Nkhani

Mapulogalamu opangira deta padziko lonse lapansi amafunikira makina apakompyuta ocheperako, otsika kwambiri, otsika mphamvu. Ndi mphamvu zamakompyuta zoyendetsedwa ndi zochitika, zomanga zachitsulo-oxide-semiconductor hybrid memristive neuromorphic architectures zimapereka maziko abwino a zida zantchito zoterezi. Kuti tiwonetse mphamvu zonse zamakina otere, timapereka ndikuwonetsa njira yosinthira sensa yazinthu zenizeni zadziko lapansi. Kutengera kudzoza kochokera ku barn owl neuroanatomy, tapanga bioinspired, yoyendetsedwa ndi zochitika zomwe zimaphatikiza makina apamwamba kwambiri a piezoelectric micromechanical transducer transducer okhala ndi ma computational graph-based neuromorphic resistive memory. Tikuwonetsa zoyezera zamakina opangidwa omwe amaphatikiza chojambulira chotengera kukumbukira zinthu, mizere yochedwa, ndi makina osinthira ultrasonic osinthika. Timagwiritsa ntchito zotsatira zoyesererazi kuti tilinganize zoyerekeza pamlingo wamakina. Zoyezera izi zimagwiritsidwa ntchito kuyesa kusintha kwa angular ndi mphamvu zamagetsi zamtundu wa chinthu. Zotsatira zikuwonetsa kuti njira yathu imatha kukhala ndi maulamuliro angapo amphamvu kwambiri kuposa ma microcontrollers omwe amagwira ntchito yomweyo.
Tikulowa m'nthawi yamakompyuta omwe amapezeka paliponse pomwe kuchuluka kwa zida ndi machitidwe omwe akugwiritsidwa ntchito akukulirakulira kuti atithandize pamoyo wathu watsiku ndi tsiku. Machitidwewa akuyembekezeka kuthamanga mosalekeza, akugwiritsa ntchito mphamvu zochepa momwe angathere pamene akuphunzira kutanthauzira deta yomwe amasonkhanitsa kuchokera ku masensa angapo mu nthawi yeniyeni ndikupanga zotsatira za binary chifukwa cha magulu kapena ntchito zozindikiritsa. Chimodzi mwazinthu zofunika kwambiri kuti mukwaniritse cholingachi ndikuchotsa zidziwitso zothandiza komanso zophatikizika kuchokera ku data yaphokoso komanso yosakwanira. Injiniya wamba imayandikira nthawi zambiri mazizindikiro a sensor pamlingo wokhazikika komanso wokwera, kutulutsa kuchuluka kwa data ngakhale palibe zolowetsa zothandiza. Kuphatikiza apo, njirazi zimagwiritsa ntchito njira zovuta zosinthira ma siginolo a digito kuti zikonzeretu zolowetsa (nthawi zambiri phokoso). M'malo mwake, biology imapereka njira zina zothetsera vuto lachidziwitso chaphokoso pogwiritsa ntchito njira zopanda mphamvu, zosasinthika, zoyendetsedwa ndi zochitika (spikes)2,3. Neuromorphic computing imatenga kudzoza kuchokera ku machitidwe achilengedwe kuti achepetse ndalama zowerengera potengera mphamvu ndi kukumbukira zofunikira poyerekeza ndi njira zachikhalidwe zopangira ma sign4,5,6. Posachedwapa, njira zatsopano zopangira ubongo zomwe zimagwiritsa ntchito ma neural network (TrueNorth7, BrainScaleS8, DYNAP-SE9, Loihi10, Spinnaker11) zawonetsedwa. Ma processor awa amapereka mphamvu zochepa, mayankho otsika a latency ophunzirira makina ndi ma cortical circuit modeling. Kuti agwiritse ntchito mokwanira mphamvu zawo, ma processor a neuromorphic ayenera kulumikizidwa mwachindunji ndi masensa omwe amayendetsedwa ndi zochitika12,13. Komabe, masiku ano pali zida zochepa zogwira zomwe zimapereka mwachindunji deta yoyendetsedwa ndi zochitika. Zitsanzo zodziwika bwino ndi ma dynamic visual sensors (DVS) a masomphenya a ntchito monga kutsata ndi kuzindikira zoyenda14,15,16,17 the silicon cochlea18 and neuromorphic auditory sensors (NAS)19 for auditory signal processing, olfactory sensors20 ndi zitsanzo zambiri21,22 za touch. . masensa kapangidwe.
Mu pepala ili, tikuwonetsa njira yatsopano yopangira mawu yoyendetsedwa ndi zochitika yomwe imagwiritsidwa ntchito kumasulira zinthu. Pano, kwa nthawi yoyamba, tikufotokozera dongosolo lotsiriza-kumapeto la kutanthauzira kwa chinthu komwe kumapezeka mwa kulumikiza chipangizo chamakono cha piezoelectric micromachined ultrasonic transducer (pMUT) ndi graph computational yochokera ku neuromorphic resistive memory (RRAM). Zomangamanga zamakompyuta zogwiritsa ntchito RRAM ndi njira yodalirika yochepetsera kugwiritsa ntchito mphamvu23,24,25,26,27,28,29. Kusasunthika kwawo kwachilengedwe - osafunikira kugwiritsa ntchito mphamvu kuti asunge kapena kusinthira zidziwitso - ndizoyenerana bwino ndi mawonekedwe osasinthika, oyendetsedwa ndi zochitika zamakompyuta a neuromorphic computing, zomwe zimapangitsa kuti pakhale kusagwiritsa ntchito mphamvu pang'onopang'ono pomwe makinawo sagwira ntchito. Piezoelectric micromachined ultrasonic transducers (pMUTs) ndi yotsika mtengo, miniaturized silicon-based ultrasonic transducers yomwe imatha kukhala ngati ma transmitters ndi olandila30,31,32,33,34. Kuti tigwiritse ntchito ma siginecha olandilidwa ndi masensa omwe adamangidwamo, tidatengera kudzoza kuchokera ku barn owl neuroanatomy35,36,37. Kadzidzi wa barn Tyto alba amadziwika chifukwa cha luso lake losaka usiku chifukwa cha njira yabwino kwambiri yowerengera anthu. Kuti awerengere malo omwe nyama zimadya, kadzidzi kadzidzi kamene kamakhala m'khola amaika nthawi yowuluka (ToF) pamene mafunde a phokoso kuchokera ku nyama amafika m'makutu a kadzidzi kapena zolandilira mawu. Poganizira mtunda pakati pa makutu, kusiyana pakati pa miyeso iwiri ya ToF (Interaural Time Difference, ITD) kumapangitsa kukhala kotheka kuwerengera mosanthula malo azimuth a chandamale. Ngakhale ma biological system ndi osayenera kuthetsa ma algebraic equations, amatha kuthana ndi zovuta zakumaloko bwino kwambiri. Dongosolo la mitsempha la kadzidzi la barn limagwiritsa ntchito detector coincidence (CD) 35 neurons (ie, ma neuron omwe amatha kuzindikira kulumikizana kwakanthawi pakati pa ma spikes omwe amafalikira kumunsi mpaka kumapeto kosangalatsa)
Kafukufuku wam'mbuyomu wasonyeza kuti zida zowonjezera zachitsulo-oxide-semiconductor (CMOS) ndi RRAM-based neuromorphic hardware zouziridwa ndi inferior colliculus ("auditory cortex") ya barn owl ndi njira yabwino yowerengera malo pogwiritsa ntchito ITD13, 40, 41, 42, 43, 44, 45, 46. Komabe, kuthekera kwa machitidwe athunthu a neuromorphic omwe amagwirizanitsa mawu omvera ku ma graph a neuromorphic computational sanasonyezedwe. Vuto lalikulu ndikusintha kwachilengedwe kwa mabwalo a analogi a CMOS, komwe kumakhudza kulondola kwa kuzindikira kwa machesi. Posachedwapa, kugwiritsa ntchito manambala kwina kwa kuyerekezera kwa ITD47 kwawonetsedwa. Mu pepala ili, tikuganiza kuti tigwiritse ntchito luso la RRAM kuti tisinthe mtengo wa khalidwe m'njira yosasunthika kuti tithane ndi kusiyana kwa ma analogi. Tidagwiritsa ntchito njira yoyesera yokhala ndi nembanemba imodzi yopatsira pMUT yomwe imagwira ntchito pafupipafupi 111.9 kHz, ma pMUT awiri omwe amalandila nembanemba (sensa) zoyerekeza makutu a kadzidzi, ndi imodzi . Tidayesa poyesa makina ozindikira a pMUT ndi ma graph a RRAM-based ITD computational kuyesa kachitidwe kathu ndikuwunika momwe alili.
Timayerekeza njira yathu ndi kukhazikitsa kwa digito pa microcontroller yomwe ikugwira ntchito yofananirako pogwiritsa ntchito njira wamba kapena njira za neuromorphic, komanso gawo lokonzekera bwino lamunda (FPGA) pakuyerekeza kwa ITD komwe akufotokozedwa. 47. Kufanizitsaku kukuwonetsa mphamvu zopambana za RRAM-based analog neuromorphic system.
