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icin
e.
T
h
is
p
ap
er
will
ex
p
lain
th
e
m
ec
h
a
n
ical,
el
ec
tr
ical
an
d
co
n
tr
o
l
d
esig
n
co
n
s
id
er
atio
n
s
tak
en
in
to
ac
c
o
u
n
t
f
o
r
th
e
im
p
lem
en
tatio
n
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
.
Qu
ad
co
p
ter
f
r
am
e
m
o
d
elin
g
is
u
s
ef
u
l
to
an
aly
ze
th
e
r
eliab
ilit
y
o
f
b
o
d
y
f
r
am
e
p
ar
t
an
d
to
h
elp
d
eter
m
in
e
th
e
ty
p
e
o
f
r
o
to
r
a
n
d
p
r
o
p
eller
i
n
o
r
d
er
to
ass
u
r
e
t
h
e
n
ec
ess
ar
y
f
lig
h
t
ac
ce
ler
atio
n
.
Qu
ad
c
o
p
ter
f
l
i
g
h
t
s
tab
ilit
y
is
in
f
lu
en
ce
d
b
y
t
h
e
r
esu
ltin
g
th
r
u
s
t,
b
y
t
h
e
d
is
tan
ce
b
etwe
en
ea
ch
r
o
to
r
p
r
o
p
eller
an
d
also
b
y
t
h
e
f
r
am
e
r
ig
id
ity
;
th
e
f
r
am
e
h
as
b
ee
n
d
esig
n
ed
to
b
e
as
lig
h
t
as
p
o
s
s
ib
le,
m
ea
n
wh
ile
m
ain
tain
in
g
th
e
s
tr
en
g
th
to
ca
r
r
y
th
e
l
o
ad
.
So
lid
wo
r
k
s
s
o
f
t
w
ar
e
h
as
b
ee
n
u
s
ed
to
d
esig
n
an
d
an
aly
ze
u
s
in
g
Fin
ite
E
lem
en
t
An
aly
s
is
(
FEA)
m
eth
o
d
th
e
q
u
ad
co
p
ter
f
r
am
e,
h
av
i
n
g
f
o
ld
e
d
s
ize
o
f
5
6
0
(
m
m
)
s
q
u
ar
e,
also
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4
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6
x
1
2
7
(
m
m
)
p
r
o
p
eller
a
n
d
r
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to
r
'
s
an
g
u
lar
v
elo
city
an
d
air
f
lo
w
p
r
o
d
u
ce
d
ar
o
u
n
d
th
e
p
r
o
p
eller
.
T
h
e
FEA
m
e
th
o
d
s
h
o
wed
th
at
th
e
p
r
esen
ce
o
f
r
o
t
atio
n
al
v
elo
cities
in
ea
ch
p
r
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p
eller
f
lo
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ield
will
s
ig
n
if
ican
tly
af
f
ec
t
th
e
th
r
u
s
t
ef
f
icien
cy
wh
ich
ca
n
ca
u
s
e
f
lig
h
t
in
s
tab
ilit
y
o
r
b
o
d
y
f
r
a
m
e
v
ib
r
atio
n
.
Min
e
d
etec
tio
n
u
s
in
g
a
s
u
r
v
eillan
ce
d
r
o
n
e
is
a
m
o
d
er
n
co
n
ce
p
tu
a
l
p
r
o
to
ty
p
e
,
wh
ich
h
as
b
ee
n
d
esig
n
ed
to
d
etec
t
lan
d
m
in
es.
L
a
n
d
m
in
es
wer
e
p
r
im
ar
ily
u
s
ed
to
cr
ea
te
d
ef
en
s
i
v
e
an
d
tactica
l
b
ar
r
ier
s
d
u
r
in
g
th
e
Seco
n
d
W
o
r
ld
W
ar
.
T
h
ey
ar
e
s
till
v
er
y
m
u
ch
em
p
lo
y
ed
in
lar
g
e
q
u
a
n
titi
es
in
co
u
n
tr
ies
s
u
ch
as
Af
g
h
an
is
tan
,
Ko
r
ea
.
A
l
o
t
o
f
th
ese
lan
d
m
in
es
s
till
g
o
u
n
d
etec
ted
,
in
cr
ea
s
in
g
th
e
d
ea
t
h
r
ate
a
n
d
cr
e
atin
g
h
av
o
c
o
n
th
e
s
u
r
r
o
u
n
d
in
g
s
.
T
h
e
p
r
o
to
t
y
p
e
d
e
v
elo
p
ed
h
elp
s
u
s
to
d
etec
t
a
lan
d
m
in
e
u
s
in
g
a
f
ly
in
g
d
r
o
n
e
.
T
h
e
p
r
o
to
ty
p
e
h
as
a
q
u
ad
co
p
ter
wh
ich
h
as
a
m
i
n
e
d
etec
to
r
m
o
u
n
ted
o
n
it.
T
h
is
u
tili
ze
s
two
d
if
f
e
r
en
t
m
o
d
es
o
f
d
etec
tio
n
,
wh
ich
ar
e
an
I
R
ca
m
er
a
an
d
a
m
etal
d
etec
to
r
.
T
h
ese
ar
e
ex
ten
s
iv
ely
u
s
ed
in
aid
in
g
th
is
wh
o
le
o
p
e
r
atio
n
.
T
h
e
lo
ca
tio
n
o
f
th
e
m
in
e
ca
n
b
e
tr
ac
ed
b
ac
k
b
y
t
h
e
GPS
an
d
th
e
d
etec
ted
lo
ca
tio
n
ca
n
b
e
tr
an
s
m
itted
u
s
in
g
th
e
GSM
m
o
d
u
le.
T
h
er
e
is
a
lo
t
o
f
u
n
tap
p
e
d
p
o
t
en
tial
an
d
s
co
p
e
o
f
im
p
r
o
v
em
en
t
f
o
r
th
is
p
r
o
t
o
ty
p
e
i
n
th
e
f
u
tu
r
e.
A
r
o
to
r
c
r
af
t
UAV
is
an
y
f
ly
in
g
m
ac
h
in
e
th
at
p
r
o
d
u
ce
s
lift
f
r
o
m
r
o
to
r
s
tu
r
n
in
g
in
a
p
lan
e
th
at
is
n
o
r
m
ally
clo
s
e
to
th
e
h
o
r
izo
n
tal.
T
h
e
t
a
s
k
o
f
b
u
ild
in
g
a
r
o
to
r
cr
a
f
t
UAV
p
lat
f
o
r
m
f
o
r
ac
ad
em
ic
r
esear
ch
m
ay
b
e
d
au
n
tin
g
if
th
e
en
o
r
m
o
u
s
ch
alle
n
g
es
an
d
co
n
s
tr
ain
ts
ass
o
ciate
d
with
th
e
r
esear
ch
ar
e
co
n
s
id
er
e
d
.
I
t
in
v
o
lv
es
d
esig
n
an
d
co
n
s
tr
u
ctio
n
o
f
th
e
v
eh
icle,
an
d
ca
r
ef
u
l
c
o
n
s
id
er
atio
n
o
f
f
ac
to
r
s
s
u
ch
as
h
ar
d
war
e
co
m
p
o
n
e
n
ts
s
elec
tio
n
,
lay
o
u
t
d
esig
n
,
d
esire
d
r
an
g
e
an
d
p
er
f
o
r
m
a
n
ce
e
v
alu
atio
n
,
am
o
n
g
o
th
e
r
s
.
Alth
o
u
g
h
,
th
er
e
ex
is
t
s
o
m
e
co
m
m
er
cial
-
of
-
th
e
-
s
h
elf
(
C
OT
S)
p
latf
o
r
m
s
s
u
ch
as
Dr
ag
an
f
ly
,
Mic
r
o
d
r
o
n
e
s
[
4
]
,
A
r
d
u
c
o
p
ter
,
etc.
,
th
at
ca
n
b
e
ea
s
ily
ad
o
p
ted
.
Ho
wev
er
,
it
is
d
if
f
icu
lt
to
f
i
n
d
a
p
latf
o
r
m
t
h
at
ef
f
ec
tiv
ely
m
ee
ts
all
th
e
in
ten
d
ed
s
tu
d
y
r
eq
u
ir
em
en
ts
.
T
h
er
ef
o
r
e,
in
s
u
ch
a
s
itu
atio
n
,
it
b
ec
o
m
es
n
ec
ess
ar
y
to
b
u
i
ld
a
p
latf
o
r
m
th
at
s
u
its
th
e
r
esear
ch
o
b
jectiv
es.
T
h
e
d
esig
n
,
co
n
s
tr
u
ctio
n
an
d
k
itti
n
g
o
f
a
r
o
to
r
cr
af
t
UAV
co
m
p
r
is
es
th
e
f
o
llo
win
g
f
i
v
e
k
ey
s
tep
s
:
(
i)
v
ir
tu
a
l
d
esig
n
en
v
ir
o
n
m
en
t
s
elec
tio
n
(
ii)
h
ar
d
war
e
co
m
p
o
n
e
n
ts
s
elec
tio
n
[
5
]
(
iii)
av
io
n
ic
s
y
s
tem
d
esig
n
an
d
in
teg
r
atio
n
(
i
v
)
v
e
h
icle
d
esig
n
an
d
co
n
s
tr
u
ctio
n
(
v
)
p
er
f
o
r
m
an
ce
a
n
d
r
eliab
ilit
y
e
v
alu
atio
n
.
