Current version: 5.0 (April, 2015)

By: Juan Rada-Vilela, Ph.D.

Introduction   License   Features   Example   Bulding from source   Binaries What's next   What's new : General,Operation, Engine, Input Variables and Output Variables, Linguistic Terms, Linear and Discrete Terms, Function Term, [T|S]Norms and Hedges, Rules, Rule Blocks, Weighted Defuzzifiers, Integral Defuzzifiers, Importers and Exporters, Examples, Console, Fixed Bugs

jfuzzylite is a free and open-source fuzzy logic control library programmed in Java, thereby making it available for multiple platforms (Windows, Linux, Mac), and especially for Android. Its goal is to allow you to easily create fuzzy logic controllers in a few steps utilizing object-oriented programming without requiring any third-party libraries.

If you are using jfuzzylite, please cite the following reference in your article:

Juan Rada-Vilela. fuzzylite: a fuzzy logic control library, 2014. URL https://www.fuzzylite.com.

 @misc{fl::fuzzylite,
 author={Juan Rada-Vilela},
 title={fuzzylite: a fuzzy logic control library},
 url={https://www.fuzzylite.com},
 year={2014}}

jfuzzylite 5.0 is dual licensed under the GNU Lesser General Public License (LGPL) v3.0 and a paid commercial license. If your application requires a commercial license, please contact [email protected]. For further information on your rights, please refer to the GNU LGPL.

The change of license is an attempt to raise funds in order to be able to work part-time in the development of the fuzzylite family of products, namely fuzzylite (C++), jfuzzylite (Java), pyfuzzylite (Python), and QtFuzzyLite (Windows/Linux/Mac).

There are still many things to do!

Besides donations, you can significantly contribute by purchasing a license of the entirely new QtFuzzyLite commercial application. In addition, if you require (paid) private support, please contact [email protected].

Controllers Types (5) Mamdani, Takagi-Sugeno, Larsen, Tsukamoto, Inverse Tsukamoto

Linguistic terms Basic (4) triangle, trapezoid, rectangle, discrete. Extended (9) bell, cosine, gaussian, gaussian product, pi-shape, sigmoid difference, sigmoid product, spike. Edges (4) concave, ramp, sigmoid, s-shape, z-shape. Functions (3) constant, linear, function.

Conjunction and Activation T-Norm (7) minimum, algebraic product, bounded difference, drastic product, einstein product, hamacher product, nilpotent minimum.

Disjunction and Accumulation S-Norm (8) maximum, algebraic sum, bounded sum, normalized sum, drastic sum, einstein sum, hamacher sum, nilpotent maximum.

Defuzzifiers Integral (5) centroid, bisector, smallest of maximum, largest of maximum, mean of maximum, Weighted (2) weighted average, weighted sum.

Hedges Types (6) any, not, extremely, seldom, somewhat, very.

Import Types (3) FuzzyLite Language fll, Fuzzy Inference System fis, Fuzzy Control Language fcl.

Export Types (6) C++, Java, FuzzyLite Language fll, FuzzyLite Dataset fld, Fuzzy Inference System fis, Fuzzy Control Language fcl.

Examples (30+) of Mamdani, Takagi-Sugeno and Tsukamoto controllers from fuzzylite, Octave and Matlab, each included in the following formats: C++, Java, fll, fld, fis, and fcl.

import com.fuzzylite.Engine;
import com.fuzzylite.FuzzyLite;
import com.fuzzylite.Op;
import com.fuzzylite.defuzzifier.Centroid;
import com.fuzzylite.imex.FldExporter;
import com.fuzzylite.norm.s.Maximum;
import com.fuzzylite.norm.t.Minimum;
import com.fuzzylite.rule.Rule;
import com.fuzzylite.rule.RuleBlock;
import com.fuzzylite.term.Triangle;
import com.fuzzylite.variable.InputVariable;
import com.fuzzylite.variable.OutputVariable;

public class Example {

    public static void main(String[] args){
        Engine engine = new Engine();
        engine.setName("simple-dimmer");

        InputVariable ambient = new InputVariable();
        ambient.setName("Ambient");
        ambient.setRange(0.000, 1.000);
        ambient.addTerm(new Triangle("DARK", 0.000, 0.250, 0.500));
        ambient.addTerm(new Triangle("MEDIUM", 0.250, 0.500, 0.750));
        ambient.addTerm(new Triangle("BRIGHT", 0.500, 0.750, 1.000));
        engine.addInputVariable(ambient);

