IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 53, NO.

3, JUNE 2006 941

Water Bath Temperature Control by a
Recurrent Fuzzy Controller and
Its FPGA Implementation
Chia-Feng Juang, Member, IEEE, and Jung-Shing Chen
AbstractA hardware implementation of the TakagiSugeno
Kan (TSK)-type recurrent fuzzy network (TRFN-H) for water
bath temperature control is proposed in this paper. The TRFN-H
is constructed by a series of recurrent fuzzy ifthen rules built
on-line through concurrent structure and parameter learning.
To design TRFN-H for temperature control, the direct inverse
control conguration is adopted, and owing to the structure of
TRFN-H, no a priori knowledge of the plant order is required,
which eases the design process. Due to the powerful learning abil-
ity of TRFN-H, a small network is generated, which signicantly
reduces the hardware implementation cost. After the network
is designed, it is realized on a eld-programmable gate array
(FPGA) chip. Because both the rule and input variable numbers
in TRFN-H are small, it is implemented by combinational circuits
directly without using any memory. The good performance of the
TRFN-H chip is veried from comparisons with computer-based
proportionalintegral fuzzy (PI) and neural network controllers
for different sets of experiments on water bath temperature
control.
Index TermsDirect inverse control, fuzzy chip, fuzzy control,
neural network, structure/parameter learning.
I. INTRODUCTION
F
UZZY logic controllers (FLCs) have been widely applied
to both consumer products and industrial process control.
For temperature control problems, we usually encounter the
problem of time delays, i.e., the current output is a function of
plant input or past input or both. When feedforward networks,
like feedforward neural and neural fuzzy networks, are applied
to this type of problem, we should know the order of the plant
and decide the proper controller input variables [1][4]. This is
obviously an inefcient approach, and the inclusion of too many
variables in the network input will increase the network size and
decrease learning speed. Owing to these problems, a recurrent
neural fuzzy network controller should be a better choice
in temperature control problems. In [5], we have proposed
a TakagiSugenoKang (TSK)-type recurrent fuzzy network
(TRFN), and the superiority of TRFN over existing recurrent
Manuscript received October 10, 2003; revised January 3, 2006. Abstract
published on the Internet March 18, 2006. This work was supported by
the National Science Council, Taiwan, R.O.C., under Grant NSC 94-2213-
E-005-014.
C.-F. Juang is with the Department of Electrical Engineering, National
Chung Hsing University, Taichung 402, Taiwan, R.O.C. (e-mail: cfjuang@
dragon.nchu.edu.tw).
J.-S. Chen was with the Department of Electrical Engineering, National
Chung Hsing University, Taichung 402, Taiwan, R.O.C. He is now with
the Logic Department, Magic Pixel Inc., Hsinchu, Taiwan, R.O.C. (e-mail:
jschen@magicpixel.com.tw).
Digital Object Identier 10.1109/TIE.2006.874260
networks has been demonstrated. In this paper, based on the
structure of TRFN, a modied version of TRFN for hardware
implementation, which is denoted as TRFN-H, is proposed and
realized on a eld-programmable gate array (FPGA) chip.
For time-delayed plant control, one generally adopted ap-
proach is the generalized predictive control (GPC) [6]. GPC
is originally presented based upon a linear model so it is not
suitable for nonlinear plant control. To cope with this problem,
some nonlinear controller model designs based on GPC are
proposed [7], [8], most of which belong to fuzzy-model-based
predictive control. The drawback of this model is that we should
know in advance the order of input and output terms of the
linear GPC model in the fuzzy consequence. Other controller
design congurations based upon neural learning approaches
include the direct inverse, direct and indirect adaptive control,
etc. [9]. Among them, the direct inverse control conguration
requires no emulation of the plant and is simpler in imple-
mentation. Because the adopted TRFN-H is characterized with
powerful learning ability, which can model the inverse of the
plant accurately, we will design a TRFN-H controller based
upon direct inverse control conguration. When TRFN-H is
applied to temperature control problems, only the current plant
state and reference state are fed as TRFN-H inputs because both
the past plant states and controller signals can be memorized
by internal variables. This signicantly reduces the following
hardware implementation cost.
In recent years, many hardware implementations, including
analog and digital, of FLCs have been proposed. For design
exibility and ease of programmability [10][18], a digital
implementation of TRFN-H is proposed here. The digital hard-
ware of FLC originates from [10]. Then, Watanabe et al. [11]
proposed an FLC with dynamically recongurable cascadable
architecture. In [12], a fuzzy processor using single-instruction
multiple-data (SIMD) is proposed. Lee and Bien [13] de-
signed an expandable fuzzy inference processor consisting
of IF modules and THEN modules for implementing fuzzy
IFTHEN rules. Whereas in [14], fuzzy inference is performed
by sequential processing of the antecedents of the fuzzy rules.
In [18], the implementation uses the dynamic membership
function generator, as well as the high-speed integration capa-
bility afforded by very large scale integration (VLSI). To our
knowledge, most previous works on FLC intended to improve
the inference performance for real-time applications to expand
the capacity for processing more input and output variables
and focus on the implementation of a feedforward fuzzy logic
system. However, there has been no attempt to design a
0278-0046/$20.00 2006 IEEE
942 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 53, NO. 3, JUNE 2006
Fig. 1. Structure of TRFN-H.
hardware-based TSK-type recurrent fuzzy system. With the
recurrent structure of TRFN-H, both the numbers of input vari-
ables and rules are small in temperature control experiments.
So, we will design TRFN-H in combinational circuits directly
without using any memory and then, realize TRFN-H on an
FPGA chip. The TRFN-H control chip is then applied to water
bath temperature control.
This paper is organized as follows: Section II presents
the structure and learning of TRFN-H. Section III presents
the control conguration of TRFN-H. Section IV presents the
hardware implementation of TRFN-H. The experimental results
are presented in Section V. Finally, conclusions are drawn in
Section VI.
II. STRUCTURE AND LEARNING OF TRFN-H
A. Structure of TRFN-H
The structure of TRFN-H is shown in Fig. 1. Like TRFN,
each rule in TRFN-H is of the following form:
Rule i :
IF x
1
(t) is A
i1
and and x
n
(t) is A
in
and h
i
(t) is G
THEN y(t + 1) is a
i0
+
n

