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†.

The Adventures of Tom Sawyer by Mark Twain Essay - 659 Words

The Adventures of Tom Sawyer By Mark Twain Mark Twains, The Adventures Of Tom Sawyer, is a story told from the eyes of the young Tom Sawyer. The story takes place in the small rustic town of St. Petersburg Missouri. Tom Sawyer is the main character of the book. Tom is an imaginative young man who always seems to be getting into trouble. Tom is very adventurous, he never passes up a chance to play pirates, robbers, or soldiers. This book has multiple themes but the most important is knowing when its right to talk and tell the truth and when its better to be quiet or lie. At the beginning of the story Tom is introduced by climbing in his window after a long night of cavorting with his friends. Soon after the start of the†¦show more content†¦Becky and Tom soon become friends again after Tom takes Beckys punishment at school for being careless with the teachers things. Becky finds Tom to be very noble. Summer is coming near. Injun Joe is still at large and Tom and Huck are searching for treasure. While searching near an old ghost house one night the two boys over hear Injun Joe talking about some loot that he hid. The boys are determined to find it . As an end of the year celebration, Toms whole class goes on a picnic and on a cave exploration near the wood outside of town. While in the caves Tom and Becky get lost. The whole town searches for them but they are not found. also in the caves Tom sees Injun Joe snooping around. This inspires him to find a way out, which he does. After Tom and Becky are home the caves are sealed, leaving Injun Joe and his treasure locked inside. Injun Joe dies of starvation at the gated entrance of the cave and his treasure is discovered buy Tom and Huck who had found a secret way into the cave. The boys become the richest men in town. Huck decides to break away from the outcast life and moves in with a respectable widow in town. Tom and Huck are happy and rich and they promise to always stay together. The main character of the book is Tom Sawyer. Tom is an imaginative young man. Whenever Tom plays he pretends to be a pirate or Robin Hood and his friends would be his merry men. JustShow MoreRelatedThe Adventures Of Tom Sawyer By Mark Twain1558 Words   |  7 PagesThe Adventures of Tom Sawyer In 1876, a novel about a young boy growing up along the Mississippi River was written. Set in the fictional town of St. Petersburg, Mark Twain, the author of this fictional piece, based ‘The Adventures of Tom Sawyer’, largely on his personal memories of growing up in Hannibal, Missouri in the 1840s. Through ‘The Adventures of Tom Sawyer’, by Mark Twain we are able to not just appreciate an amazing piece of literature, but also be able to explore through the fiveRead MoreThe Adventures of Tom Sawyer by Mark Twain734 Words   |  3 PagesThe Adventures of Tom Sawyer â€Å"Then he (Injun Joe) put the fatal knife in Potters open right hand, and sat down on the dismantled coffin. Three -- four -- five minutes passed, and then Potter began to stir and moan. His hand closed upon the knife; he raised it, glanced at it, and let it fall, with a shudder. Then he sat up, pushing the body from him, and gazed at it, and then around him, confusedly. His eyes met Joes.† (9.53). In this Quotation from the novel– The Adventure of Tom Sawyer, MarkRead MoreThe Adventures Of Tom Sawyer By Mark Twain1258 Words   |  6 Pages In the novel The Adventures of Tom Sawyer by Mark Twain, the society in which the main character (Tom) lives in revolves around the culture of the community. There are morals for correct behavior, which distinguish insiders and outsiders of the community. Tom has behaviors for both sides and is regarded as an in between. There are additional characters such as Huck and Injun Joe that are specifically outsiders. Correct behavior is prevalent in the community. Throughout the story, the reader canRead MoreMark Twain s Adventures Of Tom Sawyer1586 Words   |  7 Pagesof The Adventures of Tom Sawyer are closely related to Mark Twain’s own life experiences. The fictional town of St. Petersburg very closely resembles Twain’s childhood home in a small town in Missouri, because of the Mississippi River (Stanley 1). He remembers both the ups and downs of his childhood and conveys these in the novel (Higgins). Many of his memories of living by the Mississippi river are displayed in this novel as Tom has several encounters with rivers (â€Å"Mark Twain†). Twain also interpretsRead MoreThe End Of The Adventures Of Tom Sawyer, By Mark Twain1409 Words   |  6 Pagesto their situations. ByAt the end of The Adventures of Tom Sawyer, by Mark Twain, the main character, Tom, has had several dangerous and amusing experiences that show that although he is not completely mature, Tom Sawyer is more emotionally, mentally, and morally mature than when the story began; therefore proving that Tom Sawyer has come-of-age in the novel. Tom’s emotional maturity definitely grows throughout the story. At the beginning of the story, Tom acts selfishly when he thinks that he isRead MoreEssay on Tom and Huck in The Adventures of Tom Sawyer by Mark Twain1752 Words   |  8 PagesThe Adventures Of Tom Sawyer In the Adventures of Tom Sawyer by Mark Twain, the friendship