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1. Aw Change in angular velocity Introduction Students in Mechanical Engineering Technology program at UMES University of Maryland Eastern Shore are required to take at least one Systems Design course during the last year of their program As part of the requirement for this course students are assigned to design a system or systems that require use of the cumulative knowledge they have acquired in lower level courses If the project is large enough they are assigned a group project The Sensor Assembly design project was assigned to one student during spring semester of 2000 The student has finished the mechanical design and the construction of the sensor assembly Initially a DC generator was used as a sensor and very limited testing of the sensor was done on the bench The author did the rest of the work during the fall semester of 2001 During the fall semester of 2004 a new data acquisition system was installed a new optical sensor was purchased for the same project to improve the accuracy and the range of relative power measurements Measurement of Relative Cylinder Power The author does not know how new engine diagnostic machines measure relative cylinder power of internal combustion engines Our old 1984 SUN Interrogator Engine Diagnostic unit kills the ignition of cylinders one at a time and measures change in average engine speed Change in engine speed can be related to the relative power of a cylinder The author could no2. Power and Transportation Course EDTE 341 Power and Transportation course is taken as a technical elective by most MET students The course covers internal combustion engine operations and maintenance Next time I teach the course the DAQ system shall be used to check power balance of the laboratory engine or student owned car engines A laptop based system will be more appropriate for field use and it is being looked at as a next step to improve the use of the data acquisition in cylinder relative power measurements Conclusions A new and more durable optical encoder was purchased and used for relative cylinder power measurements A new technique was also used to measure the varying frequencies of the signal received from the optical encoder using two counters on the data acquisition board With this 2 counter method a low speed optical encoder may be used without sacrificing the accuracy of the measurements For one percent accuracy the frequency of pulses generated by the encoder could be as low as 500 Hz The encoder pulley diameter is not critical for the accuracy of the measurements any more as long as the frequency limit of the encoder 100 kHz is not exceeded and as long as the frequency of the encoder pulses is above 500 Hz Since the program acquires and displays only 100 data points one has to adjust the divisor of the front panel of the LabVIEW program to see all of the power peaks on the plot Planned extensions for this proje
3. optical sensor was also purchased for the system After assembling the system and designing a fixture to secure the sensor against engine crankshaft belt test runs were run A new LabVIEW program was written to acquire data using digital channels of the data acquisition board instead of analog channels to expand the range and the accuracy of measurements Results indicate that the new optical encoder data acquisition Lab VIEW 7 0 system is capable of accurately measuring relative cylinder powers of 8 cylinder engines operating over 1000 rpm For completeness of the theory some sections of the previous work were included Proceedings of the 2005 American Society for Engineering Education Annual Conference amp Exposition Copyright 2005 American Society for Engineering Education L 96 0 e6eg Nomenclature D Engine crankshaft pulley diameter I Moment of inertia of the moving engine parts N Engine idling speed rpm AN Change in engine speed rpm AP Change in engine power SR Acquisition sampling rate samples s T Torque generated by a cylinder during power stroke d Encoder pulley diameter f Frequency of encoder pulses Hz Encoder angular velocity rpm ppr Pulses generated per revolution of encoder a Engine angular acceleration oc Proportional to 0 Angular position at the end of power stroke Oo Initial angular position O Engine angular velocity Wo Initial engine angular velocity
