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Dep
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k
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alan
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co
m
1.
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NT
RO
D
UCT
I
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N
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p
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m
m
ab
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g
u
lar
s
tep
i
n
r
esp
o
n
s
e
to
ea
ch
in
p
u
t
c
u
r
r
en
t p
u
l
s
es r
ec
eiv
e
b
y
it
s
co
n
tr
o
ller
[
2
1
]
.
Step
p
er
m
o
to
r
d
r
iv
er
is
a
ci
r
cu
it
o
r
d
ev
ice
th
at
p
r
o
v
id
es
th
e
n
ec
e
s
s
ar
y
c
u
r
r
en
t
a
n
d
v
o
ltag
e
to
a
s
tep
p
er
m
o
to
r
s
o
th
at
it
h
a
s
a
s
m
o
o
th
o
p
er
atio
n
.
I
t
is
a
cir
cu
it
t
h
at
ap
p
lies
a
v
o
lta
g
e
to
a
n
y
o
f
t
h
e
f
o
u
r
s
ta
to
r
co
ils
o
f
th
e
m
o
to
r
.
Dr
iv
er
ca
n
b
e
b
u
ilt
w
it
h
I
C
s
u
ch
as
U
L
N2
0
0
3
,
f
o
u
r
Dar
lin
g
to
n
tr
an
s
i
s
to
r
s
o
r
f
o
u
r
p
o
w
er
tr
an
s
i
s
to
r
s
[
6
]
.
T
h
e
L
P
C
2
1
4
8
m
icr
o
co
n
tr
o
ller
i
s
a
1
6
-
b
it
o
r
3
2
-
b
it
m
icr
o
co
n
tr
o
ller
b
ased
o
n
AR
M7
f
a
m
il
y
.
I
t
is
d
esi
g
n
ed
w
it
h
s
e
v
er
al
i
n
-
b
u
ilt
f
e
at
u
r
es
&
p
er
ip
h
er
als.
T
h
e
o
n
-
c
h
ip
s
tatic
R
A
M
i
s
8
k
B
-
4
0
k
B
,
an
d
th
e
o
n
-
ch
ip
f
la
s
h
m
e
m
o
r
y
is
3
2
k
B
-
5
1
2
k
B
.
I
t
h
as
o
n
e
o
r
t
w
o
1
0
-
b
it
A
D
C
s
[
2
2
]
.
T
h
e
w
o
r
k
i
n
g
v
o
lta
g
e
i
s
5
v
o
lts
.
T
h
e
L
E
D
is
a
li
g
h
t
s
o
u
r
ce
w
h
ic
h
u
s
e
s
s
e
m
ico
n
d
u
cto
r
s
an
d
elec
tr
o
lu
m
in
e
s
ce
n
ce
to
cr
ea
te
l
ig
h
t.
I
n
o
th
er
w
o
r
d
s
,
lig
h
t
-
e
m
itti
n
g
d
io
d
e
(
L
E
D)
is
a
s
e
m
ico
n
d
u
c
t
o
r
d
ev
ice
th
at
e
m
its
lig
h
t
w
h
e
n
an
e
lectr
ic
cu
r
r
en
t
is
p
as
s
ed
th
r
o
u
g
h
i
t.
L
i
g
h
t
is
p
r
o
d
u
ce
d
w
h
en
t
h
e
p
a
r
ticles
th
at
ca
r
r
y
t
h
e
cu
r
r
en
t
(
k
n
o
wn
as
elec
tr
o
n
s
a
n
d
h
o
les)
co
m
b
in
e
to
g
et
h
er
w
ith
i
n
th
e
s
e
m
ico
n
d
u
cto
r
m
a
ter
ial
[
2
3
]
.
An
i
n
f
r
ar
ed
s
e
n
s
o
r
is
a
n
e
l
ec
tr
o
n
ic
d
ev
ice
th
at
e
m
its
in
o
r
d
er
to
s
e
n
s
e
s
o
m
e
asp
ec
ts
o
f
th
e
s
u
r
r
o
u
n
d
i
n
g
s
.
A
n
I
R
s
e
n
s
o
r
ca
n
m
ea
s
u
r
e
th
e
h
ea
t
o
f
a
n
o
b
j
ec
t
as
w
ell
a
s
d
etec
ts
t
h
e
m
o
tio
n
.
T
h
ese
t
y
p
e
s
o
f
s
e
n
s
o
r
s
m
ea
s
u
r
es
o
n
l
y
i
n
f
r
ar
ed
r
ad
iatio
n
,
r
ath
er
th
an
e
m
itti
n
g
it
t
h
at
i
s
ca
lled
as
a
p
ass
iv
e
I
R
s
e
n
s
o
r
.
Usu
al
l
y
in
t
h
e
i
n
f
r
ar
ed
s
p
ec
tr
u
m
,
a
ll
t
h
e
o
b
j
ec
ts
r
ad
iate
s
o
m
e
f
o
r
m
o
f
th
er
m
al
r
ad
iatio
n
s
[
2
4
]
.
