A Spiking Neural Network Model of the Medial Superior Olive using Spike Timing Dependent Plasticity for Sound Localisation

Sound localization can be defined as the ability to identify the position of an input sound source and is considered a powerful aspect of mammalian perception. For low frequency sounds, i.e., in the range 270 Hz-1.5 KHz, the mammalian auditory pathway achieves this by extracting the Interaural Time Difference between sound signals being received by the left and right ear. This processing is performed in a region of the brain known as the Medial Superior Olive (MSO). This paper presents a Spiking Neural Network (SNN) based model of the MSO. The network model is trained using the Spike Timing Dependent Plasticity learning rule using experimentally observed Head Related Transfer Function data in an adult domestic cat. The results presented demonstrate how the proposed SNN model is able to perform sound localization with an accuracy of 91.82% when an error tolerance of +/-10 degrees is used. For angular resolutions down to 2.5 degrees , it will be demonstrated how software based simulations of the model incur significant computation times. The paper thus also addresses preliminary implementation on a Field Programmable Gate Array based hardware platform to accelerate system performance.

Spiking neural network model of sound localisation using the interaural intensity difference

In this paper, a spiking neural network (SNN) architecture to simulate the sound localization ability of the mammalian auditory pathways using the interaural intensity difference cue is presented. The lateral superior olive was the inspiration for the architecture, which required the integration of an auditory periphery (cochlea) model and a model of the medial nucleus of the trapezoid body. The SNN uses leaky integrateand-fire excitatory and inhibitory spiking neurons, facilitating synapses and receptive fields. Experimentally derived headrelated transfer function (HRTF) acoustical data from adult domestic cats were employed to train and validate the localization ability of the architecture, training used the supervised learning algorithm called the remote supervision method to determine the azimuthal angles. The experimental results demonstrate that the architecture performs best when it is localizing high-frequency sound data in agreement with the biology, and also shows a high degree of robustness when the HRTF acoustical data is corrupted by noise.

Spiking neural network connectivity and its potential for temporal sensory processing and variable binding

The most biologically-inspired artificial neurons are those of the third generation, and are termed spiking neurons, as individual pulses or spikes are the means by which stimuli are communicated. In essence, a spike is a short-term change in electrical potential and is the basis of communication between biological neurons. Unlike previous generations of artificial neurons, spiking neurons operate in the temporal domain, and exploit time as a resource in their computation. In 1952, Alan Lloyd Hodgkin and Andrew Huxley produced the first model of a spiking neuron; their model describes the complex electro-chemical process that enables spikes to propagate through, and hence be communicated by, spiking neurons. Since this time, improvements in experimental procedures in neurobiology, particularly with in vivo experiments, have provided an increasingly more complex understanding of biological neurons. For example, it is now well-understood that the propagation of spikes between neurons requires neurotransmitter, which is typically of limited supply. When the supply is exhausted neurons become unresponsive. The morphology of neurons, number of receptor sites, amongst many other factors, means that neurons consume the supply of neurotransmitter at different rates. This in turn produces variations over time in the responsiveness of neurons, yielding various computational capabilities. Such improvements in the understanding of the biological neuron have culminated in a wide range of different neuron models, ranging from the computationally efficient to the biologically realistic. These models enable the modeling of neural circuits found in the brain.

Spiking Neural Network Connectivity and its Potential for Temporal Sensory Processing and Variable Binding

The most biologically-inspired artificial neurons are those of the third generation, and are termed spiking neurons, as individual pulses or spikes are the means by which stimuli are communicated. In essence, a spike is a short-term change in electrical potential and is the basis of communication between biological neurons. Unlike previous generations of artificial neurons, spiking neurons operate in the temporal domain, and exploit time as a resource in their computation. In 1952, Alan Lloyd Hodgkin and Andrew Huxley produced the first model of a spiking neuron; their model describes the complex electro-chemical process that enables spikes to propagate through, and hence be communicated by, spiking neurons. Since this time, improvements in experimental procedures in neurobiology, particularly with in vivo experiments, have provided an increasingly more complex understanding of biological neurons. For example, it is now well understood that the propagation of spikes between neurons requires neurotransmitter, which is typically of limited supply. When the supply is exhausted neurons become unresponsive. The morphology of neurons, number of receptor sites, amongst many other factors, means that neurons consume the supply of neurotransmitter at different rates. This in turn produces variations over time in the responsiveness of neurons, yielding various computational capabilities. Such improvements in the understanding of the biological neuron have culminated in a wide range of different neuron models, ranging from the computationally efficient to the biologically realistic. These models enable the modelling of neural circuits found in the brain. In recent years, much of the focus in neuron modelling has moved to the study of the connectivity of spiking neural networks. Spiking neural networks provide a vehicle to understand from a computational perspective, aspects of the brain’s neural circuitry. This understanding can then be used to tackle some of the historically intractable issues with artificial neurons, such as scalability and lack of variable binding. Current knowledge of feed-forward, lateral, and recurrent connectivity of spiking neurons, and the interplay between excitatory and inhibitory neurons is beginning to shed light on these issues, by improved understanding of the temporal processing capabilities and synchronous behaviour of biological neurons. This research topic aims to amalgamate current research aimed at tackling these phenomena.

