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A Neuro-Inspired Spike-Based PID Motor Controller for Multi-Motor Robots with Low Cost FPGAs
Deparment of Computer Architecture and Technology, Universidad de Sevilla, ETSI Informátca, Avd. Reina Mercedes s/n, 41012 Sevilla, Spain
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Received: 5 February 2012; in revised form: 12 March 2012 / Accepted: 21 March 2012 / Published: 26 March 2012
Abstract: In this paper we present a neuro-inspired spike-based close-loop controller written in VHDL and implemented for FPGAs. This controller has been focused on controlling a DC motor speed, but only using spikes for information representation, processing and DC motor driving. It could be applied to other motors with proper driver adaptation. This controller architecture represents one of the latest layers in a Spiking Neural Network (SNN), which implements a bridge between robotics actuators and spike-based processing layers and sensors. The presented control system fuses actuation and sensors information as spikes streams, processing these spikes in hard real-time, implementing a massively parallel information processing system, through specialized spike-based circuits. This spike-based close-loop controller has been implemented into an AER platform, designed in our labs, that allows direct control of DC motors: the AER-Robot. Experimental results evidence the viability of the implementation of spike-based controllers, and hardware synthesis denotes low hardware requirements that allow replicating this controller in a high number of parallel controllers working together to allow a real-time robot control.
Keywords: neuro-controllers; neuromorphic engineering; bio-inspired systems and control; control system analysis; programmable logic devices; pulse frequency modulation; sensor-motor integration
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Jimenez-Fernandez, A.; Jimenez-Moreno, G.; Linares-Barranco, A.; Dominguez-Morales, M.J.; Paz-Vicente, R.; Civit-Balcells, A. A Neuro-Inspired Spike-Based PID Motor Controller for Multi-Motor Robots with Low Cost FPGAs. Sensors 2012, 12, 3831-3856.
Jimenez-Fernandez A, Jimenez-Moreno G, Linares-Barranco A, Dominguez-Morales MJ, Paz-Vicente R, Civit-Balcells A. A Neuro-Inspired Spike-Based PID Motor Controller for Multi-Motor Robots with Low Cost FPGAs. Sensors. 2012; 12(4):3831-3856.
Jimenez-Fernandez, Angel; Jimenez-Moreno, Gabriel; Linares-Barranco, Alejandro; Dominguez-Morales, Manuel J.; Paz-Vicente, Rafael; Civit-Balcells, Anton. 2012. "A Neuro-Inspired Spike-Based PID Motor Controller for Multi-Motor Robots with Low Cost FPGAs." Sensors 12, no. 4: 3831-3856.