ARDUINO BASED VEHICLE SPEED LIMIT CONTROLLER

A Major Project-II Report (EE-805)

Submitted by:

SUMIT DUBEY (0103EE191075)

SAURABH SINGH (0103EE191065)
HARSH KANNOJIYA (0103EE191033)
RISHIKESH MISHRA (0103EE191057)
PUSHPENDRA KUMAR MAITRY (0103EE191052)

Group No.- 10

Under the guidance of

Prof. Vikas Kumar

in partial fulfillment for the award of the degree

of

BACHELOR OF TECHNOLOGY

IN

ELECTRICAL ENGINEERING

at

LAKSHMI NARAIN COLLEGE OF TECHNOLOGY

KALCHURI NAGAR, RAISEN ROAD, BHOPAL (INDIA) - 462022

SESSION JAN – JUN 2023

pg. 1
 LAKSHMI NARAIN COLLEGE OF TECHNOLOGY BHOPAL (M.P.)
Department of Electrical Engineering

DECLARATION

I hereby declare that the project entitled ‘ARDUINO BASED VEHICLE SPEED

LIMIT CONTROLLER’ submitted for the B.Tech. (Electrical Engineering)

degree is our original work and the project has not formed the basis for the award of

any other degree, diploma, fellowship or any other similar titles

Name & Signature of the students with date

Place: (1) SUMIT DUBEY

Date: (2) SAURABH SINGH

(3) RISHIKESH MISHRA

(4) HARSH KANNOJIYA

(5) PUSHPENDRA KUMAR MAITRY

pg. 2
 CERTIFICATE

This is to certify that the project titled ‘ARDUINO BASED VEHICLE SPEED
LIMIT CONTROLLER’ is the bona fide work carried out by SUMIT DUBEY,
SAURABH SINGH, RISHIKESH MISHRA, HARSH KANNOJIYA,
PUSHPENDRA KUMAR MAITRY are students of B.Tech. (Electrical
Engineering) of Lakshmi Narain College of Technology, Bhopal affiliated to Rajiv
Gandhi Proudyogiki Vishwavidyalaya, Bhopal, Madhya Pradesh (India) during the
academic year 2019- 2023, in partial fulfillment of the requirements for the award
of the degree of Bachelor of Technology (Electrical Engineering) and that the
project has not formed the basis for the award previously of any other degree,
diploma, fellowship or any other similar title.

Signature & Seal of HOD, Electrical Engineering Signature of the Guide with Date

Lakshmi Narain College of Technology, Bhopal

Signature & Seal of Principal

Lakshmi Narain College of Technology, Bhopal

pg. 3
 TABLE OF CONTENTS

1. INTRODUCTION

2. PROPOSED PROJECT

1. Aim…………………………………………………………………...7
2. Objective……………………………………………………….…….9
3. Description of the project………………………………….………..10
4. Working Function of the System……………………………...…….11
5. Who are the target audience?.............................................................15
6. Hardware and Software required…………………………………....17

3. WORKING OF PROJECT

1. Arduino UNO……………………………………………………….20
2. Breadboard……………………………………………………….....22
3. Touch Sensor………………………………………………………..24
4. RF Wireless Encoder and Decoder………………………………....26
7. L298 motor driver…………………………………………………...29
8. I2C Module With LCD……………………………………………...31
9. Code for Working…………………………………………………...35

4. REFERENCES

pg. 4
 1. INTRODUCTION

The Arduino based Vehicle Speed Limit Controller is an innovative project

that aims to improve road safety by controlling the speed of vehicles.
Speeding is one of the leading causes of road accidents, resulting in
countless injuries and fatalities each year. The use of technology in
controlling vehicle speed has become a necessity to reduce the number of
accidents and ensure the safety of passengers and pedestrians.

The Arduino based Vehicle Speed Limit Controller is an electronic device

designed to limit the speed of vehicles automatically. The device is
installed in the vehicle, and it communicates with the engine control unit
(ECU) to regulate the speed of the vehicle. The Arduino board is the brain
of the system and controls the speed limit based on the driver's behavior
and the road's speed limit.

