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it
o
r
in
g
o
f
in
d
u
s
tr
ial
m
ac
h
i
n
e
s
,
p
r
o
v
id
in
g
a
clo
u
d
co
n
n
e
ctio
n
f
o
r
c
o
n
d
itio
n
m
o
n
ito
r
in
g
[
1
2
]
,
[
1
3
]
.
On
th
e
d
esig
n
o
f
t
h
e
m
ain
ci
r
cu
it
o
f
th
e
s
o
f
t
s
tar
ter
alg
o
r
ith
m
s
id
e,
ad
v
an
ce
d
s
tr
ateg
ies
s
u
ch
as
f
u
zz
y
p
r
o
p
o
r
ti
o
n
al
in
t
eg
r
al
d
er
i
v
at
iv
e
(
PID
)
c
o
n
tr
o
l
ar
e
ap
p
lied
to
e
n
h
an
ce
th
e
s
o
f
t
s
tar
t
p
r
o
ce
s
s
.
A
f
u
zz
y
PID
c
o
n
tr
o
l
ap
p
r
o
ac
h
was
p
r
o
p
o
s
ed
th
at
m
in
im
izes
b
o
th
in
r
u
s
h
cu
r
r
en
t
an
d
to
r
q
u
e
p
u
ls
atio
n
s
[
1
4
]
.
Ad
d
itio
n
ally
,
s
o
m
e
r
esear
c
h
u
s
ed
m
u
lti
-
zo
n
e
AC
v
o
ltag
e
co
n
v
er
ter
s
as
s
o
f
t
s
tar
ter
s
,
a
n
d
s
h
o
w
im
p
r
o
v
e
d
v
o
ltag
e
c
o
n
tr
o
l
an
d
h
ar
m
o
n
ic
r
ed
u
ctio
n
[
1
5
]
th
e
p
r
o
p
o
s
ed
s
o
f
t
s
tar
ter
a
p
p
lied
s
ea
m
less
ly
tr
an
s
itio
n
s
f
r
o
m
d
ir
ec
t
f
r
eq
u
e
n
cy
co
n
v
er
ter
(
D
FC
)
to
p
h
ase
co
n
tr
o
l,
im
p
r
o
v
i
n
g
ef
f
icien
cy
an
d
cu
r
r
e
n
t
lim
itin
g
with
o
u
t
m
o
to
r
p
ar
am
eter
s
r
e
q
u
ir
em
en
t
in
[
1
6
]
,
ar
tific
ial
n
eu
r
al
n
etwo
r
k
(
ANN
)
-
b
ased
s
o
f
t
m
o
to
r
ac
ce
ler
atio
n
co
n
tr
o
l
r
ed
u
ce
s
in
r
u
s
h
cu
r
r
e
n
t
u
s
in
g
an
o
p
e
n
-
lo
o
p
d
esig
n
with
f
ew
er
s
en
s
o
r
s
[
1
7
]
.
Fo
r
w
ir
eless
m
o
n
ito
r
in
g
o
f
d
ata,
s
o
m
e
u
s
ed
to
o
ls
lik
e
E
SP
3
2
,
L
ab
VI
E
W
,
W
o
k
wi,
an
d
Ad
af
r
u
it
I
O
f
o
r
R
em
o
te
th
r
ee
-
p
h
a
s
e
m
o
to
r
wir
in
g
to
en
h
an
ce
en
g
in
ee
r
in
g
r
em
o
te
e
d
u
ca
tio
n
,
s
af
ety
,
an
d
ac
ce
s
s
ib
i
lity
[
1
8
]
.
R
esear
ch
er
s
u
s
ed
a
p
r
o
g
r
am
m
ab
le
lo
g
ic
co
n
tr
o
ller
(
PLC
)
an
d
DI
AView
f
o
r
th
e
s
am
e
p
u
r
p
o
s
e
[
1
9
]
.
Me
an
wh
ile,
th
e
m
o
to
r
ca
n
b
e
co
n
tr
o
lled
af
ter
th
e
v
o
ltag
e,
cu
r
r
e
n
t,
an
d
tem
p
e
r
at
u
r
e
o
f
th
e
in
d
u
ctio
n
m
o
to
r
h
a
v
e
b
ee
n
m
o
n
ito
r
ed
r
em
o
tely
with
th
e
B
ly
n
k
I
o
T
ap
p
licatio
n
[
2
0
]
.
I
o
T
a
p
p
l
i
c
a
t
i
o
n
s
h
a
v
e
b
e
e
n
e
x
t
e
n
d
e
d
t
o
i
n
c
l
u
d
e
m
a
n
y
s
c
i
e
n
t
i
f
ic
a
r
e
as
,
s
u
c
h
as
e
v
alu
a
t
i
n
g
t
h
e
p
r
o
d
u
c
t
i
o
n
e
q
u
i
p
m
e
n
t
i
n
p
o
we
r
e
l
e
c
t
r
o
n
i
cs
l
i
k
e
t
h
e
s
m
a
r
t
ea
r
t
h
l
e
a
k
a
g
e
ci
r
c
u
i
t
b
r
e
a
k
e
r
[
2
1
]
.
