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> ? A $ & ‘ ( ) * + , – . / 0 1 2 3 4 5 6 7 8 9 : ; < = > ? @ A B C D E F G H I J K L M N O P Q R S T U V W X Y Z [ \ ] ^ _ ` a b c d e f g h i j k l m n o p q r s t u v w x y z { | } ~ [ bjbj X K I R R ! ! ! 4 ! ! ! h Y” % , ! E- F )) 2 @ !3 !3 !3 D YL , N ) ) ) ) ) ) ) $ 0 -3 * ! Q IB z D Q Q * !3 !3 ( , j j j Q g !3 ! !3 ) j Q ) j j v i! T % !3 ! X ) – 0 E- f h 3 3 % % 3 ! & , O h P J j OP < P 5 O O O * * O O O E- Q Q Q Q 3 O O O O O O O O O R [ : A P L I C A b I I N M E C A T R O N I C A C U P R I N S T O C \ o " 1 - 4 " \ h \ z \ u H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 6 1 " C A P I T O L U L 1 - P r o g r a m a r e a r o b o t u l u i e x p l o r e r d e l a L E G O M I N D S T O R M P A G E R E F _ T o c 3 7 1 0 1 4 5 6 1 \ h 3 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 6 2 " 1 . I N T R O D U C E R E P A G E R E F _ T o c 3 7 1 0 1 4 5 6 2 \ h 3 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 6 3 " 2 . C O N b I N U T T E H N I C P A G E R E F _ T o c 3 7 1 0 1 4 5 6 3 \ h 4 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 6 4 " 2 . 1 R O B O b I P A G E R E F _ T o c 3 7 1 0 1 4 5 6 4 \ h 4 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 6 5 " 2 . 1 . 1 N O b I U N I I N T R O D U C T I V E D E S P R E R O B O b I P A G E R E F _ T o c 3 7 1 0 1 4 5 6 5 \ h 4 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 6 6 " 2 . 1 . 2 R O B O b I M O B I L I P A G E R E F _ T o c 3 7 1 0 1 4 5 6 6 \ h 5 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 6 7 " 2 . 1 . 3 C O M P O N E N T E L E R O B O b I L O R P A G E R E F _ T o c 3 7 1 0 1 4 5 6 7 \ h 6 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 6 8 " 2 . 2 P R E Z E N T A R E A K I T - u l E D U C A b I O N A L L E G O M I N D S T O R M S N X T P A G E R E F _ T o c 3 7 1 0 1 4 5 6 8 \ h 1 0 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 6 9 " 2 . 2 . 1 G E N E R A L I T b I P A G E R E F _ T o c 3 7 1 0 1 4 5 6 9 \ h 1 0 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 7 0 " 2 . 2 . 2 S I S T E M U L D E P R O C E S A R E A L R O B O T U L U I N X T P A G E R E F _ T o c 3 7 1 0 1 4 5 7 0 \ h 1 1 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 7 1 " 2 . 2 . 3 S E N Z O R I I ^ I S E R V O M O T O R U L R O B O T U L U I N X T P A G E R E F _ T o c 3 7 1 0 1 4 5 7 1 \ h 1 3 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 7 2 " 2 . 3 A P L I C A b I E P R A C T I C R E A L I Z A T C U R O B O T U L E X P L O R E R PAGEREF _Toc371014572 \h 14 HYPERLINK \l "_Toc371014573" 2.3.1 ETAPELE PENTRU CONSTRUIREA ROBOTULUI PAGEREF _Toc371014573 \h 15 HYPERLINK \l "_Toc371014574" 2.3.2 PROGRAMAREA ROBOTULUI PAGEREF _Toc371014574 \h 15 HYPERLINK \l "_Toc371014575" 2.3.3 TESTAREA ROBOTULUI PAGEREF _Toc371014575 \h 19 HYPERLINK \l "_Toc371014576" 2 . 4 V A L E N b E E D U C A T I V E A L E M E T O D E L O R I N T E R A C T I V E P A G E R E F _ T o c 3 7 1 0 1 4 5 7 6 \ h 2 0 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 7 7 " 2 . 4 . 1 I M P O R T A N b A M E T O D E L O R I N T E R A C T I V E D E L U C R U N G R U P P A G E R E F _ T o c 3 7 1 0 1 4 5 7 7 \ h 2 0 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 7 8 " 2 . 4 . 2 M E T O D A C E L O R S A S E P A L A R I I G I N D I T O A R E F O L O S I T L A P A G E R E F _ T o c 3 7 1 0 1 4 5 7 8 \ h 2 1 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 7 9 " M O D U L U L X S E N Z O R I S I T R A D U C T O A R E P A G E R E F _ T o c 3 7 1 0 1 4 5 7 9 \ h 2 1 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 8 0 " 3 . C O N C L U Z I I P A G E R E F _ T o c 3 7 1 0 1 4 5 8 0 \ h 2 5 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 8 1 " C A P I T O L U L 2 : A c c i o n a r e a u n e i u _ i g l i s a n t e P A G E R E F _ T o c 3 7 1 0 1 4 5 8 1 \ h 2 6 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 8 2 " 1 . I N T R O D U C E R E P A G E R E F _ T o c 3 7 1 0 1 4 5 8 2 \ h 2 6 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 8 3 " 2 . C O N b I N U T T E H N I C P A G EREF _Toc371014583 \h 27 HYPERLINK \l "_Toc371014584" 2.1 AUTOMATIZAREA PROCESELOR TEHNOLOGICE PAGEREF _Toc371014584 \h 27 HYPERLINK \l "_Toc371014585" 2.2 DE LA MECANIZARE LA AUTOMATIZARE PAGEREF _Toc371014585 \h 27 HYPERLINK \l "_Toc371014586" 2.3 C O M P A R A b I I N T R E A C b I O N R I P N E U M A T I C E , H I D R A U L I C E ^ I E L E C T R I C E ( 5 ) P A G E R E F _ T o c 3 7 1 0 1 4 5 8 6 \ h 2 9 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 8 7 " 2 . 4 S I S T E M E D E A C b I O N A R E P N E U M A T I C E P A G E R E F _ T o c 3 7 1 0 1 4 5 8 7 \ h 3 0 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 8 8 " 2 . 4 . 1 A S P E C T E G E N E R A L E P A G E R E F _ T o c 3 7 1 0 1 4 5 8 8 \ h 3 0 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 8 9 " 2 . 4 . 2 A V A N T A J E , D E Z A V A N T A J E , D O M E N I I D E U T I L I Z A R E P A G E R E F _ T o c 3 7 1 0 1 4 5 8 9 \ h 3 1 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 9 0 " 2 . 5 P R E Z E N T A R E A A P L I C A b I E I : A C b I O N A R E A U N E I U ^ I G L I S A N T E P A G E R E F _ T o c 3 7 1 0 1 4 5 9 0 \ h 3 2 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 9 1 " 2 . 5 . 1 P R E Z E N T A R E A S I S T E M U L U I P N E U M A T I C ^ I A E L E M E N T E L O R P A G E R E F _ T o c 3 7 1 0 1 4 5 9 1 \ h 3 2 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4 5 9 2 " C O M P O N E N T E P A G E R E F _ T o c 3 7 1 0 1 4 5 9 2 \ h 3 2 H Y P E R L I N K \ l " _ T o c 3 7 1 0 1 4593" 2.5.2 MODELAREA PROCESULUI N FLUIDSIM PAGEREF _Toc371014593 \h 39 HYPERLINK \l "_Toc371014594" 2.5.3 PREZENTAREA ETAPELOR PROCESULUI TEHNOLOGIC PAGEREF _Toc371014594 \h 45 HYPERLINK \l "_Toc371014595" 2.5.4 SIMULAREA SISTEMULUI REALIZAT CU FESTO DIDACTIC PAGEREF _Toc371014595 \h 48 HYPERLINK \l "_Toc371014596" 3. CONCLUZII PAGEREF _Toc371014596 \h 49 HYPERLINK \l "_Toc371014597" BIBLIOGRAFIE PAGEREF _Toc371014597 \h 50 CAPITOLUL 1 - Pr o g r a m a r e a r o b o t u l u i e x p l o r e r d e l a L E G O M I N D S T O R M 1 . I N T R O D U C E R E M e c a t r o n i c a p o a t e f i d e f i n i t c a o c o n c e p c i e i n o v a t o a r e a t e h n i c i i d e a u t o m a t i z a r e p e n t r u n e v o i l e i n g i n e r i e i _ i e d u c a c i e i . T o t c e e a c e n u m i m a z i u n p r o d u s d e n a l t t e h n i c i t a t e , e s t e n s i n e u n p r o d u s m e c a t r o n i c . P r i n t r e p r o d u s e l e m e c a t r o n i c e n t l n i t e n m o d c u r e n t s e n u m r _ i r o b o c i i . A p l i c a c i a m e a d i n a c e a s t l u c r a r e s e r e f e r l a r o b o c i _ i u t i l i z a r e a p l a t f o r m e i L e g o M i n d s t o r m s N X T 2 . 0 . n a c e a s t l u c r a r e v o i p r e z e n t a m a i d e t a l i a t c o m a n d a u n u i r o b o t . A m a l e s s r e a l i z e z o a p l i c a c i e c u a c e a s t p l a t f o r m d i n u r m t o a r e l e m o t i v e : n l i c e u l n c a r e s u n t p r o f e s o a r d e t e h n o l o g i e , C o l e g i u l T e h n i c R e m u s R d u l e c B r a _ o v , e x i s t u n a s t f e l d e k i t e d u c a c i o n a l , a s t f e l c p r o g r a m e l e r e a l i z a t e l e - a m p u t u t v e r i f i c a ; n _ c o a l a n o a s t r e x i s t p r o f i l e c a r e s u n t s t r i c t l e g a t e d e a c e s t d o m e n i u c u m a r f i : t e h n i c i a n m e c a t r o n i s t s i t e c h n i c i a n a u t o m a t i s t ; s e r v o m o t o a r e l e r o b o c i l o r c o n c i n m o t o a r e d e c u r e n t c o n t i n u u , d i s p o z i t i v c e s e n v a c l a o r e l e d e t e h n o l o g i e , a s t f e l a c c i o n a r e a r o b o c i l o r c u m o t o a r e o p o t c o n s i d e r a c a o a p l i c a c i e l a a c e s t e l e c c i i . e l e v i i s u n t n c n t a c i c n d v d c n o c i u n i l e n v c a t e l a t e h n o l o g i e s u n t a p l i c a t e n v i a c a d e z i c u z i a s t f e l s u n t m a i m o t i v a c i s l e n v e c e ; f o l o s i n d a c e s t k i t , e l e v i i v o r l u c r a p e g r u p e , s e d e z v o l t a s t f e l s p i r i t u l d e e c h i p , n v c n d n a c e l a _ i t i m p m a i t e m e i n i c , d e c t n c a z u l l u c r u l u i i n d i v i d u a l ; d e z v o l t a r e a m o t i v a c i e i p e n t r u n v c a r e ; d e z v o l t a r e a c r e a t i v i t c i i , i m a g i n a c i e i , d e z v o l t a r e a g n d i r i i i n t e g r a t o a r e , e l e v i i s u n t l s a c i s r e a l i z e z e e i r o b o t u l g h i d n d u - s e d u p a n e x e l e d i n p r o g r a m ; c o n s i d e r c r e a l i z a r e a r o b o t u l u i e s t e i n t e r e s a n t _ i d e s t u l d e u _ o r d e r e a l i z a t , i a r p r o g r a m a r e a r o b o t u l u i e s t e _ i p e n c e l e s u l l o r , n e f i i n d f o a r t e c o m p l i c a t . A s t f e l e l e v i i p o t d u c e p n l a b u n s f r _ i t a p l i c a c i i l e p r o p u s e ; P e n t r u c a e l e v i i s f i e _ i m a i m o t i v a c i n r e a l i z a r e a p r o g r a m e l o r l a s f r _ i t u l s p t m n i i f i e c a r e g r u p v a p r e z e n t a c o l e g i l o r _ i p r o f e s o r i l o r o a p l i c a c i e r e a l i z a t _ i g n d i t d e e i . G r u p a c _ t i g t o a r e v a f i p r e m i a t . D e o a r e c e n p r e z e n t d o a r u n s i n g u r k i t e x i t n _ c o a l , a m b e l e g r u p e v o r c o n t r i b u i l a r e a l i z a r e a r o b o t u l u i i a r p r o g r a m a r e a l o r l e v o i r e a l i z a s e p a r a t e , p e g r u p e , n o r e s e p a r a t e . 2 . C O N b I N U T T E H N I C 2 . 1 R O B O b I R o b o t u l e s t e u n s i s t e m c o m p u s d i n m a i m u l t e e l e m e n t e : m e c a n i c , s e n z o r i i a c t u a t o r i p r e c u m i u n m e c a n i s m d e d i r e c i o n a r e . M e c a n i c a s t a b i l e t e n f i a r e a r o b o t u l u i i m i c r i l e p o s i b i l e p e t i m p d e f u n c i o n a r e . S e n z o r i i i a c t o r i i s u n t n t r e b u i n a i l a i n t e r a c i a c u m e d i u l s i s t e m u l u i . M e c a n i s m u l d e d i r e c i o n a r e a r e g r i j c a r o b o t u l s - i n d e p l i n e a s c o b i e c t i v u l c u s u c c e s , e v a l u n d d e e x e m p l u i n f o r m a i i l e s e n z o r i l o r . A c e s t m e c a n i s m r e g l e a z m o t o a r e l e i p l a n i f i c m i c r i l e c a r e t r e b u i e s c e f e c t u a t e . T o t r o b o t , p r e s c u r t a t b o t , pot fi numite HYPERLINK "http://ro.wikipedia.org/wiki/Program" \o "Program" programe ( HYPERLINK "http://ro.wikipedia.org/wiki/Software" \o "Software" software ) de HYPERLINK "http://ro.wikipedia.org/wiki/Calculator" \o "Calculator" calculator c a r e n d e p l i n e s c a u t o m a t a n u m i t e f u n c i i s a u o p e r a i u n i . A s t f e l d e r o b o i s u n t v i r t u a l i , i n u m e c a n i c i . ( H Y P E R L I N K " h t t p : / / r o . w i k i p e d i a . o r g / w i k i / R o b o t " 6 . ) R o b o t i c a e s t e a c e a p a r t e a _ t i i n c e i c a r e s e o c u p c u s t u d i u l o p e r a c i i l o r u m a n o i d e _ i s e s i t u e a z l a f r o n t i e r a m e c a n i c i i c u i n f o r m a t i c a , e l e c t r o t e h n i c a , e l e c t r o n i c a _ i _ t i i n c a s i s t e m e l o r _ i c a l c u l a t o a r e l o r , t e r m o t e h n i c , h i d r a u l i c . ( H Y P E R L I N K " 7 . % 0 9 C e r g h i t % 2 0 I o a n % 2 0 , % 2 0 % 2 0 M e t o d e % 2 0 d e % 2 0 n v c m n t , % 2 0 E d i t u r a % 2 0 D i d a c t i c % 2 0 _ i % 2 0 P e d a g o g i c % 2 0 , % 2 0 B u c u r e _ t i , % 2 0 1 9 9 7 " 7 . ) N O b I U N I I N T R O D U C T I V E D E S P R E R O B O b I C u v n t u l r o b o t a f o s t f o l o s i t p e n t r u p r i m a d a t n s e n s u l a c c e p t a t a s t z i n a n u l 1 9 2 0 d e c t r e s c r i i t o r u l c e h K . C a p e k , c a r e l - a p r e l u a t d i n l i m b a c e h u n d e n s e a m n m u n c g r e a . ( 6 . ) D e f i n i c i i l e r o b o t u l u i s e r e f e r l a m i _ c a r e s a u l a f u n c c i o n a r e a n t r - u n m e d i u a n u m e : c o n f o r m s p e c i a l i _ t i l o r j a p o n e z i r o b o t u l e s t e u n d i s p o z i t i v m e c a n i c a c c i o n a t c u f o r t e m o t r i c e c u c o m a n d i n t e l i g e n t _ i c a r e a c c i o n e a z c o n f o r m v o i n c e i u m a n e ; I n s t i t u t u l F r a n c e z d e S t a n d a r d i z a r e d e f i n e _ t e r o b o t u l c a f i i n d u n m a n i p u l a t o r a u t o m a t r e p r o g r a m a b i l _ i p o l i v a l e n t , c a p a b i l s r e a l i z e z e p o z i c i o n a r e a _ i r e o r i e n t a r e a p i e s e l o r p r i n t r - o m i _ c a r e v a r i a b i l _ i p r o g r a m a b i l a b r a c e l o r t e r m i n a l e , p r i n i n t e r m e d i u l u n o r d i s p o z i t i v e ; ( H Y P E R L I N K " 7 . % 0 9 C e r g h i t % 2 0 I o a n % 2 0 , % 2 0 % 2 0 M e t o d e % 2 0 d e % 2 0 n v c m n t , % 2 0 E d i t u r a % 2 0 D i d a c t i c % 2 0 _ i % 2 0 P e d a g o g i c % 2 0 , % 2 0 B u c u r e _ t i , % 2 0 1 9 9 7 " 7 . ) I n s t i t u t u l A m e r i c a n d e R o b o t i c c o n s i d e r a r o b o t u l c a f i i n d u n o p e r a t o r r e p r o g r a m a b i l _ i m u l t i f u n c c i o n a l p e n t r u d e p l a s a r e a o b i e c t e l o r p e t r a i e c t o r i i s t a b i l i t e a n t e r i o r n r e a l i z a r e a u n o r s a r c i n i c o n c r e t e ; ( H Y P E R L I N K " 7 . % 0 9 C e r g h i t % 2 0 I o a n % 2 0 , % 2 0 % 2 0 M e t o d e % 2 0 d e % 2 0 n v c m n t , % 2 0 E d i t u r a % 2 0 D i d a c t i c % 2 0 _ i % 2 0 P e d a g o g i c % 2 0 , % 2 0 B u c u r e _ t i , % 2 0 1 9 9 7 " 7 . ) n l i t e r a t u r a r o m n e a s c t e r m e n u l d e r o b o t u l e s t e d e f i n i t c a f i i n d u n e c h i p a m e n t u l a u t o m a t , a d a p t a b i l p r i n r e p r o g r a m a r e l a c o n d i c i i l e d e m e d i u n c a r e a c c i o n e a z . P e l n g c a r a c t e r i s t i c i l e s p e c i f i c e o r i c r u i s i s t e m m o b i l : d i m e n s i u n i , d e p l a s r i r e a l i z a t e , p r e c i z i e , r e p e t a b i l i t a t e , t i p d e a c c i o n a r e , s a r c i n t r a n s p o r t a t , v i t e z d e d e p l a s a r e , e x i s t c a r a c t e r i s t i c i s p e c i f i c e r o b o t u l u i c u m a r f i : n u m r d e g r a d e d e l i b e r t a t e , v o l u m u l s p a c i u l u i d e l u c r u , z o n d e l u c r u , a d a p t a b i l i t a t e l a l a m e d i u , p r o g r a m a b i l i t a t e , f i a b i l i t a t e . P e b a z a a c e s t o r c a r a c t e r i s t i c i s - a u d e f i n i t g e n e r a c i i l e d e r o b o t i : ( 6 . ) - G e n e r a c i a I r o b o c i c e a c c i o n e a z p e b a z a u n u i p r o g r a m f l e x i b i l p r e s t a b i l i t p r i n n v c a r e d i r e c t ; - G e n e r a c i a I I r o b o c i c u u n p r o g r a m f l e x i b i l p r e s t a b i l i t , c e s e p o a t e m o d i f i c a p e b a z a i n f o r m a c i i l o r f u r n i z a t e d e s i s t e m u l s e n z o r i a l ; - G e n e r a c i a I I I r o b o c i c e n g l o b e a z e l e m e n t e d e i n t e l i g e n c a r t i f i c i a l . T e r m e n u l d e r o b o t d e s c r i e u n d o m e n i u d e s t u l d e v a s t , d i n c a r e c a u z r o b o i i s u n t s o r t a i n m u l t e c a t e g o r i i . I a t c t e v a d i n a c e s t e a f i g . 1 : R o b o t u m a n o i d ( s a u a n d r o i d ) r o b o c i c o n s t r u i c i c a s m i m e z e c o m p o r t a m e n t u l _ i n f c i _ a r e a u m a n . R o b o c i i t r e b u i e s a c i o n e z e i s r e a c i o n e z e a u t o n o m n m e d i u , m o b i l i t a t e a l o r f i i n d r e s t r n s l a c e l e d o u p i c i o a r e c a l o c o m o i e . P e d e a s u p r a m a i t r e b u i e s f i e c a p a b i l i d e a l u c r a c u b r a e l e i m i n i l e . E x R o b o t u l A S I M O d e l a H o n d a d i n a n u l 2 0 0 0 ( H Y P E R L I N K " C u r s % 2 0 F l e x f o r m : % 2 0 % 2 0 M e t o d e % 2 0 _ i % 2 0 t e h n i c i % 2 0 d e % 2 0 i n o v a r e % 2 0 _ i % 2 0 c r e a t i v i t a t e " 2 . ) R o b o c i i n d u s t r i a l i r e p r e z i n t u n s i s t e m f i z i c , p r o g r a m a b i l c e e s t e c a p a b i l s r e a l i z e z e d i f e r i t e o p e r a i i i s e c v e n e d e o p e r a i i d e m a n i p u l a r e a u n o r s c u l e , p i e s e s a u s u b a n s a m b l e . R o b o c i s t a t i c r o b o c i f o l o s i c i n d i v e r s e f a b r i c i _ i l a b o r a t o a r e c a d e e x e m p l u b r a c e r o b o t ; R o b o c i m o b i l e r o b o c i c a r e s e d e p l a s e a z n t r - u n a n u m i t m e d i u f r i n t e r v e n c i e u m a n _ i r e a l i z e a z a n u m i t e o b i e c t i v e ; R o b o c i a u t o n o m i r o b o c i c a r e _ i n d e p l i n e s c s a r c i n i l e f r i n t e r v e n c i e d i n p a r t e a u n u i o p e r a t o r u m a n _ i _ i o b c i n e n e r g i a n e c e s a r f u n c c i o n r i i d i n m e d i u l n c o n j u r t o r ; e x e m p l u r o b o t a s p i r a t o r , r o b o t d e t u n s g a z o n u l , r o b o t d e s p l a t f e r e s t r e l e R o b o c i t e l e g h i d a c i s a u p a r c i a l a u t o n o m - s u n t r o b o i c a r e o p e r e a z n l o c a i i g r e u a c c e s i b i l e i p e r i c u l o a s e . A c e t i a p o t l u c r a d e e x e m p l u n t r - o r e g i u n e a f l a t n c o n f l i c t m i l i t a r , p e L u n s a u M a r t e ( r o b o c i e x p l o r a t o r i ) R o b o c i j u c r i e d e s t i n a t c o p i i l o r _ i e l e v i i l o r , r o b o c i d i n l e g o d i n c a r e s e p o t f a c e d i v e r s e f o r m e _ i p o t f i p r o g r a m a t e ( H Y P E R L I N K " C u r s % 2 0 F l e x f o r m : % 2 0 % 2 0 M e t o d e % 2 0 _ i % 2 0 t e h n i c i % 2 0 d e % 2 0 i n o v a r e % 2 0 _ i % 2 0 c r e a t i v i t a t e " 2 . ) R o b o t u l e s t e u n s i s t e m c o m p u s d i n m a i m u l t e e l e m e n t e : m e c a n i c , s e n z o r i i a c t u a t o r i p r e c u m i u n m e c a n i s m d e d i r e c i o n a r e . M e c a n i c a s t a b i l e t e n f i a r e a r o b o t u l u i i m i c r i l e p o s i b i l e p e t i m p d e f u n c i o n a r e . S e n z o r i i i a c t u a t o r i i s u n t n t r e b u i n a i l a i n t e r a c i a c u m e d i u l s i s t e m u l u i . M e c a n i s m u l d e d i r e c i o n a r e a r e g r i j c a r o b o t u l s - i n d e p l i n e a s c o b i e c t i v u l c u s u c c e s , e v a l u n d d e e x e m p l u i n f o r m a i i l e s e n z o r i l o r . A c e s t m e c a n i s m r e g l e a z m o t o a r e l e i p l a n i f i c m i c r i l e c a r e t r e b u i e s c e f e c t u a t e . ( H Y P E R L I N K " 7 . % 0 9 C e r g h i t % 2 0 I o a n % 2 0 , % 2 0 % 2 0 M e t o d e % 2 0 d e % 2 0 n v c m n t , % 2 0 E d i t u r a % 2 0 D i d a c t i c % 2 0 _ i % 2 0 P e d a g o g i c % 2 0 , % 2 0 B u c u r e _ t i , % 2 0 1 9 9 7 " 7 . ) f i g . 1 M o d e l e d e r o b o c i ( H Y P E R L I N K " L E G O % 2 0 M I N D S T O R M S % 2 0 h t t p : / m i n d s t o r m s . l e g o . c o m " 3 . ) R O B O b I M O B I L I U n r o b o t m o b i l a r p u t e a f i d e s c r i s c a u n r o b o t c a r e t r e b u i e s s e d e p l a s e z e n t r - u n a n u m i t m e d i u , f r a j u t o r u l u n u i o p e r a t o r u m a n _ i s e x e c u t e a n u m i t e s a r c i n i d a t e d e a c e s t a . D e c i p r i n c i p a l a c a r a c t e r i s t i c e s t e m o b i l i t a t e a . U n r o b o t m o b i l e s t e a l c t u i t d i n t r - o s e r i e d e c o m p o n e n t e , u n e l e d e n a t u r f i z i c ( h a r d w a r e ) , i a r a l t e l e d e n a t u r l o g i c , c o m p u t a c i o n a l ( s o f t w a r e ) . D i n p u n c t d e v e d e r e a l c o m p o n e n t e l o r h a r d w a r e , u n r o b o t m o b i l p o a t e f i c o n s i d e r a t c a o c o l e c c i e d e s i s t e m e p e n t r u : L o c o m o c i e _ i a c c i u n e m o d a l i t a t e a p r i n c a r e r o b o t u l s e m i _ c n m e d i u l s u a m b i a n t ; S e s i z a r e p r i n s i s t e m s e n z o r i a l m o d a l i t a t e a p r i n c a r e r o b o t u l m s o a r p r o p r i e t c i l e l u i _ i a l e m e d i u l u i n c o n j u r t o r ; P r o c e s a r e m o d a l i t a t e a p r i n c a r e r o b o t u l p r o c e s e a z _ i i a d e c i z i i n l e g t u r c u i n f o r m a c i i l e p r i m i t e d e l a s i s t e m u l s e n z o r i a l ; C o m u n i c a r e m o d a l i t a t e a p r i n c a r e r o b o t u l c o m u n i c c u a l c i r o b o c i s a u c u u n o p e r a t o r d i n m e d i u . ( H Y P E R L I N K " h t t p : / / r o . w i k i p e d i a . o r g / w i k i / R o b o t " 6 . ) n c e p r i v e _ t e l o c o m o c i a _ i a c c i u n e a , p e n t r u a s e p u t e a d e p l a s a n m e d i u l a m b i a n t _ i a e x e c u t a a n u m i t e a c c i u n i p r i n i n t e r m e d i u l o r g a n e l o r s a l e m o b i l e , r o b o c i i m o b i l i a u n e v o i e d e a n u m i t e c o m p o n e n t e e l e c t r o - m e c a n i c e c a r e s l e p e r m i t o m i _ c a r e p r e c i s , b a z a t e p e t r a n s f o r m a r e a e n e r g i e i e l e c t r i c e n e n e r g i e m e c a n i c d e c t r e m o t o a r e _ i s e r v o m o t o a r e s p e c i f i c e . C e l e m a i i m p o r t a n t e c o m p o n e n e t e a r o b o c i l o r m o b i l i s u n t : - M o t o a r e , s e r v o m o t o a r e , e l e c t r o m a g n e c i ; - A n g r e n a j e , s i s t e m e d e t r a n s m i s i e ; - R o c i , _ e n i l e , p i c i o a r e , p e r n e d e a e r s a u p e r n e m a g n e t i c e , e l i c e . C O M P O N E N T E L E R O B O b I L O R M I C R O C O N T R O L E R E M i c r o c o n t r o l e r e l e s u n t u t i l i z a t e m a s i v n r o b o t i c _ i m e c a t r o n i c . C o n c e p t u l d e m e c a t r o n i c e s t e p n l a u r m i n d i s o l u b i l l e g a t d e u t i l i z a r e a m i c r o c o n t r o l e r e l o r . U n c o n t r o l e r e s t e , o s t r u c t u r e l e c t r o n i c d e s t i n a t c o n t r o l u l u i u n u i p r o c e s s a u , m a i g e n e r a l , u n e i i n t e r a c i u n i c a r a c t e r i s t i c e c u m e d i u l e x t e r i o r , f r s f i e n e c e s a r i n t e r v e n i a o p e r a t o r u l u i u m a n f i g . 