867 research outputs found
Spike-based control monitoring and analysis with Address Event Representation
Neuromorphic engineering tries to mimic biological
information processing. Address-Event Representation (AER) is
a neuromorphic communication protocol for spiking neurons
between different chips. We present a new way to drive robotic
platforms using spiking neurons. We have simulated spiking
control models for DC motors, and developed a mobile robot
(Eddie) controlled only by spikes. We apply AER to the robot
control, monitoring and measuring the spike activity inside the
robot. The mobile robot is controlled by the AER-Robot tool,
and the AER information is sent to a PC using the
USBAERmini2 interface.Junta de Andalucía P06-TIC-01417Ministerio de Educación y Ciencia TEC2006-11730-C03-0
An AER-Based Actuator Interface for Controlling an Anthropomorphic Robotic Hand
Bio-Inspired and Neuro-Inspired systems or circuits are a
relatively novel approaches to solve real problems by mimicking the biology
in its efficient solutions. Robotic also tries to mimic the biology and
more particularly the human body structure and efficiency of the muscles,
bones, articulations, etc. Address-Event-Representation (AER) is
a communication protocol for transferring asynchronous events between
VLSI chips, originally developed for neuro-inspired processing systems
(for example, image processing). Such systems may consist of a complicated
hierarchical structure with many chips that transmit data among
them in real time, while performing some processing (for example, convolutions).
The information transmitted is a sequence of spikes coded using
high speed digital buses. These multi-layer and multi-chip AER systems
perform actually not only image processing, but also audio processing,
filtering, learning, locomotion, etc. This paper present an AER interface
for controlling an anthropomorphic robotic hand with a neuro-inspired
system.Unión Europea IST-2001-34124 (CAVIAR)Ministerio de Ciencia y Tecnología TIC-2003-08164-C03-0
Building Blocks for Spikes Signals Processing
Neuromorphic engineers study models and
implementations of systems that mimic neurons behavior in the
brain. Neuro-inspired systems commonly use spikes to
represent information. This representation has several
advantages: its robustness to noise thanks to repetition, its
continuous and analog information representation using digital
pulses, its capacity of pre-processing during transmission time,
... , Furthermore, spikes is an efficient way, found by nature, to
codify, transmit and process information. In this paper we
propose, design, and analyze neuro-inspired building blocks
that can perform spike-based analog filters used in signal
processing. We present a VHDL implementation for FPGA.
Presented building blocks 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. Those low requirements of hardware
allow the integration of a high number of blocks inside a FPGA,
allowing to process fully in parallel several spikes coded signals.Junta de Andalucía P06-TIC-O1417Ministerio de Ciencia e Innovación TEC2009-10639-C04-02Ministerio de Ciencia e Innovación TEC2006-11730-C03-0
Synthetic retina for AER systems development
Neuromorphic engineering tries to mimic biology in
information processing. Address-Event Representation (AER) is
a neuromorphic communication protocol for spiking neurons
between different layers. AER bio-inspired image sensor are
called “retina”. This kind of sensors measure visual information
not based on frames from real life and generates corresponding
events. In this paper we provide an alternative, based on cheap
FPGA, to this image sensors that takes images provided by an
analog video source (video composite signal), digitalizes it and
generates AER streams for testing purposes.Junta de Andalucía P06-TIC-01417Ministerio de Educación y Ciencia TEC2006-11730-C03-0
Live demonstration: Neuro-inspired system for realtime vision tilt correction
Correcting digital images tilt needs huge quantities
of memory, high computational resources, and use to take a
considerable amount of time. This demonstration shows how a
spikes-based silicon retina dynamic vision sensor (DVS) tilt can
corrected in real time using a commercial accelerometer. DVS
output is a stream of spikes codified using the address-event
representation (AER). Event-based processing is focused on
change in real time DVS output addresses. Taking into account
this DVS feature, we present an AER based layer able to correct
in real time the DVS tilt, using a high speed algorithmic
mapping layer and introducing a minimum latency in the
system. A co-design platform (the AER-Robot platform), based
into a Xilinx Spartan 3 FPGA and an 8051 USB microcontroller,
has been used to implement the system
Neuro-inspired system for real-time vision sensor tilt correction
Neuromorphic engineering tries to mimic biological
information processing. Address-Event-Representation (AER)
is an asynchronous protocol for transferring the information of
spiking neuro-inspired systems. Currently AER systems are able
sense visual and auditory stimulus, to process information, to
learn, to control robots, etc. In this paper we present an AER
based layer able to correct in real time the tilt of an AER vision
sensor, using a high speed algorithmic mapping layer. A codesign
platform (the AER-Robot platform), with a Xilinx
Spartan 3 FPGA and an 8051 USB microcontroller, has been
used to implement the system. Testing it with the help of the
USBAERmini2 board and the jAER software.Junta de Andalucía P06-TIC-01417Ministerio de Educación y Ciencia TEC2006-11730-C03-02Ministerio de Ciencia e Innovación TEC2009-10639-C04-0
Live Demonstration: On the distance estimation of moving targets with a Stereo-Vision AER system
Distance calculation is always one of the most
important goals in a digital stereoscopic vision system. In an
AER system this goal is very important too, but it cannot be
calculated as accurately as we would like. This demonstration
shows a first approximation in this field, using a disparity
algorithm between both retinas. The system can make a distance
approach about a moving object, more specifically, a qualitative
estimation. Taking into account the stereo vision system
features, the previous retina positioning and the very important
Hold&Fire building block, we are able to make a correlation
between the spike rate of the disparity and the distance.Ministerio de Ciencia e Innovación TEC2009-10639-C04-0
AER Neuro-Inspired interface to Anthropomorphic Robotic Hand
Address-Event-Representation (AER) is a
communication protocol for transferring asynchronous events
between VLSI chips, originally developed for neuro-inspired
processing systems (for example, image processing). Such
systems may consist of a complicated hierarchical structure
with many chips that transmit data among them in real time,
while performing some processing (for example, convolutions).
The information transmitted is a sequence of spikes coded using
high speed digital buses. These multi-layer and multi-chip AER
systems perform actually not only image processing, but also
audio processing, filtering, learning, locomotion, etc. This paper
present an AER interface for controlling an anthropomorphic
robotic hand with a neuro-inspired system.Unión Europea IST-2001-34124 (CAVIAR)Ministerio de Ciencia y Tecnología TIC-2003-08164-C03-02Ministerio de Ciencia y Tecnología TIC2000-0406-P4- 0
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
AER-based robotic closed-loop control system
Address-Event-Representation (AER) is an
asynchronous protocol for transferring the information of
spiking neuro-inspired systems. Actually AER systems are able
to see, to ear, to process information, and to learn. Regarding to
the actuation step, the AER has been used for implementing
Central Pattern Generator algorithms, but not for controlling
the actuators in a closed-loop spike-based way. In this paper we
analyze an AER based model for a real-time neuro-inspired
closed-loop control system. We demonstrate it into a differential
control system for a two-wheel vehicle using feedback AER
information. PFM modulation has been used to power the DC
motors of the vehicle and translation into AER of encoder
information is also presented for the close-loop. A codesign
platform (called AER-Robot), based into a Xilinx Spartan 3
FPGA and an 8051 USB microcontroller, with power stages for
four DC motors has been used for the demonstrator.Junta de Andalucía P06-TIC-01417Ministerio de Educación y Ciencia TEC2006-11730-C03-0
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