AUTOMATED GUIDED VEHICLE LINE TRACER ROBOT

Term Report
Submitted in partial fulfilment of the requirements for the degree Of

MASTER OF TECHNOLOGY
(INFORMATION TECHNOLOGY - WEEKEND)

ACKNOWLEDGEMENTS
I really feel elated to fi d a o!!ort" ity to e#!re$$ o"r $i %ere t&a '$ a d a!!re%iatio to (y re$!e%ted a d e$tee(ed )ro*e%t +"ide Dr, C&a dra -&e'&ar Rai. Reader. / i0er$ity -%&ool of I for(atio Te%& olo+y. GG-I) / i0er$ity. Del&i, I 1o"ld r" $&ort of 1ord$ a d $!a%e. if I &a0e to e#!re$$ t&e +ratit"de to " yieldi + $"!!ort re%ei0ed fro( (y re$!e%ted +"ide. all t&ro"+& t&e $e(e$ter, Hi$ 0al"a2le $"!!ort. +olde ad0i%e$. a d %o %er for (y !ro*e%t 1ill 2e dee!ly e(2edded i (y &eart, He &a$ al1ay$ 2ee 0ery $"!!orti0e a d e %o"ra+i +, I fa%t. I %a o ly $ay t&at I a( l"%'y to &a0e &i( a$ (y !ro*e%t +"ide,

3AYA 4ERMA

INTRODUCTION
A ro2ot i$ a 0irt"al or (e%&a i%al artifi%ial a+e t, I !ra%ti%e. it i$ "$"ally a ele%tro-(e%&a i%al (a%&i e 1&i%& i$ +"ided 2y %o(!"ter or ele%tro i% !ro+ra((i +. a d i$ t&"$ a2le to do ta$'$ o it$ o1 , It i$ a ele%tri% (a%&i e 1&i%& &a$ $o(e a2ility to i tera%t 1it& !&y$i%al o2*e%t$ a d to 2e +i0e ele%tro i% !ro+ra((i + to do a $!e%ifi% ta$' or to do a 1&ole ra +e of ta$'$ or a%tio $, It (ay al$o &a0e $o(e a2ility to !er%ei0e a d a2$or2 data o !&y$i%al o2*e%t$. or o it$ lo%al !&y$i%al e 0iro (e t. or to !ro%e$$ data. or to re$!o d to 0ario"$ $ti("li,

Figure Ro!oti" Arm Ro2oti%$ i$ t&e e +i eeri + $%ie %e a d te%& olo+y of ro2ot$. a d t&eir de$i+ . (a "fa%t"re. a d a!!li%atio , Ro2oti%$ i$ related to ele%tro i%$. (e%&a i%$. a d $oft1are, For ro2oti% e +i eer$. t&e !&y$i%al a!!eara %e of a (a%&i e i$ le$$ i(!orta t t&a t&e 1ay it$ a%tio $ are %o trolled, T&e (ore t&e %o trol $y$te( $ee($ to &a0e a+e %y of it$ o1 . t&e (ore li'ely t&e (a%&i e i$ to 2e %alled a ro2ot, A i(!orta t feat"re of a+e %y i$ t&e a2ility to (a'e %&oi%e$, W&ile (o$t ro2ot$ today are i $talled i fa%torie$ or &o(e$. !erfor(i + la2o"r or life $a0i + *o2$. (a y e1 ty!e$ of ro2ot are 2ei + de0elo!ed i la2oratorie$ aro" d t&e 1orld, M"%& of t&e re$ear%& i ro2oti%$ fo%"$e$ ot o $!e%ifi% i d"$trial ta$'$. 2"t o i 0e$ti+atio $ i to e1 ty!e$ of ro2ot. alter ati0e 1ay$ to t&i ' a2o"t or de$i+ ro2ot$. a d e1 1ay$ to (a "fa%t"re t&e(, It i$ e#!e%ted t&at t&e$e e1 ty!e$ of ro2ot 1ill 2e a2le to $ol0e real 1orld !ro2le($ 1&e t&ey are fi ally reali5ed,

HISTORY
Ma y a %ie t (yt&olo+ie$ i %l"de artifi%ial !eo!le. $"%& a$ t&e (e%&a i%al $er0a t$ 2"ilt 2y t&e Gree' +od He!&ae$t"$. t&e %lay +ole($ of 3e1i$& le+e d a d %lay +ia t$ of Nor$e le+e d. a d Galatea. t&e (yt&i%al $tat"e of )y+(alio t&at %a(e to life, I t&e 6t& %e t"ry 7C. t&e Gree' (at&e(ati%ia Ar%&yta$ of Tare t"( !o$t"lated a (e%&a i%al $tea(-o!erated 2ird &e %alled 8T&e )i+eo 8, Hero of Ale#a dria (9:;<: AD) %reated "(ero"$ "$er-%o fi+"ra2le a"to(ated de0i%e$. a d de$%ri2ed (a%&i e$ !o1ered 2y air !re$$"re. $tea( a d 1ater, -" -o + 2"ilt a %lo%' to1er i C&i a i 9:== feat"ri + (e%&a i%al fi+"ri e$ t&at %&i(ed t&e &o"r$,

