The Salem Community by Miller Essay Example For Students

The Salem Community by Miller Essay This inquiry could demonstrate that Elizabeth is distrustful, and dubious of her better half. The intense cumbersomeness Miller has made between the couple may make the crowd on edge as we wonder if their marriage can endure such strains. At the point when John enters the scene conveying a firearm which may speak to his readiness to ensure and do the best for his family, in his endeavor to make up for himself for his issue with Abigail. Despite the fact that the crowd have not found out about Johns illicit relationship there is presently positive proof that something has upset the marriage as there is an enthusiasm to satisfy one another. At the point when Miller shows John flavoring the food this might be viewed as a representative activity; similarly as something is absent from the food to make it taste right, so there is something missing from his relationship. He takes a spot of salt and drops it into the pot; his equal activities of including considerate discussions might be Milers method of indicating John attempting to improve his marriage. Mill operator depicts Elizabeth as a character who battles to take an interest in discussion with her better half, which uncovers their passionate separation. He presents the couple as though they are nearly outsiders, uncertain of how to respond around each other. Mill operator uncovers Elizabeth to be reddening and watching him which recommends her anxiety and failure to totally confide in her better half. So also Proctor addresses her as tenderly as possible so as not to additionally estrange his significant other. John endeavors to demonstrate his love to Elizabeth by kissing her, yet she gets it with a specific disillusionment. This mirrors her failure in John. The obvious physical separation along these lines appears there is no glow in their relationship. We will compose a custom article on The Salem Community by Miller explicitly for you for just $16.38 $13.9/page Request now Once more, this is demonstrated when Miller alludes to sentiment: Lilacs are the smell of sunset He doesn't do it with enough conviction for the crowd to pay attention to it. Mill operators articulated reiteration of she watches him strengthens Elizabeths frailties over her significant other; she is dubious and thinks that its hard to confide in him. This makes the feeling that Elizabeth is the compliant character while John is the more predominant one. The Proctors relationship has endured much because of Abigail Williams. Mill operator has said that it was Abigails job in the occasions that stirred his enthusiasm for the entire story. An exotic immature, she has been complimented by Proctors considerations and annoyed by their suspension; Abigail: (getting a handle on his hand before he can discharge it) John I am waitin for you consistently. Delegate: Abby, I never give you plan to sit tight for me. Her threatening vibe towards Elizabeth is a solid thought process in the difficulty she causes, however in no way, shape or form is the one and only one. To Elizabeth, Abigail is a steady token of Johns infidelity. As the crowd we feel more compassion towards Elizabeth as we witness her own battle when managing when the undertaking among John and Abigail. By having Abigail at the focal point of the allegations, Miller is making all the more languishing over Elizabeth as Abigail is the focal point of consideration. Elizabeths confidence endures in light of the fact that she continually underscores her own weaknesses. When Abigails name is referenced pressure between the couple raises and Miller uncovers a job inversion whereby Elizabeth gets incensed with her better half, John you are not open with me. You saw her with a group, you said. Elizabeth deciphers what John says as he has been separated from everyone else with Abigail penetrating her trust. She seems, by all accounts, to be resolved and frank, expressing her genuine thoughts, while John appears to be the second rate character; he realizes he has little resistance against the issue, Spare me! You overlook nothin and pardon nothin Millers utilization of a long discourse now in the play permits John to attempt to legitimize himself, in any case, his blame is unmistakably clear. Johns outrage is rising since he realizes he is to blame and the vicious suggestion strengthens this thought as he fights with his soul and Elizabeth.

Cardiff Bay Redevelopment Free Essays

Cardiff Bay Development Research Cardiff Bay is Europe’s biggest waterfront advancement. Cardiff Docks as it was then called was the world’s biggest coal sending out port. It is likewise Europe’s biggest waterfront improvement and it has an abundance of relaxation exercises accessible both on and off the water. We will compose a custom exposition test on Cardiff Bay Redevelopment or then again any comparative subject just for you Request Now Cardiff narrows has been transformed into a huge freshwater lake with the presentation of a torrent. Various vessel visits work from Mermaid Quay, which permit you to increase a comprehension of the history and fauna of this energizing region. Another water taxi administration is accessible which works during the time from the Bay to the downtown area and Penarth. Cardiff Bay is home to various attractions, for example, Techniquest Science Discovery Center †perfect for all the family, Craft in the Bay, The Welsh Assembly at the Pierhead, Butetown History and Arts Center, Goleulong 2000 Lightship, the Norwegian Church Arts Center and the fresh out of the box new Wales Millennium Center, a shocking and global expressions community. The Atlantic Wharf Leisure Village gives further alternatives to family amusement. The harbor at Cardiff Bay encounters one of the world’s most prominent flowing reaches up to 14m. This has implied that at low tide, it has been blocked off for as long as 14 hours per day. The new torrent will take out the impact of the tide, which has gone about as an inhibitor to advancement, discharging the capability of the capital city’s most prominent resource †its waterfront. The development of the flood is one of the biggest designing undertakings in Europe. Finished in 1999, it has made a 500 section of land freshwater lake with 8 miles of waterfront and it is trusted it will animate the future improvement of the Bay as a vacationer and relaxation goal. The Cardiff Bay Development Corporation was set up in April 1987 to recover the 1,100 hectares of old neglected docklands of Cardiff and Penarth. It was a piece of the British Governments Urban Development Program to recover especially denied and run-down regions of British downtowns. The statement of purpose for the recovery venture, set by the then Welsh Secretary of State, Nicholas Edwards was: †To put Cardiff on the International guide as a standout oceanic city which will stand examination with any such city on the planet, along these lines upgrading the picture and financial prosperity of Cardiff and Wales all in all The five principle points and goals distinguished for the recovery venture were: †To advance turn of events and give a great situation wherein individuals will need to live, work and play. To re-join the City of Cardiff with its waterfront. The most effective method to refer to Cardiff Bay Redevelopment, Essay models

Romanticism in The Lamb and London Essay Example | Topics and Well Written Essays - 1250 words

Sentimentalism in The Lamb and London - Essay Example The sonnet ' The Lamb' is easy to see yet shows artist's tremendous confidence and comprehension of the nature and the god-like. The sonnet is the discourse between the artist and the sheep. In the initial hardly any verses the artists asks sheep, Does thou realize who made thee. He needs to make it known to him that he isn't made by any person nor himself makes him, rather he is the piece of the nature. At that point he tells that he is made by the being that is additionally called by a similar name as The Lamb. Similarly he explains further that different things, which he get, similar to the feed, delicate woolen dress and the delicate voice, are likewise totally given by a similar individual, who ordinarily is accommodating and mellow. This being is likewise the youngster. At that point the artist says he himself is likewise a kid and he is additionally made by made by him as he says, We are completely called by his name. The artist feels that the sheep, his assets and every other person are the piece of the nature and made by the omnipotent. He additionally says that we are a piece of all-powerful, in that sense the nature and the all-powerful are very much the same thing. London is a totally different kind of sonnet. It reflects two things: one the overall air in London around then and 2) the artists state of mind and demeanor towards the life during that period of life. It's a dismal sonnet. He starts by saying that the lanes as well