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g_origH=3Dsld.style.posHeight g_origW=3Dsld.style.posWidth g_scaleHyperlinks=3D(document.all.tags("AREA").length>0) if( g_scaleHyperlinks ) InitHLinkArray() if( g_scaleInFrame||(IsWin("PPTSld") && parent.IsFullScrMode() ) ) document.body.scroll=3D"no" _RSW() if( IsWin("PPTSld") && parent.IsFullScrMode() ) FullScrInit(); =09 MakeSldVis(); ChkAutoAdv() if( runAnimations ) { if( document.all("NSPlay") ) document.all("NSPlay").autoStart =3D false; if( sld.filters && sld.filters.revealtrans ) setTimeout( "document.body.start()", sld.filters.revealtrans.duration * = 1000 ); else document.body.start(); } } function MakeSldVis()=20 { var fTrans=3Dg_showAnimation && SldHasTrans() if( fTrans )=09 { if( g_bgSound ) { idx=3Dg_bgSound.indexOf(","); pptSound.src=3Dg_bgSound.substr( 0, idx ); pptSound.loop=3D -(parseInt(g_bgSound.substr(idx+1))); } SlideObj.filters.revealtrans.Apply()=09 } SlideObj.style.visibility=3D"visible" if( fTrans ) SlideObj.filters.revealtrans.Play() } function MakeNotesVis()=20 { if( !IsNts() ) return false=20 SlideObj.style.display=3D"none" nObj =3D document.all.item("NotesObj") parent.SetHasNts(0) if( nObj ) {=20 nObj.style.display=3D"" parent.SetHasNts(1) } return 1 } function ChkAutoAdv() { if(SldHasTrans()) SlideObj.onfilterchange=3DAutoAdv else AutoAdv() } function AutoAdv() { if(!IsWin("PPTSld") || !gUseSldTimings )return var sld=3DGetCurSld() if( (sld.mAdvDelay>0) && !parent.IsFramesMode() ) setTimeout("parent.GoToNextSld()",sld.mAdvDelay) } function GetObj(id) { if(g_supportsPPTHTML) return document.all(id); else return document.getElementById(id); } function SldHasTrans() { return SlideObj.style.filter !=3D ""; } function GetSldId() { return sId=3Dlocation.href.substring(location.href.la= stIndexOf('/')+1) } function HideMenu() { if( frames["PPTSld"] && PPTSld.document.all.item("ctx= tmenu") && PPTSld.ctxtmenu.style.display!=3D"none" ) { PPTSld.ctxtmenu.styl= e.display=3D'none'; return true } return false } function IsWin( name ) { return window.name =3D=3D name } function IsNts() { return IsWin("PPTNts") } function IsSldOrNts() { return( IsWin("PPTSld")||IsWin("PPTNts") ) } function SupportsPPTAnimation() { return( navigator.platform =3D=3D "Win32"= && navigator.appVersion.indexOf("Windows")>0 ) } function SupportsPPTHTML() { var appVer=3Dnavigator.appVersion, msie=3DappVer.indexOf("MSIE "), ver=3D0 if( msie >=3D 0 ) ver=3DparseFloat( appVer.substring( msie+5, appVer.indexOf(";",msie) ) ) else ver=3DparseInt(appVer) return( ver >=3D 4 && msie >=3D 0 ) } function _RSW() { if( !g_supportsPPTHTML || IsNts() || ( !g_scaleInFrame && (!IsWin("PPTSld") || !parent.IsFullScrMode()) ) ) return var padding=3D0; if( IsWin("PPTSld") && parent.IsFramesMode() ) padding=3D6 cltWidth=3Ddocument.body.clientWidth-padding cltHeight=3Ddocument.body.clientHeight-padding factor=3D(1.0*cltWidth)/g_origW if( cltHeight < g_origH*factor ) factor=3D(1.0*cltHeight)/g_origH newSize =3D g_origSz * factor if( newSize < 1 ) newSize=3D1 s=3DSlideObj.style s.fontSize=3DnewSize+"px" s.posWidth=3Dg_origW*factor s.posHeight=3Dg_origH*factor s.posLeft=3D(cltWidth-s.posWidth+padding)/2 s.posTop=3D(cltHeight-s.posHeight+padding)/2 if( g_scaleHyperlinks ) ScaleHyperlinks( factor ) } function _InitAnimations() { animRuntimeInstalled =3D ''+document.body.localTime !=3D 'undefined'; isFullScreen =3D (window.name =3D=3D "PPTSld") && !parent.IsFramesMode(); g_animUseRuntime =3D g_showAnimation && animRuntimeInstalled && !(isFullSc= reen && parent.IsSldVisited()); if( g_animUseRuntime ) { collSeq =3D document.all.tags("seq"); if( collSeq !=3D null ) { for(ii=3D0;ii<collSeq.length;ii++) { if( collSeq[ii].getAttribute( "p:nodeType" ) =3D=3D "mainSeq" ) { g_animMainSequence =3D collSeq[ii]; break; } } } =09 if( g_animItemsToHide && document.body.playAnimations !=3D false ) { for(jj =3D 0; jj < g_animItemsToHide.length; jj++) { if( hideObj =3D GetObj(g_animItemsToHide[jj]) ) hideObj.runtimeStyle.visibility=3D"hidden"; } } if( g_animInteractiveItems ){ for(jj =3D 0; jj < g_animInteractiveItems.length; jj++) { if( triggerObj =3D GetObj(g_animInteractiveItems[jj]) ) triggerObj.runtimeStyle.cursor=3D"hand"; } } =09 if( gUseSldTimings && ''+g_animSlideTime !