2 . U n m i c r o c o n t r o l e r e s t e n e s e n c o c o n f i g u r a c i e m i n i m a l d e s i s t e m d e c a l c u l , c a p a b i l s e x e c u t e l a o v i t e z f o a r t e m a r e i n s t r u c c i u n i l e u n u i p r o g r a m s t o c a t n m e m o r i e ; a c e s t p r o g r a m e s t e o s e c v e n c l o g i c d e o p e r a c i i c e p o a t e i m p l e m e n t a a l g o r i t m i i n e c e s a r i p e n t r u c o n t r o l u l p r o c e s e l o r . ( H Y P E R L I N K " 7 . % 0 9 C e r g h i t % 2 0 I o a n % 2 0 , % 2 0 % 2 0 M e t o d e % 2 0 d e % 2 0 n v c m n t , % 2 0 E d i t u r a % 2 0 D i d a c t i c % 2 0 _ i % 2 0 P e d a g o g i c % 2 0 , % 2 0 B u c u r e _ t i , % 2 0 1 9 9 7 " 7 . ) M i c r o c o n t r o l e r u l a r e i n t e g r a t p e a c e l a _ i c h i p : o s c i l a t o r u l , m e m o r i a ( R A M , R O M , E E P R O M ) , n u m r t o a r e , b l o c u r i a n a l o g i c e , i n t e r f e c e d e c o m u n i c a c i e _ i p o r t u r i d e i n t r a r e - i e _ i r e . U n m i c r o c o n t r o l e r t i p i c m a i a r e , l a n i v e l u l u n i t c i i c e n t r a l e , f a c i l i t c i d e p r e l u c r a r e a i n f o r m a c i e i l a n i v e l d e b i t , d e a c c e s d i r e c t _ i u _ o r l a i n t r r i / i e _ i r i _ i u n m e c a n i s m d e p r e l u c r a r e a n t r e r u p e r i l o r r a p i d _ i e f i c i e n t . f i g . 2 M E M O R I E P R O G R A M ( F L A S H ) - p e n t r u m e m o r a r e a u n u i p r o g r a m s c r i s . P e n t r u c m e m o r i a c e e s t e f c u t n t e h n o l o g i a F L A S H p o a t e f i p r o g r a m a t _ i _ t e a r s d e m a i m u l t e o r i , a c e a s t a f a c e m i c r o c o n t r o l e r u l p o t r i v i t p e n t r u d e z v o l t a r e a d e c o m p o n e n t ; E E P R O M - m e m o r i e d e d a t e c e t r e b u i e s f i e s a l v a t e c n d n u m a i e s t e a l i m e n t a r e . E s t e n m o d u z u a l f o l o s i t p e n t r u m e m o r a r e a d e d a t e i m p o r t a n t e c e n u t r e b u i e p i e r d u t e d a c s u r s a d e a l i m e n t a r e s e n t r e r u p e d i n t r - o d a t . D e e x e m p l u , o a s t f e l d e d a t e s t e o t e m p e r a t u r p r e s t a b i l i t n r e g u l a t o a r e l e d e t e m p e r a t u r . D a c n t i m p u l n t r e r u p e r i i a l i m e n t r i i a c e a s t d a t s e p i e r d e , v a t r e b u i s f a c e m a j u s t a r e a n c o d a t l a r e v e n i r e a a l i m e n t r i i . A s t f e l c o m p o n e n t a n o a s t r p i e r d e n p r i v i n c a a u t o - m e n c i n e r i i ; R A M - m e m o r i e d e d a t e f o l o s i t d e u n p r o g r a m n t i m p u l e x e c u t r i i s a l e . n R A M s u n t m e m o r a t e t o a t e r e z u l t a t e l e i n t e r m e d i a r e s a u d a t e l e t e m p o r a r e c e n u s u n t c r u c i a l e l a n t r e r u p e r e a s u r s e i d e a l i m e n t a r e ; P O R T U L A _ i P O R T U L B s u n t c o n e x i u n i f i z i c e n t r e m i c r o c o n t r o l e r _ i l u m e a d e a f a r . P o r t u l A a r e 5 p i n i , i a r p o r t u l B a r e 8 p i n i ; T I M E R - U L L I B E R ( F R E E - R U N ) e s t e u n r e g i s t r u d e 8 b i c i n i n t e r i o r u l m i c r o c o n t r o l e r u l u i c e l u c r e a z i n d e p e n d e n t d e p r o g r a m . L a f i e c a r e a l p a t r u l e a i m p u l s d e c e a s a l o s c i l a t o r u l u i _ i n c r e m e n - t e a z v a l o a r e a l u i p n c e a t i n g e m a x i m u l ( 2 5 5 ) , _ i a p o i n c e p e s n u m e r e t o t d i n n o u d e l a z e r o ; U N I T A T E A D E P R O C E S A R E C E N T R A L ( C e n t r a l P r o c e s s i n g U n i t C P U ) a r e r o l u l u n u i e l e m e n t d e c o n e c t i v i t a t e n t r e c e l e l a l t e b l o c u r i a l e m i c r o c o n t r o l e r u l u i . C o o r d o n e a z l u c r u l a l t o r b l o c u r i _ i e x e c u t p r o g r a m u l u t i l i z a t o r u l u i . U t i l i z a r e a u n u i m i c r o c o n t r o l e r c o n s t i t u i e o s o l u c i e p r i n c a r e s e p o a t e r e d u c e d r a m a t i c n u m r u l c o m p o n e n t e l o r e l e c t r o n i c e p r e c u m _ i c o s t u l p r o i e c t r i i _ i a l d e z v o l t r i i u n u i p r o d u s . U t i l i z a r e a u n u i m i c r o c o n t r o l e r , o r i c t d e e v o l u a t , n u e l i m i n u n e l e c o m p o n e n t e a l e i n t e r f e c e i c u m e d i u l e x t e r i o r ( a t u n c i c n d e l e s u n t c h i a r n e c e s a r e ) : s u b s i s t e m e d e p r e l u c r a r e a n a l o g i c ( a m p l i f i c a r e , r e d r e s a r e , f i l t r a r e , p r o t e c c i e - l i m i t a r e ) , e l e m e n t e p e n t r u r e a l i z a r e a i z o l r i i g a l v a n i c e ( o p t o c u p l o a r e , t r a n s f o r m a t o a r e ) , e l e m e n t e d e c o m u t a c i e d e p u t e r e ( t r a n z i s t o a r e d e p u t e r e , r e l e e e l e c t r o m e c a n i c e s a u s t a t i c e ) . M i c r o c o n t r o l e r u l n u p o a t e f a c e n i m i c d a c n u e s t e p r o g r a m a t . P r o g r a m u l s o f t w a r e c o n f e r m i c r o c o n t r o l e r u l u i , a b i l i t a t e a d e a r e a l i z a f u n c c i i d i f e r i t e c u a c e e a _ i c o n f i g u r a c i e h a r d w a r e . S c r i e r e a p r o g r a m u l u i s e r e a l i z e a z d e o b i c e i n t r - u n e d i t o r c e p e r m i t e s a l v a r e a l i n i i l o r d e c o m a n d i n t r o d u s e . E x i s t m a i m u l t e o p c i u n i p e n t r u s c r i e r e a p r o g r a m u l u i d e c o n t r o l a l a p l i c a t i e i _ i a n u m e : " c o d m a s i n ( c o d h e x a d e c i m a l ) " l i m b a j d e a s a m b l a r e , " l i m b a j d e n i v e l n a l t ( C , P a s c a l , B a s i c e t c ) C o m e n z i l e r e c u n o s c u t e d e m i c r o c o n t r o l e r s u n t c e l e s c r i s e n c o d m a s i n . L i m b a j u l d e a s a m b l a r e _ i l i m b a j e l e d e n i v e l n a l t s u n t m a i e v o l u a t e , c o n c i n i n s t r u c c i u n i c e s u n t u _ o r d e r e c i n u t , d a r p e n t r u t r a n s f o r m a r e a a c e s t o r a n c o d m a _ i n a v e m n e v o i e d e u n c o m p i l a t o r . C o m p i l a t o r u l e s t e p r o g r a m s o f t w a r e , d e o b i c e i o f e r i t g r a t u i t d e p r o d u c t o r i i m i c r o c o n t r o l e r e l o r . P e n t r u a t r a n s f e r a c o d u l h e x a d e c i m a l r e z u l t a t n u r m a c o m p i l r i i , n m e m o r i a R O M ( m e m o r i a p r o g r a m ) a m i c r o c o n t r o l e r u l u i e s t e n e v o i e d e u n p r o g r a m a t o r . P r o g r a m a t o r u l e s t e c o m p u s d i n t r - u n m o d u l e l e c t r o n i c c a r e a s i g u r i n t e r f a c a r e a n t r e a p l i c a c i a c e c o n c i n e m i c r o c o n t r o l e r u l _ i c a l c u l a t o r ( P C ) , _ i u n p r o g r a m s o f t w a r e c e r u l e a z p e P C . S E R V O M O T O A R E S e r v o m o t o a r e l e r e p r e z i n t c o m p o n e n t e e s e n c i a l e , d e e x e c u c i e _ i d e p r e c i z i e , n s t r u c t u r a u n u i r o b o t m o b i l , u t i l i z a t e n p r i n c i p a l p e n t r u d e p l a s a r e a r o b o t u l u i , d a r _ i p e n t r u r e a l i z a r e a u n o r m i _ c r i , c e p o t f i c o m p l e x e _ i d e m a r e p r e c i z i e , a l e u n o r o r g a n e / p r c i a l e r o b o t u l u i f i g . 3 ( H Y P E R L I N K " 7 . % 0 9 C e r g h i t % 2 0 I o a n % 2 0 , % 2 0 % 2 0 M e t o d e % 2 0 d e % 2 0 n v c m n t , % 2 0 E d i t u r a % 2 0 D i d a c t i c % 2 0 _ i % 2 0 P e d a g o g i c % 2 0 , % 2 0 B u c u r e _ t i , % 2 0 1 9 9 7 " 7 . ) U n s e r v o m o t o r d e t i p h o b b y p e n t r u r o b o c i d e d i m e n s i u n i m i c i c o n s t d i n t r - o c u t i u c d i n p l a s t i c , c u u r e c h i u _ e d e p r i n d e r e p e l a t e r a l e _ i u n a x c a n e l a t p e c a r e e s t e m o n t a t u n b r a c ( s a u o r o a t ) c u g u r i p e n t r u a p u t e a p r i n d e p r g h i i l e d e a c c i o n a r e . n i n t e r i o r u l a c e s t e i c u t i u c e s e a f l u n m o t o r a _ d e c u r e n t c o n t i n u u , o s e r i e d e r o c i d i n c a t e c a r e c r e e a z u n r e d u c t o r d e t u r a c i e _ i o p l a c e l e c t r o n i c d e c o n t r o l c u b u c l n c h i s . P e a x u l d e i e _ i r e e s t e m o n t a t u n p o t e n c i o m e t r u , a l c r u i p o z i c i e e s t e i d e n t i c c u a b r a c u l u i m o n t a t p e a x . A x u l a r e l i m i t a t o r d e c u r s d e c i r c a 1 8 0 d e g r a d e . C i r c u i t u l d e c o n t r o l a r e r o l u l d e a m o d i f i c a p a r a m e t r i i f u n c c i o n a l i ( p o z i c i e , v i t e z e t c . ) a i s e r v o m o t o r u l u i n f u n c c i e d e s e m n a l u l d e i n t r a r e ( r e f e r i n ) . A f l a r e a p o z i i e i l a c a r e s e a f l a r b o r e l e s e r v o m o t o r u l u i s e r e a l i z e a z c u a j u t o r u l p o t e n i o m e t r u l u i . M o d i f i c a r e a u n g h i u l u i d e r o t a i e a l a r b o r e l u i v a d e t e r m i n a m o d i f i c a r e a p o z i i e i c u r s o r u l u i p o t e n i o m e t r u l u i _ i i m p l i c i t t e n s i u n e a d e i e i r e a a c e s t u i a . V a l o a r e a t e n s i u n i i e s t e u t i l i z a t d e s i s t e m u l d e c o n t r o l p e n t r u a d e t e r m i n a p o z i i a / t u r a i a r e a l a s e r v o m e c a n i s m u l u i , i c o m p a r n d - o c u r e f e r i n a v a r e z u l t a s e m n a l u l d e c o m a n d p e n t r u m o t o r u l d e c u r e n t c o n t i n u u . D i n c u t i u c i e s e u n c a b l u c u 3 f i r e , n e g r u - m a s a , r o _ u - p l u s _ i a l b ( s a u g a l b e n ) - s e m n a l . A l i m e n t a r e a s e f a c e n t r e 5 s i 6 V , i a r s e m n a l u l e s t e u n t r e n d e p u l s u r i c u d i s t a n c a n t r e e l e d e l a 1 l a 2 m s . S e m n a l u l e s t e g e n e r a t d e m i c r o c o n t r o l l e r . S e r v o m o t o r u l f u n c c i o n e a z a s t f e l : p e p l a c a e l e c t r o n i c e s t e u n g e n e r a t o r d e s e m n a l a l c r u i p u l s e s t e c o n t r o l a t d e v a l o a r e a p o t e n c i o m e t r u l u i . A c e s t s e m n a l e s t e i n t r o d u s n t r - u n c o m p a r a t o r , m p r e u n c u s e m n a l u l d e c o m a n d p r i m i t d i n e x t e r i o r . C o m p a r a t o r u l c o m a n d m o t o r u l s s e n v r t n a _ a f e l n c t s e m n a l e l e s d e v i n i d e n t i c e . P e n t r u u n s e m n a l d e 1 m s b r a c u l s e p o z i c i o n e a z c o m p l e t l a s t n g a , p e n t r u 1 , 5 m s s e p o z i c i o n e a z l a m i j l o c i a r p e n t r u 2 m s s e p o z i c i o n e a z c o m p l e t l a d r e a p t a . n p r o g r a m a r e , s e m n a l u l e s t e g e n e r a t d i g i t a l , c u v a l o r i l e n t r e 1 0 0 _ i 2 0 0 . A c e s t s e m n a l d e c o m a n d t r e b u i e r e n o i t l a f i e c a r e 2 0 m s p e n t r u c a b r a c u l s - _ i p s t r e z e p o z i c i a . D i n c a u z a c o m e n z i i s i m p l e _ i a f a p t u l u i c s e r v o m o t o a r e l e a u r e d u c t o r d e t u r a c i e i n t e g r a t , c o n s t r u c t o r i i d e r o b o t i l e - a u m o d i f i c a t p e n t r u a s e p u t e a r o t i c o n t i n u u , f o l o s i n d u - l e c a m o t o a r e d e d e p l a s a r e . A c e a s t m o d i f i c a r e c o n s t n n l o c u i r e a p o t e n c i o m e t r u l u i c u u n s e m i r e g l a b i l _ i t i e r e a l i m i t a t o a r e l o r d e c u r s . U n s e m n a l d e 1 m s v a f a c e c a s e r v o m o t o r u l s n v r t f i g . 3 ( 7 . ) b r a c u l ( l a c a r e s e c o n e c t e a z o r o a t ) s p r e s t n g a c u v i t e z a m a x i m _ i u n s e m n a l d e 2 m s f a c e c a s s e n v r t c u v i t e z a m a x i m s p r e d r e a p t a i a r u n s e m n a l d e 1 , 5 m s f a c e c a m o t o r u l s s t e a p e l o c ( f r n a t ) . O r i c e s e m n a l n t r e a c e s t e v a l o r i f a c e c a r o a t a s s e n v r t m a i r e p e d e s a u m a i n c e t , s p r e s t n g a s a u d r e a p t a . F o l o s i r e a s e r v o m o t o a r e l o r c u r o t i r e c o n t i n u p e n t r u d e p l a s a r e m a i a r e _ i a l t e a v a n t a j e : - f o l o s i r e a u n u i s i n g u r p i n d e c o m a n d . M o t o a r e l e d e c u r e n t c o n t i n u u a u n e v o i e d e 2 , c e l e p a s c u p a s d e 4 . - m s u r n d c t s e d e p l a s e a z r o b o t u l p e d u r a t a u n u i p u l s , s e p o a t e c a l c u l a a p o i d i s t a n c a p a r c u r s d e r o b o t d u p n u m r u l d e p u l s u r i c o m a n d a t e S E N Z O R I E s t e f u n d a m e n t a l l a p r o i e c t a r e a u n u i r o b o t m o b i l , c a a c e s t a s f i e e c h i p a t c u u n s i s t e m d e s e n z o r i p r o p r i i , a v n d c a p a c i t a t e a d e a c h i z i c i e a i n f o r m a c i i l o r , p e b a z a c r o r a s - _ i f o r m e z e o r e p r e z e n t a r e i n t e r n a l u m i i n c o n j u r t o a r e , p e n t r u a l u a d e c i z i i _ i a p l a n i f i c a a c c i u n i . R o b o t u l t r e b u i e s p o a t e x t r a g e i n f o r m a c i i d e l a s e n z o r i i s i _ i s l e i n t e r p r e t e z e , p e n t r u a - _ i c a l c u l a u r m t o a r e a m i _ c a r e . U n r o b o t m o b i l , c a r e n a v i g h e a z a u t o n o m s a u s e m i a u t o n o m , t r e b u i e s p o a t e v i t a o b s t a c o l e l e d e p e t r a s e u . S e n z o r i i s u n t d i s p o z i t i v e c o m p o n e n t e a l e r o b o c i l o r m o b i l i c a r e p o t m s u r a d i f e r i t e p r o p r i e t c i a l e m e d i u l u i d i n j u r u l a c e s t o r a , c u m a r f i : t e m p e r a t u r a , d i s t a n c a , r e z i s t e n c a f i z i c , g r e u t a t e a , m r i m e a . n c e l m a i g e n e r a l c a z , s e n z o r i i p o t f i g r u p a c i n d o u c a t e g o r i i : S e n z o r i d e s t a r e i n t e r n s e n z o r i c a r e o f e r i n f o r m a c i i d e s p r e s t a r e a i n t e r n a r o b o t u l u i m o b i l , s p r e e x e m p l u n i v e l u l b a t e r i e i , p o z i c i a r o c i l o r s a u a l t o r c o m p o n e n t e , e t c . ; S e n z o r i d e s t a r e e x t e r n s e n z o r i c a r e o f e r i n f o r m a c i i d e s p r e m e d i u l a m b i a n t n c a r e r o b o t u l f u n c c i o n e a z . S e n z o r i i d e s t a r e e x t e r n s e m a i p o t m p r c i l a r n d u l l o r n d o u c a t e g o r i i : s e n z o r i c u c o n t a c t , m a i p r e c i s a c e i s e n z o r i c a r e c u l e g i n f o r m a c i a d i n m e d i u p r i n a t i n g e r e ( e x e m p l u : s e n z o r " b u m p e r " ) , r e s p e c t i v s e n z o r i f r c o n t a c t , c a r e p r e i a u i n f o r m a c i a d i n m e d i u d e l a d i s t a n c ( e x e m p l u : c a m e r v i d e o , s e n z o r u l t r a s o n i c ) U n s e n z o r p o a t e f i a c t i v s a u p a s i v . S e n z o r i i a c t i v i s u n t a c e i s e n z o r i c a r e e m i t e n e r g i e n m e d i u p e n t r u a p u t e a o b s e r v a a n u m i t e c a r a c t e r i s t i c i a l e a c e s t u i a , s p r e d e o s e b i r e d e s e n z o r i i p a s i v i c a r e p r i m e s c e n e r g i e d i n m e d i u p e n t r u a p u t e a p r e l u a i n f o r m a c i a . T o a t e t i p u r i l e d e s e n z o r i s u n t c a r a c t e r i z a t e p r i n t r - o s e r i e d e p r o p r i e t c i , c e l e m a i i m p o r t a n t e f i i n d : ( 7 . ) " S e n s i b i l i t a t e a : r a p o r t u l d i n t r e s e m n a l u l d e i e _ i r e _ i s e m n a l u l d e i n t r a r e ; " L i n i a r i t a t e a : e x p r i m d a c r a p o r t u l d i n t r e i n t r a r e _ i i e _ i r e e s t e c o n s t a n t ; " I n t e r v a l u l d e m s u r a r e : d i f e r e n c a n t r e d i s t a n c a m i n i m _ i m a x i m m s u r a b i l ; " T i m p u l d e r s p u n s : t i m p u l n e c e s a r p e n t r u c a i n f o r m a c i a d e l a i n t r a r e s f i e o b s e r v a b i l l a i e _ i r e ; P r o g r a m d e f o r m a r e : I n f o r m a t i c i t e h n o l o g i i e d u c a i o n a l e " A c u r a t e c e a : d i f e r e n c a n t r e s e m n a l u l m s u r a t _ i s e m n a l u l r e a l ; " R e p e t a b i l i t a t e a : d i f e r e n c e l e n t r e m s u r t o r i s u c c e s i v e a l e a c e l e i a _ i e n t i t c i ; " R e z o l u c i a : e x p r i m c e a m a i m i c u n i t a t e d e i n c r e m e n t a r e a s e m n a l u l u i m s u r a t ; " P r e c u l s e n z o r u l u i ; " P u t e r e a d e c a l c u l n e c e s a r p e n t r u a i n t e r p r e t a r e z u l t a t e l e ; " T i p u l d e s e m n a l l a i e _ i r e ; " G r e u t a t e a , m r i m e a _ i c a n t i t a t e a d e e n e r g i e c o n s u m a t p e n t r u a f a c e o m s u r t o a r e . S e n z o r i i d i n r o b o c i i m o b i l i s e p o t c l a s i f i c a , p e c r i t e r i u l f u n c c i o n a l , a s t f e l : S e n z o r i d e d i s t a n c a c e i s e n z o r i c a r e o f e r i n f o r m a c i i d e s p r e d i s t a n c a n t r e s e n z o r _ i o b i e c t u l d e m s u r a t d i n m e d i u ; S e n z o r i d e p o z i c i e a c e i s e n z o r i c a r e o f e r i n f o r m a c i i d e s p r e p o z i c i a r o b o t u l u i n t e r m e n i a b s o l u c i ; S e n z o r i d e m e d i u a c e i s e n z o r i c a r e o f e r i n f o r m a c i i d e s p r e d i v e r s e p r o p r i e t c i _ i c a r a c t e r i s t i c i a l e m e d i u l u i ( e x e m p l u : t e m p e r a t u r , c u l o a r e ) ; S e n z o r i i n e r c i a l i a c e i s e n z o r i c a r e m s o a r p r o p r i e t c i d i f e r e n c i a l e a l e p o z i c i e i r o b o t u l u i ( e x e m p l u : a c c e l e r a c i a ) . n p r i n c i p i u o r i c e t i p d e s e n z o r p o a t e f i a f e c t a t d e m a i m u l t e t i p u r i d e e r o r i . D i n t r e a c e s t e a , c e l e m a i i m p o r t a n t e s u n t e r o r i l e i n c i d e n t a l e , e r o r i l e s i s t e m a t i c e _ i e r o r i l e s t o h a s t i c e . E r o r i l e i n c i d e n t a l e a p a r o c a z i o n a l _ i p o t a v e a u n e f e c t n e p r e v z u t a s u p r a i n f o r m a c i e i , e l e p r o v e n i n d n c e a m a i m a r e p a r t e d e l a m s u r t o r i e f e c t u a t e g r e _ i t . E r o r i l e s i s t e m a t i c e a u o i n f l u e n c p r e d i c t i b i l a s u p r a a c u r a t e c i i i n f o r m a c i e i , a c e s t e a p r o v e n i n d d e l a o i n t e r p r e t a r e g r e _ i t a p a r a m e t r i l o r n a l g o r i t m i i d e e s t i m a r e , s a u d i n c a u z a u n o r n e c o n c o r d a n c e ( i n c e r t i t u d i n i ) n m o d e l a r e . n f i n e , e r o r i l e s t o h a s t i c e a u u n c a r a c t e r a l e a t o r , e l e d i f e r i n d d e f i e c a r e d a t c n d r o b o t u l e x e c u t a c e e a _ i o p e r a c i e . S E N Z O R I C U U L T R A S U N E T E C a t e g o r i a d e s e n z o r i c e a m a i d e s n t l n i t l a u n r o b o t m o b i l o c o n s t i t u i e , c a t e g o r i a s e n z o r i l o r u l t r a s o n i c i . n t l n i c i n l i t e r a t u r a d e s p e c i a l i t a t e _ i s u b d e n u m i r e a d e s o n a r s e n z o r i i u l t r a s o n i c i f o l o s e s c s e m n a l e a c u s t i c e ( s u n e t e ) . S e n z o r i i c u u l t r a s u n e t e s u n t u n i i d i n t r e c e i m a i u t i l i _ i e f i c i e n c i s e n z o r i d i n d o t a r e a r o b o c i l o r . E i p e r m i t m s u r a r e a s u f i c i e n t d e p r e c i s , f r c o n t a c t , a d i s t a n c e l o r f a c d e a l t e o b i e c t e d i n m e d i u _ i a s i g u r a s t f e l p r e m i z e l e p e n t r u u n e l e d i n t r e c e l e m a i i m p o r t a n t e a c t i v i t c i a l e r o b o c i l o r . U n e m i c t o r s o n a r t r a n s m i t e u n s e m n a l a c u s t i c n m e d i u u r m n d a p o i c a r e f l e x i a a c e s t u i a s f i e r e c e p c i o n a t d e c o m p o n e n t a d e t e c t o r a s e n z o r u l u i . T i m p u l n c a r e s e m n a l u l e s t e r e c e p t a t n a p o i d e s e n z o r p r e c u m _ i a t e n u a r e a s e m n a l u l u i r e p r e z i n t a s p e c t e e x p l o a t a t e d e d i f e r i t e l e t i p u r i d e s e n z o r i s o n a r . S u n e t e l e t r a n s m i s e d e s e n z o r i i s o n o r i s u n t d e r e g u l n s p e c t r u l d e s u n e t e u l t r a s o n i c e , a v n d o f r e c v e n c f o a r t e n a l t p e n t r u a n u p u t e a f i d e t e c t a t e d e u r e c h e a u m a n ( 5 . ) P r i n c i p i u l d e f u n c c i o n a r e a l u n u i s e n z o r u l t r a s o n i c t i p i c e s t e p r e z e n t a t n f i g u r a d e m a i j o s f i g . 