Al-3a5ari (99>?;9@:?). a M"$li( i 0e tor d"ri + t&e Art"Aid dy a$ty. de$i+ ed a d %o $tr"%ted a "(2er of a"to(ated (a%&i e$. i %l"di + 'it%&e a!!lia %e$. ("$i%al a"to(ata !o1ered 2y 1ater. a d t&e fir$t !ro+ra((a2le &"(a oid ro2ot$ i 9@:?, T&e ro2ot$ a!!eared a$ fo"r ("$i%ia $ o a 2oat i a la'e. e tertai i + +"e$t$ at royal dri 'i + !artie$, Hi$ (e%&a i$( &ad a !ro+ra((a2le dr"( (a%&i e 1it& !e+$ (%a($) t&at 2"(!ed i to little le0er$ t&at o!erated !er%"$$io i $tr"(e t$, T&e dr"((er %o"ld 2e (ade to !lay differe t r&yt&($ a d differe t dr"( !atter $ 2y (o0i + t&e !e+$ to differe t lo%atio $, Leo ardo da 4i %i (96B@;9B9C) $'et%&ed !la $ for a &"(a oid ro2ot aro" d 96CB, Da 4i %iD$ ote2oo'$. redi$%o0ered i t&e 9CB:$. %o tai detailed dra1i +$ of a (e%&a i%al ' i+&t o1 ' o1 a$ Leo ardoD$ ro2ot. a2le to $it "!. 1a0e it$ ar($ a d (o0e it$ &ead a d *a1, Co(!le# (e%&a i%al toy$ a d a i(al$ 2"ilt i 3a!a i t&e 9<::$ 1ere de$%ri2ed i t&e Kara'"ri 5"i (Ill"$trated Ma%&i ery. 9<C?) T&e 3a!a e$e %raft$(a Hi$a$&i+e Ta a'a (9<CC;9==9). ' o1 a$ 83a!a D$ Edi$o 8 or 8Kara'"ri Gie(o 8. %reated a array of e#tre(ely %o(!le# (e%&a i%al toy$. $o(e of 1&i%& $er0ed tea. fired arro1$ dra1 fro( a A"i0er. a d e0e !ai ted a 3a!a e$e 'a *i %&ara%ter, I 9=C= Ni'ola Te$la !"2li%ly de(o $trated a radio-%o trolled tor!edo, 7a$ed o !ate t$ for 8telea"to(atio 8. Te$la &o!ed to de0elo! it i to a 1ea!o $y$te( for t&e /- Na0y, I 9C@?. We$ti +&o"$e Ele%tri% Cor!oratio %reated Tele0o#. t&e fir$t ro2ot !"t to "$ef"l 1or', T&ey follo1ed Tele0o# 1it& a "(2er of ot&er $i(!le ro2ot$. i %l"di + o e %alled Ra$t"$. (ade i t&e %r"de i(a+e of a 2la%' (a , I t&e 9C>:$. t&ey %reated a &"(a oid ro2ot ' o1 a$ Ele'tro for e#&i2itio !"r!o$e$. i %l"di + t&e 9C>C a d 9C6: WorldD$ Fair$, I 9C@=. 3a!a D$ fir$t ro2ot. Ga'"te $o'". 1a$ de$i+ ed a d %o $tr"%ted 2y 2iolo+i$t Ma'oto Ni$&i("ra, T&e fir$t ele%tro i% a"to o(o"$ ro2ot$ 1ere %reated 2y Willia( Grey Walter of t&e 7"rde Ne"rolo+i%al I $tit"te at 7ri$tol. E +la d i 9C6= a d 9C6C, T&ey 1ere a(ed El(er a d El$ie, T&e$e ro2ot$ %o"ld $e $e li+&t a d %o ta%t 1it& e#ter al o2*e%t$. a d "$e t&e$e $ti("li to a0i+ate, T&e fir$t tr"ly (oder ro2ot. di+itally o!erated a d !ro+ra((a2le. 1a$ i 0e ted 2y Geor+e De0ol i 9CB6 a d 1a$ "lti(ately %alled t&e / i(ate, De0ol $old t&e fir$t / i(ate to Ge eral Motor$ i 9C?:. a d it 1a$ i $talled i 9C?9 i a !la t i Tre to . Ne1 3er$ey to lift &ot !ie%e$ of (etal fro( a die %a$ti + (a%&i e a d $ta%' t&e(, T&e @::? re!ort fro( t&e I ter atio al Federatio of Ro2oti%$ $&o1$ t&at 3a!a lead$ t&e 1orld i 2ot& $to%' a d $ale$ of ("lti-!"r!o$e i d"$trial ro2ot$, A2o"t ?: !er %e t of t&e i $tallatio $ 1ere arti%"lated ro2ot$. @@ !er %e t 1ere +a try ro2ot$. a d 9> !er %e t 1ere -CARA ro2ot$ a d 6 !er %e t 1ere %yli dri%al ro2ot$, T&e (a*ority of i $tallatio $ are i t&e a"to(o2ile $e%tor, T&ere are i %rea$i + $ale$ i to o a"to(oti0e $e%tor$ $"%& a$ (etal$ a d !la$ti%$,

CATEGORI#ING ROBOTS
At !re$e t t&ere are @ (ai ty!e$ of ro2ot$. 2a$ed o t&eir "$eE Ge eral-!"r!o$e a"to o(o"$ ro2ot$ Dedi%ated ro2ot$,

Ro2ot$ %a 2e %la$$ified 2y t&eir $!e%ifi%ity of !"r!o$e, A ro2ot (i+&t 2e de$i+ ed to !erfor( o e !arti%"lar ta$' e#tre(ely 1ell or a ra +e of ta$'$ le$$ 1ell, Of %o"r$e. all ro2ot$ 2y t&eir at"re %a 2e re-!ro+ra((ed to 2e&a0e differe tly. 2"t $o(e are li(ited 2y t&eir !&y$i%al for(, For e#a(!le. a fa%tory ro2ot ar( %a !erfor( *o2$ $"%& a$ %"tti +. 1eldi +. +l"i +. or a%ti + a$ a fair+ro" d ride. 1&ile a !i%'-a d-!la%e ro2ot %a o ly !o!"late !ri ted %ir%"it 2oard$,

Ge$er%&'purpo(e %uto$omou( ro!ot(

Ge eral-!"r!o$e a"to o(o"$ ro2ot$ are ro2ot$ t&at %a !erfor( a 0ariety of f" %tio $ i de!e de tly, Ge eral-!"r!o$e a"to o(o"$ ro2ot$ ty!i%ally %a a0i+ate i de!e de tly i ' o1 $!a%e$. &a dle t&eir o1 re-%&ar+i + eed$. i terfa%e 1it& ele%tro i% door$ a d ele0ator$ a d !erfor( ot&er 2a$i% ta$'$, Li'e %o(!"ter$. +e eral-!"r!o$e ro2ot$ %a li ' 1it& et1or'$. $oft1are a d a%%e$$orie$ t&at i %rea$e t&eir "$ef"l e$$, T&ey (ay re%o+ i5e !eo!le or o2*e%t$. tal'. !ro0ide %o(!a io $&i!. (o itor e 0iro (e tal A"ality. re$!o d to alar($. !i%' "! $"!!lie$ a d !erfor( ot&er "$ef"l ta$'$, Ge eral-!"r!o$e ro2ot$ (ay !erfor( a 0ariety of f" %tio $ $i("lta eo"$ly or t&ey (ay ta'e o differe t role$ at differe t ti(e$ of day, -o(e $"%& ro2ot$ try to (i(i% &"(a 2ei +$ a d (ay e0e re$e(2le !eo!le i a!!eara %eF t&i$ ty!e of ro2ot i$ %alled a &"(a oid ro2ot,