=3D 'undefined' ) { adjustedTime =3D document.body.calculateAutoAdvanceTimes( g_animSlideTim= e, g_animEffectTimings ); if( IsWin("PPTSld") && adjustedTime !=3D g_animSlideTime ) { var sld =3D GetCurSld(); sld.mAdvDelay =3D adjustedTime * 1000; } } } return g_animUseRuntime; } gSldJump =3D 0, gSldJumpTrack =3D 0, gSldJumpIdx =3D ""; function _KPH() {=20 if( IsNts() ) return; if( !parent.IsFramesMode() && event.keyCode =3D=3D 27 && !HideMenu() ) parent.window.close( self ); else if( event.keyCode =3D=3D 32 ) { if( window.name =3D=3D "PPTSld" ) parent.PPTSld.DocumentOnClick(); else parent.GoToNextSld(); } CatchNumKeys( parent, event ); } function CatchNumKeys( win, event ) { if( win.IsFullScrMode() && (48<=3Devent.keyCode) && (event.keyCode<=3D57) = ) { gSldJump =3D 1; gSldJumpIdx +=3D (event.keyCode-48).toString(); } if( win.IsFullScrMode() && gSldJump && event.keyCode =3D=3D 13 ) { var numSlds =3D parent.GetSldList().mList.length if ( gSldJumpIdx > numSlds ) gSldJumpIdx =3D numSlds; if ( gSldJumpIdx >=3D 0 ) { if ( gSldJumpIdx =3D=3D 0 ) gSldJumpIdx =3D 1; var jumpTo =3D parseInt(gSldJumpIdx); gSldJump =3D 0; gSldJumpIdx =3D ""; win.GoToSld( parent.GetSldList().mList[jumpTo-1].mSldHref ) } } } function _KDH() { if( event.keyCode =3D=3D 8 ) { event.returnValue =3D 0; parent.GoToPrevSld(); } } function DocumentOnClick() { if( IsNts() || parent.HideMenu() ) return; if( ( g_allowAdvOnClick && !parent.IsFramesMode() ) || (event && (event.keyCode=3D=3D32) ) ) parent.GoToNextSld(); } var g_supportsPPTHTML =3D SupportsPPTHTML(), g_scaleInFrame =3D 1, gId=3D""= , g_bgSound=3D"", g_scaleHyperlinks =3D false, g_allowAdvOnClick =3D 1, g_showInBrowser = =3D 0, gLoopCont =3D 0, gUseSldTimings =3D 1; var g_showAnimation =3D g_supportsPPTHTML && SupportsPPTAnimation() && ( (w= indow.name=3D=3D"PPTSld" && !parent.IsFramesMode()) || g_showInBrowser );va= r g_animManager =3D null; var g_animUseRuntime =3D false; var g_animItemsToHide, g_animInteractiveItems, g_animSlideTime; var g_animMainSequence =3D null; var ENDSHOW_MESG=3D"End of slide show, click to exit.", SCREEN_MODE=3D"Fram= es", gIsEndShow=3D0, NUM_VIS_SLDS=3D23, SCRIPT_HREF=3D"script.js", FULLSCR_= HREF=3D"fullscreen.htm"; var gCurSld =3D gPrevSld =3D 1, g_offset =3D 0, gNtsOpen =3D gHasNts =3D gO= tlTxtExp =3D 0, gHasNarration =3D 0, gOtlOpen =3D true window.gPPTHTML=3DSupportsPPTHTML() var gMainDoc=3Dnew Array(new hrefList("slide0001.htm",1,-1,1),new hrefList(= "slide0002.htm",1,-1,1),new hrefList("slide0009.htm",1,-1,1),new hrefList("= slide0010.htm",1,-1,1),new hrefList("slide0013.htm",1,-1,1),new hrefList("s= lide0004.htm",1,-1,1),new hrefList("slide0016.htm",1,-1,1),new hrefList("sl= ide0021.htm",1,-1,1),new hrefList("slide0019.htm",1,-1,1),new hrefList("sli= de0032.htm",1,-1,1),new hrefList("slide0033.htm",1,-1,1),new hrefList("slid= e0034.htm",1,-1,1),new hrefList("slide0040.htm",1,-1,1),new hrefList("slide= 0042.htm",1,-1,1),new hrefList("slide0038.htm",1,-1,1),new hrefList("slide0= 037.htm",1,-1,1),new hrefList("slide0044.htm",1,-1,1),new hrefList("slide00= 45.htm",1,-1,1),new hrefList("slide0047.htm",1,-1,1),new hrefList("slide004= 8.htm",1,-1,1),new hrefList("slide0053.htm",1,-1,1),new hrefList("slide0064= .htm",1,-1,1),new hrefList("slide0067.htm",1,-1,1)); /********************************************* Frameset functions These functions control slide navigation and state of the frameset. **********************************************/ function FullScrInit() { g_allowAdvOnClick =3D GetCurSld().mAdvOnClk document.body.style.backgroundColor=3D"black" document.oncontextmenu=3Dparent._CM; document.onkeydown =3D _KDH; document.ondragstart=3DCancel document.onselectstart=3DCancel self.focus() } function Redirect( frmId ) {=09 var str=3Ddocument.location.hash,idx=3Dstr.indexOf('#'), sId=3DGetSldId() if(idx>=3D0) str=3Dstr.substr(1); if( window.name !=3D frmId && ( sId !=3D str) ) { obj =3D GetObj("Main-File") window.location.href=3Dobj.href+"#"+sId return 1 } return 0 } var MHTMLPrefix =3D CalculateMHTMLPrefix();=20 function CalculateMHTMLPrefix() { if ( document.location.protocol =3D=3D 'mhtml:') {=20 href=3Dnew String(document.location.href)=20 Start=3Dhref.indexOf('!')