Lisebelisoa tsa 'nete tsa lefats'e tsa ts'ebetso ea data li hloka litsamaiso tsa komporo tsa komporo, tse tlase-tlase, tse nang le matla a tlase.Ka bokhoni ba likhomphutha tse tsamaisoang ke ketsahalo, meaho e tlatselletsang ea metal-oxide-semiconductor hybrid memristive neuromorphic e fana ka motheo o nepahetseng oa lisebelisoa bakeng sa mesebetsi e joalo.Ho bonts'a bokhoni bo felletseng ba litsamaiso tse joalo, re sisinya le ho bonts'a ka liteko tharollo e felletseng ea ts'ebetso ea sensor bakeng sa lits'ebetso tsa lefats'e tsa nnete.Ho latela ts'usumetso ho tsoa ho barn owl neuroanatomy, re thehile "bioinspired", e tsamaisoang ke liketsahalo sebakeng sa sistimi e kopanyang transducer ea boemo bo holimo ea piezoelectric micromechanical transducer le computational graph-based neuromorphic resistive memory.Re bonts'a litekanyo tsa sistimi e iqapetsoeng e kenyelletsang mochini oa ho tseba lintho tse etsahetseng mohopolong, ho lieha ho potoloha, le transducer ea ultrasonic e ka khonehang ka botlalo.Re sebelisa liphetho tsena tsa liteko ho lekanya lipapiso boemong ba sistimi.Lipapiso tsena li sebelisoa ho lekola qeto ea angular le matla a matla a mofuta oa sebaka sa ntho.Liphetho li bonts'a hore mokhoa oa rona e ka ba litaelo tse 'maloa tsa matla a matla ho feta li-microcontrollers tse etsang mosebetsi o tšoanang.
Re kena mehleng ea likhomphutha tse fumanehang hohle moo palo ea lisebelisoa le lits'ebetso tse sebelisoang e ntseng e hola ka mokhoa o makatsang ho re thusa bophelong ba rona ba letsatsi le letsatsi.Litsamaiso tsena li lebeletsoe hore li sebetse ka ho tsoelang pele, li ja matla a fokolang ka hohle kamoo ho ka khonehang ha li ntse li ithuta ho hlalosa lintlha tseo li li bokellang ho tsoa ho li-sensor tse ngata ka nako ea sebele le ho hlahisa tlhahiso ea binary ka lebaka la ho arola kapa mesebetsi ea ho lemoha.E 'ngoe ea mehato ea bohlokoa ka ho fetisisa e hlokahalang ho finyella pakane ena ke ho ntša boitsebiso bo molemo le bo kopanetsoeng ho tloha boitsebisong bo lerata le hangata bo sa fellang.Mekhoa e tloaelehileng ea boenjiniere e atisa ho etsa mohlala oa matšoao a sensor ka lebelo le tsitsitseng le le phahameng, ho hlahisa lintlha tse ngata esita le ha ho se na lisebelisoa tse molemo.Ho feta moo, mekhoa ena e sebelisa mekhoa e rarahaneng ea ho sebetsana le matšoao a dijithale ho etsa esale pele data ea ho kenya (hangata e lerata).Ho e-na le hoo, baeloji e fana ka tharollo e 'ngoe bakeng sa ho sebetsana le data ea kutlo e lerata e sebelisang matla, asynchronous, mekhoa e tsamaisoang ke liketsahalo (spikes)2,3.Computing ea Neuromorphic e nka pululelo ho tsoa lits'ebetsong tsa baeloji ho fokotsa litšenyehelo tsa computational ho latela litlhoko tsa matla le mohopolo ha li bapisoa le mekhoa e tloaelehileng ea ts'ebetso ea matšoao4,5,6.Haufinyane tjena, mekhoa e mecha e thehiloeng bokong e sebelisang marang-rang a impulse neural (TrueNorth7, BrainScaleS8, DYNAP-SE9, Loihi10, Spinnaker11) e bontšitsoe.Li-processor tsena li fana ka matla a tlase, litharollo tse tlase tsa latency bakeng sa ho ithuta ka mochini le mohlala oa cortical circuit.Ho sebelisa matla a bona a matla ka botlalo, li-processor tsena tsa neuromorphic li tlameha ho hokahana ka kotloloho le li-sensor tse tsamaisoang ke ketsahalo12,13.Leha ho le joalo, kajeno ho na le lisebelisoa tse 'maloa feela tse amang tse fanang ka data e tsamaisoang ke liketsahalo ka kotloloho.Mehlala e hlahelletseng ke li-dynamic visual sensors (DVS) bakeng sa lits'ebetso tsa pono tse kang ho latela le ho lemoha motsamao14,15,16,17 silicon cochlea18 le li-neuromorphic auditory sensors (NAS)19 bakeng sa ts'ebetso ea matšoao a kutlo, li-sensor tsa olfactory20 le mehlala e mengata21,22 ea ho ama..li-sensor tsa sebopeho.
Leqepheng lena, re fana ka sistimi e ncha e ntlafalitsoeng e tsamaisoang ke ketsahalo e sebelisoang molemong oa ho etsa lintho.Mona, ka lekhetlo la pele, re hlalosa mokhoa oa ho qetela oa ho qetela bakeng sa sebaka sa ntho e fumanoang ka ho hokahanya mochine oa morao-rao oa piezoelectric micromachined ultrasonic transducer (pMUT) e nang le graph computational e thehiloeng ho neuromorphic resistive memory (RRAM).Mehaho ea k'homphieutha ea mohopolong e sebelisang RRAM ke tharollo e tšepisang bakeng sa ho fokotsa tšebeliso ea matla23,24,25,26,27,28,29.Ho se feto-fetohe ha bona ha tlhaho - ho sa hlokeng tšebeliso e matla ea matla ho boloka kapa ho ntlafatsa tlhahisoleseling - e lumellana hantle le sebopeho se sa tloaelehang, se tsamaisoang ke ketsahalo ea komporo ea neuromorphic, e bakang ho se sebelisoe ha matla ha sistimi e sa sebetse.Li-piezoelectric micromachined ultrasonic transducers (pMUTs) li theko e tlaase, li-miniaturized silicon-based ultrasonic transducers tse khonang ho sebetsa e le li-transmitters le ba amohelang30,31,32,33,34.Ho sebetsana le mats'oao a amohetsoeng ke li-sensor tse hahelletsoeng ka hare, re ile ra khothatsoa ke moliko oa sephooko neuroanatomy35,36,37.Sephooko se bitsoang Tyto alba se tsebahala ka bokhoni ba sona bo hlollang ba ho tsoma bosiu ka lebaka la mokhoa o sebetsang hantle oa ho utloa.Ho bala sebaka sa phofu, tsamaiso ea sebaka sa sephooko sa molikong e kenyelletsa nako ea ho fofa (ToF) ha maqhubu a molumo a tsoang phofung a fihla tsebeng e 'ngoe le e 'ngoe ea sephooko kapa li-receptor tsa molumo.Ha ho fanoe ka sebaka se pakeng tsa litsebe, phapang pakeng tsa litekanyo tse peli tsa ToF (Interraural Time Difference, ITD) e etsa hore ho khonehe ho bala boemo ba azimuth ba sepheo.Leha litsamaiso tsa baeloji li sa lokele ho rarolla lipalo tsa algebra, li ka rarolla mathata a sebaka ka nepo haholo.Sistimi ea methapo ea molikong e sebelisa sesebelisoa sa "concidence detector" (CD) 35 neurons (ke hore, li-neuron tse khonang ho bona likamano tsa nakoana lipakeng tsa li-spikes tse phatlallang ho ea tlase ho lipheletsong tse khahlisang)38,39 e hlophisitsoeng ka li-graph tsa computational ho rarolla mathata a boemo.
Patlisiso e fetileng e bonts'itse hore lisebelisoa tse tlatselletsang tsa metal-oxide-semiconductor (CMOS) le RRAM-based neuromorphic hardware e bululetsoeng ke inferior colliculus ("auditory cortex") ea molikong oa moliko ke mokhoa o sebetsang oa ho bala boemo o sebelisa ITD13, 40, 41, 42, 43, 44, 45, 46. Leha ho le joalo, bokhoni ba mekhoa e feletseng ea neuromorphic e kopanyang lintlha tsa ho utloa ho li-graph tsa neuromorphic computational ha e e-s'o ka e bontšoa.Bothata bo boholo ke phapang ea tlhaho ea li-circuits tsa analog tsa CMOS, tse amang ho nepahala ha tlhahlobo ea papali.Haufinyane tjena, mekhoa e meng ea lipalo ea likhakanyo tsa ITD47 e bontšitsoe.Ka pampiri ena, re fana ka maikutlo a ho sebelisa bokhoni ba RRAM ho fetola boleng ba tsamaiso ka mokhoa o sa tsitsang ho loantša ho fapana ha lipotoloho tsa analog.Re kentse tšebetsong mokhoa oa liteko o kenyelletsang pMUT e le 'ngoe e fetisang lera e sebetsang ka lebelo la 111.9 kHz, pMUT tse peli tse amohelang li-membrane (li-sensor) tse etsisang litsebe tsa morubisi molikong, le e le 'ngoe.Re ile ra etsa liteko ka mokhoa oa ho lemoha oa pMUT le graph ea computational e thehiloeng ho RRAM e thehiloeng ho RRAM ho lekola sistimi ea rona ea tikoloho le ho lekola tharollo ea eona ea angular.
Re bapisa mokhoa oa rona le ts'ebetsong ea dijithale ho microcontroller e etsang mosebetsi o ts'oanang oa sebaka ka ho sebelisa mekhoa e tloaelehileng ea beamforming kapa neuromorphic, hammoho le field programmable gate array (FPGA) bakeng sa khakanyo ea ITD e hlahisitsoeng bukeng.47. Papiso ena e totobatsa katleho ea matla a tlhōlisano ea mokhoa o reriloeng oa RRAM-based analog neuromorphic system.
