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Articles 31 - 60 of 95
Full-Text Articles in Engineering
The Search For Design In Electrical Engineering Education, David Kerns, Sherra Kerns, Mark Somerville, Gill Pratt, Jill Crisman
The Search For Design In Electrical Engineering Education, David Kerns, Sherra Kerns, Mark Somerville, Gill Pratt, Jill Crisman
Mark Somerville
The importance of "design" in engineering education is well established and a cornerstone of most new engineering curricula as well as accreditation criteria Electrical and computer engineering (ECE) programs view many elements of design in ways similar to other engineering disciplines. However, in some respects other disciplines within engineering, such as Mechanical Engineering (ME), view design in broader terms, and perhaps gain value that electrical and computer engineering educators may miss. This paper describes how design is typically viewed in ECE programs, bow it's viewed in other engineering areas, particularly ME, and suggests some new possibilities for enhancing design education …
Floating-Gate Devices: They Are Not Just For Digital Memories Anymore, Paul Hasler, Bradley Minch, Chris Diorio
Floating-Gate Devices: They Are Not Just For Digital Memories Anymore, Paul Hasler, Bradley Minch, Chris Diorio
Bradley Minch
Since the first reported floating-gate structure in 1967, floating-gate transistors have been used widely to store digital information for long periods in structures such as EPROMs and EEPROMs. Recently floating-gate devices have found applications as analog memories, analog and digital circuit elements, and adaptive processing elements. Floating-gate devices have found commerical applications, e.g. ISD, for long-term non-volatile information storage devices for analog applications. The focus of floating-gate devices has been towards fabrication in standard CMOS processes, as opposed to the specialized processes for fabricating digital non-volatile memories. Floating-gate circuits can be designed at any or all of three levels: analog …
Synthesis Of Multiple-Input Translinear Element Networks, Bradley Minch, Paul Hasler, Chris Diorio
Synthesis Of Multiple-Input Translinear Element Networks, Bradley Minch, Paul Hasler, Chris Diorio
Bradley Minch
We describe two systematic procedures for synthesizing multiple-input translinear element (MITE) networks that produce an output current that is equal to product of a number of input currents, each of which is raised to an arbitrary rational power. By using the first procedure, we obtain a MITE network, called a two-layer network, that is relatively insensitive to mismatch in the MITE weight values. By using the second procedure, we arrive at a MITE network, called a cascade network, that reduces the fan-in required of each MITE. We illustrate each ofthese procedures with an example.
A Floating-Gate Technology For Digital Cmos Processes, Bradley Minch, Paul Hasler
A Floating-Gate Technology For Digital Cmos Processes, Bradley Minch, Paul Hasler
Bradley Minch
We discuss the possibility of developing high-quality floating-gate memories and circuits in digital CMOS technologies that have only one layer of polysilicon. Here, the primary concern is whether or not we can get adequate control-gate linearity from MOS capacitors. We employ two experimental procedures to address this issue and find acceptable floating-gate circuit behaviour with MOS capacitors. First, we simultaneously characterize an MOS capacitor and a linear capacitor; the experimental data show that MOS capacitors behave similarly to linear capacitors over a finite, but usable range. Second, we characterize two typical floating-gateMOS circuit primitives, a floating-gate amplifier and a multiple-input …
Adaptive Circuits Using Pfet Floating-Gate Devices, Paul Hasler, Bradley Minch, Chris Diorio
Adaptive Circuits Using Pfet Floating-Gate Devices, Paul Hasler, Bradley Minch, Chris Diorio
Bradley Minch
In this paper, we describe our floating-gate pFET device, with its many circuit applications and supporting experimental measurements. We developed these devices in standard double-poly CMOS technologies by utilizing many effects inherent in these processes. We add floating-gate charge by electron tunneling, and we remove floating-gate charge by hot-electron injection. With this floating-gate technology, we cannot only build analog EEPROMs, we can also implement adaptation and learning when we consider floating-gate devices to be circuit elements with important time-domain dynamics. We start by discussing non-adaptive properties of floating-gate devices and we present two representative non-adaptive applications. First, we discuss using …
Roach: An Autonomous 2.4g Crawling Hexapod Robot, Aaron Hoover, Erik Steltz, Ronald Fearing
Roach: An Autonomous 2.4g Crawling Hexapod Robot, Aaron Hoover, Erik Steltz, Ronald Fearing
Aaron M. Hoover
This work presents the design, fabrication, and testing of a novel hexapedal walking millirobot using only two actuators. Fabricated from S2-glass reinforced composites and flexible polymer hinges using the smart composite microstructures (SCM) process, the robot is capable of speeds up to 1 body length/sec or approximately 3 cm/s. All power and control electronics are onboard and remote commands are enabled by an IrDA link. Actuation is provided by shape memory alloy wire. At 2.4 g including control electronics and battery, RoACH is the smallest and lightest autonomous legged robot produced to date.