Chimodzi mwa zitsanzo zochititsa chidwi kwambiri za njira yolondola komanso yothandiza yopezera zinthu m'khola35,37,48. Madzulo ndi m'bandakucha, kadzidzi (Tyto Alba) makamaka amadalira kumvetsera mwachidwi, kufunafuna mwachangu nyama zazing'ono monga voles kapena mbewa. Akatswiri omverawa amatha kuyika zizindikiro zomveka kuchokera ku nyama ndi zolondola modabwitsa (pafupifupi 2 °) 35, monga momwe tawonetsera mkuyu 1a. Nkhuku za Barn zimatengera malo omwe amamveka mu ndege ya azimuth (yopingasa) kuchokera pa kusiyana kwa nthawi yobwera ndege (ITD) kuchokera kugwero la phokoso kupita ku makutu awiri. Makina owerengera a ITD adapangidwa ndi Jeffress49,50 omwe amadalira neural geometry ndipo amafunikira zigawo ziwiri zofunika: axon, minyewa ya neuron yomwe imagwira ntchito ngati mzere wochedwa, ndi ma neuron osiyanasiyana ozindikira mwangozi omwe adapangidwa kukhala makina owerengera. graph monga momwe chithunzi 1b. Phokoso limafika m'khutu ndi kuchedwa kwa nthawi ya azimuth (ITD). Phokosolo limasandulika kukhala nsonga m'khutu lililonse. Ma axon a makutu akumanzere ndi kumanja amakhala ngati mizere yochedwa ndikusinthira ma CD neurons. Mwachidziwitso, neuron imodzi yokha pamndandanda wamanyuroni ofananira ndiyomwe ilandila zolowera panthawi (pomwe kuchedwako kutha ndendende) ndipo imawotcha kwambiri (ma cell oyandikana nawo amawotcha, koma pang'onopang'ono). Kutsegula ma neuroni ena kumayika malo omwe chandamaleyo ali mumlengalenga popanda kusinthiranso ITD kukhala mangodya. Lingaliro ili likufotokozedwa mwachidule mu Chithunzi 1c: mwachitsanzo, ngati phokoso likuchokera kumanja pamene chizindikiro cholowera kuchokera ku khutu lakumanja chikuyenda njira yayitali kuposa njira yochokera ku khutu lakumanzere, kubwezera chiwerengero cha ITDs, mwachitsanzo, pamene neuron 2 ikufanana. Mwanjira ina, CD iliyonse imayankha ku ITD inayake (yomwe imadziwikanso kuti kuchedwa koyenera) chifukwa cha kuchedwa kwa axonal. Motero, ubongo umasintha zinthu zongochitika kumene n’kukhala zokhudza malo. Umboni wa anatomical wa makinawa wapezeka37,51. Phase-locked macronucleus neurons amasunga zidziwitso kwakanthawi za phokoso lomwe likubwera: monga dzina lawo limatanthawuzira, amawotcha pazizindikiro zina. Coincidence detector neurons ya mtundu wa Jeffress atha kupezeka pakatikati pa laminar. Amalandira chidziwitso kuchokera ku ma macronuclear neurons, omwe ma axon awo amakhala ngati mizere yochedwa. Kuchuluka kwa kuchedwa komwe kumaperekedwa ndi mzere wochedwa kumatha kufotokozedwa ndi kutalika kwa axon, komanso chitsanzo china cha myelination chomwe chimasintha liwiro la conduction. Motsogozedwa ndi makutu a kadzidzi, tapanga biomimetic system yolondolera zinthu. Makutu awiriwa akuimiridwa ndi olandira pMUT awiri. Gwero la mawu ndi pMUT transmitter yomwe ili pakati pawo (Mkuyu 1a), ndipo graph computational imapangidwa ndi grid ya RRAM-based CD circuits (Fig. 1b, green), kusewera ndi ma CD neurons omwe zolowetsa zawo zimachedwa. Kupyolera mu dera, mizere yochedwa (buluu) imakhala ngati ma axon omwe ali m'gulu lachilengedwe. Dongosolo lomverera lomwe likuyembekezeredwa limasiyana ndi kuchuluka kwa magwiridwe antchito ndi a kadzidzi, omwe makina ake omvera amagwira ntchito mumtundu wa 1-8 kHz, koma masensa a pMUT omwe amagwira ntchito pafupifupi 117 kHz amagwiritsidwa ntchito pantchitoyi. Kusankhidwa kwa akupanga transducer kumaganiziridwa molingana ndi luso ndi kukhathamiritsa mfundo. Choyamba, kuchepetsa bandwidth yolandirira kufupipafupi kumapangitsa kuti muyezo ukhale wolondola komanso kufewetsa gawo la pambuyo pokonza. Kuphatikiza apo, opareshoni ya ultrasound ili ndi mwayi woti ma pulse omwe atulutsidwa samamveka, chifukwa chake musasokoneze anthu, chifukwa makutu awo ndi ~ 20-20 kHz.
kadzidzi amalandira mafunde a phokoso kuchokera pa chandamale, pamenepa akusuntha nyama. Nthawi yothawa (ToF) ya phokoso la phokoso ndi yosiyana pa khutu lililonse (pokhapokha ngati nyamayo ili patsogolo pa kadzidzi). Mzere wa madontho umasonyeza njira imene mafunde a phokoso amayenda kuti akafike m’makutu a kadzidzi. Zopha nyama zimatha kukhazikitsidwa molondola mu ndege yopingasa kutengera kusiyana kwautali pakati pa njira ziwiri zamayimbidwe ndi nthawi yofananira ya interaural time (ITD) (chithunzi chakumanzere chouziridwa ndi ref. 74, copyright 2002, Society for Neuroscience). M'dongosolo lathu, transmitter ya pMUT (yakuda buluu) imapanga mafunde amawu omwe amadumpha pa chandamale. Mafunde owonetseredwa a ultrasound amalandiridwa ndi olandila awiri a pMUT (wobiriwira wobiriwira) ndikukonzedwa ndi purosesa ya neuromorphic (kumanja). b Mtundu wa computational wa ITD (Jeffress) wofotokoza momwe maphokoso olowera m'makutu a kadzidzi amasungidwa koyamba ngati ma spikes otsekeka mu nyukiliya yayikulu (NM) ndiyeno amagwiritsa ntchito gululi lolinganizidwa ndi geometrically la ma neuroni ofananira mu nyukiliya ya lamela. Kukonza (Netherlands) (kumanzere). Chithunzi cha neuroITD computational graph kuphatikiza mizere yochedwa ndi ma neurons ozindikira mwangozi, kadzidzi biosensor system imatha kutsatiridwa pogwiritsa ntchito ma RRAM-based neuromorphic circuits (kumanja). c Schematic ya makina akuluakulu a Jeffress, chifukwa cha kusiyana kwa ToF, makutu awiriwa amalandira zolimbikitsa zomveka nthawi zosiyanasiyana ndikutumiza ma axon kuchokera kumalekezero onse kupita ku chowunikira. Ma axon ndi gawo la ma neuron a coincidence detector (CD), iliyonse yomwe imayankha mosankha pazolowera zogwirizana kwambiri ndi nthawi. Zotsatira zake, ma CD okha omwe zolowetsa zawo zimafika ndi kusiyana kochepa kwambiri kwa nthawi ndizomwe zimakondwera kwambiri (ITD imalipidwa ndendende). CD kenako encode chandamale pa ngodya malo.
Piezoelectric micromechanical akupanga transducers ndi scalable akupanga transducers kuti akhoza Integrated ndi zapamwamba CMOS luso31,32,33,52 ndipo otsika koyamba voteji ndi mowa mphamvu kuposa chikhalidwe volumetric transducers53. Mu ntchito yathu, nembanemba m'mimba mwake ndi 880 µm, ndipo ma frequency a resonant amagawidwa mumitundu ya 110-117 kHz (mkuyu 2a, onani Njira zatsatanetsatane). Mu gulu la zida khumi zoyesera, pafupifupi chinthu chamtundu wamtundu chinali pafupifupi 50 (ref. 31). Tekinolojeyi yafika pakukula kwa mafakitale ndipo si bioinspired per se. Kuphatikizira zambiri zamakanema osiyanasiyana a pMUT ndi njira yodziwika bwino, ndipo zambiri zamakona zitha kupezeka kuchokera ku pMUTs pogwiritsa ntchito, mwachitsanzo, njira zopangira ma beamform31,54. Komabe, kukonza ma siginecha komwe kumafunikira kuti muchotse zambiri zamakona sikoyenera kuyeza mphamvu zochepa. Dongosolo lomwe likufunsidwa limaphatikiza ma neuromorphic data preprocessing circuit pMUT ndi RRAM-based neuromorphic computing graph youziridwa ndi Jeffress model (Chithunzi 2c), kupereka njira ina yopangira mphamvu zowonjezera mphamvu komanso yolepheretsa zida. Tidayesa momwe masensa awiri a pMUT adayikidwa pafupifupi 10 cm motalikirana kuti agwiritse ntchito mawu osiyanasiyana a ToF omwe amalandiridwa ndi nembanemba ziwirizo. pMUT imodzi yomwe imagwira ntchito ngati cholumikizira imakhala pakati pa olandila. Cholingacho chinali mbale ya PVC 12 cm mulifupi, yomwe ili patali D kutsogolo kwa chipangizo cha pMUT (Mkuyu 2b). Wolandirayo amalemba phokoso lomwe likuwonekera kuchokera ku chinthucho ndipo amachitira momwe angathere panthawi yomwe phokoso likudutsa. Bwerezani kuyesako posintha malo a chinthucho, kutsimikiziridwa ndi mtunda wa D ndi ngodya θ. Kulimbikitsidwa ndi ulalo. 55, tikupempha kukonzanso kwa neuromorphic kwa pMUT yaiwisi ma siginecha kuti asinthe mafunde owoneka ngati nsonga kuti alowetse graph ya neuromorphic computational. ToF yofananira ndi matalikidwe apamwamba amachotsedwa pamayendedwe awiriwa ndikusungidwa ngati nthawi yeniyeni ya nsonga zake. Pa mkuyu. 2c ikuwonetsa zozungulira zomwe zimafunikira kuti zigwirizane ndi sensa ya pMUT yokhala ndi chithunzi cha RRAM-based computational graph: kwa onse awiri olandila pMUT, siginecha yaiwisi imasefedwa kuti ikhale yosalala, kukonza, kenako ndikupititsidwa kwa chophatikizira chotayirira munjira yopambana. the dynamic threshold (Fig. 2d) imapanga chochitika chotuluka (spike) ndi kuwombera (LIF) neuron: nthawi yotulutsa spike imayika nthawi yowuluka yomwe yadziwika. Kufikira kwa LIF kumayesedwa motsutsana ndi kuyankha kwa pMUT, motero kumachepetsa kusiyana kwa pMUT kuchokera ku chipangizo kupita ku chipangizo. Ndi njira iyi, m'malo mosungira phokoso lonselo ndikulikonza pambuyo pake, timangopanga chiwongola dzanja chofanana ndi ToF ya mafunde amawu, yomwe imapanga cholowera ku resitive memory computational graph. Ma spikes amatumizidwa mwachindunji ku mizere yochedwa ndikufananizidwa ndi ma module ozindikira machesi mu ma neuromorphic computation graph. Chifukwa amatumizidwa kuzipata za transistors, palibe zowonjezera zowonjezera zowonjezera zomwe zimafunikira (onani Supplementary Fig. 4 kuti mudziwe zambiri). Kuti tiwone kulondola kwapang'onopang'ono komwe kumaperekedwa ndi pMUT ndi njira yopangira ma siginoloji, tidayeza ITD (ndiko kuti, kusiyana kwa nthawi pakati pa zochitika zapamwamba kwambiri zopangidwa ndi olandila awiri) monga mtunda ndi mbali ya chinthucho. Kusanthula kwa ITD kunatembenuzidwa kukhala ma angles (onani Njira) ndikukonzekera motsutsana ndi malo a chinthu: kusatsimikizika mu ITD yoyezera kunawonjezeka ndi mtunda ndi ngodya kwa chinthu (mkuyu 2e, f). Vuto lalikulu ndi peak-to-noise ratio (PNR) mu mayankho a pMUT. Kutali kwa chinthucho, kumachepetsa chizindikiro cha phokoso, potero kuchepetsa PNR (mkuyu 2f, mzere wobiriwira). Kuchepa kwa PNR kumayambitsa kuwonjezereka kwa kusatsimikizika kwa chiwerengero cha ITD, zomwe zimapangitsa kuti kuwonjezeka kwa malo olondola (Fig. 2f, blue line). Kwa chinthu chomwe chili pamtunda wa masentimita 50 kuchokera ku transmitter, kulondola kwa angular kwa dongosololi ndi pafupifupi 10 °. Kuchepetsa uku komwe kumapangidwa ndi mawonekedwe a sensa kumatha kuwongolera. Mwachitsanzo, kupanikizika komwe kumatumizidwa ndi emitter kumatha kuonjezedwa, potero kumawonjezera voteji yoyendetsa nembanemba ya pMUT. Njira ina yowonjezeretsa chizindikiro chopatsirana ndikugwirizanitsa ma transmitters angapo 56. Mayankho awa adzawonjezera kuchuluka kwa chidziwitso pamtengo wowonjezereka wa mphamvu zamagetsi. Zowonjezera zowonjezera zitha kupangidwa kumbali yolandira. Phokoso la pMUT lolandila phokoso litha kuchepetsedwa kwambiri pakuwongolera kulumikizana pakati pa pMUT ndi amplifier ya siteji yoyamba, yomwe ikuchitika ndi ma waya ndi zingwe za RJ45.
