S. Barker

Leader-Follower Strategies for Robot-Human Collaboration

This paper considers the impact that robot collaboration strategies have on their human collaborators. In particular, we are interested in how robot leader/follower strategies affect perceived safety and perceived intelligence, which, we argue, are essential for establishing trust and enabling true collaboration between human and robot. We propose an experiment which will enable us to evaluate the impact of leader/follower collaboration strategies on perceived safety and intelligence.

A CMOS technology friendly wider bandwidth opamp frequency compensation

In this a paper a novel CMOS technology friendly opamp compensation has been presented and explained intuitively miller compensation pole splitting. Present technique utilizes grounded capacitor and having better PSRR. Open loop transfer functions have been derived to show the proposed technique is low power for the same bandwidth. Implemented in 65nm CMOS technology and simulated with Spectre. Simulation results shows that the proposed opamp achieves FOM ∼83333.Opamp consumes 25uA from 1V supply and occupying 5184um2 silicon area.

A Start-up Assisted Fully Differential Folded Cascode Opamp

This paper explains the hidden positive feedback in a two-stage fully differential amplifier through external feedback resistors and possible DC latch-up during the amplifier start-up. The biasing ...

A compact high gain opamp for Bio-medical appli-cations in 45nm CMOStechnology

In this paper a low OpAmp compensation technique suitable for the bio-medical application has been proposed and intuitive explained the existing compensation techniques. The Present technique relies on the passive damping factor control rather power hungry damping. Implemented in 45nm CMOS technology and simulated with Spectre. Simulation results shows that 100dB dc gain, well compensated 25MHz bandwidth OpAmp while driving a 1pF capacitive load. Draws with 12uW power consumption from 1V supply and occupying 0.004875mm2 silicon areas.

A 0.6 V MOS-Only Voltage Reference for Biomedical Applications with 40 ppm/∘C Temperature Drift

This paper exploits the CMOS beta multiplier circuit to synthesize a temperature-independent voltage reference suitable for low voltage and ultra-low power biomedical applications. The technique presented here uses only MOS transistors to generate Proportional To Absolute Temperature (PTAT) and Complimentary To Absolute Temperature (CTAT) currents. A self-biasing technique has been used to minimize the temperature and power supply dependency. A prototype in 65nm CMOS has been developed and occupies 0.0039mm2, and at room temperature, it generates a 204mV reference voltage with 1.3mV drift over a wide temperature range (from −40∘C to 125∘C). This has been designed to operate with a power supply voltage down to 0.6V and consumes 1.8uA current from the supply. The simulated temperature coefficient is 40ppm/∘C.

A novel current reference in 45nm cmos technology

In this paper a novel CMOS temperature and supply voltage independent current reference has been proposed. This design is based on subtraction of two scaled version PTAT (proportional to temperature) currents to get temperature independent current reference. Implemented in 45nm CMOS technology and simulated with Spectre. Simulation results shows that the proposed current reference achieves temperature coefficient of 22ppm/°C against temperature variation of −4O°C–120°C and line sensitivity of 337ppm/V against supply variation of 0.6–1.8V, while consuming 135uW from 1.8V supply and occupying 5184um2.

A Microwatt Low Voltage Bandgap Reference for Bio-medical Applications

In this paper a microwatt low voltage bandgap reference suitable for the bio-medical application. The Present technique relies on the principle of generating CTAT and PTAT without using any (Bipolar Junction Transistor) BJT and adding them with a proper scaling factor for minimal temperature sensitive reference voltage. Beta multiplier reference circuit has been explored to generate CTAT and PTAT. Implemented in 45nm CMOS technology and simulated with Spectre. Simulation results shows that the proposed reference circuit exhibits 1.2% variation at nominal 745mV output voltage. The circuit consumes 16uW from 0.8V supply and occupying 0.004875mm2 silicon area.

Improved designs for current feedback op-amps

The performance of the current feedback op-amps (CFOAs) is very much determined by the input stage of CFOAs, including common-mode rejection ratio (CMRR). Two new CFOAs topologies are presented in this article: one topology uses a cascoding technique, and the second one uses a bootstrapping technique, both of which provide a much better CMRR and lower DC offset voltage than the conventional CFOAs. Moreover, the new CFOAs design exhibits an extended high frequency bandwidth, with a gain accuracy improvement. Applications requiring constant bandwidth with variable (closed loop) gain will benefit from the proposed topologies.

Theoretical study of the circuit architecture of the basic CFOA and testing techniques

ABSTRACT This paper examines the closed-loop characteristics of the basic Current-Feedback Operational Amplifier (CFOA), and in particular, the dynamic response. Additionally, it also examines the design and advantages of the CFOA regarding its ability to provide a significantly constant closed-loop bandwidth for closed-loop voltage gain. Secondly, the almost limitless slew–rate provided by the class AB input stage that makes it superior to the voltage-mode operational amplifier (VOA) counterpart. Additionally, this paper also concerns the definitions and measurements of the terminal parameters of the CFOA, regarded as a ‘black box’. It does not deal with the way that these parameters are related to the properties of the active passive and active components of a particular circuit configuration. Simulation is used in terminal parameter determination: this brings with it the facility of using test conditions that would not normally prevail in a laboratory test on silicon implementations of the CFOAs. Thus, we can apply 1mA and 1mV test signals from, respectively, infinite and zero source impedances that range in frequency from d.c to some tens of GHz. Also, we assume the existence of resistors with identical Ohmic value and very high value ideal capacitors. Where appropriate, practical test methods are referred to physical laboratory prototypes.

Design of a biologically inspired humanoid neck

This paper presents the design of a novel anthropomorphic robotic neck. It mimics the range of movements found in the human neck, actuated by pneumatic artificial muscles. The proposed humanoid neck simulates the anatomical functionality and structure of a human neck. Specifications are made according to biological, anatomical and behavioural data. The preliminary results show that the proposed humanoid neck is able to deliver the range of movements and head velocities comparable to those observed in human necks. These results also demonstrate that biologically inspired musculoskeletal robotic systems represent a reliable and robust platform to investigate motion development.