+1=20 End=3Dhref.lastIndexOf('/')+1=20 if (End < Start)=20 return href.substring(0, Start)=20 else=20 return href.substring(0, End)=20 } return ''; } function GetTags(base,tag) { if(g_supportsPPTHTML) return base.all.tags(tag); else return base.getElementsByTagName(tag); } function UpdNtsPane(){ if(frames["PPTNts"]) PPTNts.location.replace( MHTMLP= refix+GetHrefObj( gCurSld ).mNtsHref ) } function UpdNavPane( sldIndex ){ if(gNavLoaded) PPTNav.UpdNav() } function UpdOtNavPane(){ if(gOtlNavLoaded) PPTOtlNav.UpdOtlNav() } function UpdOtlPane(){ if(gOtlLoaded) PPTOtl.UpdOtl() } function SetHasNts( fVal ) { if( gHasNts !=3D fVal ) { gHasNts=3DfVal UpdNavPane() } } function ToggleOtlText() { gOtlTxtExp=3D!gOtlTxtExp UpdOtlPane() } function ClearMedia() { // Clear any sounds playing before launching another browser window. Other= wise, // in fullscreen mode, you'll continue to hear the sound in the frames mod= e. if (PPTSld.pptSound) PPTSld.pptSound.loop =3D 0; } function FullScreen() {=20 if ( PPTSld.g_animUseRuntime ) PPTSld.document.body.pause(); ClearMedia(); var href =3D ( document.location.protocol =3D=3D 'mhtml:') ? FULLSCR_HREF = : FULLSCR_HREF+"#"+GetHrefObj(gCurSld).mSldHref; if(PPTNav.event.ctrlKey) { var w =3D (window.screen.availWidth * 1.0) / 2.0 var h =3D w * (PPTSld.g_origH * 1.0) / PPTSld.g_origW win =3D window.open( MHTMLPrefix+href,null,"toolbar=3D0,resizable=3D1,top= =3D0,left=3D0," + "width=3D"+ w + ",height=3D" + h ); if( win.document.body && PPTSld.g_animUseRuntime ) win.document.body.PPTSldFrameset=3Dwindow; } else { win =3D window.open( MHTMLPrefix+href,null,"fullscreen=3Dyes" ); if( win.document.body && PPTSld.g_animUseRuntime ) win.document.body.PPTSldFrameset=3Dwindow; } } function ToggleVNarration() { rObj=3DPPTSld.document.all("NSPlay") if( rObj && !PPTSld.g_animUseRuntime ) { if( (rObj.playState =3D=3D 1)||(rObj.playState =3D=3D 0) ) rObj.Play() else if( rObj.playState =3D=3D 2 ) rObj.Pause() else return; } else if( PPTSld.g_animUseRuntime ) { narObj =3D PPTSld.document.all("narrationID") if( narObj ) narObj.togglePause() } } function GetCurSldNum() { =20 obj=3DGetHrefObj(gCurSld) if( obj.mOrigVis =3D=3D 1 ) return obj.mSldIdx else =20 return gCurSld } function GetNumSlds() { =20 if( GetHrefObj(gCurSld).mOrigVis =3D=3D 1 ) return GetSldList().mNumVisSlds; else return GetSldList().mList.length } function GetSldNum( href ) { for(ii=3D0; ii<GetSldList().mList.length; ii++) { if ( GetSldList().mList[ii].mSldHref =3D=3D href ) return ii+1 } return 1 } function GetHrefObj( sldIdx ){ return GetSldList().mList[sldIdx-1] } function IsFramesMode(){ return ( SCREEN_MODE =3D=3D "Frames" ) } function IsFullScrMode(){ return ( SCREEN_MODE =3D=3D "FullScreen" ) } function GoToNextSld() { ii=3DgCurSld + 1 if( GetHrefObj( ii-1 ).mOrigVis =3D=3D 0 ) { if( ii<=3DGetSldList().mList.length ) { obj=3DGetHrefObj(ii) obj.mVis=3D1 GoToSldNum(ii) return } } else { obj=3DGetHrefObj( ii ) while ( obj && ( obj.mOrigVis =3D=3D 0 ) ) obj=3DGetHrefObj(++ii) if( obj && obj.mOrigVis ) { GoToSldNum(ii) return } } if( gSldStack.length > 1 ) PopSldList(); else if( !IsFramesMode() ) { if( gLoopCont ) GoToFirst() else EndShow() } } function GoToPrevSld() { ii=3DgCurSld-1 if( ii > 0 ) { obj=3DGetHrefObj(ii) while ( obj && ( obj.mVis =3D=3D 0 ) && ( ii>0 ) ) obj=3DGetHrefObj(--ii) if( ii =3D=3D 0 ) ii=3D1 GoToSldNum(ii) } } function GoToFirst(){ GoToSld( GetHrefObj(1).mSldHref ) } function GoToLast() { ii=3DGetSldList().mList.length if( ii !=3D gCurSld ) GoToSld( GetHrefObj(ii).mSldHref ) } function GoToSldNum( num ) { if( PPTSld.event ) PPTSld.event.cancelBubble=3Dtrue obj =3D GetHrefObj( num ) obj.mVis=3D1 gPrevSld=3DgCurSld gCurSld =3D num; PPTSld.location.replace(MHTMLPrefix+obj.mSldHref) if( IsFramesMode() ) { UpdNavPane(); UpdOtlPane(); UpdNtsPane() } } function GoToSld( href ) { if( PPTSld.event ) PPTSld.event.cancelBubble=3Dtrue GetHrefObj( GetSldNum(href) ).mVis=3D1 PPTSld.location.replace(MHTMLPrefix+href) } function SldUpdated( id ) { if( id =3D=3D GetHrefObj(gCurSld).mSldHref ) return gPrevSld=3DgCurSld gCurSld=3DGetSldNum(id) if( IsFramesMode() ) { UpdNavPane(); UpdOtlPane(); UpdNtsPane() } } function PrevSldViewed(){ GoToSld( GetHrefObj(gPrevSld).mSldHref ) } function HasPrevSld() { return ( gIsEndShow || ( gCurSld !=3D 1 && GetHrefO= bj( gCurSld-1 ).mVis =3D=3D 1 )||( GetCurSldNum() > 1 ) ) } function HasNextSld() { return (GetCurSldNum() !