De)i"%te) ro!ot(
I d"$trial a d $er0i%e ro2ot$ %a 2e !la%ed i to ro"+&ly t1o %la$$ifi%atio $ 2a$ed o t&e ty!e of *o2 t&ey do, T&e fir$t %ate+ory i %l"de$ ta$'$ 1&i%& a ro2ot %a do 1it& +reater !rod"%ti0ity. a%%"ra%y. or e d"ra %e t&a &"(a $F t&e $e%o d %ate+ory %o $i$t$ of dirty. da +ero"$ or d"ll *o2$ 1&i%& &"(a $ fi d " de$ira2le, Ma y fa%tory *o2$ are o1 !erfor(ed 2y ro2ot$, T&i$ &a$ led to %&ea!er (a$$-!rod"%ed +ood$. i %l"di + a"to(o2ile$ a d ele%tro i%$, -tatio ary (a i!"lator$ "$ed i fa%torie$ &a0e 2e%o(e t&e lar+e$t (ar'et for ro2ot$, -o(e e#a(!le$ of fa%tory ro2ot$E Car !rod"%tio E O a a"to(ated !rod"%tio li e. a 0e&i%le %&a$$i$ o a %o 0eyor i$ 1elded. +l"ed. !ai ted a d fi ally a$$e(2led at a $eA"e %e of ro2ot $tatio $, )a%'a+i +E I d"$trial ro2ot$ are al$o "$ed e#te $i0ely for !alleti5i + a d !a%'a+i + of (a "fa%t"red +ood$, Ele%tro i%$E Ma$$-!rod"%ed !ri ted %ir%"it 2oard$ ()C7$) are al(o$t e#%l"$i0ely (a "fa%t"red 2y !i%'-a d-!la%e ro2ot$. ty!i%ally 1it& -CARA (a i!"lator$. 1&i%& re(o0e ti y ele%tro i% %o(!o e t$ fro( $tri!$ or tray$. a d !la%e t&e( o to )C7$ 1it& +reat a%%"ra%y, Autom%te) gui)e) *e+i"&e( (AG4$)E Mo2ile ro2ot$. follo1i + (ar'er$ or 1ire$ i t&e floor. or "$i + 0i$io or la$er$. are "$ed to tra $!ort +ood$ aro" d lar+e fa%ilitie$. $"%& a$ 1are&o"$e$. %o tai er !ort$. or &o$!ital$,

COM,ONENTS OF ROBOTS
Ro2ot$ &a0e a li$t of %o(!o e t$. 1&i%& i di0id"ally f"lfill $o(e reA"ire(e t$ of ro2ot, T&ey areE

Stru"ture T&e $tr"%t"re of a ro2ot i$ "$"ally (o$tly (e%&a i%al a d %a 2e %alled a 'i e(ati%$ %&ai (it$ f" %tio ality 2ei + $i(ilar to t&e $'eleto of t&e &"(a 2ody), T&e %&ai i$ for(ed of li '$ (it$ 2o e$). a%t"ator$ (it$ ("$%le$). a d *oi t$ 1&i%& %a allo1 o e or (ore de+ree$ of freedo(, ,o-er (our"e At !re$e t. (o$tly 2atterie$ are "$ed. 2"t !ote tial !o1er $o"r%e$ %o"ld 2e ! e"(ati% (%o(!re$$ed +a$e$). &ydra"li%$ (%o(!re$$ed liA"id$). fly1&eel e er+y $tora+e. et%, A"tu%tor( A%t"ator$ are t&e 8("$%le$8 of a ro2ot. t&e !art$ 1&i%& %o 0ert $tored e er+y i to (o0e(e t, 7y far t&e (o$t !o!"lar a%t"ator$ are ele%tri% (otor$. 2"t t&ere are (a y ot&er$. !o1ered 2y ele%tri%ity. %&e(i%al$. a d %o(!re$$ed air, Motor$E T&e 0a$t (a*ority of ro2ot$ "$e ele%tri% (otor$. i %l"di + 2r"$&ed a d 2r"$&le$$ DC (otor$, -te!!er (otor$E A$ t&e a(e $"++e$t$. $te!!er (otor$ do ot $!i freely li'e DC (otor$, T&ey rotate i di$%rete $te!$. " der t&e %o((a d of a %o troller, T&i$ (a'e$ t&e( ea$ier to %o trol. a$ t&e %o troller ' o1$ e#a%tly &o1 far t&ey $&o"ld &a0e rotated. 1it&o"t &a0i + to "$e a $e $or, Air ("$%le$E T&e air ("$%le i$ a $i(!le yet !o1erf"l de0i%e for !ro0idi + a !"lli + for%e, W&e i flated 1it& %o(!re$$ed air. it %o tra%t$ 2y "! to 6:G of it$ ori+i al le +t&, T&e 'ey to it$ 2e&a0ior i$ t&e 2raidi + 0i$i2le aro" d t&e o"t$ide. 1&i%& for%e$ t&e ("$%le to 2e eit&er lo + a d t&i . or $&ort a d fat, Ele%tro a%ti0e !oly(er$E Ele%tro a%ti0e !oly(er$ are a %la$$ of !la$ti%$ 1&i%& %&a +e $&a!e i re$!o $e to ele%tri%al $ti("latio , Se$(or( -e $or$ are "$ed to !a$$ i for(atio fro( real 1orld to ro2ot$, 7a$ed o t&e i for(atio fro( $e $or$. ro2ot (ay !erfor( $o(e a%ti0ity, T&ere %a 2e differe t ty!e of $e $or$ t&at are "$ed, -e $or$ (ay $e $e !re$$"re. li+&t. et%, For e#a(!le. 2a$ed o t&e i te $ity of li+&t refle%ted 2y t&e $"rfa%e. a li e tra%er ro2ot (Follo1$ a li e o t&e $"rfa%e, I te $ity of li+&t i$ differe t 1&e it i$ refle%ted fro( li e a d $"rfa%e) (ay %&a +e it$ dire%tio , Co$tro& U$it Co trol " it i$ t&e 2rai of a ro2ot, 7a$ed o t&e i !"t fro( $e $or$ %o trol " it ("$t ta'e de%i$io $, A %o trol " it (ay %o(!ri$e of (a y ele%tro i% %o(!o e t$. li'e a (i%ro%o troller. lo+i% +ate$. et%,

