COGNITIVE LEARNING AND MEMORY SYSTEMS USING SPIKING NEURAL NETWORKS HU JUN NATIONAL UNIVERSITY OF SINGAPORE 2014 COGNITIVE LEARNING AND MEMORY SYSTEMS USING SPIKING NEURAL NETWORKS HU JUN B Eng., Nanjing University of Aeronautics and Astronautics A THESIS SUBMITTED FOR THE DEGREE OF DOCTOR OF PHILOSOPHY DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING NATIONAL UNIVERSITY OF SINGAPORE 2014 Acknowledgments Acknowledgments This work was done in the computational intelligence group led by Dr Tan Kay Chen at the Department of Electrical and Computer Engineering, National University of Singapore and financially supported by Agency for Science, Technology and Research (A*STAR) and National University of Singapore First of all, I would like to express deepest appreciation to my supervisor Dr Tan Kay Chen for introducing me into the splendid research field of computational intelligence His valuable guidance and support help me to accomplish my research I wish to thank Dr Tang Huajin for his patient and consistent technical advisory and encouraging support His enthusiasm for studying and dedication to research have inspired me throughout my Ph.D course I would like to express gratitude to Dr Tan Chin Hiong, Dr Yu Jiali, Dr Huang Weiwei, and Dr Cheu Eng Yeow in Institute for Infocomm Research, A*STAR, with whom I worked together and from whom I learned how to work professionally as a researcher My thanks also go to my colleagues of our Computational Intelligence Research Group Dr Shim Vui Ann for being my senior who kindly shared his research experience and encouraged me from time to time, Yu Qiang for accompanying me during the last three and half years, Gee Sen Bong for sharing his excellent coding skills, Willson Amalraj A for demonstrating how to convert research achievements into applications, Arrchana Muruganantham for teaching me website design, Lim Pin for sharing his work experience, Qiu Xin for keeping i Acknowledgments our lab full of joy, Zhang Chong and Goh Sim Kuan for being the replacements I also want to thank lab officers of Control & Simulation Lab, Mr Zhang Hengwei and Ms Sara K for their continuous assistance I would like to thank A/Prof Dipti Srinivasan and A/Prof Xiang Cheng at National University of Singapore, who provide me suggestive critiques and encouraging support Last but not least, I would like to dedicate this thesis to my parents for their constant support and unconditional love ii Contents Acknowledgments i Contents iii Summary vii List of Tables x List of Figures xi Nomenclature xiv Introduction 1.1 Background and Basic Concepts 1.1.1 Cognitive Learning and Memory in the Brain 1.1.2 Artificial Neural Networks 1.2 Research Scope and Contributions 1.3 Organization of the Thesis Literature Review 2.1 12 Spiking Neuron Models iii 12 Contents 2.2 Spiking Neural Networks 15 2.2.1 Neural Coding in Spiking Neural Networks 16 2.2.2 Learning in Spiking Neural Networks 20 2.2.3 Memory Models Using Spiking Neural Networks 27 A Spike-Timing Based Integrated Model for Pattern Recognition 30 3.1 Introduction 30 3.2 The Integrated Model 35 3.2.1 Neuron Model and General Structure 35 3.2.2 Latency-Phase Encoding 35 3.2.3 Supervised Spike-Timing Based Learning 39 Numerical Simulations 42 3.3.1 Network Architecture and Encoding of Grayscale Images 42 3.3.2 Learning Performance 44 3.3.3 Generalization Capability 45 3.3.4 Parameters Evaluation 48 3.3.5 Capacity of the Integrated System 52 3.4 Related Works 54 3.5 Conclusion 57 3.3 A Computationally Efficient Associative Memory Model of Hippocampus CA3 by Spiking Neurons 59 4.1 Introduction 59 4.2 CA3 Model 63 iv Contents 4.2.1 Spike Response Neurons 64 4.2.2 SRM Based Pyramidal Cells and Interneurons 65 4.3 Synaptic Modification 66 4.4 Experimental Results and Discussions 69 4.4.1 Associative Memory Storage and Recall 69 4.4.2 Computational Efficiency 75 Discussion and Conclusion 79 4.5 A Hierarchical Organized Memory Model with Temporal Population Codes 81 5.1 Introduction 81 5.2 The Hierarchical Organized Memory Model 85 5.2.1 Pyramidal Cells and Theta/Gamma Oscillations 86 5.2.2 Temporal Population Coding 87 5.2.3 The Spike-timing Based Learning and NMDA Channels 90 Numerical simulation 93 5.3.1 94 5.3 5.4 Network Behavior Discussion 107 5.4.1 5.4.2 Storage, Recall and Organization of Memory 108 5.4.3 Temporal Compression and Information Binding 109 5.4.4 5.5 Information Flow and Emergence of Neural Cliques Related Works 110 Conclusion 107 113 Hierarchical Organized Memory