Chithunzi cha krustalo ya pMUT yokhala ndi nembanemba zisanu ndi imodzi za 880 µm zophatikizidwa ndi phula la 1.5 mm. b Chithunzi cha khwekhwe yoyezera. Cholingacho chili pa malo azimuth θ ndi patali D. Chotumizira pMUT chimapanga chizindikiro cha 117.6 kHz chomwe chimadumpha kuchoka pa chandamalecho ndikufika pa olandila pMUT awiri omwe ali ndi nthawi yosiyana ya kuthawa (ToF). Kusiyana kumeneku, komwe kumatanthauzidwa ngati kusiyana kwa nthawi ya inter-aural (ITD), kumayika malo a chinthu ndipo kungayesedwe poyesa kuyankha kwapamwamba kwa masensa awiri olandila. c Schematic of pre-processing steps for convert the yaiwi pMUT siginali kukhala spike sequencers (ie kulowetsa kwa neuromorphic computation graph). Masensa a pMUT ndi ma graph a neuromorphic computational adapangidwa ndikuyesedwa, ndipo kukonzanso kwa neuromorphic kumatengera kayesedwe ka mapulogalamu. d Kuyankha kwa nembanemba ya pMUT italandira chizindikiro ndikusintha kukhala dera la spike. e Kuyesa kulondola kwapang'onopang'ono ngati ntchito ya ngodya ya chinthu (Θ) ndi mtunda (D) kupita ku chinthu chomwe mukufuna. Njira yochotsera ITD imafuna kusinthasintha kocheperako pafupifupi 4°C. f Kulondola kwa angular (mzere wabuluu) ndi chiŵerengero chapamwamba-ku-phokoso (mzere wobiriwira) motsutsana ndi mtunda wa chinthu kwa Θ = 0.
Resistive memory imasunga zambiri m'malo osasinthika. Mfundo yayikulu ya njirayi ndikuti kusinthidwa kwa zinthu pamlingo wa atomiki kumayambitsa kusintha kwamagetsi ake amagetsi57. Apa timagwiritsa ntchito kukumbukira kwa oxide-based resistive memory yokhala ndi 5nm wosanjikiza wa hafnium dioxide wokhazikika pakati pa titaniyamu pamwamba ndi pansi ndi titaniyamu nitride maelekitirodi. Mayendedwe a zida za RRAM amatha kusinthidwa pogwiritsa ntchito mawonekedwe apano / voltage omwe amapanga kapena kuswa ma conductive filaments apakati pa ma electrode. Tidaphatikiza zida zotere58 munjira yokhazikika ya 130 nm CMOS kuti tipange mawonekedwe osinthika osinthika a neuromorphic omwe akugwiritsa ntchito chodziwikiratu chamwadzidzidzi komanso mzere wochedwa (mkuyu 3a). Chikhalidwe chosasunthika ndi analogi cha chipangizocho, chophatikizidwa ndi zochitika zoyendetsedwa ndi zochitika za dera la neuromorphic, zimachepetsa kugwiritsa ntchito mphamvu. Derali lili ndi ntchito yotsegula / yozimitsa nthawi yomweyo: imagwira ntchito nthawi yomweyo itatha kutsegulidwa, kulola mphamvu kuti izimitsidwe kwathunthu pamene dera liri lopanda ntchito. Zomangamanga zazikulu za chiwembu chomwe chaperekedwa zikuwonetsedwa mkuyu. 3b . Zili ndi zida za N parallel single-resistor single-transistor (1T1R) zomwe zimayika masikelo a synaptic momwe mafunde olemera amatengedwa, kubayidwa mu synapse wamba ya chophatikiza chosiyana (DPI) 59, ndipo pamapeto pake amabayidwa mu synapse ndi kuphatikiza ndi kutayikira. activated (LIF) neuron 60 (onani Njira zatsatanetsatane). Ma surges olowera amayikidwa pachipata cha kapangidwe ka 1T1R munjira yotsatizana yamagetsi amagetsi okhala ndi nthawi motsatana ndi mazana a nanoseconds. Resistive memory ikhoza kuikidwa pamalo apamwamba (HCS) pogwiritsa ntchito mawu omveka bwino akunja ku Vtop pomwe Vbottom yakhazikika, ndikukhazikitsanso ku low conductive state (LCS) pogwiritsa ntchito voliyumu yabwino ku Vbottom pomwe Vtop yakhazikika. Mtengo wapakati wa HCS ukhoza kuwongoleredwa ndikuchepetsa mapulogalamu apano (kutsata) kwa SET (ICC) ndi chipata-gwero lamagetsi amtundu wa transistor (mkuyu 3c). Ntchito za RRAM m'derali ndi ziwiri: amawongolera ndikulemera ma pulse olowera.
Kusanthula maikulosikopu yamagetsi (SEM) ya chipangizo cha buluu cha HfO2 1T1R RRAM chophatikizidwa muukadaulo wa 130 nm CMOS wokhala ndi ma transistors osankha (650 nm wide) chobiriwira. b Zoyambira zomangira za neuromorphic schema yomwe ikufunsidwa. Ma voliyumu olowera (pamwamba) Vin0 ndi Vin1 amadya Iweight yamakono, yomwe imagwirizana ndi ma conduction akuti G0 ndi G1 a kapangidwe ka 1T1R. Izi zimalowetsedwa mu ma synapses a DPI ndikusangalatsa ma neurons a LIF. RRAM G0 ndi G1 zimayikidwa mu HCS ndi LCS motsatana. c Ntchito ya cumulative conductance density kwa gulu la zida za 16K RRAM monga ntchito ya ICC yofananira, yomwe imayendetsa bwino mulingo wa conduction. d Miyezo yozungulira mu (a) yowonetsa kuti G1 (mu LCS) imatsekereza zolowetsa kuchokera ku Vin1 (zobiriwira), ndipo zowonadi mphamvu yamagetsi ya neuron imangoyankha kuyika kwa buluu kuchokera ku Vin0. RRAM imatsimikizira bwino maulumikizidwe ozungulira. e Kuyeza kwa dera mu (b) kusonyeza zotsatira za khalidwe la khalidwe G0 pa nembanemba voteji Vmem pambuyo ntchito voteji zimachitika Vin0. Kachitidwe kochulukira, kuyankha kolimba: motero, chipangizo cha RRAM chimagwiritsa ntchito kulemera kwa I/O. Miyeso idapangidwa padera ndikuwonetsa magwiridwe antchito apawiri a RRAM, mayendedwe ndi kulemera kwa ma pulses olowera.
Choyamba, popeza pali zigawo ziwiri zoyambira (HCS ndi LCS), ma RRAM amatha kutsekereza kapena kuphonya ma pulse akakhala m'maiko a LCS kapena HCS, motsatana. Zotsatira zake, RRAM imatsimikizira bwino zolumikizira muderali. Ichi ndi maziko okhoza kukonzanso zomangamanga. Kuti tiwonetse izi, tidzalongosola ndondomeko yoyendetsera dera lozungulira muzithunzi 3b. RRAM yofanana ndi G0 imayikidwa mu HCS, ndipo RRAM G1 yachiwiri imayikidwa mu LCS. Ma pulse olowetsa amayikidwa pa Vin0 ndi Vin1. Zotsatira zamagawo awiri a ma pulse olowetsa zidawunikidwa mu ma neurons otulutsa posonkhanitsa magetsi a neuron membrane ndi chizindikiro chotulutsa pogwiritsa ntchito oscilloscope. Kuyesako kudachita bwino pomwe chipangizo cha HCS (G0) chokha chidalumikizidwa ndi kugunda kwa ma neuron kuti alimbikitse kulimba kwa membrane. Izi zikuwonetsedwa mu Chithunzi 3d, pomwe masitima apamtunda amtundu wa blue pulse amachititsa kuti mphamvu ya nembanemba ipangike pa membrane capacitor, pomwe sitima yobiriwira imapangitsa kuti mphamvu ya nembanemba ikhale yosasunthika.
