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2.
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a.
T
h
er
e
is
a
n
L
C
D
d
is
p
lay
wh
ic
h
is
u
s
ed
to
d
is
p
lay
“Z
ig
b
ee
tr
an
s
m
itter
”
an
d
o
th
er
s
tatu
s
in
f
o
r
m
atio
n
.
T
h
e
p
o
wer
s
u
p
p
ly
u
n
it
co
n
s
is
ts
o
f
b
r
id
g
e
r
ec
tifie
r
an
d
v
o
ltag
e
r
eg
u
lato
r
wh
ic
h
g
iv
es
+5
V
an
d
+1
2
Vsu
p
p
ly
.
2
.
2
.
Rec
eiv
er
s
ec
t
io
n
T
h
e
in
f
o
r
m
atio
n
r
ec
eiv
e
d
f
r
o
m
tr
an
s
m
itter
u
s
in
g
Z
ig
b
ee
r
e
ce
iv
er
is
g
iv
en
to
m
icr
o
c
o
n
tr
o
ller
th
r
o
u
g
h
I
C
MA
X2
3
2
wh
ich
is
u
s
ed
to
co
n
v
er
t
R
S2
3
2
v
o
ltag
e
lev
els
in
to
T
T
L
v
o
ltag
e
lev
el
an
d
v
ice
v
er
s
a.
R
S
2
3
2
is
a
v
o
ltag
e
co
n
v
er
ter
u
s
ed
f
o
r
m
a
k
in
g
co
m
m
u
n
icatio
n
b
etwe
en
th
e
m
aster
an
d
s
lav
e
co
m
p
atib
le
.
A
wir
eles
s
ca
m
er
a
is
m
o
u
n
ted
o
n
th
e
s
tep
p
er
m
o
to
r
s
o
th
at
it
ca
n
r
o
tate
to
s
ee
ar
o
u
n
d
.
T
h
e
r
e
is
a
L
C
D
d
is
p
lay
wh
ich
is
u
s
ed
to
d
is
p
lay
“Z
ig
b
ee
r
ec
ei
v
er
”
an
d
o
th
er
s
tatu
s
in
f
o
r
m
atio
n
.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
am
o
f
tr
a
n
s
m
itter
s
ec
tio
n
Step
p
er
m
o
to
r
is
co
n
n
ec
te
d
to
m
icr
o
co
n
t
r
o
ller
,
an
d
will
r
o
tate
co
n
tin
u
o
u
s
ly
.
T
wo
DC
m
o
to
r
s
ar
e
u
s
ed
,
o
n
e
is
f
o
r
th
e
f
o
r
war
d
an
d
b
ac
k
war
d
m
o
v
e
m
en
t,
th
e
o
th
er
o
n
e
is
u
s
ed
to
m
o
v
e
lef
t
an
d
r
ig
h
t.
T
h
e
I
C
UL
N2
8
0
3
is
u
s
ed
as
d
r
iv
er
I
C
,
s
in
ce
s
tep
p
e
r
m
o
to
r
an
d
DC
m
o
to
r
r
eq
u
ir
es
lar
g
e
d
r
iv
e
c
u
r
r
e
n
t
wh
ich
is
n
o
t
p
r
o
v
i
d
ed
b
y
th
e
m
icr
o
co
n
tr
o
ller
.
T
h
e
r
ef
o
r
e
,
UL
N2
8
0
3
is
u
s
ed
to
p
r
o
v
id
e
l
ar
g
e
d
r
i
v
e
cu
r
r
en
t.
T
h
e
p
o
wer
s
u
p
p
ly
u
n
it
co
n
s
is
ts
o
f
b
r
i
d
g
e
r
ec
tifie
r
an
d
v
o
lt
ag
e
r
eg
u
lato
r
w
h
ich
g
iv
es
+5
V
an
d
+
1
2
Vsu
p
p
l
y
.
Fig
u
r
e
2
s
h
o
ws th
e
b
lo
ck
d
iag
r
am
o
f
r
ec
eiv
er
s
ec
tio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Reco
n
f
ig
u
r
a
b
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4
8
6
4
Desig
n
a
n
d
d
ev
elo
p
men
t
o
f c
o
mb
a
t ro
b
o
t fo
r
milita
r
y
a
p
p
lic
a
tio
n
s
(
R
a
ju
H
a
ja
r
e
)
127
Fig
u
r
e
2
.