        OutputVariable power = new OutputVariable();
        power.setName("Power");
        power.setRange(0.000, 1.000);
        power.setDefaultValue(Double.NaN);
        power.addTerm(new Triangle("LOW", 0.000, 0.250, 0.500));
        power.addTerm(new Triangle("MEDIUM", 0.250, 0.500, 0.750));
        power.addTerm(new Triangle("HIGH", 0.500, 0.750, 1.000));
        engine.addOutputVariable(power);

        RuleBlock ruleBlock = new RuleBlock();
        ruleBlock.addRule(Rule.parse("if Ambient is DARK then Power is HIGH", engine));
        ruleBlock.addRule(Rule.parse("if Ambient is MEDIUM then Power is MEDIUM", engine));
        ruleBlock.addRule(Rule.parse("if Ambient is BRIGHT then Power is LOW", engine));
        engine.addRuleBlock(ruleBlock);

        engine.configure("", "", "Minimum", "Maximum", "Centroid");

        StringBuilder status = new StringBuilder();
        if (!engine.isReady(status)) {
            throw new RuntimeException("Engine not ready. "
                    + "The following errors were encountered:\n" + status.toString());
        }

        for (int i = 0; i < 50; ++i) {
            double light = ambient.getMinimum() + i * (ambient.range() / 50);
            ambient.setInputValue(light);
            engine.process();
            FuzzyLite.logger().info(String.format(
                    "Ambient.input = %s -> Power.output = %s",
                    Op.str(light), Op.str(power.getOutputValue())));
        }
    }
}

• Source code documentation
• Type-2 Fuzzy Logic Controllers
• Adaptive Neuro-Fuzzy Inference System (ANFIS)
• Fuzzy C-means data clustering

Building from source requires you to have either Ant or Maven installed.

$ ant -f build.xml

The Ant script will create the library bin/jfuzzylite.jar and the library sources bin/jfuzzylite-src.jar.

$ mvn install

The Maven script will create the library target/jfuzzylite-5.0.jar and library sources target/jfuzzylite-5.0-sources.jar.

Besides the library, the binaries contain the FuzzyLite Console application. The application can be executed using the following command.

$ java -jar jfuzzylite.jar

In addition, the new FuzzyLite Interactive Console is activated when exporting to fld without providing an output file. The interactive console allows you to evaluate controllers manually providing the input values.

Just like the fuzzylite library, the entire jfuzzylite library has been thoroughly revised, refactored, validated, and significantly improved. The following sections detail the changes and enhancements of version 5.0. Users of version 1.0 are strongly encouraged to carefully read the list before migrating to version 5.0. Important changes and enhancements are marked as (important), (VERY important) and (EXTREMELY important).

• (important) jfuzzylite v5.0 is dual-licensed under the GNU LGPL v3.0 and a paid commercial license.
• Compilation using Ant and/or Maven
• Refactoring of many classes to improve design and performance.
• (important) Performance improvements of Takagi-Sugeno controllers by over 55% with respect to v1.0 (estimate based on the average performance on the examples included).
• (important) New file jfuzzylite/src/compare.m to compare the output values of your fuzzylite engines with the evaluation of the same engine in Octave/Matlab.
• (important) There is practically no difference between the output values obtained with fuzzylite and those obtained with Octave/Matlab. Based on the examples, the average mean square error (MSE) between the output values is less than 7.3e-12 (or 0.0000000000073) due to negligible differences in floating-point arithmetic. The results and comparison can be found in examples/examples.mat.
• (important) Source code of applications based on version 1.0 will not compile with version 5.0.
• Minor bugs fixed.

• (important) Added method Op::toDouble(String x, double alternative) which returns alternative if x is not a valid double, and never throws an exception.
• (important) Added method Op::toDouble(String x) that returns the double value of x or throws a fl::Exception if x is not a valid double.
• Added method Op::isFinite(x) which returns not (isNaN(x) or isInf(x)).
• Changed Op::isEq(a,b) to return true if a == b == NaN.
• Changes to Op::isEq affect other comparison methods fl::Op::is[Lt|LEq|GEq|Gt].
• Deleted method Op::repeat.
• Removed method FuzzyLite::configuration().
• Changed default FuzzyLite::macheps = 1e-6;.
• Renamed method Op::makeValidId to Op::validName, which now returns "unnamed" for empty strings.

