I
nte
rna
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA
)
Vo
l.
6
,
No
.
1
,
Ma
r
ch
2
0
1
7
,
p
p
.
39
~
4
8
I
SS
N:
2089
-
4856
,
DOI
: 1
0
.
1
1
5
9
1
/i
j
r
a.
v
6
i1
.
pp
39
-
4
8
39
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
jo
u
r
n
a
l.c
o
m/o
n
lin
e/in
d
ex
.
p
h
p
/I
J
RA
Prog
ra
m
m
a
ble
A
uto
m
a
tion
Contr
o
ller Mecha
tronic
Ex
peri
m
e
nt
T
ho
m
a
s
G
ro
s
s
,
K
ev
in An
der
s
o
n,
No
la
n T
s
uc
hiy
a
De
p
a
rtme
n
t
o
f
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
,
Ca
li
f
o
rn
ia S
tate
P
o
ly
tec
h
n
ic Un
iv
e
rsit
y
a
t
P
o
m
o
n
a
,
USA
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
No
v
2
5
,
2
0
1
6
R
ev
i
s
ed
Dec
8
,
2
0
1
6
A
cc
ep
ted
J
an
6
,
2
0
1
7
T
h
is
p
a
p
e
r
d
e
sc
rib
e
s
t
h
e
u
se
o
f
th
e
O
P
T
O
-
2
2
P
r
o
g
ra
m
m
a
b
le
Au
to
m
a
ti
o
n
Co
n
tr
o
ll
e
r
(
P
A
C)
L
e
a
rn
in
g
c
e
n
ter
in
th
e
u
n
d
e
rg
ra
d
u
a
te
c
o
n
tr
o
l
s
y
ste
m
s
c
o
u
rse
a
t
Ca
li
f
o
rn
ia
S
tate
P
o
ly
tec
h
n
ic
Un
iv
e
rsit
y
a
t
P
o
m
o
n
a
(Ca
l
P
o
ly
P
o
m
o
n
a
).
T
h
e
OP
T
O
-
2
2
P
A
C
S
y
ste
m
is
a
n
in
teg
ra
ted
s
y
ste
m
o
f
h
a
rd
w
a
re
a
n
d
so
f
tw
a
r
e
u
se
d
f
o
r
in
d
u
stri
a
l
c
o
n
tro
l
,
re
m
o
te
m
o
n
it
o
rin
g
,
a
n
d
d
a
ta
a
c
q
u
isit
io
n
a
p
p
li
c
a
ti
o
n
s.
T
h
e
p
a
p
e
r
c
o
m
p
a
re
s
th
e
p
ro
s
a
n
d
c
o
n
s
o
f
u
sin
g
a
P
A
C
v
e
rsu
s
P
ro
g
ra
m
m
a
b
le
L
o
g
i
c
Co
n
tro
ll
e
r
(
P
L
C)
o
r
F
ield
P
ro
g
ra
m
m
a
b
le
G
a
t
e
A
rra
y
(F
P
GA
)
s
y
ste
m
s.
T
h
e
p
a
p
e
r
in
tro
d
u
c
e
s
th
e
f
lo
w
c
h
a
rt
b
a
se
d
p
ro
g
ra
m
m
in
g
e
n
v
iro
n
m
e
n
t
u
se
d
i
n
P
A
Cs.
T
h
e
p
a
p
e
r
i
n
c
lu
d
e
s
a
n
i
ll
u
stra
ti
v
e
e
x
a
m
p
le
o
f
h
o
w
th
e
OP
T
O
-
2
2
P
A
C
s
y
ste
m
c
a
n
b
e
in
ter
f
a
c
e
d
to
a
n
in
d
u
strial
b
a
se
d
M
e
c
h
a
tro
n
ics
p
ick
-
a
n
d
-
p
la
c
e
ro
b
o
t
sta
ti
o
n
.
T
h
is
e
x
a
m
p
le
d
e
tails
th
e
in
p
u
t/
o
u
t
p
u
t
i
n
terf
a
c
e
s
o
f
th
e
OP
T
O
-
2
2
P
A
C
u
n
it
a
n
d
th
e
S
UN
Eq
u
i
p
m
e
n
t
M
e
c
a
h
tro
n
ics
p
ick
a
n
d
p
lac
e
ro
b
o
t
u
n
it
.
De
tails
o
f
th
e
f
lo
w
c
h
a
rt
p
ro
g
ra
m
m
in
g
a
n
d
I/O
in
terf
a
c
in
g
p
ro
to
c
o
ls
a
re
g
iv
e
n
in
th
e
p
a
p
e
r.
T
h
e
I/
O
c
o
n
f
ig
u
ra
ti
o
n
d
ialo
g
in
th
e
O
P
T
O
-
2
2
P
A
C
d
e
v
e
lo
p
m
e
n
t
e
n
v
iro
n
m
e
n
t
a
re
a
lso
p
re
se
n
ted
i
n
th
is
p
a
p
e
r
.
K
ey
w
o
r
d
:
Au
to
m
a
tio
n
C
o
n
tr
o
l
E
x
p
er
i
m
e
n
tal
Me
ch
atr
o
n
ic
s
P
A
C
Co
p
y
rig
h
t
©
2
0
1
7
In
stit
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Kev
i
n
R
.
An
d
er
s
o
n
,
Dep
ar
t
m
en
t o
f
Me
ch
a
n
ical
E
n
g
in
ee
r
i
n
g
,
C
ali
f
o
r
n
ia
State
P
o
l
y
tec
h
n
ic
U
n
iv
er
s
it
y
a
t P
o
m
o
n
a,
3
8
0
1
W
est
T
em
p
le
Av
e,
P
o
m
o
n
a,
C
A
9
1
7
6
8
,
USA
.
E
m
ail:
k
r
an
d
er
s
o
n
1
@
cp
p
.
ed
u
1.
I
NT
RO
D
UCT
I
O
N
T
h
is
p
ap
er
d
escr
ib
es
th
e
u
s
e
o
f
P
r
o
g
r
am
m
ab
le
Au
to
m
ated
C
o
n
tr
o
ller
s
(
P
A
C
)
an
d
r
o
b
o
tic
p
ick
-
an
d
-
p
lace
m
ec
h
atr
o
n
ic
s
e
x
p
er
i
m
e
n
tal
h
ar
d
w
ar
e
f
o
r
u
s
e
in
a
n
u
n
d
er
g
r
ad
u
ate
co
n
tr
o
ls
lab
o
r
ato
r
y
in
s
tr
u
ct
io
n
s
etti
n
g
.
T
h
e
ME
4
3
9
“
C
o
n
tr
o
l
o
f
Me
ch
an
ica
l
S
y
s
te
m
s
”
i
s
a
s
en
i
o
r
lev
el
p
r
o
j
ec
t
b
ased
co
u
r
s
e
in
clu
d
ed
in
th
e
co
r
e
cu
r
r
icu
l
u
m
f
o
r
s
t
u
d
en
ts
e
n
r
o
l
led
in
th
e
Me
c
h
an
ica
l
E
n
g
in
ee
r
in
g
p
r
o
g
r
a
m
at
C
ali
f
o
r
n
ia
State
P
o
ly
tech
n
ic
Un
i
v
er
s
it
y
P
o
m
o
n
a.
P
ar
t
o
f
th
e
lab
o
r
ato
r
y
e
x
p
er
ien
ce
e
x
p
o
s
es
th
e
s
t
u
d
en
ts
to
th
e
u
s
e
o
f
P
r
o
g
r
am
m
ab
le
A
u
to
m
a
tic
C
o
n
tr
o
ller
s
(
P
AC
S).
Nu
m
er
o
u
s
lear
n
i
n
g
i
n
s
ti
t
u
tio
n
h
av
e
i
m
p
le
m
e
n
ted
p
r
o
ject
b
ased
lear
n
in
g
u
s
i
n
g
P
r
o
g
r
am
m
ab
le
L
o
g
ic
C
o
n
tr
o
ller
(
P
L
C
)
[
1
-
2
]
an
d
Fiel
d
Pro
g
r
am
m
ab
le
Gate
A
r
r
a
y
(
FP
GA
)
[
3
-
5
]
b
ased
co
n
tr
o
ls
i
n
t
h
eir
cu
r
r
ic
u
l
u
m
.
T
h
e
ar
ticle
o
f
[
6
]
o
f
f
er
s
a
co
m
p
ar
i
s
o
n
o
f
t
h
e
P
A
C
to
th
e
P
L
C
s
,
P
C
-
co
n
tr
o
l
a
n
d
E
m
b
ed
d
ed
C
o
n
tr
o
l
s
u
c
h
as
t
h
e
FP
GA
.