4. programming language All LabVIEW programs have a Front Panel which uses Controls Palette and a Block Diagram which uses Functions Palette in their construction Front Panel is used to control acquisition and or processing functions of the LabVIEW software Block Diagram is used to construct the sequence of operations A wiring tool from Tools Pallet is used to connect inputs and outputs of different blocks functions to accomplish a combined task For example one can use an ADC block to acquire an analog data at a specified speed using a specified channel number and use Write to File block to pick the acquired data and write it into a specified file The LabVIEW computer program for this project consists of three tasks The purpose of the first task is to start acquisition with an external trigger and display few cycles of the encoder signal The second task acquires the data calculates the frequencies stores it into a file and displays it The last task reads the data from the stored file calculates the average frequency and displays it For the first task Acq amp Graph Voltage Ext Clk vi program was used Major input parameters for this task are Analog channel number to be used scan acquisition rate number of samples data points to be acquired Not to waste any time in this task the maximum acquisition rate of 200 kS s and a minimum number of samples as few as 2 should be used The second
5. speed change is about 4 When eight cylinders are generating power speed change is only about 1 For the 8 cylinder case since the speed change is very small it is difficult to identify peaks Therefore this system should be used with caution with 8 cylinder Proceedings of the 2005 American Society for Engineering Education Annual Conference amp Exposition Copyright 2005 American Society for Engineering Education 8 96 0 beg engines One can always remove alternate four ignition wires in the firing order and do the measurement using four cylinders at a time Educational Value of the Project 1 Using it as a Tool in Experiments The old ASYST based data acquisition system is still being used in Strength of Materials and Heating Ventilating and Air Conditioning experiments The plan is to gradually convert old programs or rewrite new ones so that the most up to date hardware and software are used in all experiments 2 Teaching Data Acquisition Techniques in an Instrumentation Courses New data acquisition system may be used as a tool in ETME 381 Mechanical Instrumentation and ETEE 421 Instrumentation courses to teach students modern ways of acquiring processing displaying and communicating data Both of these courses cover principles of data acquisition Using the new data acquisition system in one of the experiments will substantially improve understanding of the data acquisition topics covered 3 Using as a Tool in
6. task consists of a Meas Dig Freq Buffered Finite Large Range 2 Ctr vi and Write to Spreadsheet File vi programs Major input parameters are Trigger type maximum and minimum frequency values divisor number of samples to be acquired and file name to store the data The third task consists of Read from Spread Sheet File Array Subset Array Size programs and Add Array Elements and Divide functions The Front Panel and the Block Diagrams of each task are given in Figures 2 and 3 Results The designed system was tested on the electric drive system of our previously designed Wheel Balancing Machine Deceleration and acceleration of a two pole electric motor was clearly observed For further testing the sensor assembly was pressed against the crankshaft belt of the author s 8 cylinder car engine Typical results are given in Fig 4 and Fig 5 For Fig 4 four of the cylinders of the 8 cylinder engine were disabled by removing ignition cables to observe the peaks better As seen in both figures all of the cylinders are generating about the same power since all of the frequency peaks are about the same In Fig 5 bottom display sixth peak is missing since ignition wire of one of the cylinders was removed A gradual increase in the average engine speed is clearly seen as other cylinders add power As seen from Figures 4 and 5 change in engine speed is very small When four cylinders are generating power the
