Neuro-fuzzy chip to handle complex tasks with analog performance

This paper presents a mixed-signal neuro-fuzzy controller chip which, in terms of power consumption, input–output delay, and precision, performs as a fully analog implementation. However, it has much larger complexity than its purely analog counterparts. This combination of performance and complexity is achieved through the use of a mixed-signal architecture consisting of a programmable analog core of reduced complexity, and a strategy, and the associated mixed-signal circuitry, to cover the whole input space through the dynamic programming of this core. Since errors and delays are proportional to the reduced number of fuzzy rules included in the analog core, they are much smaller than in the case where the whole rule set is implemented by analog circuitry. Also, the area and the power consumption of the new architecture are smaller than those of its purely analog counterparts simply because most rules are implemented through programming. The Paper presents a set of building blocks associated to this architecture, and gives results for an exemplary prototype. This prototype, called multiplexing fuzzy controller (MFCON), has been realized in a CMOS 0.7 um standard technology. It has two inputs, implements 64 rules, and features 500 ns of input to output delay with 16-mW of power consumption. Results from the chip in a control application with a dc motor are also provided

Material auxiliar de clase de dispositivos electrónicos

El presente volumen recoge el material auxiliar de clase utilizado por los autores en el desarrollo de la asignatura Dispositivos Electrónicos que imparten en la E.T.S. de Ingeniería Informática de la Universidad de Málaga, y que forma parte de las materias que se estudian en el primer curso de las diferentes titulaciones de Informática: Ingeniero en Informática, Ingeniero Técnico en Informática de Sistemas e Ingeniero Técnico en Informática de Gestión. Junto a las transparencias que sirven de soporte a las explicaciones y desarrollo del temario en las clases, se ofrece también al alumno un breve resumen de los conceptos más destacados en cada una de ellas a modo de guión y como base del trabajo de estudio que el alumno ha de desarrollar y completar con la ayuda de la bibliografía recomendada. Se completa el contenido de este trabajo con un cuestionario y una relación de problemas propuestos junto con sus soluciones, para cada uno de los temas

A Modular Programmable CMOS Analog Fuzzy Controller Chip

We present a highly modular fuzzy inference analog CMOS chip architecture with on-chip digital programmability. This chip consists of the interconnection of parameterized instances of two different kind of blocks, namely label blocks and rule blocks. The architecture realizes a lattice partition of the universe of discourse, which at the hardware level means that the fuzzy labels associated to every input (realized by the label blocks) are shared among the rule blocks. This reduces the area and power consumption and is the key point for chip modularity. The proposed architecture is demonstrated through a 16-rule two input CMOS 1-μm prototype which features an operation speed of 2.5 Mflips (2.5×10^6 fuzzy inferences per second) with 8.6 mW power consumption. Core area occupation of this prototype is of only 1.6 mm 2 including the digital control and memory circuitry used for programmability. Because of the architecture modularity the number of inputs and rules can be increased with any hardly design effort.This work was supported in part by the Spanish C.I.C.Y.T under Contract TIC96-1392-C02- 02 (SIVA)

Three Realizations and Comparison of Hardware for Piezoresistive Tactile Sensors

Tactile sensors are basically arrays of force sensors that are intended to emulate the skin in applications such as assistive robotics. Local electronics are usually implemented to reduce errors and interference caused by long wires. Realizations based on standard microcontrollers, Programmable Systems on Chip (PSoCs) and Field Programmable Gate Arrays (FPGAs) have been proposed by the authors for the case of piezoresistive tactile sensors. The solution employing FPGAs is especially relevant since their performance is closer to that of Application Specific Integrated Circuits (ASICs) than that of the other devices. This paper presents an implementation of such an idea for a specific sensor. For the purpose of comparison, the circuitry based on the other devices is also made for the same sensor. This paper discusses the implementation issues, provides details regarding the design of the hardware based on the three devices and compares them.This work has been partially funded by the Spanish Government under contracts TEC2006-12376 and TEC2009-14446

Guía docente común de las titulaciones de Ingeniero en Electrónica en las universidades andaluzas

El presente documento constituye el resultado del trabajo elaborado de acuerdo con la Convocatoria de Elaboración de Guías Docentes de Titulaciones Andaluzas conforme al Sistema de Créditos Europeos (años 2005/2006) de la Dirección General de Universidades, dependiente de la Secretaría General de Universidades, Investigación y Tecnología de la Consejería de Innovación, Ciencia y Empresa de la Junta de Andalucía

Tactile Sensor-Based Steering as a Substitute of the Attendant Joystick in Powered Wheelchairs.

