Tuna AuropaTiouou ATEI Ogooadovikxn¢ ATTAIKH TEXNIKH OPOAOTIA EvayysAia Xpucoyidvyn Etv3os 2004CONTENTS UNIT 1 — Automatic Control Word Formation — Exercises UNIT 2 Classification Control Systems Tense Review — Exercises UNIT 3 Chips and Micro-Controllers Passive Voice — Exercises UNIT4 ~— Transducers Conditional Sentences — Exercises UNIT5 Robotics (Part |) Participles — Exercises UNIT 6 Robotics (Part Il) Relative Clauses - Exercises UNIT 7 Flexible Manufacturing Systems Conjunctions — Exercises UNIT8 — The Fundamentals of CNC GRAMMAR NOTES LIST OF IRREGULAR VERBS 10 16 19 26 30 38 4a 47 51 56 58 63 67 74 84UNIT 1 Automatic Control The control of an industrial process (manufacturing, production, and processing) by automatic rather than manual means is often called automation. Automation is the automatic operation or control of a process, device or system. Automatic machines can be used to increase the productivity of a plant and to obtain high-quality products. Automatic control of machines and processes is utilized to produce a product within specified tolerances and to achieve high quality. Due to the importance of automatic control as a means of attaining optimal performance of dynamic systems, improving productivity and performing many routine repetitive manual operations, most engineers and scientists must now have a good understanding of this field ‘As the systems become more complex, the interrelationship of many controlled variables must be considered in the control scheme. This leads to control systems which have more than one feedback loop, i.¢., multipte-loop control systems as opposed to single-loop control systems. Multiple control loops are needed whenever a plant has multiple sensors or multiple actuators. Such multi-variable conirol is essential in multi-input multi-output (MIMO) systems, whereas single-loop control is sufficient for single-input single-output (SISO) systems. Basic components of a control system A control system is an interconnection of components which form a system configuration that will provide a desired response. All control systems have a similar basic structure and consist of the same basic components: * Process or Plant- This is the main physical component of a control system as it is the component (a dynamic system) whose output is to be controlled. * Actuator- A device that is used to physically influence the process. It receives the control signal from the controller and forces the plant to produce the desired output. * Controller- An algorithm or mechanism that takes the error signal and generates the control signal required to drive the actuator. * Sensor- A device that measures the actual system output and produces the measured output. * Desired output- The desired value for the output of the process which is being controlled. Achieving the desired output is the objective of a control system.Actual output- The actual state of the process that is to be controlled and influenced, It must be measured by a sensor and then compared with the desired output. * Comparator- This component takes the desired output and measured output as inputs and generates an error signal that is the difference between the desired and measured outputs. This error is sent to the controller. * Disturbance or Noise- These are the signals that are external to the control system but affect the process. Examples of disturbance inciude heat losses, electromagnetic radiation, and vibrations. When a controller eliminates or minimizes the effects of disturbances we say that it manifests effective disturbance rejection These are the components that are common to all control systems irrespective of system complexity. However, depending on the type of control system, some components may not be relevant. For example, the open-loop control system does not require both the sensor and the comparator. PART | - VOCABULARY EXERCISES (A Read the passage carefully and find words or phrases which mean: 1 7 2 8. 3 9 4 10. 5. "1 6. 12. a) something constructed for a particular purpose b) the equipment and buildings necessary for an industrial or manufacturing process c) to the best or most favorable degree or amount d) quantities capable of having any of a set of values e) system, systematic plan of actionf)_ return of a portion of the output of any process or system to the input g) the mechanism that is put into action or motion h) parts or elements of a system i) the arrangement of the parts or elements j) the difference between a computed or measured value and a correct value k) a variation in a normal course or condition 1) gets rid, removes, rejects Which word(s) can you substitute for the underlined word(s)? _ The system went down due to the power failure. A from B because of C since . It's essential to save your document you're working on regularly. A necessary B required C important In order to attain all your objectives you must work hard and thoroughly. A achieve B succeed C obtain A purposes B goals C points An hour's time should be sufficient for all of you to carry out the experiment A enough B quite C adequately A act B do C perform How did you obtain these results? A reached B receive C get . All people are equal irrespective of color, sex, or nationality A irrelevant B regardless C independent . Extreme temperature fluctuations in the Sahara make living there intolerable. A unbearable 8 _unstandable C impossible . The computer revolution has affected most people's lifestyles. A influenced B effected C maintained[Cc Give the opposite of the following words: complexity external include increase manual variable within D___ Give the noun and adjective of the following verbs: Verb Noun Adjective automate lose relate repeat respond specify tolerate E Give the abstract noun (idea) and the object noun (thing) of the following verbs: Verb Abstract Noun Object Noun compare control generate produce radiate sense vibrateF Give the right derivative of the words in capital letters 1 According to the , this watch is | MANU- waterproof. the FACTURE 2. | John's in feam is uncertain. INCLUDE 3. | Too much waste is dumped into the sea. | INDUSTRY 4 In to his brother, Chris is extremely quiet. COMPARE 5 He is one of the most people | know. INFLUENCE 8 | The alarm was and woke us up. ACT 7 She's very “and doesn’t want to rely on | DEPEND. anyone. | 8 | What are our ? opt 9 | Set yourself realistic and goals. ACHIEVE 10 | What are the model's ACT MEASURE (PART Il - COMPREHENSION QUESTIONS AND DISCUSSION 1. What are the benefits of automatic machines? 2. Give some examples of automation in our homes. 3. When is a multiple control system required? 4, What type of control is used in a digital scale? 5. What does an actuator do? 6. What would the actuator be in the example of the digital scale? 7. What is the aim of a control scheme? 8. When does the controller manifest effective disturbance rejection? 