how to create barcode in vb.net 2008 FIGURE 6.22 Full-duplex ber-optic transmission link. in Software

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FIGURE 6.22 Full-duplex ber-optic transmission link.
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digital motor-control circuits that execute a PID control algorithm with programmable gain (one such control circuit dedicated to each servomotor) and modules that contain the motor-power switching circuits, digital-to analog buffer circuits for the feedforward control signals, and analog-to-digital buffer circuits for the feedback signals from the shaft-angle encoders (one such module located near, and dedicated to, each servomotor). Besides being immune to noise, optical fibers are compact and flexible. These features are particularly advantageous in robots, which must often function in electromagnetically noisy environments and in which it would otherwise be necessary to use many stiff bulky wires (which could interfere with movement) to accommodate the required data rates. Figure 6.22 shows schematically the fiber-optic link and major subsystems of the control loop of one servomotor. Each digital motorcontrol circuit is connected to a central control computer, which programs the controller gains and provides the high-level position commands. The other inputs to the motor-control circuit include the sign of the commanded motor current and pulse-width modulation representing the magnitude of the command motor current. The fiber-optic link includes two optical fibers one for feedforward, one for feedback. The ends of the fibers are connected to identical bidirectional interface circuit boards, each containing a transmitter and a receiver. The fiber-optic link has a throughput rate of 175 MHz; at this high rate, it functions as though it were a 32-bit parallel link (8 bits for each motor control loop), even though the data are multiplexed into a serial bit stream for transmission. In the receiver, the bit stream is decoded to reconstruct the 8-bit pattern and a programmable logic sequencer expands the 8-bit pattern to 32 bits and checks for errors by using synchronizing bits.
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6.21 Acoustooptical/Electronic Sensors for SyntheticAperture Radar Utilizing Vision Technology
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An acoustooptical sensor operates in conjunction with analog and digital electronic circuits to process frequency-modulated syntheticaperture radar (SAR) return signals in real time. The acoustooptical SAR processor will provide real-time SAR imagery aboard moving aircraft or space SAR platforms. The acoustooptical SAR processor has the potential to replace the present all-electronic SAR processors that are currently so large and heavy and consume so much power that they are restricted to use on the ground in the postprocessing of the SAR in-flight data recorder. The acoustooptical SAR processor uses the range delay to resolve the range coordinates of a target. The history of the phase of the train of radar pulses as the radar platform flies past a target is used to
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obtain the azimuth (cross-range) coordinate by processing it coherently over several returns. The range-compression signal processing involves integration in space, while the azimuth-compression signal processing involves integration in time. Figure 6.23 shows the optical and electronic subsystems that perform the space and time integrations. The radar return signal is heterodyned to the middle frequency of an acoustooptical sensor and added electronically to a reference sinusoid to capture the history of the phase of the return signal interferometrically for compression in azimuth. The resulting signal is applied to the acoustooptical sensor via a piezoelectric transducer. The acoustooptical sensor thus becomes a cell that encodes the evolving SAR return. Meanwhile, pulses of light a few tens of nanoseconds long are generated by a laser diode in synch with the transmitted pulses and
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FIGURE 6.23
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Acoustooptical synthetic-aperture radar.
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are used to sample and process the return signal. Lenses shape that laser light into a plane wave incident upon the acoustooptical sensor. The integration in space is effected at the moment of sampling by the focusing action. The position of the focal point in the cell depends on the range delay of the corresponding target, and light is brought to focus on two CCD imaging arrays at positions that depend on the range. The sinusoidal reference signal component of the cell interacts with laser radiation to generate a plane wave of light that interferes with the light focused by the cell. This produces interference fringes that encode the phase information in the range-compressed optical signal. These fringes are correlated with a mask that has a predetermined spatial distribution of density and that is placed in front of, or on, one of the CCD arrays. This CCD array is operated in a delayand-integrate mode to obtain the desired correlation and integration in time for the azimuth compression. The output image is continuously taken from the bottom picture element of the CCD array. Two CCDs are used to alleviate a large undesired bias of the image that occurs at the output as a result of optical processing. CCD1 is used to compute this bias, which is then subtracted from the image of CCD2 to obtain a better image.
6.22 The Use of Optoelectronic/Vision Associative Memory for High-Precision Image Display and Measurement
Storing an image of an object often requires large memory capacity and a high-speed interactive controller. Figure 6.24 shows schematically an optoelectronic associative memory that responds to an input
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