B
lo
ck
d
iag
r
am
o
f
r
e
ce
iv
er
s
ec
tio
n
3.
H
ARDWA
R
E
DE
SI
G
N
D
E
T
AI
L
S
3
.
1
.
M
icro
co
ntr
o
ller
AT
8
9
S5
2
Th
e
A
T8
9
S
5
2
is
a
lo
w
-
p
o
w
er,
h
ig
h
-
p
erfo
r
ma
n
ce
C
MO
S 8
-
b
it m
icr
o
co
m
p
u
ter
with
8
K
b
y
te
s
o
f
Flas
h
p
r
o
g
r
a
m
m
ab
le
an
d
er
asab
le
r
e
ad
o
n
ly
m
em
o
r
y
(
PEROM)
.
T
h
e
o
n
-
ch
ip
Flas
h
allo
ws
th
e
p
r
o
g
r
am
m
em
o
r
y
to
b
e
r
ep
r
o
g
r
am
m
ed
in
-
s
y
s
tem
o
r
b
y
a
co
n
v
en
tio
n
al
n
o
n
v
o
latile
m
em
o
r
y
p
r
o
g
r
am
m
er
.
B
y
co
m
b
in
in
g
a
v
er
s
atile
8
-
b
it
C
PU w
i
th
Flas
h
o
n
a
m
o
n
o
lith
ic
ch
ip
,
th
e
Atm
el
AT
8
9
S5
2
is
a
p
o
wer
f
u
l m
icr
o
co
m
p
u
ter
wh
ich
p
r
o
v
i
d
es
a
h
ig
h
ly
-
f
lex
ib
le
an
d
co
s
t
-
ef
f
e
ctiv
e
s
o
lu
tio
n
to
m
a
n
y
em
b
ed
d
ed
co
n
tr
o
l a
p
p
licatio
n
s
[
7
].
3
.
2
.
DC
m
o
t
o
r
T
h
e
DC
m
o
to
r
co
m
m
o
n
ly
co
n
s
is
t
s
o
f
ax
le,
ar
m
atu
r
e
o
r
r
o
to
r
,
co
m
m
u
tato
r
,
s
tato
r
,
f
ield
m
a
g
n
ets
an
d
b
r
u
s
h
es.
I
t
is
p
lace
d
in
an
e
x
ter
n
al
m
ag
n
etic
f
ield
g
en
er
ated
b
y
a
p
er
m
a
n
en
t
m
a
g
n
et
.
T
h
e
s
tato
r
is
th
e
s
tatio
n
ar
y
p
ar
t
o
f
th
e
m
o
to
r
w
h
ich
in
clu
d
es
th
e
m
o
to
r
ca
s
in
g
,
as
well
as
two
o
r
m
o
r
e
p
er
m
an
en
t
m
ag
n
et
p
o
l
e
p
iece
s
.
T
h
e
r
o
to
r
(
to
g
eth
er
w
ith
th
e
ax
le
an
d
attac
h
ed
co
m
m
u
tato
r
)
r
o
tates
with
r
esp
ec
t
to
th
e
s
tato
r
.
T
h
e
r
o
to
r
c
o
n
s
is
ts
o
f
win
d
in
g
s
,
th
e
win
d
in
g
s
b
ein
g
elec
tr
ically
co
n
n
ec
ted
to
th
e
c
o
m
m
u
tat
o
r
.
W
h
en
cu
r
r
en
t
is
s
u
p
p
lied
to
b
r
u
s
h
es,
th
e
p
o
lar
i
ties
o
f
th
e
en
er
g
ize
d
win
d
i
n
g
an
d
th
e
s
tato
r
m
a
g
n
et(
s
)
a
r
e
m
is
alig
n
ed
,
an
d
th
e
r
o
to
r
will
r
o
tate
u
n
til
it
is
alm
o
s
t
alig
n
ed
with
th
e
s
tato
r
'
s
f
ield
m
ag
n
ets.
