Engineering Commons^™

Data-Driven Passivity-Based Control Of Underactuated Robotic Systems, Wankun Sirichotiyakul

Boise State University Theses and Dissertations

Classical control strategies for robotic systems are based on the idea that feedback control can be used to override the natural dynamics of the machines. Passivity-based control (Pbc) is a branch of nonlinear control theory that follows a similar approach, where the natural dynamics is modified based on the overall energy of the system. This method involves transforming a nonlinear control system, through a suitable control input, into another fictitious system that has desirable stability characteristics. The majority of Pbc techniques require the discovery of a reasonable storage function, which acts as a Lyapunov function candidate that can be …

Process-Property Linkages Construction For Inkjet Printing With Machine Learning, Fataneh Jenabi

Boise State University Theses and Dissertations

Printed electronics are emerging technologies that can potentially revolutionize the manufacturing of electronic devices. One promising technology for printed electronics is inkjet printing. Inkjet printing offers both low-cost processing and high resolution. Being a subset of additive manufacturing, inkjet printing minimizes waste and is compatible with a wide range of inks. However, inkjet printing of electronic devices is still in its infancy. One major challenge for inkjet printing is the complexity of the process optimization and uncertain high throughput production. To achieve a high-quality print, there is a complex parameter space of materials and processing parameters that needs to be …

Analog Spiking Neuromorphic Circuits And Systems For Brain- And Nanotechnology-Inspired Cognitive Computing, Xinyu Wu

Boise State University Theses and Dissertations

Human society is now facing grand challenges to satisfy the growing demand for computing power, at the same time, sustain energy consumption. By the end of CMOS technology scaling, innovations are required to tackle the challenges in a radically different way. Inspired by the emerging understanding of the computing occurring in a brain and nanotechnology-enabled biological plausible synaptic plasticity, neuromorphic computing architectures are being investigated. Such a neuromorphic chip that combines CMOS analog spiking neurons and nanoscale resistive random-access memory (RRAM) using as electronics synapses can provide massive neural network parallelism, high density and online learning capability, and hence, paves …

A Memristor-Based Neuromorphic Computing Application, Adrian Rothenbuhler

Boise State University Theses and Dissertations

Artificial neural networks have recently received renewed interest because of the discovery of the memristor. The memristor is the fourth basic circuit element, hypothesized to exist by Leon Chua in 1971 and physically realized in 2008. The two-terminal device acts like a resistor with memory and is therefore of great interest for use as a synapse in hardware ANNs. Recent advances in memristor technology allowed these devices to migrate from the experimental stage to the application stage.

This Master's thesis presents the development of a threshold logic gate (TLG), which is a special case of an ANN, implemented with discrete …