E 'ngoe ea mehlala e tsotehang ka ho fetisisa ea mokhoa o nepahetseng le o sebetsang oa ho etsa lintho sebakeng sa heno o ka fumanoa molikong oa sephooko35,37,48.Ka shoalane le mafube, sephooko sa moliko (Tyto Alba) se itšetleha haholo ka ho mamela feela, se batla ka mafolofolo liphofu tse nyane joalo ka litoeba kapa litoeba.Litsebi tsena tsa kutlo li ka tsebahatsa matšoao a kutlo ho tsoa phofung ka ho nepahala ho makatsang (hoo e ka bang 2 °)35, joalo ka ha ho bontšitsoe setšoantšong sa 1a.Liphooko tsa Barn li fana ka sebaka sa mehloli ea molumo sefofaneng sa azimuth (se rapameng) ho tloha phapanong ea nako e tlang ea sefofane (ITD) ho tloha mohloling oa molumo ho ea litsebeng tse peli.Mochini oa computational oa ITD o hlahisitsoe ke Jeffress49,50 o itšetlehileng ka neural geometry mme o hloka likarolo tse peli tsa bohlokoa: axon, methapo ea methapo ea neuron e sebetsang e le mohala oa ho lieha, le letoto la li-neurone tsa ho lemoha lintho tse etsahetseng ka tšohanyetso tse hlophisitsoeng ka mokhoa oa computational.graph joalokaha ho bontšitsoe setšoantšong sa 1b.Molumo o fihla tsebeng ka ho lieha ha nako ea azimuth (ITD).Joale molumo o fetoloa hore e be mohlala oa spike tsebeng ka 'ngoe.Li-axon tsa litsebe tse ka letsohong le letšehali le tse ka ho le letona li sebetsa joalo ka mela ea ho lieha 'me li kopana ho li-neuron tsa CD.Ho ea ka khopolo, ke neuron e le 'ngoe feela ka har'a letoto la li-neurone tse tsamaellanang e tla fumana kenyelletso ka nako (moo tieho e hlakolang hantle) mme e tla chesa haholo (lisele tsa boahelani le tsona li tla chesa, empa ka lebelo le tlase).Ho kenya tšebetsong li-neurone tse itseng ho kenyelletsa boemo ba sepheo sebakeng ntle le ho fetolela ITD ho li-angles.Khopolo ena e akaretsoa ka Setšoantšo sa 1c: mohlala, haeba molumo o tsoa ka lehlakoreng le letona ha lets'oao la ho kenya le tsoang tsebeng e nepahetseng le tsamaea ka tsela e telele ho feta tsela e tsoang tsebeng e ka letsohong le letšehali, ho lefella palo ea li-ITD, mohlala, ha neuron 2 e bapana.Ka mantsoe a mang, CD e 'ngoe le e' ngoe e arabela ho ITD e itseng (e tsejoang hape e le tieho e nepahetseng) ka lebaka la ho lieha ha axonal.Kahoo, boko bo fetola boitsebiso ba nakoana hore e be boitsebiso ba sebaka.Bopaki ba anatomical bakeng sa mochine ona bo fumanoe37,51.Li-macronucleus neurons tse notletsoeng li boloka tlhahisoleseling ea nakoana mabapi le melumo e kenang: joalo ka ha lebitso la tsona le bolela, li thunya ka mekhahlelo e itseng.Li-neuron tsa Coincidence detector tsa mohlala oa Jeffress li ka fumanoa mokokotlong oa laminar.Ba fumana leseli ho tsoa ho li-neurone tsa macronuclear, tseo li-axon tsa tsona li sebetsang e le mela ea ho lieha.Palo ea tieho e fanoeng ke mohala oa ho lieha e ka hlalosoa ka bolelele ba axon, hammoho le mokhoa o mong oa myelination o fetolang lebelo la conduction.E susumetsoa ke mokhoa oa ho utloa oa sephooko sa molikong, re thehile mokhoa oa biomimetic bakeng sa ho beha lintho sebakeng.Litsebe tse peli li emeloa ke ba amohelang pMUT ba babeli.Mohloli oa molumo ke pMUT transmitter e teng pakeng tsa bona (setšoantšo sa 1a), 'me setšoantšo sa computational se thehoa ke marang-rang a li-circuits tsa CD tse thehiloeng ho RRAM (setšoantšo sa 1b, se tala), se bapala karolo ea li-neuron tsa CD tseo lintlha tsa tsona li liehang.ka potoloho, mela ea ho lieha (e putsoa) e sebetsa joaloka li-axon ho molekane oa baeloji.Sistimi e reriloeng ea kutlo e fapana ka makhetlo a ts'ebetso ho tloha ho sephooko, seo sistimi ea sona ea kutlo e sebetsang ho 1-8 kHz, empa lisensor tsa pMUT tse sebetsang hoo e ka bang 117 kHz li sebelisoa mosebetsing ona.Khetho ea transducer ea ultrasonic e nkoa ho latela mekhoa ea tekheniki le ea ho ntlafatsa.Taba ea pele, ho lekanyetsa bandwidth ho leqhubu le le leng ka nepo ho ntlafatsa ho nepahala ha tekanyo le ho nolofatsa mohato oa kamora ho sebetsa.Ho phaella moo, ts'ebetso ea ultrasound e na le molemo oa hore li-pulse tse hlahisitsoeng ha li utloe, ka hona u se ke ua tšoenya batho, kaha mefuta ea bona ea ho utloa ke ~ 20-20 kHz.
sephooko sa moliko se amohela maqhubu a molumo ho tsoa ho sepheo, tabeng ena se tsamaisa phofu.Nako ea ho fofa (ToF) ea leqhubu la molumo e fapane bakeng sa tsebe e 'ngoe le e' ngoe (ntle le haeba phofu e le ka pele ho sephooko).Mola o matheba o bontša tsela eo maqhubu a molumo a e nkang ho fihla litsebeng tsa morubisi oa moliko.Liphofu li ka beoa sebakeng se nepahetseng ka sefofaneng se otlolohileng ho ipapisitse le phapang ea bolelele lipakeng tsa litsela tse peli tsa acoustic le phapang e lumellanang ea nako ea interaural (ITD) (setšoantšo se ka ho le letšehali se bululetsoeng ke ref. 74, copyright 2002, Society for Neuroscience).Sistimi ea rona, transmitter ea pMUT (boputsoa bo lefifi) e hlahisa maqhubu a molumo a tlokomang moo sepheo sa sona.Maqhubu a bonts'itsoeng a ultrasound a amoheloa ke ba amohelang pMUT ba babeli (botala bo khanyang) mme ba sebetsoa ke processor ea neuromorphic (ka ho le letona).b Moetso oa khomphutha oa ITD (Jeffress) o hlalosang kamoo melumo e kenang litsebeng tsa morubisi oa moliko e kenngoeng pele e le li-spikes tse notletsoeng ka har'a nucleus e kholo (NM) ebe ho sebelisoa marang-rang a hlophisitsoeng ka geometrical a li-neurone tsa detector tse tsamaisanang khubung ea lamellar.Ho sebetsa (Netherlands) (ka ho le letšehali).Papiso ea graph ea computational ea neuroITD e kopanyang mela ea ho lieha le li-neurone tsa ho lemoha lintho tse etsahetseng ka tšohanyetso, sistimi ea sephooko sa biosensor e ka etsoa mohlala ho sebelisoa li-circuits tsa neuromorphic tse thehiloeng ho RRAM (ka ho le letona).c Schematic ea mochine o moholo oa Jeffress, ka lebaka la phapang ea ToF, litsebe tse peli li fumana li-axon tsa molumo ka linako tse fapaneng 'me li romela li-axon ho tloha lipheletsong tse peli ho ea ho detector.Li-axon ke karolo ea letoto la li-neuron tsa coincidence detector (CD), tseo e 'ngoe le e 'ngoe ea tsona e arabelang ka mokhoa o ikhethileng ho tse amanang le nako.Ka lebaka leo, ke li-CD feela tseo lintlha tsa tsona li fihlang ka phapang e nyane ea nako li thabile haholo (ITD e lefshoa hantle).Joale CD e tla kenyelletsa boemo ba angular ea sepheo.