As
th
e
r
o
to
r
r
ea
ch
es
alig
n
m
en
t,
t
h
e
b
r
u
s
h
es m
o
v
e
to
th
e
n
ex
t c
o
m
m
u
tato
r
co
n
tacts,
an
d
en
e
r
g
ize
th
e
n
ex
t w
in
d
in
g
a
s
s
h
o
wn
i
n
Fig
u
r
e
3
.
Fig
u
r
e
3
.
DC
m
o
to
r
wo
r
k
i
n
g
p
r
in
cip
al
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
20
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
.
2
,
J
u
ly
2
0
2
0
:
125
–
1
3
2
128
3
.
3
.
Ste
pp
er
mo
t
o
r
A
Step
p
er
m
o
to
r
is
an
o
th
er
wid
ely
u
s
ed
d
ev
ice
th
at
tr
an
s
lates
elec
tr
ical
p
u
ls
es
in
to
m
ec
h
an
ical
m
o
v
em
en
t.
I
t
m
o
v
es
in
s
tep
s
co
m
p
ar
ed
t
o
DC
m
o
to
r
wh
ich
m
o
v
es
co
n
tin
u
o
u
s
ly
.
S
tep
p
er
m
o
to
r
s
co
n
s
is
t
o
f
a
p
er
m
an
en
t m
ag
n
et
r
o
tatin
g
s
h
af
t,
ca
lled
th
e
r
o
t
o
r
,
an
d
elec
tr
o
m
ag
n
ets
o
n
th
e
s
tatio
n
ar
y
p
o
r
tio
n
th
at
s
u
r
r
o
u
n
d
s
th
e
m
o
to
r
,
ca
lled
th
e
s
tato
r
.
Fi
g
u
r
e
4
illu
s
tr
ates o
n
e
co
m
p
lete
r
o
tatio
n
o
f
a
s
tep
p
er
m
o
to
r
.
Fig
u
r
e
4
.
Step
p
e
r
m
o
t
o
r
wo
r
k
in
g
p
r
i
n
cip
al
3
.
4
.
Rela
y
co
il
R
elay
is
an
elec
tr
o
m
ag
n
etica
ll
y
o
p
er
ate
d
s
witch
.
I
t
co
n
s
is
ts
o
f
a
co
il
wh
ic
h
is
o
b
tain
ed
b
y
wo
u
n
d
in
g
th
e
wir
e
an
d
an
elec
tr
o
-
m
a
g
n
etic
s
witch
.
W
h
en
a
cu
r
r
en
t
is
p
ass
ed
th
r
o
u
g
h
th
e
wir
e
wh
ic
h
is
wo
u
n
d
in
f
o
r
m
o
f
a
co
il a
n
elec
tr
o
-
m
a
g
n
etic
f
ield
is
d
ev
elo
p
ed
t
h
is
ac
ts
as a
tem
p
o
r
ar
y
m
ag
n
et
.
a.
W
h
en
r
elay
is
o
n
:
W
h
en
1
2
V
(
f
r
o
m
v
o
ltag
e
r
eg
u
lato
r
)
&
-
1
2
V
(
f
r
o
m
o
/p
o
f
UL
N2
8
0
3
)
is
ap
p
lied
to
th
e
c
o
il.
Ma
g
n
eti
c
f
ield
is
s
etu
p
ar
o
u
n
d
th
e
co
il
an
d
it
ac
ts
a
s
tem
p
o
r
ar
y
m
ag
n
e
t.
T
h
e
s
witch
i
s
p
u
lled
to
war
d
s
n
o
r
m
ally
o
p
en
&
elec
tr
ic
s
ig
n
al
is
o
b
tain
ed
.
b
.
W
h
en
r
elay
is
o
f
f
:
W
h
en
-
1
2
v
(
f
r
o
m
o
/p
o
f
UL
N
2
8
0
3
)
is
n
o
t
a
p
p
lied
to
th
e
c
o
i
l
.
Ma
g
n
etic
f
ield
is
n
o
t
s
etu
p
ar
o
u
n
d
th
e
co
il
an
d
it
d
o
esn
’
t
ac
ts
as
te
m
p
o
r
ar
y
m
a
g
n
et
.
T
h
e
s
witch
is
p
u
lled
to
war
d
s
n
o
r
m
ally
cl
o
s
ed
&
n
o
elec
tr
ic
s
ig
n
al
is
o
b
tain
ed
.
