A Neuro-Inspired Spike-Based PID Motor Controller for Multi-Motor Robots with Low Cost FPGAs
| Autor: | Manuel Domínguez-Morales, Alejandro Linares-Barranco, Gabriel Jimenez-Moreno, R. Paz-Vicente, Angel Jimenez-Fernandez, A. Civit-Balcells |
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| Přispěvatelé: | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores |
| Jazyk: | angličtina |
| Rok vydání: | 2012 |
| Předmět: |
Computer science
PID controller lcsh:Chemical technology Biochemistry DC motor Article Analytical Chemistry Motor controller neuro-controllers neuromorphic engineering bio-inspired systems and control control system analysis programmable logic devices pulse frequency modulation sensor-motor integration Control theory ComputerSystemsOrganization_SPECIAL-PURPOSEANDAPPLICATION-BASEDSYSTEMS lcsh:TP1-1185 Electrical and Electronic Engineering Instrumentation Open-loop controller Control engineering Atomic and Molecular Physics and Optics Robot control Neuromorphic engineering Control system Robot Spike (software development) Actuator |
| Zdroj: | Sensors, Vol 12, Iss 4, Pp 3831-3856 (2012) Sensors (Basel, Switzerland) Sensors; Volume 12; Issue 4; Pages: 3831-3856 idUS. Depósito de Investigación de la Universidad de Sevilla instname |
| ISSN: | 1424-8220 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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