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Towards Closed-Loop Neuromodulation for Type 2 Diabetes with ex vivo Validation of Beta-Cell Activity and FOPP Detection. 2型糖尿病的闭环神经调节:体外验证β细胞活性和FOPP检测。
IF 4.9 Pub Date : 2025-12-11 DOI: 10.1109/TBCAS.2025.3642806
Razieh Eskandari, Moustafa Nawito, Mostafa Katebi, Udo Kraushaar, Harald Richter, Jens Anders, Joachim Burghartz, S Abdollah Mirbozorgi, Mohamad Sawan

We present in this paper an implantable closed-loop neuromodulation prototype system for type 2 diabetes (T2D) management, which leverages pancreatic electrophysiology as both a sensing and therapeutic modality. Among candidate biomarkers, the fraction of plateau phase (FOPP) emerges as a robust indicator of glucose dynamics. Hence, the neural interface is optimized for low-power measurement of the electrical activity of the beta-cells with high accuracy in direct readout mode and long-term monitoring in FOPP mode. The experimental framework was established using a perfused pancreas model, first in mice and then optimized for rats, with glucose-dependent signals captured via a custom 16-channel neural interface. Results confirmed the feasibility of extracting FOPP in ex vivo settings, though signal complexity differed from isolated islets in vitro. Additionally, a fabricated 8-channel electrical stimulator with adjustable current levels and optimized charge balancing technique, demonstrated the capability to meet physiological requirements for beta-cell activation. While integration of AI-based classifiers for advanced FOPP-glucose correlation remains a future step, this study establishes the foundational experimental and technological evidence for a next-generation closed-loop neuromodulator.

在本文中,我们提出了一种用于2型糖尿病(T2D)管理的可植入闭环神经调节原型系统,该系统利用胰腺电生理学作为传感和治疗方式。在候选生物标志物中,平台相分数(FOPP)作为葡萄糖动力学的一个强有力的指标出现。因此,神经接口被优化为在直接读出模式下具有高精度的β细胞电活动的低功率测量和在FOPP模式下的长期监测。实验框架是用灌注胰腺模型建立的,首先在小鼠身上,然后在大鼠身上进行了优化,通过定制的16通道神经接口捕获葡萄糖依赖信号。结果证实了在离体条件下提取FOPP的可行性,尽管信号复杂性与离体胰岛不同。此外,一种可调节电流水平的8通道电刺激器和优化的电荷平衡技术,证明了满足β细胞激活生理需求的能力。虽然基于人工智能的分类器集成先进的fopp -葡萄糖相关性仍然是未来的一步,但本研究为下一代闭环神经调节剂建立了基础的实验和技术证据。
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引用次数: 0
Guest Editorial: Selected Papers from the 2025 IEEE International Solid-State Circuits Conference 嘉宾评论:2025年IEEE国际固态电路会议论文选集
IF 4.9 Pub Date : 2025-12-11 DOI: 10.1109/TBCAS.2025.3636715
Alison Burdett;Mehdi Kiani
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引用次数: 0
A 1024-Channel 0.8V 23.9-nW/Channel Event-based Compute In-memory Neural Spike Detector. 一种1024通道0.8V 23.9 nw /通道基于事件计算的内存神经尖峰检测器。
IF 4.9 Pub Date : 2025-12-11 DOI: 10.1109/TBCAS.2025.3642865
Ye Ke, Zhengnan Fu, Junyi Yang, Hongyang Shang, Arindam Basu

The increasing data rate has become a major issue confronting next-generation intracortical brain-machine interfaces (iBMIs). The scaling number of recording sites requires complex analog wiring and lead to huge digitization power consumption. Compressive event-based neural frontends have been used in high-density neural implants to support the simultaneous recording of more channels. Event-based frontends (EBF) convert recorded signals into asynchronous digital events via delta modulation and can inherently achieve considerable compression. But EBFs are prone to false events that do not correspond to neural and may affect the output firing rate, which is the key feature for neural decoding. Spike detection (SPD) is a key process in the iBMI pipeline to detect neural spikes and further reduce the data rate. However, conventional digital SPD suffers from the increasing buffer size and frequent memory access power, and conventional spike emphasizers are not compatible with EBFs. In this work we introduced an event-based spike detection (Ev-SPD) algorithm for scalable compressive EBFs. To implement the algorithm effectively, we proposed a novel low-power 10-T eDRAM-SRAM hybrid random-access memory (HRAM) in-memory computing (IMC) bitcell for event processing. We fabricated the proposed 1024-channel IMC SPD macro in a 65nm process and tested the macro with both synthetic dataset and Neuropixel recordings. The proposed macro achieved a high spike detection accuracy of 96.06% on a synthetic dataset and 95.08% similarity and 0.05 firing pattern MAE on Neuropixel recordings. Our event-based IMC SPD macro achieved a high per channel spike detection energy efficiency of 23.9 nW per channel and an area efficiency of 375 μm2 per channel. Our work presented a SPD scheme compatible with compressive EBFs for high-density iBMIs, achieving ultra-low power consumption with an IMC architecture while maintaining considerable accuracy.

