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Energy consumption of memory accesses dominates the compute energy in energy-constrained robots, which require a compact 3-D map of the environment to achieve autonomy. Recent mapping frameworks only focused on reducing the map size while incurring significant memory usage during map construction due to the multipass processing of each depth image. In this work, we present a memory-efficient continuous occupancy map, named GMMap, that accurately models the 3-D environment using a Gaussian mixture model (GMM). Memory efficient GMMap construction is enabled by the single-pass compression of depth images into local GMMs, which are directly fused together into a globally-consistent map. By extending Gaussian Mixture Regression (GMR) to model unexplored regions, occupancy probability is directly computed from Gaussians. Using a low power ARM Cortex A57 CPU, GMMap can be constructed in real time at up to 60 images/s. Compared with prior works, GMMap maintains high accuracy while reducing the map size by at least 56%, memory overhead by at least 88%, dynamic random-access memory (DRAM) access by at least 78%, and energy consumption by at least 69%. Thus, GMMap enables real-time 3-D mapping on energy-constrained robots. 

Mapping neuronal networks is a central focus in neuroscience. While volume electron microscopy (vEM) can reveal the fine structure of neuronal networks (connectomics), it does not provide molecular information to identify cell types or functions. We developed an approach that uses fluorescent single-chain variable fragments (scFvs) to perform multiplexed detergent-free immunolabeling and volumetric-correlated-light-and-electron-microscopy on the same sample. We generated eight fluorescent scFvs targeting brain markers. Six fluorescent probes were imaged in the cerebellum of a female mouse, using confocal microscopy with spectral unmixing, followed by vEM of the same sample. The results provide excellent ultrastructure superimposed with multiple fluorescence channels. Using this approach, we documented a poorly described cell type, two types of mossy fiber terminals, and the subcellular localization of one type of ion channel. Because scFvs can be derived from existing monoclonal antibodies, hundreds of such probes can be generated to enable molecular overlays for connectomic studies. 

In this paper,we present and evaluate a true random number generator (TRNG) design that is compatible with the restrictions imposed by cloud-based Field Programmable Gate Array (FPGA) providers such as Amazon Web Services (AWS) EC2 F1. Because cloud FPGA providers disallow the ring oscillator circuits that conventionally generate TRNG entropy, our design is oscillator-free and uses clock jitter as its entropy source. The clock jitter is harvested with a time-to-digital converter (TDC) and a controllable delay line that is continuously tuned to compensate for process, voltage, and temperature variations. After describing the design, we present and validate a stochastic model that conservatively quantifies its worst-case entropy. We deploy and model the design in the cloud on 60 EC2 F1 FPGA instances to ensure sufficient randomness is captured. TRNG entropy is further validated using NIST test suites, and experiments are performed to understand how the TRNG responds to on-die power attacks that disturb the FPGA supply voltage in the vicinity of the TRNG. After introducing and validating our basic TRNG design, we introduce and validate a new variant that uses four instances of a linkable sampling module to increase the entropy per sample, and improve throughput. The new variant improves throughput by 250% at a modest 17% increase in CLB count. 

To fully understand how the human brain works, knowledge of its structure at high resolution is needed. Presented here is a computationally intensive reconstruction of the ultrastructure of a cubic millimeter of human temporal cortex that was surgically removed to gain access to an underlying epileptic focus. It contains about 57,000 cells, about 230 millimeters of blood vessels, and about 150 million synapses and comprises 1.4 petabytes. Our analysis showed that glia outnumber neurons 2:1, oligodendrocytes were the most common cell, deep layer excitatory neurons could be classified on the basis of dendritic orientation, and among thousands of weak connections to each neuron, there exist rare powerful axonal inputs of up to 50 synapses. Further studies using this resource may bring valuable insights into the mysteries of the human brain.