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Go to Editorial ManagerHigh speed and area reduction of the Arithmetic-Logic Unit (ALU) have a fundamental role in modern processors, especially in digital signal processor (DSP). In this paper, a new elastic fixed-point (Fx-P) ALU module is proposed to perform multiple operations on real and complex numbers. The arithmetic part of the ALU executes operations such as addition, subtraction, increment, decrement, and multiplication on real numbers. For complex operands, the proposed ALU executes three operations comprising addition, subtraction, complex conjugate of complex numbers. The logical part performs the basic operations including AND, OR, NAND, NOR, XOR, XNOR, NOT and BUFFER operations. The proposed design is based on utilizing an enhanced design of a hybrid adder consists of a Han Carlson adder with a carry-select adder (EHC-CSLA) and an improved design of the Vedic multiplier to achieve multiplication operation of real numbers. A 16-bit and a 32-bit EHC-CSLA are designed first to perform real/complex addition-and- subtraction on both data types. Then, an improved-Vedic multiplier (IVM) is designed to perform multiplication on two real operands. The proposed EHC-CSLAs, numerous bit-sizes of the IVMs, and the elastic design of real/ complex ALU modules in this work are coded in VHDL, simulated, and synthesized by Xilinx ISE14.7 tool on different FPGA families. The performance results demonstrate appreciable reductions in delay and area usage in comparison to the most counterpart multipliers and ALU designs.
Legged robots offer several benefits over standard wheeled vehicles when operating in tough and unstructured terrain. These benefits include increased speed, improved fuel efficiency, increased mobility, improved isolation from uneven terrain, and reduced environmental harm. This paper presents the modeling of an eight-legged robot that was simulated using Simscape Multibody toolbox in MATLAB, where the robot consists of eight legs, and each leg contains three links, and each link contains a PID controller, meaning it contains a total of 24 controllers. This controller was used to control the robot’s gait and make it more stable. To obtain the optimal and most stable gait for the robot and to travel a longer distance, an optimization algorithm should be used, so that in this paper the genetic algorithm (GA) is used to obtain those points. To test the robustness of the proposed controllers, different weights are added (1 kg and 3 kg) as a load to the body of the legged robot, the obtained results show the efficiency of the proposed controllers.