数据传输速率的提高已成为下一代皮质内脑机接口(iBMIs)面临的主要问题。录音站点数量的不断扩大需要复杂的模拟布线,导致巨大的数字化功耗。基于压缩事件的神经前端已被用于高密度神经植入物中,以支持同时记录更多通道。基于事件的前端(EBF)通过增量调制将记录的信号转换为异步数字事件,并且可以固有地实现相当大的压缩。但ebf容易出现不符合神经的假事件,可能影响输出触发率,而输出触发率是神经解码的关键特征。尖峰检测(SPD)是iBMI流水线中检测神经尖峰并进一步降低数据速率的关键环节。然而,传统的数字SPD受到不断增加的缓冲区大小和频繁的存储器访问功率的影响,并且传统的尖峰强调器与ebf不兼容。在这项工作中,我们介绍了一种基于事件的峰值检测(Ev-SPD)算法,用于可扩展压缩ebf。为了有效地实现该算法,我们提出了一种新的低功耗10-T eDRAM-SRAM混合随机存取存储器(HRAM)内存计算(IMC)位元,用于事件处理。我们在65nm工艺中制作了提出的1024通道IMC SPD宏,并使用合成数据集和Neuropixel记录对宏进行了测试。所提出的宏在合成数据集上实现了96.06%的高峰值检测准确率,在神经像素记录上实现了95.08%的相似性和0.05的发射模式MAE。我们的基于事件的IMC SPD宏实现了每个通道23.9 nW的峰值检测能量效率和每个通道375 μm2的面积效率。我们的工作提出了一种与高密度ibm的压缩ebf兼容的SPD方案,通过IMC架构实现超低功耗,同时保持相当的精度。
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引用次数: 0
A Behind-The-Ear Patch-Type Mental Healthcare Integrated Interface with Adaptive Multimodal Offset Compensation and Parasitic Cancellation. 具有自适应多模态补偿和寄生抵消的耳后贴片式心理保健集成接口。
IF 4.9 Pub Date : 2025-12-10 DOI: 10.1109/TBCAS.2025.3642345
Hyunjoong Kim, Sanghyeon Cho, Myeong Woo Kim, Chan Sam Park, Kwangmuk Lee, Solwoong Song, Dae Sik Keum, Sangmoon Lee, Hoon Eui Jeong, Dong Pyo Jang, Jae Joon Kim

A behind-the-ear (BTE) integrated interface for mental healthcare applications is presented, featuring optimized BTE electrode configurations and wide multimodal biomedical IC with adaptive compensation capabilities. The proposed IC supports 8 bio-potential (ExG), 1 photoplethysmogram (PPG), 1 galvanic skin response (GSR), 1 bio-impedance (BioZ), and 2 stimulation channels. The ExG channel achieves 2.5GΩ input impedance, boosted by 308 times with offset compensated auxiliary path (OCAP) architecture, and its AC input impedancecharacteristic is boosted further by dual resolution external positive feedback loop (DR-EPFL) scheme. An area and energy-efficient GSR-embedded ECG recording scheme is presented. For comprehensive multimodal sensing features, dual-slope PPG channel with parasitic capacitance compensation, electrode-tissue impedance adaptive stimulator, and high dynamic range BioZ channel are integrated. The IC was fabricated in a 0.18-μm BCD process and integrated into a BTE patch-type device prototype. System-level feasibility was experimentally verified through in-vivo stress measurements with virtual reality (VR) environment, demonstrating effective mental health monitoring capabilities.