I
n
s
u
m
m
ar
y
,
P
L
C
s
ar
e
g
o
o
d
at
tas
k
s
li
k
e
co
u
n
ti
n
g
a
n
d
ti
m
i
n
g
,
an
d
m
an
a
g
i
n
g
I
n
p
u
t
/o
u
tp
u
t (
I
/O)
.
A
lt
h
o
u
g
h
a
P
L
C
ca
n
h
an
d
le
a
f
e
w
ax
e
s
o
f
m
o
tio
n
,
t
h
e
u
p
d
a
te
r
ates
ca
n
b
e
to
o
s
lo
w
f
o
r
an
y
b
u
t
th
e
m
o
s
t
b
as
ic
ap
p
licatio
n
s
.
T
h
e
P
A
C
s
i
n
clu
d
e
m
u
ltip
le
p
r
o
ce
s
s
o
r
s
to
ad
d
r
ess
a
v
ar
iet
y
o
f
f
u
n
ctio
n
s
b
e
y
o
n
d
j
u
s
t
b
asic
lo
g
ic
an
d
I
/O.
T
h
ese
ca
p
ab
ilit
ies
in
c
lu
d
e
d
ig
ita
l
(
e.
g
.
m
o
tio
n
co
n
tr
o
l)
,
an
alo
g
(
e.
g
.
p
r
o
ce
s
s
co
n
tr
o
l)
,
an
d
s
er
ial
(
I
/O
f
r
o
m
te
s
t e
q
u
ip
m
en
t,
k
e
y
p
ad
s
,
s
ca
n
n
er
s
,
etc.
)
task
s
.
B
ec
au
s
e
P
AC
s
alr
ea
d
y
i
n
cl
u
d
e
th
ese
f
u
n
ctio
n
s
,
th
e
y
eli
m
i
n
ate
t
h
e
ti
m
e
a
n
d
e
f
f
o
r
t
in
v
o
lv
ed
i
n
i
n
te
g
r
atin
g
a
P
L
C
w
i
th
th
e
m
o
tio
n
co
n
tr
o
ller
,
f
o
r
ex
a
m
p
le.
T
o
d
ay
’
s
i
n
d
u
s
tr
ial
P
C
s
h
a
v
e
b
ee
n
r
u
g
g
ed
ized
,
to
p
to
b
o
tto
m
,
w
it
h
en
v
ir
o
n
m
e
n
tal
p
r
o
tectio
n
an
d
r
e
m
o
v
al
o
f
an
y
m
o
v
in
g
p
ar
ts
.
H
y
p
er
v
is
o
r
s
lik
e
VM
w
ar
e
allo
w
a
s
i
n
g
le
co
r
e
to
b
e
d
iv
id
ed
in
to
m
u
lt
ip
le
d
is
cr
ete
p
ar
titi
o
n
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
1
,
Ma
r
ch
20
1
7
:
39
–
4
8
40
th
at
r
u
n
i
n
d
ep
en
d
en
tl
y
o
f
o
n
e
an
o
th
er
,
r
i
g
h
t
d
o
w
n
to
t
h
e
o
p
e
r
atin
g
s
y
s
te
m
.
T
h
is
e
n
ab
les
a
m
o
tio
n
ap
p
licatio
n
to
r
u
n
o
n
a
p
ar
titi
o
n
w
it
h
L
in
u
x
o
r
a
r
o
b
u
s
t
p
r
o
p
r
ietar
y
r
ea
l
-
ti
m
e
o
p
er
atin
g
s
y
s
te
m
(
R
T
OS)
w
h
ile
r
e
m
a
in
i
n
g
co
m
p
lete
l
y
i
s
o
lated
f
r
o
m
a
W
in
d
o
w
s
p
ar
titi
o
n
s
u
p
p
o
r
tin
g
th
e
HM
I
o
r
a
m
ac
h
i
n
e
v
i
s
io
n
s
y
s
te
m
.
A
t
t
h
e
o
p
p
o
s
i
te
en
d
o
f
th
e
s
p
ec
tr
u
m
lie
e
m
b
ed
d
ed
co
n
tr
o
l
s
y
s
te
m
s
th
at
le
v
er
a
g
e
FP
G
A
s
to
c
u
s
t
o
m
ize
p
er
f
o
r
m
a
n
ce
u
s
i
n
g
h
ar
d
w
ar
e
r
ath
er
t
h
an
s
o
f
t
w
ar
e.
FP
G
A
s
ca
n
b
e
u
s
ed
to
o
f
f
lo
ad
tas
k
s
l
ik
e
co
n
tr
o
l
lo
g
ic
an
d
I
/O
tr
ig
g
er
in
g
in
h
ig
h
l
y
co
m
p
le
x
s
y
s
te
m
s
,
f
r
ee
in
g
C
P
U
c
y
cle
s
to
h
a
n
d
le
m
o
r
e
co
m
p
lex
tas
k
s
l
ik
e
tr
aj
ec
to
r
y
g
e
n
er
atio
n
.
W
h
en
t
h
e
ap
p
licatio
n
en
co
m
p
ass
es
an
e
n
tire
p
lan
t
o
r
f
a
cto
r
y
f
lo
o
r
,
a
s
itu
atio
n
th
at
t
y
p
icall
y
ca
lls
f
o
r
d
is
tr
ib
u
ted
I
/O
in
lar
g
e
n
u
m
b
e
r
s
,
alo
n
g
w
i
th
e
x
te
n
s
iv
e
lo
o
p
co
n
tr
o
l
f
u
n
ctio
n
s
b
etter
s
u
ited
to
a
P
A
C
t
h
a
n
to
a
P
L
C
o
r
FP
GA
s
.
T
h
e
v
ar
io
u
s
p
r
o
s
an
d
co
n
s
o
f
t
h
e
P
A
C
,
P
L
C
an
d
FP
GA
ar
e
s
u
m
m
ar
ized
in
T
a
b
le
1
.
T
ab
le
1
.
P
r
o
s
/C
o
n
s
o
f
P
AC
,
P
L
C
a
n
d
FP
G
A
P
A
C
P
L
C
F
P
G
A
P
R
O
S
I
n
t
e
g
r
a
t
e
d
l
o
g
i
c
a
n
d
I
/
O
M
u
l
t
i
p
l
e
P
r
o
c
e
sso
r
s,
D
i
g
i
t
a
l
,
A
n
a
l
o
g
,
S
e
r
i
a
l
T
a
sk
s
C
o
u
n
t
i
n
g
,
T
i
mi
n
g
,
M
a
n
a
g
i
n
g
I
/
O
O
n
e
-
o
f
f
/
h
i
g
h
p
e
r
f
o
r
man
c
e
/
c
o
mp
l
e
x
sy
st
e
ms
F
r
e
e
s u
p
C
P
U
c
y
c
l
e
s
H
a
r
d
w
a
r
e
n
o
t
so
f
t
w
a
r
e
C
O
N
S
M
a
y
b
e
d
i
f
f
i
c
u
l
t
t
o
u
se
i
n
u
n
i
q
u
e
si
t
u
a
t
i
o
n
s
S
l
o
w
u
p
d
a
t
e
r
a
t
e
s,
mo
t
i
o
n
c
o
n
t
r
o
l
l
e
r
s
N
o
t
c
o
n
v
e
n
t
i
o
n
a
l
I
n
ad
d
itio
n
to
P
L
C
s
a
n
d
FP
GAs
o
th
er
tech
n
o
lo
g
ie
s
o
n
th
e
m
ar
k
et
i
n
clu
d
e
t
h
e
R
e
m
o
te
T
er
m
in
a
l
U
n
it
(
R
T
U)
an
d
th
e
D
is
tr
ib
u
ted
C
o
n
tr
o
l
S
y
s
te
m
(
DC
S).
T
h
e
R
T
U
ar
e
m
icr
o
p
r
o
ce
s
s
o
r
-
c
o
n
tr
o
lled
elec
tr
o
n
ic
d
ev
ices
th
a
t
in
ter
f
ac
e
o
b
j
ec
ts
i
n
th
e
p
h
y
s
ical
w
o
r
ld
to
a
d
is
tr
ib
u
ted
co
n
tr
o
l
s
y
s
te
m
o
r
Su
p
er
v
is
o
r
y
C
o
n
tr
o
l
an
d
Data
A
cq
u
i
s
itio
n
(
SC
A
D
A
)
s
y
s
te
m
b
y
tr
an
s
m
itti
n
g
tele
m
et
r
y
d
ata
to
a
m
a
s
ter
s
y
s
te
m
,
a
n
d
b
y
u
s
i
n
g
m
es
s
ag
e
s
f
r
o
m
th
e
m
as
ter
s
u
p
er
v
i
s
o
r
y
s
y
s
te
m
to
co
n
tr
o
l
co
n
n
ec
ted
o
b
j
ec
ts
.
