Fuzzy Logic

Fuzzy Logic
Implementation and Applications

Edited by

M J Patyra
University of Minnesota,
USA

OM Mlynek
Swiss Federal Institute of Lausanne
Switzerland

~W1LEYmTEUBNER
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Fuzzy logic: implementation and applications 1 ed. by M. J.
Patyra : D. M. Mlynek. - Stuttgart; Leipzig; Teubner;
Chichester; New York; Brisbane; Toronto; Singapore:
Wiley, 1996
ISBN-13: 978-3-322-88957-7 e-ISBN-13: 978-3-322-88955-3
DOl: 10.1007/978-3-322-88955-3
NE: Patyra, Marek J. (Hrsg.)

WG:37 DBN 94.719152.6 96.03.26

2790 nh V: Teubner

Library of Congress Cataloging in Publication Data

Fuzzy logic: implementation and applications 1edited by M. J. Patyra,
D. M. Mlynek.
p. cm.
Includes bibliographical references and index.
ISBN 0 471 95059 9
1. Automatic control. 2. Fuzzy logic. I. Patyra, M. J. (Marek 1.)
U. Mlynek, D. M.
TJ213.F881996
629.8- dc20 95-45241
CIP

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Contents

Editor's Preface xi
List of Contributors xvii
Acknowledgments xix

THEORY 1
1 Fuzzy Sets in Approximate Reasoning: a Personal View 3
1.1 Introduction 3
1.2 Graduality- and Similarity-based Approximate Reasoning 4
1.2.1 Comparison of Fuzzy Relations, Extension Principle and Similarity 4
1.2.2 Interpolative Reasoning 6
1.2.3 Qualitative Reasoning 9
1.3 Uncertainty Management 11
1.3.1 Background 12
1.3.2 Uncertain Fuzzy Rules 15
1.3.3 Approximate Reasoning with Fuzzy Rules 18
1.3.4 Possibilistic Logic 21
1.3.5 Default Reasoning 24
1.3.6 Abductive Reasoning 26
1.4 Concluding Remarks 32
References 32

FUZZY LOGIC CONTROL 37

2 Fuzzy Logic Control: a Systematic Design and Performance
Assessment Methodology 39
2.1 Introduction 39
2.2 The Phase Portrait Assignment Algorithm 41
2.2.1 Fuzzy Logic control 41
2.2.2 The Automatic Rule-Generation Method 42
2.3 Performance Assessment 49
2.3.1 Stability Analysis 50
2.3.2 Robustness Analysis 51
2.4 Application Examples 53
2.4.1 The Engine Model 53
2.4.2 The Fuzzy Controller 55
2.4.3 Simulation Results 59
vi CONTENTS

2.5 Stability and Robustness Results 59

2.6 Conclusions 61
Acknowledgment 61
References 62

3 On the Compatibility of Fuzzy Control and Conventional Control

Techniques 63
3.1 Introduction 63
3.2 Sliding Mode Fuzzy Control 65
3.2.1 The Principle of Sliding Mode Control 65
3.2.2 The Similarity Between SMC and FC 67
3.2.3 The Sliding Mode FC (SMFC) as a State-dependent Filter 68
3.2.4 Normalization and Denormalization 69
3.2.5 FC with Boundary Layer 70
3.2.6 FC of Higher Order 71
3.2.7 Numerical Example 73
3.3 Scaling of Fuzzy Controllers Using the Cross-correlation 78
3.3.1 Input-Output Correlation for an FC 81
3.3.2 Application to a Redundant Manipulator Arm 87
3.4 Fuzzy inputs 90
3.4.1 Some Useful Operations on Fuzzy Sets 91
3.4.2 The sgn-function 97
3.4.3 Sliding Mode Control and Related Control Strategies 99
3.4.4 Simulation Results 107
References 113

4 On the Crisp-type Fuzzy Controller: Behaviour Analysis and

Improvement 117
4.1 Introduction 117
4.2 The Crisp-Type Fuzzy Logic Controller 118
4.3 The Dynamic Analysis of the Crisp-Type Fuzzy Controller 119
4.4 The Static Analysis of the Crisp-Type Fuzzy Control System 127
4.5 An Improvement: Pid-Type Fuzzy Controller Structure 130
4.6 Further Improvement: The Parameter Adaptive Fuzzy Controller 134
4;7 Conclusions 137
References 138