T
h
e
em
itter
is
s
i
m
p
l
y
an
I
R
L
E
D
(
lig
h
t
e
m
itt
in
g
d
io
d
e
)
an
d
th
e
d
etec
to
r
is
s
i
m
p
l
y
an
I
R
p
h
o
to
d
io
d
e
w
h
ic
h
is
s
e
n
s
it
iv
e
to
I
R
lig
h
t
o
f
t
h
e
s
a
m
e
w
a
v
ele
n
g
t
h
as
t
h
at
e
m
it
ted
b
y
th
e
I
R
L
E
D.
W
h
e
n
I
R
li
g
h
t
f
alls
o
n
t
h
e
p
h
o
to
d
io
d
e,
th
e
r
esis
tan
ce
s
an
d
th
e
s
e
o
u
tp
u
t v
o
lta
g
es,
c
h
an
g
e
i
n
p
r
o
p
o
r
ti
o
n
to
th
e
m
a
g
n
it
u
d
e
o
f
th
e
I
R
lig
h
t r
ec
eiv
ed
[
2
5
]
.
A
r
ela
y
i
s
a
n
elec
tr
o
m
a
g
n
etic
s
w
it
c
h
o
p
er
ated
b
y
a
r
ela
tiv
el
y
s
m
all
elec
tr
ic
cu
r
r
en
t
th
at
c
an
t
u
r
n
o
n
o
r
o
f
f
a
m
u
ch
lar
g
er
elec
tr
ic
cu
r
r
en
t.
R
ela
y
s
ca
n
w
o
r
k
eit
h
er
as
s
w
itc
h
es
(
tu
r
n
i
n
g
t
h
i
n
g
s
o
n
an
d
o
f
f
)
o
r
as
a
m
p
li
f
ier
s
(
co
n
v
er
tin
g
s
m
al
l
cu
r
r
en
ts
in
to
lar
g
er
o
n
es).
T
o
w
o
r
k
as
a
n
a
m
p
li
f
ier
,
w
e
g
iv
e
th
e
o
p
er
atin
g
v
o
ltag
e
at
o
n
ce
en
d
o
f
th
e
r
ela
y
co
il.
A
tr
an
s
i
s
to
r
is
co
n
n
ec
ted
to
th
e
o
th
er
en
d
o
f
th
e
r
ela
y
co
il.
T
h
e
v
o
ltag
e
th
at
h
as
to
b
e
a
m
p
li
f
ied
i
s
g
i
v
en
to
th
e
b
ase
o
f
a
tr
an
s
is
to
r
d
u
e
to
w
h
ich
th
e
c
ir
cu
it
g
e
ts
co
m
p
leted
f
r
o
m
co
llecto
r
to
e
m
itter
.
An
d
h
e
n
c
e
th
e
v
o
lta
g
e
w
e
g
i
v
e
at
t
h
e
c
o
m
p
o
in
t
o
f
r
ela
y
(
i.e
.
th
e
a
m
p
lif
ied
v
o
lta
g
e
we
w
a
n
t)
,
is
a
v
ailab
le
at
th
e
N
C
p
o
in
t o
f
t
h
e
r
ela
y
.
2.
P
RO
P
O
SE
D
AU
T
O
M
AT
I
C
G
ARA
G
E
CO
NT
RO
L
SY
S
T
E
M
T
h
e
h
a
r
d
w
a
r
e
c
o
m
p
r
i
s
e
s
P
L
C
(
p
r
o
g
r
a
m
m
a
b
l
e
l
o
g
i
c
c
o
n
t
r
o
l
)
S
i
em
e
n
s
S
7
-
1
2
0
0
k
i
t
,
L
PC
2
1
4
8
m
i
c
r
o
c
o
n
t
r
o
l
l
e
r
,
i
n
f
r
a
r
e
d
s
e
n
s
o
r
,
s
m
o
k
e
s
e
n
s
o
r
,
R
F
I
D
[
r
a
d
i
o
f
r
e
q
u
e
n
c
y
i
d
e
n
t
i
f
i
c
a
t
i
o
n
]
,
L
E
D
s
a
n
d
s
t
e
p
p
e
r
m
o
t
o
r
.
A
d
d
i
t
i
o
n
a
l
h
a
r
d
w
a
r
e
c
o
m
p
o
n
e
n
t
s
u
s
e
d
a
r
e
t
r
a
n
s
f
o
r
m
e
r
a
n
d
r
e
c
t
i
f
i
e
r
.
T
h
e
s
o
f
tw
a
r
e
p
a
r
t
i
n
c
l
u
d
e
s
PL
C
f
o
r
b
u
i
l
d
i
n
g
l
a
d
d
e
r
l
o
g
i
c
s
a
n
d
S
C
A
D
A
s
c
r
e
e
n
i
s
u
s
e
d
f
o
r
d
i
s
p
l
a
y
i
n
g
.