=3D GetNumSlds()) } function CloseWindow() { if( HideMenu() ) return; =09 var event =3D PPTSld.event; if( !IsFramesMode() && event && (event.keyCode=3D=3D27 || event.keyCode=3D= =3D32 || event.type=3D=3D"click" ) ) window.close( self ); CatchNumKeys( self, event ); } function Unload() { gIsEndShow=3D0; } function SetupEndShow() { gIsEndShow=3D1; PPTSld.document.body.scroll=3D"no"; PPTSld.document.onkeypress=3DCloseWindow; PPTSld.document.onclick=3DCloseWindow; PPTSld.document.oncontextmenu=3D_CM; } function EndShow() { if( IsFramesMode() ) return if( PPTSld.event ) PPTSld.event.cancelBubble=3Dtrue doc=3DPPTSld.document var dir =3D doc.body.dir if( dir !=3D "rtl" ) dir =3D "ltr"; doc.open() doc.writeln('<html><body dir=3D' + dir + ' bgcolor=3Dblack onload=3Dparent= .SetupEndShow() onunload=3Dparent.Unload()><center><p><font face=3DTahoma c= olor=3Dwhite size=3D2><br><b>' + ENDSHOW_MESG + '</b></font></p></center></= body></html>') doc.close() } function SetSldVisited(){ GetSldList().mList[gCurSld-1].mVisited=3Dtrue } function IsSldVisited(){ return GetSldList().mList[gCurSld-1].mVisited } function hrefList( sldHref, visible, advDelay, advClk ) { this.mSldHref=3D this.mNtsHref =3D sldHref this.mOrigVis=3D this.mVis =3D visible this.mVisited=3D false this.mAdvDelay=3D advDelay this.mAdvOnClk=3D advClk } function SldList(arr,curSld,fEnd) { this.mCurSld =3D curSld; this.mList =3D new Array(); var idx =3D 1; for(ii=3D0;ii<arr.length;ii++) { this.mList[ii] =3D new hrefList( arr[ii].mSldHref, arr[ii].mOrigVis, arr[= ii].mAdvDelay, arr[ii].mAdvOnClk ); if( arr[ii].mOrigVis ) this.mList[ii].mSldIdx =3D idx++; } this.mNumVisSlds =3D idx-1; this.fEndShow =3D fEnd; } function GetSldList() { return gSldStack[gSldStack.length-1] } function GetCurSld() { return parent.GetSldList().mList[parent.gCurSld - 1]= } gSldStack =3D new Array(); gSldStack[0] =3D new SldList(gMainDoc,gCurSld,1) function ToggleOtlPane() { frmset=3Ddocument.all("PPTHorizAdjust") frm=3Ddocument.all("PPTOtl") if( gOtlOpen ) frmset.cols=3D"*,100%" else frmset.cols=3D"25%,*" gOtlOpen=3D!gOtlOpen frm.noResize=3D!frm.noResize UpdOtNavPane() } function ToggleNtsPane() { frmset=3Ddocument.all("PPTVertAdjust") frm=3Ddocument.all("PPTNts") if( gNtsOpen ) frmset.rows=3D"100%,*" else frmset.rows=3D"*,20%" gNtsOpen=3D!gNtsOpen UpdNtsPane() } /********************************************* Custom Shows implementation When ViewCustomShow() is called, we create a new array that is a subset of the slides in=20 the main doc. This list pushed on a stack so we can return after the end of the custom show. *********************************************/ function ViewCustomShow(idx,fEnd) { if( !IsFullScrMode() ) return; var sldList =3D new Array(); var custShow =3D custShowList[idx-1]; var jj =3D 0; for( ii=3D0;ii<custShow.length;ii++ ) { if( custShow[ii] <=3D gMainDoc.length ) sldList[jj++] =3D gMainDoc[custShow[ii]-1]; } if (sldList.length > 0) { PushSldList(sldList,fEnd); gCurSld =3D 1; } else if( PPTSld.event ) PPTSld.event.cancelBubble=3Dtrue } function PushSldList(arr,fEnd) { var ii =3D gSldStack.length; gSldStack[ii] =3D new SldList(arr,gCurSld,fEnd); GoToSld( gSldStack[ii].mList[0].mSldHref ); } function PopSldList() { if (gSldStack[gSldStack.length-1].fEndShow) EndShow() else { gCurSld =3D gSldStack[gSldStack.length-1].mCurSld; gSldStack[gSldStack.length-1] =3D null; gSldStack.length--; var sldList =3D gSldStack[gSldStack.length-1]; GoToSld( sldList.mList[gCurSld - 1].mSldHref ); } } var custShowList=3Dnew Array(); /********************************************* Navigation button implementation There are 2 types of buttons: ImgBtn, TxtBtn implemented as function objects. They share a similiar interface so the event handlers can call SetActive, for example, on a button=20 object without needing to know exactly=20 what type of button it is. **********************************************/ //---------------------------------- function ImgBtn( oId,bId,w,action ) //---------------------------------- { var t=3Dthis t.Perform =3D _IBP t.SetActive =3D _IBSetA t.SetInactive=3D _IBSetI t.SetPressed =3D _IBSetP t.SetDisabled=3D _IBSetD t.Enabled =3D _IBSetE t.ChangeIcon =3D null t.UserAction =3D action t.ChgState =3D _IBUI t.mObjId =3D oId t.mBorderId=3D bId t.mWidth =3D w t.mIsOn =3D t.mCurState =3D 0 } function _IBSetA() { if( this.mIsOn ) { obj=3Dthis.ChgState( gHiliteClr,gShadowClr,2 ) obj.style.posTop=3D0 } } function _IBSetI() { if( this.mIsOn ) { obj=3Dthis.ChgState( gFaceClr,gFaceClr,1 ) obj.style.posTop=3D0=20 } } function _IBSetP() { if( this.mIsOn ) { obj=3Dthis.ChgState( gShadowClr,gHiliteClr,2 ) obj.style.posLeft+=3D1; obj.style.posTop+=3D1 } } function _IBSetD() { =20 obj=3Dthis.ChgState( gFaceClr,gFaceClr,0 ) obj.style.posTop=3D0=20 } function _IBSetE( state ) { var t=3Dthis GetObj( t.mBorderId ).style.visibility=3D"visible" if( state !