Artículo | 2024 |
A Bio-inspired Implementation of A Sparse-learning Spike-based Hippocampus Memory Model
|
IEEE Transactions on Emerging Topics in Computing |
Capítulo | 2024 |
A SNN-Based Implementation of a Spiking Counter for Filtering and Processing Spike Trains in Real Time
|
Springer Proceedings in Materials |
Artículo | 2024 |
Analog Implementation of a Spiking System for Performing Arithmetic Logic Operations on Mixed-Signal Neuromorphic Processors
|
Advanced Intelligent Systems |
Artículo | 2024 |
Bio-inspired computational memory model of the Hippocampus: An approach to a neuromorphic spike-based Content-Addressable Memory
|
NEURAL NETWORKS |
Capítulo | 2024 |
Indoor Positioning System for Nursing Homes
|
Springer Proceedings in Materials |
Ponencia | 2024 |
Neuromorphic Technology Insights in Spain
|
24th IEEE International Conference on Nanotechnology, NANO 2024 |
Artículo | 2024 |
Predictive Maintenance Edge Artificial Intelligence Application Study Using Recurrent Neural Networks for Early Aging Detection in Peristaltic Pumps
|
IEEE TRANSACTIONS ON RELIABILITY |
Capítulo | 2023 |
Aprendizaje basado en la Transferencia del Conocimiento entre asignaturas afines en Ingeniería de la Salud (ATC-ISA): fase inicial en Instrumentación Biomédica
|
Mejorando la enseñanza a través de la innovación educativa |
Artículo | 2023 |
Bioinspired Spike-Based Hippocampus and Posterior Parietal Cortex Models for Robot Navigation and Environment Pseudomapping
|
Advanced Intelligent Systems |
Artículo | 2023 |
Closed-loop sound source localization in neuromorphic systems
|
Neuromorphic Computing and Engineering |
Artículo | 2023 |
Construction of a spike-based memory using neural-like logic gates based on spiking neural networks on SpiNNaker
|
IEEE Transactions on Emerging Topics in Computing |
Artículo | 2023 |
Interfacing PDM MEMS microphones with PFM spiking systems: application for neuromorphic auditory sensors
|
NEURAL PROCESSING LETTERS |
Ponencia | 2023 |
Live Demonstration: Bio-inspired implementation of a sparse-learning spike-based hippocampus memory model
|
Proceedings - IEEE International Symposium on Circuits and Systems |
Artículo | 2022 |
An event-based digital time difference encoder model implementation for neuromorphic systems
|
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS |
Ponencia | 2022 |
An MPSoC-based on-line edge infrastructure for embedded neuromorphic robotic controllers
|
Proceedings - IEEE International Symposium on Circuits and Systems |
Ponencia | 2022 |
Spike-based building blocks for performing logic operations using Spiking Neural Networks on SpiNNaker
|
2022 International Joint Conference on Neural Networks (IJCNN) |
Ponencia | 2022 |
Spike-based computational models of bio-inspired memories in the hippocampal CA3 region on SpiNNaker
|
Proceedings of the International Joint Conference on Neural Networks |
Ponencia | 2022 |
Towards the neuromorphic implementation of the auditory perception in the iCub robotic platform
|
ACM International Conference Proceeding Series |
Artículo | 2021 |
OpenNAS: Open Source Neuromorphic Auditory Sensor HDL code generator for FPGA implementations
|
NEUROCOMPUTING |
Artículo | 2021 |
Performance evaluation of deep learning-based prostate cancer screening methods in histopathological images: measuring the impact of the model’s complexity on its processing speed
|
SENSORS |
Artículo | 2021 |
Práctica de desarrollo de una red de sensores basada en la programación de microcontroladores para sistemas en tiempo real
|
Actas de las Jornadas sobre Enseñanza Universitaria de la Informática |
Artículo | 2021 |
pyNAVIS: an open-source cross-platform software for spike-based neuromorphic audio information processing
|
NEUROCOMPUTING |
Artículo | 2021 |
Real-time detection of bursts in neuronal cultures using a neuromorphic auditory sensor and spiking neural networks
|
NEUROCOMPUTING |
Artículo | 2021 |
Wide & Deep neural network model for patch aggregation in CNN-based prostate cancer detection systems
|
COMPUTERS IN BIOLOGY AND MEDICINE |
Artículo | 2021 |
Wildlife monitoring on the edge: a performance evaluation of embedded neural networks on microcontrollers for animal behavior classification.