Medic: A Legged Millirobot Utilizing Novel Obstacle Traversal, Nicholas Kohut, Aaron Hoover, Kevin Ma, Stanley Baek, Ronald Fearing
Medic: A Legged Millirobot Utilizing Novel Obstacle Traversal, Nicholas Kohut, Aaron Hoover, Kevin Ma, Stanley Baek, Ronald Fearing
Aaron M. Hoover
This work presents the design, fabrication, capabilities, and obstacle traversal mechanics of MEDIC (MillirobotEnabled Diagnostic of Integrated Circuits), a small legged robot able to overcome a varied array of obstacles. MEDIC features a hull that keeps its body in contact with the ground at all times, and uses only four actuators to move forward, turn, mount obstacles, and move in reverse. The chassis is fabricated using a Smart Composite Microstructures (SCM) approach and the robot is actuated by coiled Shape Memory Alloy (SMA). MEDIC also features a camera which will be useful for navigation in the future.
Systematic Study Of The Performance Of Small Robots On Controlled Laboratory Substrates, Chen Li, Aaron Hoover, Paul Birkmeyer, Paul Umbanhowar, Ronald Fearing, Daniel Goldman
Systematic Study Of The Performance Of Small Robots On Controlled Laboratory Substrates, Chen Li, Aaron Hoover, Paul Birkmeyer, Paul Umbanhowar, Ronald Fearing, Daniel Goldman
Aaron M. Hoover
The design of robots able to locomote effectively over a diversity of terrain requires detailed ground interaction models; unfortunately such models are lacking due to the complicated response of real world substrates which can yield and flow in response to loading. To advance our understanding of the relevant modeling and design issues, we conduct a comparative study of the performance of DASH and RoACH, two small, biologically inspired, six legged, lightweight (~10 cm, ~20 g) robots fabricated using the smart composite microstructure (SCM) process. We systematically examine performance of both robots on rigid and flowing substrates. Varying both ground properties …
Fast Scale Prototyping For Folded Millirobots, Aaron Hoover, Ronald Fearing
Fast Scale Prototyping For Folded Millirobots, Aaron Hoover, Ronald Fearing
Aaron M. Hoover
We present a set of tools and a process, making use of inexpensive and environmentally friendly materials, that enable the rapid realization of fully functional large scale prototypes of folded mobile millirobots. By mimicking the smart composite microstructure (SCM) process at a 2–10X scale using posterboard, and commonly available polymer films, we can realize a prototype design in a matter of minutes compared with days for a complicated SCM design at the small scale. The time savings enable a significantly shorter design cycle by allowing forimmediate discovery of design flaws and introduction of design improvements prior to beginning construction at …
A Rapidly Prototyped 2-Axis Positioning Stage For Microassembly Using Large Displacement Compliant Mechanisms, Aaron Hoover, Srinath Avadhanula, Richard Groff, Ronald Fearing
A Rapidly Prototyped 2-Axis Positioning Stage For Microassembly Using Large Displacement Compliant Mechanisms, Aaron Hoover, Srinath Avadhanula, Richard Groff, Ronald Fearing
Aaron M. Hoover
Compliant mechanisms provide an attractive alternative to conventional rigid mechanisms in the design of ultra low-cost precision positioning systems. The desirable performance characteristics of these mechanisms including freedom from backlash, long life, light weight, and ease of fabrication/assembly make them an ideal solution to the problem of inexpensive precision positioning for microassembly. This paper presents a design for a 2 axis precision positioning system which makes use of large displacement compliant mechanisms, a room temperature and pressure molding fabrication process, commodity hardware, and a piecewise linear interpolation compensation scheme to achieve positioning performance suitable for automated assembly of sub-centimeter robotic …