FUZZY LOGIC HARDWARE IMPLEMENTATIONS 141

5 Design Considerations of Digital Fuzzy Logic Controllers 143
5.1 Introduction 143
5.2 Digital-based Fuzzy Logic Hardware 144
5.2.1 Digital Fuzzification 144
5.2.2 Digital Fuzzy Inferencing 146
5.2.3 Digital Defuzzification 149
5.3 Fuzzy Logic Based Controllers 151
5.3.1 Digital FLC Characteristics 151
5.3.2 Single-Input Single-Output Fuzzy Logic Controllers 153
5.3.3 Double-Input Single-Output Fuzzy Logic Controller 155
5.3.4 Multiple-Input Single-Output Fuzzy Logic Controller 157
5.3.5 Multiple-Input Multiple-Output Fuzzy Logic Controller 159
 CONTENTS vii

5.4 Hardware Implementation: Comparative Study 163

5.4.1 Hardware Mapping of FLC Models 164
5.4.2 Hardware Implementation Issues 171
5.4.3 Summary 172
5.5 Final Remarks 172
References 173

6 Parallel Algorithm for Fuzzy Logic Controller 177

6.1 Introduction 177
6.2 Mathematical Models for Fuzzy Model Building and Inference Computations 177
6.2.1 Single-Input Single-Output System 177
6.2.2 Multiple-Input Single-Output System 179
6.2.3 Multiple-Input Multiple-Output System 180
6.3 Parallel Algorithm 181
6.4 Conceptual Hardware Implementation 187
6.4.1 SISO System 187
6.4.2 Hardware Architectures for MISO and MIMO Systems 190
6.4.3 Fuzzy Controller Hardware Accelerator 191
6.5 Performance Characteristics 192
6.5.1 Maximum Sustainable Processing Rate 192
6.5.2 Improvements 193
6.6 Conclusions 194
References 194

7 Fuzzy Flip-flop 197

7.1 Introduction 197
7.2 Outline of Binary Flip-flop and Fundamental Fuzzy Operations 198
7.2.1 A Binary Logic J-K Flip-flop 198
7.2.2 Definition of Fuzzy Negation, t-norm and s-norm 199
7.3 Definition of Fuzzy Flip-flop 201
7.4 Fuzzy Flip-flop using Complementation, Min and Max Operations 203
7.5 Fuzzy Flip-flop using Complementation, Algebraic Product and Algebraic Sum 207
7.6 Fundamentals of Implementation of the Min Max Fuzzy Flip-flop 207
7.7 Discrete and Voltage Mode Min Max Fuzzy Flip-flop Circuits 210
7.8 Fundamentals of Implementation of the Algebraic Fuzzy Flip-flop 217
7.9 Discrete and Voltage Mode Algebraic Fuzzy Flip-flop Circuits 219
7.10 Comparison of the Performance of Min Max Type Versus Algebraic
Type Fuzzy Flip-flop circuit 221
7.11 Fuzzy register circuit 222
7.12 VLSI design of the Fuzzy Register Circuit 224
7.12.1 VLSI Design ofthe Min Max Type Fuzzy Flip-flop Circuit 224
7.12.2 VLSI Design of the Fuzzy Register 230
7.13 Conclusion 235
References 235

8 Design Automation of Fuzzy Logic Circuits 237

8.1 Introduction 237
8.2 Basic Fuzzy Operators 238
8.2.1 Terminology and Resolution Principle 238
8.2.2 Fuzzy Inclusion as the Natural Extension of Boolean Inclusion 239
8.2.3 Symbolic Implementation of Fuzzy Operators 242
viii CONTENTS

8.3 CMOS Implementation 243

8.3.1 CMOS Implementation of Fuzzy Operators 243
8.3.2 Current Mirror-based Approach 244
8.3.3 Case Study: Implementation of the Min Unit 247
8.4 Fuzzy Development System 247
8.4.1 Basic Framework of the Fuzzy Logic Development Environment 248
8.4.2 Graphical Simulation Interface 249
8.4.3 Design Automation System 250
8.4.4 Netlist 252
8.4.5 Placement 256
8.4.6 Route 256
8.4.7 Superphenix 256
8.5 CMOS Fuzzy Logic-based Controller 259
8.6 Conclusion 260
8.6.1 Features of the VLSI technique taken for the Integration of Fuzzy Circuits 260
8.6.2 Improvement of the Structure of the Fuzzy Logic Development
Environment 261
Acknowledgments 262
References 262