Piezoelectric micromechanical ultrasonic transducers ke scalable ultrasonic transducers e ka kopanngoang le theknoloji e tsoetseng pele ea CMOS31,32,33,52 'me e na le matla a tlaase a pele a matla le tšebeliso ea matla ho feta li-transducers tse tloaelehileng tsa volumetric53.Mosebetsing oa rona, bophara ba membrane ke 880 µm, 'me maqhubu a resonant a ajoa ka har'a 110-117 kHz (Setšoantšo sa 2a, bona Mekhoa bakeng sa lintlha).Sehlopheng sa lisebelisoa tse leshome tsa tlhahlobo, boleng bo tloaelehileng bo ne bo ka ba 50 (ref. 31).Theknoloji e fihlile khōlong ea indasteri 'me ha e na bioinspired per se.Ho kopanya tlhahisoleseding e tsoang lifiliming tse fapaneng tsa pMUT ke mokhoa o tsebahalang, 'me tlhahisoleseding ea angle e ka fumanoa ho pMUTs ho sebelisoa, mohlala, mekhoa ea ho betla31,54.Leha ho le joalo, ts'ebetso ea mats'oao e hlokahalang ho ntša lintlha tsa angle ha e loketse litekanyo tse tlase tsa matla.Sistimi e reriloeng e kopanya "neuromorphic data preprocessing circuit pMUT le graph ea RRAM-based neuromorphic computing e bululetsoeng ke mohlala oa Jeffress (Figure 2c), e fanang ka tharollo ea hardware e sebetsang hantle le e nang le lisebelisoa.Re entse teko eo ho eona li-sensor tse peli tsa pMUT li neng li behiloe karohano e ka bang 10 cm ho sebelisa melumo e fapaneng ea ToF e amoheloang ke li-membrane tse peli tse amohelang.pMUT e le 'ngoe e sebetsang e le transmitter e lula pakeng tsa ba amohelang.Sepheo e ne e le poleiti ea PVC e bophara ba 12 cm, e leng hole D ka pel'a sesebelisoa sa pMUT (setšoantšo sa 2b).Motho ea amohelang o tlaleha molumo o hlahang nthong ebe o itšoara ka hohle kamoo ho ka khonehang nakong ea ho feta ha leqhubu la molumo.Pheta teko ka ho fetola boemo ba ntho, bo laoloang ke sebaka sa D le angle θ.E bululetsoe ke sehokelo.55, re sisinya ts'ebetso ea neuromorphic pele ho ts'ebetso ea matšoao a tala a pMUT ho fetolela maqhubu a bonahatsoang hore e be litlhoro ho kenya graph ea computational ea neuromorphic.ToF e tsamaellanang le amplitude ea tlhōrō e ntšoa ho e 'ngoe le e' ngoe ea litsela tse peli 'me e kenyelelitsoe e le nako e nepahetseng ea litlhōrō ka bomong.Ka feiga.2c e bonts'a potoloho e hlokahalang ho hokahanya sensor ea pMUT e nang le graph ea computational e thehiloeng ho RRAM: bakeng sa e 'ngoe le e' ngoe ea ba amohelang pMUT e 'ngoe le e' ngoe, lets'oao le tala le hloekisoa hore le boreleli, le lokisoe, ebe le fetisetsoa ho sehokelo se lutlang ka mokhoa oa ho hlola.the dynamic threshold (Fig. 2d) e etsa ketsahalo ea tlhahiso (spike) le firing (LIF) neuron: nako ea spike ea tlhahiso e kenyelletsa nako ea sefofane e fumanoeng.Boemo ba LIF bo lekantsoe khahlanong le karabelo ea pMUT, kahoo e fokotsa phapang ea pMUT ho tloha sesebelisoa ho ea ho sesebelisoa.Ka mokhoa ona, ho e-na le ho boloka leqhubu lohle la molumo mohopolong le ho le sebetsana hamorao, re mpa re hlahisa tlhōrō e tsamaellanang le ToF ea leqhubu la molumo, e leng ho kenya letsoho ho kerafo ea computational memory.Li-spikes li romelloa ka ho toba meleng ea ho lieha 'me li tsamaisana le li-module tsa ho lemoha lipapali ho li-graph tsa neuromorphic computation.Hobane li romelloa lihekeng tsa li-transistors, ha ho na potoloho e eketsehileng ea amplification e hlokahalang (sheba Supplementary Fig. 4 bakeng sa lintlha tse qaqileng).E le ho lekola ho nepahala ha li-angular tsa sebaka seo ho fanoeng ke pMUT le mokhoa o reriloeng oa ho sebetsana le matšoao, re ile ra lekanya ITD (ke hore, phapang ea nako pakeng tsa liketsahalo tse phahameng tse hlahisoang ke ba amohelang batho ba babeli) ha sebaka le sekhutlo sa ntho e fapana.Tlhahlobo ea ITD e ile ea fetoloa hore e be li-angles (sheba Mekhoa) 'me e reriloe khahlanong le boemo ba ntho: ho se ts'oanehe ho ITD e lekantsoeng ho ile ha eketseha ka sebaka le sekhutlo ho ntho (setšoantšo sa 2e, f).Bothata bo boholo ke peak-to-noise ratio (PNR) karabong ea pMUT.Ntho e ka thōko, e fokotsa pontšo ea acoustic, kahoo e fokotsa PNR (setšoantšo sa 2f, mola o motala).Ho fokotseha ha PNR ho lebisa ho eketseha ha ho se ts'oanehe ha tekanyo ea ITD, e leng se etsang hore ho be le keketseho ea ho nepahala ha libaka (setšoantšo sa 2f, mola o moputsoa).Bakeng sa ntho e ka thōko ho 50 cm ho tloha ho transmitter, ho nepahala ha angular ea tsamaiso ke hoo e ka bang 10 °.Moeli ona o behiloeng ke litšobotsi tsa sensor o ka ntlafatsoa.Ka mohlala, khatello e rometsoeng ke emitter e ka eketsoa, ka hona e eketsa motlakase o tsamaisang lesela la pMUT.Tharollo e 'ngoe ea ho matlafatsa letšoao le fetisitsoeng ke ho hokahanya li-transmitters tse ngata 56. Litharollo tsena li tla eketsa sebaka sa ho lemoha ka litšenyehelo tsa litšenyehelo tse eketsehileng tsa matla.Lintlafatso tse ling li ka etsoa lehlakoreng la ho amohela.Lebato la lerata la moamoheli oa pMUT le ka fokotsoa haholo ka ho ntlafatsa khokahano lipakeng tsa pMUT le amplifier ea mohato oa pele, e ntseng e etsoa hajoale ka likhokahanyo tsa terata le likhoele tsa RJ45.
Setšoantšo sa kristale ea pMUT e nang le li-membrane tse tšeletseng tsa 880 µm tse kopantsoeng ka bophahamo ba 1.5 mm.b Setšoantšo sa mokhoa oa ho lekanya.Sepheo se behiloe sebakeng sa azimuth θ le hole D. Transmitter ea pMUT e hlahisa lets'oao la 117.6 kHz le theohang moo ho lebeletsoeng le ho fihlela ba amohelang pMUT ba babeli ka nako e fapaneng ea ho fofa (ToF).Phapang ena, e hlalosoang e le phapang ea nako ea inter-aural (ITD), e kenyelletsa boemo ba ntho 'me e ka hakanngoa ka ho hakanya karabelo e phahameng ea li-sensor tse peli tse amohelang.c Schematic ea mehato ea pele ho ts'ebetso ea ho fetolela lets'oao le tala la pMUT hore e be tatellano ea spike (ke hore, ho kenya graph ea neuromorphic computation).Li-sensor tsa pMUT le li-graph tsa computational tsa neuromorphic li entsoe le ho lekoa, 'me ts'ebetso ea pele ea neuromorphic e ipapisitse le papiso ea software.d Karabelo ea lesela la pMUT ha le fumana lets'oao le ho fetoha sebaka sa spike.e Ho nepahala ha sebaka sa liteko ka mokhoa oa ts'ebetso ea angle ea ntho (Θ) le sebaka (D) ho ea ho sepheo.Mokhoa oa ho ntša oa ITD o hloka bonyane qeto ea angular e ka bang 4°C.f Ho nepahala ha angular (mothapo o moputsoa) le karo-karolelano ea tlhoro-ho-lerata (mola o motala) khahlano le sebaka sa ntho bakeng sa Θ = 0.
Resistive memory e boloka tlhahisoleseding sebakeng se sa feto-fetoheng sa conductive.Molao-motheo oa motheo oa mokhoa ona ke hore ho fetoloa ha thepa boemong ba athomo ho baka phetoho ho conductivity ea eona ea motlakase57.Mona re sebelisa mohopolo oa ho hanyetsa o thehiloeng ho oxide o nang le lesela la 5nm la hafnium dioxide e pakeng tsa titanium e ka holimo le e ka tlaase le li-electrode tsa titanium nitride.Ts'ebetso ea lisebelisoa tsa RRAM e ka fetoloa ka ho sebelisa waveform ea hona joale / ea motlakase e hlahisang kapa e senyang likhoele tse tsamaisang likheo tsa oksijene lipakeng tsa li-electrode.Re ile ra kopanya lisebelisoa tse joalo58 ka mokhoa o tloaelehileng oa 130 nm CMOS ho theha potoloho e hlophisitsoeng e nchafalitsoeng ea neuromorphic e kenyang ts'ebetso ea detector ea iketsahalletseng le potoloho ea ho lieha (Setšoantšo sa 3a).Sebopeho se sa tsitsang le sa analoge sa sesebelisoa, se kopantsoe le tlhaho e tsamaisoang ke ketsahalo ea potoloho ea neuromorphic, e fokotsa tšebeliso ea matla.Potoloho e na le ts'ebetso ea hang-hang / ea ho tima: e sebetsa hang ka mor'a ho buloa, ho lumella matla ho tima ka ho feletseng ha potoloho e sa sebetse.Libaka tse ka sehloohong tsa mohaho oa morero o reriloeng li bontšitsoe setšoantšong.3b.E na le meaho ea N parallel single-resistor single-transistor (1T1R) e kenyelletsang litekanyo tsa synaptic moo maqhubu a boima a nkuoang, a kenngoa ka har'a synapse e tloaelehileng ea "different pair integrator" (DPI) 59, 'me qetellong e kenngoa ka har'a synapse ka ho kopanya le ho kopanya. dutla.activated (LIF) neuron 60 (sheba Mekhoa bakeng sa lintlha).Lits'oants'o tse kenang li sebelisoa hekeng ea sebopeho sa 1T1R ka mokhoa oa tatellano ea li-voltage pulses ka nako ka tatellano ea makholo a li-nanoseconds.Mehopolo e hanyetsanang e ka behoa sebakeng se phahameng sa conductive (HCS) ka ho sebelisa ts'upiso e ntle ea kantle ho Vtop ha Vbottom e theiloe, 'me e khutlisetsoe boemong bo tlaase ba conductive (LCS) ka ho sebelisa voltage e ntle ho Vbottom ha Vtop e thehiloe.Karolelano ea boleng ba HCS e ka laoloa ka ho fokotsa lenaneo la hona joale (ho lumellana) le SET (ICC) ka motlakase oa heke-mohloli oa letoto la transistor (setšoantšo sa 3c).Mesebetsi ea RRAM potolohong e habeli: e tsamaisa le ho lekanya matla a ho kenya letsoho.
Setshwantsho sa electron microscope (SEM) sa sesebediswa se seputswa sa HfO2 1T1R RRAM se kopantsweng ho theknoloji ya 130 nm CMOS e nang le selector transistors (650 nm wide) ka botala.b Mehaho ea motheo ea schema ea neuromorphic e reriloeng.Li-pulses tsa motlakase oa ho kenya (lihloro) Vin0 le Vin1 li sebelisa Iweight ea hona joale, e lekanang le libaka tsa conduction G0 le G1 ea sebopeho sa 1T1R.Hona joale e kenngoa ka har'a li-synapse tsa DPI 'me e thabisa li-neuron tsa LIF.RRAM G0 le G1 li kentsoe ho HCS le LCS ka ho latellana.c Mosebetsi oa cumulative conductance density bakeng sa sehlopha sa lisebelisoa tsa 16K RRAM e le ts'ebetso ea ICC e bapisang hona joale, e laolang hantle boemo ba conduction.d Litekanyo tsa potoloho ho (a) tse bonts'ang hore G1 (ho LCS) e thibela ka nepo ho kenya letsoho ho tsoa ho Vin1 (e tala), 'me ehlile voltage ea membrane ea neuron e arabela feela ho kenyelletso e putsoa ho tsoa ho Vin0.RRAM e khetholla ka nepo likhokahano tsa potoloho.e Tekanyo ea potoloho ka (b) e bontšang phello ea boleng ba conductance G0 ka lera la Vmem ka mor'a ho sebelisa voltage pulse Vin0.Ha boitšoaro bo ntse bo eketseha, karabelo e matlafala: ka hona, sesebelisoa sa RRAM se sebelisa boima ba khokahano ea I/O.Litekanyo li entsoe potolohong 'me li bonts'a ts'ebetso e habeli ea RRAM, ho tsamaisa le ho lekanya boima ba li-pulse tse kenang.