Ntchito yachiwiri yofunika ya RRAM ndikukhazikitsa zolemetsa zolumikizira. Pogwiritsa ntchito kusintha kwa ma analogi a RRAM, maulumikizidwe a I/O amatha kulemedwa molingana. Pakuyesa kwachiwiri, chipangizo cha G0 chinakonzedwa kumagulu osiyanasiyana a HCS, ndipo pulse yolowetsa inagwiritsidwa ntchito ku VIn0. Kugunda kwamphamvu kumakoka chapano (Iweight) kuchokera pachidacho, chomwe chimayenderana ndi kayendetsedwe kake komanso kutsika komwe kungagwere Vtop - Vbot. Izi zolemetsa zimalowetsedwa mu DPI synapses ndi LIF output neurons. Mpweya wa nembanemba wa ma neuroni otulutsa adalembedwa pogwiritsa ntchito oscilloscope ndikuwonetsedwa mkuyu 3d. Kukwera kwamphamvu kwa nembanemba ya neuron poyankha kugunda kumodzi kumayenderana ndi kayendesedwe ka kukumbukira kopingasa, kuwonetsa kuti RRAM itha kugwiritsidwa ntchito ngati chinthu chokonzekera kulemera kwa synaptic. Mayesero awiri oyambilirawa akuwonetsa kuti nsanja yokhazikitsidwa ndi RRAM yochokera ku neuromorphic imatha kugwiritsa ntchito zida zoyambira za Jeffress, zomwe ndi mzere wochedwetsa komanso dera lozindikira zochitika mwangozi. Pulatifomu yozungulira imamangidwa ndikuyika midadada motsatizana mbali ndi mbali, monga midadada yomwe ili pa Chithunzi 3b, ndikulumikiza zipata zawo ku mzere wamba wolowera. Tinapanga, kupanga, ndi kuyesa nsanja ya neuromorphic yomwe ili ndi ma neurons awiri omwe amalandila zolowetsa ziwiri (mkuyu 4a). Chithunzi chozungulira chikuwonetsedwa pazithunzi 4b. Matrix apamwamba a 2 × 2 RRAM amalola kuti ma pulses alowetsedwe ku ma neurons awiri, pomwe matrix otsika a 2 × 2 amalola kulumikizana kobwerezabwereza kwa ma neurons awiri (N0, N1). Timasonyeza kuti nsanjayi ingagwiritsidwe ntchito ndi kasinthidwe ka mzere wochedwa ndi ntchito ziwiri zosiyana zodziwira zochitika mwangozi, monga momwe zasonyezedwera muzoyesera mu Fig. 4c-e.
Chithunzi chozungulira chopangidwa ndi ma neuroni awiri otulutsa N0 ndi N1 kulandira zolowetsa ziwiri 0 ndi 1. Zida zinayi zapamwamba za gululo zimatanthawuza kulumikizana kwa synaptic kuchokera pakulowetsa kupita ku zotulutsa, ndipo ma cell anayi apansi amatanthauzira kulumikizana kobwerezabwereza pakati pa ma neuron. Ma RRAM achikuda amayimira zida zokhazikitsidwa mu HCS kumanja: zida zomwe zili mu HCS zimalola kulumikizana ndikuyimira zolemera, pomwe zida za LCS zimatchingira ma pulses ndikuletsa kulumikizana ndi zotuluka. b Chithunzi chozungulira (a) chokhala ndi ma module asanu ndi atatu a RRAM owonetsedwa mu buluu. c Mizere yochedwa imapangidwa pongogwiritsa ntchito mphamvu za DPI synapses ndi LIF neurons. RRAM yobiriwira imayikidwa kuti ikhale yokwera kwambiri kuti ipangitse glitch pazotulutsa pambuyo pochedwa kulowetsa Δt. d Chifaniziro chadongosolo la kuzindikira kwa CD komwe kumatengera nthawi. Output neuron 1, N1, moto pazolowera 0 ndi 1 ndikuchedwa pang'ono. e Direction sensitive CD circuit, dera lomwe limazindikira pamene cholowetsa 1 chikuyandikira kulowetsa 0 ndikufika pambuyo polowetsa 0. Kutulutsa kwa dera kumayimiridwa ndi neuron 1 (N1).
Mzere wochedwa (Chithunzi 4c) umangogwiritsa ntchito machitidwe osinthika a DPI synapses ndi LIF neurons kutulutsanso spike yolowera kuchokera ku Vin1 kupita ku Vout1 pochedwetsa Tdel. Ndi G3 RRAM yokha yolumikizidwa ku Vin1 ndi Vout1 yomwe imapangidwa mu HCS, ma RRAM ena onse amapangidwa mu LCS. Chipangizo cha G3 chinakonzedwera ma 92.6 µs kuwonetsetsa kuti kugunda kulikonse kumawonjezera mphamvu ya nembanemba ya neuron yotulutsa mokwanira kuti ifike pachimake ndikupanga kugunda kochedwa. Kuchedwa kwa Tdel kumatsimikiziridwa ndi ma synaptic ndi neural time constants. Zowunikira mwangozi zimazindikira kuchitika kwa ma siginecha olumikizana kwakanthawi koma ogawidwa molingana ndi malo. CD yosamva mayendedwe imadalira zolowetsa zapayekha zomwe zimasinthidwa kukhala neuron wamba (Chithunzi 4d). Ma RRAM awiri omwe amalumikiza Vin0 ndi Vin1 ku Vout1, G2 ndi G4 motsatana adakonzedwa kuti aziyendetsa kwambiri. Kufika nthawi imodzi kwa ma spikes pa Vin0 ndi Vin1 kumawonjezera voteji ya N1 neuron membrane pamwamba pa khomo lofunikira kuti apange spike yotulutsa. Ngati zolowetsa ziwirizo zikutalikirana kwambiri munthawi yake, voteji ya nembanemba yomwe yasonkhanitsidwa ndi kulowetsa koyamba ikhoza kukhala ndi nthawi yowola, kulepheretsa nembanemba yomwe N1 ingathe kufika pachimake. G1 ndi G2 amapangidwira pafupifupi 65 µs, zomwe zimawonetsetsa kuti kulowetsedwa kumodzi sikuwonjezera mphamvu ya nembanemba kuti ipangitse kutuluka. Kuzindikira mwangozi pakati pa zochitika zomwe zimagawidwa mumlengalenga ndi nthawi ndi ntchito yofunika kwambiri yomwe imagwiritsidwa ntchito pazinthu zosiyanasiyana zozindikira, monga kupewa zopinga za optical flow based komanso kutulutsa mawu. Chifukwa chake, ma CD osamva komanso osakhudzidwa ndi makompyuta ndichinthu chofunikira kwambiri popanga makina owonera komanso omvera. Monga momwe zikuwonetsedwera ndi mawonekedwe a nthawi zosasintha (onani Supplementary Fig. 2), dera lomwe likufunsidwa limagwiritsa ntchito mitundu inayi ya masikelo a nthawi. Choncho, nthawi imodzi imatha kukwaniritsa zofunikira za machitidwe owonetsera komanso omveka. Directional-sensitive CD ndi dera lomwe limakhudzidwa ndi dongosolo la malo omwe amafika: kuchokera kumanja kupita kumanzere ndi mosemphanitsa. Ndilo chomangira chofunikira pamaneti ozindikira zoyenda a Drosophila visual system, yomwe imagwiritsidwa ntchito kuwerengera komwe kumayendera ndikuzindikira kugunda62. Kuti mukwaniritse ma CD okhudzidwa ndi malangizo, zolowetsa ziwiri ziyenera kutumizidwa ku ma neuroni awiri osiyana (N0, N1) ndipo kugwirizana kolowera kuyenera kukhazikitsidwa pakati pawo (mkuyu 4e). Cholowetsa choyamba chikalandiridwa, NO imachita ndikuwonjezera mphamvu yamagetsi kudutsa nembanemba yake pamwamba pa mtengo ndikutumiza maopaleshoni. Chochitika chotsatirachi, chimayatsa N1 chifukwa cha kulumikizana komwe kumawonetsedwa ndi zobiriwira. Ngati cholowa cha Vin1 chikafika ndikupatsa mphamvu N1 pomwe mphamvu ya membrane ikadali yokwera, N1 imapanga chochitika chosonyeza kuti machesi apezeka pakati pa zolowetsa ziwirizi. Malumikizidwe am'njira amalola N1 kutulutsa zotuluka pokhapokha ngati cholowetsa 1 chibwera pambuyo polowetsa 0. G0, G3, ndi G7 adasinthidwa kukhala 73.5 µS, 67.3 µS, ndi 40.2 µS, motsatana, kuwonetsetsa kuti spike imodzi pazolowetsa Vin0 imapangitsa kuchedwa. kukwera kotulutsa, pomwe kuthekera kwa nembanemba kwa N1 kumangofika pachimake pomwe zolowetsa zonse ziwiri zifika pakulumikizana. .