####Engine

• (VERY important) Moved Engine::hedges (and relevant methods) to Rule::hedges.
• Added enumeration for the type of engine: enum Engine::Type{Mamdani, Larsen, TakagiSugeno, Tsukamoto, InverseTsukamoto, Hybrid, Unknown}.
• Added method Type Engine::type(String name, StringBuilder reason) to infer the type of the engine based on its configuration, additionally provides the name of the type and the inference reasons for its type.
• (important) Changed method Engine::isReady(StringBuilder) to satisfy the default operation of controllers.
• Added methods Engine::set[Input|Output]Variables(List) and Engine::setRuleBlocks(List).
• Added methods Engine::get[input|output]Variables() and Engine::getRuleBlocks() to return mutable references.
• Added method Engine::variables() to retrieve a vector (copy) containing the InputVariables followed by the OutputVariables.
• Added method Engine::clone().
• Added clone methods to most classes.

####Input Variables and Output Variables

• (important) Added methods OutputVariable::[get|set]OutputValue() to [retrieve|store] value from defuzzification
• (important) Changed return type of double OutputVariable::defuzzify() to void OutputVariable::defuzzify() because now it automatically stores the defuzzified output value, and also stores the previous valid output value regardless of locks. Like in version 1.0, if OutputVariable::lockPreviousOutputValue=true, and the defuzzified output value is not valid (i.e., [NaN|Inf]) or no rules were activated, then the defuzzified output value is replaced for the previous valid output value.
• Removed method OutputVariable::defuzzifyNoLocks().
• Renamed variable OutputVariable::lastValidOutputValue to OutputVariable::previousOutputValue.
• (important) Renamed method OutputVariable::[get|set]LastValidOutput() to OutputVariable::[get|set]PreviousOutputValue().
• Renamed variable OutputVariable::lockValidOutput to OutputVariable::lockPreviousOutputValue.
• (important) Renamed method OutputVariable::setLockValidOutput() to OutputVariable::setLockPreviousOutputValue().
• (important) Renamed method OutputVariable::isLockingValidOutput() to OutputVariable::isLockPreviousOutputValue().
• Renamed variable OutputVariable::lockOutputRange to OutputVariable::lockOutputValueInRange.
• (important) Renamed method OutputVariable::setLockOutputRange() to OutputVariable::setLockOutputValueInRange().
• (important) Renamed method OutputVariable::isLockingOutputRange() to OutputVariable::isLockOutputValueInRange().
• Added methods String InputVariable::fuzzyInputValue() and String OutputVariable::fuzzyOutputValue().
• Added method OutputVariable::clear() to clear the fuzzy output, and set OutputVariable::previousOutputValue = fl::nan and set OutputVariable::outputValue = fl::nan.
• Added clone methods to [Input|Output]Variable.
• Added method Variable::getTerms() to return mutable reference.

• (VERY important) Added Term::[get|set]Height to define the height of integral terms, and multiply their respective membership functions accordingly.
• Added clone methods to every Term.
• (VERY important) Parameters of all terms are set by default to fl::nan.
• (important) Renamed method Term::copy() to Term::clone() in every Term.
• Added method Term::updateReference(Term, Engine) to ensure Linear and Function terms have updated pointers to the Engine (useful when cloning terms).

• (important) Added linguistic terms Concave, Cosine and Spike.

• (important) Changed Accumulated to take Activated terms instead of Terms.
• Added method Accumulated::getTerms() to return mutable reference.
• (important) Renamed methods Triangle::[set|get][A|B|C] to ::[set|get]Vertex[A|B|C].
• (important) Renamed methods Trapezoid::[set|get][A|B|C|D] to ::[set|get]Vertex[A|B|C|D].
• (important) Renamed term Thresholded to Activated.
• (important) Renamed methods Thresholded::[set|get]Threshold() to Activated::[set|get]Degree().
• Added enumeration [Ramp|Sigmoid]::Direction{ NEGATIVE, ZERO, POSITIVE } to refer to the slope.
• Added methods Ramp::direction() and Sigmoid::direction() to retrieve direction of slope.
• Removed Exception Specification from methods in Discrete, Linear and Function terms.