9. Is the digital scale of our example vulnerable to disturbance signals?10.Which components are not needed in an open-loop control system? Why? PART Ill -- VOCABULARY achieve actual actuator= Evepyonammns, SeRH TUS affect as opposed to common compare complex component configuration consider consist (of) desire device disturbance drive due to effect eliminate error essential feedback force (v.) generate heat however improve include increase industrial influence interconnection interrelationship irrespective (of) loop loss manifest means (n.) measure objective Karopedvw, TeTUXaivur TipayyariKes NAEKTPOUNXaVIKH} GUCKEUH TOU XNoIPOTOIE! NAEKTPONAYvNTIONS yia SnuIoUpyia BiaprKous f TEpIoTPOWIKFIC LENONS THOKEILEVOU va TrapayBEi Epyo emdpw, ermpedio oe avriGeon ye KoIv6g ouyKpivw ‘oUvOeTOG, TEPITAOKOS e€aptnua, ouoTanikd Wépog BidtakN, LopgoTroinan, civeeon uederta, AauBdvw urn, eeragw cmoreAoupal a6 em@updd uoKeuh, ynXavioyds evoxhnon, diarapaxh, avaspadia Kived, Steyeipw, GéTw ce xivnon oy eniSpaon, aoréheopa amrakeigu, arroKAeiaa coda, KAB05 ouciacTik6s avddpacn avayKdtus, mEGW Trapayw @epyomra WOTdaO, EVTOUTOIS BeATIvs oupTrepiAayBavw augav, avéqon Blounxavixds ETMpEACW, ETIPPOF apoiBaia cuvoean (EexwoioTwv KUKAWLATWV) aMnaegaprnon aoxérus (1Tp0<) Beoyxos, amrwAeia eTmBeikviw péoov, TpSTo¢ uetpd oT6Xogobtain operation optimal perform plant precision process produce provide radiation rather receive rejection relevant repetitive require response sensor similar single specify state structure. sufficient tolerance utilize value variable vibration whereas arroxr AerToupyia BéAnIoTOS extend epyoordaio, eykardoraon, yovdea axpifeia Siadicavia, Siepyaoia mrapayeo mrapéxw axrivoBohia pcAAov AapBaven, BExopat arréppiyn, oxeTIKOS eTravahapBavopevos orrain avridpaon aic@ntiipac Trapdpotoc ovadiK6s, évas opigw, KaBopic caréoraon Sour emrapxtig avoXi}, To TODS Tou AGBous TrOU akOAOUBE! HC THAT xonoipomro1w muh peroBAnta dovn0n vo PART IV - WORD FORMATION (Refer to Grammar Notes, p.74) ‘A Make the opposite of the following words with in-, im-, il, and ir- to fill in the blanks calculable compatible dependent effective legal legitimate reversible literate sufficient mediate valid mobilizer visibly responsibleoF 1, The validation check has shown that some,the encoded data are 2. Itis to copy copyrighted software 3. An has good chances of preventing the theft of your car. 4. Computer people will find it difficult to find a job in the future. 5. Ifyou have memory the program won't run. 6. Any time a virus of this magnitude strikes, the damage is 7. Hybrid threats infect Web pages on vulnerable Web servers. 8. companies may ask for your password, credit card and Social security number via e-mail and it would be very of you to do so. 9 measures against ID theft can cause damage. 10. The address field of a machine code instruction which is used as data, and not as the address at which the data is found.is called address. 11. The program was written for a Mac and therefore it is with a PC. 12.An machine or device is not controlled by another device or system. B Read the passage below and underline the suffixes. Then put the words in the lists after the passage. Controlling _a Robot Closed-loop control starts out like open-loop in that you send an input feference to the system, but then feedback is used to monitor the performance resulting from the command; and if the performance is different than desired, changes are made to the command to get back on track. This is done by comparing the input reference to the feedback signal and computing an error from the reference. The controller then has equations which adjust the commands to the plant to reduce the error. PID equations are the usual method to make these corrections.Closed loop control is often approximated by doing long dead reckoning actions, then stopping and looking around, or finding a wall or comer in a known location, and using that reference to make corrections to get back on track. True closed loop control is continuously checking on performance (location, speed, whatever) so that the robot never gets significantly off track. For instance, to do wall following, the distance to the wall would be measured continuously and the steering adjusted continuously to maintain that distance. Or, in the speed control example above, if the reference speed is 6 inches per second, and the feedback signal indicates the robot is only moving at 5 % inches per second, the controller would see the error signal and increase the power to the motor. Vocabulary in exercises adjust - mpocappocis magnitude - péye80c approximate(v.) ~ mpoveyyigu, mAnordgua maintain - Siarnpsb calculable - urrokoyionyoc monitor(v.) = Tapaxohoulls, Ezy x? command - evroht reference - avagopd compatible - cunBaro< responsible - urtev6uvos, dead reckoning — uTohoviouos reversible - avaorpéyiios Bacroyévos ae cuyTrépacud fi eIkaoIa steering ~ ka8od/jynon, KaTes8uvon effective - arroreheapamixé track -Topeia equation - egjowon valid - éyxupog legal - voutyiog vulnerable - 1pu16s legitimate - voysos VERBS NOUNS ADJECTIVES ADVERBSUNIT 2 Classification Of Control Systems There are two main configurations for control systems: open-loop and closed-loop. An open-loop control system utilizes a controller and an actuator and controls the process or plant directly without the use of feedback, ‘as opposed to the closed-loop which is a feedback control system. NUT IGE —7(CONTROLLER——»} PLANT =f OOUROLEED OPEN-LOOP CONTROL Feedback control systems can be classified in a number of ways, depending on the purpose of classification. For instance, based on the method of analysis and design, control systems are classified as linear or non-linear, and time-variant or time-invariant. When considering the type of signals used in the system, reference is often made to continuous-data and discrete-data systems, or modulated and unmodulated systems. FEEDBACK weur + f + CONTROLLED REFERENCE Osea ON ROLLE! PLANT VARIABLE CLOSED-LOOP CONTROL A continuous-data system is one in which the signals are functions of the continuous time variable f. Among all continuous-data control systems, the signals may be further classified as alternating current (AC) or direct current (DC). Unlike the general definitions of the terms in electrical engineering, in an AC control system the signals are modulated, and in a DC control system not all the signals in the system are unidirectional. A DC control system simply implies that the signals are unmodulated, but they are still AC signals according to the conventional definition Typical components for a DC control system include potentiometers, DC amplifiers, DC motors, and DC tachometers. AC control systems are extensively used in aircraft and missile control systems in which noise and disturbance often create problems. Typical components for an AC control 10system include synchros, AC amplifiers, AC motors, gyroscopes, and accelerometers. In practice, not all control systems are strictly AC or DC type. ‘A system may incorporate a mixture of AC and DC components, using modulators and demodulators to match the signals at various points in the system. Discrete-data control systems differ from continuous-data systems in that the signals at one or more points of the system are in the form of either a pulse train or a digital code. Usually, discrete-data control systems are subdivided into sampled-data and digital control systems. Sampled-data control systems refer to a more general class of discrete-data systems in which the signals are in the form of pulse data. A digital control system refers to the use of a digital computer or controller in the system, so that the signals are digitally coded, such as in binary code. In general, a sampled- data system receives data or information only intermittently at specific instants of time. PART | - VOCABULARY PRACTICE EXERCISES ‘A Find words or phrases in the passage which approximately mean the same as: for example not changing taking into account separate (ad.) to a greater degree states indirectly common ON OAR oONn a exclusively 9. include 10. belonging to a 2-based number system _ 11.adjusted, regulated 12. periodically one 7 [B___ Match the devicesicomponents with their defi 1. accelerometer 2. amplifier 3. gyroscope MW4. motor 5. potentiometer tachometer a) electronic circuit for increasing the size of a signal b) a device that converts any form of energy into mechanical eneray c) an instrument used to determine speed, especially the rotational speed of a shaft d) variable electronic component for dividing a voltage into smaller parts e) a device that consists of a spinning disc or wheel whose spin axis is fitted onto a free movement support f) a component whose output voltage is proportional to the acceleration of the moving part itis fitted onto Form the opposite with one of the following prefixes: a- de- dis- in- ir- un- 1. classified 10. effective 2. code 114 like 3. continue 12. modulated 4, conventional 13. productive 5. defined 14 relevant 6. definite 16. sufficient are 7. dependent 16.typical 8. directly 17. variant cee 9. dividedMatch the words in column A with their antonyms in column B A B 1. analog a) intermittently 2. continuously b) digital 3. increase c) general 4. linear d) maximize 5. loss e) nonlinear 6. minimize ) receive 7. multiple g) decrease 8. reject h) single 9. specific i) gain 40.transmit i) accept [E__ Give the right derivative of the words in capital letters 1 | There was no that the machine was in | INDICATE danger of overheating. 