7. 1 ie i 09 1420 BUUEYD eas yd o000ST ea ree Aduanbasy pey Wiojareyy ADUanbaly ssayoweseg puuey z i SUBJBWEIE yNduy jeyGIG uonequawnseg lt lt saniadoddg A lt lt l PAS suo INsYsul 404 ISyayAWEIeg ynduy Boyeu Stacked Sequence Structure OK message warnings _Y _ timeout Samples per Channel 2 Cez 10 00 1324 DAQmx Start Task vi DAOQmx Read vi Finite Samples a5 St LEED AQmx Clear Task vi Per 3 Analog 1D Wm f Start NChan NSamp Leng DAQmx Create Virtual Channel vil Digital Edge H Cron MET Physical Channel AI voltage Sample Clock General Error Handler vi 4 Al Waveform Graph ar nn Ae ba r DAG mx POOR r 1D DBI amp Counte Ls requency Waveform Graph NS DAQmx Clear Task vi fk Add Array Elements Starting Index 1 Figure 3 Block Diagram of the LabVIEW Program with Three Sequence Structures Proceedings of the 2005 American Society for Engineering Education Annual Conference amp Exposition Copyright 2005 American Society for Engineering Education SL 96 01 ebed Frequency Waveform Graph Frequency 1 2 10 20 30 40 50 60 70 60 90 101 Sample Number Frequency Waveform Graph Frequency Frequency Hz l l 45 SO 55 60 Sample Number Figure 4 Frequency variation when only four cylinders are firing at a time top 1 4 6 7 bottom 5 2 3 8 The other four were disabl
8. 8 LabVIEW G Programming Reference Manual 1 98 LabVIEW User Manual 4 03 LabVIEW Measurements Manual 8 03 LabVIEW Quick Start Guide 2 99 DAQ Quick Start Guide for NI DAQ 7 0 4 03 DAQ 6023E 6024E 6025E User Manual 12 00 Getting Started with LabVIEW 4 03 US Digital Corporation 11100 ne 34 circle Vancouver Washington 98632 http www usdigital com Data Translation 100 Locke Drive Marlboro MA 01752 8528 http www datatranslation com DT300 Series Getting Started manual 2 04 DT300 Series User s manual 2 04 DT Measure Foundry and RT Streaming Getting Started Manual DT LV Link Reference Manual 7 98 DT LV Link Getting Started Manual 7 98 Keithley Instruments Inc 28775 Aurora Road Cleveland Ohio 44139 http www keithley com Emin Yilmaz Microcomputer Based Instrumentation for Student Designed Wheel Balancing Machine refereed 1998 ASEE Annual Conference Proceedings CDROM Session 1426 paper 4 http facstaffwebs umes edu eyilmaz wbmase98 pdf EMIN YILMAZ Emin Yilmaz is a Professor of Engineering Technology at the University of Maryland Eastern Shore He has BS and MS degrees in Mechanical Engineering and a Ph D degree from the University of Michigan in Nuclear Engineering He is a heavy user of computers in courses and in his research He developed and taught several laboratory courses in engineering and engineering technology Web Page http www facstaffwebs umes edu eyilma
9. Session 1726 NEW SENSOR AND INSTRUMENTATION FOR RELATIVE CYLINDER POWER MEASUREMENTS ON INTERNAL COMBUSTION ENGINES Emin Yilmaz Professor and P E Department of Technology University of Maryland Eastern Shore Princess Anne MD 21853 410 651 6470 E mail eyilmaz mail umes edu Abstract The purpose of the previous project was to design a sensor assembly which could be used with a data acquisition system to measure the relative power of each cylinder on an internal combustion engine A basic sensor assembly design and construction was completed as a laboratory requirement for the Mechanical Systems Design course Pulses generated by the encoder pressed against engine crankshaft belt were acquired and stored in a file using a National Instruments PCI 6023E 200 kS s kilo samples per second throughput data acquision board and an application program developed using National Instruments LabVIEW 5 0 graphical programming software The acquired data was processed using LabVIEW and the results were displayed The change in the encoder signal frequency is proportional to the power generated by the individual cylinders of the engine A plot is generated for two revolutions of the crankshaft Tests showed that due to the speed of the data acquisition board only four cylinder engines could be analyzed adequately Recently a new data acquisition system was assembled with LabVIEW 7 0 software and a 400 kS s data acquisition board A more durable
