Martin J. Pearson

Learn More
In this paper, we present two versions of a hardware processing architecture for modeling large networks of leaky-integrate-and-flre (LIF) neurons; the second version provides performance enhancing features relative to the first. Both versions of the architecture use fixed-point arithmetic and have been implemented using a single field-programmable gate(More)
In whiskered animals, activity is evoked in the primary sensory afferent cells (trigeminal nerve) by mechanical stimulation of the whiskers. In some cell populations this activity is correlated well with continuous stimulus parameters such as whisker deflection magnitude, but in others it is observed to represent events such as whisker-stimulator contact or(More)
Active vibrissal touch can be used to replace or to supplement sensory systems such as computer vision and, therefore, improve the sensory capacity of mobile robots. This paper describes how arrays of whisker-like touch sensors have been incorporated onto mobile robot platforms taking inspiration from biology for their morphology and control. There were two(More)
The Whiskerbot project is a collaborative project between robotics engineers, computational neuroscientists and ethologists, aiming to build a biologically inspired robotic implementation of the rodent whisker sensory system. The morphology and mechanics of the large whiskers (macro-vibrissae) have been modeled, as have the neural structures that constitute(More)
Actuated artificial whiskers modeled on rat macrovibrissae can provide effective tactile sensor systems for autonomous robots. This article focuses on texture classification using artificial whiskers and addresses a limitation of previous studies, namely, their use of whisker deflection signals obtained under relatively constrained experimental conditions.(More)
The rat has a sophisticated tactile sensory system centred around the facial whiskers. During normal behaviour, rats sweep their longer whiskers (macrovibrissae) through the environment to obtain largescale information, whilst gathering small-scale information with the sensory apparatus around their snout. The macrovibrissae are actively and differentially(More)
The implementation of a large scale, leaky-integrate-andfire neural network processor using the Xilinx Virtex-II family of Field Programable Gate Array (FPGA) is presented. The processor has been designed to model biologically plausible networks of spiking neurons in real-time to assist with the control of a mobile robot. The real-time constraint has led to(More)
Animal behaviour is rich, varied, and smoothly integrated. One plausible model of its generation is that behavioural sub-systems compete to command effectors. In small terrestrial mammals, many behaviours are underpinned by foveation, since important effectors (teeth, tongue) are co-located with foveal sensors (microvibrissae, lips, nose), suggesting a(More)