Low-Cost Adaptive Exponential Integrate-and-Fire Neuron Using Stochastic Computing

A Novel Robotic Controller Using Neural Engineering Framework-Based Spiking Neural Networks

This paper investigates spiking neural networks (SNN) for novel robotic controllers with the aim of improving accuracy in trajectory tracking. By emulating the operation of the human brain through the incorporation of temporal coding mechanisms, SNN offer greater adaptability and efficiency in information processing, providing significant advantages in the representation of temporal information in robotic arm control compared to conventional neural networks. Exploring specific implementations of SNN in robot control, this study analyzes neuron models and learning mechanisms inherent to SNN. Based on the principles of the Neural Engineering Framework (NEF), a novel spiking PID controller is designed and simulated for a 3-DoF robotic arm using Nengo and MATLAB R2022b. The controller demonstrated good accuracy and efficiency in following designated trajectories, showing minimal deviations, overshoots, or oscillations. A thorough quantitative assessment, utilizing performance metrics like root mean square error (RMSE) and the integral of the absolute value of the time-weighted error (ITAE), provides additional validation for the efficacy of the SNN-based controller. Competitive performance was observed, surpassing a fuzzy controller by 5% in terms of the ITAE index and a conventional PID controller by 6% in the ITAE index and 30% in RMSE performance. This work highlights the utility of NEF and SNN in developing effective robotic controllers, laying the groundwork for future research focused on SNN adaptability in dynamic environments and advanced robotic applications.

Investigation on the Wilson Neuronal Model: Optimized Approximation and Digital Multiplierless Implementation

Neuromorphic engineering is an essential science field which incorporates the basic aspects of issues together such as: physics, mathematics, electronics, etc. The primary block in the Central Nervous System (CNS) is neurons that have functional roles such as: receiving, processing, and transmitting data in the brain. This paper presents Wilson Multiplierless Neuron (WMN) model which is a modified version of the original model. This model uses power-2 based functions, Look-Up Table (LUT) approach and shifters to apply a multiplierless digital realization leads to overhead costs reduction and increases in the final system frequency. The proposed model specifically follows the original neuron model in case of spiking patterns and also dynamical pathways. To validate the proposed model in digital hardware implementation, the FPGA board (Xilinx Virtex II XC2VP30) can be used. Hardware results show the increasing in the system frequency compared with the original model and other similar papers. Numerical results demonstrate that the proposed system speed-up is 210 MHz that is higher than the original one, 85 MHz. Additionally, the overall saving in FPGA resources for the proposed model is 96.86 % that is more than the original model, 95.13 %. From case study viewpoint for CNS consideration, a network consisting of Wilson neurons, synapses, and astrocytes have been considered to test the controlling effects on LTP and LTD processes for investigating the neuronal diseases (medical approaches) such as Epilepsy.

A High-Accuracy and Energy-Efficient CORDIC Based Izhikevich Neuron With Error Suppression and Compensation

Bio-inspired neuron models are the key building blocks of brain-like neural networks for brain-science exploration and neuromorphic engineering applications. The efficient hardware design of bio-inspired neuron models is one of the challenges to implement brain-like neural networks, as the balancing of model accuracy, energy consumption and hardware cost is very challenging. This paper proposes a high-accuracy and energy-efficient Fast-Convergence COordinate Rotation DIgital Computer (FC-CORDIC) based Izhikevich neuron design. For ensuring the model accuracy, an error propagation model of the Izhikevich neuron is presented for systematic error analysis and effective error reduction. Parameter-Tuning Error Compensation (PTEC) method and Bitwidth-Extension Error Suppression (BEES) method are proposed to reduce the error of Izhikevich neuron design effectively. In addition, by utilizing the FC-CORDIC instead of conventional CORDIC for square calculation in the Izhikevich model, the redundant CORDIC iterations are removed and therefore, both the accumulated errors and required computation are effectively reduced, which significantly improve the accuracy and energy efficiency. An optimized fixed-point design of FC-CORDIC is also proposed to save hardware overhead while ensuring the accuracy. FPGA implementation results exhibit that the proposed Izhikevich neuron design can achieve high accuracy and energy efficiency with an acceptable hardware overhead, among the state-of-the-art designs.

Using Stochastic Computing for Virtual Screening Acceleration

Stochastic computing is an emerging scientific field pushed by the need for developing high-performance artificial intelligence systems in hardware to quickly solve complex data processing problems. This is the case of virtual screening, a computational task aimed at searching across huge molecular databases for new drug leads. In this work, we show a classification framework in which molecules are described by an energy-based vector. This vector is then processed by an ultra-fast artificial neural network implemented through FPGA by using stochastic computing techniques. Compared to other previously published virtual screening methods, this proposal provides similar or higher accuracy, while it improves processing speed by about two or three orders of magnitude.