j=1
a
ij
x
j
(t) +a
ij+1
h
i
(t)
and h
1
(t + 1) is w
1i
and and h
r
(t + 1) is w
ri
where A and G are fuzzy sets, w and a are the consequent
parameters for inference output h and y, respectively, n is the
number of external input variables, and r is the number of rules.
The consequent part for the external output y is of the TSK
type. For the consideration of easy hardware implementation,
the functions of TRFN-H are different from those of TRFN. To
give a clear understanding of the mathematical function of each
node, we will describe the functions of TRFN-H layer by layer.
For notation convenience, the net input to the ith node in layer
k is denoted by u
(k)
i
and the output value by O
(k)
i
.
Layer 1: No function is performed in this layer. The node
only transmits input values to layer 2.
Layer 2: Two types of membership functions are used in this
layer. For external input x
j
, a local membership
function is used, and the following isosceles trian-
gular function is adopted:
O
(2)
i
=
_

_
0, u
(2)
j
m
ij

ij
1

u
(2)
j
m
ij

ij
, m
ij

ij
u
(2)
j
m
ij
+
ij
and u
(2)
j
= O
(1)
j
0, u
(2)
j
m
ij
+
ij
(1)
where m
ij
and
ij
are the center and the width of
the triangle membership function of the ith term of
the jth input variable x
j
, respectively. For internal
variable h
i
, a global membership is used, and the
following piecewise linear function is adopted:
O
(2)
i
=
_

_
1, u
(2)
i
2.8125
u
(2)
i
+2.8125
5.625
, 2.8125 u
(2)
i
2.8125
and u
(2)
i
= h
i
0, u
(2)
i
2.8125
(2)
JUANG AND CHEN: WATER BATH TEMPERATURE CONTROL BY RECURRENT FUZZY CONTROLLER AND ITS FPGA 943
where the parameters 2.8125 and 5.625 are chosen
for easy digital implementation. Links in layer 2 are
all set to unity.
Layer 3: The output of each node in this layer is determined
by fuzzy and operation. Here, the minimum oper-
ation is utilized to determine the ring strength of
each rule. The function of each rule is
O
(3)
i
=
n+1
min
j=1
_
O
(2)
j
_
. (3)
The link weights are all set to unity.
Layer 4: Nodes in this layer perform a linear summation.
The mathematical function of each node i is
O
(4)
i
=
n+1