T
h
e
DC
S
is
a
co
m
p
u
ter
i
ze
d
co
n
tr
o
l
s
y
s
te
m
f
o
r
a
p
r
o
ce
s
s
o
r
p
lan
t,
in
w
h
i
ch
au
to
n
o
m
o
u
s
co
n
tr
o
ller
s
ar
e
d
is
tr
ib
u
ted
t
h
r
o
u
g
h
o
u
t
th
e
s
y
s
te
m
,
b
u
t
th
er
e
i
s
ce
n
tr
al
o
p
er
ato
r
s
u
p
er
v
is
o
r
y
c
o
n
tr
o
ller
.
T
h
is
is
i
n
co
m
p
ar
is
o
n
to
a
n
o
n
-
d
is
tr
ib
u
ted
co
n
tr
o
l
s
y
s
te
m
th
at
u
s
e
ce
n
tr
alize
d
co
n
tr
o
ll
er
s
;
eith
er
d
is
cr
ete
co
n
tr
o
ller
s
lo
ca
ted
a
t
a
ce
n
tr
al
co
n
tr
o
l
r
o
o
m
o
r
w
it
h
i
n
a
ce
n
tr
al
co
m
p
u
ter
.
T
h
e
DC
S
co
n
ce
p
t
in
cr
ea
s
es
r
eliab
ilit
y
an
d
r
ed
u
c
es
in
s
tallatio
n
co
s
t
s
b
y
lo
ca
liz
in
g
co
n
tr
o
l
f
u
n
ctio
n
s
n
ea
r
t
h
e
p
r
o
ce
s
s
p
lan
t,
b
u
t
en
ab
les
m
o
n
ito
r
i
n
g
a
n
d
s
u
p
er
v
is
o
r
y
co
n
tr
o
l
o
f
t
h
e
p
r
o
ce
s
s
r
e
m
o
tel
y
.
T
h
e
d
is
c
u
s
s
io
n
o
f
[
7
]
co
m
p
ar
es
th
e
P
AC
f
ea
t
u
r
es
to
t
h
o
s
e
o
f
th
e
P
C
,
P
L
C
,
D
C
S
a
n
d
R
T
U.
A
c
ad
em
ic
te
x
tb
o
o
k
s
d
ea
li
n
g
with
P
r
o
g
r
a
m
m
ab
le
C
o
n
tr
o
ller
s
i
n
cl
u
d
e
th
e
w
o
r
k
s
o
f
[
8
]
an
d
[
9
]
.
R
ec
en
t
ex
a
m
p
l
es
o
f
i
n
d
u
s
tr
ial
u
s
ea
g
e
o
f
th
e
P
A
C
f
r
a
m
e
w
o
r
k
ar
e
g
iv
e
n
i
n
[
1
0
]
w
h
er
e
a
co
al
p
r
e
p
ar
atio
n
p
lan
t
is
au
t
m
o
ted
u
s
i
n
g
t
h
e
P
A
C
,
a
n
d
[
1
1
]
w
h
er
e
t
id
e
s
i
m
u
latio
n
s
ar
e
ca
r
r
ied
o
u
t
u
s
in
g
t
h
e
P
AC
f
r
a
m
e
w
o
r
k
.
R
e
s
ea
r
ch
o
n
u
s
i
n
g
th
e
FP
G
A
b
ased
co
n
tr
o
ller
is
f
o
u
n
d
in
[
1
2
-
1
3
]
.
A
p
p
licatio
n
s
o
f
P
L
C
s
i
n
au
to
m
atio
n
s
etti
n
g
s
ar
e
f
o
u
n
d
in
[
1
4
-
1
7
]
.
T
h
e
p
r
im
ar
y
f
o
c
u
s
o
f
th
e
s
tu
d
y
o
f
[
1
4
-
1
5
]
is
th
e
u
s
e
o
f
a
P
L
C
to
co
n
tr
o
l
an
elev
ato
r
.
I
n
th
e
r
esear
ch
o
f
[
1
6
]
th
e
P
L
C
is
u
s
ed
to
co
n
tr
o
l a
n
elec
tr
o
-
p
n
e
u
m
a
tic
ac
tu
ato
r
b
ase
o
n
p
u
s
ls
e
w
id
t
h
m
o
d
u
latio
n
s
(
P
W
M)
.
I
n
th
e
w
o
r
k
o
f
[
1
7
]
,
t
h
e
au
to
m
at
io
n
p
r
o
ce
s
s
o
f
m
a
n
u
f
ac
t
u
r
ein
g
g
a
lv
a
n
ized
n
u
t
s
is
ac
co
m
p
li
s
h
ed
u
s
i
n
g
th
e
P
L
C
p
latf
o
r
m
.
C
lear
l
y
th
er
e
ar
e
n
o
tab
le
d
if
f
er
e
n
ce
s
b
et
w
ee
n
t
h
e
P
A
C
,
P
L
C
,
FP
GA
,
DC
S
a
n
d
R
T
U
p
latf
o
r
m
s
.
A
l
s
o
th
er
e
ar
e
s
i
m
ilar
itie
s
b
et
w
ee
n
t
h
e
m
.
T
h
er
e
is
also
a
w
ea
lt
h
o
f
ap
p
licatio
n
s
u
s
i
n
g
ea
c
h
co
n
tr
o
ller
p
latf
o
r
m
.
No
t
w
it
h
s
ta
n
d
in
g
is
th
e
f
ac
t
th
at
t
h
e
P
A
C
is
b
ec
o
m
in
g
m
o
r
e
an
d
m
o
r
e
p
r
o
lif
er
ate
in
to
d
a
y
’
s
in
d
u
s
tr
ial
s
ec
to
r
.
C
o
n
s
eq
u
en
t
l
y
,
i
n
o
r
d
er
to
k
ee
p
o
u
r
g
r
a
d
u
ate’
s
c
u
r
r
en
t
o
n
s
tate
-
of
-
a
r
t
tech
n
o
lo
g
y
,
th
e
Me
ch
an
ical
E
n
g
i
n
ee
r
i
n
g
P
r
o
g
r
a
m
at
C
ali
f
o
r
n
ia
State
P
o
l
y
te
ch
n
ic
U
n
iv
er
s
it
y
at
P
o
m
o
n
a
(
C
al
P
o
l
y
P
o
m
o
n
a)
h
as
i
n
te
g
r
ated
P
A
C
s
as
p
ar
t
o
f
th
e
h
an
d
s
o
n
lear
n
i
n
g
ex
p
er
ien
ce
f
o
r
th
e
ME
4
3
9
“Co
n
tr
o
l
o
f
Me
ch
a
n
ica
l
S
y
s
te
m
s
”
co
u
r
s
e
w
o
r
k
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
Fig
u
r
e
1
s
h
o
w
s
t
h
e
OP
T
O
-
2
2
SNA
P
-
P
A
C
[
1
8
]
u
n
it
h
a
r
d
w
ar
e
w
h
ic
h
co
n
s
is
t
s
o
f
a
P
A
C
,
I
/O
m
o
d
u
les,
p
o
w
er
s
u
p
p
l
y
,
an
d
o
n
-
b
o
ar
d
in
teg
r
ated
f
ir
s
t
-
o
r
d
er
th
er
m
al
co
n
tr
o
l
s
y
s
te
m
b
ase
d
p
lan
t.
T
h
e
cu
r
r
en
t
p
ap
er
ex
ten
d
s
th
e
w
o
r
k
o
f
[
1
9
]
b
y
d
em
o
n
s
tr
ati
n
g
h
o
w
t
h
e
OPT
O
-
2
2
P
A
C
u
n
its
ca
n
b
e
in
teg
r
ated
w
ith
a
m
ec
h
a
tr
o
n
ics p
ic
k
-
a
n
d
-
p
lace
r
o
b
o
tic
ass
e
m
b
l
y
s
tatio
n
[
2
0
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
P
r
o
g
r
a
mma
b
le
A
u
to
ma
tio
n
C
o
n
tr
o
ller
Mech
a
tr
o
n
ic
E
xp
erimen
t
(
Th
o
ma
s
Gro
s
s
)
41
Fig
u
r
e
1
.
OPT
O
-
2
2
SNA
P
-
P
AC
h
ar
d
w
ar
e
[
1
8
]
3.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
I
n
th
i
s
s
ec
tio
n
t
h
e
ap
p
licatio
n
o
f
p
r
o
g
r
a
m
m
i
n
g
t
h
e
OP
T
O
-
2
2
P
A
C
to
in
ter
f
ac
e
w
it
h
a
r
o
b
o
tic
m
ec
h
a
tr
o
in
ic
p
lan
t
is
d
is
c
u
s
s
ed
.
