Towards AER VITE: building spike gate signal

Description

Neuromorphic engineers aim to mimic the precise and efficient mechanisms of the nervous system to process information using spikes from sensors to actuators. There are many available works that sense and process information in a spike-based way. But there are still several gaps in the actuation and motor control field in a spike-based way. Spike-based Proportional-Integrative-Derivative controllers (PID) are present in the literature. On the other hand, neuro-inspired control models as VITE (Vector Integration To End point) and FLETE (Factorization of muscle Length and muscle Tension) are also present in the literature. This paper presents another step toward the spike implementation of those neuro-inspired models. We present a spike-based ramp multiplier. VITE algorithm generates the way to achieve a final position targeted by a mobile robotic arm. The block presented is used as a gate for the way involved and it also puts the incoming movement on speed with a variable slope profile. Only spikes for information representation were used and the process is in real time. The software simulation based on Simulink and Xilinx System Generator shows the accurate adjust to the traditional processing for short time periods and the hardware tests confirm and extend the previous simulated results for any time. We have implemented the spikes generator, the ramp multiplier and the low pass filter into the Virtex-5 FPGA and connected this with an USB-AER (Address Event Representation) board to monitor the spikes.

Abstract

Ministerio de Ciencia e Innovación TEC2009-10639-C04-02

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