Ntlha ea pele, kaha ho na le libaka tse peli tsa motheo tsa conduction (HCS le LCS), li-RRAM li ka thibela kapa tsa fosa li-pulse tsa ho kenya ha li le LCS kapa HCS states, ka ho latellana.Ka lebaka leo, RRAM e khetholla ka nepo likhokahano tsa potoloho.Ona ke motheo oa ho khona ho hlophisa bocha moaho.Ho bontša sena, re tla hlalosa ts'ebetsong ea potoloho e entsoeng ka mokoloko oa potoloho setšoantšong sa 3b.RRAM e tsamaellanang le G0 e hlophiselitsoe ho HCS, 'me RRAM G1 ea bobeli e kentsoe LCS.Li-pulse tse kenyang li sebelisoa ho Vin0 le Vin1 ka bobeli.Litlamorao tsa tatellano e 'meli ea li-pulse tsa ho kenya li ile tsa hlahlojoa ho li-neuron tse tsoang ka ho bokella motlakase oa membrane ea neuron le lets'oao la tlhahiso ho sebelisa oscilloscope.Teko e ile ea atleha ha feela sesebediswa sa HCS (G0) se ne se hoketswe ho pulse ya neuron ho tsosa tsitsipano ya lera.Sena se bontšoa ho Setšoantšo sa 3d, moo terene e putsoa e etsang hore motlakase oa membrane o hahe holim'a capacitor ea membrane, athe terene e tala e boloka motlakase oa membrane o sa fetohe.
Mosebetsi oa bobeli oa bohlokoa oa RRAM ke ts'ebetsong ea boima ba khokahanyo.U sebelisa phetoho ea boitšoaro ba analog ea RRAM, likhokahano tsa I/O li ka lekanngoa ka nepo.Tekong ea bobeli, sesebelisoa sa G0 se ile sa hlophisoa maemong a fapaneng a HCS, 'me phallo ea ho kenya e sebelisoa ho kenya letsoho ho VIn0.Pulse ea ho kenya e hula hona joale (Iweight) ho tloha sesebelisoa, e lekanang le conductance le e lumellanang le monyetla oa ho theoha Vtop - Vbot.Hona joale e boima e kenngoa ka har'a li-synapse tsa DPI le li-neuron tsa LIF.Motlakase oa membrane oa li-neuron tse hlahisoang o ngotsoe ho sebelisoa oscilloscope 'me o bontšitsoe setšoantšong sa 3d.Tlhōrō ea "voltage" ea membrane ea neuron karabelong ea "pulse" e le 'ngoe e lekana le ts'ebetso ea mohopolo o hanyetsanang, ho bonts'a hore RRAM e ka sebelisoa e le ntho e ka hlophisehang ea boima ba synaptic.Liteko tsena tse peli tsa selelekela li bonts'a hore sethala se reriloeng sa RRAM-based neuromorphic se khona ho kenya tšebetsong lintlha tsa motheo tsa mochini oa Jeffress oa mantlha, e leng mohala oa ho lieha le potoloho ea tsietsi.Sethala sa potoloho se hahiloe ka ho bokella li-blocks tse latellanang ka lehlakoreng le leng, joalo ka li-blocks ho Setšoantšo sa 3b, le ho hokahanya liheke tsa bona moleng o tloaelehileng oa ho kenya.Re ile ra qapa, ra etsa, ra ba ra leka sethala sa neuromorphic se nang le li-neuron tse peli tse tsoang ho fumana lintlha tse peli (Setšoantšo sa 4a).Setšoantšo sa potoloho se bontšoa setšoantšong sa 4b.Matrix a 2 × 2 RRAM e ka holimo e lumella li-pulse tsa ho kenya hore li lebisoe ho li-neuron tse peli tse hlahisoang, ha 2 × 2 matrix e ka tlaase e lumella likhokahano tse tloaelehileng tsa li-neurons tse peli (N0, N1).Re bontša hore sethala sena se ka sebelisoa ka tlhophiso ea mohala oa ho lieha le mesebetsi e 'meli e fapaneng ea ho lemoha lintho tse etsahetseng ka tšohanyetso, joalokaha ho bontšoa ke litekanyo tsa liteko ho Feiga 4c-e.
Setšoantšo sa potoloho se entsoeng ka li-neuron tse peli tse hlahisoang ke N0 le N1 e amohelang lintlha tse peli 0 le 1. Lisebelisoa tse 'nè tse ka holimo tsa lihlopha li hlalosa likhokahano tsa synaptic ho tloha ho ho kenya letsoho ho ea ho tlhahiso,' me lisele tse 'nè tse ka tlaase li hlalosa likamano tse tloaelehileng pakeng tsa li-neurone.Li-RRAM tse mebala li emela lisebelisoa tse hlophisitsoeng ho HCS ka ho le letona: lisebelisoa tse ho HCS li lumella likhokahano le ho emela boima, ha lisebelisoa tse ho LCS li thibela li-pulse tsa ho kenya le ho tima likhokahano ho lihlahisoa.b Setšoantšo sa potoloho (a) se nang le li-module tse robeli tsa RRAM tse totobalitsoeng ka boputsoa.c Mela ea tieho e thehoa ka ho sebelisa feela matla a DPI synapses le LIF neurons.RRAM e tala e behiloe ho sebetsa holimo ho lekana hore e khone ho baka glitch sephethong ka mor'a ho lieha ho kenya Δt.d Papiso ea moralo ea ho lemoha ha CD e sa tsotelleng tataiso ea matšoao a itšetlehileng ka nako.Output neuron 1, N1, e tuka ho kenya letsoho 0 le 1 ka tieho e kgutshwane.e Direction sensitive CD circuit, potoloho e lemohang ha ho kenya letsoho 1 ho atamela ho kenya 0 mme e fihla ka mor'a ho kenya 0. Phallo ea potoloho e emeloa ke neuron 1 (N1).
Mohala oa ho lieha (Setšoantšo sa 4c) o sebelisa feela boits'oaro bo matla ba li-synapse tsa DPI le li-neuron tsa LIF ho hlahisa spike ea ho kenya letsoho ho tloha Vin1 ho ea Vout1 ka ho liehisa Tdel.Ke feela G3 RRAM e hokahaneng le Vin1 le Vout1 e hlophisitsoeng ka HCS, li-RRAM tse ling kaofela li entsoe ka LCS.Sesebelisoa sa G3 se etselitsoe li-92.6 µs ho etsa bonnete ba hore phallo e 'ngoe le e' ngoe e kenang e eketsa motlakase oa membrane ea neuron e tsoang ka mokhoa o lekaneng ho fihla moeling le ho hlahisa molumo o liehang oa tlhahiso.Ho lieha ha Tdel ho khethoa ke li-synaptic le neural time constants.Lisebelisoa tsa ho iketsahalla feela li lemoha ho hlaha ha matšoao a amanang le nakoana empa a arolelitsoe sebakeng.CD e sa tsotelleng tataiso e itšetlehile ka lintho tse kenang ka bomong tse fetohelang ho neuron e tloaelehileng ea tlhahiso (Setšoantšo sa 4d).Li-RRAM tse peli tse hokahanyang Vin0 le Vin1 ho Vout1, G2 le G4 ka ho latellana li hlophiselitsoe ho tsamaisa maemo a holimo.Ho fihla ka nako e le 'ngoe ha li-spikes ho Vin0 le Vin1 ho eketsa voltage ea lera la N1 neuron ka holim'a monyako o hlokahalang ho hlahisa sekhahla sa tlhahiso.Haeba lintho tse peli tse kenang li le hole haholo ka nako, tefiso ea motlakase oa membrane e bokelletsoeng ke tlhahiso ea pele e ka ba le nako ea ho bola, e thibelang lera le ka bang teng N1 ho fihlela boleng ba monyako.G1 le G2 li hlophisitsoe bakeng sa hoo e ka bang 65 µs, e leng se netefatsang hore ts'ebetso e le 'ngoe ea ho kenya letsoho ha e eketse motlakase oa membrane e lekaneng ho baka ho eketseha ha tlhahiso.Ho lemoha ka tsietsi lipakeng tsa liketsahalo tse ajoang sebakeng le nako ke ts'ebetso ea mantlha e sebelisoang mesebetsing e mengata e fapaneng ea ho lemoha, joalo ka ho qoba litšitiso tsa optical flow le ho aha mohloli oa molumo.Ka hona, li-CD tse sa tsotelleng tataiso ea khomphutha le tse sa tsotelleng ke moaho oa motheo bakeng sa ho aha lits'ebetso tse bonoang le tse mameloang.Joalokaha ho bontšoa ke litšoaneleho tsa linako tsa nako (sheba Supplementary Fig. 2), potoloho e reriloeng e sebelisa mefuta e loketseng ea litaelo tse 'nè tsa sekala sa nako ea boholo.Kahoo, ka nako e le 'ngoe e ka finyella litlhoko tsa mekhoa ea pono le ea molumo.CD ea Directional-sensitive ke potoloho e tsotellang tatellano ea sebaka sa ho fihla ha maqhubu: ho tloha ho le letona ho ea ho le letšehali le ka tsela e fapaneng.Ke motheo oa motheo oa marang-rang a ho lemoha motsamao oa tsamaiso ea pono ea Drosophila, e sebelisetsoang ho bala litsela tsa ho tsamaea le ho lemoha ho thulana62.E le ho finyella CD e nang le tataiso, lintlha tse peli li tlameha ho lebisoa ho li-neuron tse peli tse fapaneng (N0, N1) 'me ho tlameha ho thehoa kamano ea tataiso pakeng tsa bona (setšoantšo sa 4e).Ha tlhahiso ea pele e amoheloa, NO e arabela ka ho eketsa motlakase ho pholletsa le lera la eona ka holimo ho boleng ba moeli le ho romela ts'ebetso.Ketsahalo ena ea tlhahiso, ka lehlakoreng le leng, e chesa N1 ka lebaka la khokahano ea tataiso e totobalitsoeng ka botala.Haeba ketsahalo ea ho kenya Vin1 e fihla 'me e matlafatsa N1 ha motlakase oa eona o ntse o le holimo, N1 e hlahisa ketsahalo e bonts'ang hore papali e fumanoe lipakeng tsa lintho tse peli.Likhokahano tsa Directional li lumella N1 ho ntša tlhahiso ha feela input 1 e tla ka mor'a ho kenya 0. G0, G3, le G7 li hlophisitsoe ho 73.5 µS, 67.3 µS, le 40.2 µS, ka ho latellana, ho netefatsa hore spike e le 'ngoe ho Vin0 e kenyang e baka ho lieha. spike ea tlhahiso, athe lesela la N1's le ka fihla moeling feela ha ho phatloha ka bobeli ho fihla ho lumellana..