10. be used to calculate the period of the encoder pulse When the period of the encoder signal is used to calculate the frequency the minimum speed requirements for optical encoder and ADC channel are 1 kHz 100 pulses in 100 ms and 100 kS s 100 acquired points within 1 ms respectively The optical encoder signal has to be sampled at a minimum rate of 100 times of the optical encoder frequency The number of the acquired samples between the two pulses divided by the acquisition sampling rate will be the period of the pulse Frequency is the inverse of the calculated period 2 Pulse Counting Using ADC Channel With this method one can sample the encoder signal using an ADC channel of a data acquisition board at a fixed rate and count the number of encoder pulses occurring within a fixed number of acquired data points For this method the minimum encoder and ADC channel speed requirements are 100kHz 100 pulses per 1 ms and 200 kS s two acquired data points per pulse are required not to miss any pulses respectively This method was used with the previous Relative Cylinder Power Measurements project The number of peaks of the acquired encoder signal was counted within 200 acquired values 200kS s 1 ms The frequency of the encoder signal is equal to the number of counted peaks divided by 10 s 1 ms or 1000 times the number of counted peaks 3 Two Counters High Frequency Method There are two methods of measuring the frequenc
11. cts are a design and construct a digital triggering probe using an inductive coil b find a way to numerically integrate the frequency peaks so that relative power of each cylinder may be displayed numerically c modify the computer program to acquire and display average frequency graph and relative power of each cylinder for a given number of power cycles d use the DT304 board with DT LV and LabVIEW software so that I do not need to borrow NI DAQ board and e purchase and install a cylinder pressure transducer to create a pressure trace of each cylinder to validate the relative cylinder power data Proceedings of the 2005 American Society for Engineering Education Annual Conference amp Exposition Copyright 2005 American Society for Engineering Education 6 96 0 ebeY Acknowledgements The Department of Technology s financial help is appreciated and acknowledged Special thanks go to Dr Joseph Arumala for letting me use his data acquisition board References 1 Emin Yilmaz Instrumentation for Relative Cylinder Power Measurements on Internal Combustion Engines Computers in Education Journal Vol XII No 4 Oct Dec 2002 Also published in refereed ASEE 2002 Conference Proceedings CD ROM Session 1520 http facstaffwebs umes edu eyilmaz relase02 pdf National Instruments Austin Texas 800 433 3488 http www ni com Function and VI Reference Manual 1 98 Data Acquisition Basics Manual 1 9
12. d from US Digital Both channels A and B generate 1000 pulses per revolution but they have a phase angle of one fourth of one period Index output I goes high once per revolution of the encoder Channel A was used for the data acquisition Some technical specifications of the optical encoder are given in Table 2 Crankshaft pulley diameters are different on different engines Since belt speed Proceedings of the 2005 American Society for Engineering Education Annual Conference amp Exposition Copyright 2005 American Society for Engineering Education G 96 0 3bed depends on the engine rotational speed and the crankshaft diameter an optimum encoder diameter needs to be calculated The encoder pulse rate should not exceed its rated value of 100 kHz and should not be less than 500 Hz It can be shown that encoder diameter can be calculated using Dx Nx ppr D x N x ppr Where f 100 000 Hz and f 500 Hz Table 2 Technical Specifications for the Optical Encoder Used Model No HD25 Channel A 1000 ppr Channel B 1000 ppr Channel I 1 ppr Max rotational speed 6 000 rpm limited by electronics at 100 kHz Supply Voltage 5 5 VDC max Frequency Response 100 kHz Axial Load 40 Ibs Radial load 35 Ibs Weight 17 oz The encoder is bolted to an 18 in long handle As shown in Fig 1 with the help of the handle the encoder pulley may be pressed against the crankshaft belt for cylinder relative pow
13. ed In both cases frequency engine speed variation is about 4 Proceedings of the 2005 American Society for Engineering Education Annual Conference amp Exposition Copyright 2005 American Society for Engineering Education vl S96 01 9bLed Frequency Waveform Graph Frequency Weasel cea aa ce ee a eae eee Nae Ieee 2 10 ig ZU Zo Uo see toe GU co OU Coe S OU eco AU S LUL Sample Number Frequency Waveform Graph Frequency Frequency Hz 65000 a J 1 1 1 1 1 1 1 1 i i fa ey ley rat a ce Gu Ge Gly ul ei tt fe es Sample Number Figure 5 Frequency variation when eight cylinders top and seven below cylinders are firing Sixth peak is missing in lower figure In each case frequency engine speed variation is about 1 Proceedings of the 2005 American Society for Engineering Education Annual Conference amp Exposition Copyright 2005 American Society for Engineering Education GL 96 01 ebed Encoder Signal o haa i O Counter 1 used as counter Counter 0 used as scaler Calculate Frequency Store Into File 20 MHz Clock Generator Calculate Displa ed Parameters Results ADC Display Channel 0 20 samples Display Results Figure 6 Block Diagram of the Setup Input connections to Counter 1 are internal Proceedings of the 2005 American Society for Engineering Education Annual Conf