T
h
e
p
lan
t
ch
o
s
e
n
is
th
e
SUN
E
q
u
ip
m
e
n
t
C
o
m
p
a
n
y
C
M
L
-
6
1
6
0
0
“
Me
c
h
atr
o
n
ic
s
L
o
ad
b
ased
Ma
ter
ial
Selectio
n
a
n
d
So
r
tin
g
S
tatio
n
”
p
r
o
ce
s
s
p
lan
t [
2
0
]
as sh
o
w
n
i
n
Fi
g
u
r
e
2
.
Fig
u
r
e
2
.
OPT
O
-
2
2
an
d
SUN
E
q
u
ip
m
e
n
t Co
.
C
M
L
-
6
1
6
0
0
C
o
m
p
ac
t M
ec
h
a
tr
o
n
ics
L
o
ad
S
y
s
te
m
T
h
e
SUN
E
q
u
ip
m
e
n
t Co
.
C
M
L
-
6
1
6
0
0
C
o
m
p
ac
t M
ec
h
atr
o
n
ics L
o
ad
S
y
s
te
m
is
eq
u
ip
p
ed
w
it
h
t
h
e
f
o
llo
w
i
n
g
:
a.
1
3
Dig
ital I
n
p
u
t
s
(
Sen
s
o
r
s
)
2
x
R
e
f
lecti
v
e
P
h
o
to
s
en
s
o
r
I
n
d
u
cti
v
e
p
r
o
x
i
m
i
t
y
s
w
itc
h
Fib
er
Am
p
lifie
r
4
x
P
h
o
to
-
in
ter
r
u
p
t sen
s
o
r
P
r
o
x
im
it
y
s
w
itc
h
(
R
ee
d
R
ela
y
)
b.
7
Dig
ital O
u
tp
u
t
s
(
A
ctu
ato
r
s
)
2
x
DC
Mo
to
r
s
C
o
m
p
ac
t C
y
li
n
d
er
R
o
tar
y
C
y
li
n
d
er
Vac
u
u
m
Ge
n
er
ato
r
Fig
u
r
e
3
s
h
o
w
s
t
h
e
i
n
p
u
t/o
u
tp
u
t in
ter
f
ac
e
s
o
f
th
e
OP
T
O
-
22.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
1
,
Ma
r
ch
20
1
7
:
39
–
4
8
42
Fig
u
r
e
3
.
OPT
O
-
2
2
I
/O
in
ter
f
a
ce
s
Fig
u
r
e
4
s
h
o
w
s
t
h
e
v
ar
io
u
s
co
m
p
o
n
en
ts
o
f
t
h
e
SU
N
C
M
L
-
6
1
6
0
0
Me
ch
atr
o
n
ics Un
it.
Fig
u
r
e
4
.
SUN
C
M
L
-
6
1
6
0
0
M
ec
h
atr
o
n
ics
u
n
it
T
ab
le
2
lis
ts
th
e
p
er
tin
e
n
t
f
ea
t
u
r
es o
f
t
h
e
SUN
C
M
L
-
6
1
6
0
0
u
n
i
t ite
m
ized
in
Fi
g
u
r
e
4
.
T
ab
le
2
.
Descr
ip
tio
n
o
f
SUN
C
M
L
-
61600
Un
it
No
S
y
st
e
ms D
e
scri
p
t
i
o
n
(
1
)
I
/
O
i
n
t
e
r
f
a
c
e
,
t
o
b
e
c
o
n
n
e
c
t
e
d
w
i
t
h
t
h
e
P
L
C
I
/
O
t
e
r
mi
n
a
l
s
(
2
)
R
e
l
a
y
c
o
n
t
r
o
l
mo
d
u
l
e
:
C
o
n
t
r
o
l
s t
h
e
c
o
n
v
e
y
o
r
b
e
l
t
mo
t
o
r
a
n
d
t
h
e
scre
w
r
o
d
mo
t
o
r
(
3
)
V
a
c
u
u
m g
e
n
e
r
a
t
o
r
:
F
o
r
t
h
e
a
r
m t
o
s
u
c
k
u
p
t
h
e
w
o
r
k
p
i
e
c
e
(
4
)
A
i
r
i
n
l
e
t
:
T
o
b
e
c
o
n
n
e
c
t
e
d
t
o
a
n
a
i
r
c
o
mp
r
e
sso
r
(
1
5
0
-
7
0
0
P
s
i
)
(
5
)
S
o
l
e
n
o
i
d
mo
d
u
l
e
:
C
o
n
t
r
o
l
a
r
m’
s
u
p
/
d
o
w
n
a
n
d
r
o
t
a
t
i
o
n
a
l
mo
t
i
o
n
.
C
o
n
t
r
o
l
s t
h
e
v
a
c
u
u
m
g
e
n
e
r
a
t
o
r
v
a
l
v
e
.
(
6
)
P
o
si
t
i
o
n
,
c
o
l
o
r
a
n
d
mat
e
r
i
a
l
se
n
so
r
s
(
7
)
C
o
n
v
e
y
o
r
b
e
l
t
d
r
i
v
e
n
b
y
a
2
4
V
D
C
m
o
t
o
r
(
8
)
S
c
r
e
w
-
r
o
d
me
c
h
a
n
i
sm (
w
i
t
h
p
n
e
u
m
a
t
i
c
r
o
b
o
t
i
c
a
r
m)
:
D
r
i
v
e
n
b
y
a
2
4
V
D
C
mo
t
o
r
;
4
m
i
c
r
o
sw
i
t
c
h
e
s fo
r
p
o
si
t
i
o
n
c
o
n
t
r
o
l
;
2
l
i
mi
t
p
r
o
t
e
c
t
i
o
n
sw
i
t
c
h
e
s
(
9
)
S
t
o
r
a
g
e
r
a
c
k
Fig
u
r
e
5
an
d
Fig
u
r
e
6
d
etail
th
e
I
/O
in
ter
f
ac
es
o
f
t
h
e
SUN
C
ML
-
6
1
6
0
0
u
n
it.
T
a
b
le
3
an
d
T
ab
le
4
lis
t
th
e
I
/O
p
r
o
to
co
l
u
s
ed
to
in
te
r
f
ac
e
t
h
e
SUN
C
M
L
-
6
1
6
0
0
Me
ch
atr
o
n
ic
s
L
o
ad
U
n
it
to
t
h
e
OP
T
O
-
2
2
P
AC
m
o
d
u
le.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
P
r
o
g
r
a
mma
b
le
A
u
to
ma
tio
n
C
o
n
tr
o
ller
Mech
a
tr
o
n
ic
E
xp
erimen
t
(
Th
o
ma
s
Gro
s
s
)
43
Fig
u
r
e
5
.
SUN
C
M
L
-
6
1
6
0
0
I
/
O
in
ter
f
ac
e
s
(
f
r
o
n
t
v
ie
w
)
Fig
u
r
e
6
.
SUN
C
M
L
-
6
1
6
0
0
I
/
O
in
ter
f
ac
e
s
(
s
id
e
v
ie
w
)
T
ab
le
3
.
SUN
C
ML
-
6
1
6
0
0
an
d
OPT
O
-
2
2
I
n
p
u
t Sp
ec
if
icatio
n
I
N
P
U
T
S
U
N
I
n
t
e
r
f
a
c
e
P
A
C
I
N
(
M
o
d
u
l
e
/
C
h
a
n
n
e
l
)
D
e
scri
p
t
i
o
n
I
P
1
0
0
/
0
P
o
si
t
i
o
n
S
e
n
so
r
I
P
2
0
0
/
1
C
o
l
o
r
S
e
n
so
r
I
P
3
0
0
/
2
M
a
t
e
r
i
a
l
S
e
n
so
r
I
P
4
0
0
/
3
S
c
r
e
w
R
o
d
1
P
I
P
5
0
1
/
0
S
c
r
e
w
R
o
d
2
P
I
P
6
0
1
/
1
S
c
r
e
w
R
o
d
3
P
I
P
7
0
1
/
2
S
c
r
e
w
R
o
d
4
P
I
P
8
0
1
/
3
A
r
m U
p
p
e
r
L
i
mi
t
I
P
9
0
2
/
0
A
r
m
L
o
w
e
r
L
i
mi
t
I
P
1
0
0
2
/
1
A
r
m C
C
W
L
i
mi
t
I
P
1
1
0
2
/
2
A
r
m C
W
L
i
mi
t
I
P
1
2
0
2
/
3
V
a
c
u
u
m V
e
r
i
f
i
e
r
I
P
1
3
0
3
/
0
S
t
o
r
a
g
e
R
a
c
k
S
e
n
so
r
T
ab
le
4
.