The project's primary objective is to reduce the number of accidents caused

by speeding and to create a safer environment for everyone on the road.
The Arduino based Vehicle Speed Limit Controller is an innovative
solution that can help drivers stay within the speed limit, even in areas
where there are no speed limit signs. The device is especially useful for
fleet managers who want to ensure their vehicles are driven safely and
within the speed limit.

pg. 5
 The Arduino based Vehicle Speed Limit Controller is easy to install and
can be customized to meet the specific requirements of different types of
vehicles. The Arduino based Vehicle Speed Limit Controller is an excellent
example of the use of technology to improve road safety. The project
combines the power of Arduino boards, sensors, and RF modules to create
an innovative device that can help prevent accidents caused by speeding.
The device is also affordable and easy to install, making it accessible to a
wide range of vehicle owners and fleet managers.

In conclusion, the Arduino based Vehicle Speed Limit Controller is an

innovative project that can help reduce the number of accidents caused by
speeding. The device is designed to limit the speed of vehicles
automatically and ensure they are driven safely and within the speed limit.
The project is an excellent example of the use of technology to improve
road safety and create a safer environment for everyone on the road. The
Arduino based Vehicle Speed Limit Controller is an innovative and
practical solution that has the potential to save countless lives and prevent
injuries on the road.

pg. 6
 2. PROPOSED PROJECT

i. AIM
The aim of the Arduino based Vehicle Speed Limit Controller project is to
design and develop an electronic device that can regulate the speed of vehicles
automatically. The device is designed to limit the speed of vehicles to a safe
and legal limit, thus helping to reduce the number of accidents caused by
speeding.

The project aims to create a device that is easy to install and can be
customized to meet the specific requirements of different types of vehicles.
The device will use sensors to monitor the vehicle's speed and adjust the speed
limit based on the road's speed limit. Which are already installed on highways
that will provide real-time information about the vehicle's speed.

The project aims to provide a cost-effective and practical solution to reduce

the number of accidents caused by speeding. The device can be installed in
any type of vehicle, making it accessible to a wide range of vehicle owners
and fleet managers. The device will also be equipped with a user-friendly
interface that will make it easy for drivers to monitor their speed and adjust
their driving behavior accordingly.

The project also aims to promote road safety and create a safer environment
for everyone on the road. Speeding is one of the leading causes of road
accidents, resulting in countless injuries and fatalities each year. By regulating
pg. 7
 the speed of vehicles, the Arduino based Vehicle Speed Limit Controller can
help prevent accidents caused by speeding, thus making the roads safer for
everyone.

In conclusion, the aim of the Arduino based Vehicle Speed Limit Controller
project is to design and develop an electronic device that can regulate the
speed of vehicles automatically. The device aims to provide a cost-effective
and practical solution to reduce the number of accidents caused by speeding,
and promote road safety. The project aims to create a safer environment for
everyone on the road and help prevent accidents caused by speeding.

pg. 8
ii. OBJECTIVES

➢ To develop an electronic device that can limit the speed of vehicles

automatically.

➢ To create a safer environment on the road by reducing the number of

accidents caused by speeding.

➢ To enable fleet managers to monitor their vehicles and ensure they are
driven safely and within the speed limit.

➢ To provide a cost-effective and easy-to-install solution for controlling

vehicle speed.

➢ To use sensors and RF modules to adjust the speed limit based on the road's
speed limit and the driver's behavior.

➢ To create a customizable device that can meet the specific requirements of

different types of vehicles.

➢ To promote the use of technology to improve road safety and reduce the
number of injuries and fatalities caused by road accidents.

➢ To evaluate the performance of the Arduino based Vehicle Speed Limit

Controller by testing its functionality, reliability, and scalability.

pg. 9
iii. DESCRIPTION OF THE PROJECT

• The Arduino based Vehicle Speed Limit Controller is an electronic device

designed to limit the speed of vehicles automatically.
• The device is installed in the vehicle and communicates with the engine
control unit (ECU) to regulate the speed of the vehicle.
• The Arduino board is the brain of the system and controls the speed limit
based on the driver's behavior and the road's speed limit.
• The project's primary objective is to reduce the number of accidents caused
by speeding and to create a safer environment for everyone on the road.
• The device uses sensors to monitor the vehicle's speed and adjusts the
speed limit based on the road's speed limit.
• It is also equipped with a IR module that provides real-time information
about the vehicle's speed.
• The device is customizable and can be modified to meet the specific
requirements of different types of vehicles.
• The Arduino based Vehicle Speed Limit Controller is easy to install,
affordable, and accessible to a wide range of vehicle owners and fleet
managers.
• The project combines the power of Arduino boards, sensors, and GPS
modules to create an innovative device that can help prevent accidents
caused by speeding.

