Soft robotics is an attractive and rapidly emerging field, in which actuation is coupled with the elastic response of the robot's structure to achieve complex deformation patterns. A crucial challenge is the need for multiple control inputs, which adds significant complication to the system. We propose a novel concept of single-input control of an actuator composed of interconnected bi-stable elements. Dynamic response of the actuator and pre-designed differences between the elements are exploited to facilitate any desired multi-state transition, using a single dynamic input. We show formulation and analysis of the control system's dynamics and pre-design of its multiple equilibrium states, as well as their stability. Then we fabricate and demonstrate experimentally on single-input control of two- and four-element actuators, where the latter can achieve transitions between up to 48 desired states. Our work paves the way for next-generation soft robotic actuators with minimal actuation and maximal dexterity.

Conventional semiconductor-based integrated circuits are gradually approaching fundamental scaling limits. Many prospective solutions have recently emerged to supplement or replace both the technology on which basic devices are built and the architecture of data processing. Neuromorphic circuits are a promising approach to computing where techniques used by the brain to achieve high efficiency are exploited. Many existing neuromorphic circuits rely on unconventional and useful properties of novel technologies to better mimic the operation of the brain. One such technology is single flux quantum (SFQ) logic -- a cryogenic superconductive technology in which the data are represented by quanta of magnetic flux (fluxons) produced and processed by Josephson junctions embedded within inductive loops. The movement of a fluxon within a circuit produces a quantized voltage pulse (SFQ pulse), resembling a neuronal spiking event. These circuits routinely operate at clock frequencies of tens to hundreds of gigahertz, making SFQ a natural technology for processing high frequency pulse trains. Prior proposals for SFQ neural networks often require energy-expensive fluxon conversions, involve heterogeneous technologies, or exclusively focus on device level behavior. In this paper, a design methodology for deep single flux quantum neuromorphic networks is presented. Synaptic and neuronal circuits based on SFQ technology are presented and characterized. Based on these primitives, a deep neuromorphic XOR network is evaluated as a case study, both at the architectural and circuit levels, achieving wide classification margins. The proposed methodology does not employ unconventional superconductive devices or semiconductor transistors. The resulting networks are tunable by an external current, making this proposed system an effective approach for scalable cryogenic neuromorphic computing.

DeepSpeech is a neural network architecture first published by a research team at Baidu. In 2017, Mozilla created an open source implementation of this paper - dubbed "Mozilla DeepSpeech". The original DeepSpeech paper from Baidu popularized the concept of "end-to-end" speech recognition models. "End-to-end" means that the model takes in audio, and directly outputs characters or words. This is compared to traditional speech recognition models, like those built with popular open source libraries such as Kaldi or CMU Sphinx, that predict phonemes, and then convert those phonemes to words in a later, downstream process. The goal of "end-to-end" models, like DeepSpeech, was to simplify the speech recognition pipeline into a single model. In addition, the theory introduced by the Baidu research paper was that training large deep learning models, on large amounts of data, would yield better performance than classical speech recognition models.

An accurate and fast estimation of the available bandwidth in a network with varying cross-traffic is a challenging task. The accepted probing tools, based on the fluid-flow model of a bottleneck link with first-in, first-out multiplexing, estimate the available bandwidth by measuring packet dispersions. The estimation becomes more difficult if packet dispersions deviate from the assumptions of the fluid-flow model in the presence of non-fluid bursty cross-traffic, multiple bottleneck links, and inaccurate time-stamping. This motivates us to explore the use of machine learning tools for available bandwidth estimation. Hence, we consider reinforcement learning and implement the single-state multi-armed bandit technique, which follows the $\epsilon$-greedy algorithm to find the available bandwidth. Our measurements and tests reveal that our proposed method identifies the available bandwidth with high precision. Furthermore, our method converges to the available bandwidth under a variety of notoriously difficult conditions, such as heavy traffic burstiness, different cross-traffic intensities, multiple bottleneck links, and in networks where the tight link and the bottleneck link are not same. Compared to the piece-wise linear network a model-based direct probing technique that employs a Kalman filter, our method shows more accurate estimates and faster convergence in certain network scenarios and does not require measurement noise statistics.

We describe a neuromorphic chip that uses binary synapses with spike timing-dependent plasticity (STDP) to learn stimulated patterns of activity and to compensate for variability in excitability. Specifically, STDP preferentially potentiates (turns on) synapses that project from excitable neurons, which spike early, to lethargic neurons, which spike late. The additional excitatory synaptic current makes lethargic neurons spike earlier, thereby causing neurons that belong to the same pattern to spike in synchrony. Once learned, an entire pattern can be recalled by stimulating a subset.

We describe a neuromorphic chip that uses binary synapses with spike timing-dependent plasticity (STDP) to learn stimulated patterns of activity and to compensate for variability in excitability. Specifically, STDP preferentially potentiates (turns on) synapses that project from excitable neurons, which spike early, to lethargic neurons, which spike late. The additional excitatory synaptic current makes lethargic neurons spike earlier, thereby causing neurons that belong to the same pattern to spike in synchrony. Once learned, an entire pattern can be recalled by stimulating a subset.

Recurrent networks that perform a winner-take-all computation have been studied extensively. Although some of these studies include spiking networks,they consider only analog input rates. We present results of this winner-take-all computation on a network of integrate-and-fire neurons which receives spike trains as inputs. We show how we can configure theconnectivity in the network so that the winner is selected after a predetermined number of input spikes. We discuss spiking inputs with both regular frequencies and Poisson-distributed rates. The robustness of the computation was tested by implementing the winner-take-all network on an analog VLSI array of 64 integrate-and-fire neurons which have an innate variance in their operating parameters.

We describe a neuromorphic chip that uses binary synapses with spike timing-dependent plasticity (STDP) to learn stimulated patterns of activity andto compensate for variability in excitability. Specifically, STDP preferentially potentiates (turns on) synapses that project from excitable neurons, which spike early, to lethargic neurons, which spike late. The additional excitatory synaptic current makes lethargic neurons spike earlier, therebycausing neurons that belong to the same pattern to spike in synchrony. Once learned, an entire pattern can be recalled by stimulating a subset.

Cortical neurons might be considered as threshold elements integrating in parallel many excitatory and inhibitory inputs. Due to the apparent variability of cortical spike trains this yields a strongly fluctuating membrane potential, such that threshold crossings are highly irregular. Here we study how a neuron could maximize its sensitivity w.r.t. a relatively small subset of excitatory input. Weak signals embedded in fluctuations is the natural realm of stochastic resonance. The neuron's response is described in a hazard-function approximation applied to an Ornstein-Uhlenbeck process.

Cortical neurons might be considered as threshold elements integrating in parallel many excitatory and inhibitory inputs. Due to the apparent variability of cortical spike trains this yields a strongly fluctuating membrane potential, such that threshold crossings are highly irregular. Here we study how a neuron could maximize its sensitivity w.r.t. a relatively small subset of excitatory input. Weak signals embedded in fluctuations is the natural realm of stochastic resonance. The neuron's response is described in a hazard-function approximation applied to an Ornstein-Uhlenbeck process.