between the two friends Huck Finn and Tom Sawyer is strong enough to get them through some life changing adventures. The story takes place in the mid 1800s, in a Missouri town called St. Petersburg. Tom Sawyer is a very mischievous, adventurous kid, living with his Aunt Polly and her daughter, Mary, and his brother Sid. In the very beginning of the book Tom shows how mischievous he is when he tricks a coupleRead MoreThe American Life in The Adventures of Tom Sawyer by Mark Twain539 Words   |  3 Pages In the â€Å"The adventures of Tom Sawyer† a novel by Mark Twain, portrays a small-town American life. The town is pictured as idyllic due to its overall simplicity with the life of the inhabitants of the town St. Petersburg. The town also depicts what on average is life in the area and brings senses of distinct nostalgia to the reader of their childhood or of their parents. Some might view this story and not agr ee with the subject due to not finding it idyllic or just plain out thinking it’s a grossRead MoreAnalysis Of Mark Twain s Adventures Of Tom Sawyer1273 Words   |  6 PagesMark Twain’s Adventures of Tom Sawyer addresses the fear of the citizens of the newly reborn nation after the war between the states and what changes await for them, in correlation to the children as the fearful citizens and their exposure to society or the adult world as the reborn nation. Children fear of what lies ahead in the adult world as the citizens of the reborn nation fear what exists in a united nation. Twain’s sepulchral imagery conjures up the spine-chilling mood of a child when facedRead MoreMark Twain s The Adventures Of Huckleberry Finn And The Adventures Of Tom Sawyer1654 Words   |  7 Pagesliterature, Mark Twain claims the title. He is a paragon of the ideals that are ascribed to what a(n) (American) writer should be; his humor, his fluid and flexible writing, his abilit y to portray emotion and passion via ink on dead slices of trees is a mirror image of the- alleged- freedom that America purports. Even in death, his penname is renown- his autobiography a jumbled, yet appealing mess that was released 100 years after his expiration. Out of the numerous writers in America, Mark Twain is theRead MoreAnalysis Of Mark Twain s The Adventures Of Tom Sawyer As Well1350 Words   |  6 Pages Mark Twain is one of the foremost satire writers, and he is well-known for uses his sense of humor to criticize the 19th society in America’s and propagate his ideal world through The Adventures of Tom Sawyer. People commented Twain as â€Å"Twain does not confine himself to telling a simple children s story. He is, as always, the satirist and commentator on the foibles of human nature†(Roberts), Twain does use his sense of satire in the classical America book: The Adventures of Tom Sawyer as well.

The Benefits of Government-Supported Embryonic Stem Cell...

Millions of people die every year from diseases, accidents, and defects, one only needs to turn on the nightly news to hear of the devastating effects of cancer or of horrific accidents that have left people disfigured or paralyzed. Stem cell research is a part of biomedical science that has the potential to cure diseases and defects, create organs for patients needing transplants, regenerate axons in spinal cord injuries, and create new treatments, drugs, and immunizations. However, federal funding is limited and does not cover embryonic stem cell research to an extent that would make a difference in medicine. The United States should support embryonic stem cell research by increasing federal funding, opening new stem cell lines for†¦show more content†¦1-2). Embryonic stem cells (hESC) are pluripotent. They are obtained from the inner mass of a 5-6 day old human blastocyst that consists of approximately 100 cells (Bongso Lee, 2005, p. 3). The way that hESCs are obtained has given rise to political and religious controversy, which has hindered the progression of all stem cell research and has left potential social benefits for our society undiscovered. Federal funding of hESC research might allow for more stem cell lines to be allocated and could provide enough money to fill the gap of state and private funding. Social benefits, such as easing the suffering of those afflicted with defects, organ failures, and accident victims, combined with a reduction of hospital costs associated with these afflictions, would increase the standard of living and place more money back into the pockets of Americans. However, until compromises can be made between supporters and opponents of this research, no headway will be made. Many opponents argue that life begins at the moment of fertilization. They believe that embryos have the potential to become humans, and to use them in research is killing an unborn child. On the other hand, there are numerous people who are unsure as to what state of development constitutes life. They believe that since these embryos would be destroyed eventually and because they have the potential to save millions of lives, embryonicShow MoreRelatedEssay Government Funding of Stem Cell Research775 Words   |  4 Pagesfacing voters was the battle over embryonic stem cell research. In the weeks leading up to the election, polls were indicating that 47 percent of Bush supporters agreed that the destruction of embryo cells