Kusiyanasiyana ndi gwero la kupanda ungwiro mu machitidwe a neuromorphic63,64,65. Izi zimabweretsa kusiyanasiyana kwa ma neurons ndi ma synapses. Zitsanzo za kuipa kotereku ndi monga 30% (kutanthauza kupatuka kokhazikika) kusinthasintha kwa phindu lolowera, nthawi yosasintha, ndi nthawi yokanira, kungotchulapo zochepa chabe (onani Njira). Vutoli limawonekeranso kwambiri ngati ma neural angapo alumikizidwa palimodzi, monga CD yomvera yomwe ili ndi ma neuron awiri. Kuti mugwire ntchito moyenera, kupindula ndi kuwonongeka kwa nthawi ya ma neuroni awiriwa kuyenera kukhala kofanana momwe kungathekere. Mwachitsanzo, kusiyana kwakukulu pakupeza mwayi wolowetsa kungayambitse neuron imodzi kumachita mopambanitsa ndi kugunda kwamphamvu pomwe nyuroni inayo imalephera kuyankha. Pa mkuyu. Chithunzi 5a chikuwonetsa kuti ma neuroni osankhidwa mwachisawawa amayankha mosiyana ndi kugunda komweko. Kusiyanasiyana kwa neural kumeneku ndikoyenera, mwachitsanzo, ku ntchito ya ma CD okhudzidwa ndi malangizo. Mu dongosolo lomwe likuwonetsedwa mkuyu. 5b, c, phindu lothandizira la neuron 1 ndilokwera kwambiri kuposa la neuron 0. Choncho, neuron 0 imafuna maulendo atatu olowetsamo (mmalo mwa 1) kuti ifike pakhomo, ndipo neuron 1, monga momwe ikuyembekezeredwa, imafunikira zochitika ziwiri zolowetsamo. Kukhazikitsa spike time-dependent biomimetic plasticity (STDP) ndi njira yotheka yochepetsera kukhudzidwa kwa ma neural ndi ma synaptic ma circuit43. Apa tikuganiza kuti tigwiritse ntchito machitidwe apulasitiki a kukumbukira kukumbukira ngati njira yolimbikitsira kupititsa patsogolo kwa neural input ndikuchepetsa zotsatira za kusiyanasiyana kwa ma neuromorphic circuits. Monga momwe tawonetsera mkuyu. 4e, milingo yamayendedwe yolumikizidwa ndi RRAM synaptic mass idasinthiratu kuyankha kofanana ndi neural membrane voltage. Timagwiritsa ntchito njira yobwerezabwereza ya RRAM. Pazolowera zomwe zaperekedwa, mayendedwe a masikelo a synaptic amakonzedwanso mpaka momwe chandamale yaderayo ipezeke (onani Njira).
miyeso yoyesera ya kuyankhidwa kwa ma neuron asanu ndi anayi osankhidwa mwachisawawa kugunda komweko. Kuyankha kumasiyanasiyana m'magulu a anthu, kukhudza kupindula kwa zolowetsa ndi nthawi yosasintha. b Miyezo yoyesera ya mphamvu ya ma neuron pakusintha kwa ma neuroni omwe amakhudza ma CD omwe amakhudzidwa ndi mayendedwe. Ma neurons awiri omwe amakhudzidwa ndi ma CD otulutsa amayankha mosiyana ndi zolimbikitsa zolowetsa chifukwa cha kusiyanasiyana kwa neuron-to-neuron. Neuron 0 imakhala ndi phindu locheperako kuposa neuron 1, chifukwa chake pamafunika ma pulse atatu (m'malo mwa 1) kuti apange spike yotulutsa. Monga zikuyembekezeredwa, neuron 1 imafika pachimake ndi zochitika ziwiri zolowetsa. Ngati cholowetsa 1 chikafika Δt = 50 µs pambuyo pa moto wa neuron 0, CD imakhala chete chifukwa Δt ndi yayikulu kuposa nthawi yokhazikika ya neuron 1 (pafupifupi 22 µs). c imachepetsedwa ndi Δt = 20 µs, kotero kuti kulowetsa kwa 1 kumapitirira pamene kuwombera kwa neuron 1 kukadali kwakukulu, zomwe zimapangitsa kuti pakhale kuzindikirika panthawi imodzi ya zochitika ziwiri zolowetsa.
Zinthu ziwiri zomwe zimagwiritsidwa ntchito mugawo la kuwerengera la ITD ndi mzere wochedwa komanso ma CD osakhudzidwa. Mabwalo onsewa amafunikira kusanja bwino kuti atsimikizire kuti chinthu chikuyenda bwino. Mzere wochedwetsa uyenera kubweretsa mtundu womwe wachedwetsedwa ndendende wa zomwe zikulowetsamo (mkuyu 6a), ndipo CD iyenera kuyatsidwa pokhapokha ngati zomwe zalowazo zikugwera m'gawo lomwe mukufuna kudziwa. Kwa mzere wochedwetsa, zolemera za synaptic zolumikizira zolowetsa (G3 mu Fig. 4a) zinakonzedwanso mpaka kuchedwa kwachindunji kunapezedwa. Khazikitsani kulolerana mozungulira kuchedwa kwa chandamale kuti muyimitse pulogalamuyi: kulekerera kocheperako, kumakhala kovuta kwambiri kukhazikitsa mzere wochedwa. Pa mkuyu. Chithunzi 6b chikuwonetsa zotsatira za ndondomeko yochepetsera mzere wochedwa: zikhoza kuwoneka kuti ndondomeko yomwe ikuperekedwayo ikhoza kupereka ndendende kuchedwa komwe kumafunika mu dongosolo la mapangidwe (kuchokera ku 10 mpaka 300 μs). Kuchuluka kwa ma calibration iterations kumakhudza momwe ma calibration akuyendera: 200 iterations ikhoza kuchepetsa zolakwikazo kukhala zosakwana 5%. Kubwereza kumodzi kumafanana ndi kuyika/kukonzanso kachipangizo ka selo la RRAM. Njira yosinthira ndiyofunikiranso kuwongolera kulondola kwa ma CD module pompopompo kuzindikira zochitika zapafupi. Zinatenga maulendo khumi obwerezabwereza kuti mukwaniritse zotsatira zabwino (ie, mlingo wa zochitika zomwe zadziwika bwino) pamwamba pa 95% (mzere wa buluu mu Chithunzi 6c). Komabe, kukonza sikunakhudze zochitika zabwino zabodza (ndiko kuti, kuchuluka kwa zochitika zomwe zidadziwika molakwika kuti ndizofunikira). Njira ina yomwe imawonedwa m'machitidwe achilengedwe kuti athe kuthana ndi zovuta zanthawi yoyambitsa njira zomwe zimagwira ntchito mwachangu ndikuchepetsa (ndiko kuti, makope ambiri a chinthu chomwecho amagwiritsidwa ntchito pochita ntchito yomwe wapatsidwa). Mouziridwa ndi biology66, tinayika ma CD angapo mu module iliyonse ya CD pakati pa mizere iwiri yochedwa kuti tichepetse zotsatira za zolakwika. Monga momwe tawonetsera mkuyu. 6c (mzere wobiriwira), kuyika zinthu zitatu za CD mu gawo lililonse la CD kumatha kuchepetsa ma alarm abodza kukhala osachepera 10-2.
Zotsatira za kusintha kwa neuronal pamayendedwe ochedwa. b Mizere yochedwa imatha kuchepetsedwa mpaka kuchedwa kwakukulu pokhazikitsa nthawi zokhazikika za ma LIF neurons ndi ma DPI synapses kuzinthu zazikulu. Kuchulukitsa kuchuluka kwa ma iterations a RRAM calibration process kunapangitsa kuti zitheke kuwongolera kulondola kwa zomwe mukufuna kuchedwa: kubwereza kwa 200 kunachepetsa cholakwikacho kukhala chochepera 5%. Kubwereza kumodzi kumagwirizana ndi ntchito ya SET/RESET pa selo la RRAM. Gawo lililonse la CD mu c Jeffress model litha kukhazikitsidwa pogwiritsa ntchito zinthu za N parallel CD kuti muzitha kusinthasintha kwambiri pokhudzana ndi kulephera kwadongosolo. d Kuchulukitsa kwa RRAM kumawonjezera kuchuluka kwabwino (mzere wabuluu), pomwe chiwopsezo chabodza sichidalira kuchuluka kwa kubwereza (mzere wobiriwira). Kuyika zinthu zambiri za CD molumikizana kumapewa kudziwika kwabodza kwa ma CD module.
