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检索条件"机构=The Robotics and Technology of Computers Lab"

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Semi-wildlife gait patterns classification using Statistical Methods and Artificial Neural Networks

Semi-wildlife gait patterns classification using Statistical...

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International Joint Conference on Neural Networks

作者： D. Gutierrez-Galan J.P. Dominguez-Morales L. Miro-Amarante F. Gomez-Rodriguez M. Dominguez-Morales M. Rivas-Perez A. Jimenez-Fernandez A. Linares-Barranco Robotics and Technology of Computers Lab. Computer Engineering School - Polytechnic Engineering School - University of Seville (Spain)

ISBN: (纸本)9781509061839

Several studies have focused on classifying behavioral patterns in wildlife and captive species to monitor their activities and so to understanding the interactions of animals and control their welfare, for biological research or commercial purposes. The use of pattern recognition techniques, statistical methods and Overall Dynamic Body Acceleration (ODBA) are well known for animal behavior recognition tasks. The reconfig-urability and scalability of these methods are not trivial, since a new study has to be done when changing any of the configuration parameters. In recent years, the use of Artificial Neural Networks (ANN) has increased for this purpose due to the fact that they can be easily adapted when new animals or patterns are required. In this context, a comparative study between a theoretical research is presented, where statistical and spectral analyses were performed and an embedded implementation of an ANN on a smart collar device was placed on semi-wild animals. This system is part of a project whose main aim is to monitor wildlife in real time using a wireless sensor network infrastructure. Different classifiers were tested and compared for three different horse gaits. Experimental results in a real time scenario achieved an accuracy of up to 90.7%, proving the efficiency of the embedded ANN implementation.

关键词： Acceleration Legged locomotion Sensors Horses Monitoring Statistical analysis

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Human vs. Computer Slot Car Racing using an Event and Frame-Based DAVIS Vision Sensor

Human vs. Computer Slot Car Racing using an Event and Frame-...

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IEEE International Symposium on Circuits and Systems

作者： T. Delbruck M. Pfeiffer R. Juston G. Orchard E. Muggler A. Linares-Barranco M.W. Tilden Institute of Neuroinformatics Univ. of Zurich and ETH Zurich Switzerland Biorobotics Team Institute of Movement Sciences CNRS /Aix-Marseille Univ. Singapore Institute for Neurotechnology (SINAPSE) Robotics and Perception Group Univ. of Zurich Robotics and Technology of Computers Lab Univ. of Seville Design consultant Wowwee Ltd Hong Kong

ISBN: (纸本)9781479983926

This paper describes an open-source implementation of an event-based dynamic and active pixel vision sensor (DAVIS) for racing human vs. computer on a slot car track. The DAVIS is mounted in "eye-of-god" view. The DAVIS image frames are only used for setup and are subsequently turned off because they are not needed. The dynamic vision sensor (DVS) events are then used to track both the human and computer controlled cars. The precise control of throttle and braking afforded by the low latency of the sensor output enables consistent out-performance of human drivers at a laptop CPU load of <3% and update rate of 666Hz. The sparse output of the DVS event stream results in a data rate that is about 1000 times smaller than from a frame-based camera with the same resolution and update rate. The scaled average lap speed of the 1/64 scale cars is about 450km/h which is twice as fast as the fastest Formula 1 lap speed. A feedback-controller mode allows competitive racing by slowing the computer controlled car when it is ahead of the human. In tests of human vs. computer racing the computer still won more than 80% of the races.

关键词： computers Robot sensing systems Voltage control Tracking Universal Serial Bus

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Spike-based VITE control with dynamic vision sensor applied to an arm robot

Spike-based VITE control with dynamic vision sensor applied ...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： Fernando Perez-Peña Arturo Morgado-Estevez Teresa Serrano-Gotarredona F. Gómez-Rodríguez V. Ferrer-García A. Jimenez-Fernandez A. Linares-Barranco Applied Robotics Lab University of Cadiz Spain Institute of Microelectronics Sevilla SPAIN Robotic and Technology of Computers Lab University of Seville Spain

Spike-based motor control is very important in the field of robotics and also for the neuromorphic engineering community to bridge the gap between sensing / processing devices and motor control without losing the spike philosophy that enhances speed response and reduces power consumption. This paper shows an accurate neuro-inspired spike-based system composed of a DVS retina, a visual processing system that detects and tracks objects, and a SVITE motor control, where everything follows the spike-based philosophy. The control system is a spike version of the neuroinspired open loop VITE control algorithm implemented in a couple of FPGA boards: the first one runs the algorithm and the second one drives the motors with spikes. The robotic platform is a low cost arm with four degrees of freedom.

关键词： Robot sensing systems Neurons Computer architecture Visualization Joints Field programmable gate arrays

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An approach to motor control for spike-based neuromorphic robotics

An approach to motor control for spike-based neuromorphic ro...