is unethical; however, 53 percent of Bush voters supported stem cell research. The overwhelming majority of Kerry backers also supported stem cell research, indicating that the majority of American voters support stem cell research. Embryonic stem cell resear ch, while still in its infancy, hasRead MoreEssay about Pros and Cons of Embryonic Stem Cell Research1261 Words   |  6 Pagesagainst Embryonic Stem Cell research mainly because they consider it unethical to use aborted fetuses for research. The two main issues concerning the research are the ethics (Cons) and the benefits (Pros). In any scientific case, ethics must always be considered. But the use of fetuses is something that is of the utmost importance. The costs are generally measured based off of people’s feelings, morals, and knowledge about the subject up for debate. The use of aborted fetuses for stem cell researchRead MoreShould Cloning Be Researched?1135 Words   |  5 Pagesfew decades, the main topic debated by scientists was whether or not cloning should be researched. When anyone even mentions the word â€Å"cloning†, they think of all the benefits and cures that the media has portrayed the research for cloning will bring. Although, this belief is nowh ere near the reality of the situation. The research for cloning not only pushes the ethical boundaries, but they also threaten the circle of life by trying to be god. Before even considering whether or not cloning shouldRead MoreStem Cell Research: The Political Front Essay1814 Words   |  8 PagesStem cells have the capability of forming any body tissue or even an entire organism, they are â€Å"master cells that can grow into virtually any sort of cell in the human body† (Edwards, Wattenberg Lineberry, 2009, p. 605). Stem cells are also repair cells, they work to maintain and regenerate cells in organs and tissues that are lost through damage, disease or normal wear and tear. Stem cell research began in the 1950s when researchers â€Å"discovered that the bone marrow contains at least two kindsRead MoreThe Heated Debate Concerning Stem Cell Research Essay2353 Words   |  10 PagesThe Moral Debate over Stem Cell Research President George W. Bush looked stern and confident as he addressed the American people on August 9th, 2001. It was an historic day for the 43rd president, as he explained the debate surrounding embryonic stem cell research, including its possible benefits for science but also its problems surrounding morals and ethics. â€Å"The issue is debated within the church, with people of different faiths, even many of the same faith coming to different conclusionsRead MoreResearch On Stem Cell Research Essay2087 Words   |  9 Pagespluripotent embryonic stem cell research funds in the United States and ways to regulate the research process. Kirk examines the use of pluripotent stem cells for research to be coordinated correctly by the National Institute of Health Guidelines. Kirk explains how the proposed guidelines affect the way embryonic stem cell research is done in the United States. â€Å"Finally, researchers must follow standard NIH research procedures as well as undergo review by an NIH working committee on stem cell research† (412)Read MoreEssay on Stem Cell Research: An Ethical Interpretation1946 Words   |  8 Pagessolution to these sicknesses was inside the very people they torment. Stem cell research is undeniably a heated topic in today’s world. Supporters claim it is savi ng lives, however, from the opposition, it is viewed as murderous. Both sides present a strong argument and have respectable pros and cons. Despite the opposing side’s argument, it is in the United States’ best interest to invest tax money into stem cell research because it has already proved successful in advancing out nation scientificallyRead MoreThe Government Should Fund Embryonic Stem Cell Research Essay2396 Words   |  10 Pagesdisfigured or paralyzed. Embryonic stem cell research is a part of biomedical science and has the potential to ease the suffering of sick people by curing diseases and defects, creating organs and tissue for patients needing transplants or skin grafts, regenerating axons in spinal cord injuries, and creating new treatments, drugs, and immunizations. However, America’s government does not support this research to an extent that would make a difference in medicine; only a few stem cell lines are authorizedRead MoreStem Cell Rese arch, Ethics And Policy Essay2393 Words   |  10 PagesIntroduction Stem cell research and engineering is a widely disputed topic that often divides people in science, ethics, and religion. In order to fully understand the controversy surrounding this area of scientific research and discovery, one must be informed as to what stem cells are. In the article, â€Å"Human Embryonic Stem Cells: Research, Ethics and Policy†, stem cells are described as â€Å"primitive cells with the capacity to divide and give rise to more identical stem cells or to specialize andRead MoreEssay on Benefits of Stem Cell Research2506 Words   |  11 Pagesbiomedical research wasn’t getting done, instead it’s being deliberated, tarnished and thrown to the way side by American politics and scorned in the court of public opinion due to a misinterpretation. This very research is the something we hear all over the news and in politics; considered by some politicians to be one of the key pieces in their journey to political stardom and their election, the research of stem cells, especially now that techniques are being developed to create stem cells from an