HYBRID SYSTEMS AND APPLICATIONS 265

9 Neuro-fuzzy Systems: Hybrid Configurations 267
9.1 Preliminaries 267
9.2 Main Classes of Fuzzy Systems 269
9.3 Fuzzy Systems 270
9.3.1 Linguistic Systems and Fuzzy Systems 270
9.3.2 Fuzzy Systems and Memory Processes 271
9.3.3 Classic Neurons 272
9.3.4 Linear Combiners as Neurons 274
9.3.5 Elementary Recurrent Systems 275
9.4 Fuzzy Neurons 276
9.4.1 Elementary Fuzzy Neurons 276
9.4.2 Neurons with Fuzzy Weights 277
9.4.3 Inclusion of Fuzzy Weights into the Conventional Neuron Model 277
9.5 Neural Networks 283
9.6 Discrete Systems and Generalizations to Neuro-fuzzy Systems 285
9.7 Invariant Neuro-fuzzy Systems 287
9.7.1 Main Configurations 287
9.7.2 Series Neuro-fuzzy Systems and their Interpretation 290
9.8 Several Recurrent Neuro-fuzzy System Configurations 292
9.8.1 Elementary Loops: Models of Memory Effects (Output Memory) 292
9.8.2 Implementation of Complex Equations and Connections with
Chaos in Classic Systems 294
9.9 Final Remarks 296
References 296

10 A Fuzzy Logic Approach to Handwriting Recognition 299

10.1 Introduction 299
10.2 Human reading 300
10.3 Handwriting Recognition: Current Approaches 302
10.4 A Fuzzy Processor for Handwriting Recognition 304
10.4.1 Data Extraction and Preprocessing 304
 CONTENTS ix

10.4.2 The Feature Measures 305

10.4.3 The Fuzzy Recognition Process 307
10.5 Training 308
10.5.1 Fuzziness and Statistics 308
10.6 Rulebase quality 309
10.6.1 Discriminability 309
10.6.2 Usefulness of Measures and Rulebase Reduction 310
10.6.3 Completeness 310
10.6.4 Overall Quality and Self-tuning 312
10.7 Results 312
10.8 Conclusions 313
Acknowledgments 313
References 313

Index 315
Editor's Preface

This edited volume contains ten papers on the subject of fuzzy technology. Fuzzy
technology emerged as a combination of fuzzy sets theory, fuzzy logic and fuzzy-based
reasoning. As a technology it gained a very practical meaning through thousands of
applications in different theoretical as well as practical disciplines, covering mathematics,
physics, chemistry, biology, life science, social science, economy, computer science, and
(foremost) electrical, electronic, mechanical, nuclear, chemical, textile, aeronautic, ocean,
and many other engineering disciplines.
The goal of this book is to create an interest in fuzzy technology among researchers,
engineers, professionals and students involved in the research and development in the
broad area of artificial intelligence.
This book is also intended to bring the reader up-to-date in the area of implementations
and applications of fuzzy technology, as well as to generate and stimulate new research
ideas in this area. It may inspire and motivate the researcher in new directions, as well as
creating a force for new efforts to make a fuzzy technology commonly known and used in
science and engineering.
This volume appears at a time of unprecedented research interest in the field of fuzzy
technology. I intentionally wrote research due to the events that have occurred during the
last couple of years. To be more specific, I should describe this interest geographically.
Without any doubts, it means industrial and scientific interest in Asia and Europe, but it is
still 'only' a scientific interest in America. This paradox has been discussed on many
occasions and is a subject of unofficial talks at almost all conferences covering fuzzy sets
and fuzzy logic topics. According to industrial sources, the US market for fuzzy logic-
based products 'isn't there yet'. A similar source admitted that most of the developments
for fuzzy logic are going on in Asia (Japan) and Europe (Germany), mainly because 'US
companies only look at the short term return', whereas Japanese and Europeans 'tend to
look farther down the road'. One positive aspect of this situation is that the top
management in US companies recognize tremendous opportunities for fuzzy technology,
and it predicts an 'enormous market in the US within five years'. The home and popular
electronic goods will mostly contribute to the success to come. On the other hand, in the
area of research fuzzy technology has gained great attention due to its ability to cope with
many ill-defined and/or artificial intelligence problems. Fuzzy technology has been
recognized as one of the tools of so-called 'soft computing'. Neural network methods and
genetic algorithms are among other tools that help in efficient problem-solving. Theory,
application and implementation of fuzzy control is an arena where fuzzy technology has
been most successful. This phenomenon also motivated the creation of this volume.
xii EDITOR'S PREFACE