,OTENTIAL ,ROBLEMS
Fear$ a d %o %er $ a2o"t ro2ot$ &a0e 2ee re!eatedly e#!re$$ed i a 1ide ra +e of 2oo'$ a d fil($, A %o((o t&e(e i$ t&e de0elo!(e t of a (a$ter ra%e of %o $%io"$ a d &i+&ly i telli+e t ro2ot$. (oti0ated to ta'e o0er or de$troy t&e &"(a ra%e, -o(e fi%tio al ro2ot$ are !ro+ra((ed to 'ill a d de$troyF ot&er$ +ai $"!er&"(a i telli+e %e a d a2ilitie$ 2y "!+radi + t&eir o1 $oft1are a d &ard1are, Ma "el De La da &a$ oted t&at 8$(art (i$$ile$8 a d a"to o(o"$ 2o(2$ eA"i!!ed 1it& artifi%ial !er%e!tio %a 2e %o $idered ro2ot$. a d t&ey (a'e $o(e of t&eir de%i$io $ a"to o(o"$ly, He 2elie0e$ t&i$ re!re$e t$ a i(!orta t a d da +ero"$ tre d i 1&i%& &"(a $ are &a di + o0er i(!orta t de%i$io $ to (a%&i e$, Mara"di + ro2ot$ (ay &a0e e tertai (e t 0al"e. 2"t " $afe "$e of ro2ot$ %o $tit"te$ a a%t"al da +er, A &ea0y i d"$trial ro2ot 1it& !o1erf"l a%t"ator$ a d " !redi%ta2ly %o(!le# 2e&a0ior %a %a"$e &ar(. for i $ta %e 2y $te!!i + o a &"(a D$ foot or falli + o a &"(a , Mo$t i d"$trial ro2ot$ o!erate i $ide a $e%"rity fe %e 1&i%& $e!arate$ t&e( fro( &"(a 1or'er$. 2"t ot all,

THE LINE TRACER

Autom%te) gui)e) *e+i"&e( ta'e de%i$io 2a$ed o i !"t$ fro( real 1orld. a d i re$!o $e (ay %&a +e t&eir dire%tio of (o0e(e t, Mo2ile ro2ot$. follo1i + (ar'er$ or 1ire$ i t&e floor. or "$i + 0i$io or la$er$. are "$ed to tra $!ort +ood$ aro" d lar+e fa%ilitie$. $"%& a$ 1are&o"$e$. %o tai er !ort$. or &o$!ital$, Early AG4--tyle Ro2ot$ 1ere li(ited to ta$'$ t&at %o"ld 2e a%%"rately defi ed a d &ad to 2e !erfor(ed t&e $a(e 1ay e0ery ti(e, 4ery little feed2a%' or i telli+e %e 1a$ reA"ired. a d t&e ro2ot$ eeded o ly t&e (o$t 2a$i% e#tero%e!tor$ ($e $or$), I teri( AG4-Te%& olo+ie$ de0elo!ed t&at de!loy tria +"latio fro( 2ea%o $ or 2ar %ode +rid$ for $%a i + o t&e floor or %eili +, I (o$t fa%torie$. tria +"latio $y$te($ te d to reA"ire (oderate to &i+& (ai te a %e. $"%& a$ daily

%lea i + of all 2ea%o $ or 2ar %ode$, Ne1er AG4$ are de$i+ ed for !eo!le-frie dly 1or'$!a%e$, T&ey a0i+ate 2y re%o+ i5i + at"ral feat"re$, >D $%a er$ or ot&er (ea $ of $e $i + t&e e 0iro (e t i t1o or t&ree di(e $io $ &el! to eli(i ate %"("lati0e error$ i dead-re%'o i + %al%"latio $ of t&e AG4D$ %"rre t !o$itio ,
A$ t&e a(e it$elf $"++e$t$. Li$e Tr%"er i$ a ro2ot t&at tra%e$ a !arti%"lar li e, It 1or'$ o follo1i + !ri %i!leE

HI$te$(it. o/ &ig+t re/&e"te) !. &ig+t %$) )%r0 (ur/%"e i( )i//ere$t1 T+i( )i//ere$"e i$ i$te$(it. o/ &ig+t "%$ go*er$ $e2t imme)i%te mo*eme$t o/ &i$e tr%"er ro!otI, T&ere are (ai ly > 1ay$ of (a'i + a Li e Tra%erE 9, Mi%ro-%o troller 7a$ed @, O!-A(! 7a$ed >, Gate$ 7a$ed Al(o$t e0eryo e +oe$ 1it& t&e fir$t a!!roa%& a d $o(e +o 1it& t&e $e%o d o e. 2"t o e &a0e +o e 1it& t&e t&ird a!!roa%&, ItJ$ (y i o0ati0e idea of (a'i + a Li e Tra%er "$i + lo+i% +ate$, T&e 1or'i + i$ $i(!le e o"+& to %o(!re&e d, A !ly1ood 2oard %o0ered 1it& a 2la%' $"rfa%e (2la%' %ard2oard !a!er) a d a 1&ite !at& of !ro!er 1idt& i$ tra%ed o t&e 2la%' 2oard, I 1ill "$e $e $or$ (Li+&t De!e de t Re$i$tor$) to $e $e t&e a(o" t of li+&t refle%ted fro( 2la%' a d 1&ite $"rfa%e$, T&e o"t!"t of $e $or$ 1ill 2e fed to t&e lo+i% %ir%"itry. 1&i%&. i t"r . dri0e t&e (otor$, T&e $e $or$ $e $e t&e !re$e %e of 1&ite tra%e a d a%%ordi +ly +e erate a re$!o $e to t&e lo+i% %ir%"it, T&e lo+i% %ir%"it deter(i e$ t&e (o0e(e t of t&e Ro2ot i a !arti%"lar dire%tio , T&e (otor$ rotate a%%ordi + to t&e o"t!"t of t&e lo+i% %ir%"itry a d a%%ordi +ly t&e Ro2ot eit&er (o0e$ i a $trai+&t li e or it ta'e$ a t"r ,
T&e ar%&ite%t"re of t&e Li e Tra%er %a 2e 2roadly di0ided i to t&ree $e%tio $, W&e t&e$e t&ree $e%tio $ are %o(2i ed. t&e t&ey for( a li e tra%er Ro2ot, T&e t&ree $e%tio $ areE