Tsopano tikuwunika momwe ntchito ndi mphamvu zogwiritsira ntchito mapeto-to-end Integrated object localization system ikuwonetsedwa mu Chithunzi 2 pogwiritsa ntchito miyeso ya acoustic properties ya pMUT sensa, CD, ndi maulendo ochedwetsa mzere omwe amapanga neuromorphic computing graph. Jeffress chitsanzo (mkuyu 1a). Ponena za graph ya neuromorphic computing, kuchuluka kwa ma CD ma modules, kumapangitsanso kusintha kwa angular, komanso mphamvu ya dongosolo (mkuyu 7a). Kugwirizana kungafikidwe poyerekezera kulondola kwa zigawo za munthu aliyense (pMUT masensa, neurons, ndi ma synaptic circuits) ndi kulondola kwa dongosolo lonse. Kusamvana kwa mzere wochedwa kumachepetsedwa ndi nthawi zokhazikika za ma synapses ndi ma neuroni, omwe mu dongosolo lathu amaposa 10 µs, zomwe zimagwirizana ndi kusintha kwa angular kwa 4 ° (onani Njira). Ma node apamwamba kwambiri okhala ndi ukadaulo wa CMOS amalola mapangidwe a ma neural ndi ma synaptic ma frequency okhala ndi nthawi yocheperako, zomwe zimapangitsa kulondola kwakukulu kwa zinthu zochedwa. Komabe, m'dongosolo lathu, kulondola kumachepa ndi zolakwika pMUT poyesa malo aang'ono, mwachitsanzo 10 ° (mzere wopingasa wa buluu mumkuyu 7a). Tinakonza ma CD ma modules pa 40, omwe amafanana ndi kusintha kwa angular kwa pafupifupi 4 °, mwachitsanzo, kulondola kwa angular kwa graph computational (kuwala kwa buluu wopingasa mzere mu Fig. 7a). Pa mlingo wa dongosolo, izi zimapereka chigamulo cha 4 ° ndi kulondola kwa 10 ° kwa zinthu zomwe zili 50 cm kutsogolo kwa dongosolo la sensa. Mtengo uwu ndi wofanana ndi machitidwe a neuromorphic sound localization omwe adanenedwa mu ref. 67. Kuyerekeza kwa dongosolo lomwe likuperekedwa ndi luso lamakono likhoza kupezeka mu Supplementary Table 1. Kuwonjezera pMUTs zowonjezera, kuonjezera mlingo wa ma acoustic signal, ndi kuchepetsa phokoso lamagetsi ndi njira zotheka zopititsira patsogolo kulondola kwa malo. ) akuyerekeza 9.7. nz. 55. Popatsidwa ma CD 40 pa graph computational, kuyerekezera kwa SPICE kunayesa mphamvu pa ntchito iliyonse (ie, mphamvu yoyika chinthu) kukhala 21.6 nJ. Dongosolo la neuromorphic limayatsidwa pokhapokha cholowa chikafika, mwachitsanzo, pamene mafunde amphamvu afika pa wolandila pMUT aliyense ndikupitilira kuwonekera, apo ayi amakhalabe osagwira ntchito. Izi zimapewa kugwiritsa ntchito mphamvu kosafunikira ngati palibe chizindikiro cholowera. Poganizira kuchuluka kwa magwiridwe antchito a 100 Hz ndi nthawi yotsegulira ya 300 µs pa opareshoni (yotheka kwambiri ITD), kugwiritsa ntchito mphamvu kwa neuromorphic computing graph ndi 61.7 nW. Ndi neuromorphic pre-processing yomwe imagwiritsidwa ntchito kwa wolandila aliyense wa pMUT, kugwiritsa ntchito mphamvu kwadongosolo lonse kumafikira 81.6 nW. Kuti timvetsetse kugwiritsa ntchito mphamvu kwa njira yomwe ikuyembekezeredwa ya neuromorphic poyerekeza ndi zida wamba, tidafanizira nambalayi ndi mphamvu yofunikira kuti igwire ntchito yomweyi pa microcontroller yamakono yotsika pogwiritsa ntchito luso la neuromorphic kapena beamforming68 Skill. Njira ya neuromorphic imaganizira siteji ya analog-to-digital converter (ADC), yotsatiridwa ndi fyuluta ya band-pass ndi siteji yochotsa envelopu (njira ya Teeger-Kaiser). Pomaliza, ntchito yotsekereza imachitika kuti muchotse ToF. Tasiya kuwerengera kwa ITD kutengera ToF ndi kutembenuka kukhala kongoyerekeza popeza izi zimachitika kamodzi pa muyeso uliwonse (onani Njira). Kungotengera kuchuluka kwa zitsanzo za 250 kHz pamakanema onse awiri (pMUT olandila), ntchito zosefera 18 band, 3 ntchito zochotsa ma envelopu, ndi 1 threshold operation pachitsanzo chilichonse, kugwiritsa ntchito mphamvu zonse kumayerekezedwa ndi ma microwatts 245. Izi zimagwiritsa ntchito microcontroller's low-power mode69, yomwe imayatsidwa pomwe ma aligorivimu sakugwira, zomwe zimachepetsa kugwiritsa ntchito mphamvu mpaka 10.8 µW. Kugwiritsa ntchito mphamvu kwa njira yosinthira ma siginecha yowunikira yomwe yaperekedwa muzofotokozera. 31, ndi 5 pMUT olandila ndi 11 matabwa uniformly anagawira mu azimuth ndege [-50 °, + 50 °], ndi 11.71 mW (onani Njira gawo mwatsatanetsatane). Kuphatikiza apo, timapereka lipoti la kugwiritsa ntchito mphamvu kwa FPGA47-based Time Difference Encoder (TDE) yoyerekeza 1.5 mW m'malo mwa mtundu wa Jeffress pakuyika zinthu. Kutengera kuyerekeza uku, njira yomwe ikuyembekezeredwa ya neuromorphic imachepetsa kugwiritsa ntchito mphamvu ndi maulamuliro asanu a ukulu poyerekeza ndi chowongolera chaching'ono chogwiritsa ntchito njira zachikale zopangira ma beamform pamachitidwe azinthu. Kutengera njira ya neuromorphic yosinthira ma siginecha pa makina owongolera ang'onoang'ono amachepetsa kugwiritsa ntchito mphamvu pafupifupi madongosolo awiri a ukulu. Kuchita bwino kwa dongosolo lomwe laperekedwa limatha kufotokozedwa ndi kuphatikiza kwa asynchronous resistive-memory analogi circuit yomwe imatha kuwerengera mu-memory komanso kusowa kwa kutembenuka kwa analogi kupita ku digito komwe kumafunikira kuti munthu azindikire zizindikiro.
Angular resolution (buluu) ndi kugwiritsa ntchito mphamvu (zobiriwira) zogwirira ntchito kumaloko malinga ndi kuchuluka kwa ma CD module. Mipiringidzo yakuda yabuluu yopingasa imayimira kulondola kwamakona kwa PMUT ndipo kampando koyang'ana kowoneka bwino kobiriwira kakuyimira kulondola kwamakona kwa graph ya neuromorphic computational. b Kugwiritsa ntchito mphamvu pamakina omwe akufunsidwa ndikuyerekeza ndi ziwiri zomwe zidakambidwa ma microcontroller ndikukhazikitsa kwa digito kwa Time Difference Encoder (TDE)47 FPGA.
Kuti tichepetse kugwiritsira ntchito mphamvu kwa makina omwe akuwunikira, tidapanga, kupanga ndikugwiritsa ntchito njira yabwino, yoyendetsedwa ndi zochitika ya RRAM-based neuromorphic circuit yomwe imayang'anira chidziwitso cha siginecha chopangidwa ndi masensa omwe adamangidwa kuti awerengere komwe chinthu chandandale chili chenicheni. nthawi. . Ngakhale njira zachikhalidwe zogwirira ntchito zimayesa mosalekeza ma siginecha omwe apezeka ndikuwerengera kuti apeze zidziwitso zothandiza, yankho lomwe likuperekedwa la neuromorphic limawerengera mosadukiza monga chidziwitso chothandiza chikafika, kukulitsa mphamvu zamakina ndi madongosolo asanu a ukulu. Kuphatikiza apo, tikuwonetsa kusinthasintha kwa ma RRAM-based neuromorphic circuits. Kuthekera kwa RRAM kusintha kachitidwe kosagwirizana (pulasitiki) kumalipira kusinthika kwachilengedwe kwa ma analogi amphamvu otsika kwambiri a DPI's synaptic and neural circuits. Izi zimapangitsa kuti dera lochokera ku RRAM likhale losunthika komanso lamphamvu. Cholinga chathu sikuti tichotse ntchito zovuta kapena mapatani pazizindikiro, koma kuyika zinthu m'nthawi yeniyeni. Dongosolo lathu limathanso kupondereza chizindikiritsocho ndikuchitumiza kuzinthu zina zokonzekera kupanga zisankho zovuta zikafunika. M'malo ogwiritsira ntchito malo, gawo lathu la neuromorphic preprocessing limatha kupereka chidziwitso cha komwe kuli zinthu. Izi zitha kugwiritsidwa ntchito, mwachitsanzo, pozindikira zoyenda kapena kuzindikira ndi manja. Timagogomezera kufunikira kophatikiza ma sensor amphamvu otsika kwambiri monga pMUTs ndi magetsi otsika kwambiri. Pazimenezi, njira za neuromorphic zakhala zofunikira chifukwa zatitsogolera kuti tipange njira zatsopano zogwiritsira ntchito njira zowonongeka monga Jeffress model. Pankhani ya ma sensor fusion application, makina athu amatha kuphatikizidwa ndi masensa angapo osiyanasiyana otengera zochitika kuti adziwe zambiri zolondola. Ngakhale akadzidzi ali ndi luso lopeza nyama mumdima, ali ndi maso abwino kwambiri ndipo amafufuza mophatikizana komanso amafufuza asanagwire nyama70. Kadzidzi wina akamamva moto, kadzidzi amalandira chidziwitso chomwe akufunikira kuti adziwe komwe angayambire kufufuza kwake, motero amaika chidwi chake pa kachigawo kakang'ono ka mawonekedwe. Kuphatikizika kwa masensa owonera (kamera ya DVS) ndi sensor yomvera yomwe ikufunsidwa (yochokera pa pMUT) iyenera kufufuzidwa kuti pakhale zida zodziyimira pawokha zamtsogolo.
Sensa ya pMUT ili pa PCB yokhala ndi olandila awiri pafupifupi 10 cm motalikirana, ndipo chotumizira chimakhala pakati pa olandila. Mu ntchito iyi, nembanemba iliyonse ndi inaimitsidwa bimorph dongosolo wopangidwa ndi zigawo ziwiri za piezoelectric aluminium nitride (AlN) 800 nm wandiweyani sandwiched pakati pa zigawo zitatu za molybdenum (Mo) 200 nm wandiweyani ndi yokutidwa ndi wosanjikiza 200 nm wandiweyani. pamwamba passivating SiN wosanjikiza monga tafotokozera mu kalozera. 71. Ma electrode amkati ndi akunja amagwiritsidwa ntchito pansi ndi pamwamba pa molybdenum, pamene electrode yapakati ya molybdenum imakhala yosasinthika ndipo imagwiritsidwa ntchito ngati nthaka, zomwe zimapangitsa kuti pakhale nembanemba yokhala ndi ma electrode anayi.
Zomangamangazi zimalola kugwiritsa ntchito kupindika kwa membrane wamba, zomwe zimapangitsa kufalikira bwino ndikulandila chidwi. PMUT yotereyi nthawi zambiri imawonetsa kukhudzika kwa 700 nm/V ngati emitter, kumapereka kuthamanga kwa 270 Pa/V. Monga wolandila, filimu imodzi ya pMUT imasonyeza kukhudzidwa kwafupipafupi kwa 15 nA/Pa, komwe kumagwirizana mwachindunji ndi piezoelectric coefficient ya AlN. Kusiyanasiyana kwaukadaulo wamagetsi mu gawo la AlN kumabweretsa kusintha kwa ma frequency a resonant, omwe amatha kulipidwa pogwiritsa ntchito kukondera kwa DC ku pMUT. Kuzindikira kwa DC kunayesedwa pa 0.5 kHz/V. Kwa mawonekedwe amawu, maikolofoni imagwiritsidwa ntchito kutsogolo kwa pMUT.
