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2.
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AG
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1
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2
0
]
.
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u
r
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1
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2
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.
3
,
Sep
tem
b
er
20
2
6
:
5
5
3
-
5
6
0
556
T
h
e
r
ec
eiv
er
s
y
s
tem
u
s
in
g
th
e
AT
8
9
C
2
0
5
1
m
icr
o
co
n
tr
o
ller
an
d
th
e
L
2
9
3
D
m
o
to
r
d
r
i
v
er
o
p
er
ates
as
a
wir
eless
r
o
b
o
t
co
n
tr
o
l
u
n
it.
T
h
e
s
y
s
tem
b
eg
in
s
with
a
4
3
3
MH
z
R
F
r
ec
eiv
er
m
o
d
u
le,
wh
ich
r
ec
eiv
es
co
n
tr
o
l
s
ig
n
als wir
eless
ly
f
r
o
m
a
tr
a
n
s
m
itter
.
T
h
ese
s
ig
n
als ar
e
ty
p
ic
ally
en
co
d
e
d
an
d
t
r
an
s
m
itted
a
s
d
ig
ital d
ata
u
s
in
g
a
co
m
p
atib
le
en
c
o
d
er
(
e.
g
.
,
HT
1
2
E
o
n
th
e
tr
an
s
m
itter
s
id
e)
,
an
d
d
ec
o
d
ed
o
n
th
e
r
ec
eiv
e
r
s
id
e
u
s
in
g
a
d
ec
o
d
e
r
lik
e
th
e
HT
1
2
D.
Fig
u
r
e
5
s
h
o
ws
th
e
f
ir
e
f
ig
h
tin
g
r
o
b
o
t
in
T
in
k
er
ca
d
.
T
h
e
d
ec
o
d
er
o
u
t
p
u
ts
p
ar
allel
co
n
tr
o
l
s
ig
n
als
b
ased
o
n
th
e
d
ata
it
r
ec
eiv
es,
wh
ich
ar
e
th
en
f
ed
in
to
th
e
in
p
u
t
p
in
s
o
f
th
e
AT
8
9
C
2
0
5
1
m
icr
o
co
n
tr
o
ller
.
T
h
e
m
icr
o
co
n
tr
o
ller
in
ter
p
r
ets th
ese
s
ig
n
als
—
s
u
ch
as c
o
m
m
an
d
s
f
o
r
f
o
r
war
d
,
b
ac
k
war
d
,
lef
t,
o
r
r
i
g
h
t
m
o
v
em
e
n
t
—
an
d
a
cc
o
r
d
in
g
ly
s
en
d
s
c
o
n
tr
o
l
s
ig
n
als
t
o
th
e
L
2
9
3
D
m
o
to
r
d
r
iv
e
r
.
T
h
e
L
2
9
3
D,
wh
ic
h
is
a
d
u
al
H
-
b
r
id
g
e
m
o
to
r
d
r
iv
er
I
C
,
r
ec
eiv
es
th
ese
lo
g
ic
-
lev
el
in
p
u
ts
an
d
d
r
iv
es
th
e
r
o
b
o
t’
s
DC
m
o
to
r
s
in
th
e
r
eq
u
ir
ed
d
ir
ec
tio
n
b
y
ad
ju
s
tin
g
th
e
p
o
lar
ity
a
n
d
e
n
ab
lin
g
a
p
p
r
o
p
r
iate
m
o
t
o
r
ch
an
n
els.
T
h
is
s
etu
p
allo
ws
f
o
r
s
im
p
le
an
d
ef
f
icien
t
wir
eless
co
n
tr
o
l
o
f
a
r
o
b
o
t
u
s
in
g
b
asic
R
F
m
o
d
u
les,
with
th
e
m
icr
o
co
n
tr
o
ller
ac
tin
g
as
th
e
d
ec
is
io
n
-
m
ak
i
n
g
u
n
it a
n
d
t
h
e
L
2
9
3
D
s
er
v
es a
s
th
e
p
o
wer
d
r
iv
er
f
o
r
t
h
e
m
o
to
r
s
.
Fig
u
r
e
5
.
Fire
f
ig
h
tin
g
r
o
b
o
t
in
T
in
k
er
ca
d
4.
M
E
CH
A
NICA
L
D
E
SI
G
N
T
h
e
r
em
o
te
-
co
n
tr
o
lled
ag
r
icu
l
tu
r
al
r
o
b
o
t
f
o
r
s
p
r
ay
in
g
liq
u
id
ty
p
e
p
esti
cid
es
s
h
o
wn
in
Fig
u
r
e
6
.
T
h
is
o
p
er
ates
u
s
in
g
an
R
F
tr
an
s
m
itter
an
d
r
ec
eiv
e
r
s
y
s
tem
to
en
ab
le
wir
eless
co
m
m
u
n
icatio
n
b
et
wee
n
th
e
u
s
er
an
d
th
e
r
o
b
o
t.
T
h
e
tr
a
n
s
m
itter
u
n
it
,
h
eld
b
y
th
e
o
p
er
ato
r
,
in
clu
d
e
s
p
u
s
h
b
u
tto
n
s
co
n
n
ec
ted
t
o
a
n
en
co
d
e
r
I
C
(
s
u
ch
as
HT
1
2
E
)
,
wh
ich
co
n
v
er
ts
m
an
u
al
co
m
m
a
n
d
s
in
to
s
er
ial
d
ata.