Analysis Of Off-Axis Performance Of Compliant Mechanisms With Applications To Mobile Millirobot Design, Aaron Hoover, Ronald Fearing
Analysis Of Off-Axis Performance Of Compliant Mechanisms With Applications To Mobile Millirobot Design, Aaron Hoover, Ronald Fearing
Aaron M. Hoover
We present an approach to quantifying the off-axis stiffness properties of parallel compliant mechanisms used in the design of mobile millirobots. By transforming the stiffness of individual flexure elements and rigid links comprising a compliant mechanism into a global coordinate system, we enable the formulation of an equivalent mechanism stiffness. Using that stiffness in concert with an energy-based performance metric, we predict theperformance of a compliant mechanism subjected to a prescribed set of forces in the global coordinate system. We analyze a flexure-based Sarrus linkage and use the performance metric to improve the design by adding topological redundancy. Finally, our …
Rapidly Prototyped Orthotweezers For Automated Microassembly, Aaron Hoover, Ronald Fearing
Rapidly Prototyped Orthotweezers For Automated Microassembly, Aaron Hoover, Ronald Fearing
Aaron M. Hoover
We describe the design, fabrication, and testing of an ultra-low cost orthotweezers system for microassembly. By utilizing rapid prototyping technology, compliant mechanisms, and commodity-grade actuators and sensors, we significantly reduce the complexity and cost of the previous Orthotweezers system without sacrificing functionality. With a force resolution of 0.7mN and a worst case mean positioning repeatability of 23 mum, the system is capable of dexterously manipulating rectangular parts with dimensions 200 mum times 200 mum times 100 mum. Such blocks can then be temporarily attached to thin, delicate, or oddly shaped parts to enable handling and ultimately assembly of micromechanical structures. …
Bio-Inspired Design And Dynamic Maneuverability Of A Minimally Actuated Six-Legged Robot, Aaron Hoover, Samuel Burden, Xiao-Yu Fu, S. Sastry, Ronald Fearing
Bio-Inspired Design And Dynamic Maneuverability Of A Minimally Actuated Six-Legged Robot, Aaron Hoover, Samuel Burden, Xiao-Yu Fu, S. Sastry, Ronald Fearing
Aaron M. Hoover
Rapidly running arthropods like cockroaches make use of passive dynamics to achieve remarkable locomotion performance with regard to stability, speed, and maneuverability. In this work, we take inspiration from these organisms to design, fabricate, and control a 10cm, 24 gram underactuated hexapedal robot capable of running at 14 body lengths per second and performing dynamic turning maneuvers. Our design relies on parallel kinematic mechanisms fabricated using the scaled smart composite microstructures (SCM) process and viscoelastic polymer legs with tunable stiffness. In addition to the novel robot design, we present experimental validation of the lateral leg spring (LLS) locomotion model's prediction …
Perimeter Patrol On Autonomous Surface Vehicles Using Marine Radar, Elena Oleynikova, Nicole Lee, Andrew Barry, Joseph Holler, David Barrett
Perimeter Patrol On Autonomous Surface Vehicles Using Marine Radar, Elena Oleynikova, Nicole Lee, Andrew Barry, Joseph Holler, David Barrett
David Barrett
Perimeter patrol enhances the utility of autonomous surface vehicles (ASVs) by enabling many security and scientific missions, including harbor protection, water sampling, and geological survey. We present a novel approach to perimeter patrol that uses only two sensors: commercial off-the-shelf available marine radar and the heading information from a GPS. Our algorithm performs computer vision morphological operations on the radarimage to find a suitable path around shore and choose an appropriate next waypoint. Our method has proved robust to a variety of field conditions, allowing us to demonstrate the autonomous navigation of a 3.5 km perimeter lake.
