Hierarchical design•System decomposition– Complex systems (e.g. robot) are usually composed ofComplex systems (e.g. robot) are usually composed of numerous sub-systems–To make the design more manageable, we usually use a “divide-and-conquer” approach for designing complex systemand conquer approach for designing complex system.–The divide-and-conquer approach is also used in the sub-system designWe call this hierarchical decomposition of designs–Robot systeminputsactionsElectronic sub-systemMechanical sub-systeminputsactions…………..Other sub-sub-systemsOther sub-sub-systems
Decomposition of the electronic sub systemssub-systemsElectronicsinputsElectronics Sub-systemsactionsControl processorMotorDriveTo mechanical sub-systeminputsSensor/MemoryMotor other inputLogicPower SupplyTo mechanicalControlLogicLogic Power supplyPower AmplifierTo mechanical sub-system
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Basic Electrical Quantities•Charge–Symbol: Q; unit: C (Coulombs)F ndamental propertof matter–Fundamental property of matter–Can neither be created or destroyed– Structure of matter: atom, protons, electronsStructure of matter: atom, protons, electrons–2 types of charge: +ve charge (proton) and –ve charge (electron)–Opposite charges attract, like charges repel–An atom is electrically neutral: same number of protons and electrons++--+-–Smallest amount of charge: q (charge for 1 electron) –q = -1.6X10-19C– Electrons at the farthest orbit can be added andElectrons at the farthest orbit can be added and removed from the orbit easier than that in other orbits