Ho feto-fetoha ke mohloli oa ho se phethahale ho mekhoa ea methapo ea methapo63,64,65.Sena se lebisa boitšoarong bo fapaneng ba li-neurone le li-synapses.Mehlala ea bofokoli bo joalo e kenyelletsa 30% (ho kheloha ho tloaelehileng) ho feto-fetoha ha phaello ea ho kenya letsoho, nako e tsitsitseng, le nako ea refractory, ho bolela tse seng kae feela (sheba Mekhoa).Bothata bona bo bonahala le ho feta ha li-circuits tse ngata tsa methapo ea kutlo li hokahantsoe hammoho, joalo ka CD e utloang maikutlo e nang le li-neurone tse peli.Ho sebetsa hantle, nako ea phaello le ho bola ea li-neuron tse peli li lokela ho tšoana ka hohle kamoo ho ka khonehang.Mohlala, phapang e kholo ea phaello ea ho kenya letsoho e ka etsa hore neuron e le 'ngoe e sebetse ho feta tekano ha neuron e 'ngoe e sa arabele hantle.Ka feiga.Setšoantšo sa 5a se bontša hore li-neurone tse khethiloeng ka nako e sa lekanyetsoang li arabela ka tsela e fapaneng ho phallo e tšoanang ea ho kenya.Phapang ena ea methapo e bohlokoa, mohlala, mosebetsing oa li-CD tse utloang tataiso.Lenaneong le bontšitsoeng ho feiga.5b, c, phaello e kenang ea neuron 1 e phahame haholo ho feta ea neuron 0. Ka hona, neuron 0 e hloka li-pulse tse tharo tsa ho kenya (ho e-na le 1) ho fihla monyako, 'me neuron 1, joalokaha ho lebeletsoe, e hloka liketsahalo tse peli tsa ho kenya letsoho.Ho kenya ts'ebetsong ea spike biomimetic plasticity (STDP) e itšetlehileng ka nako ea spike ke mokhoa o ka bang teng oa ho fokotsa tšusumetso ea li-circuits tsa neural le synaptic tse sa nepahalang le tse botsoa ts'ebetsong ea sistimi43.Mona re fana ka maikutlo a ho sebelisa boitšoaro ba polasetiki ba mohopolo oa ho hanyetsa e le mokhoa oa ho susumetsa ntlafatso ea ho kenya letsoho le ho fokotsa liphello tsa ho fetoha ha li-circuits tsa neuromorphic.Joalokaha ho bontšitsoe feiga.4e, maemo a boitšoaro a amanang le RRAM synaptic mass a ile a fetola ka katleho karabo e lumellanang ea neural membrane voltage.Re sebelisa leano le pheta-phetoang la RRAM.Bakeng sa kenyelletso e fanoeng, litekanyetso tsa boitšoaro tsa boima ba synaptic li hlophisoa bocha ho fihlela boitšoaro bo reretsoeng ba potoloho bo fumanoa (bona Mekhoa).
Litekanyo tsa liteko tsa karabelo ea li-neuron tse robong tse khethiloeng ka mokhoa o sa reroang ho phallo e tšoanang ea ho kenya.Karabelo e fapana ho ea ka palo ea batho, e ama phaello ea tlhahiso le nako e sa fetoheng.b Litekanyo tsa liteko tsa tšusumetso ea methapo ea kutlo ho feto-fetoha ha methapo e amang CD e utloang tataiso.Li-neuron tsa CD tse nang le tataiso tse peli tse arabelang ka tsela e fapaneng ka lebaka la ho fetoha ha neuron-to-neuron.Neuron 0 e na le phaello e tlase ea ho kenya ho feta neuron 1, kahoo ho nka li-pulse tse tharo tsa ho kenya (ho e-na le 1) ho theha sekhahla sa tlhahiso.Joalokaha ho lebelletsoe, neuron 1 e fihla monyako ka liketsahalo tse peli tsa ho kenya.Haeba input 1 e fihla Δt = 50 µs kamora ho tuka ha neuron 0, CD e lula e khutsitse hobane Δt e kholo ho feta nako e sa fetoheng ea neuron 1 (hoo e ka bang 22 µs).c e fokotsoa ke Δt = 20 µs, e le hore ho kenya 1 tlhōrō ha ho thunngoa ha neuron 1 ho ntse ho le holimo, ho fella ka ho lemoha ka nako e le 'ngoe liketsahalo tse peli tsa ho kenya.
Lintlha tse peli tse sebelisitsoeng kholomong ea lipalo ea ITD ke mohala oa ho lieha le CD e sa tsotelleng.Li-circuits ka bobeli li hloka tlhophiso e nepahetseng ho netefatsa ts'ebetso e ntle ea boemo ba ntho.Mohala oa ho lieha o tlameha ho fana ka mofuta o liehileng ka nepo oa peak ea ho kenya (setšoan. 6a), 'me CD e tlameha ho kengoa ha feela ntho e kenang e oela ka har'a sebaka se lemohileng.Bakeng sa mohala oa ho lieha, litekanyo tsa li-synaptic tsa likhokahano tsa ho kenya letsoho (G3 ho Setšoantšo sa 4a) li ile tsa hlophisoa hape ho fihlela nako ea ho lieha ho fihla e fumanoa.Beha mamello ho pota-pota sepheo sa ho lieha ho emisa lenaneo: e nyenyane mamello, ho thata le ho feta ho beha ka katleho mohala oa ho lieha.Ka feiga.Setšoantšo sa 6b se bonts'a liphello tsa ts'ebetso ea ho lieha ha mohala oa ho lieha: ho ka bonoa hore morero o reriloeng o ka fana ka litiehiso tsohle tse hlokahalang morerong oa moralo (ho tloha ho 10 ho ea ho 300 μs).Palo e phahameng ka ho fetisisa ea ho pheta-pheta e ama boleng ba mokhoa oa ho lekanya: ho pheta-pheta ha 200 ho ka fokotsa phoso ho tlase ho 5%.Phetoho e le 'ngoe ea litekanyo e tsamaisana le ts'ebetso ea ho seta/seta botjha ha sele ea RRAM.Ts'ebetso ea tokiso e bohlokoa hape bakeng sa ho ntlafatsa ho nepahala ha CD module ea ho lemoha ketsahalo e haufi hanghang.Ho ile ha nka likhakanyo tse leshome tsa teka-tekano ho fihlela sekhahla se nepahetseng (ke hore, sekhahla sa liketsahalo tse hloailoeng ka nepo e le tse loketseng) ka holimo ho 95% (mola o moputsoa setšoantšong sa 6c).Leha ho le joalo, ts'ebetso ea tokiso ha ea ka ea ama liketsahalo tse ntle tsa bohata (ke hore, makhetlo a mangata a ileng a hlokomeloa ka phoso e le a bohlokoa).Mokhoa o mong o bonoang lits'ebetsong tsa baeloji bakeng sa ho hlola litšitiso tsa nako ea litsela tse sebetsang ka potlako ke ho hloka chelete (ke hore, likopi tse ngata tsa ntho e tšoanang li sebelisoa ho etsa mosebetsi o fanoeng).E bululetsoe ke biology66, re kentse li-circuits tsa CD tse 'maloa mojulung o mong le o mong oa CD pakeng tsa mela e 'meli ea ho lieha ho fokotsa tšusumetso ea li-positives tsa bohata.Joalokaha ho bontšitsoe feiga.6c (mola o motala), ho kenya likarolo tse tharo tsa CD ka har'a mochine o mong le o mong oa CD ho ka fokotsa sekhahla sa alamo ea bohata ho feta 10-2.
Phello ea ho feto-fetoha ha neuronal ho li-circuits tsa tieho.b Lipotoloho tsa mela e liehang li ka lekanyetsoa ho tieho e kholo ka ho beha linako tsa nako ea li-neuron tsa LIF le li-synapse tsa DPI ho litekanyetso tse kholo.Ho eketsa palo ea ho pheta-pheta ts'ebetso ea ho lekanya ea RRAM ho entse hore ho khonehe ho ntlafatsa haholo ho nepahala ha sepheo sa ho lieha: ho pheta-pheta ha 200 ho fokolitse phoso ka tlase ho 5%.Phetoho e le 'ngoe e tsamaisana le ts'ebetso ea SET/RESET ho sele ea RRAM.Mojule o mong le o mong oa CD oa mofuta oa c Jeffress o ka kengoa ts'ebetsong ho sebelisoa likarolo tsa N parallel CD bakeng sa ho fetoha le maemo ho hoholo mabapi le mefokolo ea sistimi.d Liphetoho tse ling tsa RRAM tsa calibration li eketsa sekhahla sa 'nete se nepahetseng (mola o moputsoa), ha sekhahla se fosahetseng se itšetlehile ka palo ea ho pheta-pheta (mola o motala).Ho beha likarolo tse ling tsa CD ka tsela e tšoanang ho qoba ho fumanoa ka bohata ha li-module tsa CD.
