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ISL Intelligent

Intelligent
Systems
Labratory

Systems Lab

-

1. ,
2.
3.
4. .

ISL Intelligent

Systems Lab

1 :

ISL Intelligent

Systems Lab


""
(?):
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-)

,



(..
internet)

ISL Intelligent

Systems Lab



:
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(utilities)
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ISL Intelligent

Systems Lab


""
:

..
,

,
(chip)
()

ISL Intelligent

Systems Lab

:
()

("")

("")

(, )

ISL Intelligent

Systems Lab

, ,
...

15-20

-
- - (ABS)
-
-
-
- (cruise)

-
-
-
-
-

... ( )
- drive by wire
-
-
-

(15-20%!)
.

ISL Intelligent

Systems Lab

, ,
...

...

ISL Intelligent

Systems Lab

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...


(chip)
,
.


(EPROM, EEPROM,
FLASH .)
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ISL Intelligent

Systems Lab

10

...

( "")








-

.

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Systems Lab

11



1980

1960

2000

???

""

[: Yamazaki, 1990]
.

ISL Intelligent

Systems Lab

firmware
???

12

=

( )
,

"" ,
..

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Systems Lab

13


(engineering):
, ,
,
,



,

, , .

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Systems Lab

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2 :


interfaces
" "

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Systems Lab

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;
MECHATRONICS=MECHAnics+elecTRONICS
(: )



, ,
. ""

("")
engineering

.

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16

;
(1/2):

[Yasukawa, 1969]



, ,
[Buur, 1990]


[Auslander, 1995]

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Systems Lab

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;
(2/2):



[IEEE/ASME
Transactions on Mechatronics, 1996]



[IRDAC-EU, 1997]

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Systems Lab

18

+
=

1960
1

1980
2

2000
3

???

""

firmware
???

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Systems Lab

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""


, , , .

( /)
( )

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""

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Systems Lab

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"" :
4


,

.
.

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Systems Lab

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(Interfaces)


-
interfaces
Interface: , ,
,

interface

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Systems Lab

22

""
,
,
,
,
, ...

(interface)

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Systems Lab

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3 :


"
"

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Systems Lab

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"":
-
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+ =
( !)
:
.

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.
:

ISL Intelligent


,



(..
, .)

Systems Lab

25

: (1)
" "

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Systems Lab

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: (2)


( )

1+1>2
.

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Systems Lab

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: (3)


(100%)3<1
.

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Systems Lab

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=
(engineering)
-
-
""

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Systems Lab

29


( -)

""
""

. 1

2
.

Systems Lab

. 2

. 3

ISL Intelligent

""
""

30

4 :

"
"




.

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Systems Lab

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"
"
...

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Systems Lab

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, , ...
.
.
.
.
113-115

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Systems Lab

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( ...)

""
1
1 :
(interfaces)

/ /

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Systems Lab

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506.

+ =


/
( )

" "
.

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( ...)

2 2 :

/ /

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606.

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,

.

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Systems Lab

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engineering
""
-

!
.

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Systems Lab

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5 :
506.


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Systems Lab

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506.
.
. :
.
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"
", (...),
'
, , 4 .
(2 / )
(2 / )

ISL Intelligent

Systems Lab

40

08:00-10:00, 021, .
16:00-17:00
e-mail islab@in.teipir.gr
:
80% ( 8 )
20% ( 2 )
:

(
, internet) + +

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Systems Lab

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01
02
03
04
05
06
07
08
09
10
11
12

( )
506, (. 5,6)
(. 7,8)
(. 9, 10)
(. 11, 12, 13)
(. 14, 15)

(. 16)
(.17, 18)
(.19, 20)
(. 21, 22)

.

ISL Intelligent

Systems Lab

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01
( )
02
506, (. 5,6)
03
(. 7,8)
04
(. 9, 10)
05
(. 11, 12, 13)
06
(. 14, 15)
07

08
(. 16)
09

(.17, 18)

10
(.19, 20)
11
(. 21, 22)
12

.

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Systems Lab

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6 :


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Systems Lab

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+ =


/
( )

" "
.

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Systems Lab

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1 :
""




" "

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Systems Lab

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2 :

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Systems Lab

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3 :
,
(.. )

" "

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Systems Lab

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!

. . .
506

506

, /

2
.

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Systems Lab

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7 :

555


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Systems Lab

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555
556 ()
,
Signetics (1970)


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Systems Lab

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()

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Systems Lab

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(monostable)
,
Tw=1,1 RA C

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Systems Lab

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(astable)

TH=0,693 (RA+RB)C TL= 0,693 RBC

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Systems Lab

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[ .gif: Williamson, 1997]


.

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Systems Lab

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4,5-18 Volt
~ 200 mA
500 KHz - 2 MHz
~5%
~1%
~100 ns

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Systems Lab

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8 :


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Systems Lab

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...

TH
TL
0= TH + TL

: TH/
: TL/
TH

TL
TO

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Systems Lab

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()
- TH

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Systems Lab

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Systems Lab

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50%

TH=0,693 (RA+RB)C TL=0,693 RBC
...
0=0,693 (RA+2RB)C
: TH/ > 50%
: TL/ < 50%

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Systems Lab

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TH TL

:
TH=0,693 RAC
TL=0,693 RBC

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Systems Lab

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9 :

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Systems Lab

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:
():
(pull up)
"" (pull down)

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" "
" "
(N.O.)
(N.C.)
... .