A Study On Lyme Disease - 1118 Words

Lyme disease is most commonly transmitted to humans by black legged deer ticks that carry a spirochete called Borrelia burgdorferi (Kruger, p. 23, 2010). Spirochete are a type of bacteria which have surrounding filaments attached to their cell walls that help propel it through aqueous environments (Porth, p.302, 2015). Deer ticks can only pass it on if they have fed from an infected host such as small mammals, like mice and squirrels, however, when the tick matures into adult, it prefers the white tailed deer as a host (Kruger, p.23, 2010). The deer themselves do not carry the disease, however they play an important role in the spread of this spirochete. The deer tick only infects it’s host with the Borrelia burgdorferi at the end of a†¦show more content†¦(Moore, p.65, 2015). There is variability in the course of the disease in this stage. Approximately 50% of infected patients will also develop flu-like symptoms (Nichols Windermuth, 2013). Twenty percent of infecte d patients will present with repeated erythema migrans, forty percent will present with multiple rashes and in one-third of fortunate patients, the disease will not continue to progress (Kruger, p.24, 2010). The early disseminated stage marks when Lyme disease becomes systemic and effects the musculoskeletal, cardiac and neurological systems. It can occur weeks to months after the bite when the spirochete travels to organs via hematologic or lymphatic channels (Nichols Windermuth p.363, 2013). Infected patients may present with a long list of secondary diagnoses such as lymphadenopathy, meningtitis, Bell’s palsy, cranial neuritis, radiculoneuritis, arterioventricular block as well as joint and muscle pain. (Nichols Windemuth, p363, 2013). The late disseminated stage occurs with patients who did not receive adequate treatment during earlier stages and occurs months to years following the initial infection (Moore, p66, 2015). These individuals often present with rheumatoid ar thritis and neuropathies. Approximately 60% will have arthritis in their knees, and 5% will develop paresthesia, and cognitive issues such as short term memory loss (Moore, p66, 2015). The literature is controversial

European Colonialism And The Middle East - 846 Words

Europe is a sick civilization! According to Aimà © Cesaire that is, but what are the characteristics of a â€Å"sick civilization† ? European colonialism is the main culprit when looking at the heinous crimes committed by the colonizer against the colonized in places Congo, America and the Middle East. The refugee crisis in Europe is a direct effect of colonialism on countries such as Sudan, Libya, Afghanistan, Iraq and Syria. Following the migration of thousands of middle eastern natives to Europe, we start to see many policies implemented to stop refuges from entering European countries. Although some European countries has begun to take measures to help refugees, not nearly enough countries have the same view. The natives of Congo, America, and the Middle East are just who had and still have to endure the atrocities of European colonialism. Colonialism, by definition is â€Å"the control or governing influence of a nation over a dependent country, territory, or people, but colonialism is much more sinister than simply influencing a â€Å"dependent country, territory, or people† as the above definition would have us believe. If we were to form our own definition of colonialism based on the current refugee crisis in Europe or the horrors that took place in Africa and America in the past, we can say that colonialism is the exploitation of a territory’s natural resources, taking full political control by force over a territory, and the forcing of these people to assimilate to their beliefsShow MoreRelatedThe Middle East And European Colonialism1700 Words   |  7 PagesIn the Middle East, European colonialism obliterated Arab sovereignty through its political and economic takeover. After gaining independence, the epicenter of perceived encroachment of Arab autonomy by the West was found in the Jewish state of Israel. Furthermore, the United States’ military support of Israel was also seen as an extension of colonialism. The colonial legacy of the British and the French occupations in the Middle East led to the belief that Israel was another imperial force thatRead MoreThe Colonization Of The Middle East1642 Words   |  7 PagesMany of the problems in the Middle East today are a direct result of actions undertaken in the region s colonial past. I will argue that both imperialist ineptitude, deliberate meddling and outright deceit by colonial powers have sown seeds of distrust that linger in the Middle East today towards the West. I will claim that artificial boundaries, government structures and societal schisms created in colonial times have entrenched animosities and created internal structural instabilities in the areaRead MoreThe Literary Theory Known as Post-Colonialism1061 Words   |  4 PagesThe literary theory known as Post-Colonialism is easily defined in content bu t not in its beginning or