Me"+%$i"%& Stru"ture ; It i$ t&e 2a%'2o e of a y ro2ot, It i$ t&i$ $tr"%t"re t&at for($ t&e 2a$e of a y ro2ot. o0er 1&i%& t&e ot&er $y$te($ are (o" ted, Se$(or S.(tem ; I (y ro2ot. $e $or$ 1ill !lay a 0ery i(!orta t role a$ t&ey $e $e t&e differe %e 2et1ee t&e 1&ite a d 2la%' $"rfa%e$ a d (a'e t&e ro2ot to tra%e 1&ite li e, It i$ t&i$ $y$te( o ly t&at for%e$ t&e ro2ot to ta'e a t"r if t&e 1&ite li e i$ t"r i +, Logi" De(ig$ ; T&e o"t!"t of t&e -e $or -y$te( 1ill 2e +i0e to t&i$ !art 1&ere lo+i% +ate$ are 1or'i +, T&e$e +ate$ "tili5e t&e o"t!"t of t&e $e $or $y$te( to dri0e t&e (otor$, A%%ordi + to t&e o"t!"t of t&e lo+i% %ir%"itry. t&e ro2ot eit&er (o0e$ i a $trai+&t li e or it ta'e$ a t"r , T&e t&ree $e%tio $ 1ill 2e de$%ri2ed i detail o e 2y o e o t&e follo1i + !a+e$,

MECHANICAL STRUCTURE
T&e fir$t $e%tio t&at 1e t&i ' of. 1&e (a'i + a y 'i d of Ro2oti% $y$te( i$ it$ (e%&a i%al $tr"%t"re a d it$ !&y$i%al a!!eara %e, All t&e ot&er $e%tio $ are (o" ted o t&i$ (e%&a i%al $tr"%t"re, T&e Ro2ot 1ill 2e (ade "! of a !ly1ood !ie%e, O t&i$ !ie%e all ot&er !art$ of (e%&a i%al $tr"%t"re a d t&e $e $or a d lo+i% $y$te( 1ill 2e (o" ted, T&e Me%&a i%al -tr"%t"re %o $i$t$ of 0ario"$ !art$E -

 )ly1ood 7a$e Motor$ Tyre$

Figure Me"+%$i"%& %r"+ite"ture o/ t+e Ro!ot

,LYWOOD 3 ,LASTIC BASE

T&e $i5e of !ly1oodK!la$ti% !ie%e 1ill 2e a!!ro#i(ately 9B 2y 9B %( or $(aller a d it$ t&i%' e$$ 1ill 2e B-< ((, T&e 1ei+&t of t&e !ly1ood $&o"ld 2e (i i("( !o$$i2le ot&er1i$e t&e Ro2ot 1o"ld 2e%o(e 0ery 2"l'y, )ly1oodK)la$ti% i$ o e of t&e 2e$t (aterial$ for (a'i + a $(all ar%&ite%t"re. a$ i$ o"r %a$e. a$ it i$ &ard. le$$ 2"l'y. a d %o$t$ le$$,

MOTORS
It i$ 1it& t&e &el! of (otor$ o ly t&at a ro2ot (o0e$, T&ere are 2a$i%ally t1o ty!e$ of Motor$ t&at %a 2e "$ed for t&e Ro2ot, T&ey areE Dire%t C"rre t Motor -te!!er Motor A$ I 1a t %o ti "o"$ (o0e(e t of t&e Ro2ot. I 1ill "$e DC Motor, -te!!er Motor %a al$o 2e "$ed 2"t a$ it rotate$ i $te!$. 1e reA"ire a dri0i + %ir%"it for it$ %o ti "o"$ rotatio , T&e Motor &a$ t1o ter(i al$ L0e a d ;0e, De!e di + "!o t&e $"!!lie$ +i0e to t&e$e ter(i al$. t&e (otor$ eit&er (o0e i t&e for1ard dire%tio or 2a%'1ard dire%tio , W&e !o$iti0e $"!!ly i$ +i0e to t&e (otor it rotate$ i o e dire%tio a d 1&e o!!o$ite $"!!ly i$ +i0e to Motor t&e it rotate$ i t&e ot&er dire%tio , T&e i !"t to t&e$e Motor$ i$ +i0e fro( t&e IC /LN @::> !re$e t i t&e lo+i% %ir%"it,

MOTOR O,ERATING ,RINCI,LE

T&e 2a$i% f" %tio i + of a DC (otor %a 2e e#!lai ed 2y follo1i + fi+"re$, W&e Ele%tri% %"rre t i$ !a$$ed t&ro"+& a %oil i a Ma+ eti% field. t&e Ma+ eti% for%e !rod"%e$ a torA"e. 1&i%& t"r $ t&e DC Motor,

Figure Wor0i$g o/ DC motor T&e %o(("tator re0er$e$ t&e %"rre t ea%& &alf re0ol"tio to 'ee! t&e torA"e r" $a(e dire%tio , i + t&e %oil i t&e

Figure Wor0i$g o/ DC motor T&e Ma+ eti% field !rod"%e$ Ma+ eti% for%e F. 1&i%& i$ +i0e 2y FMIL7. 1&i%& a%t$ !er!e di%"lar to 2ot& t&e 1ire a d t&e Ma+ eti% field,

Figure Wor0i$g o/ DC motor T&e Ma+ eti% field i$ dire%ted fro( Nort& )ole to -o"t& )ole, T&e t"r i + TorA"e of t&e Motor i$ !ro!ortio al to t&e Ma+ eti% field !rod"%i + it,

Figure Wor0i$g o/ DC motor Tor4ue 5 For"e 2 Le*er Arm 5 6ILB7W38 (i$9 2 8 (i)e( 5 ILBW(i$9 5 IBA(i$9

TYRES
Fo"r tyre$ 1ill 2e $"ffi%ie t to $"!!ort t&e ro2otE T1o tyre$ i t&e fro t a d t&e ot&er t1o at t&e 2a%', T&e tyre$ at t&e 2a%' 1ill 2e atta%&ed to t&e $&aft of t&e Motor a d t&e ot&er t1o 1ill 2e (o" ted o N"t$ of le +t& aro" d ?-= %( t&at are fi#ed to t&e !ly1ood 2a$e "$i + $o(e ad&e$i0e, T&e tyre$ 1o"ld 2e (ade of 1ood a d %o0ered 2y r"22er t"2e$ to (i i(i5e t&e fri%tio al for%e 1it& t&e +ro" d, Woode tyre$ are %&o$e 2e%a"$e t&ey are li+&t a d t&ey %a 2e (ade to (eet (y reA"ired $!e%ifi%atio of !ro!er dia(eter. 1idt&. 1ei+&t a d %o$t, T&e dia(eter of t&e tyre$ at t&e rear $ide of t&e ro2ot 1ill 2e =-9: %($ a d t&e ot&er t1o &a0e a dia(eter of B-< %($, T&e tyre$ 1it& differe t dia(eter are (ade i order to &a0e t&e $"rfa%e of t&e Ro2ot !arallel to t&e +ro" d a$ t&e %e ter of t&e 2a%' tyre$ 1ill 2e at $o(e &ei+&t fro( t&e !ly1ood $i %e t&ey 1ill 2e atta%&ed to t&e (otor$ $&aft a d t&e ot&er t1o tyre$ are (o" ted o t&e "t$ t&at are atta%&ed to t&e !ly1ood,