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Systems Lab

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(,
)

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Systems Lab

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(h/w switch debouncing) (s/w swich de-bouncing)

""

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: " "




(
0) ( 1)
pull-down pull-up

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10 :
""


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""


""


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Systems Lab

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""

. ( )
TTL (Transistor-Transistor Logic)

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Systems Lab

()
(conditioning)

71

(,)
.

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Systems Lab

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Systems Lab

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Systems Lab

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()

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Systems Lab

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Systems Lab

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Systems Lab

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11 :
-

()

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Systems Lab

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: c=3x108 m/s
=c/f


100-400 nm 380770
nm

ISL Intelligent

Systems Lab

770 nm-10 m

80

watt/m2
1/R2 ( )

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Systems Lab

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(, )


(L.E.D.)
laser


laser

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Systems Lab

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(,)

-
-
(chip)

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Systems Lab

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()

()

ISL Intelligent

Systems Lab

()
(conditioning)

84

12 :

(LED)
(Laser)

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Systems Lab

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,
(Tu) (Vo)
( "thermal
runaway"):



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Systems Lab

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(LED)
Light
Emitting
Diode

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Systems Lab

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,
,

(..
, )
: , , .
: , ""

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Systems Lab

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LED

(MM interface):


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Systems Lab

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(<10 )

3/5/8 mm

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Systems Lab

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Imax ( 20 mA )
Vf (
1,7-2,1 Volt)
+5 V

Vs-Vf
RLED=
Imax

220 R

GND
.

ISL Intelligent

Systems Lab

RD
1,8V

91




(MHz) -

""
(near infrared) 800-1000 nm (1m)


.

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Systems Lab

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LASER
()

( )
,
()

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Systems Lab

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13 :

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Systems Lab

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.
, ,

!

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Systems Lab

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CdS

: (CdS cell)
1-5
kOhm,
!
?

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Systems Lab

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Systems Lab

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()
-:
( GHz)
,

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30-200 kHz

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Systems Lab

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14 :



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Systems Lab

100

()



0,1-5 mm
..!

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Systems Lab

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30-60 kHz
IR 800-900 nm
()

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Systems Lab

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(optocoupler)
(optoisolator)


. (..
, ,
.)
, ,

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Systems Lab

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2000-5000 V
Sharp
Toshiba
NEC
Infineon
Phillips
Vishay
National
Texas Instruments
Hewlett-Packard

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( )
LED,
10 m
(4800 baud)

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15 :



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(1)

(2)

T T [Nm]
[rad/s]
J [kgm2]
P [W]

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(1/2)
J2


() " "

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(2/2)
(
)
=0
=cnst (?)
2
,

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Systems Lab

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=1/2


[%]
s [%] =0
=100%
T11=22
2= 1



.

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Systems Lab

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(1/2)

(..)
(brushless)
=kmI
V=km+RI +...

V,I

km


...+ L dI/dt ( )

.

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Systems Lab

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(2/2)
km

[Nm/A]=[Vs/rad]
R (L)
J ( )
( )
V,I

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Systems Lab

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( )

F.R
.
J.2
V.I

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Systems Lab

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16 :
()


R/C servo

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Systems Lab

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()




n:
(backlash)

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Systems Lab

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( )
(DA,DB)
A
B

S=
=DB/nB
=DA/nA

D
.

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Systems Lab

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.

N=1/2=nB/nA=DB/DA
2=1

A
B

:
n :
D : (pitch)

A
B

D
.

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Systems Lab

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22=11-
2=m1

1
A
B

A
B

:
N : ( >1)
m : (<1)
F

R
.

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Systems Lab

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J222=JB22+JA12
J112=J12+J22

1
A
B

A
B

J2= JB+JA2
J1= J+J/2
J :
N : ( >1)
:
.

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Systems Lab

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(>1)
.. ""


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Systems Lab

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:
D C
B

1/2=(A/B)(B/C)(C/D)
N=(DB/DA)(DD/DC)
1

J1=

JA+
(JB+Jc)(DA/DB)2+
JD/N2
.

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Systems Lab

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: (R/C servo)

. . .

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Systems Lab

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122

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17 :

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()

=

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Systems Lab

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(platform)





...

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Systems Lab

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110

mm
0,250 Kg
2X5 Watt
2X3
"tank drive"

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Systems Lab

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"" (1/3)
(
)
L1

L3

W=2F1+F3

2F1L1=F3L3

2
.

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Systems Lab

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"" (2/3)
,
, " ".
F=Ffr= Fw = ()Fw
x=F.R
Tx
Fw
Ffr
R

.

ISL Intelligent

Systems Lab

Ftot

Fw

Ffr
I

129

"" (3/3)
,
...
1= 1+Tx/N

T1

N
1
()
.

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Systems Lab

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:
J . . .

""

mR2/2

1/N2

miRi2/2

1/Ni2

()

R2/2

1/2

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Systems Lab

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