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In this paper are presented the results of the PID and PD Control Bounded by Hyperbolic Tangent Function control of a robotic structure of 3 degrees of freedom (GLD) this laws are studies on constant reference position and trajectory tracking also are added the mathematical models in order to properly assess the structure, are shown simulations of position in MATLB this values are compared with the...
A key requirement for modern large scale neuromorphic systems is the ability to detect and diagnose faults and to explore self-correction strategies. In particular, to perform this under area-constraints which meet scalability requirements of large neuromorphic systems. A bio-inspired online fault detection and self-correction mechanism for neuro-inspired PID controllers is presented in this paper...
Multisensory integration is commonly used in various robotic areas to collect much more information from an environment using different and complementary types of sensors. This demonstration presents a scenario where the motor rotation frequency is obtained using an AER DVS128 retina chip (Dynamic Vision Sensor) and a frequency decomposer auditory system on a FPGA that mimics a biological cochlea...
Neuromorphic engineering tries to mimic biological information processing. Address-event representation (AER) is a neuromorphic communication protocol for spiking neurons between different chips. We present a new way to drive robotic platforms using spiking neurons. We have simulated spiking control models for DC motors, and developed a mobile robot (Eddie) controlled only by spikes. We apply AER...
This work presents the implementation of a conventional PID and a fuzzy PI control schemes in a 16 bits microcontroller. These schemes are designed for the speed control of a DC brush motor. This article makes emphasis in the handling of the floating point for the first case. For the fuzzy control, the data is obtained directly from the digital analogical converter of the system.
Address-event representation (AER) is a neuromorphic communication protocol for transferring information of spiking neurons implemented into VLSI chips. These neuro-inspired implementations have been used to design sensor chips (retina, cochleas), processing chips (convolutions, filters) and learning chips, what makes possible the development of complex, multilayer, multichip neuromorphic systems...
Address-event-representation (AER) is an asynchronous protocol for transferring the information of spiking neuro-inspired systems. Actually AER systems are able to see, to ear, to process information, and to learn. Regarding to the actuation step, the AER has been used for implementing central pattern generator algorithms, but not for controlling the actuators in a closed-loop spike-based way. In...
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