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S
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Dep
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I
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tr
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1.
I
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D
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I
O
N
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v
an
ta
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s
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d
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is
a
d
v
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ta
g
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[
1
]
.
No
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s
clea
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o
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w
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d
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w
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d
s
ex
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s
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v
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liftin
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[
2
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.
A
s
it
is
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n
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m
all
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n
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k
[
3
,
4
]
.
T
h
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d
esig
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m
i
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th
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s
p
ap
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a
co
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tr
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[
5
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.
T
h
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aim
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f
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d
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M
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Evaluation Warning : The document was created with Spire.PDF for Python.
T
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2683
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eq
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[
6
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7
]
.
I
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is
p
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co
n
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ller
is
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8
,
9
]
.
2.
L
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AT
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R
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W
A
r
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b
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r
o
u
g
h
a
v
ac
u
u
m
c
lean
i
n
g
ass
e
m
b
l
y
.
So
m
e
o
f
t
h
e
av
ailab
le
p
r
o
d
u
ct
s
ca
n
b
r
u
s
h
ar
o
u
n
d
s
h
ar
p
ed
g
es
an
d
co
r
n
er
s
w
h
il
e
o
th
er
s
in
cl
u
d
e
a
n
u
m
b
er
o
f
ad
d
itio
n
al
f
ea
t
u
r
es
s
u
ch
as
w
e
t
m
o
p
p
in
g
a
n
d
UV
s
ter
ilizatio
n
r
at
h
er
th
a
n
v
ac
u
u
m
i
n
g
.
So
m
e
o
f
t
h
e
av
ai
lab
le
p
r
o
d
u
cts ar
e
d
is
cu
s
s
ed
b
elo
w
[
1
0
,
1
1
]
.
3.
RE
S
E
ARCH
M
E
T
H
O
D
3
.
1
.
Ste
pp
er
m
o
t
o
r
C
o
n
v
er
s
io
n
in
to
r
o
tatio
n
al
m
o
tio
n
o
f
i
n
p
u
t
s
eit
h
er
a
n
g
el
o
r
d
ir
ec
tio
n
o
f
m
u
ltip
le
c
h
an
g
e
(
s
tep
s
)
is
d
o
n
e
th
r
o
u
g
h
elec
tr
o
m
ec
h
an
ic
al
d
ev
ices
ca
lled
s
tep
p
er
m
o
t
o
r
s
[
1
2
]
.
E
ac
h
s
tep
is
k
n
o
w
n
b
y
t
h
e
co
n
s
tr
u
ctio
n
o
f
th
e
m
o
to
r
.
4
-
p
h
a
s
e
u
n
ip
o
lar
s
tep
p
er
m
o
to
r
(
UL
N2
XX3
w
h
ich
is
s
ta
n
d
er
)
is
s
i
m
p
l
y
to
b
e
d
ir
ec
t
b
y
t
w
o
w
a
y
s
Sta
m
p
o
r
J
av
elin
Sta
m
p
at
th
e
p
o
in
t
w
h
en
s
u
p
p
o
r
ted
w
i
th
a
f
itti
n
g
h
i
g
h
-
c
u
r
r
en
t
d
r
iv
er
(
UL
N2
0
0
3
o
r
s
i
m
ilar
is
h
ig
h
l
y
r
ec
o
m
m
e
n
d
ed
)
[
1
3
,
1
4
]
.
3
.
1
.
1
.
T
he
driv
er
circ
uit
T
h
e
ch
ip
(
UL
N2
0
0
3
)
as
s
h
o
w
n
in
Fi
g
u
r
e
1
is
ap
p
lied
as
d
r
iv
er
to
o
r
d
e
r
th
e
s
tep
p
er
m
o
to
r
(
f
o
r
m
u
ltip
le
o
u
tp
u
ts
it
’
s
i
m
p
o
r
tan
t to
b
e
a
w
ar
e
o
f
th
e
U
L
N2
x
0
3
s
in
k
ca
p
ab
ilit
y
th
r
o
u
g
h
as
s
u
r
i
n
g
o
f
t
h
e
m
o
to
r
cu
r
r
en
t r
eq
u
ir
e
m
en
t
s
)
[
1
5
]
.
Fig
u
r
e
1.
UL
N2
0
0
3
w
it
h
s
tep
p
er
m
o
to
r
3
.
1
.
2
.
M
o
t
o
rs
m
o
v
e
m
ent
s
T
h
e
k
in
e
m
at
ic
o
f
t
h
e
d
ev
ice
w
in
d
o
w
c
lean
er
i
s
m
ad
e
s
i
m
p
le
d
u
e
to
t
h
e
f
ac
t
th
a
t
t
h
e
d
ev
ice
i
s
C
ar
tesi
a
n
.
T
h
e
s
i
g
n
co
n
v
e
n
tio
n
f
o
r
th
ese
m
o
tio
n
s
i
s
s
h
o
w
n
in
Fi
g
u
r
e
2
[
1
6
]
.
