Dataset Information

Proposal of Takagi-Sugeno Fuzzy-PI Controller Hardware.

ABSTRACT: This work proposes dedicated hardware for an intelligent control system on Field Programmable Gate Array (FPGA). The intelligent system is represented as Takagi-Sugeno Fuzzy-PI controller. The implementation uses a fully parallel strategy associated with a hybrid bit format scheme (fixed-point and floating-point). Two hardware designs are proposed; the first one uses a single clock cycle processing architecture, and the other uses a pipeline scheme. The bit accuracy was tested by simulation with a nonlinear control system of a robotic manipulator. The area, throughput, and dynamic power consumption of the implemented hardware are used to validate and compare the results of this proposal. The results achieved allow the use of the proposed hardware in applications with high-throughput, low-power and ultra-low-latency requirements such as teleoperation of robot manipulators, tactile internet, or industry 4.0 automation, among others.

SUBMITTER: Silva SN

PROVIDER: S-EPMC7180753 | biostudies-literature | 2020 Apr

REPOSITORIES: biostudies-literature

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Proposal of Takagi-Sugeno Fuzzy-PI Controller Hardware.

Silva Sérgio N SN Lopes Felipe F FF Valderrama Carlos C Fernandes Marcelo A C MAC

Sensors (Basel, Switzerland) 20200402 7

This work proposes dedicated hardware for an intelligent control system on Field Programmable Gate Array (FPGA). The intelligent system is represented as Takagi-Sugeno Fuzzy-PI controller. The implementation uses a fully parallel strategy associated with a hybrid bit format scheme (fixed-point and floating-point). Two hardware designs are proposed; the first one uses a single clock cycle processing architecture, and the other uses a pipeline scheme. The bit accuracy was tested by simulation with ...[more]

PMID: 32252481

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Project description:Background:The traditional allometric analysis relies on log- transformation to contemplate linear regression in geometrical space then retransforming to get Huxley's model of simple allometry. Views assert this induces bias endorsing multi-parameter complex allometry forms and nonlinear regression in arithmetical scales. Defenders of traditional approach deem it necessary since generally organismal growth is essentially multiplicative. Then keeping allometry as originally envisioned by Huxley requires a paradigm of polyphasic loglinear allometry. A Takagi-Sugeno-Kang fuzzy model assembles a mixture of weighted sub models. This allows direct identification of break points for transition between phases. Then, this paradigm is seamlessly appropriate for efficient allometric examination of polyphasic loglinear allometry patterns. Here, we explore its suitability. Methods:Present fuzzy model embraces firing strength weights from Gaussian membership functions and linear consequents. Weights are identified by subtractive clustering and consequents through recursive least squares or maximum likelihood. Intersection of firing strength factors set criterion to estimate breakpoints. A multi-parameter complex allometry model follows by adapting firing strengths by composite membership functions and linear consequents in arithmetical space. Results:Takagi-Sugeno-Kang surrogates adapted complexity depending on analyzed data set. Retransformation results conveyed reproducibility strength of similar proxies identified in arithmetical space. Breakpoints were straightforwardly identified. Retransformed form implies complex allometry as a generalization of Huxley's power model involving covariate depending parameters. Huxley reported a breakpoint in the log-log plot of chela mass vs. body mass of fiddler crabs (Uca pugnax), attributed to a sudden change in relative growth of the chela approximately when crabs reach sexual maturity. G.C. Packard implied this breakpoint as putative. However, according to present fuzzy methods existence of a break point in Huxley's data could be validated. Conclusions:Offered scheme bears reliable analysis of zero intercept allometries based on geometrical space protocols. Endorsed affine structure accommodates either polyphasic or simple allometry if whatever turns required. Interpretation of break points characterizing heterogeneity is intuitive. Analysis can be achieved in an interactive way. This could not have been obtained by relying on customary approaches. Besides, identification of break points in arithmetical scale is straightforward. Present Takagi-Sugeno-Kang arrangement offers a way to overcome the controversy between a school considering a log-transformation necessary and their critics claiming that consistent results can be only obtained through complex allometry models fitted by direct nonlinear regression in the original scales.

Dataset Information

Proposal of Takagi-Sugeno Fuzzy-PI Controller Hardware.

Publications

Proposal of Takagi-Sugeno Fuzzy-PI Controller Hardware.

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