|
SENSORS |
Artículo | 2020 |
ED-BioRob: a neuromorphic robotic arm with FPGA-based infrastructure for bio-inspired spiking motor controllers
|
Frontiers in Neurorobotics |
Artículo | 2020 |
Event-based gesture recognition through a hierarchy of time-surfaces for FPGA
|
SENSORS |
Ponencia | 2020 |
Live demonstration: Neuromorphic sensory integration for combining sound source localization and collision avoidance
|
Proceedings - IEEE International Symposium on Circuits and Systems |
Artículo | 2020 |
Neuropod: a real-time neuromorphic spiking CPG applied to robotics
|
NEUROCOMPUTING |
Ponencia | 2019 |
A low-power, reachable, wearable and intelligent IoT device for animal activity monitoring
|
IJCCI 2019 - Proceedings of the 11th International Joint Conference on Computational Intelligence |
Artículo | 2019 |
Bio-inspired stereo vision calibration for dynamic vision sensors
|
IEEE ACCESS |
Capítulo | 2019 |
Control neuromórfico del brazo robótico BIOROB del Citec de la Universidad de Bielefeld
|
Avances en la investigación en ciencia e ingeniería |
Ponencia | 2019 |
Live demonstration: Neuromorphic robotics, from audio to locomotion through spiking CPG on SpiNNaker
|
2019 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS (ISCAS) |
Ponencia | 2019 |
Live demonstration: Neuromorphic row-by-row multi-convolution FPGA processor-SpiNNaker architecture for dynamic-vision feature extraction
|
2019 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS (ISCAS) |
Capítulo | 2019 |
MYOARM: prótesis robótica con sensado emg y entrenamiento con redes neuronales
|
Avances en la investigación en ciencia e ingeniería |
Artículo | 2019 |
Neuromorphic LIF Row-by-Row Multiconvolution Processor for FPGA
|
IEEE TRANSACTIONS ON BIOMEDICAL CIRCUITS AND SYSTEMS |
Ponencia | 2019 |
Neuromorphic Sensory Integration for Combining Sound Source Localization and Collision Avoidance
|
BioCAS 2019 - Biomedical Circuits and Systems Conference, Proceedings |
Artículo | 2019 |
Neuronal specialization for fine-grained distance estimation using a real-time bio-inspired stereo vision system
|
ELECTRONICS |
Artículo | 2019 |
Stereo Matching in Address-Event-Representation (AER) Bio-Inspired Binocular Systems in a Field-Programmable Gate Array (FPGA)
|
ELECTRONICS |
Ponencia | 2019 |
Work-in-progress: A neuromorphic approach of the sound source localization task in real-time embedded systems
|
Proceedings of the International Conference on Embedded Software Companion, EMSOFT 2019 |
Ponencia | 2018 |
A protocol generator tool for automatic in-vitro HPV robotic analysis
|
ROBOT 2017: THIRD IBERIAN ROBOTICS CONFERENCE, VOL 2 |
Artículo | 2018 |
Deep neural networks for the recognition and classification of heart murmurs using neuromorphic auditory sensors
|
IEEE TRANSACTIONS ON BIOMEDICAL CIRCUITS AND SYSTEMS |
Ponencia | 2018 |
Deep Spiking Neural Network model for time-variant signals classification: A real-time speech recognition approach
|
Proceedings of the International Joint Conference on Neural Networks |
Artículo | 2018 |
Embedded neural network for real-time animal behavior classification
|
NEUROCOMPUTING |
Capítulo | 2018 |
Estimación de distancias mediante un sistema de estéreo-visión basado en retinas DVS
|
IV jornada de investigación y postgrado |
Ponencia | 2018 |
Event-based Row-by-Row Multi-convolution engine for Dynamic-Vision Feature Extraction on FPGA
|