Kuti tiyeze kugunda kwa echo, tidayika mbale yamakona anayi yokhala ndi malo pafupifupi 50 cm2 kutsogolo kwa pMUT kuti iwonetse mafunde otulutsa mawu. Onse mtunda pakati pa mbale ndi ngodya yokhudzana ndi ndege ya pMUT imayendetsedwa pogwiritsa ntchito ogwira ntchito apadera. Gwero lamagetsi la Tectronix CPX400DP limakondera ma nembanemba atatu a pMUT, kukonza ma frequency a resonant mpaka 111.9 kHz31, pomwe ma transmitters amayendetsedwa ndi Tectronix AFG 3102 pulse jenereta yomwe imasinthidwa pafupipafupi (111.9 kHz) ndi kuzungulira kwa 0.01. Mafunde omwe amawerengedwa kuchokera kumadoko anayi otulutsa pMUT aliyense wolandila amasinthidwa kukhala ma voltages pogwiritsa ntchito kamangidwe kapadera kamakono ndi ma voliyumu, ndipo ma siginecha omwe amatsatiridwa amasinthidwa ndi Spektrum data acquisition system. Malire ozindikira adadziwika ndi kupezeka kwa siginecha ya pMUT pansi pazikhalidwe zosiyanasiyana: tidasuntha chowunikira kumtunda wosiyanasiyana [30, 40, 50, 60, 80, 100] cm ndikusintha mbali yothandizira pMUT ([0, 20, 40] o ) Chithunzi 2b chikuwonetsa kusamvana kwapanthawi kochepa kwa ITD kutengera malo ofananirako pamadigiri.
Nkhaniyi imagwiritsa ntchito mabwalo awiri osiyana a RRAM. Yoyamba ndi zida za 16,384 (16,000) (zipangizo 128 × 128) mu kasinthidwe ka 1T1R ndi transistor imodzi ndi resistor imodzi. Chip chachiwiri ndi nsanja ya neuromorphic yomwe ikuwonetsedwa mu Chithunzi 4a. Selo ya RRAM imakhala ndi filimu ya 5 nm yokhuthala ya HfO2 yoyikidwa mu stack ya TiN/HfO2/Ti/TiN. Stack ya RRAM imaphatikizidwa pamzere wakumbuyo (BEOL) wa njira yokhazikika ya 130nm CMOS. Ma RRAM-based neuromorphic circuits amapereka zovuta pamapangidwe amagetsi a analogi momwe zida za RRAM zimakhalira limodzi ndi ukadaulo wachikhalidwe wa CMOS. Makamaka, mawonekedwe a chipangizo cha RRAM ayenera kuwerengedwa ndi kugwiritsidwa ntchito ngati kusintha kwa dongosolo. Kuti izi zitheke, dera linapangidwa, lopangidwa ndi kuyesedwa lomwe limawerenga zamakono kuchokera ku chipangizo pamene phokoso lolowera likulandiridwa ndikugwiritsa ntchito panopa kuti lizilemera kuyankhidwa kwa synapse yosiyana siyana (DPI). Derali likuwonetsedwa mu Chithunzi 3a, chomwe chikuyimira midadada yomangira papulatifomu ya neuromorphic mu Chithunzi 4a. Kugunda kwamphamvu kumatsegula chipata cha chipangizo cha 1T1R, ndikupangitsa kuti pakhale pakali pano kudzera mu RRAM molingana ndi kachitidwe ka chipangizocho G (Iweight = G(Vtop – Vx)). Kulowetsa mozungulira kwa amplifier (op-amp) kuzungulira kumakhala ndi DC bias voltage Vtop. Malingaliro olakwika a op-amp adzapereka Vx = Vtop popereka zomwe zilipo tsopano kuchokera ku M1. Iweight yamakono yomwe yatengedwa kuchokera ku chipangizocho imalowetsedwa mu synapse ya DPI. Kuthamanga kwamphamvu kumapangitsa kuti pakhale depolarization yambiri, motero machitidwe a RRAM amagwiritsa ntchito masikelo a synaptic. Mawonekedwe a synaptic pano amabayidwa kudzera mu membrane capacitor ya Leaky Integration and Excitation (LIF) neurons, pomwe imaphatikizidwa ngati voteji. Ngati mphamvu yamagetsi ya nembanemba (kusintha kwamagetsi kwa inverter) ikagonjetsedwera, gawo lotulutsa la neuron limatsegulidwa, ndikupanga kukwera kotulutsa. Kugunda kumeneku kumabwerera ndikutchinga kapacitor wa neuron kuti atsike, ndikupangitsa kuti ituluke. Derali limaphatikizidwa ndi pulse expander (yosasonyezedwa mkuyu. 3a), yomwe imapanga phokoso la LIF neuron ku chandamale cha pulse. Ma Multiplexer amapangidwanso pamzere uliwonse, kulola kuti magetsi azigwiritsidwa ntchito pamwamba ndi pansi pa chipangizo cha RRAM.
Kuyesa kwamagetsi kumaphatikizapo kusanthula ndi kujambula machitidwe osinthika a ma analogi, komanso kukonza ndi kuwerenga zida za RRAM. Masitepe onsewa amafunikira zida zapadera, zonse zomwe zimalumikizidwa ndi bolodi la sensor nthawi imodzi. Kufikira kwa zida za RRAM m'mabwalo a neuromorphic kumachitika kuchokera ku zida zakunja kudzera mu multiplexer (MUX). MUX imalekanitsa selo la 1T1R kuchokera kumadera ena onse omwe ali, kulola kuti chipangizocho chiwerengedwe ndi / kapena kukonzedwa. Kukonzekera ndi kuwerenga zipangizo za RRAM, makina a Keithley 4200 SCS amagwiritsidwa ntchito molumikizana ndi Arduino microcontroller: yoyamba yolondola m'badwo wa pulse ndi kuwerenga kwaposachedwa, ndipo yachiwiri kuti ifike mwachangu kuzinthu zamtundu wa 1T1R pazokumbukira. Ntchito yoyamba ndikupanga chipangizo cha RRAM. Maselo amasankhidwa mmodzi ndi mmodzi ndipo mpweya wabwino umagwiritsidwa ntchito pakati pa ma electrode apamwamba ndi pansi. Pachifukwa ichi, zamakono zimangokhala ndi dongosolo la makumi a microamperes chifukwa cha kuperekedwa kwa magetsi oyendera chipata kwa osankha transistor. Selo ya RRAM imatha kuzungulira pakati pa low conductive state (LCS) ndi high conductive state (HCS) pogwiritsa ntchito RESET ndi SET ntchito, motsatana. Opaleshoni ya SET ikuchitika pogwiritsa ntchito mphamvu yamagetsi yamakona anayi yokhala ndi nthawi ya 1 μs ndi voteji yapamwamba ya 2.0-2.5 V mpaka ma elekitirodi apamwamba, ndi kusinthasintha kwa mawonekedwe ofanana ndi voteji yapamwamba ya 0.9-1.3 V mpaka chipata cha selector transistor. Izi zimalola kusintha kwa RRAM pamayendedwe a 20-150 µs. Kwa RESET, 1 µs m'lifupi, 3 V peak pulse imagwiritsidwa ntchito ku electrode yapansi (bit line) ya selo pamene magetsi a pachipata ali mumtundu wa 2.5-3.0 V. Zolowetsa ndi zotulukapo za ma analogi ndi zizindikiro zamphamvu. . Kuti tilowemo, tidasokoneza majenereta awiri a HP 8110 ndi majenereta amtundu wa Tektronix AFG3011. Kuthamanga kolowera kumakhala ndi m'lifupi mwake 1 µs ndi kukwera / kugwa kwa 50 ns. Kugunda kwamtundu uwu kumaganiziridwa kuti ndi vuto lomwe limayenderana ndi ma analogi glitch based circuits. Ponena za chizindikiro chotulutsa, chizindikirocho chinajambulidwa pogwiritsa ntchito Teledyne LeCroy 1 GHz oscilloscope. Kuthamanga kwa oscilloscope kwatsimikiziridwa kuti sikulepheretsa kusanthula ndi kupeza deta ya dera.
Kugwiritsa ntchito mphamvu zamagetsi za analogi kutengera machitidwe a ma neuron ndi ma synapses ndi njira yabwino komanso yothandiza kuti muzitha kuyendetsa bwino ntchito. Choyipa cha ma computational underlay ndikuti chidzasiyana kuchokera ku chiwembu kupita ku chiwembu. Tinawerengera kusiyana kwa ma neuroni ndi ma synaptic circuits (Supplementary Fig. 2a, b). Paziwonetsero zonse za kusinthasintha, zomwe zimagwirizanitsidwa ndi kusinthasintha kwa nthawi ndi kupindula kolowera zimakhala ndi zotsatira zazikulu pamlingo wadongosolo. Nthawi yokhazikika ya LIF neuron ndi synapse ya DPI imatsimikiziridwa ndi dera la RC, pomwe mtengo wa R umayendetsedwa ndi voteji yotsatsira yomwe imagwiritsidwa ntchito pachipata cha transistor (Vlk ya neuron ndi Vtau ya synapse), kutsimikizira kutayikira mlingo. Kupeza kolowetsa kumatanthauzidwa ngati mphamvu yamphamvu kwambiri yofikira ndi ma synaptic ndi neuronal membrane capacitors olimbikitsidwa ndi kugunda kwamphamvu. Kupeza kolowera kumayendetsedwa ndi transistor ina yokondera yomwe imasintha zolowetsa pano. Kayeseleledwe ka Monte Carlo kosinthidwa pa njira ya ST Microelectronics' 130nm idachitidwa kuti apeze zolowa zina ndi ziwerengero zanthawi zonse. Zotsatira zimaperekedwa mu Supplementary Figure 2, pomwe kupindula kolowera ndi nthawi zonse kumawerengedwa ngati ntchito ya voliyumu ya tsankho yomwe imayang'anira kuchuluka kwa kutayikira. Zolemba zobiriwira zimawerengera kupotoza kwanthawi zonse kuchokera ku tanthauzo. Ma neurons onse ndi ma synaptic circuits adatha kufotokoza nthawi zambiri zokhazikika mu 10-5-10-2 s, monga momwe tawonetsera mu Supplementary Fig. Kupititsa patsogolo (Supplementary Fig. 2e, d) ya kusiyana kwa neuronal ndi synapse kunali pafupifupi 8% ndi 3%, motero. Kuperewera kotereku kwalembedwa bwino m'mabuku: kuyeza kosiyanasiyana kunachitika pamagulu angapo a tchipisi ta DYNAP kuti awone kusagwirizana pakati pa anthu a LIF63 neurons. Ma synapses mu BrainScale mix signal chip adayezedwa ndikuwunikidwa kusagwirizana kwawo, ndipo njira yosinthira idapangidwa kuti ichepetse kusinthasintha kwa dongosolo64.