SUN
C
ML
-
6
1
6
0
0
an
d
OPT
O
-
2
2
Ou
tp
u
t p
r
o
to
co
l s
p
ec
if
icatio
n
O
U
T
P
U
T
S
U
N
I
n
t
e
r
f
a
c
e
P
A
C
O
U
T
(
M
o
d
u
l
e
/
C
h
a
n
n
e
l
)
D
e
scri
p
t
i
o
n
O
P
1
0
4
/
0
C
o
n
v
e
y
o
r
B
e
l
t
O
P
2
0
4
/
1
S
c
r
e
w
R
o
d
R
o
t
a
t
e
s F
w
d
.
O
P
3
0
4
/
2
S
c
r
e
w
R
o
d
R
o
t
a
t
e
s
R
e
v
.
O
P
4
0
4
/
3
A
r
m U
p
/
D
o
w
n
O
P
5
0
5
/
0
V
a
c
u
u
m G
e
n
e
r
a
t
o
r
O
N
O
P
6
0
5
/
1
V
a
c
u
u
m G
e
n
e
r
a
t
o
r
O
F
F
O
P
7
0
5
/
2
A
r
m R
o
t
a
t
e
s C
W
/
C
C
W
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
1
,
Ma
r
ch
20
1
7
:
39
–
4
8
44
T
h
e
co
n
v
e
y
o
r
b
elt
o
p
er
atio
n
is
s
i
m
u
ltan
eo
u
s
w
i
th
a
n
d
s
ep
ar
ate
f
r
o
m
th
e
o
p
er
atio
n
o
f
t
h
e
r
o
b
o
tic
ar
m
.
T
h
e
co
n
v
e
y
o
r
b
elt
m
ec
h
an
i
s
m
an
d
r
o
b
o
tic
ar
m
m
ec
h
an
i
s
m
ar
e
co
u
p
led
th
r
o
u
g
h
th
e
p
o
s
itio
n
s
e
n
s
o
r
.
W
h
en
t
h
e
p
o
s
itio
n
s
e
n
s
o
r
(
d
ig
ital
in
p
u
t)
p
o
in
t
is
t
u
r
n
ed
o
n
d
u
e
to
th
e
p
r
esen
ce
o
f
a
w
o
r
k
p
iece
th
e
co
n
v
e
y
o
r
s
to
p
s
u
n
til t
h
e
p
o
in
t is t
u
r
n
ed
o
f
f
.
O
n
ce
th
e
p
o
in
t is t
u
r
n
ed
o
f
f
d
u
e
to
th
e
r
o
b
o
tic
ar
m
r
etr
ie
v
in
g
t
h
e
w
o
r
k
p
iece
f
r
o
m
th
e
b
elt,
a
s
m
all
p
au
s
e
is
i
m
p
o
s
ed
s
o
th
at
th
e
w
o
r
k
p
iece
b
ein
g
ca
r
r
ied
b
y
th
e
r
o
b
o
tic
ar
m
d
o
es
n
o
t
co
m
e
in
to
co
n
tac
t
w
it
h
t
h
e
n
e
x
t
w
o
r
k
p
iece
p
r
o
ce
ed
in
g
alo
n
g
th
e
b
elt
in
th
e
s
it
u
atio
n
w
h
er
e
t
h
e
f
o
llo
w
in
g
w
o
r
k
p
iece
is
i
m
m
ed
iatel
y
a
f
ter
th
e
w
o
r
k
p
iece
b
ei
n
g
r
etr
iev
ed
(
i.
e.
n
o
s
p
ac
e
b
et
w
ee
n
w
o
r
k
p
iece
s
a
s
t
h
e
y
p
r
o
ce
ed
alo
n
g
th
e
b
elt)
.
T
h
er
e
ar
e
n
o
d
ar
k
co
lo
r
ed
p
last
ic
w
o
r
k
p
i
ec
es,
h
o
w
e
v
er
th
e
co
n
tr
o
l
lo
g
ic
is
s
till
s
et
u
p
to
ac
ce
p
t
th
at
o
p
tio
n
s
o
t
h
at
th
e
r
e
ar
e
n
o
d
ea
d
en
d
s
in
t
h
e
c
o
n
tr
o
l
lo
g
ic.
T
h
e
I
/O
co
n
f
i
g
u
r
atio
n
d
ialo
g
in
th
e
OPT
O
-
2
2
P
A
C
d
ev
elo
p
m
e
n
t e
n
v
ir
o
n
m
e
n
t i
s
s
h
o
w
n
i
n
Fi
g
u
r
e
7
.
Fig
u
r
e
7
.
I
/O
C
o
n
f
ig
u
r
atio
n
D
ialo
g
in
OP
T
O
-
22
T
h
e
s
o
f
t
w
ar
e
p
r
o
g
r
a
m
cr
ea
ted
w
h
e
n
u
s
i
n
g
P
AC
s
i
s
r
ef
er
r
ed
to
as
a
“
s
tr
ateg
y
”.
T
h
e
s
tr
ateg
y
i
s
co
m
p
r
is
ed
o
f
t
h
e
f
o
llo
w
i
n
g
:
a
co
n
tr
o
l
en
g
i
n
e
w
h
ic
h
d
ef
i
n
es
t
h
e
co
m
m
u
n
icatio
n
b
et
w
ee
n
th
e
P
A
C
I
/O
an
d
th
e
h
ar
d
w
ar
e
it
i
s
b
ei
n
g
i
n
ter
f
ac
ed
to
(
in
th
is
ca
s
e
th
e
Me
c
h
a
tr
o
n
ics
p
lan
t)
,
f
lo
w
c
h
ar
ts
w
h
ic
h
co
n
tain
t
h
e
p
r
o
g
r
am
m
i
n
g
lo
g
ic
o
f
t
h
e
s
tr
ateg
y
,
v
ar
iab
les
(
in
te
g
er
s
,
f
lo
atin
g
p
o
in
ts
,
s
tr
i
n
g
s
,
etc.
)
,
an
d
I
/O
co
n
f
ig
u
r
atio
n
in
f
o
r
m
atio
n
w
it
h
d
e
f
in
e
s
t
h
e
co
n
tr
o
llab
le
p
o
in
ts
o
f
t
h
e
p
lan
t.
S
in
ce
m
o
s
t
co
n
tr
o
l
ap
p
licatio
n
s
ar
e
r
ath
er
co
m
p
le
x
a
s
tr
ate
g
y
u
s
u
all
y
co
n
s
i
s
ts
o
f
s
ev
er
al
f
lo
w
ch
ar
t
s
wh
ich
al
l
w
o
r
k
in
u
n
i
s
io
n
,
m
u
c
h
lik
e
s
u
b
r
o
u
ti
n
es
i
n
a
tr
ad
itio
n
al
o
b
j
ec
t
o
r
ien
ted
p
r
o
g
r
am
m
i
n
g
la
n
g
u
a
g
e.
T
h
e
f
lo
w
ch
ar
t
is
b
u
ilt
u
s
i
n
g
“
b
lo
ck
s
”,
w
h
ic
h
i
n
cl
u
d
e
ac
tio
n
b
lo
ck
s
(
w
h
ich
co
n
tai
n
ac
tio
n
co
m
m
an
d
s
)
,
co
n
d
itio
n
b
lo
ck
s
(
w
h
ic
h
co
n
tai
n
co
n
d
itio
n
co
m
m
an
d
s
)
,
Op
to
Scr
ip
t b
lo
ck
s
(
w
h
ic
h
co
n
t
ain
p
r
ed
ef
ien
ed
s
u
b
r
o
u
ti
n
es
o
r
s
cr
ip
ts
o
f
ac
tio
n
an
d
co
m
m
a
n
d
b
lo
ck
lo
g
ic)
,
an
d
co
n
tin
u
e
b
lo
c
k
s
(
w
h
ic
h
ac
t
a
s
co
n
n
ec
tio
n
s
)
.
T
h
ese
s
y
m
b
o
l
s
ar
e
a
n
alo
g
o
u
s
to
t
h
e
f
lo
w
c
h
ar
tin
g
ter
m
in
o
lo
g
y
u
s
ed
in
a
tr
ad
itio
n
a
l c
o
m
p
u
ter
p
r
o
g
r
am
m
i
n
g
p
ar
d
ag
i
m
a
n
d
ar
e
s
h
o
w
n
b
elo
w
i
n
Fi
g
u
r
e
8
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
P
r
o
g
r
a
mma
b
le
A
u
to
ma
tio
n
C
o
n
tr
o
ller
Mech
a
tr
o
n
ic
E
xp
erimen
t
(
Th
o
ma
s
Gro
s
s
)
45
Fig
u
r
e
8
.