Henceforth we expect that this volume will be of great benefit to researchers, scientists
and professionals developing fuzzy logic applications and working on the enhancements
ofthe theory; within the five years it may still be a source of information and inspiration to
managers and engineers helping them define features for their new products.
Many authors from around the world contributed to this volume. They are currently
doing research, development and implementation at the cutting edge of fuzzy technology.
All the authors deserve special recognition for making this volume possible and for
providing such high-quality contributions.
The material is organized in four thematic sections. The first is an introduction to the
theory of fuzzy sets; the second is devoted to fuzzy logic control; the third section covers
unique examples of fuzzy logic implementation; finally, the fourth presents examples of
neuro-fuzzy hybrid systems and their applications.
The introductory section contains the paper by top world experts in the theory of fuzzy
sets and approximate reasoning, Didier Dubois and Henri Prade from Universite Paul
Sabatier, Toulouse, France. Their contribution, entitled Fuzzy Sets in Approximate
Reasoning: a Personal View, is absolutely unique because it presents an extraordinarily
peron sal view inside the applications of fuzzy sets in approximate reasoning.
Due to their inherent abilities, fuzzy sets are capable of modelling uncertain situations
and can be instrumental in the formalization of interpolative reasoning. There are at least
two major advantages that can immediately be indicated in such an approach. First,
similarity-based reasoning can benefit from fuzzy sets, since similarity is usually a matter
of degree. Second, fuzzy sets can represent incomplete information; hence, they can be
viewed as possibility distributions and can be used to generate possibility and necessity
measures to assess the degree of possibility in various statements. This paper provides
a personal overview throughout the last decade resulting from the research performed
jointly by both authors. In this research they have explored two interpretations of
fuzziness as either the description of a gradual property or as a model of incomplete state
of information. The paper is an excellent introduction and a thorough guide to possibility
theory serving as a convenient framework for modelling uncertainty in a qualitative way.
It provides an overview through the methods where fuzzy sets serve reasoning purposes as
well as the background necessary to understand basic methodological issues.
The second section of this volume is devoted to various aspects of fuzzy logic control.
The first paper in this section, Fuzzy Logic Control: a Systematic Design and Per-
formance Assessment Methodology, is written by a noble scientist and researcher G.
Vachtsevanos, from Georgia Institute of Technology, Atlanta, Georgia, and is co-
authored by S. Farinvata, from Ford Electronics Division, Melvindale, MI. This paper
sets a milestone in the systematic analysis and design approach to fuzzy dynamic systems.
The lack of mathematical rigour in the analysil> and design of fuzzy logic controllers
motivated the presented research. As a result, an analytical background is laid out to
avoid intuitive and ad hoc implementations offuzzy logic in control. In the design area, the
proposed approach combines the approximate system modelling and heuristic approach
to develop a fuzzy logic controller that is complete and robust. Three measures of
performance assessment are proposed: fuzzy stability, robustness, and optimality. Fur-
thermore, the main objective in these areas is to formalize the analysis and design tools
and to demonstrate their effectiveness in dealing with real-world applications. Usually,
when the plant dynamics are ill-defined, such a system is subject to large disturbances.
The proposed methodology provides an alternative solution to the available ones.
 EDITOR'S PREFACE xiii