T
h
is
p
a
p
er
p
r
esen
ts
a
s
y
s
tem
atic
d
esig
n
m
eth
o
d
o
l
o
g
y
f
o
r
th
e
c
o
n
s
tr
u
c
tio
n
o
f
a
s
m
all
-
s
ca
le
r
o
to
r
c
r
af
t
UAV
s
y
s
tem
.
Fo
r
th
e
d
eliv
er
y
o
f
m
ed
icin
es,
a
m
b
u
lan
ce
s
(
f
o
u
r
an
d
two
wh
ee
l
er
s
)
ar
e
em
p
lo
y
ed
wh
ich
m
ay
g
et
s
tu
c
k
in
tr
af
f
ic
wh
en
an
ac
cid
en
t
o
cc
u
r
s
.
So
th
e
tr
an
s
p
o
r
tatio
n
o
f
m
ed
ik
it
is
d
o
n
e
b
y
th
e
q
u
ad
c
o
p
ter
s
y
s
tem
to
av
o
id
th
e
h
u
m
an
l
o
s
s
es.
2.
O
VE
RVI
E
W
T
h
e
UAV
in
d
u
s
tr
y
h
as
s
ee
n
in
cr
ea
s
ed
tech
n
o
lo
g
ical
d
ev
el
o
p
m
en
ts
in
r
ec
en
t
y
ea
r
s
,
th
u
s
cr
ea
tin
g
m
o
r
e
ac
ce
s
s
ib
le
f
ly
in
g
au
to
n
o
m
o
u
s
v
eh
icles.
W
ith
it,
co
m
p
an
ies
ar
o
u
n
d
th
e
wo
r
ld
id
en
tifie
d
co
m
m
er
cial
ap
p
licatio
n
s
f
o
r
s
aid
tech
n
o
l
o
g
y
,
n
am
ely
as
lo
w
-
co
s
t
tr
a
n
s
p
o
r
tatio
n
o
f
lo
w
-
weig
h
t
ca
r
g
o
v
eh
icles.
C
o
m
p
an
ies
s
u
ch
as
Go
o
g
le,
Am
az
o
n
a
n
d
DHL
h
av
e
d
e
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elo
p
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t
h
eir
o
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p
r
o
t
o
ty
p
es
with
th
e
g
o
al
o
f
cr
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co
m
m
er
ci
a
l
n
etwo
r
k
s
b
ased
ar
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d
UAV
tr
an
s
p
o
r
tatio
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.
Oth
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av
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f
o
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o
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m
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m
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o
d
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m
e
d
icin
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d
eliv
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y
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s
in
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q
u
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p
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with
a
u
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m
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an
d
a
g
lo
b
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p
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itio
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g
s
y
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tem
.
T
h
is
s
y
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tem
ca
n
d
eliv
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th
e
m
ed
icin
e
f
o
r
th
e
p
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p
le
at
r
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d
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p
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m
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eliv
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b
y
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o
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s
(
tr
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Evaluation Warning : The document was created with Spire.PDF for Python.
In
t J Reco
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f
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&
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4
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6
4
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a
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p
ter b
a
s
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eme
r
g
en
cy
med
ikit d
elive
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y
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yste
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r
h
ill s
ta
tio
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s
(
C
.
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B
a
la
mu
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)
203
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ea
s
)
.
T
h
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etu
p
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is
q
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a
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ter
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g
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e
o
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o
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d
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o
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o
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s
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.
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o
k
n
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x
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itio
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f
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u
ad
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y
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f
ix
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in
q
u
a
d
co
p
te
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u
s
in
g
GSM
tech
n
o
lo
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ies f
o
r
tr
ac
k
in
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o
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we
b
.
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h
is
p
ap
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h
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s
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l
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r
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o
r
f
ir
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t
aid
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o
r
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r
e
d
p
er
s
o
n
.
I
t
is
m
u
ch
m
o
r
e
u
s
ef
u
l
f
o
r
s
av
in
g
a
h
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m
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h
ich
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at
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is
k
.
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im
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lem
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n
tatio
n
o
f
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h
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o
n
e
with
a
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ess
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lled
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a
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te
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th
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letely
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lled
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ad
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if
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er
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r
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m
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ter
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e
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ar
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h
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lad
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ically
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a
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n
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e
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h
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b
.
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n
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ea
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ly
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ay
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o
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lig
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ad
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ter
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t
h
en
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ad
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elico
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e
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atin
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ier
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m
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m
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ap
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1
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2
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s
an
d
1
9
3
0
s
.
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h
ese
v
eh
icles
wer
e
am
o
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th
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ir
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s
u
cc
ess
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h
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th
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icles.
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wev
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ty
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es
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q
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i
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e
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g
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en
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ity
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h
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f
lat
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3.
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AG
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illu
s
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ated
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u
r
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u
r
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2
s
h
o
w
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h
e
C
ir
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n
ec
tio
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d
iag
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am
.
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Wirele
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ra
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m
it
t
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:
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r
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tr
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itter
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th
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UAV.
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lig
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ller:
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o
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ly
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−
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r:
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−
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ad
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.
−
G
P
S:
Dete
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ter
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−
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itted
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−
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ra
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it
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u
r
e
1
.
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iag
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o
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I
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:
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ter
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4
8
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4
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ter b
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205
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ir
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y
n
ch
r
o
n
o
u
s
m
o
t
o
r
th
at
u
s
es
p
er
m
an
en
t
m
ag
n
ets
r
ath
er
th
an
win
d
in
g
s
in
th
e
r
o
to
r
.
E
lectr
o
n
ic
ex
citatio
n
co
n
tr
o
l
with
in
teg
r
ated
p
o
wer
i
n
v
er
ter
an
d
r
e
c
tif
ier
,
s
en
s
o
r
,
an
d
in
v
er
ter
elec
tr
o
n
i
cs
is
r
eq
u
ir
ed
f
o
r
p
r
ac
tical
o
p
er
atio
n
.
Fo
r
m
-
f
ac
to
r
s
f
o
r
th
e
PMSMs
ar
e
eith
er
ax
ial
f
lu
x
,
r
a
d
ial
f
lu
x
,
tr
a
n
s
v
e
r
s
e
f
lu
x
,
o
r
f
lu
x
s
witch
in
g
d
e
p
en
d
in
g
o
n
th
e
a
r
r
an
g
em
en
t
o
f
co
m
p
o
n
en
ts
,
with
ea
ch
to
p
o
lo
g
y
h
a
v
in
g
d
if
f
e
r
e
n
t
tr
a
d
eo
f
f
s
am
o
n
g
ef
f
icien
c
y
,
s
ize,
weig
h
t,
an
d
o
p
er
atin
g
s
p
ee
d
.
Als
o
in
th
e
ax
ial
f
lu
x
o
r
r
ad
ial
f
lu
x
f
o
r
m
-
f
ac
to
r
,
o
th
er
b
r
u
s
h
less
m
o
to
r
s
ar
e
th
e
b
r
u
s
h
less
wo
u
n
d
-
r
o
t
o
r
d
o
u
b
ly
-
f
e
d
s
y
n
ch
r
o
n
o
u
s
m
o
t
o
r
s
y
s
tem
a
n
d
th
e
m
a
g
n
etic
r
el
u
ctan
ce
,
wh
ich
r
eq
u
i
r
e
elec
tr
o
n
i
c
ex
c
itatio
n
co
n
tr
o
l
f
o
r
p
r
ac
tical
o
p
er
atio
n
,
an
d
th
e
a
s
y
n
ch
r
o
n
o
u
s
in
d
u
ctio
n
m
o
t
o
r
s
,
wh
ich
is
with
o
r
with
o
u
t
elec
tr
o
n
ic
ex
citatio
n
co
n
tr
o
l
d
e
p
en
d
in
g
o
n
th
e
a
p
p
licatio
n
.
C
o
n
v
en
tio
n
al
m
eth
o
d
s
o
f
elec
tr
o
n
ic
AC
ex
citatio
n
co
n
tr
o
l
o
f
elec
tr
ic
m
o
to
r
s
,
s
u
ch
as
v
o
lt/
f
r
eq
u
en
cy
co
n
tr
o
l,
wer
e
a
v
ailab
le
p
r
io
r
to
t
h
e
1
9
5
0
s
with
at
le
ast
m
er
cu
r
y
v
ap
o
r
th
y
r
atr
o
n
s
s
witch
in
g
d
ev
ices a
n
d
m
o
d
e
r
n
ag
e
s
tate
o
f
ar
t c
o
n
tr
o
l (
o
r
Field
Or
ien
ted
C
o
n
tr
o
l)
b
ec
am
e
av
ailab
le
in
th
e
late
1
9
6
0
s
.
Per
m
an
en
t
m
ag
n
et
m
o
to
r
s
h
av
e
b
ee
n
in
e
x
is
t
e
n
ce
s
in
ce
th
e
in
tr
o
d
u
ctio
n
o
f
elec
tr
ic
m
o
to
r
s
m
o
r
e
th
an
o
n
e
-
h
u
n
d
r
ed
y
ea
r
s
ag
o
.
Fo
r
th
e
s
elec
tio
n
o
f
m
o
to
r
s
two
co
n
s
id
er
atio
n
s
ar
e
to
b
e
d
o
n
e:
(
i)
.
Qu
ad
co
p
ter
p
la
n
n
ed
to
t
al
weig
h
t
,
an
d
(
ii)
Size
o
f
f
r
a
m
e.
T
o
tal
weig
h
ts
in
clu
d
es
th
e
f
r
am
e,
m
o
to
r
,
E
SC
,
p
r
o
p
e
lle
r
,
f
lig
h
t
co
n
tr
o
l
b
o
ar
d
an
d
p
ay
lo
ad
weig
h
ts
.