Proceedings of the International Joint Conference on Neural Networks |
Ponencia | 2018 |
Live Demonstration: Real-time neuro-inspired sound source localization and tracking architecture applied to a robotic platform
|
2018 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS (ISCAS) |
Corrección | 2018 |
NAVIS: Neuromorphic Auditory VISualizer Tool (vol 237C, pg 418, 2017)
|
NEUROCOMPUTING |
Ponencia | 2018 |
Performance evaluation over HW/SW co-design SoC memory transfers for a CNN accelerator
|
2018 IEEE 18TH INTERNATIONAL CONFERENCE ON NANOTECHNOLOGY (IEEE-NANO) |
Artículo | 2018 |
Real-time neuro-inspired sound source localization and tracking architecture applied to a robotic platform
|
NEUROCOMPUTING |
Artículo | 2017 |
A Binaural Neuromorphic Auditory Sensor for FPGA: A Spike Signal Processing Approach
|
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS |
Artículo | 2017 |
A spiking neural network for real-time Spanish vowel phonemes recognition
|
NEUROCOMPUTING |
Ponencia | 2017 |
A SpiNNaker Application: Design, Implementation and Validation of SCPGs
|
ADVANCES IN COMPUTATIONAL INTELLIGENCE, IWANN 2017, PT I |
Ponencia | 2017 |
Accuracy Improvement of Neural Networks Through Self-Organizing-Maps over Training Datasets
|
ADVANCES IN COMPUTATIONAL INTELLIGENCE, IWANN 2017, PT I |
Ponencia | 2017 |
Live demonstration - Multilayer spiking neural network for audio samples classification using SpiNNaker
|
2017 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS (ISCAS) |
Artículo | 2017 |
NAVIS: Neuromorphic Auditory VISualizer Tool
|
NEUROCOMPUTING |
Ponencia | 2017 |
Semi-wildlife gait patterns classification using Statistical Methods and Artificial Neural Networks
|
2017 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN) |
Ponencia | 2016 |
A 20Mevps/32Mev event-based USB framework for Neuromorphic systems debugging
|
2016 2ND INTERNATIONAL CONFERENCE ON EVENT-BASED CONTROL, COMMUNICATION, AND SIGNAL PROCESSING (EBCCSP) |
Ponencia | 2016 |
A Sensor Fusion Horse Gait Classification by a Spiking Neural Network on SpiNNaker
|
ARTIFICIAL NEURAL NETWORKS AND MACHINE LEARNING - ICANN 2016, PT I |
Ponencia | 2016 |
ED-Scorbot: A robotic test-bed framework for FPGA-based neuromorphic systems
|
2016 6TH IEEE INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB) |
Ponencia | 2016 |
Incremento de la motivación en el aprendizaje de enseñanzas informáticas mediante herramientas maker
|
Actas de las Jornadas sobre Enseñanza Universitaria de la Informática |
Ponencia | 2016 |
Multilayer Spiking Neural Network for Audio Samples Classification Using SpiNNaker
|
ARTIFICIAL NEURAL NETWORKS AND MACHINE LEARNING - ICANN 2016, PT I |
Ponencia | 2016 |
Práctica de desarrollo de interfaces hardware/software para la monitorización del estado de un PC
|
Actas de las Jornadas sobre Enseñanza Universitaria de la Informática |
Ponencia | 2016 |
Realización de un proyecto en grupo con carácter multidisciplinar para alumnos de Ingeniería de la Salud usando la metodología ABP
|
Actas de las Jornadas sobre Enseñanza Universitaria de la Informática |
Ponencia | 2016 |
Sound recognition system using spiking and MLP neural networks
|
ARTIFICIAL NEURAL NETWORKS AND MACHINE LEARNING - ICANN 2016, PT II |
Artículo | 2016 |
Wireless Sensor Network for Wildlife Tracking and Behavior Classification of Animals in Donana
|
IEEE COMMUNICATIONS LETTERS |
Ponencia | 2015 |