3
.
5
.
W
irele
s
s
A/V
ca
m
er
a
a
nd
re
ce
iv
er
W
ir
eles
s
A/V
ca
m
er
a
ca
p
tu
r
es
th
e
v
id
eo
an
d
au
d
io
in
its
s
u
r
r
o
u
n
d
in
g
s
an
d
tr
an
s
m
its
it
t
o
th
e
f
r
ee
s
p
ac
e
af
ter
m
o
d
u
latio
n
.
I
t
h
a
s
its
o
wn
b
u
ilt
in
cir
cu
itry
f
o
r
ca
p
tu
r
i
n
g
v
id
e
o
/au
d
io
a
n
d
tr
an
s
m
is
s
io
n
af
ter
m
o
d
u
latio
n
.
T
h
e
ca
m
er
a
c
o
n
t
ain
s
a
v
is
ib
le
len
s
f
o
r
v
id
eo
c
ap
tu
r
e,
a
p
o
wer
s
u
p
p
ly
c
h
o
r
d
an
d
an
an
te
n
n
a
f
o
r
tr
an
s
m
is
s
io
n
.
I
t
also
h
as
a
m
o
u
n
t
f
o
r
v
er
y
ea
s
y
attac
h
m
en
t.
T
h
e
r
ec
eiv
er
is
a
m
an
u
al
m
o
d
u
lated
wh
ic
h
r
ec
eiv
es
th
e
b
r
o
ad
ca
s
ted
A/V
s
ig
n
als
f
r
o
m
ca
m
e
r
a
th
r
o
u
g
h
its
an
ten
n
a
an
d
ex
tr
ac
ts
th
e
o
r
ig
in
al
s
ig
n
als
i
f
tu
n
ed
p
r
o
p
e
r
ly
.
3
.
6
.
T
V
t
un
er
ca
rd
T
V
tu
n
er
ca
r
d
is
a
co
m
p
letio
n
p
ar
t
o
f
th
e
ca
m
e
r
a
an
d
r
ec
eiv
er
u
n
it
s
o
th
at
v
iews
wh
er
e
th
e
r
o
b
o
t
ca
r
is
ca
n
b
e
s
ee
n
o
n
c
o
m
p
u
ter
’
s
m
o
n
ito
r
.
T
u
n
er
ca
r
d
n
ee
d
s
to
b
e
m
o
u
n
ted
o
n
m
ain
b
o
a
r
d
o
f
c
o
m
p
u
ter
an
d
r
elate
d
s
o
f
twar
e
p
r
o
g
r
am
n
ee
d
s
to
b
e
in
s
talled
to
co
m
p
u
t
er
.
3
.
7
.
Z
ig
bee
t
ra
ns
ce
iv
er
Z
ig
b
ee
is
th
e
n
a
m
e
o
f
a
s
p
ec
if
icatio
n
f
o
r
a
s
u
ite
o
f
h
ig
h
-
le
v
e
l
co
m
m
u
n
icatio
n
p
r
o
to
co
ls
b
a
s
ed
o
n
th
e
I
E
E
E
8
0
2
.
1
5
.
4
s
tan
d
ar
d
f
o
r
wir
eless
p
er
s
o
n
al
ar
ea
n
etwo
r
k
s
(
W
PAN
s
)
,
s
u
ch
as
wir
eless
h
ea
d
p
h
o
n
es
co
n
n
ec
tin
g
with
ce
ll
p
h
o
n
es
v
ia
s
h
o
r
t
-
r
a
n
g
e
r
ad
io
[
8
].
T
h
e
t
ec
h
n
o
lo
g
y
is
in
ten
d
e
d
to
b
e
s
im
p
ler
a
n
d
ch
ea
p
er
th
an
o
th
er
W
PANs
,
s
u
ch
as B
l
u
eto
o
th
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Reco
n
f
ig
u
r
a
b
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4
8
6
4
Desig
n
a
n
d
d
ev
elo
p
men
t
o
f c
o
mb
a
t ro
b
o
t fo
r
milita
r
y
a
p
p
lic
a
tio
n
s
(
R
a
ju
H
a
ja
r
e
)
129
3
.
8
.