j=0
a
ij
u
(4)
j
= a
io
+
n

j=1
a
ij
x
j
+a
in+1
h
i
. (4)
Links from this layer to layer 6 are all equal to
unity.
Layer 5: The context node functions as a defuzzier for
the fuzzy rules with inference output h. The link
weights represent the singleton values in the con-
sequent part of the internal rules. The simple
weighted sum is calculated in each node as
h
i
= O
(5)
i
=
r

j=1
O
(3)
j
w
ij
. (5)
As shown in Fig. 1, the delayed value of h
i
is
fed back to layer 1 and acts as an input variable
to the precondition part of a rule. Each rule has
a corresponding internal variable h and is used to
decide the inuence degree of temporal history to
the current rule.
Layer 6: The node in this layer computes the output signal
y of the TRFN-H. The output node together with
the links connected to it acts as a defuzzier. The
mathematical function is
y = O
(6)
=

r
j=1
O
(3)
j
O
(4)
j

r
j=1
O
(3)
j
. (6)
B. Learning of TRFN-H
The task of constructing the TRFN-H is divided into two sub-
tasks, namely 1) structure learning and 2) parameter learning.
Because there are no rules initially in TRFN-H, the rst task
in structure learning is to decide when to generate a new rule.
Clustering on the external input x, which represents the spatial
information, is used as the criterion. Based on this concept, the
spatial ring strength
F
i
(x) =
n
min
k=1
O
(2)
k
[0, 1] (7)
Fig. 2. Conguration of the TRFN-H-based control.
is used as the criterion to decide if a new fuzzy rule should be
generated. For each incoming data x(t), nd
I = arg max
1ir(t)
F
i
(x) (8)
where r(t) is the number of existing rules at time t. If F
I
<
F
in
, then a new rule is generated, where F
in
(0, 1) is a
prespecied threshold. Once a new rule is generated, the initial
centers and widths of the corresponding membership functions
are decided by
m
(r(t)+1)i
=x
i
(t)

(r(t)+1)i
=|x
j
m
Ij
| (9)
for i = 1, . . . , n. The number of fuzzy sets in each external
input dimension is equal to the number of fuzzy rules. Once
a new rule is newly generated, generation of the corresponding
consequent node in layer 4 and context node in layer 5 follows.
For the newly generated context node, its fan-in comes from
all the existing rule nodes in layer 3. The output h of the new
context node is fed back as input in the precondition part of the
newly generated rule.
As to parameter learning, the recursive least squared (RLS)
algorithm is adopted for consequent part parameter learning.
During training, the desired output is a sequence of random
variables that change abruptly. This is not an easy learning
problem so the RLS algorithm, instead of gradient descent
algorithm in TRFN [5], is adopted to improve the learning
performance. Considering the single-output case for clarity, our
goal is to minimize the error function
E =
1
2
_
y(t) y
d
(t)
_
2
where y
d
(t) is the desired output and y(t) is the current output.
With the RLS algorithm, the parameter vector

a in layer 4 is
updated by

a (t + 1) =

a (t) +P(t)

u (t + 1)
_
y
d
(t) y(t)
_
P(t + 1) =
1

_
P(t)
P(t)

u (t + 1)u(t + 1)p(t)
+

u
T
(t + 1)P(t)

u (t + 1)
_
(10)
where 0 < 1 is the forgetting factor,

u
T
= [O
(3)
1
/

r
j=1
O
(3)
j
O
(3)
r
/

r
j=1
O
(3)
j
]
T
, and P is the covariance
matrix. The initial value of P is set as P(0) = 10 I. As for the
other free parameters, m
ij
and
ij
in layer 2 and w in layer 5
are tuned by the real-time recurrent learning algorithm [22].
944 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 53, NO. 3, JUNE 2006
Fig. 3. Architecture of TRFN-H.
III. TRFN-H-BASED DIRECT INVERSE CONTROL
The TRFN-H-based direct inverse control conguration is
shown in Fig. 2. Owing to the recurrent property of TRFN-H,
only the current temperature y
P
(k) and reference temperature
y
ref
(k) are fed as inputs during control. This is in contrast
to the feedforward network controller, where the controller
input variables vary with the plant order. Because the process
of controller input variable determination is avoided, this ob-
viously eases the controller design approach. Besides, for a
discrete-time control system, the proper number of input vari-
ables in a feedforward network varies with the sampling period.
In the experiment, we will show that without reassigning the
input variables in TRFN-H, a good control performance is
achieved even when the sampling period changes. To get the
training samples from the plant, a sequence of random input
signals u(k) are injected directly into the plant, and then an
open-loop inputoutput characteristic of the plant is obtained.
According to the inputoutput characteristic of the plant, proper
training patterns are selected to cover the entire reference
output space. Using the collected training patterns with the
values of y
P
(k) and y
P
(k + 1) as the input patterns and
the corresponding control signal u(k) as the target pattern, the
TRFN-H can be supervised and updated to minimize an error
function E dened by E =