The Optimal Control Of A Flexible Hull Robotic Undersea Vehicle Propelled By An Oscillating Foil, David Barrett, Mark Grosenbaugh, Michael Triantafyllou
The Optimal Control Of A Flexible Hull Robotic Undersea Vehicle Propelled By An Oscillating Foil, David Barrett, Mark Grosenbaugh, Michael Triantafyllou
David Barrett
Determining the optimal swimming motion for a flexible hull robotic undersea vehicle propelled by an oscillating foil is an acutely complex problem involving the vehicle's body kinematics and the hydrodynamics of the surrounding water. The overall intractability of the hydrodynamics of a flexible body precludes a purely analytical solution. The immense size of the experimental variable space prevents a purely empirical one. In order to overcome both difficulties, we have developed a self-optimizing motion controller based on a genetic algorithm. This controller effectively uses evolutionary principles to exponentially optimize swimming performance.
Optimal Synthesis Of Mite Translinear Loops, Shyam Subramanian, David Anderson, Paul Hasler, Bradley Minch
Optimal Synthesis Of Mite Translinear Loops, Shyam Subramanian, David Anderson, Paul Hasler, Bradley Minch
Bradley Minch
A procedure for synthesizing multiple-input translinear element (MITE) networks that implement a given system of translinear-loop equations (STLE) is presented. The minimum number of MITEs required for implementing the STLE, which is equal to the number of current variables in the STLE, is attained. The number of input gates ofthe MITEs is minimal amongst those MITE networks that satisfy the STLE and have the minimum number of MITEs. The synthesized MITE networks have a unique operating point and, in many cases, the network is guaranteed to be stable in a particular sense. This synthesis procedure exploits the relationship between MITEproduct-of-power-law …
Synthesis Of Translinear Analog Signal Processing Systems, Eric Mcdonald, Bradley Minch
Synthesis Of Translinear Analog Signal Processing Systems, Eric Mcdonald, Bradley Minch
Bradley Minch
In this paper, we describe a structured methodology for synthesizing translinear analog signal-processing systems from high-level descriptions in the time domain. The circuits are implemented from elements called multiple-input translinear elements (MITEs). We illustrate the synthesis methodology with the simple example ofan RMS-DC converter.
Programmable Multiple Input Translinear Elements, Haw-Jing Jo, Guillermo Serrano, Paul Hasler, David Anderson, Bradley Minch
Programmable Multiple Input Translinear Elements, Haw-Jing Jo, Guillermo Serrano, Paul Hasler, David Anderson, Bradley Minch
Bradley Minch
Large networks composed of multiple input translinear elements (MITEs) have been typically limited by the mismatches between individual MITEs. This paper presents the methodology that allows for such systems to be feasible through the application of floating-gate programming techniques. We introduce designs for a programmable MITE, and demonstrate the ability to systematically reduce offsets through accurate programming of example circuits.
A Low-Voltage Mos Cascode Current Mirror For All Current Levels, Bradley Minch
A Low-Voltage Mos Cascode Current Mirror For All Current Levels, Bradley Minch
Bradley Minch
In this paper, we describe a simple low-voltage MOS cascode current mirror that functions well at all current levels, ranging from weak inversion to strong inversion. The circuit features a wide output voltage swing and requires an input voltage of approximately one diode drop plus a saturation voltage. We present experimental results from a version of the current mirror that was fabricated in a 0.5 μm CMOS process along with a comparison with several other current mirrors with respect both to required input voltage and to output compliance voltage.