14. er measurements b Data Acquisition System Our old data acquisition system still being used consists of a TDK 486 66 microcomputer a Data Translation DT2805 low level 12 bit data acquisition board and ASYST version 2 1 software The DT2805 board has a DT707 screw terminal box The box supports thermocouple inputs with a reference junction occupying analog input channel 0 Throughput speed with single channel analog input is up to 13 7 kHz at 1X and 10X amplifications Although writing programs with ASYST is simpler it was not used because the acquisition speed of DT2805 board was low for this application Keithley discontinued support of ASYST software in 1993 with version 4 01 No drivers are available for new data acquisition boards A new microcomputer based data acquisition system was assembled and used to count the pulses generated by the optical encoder The system consists of a Penttum 4 2 0GHz microcomputer National Instruments PCI 6023E data acquisition board with BNC2090 Shielded BNC Adapter Proceedings of the 2005 American Society for Engineering Education Annual Conference amp Exposition Copyright 2005 American Society for Engineering Education 9 96 0 e6eg Chassis and LabVIEW 7 0 software The BNC2090 adapter supports all of the inputs that the data acquisition board has The adapter chassis is connected to the board with a flat cable All ADC DAC and triggering inputs use BNC connectors Digital inpu
15. erence amp Exposition Copyright 2005 American Society for Engineering Education 9L S96 01 ebed
16. iggered by an inductive probe attached to the cylinder 1 ignition cable through the digital trigger input of the data acquisition board This trigger starts the acquisition of a signal on one of the set channels of the ADC Since there is no trigger for the counters ADC channel triggering was used to start the acquisition The encoder generates 0 5 Volt square wave signal This signal was fed to the ADC channel 0 input the ADC external trigger input and the counter 0 source input PFI8 of the DAQ board Only a few cycles of the encoder signal were acquired by the ADC and displayed for observation purposes The acquired 100 frequency values were stored into a spreadsheet file and displayed on the screen both in table and in graphical form For completeness a block diagram of the setup is given in Fig 6 The author could not use the DT304 board with DT Foundry software since the only available frequency counter VI was software timed and it was not accurate enough for this project Proceedings of the 2005 American Society for Engineering Education Annual Conference amp Exposition Copyright 2005 American Society for Engineering Education Z 96 0 e6eg c Programming of Data Acquisition and Signal Processing LabVIEW software was used to program the data acquisition and to display the acquired encoder signal frequencies LabVIEW laboratory Virtual Instrument Engineering Workbench is a development environment based on the graphical
17. ive cylinder power For a constant angular acceleration the governing equations are o Wo 2 0 00 1 T I a 2 AP T Aq 3 Substituting equation 1 into equation 2 and using o 0 Aw Wo 2 o A 4 Equation 3 becomes T a Aw AP 5 Since I and 0 00 are either the same or approximately the same for each cylinder AP Aw AN 6 Measurement of Instantaneous Belt Velocity As each cylinder produces power during its power stroke engine speed increases slightly Therefore a plot of engine speed as a function of time will have peaks starting at the firing time of each cylinder An optical encoder riding on engine crankshaft belt or any belt generates square pulses as it rotates Since the belt speed and the frequency of pulses generated by an optical encoder are proportional one can plot the frequency of the pulses instead of the engine speed For an 8 cylinder engine there will be 8 power peaks per two revolutions of the crankshaft Assuming one needs 10 points to reasonably display each power peak one has to measure 80 frequency values within a time frame of two crankshaft revolutions Let us round this number to 100 If the engine speed is 1200 rpm it takes 100 ms to complete two revolutions Therefore each frequency measurement needs to be completed within 1 ms To identify which Proceedings of the 2005 American Society for Engineering Education Annual Conference am
