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Full-Text Articles in Computer Engineering
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 …
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 …
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.
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 …
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.