=3D t.mIsOn ) { t.mIsOn=3Dstate if( state ) t.SetInactive() else t.SetDisabled() } } function _IBP() { var t=3Dthis if( t.mIsOn ) { if( t.UserAction !=3D null ) t.UserAction() if( t.ChangeIcon ) { obj=3DGetObj(t.mObjId) if( t.ChangeIcon() ) obj.style.posLeft=3Dobj.style.posLeft+(t.mCurState-4)*t.mWidth else obj.style.posLeft=3Dobj.style.posLeft+(t.mCurState-0)*t.mWidth } t.SetActive() } =20 } function _IBUI( clr1,clr2,nextState ) { var t=3Dthis SetBorder( GetObj( t.mBorderId ),clr1,clr2 ) obj=3DGetObj( t.mObjId ) obj.style.posLeft=3Dobj.style.posLeft+(t.mCurState-nextState)*t.mWidth-obj= .style.posTop t.mCurState=3DnextState return obj } //----------------------------------------- function TxtBtn( oId,oeId,action,chkState ) //----------------------------------------- { var t=3Dthis t.Perform =3D _TBP t.SetActive =3D _TBSetA t.SetInactive=3D _TBSetI t.SetPressed =3D _TBSetP t.SetDisabled=3D _TBSetD t.SetEnabled =3D _TBSetE t.GetState =3D chkState t.UserAction =3D action t.ChgState =3D _TBUI t.mObjId =3D oId t.m_elementsId=3D oeId t.mIsOn =3D 1 } function _TBSetA() { var t=3Dthis if( t.mIsOn && !t.GetState() ) t.ChgState( gHiliteClr,gShadowClr,0,0 ) } function _TBSetI() { var t=3Dthis if( t.mIsOn && !t.GetState() ) t.ChgState( gFaceClr,gFaceClr,0,0 ) } function _TBSetP() { if( this.mIsOn ) this.ChgState( gShadowClr,gHiliteClr,1,1 ) } function _TBSetD() { =20 this.ChgState( gFaceClr,gFaceClr,0,0 ) this.mIsOn =3D 0 } function _TBSetE() { var t=3Dthis if( !t.GetState() ) t.ChgState( gFaceClr,gFaceClr,0,0 ) else t.ChgState( gShadowClr,gHiliteClr,1,1 ) t.mIsOn =3D 1 } function _TBP() { var t=3Dthis if( t.mIsOn ) {=20 if( t.UserAction !=3D null ) t.UserAction() if( !t.GetState ) return if( t.GetState() ) t.SetPressed() else t.SetActive() } =20 } function _TBUI( clr1,clr2,lOffset,tOffset ) { SetBorder( GetObj( this.mObjId ),clr1,clr2 ) Offset( GetObj( this.m_elementsId ),lOffset,tOffset ) } function Offset( obj, top, left ){ obj.style.top=3Dtop; obj.style.left=3Dle= ft } function SetBorder( obj, upperLeft, lowerRight ) { s=3Dobj.style; s.borderStyle =3D "solid" s.borderWidth =3D 1=20 s.borderLeftColor =3D s.borderTopColor =3D upperLeft s.borderBottomColor=3D s.borderRightColor =3D lowerRight } function GetBtnObj(){ return gBtnArr[window.event.srcElement.id] } function BtnOnOver(){ b=3DGetBtnObj(); if( b !=3D null ) b.SetActive() } function BtnOnDown(){ b=3DGetBtnObj(); if( b !=3D null ) b.SetPressed() } function BtnOnOut(){ b=3DGetBtnObj(); if( b !=3D null ) b.SetInactive() } function BtnOnUp() { b=3DGetBtnObj() if( b !=3D null ) b.Perform() else Upd() } function GetNtsState(){ return parent.gNtsOpen } function GetOtlState(){ return parent.gOtlOpen } function GetOtlTxtState(){ return parent.gOtlTxtExp } function NtsBtnSetFlag( fVal ) { s=3Ddocument.all.item( this.m_flagId ).style s.display=3D"none" if( fVal ) s.display=3D"" else s.display=3D"none" } function _BSetA_Border(){ b =3D gBtnArr[this.mObjId]; if( b !=3D null ) b.S= etActive() } function _BSetI_Border(){ b =3D gBtnArr[this.mObjId]; if( b !=3D null ) b.S= etInactive() } function _BSetP_Border(){ b =3D gBtnArr[this.mObjId]; if( b !=3D null ) b.S= etPressed() } function _BSetA_BorderImg() {=20 b =3D gBtnArr[this.mBorderId]=20 if( b !=3D null && this.mIsOn && !b.GetState() ) { obj=3Dthis.ChgState( gHiliteClr,gShadowClr,2 ) obj.style.posTop=3D0 } } function _BSetI_BorderImg() {=20 b =3D gBtnArr[this.mBorderId] if( b !