Examples from the automotive industry (e.g. car engine model) are widely used to
illustrate the analysis and design tools. For the system in hand, the fuzzy rule base was
developed. This rule base accommodates the approximate state space representation of
the nonlinear dynamic system. The simulation results indicate the effectiveness of the
fuzzy logic control tools in terms of stability and robustness to external disturbances. This
approach is, however, not free of some drawbacks: the complexity increases with the
increase of the number of inputs. Also, the search through the data base becomes
time-consuming for a large number of categories. The developed system can easily be
integrated into existing expert systems to provide an efficient way to control fuzzy
dynamic systems.
An industrial approach to solving fuzzy logic based control issues is delineated in the
next paper, On the Compatibility of Fuzzy Control and Conventional Control Tech-
niques. This paper was written by the experienced researcher and developer R. Palm from
Siemens, Munich, Germany. This paper continues the discussion on the compatibility of
the crisp and fuzzy control systems. With crisp-type fuzzy systems the main question is
again related to the determination of the stability, performance and robustness of such
mixed systems. As proven, the conventional linear and nonlinear control theory can
contribute a great deal to the strategy defining the mixed systems. To address problems of
stability, robustness and performance, the necessary translation from the 'fuzzy' world
into a 'crisp' world is required. That can be used as a common basis to make a fair
comparison. This paper addresses three main issues: the similarities between fuzzy control
and variable structure systems with sliding modes; the representation of the fuzzy
controller as a nonlinear control element and its interpretation as an equivalent gain; and
noisy signals in the control loop and their interpretations as fuzzy signals. These problems
are thoroughly discussed and illustrated with many simulated examples. Also it is proved
that there is a substantial similarity between fuzzy and conventional nonlinear control.
In the paper entitled On the Crisp-type Fuzzy Controller: Behaviour Analysis and
Improvement, written by W. Z. Qiao and co-authored by one of the Japanese pioneer in
fuzzy logic research and application, M. Mizumoto from Osaka Electro- Communication
University, Nayagawa, Osaka, Japan, one specific type offuzzy logic controller, the crisp
fuzzy controller, is analyzed. Due to its simplicity, the crisp fuzzy controller has been
widely used in a variety of industrial applications. In this type of controller the antecedent
part offuzzy control rules is standard (i.e. defined by a fuzzy set) but the consequent parts
of these rules are crisp numbers as opposed to the classic fuzzy controller. The authors
focus on the dynamic behaviour of such controllers. They studied the input-output
characteristics of crisp-type fuzzy controllers with min-max and product-sum inference
methods used. As discovered, both kinds of crisp fuzzy controllers have very similar
input-output characteristics and the differences between them are minor. Also, the
crisp-type fuzzy controller can be regarded as a parameter time varying PD controller. As
a result, the analysis and design of fuzzy control systems can be performed with con-
ventional PID control methodology. As shown previously the PD type fuzzy controller
yields a steady-state error for the 'zero' system. This error can be eliminated with PI type
fuzzy controller. The authors propose a structure that combines features of both PD type
and PI type fuzzy controllers. Such a PID type fuzzy controller allows the control system
to have a fast rise time and a small overshoot, as well as a shorter settling time than the PD
or PI controllers. To further improve the performance of the proposed PID controller, the
authors designed a parameter adaptive fuzzy controller. This controller decreases the
xiv EDITOR'S PEFACE

equivalent integral control component of the fuzzy controller gradually with the system
response process time. This is to increase the dumping of the system when the system is
about to settle down, while keeping the proportional control component unchanged to
guarantee the fast reaction against the system's error. For the parameter adaptive fuzzy
controller, the oscillations of the system are strongly rejected and the settling time is
substantially reduced. The presented results of the analysis and simulation of parameter
adaptive fuzzy controller can be used to guide the design of more sophisticated fuzzy
logic-based control systems.
The third section of this volume, Fuzzy Logic Hardware Implementations, provides an
overview of state-of-the-art techniques that are used for the hardware implementations of
fuzzy logic-based circuits and systems.
The paper written by M. Patyra from the University of Minnesota, Duluth, MN, is
entitled Design Considerations of Digital Fuzzy Logic Controllers, and presents an
overview of the design issues related to the digital implementations of fuzzy logic-based
controllers. Fuzzy logic controllers are chosen for their unquestionable success in the area
of applications and implementations offuzzy technology. Since 1985 when the first digital
implementation of a fuzzy logic controller emerged, there have been many successful
implementations reported in the technical literature. Although common by means of used
digital techniques, many of these implementations are hard to compare in terms of
characteristic features.
The purpose of this paper is twofold. First, this paper provides a unified framework for
the comparison of digital fuzzy logic controllers. Second, it presents an analytical
formulation of hardware cost and performance of various configurations used to imple-
ment these controllers. This paper also looks into the most commonly used controller
configurations and shows the fuzzy algorithms mapping into hardware. As recent
developments show, digital fuzzy logic controllers could become inherent parts oflarger-
hierarchical control systems incorporating various technologies including classic control,
neural networks and genetic algorithms.
The next paper in this section, entitled Parallel Algorithm for Fuzzy Logic Controller, is
written by J. L. Grantner from Western Michigan University, Kalamazoo, MI. It
discusses in great detail some of the issues mentioned in the previous paper. In this paper
a parallel algorithm to build a fuzzy model and execute the fuzzy inference is proposed.
Based on this algorithm, the inference engine and a conceptual hardware implemen-
tations for a high-speed fuzzy logic controller are discussed. The characteristic features of
the algorithm include a high degree of parallelism in performing fuzzy operations,
constant low memory requirement to store the complete knowledge base (independent of
the number of rules), error detection in case the linguistic model fails, flexibility in
supporting SISO, MISO and MIMO systems, and a convenient natural way of map-
ping the algorithm into the hardware structure. The presented approach allows the
creation and a storage of the compact rule base. By analyzing the mathematical
models for SISO, MISO and MIMO systems it shows that a single algorithm can be
developed to parametrize the inputs and outputs to the controller, according to the
operation to be executed (model building or fuzzy inference). As a result, the
parallel architecture is proposed for the controller hardware accelerator which features
a maximum sustainable performance. This architecture is implemented with the
pipeline technique to ensure a high degree of hardware usability and boost perfor-
mance.
 EDITOR'S PREFACE xv

