higher than 1 Q factor, and ideally tends to infinite. These filters have been written in VHLD, and synthesized for FPGA. Two spike-based band-pass filters presented take advantages of the spike rate coded representation to perform a massively parallel processing without complex hardware units, like floating point arithmetic units, or a large memory. These low requirements of hardware allow the integration of a high number of filters inside a FPGA, allowing to process several spike coded signals fully in parallel.Ministerio de Ciencia e Innovación TEC2009-10639-C04-0

On the AER Stereo-Vision Processing: A Spike Approach to Epipolar Matching

Image processing in digital computer systems usually considers visual information as a sequence of frames. These frames are from cameras that capture reality for a short period of time. They are renewed and transmitted at a rate of 25-30 fps (typical real-time scenario). Digital video processing has to process each frame in order to detect a feature on the input. In stereo vision, existing algorithms use frames from two digital cameras and process them pixel by pixel until it finds a pattern match in a section of both stereo frames. To process stereo vision information, an image matching process is essential, but it needs very high computational cost. Moreover, as more information is processed, the more time spent by the matching algorithm, the more inefficient it is. Spike-based processing is a relatively new approach that implements processing by manipulating spikes one by one at the time they are transmitted, like a human brain. The mammal nervous system is able to solve much more complex problems, such as visual recognition by manipulating neuron’s spikes. The spike-based philosophy for visual information processing based on the neuro-inspired Address-Event- Representation (AER) is achieving nowadays very high performances. The aim of this work is to study the viability of a matching mechanism in a stereo-vision system, using AER codification. This kind of mechanism has not been done before to an AER system. To do that, epipolar geometry basis applied to AER system are studied, and several tests are run, using recorded data and a computer. The results and an average error are shown (error less than 2 pixels per point); and the viability is proved

Spikes Monitors for FPGAs, an Experimental Comparative Study

In this paper we present and analyze two VHDL components for monitoring internal activity of spikes fired by silicon neurons inside FPGAs. These spikes monitors encode each spike according to the Address-Event Representation, sending them through a time multiplexed digital bus as discrete events, using different strategies. In order to study and analyze their behavior we have designed an experimental scenario, where diverse AER systems have been used to stimulate the spikes monitors and collect the output AER events, for later analysis. We have applied a battery of tests on both monitors in order to measure diverse features such as maximum spike load and AER event loss due to collisions.Ministerio de Ciencia e Innovación TEC2009-10639-C04-02Ministerio de Economía y Competitividad TEC2012-37868-C04-0

Real-time motor rotation frequency detection with event-based visual and spike-based auditory AER sensory integration for FPGA

Multisensory integration is commonly used in various robotic areas to collect more environmental information using different and complementary types of sensors. Neuromorphic engineers mimics biological systems behavior to improve systems performance in solving engineering problems with low power consumption. This work presents a neuromorphic sensory integration scenario for measuring the rotation frequency of a motor using an AER DVS128 retina chip (Dynamic Vision Sensor) and a stereo auditory system on a FPGA completely event-based. Both of them transmit information with Address-Event-Representation (AER). This integration system uses a new AER monitor hardware interface, based on a Spartan-6 FPGA that allows two operational modes: real-time (up to 5 Mevps through USB2.0) and data logger mode (up to 20Mevps for 33.5Mev stored in onboard DDR RAM). The sensory integration allows reducing prediction error of the rotation speed of the motor since audio processing offers a concrete range of rpm, while DVS can be much more accurate.Ministerio de Economía y Competitividad TEC2012-37868-C04-02/0

Live Demonstration: Real-time motor rotation frequency detection by spike-based visual and auditory AER sensory integration for FPGA

Multisensory integration is commonly used in various robotic areas to collect much more information from an environment using different and complementary types of sensors. This demonstration presents a scenario where the motor rotation frequency is obtained using an AER DVS128 retina chip (Dynamic Vision Sensor) and a frequency decomposer auditory system on a FPGA that mimics a biological cochlea. Both of them are spike-based sensors with Address-Event-Representation (AER) outputs. A new AER monitor hardware interface, based on a Spartan-6 FPGA, allows two operational modes: real-time (up to 5 Mevps through USB2.0) and off-line mode (up to 20Mevps and 33.5Mev stored in DDR RAM). The sensory integration allows the bio-inspired cochlea limit to provide a concrete range of rpm approaches, which are obtained by the silicon retina.Ministerio de Economía y Competitividad TEC2012-37868-C04-02/0