4 : f i g . 4 M s u r a r e a d i s t a n c e i c o n s t n m s u r a r e a t i m p u l u i d e p r o p a g a r e a u n d e l o r n t r e r e p e r e l e c o n s i d e r a t e . Q U O T E u n d e D - d i s t a n c a , Q U O T E - t i m p u l m s u r a t , Q U O T E - v i t e z a d e p r o p a g a r e a u n d e i n m e d i u l c o n s i d e r a t n g e n e r a l Q U O T E d e p i n d e d e i n d i c e l e d e r e f r a c c i e a l m e d i u l u i , c a r e l a r n d u l s u d e p i n d e d e m a i m u l c i p a r a m e t r i i ( t e m p e r a t u r , p r e s i u n e , u m i d i t a t e a a e r u l u i , l u n g i m e a d e u n d ) , i a r c u n o a _ t e r e a e x a c t a a c e s t u i a s p e c t p o a t e m b u n t c i i p r e c i z i a m s u r a t o r i l o r . S E N Z O R I D E C O N T A C T C e l m a i d e s n t l n i t t i p d e s e n z o r i d e c o n t a c t n r o b o c i i m o b i l i e s t e r e p r e z e n t a t d e s e n z o r i i b u m p e r f i g . 5 . A c e s t e d i s p o z i t i v e p o t f i s i m p l e n t r e r u p t o a r e c a r e r a p o r t e a z o v a l o a r e b i n a r , 0 s a u 1 , v a l o a r e c o r e s p o n d e n t s t r i i d e f a p t : d e s c h i s s a u n c h i s . A s t f e l , n m o m e n t u l n c a r e r o b o t u l e c h i p a t c u s e n z o r i d e a c e s t t i p s e l o v e _ t e d e u n a l t o b i e c t , n t r e r u p t o r u l s e v a n c h i d e s e m n a l n d a c e s t l u c r u . f i g . 5 - ( H Y P E R L I N K " h t t p : / / w w w . i n t e l i g e n t a - a r t i f i c i a l a . r o " 5 . ) C u t o a t e c s e n z o r i i b u m p e r s u n t f o l o s i c i p e n t r u a e v i t a l o v i r e a r o b o t u l u i d e o b i e c t e d i n m e d i u l a m b i a n t n c a z d e c o l i z i u n e c u a c e s t e a , d a c f o r c a d e i m p a c t e s t e m a r e , d e t e c t a r e a c o l i z i u n i i n u m a i e s t e s u f i c i e n t p e n t r u a e v i t a d i s t r u g e r e a a n u m i t o r p r c i a l e r o b o t u l u i . M a j o r i t a t e a r o b o c i l o r m o b i l i f o l o s i c i n l a b o r a t o a r e n u s u n t e c h i p a c i c u s i s t e m e d e f r n a r e a c t i v e , _ i c h i a r d a c a r f i p e n t r u o a n u m i t v i t e z , u n u i r o b o t m o b i l t o t i - a r l u a o d i s t a n c c o n s i d e r a b i l p e n t r u a s e o p r i b r u s c , d a t o r i t i n e r c i e i m o t o a r e l o r . U n e l e a u t o v e h i c u l e a u i n s t a l a t e t o t u _ i s e n z o r i b u m p e r , n u a t t p e n t r u d e t e c t a r e a c o l i z i u n i l o r , c t p e n t r u a a b s o r b i d i n _ o c u l p r o d u s l a i m p a c t u l c u u n o b i e c t e x t e r n . S E N Z O R I D E C U L O A R E S e n z o r i i d e c u l o a r e s u n t e c h i p a c i c u 3 L E D - u r i - r o _ u , v e r d e _ i a l b a s t r u - c a s u r s p r o p r i e d e l u m i n . A c e a s t a c o n t r i b u i e l a o v i a c p r e l u n g i t a s e z o r u l u i _ i l a i m u n i t a t e i m p o t r i v a i n t e r f e r e n c e l o r n l u m i n a m b i e n t . C o m p o n e n t e l e R G B a f i e c r e i c u l o r i d e t e c t a t e s u n t p r o c e s a t e d i g i t a l , p e r m i c n d a s t f e l d e t e c c i a _ i a c e l o r m a i m i c i d i f e r e n c e d e c u l o a r e . 2 . 2 P R E Z E N T A R E A K I T - u l E D U C A b I O N A L L E G O M I N D S T O R M S N X T G E N E R A L I T b I L E G O M i n d s t o r m s e s t e o s e r i e d e c o m p o n e n t e L E G O c a r e c u p r i n d e u n i t c i p r o g r a m a b i l e , s e n z o r i , s e r v o m o t o a r e _ i a l t e p r c i c o n s t r u c t i v e . P r o d u s u l L E G O M i n d s t o r m s N X T a f o s t l a n s a t n i u l i e 2 0 0 6 _ i e s t e s u c c e s o r u l p r i m u l u i m o d e l , R o b o t i c s I n v e n t i o n S y s t e m ( R C X ) , c a r e a s t r n i t i n t e r e s u l u n u i n u m r m a r e d e a m a t o r i . ( H Y P E R L I N K " L E G O % 2 0 M I N D S T O R M S % 2 0 h t t p : / m i n d s t o r m s . l e g o . c o m " 3 . ) S u c c e s u l s e t u l u i N X T e s t e a r g u m e n t a t n s p e c i a l d e u _ u r i n c a c u c a r e s e p o a t e p e r s o n a l i z a _ i e x t i n d e p l a t f o r m a , m o n t a r e a c o m p o n e n t e l o r s e f a c e d e s t u l d e r a p i d , s e t u l N X T p e r m i t e c o n s t r u i r e a _ i p r o g r a m a r e a u n u i r o b o t m o b i l r e c o n f i g u r a b i l . I n t e r f a c a s o f t u l u i d e p r o g r a m a r e e s t e p r i e t e n o a s _ i u _ o r d e f o l o s i t . D e z a v a n t a j u l s t r u c t u r i l o r c o n s t r u i t e c u c o m p o n e n t e l e L e g o e s t e f r a g i l i t a t e a i p r e c i z i a s c z u t . D a t o r i t n e v o i i t o t m a i r i d i c a t e d e t r a n s m i t e r e f i a b i l a d a t e l o r c u v i t e z e m a r i , t e h n o l o g i i l e p e r f o r m a n t e u t i l i z a t e n p r e z e n t n d i v e r s e d o m e n i i a l e c o m u n i c a c i i l o r a u p t r u n s _ i n r o b o c i i m o b i l i . A s t f e l , L E G O M i n d s t o r m s N X T c o n c i n e c a s u p o r t d e c o m u n i c a c i i t e h n o l o g i a B l u e t o o t h . n f i g u r i l e d e m a i j o s s u n t p r e z e n t a t e c t e v a m o d e l e d e r o b o c i c a r e s e p o t f a c e c u s e t u l L e g o M i n d s t o r m s f i g . 6 . f i g . 6 K i t - u l e d u c a c i o n a l L E G O M i n d s t o r m s N X T c o n c i n e : ( H Y P E R L I N K " 3 . % 0 9 L E G O % 2 0 M I N D S T O R M S % 2 0 h t t p : / m i n d s t o r m s . l e g o . c o m " 3 . ) u n i t a t e a c e n t r a l d e p r o c e s a r e , c r m i d a c a r e e s t e c e n t r u l o p e r a c i o n a l a l s i s t e m u l u i . E x e c u t p r o g r a m e l e u t i l i z a t o r u l u i _ i c o n t r o l e a z c o m u n i c a r e a c u s e n z o r i i , s e r v o m o t o a r e l e , c u P C - u l s a u c u a l t e u n i t c i N X T . C o n c i n e m i c r o p r o c e s o r d e 3 2 b i t i , u n d i s p l a y d e t i p m a t r i c e , 4 p o r t u r i d e i n t r a r e _ i 3 d e i e _ i r e , B l u e t o o t h _ i p o r t U S B t r e i s e r v o m o t o a r e c u s e n z o r i d e r o t a c i e _ i d e c o n t r o l m o t o a r e e l e c t r i c e d e c u r e n t c o n t i n u u a l i m e n t a t e l a 9 V s a u 1 2 V ( p e p e r i o a d e s c u r t e ) u n s e n z o r d e c u l o a r e ( l u m i n ) s e n s o r f o t o s e n s i b i l c a p a b i l s d i s t i n g 4 c u l o r i s a u v a r i a c i i n i n t e n s i t a t e a l u m i n i i a m b i e n t e d o i s e n z o r d e c o n t a c t ( a t i n g e r e ) e s t e p r a c t i c u n n t r e r u p t o r , a v n d d o u s t r i : a p s a t s a u e l i b e r a t u n s e n z o r u l t r a s o n i c - d e t e r m i n d i s t a n c a d e l a s e n z o r p n l a c e l m a i a p r o p i a t o b i e c t f o l o s i n d u n s i s t e m s i m i l a r s o n a r u l u i c a b l u r i d e i n t e r c o n e c t a r e - s e r v o m o t o a r e l e _ i s e n z o r i i s e c o n e c t e a z l a u n i t a t e a c e n t r a l d e p r o c e s a r e p r i n c a b l u r i c u c t e 6 f i r e c a r e s u p o r t i n t e r f a c a a n a l o g a _ i d i g i t a l a c a b l u U S B - r o b o t u l s e p o a t e c o n e c t a l a P C p r i n U S B s a u p r i n B l u e t o o t h s u i t a s o f t w a r e p e n t r u P C c o n c i n e d r i v e r e l e n e c e s a r e _ i m e d i u l d e p r o g r a m a r e p r o p r i e t a r N X T - G c o m p o n e n t e L e g o p e n t r u c o n s t r u i r e a r o b o t u l u i b a t e r i i r e n c r c a b i l e 6 b u c c i d e 1 , 5 V S I S T E M U L D E P R O C E S A R E A L R O B O T U L U I N X T S i s t e m u l d e p r o c e s a r e a l r o b o t u l u i c u p r i n d e d o u m i c r o c o n t r o l e r e , c e l p r i n c i p a l e x e c u t p r o g r a m e l e u t i l i z a t o r u l u i , i a r c e l a u x i l i a r e s t e d e s t i n a t c o n t r o l u l u i p r i n P W M a l s e r v o m o t o a r e l o r _ i m e n c i n e r e a v i t e z e i n f u n c c i e d e s a r c i n . S u b a c e e a _ i c a r c a s s u n t g z d u i t e _ i i n t e r f e c e l e d e c o m u n i c a r e c u s e n z o r i i , m i c r o c o n t r o l e r u l d e c o m u n i c a r e B l u e t o o t h , a f i _ a j u l c u c r i s t a l e l i c h i d e , b u t o a n e l e d e n a v i g a r e p r i n m e n i u , u n d i f u z o r _ i p o r t u r i l e d e c o n e c t a r e c u s e n z o r i i _ i s e r v o m o t o a r e l e f i g . 7 . ( H Y P E R L I N K " L E G O % 2 0 M I N D S T O R M S % 2 0 h t t p : / m i n d s t o r m s . l e g o . c o m " 3 . ) f i g . 7 D i a g r a m a s i s t e m u l u i d e p r o c e s a r e N X T S P E C I F I C b A I I T E H N I C E N X T B R I C K f i g . 8 : f i g . 8 M a i n p r o c e s s o r A t m e l 3 2 - b i t A R M p r o cessor, AT91SAM7S256 - 256 KB FLASH - 64 KB RAM - 48 MHz Co-processor Atmel 8-bit AVR processor, ATmega48 - 4 KB FLASH - 512 Byte RAM - 8 MHz Bluetooth wireless communication CSR BlueCoreTM 4 v2.0 +EDR System - Supporting the Serial Port Profile (SPP) - Internal 47 KByte RAM - External 8 MBit FLASH - 26 MHz USB 2.0 communication Full speed port (12 Mbit/s) 4 input ports 6-wire interface supporting both digital and analog interface - 1 high speed port, IEC 61158 Type 4/EN 50170 compliant 3 output ports 6-wire interface supporting input from encoders Display 100 x 64 pixel LCD black & white graphical display - View area: 26 X 40.6 mm Power source 6 AA batteries - Alkaline batteries are recommended - Rechargeable Lithium-Ion battery 1400 mAH is available Connector 6-wire industry-standard connector, RJ12 Right side adjustment METODE DE COMUNICARE L e g t u r a f i z i c d i n t r e P C _ i r o b o t u l N X T s e p o a t e r e a l i z a p r i n c a b l u U S B s a u p r i n c o n e x i u n e B l u e t o o t h 2 . 0 . A v a n t a j e l e c o m u n i c r i i p r i n c a b l u l U S B s e r e s t r n g l a o v i t e z d e t r a n s f e r s u p e r i o a r _ i c o m p a t i b i l i t a t e g a r a n t a t c u P C - u l . A v a n t a j e l e c o n e x i u n i i B l u e t o o t h : " N u l i m i t e a z m o b i l i t a t e a r o b o t u l u i s a u r a z a d e a c c i u n e " R o b o t u l s e p o a t e c o n e c t a l a m a x i m 1 0 a l t e d i s p o z i t i v e B l u e t o o t h , f i e c s u n t t o t r o b o t i N X T s a u P C " C o m u n i c a c i a e s t e r e z i s t e n t l a i n t e r f e r e n c e r a d i o d a t o r i t t e h n i c i i s p r e a d s p e c t r u m ( s a l t d e f r e c v e n c ) " E s t e o m n i d i r e c c i o n a l _ i n u n e c e s i t o p o z i c i o n a r e n l i n i e c u c e l e l a l t e d i s p o z i t i v e p e n t r u c o n e c t a r e S E N Z O R I I ^ I S E R V O M O T O R U L R O B O T U L U I N X T P l a t f o r m a a r e n d o t a r e 4 s e n z o r i c a r e s e p o t a t a _ a l a p o r t u r i l e ( 1 , 2 , 3 , 4 ) : s e n z o r u l t a c t i l - 2 b u c c i , s e n z o r u l d e l u m i n i s e n z o r u l d e u l t r a s u n e t e . C u a j u t o r u l a c e s t o r s e n z o r i , r o b o t u l p o a t e e x e c u t a d i f e r i t e c o m e n z i , c u m a r f i s r e a c i o n e z e l a i m p a c t u l c u u n a n u m i t o b s t a c o l , s r s p u n d l a c o m e n z i v o c a l e , s u r m r e a s c u n a n u m i t t r a s e u s a u s e v i t e d i v e r s e o b s t a c o l e f i g . 9 ( H Y P E R L I N K " L E G O % 2 0 M I N D S T O R M S % 2 0 h t t p : / m i n d s t o r m s . l e g o . c o m " 3 . ) S E N Z O R U L D E C U L O A R E N X T S e n z o r u l d e c u l o a r e a r e f u n c c i o n a l i t a t e t r i p l : d i s t i n g e c u l o r i l e , i n t e n s i t a t e a l u m i n i i _ i p o a t e f u n c c i o n a c a o l a m p . S E N Z O R U L T A C T I L N X T S e n z o r u l T a c t i l r e a c c i o n e a z l a a t i n g e r e . P o a t e d e t e c t a u n a s a u m a i m u l t e a p s r i d e b u t o n ! S E N Z O R D E S U N E T N X T S e n z o r u l d e s u n e t e s t e c a p a b i l s m s o a r e n i v e l u r i l e d e z g o m o t n d e c i b e l i , r e c u n o s c _ i i d e n t i f i c m o d e l e d e s u n e t e . f i g . 9 S E R V O M O T O R U L N X T f i g . 1 0 S e t u l N X T e s t e d o t a t c u 3 s e r v o m o t o a r e a l i m e n t a t e l a 9 V . E l e s e c o n e c t e a z , p r i n c a b l u r i l e f u r n i z a t e , l a c e l e 3 p o r t u r i d e i e _ i r e ( A , B , C ) a l e u n i t c i i c e n t r a l e . M u f e l e c a b l u r i l o r s u n t s p e c i a l p r o i e c t a t e s n u p o a t f i i n t r o d u s e i n v e r s _ i s a i b a l t e d i m e n s i u n i d e c t m u f e l e s t a n d a r d a l e l i n i i l o r t e l e f o n i c e . S e r v o m o t o a r e l e a u n c o r p o r a t e u n s i s t e m d e t r a n s m i s i e r e d u c t o r m e n i t s c r e a s c c u p l u l l a i e _ i r e . A r e n c o r p o r a t _ i u n e n c o d e r d e r o t a c i e c a r e o f e r i n f o r m a c i i d e s p r e p o z i c i a r e l a t i v a a x u l u i m o t o r u l u i f a c d e m o m e n t u l d e r e f e r i n c . S e r v o m o t o r u l N X T c u p r i n d e 4 c o m p o n e n t e : " M o t o r d e c . c . a l i m e n t a t l a 9 V n o m i n a l ( s u p o r t 1 2 V p e p e r i o a d e s c u r t e ) " D i s p o z i t i v d e p r o t e c c i e l a s u p r a c u r e n t ( t e r m i s t o r R X E 0 6 5 ) " E n c o d e r c a r e r e t u r n e a z r o t a c i a r e l a t i v a m o t o r u l u i " S i s t e m d e t r a n s m i s i e c u r a p o r t r e d u c t o r d e 4 8 : 1 d e l a m o t o r l a a x u l s e r v o m o t u r u l u i C o m p o n e n t e l e s u n t i n t r o d u s e n t r - o c a r c a s r i g i d c a r e p o a t e f i u _ o r a t a _ a t u n e i s t r u c t u r i m e c a n i c e d i n e l e m e n t e L E G O . f i g . 1 0 2 . 3 A P L I C A b I E P R A C T I C R E A L I Z A T C U R O B O T U L E X P L O R E R C o n s t r u i r e a u n u i r o b o t i m p l i c t r e i p a _ i i m p o r t a n c i : C o n s t r u i r e a r o b o t u l u i P r o g r a m a r e a r o b o t u l u i T e s t a r e a r o b o t u l u i E T A P E L E P E N T R U C O N S T R U I R E A R O B O T U L U I P e n t r u c o n s t r u i r e a r o b o t u l u i e x p l o r e r f i g . 1 1 a m f o l o s i t d o u a m o t o a r e s i u n s e n z o r t a c t i l . P e n t r u r e a l i z a r e a r o b o t u l u i m - a m g h i d a t d u p i n d i c a c i i l e d a t e d e ( H Y P E R L I N K " 1 0 . % 0 9 \ M o d u l u l % 2 0 B l u etooth%20din%20dotarea%20controllerului%20NXT.pdf\ %20http:/www.robotics.ucv.ro/flexform/craiova_cursuri/C4/Comunicatii%20la%20distanta.%20Telegestiune/4.%20Modulul%20Bluetooth%20din%20dotarea%20controllerului%20NXT.pdf" 10. ) fig.11 Pasii necesari cons t r u c c i e i r o b o t u l u i . P R O G R A M A R E A R O B O T U L U I N X T G e s t e p a c h e t u l s o f t w a r e d e p r o g r a m a r e i n c l u s n p a c h e t e l e M i n d s t o r m s N X T . A c e s t m e d i u d e d e z v o l t a r e e s t e u n u l a d e c v a t p e n t r u p r o g r a m a r e a f u n c c i i l o r d e b a z p r e c u m : c i t i r e a s e m n a l e l o r d e i n t r a r e , c a l c u l e _ i a c c i o n a r e a m o t o a r e l o r . I n t e r f a c a e s t e u n a u _ o r d e n c e l e s _ i s e b a z e a z p e p r i n c i p i u l d r a g - a n d d r o p a b l o c u r i l o r d e a c c i u n e p e n t r u f i e c a r e c o m p o n e n t . P e n t r u a p e r m i t e p r o g r a m a r e a r o b o t u l u i c u o d e o s e b i t u _ u r i n t , p r o g r a m a r e a n N X T - G e s t e v i z u a l ( g r a p h i c a l p r o g r a m m i n g ) s i m i l a r c u p r o g r a m e l e L a b V I E W _ i M i c r o s o f t R o b o t i c s S t u d i o . P r o g r a m a r e a n N X T - G p r e z i n t u r m t o a r e l e a v a n t a j e : E s t e u _ o r d e i n s t a l a t a t t p e W i n d o w s c t _ i p e M a c O S X C o n f i g u r a r e a c a l c u l a t o r u l u i p e n t r u c o m u n i c a r e a p r i n U S B s a u B l u e t o o t h e s t e a s i g u r a t d e l a i n s t a l a r e P r o g r a m a r e a v i z u a l e s t e f o a r t e i n t u i t i v _ i r e p r e z i n t u n p a s d e i n i c i e r e n p r o g r a m a r e a c l a s i c T o t u _ i , p r o g r a m a r e a n N X T - G a r e _ i d e z a v a n t a j e , c u m a r f i f a p t u l c n u s e p o a t e v a l o r i f i c a c o m p l e t v a r i e t a t e a d e i n s t r u c c i u n i a l e f i r m w a r e - u l u i r e z i d e n t p e r o b o t . D E S C R I E R E A P R O G R A M U L U I R E A L I Z A T : R o b o t u l s e d e p l a s e a z a i n a i n t e c u b e c u l r o s u a p r i n s s i a f i s e a z a u n z i m b e t , c i n d i n t i l n e s t e u n o b s t a c o l s t i n g e b e c u l , a f i s e a z a o f a t a t r i s t a , m e r g e i n a p o i p u t i n , i n t o a r c e p u t i n l a d r e a p t a s i r e p e t a b u c l a f i g . 1 2 . . f i g . 1 2 R e a l i z a r e a p r o g r a m u l u i : S e l a n s e a z p r o g r a m u l L e g o M i n d s t o r m s C r e a r e a u n u i n o u p r o g r a m f i g . 1 3 f i g . 1 3 D i n p a r t e a s t a n g a s e t r a g e l e m e n t e l e c o m p o n e n t e c e s e d o r e s c a f i i n c l u s e i n p r o g r a m P r o g r a m u l r e a l i z a t p e n t r u r o b o t u l c o n s t r u i t a r e u r m t o a r e l e b l o c u r i : 1 . C o l o r l a m p s e a p r i n d e l u m i n a r o _ i e - s e n z o r u l d e c u l o a r e e s t e c o n e c t a t l a p o r t u l 3 f i g . 1 4 . f i g . 1 4 2 . B l o c u l M o t o r - r o b o t u l m e r g e i n a i n t e fig.15 fig.15 3. Blocul pentru afisaj - este afisata o fata zimbitoare cit timp nu intilneste obstacol fig.16 fig.16 4. Senzorul de prezenta utilizat pentru sesizarea obstacolelor fig.17 fig.17 La sesizarea obstacolului se stinge becul, se afiseaza o figura trista, se intoarce putin, apoi isi reia ciclul fig.18. fig.18 TESTAREA ROBOTULUI D u p c e p r o g r a m u l e s t e g a t a , s e d e s c r c n N X T ( c r e i e r u l r o b o t u l u i ) f o l o s i n d s g e a t a d o w n l o a d d u p c a r e s e d e c o n e c t e a z c a b l u l U S B . F o l o s i n d b u t o a n e l e d e p e c r m i d s e p o r n e _ t e p r o g r a m u l . A s t f e l r o b o t u l v a e x e c u t a m i c r i l e c a r e i - a u f o s t c o m a n d a t e . D a c n u v r e m s d e c o n e c t m r o b o t u l d e l a P C , s e p o a t e d a _ i d i r e c t p o r n i r e d i n c a l c u l a t o r f o l o s i n d s g e a t a d o w n l o a d _ i r u n f i g . 1 9 . f i g . 1 9 R o b o t u l a s t f e l n c r c a t e x e c u t c o m e n z i l e p r o g r a m a t e f i g . 2 0 . f i g . 2 0 2 . 4 V A L E N b E E D U C A T I V E A L E M E T O D E L O R I N T E R A C T I V E I M P O R T A N b A M E T O D E L O R I N T E R A C T I V E D E L U C R U N G R U P n v c m n t u l m o d e r n p r e s u p u n e o n o u a b o r d a r e a e d u c a c i e i , p r i n p r o m o v a r e a d e m e t o d e d i d a c t i c e i n t e r a c t i v e c a r e s s o l i c i t e m e c a n i s m e l e g n d i r i i , a l e i n t e l i g e n c e i , a l e i m a g i n a c i e i _ i c r e a t i v i t c i i . ( H Y P E R L I N K " 8 . % 0 9 O p r e a % 2 0 C r e n g u c a - L c r m i o a r a , % 2 0 P e d a g o g i e . % 2 0 A l t e r n a t i v e % 2 0 m e t o d o l o g i c e % 2 0 i n t e r a c t i v e , % 2 0 E d i t u r a % 2 0 U n i v e r s i t c i i % 2 0 B u c u r e _ t i , % 2 0 2 0 0 3 " 8 . ) n v c a r e a n g r u p e x e r s e a z c a p a c i t a t e a d e d e c i z i e _ i d e i n i c i a t i v , d o n o t m a i p e r s o n a l m u n c i i , d a r _ i o c o m p l e m e n t a r i t a t e m a i m a r e a p t i t u d i n i l o r _ i t a l e n t e l o r , c e e a c e a s i g u r o p a r t i c i p a r e m a i v i e , m a i a c t i v , s u s c i n u t d e f o a r t e m u l t e e l e m e n t e d e e m u l a c i e , d e s t i m u l a r e r e c i p r o c , d e c o o p e r a r e f r u c t u o a s . ( I o a n C e r g h i t , M e t o d e d e n v c m n t , E D P , B u c u r e _ t i , 1 9 9 7 , p . 