A Fully Programmable Log-Domain Bandpass Filter Using Multiple-Input Translinear Elements, Ravi Chawla, Haw-Jing Lo, Arindam Basu, Paul Hasler, Bradley Minch
A Fully Programmable Log-Domain Bandpass Filter Using Multiple-Input Translinear Elements, Ravi Chawla, Haw-Jing Lo, Arindam Basu, Paul Hasler, Bradley Minch
Bradley Minch
In this paper a second order log-domain bandpass filter using multiple input translinear elements (MITEs) operating at a 3V supply. We enhance the capabilities of the filter by utilizing programmable MITE structures as well as programmable current sources, which are covered in this paper. The synthesized bandpass filter is implemented and fabricated using these programmable translinear devices (MITEs). Experimental results are shown from circuit fabricated on a 0.5μm nwell CMOS process available through MOSIS.
Synthesis Of Dynamic Multiple-Input Translinear Element Networks, Bradley Minch
Synthesis Of Dynamic Multiple-Input Translinear Element Networks, Bradley Minch
Bradley Minch
In this paper, the author discusses an approach to the synthesis of dynamic translinear circuits built from multiple-input translation elements (MITEs). In this method, we realize separately the basic static nonlinearities and dynamic signal-processing functions that when cascaded together, form the system that one wishes to construct. The circuit is then simplified systematically through local transformations that do not alter the behavior of the system. The author illustrates the method by synthesizing a simple nonlinear dynamical system, an RMS-DC converter.
Adaptive Translinear Analog Signal Processing: A Prospectus, Eric Mcdonald, Kofi Odame, Bradley Minch
Adaptive Translinear Analog Signal Processing: A Prospectus, Eric Mcdonald, Kofi Odame, Bradley Minch
Bradley Minch
We have devised a systematic method of transforming high-level time-domain descriptions of linear and nonlinear adaptive signal-processing algorithms into compact, continuous-time analog circuitry using basic units called multiple-input translinear elements (MITEs). In this paper, we describe the current state of the art and illustrate the method with an example of an analog phase-locked loop (PLL).
Synthesis Of A Translinear Analog Adaptive Filter, Eric Mcdonald, Bradley Minch
Synthesis Of A Translinear Analog Adaptive Filter, Eric Mcdonald, Bradley Minch
Bradley Minch
In this paper, we present a methodology for synthesizing analog systems using a class of circuits called dynamic translinear circuits. We illustrate this method by synthesizing part of a Least-Mean-Squares (LMS) adaptation algorithm used in an analog adaptive filter. We present preliminary experimental results from a chip fabricated ina 0.5-μm double-poly CMOS process.
Inverting The Bipolar Differential Pair For Low-Voltage Applications, Bradley Minch
Inverting The Bipolar Differential Pair For Low-Voltage Applications, Bradley Minch
Bradley Minch
In this paper, the author presents a new bipolar differential transconductor that functions just like an emitter-degenerated differential pair, except for the following: it operates on a low power supply; it has a rail-to-rail common-mode input-voltage range; permits a wide output-voltage swing; has a transconductance gain that is nearly constant with the common-mode input voltage; and requires only n-p-n transistors in the signal path. We describe intuitively how the circuit functions and provide DC measurements from a prototype circuit, breadboarded from a quad TPQ3904 and a thick-film resistor array demonstrating proper operation on a single-ended 1.2-V power supply.