Hona joale re hlahloba ts'ebetso le ts'ebeliso ea matla ea mokhoa oa ho qetela oa ho qetela o kopantsoeng oa ntho ea sebaka se bontšitsoeng ho Setšoantšo sa 2 ho sebelisa litekanyo tsa thepa ea acoustic ea pMUT sensor, CD, le lipotoloho tsa ho lieha ho etsa li-neuromorphic computing graph.Mohlala oa Jeffress (setšoantšo sa 1a).Ha e le graph ea computing ea neuromorphic, palo e kholo ea li-module tsa CD, e ntlafatsa tharollo ea angular, empa hape e phahamisa matla a tsamaiso (setšoantšo sa 7a).Ho sekisetsa ho ka finyelloa ka ho bapisa ho nepahala ha likarolo tsa motho ka mong (li-sensor tsa pMUT, neurons, le li-circuits tsa synaptic) le ho nepahala ha tsamaiso eohle.Qeto ea mohala oa ho lieha e lekanyelitsoe ke linako tsa nako ea li-synapse le li-neuron tse etsisitsoeng, tseo morerong oa rona o fetang 10 µs, o lumellanang le qeto ea angular ea 4 ° (bona Mekhoa).Li-node tse tsoetseng pele haholoanyane tse nang le theknoloji ea CMOS li tla lumella moralo oa li-circuits tsa neural le synaptic tse nang le li-constants tsa nako e tlase, e leng se hlahisang ho nepahala ho hoholo ha likarolo tsa mohala oa ho lieha.Leha ho le joalo, tsamaisong ea rona, ho nepahala ho lekanyelitsoe ke phoso pMUT ka ho lekanya boemo ba angular, ke hore 10 ° (mohala o moputsoa o otlolohileng setšoantšong sa 7a).Re ile ra lokisa palo ea li-module tsa CD ho 40, e lumellanang le qeto ea angular e ka bang 4 °, ke hore, ho nepahala ha angular ea graph computational (mola o khanyang o moputsoa o otlolohileng setšoantšong sa 7a).Boemong ba sistimi, sena se fana ka qeto ea 4 ° le ho nepahala ha 10 ° bakeng sa lintho tse fumanehang 50 cm ka pel'a sistimi ea sensor.Boleng bona bo bapisoa le lits'ebetso tsa "neuromorphic sound localization" tse tlalehiloeng ho ref.67. Papiso ea tsamaiso e reriloeng le boemo ba boemo bo botle e ka fumanoa ho Letlapa la Tlatsetso 1. Ho eketsa pMUT e eketsehileng, ho eketsa boemo ba pontšo ea acoustic, le ho fokotsa lerata la elektronike ke litsela tse ka khonehang tsa ho ntlafatsa ho nepahala ha libaka.) e hakanyetsoa ho 9.7.nz.55. Ho fanoe ka li-CD tse 40 tsa graph ea computational, papiso ea SPICE e hakantse matla ka ts'ebetso e 'ngoe le e' ngoe (ke hore, matla a ho beha ntho) ho 21.6 nJ.Sisteme ea neuromorphic e kengoa tšebetsong feela ha ketsahalo ea ho kenya e fihla, ke hore, ha leqhubu la acoustic le fihla moamoheli ofe kapa ofe oa pMUT mme le feta moeli oa ho lemoha, ho seng joalo le lula le sa sebetse.Sena se qoba tšebeliso ea matla e sa hlokahaleng ha ho se na letšoao la ho kenya.Ha ho nahanoa ka makhetlo a ts'ebetso ea sebaka sa 100 Hz le nako ea ts'ebetso ea 300 µs ka ts'ebetso (tekanyo e phahameng ka ho fetisisa ea ITD), tšebeliso ea matla ea neuromorphic computing graph ke 61.7 nW.Ka neuromorphic pre-processing e sebelisoang ho moamoheli e mong le e mong oa pMUT, tšebeliso ea matla ea sistimi eohle e fihla ho 81.6 nW.Ho utloisisa ts'ebetso e ntle ea matla ea mokhoa o reriloeng oa neuromorphic ha o bapisoa le lisebelisoa tse tloaelehileng, re bapisitse palo ena le matla a hlokahalang ho etsa mosebetsi o ts'oanang ho "microcontroller" ea sejoale-joale ea matla a tlase e sebelisang bokhoni ba neuromorphic kapa bo tloaelehileng ba beamforming68.Mokhoa oa neuromorphic o nka sethala sa analog-to-digital converter (ADC), se lateloa ke sefahla sa li-band-pass le sethala sa ho ntša enfelopo (mokhoa oa Teeger-Kaiser).Qetellong, ho etsoa opereishene ea ho ntša ToF.Re tlohetse lipalo tsa ITD tse ipapisitseng le ToF le phetoho ho boemo bo hakantsoeng ba angular kaha sena se etsahala hang bakeng sa tekanyo ka 'ngoe (bona Mekhoa).Ha re nka lisampole tsa 250 kHz likanaleng ka bobeli (li-receiver tsa pMUT), ts'ebetso ea filthara ea li-band tse 18, ts'ebetso ea ho ntša enfelopo e 3, le ts'ebetso e le 'ngoe ea sampuli ka' ngoe, tšebeliso ea matla e hakanyetsoa ho li-microwatts tse 245.Sena se sebelisa microcontroller's low-power mode69, e bulelang ha li-algorithms li sa sebetse, e fokotsang tšebeliso ea matla ho 10.8 µW.Tšebeliso ea matla ea tharollo ea mats'oao a beamforming e hlahisitsoeng ho referense.31, e nang le baamoheli ba 5 pMUT le maballo a 11 a ajoang ka mokhoa o ts'oanang sefofaneng sa azimuth [-50 °, +50 °], ke 11.71 mW (sheba karolo ea Mekhoa bakeng sa lintlha).Ntle le moo, re tlaleha ts'ebeliso ea matla ea FPGA47-based Time Difference Encoder (TDE) e hakantsoeng ho 1.5 mW e le sebaka sa mofuta oa Jeffress bakeng sa ho etsa ntho ea lehae.Ho ipapisitsoe le likhakanyo tsena, mokhoa o reriloeng oa neuromorphic o fokotsa ts'ebeliso ea matla ka liodara tse hlano tsa boholo ha o bapisoa le microcontroller e sebelisang mekhoa ea khale ea beamforming bakeng sa ts'ebetso ea sebaka sa ntho.Ho amohela mokhoa oa neuromorphic oa ts'ebetso ea lets'oao ho microcontroller ea khale ho fokotsa tšebeliso ea matla ka liodara tse peli tsa boholo.Ho sebetsa hantle ha sistimi e reriloeng ho ka hlalosoa ka ho kopanngoa ha potoloho ea analoge ea asynchronous resistive-memory e khonang ho etsa lipalo tsa mohopolong le khaello ea phetoho ea analoge ho ea ho dijithale e hlokahalang ho lemoha matšoao.
qeto ea Angular (e putsoa) le tšebeliso ea matla (e tala) ea ts'ebetso ea libaka ho itšetlehile ka palo ea li-module tsa CD.Thepa e tshekaletseng e boputswa bo lefifi e emetse ho nepahala ha angular ya PMUT mme boputswa bo kganyang bo tshekaletseng ba boputswa bo emela ho nepahala ha angular ya graph ya neuromorphic computational.b Ts'ebeliso ea matla ea sistimi e reriloeng le ho bapisa le ts'ebetso e 'meli ea li-microcontroller le ts'ebetsong ea dijithale ea Time Difference Encoder (TDE)47 FPGA.
Ho fokotsa ts'ebeliso ea matla a sistimi e reriloeng ea sebaka, re ile ra theha, ra theha le ho kenya tšebetsong potoloho e sebetsang hantle, e tsamaisoang ke ketsahalo ea RRAM-based neuromorphic e sebetsanang le tlhaiso-leseling e hlahisoang ke li-sensor tse hahelletsoeng ho bala boemo ba ntho e lebisitsoeng ka nepo. nako..Le ha mekhoa ea khale ea ts'ebetso e ntse e etsa mohlala oa matšoao a fumanoeng le ho etsa lipalo ho fumana tlhaiso-leseling e sebetsang, tharollo e reriloeng ea neuromorphic e etsa lipalo ka mokhoa o ts'oanang ha tlhaiso-leseling e bohlokoa e fihla, e holisa ts'ebetso ea matla a sistimi ka liodara tse hlano tsa boholo.Ho phaella moo, re totobatsa ho feto-fetoha ha li-circuits tsa neuromorphic tse thehiloeng ho RRAM.Bokhoni ba RRAM ba ho fetola boitšoaro ka mokhoa o sa tsitsang (polasetiki) bo lefella ho fetoha ha tlhaho ha li-circuits tsa synaptic le methapo ea methapo ea DPI.Sena se etsa hore potoloho ena e thehiloeng ho RRAM e feto-fetohe le ho ba matla.Sepheo sa rona ha se ho ntša mesebetsi e rarahaneng kapa lipaterone ho tsoa mats'oaong, empa ke ho beha lintho sebakeng ka nako ea nnete.Sistimi ea rona le eona e ka hatella lets'oao hantle mme qetellong ea le romella mehatong e tsoelang pele ea ts'ebetso ho etsa liqeto tse rarahaneng ha ho hlokahala.Boemong ba lits'ebetso tsa sebaka sa heno, mohato oa rona oa "neuromorphic preprocessing" o ka fana ka leseli mabapi le sebaka sa lintho.Lintlha tsena li ka sebelisoa, mohlala, bakeng sa ho lemoha motsamao kapa ho lemoha boitšisinyo.Re totobatsa bohlokoa ba ho kopanya li-sensor tsa motlakase tse tlase haholo tse kang pMUT le lisebelisoa tsa elektroniki tse tlase haholo.Bakeng sa sena, mekhoa ea neuromorphic e bile ea bohlokoa kaha e re lebisitse ho nts'etsopele ea ts'ebetsong e ncha ea potoloho ea mekhoa ea computational e bululetsoeng ke baeloji joalo ka mohlala oa Jeffress.Boemong ba ts'ebeliso ea sensor fusion, sistimi ea rona e ka kopanngoa le li-sensor tse fapaneng tse fapaneng tse thehiloeng ho ketsahalo ho fumana tlhaiso-leseling e nepahetseng haholoanyane.Le hoja liphooko li ipabola tabeng ea ho fumana phofu lefifing, li na le pono e ntle haholo 'me li etsa lipatlisiso tse kopaneng tsa kutlo le pono pele li tšoara phofu70.Ha neuron e itseng e utloang e tuka, sephooko se fumana boitsebiso boo se bo hlokang ho fumana hore na se ka qala phuputso ea sona ea pono kae, kahoo se lebisa tlhokomelo ea sona karolong e nyenyane ea pono.Motsoako oa li-sensor tse bonoang (k'hamera ea DVS) le sensor e reriloeng ea ho mamela (e thehiloeng ho pMUT) e lokela ho hlahlojoa bakeng sa nts'etsopele ea li-agent tse ikemetseng tsa kamoso.
Sensor ea pMUT e ho PCB e nang le li-receiver tse peli tse arohaneng ka 10 cm, 'me transmitter e teng pakeng tsa ba amohelang.Mosebetsing ona, lera ka 'ngoe ke sebopeho sa bimorph se emisitsoeng se nang le likarolo tse peli tsa piezoelectric aluminium nitride (AlN) 800 nm e teteaneng e pakeng tsa likarolo tse tharo tsa molybdenum (Mo) 200 nm e teteaneng 'me e koahetsoe ka lera la 200 nm e teteaneng.karolo e kaholimo ea SiN joalo ka ha e hlalositsoe ho referense.71. Li-electrode tse ka hare le tse ka ntle li sebelisoa ka tlaase le ka holimo ho likarolo tsa molybdenum, ha electrode e bohareng ea molybdenum e sa tloaeleha ebile e sebelisoa e le fatše, e leng se hlahisang lera le nang le lipara tse 'nè tsa li-electrode.