5 4 ) S p e c i f i c m e t o d e l o r i n t e r a c t i v e d e g r u p e s t e f a p t u l c e l e p r o m o v e a z i n t e r a c c i u n e a d i n t r e m i n c i l e p a r t i c i p a n c i l o r , d i n t r e p e r s o n a l i t c i l e l o r , d u c n d l a o n v c a r e m a i a c t i v _ i c u r e z u l t a t e e v i d e n t e . A v a n t a j e l e i n t e r a c c i u n i i : n c o n d i c i i l e n d e p l i n i r i i u n o r s a r c i n i s i m p l e , a c t i v i t a t e a d e g r u p e s t e s t i m u l a t i v , g e n e r n d u n c o m p o r t a m e n t c o n t a g i o s _ i o s t r d a n i e c o m p e t i t i v ; n r e z o l v a r e a s a r c i n i l o r c o m p l e x e , r e z o l v a r e a d e p r o b l e m e , o b c i n e r e a s o l u c i e i c o r e c t e e f a c i l i t a t d e e m i t e r e a d e i p o t e z e m u l t i p l e _ i v a r i a t e ; ( A u s u b e l D . , F l o y d R . , n v c a r e a n _ c o a l , E D P , B u c u r e _ t i , 1 9 8 1 ) s t i m u l e a z e f o r t u l _ i p r o d u c t i v i t a t e a i n d i v i d u l u i ; e s t e i m p o r t a n t p e n t r u a u t o d e s c o p e r i r e a p r o p r i i l o r c a p a c i t c i _ i l i m i t e , p e n t r u a u t o e v a l u a r e ; e x i s t o d i n a m i c i n t e r g r u p a l c u i n f l u e n c e f a v o r a b i l e n p l a n u l p e r s o n a l i t c i i ; s u b i e c c i i c a r e l u c r e a z n e c h i p s u n t c a p a b i l i s a p l i c e _ i s s i n t e t i z e z e c u n o _ t i n c e l e n m o d u r i v a r i a t e _ i c o m p l e x e , n v c n d n a c e l a _ i t i m p m a i t e m e i n i c d e c t n c a z u l l u c r u l u i i n d i v i d u a l ; d e z v o l t c a p a c i t c i l e e l e v i l o r d e a l u c r a m p r e u n - c o m p o n e n t i m p o r t a n t p e n t r u v i a c _ i p e n t r u a c t i v i t a t e a l o r p r o f e s i o n a l v i i t o a r e ; d e z v o l t i n t e l i g e n c e l e m u l t i p l e ( l i n g v i s t i c , l o g i c o - m a t e m a t i c , s p a c i a l , i n t e r p e r s o n a l , i n t r a p e r s o n a l , n a t u r a l i s t , m o r a l ) ; s t i m u l e a z _ i d e z v o l t c a p a c i t c i c o g n i t i v e c o m p l e x e ( g n d i r e a d i v e r g e n t , g n d i r e a c r i t i c , g n d i r e a l a t e r a l c a p a c i t a t e a d e a p r i v i _ i a c e r c e t a l u c r u r i l e n a l t m o d , d e a r e l a x a c o n t r o l u l g n d i r i i ) ; m u n c a n g r u p p e r m i t e m p r c i r e a s a r c i n i l o r _ i r e s p o n s a b i l i t c i l o r n p r c i m u l t m a i u _ o r d e r e a l i z a t ; t i m p u l d e s o l u c i o n a r e a p r o b l e m e l o r e s t e d e c e l e m a i m u l t e o r i m a i s c u r t n c a z u l l u c r u l u i n g r u p d e c t a t u n c i c n d s e n c e a r c g s i r e a r e z o l v r i l o r p e c o n t p r o p r i u ; c u o d i r i j a r e a d e c v a t , n v c a r e a p r i n c o o p e r a r e d e z v o l t _ i d i v e r s i f i c p r i c e p e r i l e , c a p a c i t c i l e _ i d e p r i n d e r i l e s o c i a l e a l e e l e v i l o r ; i n t e r r e l a c i i l e d i n t r e m e m b r i i g r u p u l u i , e m u l a c i a , s p o r e _ t e i n t e r e s u l p e n t r u o t e m s a u o s a r c i n d a t , m o t i v n d e l e v i i p e n t r u n v c a r e ; l u c r u l n e c h i p o f e r e l e v i l o r p o s i b i l i t a t e a d e a - _ i m p r t _ i p r e r i l e , e x p e r i e n c a , i d e i l e , s t r a t e g i i l e p e r s o n a l e d e l u c r u , i n f o r m a c i i l e ; s e r e d u c e l a m i n i m f e n o m e n u l b l o c a j u l u i e m o c i o n a l a l c r e a t i v i t c i i ; g r u p u l d u n s e n t i m e n t d e n c r e d e r e , d e s i g u r a n c , a n t r e n a r e r e c i p r o c a m e m b r i l o r c e d u c e l a d i s p a r i c i a f r i c i i d e e _ e c _ i c u r a j u l d e a - _ i a s u m a r i s c u l ; i n t e r a c c i u n e a c o l e c t i v a r e c a e f e c t _ i e d u c a r e a s t p n i r i i d e s i n e _ i a u n u i c o m p o r t a m e n t t o l e r a n t f a c d e o p i n i i l e c e l o r l a l c i , n f r n g e r e a s u b i e c t i v i s m u l u i _ i a c c e p t a r e a g n d i r i i c o l e c t i v e . 2 . 4 . 2 M E T O D A C E L O R S A S E P A L A R I I G I N D I T O A R E F O L O S I T L A M O D U L U L X S E N Z O R I S I T R A D U C T O A R E P R O I E C T D I D A C T I C E a e s t e u t i l i z a t a f r e c v e n t i n s c o a l a p entru a dezvolta gandirea laterala a copiilor. Aceasta metoda presupune existenta a 6 palarii, de culori diferite. De obicei, elevii sunt impartiti in sase grupe si fiecare grupa isi desfasoara activitatea sub tutela unei culori. Apoi sunt prezentate caracteristicile fiecarei culori. La final, li se da sarcina de lucru pe care fiecare grupa trebuie sa o trateze conform culorii pe care au primit-o. Dupa ce toate grupele au realizat sarcina de lucru, fiecare grupa prezinta din punct de vedere al palariei pe ca r e o a r e a t a s a t a , p r i n t r - u n r e p r e z e n a n t , s o l u t i a p e c a r e a u i d e n t i f i c a t - o s i a n a l i z a r e a l i z a t a . U n i t a t e a d e c o n c i n u t : S E N Z O R I S I T R A D U C T O A R E T e m a : S e n z o r i d e a t i n g e r e - s e n z o r i d e c u l o a r e . T i p u l l e c c i e i : L e c c i e n o u . T r a n s m i t e r e d e c u n o s t i n t e . D u r a t a : 1 2 0 m i n u t e L o c u l d e s f _ u r r i i : L a b o r a t o r . C o m p e t e n c e : A l e g e t i p u l d e s e n z o r c o r e l a t c u a p l i c a c i a S T R A T E G I I D I D A C T I C E P r i n c i p i i d i d a c t i c e P r i n c i p i u l p a r t i c i p r i i _ i n v c r i i a c t i v e . P r i n c i p i u l a s i g u r r i i p r o g r e s u l u i g r a d a t a l p e r f o r m a n c e i . P r i n c i p i u l c o n e x i u n i i i n v e r s e . M e t o d e s i m i j l o a c e d e n v c m n t c o n v e r s a c i a e x p l i c a c i a p r o b l e m a t i z a r e a d e s c o p e r i r e a d i r i j a t l u c r u l i n e c h i p e x p u n e r e d i s c u c i e , d e z b a t e r e , p r o b l e m a t i z a r e p r e z e n t r i v i d e o c a l c u l a t o r u l , v i d e o - p r o i e c t o r u l F o r m e d e o g a n i z a r e a c l a s e i f r o n t a l p e g r u p e R e s u r s e p s i h o l o g i c e : C a p a c i t a t e a d e n v c a r e d e c a r e d i s p u n e c l a s a : e l e v i i p o s e d c u n o _ t i n c e l e g a t e d e c o m p o n e n t e l e p e c a r e l e u t i l i z e a z l a r e a l i z a r e a c i r c u i t e l o r . M o t i v a c i a n v c r i i : e l e v i i p r e z i n t i n t e r e s p e n t r u l e c c i e , d e o a r e c e p o t v e r i f i c a p r a c t i c m a c h e t e l e r e a l i z a r e d e e i S t i l u l v i z u a l d e n v c a r e v a f i f a v o r i z a t d e v e d e r e a i n f o r m a c i i l o r n f o r m t i p r i t , p r i v i r e a f o r m e l o r c u v i n t e l o r , f o l o s i r e a c u l o r i l o r , . S t i l u l a u d i t i v d e n v c a r e v a f i f a v o r i z a t d e a s c u l t a r e a a l t o r p e r s o a n e c a r e r e d a u s a u e x p l i c a i n f o r m a c i i l e . S t i l u l p r a c t i c d e n v c a r e v a f i f a v o r i z a t d e r e a l i z a r e a s a r c i n i l o r d e l u c r u _ i p r e z e n t a r e a c o n c l u z i i l o r . P L A N D E L E C b I E P r o f e s o r : H a t s c h n e r A n c a C l a s a : X I r u t a d i r e c t a , s p e c i a l i z a r e a Mecatronica Durata : 2 ore Disciplina: Modul X SENZORI SI TRADUCTOARE Tema : Senzori de atingere-senzori de culoare Timp Scopul predarii Strategii de predare Strategii de invatare Stiluri de invatare Resurse Evaluare V A P 10 min Generarea entuziasmului Brainstorming Dezbatere pe marginea modalitatilor de clasificare a traductoarelor X X X Tipuri tipuri de traductoare, poze, cataloage de produse Fisa de observatie 25 min Intelegere de texte/transmiterea de informatie Dezvoltarea > @ F ^ ` b d f t v x z | {j jWI@I h ( mH nH u h F h ( 0J mH nH u $ j h F h ( 0J U mH nH u ! j h A h M OJ QJ U ^J h A h M OJ QJ ^J mH sH hE$L mH sH h M OJ QJ ^J h A h M OJ QJ ^J h K h K mH sH h K mH sH h K OJ QJ ^J h h mH sH h mH sH h i h OJ QJ ^J mH sH h i OJ QJ ^J h OJ QJ ^J @ B D F H J L N P R T V X Z \ ^ ` b d f gd K gd $ d a$ gd M f v x z V x $ j P # O j ” & ” & ! & & gd M gdE$L $ d a$ gd M p r t J ~u~[ F ) h F h ( 0J 5 OJ QJ \ mH nH u 2 j h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u j} h36w U mH nH u j h ( U mH nH u h ( mH nH u ! h F h ( 0J 5 \ mH nH u $ j h F h ( 0J U mH nH u 2 j h ( h36w >* B* U mH nH ph u J L N P R T V X Z < > @ q ` F 2 j h ( h36w >* B* U mH nH ph u jq h36w U mH nH u ) h F h ( 0J 5 OJ QJ \ mH nH u 2 j h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u $ j h F h ( 0J U mH nH u h ( mH nH u j h ( U mH nH u jw h36w U mH nH u @ B V X Z 4 6 8 l n p r t v x p \ \ K je h36w U mH nH u ‘ h F h ( 0J OJ QJ ^J mH nH u 2 j h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u jk h36w U mH nH u j h ( U mH nH u h ( mH nH u * h F h ( 0J 5 OJ QJ ^J mH nH u $ j h F h ( 0J U mH nH u x z | ” $ & ( ` b d f p r r X 2 j h ( h36w >* B* U mH nH ph u j_ h36w U mH nH u j h ( U mH nH u h ( mH nH u h ( mH nH sH u ‘ h F h ( 0J OJ QJ ^J mH nH u 2 j h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u $ j h F h ( 0J U mH nH u ” $ p _ jS h36w U mH nH u * h F h ( 0J 5 OJ QJ ^J mH nH u 2 j h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u $ j h F h ( 0J U mH nH u h ( mH nH u j h ( U mH nH u jY h36w U mH nH u ” $ < > @ t v x | ~ $ & ( {r{X B B + h F h ( 0J OJ QJ ^J mH nH sH u 2 j h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u jM h36w U mH nH u j h ( U mH nH u h ( mH nH u h ( mH nH sH u ‘ h F h ( 0J OJ QJ ^J mH nH u $ j h F h ( 0J U mH nH u 2 j h ( h36w >* B* U mH nH ph u ( \ ^ ` d f h j l n B D F J L N P R T r r a jA h36w U mH nH u ‘ h F h ( 0J OJ QJ ^J mH nH u 2 j h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u $ j h F h ( 0J U mH nH u j h ( U mH nH u jG h36w U mH nH u h ( mH nH u ! ” # $ % A B C D I J vmvS ; . h F h ( 0J OJ QJ RH ^J h mH nH u 2 j h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u j; h36w U mH nH u j h ( U mH nH u h ( mH nH u 1 h F h ( 0J 5 OJ QJ \ ^J mH nH sH u $ j h F h ( 0J U mH nH u 2 j h ( h36w >* B* U mH nH ph u J p q r q Y H j/ h36w U mH nH u . h F h ( 0J OJ QJ RH ^J h mH nH u 2 j h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u $ j h F h ( 0J U mH nH u j5 h36w U mH nH u j h ( U mH nH u h ( mH nH u ‘ h F h ( 0J OJ QJ ^J mH nH u , – . H I J L M N O P Q m n o zkzZkzk @ 2 j h ( h36w >* B* U mH nH ph u j) h36w U mH nH u j h ( U mH nH u h ( mH nH u ‘ h F h ( 0J OJ QJ ^J mH nH u h ( mH nH sH u . h F h ( 0J OJ QJ RH ^J h mH nH u 2 j h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u $ j h F h ( 0J U mH nH u ` b d b d f n X X G j h36w U mH nH u + h F h ( 0J OJ QJ ^J mH nH sH u 2 j h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u $ j h F h ( 0J U mH nH u j# h36w U mH nH u j h ( U mH nH u h ( mH nH u . h F h ( 0J 5 OJ QJ ^J mH nH sH u V X Z $ & q W A + h F h ( 0J OJ QJ ^J mH nH sH u 2 j h ( h36w >* B* U mH nH ph u j h36w U mH nH u j h ( U mH nH u h ( mH nH u ‘ h F h ( 0J OJ QJ ^J mH nH u 2 j h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u $ j h F h ( 0J U mH nH u h ( mH nH sH u & ( \ ^ ` d f h j l n F H p _ j h36w U mH nH u ) h F h ( 0J 5 OJ QJ \ mH nH u 2 j h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u $ j h F h ( 0J U mH nH u j h36w U mH nH u h ( mH nH u j h ( U mH nH u H J L $ & ( * F H J ~ ~u~[ F ) h F h ( 0J 5 OJ QJ \ mH nH u 2 j h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u j h36w U mH nH u j h ( U mH nH u h ( mH nH u ! h F h ( 0J 5 \ mH nH u $ j h F h ( 0J U mH nH u 2 j h ( h36w >* B* U mH nH ph u ~ ; < = q ` F 2 jv h ( h36w >* B* U mH nH ph u j h36w U mH nH u ) h F h ( 0J 5 OJ QJ \ mH nH u 2 j| h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u $ j h F h ( 0J U mH nH u h ( mH nH u j h ( U mH nH u j h36w U mH nH u T > < 2! ! U" " N# # # # # f$ h$ j$ l$ $ gd " gd gd B $ 7$ 8$ H$ a$ gd M gd M & " & " & ! & = > f g h q Z I j h36w U mH nH u – h F h ( 0J 5 OJ QJ \ mH nH sH u 2 jp h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u j h36w U mH nH u j h ( U mH nH u h ( mH nH u ) h F h ( 0J 5 OJ QJ \ mH nH u $ j h F h ( 0J U mH nH u ~ y hy y ] C 2 jd h ( h36w >* B* U mH nH ph u h ( mH nH sH u j h36w U mH nH u j h ( U mH nH u h ( mH nH u ‘ h F h ( 0J OJ QJ ^J mH nH u ) h F h ( 0J 5 OJ QJ \ mH nH u 2 jj h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u $ j h F h ( 0J U mH nH u X Z \ |s|Y A . h F h ( 0J OJ QJ RH ^J h mH nH u 2 j^ h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u $ j h F h ( 0J U mH nH u j h36w U mH nH u j h ( U mH nH u h ( mH nH u ) h F h ( 0J 5 OJ QJ \ mH nH u – h F h ( 0J 5 OJ QJ \ mH nH sH u F H J N P R T V X 0 2 4 8 : < q W F j h36w U mH nH u 2 h F h ( 0J OJ QJ RH ^J h mH nH sH u 2 jX h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u $ j h F h ( 0J U mH nH u j h36w U mH nH u j h ( U mH nH u h ( mH nH u ‘ h F h ( 0J OJ QJ ^J mH nH u < > @ B z | ~ . 0 2 6 8 : < > @ x z | ~ yjyYjyj ? 2 jL h ( h36w >* B* U mH nH ph u j h36w U mH nH u j h ( U mH nH u h ( mH nH u – h F h ( 0J 5 OJ QJ \ mH nH sH u ) h F h ( 0J 5 OJ QJ \ mH nH u 2 jR h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u $ j h F h ( 0J U mH nH u h ( mH nH sH u ~ $! &! (! ,! .! 0! 2! 4! 6! n! p! r! t! ! ! ! ! ! ! ! ! ! ! ! ! ” ” o ^ j h36w U mH nH u 2 jF h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u $ j h F h ( 0J U mH nH u j h36w U mH nH u j h ( U mH nH u h ( mH nH u + h F h ( 0J OJ QJ ^J mH nH sH u ” ” ” 2″ 3″ 4″ N” O” P” R” S” T” U” V” W” s” t” u” v” ” ” ” ” ” ” ” ” ypyV E j h36w U mH nH u 2 j: h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u j h36w U mH nH u j h ( U mH nH u h ( mH nH u + h F h ( 0J OJ QJ ^J mH nH sH u $ j h F h ( 0J U mH nH u 2 j@ h ( h36w >* B* U mH nH ph u ” ” ” ” ” ” ” ” ” +# ,# -# G# H# I# K# L# M# N# O# P# l# m# n# o# {# p V A ) h F h ( 0J 5 OJ QJ \ mH nH u 2 j.” h ( h36w >* B* U mH nH ph u j ! h36w U mH nH u j h ( U mH nH u h ( mH nH u + h F h ( 0J OJ QJ ^J mH nH sH u 2 j4! h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u $ j h F h ( 0J U mH nH u {# |# }# # # # # # # # # # # # # # # # # # # # # # # # # # u d SF h A h M OJ QJ ^J ! j h A h M OJ QJ U ^J j # h36w U mH nH u ! h F h ( 0J 5 \ mH nH u 2 j(# h ( h36w >* B* U mH nH ph u h ( mH nH u h F h ( 0J mH nH u h ( mH nH sH u $ j h F h ( 0J U mH nH u j ” h36w U mH nH u j h ( U mH nH u h ( mH nH u # # f$ h$ l$ $ $ $ $ & & ‘ &( / z5 5 5 5 q`S B3 h A h M OJ QJ ^J aJ h A h M OJ QJ ^J mH sH h A h M OJ QJ ^J h I h M OJ QJ ^J mH sH h I h M OJ QJ ^J mH sH & h I h M 5 6 OJ QJ ^J mH sH h A h M OJ QJ ^J mH sH h I h M OJ QJ ^J mH sH # h I h M 5 OJ QJ ^J mH sH h ” h M 5 OJ QJ \ h A h M h B h 5 CJ \ ( h A h M CJ OJ QJ ^J aJ mH sH $ $ $ $ % & $( ( (* 2+ – / h/ 0 b2 4 v5 z5 5 5 5 5 $ 8 ^ 8 ` a$ gd M gd ” ( $ & F ] a$ gd N $ ] ` a$ gd M $ ] a$ gd M gd M 5 5 5 : : P: Q: Y: Z: \: ]: : : : : : : : : : : < < < 4= 6= 8= <= >= @= B= |e Q ‘ hrt h M 0J OJ QJ ^J mH nH u , j”$ h M OJ QJ U ^J mH nH u h M OJ QJ ^J mH nH u & j h M OJ QJ U ^J mH nH u # h tz h M OJ QJ ^J mH nH u h A h M 0J OJ QJ ^J ! j h A h M OJ QJ U ^J h A h M OJ QJ ^J h A h M OJ QJ ^J mH sH h A h M 5 OJ QJ ^J aJ 5 9 B= *@ @@ B@ @ @ B B C 4G *K M N nO |P Q Q ( $ & F 7$ 8$ H$ a$ gd N $ h ` h a$ gd M + gd M gd M $ 7$ 8$ H$ a$ gd M $ 7$ 8$ H$ ` a$ gd M * [$ \$ gd M * [$ \$ ` gd M B= T= ? ? ? @ @ @ „@ $@ (@ B@ @ @ @ @ B B n a TFT2 ‘ h ?: h M OJ QJ ^J mH nH sH u h ?: h M 5 OJ QJ ^J h ?: h M OJ QJ ^J h A h M OJ QJ ^J + h!# h M 0J OJ QJ ^J mH nH sH u 6 j $ h, h | OJ QJ U ^J mH nH sH u ! h M OJ QJ ^J mH nH sH u * j h M OJ QJ U ^J mH nH sH u ‘ h tz h M OJ QJ ^J mH nH sH u h A h M OJ QJ ^J mH sH & h A h M 5 OJ QJ \ ^J mH sH B B B @B F F F &G (G *G ,G .G 2G H H H I I I I I I N N N l P l 6 jo( h, h | OJ QJ U ^J mH nH sH u + h!# h M 0J OJ QJ ^J mH nH sH u 6 j & h, h | OJ QJ U ^J mH nH sH u ! h M OJ QJ ^J mH nH sH u * j h M OJ QJ U ^J mH nH sH u ) h I h M 5 6 OJ QJ \ ^J mH sH h I h M OJ QJ ^J mH sH ‘ h I h M OJ QJ ^J mH nH sH u N N rO O P P Q .Q 8Q Q 0R NR dR hR T T T T U w`H4 & h M B* OJ QJ ^J mH nH ph u / j h M B* OJ QJ U ^J mH nH ph u , h tz h M B* OJ QJ ^J mH nH ph u h A h M OJ QJ ^J 3 h I h M 0J) 5 6 B* OJ QJ ^J mH ph6_ sH / h I h M 5 6 B* OJ QJ ^J mH ph6_ sH & h I h M 6 OJ QJ ] ^J mH sH h I h M OJ QJ ^J mH sH h I h M OJ QJ ^J mH sH & h I h M 6 OJ QJ ] ^J mH sH Q Q 0R U W W X Z |\ 8^ Jc Lc Nc Rc Tc Vc Xc Zc \c ^c `c gd M ` gd M $ & F d d [$ \$ a$ gd N ( $ & F 7$ 8$ H$ a$ gd N ( $ & F a$ gd N & F gd N $ ` a$ gd M U U U U U U U U U W W >W BW FW }m mSB* / h A h M 6 B* OJ QJ ] ^J mH ph sH h A h M OJ QJ ^J mH sH 2 h A h M 5 6 B* OJ QJ ] ^J mH ph6_ sH h A h M 5 6 OJ QJ ^J ‘ h A h M 5 6 B* OJ QJ ^J ph6_ h A h M OJ QJ ^J , h tz h M B* OJ QJ ^J mH nH ph u ‘ h!# h M 0J OJ QJ ^J mH nH u / j h M B* OJ QJ U ^J mH nH ph u ; j.* h, h | B* OJ QJ U ^J mH nH ph u FW W W W X X X X X &Z *Z Z Z [ |\ \ \ l] p] r] j] ] ]I3 * j h M OJ QJ U ^J mH nH sH u ‘ h tz h M OJ QJ ^J mH nH sH u h A h M OJ QJ ^J 1 h A h M B* CJ OJ QJ ^J aJ mH ph sH h A h M 5 6 OJ QJ ^J ‘ h A h M 5 6 B* OJ QJ ^J ph6_ h A h M OJ QJ ^J mH sH / h A h M 6 B* OJ QJ ] ^J mH ph sH 2 h A h M 5 6 B* OJ QJ ] ^J mH ph6_ sH ) h A h M B* OJ QJ ^J mH ph sH r] *^ ,^ .^ 2^ 4^ 6^ 8^ .b 2b 4b c @c Bc Dc Hc Nc Pc c c c „d $d &d (d *d .d 0d | kO 9 + hrt h M 0J OJ QJ ^J mH nH sH u 6 j . h, h | OJ QJ U ^J mH nH sH u ! h M OJ QJ ^J mH nH sH u , j h A h M OJ QJ U ^J mH nH u h I h M OJ QJ ^J mH sH ‘ h I h M OJ QJ ^J mH nH sH u + h!# h M 0J OJ QJ ^J mH nH sH u * j h M OJ QJ U ^J mH nH sH u 6 j , h, h | OJ QJ U ^J mH nH sH u `c bc dc fc hc jc lc nc pc rc tc vc xc c 0d Ld Nd f „h h i ( $ & F 7$ 8$ H$ ^ ` a$ gd N $ 7$ 8$ H$ ` a$ gd M $ ` a$ gd M + gd M $ a$ gd M gd M ` gd M 0d Ld Nd e f f „h Jh h i i i j j |k ~k k k z zaH. 3 j h M B* OJ QJ U ^J mH nH ph sH u 0 h tz h M B* OJ QJ ^J mH nH ph sH u 0 h I h M B* OJ QJ ^J mH nH ph sH u ) h I h M B* OJ QJ ^J mH ph sH / h I h M 6 B* OJ QJ \ ^J mH ph sH / h A h M 6 B* OJ QJ \ ^J mH ph sH ) h A h M B* OJ QJ ^J mH ph sH h A h M 6 OJ QJ ^J h A h M OJ QJ ^J mH sH h A h M OJ QJ ^J i j k n 4o o o Zp \p p p p p q s v Hx $ 7$ 8$ H$ ` a$ gd M $ ` a$ gd M ( & F gd N gd M + gd M $ a$ gd M $ 8 7$ 8$ H$ ^ 8 ` a$ gd M $ 7$ 8$ H$ ` a$ gd M ( $ & F 7$ 8$ H$ ^ ` a$ gd N k k k k k k k n o o 6o Zp \p oZEZo4 h A h M OJ QJ ^J mH sH ) h A h M B* OJ QJ ^J mH ph sH ) h I h M B* OJ QJ ^J mH ph sH ) h A h M B* OJ QJ ^J mH ph sH 0 h tz h M B* OJ QJ ^J mH nH ph sH u + hrt h M 0J OJ QJ ^J mH nH sH u 3 j h M B* OJ QJ U ^J mH nH ph sH u 9 jy/ h M B* OJ QJ U ^J mH nH ph sH u * h M B* OJ QJ ^J mH nH ph sH u \p ^p `p p p p p s s s u u u u v v v s]L0] 6 jH0 h, h | OJ QJ U ^J mH nH sH u ! h M OJ QJ ^J mH nH sH u * j h M OJ QJ U ^J mH nH sH u ‘ h tz h M OJ QJ ^J mH nH sH u h tz h M OJ QJ ^J mH sH h M OJ QJ ^J h A h M 5 OJ QJ ^J h A h M OJ QJ ^J mH sH h A h M OJ QJ ^J , j h A h M OJ QJ U ^J mH nH u 4 j h A h M OJ QJ U ^J mH nH sH tH u v v v v v v Fw Jw Fx Hx z z z { | | j~ n\nDnDn/ ) h I h M B* OJ QJ ^J mH ph sH / h A h M 5 B* OJ QJ \ ^J mH ph6_ sH # h M B* OJ QJ ^J mH ph sH ) h A h M B* OJ QJ ^J mH ph sH & h A h M 6 OJ QJ ] ^J mH sH , j h A h M OJ QJ U ^J mH nH u h A h M OJ QJ ^J mH sH ‘ h tz h M OJ QJ ^J mH nH sH u * j h M OJ QJ U ^J mH nH sH u + h!# h M 0J OJ QJ ^J mH nH sH u Hx z | > B 8 N H $ & p ( gd M ( & F gd N $ 7$ 8$ H$ a$ gd M $ ` a$ gd M $ 7$ 8$ H$ ` a$ gd M $ 7$ 8$ H$ ` a$ gd M 8 > P V h B b r v , & u dSdBS4 h A h M 5 OJ QJ ^J h I h M OJ QJ ^J mH sH h I h M OJ QJ ^J mH sH h I h M OJ QJ ^J mH sH 5 h I h M 5 6 B* OJ QJ \ ] ^J mH ph6_ sH ) h I h M B* OJ QJ ^J mH ph6_ sH / h I h M 5 B* OJ QJ \ ^J mH ph6_ sH ) h I h M B* OJ QJ ^J mH ph sH ) h I h M B* OJ QJ ^J mH ph sH / h I h M 5 B* OJ QJ \ ^J mH ph6_ sH & H V X Z b d f j l n V ` | kTkC/C ‘ h I h M OJ QJ ^J mH nH sH u h I h M OJ QJ ^J mH sH , j h A h M OJ QJ U ^J mH nH u h I h M OJ QJ ^J mH sH + h!# h M 0J OJ QJ ^J mH nH sH u 6 j 2 h, h | OJ QJ U ^J mH nH sH u ! h M OJ QJ ^J mH nH sH u * j h M OJ QJ U ^J mH nH sH u ‘ h tz h M OJ QJ ^J mH nH sH u h M OJ QJ ^J h A h M OJ QJ ^J p 8 b f gd M ( & F gd N * $ [$ \$ a$ gd M * $ [$ \$ ` a$ gd M $ 7$ 8$ H$ ` a$ gd ” $ 7$ 8$ H$ ` a$ gd M $ ` a$ gd M 0 t t ~ } } c c L L 5 , h I h M 5 B* OJ QJ ^J mH ph sH , h I h M 5 B* OJ QJ ^J mH ph6_ sH 2 h I h M 5 6 B* OJ QJ ] ^J mH ph6_ sH / h I h M 5 B* OJ QJ \ ^J mH ph6_ sH ) h I h M B* OJ QJ ^J mH ph sH ) h A h M B* OJ QJ ^J mH ph sH h A h M OJ QJ ^J mH sH h A h M 5 OJ QJ ^J h I h M OJ QJ ^J mH sH h I h M OJ QJ ^J mH sH X Z H . n : d z $ 7$ 8$ H$ a$ gd M $ 7$ 8$ H$ ` a$ gd M $ 8 7$ 8$ H$ ^ 8 ` a$ gd M $ a$ gd M $ ` a$ gd M ( $ & F 7$ 8$ H$ ^ ` a$ gd N < F V r t 2 T V l r > ` b h b z v / hn6 h M 5 B* OJ QJ \ ^J mH ph sH ) h I h M B* OJ QJ ^J mH ph6_ sH / h I h M 5 B* OJ QJ \ ^J mH ph6_ sH 0 h I h M B* OJ QJ ^J mH nH ph sH u ) h I h M B* OJ QJ ^J mH ph sH , h I h M 5 B* OJ QJ ^J mH ph sH $z l : Z ^ L r wm S m 2 j 3 h A h M 5 6 OJ QJ U ^J mH nH u h M OJ QJ ^J h Z h M OJ QJ ^J h A h M OJ QJ ^J ‘ h I h M OJ QJ ^J mH nH sH u 7 h I h M 5 6 B* CJ OJ QJ ^J aJ mH ph 6] sH h I h M OJ QJ ^J mH sH ) h I h M B* OJ QJ ^J mH ph sH / h I h M 5 6 B* OJ QJ ^J mH ph$@a sH z l : ^ L b d $ ` a$ gd M $ 7$ 8$ H$ a$ gd M $ e 7$ 8$ H$ ` e a$ gd M $ 7$ 8$ H$ ` a$ gd M ( $ 7$ 8$ H$ a$ gd M ( $ & F 7$ 8$ H$ a$ gd N ( $ & F P 7$ 8$ H$ a$ gd N r t y f S @ % j h A h M EH OJ QJ U ^J % j h A h M EH OJ QJ U ^J % jZ h A h M EH OJ QJ U ^J % j’ h A h M EH OJ QJ U ^J 2 j h A h M B* OJ QJ U ^J mH ph sH ) h A h M B* OJ QJ ^J mH ph sH % jT h A h M EH OJ QJ U ^J % j h A h M EH OJ QJ U ^J h A h M OJ QJ ^J ! j h A h M OJ QJ U ^J | p r b d R $ ` a$ gd M 1 gd M gd M $ ^ ` a$ gd M $ 7$ 8$ H$ ` a$ gd M $ e 7$ 8$ H$ ` e a$ gd M $ 7$ 8$ H$ a$ gd M $ ` a$ gd M f {gVg{H{4 ‘ h I h M OJ QJ ^J mH nH sH u h M OJ QJ ^J mH sH h M 6 OJ QJ ] ^J mH sH & h I h M 6 OJ QJ ] ^J mH sH h I h M OJ QJ ^J mH sH : h I h M 5 6 B* CJ OJ QJ \ ^J aJ mH ph 6] sH % jw h A h M EH OJ QJ U ^J % j) h A h M EH OJ QJ U ^J 2 j h A h M B* OJ QJ U ^J mH ph sH ) h A h M B* OJ QJ ^J mH ph sH r h d jU7 & h I h M OJ QJ ^J mH sH : h I h M 5 6 B* CJ OJ QJ \ ^J aJ mH ph 6] sH ) h I h M B* OJ QJ ^J mH ph sH 5 j h A h M B* OJ QJ U ^J mH nH ph u h I h M OJ QJ ^J mH sH ‘ h I h M OJ QJ ^J mH nH sH u + h!# h M 0J OJ QJ ^J mH nH sH u 0 j h M OJ QJ U ^J mH nH sH u ! h M OJ QJ ^J mH nH sH u * j h M OJ QJ U ^J mH nH sH u d ” ^ ` d f R e O > h A h M OJ QJ ^J mH sH + h!# h M 0J OJ QJ ^J mH nH sH u 6 j ! h, h | OJ QJ U ^J mH nH sH u ! h M OJ QJ ^J mH nH sH u * j h M OJ QJ U ^J mH nH sH u ‘ h tz h M OJ QJ ^J mH nH sH u h tz h M OJ QJ ^J h M OJ QJ ^J h A h M OJ QJ ^J h A h M OJ QJ ^J mH sH h A h M 5 OJ QJ ^J R J * . 4 6 B D J , | . ( $ & F 7 7$ 8$ H$ ^ 7 ` a$ gd N ( $ & F 7 ^ 7 ` a$ gd N $ a$ gd M gd M $ ` a$ gd M ` gd M $ ` a$ gd M R * , . 