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Consider the DC motor-driven wheeled mobile robot shown in figure, in which in is the mass of the wheeled mobile robot, r is the radius of the driving wheel, and T is the torque delivered to the wheeled mobile robot by the DC motor. For simplicity, the motion is restricted to one spatial dimension. The figure also shoves the simplified drive system, including the equivalent electrical circuit of the DC motor, the gears, and the driving wheel. The motor parameter values art. armature inductance La = 0.001 H, resistance Ra = 2.6 Ω, back emf constant Kb = 0.008 N-m/A (remember, tm, Kna). and torque constant Kt = 0.008 N-m/A (remember, Tom, K14. The mass moment of inertia of the motor 5x104 kg-nt2.111e gear ratio N (LAO la 1.5. The wheel and the axle mechanism converts the rotational motion to translation, and the wheel radius is 0.006 m. The mass of the cart is 0.5 kg. The mass moment of inertia of the wheel 1st 3 x104 kg-m2. Viscous damping of the load C = 10-5 N m-s. Neglect the viscous damping of the motor (Cm = 0). Assume that all gear contact fortes are taken by shalt bearings.
a. Derive the equations of motion of the system.
b. Create a Simulink model using the differential equations found in part (a) and plot the displacement output x(t) and robot velocity x.(t) for 0 ≤ t ≤ 5s. The voltage applied to the DC motor is a pulse function, va(t) = 4V for 0 ≤ t ≤ 1s.
The data inputs I0 through I7 are wired as follows: I0 = I1 = 0, I2 = I6 = , I3 = I5 = I7 = 1; and I4 = D. (a) Determine the Boolean function that the MUX implements. (b) Implement the function using a 4×1 MUX with minimum extra logic gates.
Design a Phase lag controller that will have a phse margin of about 60 degrees (you will need to be within 5 degrees for your design) A. Where are the poles and zeros B. What is the approximate value of the gain crossover frequency of the plant with..
A coaxial cable connects a 50W transmitter to an antenna with a feed impedance of 200W. The operating frequency is 900MHz and the cable has a velocity factor of 0.66. Determine the characteristic impedance and length of the cable.
The following measurement were made on a two-port resistive circuit. With port 1 open, V2 =15V, V1 = 10 V, and I2 = 30 A. With port 1 short-circuited, V2 = 10 V, I2 =4 A, and I1 = -5 A. Find the parameters of the z-parameter two-port.
Consider a digital communication system in which the received symbol y is equal to : y = x+I+n, where n is AWGN with variant sigma_n^2, I models interference independent of both x and n and x is the data taking values +A and -A.
A house at 42 degree north latitude has a roof that faces due south, and is elevated to an angle of 23 degree. A solar panel is mounted to the roof. what is the angle of incidence between the sun and the array at 10 am on May 5th
A coaxial line is filled with a very slightly lossy material with a relative dielectric constant of 5 The line would have a characteristic impedance of 100 ohm if it was air-filled. (a) What is the characteristic impedance of the dielectric-filled li..
Compute the equilibrium carrier concentrations and the position of the Fermi level with respect to the conduction band edge for a uniformly doped Si region with N_D=1*10^16 cm^-3 and N_A = 1*10^17 cm^-3 at room temperature.
Assuming DS = 1200H, BX = 0100H, and SI = 0250H, determine the address accessed by each of the following instructions. Assume real mode operation. (a) MOV [100H], DL (b) MOV [SI+100H], EAX
Two slits produce fringes on a screen that is at a distance of 2.05 m from the slits. When the wavelength is 608 nm, the fringTwo slits produce fringes on a screen that is at a distance of 2.05 m from the slits. When the wavelength is 608 nm, the f..
Identify three test cases, one using a positive number, and one using a negative number, and one using incorrect input (ie. Input a letter rather than a digit for the numeric input). For each of the three test cases show what inputs you will use a..
implement a circuit that generates VGA signals to draw a blue screen on your monitor in a resolution of 640x480. The following materials provide detailed descriptions of how VGA signals operate and some hints on how to design the VGA controller
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