18. p Exposition Copyright 2005 American Society for Engineering Education 96 0 e6ed peak belongs to which cylinder start of the data acquisition needs to be synchronized with the firing of one of the cylinders Since firing order of an engine is given starting with the first cylinder acquisition may be started with the firing of the first cylinder To calculate the frequency of square pulses generated by the optical encoder one may measure either the period of the signal or count the number of peaks of the signal within a fixed time period If a data acquisition system is used this can be done with an Analog to Digital Converter ADC channel or with counters of the data acquisition DAQ board When a slow DAQ board is used acquired data may be stored in an array or in memory and written into a file The written file may be processed after the acquisition is complete Encoder and DAQ board speed requirements given in the following methods are for 1 accuracy in frequency measurements and for an engine running at 1200 rpm One has to acquire at least 100 encoder pulses or count 100 clock pulses for each frequency measurement for 1 accuracy 1 Period Measurement Using ADC Channel With this method one can sample the encoder signal using an ADC channel of a data acquisition board at a fixed rate and count the number of points acquired between two encoder pulses Since acquisition rate is constant the number of acquired points may
19. t find a way of using the SUN diagnostic machine on new car engines Most new engines do not have open ignition coils or distributors where one can connect the grounding lead of the diagnostic unit In addition most car computers try to maintain an average engine idle speed at a fixed value even if one of the cylinders loses its power Proceedings of the 2005 American Society for Engineering Education Annual Conference amp Exposition Copyright 2005 American Society for Engineering Education Z 96 0 bed In this study an optical encoder was used to measure the instantaneous speed of an engine during one combustion cycle Variations in the instantaneous engine speed during one cycle two revolution of the crank shaft are decreased by the flexibilies of the belts and the moment of inertia of the flywheel and other moving parts of the engine Therefore variations in speed will depend on the engine size and design One can estimate cylinder s relative power using change in engine speed during the power stroke For a simple case of constant angular acceleration and assuming that acceleration starts from the same initial angular velocity for each cylinder say at o as Shown below power generated by a cylinder is proportional to the square of the increase in the engine speed In real life angular acceleration is not constant since torque is not constant Nevertheless square of the change in the engine speed is an indication of relat
20. ta points on the graph Since 100 frequency values are more than enough to generate the graph one can use the total period of multiple pulses as a gate To obtain a cumulative period a second counter is used as frequency divider A division by 100 will be appropriate for an encoder running at 100 kHz With this method the minimum encoder and counter speed requirements are 500 Hz 1 ms pulse 2 ms period and 100 kHz 100 pulses in 1 ms respectively The Two Counters Low Frequency method was used for this project since it is the most accurate of the all methods given above for frequency measurement A summary of optical encoder and data acquisition board requirements are given in Table 1 If the engine idle speed is 600 rpm speed requirements will be half of the values given in Table 1 Table 1 Summary of encoder and DAQ board requirements for one percent accuracy in frequency measurement for an 8 cylinder engine running at 1200 rpm Method of Measurement Encoder Speed ADC speed kS s Counter speed kHz kHz ADC period measurement 1 gate 100 source ADC pulse counting 100 source 200 gate 2 Counter Hi Frequency 100 source 50 gate 2 Counter Low Frequency 0 5 gate 100 source Instrumentation a Optical Sensor Assembly For the previous project an Opto Generic Devices optical encoder was used Since the encoder was not durable and had a slow speed 50 kHz a new encoder was purchase