as the waterway in London is sanctioned (not allowed to the standard individuals). He says whomever he runs over shows the signs of shortcoming and misfortunes. Also, every man, newborn child is enduring; there is a voice of the cry, distress in the entire climate. At that point by giving the case of stack sweepers he says the congregation has neglected to support the destitute. At that point the artist brings the burdens of the troopers who have no choice yet battle for the nation and penance them. At that point there is abrupt turn when writer draws out the way that young's misstep brings forth ill-conceived youngster who are surrendered by the general public. The Lamb: Let us think about the different statements: 1) Does thou realize who made thee: There is general inclination in the general public that I' am the maker of everything. People not just have the sentiment of being maker of materialistic things yet in addition of the normal things like the plants, the creatures and even the individuals. This is the thing that the writer needs to make the sheep mindful of, with regards to who has made him and in a roundabout way he likewise needs the people to know who really their genuine maker is. The sheep here is blameless creature that is uninformed of the common realities. Thus the people are likewise considered by the artist to be honest animals who are unconscious of similar realities. Presently similarly as the great instructor would show his understudy with full love and sympathy likewise by giving the similitude of the sheep the artist needs to show the people, concerning who is their maker, maker of the world. All the battles that happen are because of the personalities and the false impressions of me and mine. He realizes that when the people will know who the genuine maker i s their inner selves will break down and love among them will win. That is the reason the writer asks the sheep who made thee in order to make mindful the sheep and in a roundabout way individuals to realize who really is the genuine maker. 2) Gave thee such delicate voice: The little sheep has a delicate voice. Presently this honest sheep may build up the inclination that it is his own or he may feel that he himself has made it and should utilize it just for the individual purposes. The artist needs to again make him mindful that

Design of a Low Voltage CMOS Transconductance Amplifier

Plan of a Low Voltage CMOS Transconductance Amplifier This undertaking expects to show the plan and reproduction of a Low Voltage Complementary Metal Oxide Semi Conductor (CMOS) Transconductance Amplifier (OTA) with an improved force utilization, Direct Current (DC) addition and transmission capacity. Two procedures were presented for linearization: Pseudo Differential Pairs and Source degeneration under nano-scale innovation. The nonlinearity, which is brought about by the short length impact because of the little size of transistor can be decreased utilizing linearization methods, Two strategies were presented for linearization: Pseudo Differential Pairs and Source degeneration, were both go under nano-scale CMOS innovation. The proposed OTA requires a legitimate control framework, where the regular mode control framework has been intended for framework steadiness . The consequences of this usage are: power utilization of (x), DC increase of (x) , a size of (x) Ââ µ, number of transistors (x) . All the work was reproduced utilizing the Advances Design System ( ADS ) , under 130nm CMOS Technology. 1.1 Motivation The immense pace in innovation and the developing interest of electronic gadgets makes the Integrated Circuit ( IC ) architects mull over low force and low voltage with the exchange of the Threshold Voltage ( VT ) which doesnt downsize when contrasted with the force flexibly. Consistently, structuring simple incorporated circuits has been testing, where the force flexibly is being decreased because of the interest of innovation which requires to downsize the absolute force. The Operational Transconductance Ampli㠯⠬⠁er (OTA) is perceived to be one of the most significant essential structure hinders in simple ,blended mode circuits, channels, including multipliers, voltage control oscillators, and Very Large Scale Integrations ( VLSI ) applications, where the VLSI innovation is the way toward making ICs by joining a few transistors into a solitary chip. In such applications the OTA is the key circuit to such plan, OTA at the contribution of the square decides the effectiveness of the general framework, henceforth improving the exhibition of the OTA square is basic for upgrading the general module execution. Operational Transconductance Amplifier An OTA principle reason for existing is to change over its information voltage to the ideal yield current; for example at the end of the day an OTA is a voltage controlled current source, where Gm is the Transconductance with a unit (Ampere/Volt). All things considered, circuits, sounds are presented, and nonlinearity ought to be contemplated which brought about by the short channel impact of the transistors, the declaration of the yield current with Taylor arrangement development can be as follow : where ai is controlled by the usage of the circuit. So as to accomplish a legitimate OTA with the details referenced, direct change factor ought to be actualized in the plan to decrease sounds, linearization strategies have been created during that time to take care of the issue. 1.2 Objectives The fundamental objective is to structure a low voltage Transconductance CMOS speaker which changes over its information voltage to the ideal yield current with high linearity, which can be accomplished by linearization strategies, Pseudo Differential Pair and Source degeneration procedures. 1.3 Realistic Constraints The recorded beneath are the principle limitations that ought to be thought about for the structure : 1.3.1. Financial Constraints: The understudy will utilize the accessible reenactment devices, for example, : Advanced Design System for reproduction plan, and Synopsys for format . Concerning the plan, the primary objective is to lessen symphonious bending, accomplish high linearity, and to have the option to change the info voltage to the necessary yield current with least size. Since the size of the transistors decide the size of IC , and the size contributes in the expense of the IC. The structured IC is being produced in manufacture research centers. During the manufacture procedure, a great many ICs are being scratched onto a solitary clear wafer. After the testing procedure ,just rates of the ICs are viewed as useable, and being circulated among electronic stores. 1.3.2. Manufacturability and Sustainability Constraints: The planned circuit will be worked across procedure and temperature corners for improved yield. 1.3.3. Moral and Safety Constraints: Documentation ought not have over 30% closeness on Turnitin. 1.3.4. Normalization All innovations utilized in this task are 130 nm CMOS innovation. 1.4 Design Requirements The plan will meet the accompanying prerequisites: The plan utilizes CMOS based innovation. The all out force utilization will be under 15mW. The flexibly voltage will be under 1 volt. Transmission capacity ought to be bigger than 50MHz DC addition ought to be bigger than 20dB 1.5 Design Achieved The objective of this task was accomplished by structuring a low voltage CMOS transconductance speaker utilizing linearization methods with high linearity, low force utilization of (x), DC addition of (x) , an expense of (x). 1.6 Task Distribution Work was done as a group; yet some work was disseminated to guarantee each part has their own undertaking. This is appeared in the table underneath: Stage Subtleties Marwa Marah Rateb All Research Understanding papers Defining objectives Plan of Pseudo Differential Pair Plan Construct Plan of Source Degeneration Plan Construct Structure the Common Mode Structure Fabricate Associating The hardware ( proposed OTA ) Structure Fabricate Design Structure Fabricate Documentation Ch.1 Ch.2 Ch.3 Ch.4 Ch.5 Table 1.1: division of work 1.7 Organization The remainder of the documentation shows the structure attributes where it goes as follows; Second section talks about the foundation and writing audit of various methodologies identified with a similar plan. Third section reveals in detail the general plan, including the clarification of every linearization methods, just as supporting the locale of every transistor. Forward part shows the consequences of the plan. To end with, section Five finish up the structure, alongside the future work which can be actualized to improve the plan. 2.1 Transconductance Amplifier Topologies This task expects to structure an Amplifier which ready to change over its info voltage to the ideal yield current, with Pseudo Differential Pair and Source Degeneration as linearization strategies Differs structures had been created through the previous years to fabricate