end. Ashcroft, Griffins, and Tiffin state that the term â€Å"covers all the culture affected by the imperial process from the moment of colonization to the present day† (2). They focus on the territories colonized by Britain in Empire Writes Back but state that the analysis can apply to the former empires of France, Spain, and Portugal. This view falls in line with the issue brought up by Childs andRead MoreEssay about European Colonialism and Imperialism992 Words   |  4 PagesHow were the Europeans able to conquer and control large areas of the globe? What gave them a great advantage over other groups? The proximate cause of this advantage was their possession of guns, germs, and steel. But how is it that they possessed these things and others did not? Ultimate causes of the Europeans possession of these guns, germs, and steel could be â€Å"Divine Providence.† People at the time thought that God favored the Europeans over other groups. Another ultimate cause could have beenRead MoreRise Of Islam Essay519 Words   |  3 PagesIslamic rule spread over major areas of Africa, the Middle East, South, Southeast and Central Asia, Spain, and Southern Italy. Many Christians saw Islam as a religion of the sword. They have been very violent throughout their history. Arabian armies engaged in attacking the remnants of the Byzantine Empire. The First Crusade was launched in order to stop the Arabian invaders. The Islamic worldview was greatly influenced by the Christian and Jewish worldviews. In the Qur’an it states that thereRead MoreThe Scramble for Africa Essay1032 Words   |  5 Pagesprocess of colonialism in world history. The European colonial powers managed to conquer and control almost the entire continent of Africa in a short, twenty-five year period from about 1875 to 1900. Some of the European states involved were already well-established global powers; the others were up and coming nations that desired to emulate and compete with the dominant imperial states. Various factors allowed for and contributed to the conquering of the whole of Africa by European states. TheRead MoreThe Decline Of The Ottoman Empire1240 Words   |  5 PagesThe Ottoman empire was competed over by the Europeans and wanted to gain more control. They had sign treaties and wage wars with the Ottoman which were slowly losing land to the Europeans. Unlike in India and Africa, the Europeans jus t forcefully colonized with their tents not realizing whose land they are in and just cared for their benefits and profits from land enriched resources. 2. Using the perspective of a British officer in the British East India Company, explain the rebellion in theirRead MoreNegative Effects Of Colonialism1253 Words   |  6 PagesThe Effects of Colonialism â€Å"During the phase of colonial settlement, European countries sent settlers to inhabit and control large areas of land. They took complete control of new areas by force and imposed European laws. These settlers often excluded indigenous inhabitants from their society or killed many of them in violent wars or through disease† (Stewart 1). Colonialism is a conceptual idea that has forever damaged our first-world society. Tribes and nations from every crevice of the earth haveRead MoreCulture, Education, And Power Of South East Asia1594 Words   |  7 Pagesthe 1800’s there came a rise in colonialism, which led to an increase in global mobility and the introduction of western dominance in all parts of the world. This issue as shown in Pramoedya Ananta Toer’s This Earth of Mankind eventually led to a social structure and class which claimed precedence over knowledge, talent, and experience. This novel depicts the Dutch and other colonists of European descent to be dominant in the culture, education, and power of South East Asia. Colonial control was feltRead MoreThe Aftermath Of World War II1562 Words   |  7 Pagesprimary creators of deep rooted turmoil in the Middle East region, the effects of the Cold War and the United States often over-zealous battle against communism is just as much a contributor if not more. The Arab world and the Middle East region were clearly going through quite an extraordinary period throughout World War II and its conclusion, primarily with the creation of most of the states we recognize today and struggling with the continuation of colonialism. These factors set the stage for the emergence

Principals of Financial Markets Group

Question: Discuss about the Principals of Financial Markets Group. Answer: Introduction Businesses have to check their financial standing regularly in order to ensure they are aware of challenges to their financial positions or to track losses in productivity and efficiency etc. The purpose of financial analysis hence is to examine a business from multiple viewpoints which would enable the business proprietor and related stakeholders to understand its financial situation. Multiple viewpoints are necessary, as the business will not just suffer from impact of its internal situations, but also from macro-environmental external situations as well. So a financial analysis will have to be done across both perspectives. Given this background context, the purpose of this research is to choose the food manufacturing industry for analysis. Tow companies chosen in research here are Bega Cheese and Warrnambool