Neuromorphic auditory computing: towards a digital, event-based implementation of the hearing sense for robotics

In this work, it is intended to advance on the development of the neuromorphic audio processing systems in robots through the implementation of an open-source neuromorphic cochlea, event-based models of primary auditory nuclei, and their potential use for real-time robotics applications. First, the main gaps when working with neuromorphic cochleae were identified. Among them, the accessibility and usability of such sensors can be considered as a critical aspect. Silicon cochleae could not be as flexible as desired for some applications. However, FPGA-based sensors can be considered as an alternative for fast prototyping and proof-of-concept applications. Therefore, a software tool was implemented for generating open-source, user-configurable Neuromorphic Auditory Sensor models that can be deployed in any FPGA, removing the aforementioned barriers for the neuromorphic research community. Next, the biological principles of the animals' auditory system were studied with the aim of continuing the development of the Neuromorphic Auditory Sensor. More specifically, the principles of binaural hearing were deeply studied for implementing event-based models to perform real-time sound source localization tasks. Two different approaches were followed to extract inter-aural time differences from event-based auditory signals. On the one hand, a digital, event-based design of the Jeffress model was implemented. On the other hand, a novel digital implementation of the Time Difference Encoder model was designed and implemented on FPGA. Finally, three different robotic platforms were used for evaluating the performance of the proposed real-time neuromorphic audio processing architectures. An audio-guided central pattern generator was used to control a hexapod robot in real-time using spiking neural networks on SpiNNaker. Then, a sensory integration application was implemented combining sound source localization and obstacle avoidance for autonomous robots navigation. Lastly, the Neuromorphic Auditory Sensor was integrated within the iCub robotic platform, being the first time that an event-based cochlea is used in a humanoid robot. Then, the conclusions obtained are presented and new features and improvements are proposed for future works.En este trabajo se pretende avanzar en el desarrollo de los sistemas de procesamiento de audio neuromórficos en robots a través de la implementación de una cóclea neuromórfica de código abierto, modelos basados en eventos de los núcleos auditivos primarios, y su potencial uso para aplicaciones de robótica en tiempo real. En primer lugar, se identificaron los principales problemas a la hora de trabajar con cócleas neuromórficas. Entre ellos, la accesibilidad y usabilidad de dichos sensores puede considerarse un aspecto crítico. Los circuitos integrados analógicos que implementan modelos cocleares pueden no pueden ser tan flexibles como se desea para algunas aplicaciones específicas. Sin embargo, los sensores basados en FPGA pueden considerarse una alternativa para el desarrollo rápido y flexible de prototipos y aplicaciones de prueba de concepto. Por lo tanto, en este trabajo se implementó una herramienta de software para generar modelos de sensores auditivos neuromórficos de código abierto y configurables por el usuario, que pueden desplegarse en cualquier FPGA, eliminando las barreras mencionadas para la comunidad de investigación neuromórfica. A continuación, se estudiaron los principios biológicos del sistema auditivo de los animales con el objetivo de continuar con el desarrollo del Sensor Auditivo Neuromórfico (NAS). Más concretamente, se estudiaron en profundidad los principios de la audición binaural con el fin de implementar modelos basados en eventos para realizar tareas de localización de fuentes sonoras en tiempo real. Se siguieron dos enfoques diferentes para extraer las diferencias temporales interaurales de las señales auditivas basadas en eventos. Por un lado, se implementó un diseño digital basado en eventos del modelo Jeffress. Por otro lado, se diseñó una novedosa implementación digital del modelo de codificador de diferencias temporales y se implementó en FPGA. Por último, se utilizaron tres plataformas robóticas diferentes para evaluar el rendimiento de las arquitecturas de procesamiento de audio neuromórfico en tiempo real propuestas. Se utilizó un generador central de patrones guiado por audio para controlar un robot hexápodo en tiempo real utilizando redes neuronales pulsantes en SpiNNaker. A continuación, se implementó una aplicación de integración sensorial que combina la localización de fuentes de sonido y la evitación de obstáculos para la navegación de robots autónomos. Por último, se integró el Sensor Auditivo Neuromórfico dentro de la plataforma robótica iCub, siendo la primera vez que se utiliza una cóclea basada en eventos en un robot humanoide. Por último, en este trabajo se presentan las conclusiones obtenidas y se proponen nuevas funcionalidades y mejoras para futuros trabajos