B
y
k
n
o
win
g
th
ese
th
in
g
s
,
we
ca
n
r
o
u
g
h
l
y
ca
lcu
late
h
o
w
m
u
ch
th
r
u
s
t
th
e
m
o
to
r
s
n
ee
d
to
d
eliv
er
to
lift
th
e
q
u
ad
c
o
p
ter
i
n
th
e
air
.
A
g
en
er
al
r
u
le
is
th
at
it
s
h
o
u
ld
at
least
b
e
ab
le
to
p
r
o
v
id
e
t
wice
as
m
u
ch
th
r
u
s
t
t
h
an
th
e
weig
h
t
o
f
th
e
q
u
ad
.
T
h
is
is
th
e
b
ar
e
m
in
im
u
m
to
e
n
s
u
r
e
a
s
tab
le
co
p
ter
th
at
is
ea
s
y
to
co
n
tr
o
l
d
u
r
in
g
h
o
v
er
in
g
.
I
f
th
e
th
r
u
s
t
p
r
o
v
id
ed
b
y
th
e
m
o
to
r
s
ar
e
t
o
o
litt
le,
th
e
q
u
ad
wo
u
ld
n
o
t
r
esp
o
n
d
well
to
co
n
tr
o
l,
it
m
ig
h
t
ev
e
n
h
av
e
d
if
f
icu
lties
t
o
ta
k
e
o
f
f
.
F
o
r
th
e
f
ast
f
ly
in
g
,
th
e
th
r
u
s
t:
weig
h
t
r
atio
is
to
b
e
3
:1
.
B
r
u
s
h
l
ess
m
o
to
r
s
in
R
C
is
in
d
icate
d
b
y
a
4
-
d
ig
it
n
u
m
b
er
–
AABB
.
“AA
”
th
e
s
tato
r
wid
th
,
an
d
“BB
”
th
e
s
tato
r
h
eig
h
t.
B
asically
,
th
e
wid
er
an
d
taller
th
e
m
o
to
r
is
th
e
m
o
r
e
to
r
q
u
e
ca
n
b
e
g
en
e
r
ate.
KV
is
an
o
th
er
im
p
o
r
ta
n
t
p
ar
am
eter
,
it’s
th
e
th
eo
r
etica
l
in
cr
ea
s
e
o
f
m
o
t
o
r
R
PM
(
r
o
tatio
n
p
er
m
in
u
te)
wh
en
v
o
ltag
e
g
o
u
p
b
y
1
v
o
lt
with
o
u
t
lo
ad
.
B
u
t
o
n
ce
a
p
r
o
p
eller
is
m
o
u
n
ted
o
n
th
e
m
o
to
r
,
th
e
R
PM
wo
n
’
t
b
e
th
at
h
ig
h
d
u
e
to
r
esis
tan
ce
.
Hig
h
e
r
KV
m
o
to
r
s
wo
u
ld
attem
p
t
to
s
p
in
th
e
p
r
o
p
eller
f
aster
,
b
u
t
lo
wer
KV
m
o
t
o
r
s
n
o
r
m
ally
g
en
er
ate
h
ig
h
er
t
o
r
q
u
e.
T
h
at’
s
wh
y
th
e
lar
g
er
p
r
o
p
s
ar
e
p
air
e
d
with
lo
w
KV
m
o
to
r
s
,
an
d
s
m
aller
p
r
o
p
s
with
h
ig
h
KV
m
o
to
r
s
.
I
t’
s
im
p
o
r
tan
t
to
f
in
d
a
b
ala
n
ce
b
etwe
en
R
PM
an
d
to
r
q
u
e
wh
e
n
ch
o
o
s
in
g
m
o
to
r
an
d
p
r
o
p
eller
.
B
y
p
air
i
n
g
h
ig
h
KV
m
o
to
r
s
with
ex
ce
s
s
iv
ely
lar
g
e
p
r
o
p
ell
er
s
,
th
e
m
o
to
r
will
attem
p
t
to
s
p
in
it
f
ast
lik
e
th
ey
wo
u
ld
d
o
with
s
m
aller
p
r
o
p
s
,
an
d
th
e
r
ef
o
r
e
d
r
awin
g
to
o
m
u
ch
cu
r
r
en
t
an
d
g
en
e
r
atin
g
to
o
m
u
ch
h
ea
t.
E
v
en
tu
ally
i
t
c
o
u
ld
b
u
r
n
o
u
t
t
h
e
m
o
to
r
d
u
e
to
o
v
er
h
ea
t a
n
d
s
h
o
r
ts
in
m
o
to
r
co
ils
.
Fig
u
r
e
4
s
h
o
ws th
e
b
r
u
s
h
less
o
u
t r
u
n
n
er
m
o
to
r
.
On
m
o
to
r
s
s
o
m
etim
es
s
ee
s
o
m
eth
in
g
lik
e
“1
2
N1
4
P”.
T
h
e
n
u
m
b
er
b
ef
o
r
e
th
e
letter
N
m
ea
n
s
th
e
n
u
m
b
e
r
o
f
elec
tr
o
m
a
g
en
ts
in
s
tato
r
,
an
d
th
e
n
u
m
b
er
b
e
f
o
r
e
P
m
ea
n
s
th
e
n
u
m
b
er
o
f
p
er
m
an
en
t
m
ag
n
ets
in
th
e
m
o
to
r
.
M
o
s
t
m
o
to
r
s
h
av
e
th
e
s
am
e
1
2
N1
4
P
co
n
f
ig
u
r
a
tio
n
,
s
o
m
e
lo
wer
KV
m
o
to
r
s
wo
u
ld
h
av
e
m
o
r
e
elec
tr
o
m
ag
n
ets
an
d
p
er
m
an
en
t
m
ag
n
ets
to
h
elp
in
c
r
ea
s
e
to
r
q
u
e
m
o
r
e
ef
f
icien
tly
(
a
n
d
th
u
s
m
o
r
e
ex
p
en
s
iv
e)
.
W
h
ile
i
t’
s
g
o
o
d
to
k
n
o
w
w
h
at
th
is
is
,
it’s
n
o
t
an
ess
en
tial
p
iece
o
f
in
f
o
r
m
atio
n
wh
en
p
ick
in
g
m
o
to
r
s
.
I
f
th
e
m
o
to
r
d
r
aws
h
ig
h
cu
r
r
en
t,
th
e
b
atter
y
is
ab
le
to
s
u
p
p
ly
f
o
r
th
at,
if
n
o
t
t
h
en
th
e
b
atter
y
d
is
ch
ar
g
e
is
af
f
ec
ted
.
C
r
atin
g
s
ar
e
t
o
b
e
c
o
n
s
id
er
ed
f
o
r
th
e
b
atter
y
ca
p
ac
i
ty
.
M
o
t
o
r
Sp
ec
if
ica
t
io
ns
1
.
KV
(
r
p
m
/
v
o
lt):
1
4
0
0
2
.
T
h
r
u
s
t (
g
/s
)
: 1
2
6
5
/4
3
.
E
f
f
icien
c
y
: 8
0
%
4
.
E
f
f
icien
c
y
cu
r
r
en
t: 4
-
1
0
A
(
>7
5
%)
5
.
C
u
r
r
en
t Cap
ac
ity
: 1
2
A/6
0
s
6
.
No
L
o
a
d
cu
r
r
en
t @
1
0
V:
0
.
5
A
7
.
W
o
r
k
in
g
v
o
ltag
e
r
an
g
e:
7
-
12v
8
.
Sh
af
t
D
iam
et
er
: 3
.
1
7
m
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
89
-
4
8
6
4
I
n
t J Reco
n
f
ig
u
r
a
b
le
&
E
m
b
ed
d
ed
Sy
s
t
,
Vo
l.
9
,
No
.
3
,
No
v
e
m
b
er
2
0
2
0
:
20
1
–
21
2
206
Fig
u
r
e
4
.
B
r
u
s
h
less
o
u
t r
u
n
n
er
m
o
to
r
B
asically
,
th
e
d
if
f
er
en
ce
o
f
C
W
an
d
C
C
W
m
o
to
r
is
th
e
p
r
o
p
s
h
af
t
th
r
ea
d
r
o
tatio
n
.
T
h
e
in
ten
tio
n
is
to
u
s
e
2
C
W
m
o
to
r
s
an
d
2
C
C
W
m
o
to
r
s
o
n
a
q
u
ad
,
s
o
th
a
t
wh
en
th
e
m
o
t
o
r
s
s
p
in
,
all
f
o
u
r
p
r
o
p
n
u
ts
l
o
ck
th
em
s
elv
es
d
o
wn
.
T
h
ey
ar
e
t
o
b
e
id
en
tical
m
o
to
r
s
ex
ce
p
t
t
h
e
p
r
o
p
s
h
a
f
t
th
r
ea
d
.
T
h
e
p
r
e
f
er
en
ce
to
g
et
all
m
o
to
r
s
o
f
th
e
s
am
e
th
r
ea
d
s
s
o
th
er
e
is
n
o
c
o
n
f
u
s
io
n
wit
h
th
e
d
if
f
er
en
t
p
r
o
p
n
u
ts
.
Pro
p
eller
s
ex
is
t
in
d
if
f
er
en
t
len
g
th
an
d
p
itch
.
T
h
e
len
g
th
o
f
a
p
r
o
p
e
ller
is
th
e
d
iam
eter
o
f
a
d
is
c
th
e
p
r
o
p
m
ak
es
wh
en
it’s
s
p
in
n
in
g
.