Case Study: Bio-inspired Self-adaptive Strategy for Spike-based PID Controller
|
2015 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS (ISCAS) |
Ponencia | 2015 |
Live demonstration: Real-time motor rotation frequency detection by spike-based visual and auditory AER sensory integration for FPGA
|
2015 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS (ISCAS) |
Ponencia | 2015 |
Musical notes classification with neuromorphic auditory system using FPGA and a convolutional spiking network
|
2015 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN) |
Ponencia | 2015 |
Real-Time motor rotation frequency detection with event-based visual and spike-based auditory AER sensory integration for FPGA
|
Proceedings of 1st International Conference on Event-Based Control, Communication and Signal Processing, EBCCSP 2015 |
Ponencia | 2015 |
System based on inertial sensors for behavioral monitoring of wildlife
|
2015 INTERNATIONAL CONFERENCE ON COMPUTER, INFORMATION AND TELECOMMUNICATION SYSTEMS (CITS) |
Ponencia | 2014 |
An AER handshake-less modular infrastructure PCB with x8 2.5Gbps LVDS serial links
|
2014 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS (ISCAS) |
Capítulo | 2014 |
Desde CoOs hasta .NetFramework: Comunicación hardware/software mediante VCP
|
JENUI 2014 XX Jornadas de Enseñanza Universitaria de la Informática, del 9 al 11 de Julio Oviedo 2014 |
Ponencia | 2014 |
Live demonstration: Real-time motor rotation frequency detection by spike-based visual and auditory sensory fusion on AER and FPGA
|
Lecture Notes in Computer Science |
Ponencia | 2014 |
Spike-based VITE control with dynamic vision sensor applied to an arm robot
|
Proceedings - IEEE International Symposium on Circuits and Systems |
Ponencia | 2013 |
A FPGA spike-based robot controlled with neuro-inspired VITE
|
ADVANCES IN COMPUTATIONAL INTELLIGENCE, PT I |
Ponencia | 2013 |
Improved Contrast Sensitivity DVS and its Application to Event-Driven Stereo Vision
|
2013 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS (ISCAS) |
Artículo | 2013 |
Neuro-Inspired Spike-Based Motion: From Dynamic Vision Sensor to Robot Motor Open-Loop Control through Spike-VITE
|
SENSORS |
Ponencia | 2013 |
On the AER stereo-vision processing: A spike approach to epipolar matching
|
Lecture Notes in Computer Science |
Ponencia | 2013 |
Spikes monitors for FPGAs, an experimental comparative study
|
ADVANCES IN COMPUTATIONAL INTELLIGENCE, PT I |
Ponencia | 2013 |
SVITE: A spike-based VITE neuro-inspired robot controller
|
Lecture Notes in Computer Science |
Artículo | 2012 |
A neuro-inspired spike-based PID motor controller for multi-motor robots with low cost FPGAs
|
SENSORS |
Ponencia | 2012 |
Live demonstration: on the distance estimation of moving targets with a stereo-vision AER system
|
ISCAS 2012 - 2012 IEEE International Symposium on Circuits and Systems |
Ponencia | 2012 |
On the distance estimation of moving targets with a Stereo-Vision AER system
|
ISCAS 2012 - 2012 IEEE International Symposium on Circuits and Systems |
Ponencia | 2012 |
Towards AER VITE: building spike gate signal
|
2012 19th IEEE International Conference on Electronics, Circuits and Systems (ICECS) |
Ponencia | 2011 |
A perfomance comparison study between synchronous and asynchronous FPGA for spike based systems. Under the AER synthetic generation
|
Proceedings of the 2011 International Symposium on Performance Evaluation of Computer and Telecommunication Systems, SPECTS 2011 |
