Page 312 - Anatomy of a Robot

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velocity in, 32–39, 57
denial of service (DoS)
weight on spring as example of
in, 213, 213
second-order system in, deliverables, 8 Hanning window for FIR filter
hardware for, 88, 216
attacks, 267
32–39, 33–36, 36 design (See also high level high pass filters in, 210, 210
controller area network design), 147–151 infinite impulse response (IIR)
(CNA), 105 designing control systems (See filters in, 217–219, 218
controllers, analog controllers also control systems), 39–58 low pass filters in, 209, 210
in, 82–83 destructive readout of multirate, 220
convergence of control memory, 94 noise and, 200, 201
systems, 66 development time for computer Nyquist-Shannon sampling
convolutional codes, 250, hardware, 74, 120–121 theorem in, 192–197,
252–257 dial-up Internet services, 271 195, 196
cooling differential equation, control overflow in, 87–88
computer hardware and, 118 systems, 37–39 phase shift in IIR filters for,
motors, 276, 277, 278, 279 digital actuators, 53, 54, 55 219, 219
cooperative user digital noise, 201 physical implementation of
communications, 260 digital signal processing (DSP) filters in, 215–219
coprocessors, computer (See also filters), 82, 85–88,
raised cosine filters in, 213
hardware and, 102 191–220, 248 random shifting and, 200–201
corrosion, 285–286 analog filters and, 204–206, rectangular window for FIR
cost function, in control systems, 204, 205
filter in, 212, 212
63, 64–67 analog-to-digital (A/D) sample and hold (S/H) in, 201
costs converters and, 191–192,
signal to noise (S/N) ratio in,
computer hardware and, 192, 198–201 198–201, 199
74, 120 anti-aliasing filters and,
sinc function and filter design
distributed control system, 23 192–197, 196, 201–207, 202
in, 207, 211, 211
material, 284 band stop filters in, 210, 210
creep, 285 bandpass filters in, 210, 210 software for FIR filters in,
215–216
current, reliability and, 126 Bartlett (triangular) windows Taylor series and, 85–86
for, 212–213, 213
testing FIR filters for,
D Blackman window for FIR 216–217, 217, 218
filters in, 214–215, 214
damping in control systems, windows for FIR filters and,
central processing unit (CPU)
32–35, 34, 35, 36, 42–44, 211–215, 212, 213, 214
in, 88
42, 48, 50, 51 delay in IIR filters for, digital subscriber line
data density in 219, 219 (DSL), 271
communications, 229 digital to analog (D/A) digital to analog (D/A)
data encryption standard converters and, 191–192, converters, 191–192, 192, 207
(DES), 268 192, 207 digital video broadcast satellite
Data Link layer, OSI layered distortion and, 203 (DVBS) standard, 245
network model, 224 dithering (A/D) in, 200–201 direct current (DC), 169
Data over Cable Structured filter design for, 208–219 direct current (DC) balance,
Interface Standard (DOCSIS), finite impulse response (FIR) baseband communication, 229
271, 272 filters and, 86, 208–219, direct memory access (DMA),
DC motors (See also motors), 209, 215–217 104, 118
276–279 fixed vs. floating point dirt and wear, 286
DC stepper motors, 278–279 numbers in, 87–88, 117 discharge cycle, in batteries,
dead man power controllers, 174 Fourier transforms and, 86–87 165–166, 166
delay in communications, 259 Hamming window for FIR discrete cosine transform
delay in IIR filters, 219, 219 filter in, 214, 214 (DCT), 87