Pit
ch
ca
n
b
e
d
ef
in
ed
as
th
e
tr
av
el
d
is
tan
ce
o
f
o
n
e
s
in
g
le
p
r
o
p
r
o
tatio
n
.
I
t’
s
s
o
m
etim
es
ca
lled
p
itch
len
g
th
to
o
.
T
h
e
lar
g
e
r
th
e
p
r
o
p
(
eith
er
in
cr
ea
s
in
g
d
iam
eter
,
o
r
p
itch
o
r
b
o
t
h
)
,
th
e
h
ar
d
e
r
it
’
s
g
o
in
g
to
s
p
in
.
Pro
p
eller
s
g
en
er
ate
th
r
u
s
t
b
y
s
p
in
n
in
g
a
n
d
m
o
v
in
g
air
.
T
h
e
m
o
r
e
air
it
m
o
v
es,
th
e
m
o
r
e
t
h
r
u
s
t
it
g
en
er
ates.
B
y
in
cr
ea
s
in
g
eith
er
p
r
o
p
len
g
th
o
r
p
itch
,
it
g
iv
es
m
o
r
e
th
r
u
s
t
an
d
lead
s
to
h
ig
h
er
cu
r
r
e
n
t
d
r
aw.
E
f
f
ec
tiv
el
y
it
in
cr
ea
s
e
s
th
e
s
u
r
f
ac
e
ar
ea
a
n
d
d
r
a
g
,
s
o
m
o
r
e
air
ca
n
b
e
m
o
v
ed
an
d
m
o
r
e
p
o
wer
is
r
e
q
u
i
r
ed
to
s
p
in
it.
I
n
a
n
u
ts
h
ell,
lar
g
er
p
r
o
p
eller
o
r
h
i
g
h
er
p
itch
len
g
th
will in
cr
ea
s
e
y
o
u
r
air
cr
af
t’
s
s
p
ee
d
b
u
t a
ls
o
u
s
e
m
o
r
e
p
o
wer
.
A
p
r
o
p
with
s
m
aller
d
iam
eter
o
r
p
itch
ca
n
s
p
in
f
ast
er
(
h
ig
h
er
R
PM)
,
b
ec
a
u
s
e
th
e
m
o
to
r
d
o
esn
’
t
n
ee
d
to
wo
r
k
as
h
ar
d
to
s
p
in
it
s
o
it
p
u
lls
less
cu
r
r
en
t.
T
h
ey
t
en
d
to
r
u
n
s
m
o
o
t
h
er
an
d
f
ee
ls
m
o
r
e
r
esp
o
n
s
iv
e
to
th
e
s
tick
s
.
T
h
e
f
aster
ch
a
n
g
e
o
f
R
PM
d
u
e
to
less
in
er
tia
h
elp
s
s
tab
ilit
y
o
f
th
e
q
u
a
d
co
p
te
r
.
A
h
ig
h
e
r
p
itch
p
r
o
p
eller
m
o
v
es
g
r
ea
ter
am
o
u
n
t
o
f
air
,
wh
ic
h
m
ig
h
t
c
r
ea
te
tu
r
b
u
len
ce
a
n
d
ca
u
s
e
m
o
r
e
p
r
o
p
wash
.
Pro
p
s
s
p
in
s
lo
wer
a
n
d
y
o
u
m
ig
h
t
f
in
d
th
e
lack
o
f
“sn
ap
p
y
”
f
ee
lin
g
.
B
u
t
it
g
en
er
ate
s
m
o
r
e
th
r
u
s
t
a
n
d
h
ig
h
er
to
p
s
p
ee
d
i
n
th
e
ex
p
e
n
s
e
o
f
h
ig
h
er
cu
r
r
en
t
d
r
a
w.
T
h
e
m
o
r
e
s
u
r
f
ac
e
ar
ea
,
th
e
m
o
r
e
air
th
e
p
r
o
p
eller
ca
n
m
o
v
e
a
n
d
th
u
s
g
e
n
er
ate
m
o
r
e
th
r
u
s
t.
B
u
t
t
h
e
d
o
wn
s
id
e
is
h
ig
h
e
r
c
u
r
r
en
t
d
r
aw,
m
o
r
e
d
r
ag
an
d
d
r
o
p
in
p
o
wer
ef
f
icien
cy
.
Fig
u
r
e
5
d
is
p
lay
s
th
e
p
r
o
p
eller
s
.
T
h
e
s
h
ap
e
o
f
a
p
r
o
p
eller
p
lay
s
a
b
ig
r
o
l
e
i
n
p
er
f
o
r
m
a
n
ce
b
ec
au
s
e
it’s
clo
s
ely
r
elate
d
to
s
u
r
f
ac
e
ar
ea
.
T
h
e
m
o
s
t
d
is
tin
ctiv
e
d
if
f
er
en
ce
wo
u
ld
p
r
o
b
ab
l
y
b
e
th
e
tip
o
f
th
e
p
r
o
p
s
:
p
o
in
ty
n
o
s
e,
b
u
ll
n
o
s
e
(
B
N)
an
d
Hy
b
r
id
b
u
lln
o
s
e
(
H
B
N)
.
HB
N
h
as
m
o
r
e
s
u
r
f
ac
e
ar
ea
th
an
p
o
in
t
y
n
o
s
e,
wh
ile
B
N
h
as
ev
en
m
o
r
e
s
u
r
f
ac
e
a
r
ea
th
an
t
h
e
HB
N.
Po
in
ty
tip
p
r
o
p
s
ar
e
th
e
m
o
s
t
ef
f
icien
t
o
f
th
e
th
r
ee
,
h
o
wev
er
it
p
u
lls
th
e
least
th
r
u
s
t.
T
h
e
o
th
er
two
p
r
o
p
s
ca
n
g
iv
e
m
o
r
e
p
o
wer
in
th
e
co
s
t
o
f
m
o
r
e
cu
r
r
en
t
d
r
aw.
T
h
e
s
h
ap
e
o
f
t
h
e
tip
also
ch
an
g
es
h
o
w
th
e
p
r
o
p
in
ter
ac
ts
with
air
f
lo
w
wh
en
s
p
in
n
in
g
,
p
r
o
p
s
with
s
m
o
o
th
/r
o
u
n
d
ed
g
es
p
er
f
o
r
m
m
o
r
e
ef
f
icien
tly
th
an
b
lu
n
t/s
q
u
ar
e
tip
p
r
o
p
s
.
On
ev
e
r
y
q
u
ad
co
p
ter
,
th
er
e
ar
e
two
C
W
(
clo
ck
wis
e)
an
d
t
wo
C
C
W
(
co
u
n
ter
-
clo
ck
wis
e)
p
r
o
p
eller
s
.
C
W
an
d
C
C
W
p
r
o
p
s
ar
e
s
u
p
p
o
s
ed
to
r
o
tate
at
th
e
o
p
p
o
s
ite
d
ir
ec
t
io
n
to
g
en
er
ate
th
r
u
s
t,
as
well
as
h
av
in
g
o
p
p
o
s
in
g
y
aw
m
o
tio
n
th
at
ca
n
ce
l
ea
ch
o
th
er
o
u
t in
f
lig
h
t.
Fig
u
r
e
5
.
Pro
p
eller
s
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An
elec
tr
o
n
ic
s
p
ee
d
c
o
n
tr
o
l
o
r
E
S
C
is
an
elec
tr
o
n
ic
cir
c
u
it
with
th
e
p
u
r
p
o
s
e
to
v
ar
y
an
elec
tr
ic
m
o
to
r
'
s
s
p
ee
d
,
its
d
ir
ec
tio
n
an
d
p
o
s
s
ib
ly
also
to
ac
t
as
a
d
y
n
am
ic
b
r
ak
e.
E
SC
s
ar
e
o
f
ten
u
s
ed
o
n
elec
tr
ically
p
o
wer
ed
r
ad
io
-
c
o
n
tr
o
lled
m
o
d
els,
with
th
e
v
ar
iety
m
o
s
t
o
f
te
n
u
s
ed
f
o
r
b
r
u
s
h
l
e
s
s
m
o
to
r
s
ess
en
tially
p
r
o
v
id
i
n
g
an
elec
tr
o
n
ically
g
e
n
er
ated
th
r
ee
-
p
h
ase
elec
tr
ic
p
o
we
r
lo
w
v
o
ltag
e
s
o
u
r
ce
o
f
en
er
g
y
f
o
r
t
h
e
m
o
t
o
r
.
An
E
SC
ca
n
b
e
a
s
tan
d
-
alo
n
e
u
n
it
w
h
ich
p
lu
g
s
in
to
t
h
e
r
ec
eiv
er
'
s
th
r
o
ttle
co
n
tr
o
l
ch
a
n
n
el
o
r
in
co
r
p
o
r
ated
in
t
o
th
e
r
ec
eiv
e
r
its
el
f
,
as
is
t
h
e
ca
s
e
in
m
o
s
t
to
y
-
g
r
ad
e
R
/C
v
eh
icles.
So
m
e
R
/C
m
an
u
f
ac
tu
r
er
s
th
at
in
s
tall
p
r
o
p
r
ietar
y
h
o
b
b
y
-
g
r
a
d
e
elec
t
r
o
n
ics
in
th
eir
e
n
tr
y
-
lev
el
v
eh
icles,
v
ess
els
o
r
air
cr
af
t
u
s
e
o
n
b
o
ar
d
elec
tr
o
n
ics
th
at
co
m
b
in
e
t
h
e
two
o
n
a
s
in
g
le
cir
cu
it b
o
ar
d
.