Highly Linear, Wide-Dynamic-Range Multiple-Input Translinear Element Networks, Kofi Odame, Eric Mcdonald, Bradley Minch
Highly Linear, Wide-Dynamic-Range Multiple-Input Translinear Element Networks, Kofi Odame, Eric Mcdonald, Bradley Minch
Bradley Minch
In this paper, we propose a modification to the class of circuits known as multiple input translinear element (MITE) networks. Our proposed modification leads to a MITE network that is free from certain nonidealities encountered in previous implementations. Further, the new MITE network described here readily accommodates the use of bipolar junction transistors in the input and output stages, thus implying a significantly wider dynamic range than we can achieve using subthreshold MOSFETs.
Synthesis Of Multiple-Input Translinear Element Log-Domain Filters, Bradley Minch
Synthesis Of Multiple-Input Translinear Element Log-Domain Filters, Bradley Minch
Bradley Minch
I present a simple procedure for synthesizing multiple-input translinear element (MITE) log-domain filters from state-space descriptions. We can obtain such state-space descriptions from a variety of sources, and the procedure that I describe can be utilized regardless of the source of the description. We can often derive such descriptions conveniently from already extant filters that have been previously implemented using a different class of filters. I shall illustrate the synthesis procedure by deriving two simple MITE log-domain filters from single-ended voltage-mode OTA-C filter prototypes-I synthesize both a first-order lowpass filter and a fully tunable second-order lowpass filter.
A Low-Voltage Mos Cascode Bias Circuit For All Current Levels, Bradley Minch
A Low-Voltage Mos Cascode Bias Circuit For All Current Levels, Bradley Minch
Bradley Minch
In this paper, the author describes a simple low-voltage MOS cascode bias circuit that functions well at all current levels, ranging from weak inversion to strong inversion. He describes an approach to defining the onset of saturation that is generally useful from a bias-circuit design viewpoint and explains specifically how it was used in designing the low-voltage cascode bias circuit. The author discusses an efficient strategy for laying out the cell in the full-stacked style. He also presents experimental results from a version of the bias circuit that was fabricated in a 1.2-μm CMOS process.
Multi-Level Simulation Of A Translinear Analog Adaptive Filter, Eric Mcdonald, Bradley Minch
Multi-Level Simulation Of A Translinear Analog Adaptive Filter, Eric Mcdonald, Bradley Minch
Bradley Minch
In this paper, we briefly discuss a methodology for synthesizing analog systems from a high-level behavioral specification using a class of circuits called dynamic translinear circuits. We illustrate this method by synthesizing a Least-Mean-Square (LMS) adaptation algorithm used in an analog adaptive filter. The resulting systems can be simulated at various levels of abstraction during the design phase. As an example, we presentsimulation results from a four-tap analog adaptive filter simulated using Matlab and SPICE.
Analog Vlsi Implementation Of Support Vector Machine Learning And Classification, Sheng-Yu Peng, Bradley Minch, Paul Hasler
Analog Vlsi Implementation Of Support Vector Machine Learning And Classification, Sheng-Yu Peng, Bradley Minch, Paul Hasler
Bradley Minch
We propose an analog VLSI approach to implementing the projection neural networks adapted for the supportvector machine with radial-basis kernel functions, which are realized by a proposed floating-gate bump circuit with the adjustable width. Other proposed circuits include simple current mirrors and log-domain Alters. Neither resistors nor amplifiers are employed. Therefore it is suitable for large-scale neural network implementations. We show the measurement results of the bump circuit and verify the resulting analog signal processing system on the transistor level by using a SPICE simulator. The same approach can also be applied to the support vectorregression. With these analog signal …
A Long-Channel Model For The Asymmetric Double-Gate Mosfet Valid In All Regions Of Operation, Abhishek Kammula, Bradley Minch
A Long-Channel Model For The Asymmetric Double-Gate Mosfet Valid In All Regions Of Operation, Abhishek Kammula, Bradley Minch
Bradley Minch
We present a physically based, continuous analytical model for long-channel double-gate MOSFETs. The model is particularly well suited for implementation in circuit simulators due to the simple expressions for the current andthe continuous nature of the derivatives of the current which improves convergence behavior.