提出了一种用于精神保健应用的耳后(BTE)集成接口,具有优化的BTE电极配置和具有自适应补偿能力的宽多模态生物医学IC。该IC支持8个生物电位(ExG)、1个光电容积描记(PPG)、1个皮肤电反应(GSR)、1个生物阻抗(BioZ)和2个刺激通道。ExG通道的输入阻抗为2.5GΩ,通过偏置补偿辅助路径(OCAP)架构提高了308倍,其交流输入阻抗特性通过双分辨率外部正反馈环路(DR-EPFL)方案进一步提高。提出了一种面积大、节能的嵌入式gsr心电记录方案。为了实现全面的多模态传感功能,集成了具有寄生电容补偿的双斜率PPG通道,电极组织阻抗自适应刺激器和高动态范围BioZ通道。该集成电路采用0.18 μm的BCD工艺制作,并集成到BTE贴片型器件原型中。通过虚拟现实(VR)环境下的体内应激测量,实验验证了系统级可行性,展示了有效的心理健康监测能力。
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引用次数: 0
Mm-Wave CMOS Biosensor with Integrated Dielectrophoresis for Single-Cell Detection and Characterization. 用于单细胞检测和表征的集成介质电泳毫米波CMOS生物传感器。
IF 4.9 Pub Date : 2025-12-09 DOI: 10.1109/TBCAS.2025.3641977
Ali Ameri, Ali M Niknejad

This paper presents an injection-locked voltage-controlled oscillator-based sensing platform capable of detecting and characterizing single mammalian cells at 114GHz. The sensor is equipped with on-chip Dielectrophoresis (DEP) force generators that focus and align the sample with the sensor, maximizing the sensitivity and repeatability of the measurements. The chip, fabricated in a bulk 28nm CMOS technology, is packaged with microfluidics using a single-mask lithography technique that enables continuous sample delivery, measurement, and removal. The platform is demonstrated in differentiating various materials, three cell lines (HeLa GFP, HCT-116, SK-MEL-28), and, most importantly, the growth and mitotic states of a single cell line. These unique capabilities establish a foundation for streamlining cell-based assays and enabling real-time monitoring of drug-cell interactions.