0 2 6 @ < > @ lVE)V 6 j5 h, h | OJ QJ U ^J mH nH sH u ! h M OJ QJ ^J mH nH sH u * j h M OJ QJ U ^J mH nH sH u ‘ h tz h M OJ QJ ^J mH nH sH u h tz h M OJ QJ ^J h M OJ QJ ^J 0 j^ h A h M OJ QJ U ^J mH nH sH u 0 j s h A h M OJ QJ U ^J mH nH sH u h A h M OJ QJ ^J 0 j^” h A h M OJ QJ U ^J mH nH sH u h I h M OJ QJ ^J mH sH @ D F H J L : F ub K:b uK h I h M OJ QJ ^J mH sH , h I h M 5 B* OJ QJ ^J mH ph 6] sH $ h A h M 5 B* OJ QJ ^J ph 6] h A h M OJ QJ ^J mH sH ) h A h M B* OJ QJ ^J mH ph sH , h A h M 5 B* OJ QJ ^J mH ph 6] sH h A h M OJ QJ ^J ‘ h tz h M OJ QJ ^J mH nH sH u * j h M OJ QJ U ^J mH nH sH u + h F h M 0J OJ QJ ^J mH nH sH u , > D z | , . 0 zg zg R> & h A h M 5 CJ OJ QJ \ ^J aJ ) h A h M B* OJ QJ ^J mH ph sH $ h A h M 5 B* OJ QJ ^J ph 6] h A h M OJ QJ ^J mH sH h A h M OJ QJ ^J , h A h M 5 B* OJ QJ ^J mH ph 6] sH ) h I h M B* OJ QJ ^J mH ph sH , h I h M 5 B* OJ QJ ^J mH ph 6] sH h I h M OJ QJ ^J mH sH & h I h M 5 6 OJ QJ ^J mH sH . 0 8 : < & 3 = $ $ &`#$ / If a$ gd] $ $ &`#$ / If a$ gd] gd M $ a$ gd M $ 7$ 8$ H$ ` a$ gd M 1 gd M ( $ 7$ 8$ H$ ^ a$ gd M N P R T oO 9 + h!# h M 0J OJ QJ ^J mH nH sH u ? j h, h | B* OJ QJ U ^J mH nH ph sH u * h M B* OJ QJ ^J mH nH ph sH u 3 j h M B* OJ QJ U ^J mH nH ph sH u 0 h tz h M B* OJ QJ ^J mH nH ph sH u 0 h I h M B* OJ QJ ^J mH nH ph sH u ) h I h M B* OJ QJ ^J mH ph sH 1 h I h M B* CJ OJ QJ ^J aJ mH ph sH 6 8 > L M o^ PA4PA4A h A h M OJ QJ ^J h A h M 0J. OJ QJ ^J h A h M 5 OJ QJ ^J ! h M OJ QJ ^J mH nH sH u 0 j h A h M OJ QJ U ^J mH nH sH u ” h A h M 0J. 5 6 OJ QJ ^J h M 0J. 6 OJ QJ ^J h A h M 0J. 6 OJ QJ ^J ” h A h M 0J. 5 OJ QJ \ ^J h M 5 OJ QJ \ ^J h A h M 5 OJ QJ \ ^J 2 j h A h M 5 OJ QJ U \ ^J mH nH u = > L M s l Y l l l l $ $ &`#$ / If a$ gd] $ $ &`#$ / If a$ gd] kd $ $ If l 0 c’ t 6` 0 6 4 4 l a & ? I o \ \ \ \ \ $ $ &`#$ / If a$ gd] $ &`#$ / If gd] kd* $ $ If l 0 c’ t 6` 0 6 4 4 l a H I J ` a | } ~ H I J S T ! ” # . m n o q r r , h A h M 6 B* OJ QJ ^J mH ph sH ) h A h M B* OJ QJ ^J mH ph sH h A h M 5 6 OJ QJ ^J h M 5 6 OJ QJ ^J h M 6 OJ QJ ^J h A h M 0J. OJ QJ ^J h A h M 0J. 5 OJ QJ ^J h A h M 5 OJ QJ ^J h A h M OJ QJ ^J (I J a } l l $ $ &`#$ / If a$ gd] kd $ $ If l 0 c’ t 6` 0 6 4 4 l a } ~ l Y l $ $ &`#$ / If a$ gd] $ $ &`#$ / If a$ gd] kdb $ $ If l 0 c’ t 6` 0 6 4 4 l a I l l $ $ &`#$ / If a$ gd] kd $ $ If l 0 c’ t 6` 0 6 4 4 l a I J S T l Y l $ $ &`#$ / If a$ gd] $ $ &`#$ / If a$ gd] kd $ $ If l 0 c’ t 6` 0 6 4 4 l a ” l Y l l l $ $ &`#$ / If a$ gd] $ $ &`#$ / If a$ gd] kd6 $ $ If l 0 c’ t 6` 0 6 4 4 l a ” # . n l l $ $ &`#$ / If a$ gd] kd $ $ If l 0 c’ t 6` 0 6 4 4 l a n o p q r T w w r r b b V V $ 7$ 8$ H$ a$ gd M $ B 7$ 8$ H$ ` B a$ gd M gd M / & F gd M kdn $ $ If l 0 c’ t 6` 0 6 4 4 l a * N P ” > F J N P r^H7 ! h M OJ QJ ^J mH nH sH u * j h M OJ QJ U ^J mH nH sH u ‘ h tz h M OJ QJ ^J mH nH sH u h tz h M OJ QJ ^J h A h M 6 OJ QJ ^J h M OJ QJ ^J h A h M OJ QJ ^J 1 h A h M B* CJ OJ QJ ^J aJ mH ph sH ) h A h M B* OJ QJ ^J mH ph sH / h I h M 6 B* OJ QJ ] ^J mH ph sH ) h I h M B* OJ QJ ^J mH ph sH T * P R ” T ~ $ 8 7$ 8$ H$ ^ 8 ` a$ gd M $ h ` h a$ gd M gd M $ a$ gd M $ @ 7$ 8$ H$ ` @ a$ gd M 1 & F ^ gd M 1 gd M $ 7$ 8$ H$ a$ gd M ” h M4 0 j h A h M OJ QJ U ^J mH nH sH u 4 h A h M 5 B* CJ OJ QJ ^J aJ mH ph6_ sH , h A h M 5 B* CJ OJ QJ ^J aJ ph6_ / h A h M 5 B* CJ OJ QJ \ ^J aJ ph6_ h A h M OJ QJ ^J ‘ h tz h M OJ QJ ^J mH nH sH u + h!# h M 0J OJ QJ ^J mH nH sH u * j h M OJ QJ U ^J mH nH sH u 6 j h, h | OJ QJ U ^J mH nH sH u D R T p r xcL7L7 ) h I h M B* OJ QJ ^J mH ph sH , j h A h M OJ QJ U ^J mH nH u ) h I h M B* OJ QJ ^J mH ph sH h I h M OJ QJ ^J mH sH h A h M OJ QJ ^J h M 5 OJ QJ ^J h A h M 5 OJ QJ ^J h M OJ QJ ^J mH sH 0 j,] h A h M OJ QJ U ^J mH nH sH u 0 j h A h M OJ QJ U ^J mH nH sH u h A h M OJ QJ ^J mH sH ~ p ” $ ( $ a$ gd ” ( $ & F a$ gd N ` gd M gd ” gd M $ 7$ 8$ H$ ^ ` a$ gd M $ 8 7$ 8$ H$ ^ 8 ` a$ gd M ” ^ , . | ~ 6 vi_Ni= ! h M OJ QJ ^J mH nH sH u h I h M OJ QJ ^J mH sH h M OJ QJ ^J h A h M OJ QJ ^J h A h{e CJ OJ QJ ^J aJ h ” CJ OJ QJ ^J aJ h M CJ OJ QJ ^J aJ h A h M CJ OJ QJ ^J aJ h M 0J. 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OJ QJ ^J mH sH * h ” h M 0J. 5 OJ QJ \ ^J mH sH ” $ & ( * , . | ~ 6 (” *” ,” ( ^ gd M ` gd M $ ` a$ gd M $ a$ gd M 3 gd M ( $ h ^ h a$ gd{e ( $ a$ gd ” l[B. ‘ h A h M OJ QJ ^J mH nH sH u 0 j h A h M OJ QJ U ^J mH nH sH u h A h M OJ QJ ^J mH sH 0 j h A h M OJ QJ U ^J mH nH sH u h A h M OJ QJ ^J + h F h M 0J OJ QJ ^J mH nH sH u 6 jf h, h | OJ QJ U ^J mH nH sH u ! h M OJ QJ ^J mH nH sH u * j h M OJ QJ U ^J mH nH sH u ‘ h ?: h M OJ QJ ^J mH nH sH u ,” X” \” `” 4% 6% % && & ‘ ‘ \* `* b* * |gR@R) , h A h M 5 B* OJ QJ ^J mH ph sH # h M B* OJ QJ ^J mH ph sH ) h A h M B* OJ QJ ^J mH ph sH ) h I h M B* OJ QJ ^J mH ph sH ) h I h M B* OJ QJ ^J mH ph sH & h I h M 6 OJ QJ ] ^J mH sH h I h M OJ QJ ^J mH sH h A h M OJ QJ ^J mH sH h A h M CJ OJ QJ ^J aJ h M OJ QJ ^J h A h M OJ QJ ^J h I h M OJ QJ ^J mH sH ,” Z” \” 6% & ‘ ‘ L( ) ^* `* b* * * N, V, d, f, l, , $ a$ gd M gd M ( $ & F n 7$ 8$ H$ ^ n ` a$ gd N $ 7$ 8$ H$ ` a$ gd M $ a$ gd M 3 & F 8 ^ 8 gd M 3 gd M * * * * L, N, R, T, b, d, f, l, n, , , , , „- 0- 2- 4- 6- veWeWeWeI; j h M U mH nH u h M CJ OJ QJ ^J aJ h M CJ OJ QJ ^J aJ h A h M CJ OJ QJ ^J aJ 4 j h A h M CJ OJ QJ U ^J aJ mH nH u , h A h M 5 B* OJ QJ ^J mH ph sH 9 j h v’ h M B* OJ QJ U ^J mH nH ph sH u ) h d h M B* OJ QJ ^J mH ph sH # h M B* OJ QJ ^J mH ph sH & h M 5 B* OJ QJ ^J mH ph sH , , , , , , 2- 4- 8- :- <- >– @- B- D- F- H- J- L- N- P- ^- `- $ a$ gd M gd M ( $ a$ gd M ( $ & F a$ gd N $ a$ gd M 6- 8- `- . R. d. . . . F/ H/ V/ X/ Z/ / / / / pVEA h M h M 5 OJ QJ \ ^J mH sH 3 j9%$ h < h M 5 OJ QJ U ^J mH nH sH u $ h M 5 OJ QJ ^J mH nH sH u h8\ h M OJ QJ ^J hn6 h M 5 OJ QJ ^J $ j hn6 h M 5 OJ QJ U ^J h M OJ QJ ^J h < h M OJ QJ ^J ) h I h M B* OJ QJ ^J mH ph sH # h M B* OJ QJ ^J mH ph sH h A h M CJ OJ QJ ^J aJ `- . . . . X/ Z/ / / 0 0 #0 $0 %0 '0 )0 00 10 20 0 dh gd M 7$ 8$ H$ gd M $ dh a$ gd M $ 7$ 8$ H$ a$ gd M gd M $ a$ gd M ( $ & F dh a$ gd N $ a$ gd M / / / / 0 0 0 0 0 !0 "0 #0 %0 &0 '0 {iV{ h M U mH nH sH u h M mH nH sH u h M 5 OJ QJ \ ^J mH sH h M OJ QJ ^J h8\ h M OJ QJ ^J hn6 h M 5 OJ QJ ^J & hn6 h M 5 OJ QJ \ ^J mH sH ‘0 (0 )0 -0 /0 00 10 20 50 I0 J0 L0 Z0 [0 0 0 0 0 0 0 0 { {mbmbmWLA jk M h M 5 6 U jIcD h M 5 6 U h M mH nH sH u h M 6 OJ QJ ^J h o h M 6 OJ QJ ^J h o h M 5 6 OJ QJ ^J h M 5 6 OJ QJ ^J h M 5 6 h M 5 OJ QJ \ ^J mH sH ! h M OJ QJ ^J mH nH sH u ‘ h TF h M OJ QJ ^J mH nH sH u $ h M 5 OJ QJ ^J mH nH sH u – j 5 h M 5 OJ QJ U ^J mH nH sH u 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 $ ~ 7$ 8$ H$ a$ gd M $ 7$ 8$ H$ a$ gd M 7$ 8$ H$ gd M 0 0 0 0 0 0 0 0 1 1 u1 |1 }1 1 1 ygXgE3 # h p h M OJ QJ \ ^J mH sH $ h M 5 OJ QJ ^J mH nH sH u h M OJ QJ \ ^J mH sH # h < h M OJ QJ \ ^J mH sH h AQ h M mH nH sH u $ j Z h AQ h M U mH nH sH u h M mH nH sH u $ j FV hE>{ h M U mH nH sH u & h I h M 5 OJ QJ \ ^J mH sH # h I h M 6 OJ QJ ^J mH sH & h I h M 5 6 OJ QJ ^J mH sH h I h M 5 6 mH sH 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 d3 f3 05 zizPz7z 0 j 3~ h A h M OJ QJ U ^J mH nH sH u 0 j!”~ h A h M OJ QJ U ^J mH nH sH u h A h M CJ OJ QJ ^J aJ h A h M OJ QJ ^J h M OJ QJ \ ^J mH sH / j o h )< h )< 5 OJ QJ U \ ^J mH sH # h TF h M OJ QJ \ ^J mH sH 3 j k h < h M 5 OJ QJ U ^J mH nH sH u ) j _ h M 5 OJ QJ U \ ^J mH sH h M 5 OJ QJ \ ^J mH sH 1 1 1 3 (4 B5 H5 V5 5 5 5 5 5 5 5 5 5 6 6 6 f6 6 6 gd M / gd M 8 ^ 8 ` gd M $ 7$ 8$ H$ a$ gd M $ 7$ 8$ H$ a$ gd M $ a$ gd M 3 gd M 05 >5 B5 D5 F5 H5 T5 5 5 5 5 5 5 5 5 5 6 f6 6 `8 b8 n\nH4& h tz h M 5 6 OJ QJ ^J mH sH & h A h M 5 6 OJ QJ ^J mH sH # h I h M 5 OJ QJ ^J mH sH h I h M OJ QJ ^J mH sH jc h M OJ QJ U ^J * j U h M OJ QJ U ^J mH nH sH u ‘ h A h M OJ QJ ^J mH nH sH u 0 j > h A h M OJ QJ U ^J mH nH sH u 0 j , h A h M OJ QJ U ^J mH nH sH u h A h M OJ QJ ^J h M OJ QJ ^J b8 d8 h8 j8 9 9 9 9 9 9 9 9 9 9 9 < n]J]8] # h I h M 5 OJ QJ ^J mH sH $ h I h M 0J5 OJ QJ ^J mH sH h I h M OJ QJ ^J mH sH & h I h M 5 6 OJ QJ ^J mH sH + h F h M 0J OJ QJ ^J mH nH sH u 6 jQk h, h | OJ QJ U ^J mH nH sH u ! h M OJ QJ ^J mH nH sH u * j h M OJ QJ U ^J mH nH sH u ' h I h M OJ QJ ^J mH nH sH u h tz h M OJ QJ ^J mH sH 6 9 < .> b> 0A A RB B xD E E F ,H H HJ ZK jL M N b> M P P 0Q 2Q @Q xQ T T T U U „U *U .U zU ~U U U y gVygGgVyVg9 h M OJ QJ ^J mH sH h M 5 OJ QJ ^J mH sH h A h M OJ QJ ^J mH sH # h A h M 5 OJ QJ ^J mH sH h A h M OJ QJ ^J mH sH h M OJ QJ ^J mH sH h ^1 h M OJ QJ ^J h M OJ QJ ^J h I h M OJ QJ ^J mH sH h A h M OJ QJ ^J h A h M 0J5 OJ QJ ^J h I h M OJ QJ ^J mH sH # h I h M 6 OJ QJ ^J mH sH P P 2Q zQ Q Q T T T „U ~U U V RV V V W @W W X LX X X X & F gd N & F gd N gd M $ a$ gd M / $ & F 8 ^ 8 a$ gd M ( $ ^ a$ gd M U U U V 8V > > ? ? 2@ X@ Z@ A A B PB RB XB B C FC jC 2D D D E E E E E E E E x h A h M OJ QJ ^J mH sH # h A h M 6 OJ QJ ^J mH sH U h A h M OJ QJ ^J mH sH h A h M OJ QJ ^J # h A h M 5 OJ QJ ^J mH sH h I h M OJ QJ ^J mH sH h A h M OJ QJ ^J mH sH h A h M CJ OJ QJ ^J aJ * ` ` M` {` |` }` ` ` ` ` ` ` ` $ $ If a$ gd] $ 7$ 8$ H$ a$ gd M 7$ 8$ H$ gd M ` ` ` & $ $ If a$ gd] kdkq $ $ If l 4 \ #|) 0$6` ` ` $ ` \ ` ` t 0 6 4 4 l a ` ` ` ` ` ` ` ` ` ` ` a a aa ba da fa ga ha ia ka a a a a a a a Ff w Ff s $ $ If a$ gd] a a a a a a (> *> ,> .> j> l> > > > 0? 2? ? ? ? ? ? ? ? ? ? ? ? ? $ $ If a$ gd] l u c r u l u i i n e c h i p a O r g a n i z a r e a p r o p r i e i i n v a t a r e L u c r u l i n g r u p C i t i r e a c o n t i n u t u r i l o r f i s e i d e d o c u m e n t a r e I d e n t i f i c a r e a s e n z o r i l o r d e a t i n g e r e R e a l i z e a z a s c h e m a c o n t i n u t u l u i f i s e i d e d o c u m e n t a r e X X X X X X F i s a d e d o c u m e n t a r e T i p u r i d e s e n z o r i F i s a d e o b s e r v a t i e 1 5 m i n C o n s o l i d a r e a c u n o s t i n t e l o r d o b a n d i t e C o n v e r s a t i e M e t o d a p a l a r i i l o r g a n d i t o a r e P r e c i z a r e a s a r c i n i l o r s i a m o d u l u i d e r e z o l v a r e a a c e s t o r a d e c a t r e f i e c a r e g r u p a , c o m e n t a r i i p r i v i n d r a s p u n s u r i l e i n c o r e c t e X X F i s a d e l u c r u O b s e r v a r e s i s t e m a t i c a P r e c i z e a z a r e z o l v a r e a c o r e c t a a t e s t e l o r X 4 5 m i n D e z v o l t a r e a l u c r u l u i i n e c h i p a A c t i v i t a t e p r a c t i c a i n e c h i p a A c t i v i t a t e p r a c t i c a R e a l i z a r e a u n u i p r o g r a m i n L E G O a v a n d c e l p u t i n o a p l i c a t i e c a r e s a u t i l i z e z e u n s e n z o r d e c u l o a r e X X X C a l c u l a t o a r e P r o g r a m L E G O R o b o t i F i s a d e o b s e r v a t i e 5 m i n F i x a r e a c u n o s t i n t e l o r d o b a n d i t e C o n c l u z i i F i x a r e a c u n o s t i n t e l o r s i c o m p l e t a r e a a n u m i t o r i n f o r m a t i i X X X T a b l a F i s a d e o b s e r v a t i e I n t r e b a r i l a c a r e t r e b u i e s a r a s p u n d a f i e c a r e g r u p a d e e l e v i c e l u c r e a z a s u b a c e e a s i p a l a r i e C u l o a r e a p a l a r i e i s u b c a r e l u c r e a z a o g r u p a d e e l e v i I n t r e b a r i l e l a c a r e t r e b u i e s a r a s p u n d a P a l a r i a a l b a C e i n f o r m a t i i a v e m ? – c e t r a d u c t o a r e a v e m / d e t i n e m P a l a r i a r o s i e U i t e c u m p r i v e s c e u l u c r u r i l e s e o p u n e u t i l i t a t i i m o n t a r i i u n u i s e n z o r i n c i r c u i t , a r g u m e n t a n d f o l o s i r e a a l t u i a P a l a r i a n e a g r a L a c e r i s c u r i n e e x p u n e m ? – r e g u l i c e t r e b u i e r e s p e c t a t e i n u t i l i z a r e a s e n z o r i l o r i n t r – u n c i r c u i t P a l a r i a g a l b e n a C a r e s u n t o b i e c t i v e l e ? – c e r o l a u s e n z o r i i i n t r – u n s i s t e m d e a c t i o n a r e m e c a t r o n i c P a l a r i a v e r d e C u m p u t e m f a c e a s t a s i i n t r – u n a l t m o d ? p u t e m r e a l i z a s i u n a l t s i s t e m m e c a t r o n i c , f o l o s i n d a c e i a s i s e n z o r i P a l a r i a a l b a s t r a P u t e m s a r e z u m a m p u n c t e l e d e v e d e r e e x p u s e ? c o n c l u z i o n e a z a i n t r e a g a a c t i v i t a t e 3 . C O N C L U Z I I n l u c r a r e a d e f a c s u n t p r e z e n t a t e c t e v a n o c i u n i d e s p r e r o b o c i _ i r o b o c i i m o b i l i . C o m p o n e n t e l e i m p o r t a n t e a l e r o b o c i l o r : m i c r o c o n t o l e r e l e , s e r v o m o t o a r e l e _ i s e n z o r i i . A f o s t r e a l i z a t a o a p l i c a c i e c u p l a t f o r m a L e g o M i n d s t o r m s n c a r e s – a u f o l o s i t s e r v o m o t o a r e _ i s e n z o r i i e x i s t e n c i . P r o g r a m u l r e a l i z a t c o n c i n e m a i m u l t e t i p u r i d e b l o c u r i f o l o s i t e n d i v e r s e c o n t e x t e . A m d e s c r i s d e t a l i a t m o d u l d e r e a l i z a r e a p r o g r a m u l u i . n u l t i m a p a r t e a l u c r r i i a m p r e z e n t a t i m p o r t a n c a m e t o d e l o r i n t e r a c t i v e d e l u c r u n g r u p p r e z e n t n d u n a d i n t r e f i _ e l e p e c a r e d o r e s c s l e f o l o s e s c c u e l e v i i . n v i i t o r d o r e s c s r e a l i z e z _ i p r o g r a m e m a i c o m p l i c a t e f o l o s i n d t o a t e b l o c u r i l e e x i s t e n t e . A b o r d a r e a p r a c t i c a s e p o a t e f a c e p e g r u p e d e e l e v i a s t f e l : O g r u p a d e e l e v i r e a l i z e a z a p r o g r a m a r e i n L E G O O g r u p a d e e l e v i p r o b e a z a a p l i c a t i a p e r o b o t u l L E G O O g r u p a d e e l e v i v e r i f i c a a c t i v i t a t i l e d e s f a s u r a t e s i p r o p u n e c a i d e o p t i m i z a r e a a c t i v i t a t i i p r a c t i c e I n t r e a g a l u c r a r e e s t e u t i l a s i a t r a c t i v a p e n t r u e l e v i s i a r e a c c e s i b i l i t a t e p e n t r u o c l a s a e t e r o g e n a d e e l e v i c u a c c e n t p e i n v a t a r e a c e n t r a t a p e e l e v . P a r c u r g e r e a c u r s u r i l o r d i n m o d u l u l P l a t f o r m e m e c a t r o n i c e p e n t r u e d u c a c i e _ i f o r m a r e f l e x i b i l m i – a u d a t p o s i b i l i t a t e a d e a c u n o a _ t e u n d o m e n i u r e l a t i v n o u _ i i n t e r e s a n t , m e c a t r o n i c a , c u m u l t i p l e a p l i c a c i i n v i a c a d e z i c u z i , d o m e n i u d e s p r e c a r e n u a m _ t i u t f o a r t e m u l t n a i n t e a c u r s u r i l o r . D u p p a r c u r g e r e a a c e s t o r c u r s u r i a m p u t u t r e a l i z a p r o g r a m a r e a m i c r o c o n t r o l e r e l o r f o l o s i t e l a c u r s u r i . P a r t i c i p a r e a l a c o n s t r u c c i a _ i p r o g r a m a r e a r o b o c i l o r m i – a t r e z i t c u r i o z i t a t e a i a r n v i i t o r d o r e s c s a f l u _ i s n v c i m u l t m a i m u l t d e s p r e a c e s t e l u c r u r i . C A P I T O L U L 2 : A c c i o n a r e a u n e i u _ i g l i s a n t e 1 . I N T R O D U C E R E M e c a t r o n i c a t e h n o l o g i e c o m p a t i b i l c u s o c i e t a t e a i n f o r m a c i o n a l M e c a t r o n i c a e s t e r e z u l t a t u l e v o l u c i e i f i r e _ t i n d e z v o l t a r e a t e h n o l o g i c . T e h n o l o g i a e l e c t r o n i c a s t i m u l a t a c e a s t a e v o l u c i e . D e z v o l t a r e a m i c r o e l e c t r o n i c i i a p e r m i s i n t e g r a r e a e l e c t r o m e c a n i c . n u r m t o a r e a e t a p , p r i n i n t e g r a r e a m i c r o p r o c e s o a r e l o r n s t r u c t u r i l e e l e c t r o m e c a n i c e , a c e s t e a d e v i n i n t e l i g e n t e _ i , a s t f e l s – a a j u n s l a m e c a t r o n i c . f i g . 1 F l u x u l c t r e i n t e g r a r e a m e c a t r o n i c ( H Y P E R L I N K ” h t t p : / / w w w . f e s t o . c o m ” 1 2 . ) T e h n o l o g i a m e c a t r o n i c a d u c e n c e n t r u l a t e n c i e i p r o b l e m a i n f o r m a c i e i c a r e , e s t e c o m p o n e n t a d t t o a r e d e t o n n r a p o r t c u m a t e r i a l u l _ i e n e r g i a . A c e a s t a p o z i c i e a i n f o r m a c i e i e s t e m o t i v a t p r i n u r m a t o a r e l e a r g u m e n t e : – i n f o r m a c i a a s i g u r s a t i s f a c e r e a n e v o i l o r s p i r i t u a l e a l e o m u l u i ; – n u m a i i n f o r m a c i a c r e _ t e v a l o a r e a n o u a d a u g a t a t u t u r o r l u c r u r i l o r ; – i n f o r m a c i a n s e a m n c u l t u r . T o t c e e a c e n u m i m a z i u n p r o d u s d e n a l t t e h n i c i t a t e , e s t e n s i n e u n p r o d u s m e c a t r o n i c . A u t o m o b i l u l m o d e r n , r o b o t i i , t e h n i c a d e c a l c u l , t e h n i c a d e t e l e c o m u n i c a t i i , a p a r a t u r a b i o m e d i c a l a , s i s t e m e l e d e t r a n s p o r t i n t e l i g e n t , a p a r a t u r a d e c e r c e t a r e , a p a r a t u r a e l e c t r o c a s n i c a , a p a r a t u r a c i n e – f o t o s i a u d i o – v i d e o , m a s i n i l e a g r i c o l e m o d e r n e e t c . , s u n t e x e m p l e r e p r e z e n t a t i v e d e p r o d u s e m e c a t r o n i c e . ( H Y P E R L I N K ” h t t p : / / w w w . m e c a t r o n i c a . r o / % 2 0 – % 2 0 % 2 0 c u r s % 2 0 F e s t o ” 1 3 . ) U t i l a j e l e m e c a t r o n i c e s u n t a n s a m b l u r i c a r e i n t e g r e a z e l e m e n t e c o m p o n e n t e s i m p l e s a u c o m p l e x e c e i n d e p l i n e s c d i f e r i t e f u n c c i i , a c c i o n n d n b a z a u n o r r e g u l i i m p u s e . P r i n c i p a l a l o r s a r c i n e s t e f u n c c i o n a r e a m e c a n i c , d e c i p r o d u c e r e a d e l u c r u m e c a n i c u t i l , i a r e s e n c a l o r e s t e p o s i b i l i t a t e a d e a r e a c c i o n a i n t e l i g e n t , p r i n t r – u n s i s t e m d e s e n z o r i , l a s t i m u l i i e x t e r i o r i c a r e a c c i o n e a z a s u p r a u t i l a j u l u i l u n d d e c i z i i l e c o r e s p u n z t o a r e p e n t r u f i e c a r e s i t u a c i e . ( H Y P E R L I N K ” h t t p : / / w w w . f e s t o . c o m ” 1 2 . ) P r i n c i p a l a c a r a c t e r i s t i c a u t i l a j e l o r m e c a t r o n i c e e s t e c a p a c i t a t e a d e a s e a d a p t a n p e r m a n e n c l a c o n d i c i i l e e x t e r n e _ i d e a d a i n f o r m a c i i ( s u b f o r m a s e m n a l e l o r m e c a n i c e , e l e c t r i c e , p n e u m a t i c e , o p t i c e , e t c ) p r i n t r – o a u t o m a t i z a r e d e n i v e l r i d i c a t . n a c e a s t l u c r a r e v p r e z i n t u n s i s t e m p n e u m a t i c c a r e a c c i o n e a z o u _ g l i s a n t . P e n t r u r e a l i z a r e a s i s t e m u l u i a m u t i l i z a t t e h n o l o g i a F e s t o d i d a c t i c . S i s t e m u l p n e u m a t i c e s t e s i m u l a t c u a j u t o r u l s o f t u l u i F l u i d S I M _ i p u s n a p l i c a c i e c u a j u t o r u l m a t e r i a l e l o r d i d a c t i c e F e s t o e x i s t e n t e n l a b o r a t o r u l d e m e c a t r o n i c d e l a C o l e g i u l T e h n i c R e m u s R d u l e c . 2 . C O N b I N U T T E H N I C 2 . 1 A U T O M A T I Z A R E A P R O C E S E L O R T E H N O L O G I C E A u t o m a t i c a e s t e r a m u r a _ t i i n c e i c a r e s e o c u p c u s t u d i u l m e t o d e l o r _ i m i j l o a c e l o r p r i n i n t e r m e d i u l c a r o r a s e a s i g u r c o n d u c e r e a p r o c e s e l o r t e h n i c e , f r i n t e r v e n c i a d i r e c t a o p e r a t o r u l u i u m a n . I m p l e m e n t a r e a p r a c t i c a a c e s t o r p r i n c i p i i , m e t o d e _ i m i j l o a c e d e c o n d u c e r e a p r o c e s e l o r s e n u m e _ t e a u t o m a t i z a r e . ( H Y P E R L I N K ” h t t p : / / w w w . f e s t o . c o m ” 1 2 . ) n t r – u n p r o c e s t e h n o l o g i c m e c a n i z a t , n t r e o m _ i u t i l a j , e x i s t o p e r m a n e n t l e g t u r . O m u l i n t r o d u c e p a r a m e t r i i t e h n o l o g i c i _ i p u n e n f u n c c i u n e u t i l a j u l , n d e p l i n i n d f u n c c i a d e c o m a n d . A p o i u t i l a j u l , a s i s t a t d e o m , e x e c u t t r a n s f o r m a r e a m a t e r i e i p r i m e s a u a s e m i f a b r i c a t u l u i n s e m i f a b r i c a t s a u p r o d u s f i n i t . O d a t n c h e i a t t r a n s f o r m a r e a , o m u l e f e c t u e a z c o n t r o l u l p r o d u s u l u i o b c i n u t . L a p r o c e s e l e m e c a n i z a t e , o m u l e s t e n e m i j l o c i t l e g a t d e p r o c e s u l d e f a b r i c a c i e i n c a r e i n t e r v e n c i i l e s a l e f i z i c e _ i i n t e l e c t u a l e s u n t a b s o l u t n e c e s a r e . D e a c e e a , v a l o r i l e m s u r a t e _ i m r i m e a r e g l r i i s u n t i n f l u e n c a t e d e g r a d u l d e c a l i f i c a r e _ i d e s t a r e a f i z i c _ i p s i h i c m o m e n t a n a o m u l u i . P e n t r u e l i m i n a r e a a c e s t o r i n f l u e n c e _ i c r e _ t e r e a v i t e z e i d e e x e c u c i e a m s u r r i i _ i r e g l r i i , s – a c o n c e p u t a u t o m a t i z a r e a p r o c e s e l o r t e h n o l o g i c e , c a r e u r m r e _ t e a s i g u r a r e a t u t u r o r c o n d i c i i l o r d e d e s f _ u r a r e a a c e s t o r a f r i n t e r v e n c i a n e m i j l o c i t a o p e r a t o r u l u i u m a n . n c a z u l a u t o m a t i z r i i , o m u l s e s i t u e a z l a u n n i v e l s u p e r i o r , d e o a r e c e c o n c e p e , p r o i e c t e a z _ i i m p l e m e n t e a z e c h i p a m e n t e _ i s o l u c i i c a r e v o r a s i g u r a p r o d u c c i a , p r o d u c t i v i t a t e a _ i c a l i t a t e a d o r i t e . 