the fundamental OTA square Table 2.1 :correlation between three unique papers Plan Plan Requirements Alluding to section 1, the plan will meet the accompanying prerequisites: The structure utilizes CMOS based innovation. The complete force utilization will be under 15mW. The gracefully voltage will be under 1 volt. Data transfer capacity ought to be bigger than 50MHz DC increase ought to be bigger than 20dB Examination of Requirements and Constraints So as to achieve the plan particulars referenced in segment 3.1, the prerequisites and limitations are explained beneath Examination of Design Requirements CMOS based innovation CMOS circuits parts are turning into the most wanted to be actualized in these days innovation, because of its low force utilization. Besides, its fast when contrasted with other utilized innovation. Force Consumption Gracefully Voltage Data transfer capacity DC gain Examination of Design Constraints Financial Constraints Manufacturability and Sustainability Constraints The plan should meet the best possible working temperature and ecological corners. The circuit topologies have been actualized utilizing a propelled reproduction that can anticipate the conduct of the circuit under such conditions. For example, a powerful hardware will expand its temperature, in this manner the debasement of the exhibition in time, however in the event that the circuit outperform in incomparable corner, it is required to have a more drawn out life time. Moral and Safety Constraints Documentation shouldnt surpass 30% closeness, reference ought to be considered alongside expressing appropriate referencing Configuration Approaches As per the refered to papers in section 2 there are four unique models for the converter plan. These models cannot be utilized to accomplish the prerequisites of this undertaking. The created plan talked about in the following area has the chance to accomplish the prerequisites

Consumerism and Materialism in America Essay -- possesive, arrogant, s

The economy is an extremely delicate thing; anyway it can enormously affect individuals. Americans particularly are influenced in light of the fact that they are so insatiable, they generally need more. Since Americans are materialistic, they can turn out to be excessively pompous and possessive since they are accustomed to getting their way, because of having cash. A few people are perpetually discontent with what they have; they are consistently watching out for more cash and more belongings. Man requires nourishment, safe house, garments and fuel everything else is pointless. Extravagances lead to things like realism and avarice. Individuals need to understand that everybody is the equivalent within. Our predecessors didn’t have innovation or a huge amount of cash and they some way or another endure. â€Å"For the improvement of ages have had yet little impact on the fundamental laws of man’s presence; as our skeletons, presumably, are not to be recognized from those of our ancestors†. (Thoreau) Thoreau realized what the vast majority today don’t, that we are no different regardless of how much cash we have. Voracity can prompt negative attributes, for example, intemperance and inefficiency. Our time on Earth is extremely restricted; we don't have the opportunity to squander on realism and voracity. We should conce ntrate on developing ourselves and our nation. In Thoreau’s Economy, he thinks about ravenous people to being cooked in light of the fact that they are warmed by their pointless materials. â€Å"The sumptuously rich are not just kept serenely warm, yet unnaturally hot; as I inferred previously, they are cooked, obviously à la mode.† (Thoreau). Individuals are continually endeavoring to have more than what they have. â€Å"...the need to ‘keep up’ have for quite some time been a piece of American culture.† (Schor) The need to have the freshest and most recent devices is solid in Americans. Produc... ...position. Bedford/St. Martin's, 1991. 421-430. Gailbraith, John Kenneth. The Dependence Effect. Renee H. Shea, Lawrence Scanlon, Robin Dissin Aufses. The Language of Composition. Bedford/St.Martin's, 1958. 478-481. Rose, Phyllis. Shopping and Other Spiritual Adventures in America Today. Renee H. Shea, Lawrence Scanlon, Robin Dissin Aufses. The Language of Composition. Bedford/St. Martin's, 1984. 482-484. Schor, Juliet. The New Consumerism. Renee H. Shea, Lawrence Scanlon, Robin Dissin Aufses. The Language of Compositon. Bedford/St. Martin's, 1999. 487-489. Smith, Joan. Shop-Happy. Renee H. Shea, Lawrence Scanlon, Robin Dissin Aufses. The Language of Composition. Bedford/St. Martin's, 2000. 490-494. Thoreau, Henry David. Economy. Renee H. Shea, Lawrence Scanlon, Robin Dissin Aufses. The Language of Composition. Bedford/St. Martin's, 1854. 474-477.

Robot Design - Free Essay Example

ROBOT DESIGN Section 1 Requirements 1.1 Introduction Robot is a kind of automatic machine, which has particularly a series of similar competences as human-being, such as sensing capability, planning capability, moving capability and so on. The word Robot was referred by Czech writer Karel apek in his play R.U.R (Rossums Universal Robots), which was published in 1920. [1] Moreover, the word robotics, which describes this kind of field of study, was referred accidentally by the science fiction writer Isaac Asimov. In his science fiction, all the robots must obey the Three Laws of Robotics (a set of three principles). The laws are stated as follows: 1. A robot may not injure a human being or, through inaction, allow a human being to come to harm. 2. A robot must obey any orders given to it by human beings, except where such orders would conflict with the First Law. 3. A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. With the developing of science and technology of modern society, robot is moving toward the trend of the development of intelligent. The one we will design is called Autonomous Mobile Robot which is a kind of mobile robot. It has varieties of sensors and controllers on itself. In addition, it is a robot that can independently complete some tasks without external information input and control during operations. The target for autonomous mobile robot is to, in the absence of external intervention and without making any provisions on the circumstance and changing conditions in carrying out the process, sense around the local circumstance information continuously and make a variety of decision-making independently and finally move purposeful and the complete the tasks. Accordingly, navigation technology is the core of autonomous mobile robot. 1.2 Lifecycles The diagram of lifecycles for this project is given below. It shows from the beginning of the project to the end. The system project management is an extremely vital part in every project, though it is always ignored in many teams. We need make a point of doing project management before do everything. We could discuss in a group to think out all of the possibilities which may happen in the project. Many torpedoes are better than a single bullet. [7] Therefore, a group discuss together may motivate more and more inspiration rather than each single thinks it alone. A typical system feature should have simple function but complex design. It need also make a series of requirements after discussing by group, because it provides some different point of views. Possibly, there will be some quarrels during the discussion, hence, we need to respect to everyone and every point of view. In addition, a straight discipline will be built throughout the project. Every engineer should behave in honest and ethically responsibility. Otherwise, they will not be treated as a professional engineer in their field. Nea rly half of team, who is failed in the project, is due to a bad project management. However, the majority of teams may give incomplete requirements in the project; therefore, the result for them is also fail. To sum up, building a high-quality project management and system engineering will decrease project failure probability. 