RF
j
a
m
m
er
J
am
m
in
g
s
tatio
n
is
u
s
ed
f
o
r
ja
m
m
in
g
t
h
e
ter
r
o
r
is
t
co
m
m
u
n
i
ca
tio
n
.
J
am
m
er
s
b
lo
ck
ce
ll
p
h
o
n
e
u
s
e
b
y
s
en
d
in
g
o
u
t
r
a
d
io
wa
v
es
alo
n
g
th
e
s
am
e
f
r
eq
u
en
cies
th
at
ce
ll
u
lar
p
h
o
n
es u
s
e.
T
h
is
ca
u
s
es
en
o
u
g
h
in
ter
f
er
en
ce
with
th
e
co
m
m
u
n
icatio
n
b
etw
ee
n
ce
ll p
h
o
n
es a
n
d
to
we
r
s
to
r
en
d
er
t
h
e
p
h
o
n
es u
n
u
s
ab
le.
3
.
9
.
G
a
s
cy
li
nd
er
T
h
e
g
as
cy
lin
d
e
r
c
o
n
s
is
ts
o
f
ch
em
icals.
T
h
e
g
as
cy
lin
d
er
wi
ll
b
e
o
p
e
n
ed
b
y
r
o
b
o
t
o
n
r
ec
eiv
in
g
co
m
m
an
d
s
f
r
o
m
co
n
tr
o
l
r
o
o
m
th
r
o
u
g
h
zig
b
ee
.
T
h
e
ter
r
o
r
is
t
g
o
es
to
u
n
co
n
s
cio
u
s
co
n
d
itio
n
t
h
en
th
e
co
m
m
an
d
o
s
ca
n
s
u
r
r
o
u
n
d
th
e
ar
ea
an
d
ca
p
tu
r
e
t
h
e
ter
r
o
r
is
t.
No
r
m
ally
ch
e
m
ical
g
ase
s
lik
e
C
h
lo
r
o
f
o
r
m
,
C
ar
b
o
n
m
o
n
o
x
id
e
o
r
Me
th
an
e
ca
n
b
e
u
s
ed
.
4.
SO
F
T
WAR
E
D
E
SI
G
N
A
s
im
p
ler
way
o
f
u
n
d
er
s
tan
d
i
n
g
an
y
s
o
u
r
ce
co
d
e
is
b
y
g
o
in
g
th
r
o
u
g
h
th
e
f
lo
wch
ar
t
o
r
th
e
alg
o
r
ith
m
o
f
th
e
co
d
e.
T
h
is
ch
ap
ter
ex
p
l
ain
s
th
e
p
r
o
ject
with
th
e
h
elp
o
f
a
p
s
eu
d
o
co
d
e.
i.e
.
f
lo
wch
ar
t.
4
.
1
.
T
ra
ns
m
it
t
er
s
ide f
lo
w
ch
a
rt
Fig
u
r
e
5
s
h
o
ws th
e
f
l
o
w
ch
ar
t
o
f
tr
an
s
m
itter
s
ec
tio
n
.
Fig
u
r
e
5
.
Flo
w
ch
a
r
t o
f
tr
a
n
s
m
itter
s
ec
tio
n
4
.
2
.
Rec
eiv
er
s
ide f
lo
w
cha
rt
:
Fig
u
r
e
6
illu
s
tr
ates
th
e
f
lo
w
ch
ar
t o
f
r
ec
eiv
e
r
s
ec
tio
n
.
Fig
u
r
e
6
.
Flo
w
ch
a
r
t o
f
r
ec
eiv
er
s
ec
tio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
20
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
.
2
,
J
u
ly
2
0
2
0
:
125
–
1
3
2
130
4
.
3
.
Seria
l c
o
mm
un
ica
t
io
n f
lo
w
cha
rt
Fig
u
r
e
7
p
r
esen
ts
th
e
f
lo
w
ch
a
r
t f
o
r
s
er
ial
co
m
m
u
n
icatio
n
.
Fig
u
r
e
7
.
F
lo
w
ch
a
r
t f
o
r
s
er
ial
co
m
m
u
n
icatio
n
4
.
4
.