SENSOR SYSTEM
T&e (ai ta$' of t&e $e $or $y$te( i$ to dete%t t&e !re$e %e of 1&ite li e o t&e 2la%' $"rfa%e a d +i0e %orre$!o di + o"t!"t to t&e lo+i% $y$te(, T&i$ $y$te( +i0e$ o"t!"t 0olta+e Hi+& 1&e t&e Ro2ot i$ o t&e 7la%' li e a d Lo1 1&e Ro2ot i$ o t&e 1&ite li e, T&e $e $or $y$te( 1ill 2e di0ided i to t&ree +ro"!$ a(ed -et I. -et II a d -et III, )&y$i%ally all t&e t&ree $et$ 1ill 2e eA"i0ale t to ea%& ot&er 2"t t&ey 1ill differ d"e to t&e differe t dire%tio $ t&ey $e $e, -i %e t&e Ro2ot %a (o0e i t&ree dire%tio $. $o 1e reA"ire o ly t&ree -et$ of $e $or$,

Figure T+e Se$(or S.(tem I ea%& $et I 1ill &a0e $erie$ %o e%tio of a LDR (Li+&t De!e de t Re$i$tor) a d a )re$et, -i# of t&e$e $erie$ %o e%tio 1ill 2e %o e%ted i !arallel, T&e 0olta+e +i0e to t&i$ %ir%"it 1ill 0ary 2et1ee 9:-9@ 0olt$, )o$iti0e $"!!ly 1ill 2e +i0e to t&e free e d of )re$et a d Ne+ati0e $"!!ly to t&e free e d of LDR, T&e o"t!"t 0olta+e %a 2e o2tai ed a%ro$$ t&e LDR,

Figure B%(i" "ir"uitr. o/ Se$(or Set

T&e )re$et$ 1ill !ro0ide $erie$ re$i$ta %e to t&e LDR$, T&ey are "$ed to !ro0ide $"ita2le 0olta+e dro! a%ro$$ t&e LDR a d t&ey al$o !re0e t LDR fro( 2"r i +, T&ere are t1o ty!e$ of )re$et$ "$ed. o e 1it& re$i$ta %e "! to 9:: Ko&($ a d ot&er 1it& re$i$ta %e "! to @:: Ko&($, T1o ty!e$ of )re$et$ are "$ed a$ t&e re$i$ta %e of LDR 0arie$ o0er a 1ide ra +e. i,e, 2et1ee B:-@:: Ko&($, T&e$e t&ree $et$ 1ill 2e $e!arately (o" ted o a Ge eral )"r!o$e 7oard, -o(e LED$ 1ill al$o 2e "$ed i t&e $e $or %ir%"itry, A%t"ally t&e $et$ of $e $or$ 1ill 2e atta%&ed 2elo1 t&e Ro2ot $"rfa%e a d t&e e 0iro (e tal li+&t 1ill 2e ot 2e a2le to !rod"%e de$ired o"t!"t of t&e $e $or$, Al$o t&e a(o" t of li+&t i ea%& a d e0ery roo( (1&ere ro2ot i$ te$ted) 1ill 2e differe t. $o t&e o"t!"t of $e $or$ 1ill 2e differe t i ea%& a d e0ery roo(, -o t&e Ro2ot $&o"ld &a0e it$ o1 li+&t $o"r%e, T&i$ i$ t&e rea$o 1&y LED$ 1ill 2e "$ed,

Figure LED O e LED 1ill 2e !la%ed 2elo1 e0ery LDR i order to !ro0ide li+&t, T&e LED$ 1ill ot 2e t&e or(al o eJ$ t&at are "$ed a$ i di%ator$, I $tead I 1ill "$e 2ri+&t LEDJ$, A$ told earlier I 1ill &a0e $i# $e $or$ i ea%& of t&e t&ree $et$, No1 e0ery $e $or. at t&e 2a$e of 1&i%& a LED i$ !la%ed. i$ %o0ered 1it& 2la%' !a!er i order to !re0e t i terfere %e fro( t&e a(2ie %e li+&t, -a(e i$ tr"e for t&e ot&er t1o $et$, All t&e LED$ of e0ery i di0id"al $et$ 1ill 2e %o e%ted i $erie$ a d a $erie$ re$i$ta %e of @@: o&( 1ill al$o 2e !ro0ided to t&e( i order to $a0e t&e LED$ fro( 2"r i +, 9?4 DC $"!!ly 1ill 2e +i0e to t&i$ $erie$ LED %ir%"it, No1 all t&e t&ree $et$ 1ill 2e !la%ed 2elo1 t&e Ro2ot a d 1ill 2e fi#ed "$i + $o(e ad&e$i0e (aterial,

WORKING OF LDR
LDR i$ a Li+&t De!e de t Re$i$tor, It$ o"t!"t Re$i$ta %e 0arie$ 1it& t&e i te $ity of li+&t t&at fall$ o t&e LDRJ$ $"rfa%e, A$ t&e Re$i$ta %e %&a +e$. t&e 0olta+e dro! a%ro$$ t&e LDR al$o %&a +e$, W&e li+&t i$ refle%ted fro( a y $"rfa%e it$ i te $ity de!e d$ "!o t&e ty!e of $"rfa%e, W&e li+&t refle%t$ fro( a 2la%' $"rfa%e. it$ i te $ity i$ 0ery Lo1 a$ t&e 2la%' $"rfa%e a2$or2$ (a#i("( Li+&t, 7"t 1&e li+&t refle%t$ fro( a 1&ite $"rfa%e. it$ i te $ity i$ 0ery Hi+& a$ 0ery le$$ a(o" t of li+&t i$ a2$or2ed 2y t&e $"rfa%e, T&e $a(e !ri %i!le 1ill 2e "$ed i t&e Li e Tra%er Ro2ot, W&e t&e li+&t i$ refle%ted fro( a 1&ite $"rfa%e. t&e i te $ity of li+&t at t&e LDR 1ill 2e Hi+&, -o t&e re$i$ta %e a%ro$$ t&e LDR i$ 0ery Lo1 aro" d @-9: K o&($, A d t&e 0olta+e dro! a%ro$$ t&e LDR i$ al$o Lo1, 7"t 1&e t&e li+&t i$ refle%ted fro( a 2la%' $"rfa%e. t&e i te $ity of li+&t at t&e LDR i$ Lo1, -o t&e re$i$ta %e a%ro$$ t&e LDR i$ Hi+& aro" d B:-@:: K o&($, A d t&e 0olta+e dro! a%ro$$ t&e LDR i$ al$o Hi+& 1&e 9:4 $"!!ly i$ +i0e to t&e -et of $e $or$, No1 if a y of t&e $e $or$ of a $et i$ a2o0e t&e 1&ite li e it 1ill +i0e Lo1 0olta+e at it$ o"t!"t. 1&ile all t&e ot&er $e $or$ 1ill +i0e Hi+& o"t!"t, 7"t a$ t&e fi al o"t!"t i$ o2tai ed 2y %o e%ti + all t&e LDR$ i !arallel or 2y $&orti + t&e o"t!"t of all of t&e LDR$. t&e fi al o"t!"t 0olta+e 1ill 2e (i i("( of all t&e 0olta+e$, -o fi al 0olta+e 1ill 2e Lo1,