The next paper, entitled Fuzzy Flip-flop, is written by world class experts who have
been in the field of fuzzy technology since its very beginning: K. Ozawa and K. Hirota
(Hosei University, Tokyo, Japan) and L. T. Koczy (Technical University of Budapest,
Hungary). This paper is dedicated to a special class of digital fuzzy logic circuits, fuzzy
flip-flops. As pointed out by the authors, a great deal of research has been devoted to the
realization of the idea of a fuzzy computer. However, a few types of fuzzy inference engines
(which are also called fuzzy processors) were prepared and implemented by Yamakawa,
Tigai and Watanabe. Although these fuzzy inference devices opened a new realm of
opportunity for fuzzy logic, especially in control applications, they performed basically
a single step inference. In order to realize multistep inference, fuzzy memory modules are
required. This motivated the research of which the results are described in this paper. The
authors propose and define a fuzzy flip-flop which is an extension of the classic binary
flip-flop, specifically a J-K flip flop. They formulate a truth table for the fuzzy J-K flip flop
where binary negation, union, and intersection operations are extended by means offuzzy
negation, t-norm, and s-norm, respectively. Reset type and set type of equations for fuzzy
J-K flip flop are formulated, and the results are graphically illustrated with respect to
different t-norm and s-norm representations. These representations include fuzzy comple-
ment, minimum, maximum, algebraic product, and algebraic sum operations. The
hardware implementation of a fuzzy J-K flip-flop with standard logic devices is also
presented. These circuits are functionally tested and the results are illustrated. The results
from the circuit testing also suggest a possible and efficient VLSI implementation for the
fuzzy J-K flip-flops, as well as for more sophisticated circuits built from them, such as fuzzy
registers and fuzzy memories.
The paper entitled Design of Fuzzy Logic Circuits, by L. Lemaitre from the Swiss
Federal Institute of Technology, Lausanne, describes the methodology of generating
structures for complex fuzzy logic circuits based on specified fuzzy functions. The
methodology is based on the introduction of basic fuzzy operators. These operators have
their immediate and simple representation in hardware, namely CMOS circuit represen-
tations. With such a background built up the design automation system takes the
description of the fuzzy function and converts it into the form represented by basic
operators. Such a form is ready to be used to generate a CMOS layout for the circuit
performing the operations defined by a function in hand. The design automation system
places the layout elements and solves the routing problems associated with the layout
optimization. The optimization is performed on two levels, local and global. With such
powerful tools in hand the current-mode analogue fuzzy logic controller was synthesized,
developed and manufactured. The final chip reached a performance of lOMFLIPS while
occupying only OAmm 2 of silicon area.
In the fourth section Hybrid Systems and Applications the first paper, entitled.
Neuro-fuzzy Systems: Hybrid Configurations, gives a thorough overview of neuro-fuzzy
systems. Written by two experts currently specializing in neuro-fuzzy systems, H.-N. L.
Teodorescu from the Technical University ofIasi, Romania, and T. Yamakawa from the
Kyushu Institute of Technology, Iizuka, Fukuoka, Japan, this paper provides a systematic
discussion of hybrid configurations of neuro-fuzzy systems. The merging of these two
types of systems is possible due to the functional similarities that these systems feature.
Five classes of neuro-fuzzy systems are selected based on their structure. The structure of
neuro-fuzzy systems can be put into the following categories: neural network structure
with fuzzy logic neurons, adaptive fuzzy systems that can be modified by the neural
xvi EDITOR'S PREFACE