Ponencia | 2011 |
AER SPIKE-PROCESSING FILTER SIMULATOR Implementation of an AER Simulator based on Cellular Automata
|
2011 PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON SIGNAL PROCESSING AND MULTIMEDIA APPLICATIONS (SIGMAP 2011) |
Ponencia | 2011 |
AER spike-processing filter simulator: Implementation of an AER simulator based on Cellular Automata
|
SIGMAP 2011 - Proceedings of the International Conference on Signal Processing and Multimedia Applications |
Ponencia | 2011 |
An AER to CAN bridge for spike-based robot control
|
ADVANCES IN COMPUTATIONAL INTELLIGENCE, IWANN 2011, PT I |
Ponencia | 2011 |
An approach to distance estimation with stereo vision using address-event-representation
|
NEURAL INFORMATION PROCESSING, PT I |
Ponencia | 2011 |
Diseño de material específico docente para el aprendizaje de microcontroladores y sistemas USB
|
XVII Jornadas de Enseñanza Universitaria de la Informática: JENUI 2011 : Actas : Sevilla, 5 al 8 de julio de 2011 |
Capítulo | 2011 |
Entrenamiento de la creatividad y la innovación en la Ingeniería de Computadores basándose en la metodología de aprendizaje por proyectos
|
XVII Jornadas de Enseñanza Universitaria de la Informática: JENUI 2011 : Actas : Sevilla, 5 al 8 de julio de 2011 |
Ponencia | 2011 |
Image matching algorithms in stereo vision using address-event- representation: a theoretical study and evaluation of the different algorithms
|
SIGMAP 2011 - Proceedings of the International Conference on Signal Processing and Multimedia Applications |
Ponencia | 2011 |
On the designing of spikes band-pass filters for FPGA
|
ARTIFICIAL NEURAL NETWORKS AND MACHINE LEARNING - ICANN 2011, PT II |
Ponencia | 2011 |
Performance study of software AER-based convolutions on a parallel supercomputer
|
ADVANCES IN COMPUTATIONAL INTELLIGENCE, IWANN 2011, PT I |
Ponencia | 2011 |
Práctica de desarrollo de interfaces hardware/software para el manejo de sensores de redes inalámbricas
|
JENUI 2011: XVIII Jornadas de Enseñanza Universitaria de la Informática (2011), |
Capítulo | 2011 |
Práctica de desarrollo de interfaces hardware/software para el manejo de sensores de redes inalámbricos
|
XVII Jornadas de Enseñanza Universitaria de la Informática: JENUI 2011 : Actas : Sevilla, 5 al 8 de julio de 2011 |
Ponencia | 2011 |
Práctica de laboratorio sobre implementación Joystick HID-USB de interfaz con una emisora RC
|
XVII Jornadas de Enseñanza Universitaria de la Informática: JENUI 2011 : Actas : Sevilla, 5 al 8 de julio de 2011 |
Ponencia | 2011 |
Simulating building blocks for spikes signals processing
|
ADVANCES IN COMPUTATIONAL INTELLIGENCE, IWANN 2011, PT II |
Ponencia | 2011 |
Sistema de co-diseño hardware/software basado en FPGA para la captura de video analógico a través del bus serie USB
|
XVII Jornadas de Enseñanza Universitaria de la Informática: JENUI 2011 : Actas : Sevilla, 5 al 8 de julio de 2011 |
Ponencia | 2011 |
Technical viability study for behavioral monitoring of wildlife animals in Doñana: an 802.15.4 coverage study in a Natural Park
|
DCNET 2011 OPTICS 2011 - Proceedings of the International Conference on Data Communication Networking and International Conference on Optical Communication System |
Ponencia | 2011 |
Visual aer-based processing with convolutions for a parallel supercomputer
|