I
R
s
e
n
s
o
r
s
a
r
e
u
s
e
d
t
o
d
e
t
e
c
t
t
h
e
p
r
e
s
e
n
c
e
o
f
a
v
e
h
i
c
l
e
i
n
v
a
r
i
o
u
s
s
l
o
t
s
w
i
t
h
i
n
t
h
e
i
n
f
r
a
r
e
d
r
a
n
g
e
,
w
h
i
c
h
w
i
l
l
b
e
f
u
r
t
h
e
r
s
e
n
t
t
o
t
h
e
r
e
l
a
y
s
.
e
a
c
h
s
l
o
t
i
s
e
q
u
i
p
p
e
d
w
i
t
h
i
r
s
e
n
s
o
r
f
o
r
t
h
e
d
e
t
e
c
t
i
o
n
o
f
v
e
h
i
c
l
e
s
.
S
m
o
k
e
s
e
n
s
o
r
s
s
e
n
s
e
s
s
m
o
k
e
,
t
y
p
i
c
a
l
l
y
a
s
a
n
i
n
d
i
c
a
t
o
r
o
f
f
i
r
e
.
A
s
i
n
g
l
e
s
m
o
k
e
s
e
n
s
o
r
i
s
u
s
e
d
f
o
r
a
r
a
n
g
e
o
f
f
o
u
r
s
l
o
t
s
f
o
r
t
h
e
d
e
t
e
c
t
i
o
n
o
f
s
m
o
k
e
a
n
d
t
h
u
s
f
i
r
e
,
w
h
i
c
h
i
s
s
h
o
w
n
i
n
F
i
g
u
r
e
1.
T
h
e
s
i
g
n
a
l
i
s
n
o
t
s
e
n
t
d
i
r
e
c
t
l
y
t
o
t
h
e
PL
C
a
s
PL
C
c
a
n
d
e
t
e
c
t
i
n
p
u
t
v
o
l
t
a
g
e
s
i
n
t
h
e
r
a
n
g
e
o
f
2
4
V
o
n
l
y
.
H
e
n
c
e
f
r
o
m
t
h
e
r
e
l
a
y
s
i
g
n
a
l
i
s
g
i
v
e
n
t
o
t
h
e
P
L
C
.
H
e
r
e
,
t
h
e
r
e
l
a
y
c
i
r
c
u
i
t
b
o
o
s
t
s
t
h
e
v
o
l
t
a
g
e
f
o
r
t
h
e
p
r
e
f
e
r
r
e
d
u
s
e
.
T
h
e
r
e
a
r
e
2
R
F
I
D
’
s
i
n
t
h
e
p
r
o
j
e
c
t
.
O
n
e
a
t
t
h
e
e
n
t
r
a
n
c
e
a
n
d
t
h
e
o
t
h
e
r
a
t
t
h
e
e
x
i
t
s
i
d
e
.
T
h
e
d
a
t
a
o
f
R
F
I
D
i
s
a
n
a
l
o
g
d
a
t
a
.
H
e
n
c
e
,
t
h
e
d
a
t
a
f
r
o
m
t
h
e
R
F
I
D
i
s
f
i
r
s
t
f
e
d
t
o
t
h
e
m
i
c
r
o
c
o
n
t
r
o
l
l
e
r
(
L
PC
2
1
4
8
)
w
h
i
c
h
a
n
a
l
y
s
e
s
i
t
a
n
d
t
h
e
n
g
i
v
e
s
s
i
g
n
a
l
t
o
t
h
e
PL
C
.
F
o
r
f
u
r
t
h
e
r
p
r
o
c
e
s
s
e
s
.
T
h
e
P
L
C
k
i
t
i
s
p
r
o
g
r
a
m
m
e
d
t
h
r
o
u
g
h
t
h
e
l
a
d
d
e
r
l
o
g
i
c
f
o
r
s
p
e
c
i
f
i
c
o
p
e
r
a
t
i
o
n
s
.
T
h
e
l
a
d
d
e
r
l
o
g
i
c
d
e
s
i
g
n
i
n
g
c
o
n
s
i
s
t
s
o
f
t
h
r
e
e
p
a
r
t
s
:
M
a
i
n
l
o
g
i
c
:
c
o
n
n
e
c
t
i
n
g
t
h
e
L
E
D
’
s
,
R
F
I
D
’
s
,
M
o
t
o
r
’
s
a
n
d
t
h
e
s
e
n
s
o
r
s
t
o
w
o
r
k
w
i
t
h
r
e
s
p
e
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s
is
t
s
o
f
i
n
te
g
r
ated
cir
cu
it
an
d
an
an
te
n
n
a.