2. | The points you've raised aren't really in this | APPLY case. 3. | These documents are and should not leave | CLASS this office. 4 | Are there any facts | should know? ADD 5 | Ican’t help doubting the of his actions. CORRECT 6 | Have you had the photos yet? DEVELOP 7 | Five is a number which is not by two. DIVIDE 8 | I have to question the of these figures. ACCURATE, 9 jits trying to fix it— you're not a mechanic. | POINT 10 ig necessary when you ask a woman her | DISCRETE | age. 11 | You have no but to tell the truth. ALTER 13F Complete with the right word changes control monitors commands controller results There are two basic types of 1 systems: Open-loop control systems are those in which your 2 tells your system to do something, but doesn’t use the 3. of that action to verify the results or modify the 4 to see that the job is done properly. Closed-loop control continuously 5 the performance of your system and 6, the commands as necessary to stay on track. [G__ Write the following in full 7.302 61" vee 250" 44256 10-3=7 RE ee 12/3=4 E= mo 10° 26° Ah 11/5/98PART Il — READING COMPREHENSION AND DISCUSSION 4. What is the main difference between open-loop and closed-loop control systems? 2. What determines the classification ofcloss/-loop control systems? 3. How are continuous-data control systems further classified? 4. What components are found in DC and AC control systems respectively? 5. Where and why are modulators and demodulators used? 6. Whatis the basic difference between continuous-data and discrete- data control systems? 7. Why are some control systems classified as “digital control systems?” 8. Give examples of processes whose control system is classified as either continuous-data or discrete-data control system. (PART Ill - VOCABULARY accelerate emiraxéver accelerometer —_petatporréac ou oTrolou n réon eFSd0u eivar avdAoyn tS EmTaxuvon¢ TOU KIVOUYEVOU oWHATOS GTO OTTO! sivar mpocapyoopévos according to ouppwva pe aircraft cxepooKdipos alternating current uveyés pedua amplifier eVloXUTAS binary SuadiKog classify Tagivouss code KeOIKAG, KWOIKOTION consider Gewpud continuous ouvexiic conventional oupBariKkos create Snuloupyw definition opioyds demodulator arrodiapoppwriig depend (on) e€aptépai (arr) differ Biagepw digital yngraKés direct dyecos discrete BiaKpiTds extensively exterapéva. 15for instance TrapabelyyaTos xapiv function Aerroupyia, auvépran further Trepartépw, emmAov gain xépdoc, avéqon imply umrawvicooyat in practice omny Trdén incorporate evowariaver instant omy intermittently TreplodikG, KaTd SiaotrpaTa linear yeapwikes match Tarpiddwo, avrrraparéoow missile BARU, TepaUAOS mixture piypo modulate Siapopgwavw modulator Biapopowric potentiometer Torevaiduetpo, yeTaBAnrh avrioraon pulse train Uppdg Tala purpose oxorrég refer avacpépopicr sampled-data system adorn SetyyaroAnwiag specific auykeKpipevos, opispévog so that E101 ob TG Gate strictly auoTnpd subdivide uTrobiaipds term p05 unidirectional povoKaTevduviKds variable petaBAnri variant TrapaNAdoww, Sia~poperixs PART IV - TENSE REVIEW (Refer to Grammar Notes, p. 75) A Put the verbs below into the simple past or present perfect become (2) build communicate contribute create evolve notlast market ‘stand Operating systems 1 just like any other technology. Many operating systems 2, over the years. Some 3, the test of time and 4 the basis for most operating systems in use today. Others 5. valuable ideas to modern operating systems but 6, themselves. Back in the 1950's, people 7. 16with computers in binary. Eventually the first experimental operating system, Multix, 8, . Although it never 9 as a commercial product, it 10, the basis of Unix. B_Use the correct form of the verb 1. Inthe future, computers (do) most of the teaching. 2. He (save) up because he wants to upgrade his computer. 3. Don't worry. | (lend) you my testing instruments. 4 (hear) on TV last night that the terrorist leader (confess) finally. 5. The widespread use of computers (change) our lives. 6. You (drive) all day. Let me drive now. 7. The workers (be) on strike for a month before an agreement was reached. 8. By the end of this term, John thinks he (pass) all bis labs. C___ Put the verb into the correct tense Ebay thief reveals tricks of the trade Adapted from an article by Bob Sullivan, MSNBC Sept. 24, 2003 — This e-mailer named Kenneth 0 contacted (contact) me to brag, He said he 4. (see) a story 1 2 (do) about a 15-year old who 3. (manage) to steal a few thousand dollars online. And Kenneth 4 (offend). “He's an insult to each and every one of us scam artists,” Kenneth wrote. “I 5 (can) tell you stories.” And so he 6. (do). Kenneth claims he 7. (spend) the past two years as one of eBay's most notorious scammers.Many of Kenneth’s claims cannot be verified—such as his claim that he and his four friends 8 (steal) about $2 million from eBay members in the past two years. But his story checks out, and we 9. (decide) to publish it as an educational tool for eBay users. To prove his skill, Kenneth 10 (open) up one of his e-mail accounts to me. In there 14. (be) dozens of responses from eBay members who 12 (lure) out of a normal auction for a plasma television. Victims contacted by MSNBC.com 13 (confirm) that the emails 14____(be) authentic. Two years ago, when he 15 (be) 20, Kenneth 16, (pick) up the trade by watching a friend cheat a few eBay users. Since then, he and his associates 47, (perfect) the techniques. They 18 (have) coffee together every morning to discuss their take from the night before, he said. There 19 (be) many warning signs in Kenneth’s behavior which should send out red flags to consumers. Deals that appear too good to be true almost always are just that, Sean Bryant, one potential victim based in Kent, U.K., said he 20 (be) suspicious from the start, and bizarre sales tactics 21. (tip) him off that Kenneth was certainly a scammer. "I quickly 22 (become) uneasy about the transactionwhen he suddenly 23 (take) another £500 off the asking price, just like that,” Bryant, a police officer in Kent, 24. (say). He immediately 25. (cut) off contact. Vocabulary in article account - Aeyapiaoy6s consumer - karavahwrtig prove - arrodanvOu, appear - eypavigouan contact - erragf publish -exdidw associate - auvepyamns deal ~ cusquvia cam ast xoumVaBSp05 auction - mAeiornpiaouos insult -7pooBoM, Sil Senta, ember behavior - cupmepr@opé lure out - yapedw free gee aiid bizarre - rapdgevos, notorious - MEpIBOnTOS {ip off- mpoewomoxi brag - kauxiuan offend - mpooBénAu Sat cheat — efarrart, KAEBw perfect - reAsiortonis age claim = woxupiGouar Bek up a rede —yadoiwe rex eee confirm — emBeBandvts potential ~ ev Suvduer warning - mpoeiSorroinonUNIT 3 Chips and Micro-Controllers Achip is a small piece of semi-conducting material (usually silicon) on which an integrated circuit is embedded. A typical chip can contain millions of electronic components (transistors). Computers consist of many chips placed on electronic boards called printed circuit boards (PCBs). There are different types of chips. For example, CPU chips (also called microprocessors) contain an entire processing unit, whereas memory chips contain blank memory. Chips come in a variety of packages. The three most common are: * DIPs: Dual in-line packages are the traditional buglike chips that have anywhere from 8 to 40 legs, evenly divided in two rows * PGAs : Pin-grid arrays are square chips in which the pins are arranged in concentric squares. * SIPs: Single in-line packages are chips that have just one row of legs ina straight line like a comb. In addition to these types of chips, there are also single in-line memory modules (SIMMs). Typically, a SIMM holds up to eight (on Macintoshes) or nine (on PCs) RAM chips. On PCs, the ninth chip is often used for parity error checking. Unlike memory chips, SIMMs are measured in bytes rather than bits. SIMMs are easier to install than individual memory chips. The bus from a SIMM to the actual memory chips is 32 bits wide. A newer technology, called dual in-line memory module (DIMM), provides a 64-bit bus. 19For moder Pentium microprocessors that have a 64-bit bus, you must use either DIMMs or pairs of SIMMs. Micro-controllers are used in the industrial world to control many types of equipment. They have replaced older types of controllers, including microprocessors. Applications range from controlling engines in modem automobiles to controlling laser printers and other computer peripherals. But what is a micro-controller? It is much like a Swiss Army knife—small, light, and useful. The micro-controller is a powerful, versatile, single chip which follows instructions, reads information, stores _ information, communicates, measures time, and switches things on and off. Generally speaking, a micro-controller is a programmable single-chip integrated circuit (IC) which controls the operation of a system. One of the most common applications is automotive control. This includes engine fuel injection control, transmission control, suspension control, instrument displays, and braking systems. Automatic cameras also use micro-controllers to control exposure and focus. Another application is the computer mouse which uses a micro-controller to read the mouse ball movement, sense the pushbutton positions, and handle communications with the computer. Technically speaking, a micro-controller is a single-chip device which contains memory for program information and data. It has logic for programmed control, reading inputs, manipulating data, and sending outputs. In other words, it has built-in interfaces for input-output (/O) as well as a central processing unit (CPU). We often refer to the device (the chip) as a micro- controller unit (MCU). The built-in interface capability is used for sensors, actuators, and communications. The Micro-controller Unit (MCU) Internally, an MCU has three basic parts connected by an internal bus: © the central processing unit * memory © registers Externally, the MCU has pins for power, input/output, and some special signals. The 1/O pins are grouped into units called /O ports Memory is where data and program code are stored. Physically, there are different types of memory: read-only memory (ROM), random access memory (RAM), and electrically erasable programmable ROM (EEPROM). Some micro-controllers use erasable programmable ROM (EPROM) instead of ROM. Registers are used to handle specialized information. A register is a place where the CPU works on (modifies) a binary number. The CPU executes program instructions and has its own registers. 20[PART I - VOCABULARY PRACTICE A Find synonyms for the wordsbelow: 4. built-in 7. single 2. complete(adi,, 8. vary 3. while 9, having many uses 4, empty (adj.) 10. detect 5. regularly 11. take care of 6. placed 12.changesfy, B___ Fill in the table with derivatives Verb Noun Adjective appliance arrange ‘conductor [implement | integrated manipulate process modify p production programmable simple transmission 21Fill in the blanks wi c the right words An integrated 1 c--— (IC) is a small electronic 2 d-——-- made out of a ‘semiconductor material. Integrated circuits are used for a processors, audio and video 4 e— are often 5 c~ components they 6 c- 3 vw of devices, including micro- --, and automobiles. Integrated circuits -- by the number of transistors and other electronic IC classification Number of 7 c-———~ per chip ‘SSi (small-scale integration) Up to 100 MSI (medium-scale integration) 100 to 3,000 LSI (large-scale integration) 3,000 to 100,000 VLSI (very large-scale integration) 100,000 to 1,000,000 ULSI 8 (u— large-scale integration) More than 1 million {D___ Fill in the blanks with the words below: board implemented specialized components interface task comprising ports embedded reduced A micro-controller is a highly integrated chip that contains all the components 4 of ROM, 1/0 2 , and tim which also includes all of these 3_ designed for a very specific 4. As a result, the parts can be simplified and 5 cuts down on production costs a controller. Typically this includes a CPU, RAM, some form fers. Unlike a general-purpose computer, , a micro-controller is ~ to contro! a particular system. and this in tum 2Micro-controllers are sometimes called 6 micro-controllers, which just means that they are part of an embedded system. An embedded system is a 7, computer system that is part of a larger system ‘or machine. Typically, an embedded system is housed on a single microprocessor 8. with the programs stored in ROM. Virtually all appliances that have a digital 9 — watches, microwaves, VCRs, cars — utilize embedded systems. Some embedded systems include an operating system, but many are so specialized that the entire logic can be 10 as a single program. E Match column A with column B to make collocations A B 1, 32-bit a) component 2. electronic b) circuit board 3. integrated ©) circuit 4, memory d) unit 5. parity 2) module 6. printed ) error 7. processing 9) bus [PART Il - READING COMPREHENSION and DISCUSSION 4. How many transistors does a common chip contain? 2. What do DIPs look like? 3. How is a DIMM different from a SIMM? 234, What devices are used nowadays microprocessors? 5. Give a definition of a micro-controller. instead 6. What does a micro-controller actually do? 7. What does a micro-controller interface with? 8. How are the basic parts of an MCU connected? 9. What types of memory are there? 40.Where are program instructions executed? of controllers and 41.Name some appliances and equipment you use at home which contain chips and/or micro-controllers PART Ill - VOCABULARY access appliance application arrange array blank board brake buglike built-in bus capability code comb communicate comprise concentric consist of contain cut down (on) display (n.) dual embedded evenly execute mpéafaon, mpocTréhacn auoxeur epapyoys raKrorro1w (G1051dorar0<) wivaKag Kevog mrivakas, mhaKéra opéva Gav Zwogio EvowpaTwpEvos BlaUAos, 0 KEpIoG aywYSg CE KUKAWLC ikavérnta, SuvaTomnTa KwIKAG xréva ‘arro@nkedw arrorehwo OuokeVvrpIK6s arroreAoual arr} mrepiéxd peiwvw emideién SrmAsc evoujaTwpévog ouaad extehd 24exposure extemally focus fuel grid handle house implement install instruction instrument integrated circuit interface internally its own manipulate micro-controller microprocessor microwave modify module operating system parity error pin port power programmable random range reduce register row scale semiconductor silicon simplify suspension switch on/off task traditional transmission ultra VCR virtually éx@eon e€wrepixd eotiaon KaboIpo TA xelpiZopai ateydtw vAoTroIt eyka6iort odnyia ‘épyavo OAOKANpWEVO KUKAWCL Braavvdeon eowrepiKd To 51K6 Tou XEIpaywyd HIKPOEAEYKTIIS pikpoerretepyaortis bikpOKUpa TporroTroiw Buouaroupevn Aakéra wou rropel va Tepiéxel kukAdbara F UTTOKUKAwpaTa AeITOUpyIKO GUoTN YC GB0c TrOU TIPOKUTTTE! GTov EAeyXo IGorILlAS aaKida, aKpodeKtns Opa 1oxus TIpoypayyaTiZoyevos Tuxaiog kupaivoyat edarrdbve karaxwpntiis ceipd KAluaxet npiayewydg Trupitio arrAorroWw avdpton avolyu/kneiv Epyo, Siepyaoia TrapadooraK6s uetagopd urtép ucKeur Bivteo oxedov 25PART IV ~ PASSIVE VOICE (See Grammar Notes, p.76) ‘A___ Change into the passive voice 7 1. Security experts advise consumers to ignore spam. 2. Law enforcement officals have endorsed a series of proactive protective measures and guidelines. 