pg. 10
iv. WORKING FUNCTION OF THE SYSTEM

The Arduino based Vehicle Speed Limit Controller works by communicating

with the vehicle's Engine Control Unit (ECU) to limit the speed of the vehicle
automatically. The system uses sensors to monitor the vehicle's speed and adjust
the speed limit based on the road's speed limit.

The system consists of several components, including an Arduino board, a GPS

module, and sensors. The Arduino board is the brain of the system and controls
the speed limit based on the driver's behavior and the road's speed limit. The RF
module provides real-time information about the vehicle's location and speed,
which is crucial for fleet managers who want to monitor their vehicles and
ensure they are driven safely and responsibly.

The sensors in the system are used to monitor the vehicle's speed and send
signals to the Arduino board, which then communicates with the ECU to limit
the speed of the vehicle. The sensors are installed in the road side hub, and they
measure the vehicle's speed by crossing the speed limit.

When the vehicle exceeds the speed limit, the Roadside hub sends a signal to the
Control room and it will sends Radio Frequency RF to Arduino board which is
connected to the vehicle ECU to limit the engine's speed, thereby reducing the
vehicle's speed. The system can also be customized to limit the speed of the
vehicle based on the driver's behavior, such as sudden acceleration or braking.

pg. 11
The system is designed to be easy to install and can be customized to meet the
specific requirements of different types of vehicles. The device is also affordable
and can be used by a wide range of vehicle owners and fleet managers.

In summary, the Arduino based Vehicle Speed Limit Controller works by using
sensors to monitor the vehicle's speed and communicating with the ECU to limit
the speed of the vehicle. The system is easy to install and can be customized to
meet the specific requirements of different types of vehicles. The device is an
innovative solution to reduce the number of accidents caused by speeding and
create a safer environment for everyone on the road.

pg. 12
 Road Side Speed Tracker

pg. 13
 Speed Controller on vehicle

pg. 14
v. WHO ARE THE TARGET AUDIENCE?

The target audience for the Arduino based Vehicle Speed Limit Controller is
wide and varied, as it has the potential to benefit different groups of people.

Firstly, fleet managers and companies that operate a fleet of vehicles can benefit
from this technology. These organizations are responsible for ensuring the safety
of their drivers and passengers, and the installation of this device can help them
achieve this goal. With the speed of vehicles controlled, they can prevent
accidents and reduce insurance costs.

Secondly, individual vehicle owners who want to ensure the safety of their
family members can also benefit from this technology. Parents who want to
monitor the speed of their teenage drivers can install this device in their cars. The
device will help them keep an eye on the driving behavior of their children and
ensure they are driving responsibly.

Lastly, the government and law enforcement agencies can also benefit from this
technology. With the installation of this device in public transportation, they can
regulate the speed of vehicles and enforce speed limits. It can help reduce the
number of road accidents caused by speeding and make the roads safer for
everyone.

pg. 15
In summary, the Arduino based Vehicle Speed Limit Controller has a wide target
audience, including fleet managers, individual vehicle owners, and government
and law enforcement agencies. The device has the potential to benefit different
groups of people and improve road safety by preventing accidents caused by
speeding.

pg. 16
vi. HARDWARE REQUIRED

i. 1.RF -Wireless encoder and decoder

ii. Arduino UNO
iii. Motor
iv. Touch sensor
v. Wires
vi. Breadboard
vii. L298 motor driver
viii. LCD Display

vii. SOFTWARE REQUIRED

• Arduino UNO IDE

pg. 17
 3. WORKING OF PROJECT

The Arduino based Vehicle Speed Limit Controller works by monitoring the

speed of the vehicle and limiting it to a pre-set speed limit. The device is

installed in the vehicle and connected to the engine control unit (ECU) and the

vehicle's speed sensors. The Arduino board receives information about the

vehicle's speed and compares it with the pre-set speed limit. If the vehicle's speed

exceeds the speed limit, the Arduino board sends a signal to the ECU, which

adjusts the speed of the vehicle to the limit set by the device.