本文提出了一种基于注射锁定压控振荡器的传感平台,该平台能够在114GHz频率下检测和表征单个哺乳动物细胞。该传感器配备了片上Dielectrophoresis (DEP)力发生器,可将样品与传感器聚焦并对齐,最大限度地提高了测量的灵敏度和可重复性。该芯片采用块状28nm CMOS技术制造,采用单掩模光刻技术封装微流体,实现连续的样品输送、测量和去除。该平台已被证明可以分化多种材料、三种细胞系(HeLa GFP、HCT-116、SK-MEL-28),最重要的是,可以分化单个细胞系的生长和有丝分裂状态。这些独特的功能为简化基于细胞的分析和实时监测药物-细胞相互作用奠定了基础。
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引用次数: 0
Configurable γ Photon Spectrometer to Enable Precision Radioguided Tumor Resection 可配置γ光子光谱仪,实现精确的放射引导肿瘤切除。
IF 4.9 Pub Date : 2025-12-05 DOI: 10.1109/TBCAS.2025.3625580
Rahul Lall;Youngho Seo;Ali M. Niknejad;Mekhail Anwar
Surgical tumor resection aims to remove all cancer cells in the tumor margin and at centimeter-scale depths below the tissue surface. During surgery, microscopic clusters of disease are intraoperatively difficult to visualize and are often left behind, significantly increasing the risk of cancer recurrence. Radioguided surgery (RGS) has shown the ability to selectively tag cancer cells with gamma (γ) photon emitting radioisotopes to identify them, but require a mm-scale γ photon spectrometer to localize the position of these cells in the tissue margin (i.e., a function of incident γ photon energy) with high specificity. Here we present a 9.9 mm2 integrated circuit (IC)-based γ spectrometer implemented in 180 nm CMOS, to enable the measurement of single γ photons and their incident energy with sub-keV energy resolution. We use small $2 times 2$ µm reverse-biased diodes that have low depletion region capacitance, and therefore produce millivolt-scale voltage signals in response to the small charge generated by incident γ photons. A low-power energy spectrometry method is implemented by measuring the decay time it takes for the generated voltage signal to settle back to DC after a γ detection event, instead of measuring the voltage drop directly. This spectrometry method is implemented in three different pixel architectures that allow for configurable pixel sensitivity, energy-resolution, and energy dynamic range based on the widely heterogenous surgical and patient presentation in RGS. The spectrometer was tested with three common γ-emitting radioisotopes (64Cu, 133Ba, 177Lu), and is able to resolve activities down to 1 µCi with sub-keV energy resolution and 1.315 MeV energy dynamic range, using 5-minute acquisitions.
外科肿瘤切除术的目的是切除肿瘤边缘和组织表面以下厘米级深度的所有癌细胞。在手术过程中,显微镜下的病变团在术中很难观察到,并且经常被遗漏,这大大增加了癌症复发的风险。放射引导手术(RGS)已经显示出用发射伽马(γ)光子的放射性同位素选择性标记癌细胞以识别它们的能力,但需要毫米尺度的γ光子光谱仪以高特异性定位这些细胞在组织边缘的位置(即入射γ光子能量的函数)。在这里,我们提出了一个9.9 mm2集成电路(IC)为基础的γ能谱仪实现在180纳米CMOS,能够测量单个γ光子及其入射能量的亚键能量分辨率。我们使用小的2 × 2 μm反向偏置二极管,具有低耗尽区电容,因此产生毫伏级电压信号,以响应入射γ光子产生的小电荷。通过测量γ探测事件后产生的电压信号回落到直流电所需的衰减时间,实现了一种低功率能谱法,而不是直接测量电压降。该光谱法在三种不同的像素架构中实现,允许基于RGS中广泛异质的手术和患者表现来配置像素灵敏度、能量分辨率和能量动态范围。该光谱仪用三种常见的γ辐射同位素(64Cu、133Ba、177Lu)进行了测试,能够以亚kev的能量分辨率和1.315 MeV的能量动态范围分辨低至1 μCi的活动,采集时间为5分钟。
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引用次数: 0
Magnetic Positioning System with CMOS Receiver for Calibrating Motion Artifacts During MRI Experiments. 基于CMOS接收器的磁定位系统用于MRI实验中运动伪影的标定。
IF 4.9 Pub Date : 2025-12-03 DOI: 10.1109/TBCAS.2025.3639358
Boyang Cao, Qi Zhou, Shuhao Fan, Rui Martins, Pui-In Mak, Ka-Meng Lei

TThis article presents the first co-designed MRI imaging and magnetic positioning system for real-time dynamic motion compensation, achieving sub-millimeter tracking accuracy while preserving diagnostic image quality. The core innovation lies in a system-level co-design of an MRI imaging system and a magnetic localization system, featuring a customized receiver IC for processing magnetic signals coupled by the frontend RF coils, enabling artifact-free MRI imaging in dynamic scenarios. This integration enables a median positioning accuracy of 0.66 mm across a 40×40×50 cm³ field-of-view with a total power consumption of 997 $μ$W. The key innovations include: 1) a time-division multiplexing scheme to enable signal detection from different coils while achieving spectral isolation between 1.4 MHz positioning signals and MRI Larmor frequencies through FPGA-synchronized blanking; 2) a dynamic calibration algorithm fusing magnetic tracking data with multi-frame MRI imaging, reducing spatial blur radius by 40% via weighted averaging; 3) an MRI-optimized Levenberg-Marquardt algorithm incorporating dynamic magnetic beacon weighting and spatial constraints, improving localization accuracy by 53% versus conventional algorithm. The system utilizes planar magnetic beacons with a dimension of 3×3 cm², reducing spatial occupancy compared to prior designs. This work bridges critical gaps between high-precision tracking and artifact-free MRI, enabling real-time imaging of non-autonomous motion and respiratory motion compensation, representing a paradigm shift for MRI-guided interventions.

