Person:
Hasler, Jennifer

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Reconfigurable and Programmable Physical Computing for a Digital Computing World

2018-11-02 , Hasler, Jennifer

An all-day summit featuring plenary talks on the future of computing and panel discussions.

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An analog VLSI model of muscular contraction

2003-07 , Hudson, Tina A. , Bragg, Julian A. , Hasler, Jennifer , DeWeerth, Stephen P.

We have developed analog VLSI circuits to model the behavior demonstrated by biological sarcomeres, the force generating components of muscle tissue. The circuits are based upon the mathematical description of crossbridge populations developed by A. F. Huxley (1957). We have implemented the sarcomere circuit using a standard 1.2 μm process, and have demonstrated the nonlinear transient behaviors exhibited by biological muscle.

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Robot Path Planning Using Field Programmable Analog Arrays

2012-05 , Koziol, Scott , Hasler, Jennifer , Stilman, Mike

We present the successful application of reconfigurable Analog-Very-Large-Scale-Integrated (AVLSI) circuits to motion planning for the AmigoBot robot. Previous research has shown that custom application-specific-integrated-circuits (ASICs) can be used for robot path planning. However, ASICs are typically fixed circuit designs that require long fabrication times on the order of months. In contrast, our reconfigurable analog circuits called Field Programmable Analog Arrays (FPAAs) implement a variety of AVLSI circuits in minutes. We present experimental results of online robot path planning using FPAA circuitry, validating our assertion that FPAA-based AVLSI design is a feasible approach to computing complete motion plans using analog floating-gate resistive grids. We demonstrate the integration of FPAA hardware and software with a real robot platform and hardware in the loop simulations, present the trajectories developed by our planner and provide analysis of the time and space complexity of our proposed approach. The paper concludes by formulating metrics that identify domains where analog solutions to planning may be faster and more efficient than traditional, digital robot planning techniques.

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Using Floating-Gate Based Programmable Analog Arrays for Real-Time Control of a Game-Playing Robot

2011-10 , Koziol, Scott , Lenz, David , Hilsenbeck, Sebastian , Chopra, Smriti , Hasler, Jennifer , Howard, Ayanna M.

This paper presents preliminary results of a mobile manipulator robot tasked to play the classic Towers of Hanoi game. We first discuss the control algorithms necessary to enable necessary game-playing behavior and provide results of implementing our methodology in a high fidelity 3D environment. After attaining success in the simulation environment, we provide results on implementation of the same control software using physical robot hardware. Additionally, preliminary analysis for implementing analog Proportional-Integral-Derivative (PID) control on this platform using a floating-gate based reconfigurable analog IC is explored. Using this concept of floating gate analog arrays for control enables off-loading of the processing, which could be helpful for real-time implementation of robot behavior.

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