Figure O$e (e$(or o$ -+ite &i$e I %a$e all t&e LDR$ of a $et are a2o0e t&e 2la%' $"rfa%e. fi al o"t!"t 1ill 2e Hi+&,

Figure No (e$(or o$ -+ite &i$e T&e fi al o"t!"t$ of all t&e $et$ 1ill 2e +i0e to t&e lo+i% %ir%"itry 1&ere t&e (o0e(e t of Ro2ot i$ deter(i ed a%%ordi + to t&e re$!o $e fro( t&e $e $or $et$,

THE LOGIC CIRCUITRY

T&e lo+i% %ir%"it i$ t&e (a$ter %o trol " it of t&e Ro2ot, T1o NAND +ate IC$ (IC <6::) 1ill 2e "$ed to !rod"%e t&e de$ired lo+i%, T&e o"t!"t$ of ea%& of t&e t&ree $e $or $et$ (A. 7. C) 1ill 2e %o e%ted to t&e lo+i% %ir%"it a$ $&o1 i t&e fi+"re, T&e lo+i% %ir%"it$ 1ill !ro0ide i !"t$ to t&e (otor$ M9 N M@ a d dri0e t&e( a%%ordi + to t&e re$!o $e fro( t&e $e $or $et$, T&e de$ired (o0e(e t of t&e Ro2ot alo + t&e 1&ite tra%e %a 2e a %&oi%e t&at %a 2e i(!le(e ted "$i + t&e lo+i% %ir%"it, I (y %a$e. (y %&oi%e i$ t&at t&e Ro2ot $&o"ld (o0e i a $trai+&t li e if it dete%t$ a $trai+&t 1&ite tra%e o (atter e0e if t&ere i$ 2ra %&i + !at& fro( t&e (ai tra%e, If t&ere i$ a 2e d a d o $trai+&t !at&. t&e Ro2ot $&o"ld follo1 t&e tra%e a%%ordi +ly, Ho1e0er if t&e Ro2ot e %o" ter$ o ly 2la%' tra%e all alo + it$ dire%tio . it $&o"ld (o0e i a $trai+&t li e, We %a a%&ie0e t&e de$ired (o0e(e t of t&e Ro2ot 2y t&e lo+i% %ir%"it. 1&i%& dri0e$ t&e t1o (otor$, For t&e Ro2ot to (o0e i a $trai+&t li e. 2ot& t&e (otor$ $&o"ld 2e dri0e 2y t&e lo+i% %ir%"it, I %a$e t&e Ro2ot ("$t a!!re%iate a t"r . o ly o e (otor $&o"ld 2e dri0e to e+otiate t&e t"r , For e#a(!le if t&e Ro2ot i$ to ta'e a left t"r . t&e Motor M@ $&o"ld rotate a d M9 $&o"ld $to!,

Figure output /rom (e$(or (et( T&e (otor$ 1ill (o0e de!e di + "!o t&e o"t!"t$ t&at it re%ei0e$ fro( t&e $et$ of $e $or$, For e#a(!le t&e (otor M@ 1ill 1or' o ly 1&e t&ere i$ a o"t!"t fro( A or 7 or it 1ill 1or' 1&e t&e o"t!"t$ of all t&e $et$ i$ lo1, -o it$ 7oolea e#!re$$io %o(e$ to 2eE : : : M8 ; A < B < 6A1 B1 C7 T&e (otor M9 1ill 1or' o ly 1&e t&ere i$ a o"t!"t fro( A or if t&ere i$ o o"t!"t fro( 7 a d t&ere i$ o"t!"t fro( C or 1&e t&e o"t!"t of all t&e $et$ i$ lo1, -o 7oolea e#!re$$io for M9 %o(e$ to 2eE : : : : M= ; A < B1C < 6A1 B1 C7

No1 t&e$e 7oolea e#!re$$io $ %a 2e (i i(i5ed "$i + K-Ma! red"%tio (et&od,

Figure K'M%p re)u"tio$ /or M= For Motor M= A < B < C

Figure K'M%p re)u"tio$ /or M8 : For Motor M8 A < B T&e a2o0e-$i(!lified e#!re$$io $ for t&e lo+i% %ir%"it %a 2e i(!le(e ted i &ard1are "$i + t&e $o-%alled " i0er$al or NAND +ate$, A y lo+i% %a 2e i(!le(e ted "$i + " i0er$al +ate$ a d $o for %o 0e ie %e I 1ill "$e NAND +ate$, Here I 1ill "$e t1o IC$, T&ey are t&e NAND +ate IC-<6:: a d a %"rre t dri0er IC-/LN@::>, T&e$e IC$ are "$ed to for( o"r lo+i% de$i+ a$ ill"$trated i t&e fi+"re 2elo1, T&e o"t!"t fro( t&e t&ree $et$ of $e $or$ 1ill 2e +i0e to t&e i !"t of t&e lo+i% %ir%"it. 1&i%& deter(i e t&e 1or'i + of t&e t1o (otor$, T&e o"t!"t fro( t&e lo+i% %ir%"it i$ +i0e to t&e %"rre t dri0er. 1&i%& !ro0ide$ +ro" d "! to 9@4 for t&e Motor$, /LN@::> IC i$ "$ed a$ t&e (otor$ are reA"ired to o!erate at 9@4 ra +e a d /LN !ro0ide$ +ro" d for (otor$ 1or'i + "! to 9@4, T&e o"t!"t of t&e /LN IC i$ +i0e to o e $et of ter(i al$ of t&e Motor$ a d 64 !o1er $"!!ly i$ +i0e to t&eir ot&er ter(i al$, All t&e +ro" d$ of t&e Ro2ot are $&orted to a %o((o +ro" d !ote tial, T&e lo+i% %ir%"it deri0ed after all t&e %al%"latio $ of t&e Motor$ lo+i% de$i+ i$ i(!le(e ted "$i + IC <6:: a d /LN @::>, T&e %ir%"itry i$ $&o1 2elo1E