Kn
k=1
[u(k) u(k)]
2
, where K
n
is
the number of training patterns and u(k) is the actual output
of TRFN-H. Owing to the powerful learning ability, a good
controller is obtained after learning.
IV. HARDWARE IMPLEMENTATION OF TRFN-H
After TRFN-H is designed, it is realized on a FPGA chip.
Based on the structure discussed previously, the architecture of
the hardware implementation of TRFN-H is shown in Fig. 3. It
consists of ve modules, namely: 1) input fuzzier; 2) recurrent
fuzzier; 3) inference processing unit; 4) internal defuzzier;
and 5) output signal defuzzier.
A detailed description of the ve modules is given in the
following list.
1) Input fuzzier: This module implements the external in-
puts fuzzication operation in (1). The designed module
is shown in Fig. 4, in which the COMPL block is to carry
out the complementing operation and the multiplexer is
to choose between 0 and |x m|.
2) Recurrent fuzzier: This module receives the internal
variable h and fuzzies it by (2). The corresponding
module is shown in Fig. 4, in which the multiplexer is to
choose between 0 and h + 2.8125 based on the sign
bit. In this module, in order to restrict the output value
to be in the range of 01, it seems we should further
process the output of the divider when u
(2)
i
> 2.8125.
Here, the processing can be ignored. The reason is that
the succeeding inference processing unit will take the
minimum operation from the outputs of these modules
and those from the input fuzzier module, whose output
values always lie between 0 and 1. Thus, whether the
output values in this module are larger than 1 or not do
not affect the output values of the minimum operation.
3) Inference processing unit: The main function of this
module is to performthe minimum operation in (3). Fig. 4
shows a block diagram of the inference processing unit,
where each MIN module performs minimum selection
from two inputs.
4) Internal defuzzier: This module implements the defuzzi-
er operation in (5). All the parameters w
ij
are xed con-
stants in the hardware implementation. For this reason,
each multiplier is implemented by distributed arithmetic
[19], [20] to reduce the cost. The module (for one internal
variable) is shown in Fig. 5. After multiplication, it still
needs an adder to summate them. For TRFN-H consisting
of r rules, in this module, there will be r
2
multipliers
and r adders in total.
5) Output signal defuzzier: This module implements the
defuzzier operation in (6). As shown in (6), for a single-
output TRFN-H system, a single divider is sufcient to
compute the defuzzied value. The defuzzier module is
shown in Fig. 6. First, we must calculate the value of
TSK-type linear summation in (4). Because the values
of a
ij
are all xed, we can implement the corresponding
multipliers by distributed arithmetic. For the multipliers
with inputs O
(3)
i
and O
(4)
i
, we cannot implement them by
distributed arithmetic because the inputs are not xed; we
implement them by nite state machines (FSMs) instead.
As to the divider, it is implemented by the binary division
algorithm [20].
JUANG AND CHEN: WATER BATH TEMPERATURE CONTROL BY RECURRENT FUZZY CONTROLLER AND ITS FPGA 945
Fig. 4. Circuits that implement the precondition part of TRFN-H. (a) Input fuzzier. (b) Recurrent fuzzier. (c) Inference processing unit.
V. EXPERIMENTS
The experiment is performed on a real water bath temper-
ature control system. The water bath is an example of an
important component in a batch-reactor process. A schematic
diagram of the experimental setup is shown in Fig. 6. It contains
four components, namely: 1) a pump that works as a stirrer;
2) an FPGA-implemented TRFN-H control chip; 3) a tem-
perature sensor; and 4) a heater based on silicon-controlled
rectier (SCR). A brief description of the four components
follows. The submersible pump pumps 180 L/h, and its function
is to ensure even temperature distribution. The volume of
the water bath is 12 L. The device of the FPGA is Altera
FLEX EPF10K50EQC240-1, which contains 50 000 typical
gates [logic and random-access memory (RAM)] and 2880
logic elements. In order to be compatible with sensor and
controller plant, analog-to-digital (AD) and digital-to-analog
(DA) converters are needed. The AD converter we used is
the 12-bit AD1674. The DA converter is the 8-bit monolithic
DAC0808. We used the 12-bit AD converter for more accurate
measurement. For the temperature measurement, a PT100 sen-
sor is used. The maximum power of the heater is 1000 W. For
a discrete-time control system, it is necessary to decide on the
sampling period. Here, we rst chose T
S
= 30 s as the sam-
pling period.
To obtain data for training of TRFN-H, a sequence of random
input signals u(k) limited to 0 and 5 V is injected directly to
the system. The water temperature reaches about 95