Model with Spike-driven Learn- v Contents ing of Visual Features 115 6.1 Introduction 115 6.2 The Hierarchical Organized Memory Model 118 6.2.1 Network Architecture 118 6.2.2 Temporal Population Coding in Encoding Layer 119 6.2.3 Spike-timing Based Learning 120 6.3 Numerical Simulation 124 6.4 Discussion 126 6.5 Conclusion and Future Works 127 Conclusions and Future Works 128 7.1 Conclusions 128 7.2 Future Works 131 Bibliography 133 Appendix: Author’s Publications 147 vi Summary Summary Neural networks have been studied for many years in efforts to mimic many aspects of biological neural systems Remarkable progress has been made in solving problems such as vehicle control navigation, decision making, financial applications, and data mining using neural networks However, humans can thoroughly defeat artificial intelligence with little difficulty when facing with cognitive tasks such as pattern recognition Moreover, with the increasing demand of our modern life, cognitive function becomes more and more important in intelligent systems Rate coding is a traditional coding scheme used in neural networks However, the behavioral response of a neuron may be too fast that makes it is impossible to describe its activity relying on the firing rate With the development of instruments and experimental techniques, increasing findings suggest that spike times make sense in encoding information The idea that information could be encoded by precisely timed spikes has drawn increasing attention over the past 20 years By incorporating the concept of time, spiking neural networks (SNNs) is compatible with the temporal code rather than the rate code The goal of this thesis is to investigate aspects of theories of spiking neural networks in an attempt to develop cognitive learning and memory models for computational intelligence Firstly, a spike-timing-based integrated model is devised for solving pattern recognition problem We attempt to build an integrated model based on SNNs, which performs sensory neural encoding and supervised learning with precisely vii Bibliography Bi, G Q., & Poo, M M (1998) Synaptic modifications in cultured hippocampal neurons: dependence on spike timing, synaptic strength, & postsynaptic cell type Journal of Neuroscience, 18 (24), 10464 – 10472 Bi, G Q., & Poo, M M (2001) Synaptic modification by correlated activity: Hebb’s postulate revisited Annual Review of Neuroscience, 24, 139 – 166 Bialek, W., Rieke, F., De Ruyter van 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Jun Hu, Huajin Tang, K C Tan and Haizhou Li A hierarchical organized memory model with temporal population codes Submitted Jun Hu, Huajin Tang, K C Tan, Haizhou Li and Luping Shi A spike-timing based integrated model for pattern recognition Neural Computation, 25 (2), 450 – 472, 2013 Conference Papers Jun Hu, Huajin Tang and K C Tan A spiking neural network model for associative memory using temporal codes The 18th Asia Pacific Symposium on Intelligent and Evolutionary Systems (IES), Singapore, November 10-12, 2014 Accepted 147 Appendix Jun Hu, Huajin Tang and K C Tan A hierarchical organized memory model using spiking neurons IEEE International Joint Conference on Neural Networks (IJCNN), Dallas, US, August 4-9, 2013 C H Tan, Huajin Tang, E Y Cheu and Jun Hu A computationally efficient associative memory model of hippocampus CA3 by spiking neurons IEEE International Joint Conference on Neural Networks (IJCNN), Dallas, US, August 4-9, 2013 Jun Hu, Huajin Tang and K C Tan Spiking-timing based pattern recognition with real-world visual stimuli IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain (CCMB), Singapore, April 16-19, 2013 C H Tan, E Y Cheu, Jun Hu, Qiang Yu and Huajin Tang Associative memory model of hippocampus CA3 using spike response neurons 18th International Conference on Neural Information Processing (ICONIP), Shanghai, China, November 14-17, 2011 148 ... to develop learning and memory models using spiking neural networks in solving cognitive tasks We focus on memory models using spiking neural networks Traditional neural networks and other AI... existing theories and developing innovative cognitive learning and memory models using spiking neural networks 1.1 1.1.1 Background and Basic Concepts Cognitive Learning and Memory in the Brain... artificial memory systems In the following sections, encoding approaches, learning algorithms and memory models in spiking neural networks will be reviewed successively 2.2.1 Neural Coding in Spiking Neural