[ { "id": "authors:b3trt-f5516", "collection": "authors", "collection_id": "b3trt-f5516", "cite_using_url": "https://resolver.caltech.edu/CaltechAUTHORS:20160223-161934924", "type": "book_section", "title": "Analog VLSI Circuits for Attention-Based, Visual Tracking", "book_title": "Advances in Neural Information Processing Systems 9 (NIPS 1996)", "author": [ { "family_name": "Horiuchi", "given_name": "Timothy K.", "clpid": "Horiuchi-Timothy-K" }, { "family_name": "Morris", "given_name": "Tonia G.", "clpid": "Morris-T-G" }, { "family_name": "Koch", "given_name": "Christof", "orcid": "0000-0001-6482-8067", "clpid": "Koch-C" }, { "family_name": "DeWeerth", "given_name": "Stephen P.", "clpid": "DeWeerth-S-P" } ], "contributor": [ { "family_name": "Mozer", "given_name": "Michael C.", "clpid": "Mozer-M-C" }, { "family_name": "Jordan", "given_name": "Michael I.", "clpid": "Jordan-M-I" }, { "family_name": "Petsche", "given_name": "Thomas", "clpid": "Petsche-T" } ], "abstract": "A one-dimensional visual tracking chip has been implemented using neuromorphic, analog VLSI techniques to model selective visual attention in the control of saccadic and smooth pursuit eye movements. The chip incorporates focal-plane processing to compute image saliency and a winner-take-all circuit to select a feature for\ntracking. The target position and direction of motion are reported as the target moves across the array. We demonstrate its functionality in a closed-loop system which performs saccadic and smooth pursuit tracking movements using a one-dimensional mechanical eye.", "isbn": "0-262-10065-7", "publisher": "MIT Press", "place_of_publication": "Cambridge, MA", "publication_date": "1997", "pages": "706-712" }, { "id": "authors:jcpg6-6rr10", "collection": "authors", "collection_id": "jcpg6-6rr10", "cite_using_url": "https://resolver.caltech.edu/CaltechAUTHORS:20141222-120307757", "type": "article", "title": "A simple neuron servo", "author": [ { "family_name": "DeWeerth", "given_name": "Stephen P.", "clpid": "DeWeerth-S-P" }, { "family_name": "Nielsen", "given_name": "Lars", "clpid": "Nielsen-L" }, { "family_name": "Mead", "given_name": "Carver A.", "orcid": "0000-0003-4051-0462", "clpid": "Mead-C-A" }, { "family_name": "\u00c5str\u00f6m", "given_name": "Karl J.", "clpid": "\u00c5str\u00f6m-K-J" } ], "abstract": "This paper describes a simple servo controller build from\ncomponents having neuronlike features. Experimental results illustrate\nthe properties of the system, and a comparison is made with conventional\ncontrollers.", "doi": "10.1109/72.80335", "issn": "1045-9227", "publisher": "IEEE", "publication": "IEEE Transactions on Neural Networks", "publication_date": "1991-03", "series_number": "2", "volume": "2", "issue": "2", "pages": "248-251" }, { "id": "authors:vh1z2-d4058", "collection": "authors", "collection_id": "vh1z2-d4058", "cite_using_url": "https://resolver.caltech.edu/CaltechCSTR:1991.cs-tr-91-13", "type": "monograph", "title": "Analog VLSI Circuits for Sensorimotor Feedback", "author": [ { "family_name": "DeWeerth", "given_name": "Stephen P.", "clpid": "DeWeerth-S-P" } ], "abstract": "This thesis presents a design framework and circuit implementations for integrating sensory and motor processing onto very large-scale integrated (VLSI) chips. The designs consist of analog circuits that are composed of bipolar and subthreshold MOS transistors. The primary emphasis in this work is the transformation from the spatially-encoded representation found in sensory images to a scalar representation that is useful for controlling motor systems. The thesis begins with a discussion of the aggregation of sensory signals and the resulting extraction of high-level features from sensory images. An integrated circuit that computes the centroid of a visual image is presented. A theoretical analysis of the function of this circuit in stimulus localization and a detailed error analysis are also presented. Next, the control of motors using pulse trains is discussed. Pulse-generating circuits for use in bidirectional motor control and the implementation of traditional control schemes are presented. A method for analyzing the operation of these controllers is also discussed. Finally, a framework for the combination of sensory aggregation and pulse-encoded outputs is presented. The need for signal normalization and circuits to perform this task are discussed. Two complete sensorimotor feedback systems are presented.", "doi": "10.7907/vh1z2-d4058", "publisher": "California Institute of Technology", "publication_date": "1991-01-01" }, { "id": "authors:a037j-3s249", "collection": "authors", "collection_id": "a037j-3s249", "cite_using_url": "https://resolver.caltech.edu/CaltechAUTHORS:20141222-120754146", "type": "book_section", "title": "A neuron-based pulse servo for motion control", "book_title": "Proceedings. 