Self-Repairing Mobile Robotic Car using Astrocyte Neuron Networks

Junxiu Liu, Jim Harkin, LJ McDaid, D Halliday, A Tyrrell, J Timmis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A self-repairing robot utilising a spiking astrocyteneuronnetwork is presented in this paper. It uses the outputspike frequency of neurons to control the motor speed and robotactivation. A software model of the astrocyte-neuron networkpreviously demonstrated self-detection of faults and its selfrepairingcapability. In this paper the application demonstratorof mobile robotics is employed to evaluate the fault-tolerant capabilitiesof the astrocyte-neuron network when implemented ina hardware-based robotic car system. Results demonstrated thatwhen 20% or less synapses associated with a neuron are faulty,the robot car can maintain system performance and complete thetask of forward motion correctly. If 80% synapses are faulty, thesystem performance shows a marginal degradation, however thisdegradation is much smaller than that of conventional faulttoleranttechniques under the same levels of faults. This is thefirst time that astrocyte cells merged within spiking neuronsdemonstrates a self-repairing capabilities in the hardware systemfor a real application
LanguageEnglish
Title of host publicationUnknown Host Publication
Number of pages8
Publication statusAccepted/In press - 15 Mar 2016
EventInternational Joint Conference on Neural Networks (IJCNN) - Canda
Duration: 15 Mar 2016 → …

Conference

ConferenceInternational Joint Conference on Neural Networks (IJCNN)
Period15/03/16 → …

Fingerprint

Neurons
Robotics
Railroad cars
Robots
Hardware
Degradation
Astrocytes

Keywords

  • self-repair
  • adapt
  • astrocyte
  • glia
  • robotic
  • FPGAs
  • hardware
  • error
  • fault
  • detection
  • adaptive

Cite this

Liu, J., Harkin, J., McDaid, LJ., Halliday, D., Tyrrell, A., & Timmis, J. (Accepted/In press). Self-Repairing Mobile Robotic Car using Astrocyte Neuron Networks. In Unknown Host Publication
Liu, Junxiu ; Harkin, Jim ; McDaid, LJ ; Halliday, D ; Tyrrell, A ; Timmis, J. / Self-Repairing Mobile Robotic Car using Astrocyte Neuron Networks. Unknown Host Publication. 2016.
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abstract = "A self-repairing robot utilising a spiking astrocyteneuronnetwork is presented in this paper. It uses the outputspike frequency of neurons to control the motor speed and robotactivation. A software model of the astrocyte-neuron networkpreviously demonstrated self-detection of faults and its selfrepairingcapability. In this paper the application demonstratorof mobile robotics is employed to evaluate the fault-tolerant capabilitiesof the astrocyte-neuron network when implemented ina hardware-based robotic car system. Results demonstrated thatwhen 20{\%} or less synapses associated with a neuron are faulty,the robot car can maintain system performance and complete thetask of forward motion correctly. If 80{\%} synapses are faulty, thesystem performance shows a marginal degradation, however thisdegradation is much smaller than that of conventional faulttoleranttechniques under the same levels of faults. This is thefirst time that astrocyte cells merged within spiking neuronsdemonstrates a self-repairing capabilities in the hardware systemfor a real application",
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author = "Junxiu Liu and Jim Harkin and LJ McDaid and D Halliday and A Tyrrell and J Timmis",
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Liu, J, Harkin, J, McDaid, LJ, Halliday, D, Tyrrell, A & Timmis, J 2016, Self-Repairing Mobile Robotic Car using Astrocyte Neuron Networks. in Unknown Host Publication. International Joint Conference on Neural Networks (IJCNN), 15/03/16.

Self-Repairing Mobile Robotic Car using Astrocyte Neuron Networks. / Liu, Junxiu; Harkin, Jim; McDaid, LJ; Halliday, D; Tyrrell, A; Timmis, J.

Unknown Host Publication. 2016.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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T1 - Self-Repairing Mobile Robotic Car using Astrocyte Neuron Networks

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AU - Harkin, Jim

AU - McDaid, LJ

AU - Halliday, D

AU - Tyrrell, A

AU - Timmis, J

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N2 - A self-repairing robot utilising a spiking astrocyteneuronnetwork is presented in this paper. It uses the outputspike frequency of neurons to control the motor speed and robotactivation. A software model of the astrocyte-neuron networkpreviously demonstrated self-detection of faults and its selfrepairingcapability. In this paper the application demonstratorof mobile robotics is employed to evaluate the fault-tolerant capabilitiesof the astrocyte-neuron network when implemented ina hardware-based robotic car system. Results demonstrated thatwhen 20% or less synapses associated with a neuron are faulty,the robot car can maintain system performance and complete thetask of forward motion correctly. If 80% synapses are faulty, thesystem performance shows a marginal degradation, however thisdegradation is much smaller than that of conventional faulttoleranttechniques under the same levels of faults. This is thefirst time that astrocyte cells merged within spiking neuronsdemonstrates a self-repairing capabilities in the hardware systemfor a real application

AB - A self-repairing robot utilising a spiking astrocyteneuronnetwork is presented in this paper. It uses the outputspike frequency of neurons to control the motor speed and robotactivation. A software model of the astrocyte-neuron networkpreviously demonstrated self-detection of faults and its selfrepairingcapability. In this paper the application demonstratorof mobile robotics is employed to evaluate the fault-tolerant capabilitiesof the astrocyte-neuron network when implemented ina hardware-based robotic car system. Results demonstrated thatwhen 20% or less synapses associated with a neuron are faulty,the robot car can maintain system performance and complete thetask of forward motion correctly. If 80% synapses are faulty, thesystem performance shows a marginal degradation, however thisdegradation is much smaller than that of conventional faulttoleranttechniques under the same levels of faults. This is thefirst time that astrocyte cells merged within spiking neuronsdemonstrates a self-repairing capabilities in the hardware systemfor a real application

KW - self-repair

KW - adapt

KW - astrocyte

KW - glia

KW - robotic

KW - FPGAs

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KW - error

KW - fault

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M3 - Conference contribution

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Liu J, Harkin J, McDaid LJ, Halliday D, Tyrrell A, Timmis J. Self-Repairing Mobile Robotic Car using Astrocyte Neuron Networks. In Unknown Host Publication. 2016