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IEEE Biomedical Circuits and Systems (BIOCAS)

作者： Fernando Perez-Peña Alejandro Linares-Barranco Elisabetta Chicca Applied Robotics Lab School of Engineering University of Cadiz Spain Robotic and Technology of Computers Lab University of Seville Spain Cognitive Interaction Technology Center of Excellence (CITEC) Germany

This paper presents an approach to open-loop motor control using Integrate and Fire (IF) neurons. The controller aims at mimicking motor control structures found in the brain and consists of three neuron populations implemented on different VLSI chips. The first population codes the distance to the target in a form of a firing rate (similarly to some class of cells found in Area 4 in the motor mammalian cortex). The second population mimics the behavior of neurons of the basal ganglia and control the gating and speed of the movement, by means of an NMDA synapse and an excitatory connection. The third population codes the supposed position reached by the robot. The multi-chip neuromorphic setup is interfaced with a Field-Programmable Gate Array (FPGA) board by the Address Event Representation (AER) communication protocol. The FPGA elongates the spike duration to make them suitable for driving the motors with Pulse Frequency Modulation (PFM). This approach aims to compete with classic controllers offering lower power, simplified control and smoother movements.

关键词： Sociology Statistics Robots Neurons Firing Motor drives Biological system modeling

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SVITE: A spike-based VITE neuro-inspired robot controller

SVITE: A spike-based VITE neuro-inspired robot controller

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20th International Conference on Neural Information Processing, ICONIP 2013

作者： Perez-Peña, Fernando Morgado-Estevez, Arturo Linares-Barranco, Alejandro Dominguez-Morales, Manuel Jesus Jimenez-Fernandez, Angel Applied Robotics Research Lab University of Cadiz Spain Robotic and Technology of Computers Lab University of Seville Spain

ISBN: (纸本)9783642420535

This paper presents an implementation of a neuro-inspired algorithm called VITE (Vector Integration To End Point) in FPGA in the spikes domain. VITE aims to generate a non-planned trajectory for reaching tasks in robots. The algorithm has been adapted to work completely in the spike domain under Simulink simulations. The FPGA implementation consists in 4 VITE in parallel for controlling a 4-degree-of-freedom stereo-vision robot. This work represents the main layer of a complex spike-based architecture for robot neuro-inspired reaching tasks in FPGAs. It has been implemented in two Xilinx FPGA families: Virtex-5 and Spartan-6. Resources consumption comparative between both devices is presented. Results obtained for Spartan device could allow controlling complex robotic structures with up to 96 degrees of freedom per FPGA, providing, in parallel, high speed connectivity with other neuromorphic systems sending movement references. An exponential and gamma distribution test over the inter spike interval has been performed to proof the approach to the neural code proposed. © Springer-Verlag 2013.

关键词： Anthropomorphic robots

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On the AER stereo-vision processing: A spike approach to epipolar matching

On the AER stereo-vision processing: A spike approach to epi...

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20th International Conference on Neural Information Processing, ICONIP 2013

作者： Domínguez-Morales, Manuel Jesus Cerezuela-Escudero, Elena Perez-Penã, Fernando Jimenez-Fernandez, Angel Linares-Barranco, Alejandro Jimenez-Moreno, Gabriel Robotic and Technology of Computers Lab. University of Seville Spain Applied Robotics Research Lab. University of Cadiz Spain

ISBN: (纸本)9783642420535

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. © Springer-Verlag 2013.

关键词： Pixels

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A FPGA spike-based robot controlled with neuro-inspired VITE

A FPGA spike-based robot controlled with neuro-inspired VITE

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12th International Work-Conference on Artificial Neural Networks, IWANN 2013

作者： Perez-Peña, Fernando Morgado-Estevez, Arturo Linares-Barranco, Alejandro Jiménez-Fernández, Angel Lopez-Coronado, Juan Muñoz-Lozano, Jose Luis Applied Robotics Research Lab University of Cadiz Spain Robotic and Technology of Computers Lab University of Seville Spain Automation and System Engineering Department University Polytechnics of Cartagena Spain

ISBN: (纸本)9783642386787

This paper presents a spike-based control system applied to a fixed robotic platform. Our aim is to take a step forward to a future complete spikes processing architecture, from vision to direct motor actuation. This paper covers the processing and actuation layer over an anthropomorphic robot. In this way, the processing layer uses the neuro-inspired VITE algorithm, for reaching a target, based on PFM taking advantage of spike system information: its frequency. Thus, all the blocks of the system are based on spikes. Each layer is implemented within a FPGA board and spikes communication is codified under the AER protocol. The results show an accurate behavior of the robotic platform with 6-bit resolution for a 130° range per joint, and an automatic speed control of the algorithm. Up to 96 motor controllers could be integrated in the same FPGA, allowing the positioning and object grasping by more complex anthropomorphic robots. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Field programmable gate arrays (FPGA)

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Video surveillance at an industrial environment using an Address Event vision sensor: Comparative between two different video sensor based on a bioinspired retina

Video surveillance at an industrial environment using an Add...