2 . 2 D E L A M E C A N I Z A R E L A A U T O M A T I Z A R E T r e c n d n r e v i s t e f o r t u r i l e o m u l u i p e n t r u o b c i n e r e a b u n u r i l o r m a t e r i a l e n e c e s a r e , s e p o a t e s p u n e c a c t i v i t a t e a u m a n a p a r c u r s t r e i e t a p e : 1 . E T A P A M E C A N I Z R I I , n c a r e o m u l e s t e p r e o c u p a t d e a r e d u c e l a m i n i m e f o r t u l s u f i z i c . A c e a s t a a n c e p u t c u c r e a r e a p r i m e l o r u n e l t e _ i c o n t i n u _ i n p r e z e n t , c n d o m u l a r e a l i z a t m i j l o a c e c a r e s – i p e r m i t a t t r e d u c e r e a e f o r t u l u i f i z i c , c t _ i a c e l u i i n t e l e c t u a l . n a c e s t e t a p , r e a l i z a r e a o r i c r u i p r o c e s d e p r o d u c c i e e s t e c o n d i c i o n a t d e a c t i v i t a t e a u m a n . 2 . E T A P A A U T O M A T I Z R I I , n c a r e o m u l s – a p r e o c u p a t s g s e a s c s o l u c i i c a r e s r e d u c s a u s e l i m i n e c o m p l e t i n t e r v e n c i a s a d i r e c t . A s t f e l , p r i n a u t o m a t i z a r e , o m u l u i i r m n e d o a r r o l u l d e c o n d u c e r e _ i s u p r a v e g h e r e , d e c i o a c t i v i t a t e d e o r d i n i n t e l e c t u a l . A u t o m a t i z a r e a s – a i m p u s n c o n d u c e r e a p r o c e s e l o r c o n t i n u e , a l i n i i l o r d e a s a m b l a r e c o m p l e x e , n p i l o t a r e a v e h i c u l e l o r m o d e r n ( a v i o a n e , v a p o a r e , n a v e s p a c i a l e ) , c o n d u c e r e a c e n t r a l e l o r e l e c t r i c e ( n s p e c i a l c e l e n u c l e a r o e l e c t r i c e ) , n m e d i c i n e t c . e x t i n z n d u – s e a s t z i n t o a t e d o m e n i i l e ( t r a n s p o r t u r i , s e r v i c i i , a g r i c u l t u r , c a s n i c , a g r e m e n t _ . a . ) 3 . E T A P A R O B O T I Z R I I ^ I C I B E R N E T I Z R I I , n c a r e o m u l e s t e p r e o c u p a t d e a r e d u c e s a u a e l i m i n a c h i a r _ i a c t i v i t a t e a d e c o n d u c e r e a p r o c e s e l o r a u t o m a t i z a t e . A c e a s t a a f o s t p o s i b i l p r i n r e a l i z a r e a u n o r e c h i p a m e n t e c a p a b i l e s e f e c t u z e o p e r a c i i d e g n d i r e l o g i c , c a r a c t e r i s t i c a c t i v i t c i i i n d u s t r i a l e . A c e s t e e t a p e a u a p r u t s u c c e s i v , p e m s u r a c u n o a _ t e r i i m a i p r o f u n d e a r e a l i t c i i o b i e c t i v e , d a r e l e n u s e e l i m i n , n p r e z e n t d e s f _ u r n d u – s e n p a r a l e l . E f e c t e l e t e h n i c o – e c o n o m i c e o b c i n u t e p r i n a u t o m a t i z a r e a p r o c e s e l o r t e h n o l o g i c e s u n t u r m t o a r e l e . ( H Y P E R L I N K ” h t t p : / / w w w . m e c a t r o n i c a . r o / % 2 0 – % 2 0 % 2 0 c u r s % 2 0 F e s t o ” 1 3 . ) – c r e _ t e r e a r a n d a m e n t u l u i u t i l a j e l o r , a i n s t a l a c i i l o r , d a t o r i t r e d u c e r i i t i m p u l u i d e p o r n i r e _ i a t i n g e r e a r e g i m u l u i o p t i m d e f u n c c i o n a r e , p r e c u m _ i a r e s p e c t r i i a c e s t u i r e g i m , a r e d u c e r i i t i m p u l u i d e s t a c i o n a r e d a t o r i t o p r i r i i a c c i d e n t a l e ; – s c o a t e r e a o m u l u i d i n m e d i i a g r e s i v e c h i m i c , r a d i o a c t i v , t e r m i c , f o n i c , d e l a n l c i m i _ i a d n c i m i m a r i e t c . ; – r e d u c e r e a c o n s u m u r i l o r s p e c i f i c e d e m a t e r i a l e _ i d e e n e r g i e d a t o r i t r e s p e c t r i i r i g u r o a s e a p a r a m e t r i l o r d e l u c r u _ i e x p l o a t r i i i n s t a l a c i e i n r e g i m o p t i m ; – m b u n t c i r e a c a l i t c i i p r o d u s e l o r , r e d u c e r e a n u m r u l u i d e r e b u t u r i ; – c r e _ t e r e a d u r a t e i d e f u n c c i o n a r e a u t i l a j e l o r p r i n n d e p r t a r e a s u p r a s o l i c i t r i l o r , a _ o c u r i l o r d e e x p l o a t a r e , e l i m i n n d u z u r a p r e m a t u r ; – r e d u c e r e a e f e c t e l o r p o l u a n t e a s u p r a m e d i u l u i a m b i a n t d a t o r i t n c a d r r i i n l i m i t e l e p r e s c r i s e d e f u n c c i o n a r e , c o n t r o l u l a s u p r a s u b s t a n c e l o r e l i m i n a t e d i n s i s t e m , b l o c a r e a a u t o m a t a i n s t a l a c i e i n c a z d e e l i m i n a r e a u n o r n o x e , a v e r t i z a r e a n c a z d e a v a r i e e t c . P r i n c i p a l e l e o p e r a c i i i m p u s e d e a u t o m a t i z a r e s u n t : m s u r a r e a s a u d e t e r m i n a r e a p r i n c a l c u l a p r i n c i p a l e l o r v a r i a b i l e a l e p r o c e s u l u i c o n d u s ; s e m n a l i z a r e a d e p _ i r i i a n u m i t o r l i m i t e d e c t r e a n u m i t e v a r i a b i l e a l e p r o c e s u l u i ; r e g l a r e a l a o a n u m i t v a l o a r e c o n s t a n t s a u m o d i f i c a b i l a u n e i a s a u a m a i m u l t o r v a r i a b i l e s u p u s e i n f l u e n c e i p e r t u r b a c i i l o r ; m o d i f i c a r e a p r o g r a m a t a u n o r v a r i a b i l e ; m o d i f i c a r e a s a u m e n c i n e r e a u n o r r a p o a r t e d e t e r m i n a t e n t r e a n u m i t e v a r i a b i l e a l e p r o c e s u l u i ; m e n c i n e r e a u n o r v a r i a b i l e s a u f u n c c i i d e v a r i a b i l e l a o v a l o a r e e x t r e m m a x i m s a u m i n i m ; p r o t e c c i a i n s t a l a c i e i n c a z d e a v a r i e s a u p e r i c o l . ( H Y P E R L I N K ” 5 . % 0 9 V i s t r i a n % 2 0 M t i e s % 2 0 s . a l . , % 2 0 T e h n o l o g i e % 2 0 s i % 2 0 e d u c a t i e % 2 0 m e c a t r o n i c a . % 2 0 A u x i l i a r % 2 0 c u r r i c u l a r % 2 0 p e n t r u % 2 0 l i c e u l % 2 0 t e h n o l o g i c , % 2 0 E d i t u r a % 2 0 E c o n o m i c , % 2 0 B u c u r e s t i , % 2 0 2 0 0 7 ” 1 5 . ) P r i n c i p a l e l e e l e m e n t e a l e e c h i p a m e n t u l u i d e a u t o m a t i z a r e s u n t e l e m e n t u l d e e x e c u c i e , r e g u l a t o r u l a u t o m a t _ i t r a d u c t o r u l . ( H Y P E R L I N K ” 4 . % 0 9 W . % 2 0 H a r i n g , % 2 0 M . % 2 0 M e t z g e r , % 2 0 R . C . % 2 0 W e b e r % 2 0 ” 1 4 . ) E l e m e n t u l d e e x e c u c i e a s i g u r l e g t u r a d i n t r e r e g u l a t o r u l a u t o m a t _ i p r o c e s u l d e a u t o m a t i z a t a c c i o n n d d i r e c t a s u p r a a c e s t u i a d i n u r m . E l e s t e f o r m a t d i n s e r v o m o t o r _ i e l e m e n t u l d e r e g l a r e . S e r v o m o t o r u l p r i m e _ t e d e l a r e g u l a t o r m r i m e a d e c o m a n d , u , p e c a r e o t r a n s f o r m n t r – o m r i m e i n t e r m e d i a r , c e e s t e t r a n s m i s e l e m e n t u l u i d e r e g l a r e , c a r e o c o n v e r t e _ t e n m r i m e a d e e x e c u c i e , m , c u c a r e a c c i o n e a z a s u p r a p r o c e s u l u i d e a u t o m a t i z a t . ( H Y P E R L I N K ” 5 . % 0 9 V i s t r i a n % 2 0 M t i e s % 2 0 s . a l . , % 2 0 T e h n o l o g i e % 2 0 s i % 2 0 e d u c a t i e % 2 0 m e c a t r o n i c a . % 2 0 A u x i l i a r % 2 0 c u r r i c u l a r % 2 0 p e n t r u % 2 0 l i c e u l % 2 0 t e h n o l o g i c , % 2 0 E d i t u r a % 2 0 E c o n o m i c , % 2 0 B u c u r e s t i , % 2 0 2 0 0 7 ” 1 5 . ) E l e m e n t e l e d e e x e c u c i e s e c l a s i f i c d u p : n a t u r a e n e r g i e i u t i l i z a t e p e n t r u r e a l i z a r e a f u n c c i e i d e a c c i o n a r e n e l e m e n t e d e e x e c u c i e p n e u m a t i c e , h i d r a u l i c e _ i e l e c t r i c e ; m o d u l d e a c c i o n a r e n e l e m e n t e d e e x e c u c i e c u a c c i u n e c o n t i n u , b i p o z i c i o n a l _ i d e t i p p a s c u p a s ; r e l a c i a d i n t r e m r i m e a d e e x e c u c i e _ i m r i m e a d e c o m a n d n e l e m e n t e c u a c c i u n e i n t e g r a l _ i e l e m e n t e c u a c c i u n e p r o p o r c i o n a l . R e g u l a t o r u l a u t o m a t e s t e e l e m e n t u l c e l m a i i m p o r t a n t a l u n u i s i s t e m d e r e g l a r e a u t o m a t , d e o a r e c e e l a b o r e a z a l g o r i t m u l d e r e g l a r e a p r o c e s u l u i n f u n c c i e d e a b a t e r e a p r i m i t d e l a e l e m e n t u l d e c o m p a r a c i e _ i a c c i o n e a z a s u p r a e l e m e n t u l u i d e e x e c u c i e p e n t r u a n u l a r e a e i . L e g e a d e d e p e n d e n c n t r e m r i m e a d e c a l i t a t e _ i c e a d e r e f e r i n c e s t e a s i g u r a t d e d e p e n d e n c a r e a l i z a t d e r e g u l a t o r , p r i n c o n s t r u c c i e , n t r e m r i m e a d e c o m a n d _ i a b a t e r e . ( H Y P E R L I N K ” 4 . % 0 9 W . % 2 0 H a r i n g , % 2 0 M . % 2 0 M e t z g e r , % 2 0 R . C . % 2 0 W e b e r % 2 0 ” 1 4 . ) R e g u l a t o a r e l e a u t o m a t e n f u n c c i e d e c o n s t r u c c i e s e c l a s i f i c n : p n e u m a t i c e , h i d r a u l i c e , e l e c t r o n i c e , m i x t e ; T r a d u c t o r u l m s o a r _ i t r a n s f o r m m r i m e a d e i e _ i r e a p r o c e s u l u i a u t o m a t i z a t n t r – o m r i m e c o m p a r a b i l c u c e a d e l a i n t r a r e a r e g u l a t o r u l u i a u t o m a t . P r i n i n t e r m e d i u l l u i s e c u l e g i n f o r m a c i i a s u p r a e v o l u c i e i p r o c e s u l u i a u t o m a t i z a t c a r e s e t r a n s m i t e l e m e n t u l u i d e c o m p a r a c i e c e r e p r e z i n t i n t r a r e a r e g u l a t o r u l u i a u t o m a t . T r a d u c t o a r e l e p o t m s u r a m r i m i d e c a l i t a t e c o n t i n u e _ i d i s c o n t i n u e , g e n e r n d o m r i m e a n a l o g i c s a u n u m e r i c . ( H Y P E R L I N K ” 5 . % 0 9 V i s t r i a n % 2 0 M t i e s % 2 0 s . a l . , % 2 0 T e h n o l o g i e % 2 0 s i % 2 0 e d u c a t i e % 2 0 m e c a t r o n i c a . % 2 0 A u x i l i a r % 2 0 c u r r i c u l a r % 2 0 p e n t r u % 2 0 l i c e u l % 2 0 t e h n o l o g i c , % 2 0 E d i t u r a % 2 0 E c o n o m i c , % 2 0 B u c u r e s t i , % 2 0 2 0 0 7 ” 1 5 . ) T r a d u c t o a r e l e f o l o s i t e n s i s t e m e l e u n i f i c a t e s u n t a l c t u i t e d i n d o u p r c i : e l e m e n t u l s e n s i b i l s a u d e t e c t o r u l _ i a d a p t o r u l . E l e m e n t u l s e n s i b i l s e s i z e a z d i r e c t m r i m e a t e h n o l o g i c _ i g e n e r e a z l a i e _ i r e u n s e m n a l e l e c t r i c , p n e u m a t i c , m e c a n i c e t c . A d a p t o r u l p r e i a a c e s t s e m n a l _ i l t r a n s f o r m n t r – u n u l u n i f i c a t a c c e p t a t d e c t r e r e g u l a t o r . P e n t r u s i s t e m e l e p n e u m a t i c e a c e s t s e m n a l e s t e u n c u r e n t d e a e r c u p r e s i u n e a d e 0 , 2 1 b a r ( d o m e n i u i n t e r n a c i o n a l ) , i a r p e n t r u s i s t e m e l e e l e c t r o n i c e , u n c u r e n t e l e c t r i c c o n t i n u u c u i n t e n s i t a t e a d e 2 1 0 m A , 4 2 0 m A e t c . ( H Y P E R L I N K ” 5 . % 0 9 V i s t r i a n % 2 0 M t i e s % 2 0 s . a l . , % 2 0 T e h n o l o g i e % 2 0 s i % 2 0 e d u c a t i e % 2 0 m e c a t r o n i c a . % 2 0 A u x i l i a r % 2 0 c u r r i c u l a r % 2 0 p e n t r u % 2 0 l i c e u l % 2 0 t e h n o l o g i c , % 2 0 E d i t u r a % 2 0 E c o n o m i c , % 2 0 B u c u r e s t i , % 2 0 2 0 0 7 ” 1 5 . ) 2 . 3 C O M P A R A b I I N T R E A C b I O N R I P N E U M A T I C E , H I D R A U L I C E ^ I E L E C T R I C E ( H Y P E R L I N K ” 5 . % 0 9 V i s t r i a n % 2 0 M t i e s % 2 0 s . a l . , % 2 0 T e h n o l o g i e % 2 0 s i % 2 0 e d u c a t i e % 2 0 m e c a t r o n i c a . % 2 0 A u x i l i a r % 2 0 c u r r i c u l a r % 2 0 p e n t r u % 2 0 l i c e u l % 2 0 t e h n o l o g i c , % 2 0 E d i t u r a % 2 0 E c o n o m i c , % 2 0 B u c u r e s t i , % 2 0 2 0 0 7 ” 1 5 ) C A R A C T – E R I S T I C I P N E U M A T I C H I D R A U L I C E L E C T R I C F o r c e l i n i a r e S u n t l i m i t a t e d e p r e s i u n e a d e l u c r u _ i d e d i a m e t r u l c i l i n d r u l u i ( m a x . 4 0 . 0 0 0 N ) . N u e s t e n e c e s a r c o n s u m d e e n e r g i e p e n t r u m e n c i n e r e a s u b s a r c i n . F o r c e _ i p r e s i u n i m a r i c u g a b a r i t m i c , n u s e c o n s u m e n e r g i e l a m e n c i n e r e a s u b s a r c i n . E f i c i e n c s c z u t , n u e x i s t p r o t e c c i e l a s u p r a n c l z i r e , c o n s u m m a r e d e e n e r g i e c n d n u s e l u c r e a z s u b s a r c i n , f o r c e m i c i , g a b a r i t m a r e , c o n s u m e n e r g e t i c l a m e n c i n e r e a s u b s a r c i n . M o m e n t e M o m e n t e m a r i , c h i a r _ i n s t a c i o n a r e . N u c o n s u m s u p l i m e n t a r e n e r g i e n s t a c i o n a r e . M o m e n t e f o a r t e m a r i , c h i a r _ i n s t a c i o n a r e ; c o n s u m m a r e d e e n e r g i e n s t a c i o n a r e . C e l m a i m i c m o m e n t n s t a c i o n a r e . M i _ c a r e l i n i a r U _ o r d e g e n e r a t , a c c e l e r a c i i m a r i , v i t e z e m a r i . U _ o r d e g e n e r a t , u _ o r d e c o n t r o l a t , a c c e l e r a c i i _ i v i t e z e m a i m i c i c a l a p n e u m a t i c . C o m p l i c a t _ i c o s t i s i t o r p e n t r u c u r s e l u n g i , m a i a l e s d a t o r i t i n v e r s r i i d e s e n s . P e n t r u c u r s e f o a r t e m i c i : c u s o l e n o i d s a u m o t o a r e l i n i a r e , d a r f o r c e _ i m o m e n t e m i c i . M i _ c a r e r o t a t i v s a u o s c i l a n t T u r a c i i m a r i , c o s t u r i m a r i , r a n d a m e n t s c z u t , m i _ c a r e a d e o s c i l a c i e _ i s t a b i l i r e a t u r a c i e i s e f a c e c u d i s p o z i t i v e m e c a n i c e . O p r i r i / p o r n i r i _ i i n v e r s r i d e s e , r a p i d e . T u r a c i e m i c , r a n d a m e n t m a r e . O p r i r i / p o r n i r i _ i i n v e r s r i d e s e , r a p i d e . C e a m a i b u n e f i c i e n c c u m o t o a r e r o t a t i v e , v i t e z l i m i t a t . C o n t r o l a – b i l i t a t e F o r c e l e _ i m o m e n t e l e s e c o n t r o l e a z c u r e g u l a t o a r e d e p r e s i u n e , i a r t u r a c i a c u d r o s e l e . F o a r t e b u n c o n t r o l a – b i l i t a t e d e f o r c e , m o m e n t e , v i t e z e , p r e c i z i e m a r e l a v i t e z e m i c i . C o n t r o l l i m i t a t , c u c o s t u r i m a r i . S t o c a r e a _ i t r a n s m i s i a e n e r g i e i S t o c a r e u _ o a r _ i i e f t i n , n c a n t i t a t e m a r e , t r a n s m i s i e b u n p r i n c o n d u c t e ( p n l a 1 0 0 0 m ) . S t o c a r e l i m i t a t c u g a z s a u r e s o r t a u x i l i a r . T r a n s m i s i i e f i c i e n t e p r i n c o n d u c t e ( p n l a 1 0 0 m ) . S t o c a r e d i f i c i l _ i n c a n t i t c i m i c i , t r a n s m i s i e u _ o a r p r i n c o n d u c t o r i , p e d i s t a n c e m a r i . I n f l u e n c a m e d i u l u i S e n s i b i l l a v a r i a c i e d e t e m p e r a t u r , p e r i c o l d e n g h e c n a n u m i t e c o n d i c i i , s e n s i b i l l a c o n t a m i n r i . S e n s i b i l l a v a r i a c i e d e t e m p e r a t u r , p e r i c o l d e c o n t a m i n a r e , d e i n c e n d i u . I n s e n s i b i l l a v a r i a c i e d e t e m p e r a t u r , s u n t n e c e s a r e m s u r i s p e c i a l e d e i z o l a r e . P e r i c o l d e i n c e n d i u , e x p l o z i e . C o s t u r i e n e r g e t i c e M a r i . M a r i . C e l e m a i m i c i . U _ u r i n c n u t i l i z a r e S e p o t u t i l i z a c u u _ u r i n c ; s u n t s i g u r e , p o s i b i l i t a t e r e d u s d e a v a r i i _ i a c c i d e n t e . M a i c o m p l i c a t d a t o r i t p r e s i u n i i m a r i d e l u c r u ; s u n t n e c e s a r e c i r c u i t e d e r e t u r . S e c e r c u n o _ t i n c e s p e c i a l e ; p e r i c o l d e a v a r i i _ i a c c i d e n t e . G e n e r a l i – t c i C o m p o n e n t e l e p o t f i s u p r a n c r c a t e ; s u n t n e c e s a r e a m o r t i z o a r e d e z g o m o t . Z g o m o t e l e c r e s c c u p r e s i u n e a d e l u c r u , c o m p o n e n t e l e p o t f i s u p r a n c r c a t e . N u e x i s t p r o t e c c i e l a s u p r a n c r c a r e ( d o a r c u c o s t u r i m a r i ) , z g o m o t o a s e . 2 . 4 S I S T E M E D E A C b I O N A R E P N E U M A T I C E A S P E C T E G E N E R A L E S i s t e m e l e p n e u m a t i c e s u n t i n s t a l a i i d e p u t e r e c e u t i l i z e a z a e r u l c o m p r i m a t c a i a g e n t d e l u c r u p e n t r u t r a n s m i t e r e a e n e r g i e i m e c a n i c e . C o m p r e s o r u l c o n v e r t e t e e n e r g i a m e c a n i c n e n e r g i e p o t e n i a l a a e r u l u i c o m p r i m a t . A c e a s t t r a n s f o r m a r e f a c i l i t e a z t r a n s m i t e r e a i c o n t r o l u l p u t e r i i . n a i n t e d e u t i l i z a r e , a e r u l t r e b u i e s f i e f i l t r a t , d e z u m i d i f i c a t i a m e s t e c a t c u v a p o r i d e l u b r i f i a n t . A e r u l c o m p r i m a t e s t e s t o c a t n a c u m u l a t o r i i t r a n s m i s p r i n c o n d u c t e s a u f u r t u n e f l e x i b i l e . P u t e r e a p n e u m a t i c e s t e c o n t r o l a t p r i n v a l v e d e p r e s i u n e , v a l v e d e d e b i t i / s a u v a l v e d i s t r i b u i t o a r e ( s a u m a i s i m p l u : d i s t r i b u i t o a r e ) . L a f i n a l , e n e r g i e p n e u m a t i c e s t e r e c o n v e r t i t n e n e r g i e m e c a n i c p r i n i n t e r m e d i u l m o t o a r e l o r s a u a c i l i n d r i l o r p n e u m a t i c i . ( H Y P E R L I N K ” C u r s % 2 0 F l e x f o r m : % 2 0 % 2 0 D e z v o l t a r e % 2 0 t e h n o l o g i c a % 2 0 s i % 2 0 t e h n o l o g i i % 2 0 e d u c a t i o n a l e ” 1 1 . ) S t r u c t u r a t r a n s m i s i i l o r p n e u m a t i c e e s t e : u n c o m p r e s o r a n t r e n a t d e m a _ i n a d e f o r c a l i m e n t e a z c u g a z u n m o t o r p n e u m a t i c c a r e a c c i o n e a z m a _ i n a d e l u c r u . E x i s t _ i s i s t e m e d e a c c i o n r i p n e u m a t i c e f o r m a t e n e s e n c d i n g e n e r a t o a r e d e g a z e _ i m o t o a r e p n e u m a t i c e ( d e e x . c e l e u t i l i z a t e p e n t r u d i r i j a r e a u n o r r a c h e t e ) . P a r a m e t r i i e n e r g i e i m e c a n i c e f u r n i z a t e d e a c e s t e t r a n s m i s i i p o t f i r e g l a c i c o n t i n u u _ i n l i m i t e l a r g i p r i n m i j l o a c e r e l a t i v s i m p l e . ( H Y P E R L I N K ” h t t p : / / w w w . f e s t o . c o m ” 1 2 . ) F l e x i b i l i t a t e a c o n s t i t u i e u n a v a n t a j e s e n c i a l a l t r a n s m i s i i l o r p n e u m a t i c e f a c d e c e l e m e c a n i c e , a s i g u r n d u – l e o l a r g u t i l i z a r e , d e _ i p r i n c i p i u l d e f u n c c i o n a r e i m p l i c r a n d a m e n t e r e l a t i v m i c i . T r a n s m i s i i l e ” p n e u m o s t a t i c e ” u t i l i z e a z m a _ i n i p n e u m a t i c e v o l u m i c e , i a r c e l e ” p n e u m o d i n a m i c e ” – t u r b o m a _ i n i p n e u m a t i c e , e x i s t n d _ i s o l u c i i m i x t e ( c o m p r e s o r v o l u m i c – t u r b i n p n e u m a t i c ) . I n c a d r u l t r a n s m i s i i l o r p n e u m o s t a t i c e s e d i s t i n g , d i n p u n c t u l d e v e d e r e a l t e o r i e i s i s t e m e l o r a u t o m a t e , s i s t e m e d e a c c i o n a r e , s i s t e m e d e c o m a n d _ i s i s t e m e d e r e g l a r e a u t o m a t . S i s t e m e l e d e a c c i o n a r e _ i c o m a n d p n e u m o s t a t i c e s u n t s i s t e m e c u c i r c u i t d e s c h i s , n s e n s u l c m r i m e a d e i n t r a r e , c a r e i m p u n e r e g i m u l d e f u n c c i o n a r e a l s i s t e m u l u i , n u e s t e i n f l u e n c a t d e e f e c t u l a c c i u n i i s a l e ; d a t o r i t p e r t u r b a c i i l o r i n e r e n t e , m r i m e a d e i e _ i r e n u p o a t e f i c o r e l a t n m o d u n i v o c c u m r i m e a d e i n t r a r e . ( H Y P E R L I N K ” h t t p : / / w w w . m e c a t r o n i c a . r o / % 2 0 – % 2 0 % 2 0 c u r s % 2 0 F e s t o ” 1 3 . ) S i s t e m e l e d e a c c i o n a r e p n e u m o s t a t i c e t r a n s m i t n g e n e r a l p u t e r i m a r i , r a n d a m e n t u l l o r f i i n d u n p a r a m e t r u i m p o r t a n t , u t i l i z a t o b l i g a t o r i u n c o m p a r a c i a c u a l t e t i p u r i d e t r a n s m i s i i . S i s t e m e l e d e c o m a n d p n e u m o s t a t i c e t r a n s m i t n g e n e r a l p u t e r i m i c i , i a r m o t o a r e l e a c e s t o r a a c c i o n e a z a s u p r a e l e m e n t e l o r d e c o m a n d a l e a l t o r t r a n s m i s i i c a r e v e h i c u l e a z p u t e r i m u l t m a i m a r i . S i s t e m e l e d e r e g l a r e a u t o m a t p n e u m o s t a t i c e s u n t s i s t e m e c u c i r c u i t n c h i s , d e c i c o n c i n o l e g t u r d e r e a c c i e c a r e p e r m i t e c o m p a r a r e a , c o n t i n u s a u i n t e r m i t e n t , a m r i m i i d e i n t r a r e c u c e a d e i e _ i r