hoverbot 1.0

Upload: yousuf-khan

Post on 04-Jun-2018

218 views

Category:

Documents


0 download

TRANSCRIPT

  • 8/13/2019 HoverBot 1.0

    1/48

    Govlr Eot 2.:

    E.[. LFLKQUOIMK LI@MILLUMI@, EBQKG 5::7

    Mitlribf BavmsorNbgba Bgdla [maamqum

    Bssmstbit Zronlssor

    Lflktroimks

    [[\LQ, Cbrbkgm

    Lxtlribf BavmsorDbqeoof Bgdla

    [maamqum

    Dbib`lr Lflktroimks

    [\ZBUKO,

    Cbrbkgm

    [uedmttla ey8

    Dugbddla ]ousun LL-5::7-:0

    BKCIOPFLA@LDLIQ .............................................................................................. 0

    BE[QUBKQ .................................................................................................................... 7

    KGBZQLU OIL8 MIQUOA\KQMOI ........................................................................... 2:

    2.2 [LFLKQMOI ON ZUOHLKQ .......................................................................... 2:

    2.5 [kopl on Zrohlkt ............................................................................................. 2:

    2.; [yiopsms ......................................................................................................... 2:

    2.1 Dotmvbtmoi ...................................................................................................... 25

    2.< Ovlrvmlw ........................................................................................................ 25

    2.> [m`imnmkbikl on prohlkt ................................................................................... 25

    2.0 Zrohlkt Ulqumrldlits ..................................................................................... 21

    2.7 Dltgoaofo`y .................................................................................................. 21

    2.= Ruba-rotors Dovldlit bia Koitrof ............................................................. 2

    2.2:.2 ZZD.......................................................................................................... 2>

    2.22 Lflktroimk [plla Koitrof (L[K) ................................................................. 20

    2.25 ZPD ........................................................................................................... 20

    2.2; B^U dbmieobra .......................................................................................... 27

    2.21 Pmrlflss Kodduimkbtmoi ........................................................................... 2=

    2.2< Xm`Ell ........................................................................................................ 2=

    KGBZQLU QPO8 EBKC@UO\IA ............................................................................ 52

    5.2 Gmstory ............................................................................................................ 525.5 Nlbturls8 ......................................................................................................... 5;

    5.; Kodpbrmsois & Nlbsmemfmty ............................................................................. 51

    5.;.2 Glfmkoptlr8............................................................................................... 51

    5.;.5 Qrm Koptlr8 ............................................................................................... 5

  • 8/13/2019 HoverBot 1.0

    7/48

    BKCIOPFLA@LDLIQ

    Mi tgl ibdl on BFFBG tgl dost dlrkmnuf3 tgl oil bia oify suprldl powlr,

    tgl oil wgosl wmff dbcls lvlrytgmi` possmefl, bia tgl oil wmtgout wgosl wmff tgl

    smdpflst ms mdpossmefl.

    Pl brl tgbicnuf to BFDM@GQ] BFFBG nor `mvmi` us tgl kourb`l bia

    strli`tg to sukklssnuffy kodpfltl our prohlkt, uialr tgl tmtfl Govlr EOQ 2.:.

    Pl woufa fmcl to tgbic our Nbdmfy dldelrs nor tglmr prbylrs, `umabikl,

    support bia kbrl. Pmtgout tglmr dorbf bia nmibikmbf support mt woufa iot gbvl elli

    possmefl nor us to bkgmlvl tgms dmflstoil.

    Pl lxprlss our mialetlailss bia glbrtnlft `rbtmtual to Dr.Nbgba Bgdla [maamqum,

    uialr wgosl befl bia smiklrl bavmkl bia `umabikl wl gbvl elkodl sukklssnuf mi

    kodpfltmi` tgms prohlkt.

    Pl bfso wmsg our `rbtmtual to bff tgl stbnn mi tgl uimvlrsmty. Bia fbst eut iot tgl flbst

    wl bkciowfla`l tgl lnnorts on our tlbkglrs wgo gbvl elli our sourkl on mispmrbtmoi

    tgrou`gout tgl uimvlrsmty ylbrs bia gbvl sgbrla tglmr ciowfla`l bia scmffs wmtg us.

    Qo bff tglsl plopfl bia dbiy dorl, wl gbvl nbmfla to dlitmoi wl lxtliala our smiklrl

    tgbics.

    @roup Dldelrs

  • 8/13/2019 HoverBot 1.0

    8/48

    BE[QUBKQ

    GovlrEot 2.: ms bi \i-Dbiila Blrmbf bia @rouia ^lgmkfl. Mt ms b Govlr Eot 2.: oi

    Pgllfs koitroffla wmrlflssfy ey b @bdl Koitrofflr koiilktla to b Fbptop wgmkg slias

    bia rlklmvls sm`ibfs to bia nrod GovlrEot 2.: bia amspfbys Doimtory abtb oi b @\M.

    GovlrEot 2.: ms kbrlnuffy alsm`ila to dbmitbmi b ebfbikl eltwlli Uoeustilss, Plm`gt,

    [plla, [tbemfmty bia Foocs. Lbkg brd on GovlrEot 2.: ms 2 nt. mi fli`tg bia gbs b wmatg

    on 2 kd. Qgl nour brds, dbal on Bfudmiud homi to`ltglr uialrilbtg tgl kmrkumt

    gofami` brlb wgmkg ms Ebfsb Pooa, wgmkg ms stroi` ylt vlry fm`gt mi wlm`gt. Qgl

    ebttlry gofalr ms b kut out pfbstmk pmlkl sbiawmkgla mi b [tyronobd sgokc besorelr. Qgl

    wgllfs brl douitla uialr tgl brds bia brl lqumamstbit nrod tgl klitlr. Qgl glbrt on

    GovlrEot 2.:, mts dbmieobra fmls oi top on tgl Ebfsb Pooa kmrkumt gofalr wgmkg

    koismsts on bi Btdl`b ;5 (B^U) Dmkrokoitrofflr wgmkg koitrofs eotg, tgl Govlr Eot

    2.: bia tgl Pgllfs uialrilbtg mt. Qgl B^U dbmieobra bfso koismsts on 5 vlry

    mdportbit Kodpoilits.

    2. WELL Pmrlflss Ulklmvlr5. Milrtmbf Dlbsurldlit \imt

    Qgl WELL Pmrlflss Kodduimkbtmois Doaufl ms lbsy to mitlrnbkl wmtg b kodputlr bs

    kodpbrla to otglr UN Kodduimkbtmois Doaufls. Mt ms mitlrnbkla tgrou`g tgl slrmbf port

    oi our fbptop. Qgl Milrtmbf Dlbsurldlit uimt ms bi lxtrldlfy mdportbit kodpoilit on

    GovlrEot 2.:. Mt provmals abtb beout tgl ormlitbtmoi on GovlrEot 2.: mi bmr. Qgms abtb ms

    bibfo` bia ms rlklmvla ey tgl B^U tgrou`g mts BAKs. Qgl B^U gbs 1 ZPD

    `lilrbtors wgmkg ms mts dost mdportbit bppfmkbtmoi mi tgms prohlkt. Qgl ZPD sm`ibfs brl

    slit to L[Ks wgmkg koivlrt tgld mito ZZD sm`ibfs tgbt koitrof tgl splla on tgl Erusg

    Flss AK Dotors. Douitla uialr tgl ebttlry gofami` [tyronobd ms b wmrlflss Kbdlrb

    tgbt provmals rlbf tmdl nootb`l on tgl nmlfa. Qgl L[Ks bfso gbvl b splkmbf nlbturl on

    iomsl rlhlktmoi. Biy abtb otglr tgbi tgl rlqumrla ZPD sm`ibf ms rlhlktla ey tgl L[K.

    GovlrEot 2.: gbs bi Buto-Zmfot nlbturl wgmkg ms bkgmlvla soflfy ey pro`rbddmi`, io

    usl on @Z[ ms aoil nor tgl kbfkufbtmoi on amstbikl, flbrimi` tgl pbtg, or stbymi` wmtgmi

    tgl rbi`l on WELL doaufl.

    GovlrEot 2.: kbi el usla mi dmfmtbry oplrbtmois sukg bs Ulkoi bia [urvlmffbikl. Mt gbs

    b pbyfoba kbpbkmty on :.< to :.7 C`. Mt kbi bfso el usla bs b wlbpoi. Mt kbi kbrry rm``la

    lxpfosmvls to lildy ebrrmkbals bia trlikgls bia altoibtl, dmimdmzmi` tgl rmsc nor

  • 8/13/2019 HoverBot 1.0

    9/48

    nrmliafy sofamlrs. @rouia doemfmty libefls GovlrEot 2.: to prlslrvl ebttlry, iot lvlry

    alstmibtmoi rlqumrls bi blrmbf routl

    =

  • 8/13/2019 HoverBot 1.0

    10/48

    KGBZQLU OIL8 MIQUOA\KQMOI

    Qgms rlport prlslits altbmfla mism`gts mito our Nmibf ]lbr Zrohlkt Qgl purposl on

    tgms prohlkt ms to mitroaukl our `roup's worc oi tgl prohlkt tgbt wl stbrtla bfdost b ylbr

    b`o. Pl gbvl mikfuala tgl bff tgl rlfbtmvl rlqumsmtls tgbt illala to el aoil to kodpfltl

    tgms prohlkt. Bfso, wl gbvl mikfuala b amskussmoi on gow tgl alsm`is dllt tgl krmtlrmb

    `mvli mi tgl prohlkt outfmil. Qgl Govlr Eot 2.: sgoufa el b vlry vlrsbtmfl Aroil nor

    dmfmtbry purposls.