1990 IEEE International Conference on Robotics and Automation", "author": [ { "family_name": "DeWeerth", "given_name": "Steve", "clpid": "DeWeerth-S-P" }, { "family_name": "Nielsen", "given_name": "Lars", "clpid": "Nielsen-L" }, { "family_name": "Mead", "given_name": "Carver", "orcid": "0000-0003-4051-0462", "clpid": "Mead-C-A" }, { "family_name": "\u00c5str\u00f6m", "given_name": "Karl", "clpid": "\u00c5str\u00f6m-K-J" } ], "abstract": "Sensory control based on biological computational\nparadigms can be implemented using low-power\nanalog very large-scale integrated circuitry. We describe\na design frame and a set of circuit elements with which\ngeneric motor controllers can be implemented. We then\nembed a simple proportional-derivative motor controller\nin the design frame, and describe its performance advantages\nover a more traditional controller. We also discuss\nthe merits of biologically inspired systems used in applications related to robotics.", "doi": "10.1109/ROBOT.1990.126254", "isbn": "0-8186-9061-5", "publisher": "IEEE Computer Society Press", "place_of_publication": "Los Alamitos, CA", "publication_date": "1990-05", "pages": "1698-1703" }, { "id": "authors:38k24-s6m57", "collection": "authors", "collection_id": "38k24-s6m57", "cite_using_url": "https://resolver.caltech.edu/CaltechAUTHORS:20150130-161640003", "type": "book_section", "title": "An Analog VLSI Model of Adaptation in the Vestibulo-Ocular Reflex", "book_title": "Advances in neural information processing systems 2", "author": [ { "family_name": "DeWeerth", "given_name": "Stephen P.", "clpid": "DeWeerth-S-P" }, { "family_name": "Mead", "given_name": "Carver A.", "orcid": "0000-0003-4051-0462", "clpid": "Mead-C-A" } ], "contributor": [ { "family_name": "Touretzky", "given_name": "David S.", "clpid": "Touretzky-D-S" } ], "abstract": "The vestibulo-ocular reflex (VOR) is the primary mechanism that controls the compensatory eye movements that stabilize retinal images during rapid head motion. The primary pathways of this system are feed-forward, with inputs from the semicircular canals and outputs to the oculomotor system. Since visual feedback is not used directly in the VOR computation, the system must exploit motor learning to perform correctly. Lisberger(1988) has proposed\na model for adapting the VOR gain using image-slip information from the retina. We have designed and tested analog very large-scale integrated (VLSI) circuitry that implements a simplified version of Lisberger's adaptive VOR model.", "isbn": "1-55860-100-7", "publisher": "Morgan Kaufmann", "place_of_publication": "San Francisco, CA", "publication_date": "1990", "pages": "742-749" }, { "id": "authors:ed1h2-8z532", "collection": "authors", "collection_id": "ed1h2-8z532", "cite_using_url": "https://resolver.caltech.edu/CaltechAUTHORS:20141218-114458819", "type": "article", "title": "Implementing neural architectures using analog VLSI circuits", "author": [ { "family_name": "Maher", "given_name": "Mary Ann C.", "clpid": "Maher-M-A-C" }, { "family_name": "DeWeerth", "given_name": "Stephen P.", "clpid": "DeWeerth-S-P" }, { "family_name": "Mahowald", "given_name": "Misha A.", "clpid": "Mahowald-M-A" }, { "family_name": "Mead", "given_name": "Carver A.", "orcid": "0000-0003-4051-0462", "clpid": "Mead-C-A" } ], "abstract": "Analog very large-scale integrated (VLSI) technology can be used not only to study and simulate biological systems, but also to emulate them in designing artificial sensory systems. A methodology for building these systems in CMOS VLSI technology has been developed using analog micropower circuit elements that can be hierarchically combined. Using this methodology, experimental VLSI chips of visual and motor subsystems have been designed and fabricated. These chips exhibit behavior similar to that of biological systems, and perform computations useful for artificial sensory systems.", "doi": "10.1109/31.31311", "issn": "0098-4094", "publisher": "IEEE", "publication": "IEEE Transactions on Circuits and Systems", "publication_date": "1989-05", "series_number": "5", "volume": "36", "issue": "5", "pages": "643-652" }, { "id": "authors:nzg88-zf568", "collection": "authors", "collection_id": "nzg88-zf568", "cite_using_url": "https://resolver.caltech.edu/CaltechAUTHORS:20150112-121106664", "type": "book_section", "title": "A Two-Dimensional Visual Tracking Array", "book_title": "Advanced research in VLSI : proceedings of the fifth MIT conference, March 1988", "author": [ { "family_name": "DeWeerth", "given_name": "Stephen P.", "clpid": "DeWeerth-S-P" }, { "family_name": "Mead", "given_name": "Carver A.", "orcid": "0000-0003-4051-0462", "clpid": "Mead-C-A" } ], "contributor": [ { "family_name": "Allen", "given_name": "Jonathan", "clpid": "Allen-J" }, { "family_name": "Leighton", "given_name": "F. Thomson", "clpid": "Leighton-F-T" } ], "abstract": "The density and concurrency available in VLSI make it an excellent technology\nfor implementing visual image-processing. By incorporating phototransistors\nand analog processing elements onto a single die, the large signal\nbandwidths required for real-time computations can be achieved. This\npaper describes a VLSI chip that computes the \"center of intensity\" of a\ntwo-dimensional visual field. One application for this network is the localization\nof a bright spot of light against a dark background. Theoretical and\nexperimental results are presented to describe the operation of the system\nand its suitability as a input device for tracking servo systems.", "isbn": "9780262011006", "publisher": "MIT Press", "place_of_publication": "Cambridge, MA", "publication_date": "1988", "pages": "259-275" } ]