T
h
e
d
ev
ice
o
f
w
i
n
d
o
w
c
lean
i
n
g
m
o
v
e
s
r
ig
h
t
a
n
d
le
f
t
alo
n
g
t
h
e
“
X”
a
x
i
s
,
an
d
m
o
v
e
u
p
a
n
d
d
o
w
n
alo
n
g
t
h
e
“
Y”
a
x
is
,
wh
ile
t
h
e
m
ac
h
in
e
's
m
o
v
e
m
e
n
t
f
r
o
m
o
n
e
w
i
n
d
o
w
to
o
th
er
s
is
ass
ig
n
ed
as
th
e
“Z
”
ax
i
s
[
1
7
,
1
8
]
.
T
h
e
m
o
v
e
m
en
t
is
co
n
tr
o
lled
b
y
s
tep
p
er
m
o
to
r
s
,
th
e
d
eg
r
ee
o
f
s
tep
p
er
m
o
to
r
is
7
.
5
˚
s
o
to
co
m
p
lete
o
n
e
r
o
tatio
n
al
it
n
ee
d
s
4
8
s
tep
(
3
6
0
˚
÷
7
.
5
˚
=
4
8
)
th
at
m
ea
n
s
th
e
s
tep
p
er
m
o
to
r
r
o
tates
4
8
s
tep
to
m
o
v
e
2
m
m
(
d
i
m
en
s
io
n
o
f
th
e
s
h
i
f
t)
,
th
e
s
e
ar
e
f
o
r
h
ig
h
d
eg
r
ee
o
f
r
eso
lu
t
i
o
n
[
1
9
,
2
0
]
.
Fo
r
clea
n
in
g
1
×
1
m
et
er
o
f
w
i
n
d
o
w
,
t
h
e
m
o
to
r
at
X
an
d
Y
ac
ce
s
s
m
u
s
t r
o
tate
w
it
h
n
u
m
b
er
o
f
d
u
r
atio
n
s
ca
n
b
e
ca
lcu
la
ti
n
g
as b
elo
w
:
1
d
u
r
atio
n
o
f
m
o
to
r
m
o
v
ed
2
m
m
,
s
o
f
o
r
1
m
eter
.
1
2
=
500
(
1
)
T
h
e
p
r
ac
tical
cir
cu
it o
f
co
n
n
ec
tin
g
s
tep
p
er
m
o
to
r
w
it
h
ar
d
u
i
n
o
an
d
d
r
iv
er
is
s
h
o
w
n
in
F
ig
u
r
e
3
[
2
1
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
1
8
,
No
.
5
,
Octo
b
e
r
2
0
2
0
:
2
6
8
2
-
2689
2684
Fig
u
r
e
2
.
Mo
to
r
m
o
tio
n
co
n
tr
o
l a
x
is
w
i
th
p
r
o
teu
s
[
1
0
]
Fig
u
r
e
3
.
T
h
e
p
r
ac
tical
cir
cu
it o
f
s
tep
p
er
m
o
to
r
co
n
n
ec
tio
n
with
ar
d
u
i
n
o
3
.
2
.
Clea
nin
g
o
pera
t
i
o
n
T
h
e
clea
n
in
g
o
p
er
atio
n
f
o
r
th
i
s
w
o
r
k
is
estab
li
s
h
ac
co
r
d
in
g
t
o
b
u
ild
in
g
w
i
n
d
o
w
s
g
las
s
es
p
an
s
i
s
lik
e
ch
es
s
b
o
ar
d
as
s
h
o
w
n
i
n
Fi
g
u
r
e
4
[
2
2
]
.
So
af
ter
e
n
ter
i
n
g
th
e
r
eq
u
ir
ed
clea
n
in
g
ar
ea
d
i
m
e
n
s
io
n
x
1
a
n
d
y
1
o
f
w
h
o
le
b
u
ild
in
g
i
n
ad
d
itio
n
th
e
x
2
,
y
2
an
d
z
f
o
r
o
n
e
o
f
w
i
n
d
o
w
s
g
la
s
s
p
an
t
h
at
w
ill
g
iv
e
in
f
o
r
m
a
tio
n
ab
o
u
t
th
e
r
eq
u
ir
ed
clea
n
i
n
g
ar
ea
f
o
r
ea
ch
p
a
n
a
n
d
th
e
n
u
m
b
er
o
f
s
tep
p
es
i
n
w
h
ic
h
t
h
at
r
o
b
o
t
r
eq
u
ir
ed
to
m
o
v
e
it
ar
o
u
n
d
x
a
x
is
to
co
v
er
t
h
e
clea
n
in
g
o
f
o
n
e
p
an
,
y
ax
i
s
o
f
o
n
e
p
an
r
ep
r
esen
t t
h
e
d
esti
n
es o
f
t
h
e
s
ec
o
n
d
m
o
to
r
to
m
o
v
e
t
h
e
r
o
b
o
t a
r
m
u
p
an
d
d
o
w
n
to
clea
n
i
n
co
lu
m
n
w
a
y
o
f
th
e
p
an
r
eg
ar
d
i
n
g
o
n
e
s
tep
o
f
x
ax
i
s
it a
ls
o
ca
n
b
e
p
r
o
g
r
am
ed
f
o
r
1
o
r
2
o
r
3
cy
cl
e
if
th
e
p
an
i
s
v
er
y
d
ir
t
y
,
z
ax
i
s
is
in
m
m
m
o
v
e
m
e
n
t
t
h
at
p
u
ll
a
w
a
y
t
h
e
clea
n
in
g
ar
m
ab
o
u
t
3
0
0
m
m
s
o
it
r
ep
r
esen
t
t
h
e
d
is
ta
n
ce
f
o
r
m
o
v
e
m
en
t
th
e
ar
m
a
w
a
y
f
r
o
m
th
e
g
lass
to
t
h
e
s
ec
o
n
d
p
o
s
itio
n
to
s
tar
t
a
n
o
th
er
clea
n
in
g
c
y
cle
o
f
n
e
w
p
an
o
r
p
o
s
it
io
n
[
2
3
]
.