e ; d i f e r e n c a d i n t r e a c e s t e a ( e r o a r e a ) c o n s t i t u i e s e m n a l u l d e c o m a n d a l a m p l i f i c a t o r u l u i s i s t e m u l u i , c a r e a l i m e n t e a z e l e m e n t u l d e e x e c u c i e n s c o p u l a n u l r i i e r o r i i ; a s t f e l , p r e c i z i a a c e s t o r s i s t e m e e s t e r i d i c a t ( n r e g i m s t a c i o n a r , r e l a c i a d i n t r e m r i m e a d e i n t r a r e _ i c e a d e i e _ i r e e s t e p r a c t i c b i u n i v o c ) . P a r a m e t r i i r e g l a c i u z u a l s u n t : p o z i c i a , v i t e z a u n g h i u l a r ( l i n i a r ) , m o m e n t u l a r b o r e l u i ( f o r c a t i j e i ) m o t o r u l u i p n e u m o s t a t i c , p u t e r e a c o n s u m a t d e t r a n s m i s i e d e l a m a _ i n a d e f o r c e t c . A V A N T A J E , D E Z A V A N T A J E , D O M E N I I D E U T I L I Z A R E A c c i o n r i l e _ i c o m e n z i l e p n e u m a t i c e _ i g s e s c o t o t m a i l a r g u t i l i z a r e d a t o r i t u n o r c a r a c t e r i s t i c i s p e c i f i c e , c a r e l e d e o s e b e s c d e a l t e t i p u r i d e a c c i o n r i _ i c a r e e x p l i c a c e a s t t e n d i n c . D i n t r e a v a n t a j e l e _ i d e z a v a n t a j e l e o f e r i t e d e u t i l i z a r e a a e r u l u i c o m p r i m a t c a a g e n t d e l u c r u p u t e m a m i n t i : ( 5 . ; 5 . ) A V A N T A J E D E Z A V A N T A J E T r a n s m i s i i l e p n e u m a t i c e p e r m i t p o r n i r i / o p r i r i d e s e , f r p e r i c o l d e a v a r i e . L a p u t e r i m a r i , m a _ i n i l e p n e u m a t i c e s u n t v o l u m i n o a s e . P o s i b i l i t a t e a a m p l a s r i i e l e m e n t e l o r p n e u m a t i c e n o r i c e p o z i c i e e s t e u n a v a n t a j i m p o r t a n t , s i m p l i f i c n d u – s e a s t f e l p r o i e c t a r e a m a _ i n i l o r _ i m i c _ o r n d g a b a r i t u l a c e s t o r a . D a t o r i t l i m i t r i i p r e s i u n i i d e l u c r u , f o r c e l e _ i m o m e n t e l e o f e r i t e d e m o t o a r e l e p n e u m a t i c e s u n t r e d u s e . E l e m e n t e l e d e c o m a n d a l e t r a n s m i s i i l o r p n e u m a t i c e s o l i c i t e f o r t u r i m i c i , p e r m i c n d p r o i e c t a r e a e r g o n o m i c , o p t i m a u t i l a j e l o r r e s p e c t i v e . C o m p r e s i b i l i t a t e a a e r u l u i n u p e r m i t e r e g l a r e a p r e c i s a p a r a m e t r i l o r d e f u n c c i o n a r e . U t i l i z a r e a p e s c a r l a r g a a c e s t o r t r a n s m i s i i o f e r p o s i b i l i t a t e a t i p i z r i i _ i u n i f i c r i i e l e m e n t e l o r r e s p e c t i v e , i a r u z i n a r e a l o r n n t r e p r i n d e r i s p e c i a l i z a t e r e d u c e c o s t u r i l e , p e r m i c n d a s i g u r a r e a u n e i c a l i t c i r i d i c a t e . A e r u l n u p o a t e f i c o m p l e t p u r i f i c a t c u c o s t u r i r e z o n a b i l e , f a p t c e d u c e l a u z u r a e r o z i v _ i a b r a z i v , p r e c u m _ i l a c o r o z i u n e a c o m p o n e n t e l o r . A e r u l c o m p r i m a t e s t e r e l a t i v u _ o r d e p r o d u s _ i d e t r a n s p o r t a t p r i n r e c e l e , e s t e n e p o l u a n t _ i n e i n f l a m a b i l . n a n u m i t e c o n d i c i i d e m e d i u _ i f u n c c i o n a r e , e x i s t p e r i c o l d e n g h e c . F o r c a , m o m e n t u l _ i v i t e z a m o t o a r e l o r p n e u m a t i c e ( r o t a t i v e , o s c i l a n t e s a u l i n i a r e ) p o t f i r e g l a t e n l i m i t e l a r g i , u t i l i z n d d i s p o z i t i v e s i m p l e . A p a , p r e z e n t t o t d e a u n a n a e r , p u n e n m a r e p e r i c o l f u n c c i o n a r e a s i s t e m e l o r p n e u m a t i c e p r i n n g h e c a r e . P e r i c o l u l d e a c c i d e n t a r e e s t e r e d u s . R a n d a m e n t u l t r a n s m i s i i l o r p n e u m a t i c e e s t e s c z u t . M o t o a r e l e p n e u m a t i c e v o l u m i c e s u n t c o m p a c t e _ i r o b u s t e , a s p e c t i m p o r t a n t n c a z u l s c u l e l o r p o r t a b i l e . D a t o r i t v i t e z e l o r d e l u c r u _ i d e a v a n s m a r i , p r e c u m _ i m o m e n t e l o r d e i n e r c i e m i c i , d u r a t a o p e r a c i i l o r e s t e m i c . n t r e c i n e r e a i n s t a l a c i i l o r p n e u m a t i c e e s t e u _ o a r , d a c s e d i s p u n e d e p e r s o n a l c a l i f i c a t . U t i l i z n d e l e m e n t e l o g i c e s a u c o n v e r t o a r e e l e c t r o p n e u m a t i c e s e p o t r e a l i z a i n s t a l a c i i c u f u n c c i o n a r e n c i c l u a u t o m a t , c a r e o f e r p r o d u c t i v i t a t e m a r e _ i r e p e t a b i l i t a t e . T r a n s m i s i i l e p n e u m a t i c e l e c o n c u r e a z p e c e l e e l e c t r i c e l a p u t e r i m i c i , n d e o s e b i n c a z u r i l e c n d s u n t n e c e s a r e d e p l a s r i l i n i a r e r e a l i z a b i l e s i m p l u c u a j u t o r u l c i l i n d r i l o r p n e u m a t i c i . A l e g e r e a t i p u l u i o p t i m d e t r a n s m i s i e , p e n t r u c o n d i c i i c o n c r e t e d a t e , r e p r e z i n t , n p r i n c i p i u , o p r o b l e m d e n a t u r t e h n i c o – e c o n o m i c , a c r e i s o l u c i o n a r e c o r e c t n e c e s i t c u n o a _ t e r e a d e t a l i a t a c a r a c t e r i s t i c i l o r t u t u r o r s o l u c i i l o r p o s i b i l e . A c c i o n r i l e _ i c o m e n z i l e p n e u m a t i c e s e u t i l i z e a z n i n d u s t r i i l e c u p e r i c o l d e i n c e n d i u , e x p l o z i i : c h i m i c , m i n i e r , d e p r e l u c r a r e a l e m n u l u i , n t e r m o c e n t r a l e . n i n d u s t r i i l e c u p e r i c o l d e c o n t a m i n a r e : a l i m e n t a r , m e d i c a m e n t e , c e s t u r i . n t o a t e d o m e n i i l e u n d e s e p o t r e a l i z a l i n i i a u t o m a t e d e p r o d u c c i e , a s a m b l a r e , a m b a l a r e , m a n i p u l a r e , e t c . , c u p r o d u c t i v i t a t e m a r e . 2 . 5 P R E Z E N T A R E A A P L I C A b I E I : A C b I O N A R E A U N E I U ^ I G L I S A N T E 2 . 5 . 1 P R E Z E N T A R E A S I S T E M U L U I P N E U M A T I C ^ I A E L E M E N T E L O R C O M P O N E N T E S i s t e m u l p n e u m a t i c e s t e p r e z e n t a t n f i g u r a 2 _ i c o n c i n e u r m t o a r e l e e l e m e n t e : u n a c t u a t o r ( c i l i n d r u ) p n e u m a t i c d u b l a c i u n e f i g . 2 A C b I O N A R E A U N E I U ^ I G L I S A N T E ( H Y P E R L I N K ” 4 . % 0 9 W . % 2 0 H a r i n g , % 2 0 M . % 2 0 M e t z g e r , % 2 0 R . C . % 2 0 W e b e r % 2 0 ” 1 4 . ) D E S C R I E R E A M O D U L U I D E F U N C b I O N A R E P r e z e n t a r e a p r o b l e m e i : O u a g l i s a n t n t r e d o u c a m e r e t r e b u i e s f i e d e s c h i s _ i n c h i s f o l o s i n d u n b u t o n . U n s i n g u r b u t o n a r t r e b u i a l o c a t p e f i e c a r e p a r t e a d e s c h i d e r i i u i i p e n t r u a p r e v e n i e r o r i l e o p e r a t o r u l u i u m a n n c a z d e u r g e n c . f i g . 3 P R E Z E N T A R E A E L E M E N T E L O R C O M P O N E N T E F O L O S I T E P e n t r u s i m u l a r e a a p l i c a c i e i r e a l i z a t e a m f o l o s i t m a t e r i a l u l d i d a c t i c d e l a f i r m a F e s t o , . f i g . 3 S T A N D U L P N E U M A T I C S t a n d u l d i d a c t i c f o l o s i t d e l a f i r m a F E S T O p e n t r u a c c i o n r i p n e u m a t i c e n u e s t e a l i m e n t a t c u e n e r g i e e l e c t r i c . S i n g u r a s u r s d e e n e r g i e e s t e c e a p n e u m a t i c o b c i n u t d e l a u n c o m p r e s o r . C o m p r e s o r u l s e a l i m e n t e a z l a t e n s i u n e a r e c e l e i m o n o f a z a t e d e 2 2 0 V , 5 0 H z . S t a n d u l a r e n c o m p o n e n c a s a m a i m u l t e c o m p o n e n t e d i n c a r e a m f o l o s i t c e l e d e s c r i s e m a i j o s . L e g t u r i l e n t r e c i l i n d r u p n e u m a t i c _ i a p a r a t e l e d e c o m a n d a c c i o n a t e m a n u a l , s – a r e a l i z e a z c u a j u t o r u l c u p l a j e l o r r a p i d e p r i n f u r t u n e d e l e g t u r f l e x i b i l e . A c e s t e a p e r m i t r e c o n f i g u r a r e a r a p i d a u n e i n o i a p l i c a c i i . A C T U A T O R I P N E U M A T I C I C I L I N D R U L C U D U B L A C b I U N E ( S A U D U B L U E F E C T ) A c e s t t i p d e c i l i n d r u f i g . 4 e s t e u t i l i z a t c u p r e c d e r e a c o l o u n d e a m b e l e c u r s e t r e b u i e s d e z v o l t e f o r c m o t o a r e . E s t e a l i m e n t a t a l t e r n a t i v l a f i e c a r e d i n e x t r e m i t c i l e s a l e , p e c e l e d o u p r c i a l e p i s t o n u l u i . D e p l a s a r e a d i s p o n i b i l n c u r s a d e r e t r a g e r e e s t e r e d u s a d i n c a u z a s u p r a f e c e i m a i m i c i a p i s t o n u l u i . A c e s t a s p e c t t r e b u i e a v u t n v e d e r e d a c c i l i n d r u l t r e b u i e s t r a g a c e e a _ i s a r c i n p e c a r e o m p i n g e . P e n t r u d e p l a s a r e a p i s t o n u l u i n t r – u n s e n s ( e x t i n d e r e ) s e c o n e c t e a z r a c o r d u l A l a p r e s i u n e i a r r a c o r d u l B l a a t m o s f e r . P e n t r u a e f e c t u a c u r s a d e r e t r a g e r e s e i n v e r s e a z m o d u l d e c o n e c t a r e a l r a c o r d u r i l o r . f i g . 4 C i l i n d r u c u d u b l a c c i u n e : s e c c i u n e s i m b o l ( H Y P E R L I N K ” h t t p : / / w w w . f e s t o . c o m ” 1 2 . ) C I L I N D R U L C U D U B L A C b I U N E ^ I F R N A R E L A C A P T D E C U R S f i g . 5 ( H Y P E R L I N K ” h t t p : / / w w w . m e c a t r o n i c a . r o / % 2 0 – % 2 0 % 2 0 c u r s % 2 0 F e s t o ” 1 3 . ) F r n a r e a a n s a m b l u l u i m o b i l l a c a p t d e c u r s e s t e n e c e s a r p e n t r u a e v i t a o c u r i l e c e p o t a v a r i a c i l i n d r i i s a u m e c a n i s m e l e p u s e n m i c a r e d e a c e t i a . S e p o a t e o b s e r v a c p e n t r u a m b e l e c u r s e , d e a v a n s s i d e r e v e n i r e , e s t e p r e v z u t u n c i r c u i t s u p l i m e n t a r d e e v a c u a r e a c a m e r e i p a s i v e p r i n t r – o s e c c i u n e d r o s e l i z a t . P e n t r u c u r s a d e a v a n s , d e e x e m p l u , n m o m e n t u l n c a r e m a n _ o n u l a j u n g e n d r e p t u l e t a n _ r i i , e v a c u a r e a c a m e r e i d i n d r e a p t a n u s e m a i p o a t e f a c e p r i n s p a c i u l d i n t r e t i j a s i c a p a c . A e r u l e s t e o b l i g a t s c u r g p r i n o r i f i c i u l a c r u i s e c c i u n e e s t e r e g l a t d e d r o s e l . A c e a s t s e c c i u n e f i i n d m u l t m i c _ o r a t , d e b i t u l d e a e r e v a c u a t e s t e m a i m i c . R e z u l t a t u l e s t e a p a r i c i a u n e i c o n t r a p r e s i u n i n z o n a c a p t u l u i d e c u r s c e s e o p u n e d e p l a s r i i p i s t o n u l u i s p r e d r e a p t a , d e c i l f r n e a z . n f u n c c i e d e r e g l a j u l e f e c t u a t a s u p r a d r o s e l u l u i s e o b c i n e u n e f e c t d e f r n a r e m a i r e d u s s a u m a i p u t e r n i c . R e g l n d n m o d d i f e r i t c e l e d o u d r o s e l e , s e o b c i n e f e c t e d e f r n a r e d i f e r i t e p e c a p e t e l e d e c u r s . f i g . 5 C i l i n d r u c u d u b l a c c i u n e ( H Y P E R L I N K ” h t t p : / / w w w . f e s t o . c o m ” 1 2 . ) D I S T R I B U I T O R f i g . 6 P e n t r u a s c h i m b a d i r e c c i a c u r e n t u l u i d e a e r s p r e _ i d e l a c i l i n d r u , s e f o l o s e _ t e o v a l v ( d i s t r i b u i t o r ) . P a r t e a d e p l a s a b i l n t r – o v a l v d i r e c c i o n a l v a c o n e c t a _ i d e c o n e c t a t r a s e e l e i n t e r i o a r e a l e c o r p u l u i v a l v e i . A c e a s t a c c i u n e a r e c a r e z u l t a t c o n t r o l u l d i r e c c i e i d e c u r g e r e a a e r u l u i d e l a s u r s a s p r e c o n s u m a t o r . O v a l v t i p i c d e c o n t r o l a l d i r e c c i e i c o n s t n c o r p u l v a l v e i c u t r a s e e i n t e r i o a r e d e c u r g e r e , p o r t u r i l e d e c o n e c t a r e a c i l i n d r u l u i p n e u m a t i c , o r i f i c i i l e d e a d m i s i e _ i e v a c u a r e p r e c u m _ i u n s e r t r a _ a l u n e c t o r . f i g . 6 C o n s t r u c c i a u n u i d i s t r i b u i t o r : C i r c u l a c i a a e r u l u i p r i n d i s t r i b u i t o r ( H Y P E R L I N K ” h t t p : / / w w w . f e s t o . c o m ” 1 2 . ) D e p l a s n d s e r t r a _ u l s p r e d r e a p t a s a u s p r e s t n g a , s e c o n e c t e a z a l t e r n a t i v u n a s a u c e a l a l t c o n e x i u n e a u n u i c i l i n d r u p e n t r u a – i f u r n i z a p r e s i u n e s a u p e n t r u a e l i m i n a a e r u l d i n c a m e r a p a s i v a c i l i n d r u l u i d e l u c r u . P r i n n c r c a r e a c u p r e s i u n e a c a m e r e i A , a c i l i n d r u l u i s a u a c a m e r e i B a c i l i n d r u l u i s e a s i g u r d e p l a s a r e a s p r e d r e a p t a s a u s p r e s t n g a a t i j e i c i l i n d r u l u i . U n d i s t r i b u i t o r c u t r e i c i f i g . 7 c o n s t n t r e i p o r t u r i c o n e c t a t e p r i n t r a s e e n i n t e r i o r u l d i s t r i b u i t o r u l u i : p o r t u l A , p o r t u l P _ i p o r t u l E x h a u s t a r e ( E x ) . D a c p o r t u l A e s t e c o n e c t a t l a u n a c t u a t o r , p o r t u l P l a o s u r s d e p r e s i u n e _ i f i g . 7 ( H Y P E R L I N K ” h t t p : / / w w w . f e s t o . c o m ” 1 2 . ) p o r t u l E x e s t e d e s c h i s p e n t r u r e f u l a r e , d i s t r i b u i t o r u l v a c o n t r o l a c u r g e r e a a e r u l u i s p r e _ i r e f u l a r e a d e l a p o r t u l A . F u n c c i a a c e s t u i d i s t r i b u i t o r e s t e d e a p r e s u r i z a _ i r e f u l a p o r t u l u n u i a c t u a t o r , ( c i l i n d r u p n e u m a t i c ) . C n d s e r t r a _ u l e s t e n u n a d i n p o z i c i i l e e x t r e m e , t r a s e u l d e p r e s i u n e e s t e c o n e c t a t c u i n t r a r e a a c t u a t o r u l u i . C n d s e a f l a n c e a l a l t p o z i c i e e x t r e m , s e r t r a _ u l c o n e c t e a z c a m e r a a c t u a t o r u l u i c u o r i f i c i u l d e r e f u l a r e ( e v a c u a r e ) . O s i m b o l i z a r e f o a r t e c o n c i s a u n u i d i s t r i b u i t o r p r e s u p u n e i n d i c a r e a c e l p u c i n a n u m r u l u i d e c i , a n u m r u l u i d e p o z i c i i , a r a c o r d u r i l o r _ i a m o d u l u i d e c o m a n d . P r i m a c i f r d i n n o t a r e a r a t n u m r u l d e c i , i a r a d o u a n u m r u l d e p o z i c i i p l e c a r e p o a t e c o m u t a d i s t r i b u i t o r u l ; c e l e d o u i n d i c a c i i s u n t d e s p r c i t e p r i n t r – o b a r n c l i n a t : E x e m p l u : d i s t r i b u i t o r 3 / 2 n s e a m n d i s t r i b u i t o r c u 3 c i _ i 2 p o z i c i i D I S T R I B U I T O R 3 / 2 C U B U T O N f i g . 8 D i s t r i b u i t o r c u c o m a n d m a n u a l f o l o s i n d u n b u t o n c u r e v e n i r e . n o r m a l d e s c h i s n o r m a l n c h i s n o r m a l i n c h i s n o r m a l d e s c h i s f i g . 8 D i s t r i b u i t o r 3 / 2 c u b u t o n : s e c c i u n e s i m b o l i m a g i n e ( H Y P E R L I N K ” h t t p : / / w w w . f e s t o . c o m ” 1 2 . ) D I S T R I B U I T O R 3 / 2 C U C O M A N D M E C A N I C P R I N R O L A c e s t d i s t r i b u i t o r s e f o l o s e _ t e c a s e n s o r d e c a p t d e c u r s . D a t o r i t f a p t u l u i c f o r c a d e a p s a r e p e r o l t r e b u i e s f i e c t m a i m i c , a c e s t d i s t r i b u i t o r e s t e u n u l p i l o t a t . R o l a a p a s p l u n j e r u l s u p a p e i d e c o m a n d ( c a r e n e c e s i t f o r m i c ) p e m i n d a c c e s u l a e r u l u i c o m p r i m a t n s p a t e l e p i s t o n u l u i d e p i l o t a r e c a r e a r e s u p r a f a a m a i m a r e p e n t r u a p u t e a d e z v o l t a f o r a n e c e s a r a p s r i i s u p a p e i p r i n c i p a l e a d i s t r i b u i t o r u l u i . S u p a p a d e c o m a n d i p i s t o n u l d e p i l o t a r e r e a l i z e a z a s t f e l u n e t a j d e a m p l i f i c a r e p n e u m a t i c f i g . 9 . f i g . 9 D i s t r i b u i t o r 3 / 2 c u r o l : s e c c i u n e s i m b o l i m a g i n e ( H Y P E R L I N K ” h t t p : / / w w w . m e c a t r o n i c a . r o / % 2 0 – % 2 0 % 2 0 c u r s % 2 0 F e s t o ” 1 3 . ) D I S T R I B U I T O R 5 / 2 C U S E R T A R C I L I N D R I C f i g . 1 0 L a a c e s t e d i s t r i b u i t o a r e c o m u t a r e a f u n c i i l o r s e r e a l i z e a z d a t o r i t s e c i u n i l o r d i f e r i t e a l e s e r t a r u l u i c a r e ( p r i n d e p l a s a r e ) a s t u p s a u d e s c h i d e l e g t u r i l e d i n t r e c a v i t i l e p r a c t i c a t e n c o r p u l d i s t r i b u i t o r u l u i , c o r e s p u n z t o a r e o r i f i c i i l o r d e r a c o r d a r e . C o m a n d a a c e s t u i d i s t r i b u i t o r e s t e r e a l i z a t d e c t r e p i l o i i ( e l e m e n t e l e d e t i p p i s t o n ) m o n t a t e l a c a p e t e l e s e r t a r u l u i . L a a l i m e n t a r e a r a c o r d u l u i d e p i l o t a r e 1 2 s e r t a r u l e s t e d e p l a s a t s p r e s t n g a r e a l i z n d u – s e l e g t u r a n t r e r a c o r d u r i l e 1 i 2 r e s p e c t i v 4 i 5 . P e n t r u c o m u t a r e a p o z i i e i d i s t r i b u i t o r u l u i e s t e n e c e s a r v e n t i l a r e a r a c o r d u l u i 1 2 i a l i m e n t a r e a r a c o r d u l u i 1 4 . f i g . 1 0 D i s t r i b u t o r 5 / 2 c u s e r t a r c i l i n d r i c : s e c c i u n e s i m b o l i m a g i n e ( H Y P E R L I N K ” h t t p : / / w w w . m e c a t r o n i c a . r o / % 2 0 – % 2 0 % 2 0 c u r s % 2 0 F e s t o ” 1 3 . ) C O M P R E S O R f i g . 1 1 C o m p r e s o r u l t r a n s f o r m e n e r g i a f u r n i z a t d e c t r e m o t o r u l d e a n t r e n a r e ( e l e c t r i c s a u t e r m i c ) n e n e r g i e p n e u m a t i c . A e r u l c o m p r i m a t f o l o s i t c a a g e n t p u r t t o r d e e n e r g i e _ i i n f o r m a c i e n s i s t e m e l e p n e u m a t i c e d e a c c i o n a r e p o a t e f i p r o d u s l o c a l , c u a j u t o r u l u n u i c o m p r e s o r . f i g . 1 1 ( H Y P E R L I N K ” h t t p : / / w w w . m e c a t r o n i c a . r o / % 2 0 – % 2 0 % 2 0 c u r s % 2 0 F e s t o ” 3 . ) R E G U L A T O R D E P R E S I U N E f i g . 1 2 A c e s t e e c h i p a m e n t e , r e a l i z e a z u r m t o a r e l e d o u f u n c c i i : – r e g l e a z p r e s i u n e a d e l a i e _ i r e a e c h i p a m e n t u l u i p e l a v a l o a r e a d o r i t n i n t e r v a l u l [ 0 , P i – h m i n ] , u n d e h m i n r e p r e z i n t p i e r d e r e a d e p r e s i u n e p e t r a s e u l i n t r a r e – i e _ i r e a t u n c i c n d s e c c i u n e a d e c u r g e r e p r i n e c h i p a m e n t e s t e e g a l c u s e c c i u n e a s a n o m i n a l ; – m e n c i n e p r e s i u n e a r e g l a t c o n s t a n t , n a n u m i t e l i m i t e , a t u n c i c n d n t i m p u l f u n c c i o n r i i v a r i a z p r e s i u n e a d e i n t r a r e , P i _ i / s a u s e m o d i f i c c o n s u m u l d e d e b i t m c d i n a v a l d e e c h i p a m e n t . D a t o r i t a c e s t o r f u n c c i i n d e p l i n i t e d e e c h i p a m e n t , e l e s t e n t l n i t f i e s u b d e n u m i r e a d e r e d u c t o r d e p r e s i u n e , f i e s u b d e n u m i r e a d e s t a b i l i z a t o r s a u r e g u l a t o r d e p r e s i u n e . f i g . 1 2 R e g u l a t o r d e p r e s i u n e : s e c c i u n e s i m b o l i m a g i n e ( H Y P E R L I N K ” h t t p : / / w w w . m e c a t r o n i c a . r o / % 2 0 – % 2 0 % 2 0 c u r s % 2 0 F e s t o ” 1 3 . ) M A N O M E T R U f i g . 1 3 S e f o l o s e s c p e n t r u m s u r a r e a p r e s i u n i i . f i g . 1 3 M a n o m e t r u : s i m b o l i m a g i n e ( H Y P E R L I N K ” h t t p : / / w w w . m e c a t r o n i c a . r o / % 2 0 – % 2 0 % 2 0 c u r s % 2 0 F e s t o ” 1 3 . ) D R O S E L R E G L A B I L C U S U P A P D E O C O L I R E f i g . 1 4 D r o s e l e l e s u n t e l e m e n t e c e p e r m i t r e g l a r e a v i t e z e i m o t o a r e l o r r o t a t i v e s a u a c i l i n d r i l o r p r i n r e g l a r e a d e b i t u l u i d e a e r c a r e l e t r a v e r s e a z . F u n c c i o n a r e a d r o s e l e l o r s e b a z e a z p e v a r i a c i a s e c c i u n i i d e c u r g e r e a f l u i d u l u i , c e e a c e d u c e l a m o d i f i c a r e a d e b i t u l u i v e h i c u l a t p r i n d r o s e l . f i g . 1 4 D r o s e l r e g l a b i l c u s u p a p d e o c o l i r e : s y m b o l s e c c i u n e i m a g i n e ( H Y P E R L I N K ” h t t p : / / w w w . m e c a t r o n i c a . r o / % 2 0 – % 2 0 % 2 0 c u r s % 2 0 F e s t o ” 1 3 . ) 2 . 5 . 2 M O D E L A R E A P R O C E S U L U I N F L U I D S I M D E S C R I E R E A M E D I U L U I D E L U C R U , F L U I D S I M P e n t r u s i m u l a r e a p r o c e s u l u i s – a f o l o s i t p r o g r a m u l F l u i d S I M v e r s i u n e a 4 . 2 a f l a t n d o t a r e a l a b o r a t o r u l u i d e m e c a t r o n i c , f i g . 