1. https://github.com/ricardodeazambuja/BrianConnectUDP
A framework to real world robotic applications using spiking neural networks
Plymouth, 04/11/2014

2. Motivations
I started planning to work with robot control using spike neural networks and proprioceptive feedback. Then I realized Brian simulator (1.4) doesn't have a way to interact with an external system without stopping the simulation and restarting.
After this work, I've developed this library :

3. In the literature most of the times
Simplified model of the robot
Complete physics simulator
Recording data from the real robot
With a real robot, but using data from the simulations

4. Three Main Modules in Parallel
Main Spike Processing
Input Spikes
Output Spikes

5. Input Spikes Received in Parallel
Input Spike Train 0
Input Spikes
Layer Processing …
Input Spike Train N

6. Output Spikes Sent in Parallel
Output Spike Address 0
Output Spikes
Manual Multicast …
Output Spike Address N
Manual multicast is necessary because multicast messages, sometimes, cannot pass through the network appliances

7. Spike Train
UDP Packet
Vector with 1’s and 0’s indicating the positions where a spike occurred or not

8. Main Spike Processing Two possible ways to receive / generate spikes:
Using the Brian Simulator
Running any Python code

9. Using Brian Simulator
The received spikes are made available through a dummy neuron layer.
In order to sent spikes, the user just have to indicate which layer the system must listen to.
At the end of the simulation it is possible to run any code to save / process weights, etc.
If the simulations is too fast, it is slowed down. Too slow, simply drop old packets.

10. Using Plain Python
Two pipes are available as an input of the user’s function.
In order to read and send spikes the user just have to use the methods available.

11. Interfacing with the system
It is possible to create the UDP packets according to the specification OR
Using the special node configuration

12. Demonstration! HTML5/Javascript Smartphone Gyroscope
Inclination to Spikes
Spikes to Baxter

13. Demonstration!
Joints being controlled by the smartphone