=3D null && this.mIsOn && !b.GetState() ) { obj=3Dthis.ChgState( gFaceClr,gFaceClr,1 ) obj.style.posTop=3D0 } } var gHiliteClr=3D"THREEDHIGHLIGHT",gShadowClr=3D"THREEDSHADOW",gFaceClr=3D"= THREEDFACE" var gBtnArr =3D new Array() gBtnArr["nb_otl"] =3D new TxtBtn( "nb_otl","nb_otlElem",parent.ToggleOtlPan= e,GetOtlState ) gBtnArr["nb_otlElem"] =3D new TxtBtn( "nb_otl","nb_otlElem",parent.ToggleOt= lPane,GetOtlState ) gBtnArr["nb_nts"] =3D new ImgBtn( "nb_nts","nb_ntsBorder",10,parent.ToggleN= tsPane ) gBtnArr["nb_nts"].SetActive =3D _BSetA_BorderImg; gBtnArr["nb_nts"].SetInactive =3D _BSetI_BorderImg; gBtnArr["nb_ntsBorder"] =3D new TxtBtn( "nb_ntsBorder","nb_ntsElem",parent.= ToggleNtsPane,GetNtsState ) gBtnArr["nb_ntsElem"] =3D new TxtBtn( "nb_ntsBorder","nb_ntsElem",parent.To= ggleNtsPane,GetNtsState ) gBtnArr["nb_prevBorder"] =3D gBtnArr["nb_prev"]=3D new ImgBtn( "nb_prev","n= b_prevBorder",30,parent.GoToPrevSld ) gBtnArr["nb_nextBorder"] =3D gBtnArr["nb_next"]=3D new ImgBtn( "nb_next","n= b_nextBorder",30,parent.GoToNextSld ) gBtnArr["nb_sldshw"]=3D new ImgBtn( "nb_sldshw","nb_sldshwBorder",18,parent= .FullScreen ) gBtnArr["nb_sldshwBorder"] =3D new TxtBtn( "nb_sldshw","nb_sldshwBorder",pa= rent.FullScreen,null ) gBtnArr["nb_sldshwBorder"].SetActive =3D _BSetA_Border; gBtnArr["nb_sldshwBorder"].SetInactive =3D _BSetI_Border; gBtnArr["nb_sldshwText"] =3D new TxtBtn( "nb_sldshw","nb_sldshwText",parent= .FullScreen,null ) gBtnArr["nb_sldshwText"].SetActive =3D _BSetA_Border; gBtnArr["nb_sldshwText"].SetInactive =3D _BSetI_Border; gBtnArr["nb_voice"] =3D gBtnArr["nb_voiceBorder"] =3D new ImgBtn( "nb_voice= ","nb_voiceBorder",18,parent.ToggleVNarration ) gBtnArr["nb_otlTxtBorder"] =3D gBtnArr["nb_otlTxt"]=3D new ImgBtn( "nb_otlT= xt","nb_otlTxtBorder",23,parent.ToggleOtlText ) gBtnArr["nb_ntsBorder"].m_flagId=3D "nb_nts" gBtnArr["nb_ntsBorder"].SetFlag =3D NtsBtnSetFlag gBtnArr["nb_otlTxt"].ChangeIcon=3D GetOtlTxtState /********************************************* Context menu implementation _CM() is the function that's hooked up to the oncontextmenu event. Once we're asked to show the menu, we first build it by creating DIVs on-the-fly. Then we position it=20 within the screen area so it doesn't get clipped. Creating the DIVs using createElement() means we don't have to write out any extra HTML into the slide HTML files. **********************************************/ var sNext=3D"Next",sPrev=3D"Previous",sEnd=3D"End Show",sFont=3D"Arial",sAr= row=3D"Arrow",sFreeform=3D"Freeform",sRect=3D"Rectangle",sOval=3D"Oval" function ShowMenu() { BuildMenu(); var doc=3DPPTSld.document.body,x=3DPPTSld.event.clientX+doc.scrollLeft,y= =3DPPTSld.event.clientY+doc.scrollTop m =3D PPTSld.document.all.item("ctxtmenu") m.style.pixelLeft=3Dx if( (x+m.scrollWidth > doc.clientWidth)&&(x-m.scrollWidth > 0) ) m.style.pixelLeft=3Dx-m.scrollWidth m.style.pixelTop=3Dy if( (y+m.scrollHeight > doc.clientHeight)&&(y-m.scrollHeight > 0) ) m.style.pixelTop=3Dy-m.scrollHeight m.style.display=3D"" } function _CM() { if( !parent.IsFullScrMode() ) return; if(!PPTSld.event.ctrlKey) { ShowMenu() return false } else HideMenu() } function BuildMenu() { if( PPTSld.document.all.item("ctxtmenu") ) return var mObj=3DCreateItem( PPTSld.document.body ) mObj.id=3D"ctxtmenu" mObj.style.visibility=3D"hidden" var s=3DmObj.style s.position=3D"absolute" s.cursor=3D"default" s.width=3D"120px" SetCMBorder(mObj,"menu","black") var iObj=3DCreateItem( mObj ) SetCMBorder( iObj, "threedhighlight","threedshadow" ) iObj.style.padding=3D2 CreateMenuItem( iObj,sNext,M_GoNextSld,M_True ) CreateMenuItem( iObj,sPrev,M_GoPrevSld,M_HasPrevSld ) =09 CreateSeparator( iObj ) CreateMenuItem( iObj,sEnd,M_End,M_True ) mObj.style.visibility=3D"visible" } function Cancel() { window.event.cancelBubble=3Dtrue; window.event.returnVa= lue=3Dfalse } function Highlight() { ChangeClr("activecaption","threedhighlight") } function Deselect() { ChangeClr("threedface","menutext") } function Perform() { e=3DPPTSld.event.srcElement if( e.type=3D=3D"menuitem" && e.IsActive() ) e.Action() else PPTSld.event.cancelBubble=3Dtrue } function ChangeClr( bg,clr ) { e=3DPPTSld.event.srcElement if( e.type=3D=3D"menuitem" && e.IsActive() ) { e.style.backgroundColor=3Dbg e.style.color=3Dclr } } function M_HasPrevSld() { return( parent.HasPrevSld() ) } function M_GoNextSld() { if( gIsEndShow ) M_End(); else GoToNextSld() } function M_GoPrevSld() { if( gIsEndShow ) { gIsEndShow=3D0; history.back();= PPTSld.event.cancelBubble=3Dtrue; } else