Neuromorphic hardware designs realize neural principles in electronics to provide high-performing, energy-efficient frameworks for machine learning. Here, we propose a neuromorphic analog design for continuous real-time learning. Our hardware design realizes the underlying principles of the neural engineering framework (NEF). NEF brings forth a theoretical framework for the representation and transformation of mathematical constructs with spiking neurons, thus providing efficient means for neuromorphic machine learning and the design of intricate dynamical systems. Our analog circuit design implements the neuromorphic prescribed error sensitivity (PES) learning rule with OZ neurons. OZ is an analog implementation of a spiking neuron, which was shown to have complete correspondence with NEF across firing rates, encoding vectors, and intercepts. We demonstrate PES-based neuromorphic representation of mathematical constructs with varying neuron configurations, the transformation of mathematical constructs, and the construction of a dynamical system with the design of an inducible leaky oscillator. We further designed a circuit emulator, allowing the evaluation of our electrical designs on a large scale. We used the circuit emulator in conjunction with a robot simulator to demonstrate adaptive learning-based control of a robotic arm with six degrees of freedom.
Brain-inspired hardware designs realize neural principles in electronics to provide high-performing, energy-efficient frameworks for artificial intelligence. The Neural Engineering Framework (NEF) brings forth a theoretical framework for representing high-dimensional mathematical constructs with spiking neurons to implement functional large-scale neural networks. Here, we present OZ, a programable analog implementation of NEF-inspired spiking neurons. OZ neurons can be dynamically programmed to feature varying high-dimensional response curves with positive and negative encoders for a neuromorphic distributed representation of normalized input data. Our hardware design demonstrates full correspondence with NEF across firing rates, encoding vectors, and intercepts. OZ neurons can be independently configured in real-time to allow efficient spanning of a representation space, thus using fewer neurons and therefore less power for neuromorphic data representation.
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