T
h
e
ta
g
is
s
h
i
eld
ed
w
it
h
p
r
o
tectiv
e
m
ater
ial
s
(
s
u
ch
as
p
las
tics
)
to
h
o
ld
it
t
o
g
eth
er
a
n
d
p
r
ev
e
n
t
d
am
a
g
e
s
in
e
n
v
ir
o
n
m
e
n
tal
co
n
d
itio
n
s
.
T
h
er
e
ar
e
t
w
o
t
y
p
es o
f
R
FID
s
y
s
te
m
s
.
T
h
e
y
ar
e:
A
cti
v
e
R
FID
s
y
s
te
m
:
i
n
t
h
is
s
y
s
te
m
,
t
h
e
tag
s
h
av
e
th
e
ir
o
wn
p
o
w
er
s
o
u
r
ce
i.e
.
,
ex
ter
n
al
s
o
u
r
ce
.
T
h
is
ca
n
b
e
u
s
ed
f
o
r
h
i
g
h
r
a
n
g
e
ap
p
lica
tio
n
s
.
P
ass
iv
e
R
FID
s
y
s
te
m
s
:
i
n
th
is
s
y
s
te
m
,
t
h
e
tag
is
p
o
w
er
ed
v
ia
th
e
r
ea
d
er
an
ten
n
a
to
th
e
tag
an
ten
n
a.
T
h
is
is
u
s
ed
f
o
r
s
h
o
r
t r
an
g
e
tr
a
n
s
m
is
s
i
o
n
.
I
n
th
is
p
r
o
j
ec
t
w
e
ar
e
u
s
in
g
t
w
o
R
FID
’
s
i.e
.
,
o
n
e
f
o
r
en
tr
y
lev
el
f
o
r
d
etec
tio
n
o
f
t
h
e
v
e
h
icle
R
FID
n
u
m
b
er
a
n
d
t
h
e
o
t
h
er
f
o
r
t
h
e
e
x
it
lev
el
f
o
r
n
o
ti
n
g
d
o
w
n
t
h
e
o
u
t
g
o
in
g
v
e
h
icle.
T
h
r
o
u
g
h
th
is
p
r
o
ce
s
s
,
th
e
p
ar
k
in
g
ti
m
e
co
u
ld
b
e
ca
lcu
lated
an
d
th
u
s
t
h
e
p
ar
k
in
g
f
ee
co
u
ld
also
b
e
ca
lcu
lated
.
T
w
o
an
alo
g
p
in
s
o
f
th
e
P
L
C
k
it
is
u
s
ed
f
o
r
t
h
e
p
r
o
ce
s
s
.
R
FID
_
1
u
s
es
I
W
6
4
an
d
R
FID
_
2
u
s
es
I
W
6
6
as
th
e
a
n
alo
g
i
n
p
u
t
s
.
T
h
e
an
alo
g
v
alu
e
s
w
ill
h
a
v
e
to
b
e
co
n
v
er
ted
i
n
to
in
teg
er
.
As
th
e
r
ated
r
an
g
e
f
o
r
P
L
C
is
1
0
V
w
h
ic
h
is
s
i
m
ilar
to
in
teg
er
v
alu
e
o
f
2
7
6
4
8
.
So
,
2
7
6
4
8
is
th
e
an
alo
g
r
ated
m
a
x
i
m
u
m
v
al
u
e.
R
FID
ca
lc
u
latio
n
:
1
0
V=
2
7
6
4
8
(
C
o
n
s
ta
n
t)
As
th
e
o
u
tp
u
t
v
o
lta
g
e
r
ec
eiv
e
d
f
r
o
m
th
e
R
FID
i
s
3
V.
So
,
th
e
3
V
is
d
iv
id
ed
a
m
o
n
g
8
o
u
tp
u
t
o
n
b
asi
s
o
f
it
s
p
h
ase
r
o
tatio
n
o
f
m
o
to
r
.
3
V/8
=0
.
3
7
5
V
0
.
3
7
5
V=
(
0
.
3
7
5
*
2
7
6
4
8
)
/1
0
=
1
0
3
6
8
(
co
n
s
tan
t v
al
u
e)
T
h
ese
co
n
s
tan
t
v
alu
e
s
ar
e
u
s
ed
d
u
r
in
g
th
e
i
n
itializa
tio
n
o
f
R
FID
’
s
b
y
as
s
i
g
n
in
g
it
to
th
e
co
m
p
ar
ato
r
s
to
co
m
p
ar
e
.
Fo
r
ex
a
m
p
le,
t
h
e
c
o
n
s
ta
n
t
v
a
lu
e
o
f
C
ar
_
1
is
1
0
2
3
s
o
,
it
lies
w
it
h
i
n
a
r
an
g
e
o
f
9
5
0
an
d
1
0
7
0
.