network during the learning process, classic neural network with the learning process
determined by a fuzzy system, systems that are composed of independent neural networks
and fuzzy systems, systems with neural network configurations that use fuzzy systems as
neurons, and finally systems that are created by a mixture of two or more of the above
systems. This paper discusses in detail three classes of systems; namely, neural network
structures with fuzy logic neurons, systems that are composed of independent neural
networks and fuzzy systems, and systems with neural network configurations that uses
fuzzy systems as neurons. Such systems can be useful in various applications including the
modelling of complex, empirical-driven processes, control of complex systems, pattern
recognition and chaotic systems. Several examples of applications of such systems based
upon the authors research results are provided.
A very interesting example of the direct application of fuzzy system is presented in the
paper A Fuzzy Logic Approach to Handwriting Recognition. Written by D. J. Ostrowski
and P. Y. K. Cheung from Imperial College, University of London, UK, this paper
provides in-depth experience with fuzzy logic applied to the handwriting recognition
problem. This paper describes the application offuzzy logic to cursive script recognition.
Handwriting recognition is crucial for many automated task problems. The fundamental
problem of cursive script is segregation because the nature of cursive script makes reliable
recognition of individual letters extremely difficult. Therefore, the use of prototypical
models is not satisfactory. On the other hand, the cursive script recognition is a sophisti-
cated process complexed by a variability ofthe handwriting of a particular individual. The
approach described in this paper consists of recognizing letters in terms of the features of
the individual letter and accepting that the feature separation is unreliable. The proposed
solution to this issue uses the fuzzy rule-based approach. Such a rule base is capable of
accepting the variability of data and its unreliable extraction from the original images.
Moreover, it derives the characters features and ability to differentiate letters from
training. This paper provides a brief description of current methods of machine recogni-
tion and fuzzy logic approach to such problems as w'ell;.The training of the rule base is
discussed in detail. Finally, the examples are shown along with the statistical results
obtained from the benchmark data set provided by the UNIPEN project.
Finally, the Editors wish the reader many educational, professional and fruitful
experiences while studying this volume.

Marek J. Patyra
Duluth, Minnesota
1995
List of Contributors

Dominic Ostrowski and Peter Cheung Laszlo Koczy

Department of Electrical and Electronic Department of Telecommunications and
Engineering Telematics
Imperial College Technical University of Budapest,
Exhibition Road Stoczek u.2
London SW7 2BT, UK H-llll Budapest
Hungary
Didier Dubois and Henri Prade
IRIT
Rainer Palm
Universite Paul Sabatier
Corporate Research and Development
118 Rue de Narbonne
Siemens AG
31062 Toulouse Cedex
Otto-Hahn-Ring 6
France
8000 Munich 83
Germany

Shehu Farinwata
Ford Research Laboratory Marek Patyra
Dearborn, MI48121-2053 Department of Electrical and
USA Computer Engineering
University of Minnesota
Duluth, MN 55812-2496
Kaoru Hirota USA
Department of Systems Science
Tokyo Institute of Technology George Vachtsevanos
Tokyo School of Electrical Engineering
Japan Georgia Institute of Technology
Atlanta, GA 30332-0250
USA
Kazuhiro Ozawa
Department of Instrument and Control
Wu Zhi Quiao and
Engineering
Masaharu Mizumoto
Hosei University
Department of Management Engineering
3-7-2 Kajino-cho
Osaka Electro-Communication University
Koganei-city, Tokyo 184,
Neyagawa, Osaka 572
Japan
Japan
xviii L1ST OF CONTRIBUTORS

Laurent Lemaitre H.-N.L. Teodorescu

Department of Computer Science Technical University of 1asi
University of California I asi, Romania
Berkeley, CA 94720-1776
USA T. Yamakawa
Kyushu Institute of Technology
Janos Grantner lizuka, Fukuoka
Department of Electrical Engineering Japan
Western Michigan University
Kalamazoo, MI 49008-5066
USA
Acknowledgments

We are grateful to the staff of John Wiley and Sons, Europe for their advice, dedication
and commitment to this project. Their high-quality assistance has made the production of
this volume smooth and undisturbed. We would like to express our appreciation
especially, to Anne-Marie Halligan and Peter Mitchell. Without their professional
guidance and support, publication of this volurne would have been almost impossible.