Attendant joysticks of powered wheelchairs are devices oriented to help caregivers. Diseases and disabilities such as dementia, spinal cord injuries or blindness make the user unable to drive the chair by his or her own. However, this device is not intuitive to use, especially for old people. Proper processing of the information provided by two tactile sensors in the handlebar achieves control signals that allow an easy and intuitive driving. This is done in this paper, where the performance of this approach is evaluated in comparison with that of the joystick by means of objective measurements as well as questionnaires to obtain the subjective perception of the participants in the experiments. The results show a better performance of the handlebar in terms of error in following a trajectory, collisions with the surrounding furniture, and user feeling related to ease of use, comfort, required training, usefulness, safety, and fatigue

Adding Proximity Sensing Capability to Tactile Array Based on Off-the-Shelf FSR and PSoC

Tactile sensors have been incorporated into robots to help in many tasks, such as preventing damage to humans in collaborative works or assistance or in dexterous manipulation. Proximity sensors are also common in robotics and are proposed to implement pretouch in multimodal realizations. Many tactile sensors are based on off-the-shelf force-sensing resistors (FSRs). The parasitic capacitance associated with the electrodes of the FSR can be exploited to measure proximity. Moreover, it is possible to implement both force and proximity signal acquisition with a single chip. This article presents a multimodal proximity and tactile patch based on commercial FSR plus a programmable system on chip (PSoC). The ability to measure proximity is achieved without adding any extra element. Discussions about key design issues as well as results that show the performance of the sensor patch are presented. As proximity sensing array, the range is in the order of the size of the electrodes, and it depends on the properties of the object nearby, as expected. The best performance is observed for conductive objects. Therefore, this approach is especially interesting in human-robot interaction tasks, such as shaping robotic hands or grippers around the human body. Furthermore, dielectric objects are also detected, so it can also be used to implement pretouch in manipulation tasks

X chromosome inactivation does not necessarily determine the severity of the phenotype in Rett syndrome patients

WOS: 000481590200024PubMed ID: 31427717Rett syndrome (RTT) is a severe neurological disorder usually caused by mutations in the MECP2 gene. Since the MECP2 gene is located on the X chromosome, X chromosome inactivation (XCI) could play a role in the wide range of phenotypic variation of RTT patients; however, classical methylation-based protocols to evaluate XCI could not determine whether the preferentially inactivated X chromosome carried the mutant or the wild-type allele. Therefore, we developed an allele-specific methylation-based assay to evaluate methylation at the loci of several recurrent MECP2 mutations. We analyzed the XCI patterns in the blood of 174 RTT patients, but we did not find a clear correlation between XCI and the clinical presentation. We also compared XCI in blood and brain cortex samples of two patients and found differences between XCI patterns in these tissues. However, RTT mainly being a neurological disease complicates the establishment of a correlation between the XCI in blood and the clinical presentation of the patients. Furthermore, we analyzed MECP2 transcript levels and found differences from the expected levels according to XCI. Many factors other than XCI could affect the RTT phenotype, which in combination could influence the clinical presentation of RTT patients to a greater extent than slight variations in the XCI pattern.Spanish Ministry of Health (Instituto de Salud Carlos III/FEDER) [PI15/01159]; Crowdfunding program PRECIPITA, from the Spanish Ministry of Health (Fundacion Espanola para la Ciencia y la Tecnologia); Catalan Association for Rett Syndrome; Fondobiorett; Mi Princesa RettWe thank all patients and their families who contributed to this study. The work was supported by grants from the Spanish Ministry of Health (Instituto de Salud Carlos III/FEDER, PI15/01159); Crowdfunding program PRECIPITA, from the Spanish Ministry of Health (Fundacion Espanola para la Ciencia y la Tecnologia); the Catalan Association for Rett Syndrome; Fondobiorett and Mi Princesa Rett