    2.2 [LFLKQMOI ON ZUOHLKQ[lvlrbf possmefl prohlkts wlrl tgou`gt on wgmfl aomi` mimtmbf rlslbrkg. Lvli

    Bntlr allp bia tgorou`g rlslbrkg wl koufait kodl up wmtg sodltgmi` wortgwgmfl.

    Gowlvlr wl ama wbit to dbcl b prohlkt tgbt rlfbtla to tgl dmfmtbry. Pmtg sgllr fukc

    wl kbdl up wmtg b rlkoiibmssbikl aroil tgbt wbs usla mi b kodputlr `bdl kbffla

    NUOIQFMIL N\LF[ ON PBU tgbt wbs elmi` pfbyla ey b `roup dldelr bt tgbt

    tmdl bia wl nlft tgbt tgms ms wgbt wl gbvl to dbcl. Mt wbs b gu`l kgbffli`l nor us tokrlbtl b dbkgmil tgbt woufa iot bppfy our ciowfla`l mito mt eut bfso woufa elkodl

    uslnuf bia elilnmkmbf nor us bia otglr koiklrila plopfl.

    2.5 [kopl on ZrohlktBntlr slflktmoi on tgl prohlkt, tgl `roup dldelrs alkmala to alnmil tgl skopl on

    tgl prohlkt aul to tmdl fmdmtbtmois. Qgl eouiabrmls on tgl prohlkt sgoufa bfso el

    alnmila nor bpprovbf bia bkgmlvmi` tgl elst dbxmdud rlsufts nrod tgms prohlkt mi tgl

    prbktmkbf slisl.

    2.; [yiopsmsBi butoiodous quba-rotor ms bi uidbiila glfmkoptlr wmtg nour gormzoitbf

    nmxla rotors alsm`ila mi b squbrl, syddltrmk koinm`urbtmoi, wmtg tgl nroit bia ebkc

    rotors rotbtmi` kouitlr-kfokcwmsl bia tgl smal rotors kfokcwmsl. Ruba-rotors wlrl

  • 8/13/2019 HoverBot 1.0

    11/48

    koiklptubfmzla ey Ar. @lor`l al Eotglzbt bia Mvbi Hlrodl mi tgl 2=5:s. Lbrfy alsm`is

    ilvlr bkgmlvla b govlrmi` glm`gt `rlbtlr tgbi nmvl dltlrs. Nlw bppfmkbefl usls brosl

    nor tgl quba-rotor ovlr tgl ylbrs.

    Ulklitfy, tgly gbvl elkodl b vlry popufbr koisudlr proaukt bs b rldotl

    koitrof (UK) glfmkoptlr. Qgl quba-rotor ms sukg b pronmkmlit UK glfmkoptlr aul to tgl

    nmxla rotor alsm`i, wgmkg koislqulitfy rlaukls tgl kgbikl on nbmfurl mi kodpbrmsoi

    wmtg tgl bktubtmi` rotor alsm`i on smi`fl rotor UK glfmkoptlrs. Mi baamtmoi, gbvmi` nour

    dotors vlrsus oil dotor bffows nor bi mikrlbsla potlitmbf tgrust. Qglrlnorl tgl quba-

    rotor gbs mdprlssmvl dbiluvlrmi` kbpbemfmtmls tgbt dbcl mt b `rlbt miaoor bia/or

    outaoor UK glfmkoptlr. Qgl bavbitb`ls to alvlfopmi` bi butoiodous dmimbturl quba-

    rotor brl iudlrous bia dbcl mt b wortgy rlslbrkg topmk. Mi baamtmoi, gbvmi` nour

    dotors vlrsus oil dotor bffows nor bi mikrlbsla potlitmbf tgrust. Qglrlnorl tgl quba-

    rotor gbs mdprlssmvl dbiluvlrmi` kbpbemfmtmls tgbt dbcl mt b `rlbt miaoor bia/or

    outaoor UK glfmkoptlr. Qgl bavbitb`ls to alvlfopmi` bi butoiodous dmimbturl quba-

    rotor brl iudlrous bia dbcl mt b wortgy rlslbrkg topmk.

    Alvlfopmi` bi butoiodous dmimbturl quba-rotor ymlfala dbiy amnnmkuftmls.

    Mimtmbffy tglrl wbs rlslbrkg mito amnnlrlit typls on dotors, proplfflrs, ebttlrmls bia

    koitrof skgldls mi bi lnnort to alvlfop tbsc splkmnmkbtmois to bkkodpfmsg nfm`gt. Qgl

    dotors bia proplfflrs dust proaukl liou`g tgrust to fmnt bff tgl kodpoilits mito nfm`gt

    bia dbiluvlr. Qgl ebttlrmls illa to gbvl b fbr`l liou`g kbpbkmty to bffow nor

    sunnmkmlit nfm`gt tmdl. Bf`ormtgd nor tgl ayibdmk koitrof lqubtmois usla to korrlkt tgl

    bttmtual on tgl quba-rotor bia krlbtl stlbay flvlf nfm`gt gbs to el nordufbtla. Bt tgl

    sbdl tmdl, kodpoilits nor dovldlit posmtmoi dust el kgosli bia mdpfldlitla mito b

    kmrkumt. Bfso, nrbdl dust el koistruktla to gofa tgl dotors bia bff tgl lflktroimk

    kodpoilits. Oikl tgl nmibf koistruktmoi on tgl quba-rotor gbs elli kodpfltla, b

    pro`rbd to usl tgl bf`ormtgds wmff el krlbtla to bffow tgl kodputlr to nfy tgl quba-

    rotor. Qgus, tglrl brl dbiy nbklts mi koistruktmi` b quba-rotor proaukmi` dbiy

    kgbffli`ls mi mitl`rbtmi` bff tgl kodpoilits.

    Qgl `obf ms to alsm`i b dmimbturmzla butoiodous quba-rotor kbpbefl on tbcmi`

    onn nrod b fbiala posmtmoi, dbiluvlrmi` to b pomit altlrdmila ey b pro`rbddmi`, so mt

    22

  • 8/13/2019 HoverBot 1.0

    12/48

    kbi govlr, bia fbia bt mts tbcl onn pomit. Qgl tlbd alsm`ila b quba-rotor ebsla oi tgl

    UK glfmkoptlr koinm`urbtmois, lxklpt tgl provmala quba-rotors tgrust kbpbemfmtmls

    illala mdprovldlit bs wlff bs tgl ebttlry oplrbtmi` tmdl to bkkodpfmsg tgl `obfs.

    Bf`ormtgds wlrl alvlfopla to dbp tgl ayibdmks on tgl dmimbturl quba-rotor tomdpfldlit tgld mi b pro`rbd kbpbefl on nfymi` tgl glfmkoptlr.

    2.1 DotmvbtmoiPl wlrl dotmvbtla to slflkt GovlrEot nor our Nmibf ]lbr Zrohlkt nrod b

    Amskovlry Kgbiilf pro`rbd Nuturl Plbpois bia ey tgl koiklpt on b Uldotl

    Koitroffla Aroil mi b kodputlr `bdl kbffla Nroitfmils - Nulfs on Pbr ey QGR mi

    wgmkg tgl aroil wbs usla nor rlkoiibmssbikl dmssmois bia mt koufa bfso silbc mito

    tlrrormst euiclrs/ebrrmkbals/gmalouts bia altoibtl mtslfn

    2. [m`imnmkbikl on prohlktGmstormkbffy, glfmkoptlrs wmtg nour rotors (Govlr Eot 2.:s) gbvl iot elli vlry

    koddoi, dbmify elkbusl dost on tgl usubf pbyfobas koufa el fmntla usmi` oil or two

    rotors. Gowlvlr, tgl Govlr Eot 2.: posslssls sodl splkmbf kgbrbktlrmstmks tgbt dbcl mt

    bttrbktmvl. Oil, on koursl, ms tgl suplrmor pbyfoba kbpbkmty. Qgl otglr ms tgl smdpfmkmty

    on mts koitrof systld8 hust ey mialplialitfy bahustmi` tgl splla on lbkg rotor mt ms

    possmefl to koitrof eotg tgl bftmtual bia tgl gormzoitbf/vlrtmkbf dotmoi. Qgms systld ms

    pbrtmkufbrfy sumtbefl nor sdbff \B^s, elkbusl mt rlaukls tgl dlkgbimkbf kodpflxmty on

    tgl rotors (sbvmi` vofudl bia wlm`gt) bia smdpfmnmls tgl koitrof bf`ormtgds. Govlr Eot

    2.: aols iot rlqumrl dlkgbimkbf fmicb`ls to vbry tgl rotor efbal pmtkg bi`fl bs tgly

    spmi. Qgms smdpfmnmls tgl alsm`i on tgl vlgmkfl, bia rlaukls dbmitlibikl tmdl bia kost.

    25

  • 8/13/2019 HoverBot 1.0

    13/48

    [lkoiafy, tgl usl on nour rotors bffows lbkg miamvmaubf rotor to gbvl b sdbfflr ambdltlr

    tgbi tgl lqumvbflit glfmkoptlr rotor, nor b `mvli vlgmkfl smzl, bffowmi` tgld to storl

    flss cmiltmk lilr`y aurmi` nfm`gt. Qgms rlaukls tgl abdb`l kbusla sgoufa tgl rotors gmt

    biy oehlkts.

    B quba koptlr bfso gbs dbiy bavbitb`ls ovlr bi bmrpfbil tglsl brl

    Qgl dost mdportbit ms tgbt mt kbi govlr wglrlbs b koivlitmoibf bmrkrbnt kbit aoso.

    Bi bmrkrbnt rlqumrls b ruiwby to fbia bia tbcl-onn wglrlbs b Govlr Eot 2.: kbiao ^QOF.

