Towards a Standard Mixed-Signal Parallel Processing Architecture for Miniature and Microrobotics.

The conventional analog-to-digital conversion (ADC) and digital signal processing (DSP) architecture has led to major advances in miniature and micro-systems technology over the past several decades. The outlook for these systems is significantly enhanced by advances in sensing, signal processing, communications and control, and the combination of these technologies enables autonomous robotics on the miniature to micro scales. In this article we look at trends in the combination of analog and digital (mixed-signal) processing, and consider a generalized sampling architecture. Employing a parallel analog basis expansion of the input signal, this scalable approach is adaptable and reconfigurable, and is suitable for a large variety of current and future applications in networking, perception, cognition, and control.