相关论文: A toolbox for neuromorphic sensing in robotics
Bio-inspired neuromorphic cameras sense illumination changes on a per-pixel basis and generate spatiotemporal streaming events within microseconds in response, offering visual information with high temporal resolution over a high dynamic…
Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…
In recent years, visual sensors have been quickly improving towards mimicking the visual information acquisition process of human brain by responding to illumination changes as they occur in time rather than at fixed time intervals. In this…
Surface electromyogram (sEMG) signals result from muscle movement and hence they are an ideal candidate for benchmarking event-driven sensing and computing. We propose a simple yet novel approach for optimizing the spike encoding…
The advancement of robotic systems has revolutionized numerous industries, yet their operation often demands specialized technical knowledge, limiting accessibility for non-expert users. This paper introduces ROSA (Robot Operating System…
We propose a scalable neuromorphic architecture based on spiking dynamics emerging from the autonomous time-continuous evolution of clockless (asynchronous) digital circuits. Implemented on commercially available field-programmable gate…
AI-controlled robotic systems pose a risk to human workers and the environment. Classical risk assessment methods cannot adequately describe such black box systems. Therefore, new methods for a dynamic risk assessment of such AI-controlled…
Neuromodulation techniques have emerged as promising approaches for treating a wide range of neurological disorders, precisely delivering electrical stimulation to modulate abnormal neuronal activity. While leveraging the unique…
Neurosim is a fast, real-time, high-performance library for simulating sensors such as dynamic vision sensors, RGB cameras, depth sensors, and inertial sensors. It can also simulate agile dynamics of multi-rotor vehicles in complex and…
This paper explores the synergistic potential of neuromorphic and edge computing to create a versatile machine learning (ML) system tailored for processing data captured by dynamic vision sensors. We construct and train hybrid models,…
In recent years, quadruped robotics has advanced significantly, particularly in perception and motion control via reinforcement learning, enabling complex motions in challenging environments. Visual sensors like depth cameras enhance…
The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate…
SROS is a proposed addition to the ROS API and ecosystem to support modern cryptography and security measures. An overview of current progress will be presented, rationalizing each major advancement, including: over-the-wire cryptography…
Achieving fast and reliable temporal signal encoding is crucial for low-power, always-on systems. While current spike-based encoding algorithms rely on complex networks or precise timing references, simple and robust encoding models can be…
Neural systems use the same underlying computational substrate to carry out analog filtering and signal processing operations, as well as discrete symbol manipulation and digital computation. Inspired by the computational principles of…
It is imperative to develop an intrusion prevention system (IPS), specifically designed for autonomous robotic systems. This is due to the unique nature of these cyber-physical systems (CPS), which are not merely typical distributed…
Neuromorphic engineering (NE) encompasses a diverse range of approaches to information processing that are inspired by neurobiological systems, and this feature distinguishes neuromorphic systems from conventional computing systems. The…
A chemical discrimination system based on photonic reservoir computing is demonstrated experimentally for the first time. The system is inspired by the way humans perceive and process visual sensory information. The electro-optical…
Despite the stringent requirements of a real-time system, the reliance of the Robot Operating System (ROS) on the loopback network interface imposes a considerable overhead on the transport of high bandwidth data, while the nodelet package,…
Event-based vision sensors achieve up to three orders of magnitude better speed vs. power consumption trade off in high-speed control of UAVs compared to conventional image sensors. Event-based cameras produce a sparse stream of events that…