Si
m
i
lar
l
y
,
f
o
r
all
th
e
C
ar
’
s
th
e
v
alu
e
s
s
h
o
u
ld
b
e
ass
ig
n
ed
s
o
th
at
th
a
t
th
e
co
m
p
ar
is
o
n
co
u
ld
tak
e
p
lace
,
w
h
ich
is
s
h
o
w
n
i
n
T
ab
le
2
.
Fig
u
r
e
5
.
R
FID
b
lo
ck
d
iag
r
a
m
T
ab
le
2
.
R
FID
ca
lc
u
latio
n
f
o
r
v
ar
io
u
s
s
lo
ts
Car
V
o
l
t
a
g
e
l
e
v
e
l
C
o
n
st
a
n
t
v
a
l
u
e
C
a
r
_
1
0
.
3
7
1
0
2
3
C
a
r
_
2
0
.
7
4
2
0
4
6
C
a
r
_
3
1
.
1
1
3
0
8
8
C
a
r
_
4
1
.
4
8
4
1
1
1
C
a
r
_
1
’
1
.
8
5
5
1
1
4
C
a
r
_
2
’
2
.
2
2
6
1
3
7
C
a
r
_
3
’
2
.
5
9
7
1
6
0
C
a
r
_
4
’
2
.
9
6
8
1
8
3
5.
ST
E
P
P
E
R
M
O
T
O
R
A
Step
p
er
Mo
to
r
is
a
b
r
u
s
h
les
s
DC
Mo
to
r
.
I
ts
r
o
to
r
r
o
tates
th
r
o
u
g
h
a
n
g
u
lar
s
tep
s
in
r
e
s
p
o
n
s
e
to
ea
c
h
in
p
u
t
p
u
l
s
e
r
ec
eiv
ed
.
A
s
tep
p
er
m
o
to
r
co
n
s
i
s
ts
o
f
a
r
o
to
r
an
d
a
s
tato
r
.
T
h
e
s
tato
r
co
n
tain
s
p
h
ase
w
i
n
d
in
g
s
a
n
d
r
o
to
r
d
o
es
n
o
t
co
n
tain
b
r
u
s
h
e
s
an
d
elec
tr
ica
l
w
i
n
d
in
g
s
.
Ste
p
p
er
Mo
to
r
s
ca
n
b
e
u
s
ed
in
h
ig
h
,
lo
w
,
m
ed
i
u
m
to
r
q
u
e
ap
p
licatio
n
s
.
I
n
t
h
i
s
p
r
o
j
ec
t,
tw
o
s
tep
p
er
m
o
to
r
s
ar
e
u
s
ed
to
li
f
t
t
h
e
g
ates
o
f
e
n
tr
y
an
d
e
x
it
p
at
h
s
.
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.
18
,
No
.
5
,
Octo
b
e
r
2
0
2
0
:
2
6
5
4
-
2664
2658
A
cc
o
r
d
in
g
to
th
e
Fi
g
u
r
e
6
,
t
h
e
m
o
to
r
h
as
t
w
o
p
h
a
s
es
i.e
.
,
A
1
,
A
2
,
B
1
,
B
2
r
esp
ec
tiv
e
l
y
.
T
h
e
m
o
to
r
o
p
er
ates
i
n
b
o
th
f
o
r
w
ar
d
an
d
r
ev
er
s
e
d
ir
e
ctio
n
.
T
h
e
f
o
r
w
ar
d
d
ir
ec
tio
n
m
o
v
e
m
e
n
t
is
v
ia
A
1
B2
A2
B
1
.
T
h
e
r
ev
er
s
e
m
o
v
e
m
e
n
t
is
A
1
B1
A2
B
2
.
T
h
e
f
o
r
w
ar
d
m
o
v
e
m
e
n
t
i
s
f
o
r
clo
s
in
g
th
e
g
ate
an
d
r
ev
er
s
e
m
o
v
e
m
en
t
f
o
r
o
p
en
in
g
t
h
e
g
ate.
As
t
w
o
s
tep
p
er
m
o
to
r
s
ar
e
u
s
ed
,
ea
ch
p
h
a
s
e
i.e
.
,
A
1
,
A
2
,
B
1
,
B
2
ar
e
g
iv
e
n
s
o
m
e
ta
g
s
as
q
0
.
0
,
q
0
.
1
,
q
0
.
2
,
q
0
.
3
an
d
q
0
.
4
,
q
0
.
5
,
q
0
.
6
,
q
0
.
7
f
o
r
m
o
to
r
1
an
d
2
r
esp
ec
tiv
el
y
w
h
er
e
q
r
ep
r
esen
t
s
t
h
e
o
u
tp
u
t
i
n
P
L
C
s
o
f
t
w
ar
e.
Fig
u
r
e
6
.
Op
er
atio
n
o
f
s
tep
p
er
m
o
to
r
6.