Ntchito ya RRAM m'mabwalo a neuromorphic ili pawiri: matanthauzo a kamangidwe (zolowera zotuluka) ndikukhazikitsa zolemetsa za synaptic. Katundu womaliza angagwiritsidwe ntchito kuthana ndi vuto la kusiyanasiyana kwa ma frequency a neuromorphic. Tapanga njira yosavuta yosinthira yomwe imaphatikizapo kukonzanso chipangizo cha RRAM mpaka dera lomwe likuwunikidwa likwaniritse zofunikira zina. Pazolowera zomwe zaperekedwa, zotulukazo zimawunikidwa ndipo RRAM imakonzedwanso mpaka zomwe mukufuna kuchita zitakwaniritsidwa. Nthawi yodikirira ya 5 s idayambitsidwa pakati pa ntchito zamapulogalamu kuti athetse vuto la kupumula kwa RRAM komwe kumayambitsa kusinthasintha kwapanthawi kochepa (Chidziwitso Chowonjezera). Zolemera za Synaptic zimasinthidwa kapena kusinthidwa malinga ndi zofunikira za dera la neuromorphic lomwe likutsatiridwa. Njira yosinthirayi ikufotokozedwa mwachidule m'ma algorithms owonjezera [1, 2] omwe amayang'ana mbali ziwiri zofunika kwambiri zamapulatifomu a neuromorphic, mizere yochedwa ndi ma CD osakhudzidwa. Kwa dera lomwe lili ndi mzere wochedwa, zomwe mukufuna kuchita ndikupereka kugunda kwachangu ndikuchedwa Δt. Ngati kuchedwa kwenikweni kwa dera kuli kochepa kuposa mtengo wamtengo wapatali, kulemera kwa synaptic kwa G3 kuyenera kuchepetsedwa (G3 iyenera kubwezeretsedwanso ndikuyika ku Icc yocheperako). Mosiyana ndi zimenezo, ngati kuchedwa kwenikweni kuli kwakukulu kuposa mtengo wamtengo wapatali, kayendetsedwe ka G3 kuyenera kuwonjezeredwa (G3 iyenera kukonzedwanso poyamba ndikuyika ku mtengo wapamwamba wa Icc). Njirayi imabwerezedwa mpaka kuchedwa komwe kumapangidwa ndi dera kumafanana ndi mtengo wamtengo wapatali ndipo kulolerana kumayikidwa kuti asiye ndondomeko yoyendetsera. Kwa ma CD osakhudzidwa, zida ziwiri za RRAM, G1 ndi G3, zimakhudzidwa pakuwongolera. Derali lili ndi zolowetsa ziwiri, Vin0 ndi Vin1, zochedwa ndi dt. Dera liyenera kuyankha pakachedwetsa pansi pamlingo wofananira [0,dtCD]. Ngati palibe chiwongola dzanja, koma chiwongola dzanja chayandikira, zida zonse za RRAM ziyenera kukulitsidwa kuti zithandizire kuti neuron ifike pachimake. Mosiyana ndi zimenezi, ngati dera likuyankha kuchedwa komwe kumadutsa chiwerengero cha dtCD, kuyendetsa kuyenera kuchepetsedwa. Bwerezani ndondomekoyi mpaka khalidwe lolondola lipezeke. Kugwirizana kwapano kumatha kusinthidwa ndi dera la analogi lomangidwa mu ref. 72.73. Ndi dera lopangidwa mkatili, njira zotere zitha kuchitidwa nthawi ndi nthawi kuti ziwongolere dongosolo kapena kugwiritsanso ntchito pulogalamu ina.
Timawunika kugwiritsa ntchito mphamvu kwa njira yathu yopangira ma siginecha a neuromorphic pa 32-bit microcontroller68. Pakuwunikaku, tikuganiza kuti timagwira ntchito molingana ndi zomwe zili mu pepalali, ndi chotumizira chimodzi cha pMUT ndi zolandila ziwiri za pMUT. Njirayi imagwiritsa ntchito fyuluta ya bandpass, yotsatiridwa ndi sitepe yochotsa envelopu (Teeger-Kaiser), ndipo potsirizira pake ntchito yodutsa imayikidwa pa chizindikiro kuti ichotse nthawi yothawa. Kuwerengera kwa ITD ndi kusinthidwa kwake kukhala ma angles ozindikira sikunasinthidwe pakuwunika. Timaganizira zosefera band pass pogwiritsa ntchito fyuluta ya 4th infinite impulse reaction yomwe imafuna ma 18 point floating point. Kutulutsa kwa envelopu kumagwiritsa ntchito njira zina zitatu zoyandama, ndipo ntchito yomaliza imagwiritsidwa ntchito kukhazikitsa poyambira. Zochita zonse 22 zoyandama zimafunikira kuti mukonzeretu chizindikirocho. Chizindikiro chopatsirana ndikuphulika kwakanthawi kochepa kwa 111.9 kHz sine waveform yopangidwa ndi 10 ms iliyonse zomwe zimapangitsa kuti pakhale ma frequency a 100 Hz. Tidagwiritsa ntchito zitsanzo za 250 kHz kuti tigwirizane ndi Nyquist ndi zenera la 6 ms pa muyeso uliwonse kuti tijambule mita imodzi. Dziwani kuti 6 milliseconds ndi nthawi yowuluka ya chinthu chomwe chili pa 1 mita kutali. Izi zimapereka mphamvu yogwiritsa ntchito 180 µW pakusintha kwa A/D pa 0.5 MSPS. Signal preprocessing ndi 6.60 MIPS (malangizo pamphindikati), ndikupanga 0.75 mW. Komabe, microcontroller imatha kusinthira kumagetsi otsika 69 pomwe algorithm sikuyenda. Njirayi imapereka mphamvu yosasunthika ya 10.8 μW ndi nthawi yodzuka ya 113 μs. Popeza mawotchi amafupipafupi a 84 MHz, microcontroller imamaliza ntchito zonse za neuromorphic algorithm mkati mwa 10 ms, ndipo ndondomekoyi imawerengera ntchito yozungulira 6.3%, motero imagwiritsa ntchito mphamvu yochepa. Zotsatira za kutayika kwa mphamvu ndi 244.7 μW. Zindikirani kuti timasiya kutulutsa kwa ITD kuchokera ku ToF ndikusintha kukhala ngodya yodziwikiratu, motero tikuchepetsa kugwiritsa ntchito mphamvu kwa microcontroller. Izi zimapereka phindu lowonjezera pakugwiritsa ntchito mphamvu zamagetsi zomwe zaperekedwa. Monga chofananizira chowonjezera, timayesa kugwiritsa ntchito mphamvu kwa njira zachikale zopangira beamform zomwe zaperekedwa muzofotokozera. 31.54 ikaphatikizidwa mu microcontroller68 yomweyo pa 1.8V magetsi operekera. Ma nembanemba asanu a pMUT ogwirizana amagwiritsidwa ntchito kuti apeze deta yowunikira. Ponena za kukonza komweko, njira yopangira beamforming yomwe imagwiritsidwa ntchito ndikuchedwa mwachidule. Zimangophatikizapo kuchedwa kumayendedwe omwe amafanana ndi kusiyana komwe kumayembekezeredwa mu nthawi yofika pakati pa njira imodzi ndi njira yolozera. Ngati zizindikiro zili mu gawo, chiwerengero cha zizindikirozi chidzakhala ndi mphamvu zambiri pakapita nthawi. Ngati iwo ali kunja kwa gawo, kusokoneza kowononga kudzachepetsa mphamvu ya ndalama zawo. paubwenzi. Pa mkuyu. 31, sampuli ya 2 MHz imasankhidwa kuti isinthe nthawi ndi chiwerengero cha zitsanzo. Njira yochepetsetsa ndiyo kusunga chitsanzo chocheperako cha 250 kHz ndikugwiritsa ntchito fyuluta ya Finite Impulse Response (FIR) kuti mupange kuchedwa kwapang'onopang'ono. Tidzaganiza kuti zovuta za beamforming algorithm zimatsimikiziridwa makamaka ndi kusintha kwa nthawi, popeza njira iliyonse imalumikizidwa ndi FIR fyuluta yokhala ndi matepi 16 mbali iliyonse. Kuti tiwerengere kuchuluka kwa MIPS yofunikira pa ntchitoyi, timawona zenera la 6ms pa muyeso kuti tigwire mtunda wa 1 mita, 5 njira, 11 mayendedwe a beamforming (mtundu +/- 50 ° mu 10 ° masitepe). Miyezo 75 pa sekondi iliyonse idakankhira microcontroller mpaka 100 MIP. Lumikizani. 68, zomwe zidapangitsa kuti mphamvu ya 11.26 mW iwonongeke mphamvu yonse ya 11.71 mW pambuyo powonjezera chothandizira cha ADC.
Deta yochirikiza zotsatira za kafukufukuyu ikupezeka kuchokera kwa mlembi wake, FM, akafunsidwa.
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