Flo
w
c
h
ar
t B
lo
ck
s
u
s
ed
in
P
A
C
P
r
o
g
r
a
m
m
i
n
g
T
h
e
o
v
er
all
co
n
tr
o
l
s
tr
ate
g
y
in
th
e
f
lo
w
c
h
ar
t
b
ased
p
r
o
g
r
a
m
m
i
n
g
en
v
ir
o
n
m
e
n
t
o
f
th
e
OP
T
O
-
2
2
P
AC
f
o
r
th
e
m
ec
h
a
tr
o
n
ics
ex
p
er
i
m
e
n
t
is
s
h
o
w
n
in
Fi
g
u
r
e
9
.
Fig
u
r
e
9
illu
s
ttra
es
th
e
u
s
e
o
f
th
e
P
AC
f
lo
w
c
h
ar
t
b
ased
p
r
o
g
r
am
m
i
n
g
en
v
ir
o
n
m
en
t
wh
er
eb
y
v
ar
io
u
s
b
lo
ck
s
ar
e
u
s
e
d
to
c
o
n
s
tr
u
ct
t
h
e
o
v
er
all
lo
g
i
c
o
f
th
e
p
r
o
g
r
am
.
I
n
co
m
p
ar
io
n
to
F
ig
u
r
e
9
,
w
h
ic
h
i
s
f
air
l
y
co
m
p
ac
t,
th
e
eq
u
i
v
alen
t
P
L
C
lad
d
er
p
r
o
g
r
am
o
n
a
n
Allen
-
B
r
ad
le
y
Mic
r
o
L
o
g
ix
1
2
0
0
P
L
C
s
h
o
w
n
in
Fi
g
u
r
e
1
0
[
1
8
]
r
eq
u
ir
es
4
6
(
f
o
u
r
t
y
-
s
i
x
)
r
u
n
g
s
o
f
lad
d
er
lo
g
ic
o
r
,
ap
p
r
o
x
im
a
tel
y
1
0
(
ten
)
p
ag
es
o
f
p
r
in
ted
lad
d
er
lo
g
ic
co
d
e.
C
lear
l
y
,
f
o
r
t
h
is
ap
p
licatio
n
t
h
e
co
m
p
ac
t
n
es
s
o
f
th
e
P
A
C
f
lo
w
c
h
ar
t
b
ased
p
r
o
g
r
a
m
v
er
s
u
s
t
h
e
P
L
C
lad
d
er
lo
g
ic
p
r
o
g
r
a
m
is
ap
p
ar
en
t.
F
ig
u
r
e
1
1
s
h
o
w
s
a
s
eq
u
e
n
ce
o
f
th
e
P
AC
m
ec
h
atr
o
n
ic
ex
p
er
i
m
e
n
t in
r
u
n
t
i
m
e
o
p
er
atio
n
al
m
o
d
e.
Fig
u
r
e
9
.
OPT
O
-
2
2
s
tr
ateg
y
f
l
o
w
ch
ar
t lo
g
ic
f
o
r
r
o
b
o
tic
ar
m
co
n
tr
o
l a
n
d
s
en
s
o
r
r
ea
d
in
g
AC
T
I
ON
B
L
OC
K
C
ON
D
I
T
I
ON
OP
T
OSCRI
P
T
C
ON
T
I
N
U
E
B
L
OC
K
B
L
OC
K
B
L
OC
K
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
1
,
Ma
r
ch
20
1
7
:
39
–
4
8
46
Fig
u
r
e
1
0
.
A
lle
n
-
B
r
ad
le
y
Mic
r
o
L
o
g
i
x
1
2
0
0
P
L
C
L
ad
d
er
L
o
g
ic
[
2
0
]
Fig
u
r
e
1
1
.
P
A
C
Me
ch
atr
o
n
ics
ex
p
er
i
m
e
n
t u
n
d
er
r
u
n
-
ti
m
e
o
p
er
atio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
P
r
o
g
r
a
mma
b
le
A
u
to
ma
tio
n
C
o
n
tr
o
ller
Mech
a
tr
o
n
ic
E
xp
erimen
t
(
Th
o
ma
s
Gro
s
s
)
47
4.
CO
NCLU
SI
O
N
T
h
is
p
ap
er
h
as
p
r
esen
ted
th
e
u
s
e
o
f
P
r
o
g
r
a
m
m
ab
le
A
u
to
m
a
tic
C
o
n
tr
o
ller
s
(
P
AC
)
in
t
h
e
f
r
a
m
e
w
o
r
k
o
f
teac
h
i
n
g
co
n
tr
o
ls
to
u
n
d
er
g
r
ad
u
ate
en
g
i
n
ee
r
in
g
s
t
u
d
en
ts
u
s
i
n
g
t
h
e
P
AC
in
ter
f
ac
ed
to
a
m
ec
h
atr
o
n
ic
s
/
r
o
b
o
tic
p
ick
an
d
p
lace
m
a
n
u
f
ac
tu
r
in
g
p
la
n
ts
.
T
h
e
OP
T
O
-
2
2
SNA
P
P
AC
lear
n
i
n
g
ce
n
ter
p
r
o
v
id
es
a
u
n
iq
u
e
h
an
d
s
-
o
n
e
x
p
er
ien
ce
to
e
n
ab
l
e
s
t
u
d
en
t
s
to
b
ec
o
m
e
f
a
m
i
liar
w
it
h
P
L
C
s
y
s
te
m
s
.
T
h
e
p
r
o
s
an
d
co
n
s
o
f
u
s
i
n
g
P
A
C
v
s
.
P
L
C
an
d
FP
G
A
b
ase
d
s
y
s
te
m
h
av
e
b
ee
n
h
i
g
h
li
g
h
ted
.
T
h
e
p
r
o
g
r
am
m
i
n
g
s
tr
u
ctu
r
e
o
f
in
ter
f
ac
i
n
g
w
i
t
h
th
e
P
AC
is
a
g
r
ap
h
ica
l
o
b
ject
o
r
ien
ted
f
lo
w
c
h
ar
t
b
ased
p
r
o
g
r
am
m
i
n
g
p
ar
ad
ig
m
.
T
h
e
f
lo
w
c
h
ar
t
b
ased
p
r
o
g
r
am
m
i
n
g
p
r
o
v
id
ed
b
y
OP
T
O
-
2
2
allo
w
s
s
t
u
d
en
t
s
to
q
u
ick
l
y
b
e
g
in
p
r
o
g
r
a
m
m
i
n
g
o
n
ce
th
e
y
h
av
e
a
b
asi
c
u
n
d
er
s
ta
n
d
in
g
o
f
t
h
e
u
n
d
er
l
y
i
n
g
lad
d
er
lo
g
ic.
A
d
etailed
wo
r
k
in
g
e
x
a
m
p
le
o
f
u
s
in
g
t
h
e
OPT
O
-
2
2
P
A
C
to
in
ter
f
ac
e
w
i
th
a
n
i
n
d
u
s
tr
ial
b
ased
SUN
C
M
L
-
6
1
6
0
0
Me
ch
atr
o
n
ics p
lan
t
h
as b
ee
n
d
is
c
u
s
s
e
d
h
er
ein
.
ACK
NO
WL
E
D
G
E
M
E
NT
S
T
h
e
au
th
o
r
s
w
i
s
h
to
th
a
n
k
C
al
P
o
ly
P
o
m
o
n
a
U
n
i
v
er
s
it
y
f
o
r
f
u
n
d
i
n
g
o
b
tain
ed
u
n
d
er
a
SP
I
C
E
g
r
an
t
t
o
u
p
g
r
ad
e
th
e
f
ac
ilit
ie
s
o
f
t
h
e
co
n
tr
o
l s
y
s
te
m
s
lab
o
r
ato
r
y
.
RE
F
E
R
E
NC
E
S
[1
]
V
o
g
e
l
-
He
u
se
r,
B.
,
Ob
e
rm
e
ier,
M
.
,
Bra
u
n
,
S
.
,
S
o
m
m
e
r,
K.,
Jo
b
st
,
F
.
,
S
c
h
w
e
ize
r,
K.
,
“
Ev
a
lu
a
ti
o
n
o
f
a
UML
-
b
a
se
d
v
e
rsu
s
a
n
IEC
6
1
1
3
1
-
3
-
b
a
se
d
S
o
f
tw
a
r
e
En
g
in
e
e
rin
g
A
p
p
ro
a
c
h
f
o
r
T
e
a
c
h
in
g
P
L
C
P
r
o
g
ra
m
m
in
g
”,
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Ed
u
c
a
ti
o
n
.
2
0
1
3
;
5
6
(
3
);
3
2
9
-
3
3
5
.