4. Use a separate e-mail address for online subscriptions or participation in newsgroups. 5. if someone offers you a “guaranteed” loan before you even apply for one, be suspicious. 6. You should not purchase 6-mail advertised products. 7. Alegitimate source will not ask you for personal information via e-mail 8. You can verify a Web site address by calling up the company or organization 9. Legitimate companies will remove your address from their mail list if you ask them to. B Lookat the sentences below and in pairs do the same with the words you are given © What is an audio card used for? © What's the function of an audio card? © An audio card is used to capture or generate digital sounds. 26on e An audio card is_used for capturing or generating digital sounds. © The function of an audio card is to capture or generate digital ‘sounds. An audio card captures or generates digital sounds. 1. What /sensor/used for? 2. Whatfunction/microprocessor? 3. What /diode/used for? 4. What/unetion/controller? 5, What /VCRiused for? 6. What/function/actuator? 7. What/comparator/used for? 8. What/microcontroller/used for? 9. What/function/multimeterer? 10.What/potentiometer/used for? C___ Complete the passage by putting the verbs into the correct tense Four high school computer hackers 1. (arrest) yesterday and face charges of theft and fraud. It 2. (believe) that the four boys 3. (use) a complex Internet scheme to steal computer equipment. The boys, whose 27names 4_____——_—(not release) yet, 5__——— (say) to 6 (break) into a local Internet server and 7 (steal) credit card numbers, which they used to go ‘on a giant online shopping spree. Altogether, they 8 (order) $30,000 worth of computer equipment before they 9 (catch). The equipment 10. (deliver) to vacant homes in the area, where it could 11, (pick up) after school. When the boys 12. (ask) why they carried out such an elaborate scheme, they said they 13_____——_(surprise) at how easy it was. D___Put the verb into the correct tense HOW THE CHIP CAME ABOUT Revolution In 1947, the semiconductor industry 1 (to be bor) at AT&q's Bell Labs with the invention of the transistor by John Bardeen, Walter Brattain and William Shockley. The transistor, which 2, (fabricate) from solid materials that 3. {can change) their electrical conductivity, 4. eventually (replace) all the bulky, hot, glass vacuum tubes that 5 (use) as electronic amplifiers in radio and TV and as on/off switches in computers. By the late 1950s, the giant first-generation computers 6 (give) way to smaller, faster and more reliable transistorized machines. Evolution The original transistors 7. (be) discrete components; each one 8 (solder) onto a circuit board to connect to other individual transistors, resistors and diodes. Since hundreds of transistors 9 (make) on one round silicon wafer and 10. (cut) apart only to be reconnected again, the idea of 28building them in the required pattern to begin with 11 (be) obvious. In the late 1950s, Jack Kilby of TI and Robert Noyce of Fairchild Semiconductor 12, (create) the integrated circuit, a set of interconnected transistors and resistors on a_ single chip. Since then, the number of transistors that 13. (put) onto a single chip 14, (increase) exponentially, from a handful in the early 1960s to millions by the late 1980s. Today, a million transistors 15, (take up) no more space than the first transistor. From Computer Desitep Eroyoepedia (2 1009 The Computer Language C2. ho tube (one switch) iransistor [one switch} " &> (millions of transistors) 29Unit 4 TRANSDUCERS The real world is analog in nature and microcontroller /O must interact with this world. When cruising down the highway in your sports car, the microcontroller may output a signal to change fuel valve position based on readings from an input indicating speed. Transducers are used to interface the V/O with the process, in this case an automobile. Common examples include microphones, loudspeakers, thermometers, position and pressure sensors, and antennas’. Although not generally thought of as transducers, photocelis, LEDs (light-emitting diodes), and even common light bulbs are transducers. In control systems, a transducer is a device that converts a process variable into an electrical signal, or vice versa. Some control systems, however, use pneumatic and hydraulic signals instead of electrical signals. Other terms for transducers are sensors and actuators, which refer to input and output transducers respectively. Sensors Different sensors are used to measure basic physical quantities. Potentiometers and linear variable displacement transformers (LVDT) measure position. The potentiometer outputs the angular position of the shaft. When the wiper moves, the voltage changes because of the change in resistance. The LVDT works on the principle of a moving iron core which changes the property of the transformer. A transformer is a device with a primary winding and secondary winding. The voltage at the secondary winding varies with the primary voltage at a fixed ratio. The position of the iron core changes the primary/secondary voltage ratio. The LVDT has two secondary windings, so the two secondary voltages differ from one another, depending on the iron core position Force is measured with strain gauges and piezoelectric devices, while temperature is measured with thermistors and thermocouples. Current is measured with current transformers and SENSEFETs. Last, light intensity is measured with photoconductive cells and phototransistors. Often, other physical quantities are measured using variations of the sensors listed above. For example, flow can be measured using force or temperature. Pressure is the amount of force per unit area, Flow rate can be determined by measuring the pressure drop across an element. Another way to determine flow rate is to measure the amount of heat removed from a heated element by a fluid. This is an indirect use of temperature since this type of flowmeter actually measures the current needed to maintain a heat probe at a constant temperature. Hence, it must also measure temperature. ' British English for the word antenna is aerial, 30Actuators: Some common actuators are relays, solenoids, Darlington transistors, triacs, and silicon controlled rectifiers (SCRs) or thyristors. A relay is an electromagnetic switch with a coil and one or more contacts. Applying voltage to the coil (energizing the relay) will cause any normally open contacts to close and any normally closed contacts to open. A solenoid is like a relay. It has a coil but instead of moving electrical contacts, it moves a mechanical device such as a cylinder, plunger, or valve stem. A Darlington transistor is a combination of two bi-polar transistors designed to switch large amounts of current. Triacs and SCRs are semiconductor devices used to switch AC currents. Transducer efficiency Efficiency is an important consideration in any transducer. Transducer efficiency is defined as the ratio of the power output in the desired form to the total power input. Mathematically, if P represents the total power input and Q tepresents the power output in the