1.3 Quality Plan The quality plan displays the required product qualities and how these are measured and defines the most important quality attributes. The product quality is defined in High-level which emphasize the capabilities of developers for this project. Therefore, we have to consider if the project objectives are specific, measurable, achievable, realistic and time-limited. The quality plan structure is showed in table 2. Process Description Build all of the motors, microcontrollers, sensors and other components on the housing. Then connect all components to the power supply. In addition, build the software code into microcontrollers. Finally, before the formal race, we need to test the robot and improve on the ability such as speed, stable and so on. Quality Goals To drive as fast as possible and also ensure the egg will not get out of the car. Table 2. Quality Plan Structure 1.4 Requirements specification There are a series of requirements going to be given in the paper. It can be grouped in terms of Mandatory, Preference and Operational. Three specific tables of these requirements are given as follows: Mandatory Requirements Motor To make the wheels rotate. Designer need two motor corresponding with two rear wheels. Sensor To provide the robot drive on the right route. It uses A/D conversion to send the signal into singlechip. DC Converter To step-down the voltages from the power supply. The work voltage for singlechip is around 5V, but the power supply given is much higher than it. Hence, designer needs to reduce the voltage. Wheels To make the robot running. Designer need two rear wheels which measure the speed of rotating and one base wheel which makes the robot balance. It Microcontroller To integrate all inputs, outputs and memory etc. into one chip. Housing To put all components on. It is a base for the robot car. Power Supply To provide voltage so that works successfully. Wires To connect all components from one hole to another. Spoon To carry an egg whilst undertaking its journey. Black line To give the robot a track to race. The black line is 5 meter long. It can be designed any shape of routes. Preference Requirements Aesthetic Appearance To prettify the robot from inside to outside. It will be done after dealing with all Hardware and Software components, including adding several Led lights or a sound box. Also, orderly wires connected on the breadboard will be considerate. All of the opinion above would make consumer happy. Battery To give a wireless robot car. Using a pack of battery instead of wired power supply can make a real robot. However, it will increase the weight of robot itself. Operational Requirement Personnel To distribute each part of project to each of six team member specially. In the project, there are different tasks such as programming design, hardware design, mechanical construction etc. After discussion by group, we can filter out the best parts of each section. Therefore, the project can be distributed to each team member who did the best in his field. In addition, there should be a team leader, for supervising and coordinating every part in this project. Test Equipment To test the robot after designing and assembling work. Designer can use different types of raceways to test the ability of the robot such as the maximum speed, minimum and maximum radius of turning circle etc. Facilities To fix the robot with exact tools. Designer needs some basic tools to assemble the components on the housing. Technical Data To give some specific details. Designer may search online to get some technical data, which can prove our design point. Computer Software To design the programming code. Using Microchip MPLAB(if designer use PIC microchip) or other similar software to build the programming code. Cost To control the budget. As we know, designer should give a budget before working. In this project, the budget is 40 pounds, while we can exceed the budget by paying own. However, it is not a good solution. Therefore, the budget should be controlled strictly. Section 2 Design 2.1 Design Outline We divide the design outline into two parts. One is Hardware, and the other is Software. Both of them are extremely vital in this project. We will use EE2A laboratory component to guide us design the project throughout. [8] All of the specific details for each component will be given in each part. A table for design outline is as follows: HARDWIRE Motor Housing Sensor Microcontroller Power Supply SOFTWARE MPLAB IDE 2.1.1 Hardware 2.1.1.1 Servo Control The key of Servo Control is motor. In this paper we will give two kinds of motorsServo motor and Stepper motor. Servo Motor: It is one kind of indirect subsidy motor speed changing device which can control the mechanical components of the engine running. It can control the speed, displacement accuracy. In addition, it makes voltage signal into torque and rotational speed to drive the controller. The servo motor is divided into DC servo motor and AC servo motor. Servo motor mainly relies on impulse to locate. Also, when servo motor receives a pulse, then it will rotate an angle which is corresponding to one pulse. Thus, it may achieve a displacement. Because of the servo motor has sent a pulse function itself, hence, each servo motor will sent the corresponding numbers of pulse when it rotates an angle. Moreover, it is connected to the pulse which is received by the servo motor, or called Closed-loop. Furthermore, the system will know how many pulses have been sent and how many pulses have been received simultaneously. Accordingly, we can control the motor rotation accurately, in order to achieve precise positioning which can reach 0.001mm. In DC servo motor, it is divided into brush and brushless motors. The characteristics of brush motor and brushless motor are as follows: Brush: Low cost, simple structure, large starting torque, speed range is wide, easy control. Do need to maintain (but easy maintenance). Brushless: Small size, light weight, fast response, high speed, small inertia, smooth rotation, stable torque. Complicated control, easy to implement intelligence. High efficiency, low operating temperature, small electromagnetic radiation. Motor maintenance-free. Stepper Motor: Stepper motor is an open-loop control element which translates electrical impulse signals into angular displacement or linear displacement. Under the non-overload condition, motor speed and stop location only depend on pulse frequency and pulse number, regardless of the load change. That is, to send an electrical pulse signal, then turn one motor step angle. The existence of this kind of linear relationship, coupled with only a periodic error of stepper motors without the accumulated error, makes simple to control the stepper motor in terms of speed, position and other control areas. The characteristics of stepper motor are given as follows: Stepper motors are constant power devices When there is a motor speed increasing, then the torque decreases The torque curve may be extended by using current limiting drivers and expanding the driving voltage. Stepper motor has more vibration than any other motors. The vibration becomes awful at some speeds and may affect the motor to lose torque. The effect can be reduced by increasing velocity quickly through the problem speeds range, actually damping the system, or using a half-stepping motor. Motors with many phases also display smoother operation than those with fewer phases. The technical requirements of the servo control system 1. System Accuracy The accuracy refers to the reappearance of the input signal corresponding with the output of the precision required, which performs in the form of errors. It can be summarized as dynamic error, steady-state errors and static errors, which are composed of three aspects. 2. Stability The stability of the system means that when acting on the system after the disappearance of the interference, the system can be restored to its original steady-state capacity; or when there is a new input to the system command, the system will reach a new stable operation of state capacity. 3. Response The response refers to the output follow the input commands changing in reaction speed, which determines the efficiency of the system. The Response speed corresponds with a number of factors, such as the computers speed, movement system damping and quality etc. 4. Operating Frequency The operating frequency usually refers to the system which allows the input signal frequency range. When the operating frequency signal is input, the system will work according to the technical requirements, while the other frequency signal is input, the system will not work properly. The classifying of servo control system There are three kinds of common classifying as follows: 1. According to the different characteristics of parameters. 2. According to the types of the driving components. 3. According to the control theory. The Structure of servo control system Servo control system typically includes in five partscontroller, controlled object, implementation part, testing part and comparison part. 1. Controller Controller is usually a computer or a PID control circuit. The most important task is to compare the warpage output signal and deal with the transform processing, in order to control the implemental components act under the requirements. 2. controlled object The object is controlled including displacement, velocity, acceleration, force and torque. 3. implementation part The function of the implementation part is in term of control signals, according to the requirements of the various forms energy of the input transform into mechanical energy, in order to drive the controlled object. 4. testing part Testing part is a device which is able to measure the output and convert into more areas of the dimension that needed to. Typically, it includes sensors and conversion circuits. 