Bee - The Spiking Reservoir (LSM) Simulator
It was developed together with my PhD thesis (you can see where it was used in my publications) exclusively to solve the specific problems presented by neurorobotics experiments.
Bee uses the C library pthreads (POSIX threads) in order to speed up the simulation of LSMs by processing input and output spikes in a parallel way. A Python wrapper is supplied to simplify the user interaction with the software.
The neuron model, a special type of (Leaky_integrate-and-fire) with extra exponential synapses - see  for details, is hardcoded (fixed), following what is presented bellow, and the solution for the differential equations is calculated by the Euler's method according to the simulation's time step specified by the user.
The simulator has the ability to automatically generate the reservoir (liquid) in a probabilistic way (see  for details) according to the equation:
All the parameters for the neuron model or the internal connections can be defined by the user. Also, motivated by the results presented in Short-term plasticity in a liquid state machine biomimetic robot arm controller, Short Term Plasticity (STP) and time delays were not implemented in order to simplify and optimise the simulator. In its current version, it supports, at least, Linux and OS X (it was never tested by the author on any version of Windows).
If you want to find out more details about the main simulator I'd recommend to have a look here:
All the necessary files can be found here:
Here is a list of published papers that use Bee (they have plenty of code examples to follow):
- Graceful Degradation under Noise on Brain Inspired Robot Controllers
- Diverse, Noisy and Parallel: a New Spiking Neural Network Approach for Humanoid Robot Control
- Short-Term Plasticity in a Liquid State Machine Biomimetic Robot Arm Controller
- Neurorobotic Simulations on the Degradation of Multiple Column Liquid State Machines
- Sensor Fusion Approach Using Liquid StateMachines for Positioning Control
If you are using Bee in your work, please, send me the link and I will add it here :)
- Maass, Wolfgang, Thomas Natschläger, and Henry Markram. “Real-Time Computing without Stable States: A New Framework for Neural Computation Based on Perturbations.” Neural Computation 14, no. 11 (November 2002): 2531–60.