21. ts and counters use spring loaded terminals The ADC gains on the board can be set by software for each channel Major specifications for the board are given in Table 3 Table 3 Major Technical Specifications for PCI 6023E Data Acquisition Board Resolution ADC Channels DAC Programmable I O Ports Counters ADC Speed kS s Channels Gains bits bits Speed 12 16SE 200 0 0 5 1 10 100 1 8 2 24 20MHz The computer also has a Data Translation DT304 PCI data acquisition board with an STP300 screw terminal and with DT Foundry software installed The screw terminal supports all of the inputs that the data acquisition board has DT LV Link software allows use of LabVIEW programming with the Data Translation Board A library of DT VIs is also available The author s effort in using this board with DT Foundry and LabVIEW software is in progress Therefore major specifications for this board are also given in Table 4 Table 4 Major Technical Specifications for DT304 Data Acquisition Board Resolution ADC Channel DAC Programmable I O Ports Counters ADC DAC SE DI Speed Channels Gains bits bits Speed 12 12 16 8 400kS s 2 1 2 4 8 3 8 4 16 SMHz LabVIEW 7 0 software was used to acquire and display the acquired signal The Two Counters Low Frequency method discussed above was used to measure frequencies of the pulses received from the optical encoder Acquisition start time may be tr
22. y of a signal using counters Counters are available on most multi purpose data acquisition boards One of the methods uses an accurate known width gate pulse to count the number of pulses received from the source the signal whose frequency will be measured during the gating duration A second counter or software is used to generate the required gate pulse Since the Windows timer is not accurate for short Proceedings of the 2005 American Society for Engineering Education Annual Conference amp Exposition Copyright 2005 American Society for Engineering Education 7 S96 01 e6beg periods software timing cannot be used for this project This method is good for high frequency signals since large number of pulses can be received during gating With this method the minimum encoder and counter channel speed requirements are 100 kHz 100 pulses in 1 ms and 50 kHz 1 ms gate pulse width 2 ms period respectively The frequency of the encoder signal is equal to the number of peaks counted divided by the gate pulse width 4 Two Counters Low Frequency Method The second method uses the period of the source signal as a gate and an internal high speed clock usually 5 20 MHz as a source This method is good for slower signals and for signals having large frequency variations In theory one can measure the frequency of two consecutive pulses therefore when a 100 kHz encoder is used one can have close to 10 000 100 kHz 100 ms plot duration da
23. z Proceedings of the 2005 American Society for Engineering Education Annual Conference amp Exposition Copyright 2005 American Society for Engineering Education Ol 96 01 abed Figure 1 Optical encoder as being held by a fixture against electric motor belt for testing Proceedings of the 2005 American Society for Engineering Education Annual Conference amp Exposition Copyright 2005 American Society for Engineering Education LL S96 01 obed Page 10 963 12 UOI DINPY BULUIIUIBUT AOf MJA1IOG UDILIAUP COQZ 1Ysluddoy UOIISOdXT 3 ADUasa UOD JONUUP UOLJVINPY SuUIIaULBUT AOL AJA1IIOG UDILIAUP CYT 241 JO SBuIpaaIOIg Werd MALAGE T 99 JO Jouvg U01 z OANA Jaquinyy ajdwes 08 09 Ob zZ Auanbaly Jaquinyy ajdwes oooT 008 009 OOF ooz 0 1 I 1 1 1 0 Yydeus wiojaaeiy Aduanbad4 j oestaaq s aul n0 09 ng OF n0 02 9 22209 Ajuanbadj abeuaay r ozil 4OSIAI j 0002S 00085 p b T 0006S amp S x ys3 42 00009 a 23 gue J 4 Ndur F s 7 n Tore ooooozii 00019 J 2H ae Buydwes JauueY gt Jad sajdwes meL 5 437 3We4ed Huru L Ozii Jauuey gt Jad sajdues Iv P o0 OT g SOA WNWIXE y rr oaoot O0 OT iene oot 2H anje baw wnwiully SJOA WNUN pabevaay syuawajg jo Jaquinhy amas ooonoaT f T ra 0 oo0s S zzo seses i 2H anea basy wnwxew 4 x a r anog 4aBBiay 000001 2H 43uanba 4 Susy fie Q 00052
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