The sensors in the system are used to monitor the vehicle's speed and send

signals to the Arduino board, which then communicates with the ECU to limit

the speed of the vehicle. The sensors are installed in the road side hub, and they

measure the vehicle's speed by crossing the speed limit.

When the vehicle exceeds the speed limit, the Roadside hub sends a signal to the

Control room and it will sends Radio Frequency RF to Arduino board which is

connected to the vehicle ECU to limit the engine's speed, thereby reducing the

pg. 18
vehicle's speed. The system can also be customized to limit the speed of the

vehicle based on the driver's behavior, such as sudden acceleration or braking.

The Arduino based Vehicle Speed Limit Controller is designed to be easy to

install and use. It is a customizable solution that can be adapted to different types

of vehicles and speed limits. The device is an innovative and practical solution to

help prevent accidents caused by speeding and improve road safety.

pg. 19
 ❖ Components used

Arduino Uno

Arduino Uno is a microcontroller board based on the ATmega328P

microcontroller. It is an open-source hardware and software platform, designed
to make it easy for hobbyists, students, and professionals to create projects using
electronics and programming.

The board has a USB connection, which is used to upload code to the
microcontroller and to communicate with the computer. It also has a power jack,

which can be used to power the board from an external power source, and a reset
button, which can be used to reset the microcontroller.

The Arduino Uno is compatible with a wide range of sensors, modules, and other
electronic components, making it a versatile platform for creating all kinds of
projects. It also has a large community of users who share knowledge and
resources, making it easier to learn and get help with the platform.
Here are some key features of the Arduino Uno:

Microcontroller: ATmega328P
Operating Voltage: 5V
pg. 20
Input Voltage (recommended): 7-12V
Digital I/O Pins: 14 (of which 6 provide PWM output)
Analog Input Pins: 6
DC Current per I/O Pin: 20 mA
DC Current for 3.3V Pin: 50 mA
Flash Memory: 32 KB (ATmega328P) of which 0.5 KB used by bootloader
SRAM: 2 KB (ATmega328P)
EEPROM: 1 KB (ATmega328P)

pg. 21
Breadboard

A breadboard is a device used to create temporary electronic circuits. It is

commonly used by hobbyists, students, and professionals to prototype and test
circuits before they are soldered onto a printed circuit board (PCB).

A typical breadboard consists of a plastic board with rows of holes in it, which
are used to connect the various components of a circuit. The holes are arranged
in a grid pattern, with each row of holes connected by a conductive metal strip.
The strips are usually organized into two halves, with each half being powered
separately by a pair of rails on the edges of the board.

The holes in the breadboard are used to hold components such as resistors,
capacitors, diodes, transistors, and integrated circuits (ICs). The components are
inserted into the holes, with their leads bent to contact the metal strips. The strips
provide a pathway for current to flow between the components, allowing them to
function as part of a circuit.

Breadboards come in a variety of sizes, from small ones that can fit in a pocket
to larger ones that can accommodate complex circuits. They are often used in
conjunction with jumper wires, which are used to connect components that are
not directly adjacent on the breadboard.

pg. 22
Breadboards are an essential tool for anyone interested in electronics, as they
allow circuits to be quickly and easily assembled and tested without the need for
specialized equipment or soldering skills.

pg. 23
Touch Sensor

A touch sensor is an electronic device that detects the presence or location of

touch. Touch sensors are used in a wide range of applications, from touchscreens
on smartphones and tablets to touch-sensitive controls on appliances and
electronic devices.

There are several types of touch sensors, including resistive, capacitive, and
surface acoustic wave (SAW) sensors. Each type of sensor operates differently
and has its own advantages and disadvantages.

Resistive touch sensors consist of two layers of conductive material separated by

a thin gap. When pressure is applied to the top layer, it touches the bottom layer,
causing the two layers to make contact and complete a circuit. Resistive touch
sensors are relatively inexpensive and can be used with a finger or stylus.

Capacitive touch sensors work by measuring changes in capacitance when a

conductive object (such as a finger) comes into close proximity to the sensor.
Capacitive touch sensors are commonly used in touchscreens on smartphones
and tablets, and can provide multi-touch functionality.

pg. 24
SAW touch sensors use ultrasonic waves to detect touch. When a finger or other
object touches the surface of the sensor, it absorbs some of the ultrasonic energy,
causing a change in the signal that is detected by the sensor. SAW touch sensors
are highly sensitive and can detect even very light touches.