O
t
h
e
r
s
p
r
es
e
n
t
a
c
o
m
p
r
e
h
e
n
s
i
v
e
m
o
d
e
l
f
o
r
t
h
e
p
o
w
e
r
c
o
n
s
u
m
p
t
i
o
n
o
f
w
i
r
e
l
ess
s
e
n
s
o
r
s
[
2
2
]
,
a
ls
o
I
o
T
i
n
h
e
a
l
t
h
c
a
r
e
,
a
c
h
ie
v
i
n
g
i
n
t
e
r
o
p
e
r
a
b
i
l
it
y
o
f
h
i
g
h
-
q
u
a
l
i
t
y
d
a
t
a
a
c
q
u
i
r
e
d
b
y
I
o
T
m
e
d
i
c
al
d
e
v
i
c
e
s
[
2
3
]
.
F
u
r
t
h
e
r
m
o
r
e
,
t
h
e
i
n
t
e
r
n
e
t
o
f
t
h
i
n
g
s
e
n
h
a
n
c
e
d
b
u
s
i
n
e
s
s
p
r
o
c
es
s
e
s
w
i
t
h
,
n
a
m
el
y
,
I
o
T
-
e
n
h
a
n
c
e
d
B
P
s
,
w
h
i
c
h
m
a
k
e
u
s
e
o
f
I
o
T
d
ev
i
c
e
s
t
o
c
a
r
r
y
o
u
t
t
h
e
t
a
s
k
s
r
e
q
u
i
r
e
d
t
o
a
c
h
i
e
v
e
a
p
r
o
c
e
s
s
’
s
g
o
al
[
2
4
]
.
Ot
h
e
r
s
u
s
e
d
th
e
i
n
t
e
r
n
e
t
o
f
t
h
i
n
g
s
i
n
f
o
r
e
s
t
r
y
a
n
d
e
n
v
i
r
o
n
m
e
n
t
a
l
s
c
i
e
n
c
es
[
2
5
]
.
W
h
ile
p
r
ev
io
u
s
s
tu
d
ies
h
av
e
d
ea
lt
with
d
if
f
er
en
t
asp
ec
ts
o
f
s
o
f
t
s
tar
tin
g
an
d
I
o
T
m
o
n
ito
r
in
g
s
ep
ar
ately
,
th
is
wo
r
k
in
teg
r
ates
b
o
th
o
f
th
e
m
in
to
a
u
n
if
ie
d
s
y
s
tem
.
W
e
d
esig
n
a
s
o
f
t
s
t
ar
ter
cir
cu
it
u
s
in
g
a
ze
r
o
-
cr
o
s
s
d
etec
to
r
(
Z
C
D
)
cir
cu
it,
a
tr
io
d
e
f
o
r
alter
n
atin
g
cu
r
r
en
t
(
T
R
I
AC
)
d
r
iv
er
,
T
R
I
AC
,
an
d
an
Atm
el
Du
e
m
icr
o
co
n
tr
o
ller
,
alo
n
g
with
a
s
p
lit
-
co
r
e
cu
r
r
en
t
tr
an
s
f
o
r
m
er
(
SC
T
)
an
d
tach
o
m
eter
s
en
s
o
r
s
.
B
y
in
teg
r
atin
g
th
e
Ar
d
u
in
o
i
n
teg
r
ated
d
ev
elo
p
m
en
t
en
v
ir
o
n
m
en
t
(
I
DE
)
with
Vis
u
al
Stu
d
io
C
o
d
e,
p
l
o
t
r
ea
l
-
ti
m
e
d
a
ta
f
o
r
s
tar
tin
g
cu
r
r
en
t
an
d
m
o
to
r
s
p
ee
d
,
test
in
g
d
if
f
er
en
t
f
ir
i
n
g
an
g
les
,
a
n
d
s
elec
tin
g
th
e
b
est
ac
co
r
d
in
g
to
p
er
f
o
r
m
an
ce
.
Als
o
,
test
s
en
s
o
r
ca
lib
r
atio
n
b
y
u
s
in
g
E
x
ce
l
to
p
lo
t
th
e
ter
m
in
al
o
u
t
p
u
t
a
n
d
C
T
r
ea
d
i
n
g
.
Fin
ally
,
to
en
h
an
c
e
th
e
s
y
s
tem
’
s
u
s
ab
ilit
y
in
r
ea
l
-
wo
r
ld
in
d
u
s
tr
ial
s
ettin
g
s
,
th
e
in
teg
r
atio
n
o
f
a
No
d
eM
C
U
en
ab
les
r
em
o
te
d
ata
tr
an
s
m
is
s
io
n
an
d
co
n
tr
o
l
o
v
er
th
e
in
ter
n
et.
T
h
is
p
r
o
p
o
s
ed
r
esear
ch
p
r
o
v
id
es
a
r
o
b
u
s
t
s
o
f
t
s
tar
ter
d
esig
n
an
d
o
f
f
er
s
r
ea
l
-
tim
e
m
o
n
ito
r
in
g
an
d
r
em
o
te
c
o
n
tr
o
l,
s
o
lv
in
g
th
e
e
x
is
tin
g
g
ap
in
t
h
e
cu
r
r
en
t liter
atu
r
e
r
ev
iew.