GoToPrevSld() } function M_True() { return true } function M_End() { window.close( self ) } function CreateMenuItem( node,text,action,eval ) { var e=3DCreateItem( node ) e.type=3D"menuitem" e.Action=3Daction e.IsActive=3Deval e.innerHTML=3Dtext if( !e.IsActive() ) e.style.color=3D"threedshadow" e.onclick=3DPerform e.onmouseover=3DHighlight e.onmouseout=3DDeselect s=3De.style; 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Sun</li> <li>Department of Mechanical Engineering</li> <li>University of Delaware</li> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>2</font></div> </td> <td> <div id=3DPPTP2 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0002.htm');" id=3DPPTL2>Overview</a></fo= nt></div> <div id=3DPPTC2 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Introduction</li> <li>Objectives</li> <li>Collaboration</li> <li>System Hardware</li> <li>Lower Level Hardware Controllers</li> <ul> <li>Electrical Current Control</li> <li>Cylinder Position Control</li> </ul> <li>Intelligent Velocity Controllers</li> <ul> <li>PID Velocity Control</li> <li>Supervisory Velocity Control</li> <li>Adpative Velocity Control</li> </ul> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>3</font></div> </td> <td> <div id=3DPPTP3 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0009.htm');" id=3DPPTL3>Introduction</a>= </font></div> <div id=3DPPTC3 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>What’s driving electronics in vehicles?</li> <ul> <li>Consumer expectations</li> <li>Automation</li> <li>Simplification of user interfaces</li> <li>Increase productivity</li> <br> <br> </ul> <li>X-by-Wire technologies</li> <ul> <li>X-by-Wire systems allow for electronic actuation of hardware.</li> <li>This enables the implementation of electronic controls to automate systems.</li> <br> <br> </ul> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>4</font></div> </td> <td> <div id=3DPPTP4 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0010.htm');" id=3DPPTL4>Future Technolog= y</a></font></div> <div id=3DPPTC4 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Fully Automated vehicles</li> <ul> <li>Vision systems for navigation and obstacle detection.</li> <li>A variety of sensors to provide information for decision making.</l= i> <li>Stratified software and control structure</li> <ul> <li>Higher level control systems (Task manager) can request adjustment= of specific vehicle parameters by lower level controllers.</li> </ul> <li>X-by-Wire solutions for controlling hardware components.</li> <br> <br> </ul> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>5</font></div> </td> <td> <div id=3DPPTP5 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0013.htm');" id=3DPPTL5>Demeter Project<= /a></font></div> <div id=3DPPTC5 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Collaborative project between NASA, New Holland North America LLC. a= nd Carnegie Mellon University to build a fully autonomous agricultural vehicle.</li> <li>Vehicle successfully cut 120 Acres of crop on its own.</li> <br> <br> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>6</font></div> </td> <td> <div id=3DPPTP6 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0004.htm');" id=3DPPTL6>Objectives</a></= font></div> <div id=3DPPTC6 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Velocity Control of SP Windrower</li> <ul> <br> <br> <li>Development of a cost effective velocity control solution for a self-propelled (SP) windrower.</li> <br> <br> <li>Investigate intelligent control systems to automatically compensate= for hardware variations.</li> <br> <br> <li>Develop associated hardware to implement the control systems.</li> </ul> <br> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>7</font></div> </td> <td> <div id=3DPPTP7 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0016.htm');" id=3DPPTL7>Simulink Model</= a></font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>8</font></div> </td> <td> <div id=3DPPTP8 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0021.htm');" id=3DPPTL8>Valve Characteri= stics</a></font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>9</font></div> </td> <td> <div id=3DPPTP9 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0019.htm');" id=3DPPTL9>Velocity Control= </a></font></div> <div id=3DPPTC9 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Objective</li> <ul> <li>To regulate the ground speed of the vehicle as sensed by the wheel speed sensors.