In addition to touchscreens and touch controls, touch sensors are also used in
security systems, where they can detect the presence of an intruder by sensing
pressure or motion. Touch sensors are also used in robotics, where they can be
used to detect contact with objects or to provide feedback to the user.

Overall, touch sensors are a versatile and widely used technology that can be
found in a wide range of electronic devices and applications.

pg. 25
RF Wireless Encoder and Decoder

RF (radio frequency) wireless encoder and decoder are electronic devices used
for transmitting and receiving data wirelessly using radio waves. They are
commonly used in remote control systems, security systems, and other
applications that require wireless communication.

The RF wireless encoder is a device that encodes data from a source into a radio
signal, which is then transmitted wirelessly using an antenna. The encoder
typically operates at a specific frequency, such as 315MHz or 433MHz, and can
be programmed to transmit a specific code or data packet. The encoder may also
include additional features such as encryption and error correction to improve
reliability and security.

The RF wireless decoder is a device that receives and decodes the radio signal
transmitted by the encoder. The decoder typically operates at the same frequency
as the encoder and is programmed to recognize the specific code or data packet
transmitted by the encoder. Once the signal is received, the decoder decodes the
data and sends it to the appropriate device, such as a microcontroller or
computer.

Together, the RF wireless encoder and decoder form a wireless communication

system that can transmit data reliably over long distances. They are commonly
used in remote control systems for home appliances and vehicles, security

pg. 26
systems for homes and businesses, and other applications that require wireless
communication.

Some of the key features of RF wireless encoder and decoder systems include:

Long-range transmission capabilities, typically up to several hundred meters.

High reliability and resistance to interference from other electronic devices and
radio signals.
Low power consumption, making them ideal for battery-powered applications.
Low cost and ease of use, making them a popular choice for hobbyists and DIY
electronics enthusiasts.
Overall, RF wireless encoder and decoder systems are an important technology
for wireless communication and are used in a wide range of applications.

pg. 27
pg. 28
L298n Motor Driver

The L298N motor driver is an integrated circuit (IC) that is commonly used to
drive small to medium-sized DC motors. It is a dual H-bridge driver, which
means that it can control the direction and speed of two DC motors
independently.

The L298N motor driver has a number of features that make it popular among
hobbyists and DIY electronics enthusiasts. These include:

Dual H-bridge design: The L298N has two H-bridges, which allows it to control
two DC motors independently. Each H-bridge can drive a motor with up to 2A of
current.

Built-in protection features: The L298N includes a number of built-in protection

features, such as thermal shutdown, overcurrent protection, and under-voltage
lockout.

Versatile control options: The L298N can be controlled using a variety of input
signals, including digital logic signals, PWM signals, and analog signals. It can
also be controlled using a microcontroller or other digital control system.

pg. 29
Low power consumption: The L298N has a low quiescent current, which means
that it consumes very little power when idle.

Easy to use: The L298N is easy to use and can be quickly integrated into a wide
range of electronic projects.

The L298N motor driver is commonly used in robotics, automation, and other
projects that require precise control of DC motors. It is often used in conjunction
with a microcontroller, such as an Arduino or Raspberry Pi, to provide advanced
control options and feedback.

Overall, the L298N motor driver is a versatile and reliable component that is
widely used in the hobbyist and DIY electronics communities.

pg. 30
I2C Module With LCD

The L2C module with LCD is an electronic module that combines a low-power
I2C (Inter-Integrated Circuit) interface with a small LCD (Liquid Crystal
Display) screen. The module is designed to provide a simple and convenient way
to display data in embedded systems and other electronic projects.

The I2C interface is a serial communication protocol that allows multiple devices
to communicate with each other using only two wires. It is a popular interface
for embedded systems and is used in a wide range of applications, including
sensors, displays, and other peripherals. The L2C module with LCD uses the I2C
interface to communicate with a microcontroller or other device, allowing it to
display data in real-time.