R
eg
a
r
d
less
o
f
th
e
ty
p
e
u
s
ed
,
an
E
SC
in
ter
p
r
ets
co
n
tr
o
l
in
f
o
r
m
atio
n
n
o
t
as
m
ec
h
an
ical
m
o
tio
n
as
wo
u
ld
b
e
th
e
ca
s
e
o
f
a
s
er
v
o
,
b
u
t
r
ath
er
in
a
way
th
at
v
ar
ie
s
th
e
s
witch
in
g
r
ate
o
f
a
n
etw
o
r
k
o
f
f
ield
ef
f
ec
t
tr
an
s
is
to
r
s
,
o
r
FET
s
.
T
h
e
r
a
p
id
s
witch
in
g
o
f
th
e
tr
an
s
i
s
to
r
s
is
wh
at
ca
u
s
es
th
e
m
o
to
r
its
elf
to
em
it
its
ch
ar
ac
ter
is
tic
h
ig
h
-
p
itch
e
d
wh
in
e,
esp
ec
ially
n
o
ticea
b
le
at
lo
wer
s
p
ee
d
s
.
I
t
also
allo
ws
m
u
ch
s
m
o
o
th
er
a
n
d
m
o
r
e
p
r
ec
is
e
v
ar
iatio
n
o
f
m
o
to
r
s
p
ee
d
in
a
f
a
r
m
o
r
e
e
f
f
icien
t
m
an
n
er
th
a
n
th
e
m
ec
h
an
ical
ty
p
e
with
a
r
esi
s
tiv
e
co
il
an
d
m
o
v
in
g
ar
m
o
n
ce
in
c
o
m
m
o
n
u
s
e.
M
o
s
t
m
o
d
er
n
E
SC
s
in
co
r
p
o
r
ate
a
b
atter
y
elim
in
at
o
r
cir
cu
it
(
o
r
B
E
C
)
to
r
eg
u
late
v
o
ltag
e
f
o
r
th
e
r
ec
ei
v
er
,
r
em
o
v
i
n
g
th
e
n
ee
d
f
o
r
s
ep
a
r
ate
r
ec
ei
v
er
b
atter
ies.
B
E
C
s
ar
e
u
s
u
ally
eith
er
lin
ea
r
o
r
s
witch
ed
m
o
d
e.
E
SC
s
,
in
a
b
r
o
ad
er
s
en
s
e,
a
r
e
PW
M
co
n
t
r
o
ller
s
f
o
r
elec
tr
ic
m
o
to
r
s
.
T
h
e
E
SC
g
en
er
ally
ac
ce
p
ts
a
n
o
m
in
al
5
0
Hz
PW
M
s
er
v
o
in
p
u
t sig
n
al
wh
o
s
e
p
u
ls
e
wid
th
v
ar
ies f
r
o
m
1
m
s
to
2
m
s
.
W
h
en
s
u
p
p
lied
with
a
1
m
s
wid
th
p
u
ls
e
at
5
0
Hz,
th
e
E
S
C
r
esp
o
n
d
s
b
y
tu
r
n
in
g
o
f
f
th
e
m
o
t
o
r
attac
h
ed
to
its
o
u
tp
u
t.
A
1
.
5
m
s
p
u
ls
e
-
wid
th
in
p
u
t sig
n
al
d
r
i
v
es th
e
m
o
to
r
at
ap
p
r
o
x
im
ately
h
alf
-
s
p
ee
d
.
W
h
e
n
p
r
esen
ted
with
2
.
0
m
s
in
p
u
t
s
ig
n
al,
th
e
m
o
to
r
r
u
n
s
at
f
u
ll
s
p
ee
d
.
E
SC
s
y
s
tem
s
f
o
r
b
r
u
s
h
e
d
m
o
to
r
s
ar
e
v
e
r
y
d
if
f
er
en
t
b
y
d
esig
n
;
as
a
r
esu
l
t
b
r
u
s
h
ed
E
SC
's
ar
e
n
o
t
co
m
p
atib
le
with
b
r
u
s
h
less
m
o
to
r
s
.
B
r
u
s
h
less
E
S
C
s
y
s
tem
s
b
asical
ly
cr
ea
te
a
tr
i
-
p
h
ase
AC
p
o
wer
o
u
tp
u
t o
f
lim
ited
v
o
ltag
e
f
r
o
m
an
o
n
b
o
ar
d
DC
p
o
wer
in
p
u
t,
to
r
u
n
b
r
u
s
h
less
m
o
to
r
s
b
y
s
en
d
i
n
g
a
s
eq
u
e
n
ce
o
f
AC
s
ig
n
als
g
en
er
ated
f
r
o
m
t
h
e
E
SC
'
s
cir
cu
itry
,
e
m
p
lo
y
i
n
g
a
v
er
y
lo
w
im
p
e
d
an
ce
f
o
r
r
o
tatio
n
.
B
r
u
s
h
less
m
o
t
o
r
s
,
o
t
h
er
wi
s
e
ca
lled
o
u
t
-
r
u
n
n
er
s
o
r
i
n
-
r
u
n
n
er
s
d
ep
e
n
d
in
g
o
n
th
eir
p
h
y
s
ical
co
n
f
ig
u
r
atio
n
,
h
av
e
b
ec
o
m
e
v
er
y
p
o
p
u
lar
with
"e
lectr
o
f
lig
h
t"
r
ad
io
-
co
n
tr
o
l
ae
r
o
-
m
o
d
eli
n
g
h
o
b
b
y
is
ts
b
ec
au
s
e
o
f
t
h
eir
ef
f
i
cien
cy
,
p
o
wer
,
lo
n
g
ev
ity
a
n
d
lig
h
t
weig
h
t
in
c
o
m
p
ar
is
o
n
to
t
r
ad
itio
n
al
b
r
u
s
h
e
d
m
o
to
r
s
.
B
r
u
s
h
less
AC
m
o
to
r
co
n
tr
o
ller
s
ar
e
m
u
ch
m
o
r
e
co
m
p
licated
th
an
b
r
u
s
h
ed
m
o
to
r
c
o
n
tr
o
ller
s
.
T
h
e
co
r
r
ec
t
p
h
ase
v
ar
ies
with
th
e
m
o
to
r
r
o
tatio
n
,
wh
i
ch
is
to
b
e
tak
en
in
to
ac
c
o
u
n
t
b
y
th
e
E
SC
.
Usu
ally
,
b
ac
k
E
MF
f
r
o
m
th
e
m
o
t
o
r
is
u
s
ed
to
d
etec
t
th
is
r
o
tatio
n
,
b
u
t
v
ar
iatio
n
s
ex
is
t
th
at
u
s
e
m
ag
n
etic
(
Hall
E
f
f
ec
t)
o
r
o
p
t
ical
d
etec
to
r
s
.
C
o
m
p
u
ter
-
p
r
o
g
r
am
m
ab
le
[
6
,
7
]
s
p
ee
d
co
n
tr
o
ls
g
en
er
ally
h
av
e
u
s
er
-
s
p
ec
if
ied
o
p
tio
n
s
w
h
ich
al
lo
w
s
ettin
g
lo
w
v
o
ltag
e
c
u
t
-
o
f
f
lim
its
,
tim
in
g
,
ac
ce
ler
atio
n
,
b
r
ak
in
g
a
n
d
d
ir
ec
tio
n
o
f
r
o
tatio
n
.
R
ev
er
s
in
g
th
e
m
o
to
r
'
s
d
ir
ec
tio
n
m
ay
al
s
o
b
e
ac
co
m
p
lis
h
ed
b
y
s
witch
in
g
an
y
two
o
f
th
e
th
r
ee
lead
s
f
r
o
m
th
e
E
SC
to
t
h
e
m
o
to
r
.
E
lectr
o
n
ic
Sp
ee
d
C
o
n
tr
o
ller
s
(
E
SC
)
ar
e
an
ess
en
tial
co
m
p
o
n
en
t
o
f
m
o
d
er
n
q
u
a
d
co
p
ter
s
(
a
n
d
all
m
u
ltiro
to
r
s
)
th
at
o
f
f
er
h
ig
h
p
o
wer
,
h
ig
h
f
r
eq
u
en
cy
,
h
ig
h
r
es
o
lu
tio
n
3
-
p
h
ase
AC
p
o
wer
to
th
e
m
o
to
r
s
in
a
n
ex
tr
em
ely
co
m
p
ac
t m
in
iatu
r
e
p
a
c
k
ag
e.
T
h
ese
cr
a
f
t
d
ep
e
n
d
en
tir
ely
o
n
th
e
v
ar
iab
l
e
s
p
ee
d
o
f
th
e
m
o
to
r
s
d
r
iv
in
g
t
h
e
p
r
o
p
eller
s
.
T
h
is
wid
e
v
ar
ia
tio
n
an
d
f
in
e
R
PM
co
n
tr
o
l
i
n
m
o
to
r
/p
r
o
p
s
p
ee
d
g
iv
es a
ll o
f
th
e
c
o
n
tr
o
l
n
ec
ess
ar
y
f
o
r
a
q
u
ad
co
p
ter
(
an
d
all
m
u
ltiro
to
r
s
)
to
f
ly
.
Heig
h
t
is
d
eter
m
in
e
d
b
y
th
e
am
o
u
n
t
o
f
p
o
we
r
to
all
f
o
u
r
m
o
to
r
s
.
