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The main reasons for the use of those methods instead of more traditional
controllers are four-folds:
i) we wanted to test the validity of neuro-fuzzy control techniques;
ii) we had a lot of \human knowledge" on theproblem and fuzzy logic seemed
to be the most straightforward way to include it into the design of the
controller;
iii) we used this application as a testbed for the tight integrationof neuro-fuzzy
controllers with finite state automata; iii) we had available a neuro-fuzzy
computing engine (DANIELA) with good real time performance which was
more suited to implement neuro-fuzzy than other algorithms.
PROTOTYPE BOARD
A general purpose system based on a TMS320CXX. These DSP is available.
The systems can support upto 256 channels for A/D and D/A conversion. Neuro-
Fuzzy core units, PWM encoders, digital I/O, memory expansions an so on.
The core of the system is a custom TMS320C31 board with up to 8Mbyte of
RAM and 128Kbyte of Non Volatile RAM.This board is interfaced to the additional
modules of the system by using a proprietary I/O bus. In this way each module is
mapped into the DSP memory space. Special module provides a communication
with a host computer (eg a PC via a parallel port ) these modules connect a PC serial
or parallel port with the DSP board via the I/O bus.
This system is suitable both for industrial high performance control
applications and educational tools depending on the amount and kind of modules
plugged into it. Each module can be added with an extremely easy procedure and
can be controlled by the software environment.
So far, we have manufactured several module ; the main DSP board ,a
reconfigurable Neuro-Fuzzy computing core, the last host computer interface
modules an 8 channel 12 bit A/D and D/A converters, bus the complete system can
accept many others as special purpose processors, drivers and actuator interfaces,
special sensors modules and others.
The Neuro-Fuzzy module is described in section 2, while converters module are
classical Analog to Digital and Digital to Analog converters and also special
converter module that convert analog and digital signals into Pulse Width
Modulation signals and vice versa, the modules can be configured by the DSP by
setting some parameter as bits numbers for digital converters and full scale ranges
for the analog ones.
Architecture of AMINAH
The AMNAH chip has two cascaded neural network layers called hidden and
output layer called hidden and output layer respectively. Architecture of one layer of
AMINAH shown in figure is based on N x M synaptic array and a vector of M
neurons. Each neuron j is connected to a row of N synapse plus a threshold (Sj,1 …
Sj,y , Sj,o) while each column (S1,I ….Sy,I , So,I ) is connected to the same input X,
The hidden layer has N-7 inputs and M-16 outputs while the output layer has N-15
inputs and M-8 outputs.
AMINAH output signal are coded using Coherent Pulse Width Modulation
(CPWM), a particular Pulse Stream technique AMINAH input signal (Xj) can either
be analog or CPWM in the former case, they are converted using on chip analog to
CPWM converters.
Each AMINAH synapse uses two synapse weights (called respectively
excitatory and inhibitory weights) to compute the synaptic contribution. A copy of
active weights is stored internally into AMINAH using two capacitive memories per
synapse. The synapse contribution depends also on the chosen neural paradigm this
can be either Multi Layer Perception (MLP),Radial Basis Function(RBF), or
Weighted Radial Basis Function (WBRF) of order 1, and therefore the system can
also implement Fuzzy System.
Synaptic contributions are charge quantities. For MLP operation each synapse
generate charge quantities proportional to the product of the stored weight and width
of the input CPWM signal; this product is quit linear and allow a small power
dissipation while for RBF/WRBF operation each synapse generate charge quantities
proportional to the distance between stored weight and width of the input CPWM
signal.
For the MLP paradigm, the synaptic contributions are presented as a
differential current (I+MLP, I-MLP), while for the RBF/WRBF paradigms, they are
presented as a single ended current (I+MLP) while I-MLP is not used. Each row j of
synapse sums up all the currents on the two common summation lines I+MLP and I-MLP
(excitatory and inhibitory respectively).
The neuron (one for each row ) generate a current that is the algebraic sum of
them using programmable gain current mirrors multiplying it by a chosen factor
R1<I the neuron integrates the resultant current on capacitor CR1 to obtain a voltage
proportional to the neuron activity. This voltage is then converted to a CPWM
output signal using a non-linear conversion by using a non linear converter.
Science AMINAH internal weights are stored in analog form, each column I of
synapse is connected to a Common Reference System(CRS) used for the synaptic
weights long term storage to compensate leakage currents and therefore weights
decay.
NEURO-FUZZY CONTROLLER
DANIELA has also special Power Drivers used to drive the actuators in the
plant. Plant control is realized with a neuro-fuzzy algorithm computed by the neuro-
fuzzy processor. Algorithm characteristics both for neural and fuzzy are defined by
a matrix of synaptic weights and other neural parameters that are stored into the
neuro-fuzzy processor. In order to define different control strategies optionally, one
per each state of the FSA) there are different matrices of synaptic weights and neural
parameters stored in the weight memory, where every matrix is stored in a
differentmemory bank.Only one bank can be active per time and its data are
transferred to the neuro-fuzzy processor internal memory by the Configuration and
Refresh Block every time the FSA changes states.
This memory organization allows to obtain different neural controllers by
changing the active memory bank. Weight memory is also used to store tables of
FSA states and outputs; these parameters are used by the microcontroller to
implement the FSA controller.
Control Hierarchy
Motion coordination control. Its acts like a central which gives the legs the
right “high level” control signals (such as Robert speed, Robert height from
ground ,radians of trajectory ) to let the hexapode execute properly gait. Obstacle
avoidance is achieved by giving proper trajectory information to each leg control.
Only large obstacles are avoided, as small ones ( namely roughness of the ground,
small stones, holes etc ) are handled by each leg control.
Leg controls. They are like “local” controls that defines the trajectory and the
sequence of movements of each leg. They also recover and modify leg trajectories
when small local obstacles are encountered.Joint position controls, They receive the
angular positions and translate them into control signals for positioning motors.
Leg Control
Locomotion control is distributed evenly among the six legs. Independently from the
different gait, each leg cycles over six main different states.
Power phase: the leg on the ground where it supports and propels the body, moving
backward to the posterior extreme positions.
Lift phase: the leg rises from the posterior and loses its support function. Life phase
ends when the leg is high enough to swing forward.
Return phase: leg swings forward to the anterior extreme position. As soon as it
reaches this point it is ready for next phase.
Contact phase: leg lowers down to the ground. During this phase it start again to
support the body weight.
Upstep phase: the leg rises when it hits an obstacle (obstacle avoidance). When the
height is enough,the leg returns in the “Return” state.
Backstep phase: the leg recover the right position after an obstacle avoidance or if
it is in time out.
The use of Neuro-Fuzzy approach (Fuzzy-State Automata) allows to “smooth” the
leg movements during walking (changes of speed and of directions without slipping
of the feet in ground).
CONCLUSION