Cheese and Butter Factory. The analysis proceeds in two steps. Primarily, the external economic environmental analysis is done and secondly, a fundamental bottom up analysis of the company, its financial growth, its history and more is analyzed. Bega Cheese: Bega Cheese manufacturing company (ASX Code: BGA) situated in New South Wales and Victoria deals with the manufacturing of different varieties of cheese and has been in production for the past 100 years. While cheese is the main product sold, whey powder manufactory is also done here. Typically, one of its production units manufactures around 14,000 mt of cheddar and 7,000 mt of demineralised whey powder in a financial year. In addition to the production of wholesale selling products such as Tatura Milk, Bega cheese also attempts to educate the society with respect to chees and its heritage or cultural associations with the place (Bega, 2016). The mission of the company as observed from its site to be a strong part of the heritage connections with food products and the company aims to provide high quality products to its consumers. Warrnambool Cheese and Butter Factory: The Warrnambool Cheese and Butter (ASX Code: WCB) is a butter and cheese factory. It is an Australian based enterprise but with majority shareholdings by Saputo Inc which is a Canadian company and holds around 87.92 per cent of the WCB shares (Smith, 2015). Warrnambool works with the mission to provide everyday ranges of cheese and butter at really low prices. It manufactures and sells different varieties of dairy products such as cheese, butter, cream and more. The company sells nearly a half of its products to foreign nations. Some of its more local brands are that of Coon cheese, the Cracker Barrel, Warrnambool cheddar cheese and more. The company is older than Bega Cheese and was established as a business in Allansford, Victoria, in 1888. Top-down Analysis The purpose of the top down analysis is to understand the economic environment in which the company operations and also how it finances and sales could be affected by it. Now the macro economic environment can be considered from two ends, the countrys economic environment and the global economy and impact. The Global economic growth has picked up in the last few years following the economic recessions of the decade. This is a positive point for all industries globally speaking. The economic growth was 3.4 percent in 2014 and this was an improvement compared to the 2013 growth which was recorded at 3.3 percent only. While GDP growth rates are diversified, such as China having faster GDP growth, and other nations such as India, Japan and the United States following second, an overall GDP increase has been observed and this is a good trend for industrial growth in general and companies in specific. The Gross domestic product (GDP) of the country is calculated on annual basis or quarterly basis and is considered as the monetary value of all the finished goods and services produced in a country per annum or quarter. The GDP is used to calculate the countrys economic health and as such is usually even considered as the size of the economy. In understanding the countrys economic growth, a comparison with the previous years GDP is usually drawn. GDP is usually calculated by measurement of adding up every employed persons earning in a year within the country or could also be calculated by adding what everybody spent in a year. In a logical sense, both income approach and the expenditure approach must tally at the same amount. In Australia, the Gross domestic product calculated for 2015 was 1339.54 billion US dollars. Now this value is almost 2.16 percent of the entire world economy. An all-time high in GDP was reached in 2015. The GDP value of Australia represents 2.16 percent of the world economy. GDP in Australia averaged 386.58 USD Billion from 1960 until 2015 and the all-time high in GDP was represented in the year 2013. Now although 2015 records as a growth area, the rate of growth has declined leading to a new normal growth rate. The growth with respect to income per capita has decreased as well. It can hence be said Australia has moved aware from its high investment resources phase. Now if that is the context of the economic environment within the country as understood based on GDP, then the businesses also have to be careful in investments as such. Source: Australian Government, 2015 Companies which involve in a high amount of trading with outside nations suffered from the issues of economic recessions. There are flux domestic conditions seen in countries such as China even as of 2016 and China is one of the major trading partner of Australia. China had a high value of economic growth in the past, but in current times as of 2015 Chinas economic growth is slowing down. It is moderating down and eased down to below 7 percent in annual growth, and in more current times could slow down more as total debt to savings in terms of GDP has increased two fold as of 2014 (Australian Government, 2015). It was 100 percent of GDP in 200 and not it around 200 percent of GDP. High debt hence challenges the economic growth of the country to a certain extent leading to market volatility. This would have an impact on its export and import trades. Now since companies such as Warrnambool