NeuroPod: a real-time neuromorphic spiking CPG applied to robotics

Initially, robots were developed with the aim of making our life easier, carrying out repetitive or dangerous tasks for humans. Although they were able to perform these tasks, the latest generation of robots are being designed to take a step further, by performing more complex tasks that have been carried out by smart animals or humans up to date. To this end, inspiration needs to be taken from biological examples. For instance, insects are able to optimally solve complex environment navigation problems, and many researchers have started to mimic how these insects behave. Recent interest in neuromorphic engineering has motivated us to present a real-time, neuromorphic, spike-based Central Pattern Generator of application in neurorobotics, using an arthropod-like robot. A Spiking Neural Network was designed and implemented on SpiNNaker. The network models a complex, online-change capable Central Pattern Generator which generates three gaits for a hexapod robot locomotion. Recon gurable hardware was used to manage both the motors of the robot and the real-time communication interface with the Spiking Neural Networks. Real-time measurements con rm the simulation results, and locomotion tests show that NeuroPod can perform the gaits without any balance loss or added delay.Ministerio de Economía y Competitividad TEC2016-77785-

Development of a Semi-automatic Cost-Effective Façade Cleaning System

Nowadays the number of buildings with large glass or flat façades is increasing all over the World. These façades must be periodically cleaned with manual procedures that supposed high cost and risk for the workers that have to develop their work under heavy conditions. Although the cleaning cost depends a lot on several factors as the façade characteristics, the cleaning periodicity or the total surface to be cleaned, the average cost is € 8-9 per square meter. A typical building of 12.000 m2 supposes a total façade cleaning cost of € 100.000 and this task is usually done every year. The use of an automatic or semi-automatic cleaning system can lead to around 60% savings over existing practice (Gambao & Hernando, 2006).Automation and robotics technologies allow environmentally friendly façade cleaning, helping to reduce the cost of these tasks. Additionally, these systems overcome the current worker safety problems associated with difficult and dangerous access, contributing to a zero injury and fatality working practices (Elkman et al., 2002).Because of the increasing number of high-rise buildings and large glass façades and the resulting problem of safe and effective cleaning, a lot of effort has taken place in the last few years to develop automated cleaning systems. The majority of systems conceived and developed thus far are in Japan and Europe (Schraft et al., 2000) (Gambao & Balaguer, 2002).The first automated cleaning systems for high-rise building were used in Japan in the middle of the 80’s. These systems were mainly designed for use on specific buildings. For safety purposes or in order to guide the robot’s movement on the façade, they often required additional construction such as guidance rails to the facade. The practical application of the existing systems mostly failed because of either a weak safety concept, poor cleaning quality, required additional construction to the façade, or simply due to expensive initial or operating costs. At this time, there is only one known system that is in continuous practical operation. That is the automatic system for the cleaning of the vaulted glass hall of the Leipzig Trade Fair, Germany (Figure 1), which was developed by the Fraunhofer Institute IFF, Germany (Elkman et al., 1999). It must also beaded that this system is only applicable to this particular building. Many of previous developed robotic façade cleaning has been designed to operate in a complete automatic way (one example is in figure 2). Although some of these systems have successfully solved the numerous technical problems related to façade climbing operations, in most of the cases they cannot be practically used due to the extremely expensive operating cost of such a complex machines. Many remain as prototypes that are very good demonstrators of high technology but cannot be introduced in the market

Simulación Creación Agencia de Comunicación EUREKA S.L.