C when
85 input signals are injected and remains at that temperature
when more input signals are injected. In the same way, another
85 training patterns are collected so that there is a total of
170 training patterns for off-line training. For TRFN-H train-
ing, the inputs are y
P
(k) and y
P
(k + 1), and the desired
output is u(k). After training, only four rules are generated,
and the learning curve is shown in Fig. 7. Then, the hardware
946 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 53, NO. 3, JUNE 2006
Fig. 5. Circuits that implement the consequent part of TRFN-H. (a) Internal defuzzier. (b) Output signal defuzzier.
implementation of TRFN-H is realized using Quartus II soft-
ware and Verilog language. The designed TRFN-H controller
can work at a clock frequency of 51.28 MHz. The total gate
count of the designed TRFN-H is 11 383.2533 (using a Synop-
sys Design Compiler with Avant .35 cell library).
To test the control performance of the TRFN-H control chip,
the following three set points are to be followed:
y
ref
(k) =
_
40

C, k 40
55

C, 40 < k 80
70

C, 80 < k 120.
(11)
The controlled result for these set points is shown in Fig. 8,
and the corresponding sum of absolute error (SAE) is shown
in Table I.
For comparison, a personal computer (PC)-based back-
propagation neural network (BPNN) controller designed by the
Fig. 6. Schematic diagram of the water bath temperature control system.
same conguration is experimented. BPNN is a feedforward
network and consists of one hidden layer. As we have no
a priori knowledge of the plant order, we should rst decide the
JUANG AND CHEN: WATER BATH TEMPERATURE CONTROL BY RECURRENT FUZZY CONTROLLER AND ITS FPGA 947
Fig. 7. Trained error curve of TRFN-H (solid line) and BPNN with
two ( ), six (), and eight ( ) input variables.
TABLE I
SUM OF ABSOLUTE ERROR (SAE) BETWEEN TRFN-H, PI, AND
FLC IN DIFFERENT KINDS OF EXPERIMENTS WHERE
SAE(m, n) =