1 5 . I c o n u l p r o g r a m u l u i F l u i d S I M f i g . 1 5 f i g . 1 6 M e d i u l d e l u c r u F l u i d S i m e s t e u n p a c h e t s o f t w a r e s p e c i a l f i g . 1 6 c o n c e p u t p e n t r u c o n s t r u i r e a s c h e m e l o r d e a c c i o n a r e p n e u m a t i c e _ i h i d r a u l i c e _ i p e n t r u s i m u l a r e a f u n c c i o n r i i a c e s t o r a . F e r e a s t r a p r i n c i p a l a a p l i c a c i e i c o n c i n e p a t r u z o n e f i g . 1 7 . ( H Y P E R L I N K ” h t t p : / / w w w . m e c a t r o n i c a . r o / % 2 0 – % 2 0 % 2 0 c u r s % 2 0 F e s t o ” 1 3 . ) Z o n a 1 : m e n i u r i l e _ i p i c t o g r a m e l e s t a n d a r d Z o n a 2 : f o a i a d e l u c r u , r e p r e z i n t s u p r a f a c a p e c a r e s e c o n s t r u i e _ t e s c h e m a p r o p r i u z i s . C o m p o n e n t e l e a d u s e p e a c e a s t f o a i e s e u n e s c n t r e e l e p r i n f u r t u n e v i r t u a l r e p r e z e n t a t e d e l i n i i , p o r n i n d d e l a u n u l d i n t r e c o m p r e s o a r e . M e t o d a d e t r a s a r e a a c e s t o r a e s t e s i m i l a r c u d e s e n a r e a u n e i l i n i i n o r i c e a p l i c a c i e g r a f i c . P u n c t e l e d e c o n e c t a r e a f u r t u n e l o r ( l i n i i l o r ) l a c o m p o n e n t s u n t s i m b o l i z a t e c u c e r c u l e c e . A t u n c i c n d u n f u r t u n e s t e t r a s a t p n n d r e p t u l u n u i p u n c t d e c o n e c t a r e , f o r m a _ i c u l o a r e a p o i n t e r u l u i m o u s – u l u i s e m o d i f i c a t e n c i o n n d a s u p r a p o s i b i l i t c i i d e c o n e c t a r e a a c e l u i r a c o r d . P e n t r u a r e a l i z a o c o n e x i u n e n t r e d o u f u r t u n e u n f u r t u n t r e b u i e d e s e n a t p o r n i n d d e l a o c o m p o n e n t p n l a i n t e r s e c c i a c u f u r t u n u l c u c a r e s e d o r e _ t e c o n e c t a r e a . ^ i d e a c e a s t d a t p o i n t e r u l _ i v a s c h i m b a f o r m a _ i c u l o a r e a i n d i c n d p o s i b i l i t a t e a c o n e c t r i i . f i g . 1 7 F e r e a s t r a p r i n c i p a l ( H Y P E R L I N K ” h t t p : / / w w w . m e c a t r o n i c a . r o / % 2 0 – % 2 0 % 2 0 c u r s % 2 0 F e s t o ” 3 . ) Z o n a 3 : b i b l i o t e c a d e c o m p o n e n t e , e s t e c o n s t r u i t p e o s t r u c t u r c o l a p s a b i l i e r a r h i c _ i c o n c i n e t o a t e e l e m e n t e l e n e c e s a r e c o n s t r u i r i i u n e i s c h e m e p n e u m a t i c f u n c c i o n a l e f i g . 1 8 P r i m a g r u p d e e l e m e n t e e s t e d e n u m i t S u p p l y e l e m e n t s ( e l e m e n t e d e a l i m e n t a r e ) _ i c o n c i n e s u r s a d e a e r c o m p r i m a t , c o m p r e s o a r e , f i l t r e , d e c a n t o a r e e t c . A d o u a g r u p e s t e c e a a e l e m e n t e l o r d e a c c i o n a r e ( a c t u a t o r s ) , c a r e c o n c i n e o l a r g v a r i e t a t e d e c i l i n d r i c u s i m p l _ i d u b l a c c i o n a r e , m o t o a r e o s c i l a n t e _ i r o t a t i v e p r e c u m _ i e l e m e n t e d e a c c i o n a r e d i n t e h n i c a v a c u u m u l u i ( v e n t u z e , g e n e r a t o a r e d e v i d ) . C e a d e – a t r e i a g r u p a e s t e c e a d e d i c a t a p a r a t e l o r d e c o m a n d _ i c o n t r o l . A c e s t e a s u n t s e p a r a t e n s u b g r u p e c o n f o r m c a t e g o r i e i d i n c a r e f a c p a r t e : d i s t r i b u i t o a r e p r e c o n f i g u r a t e u z u a l e _ i s p e c i a l e a v n d d i v e r s e t i p u r i d e a c c i o n a r e ( m a n u a l , m e c a n i c , e l e c t r i c , p n e u m a t i c ) ; d i s t r i b u i t o a r e c o n f i g u r a b i l e ; a p a r a t e d e c o n t r o l a l p r e s i u n i i _ i d e s e l e c t a r e a s e n s u l u i d e c u r g e r e ; a p a r a t e d e r e g l a r e a d e b i t u l u i . f i g . 1 8 F e r e a s t r a d e c o n f i g u r a r e a u n u i d i s t r i b u i t o r G r u p a a p a t r a c o n c i n e a p a r a t e s p e c i a l e ( t e m p o r i z a t o a r e _ i n u m r t o a r e p n e u m a t i c e , a l t e b l o c u r i _ i m o d u l e f u n c c i o n a l e ) . C e a d e – a c i n c e a g r u p a r e n c o m p o n e n c a p a r a t e d e m s u r _ i a f i _ a r e a p a r a m e t r i l o r f u n c c i o n a l i . Z o n a 4 : – c a s e t a d e c o n t r o l a s i m u l r i i , c o n c i n e b u t o a n e l e d e m o d i f i c a r e a d i m e n s i u n i i d e s e n u l u i p e f o a i a d e l u c r u ( Z o o m ) _ i b u t o a n e l e d e c o m a n d a s i m u l r i i p r o p r i u – z i s e ( r u l e a z , p a u z , s t o p , d e r u l a r e ) . L a m o m e n t u l r u l r i i f u n c c i o n r i i , t r a s e e l e p a r c u r s e d e a e r s e c o l o r e a z d i f e r i t : c o n d u c t e l e c u p r e s i u n e r i d i c a t a u c u l o a r e a a l b a s t r u n c h i s _ i g r o s i m e m a i m a r e ( n f u n c c i e d e v a l o a r e a p r e s i u n i i ) ; c o n d u c t e l e c u p r e s i u n e s c z u t ( v e n t i l a t e , d e r e f u l a r e ) a u c u l o a r e a a l b a s t r u d e s c h i s i a r c o n d u c t e l e d e v a c u u m a u c u l o a r e m o v . S e n s u l d e c u r g e r e a f l u i d u l u i p r i n t r – o c o n d u c t e s t e r e p r e z e n t a t d e s g e c i p l a s a t e n p u n c t e l e d e r a c o r d a r e . E x i s t _ i p o s i b i l i t a t e a d e m o d i f i c a r e a v i t e z e i s i m u l r i i a l e g n d S i m u l a t i o n d i n m e n i u l d e o p c i u n i . O d a t c e s c h e m a a f o s t c o n s t r u i t p r i n a m p l a s a r e a e l e m e n t e l o r p e f o a i a d e l u c r u _ i l e g t u r i l e n t r e c o m p o n e n t e l e r e a l i z a t e s e p o a t e t r e c e d i r e c t l a s i m u l a r e a f u n c c i o n r i i a n s a m b l u l u i c r e a t f i g . 1 9 . f i g . 1 9 S c h e m a p n e u m a t i c p e n t r u a c c i o n a r e a u n e i u _ i g l i s a n t e S – a u f o l o s i t u r m t o a r e l e n o t a c i i : 1 A 1 a c t u a t o r p n e u m a t i c c u d u b l a c c i o n a r e i f r n a r e l a c a p t d e c u r s 1 S 1 , 1 S 2 d i s t r i b u i t o r 3 / 2 c u b u t o n d e a c i o n a r e , n o r m a l n c h i s 1 V 3 d i s t r i b u i t o r 5 / 2 p i l o t a t p n e u m a t i c 1 B 1 , 1 B 2 d i s t r i b u i t o r 3 / 2 c u c o m a n d m e c a n i c c u r o l a 1 V 4 – d i s t r i b u i t o r 5 / 2 c u d u b l a a c t i o n a r e p n e u m a t i c a f i g . 2 0 2 . 5 . 3 P R E Z E N T A R E A E T A P E L O R P R O C E S U L U I T E H N O L O G I C E T A P A 1 S e p u n e s u b p r e s i u n e n t r e g u l s i s t e m f i g . 2 0 C i l i n d r u l e s t e r e t r a s i n p o z i i a d e s f i r s i t . D i s t r i b u i t o r u l p n e u m a t i c 1 B 1 e s t e a c i o n a t . U n s e m n a l p n e u m a t i c e s t e a p l i c a t l a d i s t r i b u i t o r u l d e p r e s i u n e d u a l a 1 V 3 . f i g . 2 1 f i g . 2 1 E T A P A 2 D a c u n u l d i n b u t o a n e e s t e a c t i v a t , s u p a p a d e t r a n s f e r 1 V 1 g e n e r e a z u n s e m n a l d e i e i r e . U n s e m n a l e s t e a c u m a p l i c a t l a p o r t u l p i l o t 1 4 ( c u a c i o n a r e p n e u m a t i c ) a l d i s t r i b u i t o r u l u i 5 / 2 c u d u b l a a c i o n a r e p n e u m a t i c ( 1 V 4 ) _ i d i s t r i b u i t o r u l _ i m o d i f i c p o z i i a . C i l i n d r u l a v a n s e a z . C n d c i l i n d r u l a j u n g e l a p o z i i a f i n a l a v a n s a t , d i s t r i b u i t o r u l p n e u m a t i c 1 B 2 e s t e a t e n u a t f i g . 2 2 . f i g . 2 2 E T A P A 3 D a c a u n u l d i n b u t o a n e e s t e a c t i v a t , s u p a p a d e t r a n s f e r 1 V 1 g e n e r e a z u n s e m n a l d e i e i r e . U n s e m n a l e s t e a c u m a p l i c a t l a p o r t u l p i l o t 1 2 ( c u a c i o n a r e p n e u m a t i c a ) a l d i s t r i b u i t o r u l u i 5 / 2 c u d u b l a a c i o n a r e p n e u m a t i c a ( 1 V 2 ) s i d i s t r i b u i t o r u l i s i m o d i f i c a p o z i i a . C i l i n d r u l e s t e r e t r a s . C n d c i l i n d r u l a j u n g e l a p o z i i a f i n a l a r e t r a s a , c o m u t a t o r u l d e p r o x i m i t a t e 1 B 1 e s t e a t e n u a t f i g . 2 3 . f i g . 2 3 E T A P A 4 n f u n c c i e d e c t l a s u t e s t e o b t u r a t v a l v a d e t r e c e r e 1 V 5 r e s p e c t i v 1 V 6 c i l i n d r u l s e v a d e p l a s a m a i r e p e d e s a u m a i n c e t . C n d p i s t o n u l 1 A 1 a j u n g e l a c a p t d e c u r s i n t r i n a c c i u n e v a l v a 1 B 2 c e v a d e t e r m i n a r e t r a g e r e a p i s t o n u l u i f i g . 2 4 . f i g . 2 4 E T A P A 5 D i n a c e s t m o m e n t p r o c e s u l s e p o a t e r e l u a c u e t a p a 1 , d u p c e p i s t o n u l 1 A 1 a a j u n s i n p o z i c i a i n i c i a l . I n f i g u r a d e m a i s u s m o m e n t u l i n c a r e p i s t o n u l u r m e a z s s e r e t r a g d a t o r i t f a p t u l u i c a a a j u n s l a c a p t d e c u r s _ i a f o s t a c c i o n a t d i s t r i b u i t o r u l 3 / 2 1 B 2 c a r e a t r i m i s c o m a n d a l a d i s t r i b u i t o r u l 5 / 2 p r i n i n t r a r e a 1 2 . 2 . 5 . 4 S I M U L A R E A S I S T E M U L U I R E A L I Z A T C U F E S T O D I D A C T I C P r e z e n t a p i e s e l o r d e a c i o n a r e i n c a z u l s i m u l r i i s – a f c u t p r i n a c t i v a r e a d i s t r i b u i t o r u l u i 3 / 2 1 S 2 c e a f o s t a c i o n a t m a n u a l . 3 . C O N C L U Z I I n l u c r a r e a d e f a c a m p r e z e n t a t c t e v a n o c i u n i d e s p r e a u t o m a t i z a r e a p r o c e s e l o r t e h n o l o g i c e , a m p r e z e n t a t o s c u r t c o m p a r a c i e n t r e a c c i o n r i p n e u m a t i c e , h i d r a u l i c e _ i e l e c t r i c e , i a r c u m n l u c r a r e a d e f a c p r e z i n t o a p l i c a c i e p n e u m a t i c a m p r e z e n t a t c t e v a n o c i u n i d e s p r e a c c i o n r i l e p n e u m a t i c e . A m r e a l i z a t o a p l i c a c i e c u u n c i l i n d r u p n e u m a t i c , a p l i c a c i e c e r e p r e z i n t s i s t e m u l d e a c i o n a r e p e n t r u o u _ g l i s a n t . n l u c r a r e a m d e s c r i s e t a p e l e p e c a r e l e – a m p a r c u r s p e n t r u r e a l i z a r e a p r o g r a m u l u i n F l u i d S I M _ i p r e z i n t _ i s i m u l a r e a r e a l i z a t c u c o m p o n e n t e F e s t o d i d a c t i c . T o t s i s t e m u l e s t e c o n c e p u t d o a r c u a c c i o n a r e p n e u m a t i c , u r m n d c a n v i i t o r a c e s t s i s t e m s f i e m b u n t c i t f o l o s i n d s e n z o r i c o m a n d a i c u u n P L C . B I B L I O G R A F I E C u r s F l e x f o r m : T e h n o l o g i e _ i e d u c a c i e m e c a t r o n i c . D e z v o l t a r e d u r a b i l C u r s F l e x f o r m : M e t o d e _ i t e h n i c i d e i n o v a r e _ i c r e a t i v i t a t e L E G O M I N D S T O R M S H Y P E R L I N K ” h t t p : / / m i n d s t o r m s . l e g o . c o m ” h t t p : / / m i n d s t o r m s . l e g o . c o m N X T t u t o r i a l H Y P E R L I N K ” h t t p : / / w w w . o r t o p . o r g / N X T _ T u t o r i a l / ” h t t p : / / w w w . o r t o p . o r g / N X T _ T u t o r i a l / H Y P E R L I N K ” h t t p : / / w w w . i n t e l i g e n t a – a r t i f i c i a l a . r o ” h t t p : / / w w w . i n t e l i g e n t a – a r t i f i c i a l a . r o H Y P E R L I N K ” h t t p : / / r o . w i k i p e d i a . o r g / w i k i / R o b o t ” h t t p : / / r o . w i k i p e d i a . o r g / w i k i / R o b o t C e r g h i t I o a n , M e t o d e d e n v c m n t , E d i t u r a D i d a c t i c _ i P e d a g o g i c , B u c u r e _ t i , 1 9 9 7 O p r e a C r e n g u c a – L c r m i o a r a , P e d a g o g i e . A l t e r n a t i v e m e t o d o l o g i c e i n t e r a c t i v e , E d i t u r a U n i v e r s i t c i i B u c u r e _ t i , 2 0 0 3 D a v e P a r k e r , F u n P r o j e c t s f o r y o u r L E G O M I N D S T O R M S N X T ! h t t p : / / w w w . n x t p r o g r a m s . c o m / N X T 2 / 2 – t o u c h _ r e m o t e / s t e p s . h t m l , a c c e s a t n n o i e m b r i e 2 0 1 2 M o d u l u l B l u e t o o t h d i n d o t a r e a c o n t r o l l e r u l u i N X T . p d f H Y P E R L I N K ” h t t p : / / w w w . r o b o t i c s . u c v . r o / f l e x f o r m / c r a i o v a _ c u r s u r i / C 4 / C o m u n i c a t i i % 2 0 l a % 2 0 d i s t a n t a . % 2 0 T e l e g e s t i u n e / 4 . % 2 0 M o d u l u l % 2 0 B l u e t o o t h % 2 0 d i n % 2 0 d o t a r e a % 2 0 c o n t r o l l e r u l u i % 2 0 N X T . p d f ” h t t p : / / w w w . r o b o t i c s . u c v . r o / f l e x f o r m / c r a i o v a _ c u r s u r i / C 4 / C o m u n i c a t i i % 2 0 l a % 2 0 d i s t a n t a . % 2 0 T e l e g e s t i u n e / 4 . % 2 0 M o d u l u l % 2 0 B l u e t o o t h % 2 0 d i n % 2 0 d o t a r e a % 2 0 c o n t r o l l e r u l u i % 2 0 N X T . p d f , C u r s F l e x f o r m : D e z v o l t a r e t e h n o l o g i c a s i t e h n o l o g i i e d u c a t i o n a l e H Y P E R L I N K ” h t t p : / / w w w . f e s t o . c o m ” h t t p : / / w w w . f e s t o . c o m H Y P E R L I N K ” h t t p : / / w w w . m e c a t r o n i c a . r o / ” h t t p : / / w w w . m e c a t r o n i c a . r o / – c u r s F e s t o W . H a r i n g , M . M e t z g e r , R . C . W e b e r P n e u m a t i c s B a s i c l e v e l W o r k b o o k T P 1 0 1 , F e s t o D i d a c t i c , 2 0 0 9 H Y P E R L I N K ” h t t p : / / w w w . i n t e l i g e n t a – a r t i f i c i a l a . r o ” h t t p : / / w w w . i n t e l i g e n t a – a r t i f i c i a l a . r o P A G E P A G E 2 4 P A G E P A G E 5 0 R o b o t a s p i r a t o r R o b o t i n d u s t r i a l Z o n a 1 Z o n a 2 Z o n a 3 Z o n a 4 ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? @ @ ,@ .@ 0@ 2@ X@ Z@ h@ @ Ff&z $ $ If a$ gd] @ @ A A B B B $B PB RB TB VB XB B B B B B B B B C @C BC DC FC nC 4D Ff FfV} $ $ If a$ gd] 4D 8D L U n`RnA h A h M OJ QJ ^J mH sH h )< h M 5 OJ QJ \ h A h M 5 OJ QJ ^J h A h M OJ QJ ^J mH sH h A h M OJ QJ ^J h I h M OJ QJ ^J mH sH ) h I h M B* OJ QJ ^J mH ph@1R sH h I h M OJ QJ ^J mH sH ) h I h M B* OJ QJ ^J mH ph@1R sH ! h A h M B* OJ QJ ^J ph@1R , h I h M 5 B* OJ QJ ^J mH ph@1R sH 6G 8G RG G x x $ $ If a$ gd] z kd $ $ If l 0 r . 6 t 0 6 4 4 l a G G G H x x $ $ If a$ gd] z kd; $ $ If l 0 r . 6 t 0 6 4 4 l a H H H I x x $ $ If a$ gd] z kd $ $ If l 0 r . 6 t 0 6 4 4 l a I I I ^J x x $ $ If a$ gd] z kdM $ $ If l 0 r . 6 t 0 6 4 4 l a ^J `J |J XK x x $ $ If a$ gd] z kd $ $ If l 0 r . 6 t 0 6 4 4 l a XK ZK |K L x x $ $ If a$ gd] z kd_ $ $ If l 0 r . 6 t 0 6 4 4 l a L L L "L L M O P { v q l ` ` P $ ] ` a$ gd M $ ` a$ gd M gd M gd )< gd M 7$ 8$ H$ gd M z kd $ $ If l 0 r . 6 t 0 6 4 4 l a P Q Q XR R S T W W Y Y Y Y "Y $Y &Y (Y *Y ,Y .Y 0Y 2Y 4Y gd M $ ` a$ gd M $ ] ` a$ gd M ] ^ ` gd M ] ` gd M U U 8Y BY FY HY LY dY Y Y Y Y Y Y Y NZ RZ zl^P? . hm h{q OJ QJ ^J mH sH h@L h{q OJ QJ ^J mH sH h{q OJ QJ ^J mH sH h )< h{q 5 OJ QJ \ h )< h i 5 OJ QJ \ ( h@L h{q CJ OJ QJ ^J aJ mH sH h B h{q 5 CJ \ h B h i 5 CJ \ & h@L h{q 5 OJ QJ \ ^J mH sH # h I h M 5 OJ QJ ^J mH sH h M OJ QJ ^J mH sH h A h M OJ QJ ^J mH sH & h A h M 5 6 OJ QJ ^J mH sH 4Y 6Y 8Y :Y Y @Y BY DY FY HY JY LY Y Y Y Y Y Y Y Y Y $ ] a$ gd{q gd )< $ 7$ 8$ H$ a$ gd{q gd B ] gd{q $ ^ ` a$ gd M gd M Y RZ TZ VZ ] ] ] ] ] ] ] ] t_ ` ` ` a d xh zh |h nj k gd{q ' $ ^ a$ gd{q ? $ ` a$ gd{q ? [$ \$ ` gd{q $ ] ` a$ gd{q RZ TZ VZ ] ] ] ] ] ^] `] b] d] ] ] ] p\TPT= % h q 0J OJ QJ ^J mH nH sH u h{q j h{q U ' h@L h{q OJ QJ ^J mH nH sH u - h@L h{q 6 OJ QJ ] ^J mH nH sH u & h@L h{q 6 OJ QJ ] ^J mH sH h@L h{q OJ QJ ^J , jq hS2V h{q OJ QJ U ^J mH nH u hm h{q OJ QJ ^J mH sH h@L h{q OJ QJ ^J mH sH hm h{q OJ QJ ^J mH sH h{q OJ QJ ^J mH sH ] ] ] ] ] ] ] ] r_ t_ v_ _ ` ` ` ` ` ` ` ` ` a d d d d d d s ^ s ^ s ^ s Z G % h q 0J OJ QJ ^J mH nH sH u h{q ( h@L h{q CJ OJ QJ ^J aJ mH sH hm h{q OJ QJ ^J mH sH h@L h{q OJ QJ ^J mH sH h U h{q mH sH h{q mH sH h{q 6 OJ QJ ] ^J mH sH & h@L h{q 6 OJ QJ ] ^J mH sH ' h@L h{q OJ QJ ^J mH nH sH u j h{q U + h g h{q 0J OJ QJ ^J mH nH sH u d d d d d $h &h (h *h jh lh ph rh th vh xh |h lj nj j k 2m 8m Zm \m | n] n OA h )< h{q 5 OJ QJ \ h )< h i 5 OJ QJ \ hm h{q OJ QJ ^J mH sH h{q OJ QJ ^J mH sH % h q 0J OJ QJ ^J mH nH sH u h{q + h@L h{q 0J> OJ QJ ^J mH nH sH u $ hm h{q 0J> OJ QJ ^J mH sH h@L h{q OJ QJ ^J mH sH ‘ h@L h{q OJ QJ ^J mH nH sH u j h{q U + h g h{q 0J OJ QJ ^J mH nH sH u k k .m 0m 2m Zm \m m m jp v w by dy y y z z } } p $ 7$ 8$ H$ a$ gd{q $ 7$ 8$ H$ ` a$ gd{q gd a’ gd{q gd )< $ ] a$ gd{q $ ] ` a$ gd{q \m dm m m m m 4o o p p p p \p ^p bp dp yayH@<@)@ % h q 0J OJ QJ ^J mH nH sH u h{q j h{q U 0 h@L h{q B* OJ QJ ^J mH nH ph sH u / hm h{q 6 B* OJ QJ ] ^J mH ph sH ) hm h{q B* OJ QJ ^J mH ph sH ) h@L h{q B* OJ QJ ^J mH ph sH / h@L h{q 5 B* OJ QJ \ ^J mH ph sH / h@L h{q 6 B* OJ QJ ] ^J mH ph sH h@L h{q OJ QJ ^J mH sH h a' h{q 5 OJ QJ \ h a' h i 5 OJ QJ \ dp hp jp u v v w w by dy fy ny y z z z wcUD6D h{q OJ QJ ^J mH sH h@L h{q OJ QJ ^J mH sH h a' h{q 5 OJ QJ \ & h a' h i 5 OJ QJ \ aJ mH sH & h a' h{q 5 OJ QJ \ aJ mH sH h@L h{q OJ QJ ^J mH sH & hm h{q 6 OJ QJ ] ^J mH sH hm h{q OJ QJ ^J mH sH hm h{q OJ QJ ^J mH sH ) hm h{q B* OJ QJ ^J mH ph sH 0 h@L h{q B* OJ QJ ^J mH nH ph sH u z z z z } } } } } } p t x z F J @ B F H L N T |x|e| R $ h@L h{q 5 6 OJ QJ \ ] ^J % h q 0J OJ QJ ^J mH nH sH u h{q j h{q U ' h@L h{q OJ QJ ^J mH nH sH u h S h{q OJ QJ ^J h{q OJ QJ ^J h@L h{q OJ QJ ^J h{q 5 OJ QJ \ ^J mH sH h{q OJ QJ ^J mH sH h@L h{q OJ QJ ^J mH sH & h@L h{q 5 OJ QJ \ ^J mH sH p r t N 6 T p r t $ h ^ h a$ gd{q $ & F h ^ h ` a$ gd N $ & F h ^ ` h a$ gd N $ ` a$ gd{q gd{q $ 7$ 8$ H$ ` a$ gd{q T p b d f j l p t F L b d h j l lXl M j h | U & hm h{q 5 OJ QJ \ ^J mH sH , hm h{q 5 6 OJ QJ \ ] ^J mH sH % h q 0J OJ QJ ^J mH nH sH u jN h | U h{q j h{q U ' h@L h{q OJ QJ ^J mH nH sH u h@L h{q OJ QJ ^J hm h{q OJ QJ ^J mH sH h@L h{q 6 OJ QJ ] ^J hm h{q OJ QJ ^J mH sH $ & 0 F L t l p r J F H |q ^ M M h@L h{q OJ QJ ^J mH sH % h q 0J OJ QJ ^J mH nH sH u jf h | U h{q & hm h{q 6 OJ QJ ] ^J mH sH , hm h{q 5 6 OJ QJ \ ] ^J mH sH hm h{q OJ QJ ^J mH sH ! h{q OJ QJ ^J mH nH sH u ' h@L h{q OJ QJ ^J mH nH sH u j h{q U + hwS h{q 0J OJ QJ ^J mH nH sH u t J H gd{q ^ ` gd{q ( $ & F 7$ 8$ H$ a$ gd N m$ $ 7$ 8$ H$ ` a$ gd{q $ 7$ 8$ H$ a$ gd{q $ 7$ 8$ H$ ` a$ gd{q 6 8 \ ` J L s bQb h@L h{q OJ QJ ^J mH sH hm h{q OJ QJ ^J mH sH % h q 0J OJ QJ ^J mH nH sH u j h | U h{q j h{q U ' h@L h{q OJ QJ ^J mH nH sH u $ h@L h{q OJ PJ QJ ^J mH sH , h@L h{q 5 6 OJ QJ \ ] ^J mH sH h@L h{q OJ QJ ^J mH sH & h@L h{q 6 OJ QJ ] ^J mH sH P T V v . 2 , 0 D H J s bObOb $ hm h{q OJ PJ QJ ^J mH sH hm h{q OJ QJ ^J mH sH $ hm h{q OJ PJ QJ ^J mH sH % h q 0J OJ QJ ^J mH nH sH u j~ h | U h{q j h{q U ' h@L h{q OJ QJ ^J mH nH sH u , hm h{q 5 6 OJ QJ \ ] ^J mH sH hm h{q OJ QJ ^J mH sH & hm h{q 6 OJ QJ ] ^J mH sH ` b d |q e XME h{q mH sH h U h{q mH sH h{q 6 OJ QJ ] ^J h q 0J OJ QJ ^J j4 h | U h{q h a' h i 5 OJ QJ \ h a' h{q 5 OJ QJ \ h{q OJ QJ ^J h{q OJ QJ ^J mH sH h@L h{q OJ QJ ^J mH sH ' h@L h{q OJ QJ ^J mH nH sH u % h q 0J OJ QJ ^J mH nH sH u j h{q U j h | U " 6 8 J L N h j < > f h R T V t v t _ _X t _ _X _ _ hm h{q ( hm h{q CJ OJ QJ ^J aJ mH sH ( h j h{q CJ OJ QJ ^J aJ mH sH ( h j h{q CJ OJ QJ ^J aJ mH sH , h j h{q 5 6 OJ QJ \ ] ^J mH sH h@L h{q h j h{q OJ QJ ^J mH sH & h j h{q 5 OJ QJ \ ^J mH sH & h j h{q 5 OJ QJ \ ^J mH sH h 3 h{q mH sH ” ” 8 L N j M A $ $ If a$ gd] kd $ $ If l \ * 3 & h A t 0 4 4 l a $ $ If a$ gd] $ If gd] < > = 1 $ $ If a$ gd] kdJ $ $ If l 4 n \ * 3 & h A t 0 4 4 l a f4 $ $ If a$ gd] $ $ If ] ` a$ gd] h R T V v F : $ $ If a$ gd] kd $ $ If l \ * 3 & h A t 0 4 4 l a $ $ If ] a$ gd] $ $ If a$ gd] v F : $ $ If a$ gd] kd $ $ If l \ * 3 & h A t 0 4 4 l a $ $ If ] a$ gd] $ $ If a$ gd] ` b r t v H J : < > | ~ 8 : B x z j l F H N } h{q OJ QJ ^J mH sH h@L h{q ( hm h{q CJ OJ QJ ^J aJ mH sH ( h j h{q CJ OJ QJ ^J aJ mH sH ( h j h{q CJ OJ QJ ^J aJ mH sH h j h{q OJ QJ ^J mH sH , h j h{q 5 6 OJ QJ \ ] ^J mH sH hm h{q * b r t v F kd $ $ If l \ * 3 & h A t 0 4 4 l a $ $ If ] a$ gd] $ $ If a$ gd] v J < > ~ J kd@ $ $ If l \ * 3 & h A t 0 4 4 l a $ $ If a$ gd] $ $ If a$ gd] ~ 8 F : $ $ If a$ gd] kd $ $ If l \ * 3 & h A t 0 4 4 l a $ $ If a$ gd] $ $ If ] a$ gd] 8 : B F : $ $ If a$ gd] kd $ $ If l \ * 3 & h A t 0 4 4 l a $ $ If a$ gd] $ $ If ] a$ gd] B N Z x z P U I 9 $ $ If ] a$ gd] $ $ If a$ gd] kdq $ $ If l \ * 3 & h A t 0 4 4 l a $ If ] gd] P j l D R F $ $ If a$ gd] kd, $ $ If l \ * 3 & h A t 0 4 4 l a $ $ If ] a$ gd] D F H J L N P N I I I I D gd a’ gd{q kd $ $ If l \ * 3 & h A t 0 4 4 l a $ $ If ] ` a$ gd] N P T \ \ ^ ` d f h j . 0 4 6 |xm|ZD| |x|Z| + h 1 h{q 0J OJ QJ ^J mH nH sH u % h q 0J OJ QJ ^J mH nH sH u j h | U h{q j h{q U ‘ h@L h{q OJ QJ ^J mH nH sH u h@L h{q OJ QJ ^J h{q OJ QJ ^J mH sH h@L h{q OJ QJ ^J mH sH h a’ h{q 5 OJ QJ \ ” h a’ h i 5 OJ QJ \ mH sH hm h{q mH sH hm h{q OJ QJ ^J mH sH l < : d f $ $ If ] a$ gd] $ h ] ` h a$ gd{q < & F ^ gd{q $ a$ gd{q $ ` a$ gd{q < gd{q gd{q 6 : 2 6 Z b " b d f . ~ mYmYm m & h@L h{q 6 OJ QJ ] ^J mH sH h@L h{q OJ QJ ^J mH sH h@L h{q OJ QJ ^J mH sH h{q OJ QJ ^J + h g h{q 0J OJ QJ ^J mH nH sH u % h q 0J OJ QJ ^J mH nH sH u h{q j h{q U h@L h{q 6 OJ QJ ] ^J h@L h{q OJ QJ ^J ' h@L h{q OJ QJ ^J mH nH sH u \ ^ 0 2 J L 8 : < Z \ * , . v x H J L N hm h{q OJ QJ ^J mH sH hm h{q ) h j h{q 5 >* OJ QJ \ ^J mH sH h j h{q OJ QJ ^J mH sH h@L h{q & h j h{q 5 OJ QJ \ ^J mH sH , h j h{q 5 6 OJ QJ \ ] ^J mH sH 6 w g 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