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In this article, we propose a circuit to imitate the behavior of a Reward-Modulated spike-timing-dependent plasticity synapse. When two neurons in adjacent layers produce spikes, each spike modifies the thickness in the shared synapse. As a result, the synapse’s ability to conduct impulses is controlled, leading to an unsupervised learning rule. By introducing a reward signal, reinforcement learning is enabled by redirecting the growth and shrinkage of synapses based on signal feedback from the environment. The proposed synapse manages the convolution of the emitted spike signals to promote either the strengthening or weakening of the synapse, represented as the resistance value of a memristor device. As memristors have a conductance range that may differ from the available current input range of typical CMOS neuron designs, the synapse circuit can be adjusted to regulate the spike’s amplitude current to comply with the neuron. The circuit described in this work allows for the implementation of fully interconnected layers of neuron analog circuits. This is achieved by having each synapse reconform the spike signal, thus removing the burden of providing enough power from the neurons to each memristor. The synapse circuit was tested using a CMOS analog neuron described in the literature. Additionally, the article provides insight into how to properly describe the hysteresis behavior of the memristor in Verilog-A code. The testing and learning capabilities of the synapse circuit are demonstrated in simulation using the Skywater-130 nm process. The article’s main goal is to provide the basic building blocks for deep neural networks relying on spiking neurons and memristors as the basic processing elements to handle spike generation, propagation, and synaptic plasticity.

Analog neuromorphic prototyping is essential for designing and testing spiking neuron models that use memristive devices as synapses. These prototypes can have various circuit configurations, implying different response behaviors that custom silicon designs lack. The prototype’s behavior results can be optimized for a specific foundry node, which can be used to produce a customized on-chip parallel deep neural network. Spiking neurons mimic how the biological neurons in the brain communicate through electrical potentials. Doing so enables more powerful and efficient functionality than traditional artificial neural networks that run on von Neumann computers or graphic processing unit-based platforms. Therefore, on-chip parallel deep neural network technology can accelerate deep learning processing, aiming to exploit the brain’s unique features of asynchronous and event-driven processing by leveraging the neuromorphic hardware’s inherent parallelism and analog computation capabilities. This paper presents the design and implementation of a leaky integrate-and-fire (LIF) neuron prototype implemented with commercially available components on a PCB board. The simulations conducted in LTSpice agree well with the electrical test measurements. The results demonstrate that this design can be used to interconnect many boards to build layers of physical spiking neurons, with spike-timing-dependent plasticity as the primary learning algorithm, contributing to the realization of experiments in the early stage of adopting analog neuromorphic computing.

Robot navigation allows mobile robots to navigate among obstacles without hitting them and reaching the specified goal point. In addition to preventing collisions, it is also essential for mobile robots to sense and maintain an appropriate battery power level at all times to avoid failures and non-fulfillment with their scheduled tasks. Therefore, selecting the proper time to recharge the batteries is crucial to address the navigation algorithm design for the robot’s prolonged autonomous operation. In this paper, a machine learning algorithm is used to ensure the extended robot autonomy based on a reinforcement learning method combined with a fuzzy inference system. The proposal enables a mobile robot to learn whether to continue through its path toward the destination or modify its course on the fly, if necessary, to proceed toward the battery charging station, based on its current state. The proposal performs a flexible behavior to choose an action that allows a robot to move from a starting to a destination point, guaranteeing battery charge availability. This paper shows the obtained results using an approach with thirty-six states and its reduction with twenty states. The conducted simulations show that the robot requires fewer training epochs to achieve ten consecutive successes in the fifteen proposed scenarios than traditional reinforcement learning methods exhibit. Moreover, in four scenarios, the robot ends up with a battery level above 80%, that value is higher than the obtained results with two deterministic methods.