Observer-Based Neural Control of N-Link Flexible-Joint Robots

This article concentrates on the adaptive neural control approach of n -link flexible-joint electrically driven robots. The presented control method only needs to know the position and armature current information of the flexible-joint manipulator. An adaptive observer is designed to estimate the velocities of links and motors, and radial basis function neural networks are applied to approximate the unknown nonlinearities. Based on the backstepping technique and the Lyapunov stability theory, the observer-based neural control issue is addressed by relying on uplink-event-triggered states only. It is demonstrated that all signals are semi-globally ultimately uniformly bounded and the tracking errors can converge to a small neighborhood of zero. Finally, simulation results are shown to validate the designed event-triggered control strategy.

Design of oscillatory neural networks by machine learning

We demonstrate the utility of machine learning algorithms for the design of oscillatory neural networks (ONNs). After constructing a circuit model of the oscillators in a machine-learning-enabled simulator and performing Backpropagation through time (BPTT) for determining the coupling resistances between the ring oscillators, we demonstrate the design of associative memories and multi-layered ONN classifiers. The machine-learning-designed ONNs show superior performance compared to other design methods (such as Hebbian learning), and they also enable significant simplifications in the circuit topology. We also demonstrate the design of multi-layered ONNs that show superior performance compared to single-layer ones. We argue that machine learning can be a valuable tool to unlock the true computing potential of ONNs hardware.

Matrix Measure-Based Event-Triggered Impulsive Quasi-Synchronization on Coupled Neural Networks

In this article, the quasi-synchronization for a kind of coupled neural networks with time-varying delays is investigated via a novel event-triggered impulsive control approach. In view of the randomly occurring uncertainties (ROUs) in the communication channels, the global quasi-synchronization for the coupled neural networks within a given error bound is considered instead of discussing the complete synchronization. A kind of distributed event-triggered impulsive controllers is presented with considering the Bernoulli stochastic variables based on ROUs, which works at each event-triggered impulsive instant. According to the matrix measure method and the Lyapunov stability theorem, several sufficient conditions for the realization of the quasi-synchronization are successfully derived. Combining with the mathematical methodology with the formula of variation of parameters and the comparison principle for the impulsive systems with time-varying delays, the convergence rate and the synchronization error bound are precisely estimated. Meanwhile, the Zeno behaviors could be eliminated in the coupled neural network with the proposed event-triggered function. Finally, a numerical example is presented to prove the results of theoretical analysis.

Artificial Neuronal Devices Based on Emerging Materials: Neuronal Dynamics and Applications

Artificial neuronal devices are critical building blocks of neuromorphic computing systems and currently the subject of intense research motivated by application needs from new computing technology and more realistic brain emulation. Researchers have proposed a range of device concepts that can mimic neuronal dynamics and functions. Although the switching physics and device structures of these artificial neurons are largely different, their behaviors can be described by several neuron models in a more unified manner. In this paper, the reports of artificial neuronal devices based on emerging volatile switching materials are reviewed from the perspective of the demonstrated neuron models, with a focus on the neuronal functions implemented in these devices and the exploitation of these functions for computational and sensing applications. Furthermore, the neuroscience inspirations and engineering methods to enrich the neuronal dynamics that remain to be implemented in artificial neuronal devices and networks toward realizing the full functionalities of biological neurons are discussed.

Binding events through the mutual synchronization of spintronic nano-neurons

The brain naturally binds events from different sources in unique concepts. It is hypothesized that this process occurs through the transient mutual synchronization of neurons located in different regions of the brain when the stimulus is presented. This mechanism of 'binding through synchronization' can be directly implemented in neural networks composed of coupled oscillators. To do so, the oscillators must be able to mutually synchronize for the range of inputs corresponding to a single class, and otherwise remain desynchronized. Here we show that the outstanding ability of spintronic nano-oscillators to mutually synchronize and the possibility to precisely control the occurrence of mutual synchronization by tuning the oscillator frequencies over wide ranges allows pattern recognition. We demonstrate experimentally on a simple task that three spintronic nano-oscillators can bind consecutive events and thus recognize and distinguish temporal sequences. This work is a step forward in the construction of neural networks that exploit the non-linear dynamic properties of their components to perform brain-inspired computations.

Mapping Hebbian Learning Rules to Coupling Resistances for Oscillatory Neural Networks

Oscillatory Neural Network (ONN) is an emerging neuromorphic architecture with oscillators representing neurons and information encoded in oscillator's phase relations. In an ONN, oscillators are coupled with electrical elements to define the network's weights and achieve massive parallel computation. As the weights preserve the network functionality, mapping weights to coupling elements plays a crucial role in ONN performance. In this work, we investigate relaxation oscillators based on VO₂ material, and we propose a methodology to map Hebbian coefficients to ONN coupling resistances, allowing a large-scale ONN design. We develop an analytical framework to map weight coefficients into coupling resistor values to analyze ONN architecture performance. We report on an ONN with 60 fully-connected oscillators that perform pattern recognition as a Hopfield Neural Network.