Mohaho ona o lumella tšebeliso ea "membrane deformation" e tloaelehileng, e hlahisang phetiso e ntlafalitsoeng le ho amohela kutloisiso.PMUT e joalo hangata e bonts'a maikutlo a ho hlasimolla a 700 nm/V joalo ka emitter, e fana ka khatello e holimo ea 270 Pa/V.Joaloka moamoheli, filimi e le 'ngoe ea pMUT e bonts'a kutlo e khuts'oane ea potoloho ea 15 nA/Pa, e amanang ka kotloloho le coefficient ea piezoelectric ea AlN.Phapang ea tekheniki ea motlakase sebakeng sa AlN e lebisa phetohong ea maqhubu a resonant, a ka lefelloang ka ho sebelisa leeme la DC ho pMUT.Kutloelo-bohloko ea DC e lekantsoe ho 0.5 kHz/V.Bakeng sa sebopeho sa acoustic, microphone e sebelisoa ka pel'a pMUT.
Ho lekanya molumo oa echo, re ile ra beha poleiti e khutlonnetsepa e nang le sebaka se ka bang 50 cm2 ka pel'a pMUT ho bonts'a maqhubu a molumo a tsoang.Ka bobeli sebaka se pakeng tsa lipoleiti le sekhutlo se amanang le sefofane sa pMUT se laoloa ka ho sebelisa li-holder tse khethehileng.Mohloli oa motlakase oa Tectronix CPX400DP o khetha li-membrane tse tharo tsa pMUT, o lokisa maqhubu a resonant ho 111.9 kHz31, ha li-transmitters li khannoa ke Tectronix AFG 3102 pulse generator e tsamaisanang le maqhubu a resonant (111.9 kHz) le potoloho ea 0.01.Maqhubu a baloang ho tsoa likoung tse 'ne tsa seamoheli se seng le se seng sa pMUT a fetoleloa ho li-voltages ho sebelisoa meaho e khethehileng ea hona joale le ea motlakase,' me matšoao a hlahisoang a ts'oaroa ke sistimi ea ho fumana data ea Spektrum.Moeli oa ho lemoha o ne o khetholloa ke ho fumanoa ha matšoao a pMUT tlas'a maemo a fapaneng: re ile ra fetisetsa setšoantšo ho ea libakeng tse fapaneng [30, 40, 50, 60, 80, 100] cm mme ra fetola angle ea tšehetso ea pMUT ([0, 20, 40] o ) Setšoantšo sa 2b se bonts'a qeto ea nakoana ea ho lemoha ha ITD ho itšetlehile ka boemo bo lumellanang ba angular ka likhato.
Sengoliloeng sena se sebelisa lipotoloho tse peli tse fapaneng tsa RRAM tse kantle ho sethala.Ea pele ke lisebelisoa tse ngata tsa 16,384 (16,000) (lisebelisoa tse 128 × 128) ka tlhophiso ea 1T1R e nang le transistor e le 'ngoe le mochine o le mong.Chip ea bobeli ke sethala sa neuromorphic se bontšitsoeng setšoantšong sa 4a.Sele ea RRAM e na le filimi ea 5 nm e tenya ea HfO2 e kentsoeng ka har'a stack ea TiN/HfO2/Ti/TiN.The RRAM stack e kopantsoe ka morao-rao (BEOL) ea ts'ebetso e tloaelehileng ea 130nm CMOS.Li-circuits tsa neuromorphic tse thehiloeng ho RRAM li hlahisa phephetso ea moralo bakeng sa litsamaiso tsohle tsa elektroniki tsa analoge moo lisebelisoa tsa RRAM li kopanang le theknoloji ea setso ea CMOS.Haholo-holo, boemo ba ho tsamaisa sesebelisoa sa RRAM bo tlameha ho baloa le ho sebelisoa e le phetoho ea ts'ebetso bakeng sa sistimi.Ho finyella sena, potoloho e ne e entsoe, e entsoe le ho lekoa e balang hona joale ho tloha mochine ha ho amoheloa pulse ea ho kenya 'me e sebelisa hona joale ho lekanya karabo ea synapse ea "dipharol pair integrator" (DPI).Potoloho ena e bontšoa ho Setšoantšo sa 3a, se emelang li-block tsa motheo tsa sethala sa neuromorphic ho Setšoantšo sa 4a.Pulse e kenang e kenya ts'ebetsong heke ea sesebelisoa sa 1T1R, e etsa hore e be hona joale ka RRAM e lekanang le tsamaiso ea mochine G (Iweight = G (Vtop - Vx)).Kenyelletso e kenang ea potoloho ea amplifier (op-amp) e sebetsang e na le Vtop e sa fetoheng ea DC bias voltage.Maikutlo a fosahetseng a op-amp a tla fana ka Vx = Vtop ka ho fana ka tekanyo e lekanang ea hona joale ho tloha ho M1.Iweight ea morao-rao e nkiloeng sesebelisoa e kenngoa ka har'a synapse ea DPI.Matla a matla a hona joale a tla fella ka depolarization e eketsehileng, kahoo tsamaiso ea RRAM e sebelisa litekanyo tsa synaptic ka katleho.Hona joale ea exponential synaptic current e kenngoa ka membrane capacitor ea Leaky Integration and Excitation (LIF) neurons, moo e kopantsoeng e le motlakase.Haeba threshold voltage ea membrane (the switching voltage of the inverter) e hloloa, karolo e hlahisoang ke neuron e ea sebetsa, e hlahisa sekhahla sa tlhahiso.Molumo ona oa khutla 'me o koalla lera la "membrane capacitor" la neuron fatše, le etsa hore le tsoe.Potoloho ena e tlatsitsoe ka pulse expander (e sa bonts'itsoeng setšoantšong sa 3a), e bōpang phallo e hlahisoang ke neuron ea LIF ho ea bophara ba sepheo sa sekhahla.Multiplexers le tsona li hahiloe moleng o mong le o mong, ho lumella motlakase hore o sebelisoe ho li-electrode tse holimo le tse tlase tsa sesebelisoa sa RRAM.
Teko ea motlakase e kenyelletsa ho sekaseka le ho rekota boits'oaro bo matla ba li-circuits tsa analog, hammoho le ho etsa mananeo le ho bala lisebelisoa tsa RRAM.Mehato ka bobeli e hloka lisebelisoa tse khethehileng, tseo kaofela li kopantsoeng le boto ea sensor ka nako e le 'ngoe.Ho fihlella lisebelisoa tsa RRAM lipotolohong tsa neuromorphic ho etsoa ho tsoa lisebelisoa tsa kantle ka multiplexer (MUX).MUX e arola sele ea 1T1R ho tloha sebakeng se seng sa potoloho eo e leng ho eona, e lumellang sesebelisoa hore se baloe le / kapa se hlophisoe.Ho etsa lenaneo le ho bala lisebelisoa tsa RRAM, mochine oa Keithley 4200 SCS o sebelisoa hammoho le microcontroller ea Arduino: ea pele bakeng sa moloko o nepahetseng oa pulse le ho bala hona joale, 'me oa bobeli ke oa ho fihlella ka potlako ho likarolo tsa 1T1R ka mokhoa oa mohopolo.Ts'ebetso ea pele ke ho theha sesebelisoa sa RRAM.Lisele li khethiloe ka bonngoe 'me motlakase o motle o sebelisoa pakeng tsa li-electrode tse ka holimo le tse ka tlaase.Tabeng ena, hona joale ho lekanyelitsoe ho tatellano ea mashome a microamperes ka lebaka la phepelo ea motlakase oa heke e lumellanang le transistor ea khetho.Ka nako eo sele ea RRAM e ka potoloha pakeng tsa boemo bo tlaase ba conductive (LCS) le boemo bo phahameng ba ho khanna (HCS) ho sebelisa ts'ebetso ea RESET le SET, ka ho latellana.Ts'ebetso ea SET e etsoa ka ho sebelisa sekhahla sa motlakase oa kgutlonne ka nako ea 1 μs le tlhōrō ea motlakase oa 2.0-2.5 V ho electrode e ka holimo, le sync pulse ea sebopeho se tšoanang le tlhōrō ea 0.9-1.3 V ho ea ho heke ea selector transistor.Litekanyetso tsena li lumella ho tsamaisa RRAM ka nako ea 20-150 µs.Bakeng sa RESET, bophara ba 1 µs, 3 V peak pulse e sebelisoa ho electrode e ka tlase (bit line) ea sele ha motlakase oa heke o le ka har'a 2.5-3.0 V. Lintho tse kenang le tse hlahisoang ke li-circuits tsa analog ke matšoao a matla. .Bakeng sa ho kenya letsoho, re kentse lijenereithara tse peli tsa HP 8110 le lijenereithara tsa matšoao tsa Tektronix AFG3011.Pulse ea ho kenya e na le bophara ba 1 µs le moeli oa ho nyoloha / oa ho theoha oa 50 ns.Mofuta ona oa pulse o nkoa e le glitch e tloaelehileng ho li-circuits tse thehiloeng ho analog.Ha e le lets'oao la tlhahiso, lets'oao la tlhahiso le tlalehiloe ho sebelisoa Teledyne LeCroy 1 GHz oscilloscope.Lebelo la ho fumana oscilloscope le netefalitsoe hore ha se lebaka le lekanyelitsoeng ho tlhahlobo le ho fumana data ea potoloho.
Ho sebelisa matla a elektroniki a analog ho etsisa boits'oaro ba li-neurone le li-synapse ke tharollo e ntle le e sebetsang ea ho ntlafatsa ts'ebetso ea khomphutha.Bothata ba taba ena ea computational underlay ke hore e tla fapana ho ea ka morero.Re ile ra lekanya phapang ea li-neurons le li-circuits tsa synaptic (Supplementary Fig. 2a,b).Har'a liponahatso tsohle tsa ho fetoha, tse amanang le nako e tsitsitseng le phaello ea ho kenya letsoho li na le tšusumetso e kholo ka ho fetisisa boemong ba tsamaiso.Nako e tsitsitseng ea LIF neuron le synapse ea DPI e khethoa ke potoloho ea RC, moo boleng ba R bo laoloang ke motlakase oa leeme o sebelisoang hekeng ea transistor (Vlk bakeng sa neuron le Vtau bakeng sa synapse), ho khetholla sekhahla sa ho dutla.Phaello e kenang e hlalosoa e le matla a phahameng a motlakase a fihletsoeng ke li-capacitor tsa synaptic le neuronal membrane tse hlohlelletsoang ke molumo oa ho kenya letsoho.Phaello ea ho kenya e laoloa ke transistor e 'ngoe ea bias e fetolang motlakase oa hona joale.Papiso ea Monte Carlo e lekantsoeng tšebetsong ea ST Microelectronics' 130nm e ile ea etsoa ho bokella phaello e itseng le lipalo-palo tse sa fetoheng tsa nako.Liphetho li hlahisoa ho Supplementary Figure 2, moo phaello ea ho kenya letsoho le nako e tsitsitseng e lekantsoeng e le mosebetsi oa motlakase oa leeme o laolang lebelo la ho lutla.Matšoao a matala a lekanya phapang e tloaelehileng ea nako e sa fetoheng ho tloha ho moelelo.Ka bobeli li-neuron le li-circuits tsa synaptic li ile tsa khona ho hlalosa mefuta e mengata ea nako e telele ka har'a 10-5-10-2 s, joalokaha ho bontšitsoe lenaneong la Supplementary Fig.Kenyelletso ea ho kenya letsoho (Supplementary Fig. 2e,d) ea phapang ea neuronal le synapse e ne e ka ba 8% le 3%, ka ho latellana.Khaello e joalo e ngotsoe hantle ka har'a lingoliloeng: litekanyo tse fapaneng li entsoe ka bongata ba lichifi tsa DYNAP ho lekola phapang lipakeng tsa li-neurone tsa LIF63.Li-synapse tse ho BrainScale chip ea matšoao a tsoakiloeng a ile a lekanngoa 'me ho se lumellane ha bona ho ile ha hlahlojoa,' me ho ile ha etsoa tlhahiso ea mokhoa oa ho lekanya ho fokotsa phello ea ho fetoha ha maemo a tsamaiso64.
