adaline adaptive resonance theory arm processor artificial intelligence auditory cat brain cochlear implant consciousness continous firing neurons controller cortical column DARPA DARPA SyNAPSE Dharmendra Modha events Excitatory Postsynaptic Potentials FACETS flash memory global workspace theory Greg Snider hearing HP HRL IBM Inhibitory Postsynaptic Potentials iSLC it Izhikevich law and robotics learning Leon Chua markram MATLAB MATLAB code Melanie-Mitchell memristor memristors Minsky modha modular robotics money Moore's Law Narayan Srinivasa neural engineering neural prosthesis neuromorphic technology NSF object recognition poggio rat brain rate-based models Ray Kurzweil riesenhuber robot robotics robotic weapons sensory fusion serre software SPICE model spike-based models spiking neurons Stanley Williams stdp super computer supercomputer synaptic plasticity time as supervisor