Fo
r
war
d
m
o
tio
n
i
s
ac
h
iev
e
d
b
y
d
r
iv
in
g
th
e
af
t
(
b
ac
k
)
p
r
o
p
s
f
aster
th
an
th
e
f
o
r
war
d
p
r
o
p
s
.
Sid
ewa
y
s
m
o
tio
n
is
ac
h
iev
ed
b
y
r
u
n
n
in
g
th
e
lef
t
o
r
r
ig
h
t
p
r
o
p
s
f
aster
.
'R
u
d
d
er
'
m
o
v
em
en
ts
(
y
aw)
,
(
tu
r
n
i
n
g
lef
t
o
r
r
ig
h
t)
ar
e
ag
ain
ac
h
ie
v
ed
b
y
s
lo
win
g
o
r
s
p
ee
d
in
g
in
d
iv
i
d
u
al
m
o
to
r
s
-
an
d
th
is
co
n
tr
o
l
is
r
elian
t
o
n
th
e
f
ac
t
th
at
two
o
f
th
e
r
o
to
r
s
r
o
tate
clo
ck
wis
e
wh
ile
th
e
o
th
er
two
r
o
tate
c
o
u
n
ter
clo
c
k
wis
e
s
o
th
at,
ag
ain
,
s
lo
win
g
o
r
s
p
ee
d
i
n
g
in
d
i
v
id
u
al
m
o
to
r
s
(
an
d
p
r
o
p
s
)
will
p
r
o
d
u
ce
a
ch
an
g
e
in
attitu
d
e
in
t
h
e
cr
a
f
t.
Qu
a
d
c
o
p
te
r
s
ar
e
a
r
ap
id
ly
g
r
o
win
g
h
o
b
b
y
s
u
b
ject
b
u
t
also
p
r
o
v
id
e
ae
r
ial
m
o
u
n
ts
f
o
r
v
id
e
o
ca
m
e
r
as
f
o
r
s
p
o
r
ts
co
v
er
a
g
e,
ag
r
icu
ltu
r
al
r
esear
ch
,
in
s
p
ec
tio
n
o
f
elec
tr
ical
p
y
lo
n
s
an
d
h
is
to
r
ic
e
x
p
lo
r
atio
n
.
Fig
u
r
e
6
s
h
o
ws th
e
E
lectr
o
n
ic
s
p
ee
d
c
o
n
tr
o
ller
.
Qu
ad
co
p
ter
E
SC
s
u
s
u
ally
ca
n
u
s
e
a
f
aster
u
p
d
ate
r
ate
c
o
m
p
ar
ed
to
th
e
s
tan
d
ar
d
5
0
Hz
s
ig
n
al
u
s
ed
in
m
o
s
t
o
th
er
R
C
ap
p
licatio
n
s
.
PW
M
s
ig
n
als
u
p
to
4
0
0
Hz
ca
n
b
e
u
s
ed
in
s
o
m
e
ca
s
es,
an
d
o
t
h
er
c
o
n
tr
o
l
o
p
tio
n
s
ca
n
in
cr
ea
s
e
th
is
r
ate
ev
en
h
ig
h
er
.
Als
o
,
s
o
m
e
s
o
f
twar
e
d
elay
s
,
s
u
ch
a
s
lo
w
-
p
ass
f
ilter
s
,
ar
e
r
em
o
v
ed
in
o
r
d
er
to
im
p
r
o
v
e
c
o
n
tr
o
l la
ten
cy
.
Fig
u
r
e
7
d
is
p
lay
s
th
e
Ar
d
u
in
i
b
o
ar
d
.
T
h
e
Ar
d
u
in
o
Un
o
is
a
m
icr
o
co
n
t
r
o
ller
b
o
ar
d
b
ased
o
n
th
e
AT
m
eg
a3
2
8
.
I
t
h
as
1
4
d
ig
ital
in
p
u
t/o
u
tp
u
t
p
in
s
(
o
f
wh
ich
6
ca
n
b
e
u
s
ed
as
PW
M
o
u
tp
u
ts
)
,
6
an
a
l
o
g
in
p
u
ts
,
a
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
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:
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0
89
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8
6
4
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n
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ig
u
r
a
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&
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m
b
ed
d
ed
Sy
s
t
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,
No
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e
m
b
er
2
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2
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:
20
1
–
21
2
208
1
6
MH
z
cr
y
s
tal
o
s
cillato
r
,
a
USB
co
n
n
ec
tio
n
,
a
p
o
wer
jac
k
,
an
I
C
SP
h
ea
d
er
,
a
n
d
a
r
es
et
b
u
tto
n
.
Fig
u
r
e
8
s
h
o
ws
th
e
PIN
d
iag
r
am
o
f
I
C
AT
m
eg
a3
2
8
P.
I
t
co
n
tain
s
ev
er
y
th
in
g
n
ee
d
ed
to
s
u
p
p
o
r
t
th
e
m
icr
o
c
o
n
tr
o
ller
,
s
im
p
ly
co
n
n
ec
t
it
t
o
a
c
o
m
p
u
ter
with
a
USB
ca
b
le
o
r
p
o
w
er
it
with
a
AC
-
to
-
DC
ad
ap
te
r
o
r
b
atter
y
to
g
et
s
tar
ted
.
T
h
e
Un
o
d
if
f
er
s
f
r
o
m
all
p
r
ec
ed
in
g
b
o
ar
d
s
in
th
at
it
d
o
es
n
o
t
u
s
e
th
e
FTDI
USB
-
to
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s
er
ial
d
r
iv
er
c
h
ip
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I
n
s
tead
,
it f
ea
tu
r
es th
e
Atm
eg
a
8
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p
r
o
g
r
am
m
e
d
as a
USB
-
to
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s
er
ial
co
n
v
er
ter
.
Fig
u
r
e
6
.
E
lectr
o
n
ic
s
p
ee
d
c
o
n
tr
o
ller
Fig
u
r
e
7
.
Ar
d
u
in
o
b
o
a
r
d
Fig
u
r
e
8
.
Pin
d
iag
r
am
T
h
is
m
in
i
wir
eless
s
p
y
ca
m
er
a
T
r
an
s
m
itter
an
d
R
ec
eiv
e
r
s
et
co
m
es
with
ev
er
y
th
in
g
y
o
u
n
ee
d
f
o
r
,
s
p
y
an
d
s
u
r
v
eillan
ce
r
ig
h
t
o
u
t
o
f
th
e
b
o
x
!
Yo
u
g
et
a
t
in
y
1
/3
in
ch
C
MO
S
wi
r
eless
ca
m
er
a
tr
an
s
m
itter
th
at
ca
p
tu
r
es
b
o
th
v
i
d
eo
a
n
d
a
u
d
io
.
I
t
ca
n
b
e
p
o
wer
ed
f
r
o
m
a
9
V
b
atter
y
o
r
n
o
r
m
al
wall
s
o
ck
et.
Plu
s
y
o
u
also
g
et
a
wir
eless
lo
n
g
r
an
g
e
r
ec
e
iv
er
wh
ich
ca
n
o
u
tp
u
t
th
e
t
r
an
s
m
itted
ca
m
er
a
im
a
g
er
y
to
an
y
s
tan
d
ar
d
T
V
with
A
V
co
n
n
ec
to
r
s
.
I
t’
s
p
o
wer
ed
f
r
o
m
a
n
o
r
m
al
wall
s
o
ck
et
an
d
co
m
es
with
a
h
ig
h
p
o
wer
an
ten
n
a
f
o
r
b
ette
r
r
ec
ep
tio
n
q
u
ality
.
Fig
u
r
e
9
d
is
p
lay
th
e
wir
eless
ca
m
er
a.
Fig
u
r
e
9
.
W
ir
eless
ca
m
er
a
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t J Reco
n
f
ig
u
r
a
b
le
&
E
m
b
ed
d
ed
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s
t
I
SS
N:
2089
-
4
8
6
4
Qu
a
d
co
p
ter b
a
s
ed
eme
r
g
en
cy
med
ikit d
elive
r
y
s
yste
m
fo
r
h
ill s
ta
tio
n
s
(
C
.
R
.
B
a
la
mu
r
u
g
a
n
)
209
L
et’
s
s
ay
y
o
u
wan
t
to
k
n
o
w
wh
at
g
ets
s
aid
in
th
e
b
o
a
r
d
r
o
o
m
wh
e
n
th
e
co
m
p
a
n
y
d
ir
e
ct
o
r
s
m
ee
t
ev
er
y
m
o
n
th
.
Simp
ly
attac
h
a
9
V
b
atter
y
to
th
e
wir
eless
ca
m
er
a
tr
an
s
m
itter
an
d
p
lace
it
i
n
a
in
co
n
s
p
icu
o
u
s
co
r
n
er
o
f
th
e
b
o
ar
d
r
o
o
m
with
th
e
le
n
s
aim
ed
at
wh
er
e
t
h
e
ac
tio
n
will
b
e
.
Me
an
w
h
ile,
p
u
t
y
o
u
r
s
elf
a
n
o
th
er
r
o
o
m
with
th
e
wir
el
e
s
s
r
ec
eiv
er
h
o
o
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e
d
u
p
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a
s
m
al
l
T
V.
E
v
er
y
th
i
n
g
th
at
g
ets
s
aid
an
d
d
o
n
e
in
th
e
b
o
ar
d
r
o
o
m
g
ets
tr
an
s
m
itted
to
y
o
u
r
d
is
p
lay
m
o
n
ito
r
.