5. comparison part Comparison part is to compare between the input command signals and the feedback signals of system, in order to attain the deviation between the output and input signal, which is usually achieved by a specific circuit or computers. Accordingly, we design this project with using stepper motor. Considering with the difficult in doing the program code, we have to give up using DC servo motor. Moreover, DC servo motor may create some pulses when it works; we have to make each program separately. Furthermore, the advantage for using stepper motor is that we have already programmed the code. Hence, we could use it with some modification easily. 2.1.1.2 Housing In this project, housing is as to the robot, just like trunk as to human-being. The stability and adaptability is the key of the project. Therefore, we prefer buy a readymade housing or the car online. There are 3 advantages for using this method. Firstly, we do not need to deal with the mechanical construction anymore. All of the basic components have already been built on the housing model. It can save an amount of time to do other work; secondly, the housing model is reliable, for the seller has sold so many models already, particularly to the competitors for the race; thirdly, the cost is lower than we do it ourselves. It can control the budget very well. To sum up, we choose this way to get the housing. In addition, the specific size of each component should be given on the prospectus. Therefore, after choosing kinds of different type of housing, we pick up an advanced housing with wheels. The size of wheels could affect the speed and the angle when it is driving. Under the same condition, using big wheels can go fast in the straight line. However, when there is a curve at the end of straight line, it is harder to turn the right direction immediately than small size wheels, because of its big radius of turning circle. The material of wheels could also affect the speed and angle when it is driving. Using plastic rear wheel may provide a high speed because of less friction. However, without more friction, it may get trouble at turning point with high angular velocity. In our case, to make sure the robot go through the black line track is the most important task. Therefore, rubber wheels should be in favour. Hence, to make wheels rotate flexible, we choose a stainless steel base wheel with 3mm inter radius, 10mm outer radius, 4mm thickness. Moreover, two rear wheels were designed with 20mm radius to make sure it has still some space under the housing to build our sensors on. According, the manufactory constructed the housing for these details we need. Finally, we fix two O-type rubber rings on the wheels. In the front of the housing, we still need to deal with some specific works. Firstly, we need two stepper motors discussed before, the point is, how to fix them on the housing steady. Right, we need two clips to fix them on the housing. Then use one screw and one nut for each side to fix the motor steady. Secondly, to make the housing tidy, we need to add a steel plate. It can not only steady the housing, but also provide another new flat to fix chips on so that do the connection work later easier. Furthermore, we have another goal in this project. It is called egg race. It means we must build a spoon provided to carry an egg throughout the race. Hence, we have to consider how to ensure the egg will not be dropped off. Consequently, we design it that put the spoon on the cover of that added steel plate. It is a good place to lay the egg on, for it is not too high. In addition, we could add several wires around the spoon to double ensure it successfully. 2.1.1.3 Sensors Image Sensor An image sensor is a device which converts an optical image to an electric signal. It is used regularly in digital cameras and other imaging devices. Normally, an image sensor is a charge-coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) active-pixel sensor. Most digital still cameras use either a CCD image sensor or a CMOS sensor. Both types of sensor achieve the same task of capturing light and converting it into electrical signals. [2] CMOS A CMOS chip is a type of active pixel sensor which is made by using the CMOS semiconductor method. Extra circuitry adjacent to each image sensor converts the light energy to a voltage. Moreover circuitry on the chip might be included to convert the voltage to digital data. It is a sensor which has high system integration. That is to say, a CMOS chip can integrate all of functions needed by image sensor into a system-on-chip so that to achieve the goal of reducing the cost of the production. CCD A CCD is an analog device. When light hits the chip, it is held like a small electrical charge in each photoelectric sensor. The charges are converted to voltage one pixel every time when they are read from the chip. Moreover, the circuitry in the camera converts the voltage into digital data too. A CCD has a series of advantages as follows: High Resolution Low Noise High Dynamic Range Linearity High Quantum Efficiency Large Field of View Broad Spectral Response Low Image Distortion Small Size, Light Weight Low Consume Power, Without Strong Magnetic Fields Effect High Charge Transmission Photoelectric sensor A photoelectric sensor is a device used to detect the displacement, absence, or presence of an object by using an infrared transmitter and a photoelectric receiver. They are used broadly in industrial manufacturing. There are three different functional types: opposed, retro reflective, and proximity-sensing. A self-contained photoelectric sensor contains the optics, along with the electronics. It requires only a power source. The sensor performs its own modulation, demodulation, amplification, and output switching. Some self-contained sensors provide such options as built-in control timers or counters. Because of hi-tech progress, self-contained photoelectric sensors have become more and more small. In addition, fibre optic is passive mechanical sensing components. They may be used with self-contained sensors. They have no electrical circuitry and no moving parts, and can safely pipe light into and out of antagonistic environments.[3] After discussing both image sensor and photoelectric sensor, we decide to use photoelectric sensor during the project. From the comparison of advantages and disadvantages, we can easily find that image sensor (usually use CCD method) is a complicated and advanced technology. It is based on photoelectric infrared transmitter and receiver, but use analogue signal to digital signal. It could be used in some complex task such as 3-D race track. In our project, we only challenge to do up to 5 meters race track. Hence, it is not so much useful to get such an exact detection. Moreover, one of the advantages of photoelectric sensor is high response. It is faster than using image sensor to detect the unknown track. Accordingly, we prefer use photoelectric infrared sensor during the project. As we know, the point of photoelectric infrared sensor is infrared. We have to confirm two beside sensors do not disturb each other work. Hence, to get an appropriate distance between two sensors is the problem in this part. From reading several example projects before, we find a majority of them prefer put all the sensors into one straight line where elicits our attention. It does not matter to put them in front or back of the robot. It is similar to the X-axis. We can define each sensor a coordinate. We prefer use seven infrared sensors (1cm space between two sensors), so we can define all of these sensors into [-3, -2, -1, 0, 1, 2, 3], which are the y-coordinate. Connect a LED light to the receiver of each sensor. Thus, we can know which sensor is working and which one is not. The specific diagram of sensors are showed in 1. For example, the robot starts at the centre of black line, so the LEDs should send us a data with [0, 0, 1, 1, 1, 0, 0] (when sensor detects black line, the LED will light. Because the different reflectivity of black and white line). Then it will go along the track until meet a turning point. The receiver might be received a data with [0, 1, 1, 1, 0, 0, 0, 0]. Thus, from the defin ition of setting before, we can identify the robot has departed from the centre of the black line to left. Therefore, the robot should turn left. There will be some possible troubles during debugging the robot car. The sensors are not reliable after using for a long time. Therefore, the fixed LEDs will solve this problem definitely. When they work, the LEDs should be lighted. 2.1.1.4 Microcontroller A Microcontroller is a small computer based on a single IC (integrated circuit) which is consisting of a relative simple central processor unit combined with specific functions such as a crystal oscillator, timers, and watchdog timer etc. [4] From the comparison with kinds of microcontroller, we choose MC33886 chip which is a member of the low-cost, high-performance HCS08 Family of 8-bit microcontroller units (MCUs). It is a monolithic H-Bridge ideal for fractional horsepower DC-motor and bi-directional thrust solenoid control. The 33886 chip is able to control continuous inductive DC load currents up to 5.0 A. Output loads can be pulse width modulated (PWM-ed)at frequencies up to 10 kHz.