Interoperability for Embedded Systems in JFML Software: An Arduino-based implementation

Fuzzy Logic Systems have been successfully used in a wide range of real-world problems. They can include a priori expert knowledge and represent systems for which it is not possible to obtain a mathematical model. The standard IEEE Std 1855™-2016 was established to provide the fuzzy community with a unique and well-defined tool allowing a fuzzy logic system design completely independent from the specific hardware/software. Recently, the library Java Fuzzy Markup Language (JFML) offers a complete implementation of the standard, however, the actual version of the JFML does not support the development of fuzzy inference systems on specific types of hardware. The aim of this paper is to develop an interoperability module to design and running FLS for embedded systems in JFML, concretely for Arduino boards. In addition, a communication protocol between JFML and Arduino boards is also defined, removing the limited computing capacity usually offered by embedded systems. A case study with a wall-following fuzzy controller to manage a mobile robotic in two environments is developed in order to illustrate the potential of the new interoperability module.