H
ARDWA
R
E
I
M
P
L
E
M
E
NT
AT
I
O
N
Fig
u
r
e
7
s
h
o
w
s
t
h
e
s
c
h
e
m
atic
co
n
n
ec
tio
n
o
f
t
h
e
h
ar
d
w
ar
e
co
m
p
o
n
en
t
s
d
esi
g
n
ed
i
n
P
r
o
te
u
s
De
s
ig
n
Su
ite
So
f
t
w
ar
e.
T
h
e
s
ig
n
al
s
f
r
o
m
t
h
e
I
R
s
en
s
o
r
s
o
f
all
th
e
4
p
ar
k
in
g
ar
e
as
ar
e
s
en
t
to
th
e
P
L
C
k
i
t.
A
l
s
o
,
th
e
s
ig
n
al
f
r
o
m
t
h
e
R
FID
i
s
s
en
t
to
th
e
m
icr
o
co
n
tr
o
ller
,
w
h
ic
h
i
n
t
u
r
n
s
en
d
s
it
to
P
L
C
.
A
cc
o
r
d
in
g
to
th
e
lad
d
er
lo
g
ic
d
esig
n
ed
in
th
e
P
L
C
,
t
h
e
P
L
C
w
ill
allo
w
th
e
o
p
en
in
g
an
d
clo
s
in
g
o
f
th
e
g
ate,
w
h
ich
i
s
f
ac
ilit
ated
b
y
t
h
e
m
o
to
r
at
th
e
en
tr
y
an
d
e
x
it
lev
e
l.
T
h
e
co
m
m
an
d
f
o
r
t
h
e
m
o
to
r
to
o
p
er
ate
is
g
i
v
en
o
n
l
y
w
h
e
n
th
e
R
FID
d
etec
ts
t
h
e
ca
r
an
d
th
er
e
ar
e
em
p
t
y
s
lo
ts
av
ailab
le
b
ased
o
n
th
e
o
u
tp
u
t
o
f
I
R
s
en
s
o
r
.
T
h
e
co
r
r
esp
o
n
d
in
g
m
o
to
r
d
ete
cts
th
e
co
m
m
a
n
d
f
r
o
m
t
h
e
P
L
C
th
r
o
u
g
h
t
h
e
4
m
o
to
r
ter
m
i
n
als,
w
h
ic
h
in
t
u
r
n
i
s
p
r
o
g
r
am
m
ed
in
t
h
e
P
L
C
lo
g
ic.
T
h
e
ac
tu
al
h
ar
d
w
ar
e
i
m
p
le
m
e
n
tatio
n
i
s
s
h
o
w
n
i
n
Fi
g
u
r
e
8
.
Fig
u
r
e
7
.
Har
d
w
ar
e
cir
cu
it c
o
n
n
ec
t
io
n
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
C
o
n
tr
o
l sys
tem
o
f a
u
to
ma
tic
g
a
r
a
g
e
u
s
in
g
p
r
o
g
r
a
mma
b
le
lo
g
ic
co
n
tr
o
ller
(
K
.
S
elva
ku
ma
r
)
2659
Fig
u
r
e
8.
Har
d
w
ar
e
i
m
p
le
m
en
tatio
n
7.
SO
F
T
WAR
E
I
M
P
L
E
M
E
NT
AT
I
O
N
T
h
e
en
tire
s
o
f
t
w
ar
e
p
ar
t
o
f
th
e
p
r
o
j
ec
t
is
i
m
p
le
m
en
ted
th
r
o
u
g
h
T
I
A
s
o
f
t
w
ar
e,
w
h
ich
s
u
p
p
o
r
ts
b
o
th
P
L
C
a
n
d
SC
AD
A
.
W
e
h
a
v
e
s
ep
ar
atel
y
d
esi
g
n
ed
t
h
e
lo
g
ic
f
o
r
th
e
w
o
r
k
i
n
g
o
f
m
o
to
r
,
R
F
I
D,
ca
r
ti
m
i
n
g
a
n
d
th
e
m
ai
n
lad
d
er
lo
g
ic
cir
c
u
it.
I
n
Fi
g
u
r
e
9
.
I
0
.
0
to
I
0
.
3
ar
e
f
r
o
m
t
h
e
I
R
s
e
n
s
o
r
s
w
h
ic
h
d
etec
t
th
e
p
r
ese
n
ce
o
f
ca
r
in
co
r
r
esp
o
n
d
in
g
p
ar
k
in
g
s
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ased
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t
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I
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e
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D.
Fig
u
r
e
9
.
Ma
in
lo
g
ic
f
o
r
p
ar
k
in
g
a
n
d
R
FID
s
y
s
te
m
; (
a)
I
R
s
en
s
o
r
,
(
b
)
R
FID
(
a)
(
b
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
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6930
T
E
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o
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Vo
l.
18
,
No
.
5
,
Octo
b
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r
2
0
2
0
:
2
6
5
4
-
2664
2660
Fig
u
r
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.