n
k=m
|y
ref
(k) y
p
(k)|
variables fed as BPNN input. An experimental method based
on trying several combinations of input variables is adopted
to accomplish this decision task. During the off-line training
process, BPNN with 2, 6, and 8 input variables are tried, and
the corresponding input variables are
Net. 1: [y
p
(k), y
p
(k + 1)],
Net. 2: [y
p
(k1),y
P
(k),y
P
(k+1),u(k2),u(k1), u(k)]
Net. 3: [y
P
(k2), y
P
(k+1), y
P
(k), y
P
(k+1), u(k3),
u(k 2), u(k 1), u(k)].
For fair comparison, the number of parameters in each net-
work is set to be the same as that in TRFN-H. The learning
curve of each network is shown in Fig. 7, from which we see
that it is only when the number of input nodes is augmented
to 8 and after 10
7
iterations of training can we achieve a good
training result. The control result for these three set points in
(11) using the PC-based BPNN with 8 input variables is also
shown in Fig. 8, from which we see that the performance of
TRFN-H obviously outperforms that of BPNN.
Other than that of the BPNN controller, the performance of
PC-based proportionalintegralderivative (PID) and FLCs are
compared. For the PID control, a positional form discrete PID
controller [21] is used. In order not to aggravate noise in the
plant, only a two-term PID controller is used, i.e., the derivative
parameter is set to zero. After numerous experiments, the
best proportional parameter and integral parameter are found
to be 50 and 0.15, respectively. The reference set points in
(11) are used to test the control performance of the PC-based
Fig. 8. Performance of the BPNN controller with 8 input variables (solid line)
and TRFN-H (broken line).
proportionalintegral (PI) controller, and the SAE is shown in
Table I. For the FLC, we specify the input variables as the per-
formance error e(k), which is the error between the reference
output and actual temperature of the water bath system, and
the rate of change of the performance error e(k). The output
variable u(k) is the voltage between 0 and 5 V . We partition
each of the two input variables into three fuzzy sets, which
yields nine fuzzy rules. Triangle membership functions are cho-
sen for the fuzzy sets of the two input fuzzy variables. For the
output variable u(k), we quantify it into six fuzzy singletons:
0.0, 1.0, 2.0, 3.0, 4.0, and 5.0 V. The SAE for the reference
set points control by the FLC is also shown in Table I. For the
FLC, we have tried our best to achieve its best performance
through several trial-and-error experiments. Even so, as shown
in Table I, we see that TRFN-H not only costs the least design
effort but also achieves better performance than FLC.
To test the performance of the aforementioned controllers
(TRFN-H, PI, and FLC) under different control conditions,
another two sets of experiments are conducted on the water
bath temperature control system. The two experiments include
variation of the sampling period T
S
and variation of the water
volume.
In the rst set of experiments, we change the original sam-
pling period T
S
= 30 s to other sampling periods, including
T
S
= 2 and 60 s. The control performance of the three
controllers for all of these new sampling periods are shown in
Table I, from which we see that the TRFN-H control chip has
fewer SAE than the other two controllers in all the sampling
periods experimented. For clarity, some control results are
shown in Fig. 9. Although the parameters of the TRFN-H
control chip were obtained at T
S
= 30 s, owing to its recurrent
property, it still performs well at other sampling periods
without changing any network parameters.
In the second set of experiments, the volume of the water
is doubled. The control result by the TRFN-H control chip is
shown in Fig. 10. The controlled SAE by TRFN-H, PI, and
FLC are shown in Table I. The performance of the TRFN-H
control chip outperforms those of the two other controllers
from Table I.
948 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 53, NO. 3, JUNE 2006
Fig. 9. Experiments on variation of sampling periods. (a) Performance of PI
(solid line) and TRFN-H (broken line) when the sampling period is changed to
2 s. (b) Performance of FLC (solid line) and TRFN-H (broken line) when the
sampling period is changed to 60 s.
Fig. 10. Control performance of TRFN-H when the volume of water is
doubled.
VI. CONCLUSION
Temperature control by hardware implementation of a recur-
rent neural fuzzy controller, the TRFN-H, was presented. The
design is based on the direct inverse modeling approach without
a priori knowledge of the plant order. Owing to the powerful
learning ability of TRFN-H, only four rules are required in
the temperature control problem, which efciently reduces the
hardware design cost. The designed TRFN-H controller was
realized on an FPGA chip. Several sets of experiments were
performed on a practical water bath temperature control. Com-
pared with the generally adopted controllers, including PC-
based BPNN, PI, and FLC, the TRFN-H control chip has
shown superior performance both in controller design effort
and control performance. Overall, these advantages of the
TRFN-H control chip motivate further applications to other
temperature control problems in the industry.
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JUANG AND CHEN: WATER BATH TEMPERATURE CONTROL BY RECURRENT FUZZY CONTROLLER AND ITS FPGA 949
Chia-Feng Juang (M00) received the B.S. and
Ph.D. degrees in control engineering from the
National Chiao-Tung University, Hsinchu, Taiwan,
R.O.C., in 1993 and 1997, respectively.
From 1999 to 2001, he was an Assistant Profes-
sor in the Department of Electrical Engineering at
the Chung Chou Institute of Technology. In 2001,
he joined the National Chung Hsing University,
Taichung, Taiwan, R.O.C., where he is currently an
Associate Professor of electrical engineering. His
current research interests are computational intel-
ligence, intelligent control, computer vision, speech signal processing, and
chip design.
Dr. Juang is a member of the IEEE Computational Intelligence Society and
the IEEE Signal Processing Society.
Jung-Shing Chen received the B.S. degree in elec-
trical and control engineering from the National
Chiao-Tung University, Hsinchu, Taiwan, R.O.C.,
in 2001, and the M.S. degree in electrical engi-
neering from the National Chung Hsing University,
Taichung, Taiwan, R.O.C., in 2003.
In 2003, he joined Magic Pixel Inc., Hsinchu,
Taiwan, R.O.C., as an Engineer, where he is currently
with the Logic Department. His research interests are
intelligent control and chip design.