Cheese is seen to be selling more than 50 percent of its products in such flux conditions, the co mpany has to be careful in its foreign dealings. Australias real and nominal, trade weighted exchange rate is on the decline. Exchange rate or the foreign exchange rate as defined in finance and transactions between two countries. It is the rate at which one countrys currency can be exchanged for another. Yet another way to consider it is to regard it as one countrys currency value defined in relation to another. The nominal trade weighted exchange rate is defined as a weighted geometric average. It is calculated as the average value of Australian currency in relations to the currencies of the trading partners of the country. On the other hand, the real trade-weighted exchange rate is defined as the same average value that has been adjusted for the relative price levels. From 2014-2015 it has been observed that there is a decline in both these values (Australian Government, 2015). What this decline means is that most of the exporting industries would now be able to consider new export sources given that the pressure is off them now . Since the Australian dollar is low, export competitiveness can be increased as exports could be sold for adjusted prices in foreign nations or companies can find newer export partners. A lower Australian dollar improves export competitiveness by allowing exports to be sold for less in foreign currencies. Companies such as Warrnambool Cheese which is heavily invested in exporting (exporting to around 50 percent of its goods) will benefit from this low Australian dollar environment. The Food, beverage and tobacco industry of which, the companies Bega Cheese and Warrnambool Cheese and Butter Factory are part of, is considered as a strong sector within Australia. It accounts for around 25.5 percent share of the entire GDP of the country and has a value of around $25.4 billion. It plays a major role in the Australian economy as it supports around 22.9 percent of the manufacturing labor force in the country and to this extent it also has much political and policy based support (Australian Government, 2015). There are Government backed up support for this industry as a result of this. Government backed institutions and production process facilitations are present for the industry. The Government support has led to an increase in productivity gain of around two percent. In addition to the direct support, the food and beverage industry is also provided support in the form of research. Australias food and beverage industry has a number of education and training faciliti es in its midst. Cutting edge research on food manufacturing is done here and most of the people working in the sector are highly trained or have some amount of exposure. International food companies hence draw on these strengths. Some of the institutions that are hence helpful for improving economic productivity of Bega Cheese and Warrnambool Cheese and Butter Factory are that of the Food Science Australia Research and Development Institution and the Dairy Cooperative Research Centre. Bottom-up Analysis Some of the key internal elements that can be used in the bottom up analysis are that of accounting rations and profitability rations. Accounting Ratios The accounting ratio can be calculated for the companies, it is also called as the financial ratio and plays a proper role in financial analysis of a company. Usually accounting ratio works by relating a financial statement to another. Bega Cheese Accounting ratios Financials 2012-06 2013-06 2014-06 2015-06 2016-06 RevenueAUD Mil 927 1,010 1,069 1,113 1,196 Gross Margin % 12.4 13.4 11.1 10.9 12.8 Operating IncomeAUD Mil 27 35 24 12 36 Operating Margin % 2.9 3.5 2.2 1.1 3 Net IncomeAUD Mil 18 25 66 12 29 Earnings Per ShareAUD 0.13 0.17 0.43 0.08 0.19 DividendsAUD 0.04 0.1 0.11 0.12 0.13 Payout Ratio % 65.6 58 34.7 89.3 SharesMil 137 153 153 153 153 Book Value Per ShareAUD 1.62 1.7 2.09 2.04 2.1 Operating Cash FlowAUD Mil -11 62 40 -17 59 Cap SpendingAUD Mil -28 -28 -28 -19 -40 Free Cash FlowAUD Mil -38 34 13 -36 19 Free Cash Flow Per ShareAUD 0.03 0.2 -0.22 0.08 Working CapitalAUD Mil 99 115 109 149 137 Table: 1 Financial Ratios for Bega Cheese for last 5 years (Source: finance.yahoo.co.au) Warrnambool Cheese and Butter Factory Co Holdings Ltd Accounting Ratios Financials 2006 2007 2008 2009 2010 2011 2012 2013 2014 2016 Revenue AUD Mil 349 365 510 461 417 499 493 497 610 642 Gross Margin % 17.9 19.9 14.7 14.2 23.4 21 18.3 24 23.7 22.5 Operating Income AUD Mil 6 10 8 -13 16 15 -2 14 28 -2 Operating Margin % 1.7 2.8 1.5 -2.9 3.9 3 -0.5 2.8 4.6 -0.4 Net Income AUD Mil 8 10 25 -20 9 18 15 7 21 4 Earnings Per Share AUD 0.14 0.17 0.44 -0.45 0.2 0.36 0.26 0.13 0.36 0.07 Dividends AUD 0.1 0.08 0.13 0.29 0.03 0.16 0.2 0.15 0.15 Payout Ratio % * 142.6 28.8 13 43.3 231.6 37.5 Shares Mil 55 56 56 44 44 51 58 59 59 60 Book Value Per Share * AUD 1.87 2.21 2.18 2.3 2.65 3.09 2.92 3.17 Operating Cash Flow AUD Mil 19 18 6 -22 8 47 -7 1 46 -12 Cap Spending AUD Mil -14 -9 -10 -19 -6 -8 -15 -23 -23 -19 Free Cash Flow AUD Mil 4 9 -4 -41 2 39 -22 -22 23 -31 Free Cash Flow Per Share * AUD 0.14 -0.07 -0.93 0.05 0.76 0.18 -0.8 0.15 Working Capital AUD Mil 28 31 47 2 11 57 61 50 52 147 Table: 2 Financial Ratios for Warrnambool Cheese