An
d
ev
en
in
th
e
u
n
lik
ely
ev
en
t
th
at
th
ey
s
p
o
t
th
e
ca
m
er
a,
y
o
u
d
o
n
’
t
ca
r
e
-
with
its
lo
w,
lo
w
p
r
ice
tag
.
Sev
er
al
ty
p
es
o
f
v
eh
i
cle
tr
ac
k
in
g
d
e
v
ices
ex
is
t.
T
y
p
ically
th
e
y
ar
e
class
if
ied
a
s
"p
ass
iv
e"
an
d
"a
ctiv
e"
.
"Pass
iv
e"
d
ev
ices
s
to
r
e
GPS
lo
ca
ti
o
n
,
s
p
ee
d
,
h
ea
d
in
g
an
d
s
o
m
etim
es
a
tr
ig
g
er
ev
en
t
s
u
ch
as
k
ey
o
n
/o
f
f
,
d
o
o
r
o
p
en
/cl
o
s
ed
.
On
ce
th
e
v
eh
icle
r
etu
r
n
s
to
a
p
r
ed
eter
m
in
e
d
p
o
i
n
t
,
th
e
d
ev
i
ce
is
r
em
o
v
ed
an
d
t
h
e
d
ata
d
o
wn
lo
ad
ed
to
a
c
o
m
p
u
ter
f
o
r
ev
alu
atio
n
.
Pas
s
iv
e
s
y
s
tem
s
in
clu
d
e
au
to
d
o
wn
lo
ad
ty
p
e
th
at
tr
an
s
f
er
d
ata
v
ia
wir
eless
d
o
wn
lo
ad
.
"Ac
tiv
e"
d
ev
ices
also
co
llect
th
e
s
am
e
in
f
o
r
m
atio
n
b
u
t
u
s
u
ally
tr
an
s
m
it
th
e
d
ata
in
n
ea
r
-
r
ea
l
-
tim
e
v
ia
ce
llu
lar
o
r
s
ate
llit
e
n
etwo
r
k
s
to
a
co
m
p
u
ter
o
r
d
ata
ce
n
ter
f
o
r
ev
alu
atio
n
.
Ma
n
y
m
o
d
er
n
v
e
h
icle
tr
ac
k
in
g
d
ev
ices
co
m
b
i
n
e
b
o
th
ac
tiv
e
an
d
p
ass
iv
e
tr
ac
k
in
g
ab
ilit
ies
wh
e
n
a
ce
llu
lar
n
etwo
r
k
is
av
ailab
le
an
d
a
tr
ac
k
in
g
d
ev
ice
is
co
n
n
ec
ted
it
tr
an
s
m
i
t
s
d
ata
to
a
s
e
r
v
er
;
w
h
en
a
n
etw
o
r
k
is
n
o
t
av
aila
b
le
th
e
d
ev
ice
s
to
r
es
d
ata
in
in
ter
n
al
m
em
o
r
y
an
d
will
tr
an
s
m
it
s
to
r
ed
d
ata
to
th
e
s
er
v
er
later
wh
en
th
e
n
etwo
r
k
b
ec
o
m
es a
v
ailab
le
ag
ain
.
Fig
u
r
e
1
0
s
h
o
ws th
e
GPS s
y
s
tem
.
Ma
jo
r
co
n
s
titu
en
ts
o
f
th
e
GPS
-
b
ased
t
r
ac
k
in
g
ar
e:
a.
GPS
tr
ac
k
in
g
:
T
h
e
d
ev
ice
f
its
in
to
th
e
v
eh
icle
a
n
d
ca
p
tu
r
es
th
e
GPS
lo
ca
tio
n
in
f
o
r
m
atio
n
ap
ar
t
f
r
o
m
o
th
er
v
eh
icle
in
f
o
r
m
atio
n
at
r
eg
u
lar
in
ter
v
als
to
a
ce
n
tr
al
s
er
v
er
.
Oth
er
v
eh
icle
in
f
o
r
m
atio
n
ca
n
in
clu
d
e
f
u
el
am
o
u
n
t,
e
n
g
in
e
t
em
p
er
atu
r
e,
alt
i
tu
d
e
,
r
ev
er
s
e
g
eo
co
d
i
n
g
,
d
o
o
r
o
p
en
/clo
s
e,
t
ir
e
p
r
ess
u
r
e,
cu
t
o
f
f
f
u
el,
tu
r
n
o
f
f
i
g
n
itio
n
,
tu
r
n
o
n
h
ea
d
lig
h
t,
t
u
r
n
o
n
tai
llig
h
t,
b
atter
y
s
tatu
s
,
GSM
ar
ea
co
d
e/ce
ll
co
d
e
d
ec
o
d
e
d
,
n
u
m
b
er
o
f
GPS
s
atell
ites
in
v
iew,
g
lass
o
p
en
/clo
s
e,
f
u
el
am
o
u
n
t,
em
e
r
g
en
cy
b
u
t
t
o
n
s
tatu
s
,
cu
m
u
la
tiv
e
id
lin
g
,
co
m
p
u
ted
o
d
o
m
eter
,
en
g
in
e
R
PM,
th
r
o
ttle
p
o
s
itio
n
,
GPR
S
s
tatu
s
an
d
a
lo
t
m
o
r
e.
C
ap
ab
ilit
y
o
f
th
ese
d
e
v
ices
ac
tu
ally
d
ec
id
e
th
e
f
in
al
ca
p
ab
ilit
y
o
f
t
h
e
wh
o
le
t
r
ac
k
i
n
g
s
y
s
tem
;
m
o
s
t
v
eh
icle
tr
ac
k
in
g
s
y
s
tem
s
,
in
ad
d
itio
n
to
p
r
o
v
id
i
n
g
th
e
v
eh
icle'
s
lo
ca
tio
n
d
ata,
f
ea
t
u
r
e
a
wid
e
r
an
g
e
o
f
co
m
m
u
n
icatio
n
p
o
r
ts
th
at
ca
n
b
e
u
s
ed
to
in
teg
r
ate
o
th
er
o
n
b
o
a
r
d
s
y
s
tem
s
,
allo
win
g
to
ch
ec
k
th
eir
s
tatu
s
an
d
co
n
tr
o
l o
r
a
u
to
m
ate
th
eir
o
p
e
r
atio
n
.
b.
GPS
tr
ac
k
in
g
s
er
v
er
:
T
h
e
tr
ac
k
in
g
s
er
v
er
h
as
th
r
ee
r
e
s
p
o
n
s
ib
ilit
ies:
r
ec
eiv
in
g
d
ata
f
r
o
m
th
e
GPS
tr
ac
k
in
g
u
n
it,
s
ec
u
r
ely
s
to
r
in
g
it,
an
d
s
er
v
in
g
th
is
in
f
o
r
m
atio
n
o
n
d
em
an
d
to
th
e
u
s
er
.
c.
User
in
ter
f
ac
e:
T
h
e
UI
d
eter
m
in
es
h
o
w
o
n
e
will
b
e
ab
le
to
a
cc
ess
in
f
o
r
m
atio
n
,
v
iew
v
eh
icle
d
ata,
an
d
elicit
im
p
o
r
tan
t
d
etai
l
s
f
r
o
m
it.GT
0
2
is
a
ex
q
u
is
ite
an
d
p
o
wer
f
u
l
GPS/
GSM
/GP
R
S
v
eh
i
cle
tr
ac
k
er
,
f
o
cu
s
in
g
o
n
th
e
f
ea
tu
r
es
o
f
v
eh
icles.
W
ith
th
e
ch
ar
ac
ter
is
ti
cs
o
f
f
r
ee
m
ain
ten
an
ce
an
d
s
tr
o
n
g
s
ig
n
a
l
s
tr
en
g
th
,
it
is
u
ltra
-
th
in
an
d
ea
s
y
to
in
s
tall.
T
h
e
b
u
ilt
-
in
h
ig
h
-
s
en
s
itiv
ity
SiR
F
I
I
I
GP
S
ch
ip
an
d
an
ten
n
a
g
r
an
t
GT
0
2
t
h
e
ab
ili
ty
o
f
q
u
ick
p
o
s
itio
n
in
g
e
v
en
in
th
e
m
etr
o
p
o
litan
ar
ea
s
.
T
h
e
u
s
er
ca
n
ch
ec
k
its
p
o
s
itio
n
an
d
r
o
u
te
t
h
r
o
u
g
h
n
etwo
r
k
o
r
m
o
b
ile.
GT
0
2
ac
tiv
ates
in
tellig
en
t
wo
r
k
in
g
m
eth
o
d
,
wh
ich
en
ab
les
r
em
o
te
co
n
t
r
o
l
an
d
m
o
n
ito
r
p
r
eser
v
atio
n
with
o
u
t
an
y
o
p
e
r
atio
n
af
ter
in
s
tallatio
n
.
I
t is d
ef
in
itely
a
m
ain
ten
a
n
ce
f
r
ee
in
tellig
en
t p
o
s
itio
n
in
g
ter
m
in
al.
Fig
u
r
e
1
0
.
GPS s
y
s
tem
R
ad
io
co
n
tr
o
l (
o
f
te
n
ab
b
r
e
v
iated
to
R
/C
o
r
s
im
p
ly
R
C
s
h
o
wn
in
Fig
u
r
e
11
)
is
th
e
u
s
e
o
f
r
a
d
io
s
ig
n
als
t
o
r
em
o
tely
c
o
n
tr
o
l
a
d
ev
ice.
R
ad
io
co
n
tr
o
l
is
u
s
ed
f
o
r
c
o
n
tr
o
l
o
f
m
o
d
el
v
eh
icles
f
r
o
m
a
h
an
d
-
h
eld
r
a
d
io
tr
an
s
m
itter
.