Self-Learning Fuzzy Spiking Neural Network as a Nonlinear Pulse-Position Threshold Detection Dynamic System Based on Second-Order Critically Damped Response Units

Architecture and learning algorithm of self-learning spiking neural network in fuzzy clustering task are outlined. Fuzzy receptive neurons for pulse-position transformation of input data are considered. It is proposed to treat a spiking neural network in terms of classical automatic control theory apparatus based on the Laplace transform. It is shown that synapse functioning can be easily modeled by a second order damped response unit. Spiking neuron soma is presented as a threshold detection unit. Thus, the proposed fuzzy spiking neural network is an analog-digital nonlinear pulse-position dynamic system. It is demonstrated how fuzzy probabilistic and possibilistic clustering approaches can be implemented on the base of the presented spiking neural network.

A spiking neural network implementation of sound localisation

The focus of this paper is the implementation of a spiking neural network to achieve sound localization; the model is based on the influential short paper by Jeffress in 1948. The SNN has a two-layer topology which can accommodate a limited number of angles in the azimuthal plane. The model accommodates multiple inter-neuron connections with associated delays, and a supervised STDP algorithm is applied to select the optimal pathway for sound localization. Also an analysis of previous relevant work in the area of auditory modelling supports this research.

Existence and wandering of bumps in a spiking neural network model

We study spatially localized states of a spiking neuronal network populated by a pulse coupled phase oscillator known as the lighthouse model. We show that in the limit of slow synaptic interactions in the continuum limit the dynamics reduce to those of the standard Amari model. For non-slow synaptic connections we are able to go beyond the standard firing rate analysis of localized solutions allowing us to explicitly construct a family of co-existing one-bump solutions, and then track bump width and firing pattern as a function of system parameters. We also present an analysis of the model on a discrete lattice. We show that multiple width bump states can co-exist and uncover a mechanism for bump wandering linked to the speed of synaptic processing. Moreover, beyond a wandering transition point we show that the bump undergoes an effective random walk with a diffusion coefficient that scales exponentially with the rate of synaptic processing and linearly with the lattice spacing.

Spiking neural network-based target tracking control for autonomous mobile robots

In this paper, a target tracking controller based on spiking neural network is proposed for autonomous robots. This controller encodes the preprocessed environmental and target information provided by CCD cameras, encoders and ultrasonic sensors into spike trains, which are integrated by a three-layer spiking neural network (SNN). The outputs of SNN are generated based on the competition between the forward/backward neuron pair corresponding to each motor, with the weights evolved by the Hebbian learning. The application to target tracking of a mobile robot in unknown environment verifies the validity of the proposed controller.

A comparison of sound localisation techniques using cross-correlation and spiking neural networks for mobile robotics

This paper outlines the development of a crosscorrelation algorithm and a spiking neural network (SNN) for sound localisation based on real sound recorded in a noisy and dynamic environment by a mobile robot. The SNN architecture aims to simulate the sound localisation ability of the mammalian auditory pathways by exploiting the binaural cue of interaural time difference (ITD). The medial superior olive was the inspiration for the SNN architecture which required the integration of an encoding layer which produced biologically realistic spike trains, a model of the bushy cells found in the cochlear nucleus and a supervised learning algorithm. The experimental results demonstrate that biologically inspired sound localisation achieved using a SNN can compare favourably to the more classical technique of cross-correlation.

Using strategic movement to calibrate a neural compass : a spiking network for tracking head direction in rats and robots

The head direction (HD) system in mammals contains neurons that fire to represent the direction the animal is facing in its environment. The ability of these cells to reliably track head direction even after the removal of external sensory cues implies that the HD system is calibrated to function effectively using just internal (proprioceptive and vestibular) inputs. Rat pups and other infant mammals display stereotypical warm-up movements prior to locomotion in novel environments, and similar warm-up movements are seen in adult mammals with certain brain lesion-induced motor impairments. In this study we propose that synaptic learning mechanisms, in conjunction with appropriate movement strategies based on warm-up movements, can calibrate the HD system so that it functions effectively even in darkness. To examine the link between physical embodiment and neural control, and to determine that the system is robust to real-world phenomena, we implemented the synaptic mechanisms in a spiking neural network and tested it on a mobile robot platform. Results show that the combination of the synaptic learning mechanisms and warm-up movements are able to reliably calibrate the HD system so that it accurately tracks real-world head direction, and that calibration breaks down in systematic ways if certain movements are omitted. This work confirms that targeted, embodied behaviour can be used to calibrate neural systems, demonstrates that ‘grounding’ of modeled biological processes in the real world can reveal underlying functional principles (supporting the importance of robotics to biology), and proposes a functional role for stereotypical behaviours seen in infant mammals and those animals with certain motor deficits. We conjecture that these calibration principles may extend to the calibration of other neural systems involved in motion tracking and the representation of space, such as grid cells in entorhinal cortex.