T
h
is
o
p
er
atio
n
w
ill
b
e
co
n
tin
u
o
u
s
u
n
ti
l
f
i
n
is
h
t
h
e
w
h
o
le
b
u
ild
i
n
g
p
an
s
.
I
t
is
im
p
o
r
t
an
t
f
o
r
th
e
r
o
b
o
t
s
u
p
e
r
v
i
s
o
r
t
o
in
s
u
r
e
d
o
in
g
th
e
r
e
q
u
i
r
e
d
ca
l
cu
l
at
i
o
n
o
f
x
1
,
y
1
,
x
2
,
y
1
a
n
d
z
t
h
e
n
en
t
e
r
i
n
g
th
e
r
e
q
u
i
r
e
d
i
n
f
o
r
m
a
ti
o
n
a
l
s
o
in
a
d
d
i
t
i
o
n
a
d
d
t
h
e
r
e
q
u
i
r
e
d
a
r
m
s
o
f
t
h
e
y
1
a
x
is
th
at
n
e
e
d
e
d
t
o
r
e
a
ch
t
o
th
e
f
i
r
s
t
s
t
a
r
t
p
an
t
o
th
a
t
w
il
l
s
t
a
r
t
c
l
e
an
in
g
f
r
o
m
i
t
as
ex
p
l
a
in
in
th
e
F
ig
u
r
e
5
[
2
4
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
Desig
n
a
n
d
imp
leme
n
ta
tio
n
o
f
r
o
b
o
t c
o
n
tr
o
l sys
tem
fo
r
mu
ltis
to
r
y
b
u
ild
in
g
s
(
N
a
q
a
a
Lu
q
ma
n
Mo
h
a
mme
d
)
2685
Fig
u
r
e
4
.
C
lean
i
n
g
g
la
s
s
p
an
s
Fig
u
r
e
5
.
Descr
ip
tio
n
th
e
r
o
b
o
t c
o
m
p
o
n
e
n
t
s
3
.
3
.
H
a
rdw
a
re
des
ig
n uni
t
s
a
nd
o
pera
t
io
ns
E
lev
atio
n
u
n
its
t
h
at
r
ep
r
esen
t
th
e
d
is
tan
ce
f
r
o
m
t
h
e
r
o
b
o
t
b
ase
to
th
e
f
ir
s
t
g
lass
p
a
n
o
f
th
e
b
u
ild
in
g
w
h
ic
h
ad
d
b
y
t
h
e
s
u
p
er
v
is
o
r
t
o
th
e
to
tal
elev
atio
n
o
f
th
e
b
u
il
d
in
g
g
las
s
es [
1
6
]
.
C
o
n
tr
o
l
u
n
it
w
h
ic
h
ca
n
b
e
cl
ass
i
f
y
a
s
t
w
o
co
n
tr
o
ller
th
e
f
ir
s
t
o
n
e
th
a
t
w
ill
co
n
tr
o
l
t
h
e
m
o
v
e
m
e
n
t
o
f
th
e
ar
m
ab
o
u
t
t
h
e
y
ax
i
s
w
h
i
ch
is
r
ep
ea
ted
f
o
r
an
y
r
eq
u
ir
ed
ti
m
es
to
in
s
u
r
e
clea
n
i
n
g
o
f
t
h
e
o
n
e
p
a
n
ac
co
r
d
in
g
to
co
u
n
ter
L
,
t
h
e
s
e
co
n
d
o
n
e
is
to
co
n
tr
o
l
t
h
e
m
o
v
e
m
e
n
t
ar
o
u
n
d
t
h
e
x
a
x
i
s
a
n
d
h
er
e
r
eq
u
ir
ed
t
w
o
co
u
n
ter
s
(
I
)
to
co
n
tr
o
l h
o
w
m
a
n
y
x
ax
is
w
i
ll b
e
r
ep
ea
te
d
ac
co
r
d
in
g
to
t
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