• (important) Changed Linear from having references to the input variables to having a reference to the Engine.
• Changed visibility of Linear::coefficients to private.
• (important) Added methods Linear::getCoefficients(), Linear::setCoefficients().
• Linear term no longer throws exception when inputVariables != |coefficients|.
• (important) Removed public vector of variables Discrete::[x|y].
• (important) Added a class Discrete::Pair.
• (important) Changed representation of Discrete::[x|y] from List<Double> to List<Discrete::Pair>.
• Added methods Discrete::setXY() and Discrete::getXY() to set and get the new representation of pairs.
• (important) Added methods Discrete::toPairs(List<Double>) which throws an exception if the vector is missing a value (i.e., List<Double>.size() % 2 != 0), and Discrete::toPairs(List<Double>, double missingValue) which adds missingValue in case List<Double>.size() %2 == 1, hence never throwing an exception.
• Added method Discrete::toList(List<Discrete::Pair>) to convert List<Discrete::Pair> to a List<Double>.
• Added method Discrete::formatXY() to get pairs (x,y) nicely formatted.

####Function Term

• (important) Merged classes Function::Operator and Function::BuiltInFunction into a single class Function::Element.
• (EXTREMELY important) Changed the precedence of all built-in instances of Function::Element of type Operator starting from 100 and decreasing by 10. The precedence of built-in operators is the following: (100) Logical not [!] and Negation [~]; (90) Power [^]; (80) Multiplication [*], Division [/] and Modulo [%]; (70) Addition [+] and Subtraction [-]; (60) Logical AND [and] and Logical OR [or]. If you have registered your own operators, please adjust their precedence as required.
• Added to Function built-in comparison functions gt,lt,ge,le,eq and operator logical not !.
• Changed public Function::root to private Function::root.
• Added method Function::getRoot() to return reference to Function::root.
• (EXTREMELY important) Moved built-in functions and operators from Function to a FunctionFactory.

• (important) Fixed operation when using multiple hedges to operate from right-most to left-most, e.g. if Ambient is not very extremely bright, now evaluates as follows not(very(extremely(bright))).
• Added TNorm nilpotent minimum and SNorm nilpotent maximum.

• Added clone methods to every Norm.
• Added clone methods to every Hedge.
• (VERY important) Moved Engine::hedges to Rule::hedges.

• (VERY important) Moved Engine::hedges (and methods) to Rule::hedges.
• Added method Rule::isLoaded() to determine whether a rule was properly parsed and thus can be activated.
• Added method Rule::unload() to allow the existence of a rule in an inactive state (useful for invalid rules).
• (important) Removed variable Rule::FL_ASSIGNS and method Rule::assignsKeyword(), for which the symbol = in rules is no longer valid.
• Changed visibility of method Rule::setText() to public.
• Added method Rule::load(const Engine*).
• (important) Renamed method Antecedent::[get|set]Root() to Antecedent::[get|set]Expression().
• Added methods [Antecedent|Consequent]::[get|set]Text().
• (important) Added methods [Antecedent|Consequent]::[load|unload](), with the same objective as Rule::[load|unload]().

• Added method RuleBlock::reloadRules().
• Added method RuleBlock::setRules(List).
• Added method RuleBlock::getRules() to return mutable reference.
• (VERY important) Added basic rule chaining such that an OutputVariable can be utilized in the Antecedent of a Rule. For example, considering the rule if Power is high then InversePower is low, where Power and InversePower are both output variables, the activation degree of the Antecedent will correspond to the accumulated activation degree of the term high in the fuzzy output of Power. If Power::accumulation = none, the accumulated activation degree of the term high will be computed as the regular sum of the activation degrees of term high in the fuzzy output of Power. Otherwise, the accumulated activation degree is computed utilizing the Power::accumulation operator.

• (VERY important) Performance improvements of Takagi-Sugeno controllers by over 55% (with respect to v4.0) based on the average performance on the examples included.