desired form, then the efficiency E, as a ratio between 0 and 1, is given by: E=QiP If Ex, represents the efficiency as a percentage, then: Ey, = 100Q/P No transducer is 100-percent efficient; some power is always lost in the conversion process. Usually this loss is manifested in the form of heat. Some antennas approach 100-percent efficiency. A well-designed antenna supplied with 100 watts of radio frequency (RF) power radiates 80 or 90 watts in the form of an electromagnetic field. A few watts are dissipated as heat in the antenna conductors, the feed line conductors and dielectrics, and in objects near the antenna. Among the worst transducers, in terms of efficiency, are incandescent lamps. A 100-watt bulb radiates only a few watts in the form of visible light. Most of the power is dissipated as heat; a small amount is radiated in the UV (ultraviolet) spectrum. PART | - VOCABULARY EXERCISES ‘A Look back in the passage and find the words which mean approximately the same as: 1, moving at a steady speed 2, showing 313. giving out x the other way around position change Wo, varying in equal steps “ spiral 8. unchanging 9. meters 10. calculated 11.decrease (n.) 42.liquid 13.therefore 14. connection point 15.shown 16. (almost) reach 417. gives out rays in all directions 18. gradually released B Give the name of the device or component (all are found in the passage) 7 it collects or sends out signals being transmitted through space. [2 | Moving contact in a variable component, | Electronic circuit for changing AC to DC. ‘Semiconductor which converts electrical energy into light. 5 | it is used for switching or amplifying an electronic | signal, 32@ |lt produces an electrical signal when it detects a particular form of energy. This used to divide a voltage into two smaller parts 8 | It is used to increase, decrease, or isolate an AC supply voltage. 9 | Heat sensitive resistor, decreasing its resistance as it gets hot. 70 | An electromechanical switch which is operated by an electromagnet, 11 | Transistor containing two PN junctions forming either an NPN or PNP type of transistor. 72 | itis used for opening or closing a circuit. [C__ Underline the word that does not belong 1. invariant constant variable fixed 2. amplify decrease drop dampen 3. meter gauge display calibration 4, alter plug change - convert 5. radiate vectify dissipate emit 6. surge emitter base collector 7. provide supply draw contribute 8. attain reach approach —_ eliminate D___ Fill in the blanks with the words below adaptive function involved case inspect ‘monitor equipment integrated termsCurrent manufacturing strategy defines manufacturing systems _ in 1 of sensors, actuators, effectors, controllers, and control loops. The purpose of sensors is to 2 work in progress, to 3 the work-in-progress interface with the manufacturing 4 , and to allow self-monitoring of manufacturing by the manufacturing system’s own computer. The purpose of the actuator and effector is to 5, the work in progress of the manufacturing system. The 6. of the controller is to allow for 7. degrees of manual, semiautomated, or fully automated control over the processes. In a fully automated 8. , Such as in computer-9. manufacturing (CIM), the controller is completely 10. and functions in a closed-loop manner to produce automatic system operation. In. other cases, human activity is "1 in the control loop. F Fill in the blanks with a derivative of the words in capital letters Process control sensors in manufacturing will play 2 1 (SIGN) role in improving 2 (PRODUCT), both 3 (QUALITY) and 4 (QUANTITY), throughout the coming decades. | The main parameters to be measured and controlled in 5 (INDUSTRY) plants are temperature, 6. (BASPLACE), force, 7 (PRESS), fluid level, and flow. In addition, 8 (DETECT) for leakage of explosives or 9 (COMBUSTION) gases and oils are important for accident 10. (PREVENT).[G__ Read the ad below and answer the questions which follow: VA Series "valvetactuator" (NPT threaded end connection, 2 piece body) Preumatically actuated onloff valve (3/8" to 2") * Integrated pneumatic actuator + Nickel plated brass body + Compact assembly + Complete accessory equipment Namur Solenoid Mounting Pad Compact Safe Competitive ‘The VA series combines a ‘There are no exposed _—_—Since the actuator is pneumatic actuator and valve moving parts, eliminating part of the valve, costs into one body, eliminating pinch points and increasing are greatly reduced packing glands, actuators and operator safety. when compared to ‘mounting kits. standard actuated valves Extended Life Cycle Flow Characteristics Operating life has been tested The internal waterway to well over 1,000,000 cycles, design was designed for the balanced design reduces optimum flow friction and wear. The stroke is characteristics. linear and paratlel to the flow reducing the force to close or open the valve dramatically. 1. What is the VA Series? 2. What are its advantages? 3. Where would you use these valve/actuators? [PART II - READING COMPREHENSION ‘A Answer the questions according to the passage 1. Why are transducers necessary? 2. What is the input variable in the sports car example? 3. What possible signal forms are mentioned in the text? 4, What's another name for an output transducer? 5. What physical quantity is measured with a potentiometer? 6. Why does an LVDT have two secondary windings? 357. What devices are used to measure force and light intensity? 8. What physical quantities are actually measured in order to measure the physical quantity of flow rate? 9. How is a relay energized? 10. How does a solenoid differ from a relay? 11. Explain transducer efficiency in your own words. 12. How is an incandescent lamp a “bad” transducer? [1B Look at the example and complete the table Name Type of Purpose transducer potentiometer ‘sensor to measure position relay phototransistor thermocouple strain gauge trac LVDT SCR Darlington transistor thyristor thermistor [PART Ill - VOCABULARY among angular position GEon expoaGLEVN Ge BAeLOUS F aKrivia antennacombustible apply approach area bi-polar transistor bulb coil constant contact conversion convert core cruise determine displacement dissipate drop efficiency emit feed line EvLQAERTOS AoKt, EPAPLOGW Trpoceyyicw euBaddv, TEpIOXA diTOAIKé rpavoiotop BoABOc, yAOUTTOS Tvio araBepog enragh, petatpoTrh, aAAayhh betaTpémw TTuprivas kivouyat pe apyt Kivnon Tpocdiopicuy arréxhian, yetatomion Siaxéw, diackoprrigw peiwon arroreheoparixornta exméumTw yap tpopoBotons FET (field effect transistor) tpavoictop eriSpaanc Trediou field fixed flow fluid force frequency gauge hence incandescent indicate interact iron core LED(light emitting diode) linear loudspeaker LVDT manifest photoconductive cell plunger pressure primary winding principle probe quantity radiate ratio rectifier TrE6i0 orasepog por uypo Suvapn (F) ouxvornra Opyavo WeTpnons, LETENTS yi’ auté To Adyo, 6Bev AeuKOTTUpOS, TUpaKTWHEVOS uTTodeikvuw ‘GAANAETIpH aiSnpoTtuprivas Biodog Nulaywyds Trou eKTEpTTE! pus Stav Trohwei mpowoTIKd YeapyiKoc peydquevo BiagopiKds pETasxXnyaTIoTS Tou TapoUCIGZe! Yypappiki) amdKAion emdeikvow) uwTONAEKTPIKO GTOIXEIO EyBoho miicon To Kavoviké 1 xphoipoTroiodpevo cay ciovdo¢ TOyya peTaoyNaTioTH aexA aKpodeKmns mocémra axrivoBonw Royos, avaaoyia avopeurhis 37relay NAexprovoyios, pene resistance avticrasn respectively avmoroixws secondary winding 1 Kavovikil TEpIENEN €6B0u YeTaoXNHATIOTH semiconductor nplaywydg shaft d€éovag since eneidi, ula Kat solenoid owAnvosidés, Tmvio amr aywy6 Tou Exe! évar Ovo orptipa TuAIypévo Ge KUAWSPIKT HOPO} spectrum dopa strain gauge ETPNKUVOIGpETPO supply Trapoxs| thermistor avtictaon evaio8nin ce SepyoKpacia thermocouple GepjioZevyos thyristor pnpn BicraGéc oroxeio amd npiaywyd Trou éxe! Gvod0, Kd@050 Kar aKpodéKm TUANG TOU xpnotporroteirai cv nheKtpIKog diaxdrrm< transducer bevarporréac ultraviolet uTrepi5n¢ variation mrapahaaye vice versa avriorpogug winding TWAIyHar wiper avath era) , Seopeas PART IV - CONDITIONAL SENTENCES (Refer to Grammar Notes, p. 77) A Look at the guidelines for handling disks and underline the conditional sentences. Then make conditional sentences as in the example. Example: /f you let a disk get too hot, it will melt or warp. 1. Don't let them get too hot. Like vinyl records floppy disks will melt or warp if exposed to too much heat. 2. Don't let them get too cold. Although cold seems to be less damaging to disk than heat, it is not advisable to let your disks become too cold. 3. Don't bend them. Bending them can cause the magnetic coating to crack or to flake off. 4. Don't touch the surface of the disk. The surface of the disk itself (not the disk’s jacket) should never be touched as the natural oils and dirt found on our hands can damage disks. 