The recent trend in adapting ultra-energy-efficient (but error-prone) nanomagnetic devices to non-Boolean computing and information processing (e.g. stochastic/probabilistic computing, neuromorphic, belief networks, etc) has resulted in rapid strides in new computing modalities. Of particular interest are Bayesian networks (BN) which may see revolutionary advances when adapted to a specific type of nanomagnetic devices. Here, we develop a novel nanomagnet-based computing substrate for BN that allows high-speed sampling from an arbitrary Bayesian graph. We show that magneto-tunneling junctions (MTJs) can be used for electrically programmable ‘sub-nanosecond’ probability sample generation by co-optimizing voltage-controlled magnetic anisotropy and spin transfer torque. We also discuss that just by engineering local magnetostriction in the soft layers of MTJs, one can stochastically couple them for programmable conditional sample generation as well. This obviates the need for extensive energy-inefficient hardware like OP-AMPS, gates, shift-registers, etc to generate the correlations. Based on the above findings, we present an architectural design and computation flow of the MTJ network to map an arbitrary Bayesian graph where we develop circuits to program and induce switching and interactions among MTJs. Our discussed framework can lead to a new generation of stochastic computing hardware for various other computing models, such as stochastic programming and Bayesian deep learning. This can spawn a novel genre of ultra-energy-efficient, extremely powerful computing paradigms, which is a transformational advance.

This work presents AEGIS, a novel mixed-signal framework for real-time anomaly detection by examining sensor stream statistics. AEGIS utilizes Kernel Density Estimation (KDE)-based non-parametric density estimation to generate a real-time statistical model of the sensor data stream. The likelihood estimate of the sensor data point can be obtained based on the generated statistical model to detect outliers. We present CMOS Gilbert Gaussian cell-based design to realize Gaussian kernels for KDE. For outlier detection, the decision boundary is defined in terms of kernel standard deviation (σ Kernel ) and likelihood threshold (P T hres ). We adopt a sliding window to update the detection model in real-time. We use time-series dataset provided from Yahoo to benchmark the performance of AEGIS. A f1-score higher than 0.87 is achieved by optimizing parameters such as length of the sliding window and decision thresholds which are programmable in AEGIS. Discussed architecture is designed using 45nm technology node and our approach on average consumes ∼75 µW power at a sampling rate of 2 MHz while using ten recent inlier samples for density estimation. Fullversion of this research has been published at IEEE TVLSI

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We propose a novel compute-in-memory (CIM)-based ultralow-power framework for probabilistic localization of insect-scale drones. Localization is a critical subroutine for path planning and rotor control in drones, where a drone is required to continuously estimate its pose (position and orientation) in flying space. The conventional probabilistic localization approaches rely on the 3-D Gaussian mixture model (GMM)-based representation of a 3-D map. A GMM model with hundreds of mixture functions is typically needed to adequately learn and represent the intricacies of the map. Meanwhile, localization using complex GMM map models is computationally intensive. Since insect-scale drones operate under extremely limited area/power budget, continuous localization using GMM models entails much higher operating energy, thereby limiting flying duration and/or size of the drone due to a larger battery.Addressing the computational challenges of localization in an insect-scale drone using a CIM approach, we propose a novel framework of 3-D map representation using a harmonic mean of the "Gaussian-like" mixture (HMGM) model. We show that short-circuit current of a multiinput floating-gate CMOS-based inverter follows the harmonic mean of a Gaussian-like function. Therefore, the likelihood function useful for drone localization can be efficiently implemented by connecting many multiinput inverters in parallel, each programmed with the parameters of the 3-D map model represented as HMGM. When the depth measurements are projected to the input of the implementation, the summed current of the inverters emulates the likelihood of the measurement. We have characterized our approach on an RGB-D scenes dataset. The proposed localization framework is ∼25× energy-efficient than the traditional, 8-bit digital GMM-based processor paving the way for tiny autonomous drones.