本文介绍了第一个共同设计的MRI成像和磁定位系统,用于实时动态运动补偿,在保持诊断图像质量的同时实现亚毫米级跟踪精度。核心创新在于MRI成像系统和磁定位系统的系统级协同设计,该系统具有定制的接收器IC,用于处理由前端射频线圈耦合的磁信号,从而在动态场景中实现无伪影的MRI成像。该集成可在40×40×50 cm³视场范围内实现0.66 mm的中位定位精度,总功耗为997 $μ$W。关键创新包括:1)时分多路复用方案,可实现来自不同线圈的信号检测,同时通过fpga同步消噪实现1.4 MHz定位信号和MRI Larmor频率之间的频谱隔离;2)一种融合磁跟踪数据与多帧MRI成像的动态标定算法,通过加权平均将空间模糊半径减小40%;3)结合动态磁信标加权和空间约束的mri优化Levenberg-Marquardt算法,定位精度比传统算法提高53%。该系统利用平面磁信标,尺寸为3×3 cm²,与之前的设计相比减少了空间占用。这项工作弥补了高精度跟踪和无伪影MRI之间的关键差距,实现了非自主运动和呼吸运动补偿的实时成像,代表了MRI引导干预的范式转变。
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引用次数: 0
A Neural Recording IC for 64-Channel Time-Multiplexed MEA with 3.3-GΩ Total Input Impedance Using Dual Positive Feedback Loop ZIN-Boosting. 一种采用双正反馈环zn - boost的64通道3.3-GΩ全输入阻抗时复用MEA神经记录集成电路。
IF 4.9 Pub Date : 2025-12-02 DOI: 10.1109/TBCAS.2025.3639063
Christopher Santos, Dong-Hwi Choi, Sohmyung Ha, Minkyu Je

This paper presents a 64-channel time-domain multiplexed (TDM) neural recording IC that achieves a high total input impedance (T-ZIN) for direct interfacing with a time-multiplexed microelectrode array (MEA). Unlike conventional IC-side multiplexing implementations, the proposed system performs multiplexing at the electrode side, creating a shared external parasitic path across channels and allows the dual positive feedback loop (DPFL) to use shared feedback capacitors and a single calibration code. The DPFL cancels both internal and external parasitics, thereby boosting T-ZIN. Thus, the proposed scheme eliminates parasitic mismatch and improves scalability and T-ZIN than prior works. Fabricated in a 180 nm CMOS process, the system implements 8 to 1 multiplexing per analog front end, achieves 3.3 GΩ T-ZIN at 10 Hz with 3 pF added external capacitance, and demonstrates saline-based spike recording with 6.66 $μ$VRMS input referred noise over 1 Hz to 10 kHz, while consuming 8.87 $μ$W per channel and 0.0619 mm2 per channel.

本文提出了一种64通道时域多路(TDM)神经记录IC,该IC实现了高总输入阻抗(T-ZIN),可与时间多路微电极阵列(MEA)直接接口。与传统的ic侧复用实现不同,所提出的系统在电极侧执行复用,创建跨通道的共享外部寄生路径,并允许双正反馈环路(DPFL)使用共享反馈电容器和单个校准代码。DPFL消除了内部和外部寄生,从而提高了T-ZIN。因此,该方案消除了寄生失配,提高了可扩展性和T-ZIN。该系统采用180 nm CMOS工艺制造,每个模拟前端实现8对1多路复用,在10 Hz下实现3.3 GΩ T-ZIN,外加3 pF外部电容,并在1 Hz至10 kHz范围内实现基于盐的峰值记录,输入参考噪声为6.66 $μ$VRMS,每通道消耗8.87 $μ$W,每通道消耗0.0619 mm2。
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引用次数: 0
A Battery-Free Neural Implant Achieving 6cm Reading Range and 36.2pJ/bit Efficiency by PWM Passive Body-Channel Communication. 采用PWM无源体通道通信实现6cm读取范围和36.2pJ/bit效率的无电池神经植入物。
IF 4.9 Pub Date : 2025-11-24 DOI: 10.1109/TBCAS.2025.3635731
Yili Shen, Changgui Yang, Weixiao Wang, Yunshan Zhang, Chaonan Yu, Kedi Xu, Gang Pan, Bo Zhao

Minimally invasive wireless implants distributed in the nervous system can transfer various neural signals to an external device, offering an effective hardware tool for neuro-disorder monitoring. Battery-free wireless techniques based on wireless power transfer (WPT) have been adopted to minimize the neural implants, but the effective reading ranges of most conventional works are not long enough to access deep-tissue nerves. The existing ultrasonic coupling and binary-driven passive body-channel-communication (BCC) techniques extended the reading range but suffered from a low data rate and a high energy in wireless communication. In this work, we demonstrate a battery-free wireless neural implant based on the proposed pulse-width-modulation (PWM) passive-BCC technique, which improves the data rate and further reduces the energy per bit. The proposed technique is implemented in a neural-recording chip fabricated by a 65nm CMOS process. Measured results show that the proposed wireless neural implant achieves a battery-free reading range of 6cm, with an energy efficiency of 36.2pJ/bit. In-vivo experiment is performed in a Sprague-Dawley rat to record the neural signals wirelessly in a battery-free way.

