001022166 001__ 1022166 001022166 005__ 20250203103342.0 001022166 0247_ $$2doi$$a10.1088/2634-4386/acdaba 001022166 0247_ $$2datacite_doi$$a10.34734/FZJ-2024-01287 001022166 0247_ $$2WOS$$aWOS:001064496000001 001022166 037__ $$aFZJ-2024-01287 001022166 082__ $$a621.3 001022166 1001_ $$0P:(DE-Juel1)195747$$aSchoepe, Thorben$$b0$$eCorresponding author 001022166 245__ $$aClosed-loop sound source localization in neuromorphic systems 001022166 260__ $$aBristol$$bIOP Publishing Ltd.$$c2023 001022166 3367_ $$2DRIVER$$aarticle 001022166 3367_ $$2DataCite$$aOutput Types/Journal article 001022166 3367_ $$0PUB:(DE-HGF)16$$2PUB:(DE-HGF)$$aJournal Article$$bjournal$$mjournal$$s1710479849_1773 001022166 3367_ $$2BibTeX$$aARTICLE 001022166 3367_ $$2ORCID$$aJOURNAL_ARTICLE 001022166 3367_ $$00$$2EndNote$$aJournal Article 001022166 520__ $$aSound source localization (SSL) is used in various applications such as industrial noise-control,speech detection in mobile phones, speech enhancement in hearing aids and many more. Newestvideo conferencing setups use SSL. The position of a speaker is detected from the difference in theaudio waves received by a microphone array. After detection the camera focuses onto the locationof the speaker. The human brain is also able to detect the location of a speaker from auditorysignals. It uses, among other cues, the difference in amplitude and arrival time of the sound wave atthe two ears, called interaural level and time difference. However, the substrate and computationalprimitives of our brain are different from classical digital computing. Due to its low powerconsumption of around 20 W and its performance in real time the human brain has become agreat source of inspiration for emerging technologies. One of these technologies is neuromorphichardware which implements the fundamental principles of brain computing identified until todayusing complementary metal-oxide-semiconductor technologies and new devices. In this work wepropose the first neuromorphic closed-loop robotic system that uses the interaural time differencefor SSL in real time. Our system can successfully locate sound sources such as human speech. In aclosed-loop experiment, the robotic platform turned immediately into the direction of the soundsource with a turning velocity linearly proportional to the angle difference between sound sourceand binaural microphones. After this initial turn, the robotic platform remains at the direction ofthe sound source. Even though the system only uses very few resources of the available hardware,consumes around 1 W, and was only tuned by hand, meaning it does not contain any learning atall, it already reaches performances comparable to other neuromorphic approaches. The SSLsystem presented in this article brings us one step closer towards neuromorphic event-basedsystems for robotics and embodied computing. 001022166 536__ $$0G:(DE-HGF)POF4-5234$$a5234 - Emerging NC Architectures (POF4-523)$$cPOF4-523$$fPOF IV$$x0 001022166 588__ $$aDataset connected to CrossRef, Journals: juser.fz-juelich.de 001022166 7001_ $$0P:(DE-HGF)0$$aGutierrez-Galan, Daniel$$b1 001022166 7001_ $$0P:(DE-HGF)0$$aDominguez-Morales, Juan P$$b2 001022166 7001_ $$0P:(DE-HGF)0$$aGreatorex, Hugh$$b3 001022166 7001_ $$00000-0003-3061-5922$$aJimenez-Fernandez, Angel$$b4 001022166 7001_ $$0P:(DE-HGF)0$$aLinares-Barranco, Alejandro$$b5 001022166 7001_ $$0P:(DE-HGF)0$$aChicca, Elisabetta$$b6 001022166 773__ $$0PERI:(DE-600)3099608-9$$a10.1088/2634-4386/acdaba$$gVol. 3, no. 2, p. 024009 -$$n2$$p024009 -$$tNeuromorphic computing and engineering$$v3$$x2634-4386$$y2023 001022166 8564_ $$uhttps://juser.fz-juelich.de/record/1022166/files/Closed-loop%20sound%20source%20localization%20in%20neuromorphic%20systems.pdf$$yOpenAccess 001022166 8564_ $$uhttps://juser.fz-juelich.de/record/1022166/files/Closed-loop%20sound%20source%20localization%20in%20neuromorphic%20systems.gif?subformat=icon$$xicon$$yOpenAccess 001022166 8564_ $$uhttps://juser.fz-juelich.de/record/1022166/files/Closed-loop%20sound%20source%20localization%20in%20neuromorphic%20systems.jpg?subformat=icon-1440$$xicon-1440$$yOpenAccess 001022166 8564_ $$uhttps://juser.fz-juelich.de/record/1022166/files/Closed-loop%20sound%20source%20localization%20in%20neuromorphic%20systems.jpg?subformat=icon-180$$xicon-180$$yOpenAccess 001022166 8564_ $$uhttps://juser.fz-juelich.de/record/1022166/files/Closed-loop%20sound%20source%20localization%20in%20neuromorphic%20systems.jpg?subformat=icon-640$$xicon-640$$yOpenAccess 001022166 909CO $$ooai:juser.fz-juelich.de:1022166$$pdnbdelivery$$pdriver$$pVDB$$popen_access$$popenaire 001022166 9101_ $$0I:(DE-588b)5008462-8$$6P:(DE-Juel1)195747$$aForschungszentrum Jülich$$b0$$kFZJ 001022166 9131_ $$0G:(DE-HGF)POF4-523$$1G:(DE-HGF)POF4-520$$2G:(DE-HGF)POF4-500$$3G:(DE-HGF)POF4$$4G:(DE-HGF)POF$$9G:(DE-HGF)POF4-5234$$aDE-HGF$$bKey Technologies$$lNatural, Artificial and Cognitive Information Processing$$vNeuromorphic Computing and Network Dynamics$$x0 001022166 9141_ $$y2024 001022166 915__ $$0LIC:(DE-HGF)CCBY4$$2HGFVOC$$aCreative Commons Attribution CC BY 4.0 001022166 915__ $$0StatID:(DE-HGF)0501$$2StatID$$aDBCoverage$$bDOAJ Seal$$d2023-04-12T14:53:40Z 001022166 915__ $$0StatID:(DE-HGF)0500$$2StatID$$aDBCoverage$$bDOAJ$$d2023-04-12T14:53:40Z 001022166 915__ $$0StatID:(DE-HGF)0510$$2StatID$$aOpenAccess 001022166 915__ $$0StatID:(DE-HGF)0030$$2StatID$$aPeer Review$$bDOAJ : Open peer review, Double anonymous peer review$$d2023-04-12T14:53:40Z 001022166 915__ $$0StatID:(DE-HGF)0561$$2StatID$$aArticle Processing Charges$$d2023-09-02 001022166 915__ $$0StatID:(DE-HGF)0700$$2StatID$$aFees$$d2023-09-02 001022166 920__ $$lyes 001022166 9201_ $$0I:(DE-Juel1)PGI-15-20210701$$kPGI-15$$lNeuromorphic Software Eco System$$x0 001022166 980__ $$ajournal 001022166 980__ $$aVDB 001022166 980__ $$aUNRESTRICTED 001022166 980__ $$aI:(DE-Juel1)PGI-15-20210701 001022166 9801_ $$aFullTexts