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ig
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lly
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r
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g
f
ir
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in
cid
en
ts
[
1
1
]
–
[
1
5
]
.
T
h
i
s
p
ap
er
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r
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t
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ig
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o
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ittan
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ltil
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ed
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ased
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ata
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h
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ir
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ittan
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m
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itio
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ize
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o
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ce
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o
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ate
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o
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[
1
6
]
–
[
2
0
]
.
2.
B
L
O
CK
DI
AG
RA
M
Fig
u
r
e
1
s
h
o
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m
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u
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ir
ef
ig
h
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o
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o
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ased
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ed
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g
ic.
T
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r
am
p
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o
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y
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m
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o
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ically
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atter
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o
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Ar
d
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Flam
e
d
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tio
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en
s
o
r
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s
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r
ar
e
d
r
a
d
iatio
n
em
itted
b
y
f
lam
es
[
2
1
]
–
[
2
5
]
.
T
h
e
s
en
s
o
r
s
o
u
tp
u
t a
s
ig
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to
th
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Ar
d
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o
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in
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p
r
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ce
o
f
a
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h
e
m
o
to
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r
esp
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ir
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(
DC
)
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ased
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en
s
o
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t.
T
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m
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v
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a
ta
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r
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t
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m
a
n
d
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m
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t
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r
d
r
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t
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h
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e
Ar
d
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wh
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ta
s
k
.
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n
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lo
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d
iag
r
am
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m
p
o
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r
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ata
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ig
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als,
en
ab
lin
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th
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o
m
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icien
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.
T
h
e
o
v
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all
s
y
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wo
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in
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tim
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wh
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es th
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o
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m
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d
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th
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m
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to
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s
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s
p
r
ay
er
t
o
ac
t
.
Fig
u
r
e
1
.
Au
t
o
n
o
m
o
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s
f
ir
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i
g
h
tin
g
r
o
b
o
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
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to
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Desig
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33
3.
ARDU
I
NO
I
N
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I
NK
E
RC
A
D
DE
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I
G
N
Fig
u
r
e
2
s
h
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ch
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atic
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o
f
f
ir
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ig
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b
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Fig
u
r
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3
s
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o
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ig
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t
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Ar
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T
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T
h
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r
ates
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Ar
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Un
o
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o
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2
9
8
N
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o
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t
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ased
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Fig
u
r
e
2
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ir
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ig
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Fig
u
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3
.
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f
ig
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I
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37
34
4.
M
E
CH
A
NICA
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SI
G
N
Fig
u
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4
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ir
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ig
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ile
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n
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s
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ical
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ate
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p
s
m
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h
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s
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ally
em
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lo
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s
DC
m
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to
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ically
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ich
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6
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2
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8
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n
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ee
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ir
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Fig
u
r
e
4
.
Pro
t
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p
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ir
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r
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1
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ig
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t c
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Fig
u
r
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5
s
h
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ty
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ir
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ig
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la
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t f
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en
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r
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s
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r
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Ar
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o
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ater
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atica
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ased
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tiv
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s
o
u
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.
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h
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b
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p
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d
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an
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s
s
ib
le
lo
ca
tio
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th
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L
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v
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L
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2
5
8
6
Desig
n
o
f a
p
r
o
to
ty
p
e
fir
efig
h
tin
g
r
o
b
o
t b
a
s
ed
o
n
a
n
A
r
d
u
in
o
micro
co
n
tr
o
ller
…
(
K
a
la
g
o
t
la
C
h
en
ch
ir
ed
d
y
)
35
co
m
p
letin
g
its
task
.
T
h
e
r
o
b
o
t
r
eq
u
ir
es
a
c
o
m
p
ac
t
y
et
p
o
wer
f
u
l
b
atter
y
p
ac
k
s
u
c
h
as
a
L
i
-
i
o
n
o
r
L
i
-
Po
b
atter
y
to
s
u
p
p
l
y
p
o
wer
to
t
h
e
m
o
to
r
s
,
Ar
d
u
in
o
,
s
en
s
o
r
s
,
an
d
wate
r
p
u
m
p
.
T
h
e
b
atter
y
is
t
y
p
ical
ly
m
o
u
n
ted
o
n
th
e
ch
ass
is
in
a
way
th
at
m
ain
tain
s
th
e
r
o
b
o
t'
s
b
alan
ce
.
Fig
u
r
e
5
.
Pro
t
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ty
p
e
f
ir
ef
ig
h
tin
g
r
o
b
o
t f
r
o
n
t v
iew
A
p
o
wer
d
is
tr
ib
u
tio
n
b
o
ar
d
ca
n
b
e
u
s
ed
to
d
is
tr
ib
u
te
p
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d
if
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er
en
t c
o
m
p
o
n
e
n
ts
f
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m
t
h
e
b
atter
y
.
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h
e
Ar
d
u
in
o
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ar
d
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u
ld
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e
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u
r
ely
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s
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Ar
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o
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ar
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it
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e
f
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m
m
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t
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n
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ter
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al
d
am
a
g
e.
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h
e
v
ar
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u
s
co
m
p
o
n
en
ts
ar
e
co
n
n
ec
ted
u
s
in
g
wir
es
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d
c
o
n
n
ec
to
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s
.
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h
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es
s
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ld
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e
ca
r
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lly
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ized
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o
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lin
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ter
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h
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r
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en
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5.
CO
NCLU
SI
O
N
T
h
e
d
esig
n
o
f
an
au
to
n
o
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o
u
s
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ir
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h
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o
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ir
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tio
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n
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e
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tin
g
u
is
h
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g
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p
ab
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in
to
a
co
h
esiv
e
s
tr
u
ctu
r
e.
T
h
e
r
o
b
o
t’
s
c
h
ass
is
s
er
v
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as
th
e
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o
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n
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ile
m
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r
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r
d
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y
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tem
ar
e
ca
r
ef
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lly
a
r
r
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g
ed
to
allo
w
t
h
e
r
o
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to
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av
ig
ate,
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t
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l
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d
r
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d
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.
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a
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les
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e
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g
u
is
h
in
g
it
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f
icien
tly
.
T
h
e
m
ain
a
d
v
an
ta
g
es
o
f
f
ir
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g
h
tin
g
r
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b
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ts
ca
n
n
av
ig
ate
th
r
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g
h
n
ar
r
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w
s
p
ac
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clim
b
s
tair
s
,
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d
m
o
v
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th
r
o
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g
h
d
e
b
r
is
to
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ch
f
ir
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th
at
ar
e
d
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icu
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37
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