En este Trabajo de Fin de Grado, se simula la creación de una agencia de comunicación con todos y cada uno de los elementos que forman una empresa: su plan de negocio, el análisis del entorno y la competencia, etc. Teniendo siempre en cuenta los aspectos legales necesarios para la creación de la misma y principalmente el estudio de viabilidad económica del proyecto de empresa.Grado en Publicidad y Relaciones Pública

La gamificación en el aula: Breakout como propuesta de intervención educativa en un aula de Educación Infantil

El presente Trabajo Fin de Grado pretende profundizar en las posibilidades de la gamificación como metodología activa, para favorecer el interés de los alumnos en las aulas de Educación Infantil y conseguir aprendizajes significativos. Sobre ello, se realizó una revisión literaria, partiendo del uso de las TIC en Educación Infantil, las metodologías en Educación Infantil, hasta tratar el tema del juego y la gamificación como metodología activa e innovadora. Además, se aporta una propuesta didáctica a través de un “breakout” en un aula de Educación infantil, siendo este un tipo de gamificación, combinando diferentes herramientas digitales y manipulativas con el fin de motivar a los alumnos e implicarlos en su propio proceso de aprendizaje.This Final Grade Paper aims to delve into the possibilities of gamification as an active methodology, to favor the interest of students in Early Childhood Education classrooms and achieve significant learning. On this, a literary review was carried out, starting from the use of ICT in Early Childhood Education, the methodology in Early Childhood Education, until dealing with the issue of games and gamification as an active and innovative methodology. In addition, a didactic proposal is provided through a “breakout” in an Early Childhood Education classroom, this being a type of gamification, combining different digital and manipulative tools in order to motivate students and involve them in their own learning process.Departamento de PedagogíaGrado en Educación Infanti

Encapsulación de resveratrol en β-glucanos. Aplicaciones a productos nutracéuticos

El resveratrol es un compuesto natural presente en diversas plantas y alimentos. Se le atribuyen múltiples efectos protectores frente a algunas enfermedades, debido a sus propiedades antioxidantes. Sin embargo, su biodisponibilidad es baja, por ello se buscan técnicas que mejoren su absorción. Este trabajo pretende encapsular resveratrol en β-glucanos de cebada, para estudiar su capacidad para disminuir la degradación de éste. El proceso de encapsulación se ha realizado con el sistema de antidisolvente supercrítico (SAS), basado en el uso de fluidos supercríticos y DMSO como disolvente. El rango de presión fue 10-11 MPa; y el de temperatura de 35-50ºC. Otros parámetros como el flujo de CO2, el de la disolución o la concentración de los β-glucanos y el resveratrol se variaron en los distintos ensayos. Además se realizaron pruebas de liberación controlada en fluidos simulados (gástrico e intestinal) y se determinó su capacidad antioxidanteIngeniería Agrícola y ForestalMáster en Calidad, Desarrollo e Innovación de Alimento

Spiking row-by-row FPGA Multi-kernel and Multi-layer Convolution Processor.

Spiking convolutional neural networks have become a novel approach for machine vision tasks, due to the latency to process an input stimulus from a scene, and the low power consumption of these kind of solutions. Event-based systems only perform sum operations instead of sum of products of framebased systems. In this work an upgrade of a neuromorphic event-based convolution accelerator for SCNN, which is able to perform multiple layers with different kernel sizes, is presented. The system has a latency per layer from 1.44 μs to 9.98μs for kernel sizes from 1x1 to 7x7

Live Demonstration: neuromorphic robotics, from audio to locomotion through spiking CPG on SpiNNaker.

This live demonstration presents an audio-guided neuromorphic robot: from a Neuromorphic Auditory Sensor (NAS) to locomotion using Spiking Central Pattern Generators (sCPGs). Several gaits are generated by sCPGs implemented on a SpiNNaker board. The output of these sCPGs is sent in a real-time manner to an Field Programmable Gate Array (FPGA) board using an AER-to-SpiNN interface. The control of the hexapod robot joints is performed by the FPGA board. The robot behavior can be changed in real-time by means of the NAS. The audio information is sent to the SpiNNaker board which classifies it using a Spiking Neural Network (SNN). Thus, the input sound will activate a specific gait pattern which will eventually modify the behavior of the robot.Ministerio de Economía y Competitividad TEC2016-77785-

A simulation environment for bio-inspired heterogeneous chained modular robots

This paper presents a new simulation environment aimed at heterogeneous chained modular robots. This simulator allows testing the feasibility of the design, checking how modules are going to perform in the field and verifying hardware, electronics and communication designs before the prototype is built, saving time and resources. The paper shows how the simulator is built and how it can be set up to adapt to new designs. It also gives some examples of its use showing different heterogeneous modular robots running in different environments