Figure T+e Logi" De(ig$ )eri*e) /rom NAND g%te IC(1

,OWER SU,,LY
I 1ill "$e fo"r !o1er $"!!lie$ for t&e Ro2ot, T&ey all o!erate at differe t 0al"e$ of 0olta+e$, T&ey areE B4 to t&e IC$, 9:4 to t&e LDR$, 64 to t&e Motor$, 9?4 to t&e LED$, All t&e$e 0olta+e$ ("$t 2e +i0e to t&ere %ir%"it$ a d all t&e +ro" d$ $&o"ld 2e $&orted to a %o((o +ro" d !ote tial,

FUTURE SCO,E AND SUMMARY

T&e Li e Tra%er %a 2e f"rt&er %o 0erted to a Mi%ro (o"$e a Ro2ot. 1&i%& %a 2e (ade to follo1 a !arti%"lar !at& i %ertai a!!li%atio reA"iri + &ar$& a d i a%%e$$i2le e 0iro (e t, -i %e o ly t&e (e%&a i%al $tr"%t"re of t&e ro2ot eed$ to 2e %&a +ed for "$e i differe t e 0iro (e t$. t&e li e tra%er %a 2e "$ed to (o itor differe t !ara(eter$ " der differe t e 0iro (e tal %o ditio $, It %a 2e "$ed to (o itor %o ditio $ li'e t&e a(o" t of l"(i a %e i a area. t&e terrai . a d ot&er rele0a t !ara(eter$, It %a al$o 2e "$ed i %o *" %tio 1it& a %o trol $y$te( to a aly5e a d !erfor( a $!e%ified ta$' i 1&i%& %a$e it %a !erfor( ("lti-ta$'i +, T&e li e tra%er i$ a $(all 2"t !o1erf"l a d effe%ti0e ro2ot 1&o$e i(!orta %e %a 2e *"$tified 2y t&e 0ario"$ $et of a!!li%atio $. it %a 2e a!!lied i to. 1it& little (odifi%atio of t&e (e%&a i%al ar%&ite%t"re,

REFERENCES
9, 8Defi itio of a ro2ot8 ()DF), Da $' Ro2ot Fore i +, &tt!EKK1e2,ar%&i0e,or+K1e2K@::<:?@=:?6:9:K&tt!EKK111,dira,d'K!dfKro2otdef,!df, @, 8Ro2oti%$-related -ta dard$ -ite$8, E"ro!ea Ro2oti%$ Re$ear%& Net1or', >, Harri$. To(, 8Ho1 Ro2ot$ Wor'8, Ho1 -t"ff Wor'$, &tt!EKK$%ie %e,&o1$t"ff1or'$,%o(Kro2ot,&t(, 6, 8Ro2ot (te%& olo+y)8, E %y%lo!aedia 7rita i%a O li e, &tt!EKK111,2rita i%a,%o(KE7%&e%'edKto!i%KB:B=9=Kro2ot, B, 8Real Ro2ot$ o t&e We28, NA-A -!a%e Telero2oti%$ )ro+ra(, 9CCC-9:-9B, &tt!EKKra ier,&A, a$a,+o0Ktelero2oti%$O!a+eKrealro2ot$,&t(l, ?, Ro2oti%$ a d A"to(atio -o%iety (RA-) at IEEE, &tt!EKK111,ieee-ra$,or+K <, Ro2oti%$ Di0i$io at NA-A &tt!EKKro2oti%$, a$a,+o0K =, &tt!EKK111,!i%ro2ot$,%o(K7"ildi +OaOLi e-Follo1i +ORo2ot,!df C, -(all Ro2ot -e $or$ &tt!EKK111,a dre1,%(",ed"K"$erKr*+K1e2$e $or$Kro2otO$e $or$@,&t(l 9:, Ro2oti%$ I dia, A I dia $ite de0oted to ro2oti%$, M"$t $ee &tt!EKK111,ro2oti%$i dia,%o(K 99, -eattle Ro2oti%$ -o%iety &tt!EKK111,$eattlero2oti%$,or+K

9@, Li e Follo1er RO7OT, A1ard 1i er fro( 4i +)ea1 Co(!etitio @B6>. t&e ro2ot 2"ilt 1it& @:B9. L@C>D. a d fo"r IR $e $or$, -i(!le %ir%"it a d !latfor(. A"i%' tra%'i + a d Ea$y to " der$ta d !ro+ra( "$i + C la +"a+e,& &tt!EKK111,'(itl,a%,t&KP'$1i%&itKLFro2otKLFro2ot,&t( 9>, Wor'i + of DC (otor$ &tt!EKK111, %ert, i%,i K&t(lKlear i +O2a$'etKele%tri%ityKele%tri%ityK(a%&i eK(otor,&t( &tt!EKK111,!%-"$er,%o,"'Kd%-(otor$,&t( &tt!EKKe ,1i'i!edia,or+K1i'iKEle%tri%O(otor AM odeK?9 &tt!EKK(rele%tri%al$,%o(KQ

96, Wi'i li '$E &tt!EKKe ,1i'i!edia,or+K1i'iKRo2ot &tt!EKKe ,1i'i!edia,or+K1i'iKRo2ot &tt!EKKe ,1i'i2oo'$,or+K1i'iKRo2oti%$ &tt!EKKe ,1i'i2oo'$,or+K1i'iKRo2oti%$ &tt!EKKe ,1i'i2oo'$,or+K1i'iKRo2oti%$ 9B, /LN @::> &tt!EKK111,alldata$&eet,%o(Kdata$&eet!dfK!dfK@BB<BK-TMICROELECTRONIC-K/LN@::>,&t(l 9?, LDR &tt!EKKe ,1i'i!edia,or+K1i'iKLi+&tODe!e de tORe$i$tor &tt!EKK111,do%tro i%$,%o,"'KldrO$e $or$,&t(