    \idbiila blrmbf vlgmkfls (\B^s) brl krbnts kbpbefl on nfm`gt wmtgout bi

    oieobra pmfot. Qgly kbi el koitroffla rldotlfy ey bi oplrbtor, or kbi el koitroffla

    butoiodousfy vmb prl-pro`rbddla nfm`gt pbtgs. Prmttli pro`rbds gbvl tgl krbnt turi

    oi, fmnt onn, govlr, trbisfbtl, bia fbia, or biy otglr kodemibtmoi on tglsl tbscs. Dorl

    amnnmkuft tbscs, sukg bs b posmtmoimi` or ibvm`btmoibf systld rlqumrl baamtmoibf

    kodpoilits bia dorl bavbikla pro`rbddmi`, eut kbi lbsmfy el babptla to tgms quba-

    rotor.

    Qgl quba-rotor mi tgms prohlkt ms kbpbefl on `rouia dovldlit bs wlff. [o, wl

    kbi sby mt ms \idbiila Blrmbf bia @rouia ^lgmkfl (\.B.@.^.). Mt ms nmrst on mts cmia tmff

    abtl. Bs b rlsuft on `rouia dovldlit, mt glfps dmfmtbry ey provmami` baamtmoibf support

    nor spymi` purposl. Qgl otglr nlbturls brl mts fm`gt wlm`gt, qumkc bia sdbff krbnt on

    kbrrymi` pby-foba up to 2 c`.

    Bi lnnlktmvl butoiodous dmimbturl quba-rotor woufa gbvl dbiy prbktmkbfbppfmkbtmois rbi`mi` nrod kmvmf purposl sukg bs to provmal nooa bia wbtlr to b plrsoi

    wgo gbs elli trbppla mi b dmil bia tgl dmil ms susklptmefl to koffbpsl. Zgotos bia

    blrmbf vmalos koufa el bkqumrla on brlbs abi`lrous nor gudbis sukg bs vofkbiols,

    `fbkmlrs or kbvlris. Mt kbi bfso el usla nor rlskul bia slbrkg oplrbtmois ey mitl`rbtmi`

    glbt slisors mi kbsl on ibturbf kbfbdmty or dbi-dbal bkkmalit. Dorlovlr, b quba-rotor

    kbi bfso el usla nor vbrmous dmfmtbry bppfmkbtmois sukg bs spymi` lildy norkls bia

    altoibtmi` mtslfn to lildy norkls bia sbvl prlkmous fmnl on sofamlrs. Mt kbi bfso el usla

    nor survlmffbikl bia mitlffm`likl.

    2;

  • 8/13/2019 HoverBot 1.0

    14/48

    2.0 Zrohlkt Ulqumrldlits[mikl tgl quba-rotor bmrkrbnt sgoufa el kbpbefl on tbcl-onn nrod b fbiala

    posmtmoi bia to dbiluvlr to biy altlrdmils posmtmoi, mt sgoufa gbvl sodl nlbturls tgbtdbcl mt possmefl to plrnord sodl oplrbtmois bntlr sumtbefl up-`rbabtmoi. Oil mdportbit

    nlbturl ms tgbt mt dust el kbpbefl on noffowmi` b pbtg tgbt ms sbvla mi mts dldory, tgbt

    ms, mt kbi rldldelr mts pbtg so mt kbi rlturi sbnlfy to fbuikgmi` posmtmoi. Biotglr

    mdportbit nlbturl ms on buto-pmfot doal. Mi buto-pmfot doal, quba-rotor sgoufa el befl

    to fbia sbnlfy wglrl tgl fmdmt rlstrmktmoi on bmrkrbnt gbs rlbkgla.

    [o, tglrl ms io kgbikl on abdb`l to quba-rotor wgmkg dby gbppli mi kbsl on

    nlffmi` aowi bntlr rlbkgmi` tgl slt fmdmt rlstrmktmoi on tgl bmrkrbnt.

    [mikl, our tlbd gbs bfso `mvli tgl rofl on alvlfopmi` b rldotl koitrof

    to `mvl tgl mistruktmoi to quba-rotor nor rlbkgmi` alsmrla posmtmoi. Pl ao so ey usmi`

    hoystmkc, wgmkg ms iordbffy usla nor pfbymi` `bdls, bia mitlrnbkmi` mt wmtg W-ell

    doaufl wgmkg ms mistbffla oi tgl bmrkrbnt. Qgl W-ell doaufl ms dbib`la ey Xm`ell

    protokof. Bfso, wl gbvl elli `mvli tgl tbsc on alsm`imi` b quba-rotor tgbt ms kbpbefl on

    nfm`gt up to 2< dltlrs. [o, wl gbvl kgosli dotors bia proplfflrs bs sukg tgbt brl

    kbpbefl on proaukmi` liou`g tgrust tgbt kbi fmnt tgl quba-rotor to rlbkg our alsmrla

    glm`gt, tgbt ms, 2< dltlrs.

    2.7 Dltgoaofo`yQgl worcmi` on quba-rotor ms ebsla oi duftmpfl nbktors tgbt mikfual ibturbf fbws,

    gbrawbrl sontwbrl mitlrnbkmi` ltk. Mt mikfuals vbrmous prmikmpfls sukg bs Zufsl Pmatg

    Doaufbtmoi (ZPD) tgbt ms tgl ebsmk tlibit on quba koptlrs proplfflr splla koitrof.

    Qgl koitrof bia dbiluvlrmi` on Govlr Eot 2.: ms smdpflr bs kgbi`l mi splla on rotors

    ms tgl oify nbktor. Qgou`g stbemfmty koitrof ms iot bs smdpfl elkbusl tgl Govlr Eot 2.:

    mtslfn ms uistbefl bia rlqumrls oieobra slisors to `bmi stbemfmty.

    [odl ebsmk dltgoas brl lxpfbmila elfow tgbt dbcls b Govlr Eot 2.: provmal mts

    ebsmk nuiktmoibfmty.

    21

  • 8/13/2019 HoverBot 1.0

    15/48

    2.= Ruba-rotors Dovldlit bia KoitrofGovlr Eot 2.: gbs ; dovldlit amrlktmois hust bs biy nfymi` oehlkts gbvl. Qglsl

    brl

    m. ]bwmm. Zmtkg

    mmm. Uoff

    Qglsl dovldlits kbi dbcl tgl Govlr Eot 2.: dovl mi biy amrlktmoi possmefl

    mi tgl ;-Amdlismoibf [pbkl.

    Qgl amrlktmoibf dovldlits oi Govlr Eot 2.: worcs oi amnnlrlitmbf rotor splla

    eltwlli opposmtl rotors. Nor mistbikl mn you wbit to `o rm`gt, tgl flnt rotor wmff gbvl to

    splla up (krlbtmi` dorl fmnt) bia tgl rm`gt oil sfow aowi. Qgms dbcls tgl pfbtnord tmft

    to tgl rm`gt3 sbdl tgmi` nor tgl norwbra bia ebkc dotmoi. Qgl ybw worcs b fmttfl

    amnnlrlit, your rotor pbmrs spmi mi opposmtl amrlktmoi KP bia KKP (kbiklfmi` torqul),

    tgl sfow aowi or splla up on b pbmr wmff ybw tgl pfbtnord. Iotmkl tgbt tgl bftmtual wmff

    arop, tgus b fmttfl dorl powlr wmff illa to el bppfmla to cllp nrod nbffmi`. Nor bftmtual

    `bmi, bff 1 rotors wmff gbvl to splla up lqubffy

    Nm`url 28 Dovldlits nor nfymi` oehlkts

    2

  • 8/13/2019 HoverBot 1.0

    16/48

    Glrls gow tgl dovldlit on tgl nour dotors dbcls tgl Ruba-rotor to dbiluvlr

    mts slfn aurmi` nfm`gt.

    2.2:[ZLLA KOIQUOF ON EU\[G FL[[ AK DOQOU[EU\[G FL[[ AK DOQOU[ tbcls b ZZD sm`ibf tgbt dbcls mt rotor to rotbtl.

    Qgl nbstlr tgl amspfbkldlit on ZZD wbvls tgl nbstlr tgl EU\[G FL[[ AK DOQOU[

    rotbtls.

    2.2:.2 ZZDB EU\[G FL[[ AK DOQOU[ dotor worcs oi tgl prmikmpfl on ZZD. B pufsl

    ZZD wbvl gbs wbvl nor lbkg miput on EU\[G FL[[ AK DOQOU[ (; mi tgms kbsl).

    Qgl posmtmoi on lbkg pufsl ms amspfbkla mi tmdl bia ms rlpltmtmvl tgrou`gout. Qgl ZZD

    ms `lilrbtla ey tgl Lsk wgmkg ms tgli alfmvlrla to tgl EU\[G FL[[ AK DOQOU[.

    Nm`url 58 GovlrEot Dbiluvlrmi`

    2>

  • 8/13/2019 HoverBot 1.0

    17/48

    Nm`url ;8 ZZD wbvl nor ; Zgbsl EU\[G FL[[ AK DOQOU[

    2.22Lflktroimk [plla Koitrof (L[K)Bi L[K tbcls ZPD miput sm`ibfs bia koivlrts mt mito ZZD. Qgbt ms tgl dbmi

    nuiktmoi on tgl Lsk bs ZPD wbvls brl lbsmlr to `lilrbtl tgbi ZZD. Biotglr

    bavbitb`l on usmi` tgl L[K ms tgbt mt lfmdmibtls tgl illa on bi lxtrb powlr sourkl nor

    tgl Dbmieobra bs L[K

    2.25ZPDZPD wbvlnords brl "oi-onn" am`mtbf wbvlnords tgbt brl splkmnmla ey two

    vbfuls8 tgl plrmoa bia tgl auty kykfl, bs sgowi elfow.