µV
is
io
n K
eil
µV
is
io
n
Keil
p
r
o
v
id
es
I
DE
f
o
r
8
0
5
1
p
r
o
g
r
am
m
in
g
[
8
-
1
1
]
a
n
d
is
v
er
y
ea
s
y
to
u
s
e.
W
h
en
s
tar
tin
g
a
n
ew
p
r
o
ject,
s
im
p
ly
s
elec
t
th
e
m
icr
o
co
n
tr
o
ller
y
o
u
u
s
e
f
r
o
m
th
e
Dev
ice
Data
b
ase
an
d
th
e
µ
Vis
io
n
I
DE
s
ets
all
C
o
m
p
iler
,
Ass
em
b
ler
,
L
in
k
er
,
an
d
Me
m
o
r
y
o
p
tio
n
s
.
I
ts
d
ev
ice
d
atab
ase
is
lar
g
e
wh
ich
s
u
p
p
o
r
ts
m
an
y
I
C
s
o
f
th
e
8
0
5
1
f
a
m
i
ly
.
A
HE
X
f
ile
ca
n
b
e
cr
ea
ted
with
th
e
h
elp
o
f
Keil
wh
ich
is
r
eq
u
ir
ed
f
o
r
b
u
r
n
in
g
o
n
to
ch
ip
.
I
t
h
as
a
p
o
wer
f
u
l
d
eb
u
g
g
in
g
to
o
l
wh
ich
d
etec
ts
m
o
s
t
o
f
th
e
er
r
o
r
s
in
th
e
p
r
o
g
r
am
,
w
o
r
k
in
g
with
µV
is
io
n
Keil
illu
s
tr
ated
in
Fig
u
r
e
8
.
4
.
5
.
µV
is
io
n IDE
T
h
e
µV
is
io
n
I
DE
c
o
m
b
in
es
p
r
o
ject
m
a
n
ag
em
e
n
t,
a
r
ich
-
f
ea
tu
r
e
d
ed
ito
r
with
in
ter
a
ctiv
e
er
r
o
r
co
r
r
ec
tio
n
,
o
p
tio
n
s
etu
p
,
m
ak
e
f
ac
ilit
y
,
an
d
o
n
-
lin
e
h
el
p
.
Use
µV
is
io
n
to
cr
ea
te
y
o
u
r
s
o
u
r
ce
f
iles
an
d
o
r
g
a
n
ize
th
em
in
to
a
p
r
o
ject
th
at
d
ef
in
e
s
y
o
u
r
tar
g
et
ap
p
licatio
n
.
Fig
u
r
e
8
.
W
o
r
k
i
n
g
with
µV
is
io
n
Keil
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Reco
n
f
ig
u
r
a
b
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4
8
6
4
Desig
n
a
n
d
d
ev
elo
p
men
t
o
f c
o
mb
a
t ro
b
o
t fo
r
milita
r
y
a
p
p
lic
a
tio
n
s
(
R
a
ju
H
a
ja
r
e
)
131
µV
is
io
n
au
to
m
atica
lly
co
m
p
iles
,
ass
em
b
les,
an
d
lin
k
s
y
o
u
r
em
b
ed
d
ed
ap
p
licatio
n
an
d
p
r
o
v
id
es
a
s
in
g
le
f
o
ca
l p
o
i
n
t f
o
r
y
o
u
r
d
e
v
elo
p
m
en
t e
f
f
o
r
ts
.
4
.
6
.
Co
m
pil
er
&
m
a
cr
o
a
s
s
em
bler
So
u
r
ce
f
iles
ar
e
cr
ea
ted
b
y
t
h
e
µV
is
io
n
I
DE
an
d
a
r
e
p
ass
ed
t
o
th
e
C
C
o
m
p
iler
o
r
Ma
cr
o
A
s
s
em
b
ler
.
T
h
e
co
m
p
iler
an
d
ass
em
b
ler
p
r
o
ce
s
s
s
o
u
r
ce
f
iles
an
d
cr
ea
te
r
e
lo
ca
tab
le
o
b
ject
f
iles
.
T
h
e
Keil
µV
is
io
n
d
ev
elo
p
m
en
t
to
o
ls
.
