dc.creator | Linares Barranco, Alejandro | es |
dc.creator | Liu, Hongjie | es |
dc.creator | Ríos Navarro, José Antonio | es |
dc.creator | Gómez Rodríguez, Francisco de Asís | es |
dc.creator | Moeys, Diederick P. | es |
dc.creator | Delbruck, Tobi | es |
dc.date.accessioned | 2018-07-20T09:48:47Z | |
dc.date.available | 2018-07-20T09:48:47Z | |
dc.date.issued | 2018 | |
dc.identifier.citation | Linares Barranco, A., Liu, H., Rios Navarro, A., Gómez Rodríguez, F.d.A., Moeys, D.P. y Delbruck, T. (2018). Approaching Retinal Ganglion Cell Modeling and FPGA Implementation for Robotics. Entropy, 20 (6) | |
dc.identifier.issn | 1099-4300 | es |
dc.identifier.uri | https://hdl.handle.net/11441/77484 | |
dc.description.abstract | Taking inspiration from biology to solve engineering problems using the organizing
principles of biological neural computation is the aim of the field of neuromorphic engineering.
This field has demonstrated success in sensor based applications (vision and audition) as well as in
cognition and actuators. This paper is focused on mimicking the approaching detection functionality
of the retina that is computed by one type of Retinal Ganglion Cell (RGC) and its application to
robotics. These RGCs transmit action potentials when an expanding object is detected. In this work
we compare the software and hardware logic FPGA implementations of this approaching function
and the hardware latency when applied to robots, as an attention/reaction mechanism. The visual
input for these cells comes from an asynchronous event-driven Dynamic Vision Sensor, which leads
to an end-to-end event based processing system. The software model has been developed in Java,
and computed with an average processing time per event of 370 ns on a NUC embedded computer.
The output firing rate for an approaching object depends on the cell parameters that represent the
needed number of input events to reach the firing threshold. For the hardware implementation, on a
Spartan 6 FPGA, the processing time is reduced to 160 ns/event with the clock running at 50 MHz.
The entropy has been calculated to demonstrate that the system is not totally deterministic in response
to approaching objects because of several bioinspired characteristics. It has been measured that a
Summit XL mobile robot can react to an approaching object in 90 ms, which can be used as an
attentional mechanism. This is faster than similar event-based approaches in robotics and equivalent
to human reaction latencies to visual stimulus. | es |
dc.description.sponsorship | Ministerio de Economía y Competitividad TEC2016-77785-P | es |
dc.description.sponsorship | Comisión Europea FP7-ICT-600954 | es |
dc.format | application/pdf | es |
dc.language.iso | eng | es |
dc.publisher | MDPI | es |
dc.relation.ispartof | Entropy, 20 (6) | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Neuromorphic engineering | es |
dc.subject | Event-based processing | es |
dc.subject | Address-Event-Representation | es |
dc.subject | Dynamic Vision Sensor | es |
dc.subject | Approach sensitivity cell | es |
dc.subject | Retina Ganglion Cell | es |
dc.subject | Robotic | es |
dc.subject | FPGA | es |
dc.title | Approaching Retinal Ganglion Cell Modeling and FPGA Implementation for Robotics | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores | es |
dc.relation.projectID | TEC2016-77785-P | es |
dc.relation.projectID | FP7-ICT-600954 | es |
dc.relation.publisherversion | http://www.mdpi.com/1099-4300/20/6/475 | es |
dc.identifier.doi | 10.3390/e20060475 | es |
idus.format.extent | 13 | es |
dc.journaltitle | Entropy | es |
dc.publication.volumen | 20 | es |
dc.publication.issue | 6 | es |
dc.contributor.funder | Ministerio de Economía y Competitividad (MINECO). España | |
dc.contributor.funder | European Union (UE). FP7 | |