2.
M
E
T
H
O
D
2
.
1
.
So
f
t
s
t
a
rt
er
circ
uit
des
i
g
n
T
h
e
s
o
f
t
s
tar
ter
cir
cu
it
in
th
is
s
tu
d
y
is
d
esig
n
ed
to
g
r
a
d
u
ally
in
cr
ea
s
e
th
e
v
o
ltag
e
ap
p
lied
to
s
in
g
le
-
p
h
ase
in
d
u
ctio
n
m
o
to
r
s
s
o
t
h
at
it
r
ed
u
ce
s
th
e
in
r
u
s
h
c
u
r
r
en
t
an
d
m
ec
h
an
ical
s
tr
ess
d
u
r
in
g
s
tar
tu
p
.
T
h
e
co
m
p
o
n
en
ts
o
f
th
e
cir
c
u
it
in
clu
d
e:
Z
C
D
C
ir
cu
it
(
T
h
e
Z
C
D
cir
cu
it
is
r
esp
o
n
s
ib
le
f
o
r
ac
cu
r
ately
d
etec
tin
g
th
e
m
o
m
en
t
wh
en
th
e
AC
v
o
ltag
e
cr
o
s
s
es
ze
r
o
)
.
T
R
I
AC
Dr
iv
er
an
d
T
R
I
AC
(
T
h
e
T
R
I
AC
d
r
iv
er
r
ec
ei
v
es
th
e
tr
ig
g
er
s
ig
n
al
f
r
o
m
th
e
m
icr
o
co
n
tr
o
ller
an
d
am
p
lifie
s
it
to
a
lev
el
s
u
itab
le
f
o
r
d
r
iv
in
g
th
e
T
R
I
AC
.
B
y
ad
ju
s
tin
g
th
e
f
ir
in
g
an
g
le
o
f
t
h
e
T
R
I
AC
,
th
e
cir
cu
it
ca
n
r
eg
u
late
th
e
ef
f
ec
tiv
e
v
o
lt
ag
e
s
u
p
p
lied
to
th
e
m
o
to
r
d
u
r
in
g
s
tar
tu
p
.
Mic
r
o
c
o
n
tr
o
ller
(
th
e
Atm
el
Du
e
m
icr
o
co
n
tr
o
ller
(
Atm
el
Du
e)
f
o
r
m
s
th
e
co
r
e
o
f
th
e
co
n
tr
o
l
s
y
s
tem
.
I
t
p
r
o
ce
s
s
es
th
e
s
ig
n
a
ls
f
r
o
m
th
e
Z
C
D
cir
cu
it
an
d
v
ar
io
u
s
s
en
s
o
r
s
,
ca
lcu
lates
th
e
ap
p
r
o
p
r
iate
f
ir
in
g
an
g
les,
an
d
g
e
n
e
r
ates th
e
tr
ig
g
er
p
u
ls
es f
o
r
th
e
T
R
I
AC
d
r
iv
e
r
.
A
ls
o
,
th
e
m
icr
o
co
n
tr
o
ller
s
av
es sen
s
o
r
d
ata
lik
e
cu
r
r
en
t
an
d
s
p
ee
d
f
o
r
m
o
n
ito
r
in
g
an
d
ca
lib
r
atio
n
.
Sen
s
o
r
m
o
d
u
les
in
clu
d
e
a
cu
r
r
en
t
tr
a
n
s
f
o
r
m
er
(
SC
T
-
0
1
3
100
A)
to
m
ea
s
u
r
e
th
e
m
o
to
r
’
s
cu
r
r
en
t.
I
ts
o
u
tp
u
t
is
ap
p
l
ied
to
th
e
m
icr
o
c
o
n
tr
o
ller
.
T
ac
h
o
m
eter
(
SJ
A1
2
-
1
0
N1
)
T
h
e
tach
o
m
eter
p
r
o
v
id
es
th
e
m
o
to
r
'
s
r
ev
o
lu
tio
n
s
p
er
m
in
u
te
(
R
PM
)
.
No
d
e
MCU
Fo
r
r
em
o
te
m
o
n
ito
r
in
g
v
ia
I
o
T
,
a
No
d
eM
C
U
m
o
d
u
le
is
in
teg
r
ated
with
th
e
Atm
el
Du
e.
T
h
e
No
d
eM
C
U
co
llects
b
u
f
f
er
ed
s
en
s
o
r
d
ata
f
r
o
m
th
e
m
icr
o
c
o
n
tr
o
ller
a
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RE
F
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NC
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[
1
]
P
.
W
a
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2
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2
4
.
[
4
]
F
.
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,
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.
[
5
]
M
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[
6
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M
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.
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[
7
]
B
.
S
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l
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[
8
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Y
.
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,
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.
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.
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a
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3
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[
9
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S
.
I
.
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,
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[
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0
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.
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s,
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o
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6
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[
1
1
]
A
.
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u
k
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,
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.
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.
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[
1
2
]
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.
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d
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.
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.
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k
e
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