Mosebetsi oa RRAM lipotolohong tsa neuromorphic e habeli: tlhaloso ea meralo (ho kenya litsamaiso ho liphetho) le ts'ebetsong ea boima ba synaptic.Thepa ea ho qetela e ka sebelisoa ho rarolla bothata ba ho fetoha ha li-circuits tsa neuromorphic tsa mohlala.Re thehile mokhoa o bonolo oa ho lekanya o kenyelletsang ho hlophisa bocha sesebelisoa sa RRAM ho fihlela potoloho e hlahlojoang e fihlela litlhoko tse itseng.Bakeng sa tlhahiso e fanoeng, tlhahiso e behiloe leihlo 'me RRAM e hlophisoa bocha ho fihlela boitšoaro ba sepheo bo finyelloa.Nako ea ho leta ea 5 s e ile ea hlahisoa pakeng tsa ts'ebetso ea mananeo ho rarolla bothata ba ho phomola ha RRAM ho fella ka ho fetoha ha nakoana ha boitšoaro (Tlhaloso ea Tlatsetso).Boima ba synaptic boa fetoloa kapa bo lekanngoe ho latela litlhoko tsa potoloho ea neuromorphic e etsoang mohlala.Ts'ebetso ea ho lekanya e akaretsoa ka li-algorithms tse eketsehileng [1, 2] tse shebaneng le likarolo tse peli tsa mantlha tsa sethala sa neuromorphic, mela ea ho lieha le CD e sa tsotelleng.Bakeng sa potoloho e nang le mohala oa ho lieha, sepheo sa sepheo ke ho fana ka sekhahla se hlahisoang ka tieho Δt.Haeba tieho ea sebele ea potoloho e le ka tlase ho boleng ba sepheo, boima ba synaptic ba G3 bo lokela ho fokotsoa (G3 e lokela ho tsosolosoa ebe e behoa ho Icc ea hona joale e lekanang).Ka lehlakoreng le leng, haeba tieho ea sebele e le kholo ho feta boleng bo reriloeng, tsamaiso ea G3 e tlameha ho eketseha (G3 e tlameha ho qala ho tsosolosoa ebe e behoa ho boleng bo phahameng ba Icc).Ts'ebetso ena e phetoa ho fihlela ho lieha ho hlahisoang ke potoloho ho lumellana le boleng ba sepheo mme ho behoa mamello ho emisa ts'ebetso ea ho lekanya.Bakeng sa li-CD tse sa utloeng litsebeng, lisebelisoa tse peli tsa RRAM, G1 le G3, li kenya letsoho tšebetsong ea ho lekanya.Potoloho ena e na le lintho tse peli tse kenang, Vin0 le Vin1, tse liehisitsoeng ke dt.Potoloho e lokela ho arabela feela tieho e ka tlase ho sebaka se ts'oanang [0,dtCD].Haeba ho se na tlhoro ea tlhahiso, empa tlhoro ea ho kenya e haufi, lisebelisoa ka bobeli tsa RRAM li lokela ho matlafatsoa ho thusa neuron ho fihla moeling.Ka lehlakoreng le leng, haeba potoloho e arabela ho tieho e fetang sepheo sa dtCD, tsamaiso e tlameha ho fokotseha.Pheta ts'ebetso ho fihlela boitšoaro bo nepahetseng bo fumanoa.Hona joale ho lumellana ho ka fetoloa ka potoloho ea analoge e hahiloeng ho ref.72.73.Ka potoloho ena e hahelletsoeng, lits'ebetso tse joalo li ka etsoa nako le nako ho lekanya sistimi kapa ho e sebelisa hape bakeng sa ts'ebeliso e 'ngoe.
Re lekola tšebeliso ea matla ea mokhoa oa rona oa ts'ebetso ea lets'oao la neuromorphic ho 32-bit microcontroller68 e tloaelehileng.Tlhatlhobong ena, re nka ts'ebetso ka mokhoa o ts'oanang le oa pampiri ena, ka transmitter e le 'ngoe ea pMUT le tse peli tse amohelang pMUT.Mokhoa ona o sebelisa filthara ea bandpass, e lateloang ke mohato oa ho ntša enfelopo (Teeger-Kaiser), 'me qetellong ts'ebetso ea ho koala e sebelisoa ho letšoao ho ntša nako ea sefofane.Palo ea ITD le phetolo ea eona ho li-angles tsa ho lemoha li siiloe tlhahlobong.Re nahana ka ts'ebetso ea filthara ea "band pass" re sebelisa mochini oa 4th o sa feleng oa karabo o hlokang ts'ebetso ea lintlha tse 18 tse phaphametseng.Ho ntšoa ha enfelopo ho sebelisa lits'ebetso tse ling tse tharo tse phaphametseng, 'me ts'ebetso ea ho qetela e sebelisetsoa ho beha moeli.Kakaretso ea lits'ebetso tse 22 tsa lintlha tse phaphametseng lia hlokahala ho lokisa lets'oao.Letšoao le fetisoang ke ho phatloha ho khutšoane ha 111.9 kHz sine waveform e hlahisoang e 'ngoe le e 'ngoe ea 10 ms e bakang lebelo la ho sebetsa la 100 Hz.Re sebelisitse lisampole tsa 250 kHz ho latela Nyquist le fensetere ea 6 ms bakeng sa tekanyo ka 'ngoe ho nka sebaka sa 1 mitha.Hlokomela hore 6 milliseconds ke nako ea sefofane ea ntho e hole le 1 meter.Sena se fana ka tšebeliso ea matla ea 180 µW bakeng sa phetoho ea A/D ho 0.5 MSPS.Pontšo ea pele ea lipontšo ke 6.60 MIPS (litaelo ka motsotsoana), e hlahisang 0.75 mW.Leha ho le joalo, microcontroller e ka fetohela ho mokhoa o fokolang oa matla 69 ha algorithm e sa sebetse.Mokhoa ona o fana ka tšebeliso ea matla e tsitsitseng ea 10,8 μW le nako ea ho tsoha ea 113 μs.Ka lebaka la maqhubu a oache a 84 MHz, microcontroller e phethela ts'ebetso eohle ea algorithm ea neuromorphic ka har'a 10 ms, mme algorithm e lekanya potoloho ea mosebetsi oa 6.3%, ka hona e sebelisa mokhoa o tlase oa matla.Phello ea matla e hlahisoang ke 244.7 μW.Hlokomela hore ha re tlohele tlhahiso ea ITD ho tloha ho ToF le ho fetolela ho angle ea ho lemoha, kahoo re nyenyefatsa tšebeliso ea matla ea microcontroller.Sena se fana ka boleng bo eketsehileng bakeng sa ts'ebeliso e ntle ea matla ea sistimi e sisintsoeng.E le boemo bo eketsehileng ba papiso, re lekola tšebeliso ea matla ea mekhoa ea khale ea beamforming e hlahisitsoeng bukeng.31.54 ha e kenngoa ho microcontroller68 e tšoanang ho 1.8V phepelo ea motlakase.Ho sebelisoa li-membrane tse hlano tsa pMUT tse arohaneng ka ho lekana ho fumana data bakeng sa ho etsa beamform.Ha e le ts'ebetso ka boeona, mokhoa oa beamforming o sebelisitsoeng ke ho lieha ho akaretsa.E mpa feela e kenyelletsa ho sebelisa tieho litseleng tse tsamaellanang le phapang e lebelletsoeng linakong tsa ho fihla lipakeng tsa tsela e le 'ngoe le tsela ea litšupiso.Haeba matšoao a le mokhahlelong, kakaretso ea matšoao ana e tla ba le matla a phahameng ka mor'a ho fetoha ha nako.Haeba ba tsoile mothating, tšitiso e senyang e tla fokotsa matla a kakaretso ea bona.kea ratana.Ka feiga.31, tekanyo ea sampole ea 2 MHz e khethiloe ho fetola data ka palo e felletseng ea disampole.Mokhoa o itekanetseng ke oa ho boloka sampole e mahoashe ea 250 kHz le ho sebelisa filthara ea Finite Impulse Response (FIR) ho kopanya tieho ea likaroloana.Re tla nka hore ho rarahana ha algorithm ea beamforming ho khethoa haholo ke ho fetoha ha nako, kaha mocha o mong le o mong o na le sefahla sa FIR se nang le lipompo tse 16 ka lehlakoreng le leng le le leng.Ho bala palo ea MIPS e hlokahalang bakeng sa ts'ebetso ena, re nahana ka fensetere ea 6ms ka tekanyo ea ho nka mefuta e mengata ea mitha e le 'ngoe, liteishene tse 5, litsela tse 11 tsa beamforming (range +/- 50 ° ka mehato ea 10 °).Litekanyo tse 75 motsotsoana li sutumelitse microcontroller ho fihla ho 100 MIP.Sehokelo.68, e leng se bakileng karohano ea matla a 11.26 mW bakeng sa ho khaoha ha motlakase ka kakaretso ea 11.71 mW ka mor'a ho kenya letsoho ka har'a ADC.
Lintlha tse tšehetsang liphetho tsa phuputso ena li fumaneha ho tsoa ho sengoli se amehang, FM, ka kopo e utloahalang.
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