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  1. Event and frame cameras capture the complemen-tary spatial and temporal details of a scene providing an accuracy vs. latency trade-off. Fusing these processing modalities using convolutional (CNN) and spiking neural networks (SNN) respectively has been shown for target tracking. We present our heterogeneous RRAM compute-in-memory (CIM) and SRAM compute-near-memory (CNM) SoC for simultaneous processing of CNN and SNN. We will show the advantage of using fused vision over frame-only vision and demonstrate python programmable data streaming. The visitors will be able to see the processing-dependent dynamic power gating of non-volatile RRAM and in-memory error correction capability. 
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  2. Combinatorial optimization problems prevail in engineering and industry. Some are NP-hard and thus become difficult to solve on edge devices due to limited power and computing resources. Quadratic Unconstrained Binary Optimization (QUBO) problem is a valuable emerging model that can formulate numerous combinatorial problems, such as Max-Cut, traveling salesman problems, and graphic coloring. QUBO model also reconciles with two emerging computation models, quantum computing and neuromorphic computing, which can potentially boost the speed and energy efficiency in solving combinatorial problems. In this work, we design a neuromorphic QUBO solver composed of a swarm of spiking neural networks (SNN) that conduct a population-based meta-heuristic search for solutions. The proposed model can achieve about x20 40 speedup on large QUBO problems in terms of time steps compared to a traditional neural network solver. As a codesign, we evaluate the neuromorphic swarm solver on a 40nm 25mW Resistive RAM (RRAM) Compute-in-Memory (CIM) SoC with a 2.25MB RRAM-based accelerator and an embedded Cortex M3 core. The collaborative SNN swarm can fully exploit the specialty of CIM accelerator in matrix and vector multiplications. Compared to previous works, such an algorithm-hardware synergized solver exhibits advantageous speed and energy efficiency for edge devices. 
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  3. Evolution has honed predatory skills in the natural world where localizing and intercepting fast-moving prey is required. The current generation of robotic systems mimics these biological systems using deep learning. High-speed processing of the camera frames using convolutional neural networks (CNN) (frame pipeline) on such constrained aerial edge-robots gets resource-limited. Adding more compute resources also eventually limits the throughput at the frame rate of the camera as frame-only traditional systems fail to capture the detailed temporal dynamics of the environment. Bio-inspired event cameras and spiking neural networks (SNN) provide an asynchronous sensor-processor pair (event pipeline) capturing the continuous temporal details of the scene for high-speed but lag in terms of accuracy. In this work, we propose a target localization system combining event-camera and SNN-based high-speed target estimation and frame-based camera and CNN-driven reliable object detection by fusing complementary spatio-temporal prowess of event and frame pipelines. One of our main contributions involves the design of an SNN filter that borrows from the neural mechanism for ego-motion cancelation in houseflies. It fuses the vestibular sensors with the vision to cancel the activity corresponding to the predator's self-motion. We also integrate the neuro-inspired multi-pipeline processing with task-optimized multi-neuronal pathway structure in primates and insects. The system is validated to outperform CNN-only processing using prey-predator drone simulations in realistic 3D virtual environments. The system is then demonstrated in a real-world multi-drone set-up with emulated event data. Subsequently, we use recorded actual sensory data from multi-camera and inertial measurement unit (IMU) assembly to show desired working while tolerating the realistic noise in vision and IMU sensors. We analyze the design space to identify optimal parameters for spiking neurons, CNN models, and for checking their effect on the performance metrics of the fused system. Finally, we map the throughput controlling SNN and fusion network on edge-compatible Zynq-7000 FPGA to show a potential 264 outputs per second even at constrained resource availability. This work may open new research directions by coupling multiple sensing and processing modalities inspired by discoveries in neuroscience to break fundamental trade-offs in frame-based computer vision 1 . 
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