    20

  • 8/13/2019 HoverBot 1.0

    18/48

    Nm`url 18 ZPD Zlrmoa & Auty (oi-Qmdl)

    B ZPD worcs ey dbcmi` b squbrl wbvl wmtg b vbrmbefl oi-to-onn rbtmo, tgl bvlrb`l oi

    tmdl dby el vbrmla nrod : to 2:: plrklit. Mi tgms dbiilr, b vbrmbefl bdouit on powlr

    ms trbisnlrrla to tgl foba. Qgl powlr trbisnlrrla kbi el vbrmla ey kgbi`mi` tgl auty

    kykfl bs sgowi elfow.

    Nm`url < 8 ZPD Auty Kykfl ^brmbtmoi

    2.2;B^U dbmieobraQgl B^U Dbmieobra ms tgl erbmi on tgl quba koptlr. Mt ms alsm`ila oi tgl fo`mk

    on b slrvo tlstlr. B slrvo tlstlr provmals bi mimtmbf pufsl on 2.< ds to brd tgl Dotor

    27

  • 8/13/2019 HoverBot 1.0

    19/48

  • 8/13/2019 HoverBot 1.0

    20/48

    uifmklisla ebias mikfuami` 5.1 @Gz, =:: DGz bia 7>7 DGz. Qgl splkmnmkbtmoi ms b

    pbkclt-ebsla rbamo protokof mitliala nor fow-kost, ebttlry-oplrbtla alvmkls.

    Qgl fow kost bffows tgl tlkgiofo`y to el wmalfy alpfoyla mi wmrlflss koitrofbia doimtormi` bppfmkbtmois. Fow powlr-usb`l bffows foi`lr fmnl wmtg sdbfflr

    ebttlrmls. Dlsg iltworcmi` provmals gm`g rlfmbemfmty bia dorl lxtlismvl rbi`l. Qgl

    tlkgiofo`y ms mitliala to el smdpflr bia flss lxplismvl tgbi otglr PZBIs sukg

    bs Efultootg. Xm`Ell kgmp vliaors typmkbffy slff mitl`rbtla rbamos bia dmkrokoitrofflrs

    wmtg eltwlli >: CE bia 5 CE nfbsg dldory.

    5:

  • 8/13/2019 HoverBot 1.0

    21/48

    KGBZQLU QPO8 EBKC@UO\IA

    5.2 GmstoryQgl malb on b quba-rotor bmrkrbnt gbs lxmstla smikl lbrfy mi tgl 5:tg klitury.

    Qgrou`gout tgl 5:tg klitury vlry nlw amstmikt rotor-krbnt alsm`is gba elli alvlfopla.

    Qgl lbrfmlst worcbefl alsm`is nor b quba-rotor wlrl alvlfopla ey @lor`l AlEotglzbt,

    Ltmliil Oldmkgli bia A.G. Cbpfbi.

    ,

    Nm`url 0 AlEotglzbts quba-rotor Alsm`i,

    Oldmkglis quba-rotor alsm`i ms tgl lbrfmlst dlitmoi on b kodpfltl nour-rotor

    govlrmi` vlgmkfl mi gmstory. Oldmkglis nmrst alsm`i mi 2=5: nbmfla mi tgl mimtmbf bttldpt

    to elkodl bmreoril, tglrley rlqumrmi` Oldmkgli to baa baamtmoibf fmntmi` powlr bia

    stbemfmty on b glfmud-nmffla ebffooi. Bntlr b iudelr on rlkbfkufbtmois bia rlalsm`is,

    Oldmkgli wbs befl to kodl up wmtg b alsm`i tgbt bktubffy wbs kbpbefl on fmnt onn bia

    lvli lstbefmsgla worfa glfmkoptlr nfm`gt rlkoras on tgl tmdl, rldbmimi` bmreoril nor up

    to 21 dmiutls bt b tmdl ey 2=5;.

    Bntlr worcmi` oi gms alsm`i nor ovlr 5 ylbrs, AlEotglzbts wbs befl to alvlfop

    b nbmrfy kbpbefl glfmkoptlr, wgmkg wbs befl to tbcl oi b pbyfoba on up to ; plopfl mi

  • 8/13/2019 HoverBot 1.0

    22/48

    baamtmoi to tgl pmfot. Gms alsm`i wbs alldla uialrpowlrla, uirlspoismvl bia

    susklptmefl to rlfmbemfmty proeflds. Mi baamtmoi, mistlba on tgl kbfkufbtla 2:: dltlrs

    krumsmi` bftmtual, gms krbnt wbs oify kbpbefl on rlbkgmi` b glm`gt on rou`gfy

  • 8/13/2019 HoverBot 1.0

    23/48

    Nm`url =8 Koivlrtbwmi`s Doalf B quba-rotor Alsm`i, 2=

    5.5 Nlbturls8\idbiila blrmbf vlgmkfls (\B^s) brl krbnts kbpbefl on nfm`gt wmtgout bi

    oieobra pmfot. Qgly kbi el koitroffla rldotlfy ey bi oplrbtor, or kbi el koitroffla

    butoiodousfy vmb prl-pro`rbddla nfm`gt pbtgs. Prmttli pro`rbds gbvl tgl krbnt turi

    oi, fmnt onn, govlr, trbisfbtl, bia fbia, or biy otglr kodemibtmoi on tglsl tbscs. Dorl

    amnnmkuft tbscs, sukg bs b posmtmoimi` or ibvm`btmoibf systld rlqumrl baamtmoibf

    kodpoilits bia dorl bavbikla pro`rbddmi`, eut kbi lbsmfy el babptla to tgms quba-

    rotor.

    Qgl quba-rotor mi tgms prohlkt ms kbpbefl on `rouia dovldlit bs wlff. [o, wl

    kbi sby mt ms \idbiila Blrmbf bia @rouia ^lgmkfl (\.B.@.^.). Mt ms nmrst on mts cmia tmffabtl. Bs b rlsuft on `rouia dovldlit, mt glfps dmfmtbry ey provmami` baamtmoibf support

    nor spymi` purposl. Qgl otglr nlbturls brl mts fm`gt wlm`gt, qumkc bia sdbff krbnt on

    kbrrymi` pby-foba up to .

  • 8/13/2019 HoverBot 1.0

    24/48

    `fbkmlrs or kbvlris. Mt kbi bfso el usla nor rlskul bia slbrkg oplrbtmois ey mitl`rbtmi`

    glbt slisors mi kbsl on ibturbf kbfbdmty or dbi-dbal bkkmalit. Dorlovlr, b quba-rotor

    kbi bfso el usla nor vbrmous dmfmtbry bppfmkbtmois sukg bs spymi` lildy norkls bia

    altoibtmi` mtslfn to lildy norkls bia sbvl prlkmous fmnl on sofamlrs. Mt kbi bfso el uslanor survlmffbikl bia mitlffm`likl.

    5.; Kodpbrmsois & NlbsmemfmtyMi tgms slktmoi glrl wl kodpbrl tgl quba-rotor wmtg otglr amnnlrlit typls on \B^s bia

    try to lxpfbmi tgl rlbsois nor kgoosmi` tgms alsm`i bs our prohlkt. Pl gba sodl

    slflktmoi krmtlrmb mi our dmia wgmkg brl bs noffows.

    Qgl alsm`i dust el smdpfl m.l. dmimdud dovmi` pbrts Koitrof dlkgbimsd dust el bs smdpfl bs possmefl. Qgl eua`lt ms fmdmtla so tgl ovlrbff kost dust iot lxklla tgbt. Zlrnordbikl rbtmo dust el `ooa Qgl \B^s Zbyfoba dust el sunnmkmlit liou`g to kbrry bt flbst ;::`d on

    lxpfosmvls.

    Iow wl kodpbrl amnnlrlit alsm`is tgbt kbi el kgosli bs our alsm`i nor tgl

    prohlkt

    5.;.2 Glfmkoptlr8Kodpflx dlkgbimkbf strukturl bia koitrof

    Qgl dost koddoi bdoi` dbiila or uidbiila bmr vlgmkfls tgbt b dbi kbi

    plrklmvl ms ioi-otglr tgbi b glfmkoptlr. Iow, smikl wl bff brl dorl nbdmfmbr wmtg b

    glfmkoptlr b ibturbf tlialiky nor alsm`i slflktmoi woufa el tgms eut tgms ms wglrl tgmi`s

    stbrts to `lt kodpfmkbtla.

    B glfmkoptlr gbs oify b smi`fl rotor nor tgrust bia biotglr nor ebfbikmi` tgl

    bi`ufbr bkklflrbtmoi. [mikl mt gbs oify oi tgrust proaukmi` rotor mts dovldlits

    (norwbra ebkcwbra, smalwbys) ms iow ebsla oi tgl dlkgbimkbf dovldlit on tgl rotor.

    [mikl mt mikfuals dlkgbimkbf dovmi` pbrts mt ms iot b nlbsmefl alsm`i, elkbusldlkgbimkbf dovldlits dbcl tgl alsm`i kodpflx.

    51

  • 8/13/2019 HoverBot 1.0

    25/48

    5.;.5 Qrm Koptlr8Elttlr B`mfmty tgbi biy otglr \B^ eut Kodpflx koitrof

    Lvli tgou`g tgl trm-koptlr gbs elttlr b`mfmty tgbi biy otglr \B^ bia wbs b

    slrmous koitlialr nor slflktmoi b ebsmk arbwebkc lxmsts mi mts koitrof. Qgms too gbs b

    kodpflx koitrof dlkgbimsd elkbusl bt flbst oil on tgl dotor gbs to gbvl b slrvo

    dlkgbimsd tgbt dbcls tgl koitrof kodpflx bia aolsit sbtmsny our krmtlrmb bs mt too gba

    dlkgbimkbf dovmi` pbrts.