[5] The 33886 chip is parametrically detailed over a temperature range of -40C TA 125C, 5.0 V V+ 28 V. The IC can also be operated up to 40 V with derating of the specifications. The IC is available in a surface mount power package with uncovered pad for heat sinking. The features of MC33886 chip is showed below: [6] Features: Similar to the MC33186DH1 with Enhanced Features 5.0 V to 40 V Continuous Operation 120 m RDS(ON) H-Bridge MOSFETs TTL /CMOS Compatible Inputs PWM Frequencies up to 10 kHz Active Current Limiting via Internal Constant OFF-Time PWM (with Temperature-Dependent Threshold Reduction) Output Short Circuit Protection Under voltage Shutdown Fault Status Reporting Pb-Free Packaging Designated by Suffix Code VW In addition, the simplified application diagram and internal block diagram for MC33886 chip is given as follows: The 33886 chip has 20 pins. The diagram and specific Pin Layout function description will be given in 4 and table 1 as follow: Pin Layout Pin Layout Name Formal Name Description 1 AGND Analog Ground Low-current analog signal ground. 2 FS Fault Status for H-Bridge Open drain active Low Fault Status output requiring a pull-up resistor to 5.0 V. 3 IN1 Logic Input Control 1 True logic input control of OUT1 4, 5, 16 V+ Positive Power Supply Positive supply connections. 6, 7 OUT1 H-Bridge Output1 Output 1 of H-Bridge. 8, 20 DNC Do Not Connect Either do not connect or connect these pins to ground in the application. They are test mode pins used in manufacturing only. 9, 10, 11, 12 PGND Power Ground Device high-current power ground. 13 D2 Disable 2 Active Low input used to simultaneously tri-state disable both H-Bridge outputs. When D2 is logic Low, both outputs are tri-stated. 14, 15 OUT2 H-Bridge Output 2 Output 2 of H-Bridge. 17 CCP Charge Pump Capacitor External reservoir capacitor connection for internal charge pump capacitor. 18 D1 Disable 1 Active High input used to simultaneously tri-state disable both H-Bridge outputs. When D1 is logic High, both outputs are tri-stated. 19 IN2 Logic Input Control 2 True logic input control of OUT2 Table 1. Pin Layout Function Definition Some details for using the MC33886 chip should be noticed that how to use several chips together in this project. The method is using a number of MC33886 chips together in parallel. For there is no need to drive backward, hence, we could use half H-bridge and also make two half H-bridge in parallel. The consequence for this method is to enhance the driving ability of the chips. It is a common variation from full H-bridge that uses two transistors on one side of the load. Moreover, use one of the half H-bridge to drive the motor and the other one to provide power for the sensors. 2.1.1.5 Power Supply Power supply is one of the most important components and the fundament for all components working. A regulated DC power supply provides 0~15 V voltage. There are two different way to build the power supply in this project. One is using two wires to connect 0 and +15V to the DC-DC converter; the other one is building a battery on the robot itself. Both of them have advantages and disadvantages. Therefore, we have to analyze both of them first. Wired Power supply The advantages for the wired power supply are reliable, stable, durable and savable. The power supply is a regulated DC power supply. The only thing we need to do is using wires to connect both 0 and +15V to the DC-DC converter. Because the working voltage for whatever microcontroller, sensors and stepping motors is 5 volts, we need a DC-DC converter to convert voltage from 15V to 5V. Moreover, we do not need to consider the duration of the power supply. It will still work normally even if works after several hours. Furthermore, using wired power supply is an excellent method to consider the cost during the project, for the power supply is a preference requirement in this project. Hence, we do not need to cost a lot on it. The disadvantage for the wired power supply is obviously wired. We have to let one person hold wires when it is driving. This is a consideration from personnel aspect. It is a waste of energy to the team. Wireless Power Supply The advantage for the wireless power supply is that we can design a really autonomous robot. We do not need to contribute one person to look after it. However, we may meet a series of problems when using battery. Firstly, it may increase the weight of whole robot. As we know, it is hard to turn left or right when you drive a high weight car. It is similar to an autonomous robot. Secondly, the duration is limited. For we have to test the robot before the race competition, the problem is how long does this pack of battery provide the power. The answer is not too long. Therefore, if we choose to use battery as the power supply, we have to solve how to charge the battery first. To sum up, it is not a good method to use battery in this project. Basically, we consider from the duration and the cost these two aspects. Accordingly, the final scheme we designed is to use wired power supply. 2.1.2 Software Because we do not have MC33886 chip yet, we have to use PIC 16F648A chip to simulate this design. It should be kinds of similar to each other, but particularly in using different software. With the purpose of writing program data into a PIC chip, a software programmer is required. In the design, a USB controlled PICkit2 may be used. We will give following steps to guild us through the generation of the programme. Moreover, make sure retain a simple debug programme in order to exercise any hardware, such as a simple flashing LED. There are a series steps to help us how to program the device. We pick them up from the laboratory notes.[8] 1. Connect the PICkit2 Microcontroller Programmer to the PC by using the USB cable. Socket the 6-pin header on the bread board or frankly on to the hardware (for in-circuit programming). 2. Start MPLAB IDE from the shortcut icon on the desktop, or the Start menu. In addition, check the version number is MPLAB IDE v7.62 or above. 3. From the MPLAB IDE menu bar, select Project Project Wizard 4. It opens up the Project Wizard. Click Next to continue. 5. Wizard Step One: The laboratory project target device is the PIC 16F648A (Which we will give an example in the next section). In the wizard, select the PIC 16F648A from the drop-down box and click next. 6. Wizard Step Two: select the use of the CSSC Compiler for PIC12/14/16/18 for the project language tool suite from the Active Tool suite drop-down box. We should browse so as to discover the location of the files on the hard disk. Then Click Next and continue. 7. Wizard Step Three: Name the project and select a directory. Then Click Next. 8. Wizard Step Four: There is possible that we want to add a file which has been written previously. The file tree view box on the left should already be prolonged to the project directory. Select the file which we want to add and click the Add button to add it to the project. Since the project directory is the same as the file directory, there is no need to check the box to copy it. Then Click Next when done. 9. Wizard Summary: Click the Finish button. A new page and project are created in the MPLAB IDE. The new page includes information on the selected PIC MCU device, the active programmer and/or debugger, open windows and their location, and other IDE configuration settings. The page is also related with a project, which includes the files which are needed to build an application (source code, include files, linker scripts and so on.) along with associated language (compiler) tools and build options. 10. The project window displays the project files as a small window within the Integrated Development Environment (IDE). 11. The next stage is to add a source file to the project. Click Project Add New File To Project and enter a suitable file name in the dialogue box such as LED Flasher.c. A new window will be added to the IDE and we may observe that a file has been added to the Source Files directory on the project window. Now type in some proper C code in this example an LED connected to portA [bit 0] will repeatedly flash. We could use some example code from the internet and modify several rows of it. 12. Save the file by clicking the disc icon or File | Save. Then compile the project either by clicking the compile icon, or Project | Compile, or by pressing F10. It might be that we have entered the source code without any errors, we should see an output reporting window come out and the header file is added to the list of files within the project window. 