Case study: Bio-inspired self-adaptive strategy for spike-based PID controller

摘要

A key requirement for modern large scale neuromorphic systems is the ability to detect and diagnose faults and to explore self-correction strategies. In particular, to perform this under area-constraints which meet scalability requirements of large neuromorphic systems. A bio-inspired online fault detection and self-correction mechanism for neuro-inspired PID controllers is presented in this paper. This strategy employs a fault detection unit for online testing of the PID controller; uses a fault detection manager to perform the detection procedure across multiple controllers, and a controller selection mechanism to select an available fault-free controller to provide a corrective step in restoring system functionality. The novelty of the proposed work is that the fault detection method, using synapse models with excitatory and inhibitory responses, is applied to a robotic spike-based PID controller. The results are presented for robotic motor controllers and show that the proposed bio-inspired self-detection and self-correction strategy can detect faults and re-allocate resources to restore the controller's functionality. In particular, the case study demonstrates the compactness (~1.4% area overhead) of the fault detection mechanism for large scale robotic controllers.