I
n
d
u
s
tr
ial,
m
ilit
ar
y
,
an
d
s
cien
tific
r
esear
c
h
o
r
g
a
n
izatio
n
s
m
ak
e
u
s
e
o
f
r
ad
io
-
c
o
n
tr
o
lled
v
eh
icles
as
well.
R
em
o
te
co
n
tr
o
l
m
ilit
ar
y
ap
p
lica
t
io
n
s
ar
e
ty
p
ically
n
o
t
r
ad
io
c
o
n
tr
o
l
in
th
e
d
ir
ec
t
s
en
s
e,
d
ir
ec
tly
o
p
er
atin
g
f
lig
h
t
co
n
t
r
o
l
s
u
r
f
ac
es
an
d
p
r
o
p
u
ls
io
n
p
o
wer
s
ettin
g
s
,
b
u
t
in
s
tead
tak
e
th
e
f
o
r
m
o
f
in
s
tr
u
ctio
n
s
s
en
t
to
a
co
m
p
letely
au
to
n
o
m
o
u
s
,
co
m
p
u
ter
ized
au
to
m
atic
p
ilo
t.
I
n
s
tead
o
f
a
"tu
r
n
lef
t"
s
ig
n
al
th
at
i
s
ap
p
lied
u
n
til
th
e
air
cr
af
t
is
f
l
y
in
g
i
n
th
e
r
ig
h
t
d
ir
ec
tio
n
,
th
e
s
y
s
tem
s
en
d
s
a
s
in
g
le
in
s
tr
u
ctio
n
th
at
s
ay
s
"f
ly
to
th
is
p
o
in
t".
So
m
e
o
f
th
e
m
o
s
t
o
u
ts
tan
d
in
g
ex
am
p
les
o
f
r
em
o
te
r
a
d
io
co
n
tr
o
l
o
f
a
v
eh
icle
ar
e
th
e
Ma
r
s
E
x
p
lo
r
atio
n
R
o
v
e
r
s
s
u
ch
as So
jo
u
r
n
e
r
.
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tly
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ed
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ce
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b
atter
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e
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s
in
ce
th
e
c
u
r
r
e
n
t
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e
q
u
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em
en
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lo
w
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ea
tly
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an
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ig
h
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o
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atter
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elim
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ated
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n
b
o
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b
e
an
d
ea
r
ly
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an
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ets
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m
o
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el
'
s
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n
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o
l
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r
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ac
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e
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s
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ally
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p
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en
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a
r
u
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b
er
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win
g
s
im
p
le
o
n
/o
f
f
r
u
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d
er
co
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o
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ig
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t,
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ee
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d
s
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ilit
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ad
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en
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o
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Mu
lti
-
ch
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e
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o
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ticu
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e
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af
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ich
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ea
lly
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ee
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e
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a
m
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im
u
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o
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ee
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o
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aw,
p
itch
an
d
m
o
to
r
s
p
e
ed
)
,
as
o
p
p
o
s
ed
to
b
o
ats,
wh
ich
r
eq
u
ir
ed
o
n
ly
t
wo
o
r
o
n
e.
As
th
e
elec
tr
o
n
ics
r
ev
o
lu
t
i
o
n
to
o
k
o
f
f
,
s
in
g
l
e
-
s
ig
n
al
ch
an
n
el
cir
cu
it
d
esig
n
b
ec
am
e
r
ed
u
n
d
an
t,
a
n
d
in
s
tead
r
a
d
io
s
p
r
o
v
id
ed
p
r
o
p
o
r
tio
n
ally
c
o
d
ed
s
ig
n
al
s
tr
ea
m
s
wh
ich
a
s
er
v
o
m
ec
h
an
is
m
co
u
ld
in
ter
p
r
et,
u
s
in
g
p
u
ls
e
-
p
o
s
itio
n
m
o
d
u
latio
n
(
PP
M)
.
Mo
r
e
r
ec
en
tl
y
,
h
i
g
h
-
e
n
d
h
o
b
b
y
s
y
s
tem
s
u
s
in
g
P
u
l
s
e
-
co
d
e
m
o
d
u
lati
o
n
(
PC
M)
f
ea
tu
r
es
h
av
e
co
m
e
o
n
th
e
m
ar
k
et
th
at
p
r
o
v
id
e
a
co
m
p
u
ter
ize
d
d
ig
ital
b
it
-
s
tr
ea
m
s
ig
n
al
to
t
h
e
r
ec
eiv
in
g
d
e
v
ice,
in
s
tead
o
f
th
e
ea
r
lier
PP
M
en
co
d
in
g
ty
p
e.
Ho
wev
e
r
,
e
v
en
with
th
is
co
d
in
g
,
l
o
s
s
o
f
tr
a
n
s
m
is
s
io
n
d
u
r
in
g
f
lig
h
t
h
as
b
e
c
o
m
e
m
o
r
e
c
o
m
m
o
n
,
i
n
p
a
r
t
b
ec
au
s
e
o
f
th
e
ev
e
r
m
o
r
e
wir
eless
s
o
ciety
.
So
m
e
m
o
r
e
m
o
d
e
r
n
FM
-
s
ig
n
al
r
ec
eiv
er
s
th
at
s
til
l
u
s
e
"P
PM"
en
co
d
in
g
in
s
tead
ca
n
,
th
an
k
s
to
th
e
u
s
e
o
f
m
o
r
e
a
d
v
an
ce
d
c
o
m
p
u
ter
ch
i
p
s
in
th
e
m
,
b
e
m
ad
e
to
lo
ck
o
n
t
o
an
d
u
s
e
th
e
in
d
iv
id
u
al
s
ig
n
a
l
ch
ar
ac
ter
is
tics
o
f
a
p
a
r
ticu
lar
PP
M
-
ty
p
e
R
C
tr
an
s
m
itter
's
em
is
s
io
n
s
alo
n
e,
with
o
u
t
n
ee
d
in
g
a
s
p
ec
ial
"c
o
d
e"
tr
an
s
m
itted
alo
n
g
wit
h
th
e
co
n
tr
o
l
in
f
o
r
m
atio
n
as
PC
M
en
co
d
in
g
h
as
alwa
y
s
r
eq
u
ir
ed
.
Fig
u
r
e
12
d
is
p
lay
th
e
co
m
p
lete
p
r
o
t
o
ty
p
e
an
d
Fig
u
r
e
1
3
s
h
o
ws t
h
e
b
ase
s
tatio
n
.
I
n
th
e
e
ar
ly
2
1
s
t
ce
n
tu
r
y
,
2
.
4
g
ig
a
h
er
tz
s
p
r
ea
d
s
p
ec
tr
u
m
R
C
co
n
tr
o
l
s
y
s
tem
s
h
av
e
b
ec
o
m
e
in
cr
ea
s
in
g
ly
u
tili
ze
d
in
c
o
n
tr
o
l
o
f
m
o
d
el
v
eh
icles
an
d
air
cr
a
f
t.
No
w,
th
ese
2
.
4
GHz
s
y
s
tem
s
ar
e
b
ein
g
m
a
d
e
b
y
m
o
s
t
r
ad
io
m
an
u
f
ac
t
u
r
er
s
.
T
h
ese
r
ad
io
s
y
s
t
em
s
r
an
g
e
f
r
o
m
a
co
u
p
le
th
o
u
s
an
d
d
o
llar
s
,
a
ll
th
e
way
d
o
wn
to
u
n
d
er
US$
3
0
f
o
r
s
o
m
e.
So
m
e
m
an
u
f
ac
tu
r
e
r
s
ev
en
o
f
f
er
co
n
v
er
s
io
n
k
its
f
o
r
o
ld
er
d
ig
ital
7
2
MH
z
r
ec
eiv
er
s
an
d
r
ad
io
s
.
As
th
e
em
er
g
in
g
m
u
ltit
u
d
e
o
f
2
.
4
GHz
b
a
n
d
s
p
r
ea
d
s
p
ec
tr
u
m
R
C
s
y
s
tem
s
u
s
u
ally
u
s
e
a
"f
r
eq
u
en
c
y
-
ag
ile"
m
o
d
e
o
f
o
p
er
atio
n
s
,
lik
e
FHSS
th
at
d
o
n
o
t
s
tay
o
n
o
n
e
s
et
f
r
eq
u
en
cy
an
y
lo
n
g
e
r
wh
ile
in
u
s
e,
th
e
o
ld
er
"e
x
clu
s
iv
e
u
s
e"
p
r
o
v
is
io
n
s
at
m
o
d
el
f
ly
in
g
s
ites
n
ee
d
ed
f
o
r
VHF
-
b
an
d
R
C
co
n
tr
o
l
s
y
s
tem
s
's
f
r
eq
u
e
n
cy
co
n
t
r
o
l,
f
o
r
VHF
-
b
an
d
R
C
s
y
s
te
m
s
th
at
o
n
ly
u
s
ed
o
n
e
s
et
f
r
eq
u
e
n
cy
u
n
less
s
e
r
v
iced
to
ch
an
g
e
it,
ar
e
n
o
t a
s
m
an
d
ato
r
y
as b
ef
o
r
e
.
Fig
u
r
e
1
1
.
R
C
tr
an
s
m
itter
an
d
r
ec
eiv
er
Fig
u
r
e
1
2
.
Har
d
war
e
s
n
ap
s
h
o
t
(
Qu
ad
ac
o
p
ter
)
Fig
u
r
e
13
.
B
ase
s
tatio
n
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