Bulk-Switching Memristor-based Compute-In-Memory Module for Deep Neural Network Training

The need for deep neural network (DNN) models with higher performance and better functionality leads to the proliferation of very large models. Model training, however, requires intensive computation time and energy. Memristor-based compute-in-memory (CIM) modules can perform vector-matrix multiplication (VMM) in situ and in parallel, and have shown great promises in DNN inference applications. However, CIM-based model training faces challenges due to non-linear weight updates, device variations, and low-precision in analog computing circuits. In this work, we experimentally implement a mixed-precision training scheme to mitigate these effects using a bulk-switching memristor CIM module. Lowprecision CIM modules are used to accelerate the expensive VMM operations, with high precision weight updates accumulated in digital units. Memristor devices are only changed when the accumulated weight update value exceeds a pre-defined threshold. The proposed scheme is implemented with a system-on-chip (SoC) of fully integrated analog CIM modules and digital sub-systems, showing fast convergence of LeNet training to 97.73%. The efficacy of training larger models is evaluated using realistic hardware parameters and shows that that analog CIM modules can enable efficient mix-precision DNN training with accuracy comparable to full-precision software trained models. Additionally, models trained on chip are inherently robust to hardware variations, allowing direct mapping to CIM inference chips without additional re-training.

Design and Control of a Highly Redundant Rigid-Flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling

The outbreak of novel coronavirus pneumonia (COVID-19) has caused mortality and morbidity worldwide. Oropharyngeal-swab (OP-swab) sampling is widely used for the diagnosis of COVID-19 in the world. To avoid the clinical staff from being affected by the virus, we developed a 9-degree-of-freedom (DOF) rigid-flexible coupling (RFC) robot to assist the COVID-19 OP-swab sampling. This robot is composed of a visual system, UR5 robot arm, micro-pneumatic actuator and force-sensing system. The robot is expected to reduce risk and free up the clinical staff from the long-term repetitive sampling work. Compared with a rigid sampling robot, the developed force-sensing RFC robot can facilitate OP-swab sampling procedures in a safer and softer way. In addition, a varying-parameter zeroing neural network-based optimization method is also proposed for motion planning of the 9-DOF redundant manipulator. The developed robot system is validated by OP-swab sampling on both oral cavity phantoms and volunteers.