and Butter Factory Co Holdings Ltd (Source: finance.yahoo.co.au) Profitability Ratios The companys return on investment is given by its profitability rations. The profitability ratios are used to understand the capability of the company to generate profits from its operations and hence a more futuristic planning is possible from the financial analysis. ROI in inventory and other assets can also be understood for the company. Bega Cheese profitability ratios Margins % of Sales 2012-06 2013-06 2014-06 2015-06 2016-06 Revenue 100 100 100 100 100 COGS 87.55 86.62 88.94 89.12 87.18 Gross Margin 12.45 13.38 11.06 10.88 12.82 SGA 19.58 19.03 18.07 19.14 6.26 RD Other -10.06 -9.13 -9.23 -9.36 3.53 Operating Margin 2.93 3.48 2.21 1.1 3.03 Net Int Inc Other -0.01 0.02 6.54 0.38 0.3 EBT Margin 2.92 3.5 8.75 1.48 3.34 Profitability 2012-06 2013-06 2014-06 2015-06 2016-06 Tax Rate % 24.56 28.02 29.41 24.5 27.87 Net Margin % 1.89 2.52 6.18 1.12 2.41 Asset Turnover (Average) 1.8 1.89 1.94 2.02 2.1 Return on Assets % 3.4 4.77 12.01 2.25 5.05 Financial Leverage (Average) 2.09 2.11 1.75 1.77 1.79 Return on Equity % 7.11 10.01 22.92 3.96 8.99 Return on Invested Capital % 6.69 8.53 19.87 4.16 8.13 Interest Coverage 3.94 5.18 15.64 5.51 11.4 Table: 3 Bega Cheese profitability ratio (Source: finance.yahoo.co.au) Warrnambool Cheese and Butter Factory profitability ratio Key Ratios - Profitability Margins % of Sales 2006 2007 2008 2009 2010 2011 2012 2013 2014 2016 Revenue 100 100 100 100 100 100 100 100 100 100 COGS 82.07 80.09 85.28 85.79 76.63 78.96 81.72 76.04 76.31 77.47 Gross Margin 17.93 19.91 14.72 14.21 23.37 21.04 18.28 23.96 23.69 22.53 SGA 8.31 8.12 6.49 8.36 9.69 8.6 9.25 10.11 10.58 12.41 RD 0.7 0.49 0.18 Other 7.92 8.96 6.76 8.74 9.79 9.44 9.52 10.31 7.98 10.29 Operating Margin 1.7 2.83 1.47 -2.89 3.89 3 -0.49 2.83 4.63 -0.35 Net Int Inc Other 1.47 0.97 5.01 -3.63 -1.56 1.96 4.49 -0.9 0.1 0.8 EBT Margin 3.17 3.8 6.48 -6.52 2.33 4.97 3.99 1.93 4.73 0.45 Profitability Tax Rate % 31.49 30.69 25.95 9.13 25.43 22.86 21.91 26.29 Net Margin % 2.17 2.64 4.8 -4.33 2.11 3.7 3.08 1.51 3.49 0.66 Asset Turnover (Average) 1.99 2.01 2.39 1.94 1.74 2.01 1.88 1.71 1.97 1.16 Return on Assets % 4.33 5.3 11.48 -8.39 3.67 7.44 5.78 2.58 6.89 0.76 Financial Leverage (Average) 1.87 1.81 1.94 2.42 2.41 1.66 1.71 1.89 1.69 2.39 Return on Equity % 8.07 9.74 21.62 -18.05 8.86 14.59 9.72 4.64 12.31 1.82 Return on Invested Capital % 7.15 8.7 17.39 -8.72 7.58 11.71 8.84 4.69 9.92 2.15 Interest Coverage 4.58 5.55 9.92 -4.47 2.35 5.29 7.31 3.32 8.89 1.49 Table: 4 profitability Ratios for Warrnambool Cheese and Butter Factory Co Holdings Ltd (Source: finance.yahoo.co.au) Bega Cheese Bottom Level Analysis Based on the companys financials and profitability ratios, it can be understood that the companys revenue increased by 8% in comparison to last year and gross margin increase by 19%, operating income increased by 3X, earning per share increased by 2X, working capital reduced by 10%, operating margin increased by 3X as compared to last year. This indicate that the companys financial performance has increased historically. On other side, turnover ratio increased but the return over asset decreased a lot. The financial leverage ratio increased means the company has gone for more debt in recent years. The overall financial strength of the company is growing and is expected to sustainable in coming years. Warrnambool Cheese and Butter Factory Bottom Level Analysis Warrnambool Cheese and Butter factory has demonstrated high growth from the beginning of the establishment. The revenue of the company increased by 5% with gross margin of 22.25% and increase in operative income by 2X. The companys turnover ratio and return on asset increased but financial leverage ratio decreased that indicates the company is doing pretty well and leading toward self-sustainability. Overall, the company is growing with 2X on an average. Recommendations Based on a top level and bottom level financial analysis it is possible to make recommendations for Bega Cheese and Warrnambool Cheese and Butter Factory. Now in terms of the top level analysis, the overall negative impact of the economic recessions is over for the food, beverage and tobacco industry. There are good opportunities for export, although a certain amount of flux in economic is seen in countries such as China, so Warrnambool Cheese and Butter Factory which sells more than 50 percent of its product to foreign countries must strategize its export partners better. It should have more diversified markets. Bega Cheese and Warrnambool Cheese and Butter Factory are both in an industry that is well supported by the Government and also educational research facilities. Therefore, it has a very supportive macro-economic environment. References Australian Government. (2015). Australian Industry Report, Retrieved Sep 22, 2016 at: https://www.industry.gov.au/Office-of-the-Chief-Economist/Publications/Documents/AIR2015.pdf Smith, S. 2015. Warrnambool Cheese and Butter to buy Lions everyday cheese business, Retrieved Sep 22, 2016 at: https://www.weeklytimesnow.com.au/agribusiness/dairy/warrnambool-cheese-and-butter-to-buy-lions-everyday-cheese-business/news-story/8e947a0902dbe496d2faa455c3664f31 Bega Cheese, Retrieved Sep 22, 2016 at: https://www.begacheese.com.au/