13. The microprocessor may now be programmed. Click Programmer | Select Programmer | PICkit2. This has now selected the programmer and we can programme our device by clicking Programmer | Program. 2.2 Proof of concept In this section, the only one thing we need to do is proof. As we know, motor is the most important component throughout the project. We have already chosen stepper motor in this design. Therefore, we prefer give out some specific details to demonstrate the requirements. We need two level description of Pseudo-Code to make the difficult language programme to simple. The description supposes that the system includes two inputs, one of which is labelled button C (for clockwise). The Pseudo-Code for level 1 is given below. 1. REPEAT indefinitely: 2. Wait until either button has been pressed 3. Determine which of the two buttons was pressed 4. IF button C was pressed THEN 5. Rotate the motor shaft 180clockwise 6. OTHERWISE 7. Rotate the motor shaft 180anti-clockwise Having developed the top-level description it could be seen that there are many characteristics of the programme which are not considered enough. There is no mention that how to determine which of the buttons was pressed and how to rotate the motor. Moreover, there is no mention the angular velocity and anything else related to the implementation. Therefore, a Level 2 description should be given next which includes more detail. There are still several lines which can be seen in the Level 2 Pseudo-Code. Moreover, two more loops have been added, to control the rotation of the motor (the step size of the motor chosen is 1.8) The Pseudo-Code for Level 2 is given below: 1. REPEAT indefinitely: 2. Determine whether a button has been pressed 3. REPEAT 100 times: 4. determine which of the two buttons was pressed 5. IF button C was pressed THEN Rotate the motor shaft clockwise 6. OTHERWISE 7. Rotate the motor shaft anti-clockwise 8. Insert time delay of one step period Also, we should transfer these two Pseudo-Codes into flowchart. It is an obvious way to check each step throughout the project. The two levels flowcharts are given as follows: Moreover, we will use hybrid stepper motors in the project. The one we choose is called RS 440-436 and the size is 17. The 4 phase hybrid stepper motors are competent of delivering much higher working torques and stepping rates than permanent magnet (7.5and 15) types. Whilst at the same time keeping a high detent torque even when not energised. This feature is the core technique for positional reliability. The RS stock number 440-436 with rear shaft is shown below: The technical specification for RS stock no. 440-436 is given in the table below: RS Stock number 440-436 Rated voltage (V) 12 Rated current ( I ) 0.16 Resistance () 75 Inductance (mH) 36 Detent torque (mHm) 4 Holding torque (mNm) 70 Step angle accuracy (%) 5 Step angle 1.8 Insulation class B In the proof section, we divide it into three tasksfull stepping, half stepping, and interrupt-driven control of two motors. In addition, the full program code will be given in the appendix page. Full-Stepping For the first stages of demonstration, a program is to be designed to turn the motor shaft clockwise or anti-clockwise under the control of an input pin. One input should be used to rotate the motor clockwise, and the other one to rotate it anti-clockwise. Each time an input is turned on, the motor should turn 180. The motor should turn at a constant angular velocity of more or less 15rpm (revolutions per minute). The default drive mode should be two-phase-on full stepping (normal drive). Communication with the IO ports should be by the use of memory-mapped structures. In addition, the core stepper drive routine will be written as a subroutine which is in order to minimise code size and maximise the chic of the code. We have done a programme by using PIC 16F648A chip in the laboratory. Furthermore, we would like to use this program code to build our robot in the next semester. In addition, the diagrams for PIC 16F648A and full step mode are as follow: Step No. Q1 Q2 Q3 Q4 ON OFF OFF ON 1 ON OFF ON OFF 2 OFF ON ON OFF 3 OFF ON OFF ON 4 ON OFF OFF ON 5 ON OFF ON OFF Table 3. Full step mode Half-Stepping The program should be revised to use half step drive control. The angular velocity of the motor should be user-selectable, with four selectable speeds defined by the state of the remaining PORTA pins. The angular velocity of the fastest setting should be approximately 60 rpm, with that of the slowest setting being roughly 8 times slower. The advantage for half-stepping system is much more specific in controlling the angle. Moreover, the angular velocity of the fastest setting is 4 times than full-stepping. Also, the program code will be given in the appendices page. Step No. Q1 Q2 Q3 Q4 ON OFF ON OFF 1 ON OFF OFF OFF 2 ON OFF OFF ON 3 OFF OFF OFF ON 4 OFF ON OFF ON 5 OFF ON OFF OFF 6 OFF ON ON OFF 7 OFF OFF ON OFF 8 ON OFF ON OFF 9 Table 4. Half step mode Interrupt-driven Control of Two Motors The program should relapse back to full step drive control with two coils all the time being turn on as this provides the highest level of drive torque for driving the robot. The programme should be modified such that two stepper motors can be driven independently at different speeds. This will require the use of a hardware timer and an interrupt routine. The outputs of the second stepper motor may be displayed by using the LEDs. Similarly, higher supply voltages and larger series limiting resistance may effect on the motor performance. The below shows the relationship between torque and speed: From the proof section, we know to implement a program from stretch. Starting from pseudo-code to flowchart and finally programming the whole program. There are numerous mistakes throughout the whole process. One of the most notable is trying to program struct program. We set the addressing struct with the TRIS command and the whole processor cannot work. Another mistake we made is using a testing board with faultily dip switch and not realizing it. Thus it is very important to check the integration of board before testing. Section 3 Risk Management Project risk management is a part of project management which is referred at our quality plan. It is a properly way to identify the risk and also minimise the influence on a project. 3.1 HAZOP Analysis HAZOP is abbreviated form for Hazard and Operability Study which is a very effective method to find hazards in a system. Moreover, it is a diagnostic technique used to make out potential accidents throughout the project. The HAZOP technique was used to analyse chemical process system, but now has been extended to other types of system in some other fields such as for safety critical electronics and computer systems. A HAZOP is a qualitative technique which is based on guide-words. The HAZOP technique contains 4 basic steps: Identify design intent (feature of the design) Apply Guidewords to plan to find out design deviations Identify consequences of deviations with realistic causes Hazards are results with damage, injury or loss The key of the attribute is to choose suitable parameters which apply to the design intention. These are general words such as angles, displacement, angular velocity and so on in this project. It can be seen throughout the project that variations in these parameters can make up deviations from the design intention. In order to identify Deviations, the Study Leader applies (systematically, in order) a set of Guide Words to each parameter for each section of the process [9]. The standard Guide Words are below: Guide Word Meaning NO OR NOT Complete negation of the design aim MORE Quantitative Increase LESS Quantitative Decrease REVERSE Opposite EARLY Relative to a clock time LATE Relative to a clock time OTHER THAN Complete Substitution Table 3. Guide word and its meaning The following table displays an overview of normally used guide word parameter pairs and common descriptions of them. Parameters Guide Words NO MORE LESS REVERSE OTHER THAN Motor No power More power Less power Direction switch Angular velocity Completely stop Faster Slower Clockwise or Anti-clockwise Displacement Center and forwards Left departure Right departure backwards Out of track Moreover, HAZOP is commonly accomplished by a team of people, particularly in this project, with roles as follows: Name Alternative Role Team Leader Chairman Someone who has experience in HAZOP, to monitor the method followed successfully Recorder Scribe To ensure the problems in the project are documented Designer Chief design engineer To explain design details throughout the project Technician Mechanical doer To deal with the mechanical construction work User Tester To test the product if there is any problem. To ensure it can work successfully during the race Administrator Carer To ensure there is no conflict during the project. Also monitor all the branches work successfully 3.2 FMECA Analysis FMECA is abbreviated form for Failure Mode, Effects and Criticality Analysis. It is a methodology to solve the problem which includes: Identify failure modes in products and process Evaluate the risks of failure modes Make the risks in different class Reduce the risks possibility Function Failure Failure Mode Effect To make robot turn from 0to 90within 0.5 second Failure to turn appropriate angle. Motor without power supply Robot stopped. Check the connection from the robot to the power supply. 