Nonfragile Finite-Time Synchronization for Coupled Neural Networks With Impulsive Approach

This article addresses the problem of the average stochastic finite-time synchronization (ASFTS) for a set of coupled neural networks (NNs) with energy-bounded noises. Due to the channel capacity constraint, the impulsive approach is introduced so as to cut down the communication times among the leader NNs and the follower NNs. Then, a nonfragile controller is designed to improve the robustness of the controller with randomly occurred uncertainty. The sufficient conditions that guarantee the ASFTS of the coupled NNs and the leader NNs are achieved. The boundary of the synchronization error is also obtained by constructing the monotonic increasing functions. Finally, the controller gains are given based on the derived conditions, and their effectiveness is illustrated by a numerical example.

Synchronization of two spin-transfer-driven nano-oscillators coupled via magnetostatic fields

The magnetization dynamics of nano-oscillators may be excited by both magnetic fields and spin-polarized currents. While the dynamics of single oscillators has been well characterized, the synchronization of several ones is not fully understood yet. An analytical and numerical study of the nonlinear dynamics of two magnetostatically coupled spin valves driven by spin-transfer torques is presented under the macrospin approximation. The oscillators interact via magnetostatic fields and exhibit a robust synchronized magnetization motion. We describe the magnetization dynamics of the system using the Landau-Lifshitz-Gilbert-Slonczewski equation. Using a modal decomposition technique, we describe the dynamics, synchronization, and competition of oscillatory modes as a function of the current density, and the geometrical parameters of the setup. Simulations of the Landau-Lifshitz-Gilbert-Slonczewski equation show good agreement with an approximate analytic solution.

An Oscillatory Neural Network Based Local Processing Unit for Pattern Recognition Applications

Prolific growth of sensors and sensor technology has resulted various applications in sensing, monitoring, assessment and control operations. Owing to the large number of sensing units the the aggregate data volume creates a burden to the central data processing unit. This paper demonstrates an analog computational platform using weakly coupled oscillator neural network for pattern recognition applications. The oscillator neural network (ONN) has been studied over the last couple of decades for it’s increasing computational efficiency. The coupled ONN can realize the classification and pattern recognition functionalities based on its synchronization phenomenon. The convergence time and frequency of synchronization are considered as the indicator of recognition. For hierarchical sensing, the synchronization is detected in the first layer, and then the classification is accomplished in the second layer. In this work, a Kuramoto model based frequency synchronization approach is utilized, and simulation results indicate less than 160 ms convergence time and close frequency match for a simplified pattern recognition application. An array of 10 sensors is considered to affect the coupling weights of the oscillating nodes, and demonstrate network level computation. Based on MATLAB simulations, the proposed ONN architecture can successfully detect the close-in-match pattern through synchronization, and differentiate the far-out-match pattern through loss of synchronization in the oscillating nodes.

Vowel recognition with four coupled spin-torque nano-oscillators

In recent years, artificial neural networks have become the flagship algorithm of artificial intelligence¹. In these systems, neuron activation functions are static, and computing is achieved through standard arithmetic operations. By contrast, a prominent branch of neuroinspired computing embraces the dynamical nature of the brain and proposes to endow each component of a neural network with dynamical functionality, such as oscillations, and to rely on emergent physical phenomena, such as synchronization^2-6, for solving complex problems with small networks^7-11. This approach is especially interesting for hardware implementations, because emerging nanoelectronic devices can provide compact and energy-efficient nonlinear auto-oscillators that mimic the periodic spiking activity of biological neurons^12-16. The dynamical couplings between oscillators can then be used to mediate the synaptic communication between the artificial neurons. One challenge for using nanodevices in this way is to achieve learning, which requires fine control and tuning of their coupled oscillations¹⁷; the dynamical features of nanodevices can be difficult to control and prone to noise and variability¹⁸. Here we show that the outstanding tunability of spintronic nano-oscillators-that is, the possibility of accurately controlling their frequency across a wide range, through electrical current and magnetic field-can be used to address this challenge. We successfully train a hardware network of four spin-torque nano-oscillators to recognize spoken vowels by tuning their frequencies according to an automatic real-time learning rule. We show that the high experimental recognition rates stem from the ability of these oscillators to synchronize. Our results demonstrate that non-trivial pattern classification tasks can be achieved with small hardware neural networks by endowing them with nonlinear dynamical features such as oscillations and synchronization.