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in
lo
g
ic
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o
r
p
ar
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n
d
R
FID
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y
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te
m
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c)
g
ate
o
p
en
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(
d
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ate
clo
s
e
,
(
e)
ca
r
1
tim
er
,
(
f
)
ca
r
2
ti
m
er
(
co
n
tin
u
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(
c)
(
d
)
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e)
(
f
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Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
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o
m
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tem
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r
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2661
Fig
u
r
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.
Ma
in
l
o
g
ic
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o
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p
ar
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g
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n
d
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FID
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y
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m
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g
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r
3
ti
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h
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ate2
o
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en
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i)
g
ate2
clo
s
e
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co
n
tin
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e)
R
es
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lts
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o
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o
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o
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t
h
e
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ate.
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m
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d
esi
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f
o
r
t
h
e
2
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ex
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D
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ic:
T
h
e
lad
d
er
lo
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ic
is
d
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ased
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o
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n
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r
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o
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o
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.
2
co
m
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ato
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ar
e
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ed
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e
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g
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o
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lated
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r
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e
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o
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h
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e
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n
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e
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m
m
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e
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r
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o
p
er
ate
(
in
th
e
m
o
to
r
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g
ic
cir
cu
it).
Si
m
ilar
lo
g
ic
i
s
p
r
o
g
r
a
m
m
ed
f
o
r
th
e
R
FID
p
r
esen
t a
t th
e
ex
i
t sid
e,
w
h
ic
h
is
s
h
o
w
n
in
Fi
g
u
r
e
1
0
.
(
g
)
(
h
)
(
i)
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.
18
,
No
.
5
,
Octo
b
e
r
2
0
2
0
:
2
6
5
4
-
2664
2662
Fig
u
r
e
1
0
.
Mo
to
r
l
o
g
ic
o
f
s
tep
p
er
m
o
to
r
-
1
;
(
a)
o
p
en
,
(
b
)
clo
s
e
,
(
c)
m
o
to
r
ON
,
(
d
)
m
o
to
r
OFF
(
a)
(
b
)
(
c)
(
d
)
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
C
o
n
tr
o
l sys
tem
o
f a
u
to
ma
tic
g
a
r
a
g
e
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s
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g
p
r
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g
r
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mma
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le
lo
g
ic
co
n
tr
o
ller
(
K
.
S
elva
ku
ma
r
)
2663
Fig
u
r
e
1
0
.
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to
r
l
o
g
ic
o
f
s
tep
p
er
m
o
to
r
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1
;
(
d
)
g
ate
o
p
en
,
(
f
)
g
ate
clo
s
e
(
co
n
ti
n
u
e)
8.
CO
NCLU
SI
O
N
T
h
e
p
r
o
j
ec
t
is
d
esig
n
ed
an
d
i
m
p
le
m
en
ted
to
p
r
o
m
o
te
a
u
t
o
m
a
tio
n
.
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h
is
tech
n
iq
u
e
w
o
u
ld
r
ed
u
ce
th
e
m
an
u
al
e
f
f
o
r
t
r
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u
ir
ed
f
o
r
s
u
c
h
w
o
r
k
s
.
I
t
w
i
ll
p
r
o
v
id
e
ac
cu
r
ate
ca
lcu
la
tio
n
o
f
co
s
t
o
f
th
e
r
en
t
b
ased
o
n
a
v
eh
icle’
s
s
ta
y
p
er
io
d
in
t
h
e
g
ar
ag
e.
C
u
s
to
m
er
’
s
s
af
e
t
y
i
s
a
ch
iev
ed
t
h
r
o
u
g
h
th
e
i
n
s
tallatio
n
o
f
s
m
o
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e
s
e
n
s
o
r
s
w
h
ic
h
w
o
u
ld
g
i
v
e
s
i
g
n
al
s
if
t
h
er
e
h
ap
p
en
s
to
b
e
an
y
s
m
o
k
e
in
th
e
g
ar
a
g
e.
T
h
e
g
lo
w
i
n
g
u
p
o
f
lig
h
t
o
n
l
y
i
n
th
e
d
ir
ec
tio
n
o
f
th
e
m
o
v
e
m
e
n
t
o
f
th
e
v
eh
icle
w
o
u
ld
ass
u
r
e
t
h
e
en
er
g
y
s
a
v
in
g
m
et
h
o
d
o
lo
g
i
es.
T
h
is
tech
n
iq
u
e
o
f
v
eh
icle
m
o
n
ito
r
in
g
,
an
d
co
n
tr
o
l
co
u
ld
b
e
u
s
ed
in
s
h
o
p
p
in
g
m
alls
,
o
f
f
ice
s
,
co
lo
n
ies
,
s
c
h
o
o
ls
,
in
s
t
itu
tio
n
s
an
d
co
u
ld
also
b
e
m
o
d
if
ied
f
o
r
h
ig
h
er
en
d
u
s
a
g
e.
RE
F
E
R
E
NC
E
S
[
1
]
K.