    Bfso dbcmi` `rouia doemfmty oi tgl alsm`i woufa gbvl elli amnnmkuft elkbusl

    on uistbefl alsm`i.

    5.;.; Glx Koptlr8Dorl powlrnuf tgbi b Ruba bt tgl lxplisl on kost

    Lvli tgou`g tgl glx koptlr ms dorl powlrnuf tgl bff on tgl beovl dlitmoila

    alsm`is bia kbi kbrry dorl pbyfoba elkbusl on mts > rotors provmami` tgrust eut tgl kost

    wbs bi mdportbit mssul elkbusl baamtmoibf ZCU 25:::-2;::: wbs too `rlbt kost nor

    our fmdmtla eua`lt.

    5.;.1 Arb`oinfyDost amnnmkuft to koitrof, Qgrustlr iot lbsmfy bvbmfbefl

    B arb`oi nfy proaukls mts tgrust wmtg tgl glfp on tgrustlrs wgmkg brl vlry

    lxplismvl to bi lxtlit tgbt b smi`fl tgrustlr kosts bpprox. 0:% on our ovlrbff prohlkt

    kost. Bfso tgl dovldlit on b arb`oinfy ms ebsla oi tgl posmtmoimi` on tgl tgrustlr

    beout tglmr bxms wgmkg dbcls tgl alsm`i tgl dost kodpflx on bff alsm`is.

    5

  • 8/13/2019 HoverBot 1.0

    26/48

    5.;.

  • 8/13/2019 HoverBot 1.0

    27/48

    KGBZQLU QGULL

    ;.2 Ruba-rotor Zgysmks8-Govlr Eot 2.:s (bia dbiy otglr oehlkts on li`millrmi` mitlrlst, nfymi` or otglrwmsl)

    kbi el doalfla vmb Ilwtoi's Fbws. Qgl ovlrbff `ovlrimi` lqubtmoi ms8

    Pglrl8

    N ms tgl ilt norkl mi pouias, ouikls, or Ilwtois

    d ms tgl dbss mi, `rbds or cmfo`rbdsb ms tgl bkklflrbtmoi mi nllt/slkoia/slkoia, or dltlrs/sY5 or klitmdltlrs/sY5 (bff on

    tglsl uimts brl hust koddoi lxbdpfls3 tglrl brl otglrs,

    Mi woras, ilt norkls kbusl dbssls to bkklflrbtl. Qgms ms wgy fbr`lr vlgmkfls tlia to el

    dorl stbefl - mt tbcls fbr`lr norkls to dovl tgld. [mdmfbrfy, sdbfflr krbnt tlia to el

    dorl b`mfl. [tbemfmty vs. b`mfmty ms b nrlqulit alsm`i li`millrmi` trbal onn - bt flbst

    elnorl nllaebkc bu`dlitbtmoi wbs bvbmfbefl.

    B klrtbmi bdouit on norkl gbs to el `lilrbtla hust to dbmitbmi b stlbay

    koiamtmoi. Nor lxbdpfl, nor tgl quba to govlr mt dust provmal sunnmkmlit norkl to

    ovlrkodl `rbvmty. Nor mt to dbmitbmi norwbra nfm`gt, tgl quba dust ovlrkodl eotg

    `rbvmty bia bmr rlsmstbikl (bfso ciowi bs blroayibdmk arb`). Pgli bmrkrbnt brl mi tgms

    stlbay koiamtmoi, tgly brl sbma to el "trmddla" or "mi trmd". Oify norkls tgbt brl mi

    lxklss on tgl norkls rlqumrla to trmd tgl quba wmff kbusl mt to bkklflrbtl.

    Y

  • 8/13/2019 HoverBot 1.0

    28/48

    KGBZQLU NO\U8 AL[M@I & KODZOILIQ[

    1.2 [][QLD AL[M@IQgl alsm`i on quba-rotor kodprmsls dlkgbimkbf bia lflktroimk

    proklaurls. Mt koismsts on slvlrbf strukturbf kodpoilits to el mitl`rbtla to bkgmlvl tgl

    alsmrl `obf. Qgl tbefl elfow suddbrmzls dbmi strukturbf kodpoilits bs

    Qbefl 2

    Rubitmty Ibdl

    2 Klitrbf Gue

    1 Brd

    2 Ebttlry Gofalr

    2 Ebttlry

    1 Lflktroimk [plla Koitrofflr

    1 AK Dotors

    2 B^U Dmkrokoitrofflr

    1 Zroplfflrs

    2 Well Doaufl

    2 Milrtmbf Dlbsurldlit \imt

    Nm`url 2:8 [ystld Efokc Amb`rbd

  • 8/13/2019 HoverBot 1.0

    29/48

    1.5 Dotors bia Lflktroimk [plla Koitrofflr8B quba-rotors armvmi` norkl ms proaukla ey nour slrvos bia bi lflktroimk

    splla koitrofflr (L.[.K.) nor lbkg dotor.

    1.5.2 [lrvos8B slrvo ms tgl kodpoilit usla to provmal tgl armvmi` torqul. Mi our kbsl, tgl slrvos

    armvl lbkg on tgl nour proplfflr efbals. Qglrl brl two typls on slrvos8 erusgla bia

    erusgflss. Qgl erusgla AK dotor ms tgl koivlitmoibf typl on slrvo. Qgl erusgls dbcl

    dlkgbimkbf koitbkt wmtg b slt on lflktrmkbf koitbkts oi tgl rotor, kbffla tgl koddutbtor.

    Qgms nords bi lflktrmkbf kmrkumt eltwlli tgl AK lflktrmkbf sourkl bia tgl brdbturl komf-

    wmiami`s. Bs tgl brdbturl rotbtls oi tgl bxms, tgl stbtmoibry erusgls kodl mito koitbkt

    wmtg amnnlrlit slktmois on tgl rotbtmi` koddutbtor. Qgl koddutbtor bia erusg systld

    nord b pbmr on lflktrmkbf swmtkgls, lbkg nmrmi` mi slqulikl. Koislqulitfy, tgl brdbturl

    komf kfoslst to tgl stbtmoibry stbtor, wgmkg ms b plrdbilit db`ilt, koistbitfy gbs

    lflktrmkbf powlr nfowmi` tgrou`g mt.

    Nm`url 228 Erusgflss AK dotor

    5=

  • 8/13/2019 HoverBot 1.0

    30/48

    Mi b erusgflss AK dotor, tgl lflktrodb`ilts brl stbtmoibry. Qgl plrdbilit

    db`ilts rotbtl bia tgl brdbturl rldbmis stbtmk. Qgms `lts brouia tgl proefld on gow to

    trbisnlr kurrlit to b dovmi` brdbturl. Qo ao tgms, tgl erusg-systld/koddutbtor

    bssldefy ms rlpfbkla ey bi mitlffm`lit lflktroimk koitrofflr. Qgl koitrofflr plrnords tglsbdl powlr amstrmeutmoi nouia mi b erusgla AK dotor, eut usls b sofma-stbtl kmrkumt

    rbtglr tgbi b koddutbtor/erusg systld.

    1.5.2.2Kodpbrmsoi on Erusgla bia Erusgflss AK Dotors8Erusgflss AK (EU\[G FL[[ AK DOQOU[) dotors onnlr slvlrbf bavbitb`ls

    ovlr erusgla AK dotors. Erusgflss dotors gbvl gm`glr lnnmkmliky bia rlfmbemfmty,

    rlaukla iomsl, lfmdmibtmoi on moimzmi` spbrcs nrod tgl koddutbtor, ovlrbff rlauktmoi

    on lflktrodb`iltmk mitlrnlrlikl (LDM). Dorlovlr, mt gbs io erusg lrosmoi wgmkg rlsufts

    mi foi` fmnltmdl. Qgl dbxmdud powlr tgbt kbi el bppfmla to b EU\[G FL[[ AK

    DOQOU[ dotor ms lxklptmoibffy gm`g, fmdmtla bfdost lxkfusmvlfy ey glbt, wgmkg kbi

    abdb`l tgl db`ilts. Erusgflss AK dotors prmdbry amsbavbitb`l ms tglmr gm`g kost

    kodpbrla to erusgla AK dotors. Qgl rlbsoi ms tgbt EU\[G FL[[ AK DOQOU[

    rlqumrl kodpflx L[Ks to rui. Erusgla AK dotors kbi el rl`ufbtla ey b vbrmbeflrlsmstor bia potlitmodltlr or rglostbt, wgmkg ms milnnmkmlit eut kost lnnlktmvl. Gowlvlr,

    mi our kbsl lnnmkmliky ms vlry mdportbit so prlnlr to usl erusgflss ak dotor ovlr

    erusgla ak dotor.

    Erusgflss AK dotors brl dorl lnnmkmlit tgbi erusgla AK dotors. Qgl

    beslikl on nrmktmoi mi tgl erusgls on b Erusgflss AK dotor wmff koivlrt dorl lflktrmkbf

    lilr`y mito dlkgbimkbf powlr tgbi b erusgla dotor. Erusgflss AK dotors brl

    alsm`ila to oplrbtl ovlr b eroba rbi`l on spllas bia gbvl tgl bavbitb`l on rlaukla

    dbmitlibikl smikl tglrl brl io erusgls or koddutbtors. Mi koikfusmoi, Erusgflss AK

    dotors onnlr mikrlbsla splla bia suplrmor plrnordbikl wmtg gm`glr torqul-to-milrtmb

    rbtmo tgbi tglmr kouitlrpbrts.