µV
is
io
n
co
n
tai
n
s
m
an
y
u
s
ef
u
l
s
am
p
le
p
r
o
g
r
am
s
an
d
d
etailed
in
f
o
r
m
atio
n
o
n
h
o
w
to
cr
ea
te
ap
p
licatio
n
s
u
s
in
g
th
ese
to
o
l c
h
ain
s
.
5.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
NS
5
.
1
.
E
x
perim
ent
a
l
s
et
-
up
o
f
co
m
ba
t
r
o
bo
t
On
ce
th
e
cir
cu
it
is
r
ig
u
p
a
n
d
p
o
wer
is
ap
p
lied
th
r
o
u
g
h
p
o
w
er
s
u
p
p
lies
,
b
o
th
tr
a
n
s
m
itter
an
d
r
ec
eiv
er
L
C
D
s
cr
ee
n
is
s
witch
ed
o
n
.
I
f
“d
1
o
n
”
s
witch
is
p
r
ess
ed
in
t
h
e
tr
a
n
s
m
itter
th
e
r
o
b
o
t
m
o
v
es
f
o
r
war
d
o
n
r
ec
eiv
in
g
th
e
co
m
m
a
n
d
s
th
r
o
u
g
h
zig
b
ee
an
d
wh
en
“d
1
o
f
f
”
s
witch
is
p
r
ess
ed
it
s
to
p
s
.
Si
m
ilar
ly
,
wh
en
o
th
e
r
s
witch
es
ar
e
p
r
ess
ed
co
r
r
esp
o
n
d
in
g
m
o
v
e
m
en
ts
ar
e
in
itiated
.
T
h
e
d
3
s
witch
i
s
u
s
ed
to
co
n
tr
o
l
th
e
g
as
cy
lin
d
er
.
W
h
en
“d
3
o
n
”
is
p
r
e
s
s
ed
th
e
g
as
is
r
elea
s
ed
a
n
d
o
n
p
r
ess
in
g
“d
3
o
f
f
”
s
witch
its
s
to
p
s
r
elea
s
in
g
g
as
J
am
m
in
g
s
tatio
n
co
n
tin
u
o
u
s
ly
jam
s
th
e
s
ig
n
al
with
in
its
r
an
g
e
an
d
wir
eless
ca
m
er
a
co
n
tin
u
o
u
s
ly
s
en
d
s
v
is
u
als to
co
n
tr
o
l
,
e
x
p
er
im
e
n
tal
s
et
-
u
p
o
f
o
u
r
c
o
m
b
at
r
o
b
o
t
i
llu
s
tr
ated
in
Fig
u
r
e
9
.
F
ig
u
r
e
9
.
E
x
p
er
im
e
n
tal
s
et
-
u
p
o
f
o
u
r
co
m
b
at
r
o
b
o
t
6.
F
UT
UR
E
SCO
P
E
O
F
T
H
E
P
RO
J
E
CT
I
n
o
r
d
e
r
to
p
r
o
tect
o
u
r
s
elv
es
b
etter
at
all
tim
es,
m
an
y
o
f
g
r
ea
test
tech
n
o
lo
g
ical
ac
h
iev
e
m
en
ts
wer
e
u
s
ed
in
itially
in
m
ilit
ar
y
c
o
n
te
x
t.
T
h
r
o
u
g
h
im
ag
e
p
r
o
ce
s
s
in
g
tech
n
iq
u
e
ev
en
d
ec
is
io
n
m
a
k
in
g
ca
n
b
e
m
a
d
e
b
y
r
o
b
o
t.
T
h
e
r
o
b
o
t
ca
n
b
e
f
u
r
th
e
r
ad
d
ed
with
th
e
f
ea
t
u
r
e
lik
e
o
b
s
tacle
d
etec
to
r
to
av
o
id
o
b
s
tacle
s
in
th
e
p
ath
o
f
th
e
r
o
b
o
t.
T
h
e
r
o
b
o
t
ca
n
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th
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o
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at
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lik
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lam
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b
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if
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u
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o
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d
if
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with
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p
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to
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ate
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ated
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CO
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at
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F
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FM
m
o
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latio
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ly
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ld
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[1
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P
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As
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,
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H
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o
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Fro
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p
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[3
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Y.
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rm
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D.W
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G
a
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,
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Cu
rre
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Tec
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Re
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Au
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7
t
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El
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Aer
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1
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4
.