分布于神经系统的微创无线植入物可以将各种神经信号传递到外部设备,为神经障碍监测提供了有效的硬件工具。基于无线电力传输(WPT)的无电池无线技术已被用于最小化神经植入物,但大多数传统作品的有效读取范围不足以访问深层组织神经。现有的超声耦合和二进制驱动无源体信道通信(BCC)技术虽然扩大了无线通信的读取范围,但存在数据速率低、能量高的问题。在这项工作中,我们展示了一种基于所提出的脉宽调制(PWM)无源bcc技术的无电池无线神经植入物,该技术提高了数据速率并进一步降低了每比特的能量。该技术在65纳米CMOS工艺制造的神经记录芯片上实现。测量结果表明,该无线神经植入物实现了6cm的无电池读取范围,能量效率为36.2pJ/bit。在Sprague-Dawley大鼠体内进行无电池无线记录神经信号的实验。
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引用次数: 0
C2-LSM: A Storm-NoC Based Neuromorphic Processor for High-Accuracy Liquid State Machine with Cube-Cluster Topology. 基于Storm-NoC的高精度立方簇拓扑液态机神经形态处理器C2-LSM。
IF 4.9 Pub Date : 2025-11-24 DOI: 10.1109/TBCAS.2025.3635611
Enyi Yao, Zhibin Luo, Zongfan Wu, Dong Jiang, Xin Wu, Yongkui Yang

The liquid state machine (LSM), a reservoir computing variant of spiking neural networks (SNNs), has been widely adopted for its low training complexity. In this work, we propose C2-LSM, a neuromorphic processor designed through algorithm-hardware co-design to achieve high accuracy across diverse tasks. At the algorithm level, inspired by the "small-world" structure of the biological brain, we introduce a novel reservoir layer in which neurons are interconnected using a cubecluster topology. For hardware implementation, the customized C2-LSM processor supports runtime configurability of reservoir size and connection sparsity, enabling high classification accuracy across a range of spatiotemporal tasks. Additionally, a Network-on-Chip (NoC) with a Storm routing algorithm is developed to improve the spike event transmission throughput among reservoir neurons. C2-LSM is implemented on an AMD Virtex UltraScale+ VCU129 FPGA running at 250 MHz. With on-chip learning, it achieves accuracies of 98.02%, 94.26%, and 93.00% on MNIST, N-MNIST, and FSDD datasets, respectively, outperforming recently benchmarked LSM neuromorphic processors across all three tasks. For the MNIST task, it achieves an inference speed of 1155 FPS and a learning speed of 1154 FPS, along with a high power efficiency of 103 GSOPS/W.

液体状态机(LSM)是峰值神经网络(snn)的一种储层计算变体,以其较低的训练复杂度得到了广泛的应用。在这项工作中,我们提出了C2-LSM,一种通过算法-硬件协同设计设计的神经形态处理器,以实现跨不同任务的高精度。在算法层面,受生物大脑“小世界”结构的启发,我们引入了一种新的存储层,其中神经元使用立方体簇拓扑相互连接。对于硬件实现,定制的C2-LSM处理器支持存储库大小和连接稀疏度的运行时可配置性,从而在一系列时空任务中实现高分类精度。此外,还提出了一种基于Storm路由算法的片上网络(NoC),以提高存储神经元之间的峰值事件传输吞吐量。C2-LSM是在AMD Virtex UltraScale+ VCU129 FPGA上实现的,工作频率为250 MHz。通过片上学习,它在MNIST、N-MNIST和FSDD数据集上分别达到了98.02%、94.26%和93.00%的准确率,在所有三个任务上都优于最近基准测试的LSM神经形态处理器。对于MNIST任务,它实现了1155 FPS的推理速度和1154 FPS的学习速度,以及103 GSOPS/W的高功率效率。
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引用次数: 0
期刊
IEEE transactions on biomedical circuits and systems
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