• (important) Created class WeightedDefuzzifier from which classes Weighted[Average|Sum] are derived.
• (important) Added enumeration WeightedDefuzzifier::Type{Automatic, TakagiSugeno, Tsukamoto} and respective methods WeightedDefuzzifier::[get|set]Type() and WeightedDefuzzifer::getTypeName().
• Added method WeightedDefuzzifier::inferType(Term) to automatically determine the WeightedDefuzzifier::Type based on the class of Term.
• (important) By default, WeightedDefuzzifier::type = Automatic, which automatically infers the type based on the WeightedDefuzzifier::inferType().
• (important) There is a small performance penalty when using WeightedDefuzzifier::type = Automatic because WeightedDefuzzifier::inferType() performs three object instaceof Class.
• (important) Deleted class Tsukamoto. Its method static tsukamoto() was moved to WeightedDefuzzifier::tsukamoto(), which allows overriding it
• Added support for Tsukamoto with Concave terms.

• (EXTREMELY important) In version 5.0, the traditional operation of Takagi-Sugeno and Tsukamoto controllers is achieved by setting OutputVariable::accumulation = none. Unlike version 1.0, the RuleBlock::activation will not have any effect on Takagi-Sugeno nor Tsukamoto controllers, for which RuleBlock::activation should also be set to none. More information about the roles of the OutputVariable::accumulation and RuleBlock::activation operators are detailed as follows. Refer to sciweavers to convert LaTeX equations.
• (VERY important) In version 5.0, the role of the RuleBlock::activation TNorm on the Weighted[Average|Sum] always performs a regular multiplication of the weights and the values (i.e., $w_i \times z_j$) regardless of the TNorm chosen. In other words, selecting any RuleBlock::activation for Weighted[Average|Sum] is irrelevant, and should be set to none as every TNorm will have the same multiplication effect. This operation is different from jfuzzylite version 1.0, where the RuleBlock::activation operator was utilized to multiply the weights and values (i.e. $w_i \otimes z_j$), and therefore the traditional operation of the Weighted[Average|Sum] was achieved when RuleBlock::activation = AlgebraicProduct;.
• (VERY important) In version 5.0, the role of the OutputVariable::accumulation = none on the Weighted[Average|Sum] results in a regular sum of the multiplied weights and values, i.e., $\dfrac{\sum_i^n w_i \times z_j}{\sum_i^n w_i}$. However, if the OutputVariable::accumulation != none, the role of the SNorm will be to accumulate the activation degrees of the repeated terms in the fuzzy output of the variable. For example, considering the rules if Ambient is dark then Power is high and if Ambient is medium then Power is high, for any input value of Ambient that activates both rules, the fuzzy output of Power will have the term high activated with the degree from Rule 1, and the term high activated with the degree from Rule 2. Since the term high appears twice in the fuzzy output, the role of the accumulation operator will be to accumulate the activation degree of high resulting in $\dfrac{(w_1 \oplus w_2) \times z_{high}}{(w_1 \oplus w_2)}$. If another term were activated, the result would be $\dfrac{(w_1 \oplus w_2) \times z_{high} + w_i \times z_j}{(w_1 \oplus w_2) + w_i}$. In version 1.0, the accumulation operator had no effect on the Weighted[Average|Sum].

• (important) Proper handling of indefinite integral defuzzification, that is, returning fl::nan when [minimum|maximum]=[NaN|Inf].
• Default resolution of integration is defined as static int IntegralDefuzzifier::defaultResolution=200, and can be changed via static IntegralDefuzzifier::setDefaultResolution().

• (important) In fuzzylite, the accumulation operator has been for several versions associated with the output variables and not with the rule blocks, despite that the FCL format and other fuzzy logic control libraries associate the accumulation operator with the rule blocks. The argument for such a decision is that fuzzylite provides coherent support for multiple rule blocks operating on the same engine and on the same output variables. For example, if multiple rule blocks operate on the same output variables, it only makes sense to have a single accumulation operator associated with each output variable such that the defuzzifier can naturally operate over the accumulated fuzzy output. Differently, if the accumulation operator were associated with the rule block, the possibility of having different accumulation operators in different rule blocks questions (1) the possibility of having multiple rule blocks operating over the same output variables; and (2) the usage of different accumulation operators over the accumulation and defuzzification processes. Certainly, if (1) is not possible, i.e, different rule blocks only operate on different output variables, then (2) is not a problem because the accumulation process and defuzzification of each variable will only have a single accumulation operator. It is therefore that the association of the accumulation operator with the output variable in fuzzylite provides a better design and an additional feature that allows having multiple rule blocks operating over the same output variables.

• Added method Defuzzifier::clone().