Aerial image analysis using spiking neural networks with application to power line corridor monitoring

Trees, shrubs and other vegetation are of continued importance to the environment and our daily life. They provide shade around our roads and houses, offer a habitat for birds and wildlife, and absorb air pollutants. However, vegetation touching power lines is a risk to public safety and the environment, and one of the main causes of power supply problems. Vegetation management, which includes tree trimming and vegetation control, is a significant cost component of the maintenance of electrical infrastructure. For example, Ergon Energy, the Australia’s largest geographic footprint energy distributor, currently spends over $80 million a year inspecting and managing vegetation that encroach on power line assets. Currently, most vegetation management programs for distribution systems are calendar-based ground patrol. However, calendar-based inspection by linesman is labour-intensive, time consuming and expensive. It also results in some zones being trimmed more frequently than needed and others not cut often enough. Moreover, it’s seldom practicable to measure all the plants around power line corridors by field methods. Remote sensing data captured from airborne sensors has great potential in assisting vegetation management in power line corridors. This thesis presented a comprehensive study on using spiking neural networks in a specific image analysis application: power line corridor monitoring. Theoretically, the thesis focuses on a biologically inspired spiking cortical model: pulse coupled neural network (PCNN). The original PCNN model was simplified in order to better analyze the pulse dynamics and control the performance. Some new and effective algorithms were developed based on the proposed spiking cortical model for object detection, image segmentation and invariant feature extraction. The developed algorithms were evaluated in a number of experiments using real image data collected from our flight trails. The experimental results demonstrated the effectiveness and advantages of spiking neural networks in image processing tasks. Operationally, the knowledge gained from this research project offers a good reference to our industry partner (i.e. Ergon Energy) and other energy utilities who wants to improve their vegetation management activities. The novel approaches described in this thesis showed the potential of using the cutting edge sensor technologies and intelligent computing techniques in improve power line corridor monitoring. The lessons learnt from this project are also expected to increase the confidence of energy companies to move from traditional vegetation management strategy to a more automated, accurate and cost-effective solution using aerial remote sensing techniques.

Supervised training approach using spiking neural networks

One of the basic aspects of some neural networks is their attempt to approximate as much as possible their biological counterparts. The goal is to achieve a simple and robust network, easy to understand and able of simulating the human brain at a computational level. Recently a third generation of neural networks (NN) [1], called Spiking Neural Networks(SNN) was appeared. This new kind of networks use the time of a electrical pulse, or spike, to encode the information. In the first and second generation of NN analog values are used in the communication between neurons.

Modular non-computational-connectionist-hybrid neural network approach to robotic systems

Spiking neural networks are usually limited in their applications due to their complex mathematical models and the lack of intuitive learning algorithms. In this paper, a simpler, novel neural network derived from a leaky integrate and fire neuron model, the ‘cavalcade’ neuron, is presented. A simulation for the neural network has been developed and two basic learning algorithms implemented within the environment. These algorithms successfully learn some basic temporal and instantaneous problems. Inspiration for neural network structures from these experiments are then taken and applied to process sensor information so as to successfully control a mobile robot.

Statistical modelling of artificial neural network for sorting temporally synchronous spikes

Artificial neural network (ANN) models are able to predict future events based on current data. The usefulness of an ANN lies in the capacity of the model to learn and adjust the weights following previous errors during training. In this study, we carefully analyse the existing methods in neuronal spike sorting algorithms. The current methods use clustering as a basis to establish the ground truths, which requires tedious procedures pertaining to feature selection and evaluation of the selected features. Even so, the accuracy of clusters is still questionable. Here, we develop an ANN model to specially address the present drawbacks and major challenges in neuronal spike sorting. New enhancements are introduced into the conventional backpropagation ANN for determining the network weights, input nodes, target node, and error calculation. Coiflet modelling of noise is employed to enhance the spike shape features and overshadow noise. The ANN is used in conjunction with a special spiking event detection technique to prioritize the targets. The proposed enhancements are able to bolster the training concept, and on the whole, contributing to sorting neuronal spikes with close approximations.

A Learning Function for Parameter Reduction in Spiking Neural Networks with Radial Basis Function

Spiking neural networks - networks that encode information in the timing of spikes - are arising as a new approach in the artificial neural networks paradigm, emergent from cognitive science. One of these new models is the pulsed neural network with radial basis function, a network able to store information in the axonal propagation delay of neurons. Learning algorithms have been proposed to this model looking for mapping input pulses into output pulses. Recently, a new method was proposed to encode constant data into a temporal sequence of spikes, stimulating deeper studies in order to establish abilities and frontiers of this new approach. However, a well known problem of this kind of network is the high number of free parameters - more that 15 - to be properly configured or tuned in order to allow network convergence. This work presents for the first time a new learning function for this network training that allow the automatic configuration of one of the key network parameters: the synaptic weight decreasing factor.