2011 PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON SIGNAL PROCESSING AND MULTIMEDIA APPLICATIONS (SIGMAP 2011) |
Ponencia | 2010 |
Building blocks for spikes signals processing
|
2010 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS IJCNN 2010 |
Ponencia | 2010 |
Live Demonstration: neuro-inspired system for realtime vision tilt correction
|
ISCAS 2010 - 2010 IEEE International Symposium on Circuits and Systems: Nano-Bio Circuit Fabrics and Systems |
Ponencia | 2010 |
Neuro-inspired system for real-time vision sensor tilt correction
|
2010 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS |
Ponencia | 2010 |
On the AER convolution processors for FPGA
|
ISCAS 2010 - 2010 IEEE International Symposium on Circuits and Systems: Nano-Bio Circuit Fabrics and Systems |
Ponencia | 2009 |
From vision sensor to actuators, spike based robot control through address-event-representation
|
BIO-INSPIRED SYSTEMS: COMPUTATIONAL AND AMBIENT INTELLIGENCE, PT 1 |
Ponencia | 2009 |
Performance study of synthetic AER generation on CPUs for Real-Time Video based on Spikes
|
PROCEEDINGS OF THE INTERNATIONAL SYMPOSIUM ON PERFORMANCE EVALUATION OF COMPUTER AND TELECOMMUNICATION SYSTEMS |
Ponencia | 2009 |
Spike-based control monitoring and analysis with Address Event Representation
|
2009 IEEE/ACS INTERNATIONAL CONFERENCE ON COMPUTER SYSTEMS AND APPLICATIONS, VOLS 1 AND 2 |
Ponencia | 2009 |
Synthetic retina for AER systems development
|
2009 IEEE/ACS INTERNATIONAL CONFERENCE ON COMPUTER SYSTEMS AND APPLICATIONS, VOLS 1 AND 2 |
Ponencia | 2008 |
AER and dynamic systems co-simulation over Simulink with Xilinx System Generator
|
Proceedings of the 15th IEEE International Conference on Electronics, Circuits and Systems, ICECS 2008 |
Ponencia | 2008 |
AER-based robotic closed-loop control system
|
PROCEEDINGS OF 2008 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS, VOLS 1-10 |
Ponencia | 2008 |
Image convolution using a probabilistic mapper on USB-AER board
|
PROCEEDINGS OF 2008 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS, VOLS 1-10 |
Ponencia | 2008 |
Neuro-Inspired Real-Time USB & PCI to AER Interfaces for Vision Processing
|
PROCEEDINGS OF THE 2008 INTERNATIONAL SYMPOSIUM ON PERFORMANCE EVALUATION OF COMPUTER AND TELECOMMUNICATION SYSTEMS |
Ponencia | 2007 |
Address-event based platform for bio-inspired spiking systems
|
BIOENGINEERED AND BIOINSPIRED SYSTEMS III |
Ponencia | 2007 |
An AER-Based actuator interface for controlling an anthropomorphic robotic hand
|
NATURE INSPIRED PROBLEM-SOLVING METHODS IN KNOWLEDGE ENGINEERING, PT 2, PROCEEDINGS |
Ponencia | 2007 |
LVDS serial AER link performance
|
2007 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS, VOLS 1-11 |
Ponencia | 2007 |
Multi-task implementation for image reconstruction of an AER communication
|
COMPUTATIONAL AND AMBIENT INTELLIGENCE |
Artículo | 2007 |
Power conditioning of fuel cell systems in portable applications
|
INTERNATIONAL JOURNAL OF HYDROGEN ENERGY |
Ponencia | 2007 |
Spike processing on an embedded multi-task computer: Image reconstruction
|
PROCEEDINGS OF THE FIFTH WORKSHOP ON INTELLIGENT SOLUTIONS IN EMBEDDED SYSTEMS |
Ponencia | 2007 |
Using FPGA for visuo-motor control with a silicon retina and a humanoid robot
|
2007 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS, VOLS 1-11 |
Ponencia | 2006 |
A LVDS serial AER link
|
2006 13TH IEEE INTERNATIONAL CONFERENCE ON ELECTRONICS, CIRCUITS AND SYSTEMS, VOLS 1-3 |