[2
]
Ch
e
n
,
X
.
,
Ho
n
g
y
i,
G
.
,
“
A
Re
m
o
te
P
L
C
L
a
b
o
ra
to
ry
De
sig
n
a
n
d
Re
a
li
z
a
ti
o
n
”,
Pr
o
c
e
d
ia
En
g
in
e
e
rin
g
.
2
0
1
2
;
3
1
;
1
1
6
8
-
1
1
7
2
.
[3
]
G
u
z
m
a
n
-
Ra
m
irez
,
E.
,
G
a
rc
i
a
,
I.
A.
,
“
U
sin
g
th
e
P
ro
jec
t‐Bas
e
d
L
e
a
rn
in
g
A
p
p
ro
a
c
h
f
o
r
In
c
o
rp
o
ra
ti
n
g
a
n
F
P
G
A
‐b
a
se
d
In
teg
ra
ted
Ha
rd
w
a
r
e
/S
o
f
t
w
a
re
T
o
o
l
f
o
r
Im
p
le
m
e
n
ti
n
g
a
n
d
Ev
a
lu
a
ti
n
g
Im
a
g
e
P
ro
c
e
ss
in
g
A
lg
o
rit
h
m
s
in
to
G
ra
d
u
a
te
L
e
v
e
l
Co
u
rse
s
”,
Co
mp
u
ter
A
p
p
li
c
a
ti
o
n
s i
n
En
g
i
n
e
e
rin
g
E
d
u
c
a
ti
o
n
.
2
0
1
3
;
2
1
(
S
1
);
E7
3
-
E
8
8
.
[4
]
Ku
m
a
r,
A
.
,
F
e
rn
a
n
d
o
,
S
.
,
a
n
d
P
a
n
ick
e
r,
R.
C.
,
“
P
r
o
jec
t
-
b
a
se
d
L
e
a
r
n
in
g
in
Em
b
e
d
d
e
d
S
y
ste
m
s
Ed
u
c
a
ti
o
n
u
si
n
g
a
n
F
P
GA
P
latf
o
rm
”,
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
E
d
u
c
a
ti
o
n
.
2
0
1
3
;
5
6
(4
)
;
4
0
7
-
4
1
5
.
[5
]
Cif
re
d
o
-
Ch
a
c
ó
n
,
M
.
,
Q
u
iró
s
-
Ol
o
z
á
b
a
l,
A
.
,
G
u
e
rre
ro
-
Ro
d
ríg
u
e
z
,
J.
M.
,
“
Co
m
p
u
ter
A
rc
h
it
e
c
tu
re
a
n
d
F
P
G
A
s:
a
lea
rn
in
g
-
by
-
d
o
in
g
M
e
th
o
d
o
lo
g
y
f
o
r
d
ig
it
a
l
-
n
a
ti
v
e
S
tu
d
e
n
ts:
C
o
m
p
u
ter
A
r
c
h
it
e
c
tu
re
a
n
d
F
P
G
A
s
”,
Co
mp
u
ter
Ap
p
li
c
a
ti
o
n
s i
n
E
n
g
i
n
e
e
rin
g
Ed
u
c
a
ti
o
n
.
2
0
1
5
;
2
3
(3
);
4
6
4
-
4
7
0
.
[6
]
L
e
w
o
tsk
y
,
K.
P
L
CS
,
P
A
CS
,
P
Cs,
F
P
GA
s: De
c
o
d
in
g
th
e
Dif
f
e
r
e
n
c
e
s.
h
tt
p
:/
/w
ww
.
m
o
ti
o
n
c
o
n
tr
o
lo
n
li
n
e
.
o
rg
/
[7
]
OP
T
O
-
2
2
w
e
b
site
h
tt
p
:/
/w
ww
.
o
p
to
2
2
.
c
o
m
/sit
e
/p
a
c
sv
so
th
e
rtec
h
.
a
sp
x
[8
]
Pro
g
ra
mm
a
b
le C
o
n
tr
o
ll
e
rs
:
An
E
n
g
i
n
e
e
rs
Gu
id
e
,
P
a
rr,
E.
2
0
0
3
,
Ox
f
o
rd
,
Bu
rli
n
g
to
n
,
M
A
.
[9
]
Pro
g
ra
mm
a
b
le
L
o
g
ic
C
o
n
tro
ll
e
rs
:
In
d
u
stri
a
l
Co
n
tro
l
,
D.
Kh
a
led
a
n
d
E.
Ka
m
e
l,
,
2
0
1
4
M
c
G
ra
w
-
Hill
Ed
u
c
a
ti
o
n
,
Ne
w
Yo
rk
[1
0
]
Zh
a
n
g
,
L
i.
A
p
p
li
c
a
ti
o
n
s
o
f
P
A
C
in
c
o
n
tr
o
l
sy
ste
m
a
t
X
e
iq
iao
n
e
w
c
o
a
l
p
re
p
a
rtaio
n
p
lan
t.
C
o
a
l
Pre
p
e
ra
t
io
n
T
e
c
h
n
o
l
o
g
y
,
2
0
1
3
;
3
;
8
0
-
8
1
.
[1
1
]
Zh
a
n
g
,
X
.
D.
,
“
T
id
e
S
im
u
latio
n
S
y
ste
m
Ba
s
e
d
o
n
P
A
C
”,
M
o
d
e
rn
E
lec
tro
n
ic T
e
c
h
n
iq
u
e
.
2
0
0
8
;
2
1
(
1
1
);
1
1
3
-
1
1
6
.
[1
2
]
Zh
u
,
H.
Be
n
lei
,
L
.
,
Bo
l
in
,
D.,
X
i
a
o
,
F
.
,
“
Re
se
a
rc
h
o
n
F
P
G
A
-
b
a
se
d
P
r
o
g
ra
m
m
a
b
le
L
o
g
ic
Co
n
tro
ll
e
rs’
tec
h
n
o
l
o
g
y
”
,
T
EL
KOM
NIKA
In
d
o
n
e
si
a
n
J
o
u
rn
a
l
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
.
2
0
1
3
;
1
1
(1
2
);
7
6
5
5
-
7
6
6
3
.
[1
3
]
Ch
e
n
,
Y.,
L
iu
,
Y.,
Zh
a
n
g
,
Z.
De
sig
n
a
n
d
im
p
le
m
e
n
taio
n
o
f
e
lev
a
to
r
c
o
n
tr
o
l
sy
st
e
m
b
a
s
e
d
o
n
F
P
GA
.
J
o
u
rn
a
l
o
f
He
n
a
n
I
n
stit
u
te o
f
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
l
o
g
y
.
2
0
1
4
;
4
2
(0
3
);
6
5
-
7
1
.
[1
4
]
G
u
p
ta,
S
.
,
“
P
L
C
Ba
se
d
m
u
lt
i
-
f
lo
o
r
El
e
v
a
to
r
S
y
ste
m
”,
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Ro
b
o
ti
c
s
a
n
d
Au
to
ma
ti
o
n
.
2
0
1
5
;
4
(3
).
[1
5
]
M
a
,
Y.
Y.,
W
a
n
g
,
F
e
n
g
-
Yu
,
L
V
,
W
a
n
g
,
G
.
J.
,
“
P
L
C
El
e
v
a
to
r
Co
n
tro
l
S
y
ste
m
Ba
s
e
d
o
n
P
W
M
S
p
e
e
d
Co
n
tr
o
l
”,
J
o
u
rn
a
l
o
f
Gu
a
n
x
i
Ac
a
d
e
my
o
f
S
c
ien
c
e
s
.
2
0
1
2
;
2
8
(0
1
);
5
9
-
6
1
.
[1
6
]
Na
jj
a
ri,
B.
,
Ba
ra
k
a
ti
,
S
.
M
.
,
M
o
h
a
m
m
a
d
i,
A
.
,
F
o
tu
h
i,
M
.
J.,
F
a
ra
h
a
t,
S
.
,
Bo
sta
n
ian
,
M
.
,
“
M
o
d
e
li
n
g
a
n
d
Co
n
tro
l
ler
De
sig
n
o
f
El
e
c
tro
-
P
n
e
u
m
a
ti
c
A
c
t
u
a
to
r
Ba
se
d
o
n
P
W
M
”,
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Ro
b
o
ti
c
s
a
n
d
Au
t
o
ma
ti
o
n
.
2
0
1
2
;
1
(3
);
1
2
5
-
1
3
6
.
[1
7
]
S
a
m
a
n
ta,
A
.
,
Du
tt
a
,
A
.
