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Embedded Systems | |
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Robots and Controllers | |
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Mobile Robots | |
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Embedded Controllers | |
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Interfaces | |
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Operating System | |
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References | |
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Central Processing Unit | |
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Logic Gates | |
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Function Units | |
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Registers and Memory | |
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Retro | |
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Arithmetic Logic Unit | |
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Control Unit | |
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Central Processing Unit | |
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References | |
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Sensors | |
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Sensor Categories | |
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Binary Sensor | |
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Analog versus Digital Sensors | |
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Shaft Encoder | |
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A/D Converter | |
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Position Sensitive Device | |
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Compass | |
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Gyroscope, Accelerometer, Inclinometer | |
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Digital Camera | |
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References | |
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Actuators | |
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DC Motors | |
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H-Bridge | |
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Pulse Width Modulation | |
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Stepper Motors | |
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Servos | |
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References | |
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Control | |
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On-Off Control | |
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PID Control | |
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Velocity Control and Position Control | |
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Multiple Motors - Driving Straight | |
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V-Omega Interface | |
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References | |
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Multitasking | |
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Cooperative Multitasking | |
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Preemptive Multitasking | |
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Synchronization | |
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Scheduling | |
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Interrupts and Timer-Activated Tasks | |
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References | |
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Wireless Communication | |
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Communication Model | |
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Messages | |
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Fault-Tolerant Self-Configuration | |
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User Interface and Remote Control | |
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Sample Application Program | |
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References | |
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Mobile Robot Design | |
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Driving Robots | |
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Single Wheel Drive | |
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Differential Drive | |
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Tracked Robots | |
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Synchro-Drive | |
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Ackermann Steering | |
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Drive Kinematics | |
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References | |
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Omni-Directional Robots | |
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Mecanum Wheels | |
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Omni-Directional Drive | |
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Kinematics | |
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Omni-Directional Robot Design | |
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Driving Program | |
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References | |
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Balancing Robots | |
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Simulation | |
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Inverted Pendulum Robot | |
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Double Inverted Pendulum | |
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References | |
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Walking Robots | |
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Six-Legged Robot Design | |
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Biped Robot Design | |
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Sensors for Walking Robots | |
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Static Balance | |
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Dynamic Balance | |
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References | |
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Autonomous Planes | |
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Application | |
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Control System and Sensors | |
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Flight Program | |
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References | |
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Autonomous Vessels and Underwater Vehicles | |
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Application | |
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Dynamic Model | |
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AUV Design Mako | |
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AUV Design USAL | |
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References | |
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Robot Manipulators | |
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Homogeneous Coordinates | |
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Kinematics | |
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Simulation and Programming | |
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References | |
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Simulation Systems | |
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Mobile Robot Simulation | |
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EyeSim Simulation System | |
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Multiple Robot Simulation | |
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EyeSim Application | |
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EyeSim Environment and Parameter Files | |
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SubSim Simulation System | |
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Actuator and Sensor Models | |
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SubSim Application | |
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SubSim Environment and Parameter Files | |
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References | |
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Mobile Robot Applications | |
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Localization and Navigation | |
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Localization | |
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Probabilistic Localization | |
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Coordinate Systems | |
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Environment Representation | |
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Visibility Graph | |
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Voronoi Diagram | |
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Potential Field Method | |
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Wandering Standpoint Algorithm | |
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Bug Algorithm Family | |
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Dijkstra's Algorithm | |
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A* Algorithm | |
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References | |
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Maze Exploration | |
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Micro Mouse Contest | |
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Maze Exploration Algorithms | |
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Simulated versus Real Maze Program | |
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References | |
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Map Generation | |
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Mapping Algorithm | |
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Data Representation | |
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Boundary-Following Algorithm | |
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Algorithm Execution | |
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Simulation Experiments | |
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Robot Experiments | |
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Results | |
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References | |
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Real-Time Image Processing | |
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Camera Interface | |
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Auto-Brightness | |
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Edge Detection | |
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Motion Detection | |
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Color Space | |
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Color Object Detection | |
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Image Segmentation | |
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Image Coordinates versus World Coordinates | |
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References | |
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Robot Soccer | |
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RoboCup and FIRA Competitions | |
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Team Structure | |
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Mechanics and Actuators | |
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Sensing | |
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Image Processing | |
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Trajectory Planning | |
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References | |
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Neural Networks | |
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Neural Network Principles | |
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Feed-Forward Networks | |
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Backpropagation | |
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Neural Network Examples | |
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Neural Controller | |
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References | |
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Genetic Algorithms | |
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Genetic Algorithm Principles | |
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Genetic Operators | |
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Applications to Robot Control | |
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Example Evolution | |
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Implementation of Genetic Algorithms | |
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Starman | |
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References | |
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Genetic Programming | |
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Concepts and Applications | |
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Lisp | |
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Genetic Operators | |
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Evolution | |
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Tracking Problem | |
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Evolution of Tracking Behavior | |
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References | |
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Behavior-Based Systems | |
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Software Architecture | |
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Behavior-Based Robotics | |
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Behavior-Based Applications | |
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Behavior Framework | |
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Adaptive Controller | |
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Tracking Problem | |
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Neural Network Controller | |
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Experiments | |
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References | |
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Evolution of Walking Gaits | |
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Splines | |
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Control Algorithm | |
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Incorporating Feedback | |
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Controller Evolution | |
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Controller Assessment | |
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Evolved Gaits | |
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References | |
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Automotive Systems | |
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Autonomous Automobiles | |
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Automobile Conversion for Autonomous Driving | |
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Computer Vision for Driver-Assistance Systems | |
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Image Processing Framework | |
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Lane Detection | |
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Vehicle Recognition and Tracking | |
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Automatic Parking | |
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References | |
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Outlook | |
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Appendices | |
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Programming Tools | |
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RoBIOS Operating System | |
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Hardware Description Table | |
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Hardware Specification | |
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Laboratories | |
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Solutions | |
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Index | |