####Importers and Exporters

• (EXTREMELY important) Since terms have a new height property, [Fll|Fis|Fcl]Exporter exports terms with an additional double at the end, which indicates the height of the term. However, if height=1.0, the additional scalar is not exported.
• (EXTREMELY important) In [Fll|Fis|Fcl]Importer, when importing terms, if there is an additional double it will be assumed as the height of the term. For example, term: high Gaussian 1.0 0.5 0.75 will create a Gaussian term with mean 1.0, standard deviation 0.5 and height 0.75. This is extremely important because there are some examples from Matlab in fis format that append a useless 0.0 to some terms.
• (EXTREMELY important) In FisExporter, if the Takagi-Sugeno controller has no activation or accumulation operators (as it should generally be the case), Octave and Matlab will not be able to import the fis file. To overcome this issue, you will have to set ImpMethod="min" and AggMethod="max", where ImpMethod and AggMethod are just dummy operators that can be set to any TNorm and SNorm, respectively.

• (important) Improved compatibility of the exported code obtained with [Fis|Fcl]Exporter by exporting the additional features of jfuzzylite only when these are different from the default operation. For example, the following features will not be exported given their values: [Input|Output]Variable::enabled = true;, OutputVariable::lock-previous = false;, OutputVariable::lock-range = false;, amongst others.

• (important) Renamed FLL property 'lock-valid' to 'lock-previous'.
• (important) Renamed FIS property 'LockValid' to 'LockPrevious'.
• (important) Renamed FCL property 'LOCK: VALID' to 'LOCK: PREVIOUS'.

• (important) Export your controllers to files using [Fll|Fld|Fis|Fcl]Exporter::toFile().
• (important) Import your controllers from files using [Fll|Fis|Fcl]Importer::fromFile().
• (important) FldExporter exports the FuzzyLite Dataset of an engine utilizing the input values of another FuzzyLite Dataset.

• (important) Renamed method FldExporter::toWriter() to FldExporter::write().
• Removed variable and methods for property int FldExporter::maximum.
• Added option in CppExporter to prepend the namespace prefix fl:: to the classes, and by default it does not prepend prefix.
• Improvement accuracy of FisImporter when importing fis files whose double values have more than three decimal numbers.
• Renamed methods in [Fis|Fcl]Importer::extract* to [Fis|Fcl]Importer::parse*.

• Created a generic CloningFactory<T> to create clones of objects.
• (important) Created FunctionFactory based on CloningFactory<Function::Element> where function operators and methods are stored to be cloned as necessary by Function. Additional functions and operators can be easily registered.
• (VERY important) Moved built-in functions and operators from Function to FunctionFactory.
• Renamed methods Factory<T>::[register|deregister]Class() to Factory<T>::[register|deregister]Constructor().
• (important) Renamed Factory<T> to ConstructionFactory<T>.

• (important) Added two examples for basic rule chaining: mamdani/SimpleDimmerInverse.fll and mamdani/Laundry.fll.
• Included the original example files in fis format.
• Added conversion of examples/original/*.fis to examples/original/*.fll.
• Modified original/takagi-sugeno examples to reflect activation: none; accumulation: none;.
• Updated FLD examples produced from the original examples.

• (important) Added file fuzzylite/src/m/compare.m to compare the output values of your fuzzylite engines with the evaluation of the same engine in Octave/Matlab.
• (important) Added file examples/examples.mat containing the comparison of the output values between fuzzylite and Matlab's Fuzzy Logic Toolbox.

• Added code to perform benchmarks.

• (important) Console includes option to import custom input dataset from file and export its respective output values.
• (important) Created the FuzzyLite Interactive Console, which can be started by specifying an input file and the output format, e.g., fuzzylite -i SimpleDimmer.fll -of fld.
• Console provides more information about its usage.

#### Fixes Bugs and Leaks

• (important) Fixed operation when using multiple hedges to operate from right-most to left-most, e.g. if Ambient is not very extremely bright evaluates as follows not(very(extremely(bright))).

• (important) Fixed membership functions of specific cases of Triangle when a=b or b=c, and Trapezoid when a=b or c=d.

For more information, visit www.fuzzylite.com.

fuzzylite® is a registered trademark of FuzzyLite Limited.

jfuzzylite™ is a trademark of FuzzyLite Limited.

Copyright © 2010-2015 FuzzyLite Limited. All rights reserved.