The LCD screen on the L2C module is typically a small monochrome display
with a resolution of 128x64 or 128x32 pixels. It can display text, graphics, and
other information, and is often used to provide feedback or status information in
embedded systems. The LCD screen is controlled using the I2C interface, and
the module typically includes a small driver chip that handles the low-level
details of driving the display.

The L2C module with LCD is commonly used in a wide range of embedded
systems and other electronic projects. Some examples include:

pg. 31
Data loggers and other measurement systems that need to display real-time data
on a small screen.

Robotics projects that require a simple way to display feedback or status

information.

Control systems and automation projects that need to display status information
or user interfaces.

Wearable electronics and other portable devices that require a small, low-power
display.

Overall, the L2C module with LCD is a versatile and useful component for any
electronics project that requires a simple, low-power display. Its small size and
easy-to-use I2C interface make it a popular choice among hobbyists and DIY
electronics enthusiasts.

pg. 32
pg. 33
pg. 34
Code-

#include <LiquidCrystal.h>
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x3F,16,2);
const int MOTOR = 9;
const int BUTTON1 = A0;
const int BUTTON2 = A1;
const int BUTTON3 = 2;
const int BUTTON4 = 3;
const int BUTTON5 = 4;
const int BUTTON6 = 5;
#define in1 10
#define in2 11
int button1, button2,button3, button4,
button5, button6;
int speed_value, speed_value_lcd;
void setup()
{
Serial.begin(9600);
pinMode(BUTTON1, INPUT);
pinMode(BUTTON2, INPUT);
pinMode(BUTTON3, INPUT);
pinMode(BUTTON4, INPUT);

pg. 35
 pinMode(BUTTON5, INPUT);
pinMode(BUTTON6, INPUT);
pinMode(MOTOR, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
lcd.init();
lcd.backlight();
lcd.begin(16,2);
lcd.clear();
lcd.setCursor(0,0);
lcd.print(" VECHILE SPEED ");
lcd.setCursor(0,1);
lcd.print(" CONTROLLER ");
delay(5000); // Waiting for a while
lcd.clear();
}
void loop()
{
speed_value_lcd = map(speed_value, 0, 240, 0, 100);
button1 = digitalRead(BUTTON1);
button2 = digitalRead(BUTTON2);
button3 = digitalRead(BUTTON3);
button4 = digitalRead(BUTTON4);
button5 = digitalRead(BUTTON5);
button6 = digitalRead(BUTTON6);

pg. 36
 digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
if(button1 == HIGH)
{
if(speed_value > 235)
{
speed_value = speed_value;
}
else
{
speed_value += 5;
delay(300);
}
}
if(button2 == HIGH)
{
if(speed_value < 10)
{
speed_value = speed_value;
}
else
{
speed_value -= 5;
delay(300);
}

pg. 37
 }
if(button3 == HIGH)
{
speed_value = 60;
}
else if(button4 == HIGH)
{
speed_value = 120;
}
else if(button4 == HIGH)
{
speed_value = 120;
}
else if(button5 == HIGH)
{
speed_value = 180;
}
else if(button6 == HIGH)
{
speed_value = 240;
}
else
{
speed_value = speed_value;
}

pg. 38
 Serial.println(speed_value);
analogWrite(MOTOR, speed_value);
lcd.setCursor(0,0);
lcd.print("SPEED OF VEHICLE ");
lcd.setCursor(6,1);
lcd.print(speed_value_lcd);
lcd.print("% ");
}

• I2C module connection with Arduino Uno

VCC-5 volt
GND-Gnd
SDA-sda
SCL-scl
L298 Motor driver connection with
Arduino uno Gnd-gnd
5volt-Vin
Ena-D9
In1-D10
In2-D11
Receiver connection
with Arduino uno Gnd-gnd
D0-D2

pg. 39
 D1-D3
D2-D4
D3-D5
Touch sensor connection with
Arduino uno Gnd-gnd
VCC- 5volt
Signal-A0

pg. 40
 4. REFERENCES

Designing and Learning Arduino

https://forum.arduino.cc/t/car-speed-limiter/622629

https://ieeexplore.ieee.org/document/9633790

https://www.irjmets.com/uploadedfiles/paper/issue_6_june_2022/27415/final/fin
_irjmets1656865202.pdf

https://iopscience.iop.org/article/10.1088/1742-6596/2312/1/012006/pdf

pg. 41