A Nanotechnology-Ready Computing Scheme based on a Weakly Coupled Oscillator Network

With conventional transistor technologies reaching their limits, alternative computing schemes based on novel technologies are currently gaining considerable interest. Notably, promising computing approaches have proposed to leverage the complex dynamics emerging in networks of coupled oscillators based on nanotechnologies. The physical implementation of such architectures remains a true challenge, however, as most proposed ideas are not robust to nanotechnology devices' non-idealities. In this work, we propose and investigate the implementation of an oscillator-based architecture, which can be used to carry out pattern recognition tasks, and which is tailored to the specificities of nanotechnologies. This scheme relies on a weak coupling between oscillators, and does not require a fine tuning of the coupling values. After evaluating its reliability under the severe constraints associated to nanotechnologies, we explore the scalability of such an architecture, suggesting its potential to realize pattern recognition tasks using limited resources. We show that it is robust to issues like noise, variability and oscillator non-linearity. Defining network optimization design rules, we show that nano-oscillator networks could be used for efficient cognitive processing.

Partial synchronization in networks of non-linearly coupled oscillators: The Deserter Hubs Model

We study the Deserter Hubs Model: a Kuramoto-like model of coupled identical phase oscillators on a network, where attractive and repulsive couplings are balanced dynamically due to nonlinearity of interactions. Under weak force, an oscillator tends to follow the phase of its neighbors, but if an oscillator is compelled to follow its peers by a sufficient large number of cohesive neighbors, then it actually starts to act in the opposite manner, i.e., in anti-phase with the majority. Analytic results yield that if the repulsion parameter is small enough in comparison with the degree of the maximum hub, then the full synchronization state is locally stable. Numerical experiments are performed to explore the model beyond this threshold, where the overall cohesion is lost. We report in detail partially synchronous dynamical regimes, like stationary phase-locking, multistability, periodic and chaotic states. Via statistical analysis of different network organizations like tree, scale-free, and random ones, we found a measure allowing one to predict relative abundance of partially synchronous stationary states in comparison to time-dependent ones.

Synchronized charge oscillations in correlated electron systems

Strongly correlated phases exhibit collective carrier dynamics that if properly harnessed can enable novel functionalities and applications. In this article, we investigate the phenomenon of electrical oscillations in a prototypical MIT system, vanadium dioxide (VO₂). We show that the key to such oscillatory behaviour is the ability to induce and stabilize a non-hysteretic and spontaneously reversible phase transition using a negative feedback mechanism. Further, we investigate the synchronization and coupling dynamics of such VO₂ based relaxation oscillators and show, via experiment and simulation, that this coupled oscillator system exhibits rich non-linear dynamics including charge oscillations that are synchronized in both frequency and phase. Our approach of harnessing a non-hysteretic reversible phase transition region is applicable to other correlated systems exhibiting metal-insulator transitions and can be a potential candidate for oscillator based non-Boolean computing.

Perceptual grouping by entrainment in coupled Kuramoto oscillator networks

In this article we present a network composed of coupled Kuramoto oscillators, which is able to solve a broad spectrum of perceptual grouping tasks. Based on attracting and repelling interactions between these oscillators, the network dynamics forms various phase-synchronized clusters of oscillators corresponding to individual groups of similar input features. The degree of similarity between features is determined by a set of underlying receptive fields, which are learned directly from the feature domain. After illustrating the theoretical principles of the network, the approach is evaluated in an image segmentation task. Furthermore, the influence of a varying degree of sparse couplings is evaluated.

Using phase to recognize English phonemes and their distinctive features in the brain

The neural mechanisms used by the human brain to identify phonemes remain unclear. We recorded the EEG signals evoked by repeated presentation of 12 American English phonemes. A support vector machine model correctly recognized a high percentage of the EEG brain wave recordings represented by their phases, which were expressed in discrete Fourier transform coefficients. We show that phases of the oscillations restricted to the frequency range of 2-9 Hz can be used to successfully recognize brain processing of these phonemes. The recognition rates can be further improved using the scalp tangential electric field and the surface Laplacian around the auditory cortical area, which were derived from the original potential signal. The best rate for the eight initial consonants was 66.7%. Moreover, we found a distinctive phase pattern in the brain for each of these consonants. We then used these phase patterns to recognize the consonants, with a correct rate of 48.7%. In addition, in the analysis of the confusion matrices, we found significant similarity-differences were invariant between brain and perceptual representations of phonemes. These latter results supported the importance of phonological distinctive features in the neural representation of phonemes.

Quantum-like model of behavioral response computation using neural oscillators

In this paper we propose the use of neural interference as the origin of quantum-like effects in the brain. We do so by using a neural oscillator model consistent with neurophysiological data. The model used was shown elsewhere to reproduce well the predictions of behavioral stimulus-response theory. The quantum-like effects are brought about by the spreading activation of incompatible oscillators, leading to an interference-like effect mediated by inhibitory and excitatory synapses.