Abstract: This paper presents a predictive model of sensor readings for mobile robot. The model predicts sensor readings for given time horizon based on current sensor readings and velocities of wheels assumed for this horizon. Similar models for such anticipation have been proposed in the literature. The novelty of the model presented in the paper comes from the fact that its structure takes into account physical phenomena and is not just a black box, for example a neural network. From this point of view it may be regarded as a semi-phenomenological model. The model is developed for the Khepera robot, but after certain modifications, it may be applied for any robot with distance sensors such as infrared or ultrasonic sensors.
Abstract: This article proposes a current-mode square-rooting
circuit using current follower transconductance amplifier (CTFA).
The amplitude of the output current can be electronically controlled
via input bias current with wide input dynamic range. The proposed
circuit consists of only single CFTA. Without any matching
conditions and external passive elements, the circuit is then
appropriate for an IC architecture. The magnitude of the output signal
is temperature-insensitive. The PSpice simulation results are
depicted, and the given results agree well with the theoretical
anticipation. The power consumption is approximately 1.96mW at
±1.5V supply voltages.
Abstract: The present paper is oriented to problems of simulation of anticipatory systems, namely those that use simulation models for the aid of anticipation. A certain analogy between use of simulation and imagining will be applied to make the explication more comprehensible. The paper will be completed by notes of problems and by some existing applications. The problems consist in the fact that simulation of the mentioned anticipatory systems end is simulation of simulating systems, i.e. in computer models handling two or more modeled time axes that should be mapped to real time flow in a nondescent manner. Languages oriented to objects, processes and blocks can be used to surmount the problems.
Abstract: This article proposes a voltage-mode
multifunction filter using differential voltage current
controllable current conveyor transconductance amplifier
(DV-CCCCTA). The features of the circuit are that: the
quality factor and pole frequency can be tuned independently
via the values of capacitors: the circuit description is very
simple, consisting of merely 1 DV-CCCCTA, and 2
capacitors. Without any component matching conditions, the
proposed circuit is very appropriate to further develop into
an integrated circuit. Additionally, each function response
can be selected by suitably selecting input signals with
digital method. The PSpice simulation results are depicted.
The given results agree well with the theoretical anticipation.
Abstract: This article presents a resistorless current-mode firstorder allpass filter based on second generation current controlled current conveyors (CCCIIs). The features of the circuit are that: the pole frequency can be electronically controlled via the input bias current: the circuit description is very simple, consisting of 2 CCCIIs and single grounded capacitor, without any external resistors and component matching requirements. Consequently, the proposed circuit is very appropriate to further develop into an integrated circuit. Low input and high output impedances of the proposed configuration enable the circuit to be cascaded in current-mode without additional current buffers. The PSpice simulation results are depicted. The given results agree well with the theoretical anticipation. The application example as a current-mode quadrature oscillator is included.
Abstract: The realization of current-mode quadrature oscillators
using current controlled current conveyor transconductance
amplifiers (CCCCTAs) and grounded capacitors is presented. The
proposed oscillators can provide 2 sinusoidal output currents with 90º
phase difference. It is enabled non-interactive dual-current control for
both the condition of oscillation and the frequency of oscillation.
High output impedances of the configurations enable the circuit to be
cascaded without additional current buffers. The use of only
grounded capacitors is ideal for integration. The circuit performances
are depicted through PSpice simulations, they show good agreement
to theoretical anticipation.
Abstract: The present paper is oriented to classification and application of agent technique in simulation of anticipatory systems, namely those that use simulation models for the aid of anticipation. The main ideas root in the fact that the best way for description of computer simulation models is the technique of describing the simulated system itself (and the translation into the computer code is provided as automatic), and that the anticipation itself is often nested.
Abstract: This article presents a current-mode quadrature
oscillator using differential different current conveyor (DDCC) and
voltage differencing transconductance amplifier (VDTA) as active
elements. The proposed circuit is realized fro m a non-inverting
lossless integrator and an inverting second order low-pass filter. The
oscillation condition and oscillation frequency can be
electronically/orthogonally controlled via input bias currents. The
circuit description is very simple, consisting of merely 1 DDCC, 1
VDTA, 1 grounded resistor and 3 grounded capacitors. Using only
grounded elements, the proposed circuit is then suitable for IC
architecture. The proposed oscillator has high output impedance
which is easy to cascade or dive the external load without the buffer
devices. The PSPICE simulation results are depicted, and the given
results agree well with the theoretical anticipation. The power
consumption is approximately 1.76mW at ±1.25V supply voltages.
Abstract: This article presents a voltage-mode universal
biquadratic filter performing simultaneous 3 standard functions: lowpass,
high-pass and band-pass functions, employing differential
different current conveyor (DDCC) and current controlled current
conveyor (CCCII) as active element. The features of the circuit are
that: the quality factor and pole frequency can be tuned independently
via the input bias currents: the circuit description is very simple,
consisting of 1 DDCC, 2 CCCIIs, 2 electronic resistors and 2
grounded capacitors. Without requiring component matching
conditions, the proposed circuit is very appropriate to further develop
into an integrated circuit. The PSPICE simulation results are
depicted. The given results agree well with the theoretical
anticipation.