T
h
is
d
ata
is
tr
an
s
m
itt
ed
wir
eless
ly
v
ia
a
4
3
3
MH
z
R
F tr
an
s
m
itter
.
On
t
h
e
r
o
b
o
t sid
e,
a
co
r
r
esp
o
n
d
in
g
R
F r
ec
eiv
er
ca
p
tu
r
es th
e
s
ig
n
al
an
d
p
ass
es it
to
a
d
ec
o
d
er
I
C
(
lik
e
HT
1
2
D)
,
wh
i
ch
co
n
v
e
r
ts
it b
ac
k
in
to
p
ar
all
el
s
ig
n
als.
T
h
ese
d
ec
o
d
ed
s
ig
n
als ar
e
th
en
r
ea
d
b
y
a
m
icr
o
co
n
tr
o
ller
,
s
u
c
h
as
th
e
AT
8
9
C
2
0
5
1
,
wh
ich
co
n
tr
o
ls
th
e
r
o
b
o
t’
s
m
o
v
em
en
t
(
f
o
r
w
ar
d
,
b
ac
k
war
d
,
lef
t,
r
ig
h
t)
an
d
th
e
p
esti
cid
e
s
p
r
a
y
in
g
s
y
s
tem
u
s
in
g
a
p
u
m
p
a
n
d
n
o
zz
le
s
etu
p
.
T
h
is
s
y
s
tem
allo
ws
f
ar
m
e
r
s
t
o
r
em
o
tely
n
av
i
g
ate
th
e
r
o
b
o
t
t
h
r
o
u
g
h
cr
o
p
f
ield
s
an
d
s
p
r
a
y
p
esti
cid
es
s
af
ely
an
d
ef
f
icien
tly
,
r
ed
u
cin
g
m
an
u
al
lab
o
r
an
d
m
in
im
izin
g
d
ir
ec
t e
x
p
o
s
u
r
e
to
h
ar
m
f
u
l c
h
e
m
icals.
Fig
u
r
e
7
s
h
o
ws th
e
a
g
r
icu
ltu
r
al
r
o
b
o
t
r
ec
eiv
er
.
Ag
r
icu
ltu
r
al
r
o
b
o
t
v
er
tical
v
ie
w
s
h
o
wn
in
Fig
u
r
e
8
.
T
h
e
r
o
b
o
t
co
n
t
r
o
ller
r
ec
ei
v
er
s
y
s
tem
b
ased
o
n
th
e
AT
8
9
C
2
0
5
1
m
icr
o
c
o
n
tr
o
ller
an
d
L
2
9
3
D
m
o
t
o
r
d
r
iv
er
is
d
esig
n
ed
to
wir
eless
ly
co
n
tr
o
l th
e
m
o
v
em
en
t o
f
a
r
o
b
o
t
u
s
in
g
r
ec
eiv
ed
co
m
m
a
n
d
s
,
ty
p
ically
v
ia
a
4
3
3
MH
z
R
F
lin
k
.
I
n
o
p
er
atio
n
,
t
h
e
R
F
r
ec
eiv
er
m
o
d
u
le
ca
p
tu
r
es
en
co
d
ed
co
n
tr
o
l
s
ig
n
als
s
en
t
f
r
o
m
a
r
em
o
te
t
r
an
s
m
itter
.
A
d
ec
o
d
e
r
lik
e
th
e
HT
1
2
D
co
n
v
er
ts
th
e
r
ec
eiv
ed
s
er
ial
d
ata
in
to
p
ar
allel
s
ig
n
als,
wh
ich
ar
e
r
ea
d
b
y
th
e
AT
8
9
C
2
0
5
1
m
icr
o
co
n
tr
o
ller
.
T
h
e
m
icr
o
co
n
tr
o
ller
in
ter
p
r
ets
th
e
co
m
m
an
d
s
—
s
u
ch
as
m
o
v
in
g
f
o
r
war
d
,
b
ac
k
war
d
,
tu
r
n
lef
t,
o
r
r
ig
h
t
—
an
d
t
h
en
s
en
d
s
ap
p
r
o
p
r
iate
lo
g
ic
s
ig
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als
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th
e
L
2
9
3
D
m
o
to
r
d
r
iv
er
.
T
h
e
L
2
9
3
D
d
r
iv
es
th
e
DC
m
o
to
r
s
ac
co
r
d
i
n
g
t
o
th
ese
in
p
u
ts
,
co
n
tr
o
llin
g
b
o
th
d
ir
ec
tio
n
an
d
m
o
v
em
e
n
t
o
f
th
e
r
o
b
o
t.
T
h
is
s
y
s
tem
en
ab
les
r
esp
o
n
s
iv
e,
r
ea
l
-
tim
e
Evaluation Warning : The document was created with Spire.PDF for Python.
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R
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r
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Fig
u
r
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r
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ir
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t c
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6
.
Ag
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r
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ay
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e
7
.
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t tr
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itter
Fig
u
r
e
8
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r
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iew
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9
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.
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ig
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t c
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e
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tely
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r
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e
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le
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ilt
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h
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i
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o
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Hy
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ased
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m
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