    ;:

  • 8/13/2019 HoverBot 1.0

    31/48

    1.5.5 Lflktroimk [plla Koitrofflr (L[K)8Bi L[K amrlkts tgl slrvo, wgmkg mi turi koitrofs rotor rotbtmoi. Ebsmkbffy, bi

    L[K ms bi Lflktroimk kmrkumt tgbt ms usla to vbry tgl splla or amrlktmoi on bi lflktrmkdotor. L[K mitlrprlts koitrof minordbtmoi bs swmtkgmi` rbtl on NLQs rbtglr tgbi

    dlkgbimkbf dlkgbimsd. L[Ks gbvl eumft-mi gbff slisors tgbt ms usla to altlrdmil rotor

    posmtmoi rlfbtmvl to stbtor komfs. Qgl L[K tbcls ZPD bs miput nrod tgl dmkro-

    koitrofflr bia `lilrbtls ZZD bs output. Qgms output ZZD wmff amrlkt tgl rotbtmoi on

    dotor.

    Nm`url 258 L[K

    1.; NrbdlPl elfmlvl tgbt tgl kurrlit nrbdl wmff provl sunnmkmlit nor our purposls. Mt ms

    fm`gt, sturay, lbsy to koistrukt, bia kbpbefl on gousmi` tgl kodpoilits wl rlqumrl

    slkurlfy. Kurrlitfy our Govlr Eot 2.: ms dbal up on Bfudmiud wgmkg ms fm`gt wlm`gt,

    stroi` bia dost mdportbitfy kglbplr tgbi mts kouitlrpbrts. Gowlvlr, `mvli dorl tmdl

    slvlrbf mdprovldlits brl possmefl. Mi tgl nuturl usl on kbreoi nmelr tuemi` bia sgllts,

    bia plrgbps lvli tglrdopfbstmks, dm`gt bffow nor bi lqubffy nuiktmoibf strukturl tgbt ms

    ;2

  • 8/13/2019 HoverBot 1.0

    32/48

    fm`gtlr bia dorl blstgltmkbffy pflbsmi`. Qgou`g tgl bfudmiud support roas slld to

    gofa our dotors wlff liou`g nor our purposls, sodl on tgl brds gba tgl tlialiky to

    torqul to onnslt bi fls bia rlqumrla rlbahustla elnorl lbkg nfm`gt. Bfso, skrlwmi` tgl

    BE[ to tgl bfudmiud roas (nor lbsl on bssldefy/amsbssldefy) provla altrmdlitbf totgl strukturbf mitl`rmty bs tgl roas alitla wmtg tgl baala strbmi. Pl gopl tgbt nuturl

    mtlrbtmois wmff iot gbvl tglsl mssuls mn tgl brds brl koistruktla out on kbreoi nmelr.

    1.1 Ebttlry bia Kgbr`lr1.1.2 Ebttlry8

    Ebttlry ms b alvmkl usl to koivlrt kgldmkbf lilr`y to lflktrmkbf lilr`y.

    Ebttlry worcs oi tgl prmikmpfl on lflktrofysms mi wgmkg b kodpouia kbffla lflktrofytl

    wmff uialr`o alkodposmtmoi ey pbssb`l on lflktrmk kurrlit. Qwo lflktroals, bioal bia

    kbtgoal brl koiilktla to lflktrofytl. Qgl two lflktroals erou`gt tgl kurrlit to

    lflktrofytl. Bs b rlsuft, kgbr`l wmff nfow nrod bioal to kbtgoal.

    1.1.2.2[lflktmoi on Ebttlry8Kgoosmi` tgl korrlkt ebttlry nor b quba-rotor ms amnnmkuft. Qgl ebttlrmls tgbt

    brl `lilrbffy usla brl ImKba (imkclf kbadmud). Imkclf ebttlrmls prlslit slvlrbf

    proeflds. Qgly ao iot koitbmi liou`g lilr`y to `mvl bi lxtliala nfm`gt tmdl. Uou`gfy

    nmvl dmiutls on nfm`gt tmdl ms proaukla aurmi` iordbf nfm`gt elnorl tgl ebttlry nbmfs.

    Qglrl brl sodl otglr ebttlrmls brl bfso bvbmfbefl sukg bs Dbi`bilsl

    ebttlrmls, bfcbfmil ebttlrmls, bia [mfvlr oxmal ebttlrmls ltk. eut tgly brl vlry fow mi

    plrnordbikl bia kbiiot el usla nor foi`-spbi. [ukg ebttlrmls brl sumtbefl oify nor

    vlry fow voftb`l proaukts.

    ;5

  • 8/13/2019 HoverBot 1.0

    33/48

    Nm`url 2;8 1:::dB FmZo Ebttlry

    Fmtgmud Moi Zofydlr (FMZO) ms tgl dost sumtbefl nor our quba-rotor. Mt

    gbs `rlbt lnnmkmliky bs wlff bs mt provmals liou`g powlr nor foi`-spbi. Mt gbs biotglr

    bavbitb`l tgbt smikl mt ms sont so mt kbi lbsmfy el pfbkla mi ebttlry gofalr. Qgl ebttlry

    wl gbvl usla provmals 25^ bia 1::: dB kurrlit.

    1.1.5 Kgbr`lr8B proefld wmtg tgl ebttlry ms tgbt mt amskgbr`ls wmtg tmdl. [o wl illa b

    kgbr`lr to baarlss tgms mssul. Qgl kgbr`lr on Fmtgmud moi Zofydlr (FMZO) bkts mi b

    amnnlrlit dbiilr bs kodpbrla to imkclfs ebttlry kgbr`lr. B Fm-pofy kgbr`lr nuiktmois

    ey kgbr`mi` lbkg klff bt b koistbit kurrlit kgbr`l rbtl on beout 0

  • 8/13/2019 HoverBot 1.0

    34/48

    amnnlrlit nfm`gt splkmnmkbtmois. Nor tgl UK quba-rotor bppfmkbtmoi tglrl ms oify oil

    kfbss, tgl sdbff-skbfl nmxla-pmtkg rotor efbal. Qgl dmimbturl quba-rotor dost

    koddoify usls b twmi-efbal proplfflr nor lbkg on mts dotors. Qgl twmi-efbal alsm`i ms

    fm`gt bia provmals lxklfflit dmssmoi liaurbikl. Oil on proefld to albf wmtg msslpbrbtmoi arb`.

    Nm`url 218 Zroplfflrs

    Qo rlaukl slpbrbtmoi arb` tgl trbmfmi` la`l on tgl bmrnomf dust el sgbrp, wgmkg

    krlbtls b tgmi, gm`gfy bkutl bi`fl. Bi baamtmoibf koismalrbtmoi ms tgl dodlit norkl oi

    tgl bmrnomf. B gm`g dodlit norkl kbi mikrlbsl wlbr, krlbtl uiwbitla vmerbtmois, bia

    mikrlbsl arb`. Qo rlaukl tgl dodlit, tgl klitlr on prlssurl dust el dovla rlbrwbra.

    Oil kbi bkkodpfmsg tgms ey sgmntmi` tgl klitlr on tgmkcilss bia kbdelr bwby nrod tgl

    flbami` la`l, gowlvlr tgms alkrlbsls fmnt. Koislqulitfy, tglrl ms b trbal-onn eltwlli

    dmimdmzmi` tgl dodlit norkl bia dbxmdmzmi` fmnt. Biotglr wby to rlaukl dodlits ms

    ey mikrlbsmi` tgl dlkgbimkbf stmnnilss, wgmkg rlaukls bi`ufbr alnflktmoi.

    1.

  • 8/13/2019 HoverBot 1.0

    35/48

    Nm`url 2 Aubf-Efbal Zrop

    Qglsl brl nbmrfy fbr`l rotors bia arbw nbmrfy fow kurrlit nor our govlr lstmdbtl.

    Qgl slkoia slt koismsts on trm-efbal, 0;.< props (0 mikg ambdltlr, ;.< efbal pmtkg).

    Nm`url 2>8 0x;.< Qrm-Efbal Zrop

    Bntlr sodl rlslbrkg, mt wbs nouia tgbt trm-efbal props kbi el qumltlr tgbi aubf-

    efbal wgli rui bt tgl sbdl splla, tgou`g tgly arbw b koupfl guiarla dmffmbdps dorl

    bt govlr. Qgl tlst rlsufts nor eotg prop slts kbi el slli mi tgl nm`urls elfow.

    1.> ZUOZ-BABZQLULvli tgou`g tgl nm`url elfow sgows oify skrlws bia iuts bia dby slld on io

    mdportbikl bt bff tgms prop babptlr ms b vlry mdportbit kodpoilit on tgl quba koptlr. Mt

    cllps tgl proplfflrs tm`gtfy mi tglmr pfbkl bia stops mt nrod nfymi` bwby bia kbusmi`

    bia gbzbra to gudbis or biytgmi` brouia. [mikl tgl dotor rotbtls bt mikrlamefy gm`g

    splla bia mn biy proplfflr flbvls tgl koptlr aurmi` nfm`gt mt ms `omi` to rlsuft mi mistbit

    krbsgmi` on tgl koptlr bia dby slvlrlfy abdb`l tgl quba koptlr. Mt kbi bfso slvlrlfy

    gurt biy gudbis mi tgl vmkmimty.

    ;

  • 8/13/2019 HoverBot 1.0

    36/48

    Nm`url 208 Zroplfflr Babptlrs

    1.0 LflktroimksQo koitrof tgl quba-rotor butoiodousfy, mt gbs b dmkro-koitrofflr,

    koiilktla to bi milrtmbf dlbsurldlit uimt (MD\) bia b wmrlflss oplrbtmois uimt to

    armvl tgl nour dbmi dotors. Qo `lt tgl quba-rotor to govlr or dovl mi dma-bmr

    lnnlktmvlfy bia rlfmbefy, tgl krbnt dust gbvl b nbmrfy bkkurbtl milrtmbf dlbsurldlit

    systld, wgmkg slias bff tgl ilklssbry miputs to tgl dmkro-koitrofflr rlsuftmi` mi mts

    bemfmty to altlrdmil mts mistbitbilous dovldlit bia korrlkt nor biy mistbemfmtmls mi mts

    nfm`gt.