10 minutes. Sensors do not work normally Robot got a improper information to turn. Renew the sensors. 1-2 hours. Wheels are not suitable to turn these angles Out of track. Change a pair of appropriate wheels after measuring. 1-2 hours. Programme is failure Out of track. Renew the programme code. 2-3 hours. Time without 0.5 second Improper stepper motor Out of track. Renew a stepper motor or the programme. 2-3 hours. Section 4 Conclusion Consequently, from analysis of all varieties of components which we need throughout the project, we have built a very specific design plan. Due to this project plan, we could design our autonomous robot with an obvious guide. Moreover, we used two kinds of different risk analysis to monitor our project. Both of them can help us to reduce hazards and risks which may happen in the future. 5. Reference 1. a b Zunt, Dominik. Who did actually invent the word robot and what does it mean?. The Karel Capek website. https://capek.misto.cz/english/robot.html. 02/11/2009 2. CCD VS CMOS, from Photonic Spectra 11/11/2009 3. https://info.bannersalesforce.com/xpedio/groups/public/documents/literature/pr_p1_t1_e.pdf.pdf 4. 8052-Basic Microcontrollers by Jan Axelson 1994 5. https://motorola.com/semiconductors 20/11/2009 6. https://www.freescale.com/webapp/search.partparamdetail.framework?PART_NUMBER=MC33886DHbuyNow=false#PCN 7. EE2G1 notes, Lifycycles 8. EE2A laboratory components department of Electronics, Electrical, and Computer Engineering, University of Birmingham 9. British Standard BS: IEC61882:2002 Hazard and operability studies (HAZOP studies)- Application Guide British Standards Institution. This British Standard reproduces verbatim IEC 61882:2001 and implements it as the UK national standard. 6. Appendices Full-Stepping Code #include16F648A.h #use delay(clock=4000000) #fuses NOWDT,INTRC_IO,NOPUT,NOPROTECT,NOLVP,NOMCLR static int const LUTBL[4]={0x0A,0x09,0x05,0x06}; struct pinformat { int direction1:1; int speed1:3; int direction2:1; int speed2:3; int output1:4; int output2:4; }; struct pinformat ioport; struct pinformat ioportdirection; #byte ioport=0x05 #byte ioportdirection=0x85 void main() { int tableindex; int repeat=100; int stepdelay=20; int i; ioportdirection.direction1=0b1; ioportdirection.direction2=0b1; ioportdirection.output1=0b0000; while(TRUE) { if((ioport.direction1==1)(ioport.direction2==0)) { tableindex=0; for (i=0;irepeat;i++) { tableindex=(tableindex+1)%4; ioport.output1=LUTBL[tableindex]; Delay_ms(stepdelay); } } if((ioport.direction2==1)(ioport.direction1==0)) { tableindex=200; for (i=0;irepeat;i++) { tableindex=(tableindex-1)%4; ioport.output1=LUTBL[tableindex]; Delay_ms(stepdelay); } } } } Half-Stepping Code #include16F648A.h #use delay(clock=4000000) #fuses NOWDT,INTRC_IO,NOPUT,NOPROTECT,NOLVP,NOMCLR static int const LUTBL[8]={0x0A,0x08,0x09,0x01,0x05,0x04,0x06,0x02}; struct pinformat { int direction1:1; int speed1:2; int unused1:1; int direction2:1; int speed2:2; int unused2:1; int output1:4; int output2:4; }; struct pinformat ioport; struct pinformat ioportdirection; #byte ioport=0x05 #byte ioportdirection=0x85 void main() { int stepdelay,increase,tableindex; int repeat,i; ioportdirection.direction1=0b1; ioportdirection.direction2=0b1; ioportdirection.speed1=0b11; ioportdirection.speed2=0b11; ioportdirection.output1=0b0000; ioportdirection.output2=0b0000; while(TRUE) { if((ioport.direction1==1)(ioport.direction2==0)) { tableindex=0; repeat=200; if((ioport.speed10b00)==0b00) { stepdelay=2; increase=0x01; } if((ioport.speed10b01)==0b01) { stepdelay=5; increase=0x01; } if((ioport.speed10b10)==0b10) { stepdelay=10; increase=0x01; } if((ioport.speed10b11)==0b11) { stepdelay=20; increase=0x01; } } if((ioport.direction2==1)(ioport.direction1==0)) { tableindex=0; repeat=200; if((ioport.speed10b00)==0b00) { stepdelay=2; increase=0xFF; } if((ioport.speed10b01)==0b01) { stepdelay=5; increase=0xFF; } if((ioport.speed10b10)==0b10) { stepdelay=10; increase=0xFF; } if((ioport.speed10b11)==0b11) { stepdelay=20; increase=0xFF; } } if((ioport.direction1==1)(ioport.direction2==1)) { repeat=0; } if((ioport.direction1==0)(ioport.direction2==0)) { repeat=0; } for (i=0;irepeat;i++) { tableindex=(tableindex+increase)%8; ioport.output1=LUTBL[tableindex]; Delay_ms(stepdelay); } } } Interrupt-driven Control of Two Motors Code #include16F648A.h #use delay(clock=4000000) #fuses NOWDT,INTRC_IO,NOPUT,NOPROTECT,NOLVP,NOMCLR static int const LUTBL[4]={0x0A,0x09,0x05,0x06}; static int tableindexi; struct pinformat { int direction1:1; int speed1:2; int unused1:1; int direction2:1; int speed2:2; int unused2:1; int output1:4; int output2:4; }; struct pinformat ioport; struct pinformat ioportdirection; #byte ioport=0x05 #byte ioportdirection=0x85 #int_RTCC void Timer0_isr() { int increasei; if(ioport.direction2==1) { increasei=0x01; } if(ioport.direction2==0) { increasei=0xFF; } tableindexi=(tableindexi+increasei)%4; ioport.output2=LUTBL[tableindexi]; } void main() { int stepdelay,increase; int repeat,i,tableindex; ioportdirection.direction1=0b1; ioportdirection.direction2=0b1; ioportdirection.speed1=0b11; ioportdirection.speed2=0b11; ioportdirection.output1=0b0000; ioportdirection.output2=0b0000; while(TRUE) { tableindex=0; if((ioport.speed20b00)==0b00) { SETUP_TIMER_0(RTCC_INTERNAL|RTCC_DIV_16); } if((ioport.speed20b01)==0b01) { SETUP_TIMER_0(RTCC_INTERNAL|RTCC_DIV_32); } if((ioport.speed20b10)==0b10) { SETUP_TIMER_0(RTCC_INTERNAL|RTCC_DIV_64); } if((ioport.speed20b11)==0b11) { SETUP_TIMER_0(RTCC_INTERNAL|RTCC_DIV_128); } enable_interrupts(INT_RTCC); enable_interrupts(GLOBAL); if(ioport.direction1==1) { repeat=4; if((ioport.speed10b00)==0b00) { stepdelay=4; increase=0x01; } if((ioport.speed10b01)==0b01) { stepdelay=8; increase=0x01; } if((ioport.speed10b10)==0b10) { stepdelay=16; increase=0x01; } if((ioport.speed10b11)==0b11) { stepdelay=32; increase=0x01; } } if(ioport.direction1==0) { repeat=4; if((ioport.speed10b00)==0b00) { stepdelay=4; increase=0xFF; } if((ioport.speed10b01)==0b01) { stepdelay=8; increase=0xFF; } if((ioport.speed10b10)==0b10) { stepdelay=16; increase=0xFF; } if((ioport.speed10b11)==0b11) { stepdelay=32; increase=0xFF; } } for (i=0;irepeat;i++) { tableindex=(tableindex+increase)%4; ioport.output1=LUTBL[tableindex]; Delay_ms(stepdelay); } } }

What An Interesting Mustache, Mr. Trump - 984 Words

 ¨What an Interesting Mustache, Mr. Trump ¨ When Americans think of Muslims, most of us think of 9/11, the Paris attacks, and the war in the Middle East. Most of our generation has grown up with the War on Terrorism. We don t remember a time before  ¨Can Mr. Ahmed Come to the Security Office? ¨ and  ¨ISIS has killed another 400 People in an Attack Today†¦.† To us, the distrust and dislike of Muslims isn’t just normal, it’s commonplace. Americans took the 9/11 attacks personally while Muslims took the hit, with hate crimes still five times higher than pre-9/11 some fifteen years later (Washingtonpost.com). Islamophobia is so common that presidential candidates not only win supporters, but whole states with their racism and islamophobia. The†¦show more content†¦The United States Holocaust Memorial Museum believes that two out of every three Jews in Germany would be dead by the end of the Holocaust. As Americans, it’s easy for us to look at what happened in Germany and tell ourselves that it would never fly here and now. Americans also like to forget about slavery and Japanese internment camps, so it s not unprecedented that we are ignoring what we’re doing to Muslims now. Post 9/11, America started a war against Muslims for the actions of a few radical people. Since then, as previously stated, hate crime rates against Muslims are five times as high as they were pre-9/11. In a similarly frightening pattern, studies have found that hate crime rates go up after other radical Muslim attacks, like those seen in Paris or the San Bernardino (NBCNews.com). Using these attacks to justify islamophobia is unfortunately similar to the Germans using propaganda to spread the hate of Jewish people by playing off stereotypes. Every attack is another drop in the bucket of â€Å"Muslims are violent† while innocent people suffer for it. To people against Islam, every hijab is a cage, every mosque a tomb, and every attack a point proven. It’s easy to say that while the attacks and anti-Muslim mindset are awful, they will eventually blow over. People will stop thinking about it so much without a proper catalyst. For a good catalyst, we would need both an enemy, in this case the Islamic State, and a figurehead for the â€Å"good guys†.