,
“
A
No
b
le
A
p
p
ro
a
c
h
o
f
P
ro
c
e
ss
A
u
to
m
a
ti
o
n
in
G
a
lv
a
n
ize
d
N
u
t,
Bo
lt
M
a
n
u
f
a
c
tu
rin
g
In
d
u
stry
”,
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
R
o
b
o
ti
c
s a
n
d
Au
t
o
ma
ti
o
n
.
2
0
1
2
;
1
(
2
);
1
1
3
-
1
2
4
.
[1
8
]
Us
e
r
m
a
n
u
a
l
f
o
r
OP
T
O
-
2
2
P
A
C
L
e
a
rn
in
g
Ce
n
ter,
2
0
1
0
,
ww
w
.
o
p
to
-
2
2
.
c
o
m
[1
9
]
W
e
ll
s,
T
.
,
De
V
o
st,
M
.
,
A
n
d
e
rso
n
,
K.R.
,
“
Us
in
g
OP
T
O2
2
P
A
C
L
e
a
rn
in
g
S
y
ste
m
in
th
e
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
De
sig
n
o
f
M
a
c
h
in
e
Co
n
tro
ls
L
a
b
o
ra
to
ry
”,
Pro
c
e
e
d
in
g
s
o
f
th
e
2
0
1
2
AS
EE
PS
W
S
e
c
ti
o
n
Co
n
fer
e
n
c
e
,
S
a
n
L
u
is
Ob
isp
o
,
2
0
1
2
.
[2
0
]
S
u
n
Eq
u
ip
m
e
n
t
Co
.
CM
L
6
1
-
6
0
0
Un
it
,
,
h
tt
p
:/
/w
ww
.
su
n
e
q
u
ip
c
o
.
c
o
m
/M
e
c
h
a
tro
n
ic/IND
EX
.
HT
M
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
1
,
Ma
r
ch
20
1
7
:
39
–
4
8
48
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
T
h
o
m
a
s
G
ro
ss
is
a
n
HV
A
C&
R
En
g
in
e
e
r
a
t
A
CC
O
En
g
in
e
e
re
d
S
y
st
e
m
s
a
n
d
is
a
m
e
c
h
a
n
ica
l
e
n
g
in
e
e
rin
g
re
se
a
rc
h
a
ss
istan
t
a
t
Ca
li
f
o
rn
ia
S
tate
P
o
ly
tec
h
n
ic
U
n
iv
e
rsity
,
P
o
m
o
n
a
.
M
r
.
G
ro
ss
o
b
tai
n
e
d
h
is
b
a
c
h
e
lo
r’s
d
e
g
re
e
in
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
f
ro
m
th
e
Ca
li
f
o
rn
ia
S
ta
te
P
o
ly
tec
h
n
ic
Un
iv
e
rsit
y
,
P
o
m
o
n
a
.
M
r.
G
ro
ss
’
p
re
v
io
u
s
re
se
a
rc
h
h
a
s
c
e
n
tere
d
o
n
h
e
a
t
e
x
c
h
a
n
g
e
rs
a
n
d
En
e
rg
y
m
o
d
e
li
n
g
re
su
lt
in
g
i
n
p
u
b
li
c
a
ti
o
n
s
in
th
e
In
tern
a
ti
o
n
a
l
Jo
u
r
n
a
l
o
f
T
h
e
r
m
a
l
En
g
in
e
e
rin
g
,
th
e
Jo
u
rn
a
l
o
f
T
h
e
r
m
a
l
En
g
in
e
e
rin
g
a
n
d
A
p
p
li
c
a
ti
o
n
,
a
n
d
th
e
I
n
tern
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
En
e
rg
y
a
n
d
En
v
iro
n
m
e
n
t.
His
re
se
a
r
c
h
in
tere
sts
a
re
in
h
e
a
t
tran
s
f
e
r,
th
e
r
m
o
d
y
n
a
m
ics
,
tran
sp
o
rt
p
h
e
n
o
m
e
n
a
,
CF
D,
e
n
e
rg
y
g
e
n
e
ra
ti
o
n
a
n
d
c
o
n
tr
o
l
sy
ste
m
s.
He
h
a
s an
E.
I.
T
.
li
c
e
n
se
in
th
e
sta
te
o
f
Ca
li
f
o
rn
ia.
Dr.
Ke
v
in
A
n
d
e
rso
n
i
s
a
P
ro
f
e
ss
o
r
o
f
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
a
n
d
Dire
c
to
r
o
f
th
e
M
a
c
h
i
n
e
Co
n
tr
o
ls
L
a
b
o
ra
to
ry
a
t
Ca
li
f
o
rn
i
a
S
tate
P
o
ly
tec
h
n
ic
Un
iv
e
rsity
.
Dr.
A
n
d
e
rso
n
h
o
l
d
s
o
v
e
r
2
0
y
e
a
rs
o
f
p
riv
a
t
e
in
d
u
stry
e
x
p
e
rie
n
c
e
,
a
n
d
h
a
s
p
u
b
li
sh
e
d
3
0
p
e
e
r
re
v
ie
w
e
d
jo
u
rn
a
l
a
rti
c
les
,
a
n
d
ov
e
r
5
0
c
o
n
f
e
re
n
c
e
p
ro
c
e
e
d
in
g
s.
Dr.
A
n
d
e
rso
n
is
a
m
o
d
e
rn
d
a
y
r
e
n
a
issa
n
c
e
m
a
n
a
s
h
e
c
o
n
ti
n
u
a
ll
y
tea
c
h
e
s
a
w
id
e
v
a
ri
e
t
y
o
f
c
o
u
rse
s
a
n
d
lab
o
ra
t
o
ries
in
c
lu
d
in
g
M
a
c
h
i
n
e
De
sig
n
,
Co
n
tr
o
l
S
y
ste
m
s,
S
y
ste
m
D
y
n
a
m
ic
s,
T
h
e
r
m
a
l
S
y
ste
m
s
De
si
g
n
,
He
a
t
T
ra
n
s
f
e
r,
S
o
lar
T
h
e
r
m
a
l
En
g
in
e
e
rin
g
,
Re
n
e
w
a
b
le
En
e
rg
y
,
En
g
in
e
e
rin
g
M
e
a
su
re
m
e
n
ts,
M
e
c
h
a
n
ica
l
V
i
b
ra
ti
o
n
s,
F
l
u
id
M
e
c
h
a
n
ics
,
Co
m
p
u
ter
P
r
o
g
ra
m
m
i
n
g
a
n
d
En
g
in
e
e
rin
g
M
a
t
h
e
m
a
ti
c
a
l
A
n
a
l
y
sis.
Dr.
A
n
d
e
rso
n
a
lso
h
o
l
d
s an
a
c
ti
v
e
M
e
c
h
a
n
ica
l
En
g
i
n
e
e
rin
g
P
.
E.
li
c
e
n
se
.
E
-
m
a
il
:
k
ra
n
d
e
rso
n
1
@c
p
p
.
e
d
u
Dr.
No
lan
T
su
c
h
iy
a
is
a
n
A
s
sis
tan
t
P
ro
f
e
ss
o
r
o
f
M
e
c
h
a
n
ica
l
E
n
g
in
e
e
rin
g
a
t
Ca
li
f
o
rn
ia
S
tate
P
o
ly
tec
h
n
ic
Un
iv
e
rsity
,
P
o
m
o
n
a
.
Dr.
T
su
c
h
iy
a
o
b
tain
e
d
h
is
P
h
.
D.
f
ro
m
Un
iv
e
rsit
y
o
f
Ca
li
f
o
rn
ia
L
o
s
A
n
g
e
les
(UC
LA
in
th
e
a
re
a
o
f
D
y
n
a
m
ic
S
y
ste
m
s
a
n
d
Co
n
tro
l)
.
Dr.
T
su
c
h
iy
a
tea
c
h
e
s
Co
n
tr
o
ls
E
n
g
in
e
e
rin
g
,
S
y
ste
m
Dy
n
a
m
i
c
s,
a
n
d
Co
m
p
u
ter
P
r
o
g
ra
m
m
in
g
c
o
u
rse
s
u
sin
g
M
AT
LAB/S
IM
UL
INK
a
t
C
a
li
f
o
r
n
ia
S
tate
P
o
ly
tec
h
n
ic
Un
iv
e
rsit
y
,
P
o
m
o
n
a
.
He
is
c
u
rre
n
tl
y
th
e
a
d
v
iso
r
f
o
r
th
e
C
P
P
Hy
p
e
rlo
o
p
tea
m
,
a
n
d
a
c
o
-
a
d
v
iso
r
f
o
r
th
e
C
P
P
A
S
HR
A
E
c
lu
b
.
He
h
o
l
d
s
a
n
a
c
ti
v
e
Ca
li
f
o
rn
ia
P
E
li
c
e
n
se
.
Evaluation Warning : The document was created with Spire.PDF for Python.