[4
]
A.
Kh
a
m
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M
.
P
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rn
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c
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Re
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,
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[5
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Ay
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in
To
z
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Hu
ma
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B
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Dy
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[6
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S
tam
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to
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Ka
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Fu
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P
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Dre
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s Ne
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M
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Ke
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Th
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1
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9
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.
B
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o
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lec
tro
n
ics
a
n
d
NEM
S
.
He
h
a
s
P
u
b
l
ish
e
d
re
se
a
rc
h
p
a
p
e
rs
in
S
c
o
p
u
s
i
n
d
e
x
e
d
in
tern
a
ti
o
n
a
l
Jo
u
rn
a
ls
a
n
d
p
re
se
n
ted
p
a
p
e
rs
a
t
d
iffere
n
t
i
n
tern
a
ti
o
n
a
l
C
o
n
fe
re
n
c
e
s.
He
h
a
s
d
o
z
e
n
s
o
f
p
a
p
e
rs
in
IEE
E
c
o
n
fe
re
n
c
e
P
ro
c
e
e
d
in
g
s to
h
is cre
d
it
.
M
a
ll
ik
a
rju
n
a
G
o
wd
a
.
C
P
re
c
e
iv
e
d
BE,
i
n
El
e
c
tro
n
ics
a
n
d
Co
m
m
u
n
ica
ti
o
n
En
g
i
n
e
e
rin
g
fro
m
G
u
lb
a
rg
a
Un
i
v
e
rsity
,
I
n
d
ia.
He
d
id
h
is
M
.
E.
i
n
th
e
field
o
f
Co
m
m
u
n
ica
ti
o
n
E
n
g
i
n
e
e
rin
g
fr
o
m
Ja
d
a
v
p
u
r
Un
i
v
e
rsity
,
K
o
lk
a
ta.
Cu
rre
n
tl
y
P
u
rsu
in
g
P
h
.
D
i
n
t
h
e
a
re
a
o
f
Co
g
n
i
ti
v
e
Ra
d
io
Ne
two
r
k
s
fro
m
Visv
e
sv
a
ra
y
a
Tec
h
n
o
lo
g
ica
l
Un
iv
e
rsi
t
y
,
In
d
ia.
He
is
c
u
rre
n
tl
y
wo
r
k
in
g
a
s
a
n
As
so
c
iate
P
ro
fe
ss
o
r
i
n
th
e
d
e
p
a
rtme
n
t
o
f
El
e
c
tro
n
ics
a
n
d
Tele
c
o
m
m
u
n
ica
ti
o
n
En
g
in
e
e
rin
g
a
t
BM
S
In
sti
tu
te
o
f
Tec
h
n
o
lo
g
y
a
n
d
M
a
n
a
g
e
m
e
n
t,
Be
n
g
a
lu
r
u
.
His
a
re
a
s
o
f
in
tere
st
a
re
wire
les
s
c
o
m
m
u
n
ica
ti
o
n
,
Co
g
n
it
iv
e
ra
d
i
o
n
e
tw
o
rk
s
.
He
h
a
s
p
u
b
li
sh
e
d
re
se
a
rc
h
p
a
p
e
rs
in
p
e
e
r
re
v
iew
e
d
i
n
tern
a
ti
o
n
a
l
Jo
u
rn
a
ls
a
n
d
p
re
se
n
ted
p
a
p
e
rs
a
t
d
iffere
n
t
Na
ti
o
n
a
l
a
n
d
in
tern
a
ti
o
n
a
l
Co
n
fe
re
n
c
e
s,
He
re
v
iew
e
d
re
se
a
rc
h
p
a
p
e
rs
fo
r
IEE
E
Ac
c
e
s
s
Jo
u
rn
a
l
a
n
d
IEE
E
S
p
o
n
so
re
d
I
n
tern
a
ti
o
n
a
l
c
o
n
fe
re
n
c
e
s.
Li
fe
m
e
m
b
e
r
o
f
In
d
ian
S
o
c
iety
f
o
r
Tec
h
n
ica
l
Ed
u
c
a
ti
o
n
(IS
T
E),
S
o
lar
En
e
rg
y
S
o
c
iety
f
o
r
I
n
d
ia
(S
ES
I).
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