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High CMRR Instrumentation Amplifier (Schematic and Layout) design for biomedical applications

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Instrumentation amplifiers are intended to be used whenever acquisition of a useful signal is difficult. IA’s must have extremely high input impedances because source impedances may be high and/or unbalanced. bias and offset currents are low and relatively stable so that the source impedance need not be constant. Balanced differential inputs are provided so that the signal source may be referenced to any reasonable level independent of the IA output load reference. Common mode rejection, a measure of input balance, is very high so that noise pickup and ground drops, characteristic of remote sensor applications, are minimized.Care is taken to provide high, well characterized stability of critical parameters under varying conditions, such as changing temperatures and supply voltages. Finally, all components that are critical to the performance of the IA are internal to the device. The precision of an IA is provided at the expense of flexibility. By committing to the one specific task of
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Line follower robot without microcontroller

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Here is a robot which will follow the black line on the floor. This is controlled on the basis of IR sensors. This doesn't use any micro controller and microprogram.
This is the logic circuit to control the robot operations
  llogic reduction using k-map
  to see video output
reduced logic
IR sensor operation

NOTE: here the push buttons are replaced by IR sensors and comparator circuits.

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