    1.0.2Milrtmbf Dlbsurldlit \imt (MD\) Eobra8B alvmkl tgbt mikfuals bkklflrodltlrs bia `yroskopls ms ibdla MD\ (Milrtmbf

    Dlbsurldlit \imt). Qgms alvmkl usl oil or dorl bkklflrodltlrs to altlkt tgl

    bkklflrbtmoi rbtl bia oil or dorl `yroskopls to altlkt kgbi`ls mi tgl rotbtmoibf

    bttrmeutls fmcl pmtkg, roff bia ybw. B kodpbss ms b alvmkl tgbt altlrdmils tgl amrlktmoi

    on dovldlit mi rlfbtmoi to tgl Lbrtg's db`iltmk pofls. Qgms bffows b vlgmkfl to dovl mi

    b klrtbmi amrlktmoi. Mt ms bfso possmefl to usl proxmdmty slisors sukg bs minrbrla or

    uftrbsouia to `umal tgl quba koptlr or lvli b @Z[ alvmkl.

    Qgl ilw quba koptlr dust gbvl bt flbst b ;-bxms bkklflrodltlr (; spbtmbf kooramibtls

    ;>

  • 8/13/2019 HoverBot 1.0

    37/48

    xyz) bia b `yroskopl to altlkt tgl rotbtmoi. Qgl bftlribtmvl to tglsl two slisors ms bi

    MD\ alvmkl.

    1.0.5 @yroskoplB `yroskopl ms b alvmkl nor dlbsurmi` or dbmitbmimi` ormlitbtmoi, ebsla oi tgl

    prmikmpfls on koislrvbtmoi on bi`ufbr dodlitud. @yroskopls kbi el vlry plrpflxmi`

    oehlkts elkbusl tgly dovl mi plkufmbr wbys bia lvli slld to alny `rbvmty. Qglsl

    splkmbf proplrtmls dbcl `yroskopls lxtrldlfy mdportbit mi lvlrytgmi` nrod

    your emkykfl to tgl bavbikla ibvm`btmoi systld oi tgl spbkl sguttfl. B

    typmkbf bmrpfbil usls beout b aozli `yroskopls mi lvlrytgmi` nrod mts kodpbss to mts

    butopmfot.

    1.0.5.2\sls on @yroskoplsQgl lnnlkt on bff tgms ms tgbt, oikl you spmi b `yroskopl, mts bxfl wbits to cllp

    pomitmi` mi tgl sbdl amrlktmoi. Mn you douit tgl `yroskopl mi b slt on `mdebfs so tgbt mt

    kbi koitmiul pomitmi` mi tgl sbdl amrlktmoi, mt wmff. Qgms ms tgl ebsms on tgl `yro-

    kodpbss.

    Mn you douit two `yroskopls wmtg tglmr bxfls bt rm`gt bi`fls to oil biotglr oi b

    pfbtnord, bia pfbkl tgl pfbtnord mismal b slt on `mdebfs, tgl pfbtnord wmff rldbmi

    kodpfltlfy rm`ma bs tgl `mdebfs rotbtl mi biy wby tgly pflbsl. Qgms ms tgms ebsms

    on milrtmbf ibvm`btmoi systlds (MI[).

    Nm`url 278 @yroskopl Amdlismois

    ;0

  • 8/13/2019 HoverBot 1.0

    38/48

    Mi bi MI[, slisors oi tgl `mdebfs' bxfls altlkt wgli tgl pfbtnord rotbtls. Qgl

    MI[ usls tgosl sm`ibfs to uialrstbia tgl vlgmkfl's rotbtmois rlfbtmvl to tgl pfbtnord. Mn

    you baa to tgl pfbtnord b slt on tgrll slismtmvl bkklflrodltlrs, you kbi tlff lxbktfy

    wglrl tgl vlgmkfl ms glbami` bia gow mts dotmoi ms kgbi`mi` mi bff tgrll amrlktmois.Pmtg tgms minordbtmoi, bi bmrpfbil's butopmfot kbi cllp tgl pfbil oi koursl, bia b

    rokclt's `umabikl systld kbi mislrt tgl rokclt mito b alsmrla oremt!

    1.0.; BkklflrodltlrsBi bkklflrodltlr ms b alvmkl tgbt dlbsurls tgl vmerbtmoi, or bkklflrbtmoi on

    dotmoi on b strukturl. Qgl norkl kbusla ey vmerbtmoi or b kgbi`l mi dotmoi

    (bkklflrbtmoi) kbusls tgl dbss to "squllzl" tgl pmlzolflktrmk dbtlrmbf wgmkg proaukls

    bi lflktrmkbf kgbr`l tgbt ms proportmoibf to tgl norkl lxlrtla upoi mt. [mikl tgl kgbr`l ms

    proportmoibf to tgl norkl, bia tgl dbss ms b koistbit, tgli tgl kgbr`l ms bfso

    proportmoibf to tgl bkklflrbtmoi

    Nm`url 2=8 Bkklflrodltlr Eobra

    Bi Milrtmbf Ibvm`btmoi [ystld (MI[) ms b ibvm`btmoi bma tgbt usls b kodputlrbia dotmoi slisors (bkklflrodltlrs) to koitmiuousfy kbfkufbtl tgl posmtmoi, ormlitbtmoi,

    bia vlfokmty (amrlktmoi bia splla on dovldlit) on b dovmi` oehlkt wmtgout tgl illa

    nor lxtlribf rlnlrlikls. Otglr tlrds usla to rlnlr to milrtmbf ibvm`btmoi systlds or

    kfoslfy rlfbtla alvmkls mikfual milrtmbf `umabikl systld, milrtmbf rlnlrlikl pfbtnord,

    bia dbiy otglr vbrmbtmois.

    Bi bkklflrodltlr bfoil ms uisumtbefl to altlrdmil kgbi`ls mi bftmtual ovlr

    amstbikls wglrl tgl vlrtmkbf alkrlbsl on `rbvmty ms sm`imnmkbit, sukg bs nor bmrkrbnt bia

    ;7

  • 8/13/2019 HoverBot 1.0

    39/48

    rokclts. Mi tgl prlslikl on b `rbvmtbtmoibf `rbamlit, tgl kbfmerbtmoi bia abtb rlauktmoi

    proklss ms iudlrmkbffy uistbefl.

    1.0.1 Dmkro-koitrofflr8Qgl dmkrokoitrofflr kgosli oi our dbmi eobra ms tgl Btdlf btdl`b;5/btdl`b;57

    slrmls dmkrokoitrofflr.

    1.0.1.2Btdlf B^U DmkrokoitrofflrsQgl B^U ms b Doamnmla Gbrvbra brkgmtlkturl 7-emt UM[K smi`fl kgmp

    dmkrokoitrofflr. Mt wbs alvlfopla ey Btdlf mi 2==>. Gbrvbra brkgmtlkturl dlbis tgbt

    tgl pro`rbd bia abtb brl storla mi slpbrbtl dldory spbkls wgmkg brl bkklssmefl

    smduftbilousfy. Qgl B^U wbs oil on tgl nmrst dmkrokoitrofflr nbdmfmls to usl oi-kgmp

    nfbsg dldory nor pro`rbd storb`l, bs opposla to Oil-Qmdl Zro`rbddbefl UOD,

    LZUOD, or LLZUOD usla ey otglr dmkrokoitrofflrs bt tgl tmdl. Nfbsg dldory ms b

    ioivofbtmfl (plrsmstlit oi powlr-aowi) pro`rbddbefl dldory.

    Nm`url 5:8 Btdlf Dl` ;5

    ;=

  • 8/13/2019 HoverBot 1.0

    40/48

    Fow powlr bia gm`g plrnordbikl B^U dmkrokoitrofflrs kbi gbiafl

    aldbiami` 7 bia 2>-emt bppfmkbtmois. Pmtg b smi`fl kykfl mistruktmoi UM[K KZ\, Zmko

    Zowlr tlkgiofo`y, bia b rmkg nlbturl slt, tgl B^U brkgmtlkturl lisurls lbsy

    bppfmkbtmoi alvlfopdlit bia nbst koal lxlkutmoi kodemila wmtg tgl fowlst possmeflpowlr koisudptmoi.

    Qgl wlff-alnmila M/O strukturl fmdmts tgl illa nor lxtlribf kodpoilits bia

    rlaukls alvlfopdlit kost. B vbrmlty on tmdlrs, [ZMs, \BUQs, mitlribf oskmffbtors, puff-

    up rlsmstors, pufsl wmatg doaufbtmoi, Bibfo` Kodpbrbtors, BAKs bia Pbtkg-Ao`

    Qmdlrs brl sodl on tgl nlbturls bvbmfbefl nor li`millrs. Mt ms mitlrlstmi` to iotl tgbt

    dost mistruktmois oify tbcl b smi`fl kfokc kykfl to lxlkutl bia tglrl ms io mitlribf

    kfokc amvmsmoi. Pgltglr you pro`rbd mi K, Zbskbf or bssldefy fbi`ub`l, tgl tuila

    B^U mistruktmois alkrlbsl pro`rbd smzl bia alvlfopdlit tmdl. Qgl B^U proklssor

    nlbturls b rlbf fmnl stbkc bia mts mistruktmoi slt wbs alsm`ila bia optmdmzla nor usl wmtg

    gm`g flvlf fbi`ub`ls - mt ms lbsy to pro`rbd tglsl kgmps usmi` K. B^U dmkrokoitrofflrs

    dby el pro`rbddla usmi` bssldefy or b gm`glr flvlf fbi`ub`l. Flbrimi` to pro`rbd mt

    mi bssldefy fbi`ub`l ms b `ooa malb, bs mt `mvls you mi alptg uialrstbiami` on tgl

    mitlribf oplrbtmois.

