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The work has been partially supported by the Italian National Project, CNR 93.05234.ST74, Sistemi Elettronici Avanzati - Reti Neurali and the Inter-University Cooperation "Integrated Neural System for Robotic Applications" between Italy and Spain and it has been awarded with the ES2 Best Chip Award at MICRONEURO '94. This paper describes, a Neuro-Fuzzy real-time controller based on Pulse Stream computation techniques and designed for applications in low power embedded systems. The proposed system mixes two different approaches, namely Neuro-Fuzzy Controllers and Finite State Automata. The former are implemented by means of a custom neural chip, while the latter are implemented as sequential code on a traditional microcontroller. The proposed system is used to demonstrate the advantages of mixing the two approaches and the feasibility of embedded Neuro- Fuzzy control systems. A low power, single chip version is also under design.

L. M. Reyneri and M. Chiaberge, "Cintia: A Neuro-Fuzzy Real-Time Controller for Low-Power Embedded Systems," in IEEE Micro, vol. 15, no. , pp. 40-47, 1995.
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