5. Don't let the disk get near a magnet. Disks store information magnetically and placing a disk near a magnet can erase information. 6. Don't move your computer while it’s on. A hard disk spins constantly while the computer is on. The gap between the disk surface and the read/write heads is very, very small, Any sudden shock or jolt can cause a head crash. This happens when the read/write heads hit thesurface of the disk, The only solution to head crash is to replace the hard drive. No smoking! Smoke particles are much bigger than the gap between the disk and the read/write heads. If one got in between them the result would be catastrophic. No food, no liquids. Spilling food or liquids on a disk is another excellent way to destroy the information on it. Put the verb into the right form according to the type of prediction _in parentheses . Ifyou (hear) a rapid series of bleeps, it (mean) the line is engaged (fact) . Ifyou (hear) a rapid series of bleeps, it (mean) the line is engaged (hypothetical) . The air (be) cleaner if all factories (use) filters. (probable) If scientists (predict) the tomado, many lives Gave). (impossible) Ifan apple (fall) from a tree, potential energy (change) into Kinetic energy. (fact) If the meteor (penetrate) the earth's atmosphere, it (bum) (impossible) Asatellite (go) into orbit if it (reach) a speed of 18,000 miles per hour. (probable) 398. Ifyou (give) $15 a month, that (feed) a starving child. (hypothetical) [€_ Complete the following sentences in any logical or imaginative way. 1. People would be healthier of. . 2. School would-be easier if. 3, If could go anywhere iv the world, 4, If human beings could fy, 5. IfL were the Prime Minister of my country, 6. If children could vote, ... 7. There would be peace inthe world if. . 8. Unlesy we stop polluting our environment, . D___ Put the verb in to the correct form 4. Unless he arrives within the next 10 minutes, we (go) without him. 2. Should you go to Boston, (visit) the aquarium. 3, Had | left earlier, | (not miss) the bus. 4. If (be) you, | (not touch) that wire. 5. As long as there (be) insulation, you can touch the wires without any danger. 6. Tom (call), 1 (tell) him you're away. 7. The LED {not light) unless there's contact. 8. Provided she (study) hard, she (pass) the examination. 9. Unless | (get) a pay rise, | (look) for another job 40UNIT 5 Robotics (Part |) Control systems have advanced applications in the general areas of large- scale systems, multisensor systems, space structures, manufacturing and flexible structures. Of particular interest is the field of robotics. Robotics involves the study, design, and construction of multifunctional re- programmable machines that perform tasks normally performed by human beings. An example is a wheeled mobile robot (WMR), which is an autonomous vehicle system whose mobility is provided by wheels. A WMR is a multisensor and multiactuator robotic system that has nonlinear kinematics and distributed means of acquiring information. A modular robotic vehicle has the same function as many conventional robots except that it is constructed from a small number of standard units. To most people the word robot means an artificial or mechanical person. In the Czek language robota means compulsory service, forced labor or work Most of the robots in use today are much closer to a device called a manipulator. A robot is a motorized, computer-controlled mechanical device (which often resembles an arm) that can be programmed to do automatically a variety of manufacturing tasks. Industrial robots have four essential parts: A fixed base A jointed arm A.control unit ‘A programming device The fixed base, which may swivel and/or slide for a short distance, is a pedestal usually attached to the floor, while mobiles do not have one. The jointed arm consists of several parts, namely links, joints, joint actuator, joint position sensors, wrist, and end effector. Links are the rigid parts of the robot's arm. Joints provide a movable connection between the links. Robot joints are of two basic types: sliding and turing joints. Sliding joints (also called linear joints) move in a straight line, they extend and they retract. Turing joints (also called rotary joints) turn around a stationary imaginary line called the axis of rotation 41An actuator is a mechanical version of a muscle. It produces motion when it receives an input signal. The three main types of actuators are electromechanical, hydraulic, and pneumatic. Joint position sensors are often called rotary or linear encoders because they encode information about joint positions into the form that can be easily sent as signals to the robot's controller. The controller then computes the end effector’s actual position and orientation, generates an error signal, and adds a correction to its output signal to restore the end effector to its planned path The wrist is the name given to the last three joints on a robots arm. They are rotary joints and their axes of rotation are mutually perpendicular. + Yaw (e) - The rotation around a vertical axis, running from left to right through the wrist. Yawing produces a left-right hand motion. * Pitch (8) - A rotation around a horizontal axis which produces an up- down motion ‘* Roll (p) - A rotation around a horizontal axis, running from back to front through the wrist, producing a side-to-side motion. In robotics, the number of degrees of freedom or the number of axes of motion is the number of separate motions in which it is possible to move the robot's arm. After the roll joint of the wrist comes the robot's end effector, which falls into ane of two main groups: grippers or specialized tools. The control unit provides the robot's brains. It is a built-in computer that receives input signals from the robot's sensors and transmits the output signals to the robot's actuators. The controller is also used to teach the robot how to do its job. PART | - VOCABULARY EXERCISES ‘A Look back at the text and find words which mean approximately the same as: 1, movement, motion 2. ways 3. getting, gathering 4, (hard) work 425, looks like 6. attached so as not to move 7. turn around 8. base 9. that is 10.direction 14.0ne to another 12. at right angles 13. device which holds tight B___ Find the opposite of the words below: 1. elementary 2. linear 3. natural 4. voluntary, at free will 5. flexible 6. extend 7, mobile 8. horizontal [C__ Fillin the blanks with the words below benefits scalability degradation redundancy maintenance application reduced The 4 of modular technology include: © Easier system design and 2 4B2 3. (the ease with which the number of modules is increased or decreased) Flexibility of both design and 4 * System survivability (graceful 5, under system failure) ° 6 system costs * Improved system reliability (use of multiple sensors and pf cee eee D Match the words in column A with the words in column B to make pairs of words often found together A B 7 [acquire architecture 2 ‘communication degradation 3 | graceful failure 4 modular | gauge 5 | path Tink 6 | reprogrammable 7 Machine (7 [system Planning 8 transputer technology o__ [stain : [information [PART Il - READING COMPREHENSION What does the term robotics mean? How does a WMR move? What do you understand with the phrase ‘distributed means of acquiring information’?How is a modular robotic vehicle different from a conventional robot? 