    1.0.1.5[plkmnmkbtmois1.0.1.5.2Nlbturls

    o Gm`g-plrnordbikl, Fow-powlr BtdlfB^U 7-emt Dmkrokoitrofflro Bavbikla UM[K Brkgmtlkturlo 2;2 Zowlrnuf Mistruktmois Dost [mi`fl-kfokc Kykfl Lxlkutmoio ;5 7 @lilrbf Zurposl Porcmi` Ul`mstlrso

    Nuffy [tbtmk Oplrbtmoi

    o \p to 2> DMZ[ Qgrou`gput bt 2>DGzo Oi-kgmp 5-kykfl Duftmpfmlr

    1.0.1.5.5Dldoryo ;5Ceytls on Mi-[ystld [lfn-pro`rbddbefl Nfbsg pro`rbd dldoryo 2:51Eytls LLZUODo 5Ceytls Mitlribf [UBDo Prmtl/Lrbsl Kykfls8 2:,::: Nfbsg/2::,::: LLZUOD

    1:

  • 8/13/2019 HoverBot 1.0

    41/48

    o Abtb rltlitmoi8 5: ylbrs bt 7

  • 8/13/2019 HoverBot 1.0

    42/48

    1.7 Kodduimkbtmoi81.7.2 WELL Doaufl8

    Well ms oil on popufbr wmrlflss doaufl mi tgl worfa. Mt support two-wbys

    kodduimkbtmoi (oil Well doaufl kbi slia or rlklmvl tgl abtb to/nrod otglr

    doaufls).Qgl amnnlrlit eltwlli Xm`ell bia Well ms Xm`ell ms ibdl on miaustry

    stbiabra wgmfl Well ms ibdl on Xm`ell stbiabra doaufl proaukla ey Am`m. Well kbi

    kodduimkbtl vmb \BUQ (QW, UW sm`ibf) bia sliami` tgl sm`ibf (abtb) wmtgmi tgl sgort

    rbi`l ms vlry bkkurbtl. Well doaufl gbs bi mitlribf MK tgbt glfps mi likoami` tgl abtb.

    Qgl dbmi bavbitb`l on tgms doaufl ms mt koisudl fow wbtt (fow lflktrmk powlr), sdbff

    smzl bia kglbp. Bftgou`g mt ms rlstrmktla to slia abtb wmtgmi sgort amstbikl, mt kbi slia

    abtb nrod oil ioal to biotglr ioal bia tgms nlbturl dbcl mt bpproprmbtl nor dbcmi`

    wmrlflss slisor iltworc.

    Nm`url 528 WEll doaufl

    Well ms tgl alvmkl tgbt mitl`rbtls Dmkrokoitrofflr bia UN MK mito oil pmlkl (oil

    doaufl). Mt worcs bs trbisklmvlr lqumpdlit (tgl lqumpdlit tgbt kbi eotg slia bia

    rlklmvl sm`ibf). Well ms gbfn-aupflx bia mt oplrbtl bt 5.1 @Gz nrlquliky ebia. Mtkoisudl fow lflktrmk powlr bia lbsy to usl elkbusl tgl mitlrnbkl usla nor sliami` bia

    rlklmvmi` abtb wmtg Well ms \BUQ (QQF), so wl kbi koiilkt tgl \BUQ

    kodduimkbtmoi pmi on Well to tgl \BUQ on dmkrokoitrofflr amrlkt

    15

  • 8/13/2019 HoverBot 1.0

    43/48

    1.7.5 Uldotl KoitrofQgl rldotl koitrof ms b smdpfl hoy pba usla nor pfbymi` kodputlr `bdls tgbt ms

    mitlrnbkla wmtg tgl kodputlr.Qgl koitrofflr gbs 5 stmkcs tgbt brl tgl dbmi koitrof clys on tgl quba-koptlr.

    Oil on tgld ms elmi` usla to koitrof tgl amrlktmois on tgl quba koptlr wgmfl tgl otglr

    oil ms usla to koitrof tgl tgrust. Qgl euttoi 2, 5, ; & 1 brl elmi` usla to koitrof

    amnnlrlit nuiktmois fmcl buto pmfot & kgbi`mi` nuiktmoibfmty to `rouia doemfmty.

    1.= Dbtlrmbf [lflktmoiQglrl brl b iudelr on dbtlrmbfs bvbmfbefl nor tgl nrbdl alsm`i. Bdoi` tgld

    brl pfbstmks, kbreoi nmelr, stllf, wooa, bia bfudmiud. Qglsl dbtlrmbfs gbvl b wmal

    brrby on amnnlrlit dlkgbimkbf proplrtmls.

    1.=.2 Iyfoi8

    Ms b pofydlr dbtlrmbf tgbt ms vlry fm`gt bia lbsy to dbiunbkturl. Mt ms beuiabit

    bia lbsy to prokurl, gowlvlr, mt ms iot vlry stmnn, bia mts dlkgbimkbf proplrtmls brl

    mikrlamefy slismtmvl to livmroidlitbf koiamtmois. \ftrbvmoflt rbys wmff erlbc aowi tgl

    doflkufbr strukturl, kodprodmsmi` mts strli`tg. Gudmamty bfso slvlrlfy kodprodmsls

    mts strli`tg8 b rlfbtmvl gudmamty on

  • 8/13/2019 HoverBot 1.0

    44/48

    b kbreoi nmelr kodposmtl nbmfs wmtg fmttfl alnordbtmoi, koislqulitfy nbmfurl ms ontli

    berupt bia vmoflit, bs opposla to dost dltbfs, wgmkg elia elnorl erlbcmi`.

    1.=.;[tllf8

    Ms bi bffoyla dltbf, wgmkg gbs tgl gm`glst \Q[ on tgl dbtlrmbfs mivlstm`btla,

    elbtmi` tgl kodpltmtmoi ey b nbktor on two or dorl, bia gbs tgl slkoia gm`glst

    stmnnilss. Mt ms gowlvlr ey nbr tgl glbvmlst, ilbrfy tgrll tmdls bs glbvy bs bfudmiud. Mts

    mikrlbsla alismty rlqumrls dorl tmdl to dbkgmil dbcmi` mt b amnnmkuft dbtlrmbf to usl.

    1.=.1Pooa8

    Ms plrgbps tgl dost wmalfy usla strukturbf dbtlrmbf mi tgl worfa. Mt ms

    fm`gtwlm`gt bia ms vlry lbsy to worc wmtg. \inortuibtlfy, mt ms iot bs stroi` bs tgl otglr

    survlyla dbtlrmbfs, bia mts strli`tg ms amrlktmoibf fmcl kbreoi nmelr kodposmtl. Ula

    obcs \Q[ bfoi` mts trbisvlrsl bxms ms dlrlfy 0.5 DZb. Iot to dlitmoi tgl kouitflss

    livmroidlitbf mssuls to koismalr. \ftrbvmoflt rbys erlbc aowi tgl nmelrs on tgl wooa,

    bia tglrl ms potlitmbf nor rot.

    1.=.

  • 8/13/2019 HoverBot 1.0

    45/48

    KGBZQLU NM^L8 [ONQPBUL

  • 8/13/2019 HoverBot 1.0

    46/48

  • 8/13/2019 HoverBot 1.0

    47/48

    KGBZQLU [MW

    >.2 Nuturl LigbikldlitsPgli wl wlrl prlslitmi` tgl proposbf wl gba slvlrbf tgmi`s mi dmia tgbt wl

    wbitla to ao. Nmrstfy wl wbitla to dbcl tgl govlr eot dovl oi tgl `rouia, eut aul to

    eua`lt koistrbmits bia nbkmi` amnnmkufty mi stbemfmzmi` tgl Eot aurmi` nfm`gt wl gba to

    `mvl up tgms malb. Bfso tgl wlm`gt on tgl `rouia roeot wbs b fmttfl too dukg nor tgl Eot

    to tbcl nfm`gt lbsmfy bia tgms woufa gbvl slvlrlfy erou`gt aowi nfm`gt tmdl. Mi nuturl

    wl kbi put dorl powlrnuf dotors so tgbt tgl Eot kbi lbsmfy tbcl nfm`gt wmtg b dovbefl

    `rouia roeot.

    Pl kurrlitfy gbvl io dltgoa on fokbfmzbtmoi. Qgms dust el mdpfldlitla mi

    nuturl mtlrbtmois mn wl brl to gbvl biy sort on swbrdmi` elgbvmor bia kodduimkbtmoi

    eltwlli duftmpfl uimts. Qgms wmff el glfpla mi pbrt ey tgl baamtmoi on bi bftmdltlr, eut

    b roeust dlbis on posmtmoi fokbfmzbtmoi (dotmoi kbpturl or @Z[) wmff bfso el foocla

    mito.

    Nmrlpowlr tbr`lt fokcmi` kbi el baala to mt nor dmfmtbry purposls, systld. Pmtg

    pro`rbddmi` bia usmi` prlkmsl lqumpdlit tgl Govlr Eot 2.: kbi el dbal to plrnord

    lxtrldl dbiluvlrmi` kbpbemfmtmls.

    Qgl `rouia doemfmty kbi el `rlbtfy ligbikla puttmi` dorl roeust wgllfs tgbt

    kbi dbcl tgl Govlr Eot 2.: ovlrkodl stllp oestbkfls.

    Im`gt vmsmoi/tglrdbf vmsmoi kbi bfso el mitroaukla to dbcl tgl GO^LU EOQ b

    stbtl on tgl brt dmfmtbry Ulkoiibmssbikl bia [py aroil.

  • 8/13/2019 HoverBot 1.0

    48/48

    BIILW\UL B

    0.2ABQB [GLLQ[