M
iy
a
m
o
to
,
K.
Na
g
a
n
o
,
M
.
T
a
m
a
g
a
wa
,
I.
F
u
ji
ta,
a
n
d
M
.
Ya
m
a
m
o
to
,
“
V
e
h
icle
li
c
e
n
se
p
late
re
c
o
g
n
it
io
n
b
y
i
m
a
g
e
a
n
a
ly
sis,”
Pro
c
e
e
d
in
g
s
IECON
'
9
1
:
1
9
9
1
In
ter
n
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
In
d
u
stria
l
E
lec
tro
n
ic
s,
Co
n
tro
l
a
n
d
In
stru
me
n
ta
ti
o
n
,
p
p
.
1
7
3
4
–
1
7
3
8
,
1
9
9
1
.
[
2
]
T
.
Na
it
o
,
T
.
T
su
k
a
d
a
,
K.
Ya
m
a
d
a
,
K.
Ko
z
u
k
a
,
a
n
d
S
.
Ya
m
a
m
o
to
,
“
Ro
b
u
st
li
c
e
n
se
-
p
late
re
c
o
g
n
it
i
o
n
m
e
th
o
d
f
o
r
p
a
ss
in
g
v
e
h
icle
s
u
n
d
e
r
o
u
tsid
e
e
n
v
iro
n
m
e
n
t,
”
IEE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
Ve
h
icu
l
a
r
T
e
c
h
n
o
l
o
g
y
,
v
o
l.
4
9
,
p
p
.
2
3
0
9
–
2
3
1
9
,
N
o
v
2
0
0
0
.
[
3
]
H
.
H
o
n
t
a
n
i
a
n
d
T
.
K
o
g
a
,
“
C
h
a
ra
c
t
e
r
e
x
tr
a
c
t
i
o
n
m
e
t
h
o
d
w
i
t
h
o
u
t
p
r
i
o
r
k
n
o
w
le
d
g
e
o
n
s
i
z
e
a
n
d
p
o
s
i
t
i
o
n
i
n
f
o
rm
a
t
i
o
n
,
”
I
V
E
C
2
0
0
1
.
P
r
o
c
e
e
d
i
n
g
s
o
f
t
h
e
I
E
E
E
I
n
t
e
r
n
a
t
i
o
n
a
l
V
e
h
i
c
l
e
E
l
e
c
t
r
o
n
i
c
s
C
o
n
f
e
re
n
c
e
2
0
0
1
.
I
V
E
C
2
0
0
1
,
p
p
.
6
7
–
72
,
2
0
0
1
.
[
4
]
J.
M
.
Ke
ll
e
r
a
n
d
R.
Krish
n
a
p
u
ra
m
,
“
F
u
z
z
y
d
e
c
isio
n
m
o
d
e
ls
in
c
o
m
p
u
ter
v
isio
n
,
”
Fu
zz
y
S
e
ts,
Ne
u
r
a
l
Ne
two
rk
s,
a
n
d
S
o
ft
Co
mp
u
ti
n
g
,
R.
R.
Ya
g
e
r
a
n
d
L
.
A
.
Zad
e
h
,
Ed
s.
Ne
w
Yo
rk
:
V
a
n
No
stra
n
d
,
p
p
.
2
1
3
–
2
3
2
,
1
9
9
4
.
[
5
]
D.
S
.
Kim
a
n
d
S
.
I.
Ch
ien
,
“
A
u
to
m
a
ti
c
c
a
r
li
c
e
n
se
p
late
e
x
tra
c
ti
o
n
u
sin
g
m
o
d
if
ied
g
e
n
e
ra
li
z
e
d
s
y
m
m
e
tr
y
tran
s
f
o
r
m
a
n
d
im
a
g
e
w
a
rp
in
g
,
”
IS
IE
2
0
0
1
.
2
0
0
1
IEE
E
In
ter
n
a
ti
o
n
a
l
S
y
mp
o
si
u
m o
n
I
n
d
u
stria
l
El
e
c
tro
n
ics
Pro
c
e
e
d
in
g
s
,
v
o
l.
3
,
p
p
.
2
0
2
2
–
2
0
2
7
,
2
0
0
1
.
[
6
]
K.
K.
Kim
,
K.
I.
Ki
m
,
J.
B.
Kim
,
a
n
d
H.
J.
Kim
,
“
Lea
rn
in
g
-
b
a
se
d
a
p
p
ro
a
c
h
f
o
r
li
c
e
n
se
p
late
re
c
o
g
n
it
io
n
,
”
Pro
c
.
IEE
E
S
i
g
n
a
l
Pro
c
e
ss
in
g
S
o
c
iety
W
o
rk
sh
o
p
,
v
o
l
.
2
,
p
p
.
6
1
4
–
6
2
3
,
2
0
0
0
.
(
e)
(
f
)
Evaluation Warning : The document was created with Spire.PDF for Python.