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作者： Perez-Peña, Fernando Morgado-Estevez, Arturo Montero-Gonzalez, Rafael J. Linares-Barranco, Alejandro Jimenez-Moreno, Gabriel Applied Robotics Research Lab University of Cadiz C/Chile 1 Cadiz Spain Robotic and Technology of Computers Lab University of Seville Av. Reina Mercedes Seville Spain

ISBN: (纸本)9789898425720

Nowadays we live in very industrialization world that turns worried about surveillance and with lots of occupational hazards. The aim of this paper is to supply a surveillance video system to use at ultra fast industrial environments. We present an exhaustive timing analysis and comparative between two different Address Event Representation (AER) retinas, one with 64×64 pixel and the other one with 128×128 pixel in order to know the limits of them. Both are spike based image sensors that mimic the human retina and designed and manufactured by Delbruck's lab. Two different scenarios are presented in order to achieve the maximum frequency of light changes for a pixel sensor and the maximum frequency of requested pixel addresses on the AER output. Results obtained are 100 Hz and 1.88 MHz at each case for the 64×64 retina and peaks of 1.3 KHz and 8.33 MHz for the 128×128 retina. We have tested the upper spin limit of an ultra fast industrial machine and found it to be approximately 6000 rpm for the first retina and no limit achieve at top rpm for the second retina. It has been tested that in cases with high light contrast no AER data is lost.

关键词： Pixels

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Frequency analysis of a 64x64 pixel retinomorphic system with AER output to estimate the limits to apply onto specific mechanical environment

Frequency analysis of a 64x64 pixel retinomorphic system wit...

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Lecture Notes in Computer Science

作者： Perez-Peña, Fernando Morgado-Estevez, Arturo Linares-Barranco, Alejandro Jimenez-Moreno, Gabriel Rodriguez-Corral, Jose Maria Montero-Gonzalez, Rafael J. Applied Robotics Research Lab. University of Cadiz C/Chile 1 11002-Cadiz Spain Robotic and Technology of Computers Lab. University of Seville Av. Reina Mercedes s/n 41012-Seville Spain

ISBN: (纸本)9783642215001

The rods and cones of a human retina are constantly sensing and transmitting the light in the form of spikes to the cortex of the brain in order to reproduce an image in the brain. Delbruck's lab has designed and manufactured several generations of spike based image sensors that mimic the human retina. In this paper we present an exhaustive timing analysis of the Address-Event-Representation (AER) output of a 64x64 pixels silicon retinomorphic system. Two different scenarios are presented in order to achieve the maximum frequency of light changes for a pixel sensor and the maximum frequency of requested directions on the output AER. Results obtained are 100 Hz and 1.66 MHz in each case respectively. We have tested the upper spin limit and found it to be approximately 6000rpm (revolutions per minute) and in some cases with high light contrast lost events do not exist. © 2011 Springer-Verlag.

关键词： Pixels

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VISUAL AER-BASED PROCESSING WITH CONVOLUTIONS FOR A PARALLEL SUPERCOMPUTER

VISUAL AER-BASED PROCESSING WITH CONVOLUTIONS FOR A PARALLEL...

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International Conference on Signal Processing and Multimedia Applications

作者： Rafael J. Montero-Gonzalez Arturo Morgado-Estevez Fernando Perez-Pena Alejandro Linares-Barranco Angel Jimenez-Fernandez Bernabe Linares-Barranco Jose Antonio Perez-Carrasco Applied Robotics Research Lab Engineering School University of Cadiz Robotic and Technology of Computers Lab University of Sevilla Institute of Microelectronics of Seville IMSE-CNM-CSIC

ISBN: (纸本)9789898425720

This paper is based on the simulation of a convolution model for multimedia applications using the neuro-inspired Address-Event-Representation (AER) philosophy. AER is a communication mechanism between chips gathering thousands of spiking neurons. These spiking neurons are able to process the visual information in a frame-free style like the human brain do. All the spiking neurons are working in parallel and each of them implement an operation when an input stimulus is received. The result of this operation could be, or not, to produce an output event. There exist AER retinas and other sensors, AER processors (convolvers, WTA filters), learning chips and robot actuators. In this paper we present the implementation of an AER convolution processor for the supercomputer CRS (cluster research support) of the University of Cadiz (UCA). This research involves a test cases design in which the optimal parameters are set to run the AER convolution in parallel processors. These cases consist on running the convolution taking an image divided in different number of parts, applying to each part a Sobel filter for edge detection, and based on the AER-TOOL simulator. Runtimes are compared for all cases and the optimal configuration of the system is discussed. In general, CRS obtain better performances when the image is subdivided than for the whole image processing.

关键词： AER Convolution Parallel processing Cluster Supercomputer Bio-inspired AER simulator

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