5. What do most robots actually used look like? 6. Which basic component of a robot is missing in a mobile industrial robot? 7. What movements are possible for a fixed base? 8. What movements are possible for a sliding joint? 9. What is the axis of rotation when referring to a joint? 10.What parts of the human arm correspond to a jointed arm's links, joints, joint actuator, eto? 11. Why are joint position sensors also known as linear encoders? 12.What do the last three joints of a robot's arm form? 13. Describe briefly the motions called yaw, pitch, and roll. 14,Why is the end effector called so? 15, What's the control unit's function? PART Ill - VOCABULARY acquire onroKrw advanced Trponyyévos arm Bpaxiovas artificial TeXVnTOS axis agovag compulsory uTPoxpewtiKeg correction 5i6pewon degradation TIPOOdEUTIKA XEIpOTEPEUGN OTN AErToUpYia Fh OTHY anré500n KUKAGpaTo¢ F GUKEUrS degree Bays dependent efaprdpevos distance anéoraon distribute Karave, Siavép, poIpdégw encode KWOIKOTTOND, LETaTPEMW ayer H SeSouéva oe emupnth (ouviSws whIaKr) Hope end effector GuoKeur fi Epyaneo Trou GuvdéETa! YE To dKpo TOU Bpaxiova evog popTrér extend exreivopat flexible ehgoriKoTnTa 45forced labor fusion graceful gripper imaginary joint kinematics link maintenance manipulator mobility modular module motion multifunctional muscle mutually observation ‘omni-directional orientation pedestal perpendicular pitch redundancy reliability resemble restore retract rigid roll rotary scalability scale slide space stationary steer survivability swivel tool transputer vehicle wheel wrist yaw kaTavaykKaoTikd épya oovinén ue xdpn, UGKEUA MagivaTos f GLgiLATOG, apTTayn VoEp6c, gavracTiK6< pOpwon, KAeiowon, apyos 1 pekém ms Kivgnons oovdeapos ouvtipnon Bpaxlovas pourtér f GAAos unxavioyog Trou Xpnoiorroieiral oe unxavikés erre€epyaoies kivTikot Ta Tunpomixés Bucparoupevn mAakéra Trou propel va TrEpIEXe! KuxAdpara fl UTPOKUKAGATa kivnon Trokukerroupyixds pus apoiBaiws mapariipnon TTOAUKGTEUBUVTIKOS Tpocavarohiayos 86@p0 KGBeTo<, KaTaKépUpOS 1 TpOg Ta Trav f Krew KivNGN Evds poor F GAAS NAEKTPOLNXAVIKIIG GUOKEUTIS TACOVAGHS (Era! OUTING WOTE av THdGe! BAGBN Eva va Aeroupyouv ta uFéAorTTa) agiomoria pordgwr aTroKa@io Tw) eIGEAKW, HOEUW, HAZEVOHAH akapmrtog KOMOYE TTEPIOTOIKOS IKaVvOTNTA Yia KAIPGKWON kAjjioxa yNorp, ohioBaiver BidotnpA, XPOS axivntoc, aTa8_p6c KaTev@dvw, odnya ikavéTqTa yia emBiwon Trepiotpépopar epyaAcio trans(istor) (com)puter oxnua TPOXOS Kaprrés exTpoTT, apioTepd-BeEld [eTaKivon, 46(PART IV — PARTICIPLES (Refer to ‘Grammar Notes, p. 79) A Fill in the blanks with an adjective, present participle, or past participle Each module of a 1 (wheel) mobile robot (WMR) has its own hardware and software, 2 (drive) and 3. (steer) units (DSUs), sensors, communication links, power unit, kinematics, path 4 (plan), obstacle avoidance, sensor fusion, and control systems. There is no 5 (center) processor on the WMR. Vehicle Kinematics and dynamics are invariably nonlinear and sensor observations are linearly 6 (depend) on 7. (sense) states. These kinematics, models and observation spaces must be 8 (distribute) to the vehicle modules. ‘A single WMR vehicle consists of three DSUs, three battery units, power unit, communication units and sensors. The DSUs communicate by use of transputer architecture. There is no 9 (fix) angle; all three wheels are driven and steered. Thus the WMR is omni-10 (direct) obstacle - euTT65i0 angle - ywvia. avoidance - arroguyft omni-directional - roAukaTeuBuvtikOg fusion — ThEn), Cuyx@vevon: distribute - kaTavépw ‘observation - rraparhenen: transputer — transistor + computer B Complete with the present or past participle of the verbs in brackets Triac The triac is a three terminal semiconductor for 4 (control) current in either direction. Below is the schematic symbol for the triac. Notice the symbol looks like two SCRs in parallel (opposite direction) with one trigger or gate terminal. The main or power terminals are 2 (designate) as MT1 and MT2. (See the schematic representation below) When the voltage on the MT2 is positive with regard to MT1 and a positive gate voltage is 3 (apply), the left SCR conducts. When the 47voltage is 4 (reverse) and a negative voltage is 5 (apply) to the gate, the right SCR conducts. Minimum 6 (hold) current, Ih, must be 7. (maintain) in order to keep a triac 8 (conduct. om sencntlas A triac operates in the same way as the SCR however it operates in both a forward and reverse direction. To get a quick 9 (understand) of its operation refer to its characteristic curve below and compare this to the SCR characteristic curve. It can be 10 (trigger) into conduction by either a PLUS (+) or MINUS (-) gate signal — mr oasen fein trea ek act sxssori LTH bear or storey nD wae = ‘a Typical triae Vi charactensne curves. Obviously a triac can also be triggered by 14 (exceed) the breakover voltage. This is not normally 12 (employ) in triac operation. The breakover voltage is usually 13 ___ (consider) a design limitation. One other major limitation, as with the SCR, is dV/dt, which is the rate of rise of voltage with respect to time. A triac can be 4814 (switch) into conduction by a large dV/dt. Typical applications are in phase control, inverter design, AC 15. (switch), relay replacement, etc. Major considerations when 16__——__(specify) a triac are: «Forward and reverse breakover voltage © Maximum current * Minimum 17, (hold) current * Gate voltage and gate current trigger requirements + 18 (Switch) speed + Maximum dV/dt terminal - Teppatixd exceed — uTrepBaivu representation — arreixevion, employ = use trigger - oxavoariZw breakover voltage = triggering point gate - 70An limitation ~ mepiopioy6s, designate - op, ovopsitw rise - avénon with regardirespect — ot oXéon Le inverter —perarporréac, KUkAw}ia. conduct - ayo avniotpooric reverse — aVTIoTpEpW, avTiotpoges, replacement - avrixaraotacn, ‘avaorp0905 consideration ~ Zffinya Trou rrpéret va curve - KayrdAn, Angeei uTPowiv obviously - Tpapavurs specify - opifw C Join the sentences using an —ing clause. 1 Igot home. | was feeling very tired. 2 We bought tickets. Then we went into the stadium. 3. He has written many programs. So he knows a lot about programming. 4 Ann was watching television. She fell asleep. 5 The old man is walking along the street. He is talking to himself. 6 They had coffee at Tempi. Then they continued their journey. 7 The fireman fainted. He was trying to extinguish the fire. 8 I didn’t have authorization. So | couldn't access the file. 49‘Join the following sentences without using relative pronouns The first one is done for you. A program was fed into the computer. It was garbage. The computer fed into the computer wa garbage: Artifacts were stolen from the museum in Baghdad. They haven't been found yet. |. When | was walking home, there was a man, He was following me. The suggestions were not practical. They were made at the meeting. The students will take the test in September. Most of them will ail That girl is a electronics wiz. She is from Florina. ‘The computer has now been configured correctly. It was installed last week. Most of the goods are exported. They are made in this factory.