</li> </ul> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>10</font></div> </td> <td> <div id=3DPPTP10 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0032.htm');" id=3DPPTL10>Test Track</a><= /font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>11</font></div> </td> <td> <div id=3DPPTP11 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0033.htm');" id=3DPPTL11>PID Results</a>= </font></div> <div id=3DPPTC11 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Simulation Data – Low ratio</li> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>12</font></div> </td> <td> <div id=3DPPTP12 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0034.htm');" id=3DPPTL12>PID Results</a>= </font></div> <div id=3DPPTC12 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Experimental Data – Low ratio</li> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>13</font></div> </td> <td> <div id=3DPPTP13 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0040.htm');" id=3DPPTL13>PID Summary</a>= </font></div> <div id=3DPPTC13 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>PID control stabilized the system and showed robustness.</li> <li>If tuned for acceleration system exhibited excessive overshoot in deceleration.</li> <li>If tuned for deceleration system exhibited a sluggish response in acceleration.</li> <li>Can conclude that the plant dynamics are changing between accelerati= on and deceleration.</li> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>14</font></div> </td> <td> <div id=3DPPTP14 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0042.htm');" id=3DPPTL14>Vehicle Variati= ons</a></font></div> <div id=3DPPTC14 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Possible varying parameters</li> <ul> <li>Hydraulic efficiency/leakage of motors and pumps.</li> <li>Dynamics of relief valves.</li> <li>Changing oil viscosity with oil temperature.</li> <li>Variations in cylinder position control dynamics.</li> <li>Size of tyres on vehicle.</li> <li>Type of header on vehicle (width, disc/sickle/draper).</li> <li>Suspension configuration of vehicle.</li> </ul> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>15</font></div> </td> <td> <div id=3DPPTP15 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0038.htm');" id=3DPPTL15>Supervisory Con= trol</a></font></div> <div id=3DPPTC15 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Multi-Estimator</li> <ul> <li>Contains a family of plant models.</li> <li>Generates set of predicted tracking errors (e<sub>p</sub>).</li> </ul> <li>Monitoring signal generator</li> <ul> <li>Provide a set of performance signals (m<sub>p</sub>) based on (e<su= b>p</sub>), to the supervisor.</li> </ul> <li>Supervisor</li> <ul> <li>Uses monitoring signals (m<sub>p</sub>) to decided which plant model best matches response of plant at present time.</li> <li>Decides when to switch controllers.</li> </ul> <li>Multi-controller</li> <ul> <li>Contains a family of controllers that stabilize plant models in the multi-controller.</li> </ul> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>16</font></div> </td> <td> <div id=3DPPTP16 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0037.htm');" id=3DPPTL16>Supervisory Con= trol</a></font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>17</font></div> </td> <td> <div id=3DPPTP17 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0044.htm');" id=3DPPTL17>Switching Logic= </a></font></div> <div id=3DPPTC17 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Selects which controller to implement based on information in monito= ring signals (m<sub>p</sub>)</li> <ul> <br> <br> </ul> <li>Scale independent switching logic</li> <ul> <li>Prevents fast switching</li> <li>Filters out short term transient effects</li> <li>Switching unchanged if m<sub>p</sub> scaled by a positive function.= </li> </ul> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>18</font></div> </td> <td> <div id=3DPPTP18 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0045.htm');" id=3DPPTL18>Stability</a></= font></div> <div id=3DPPTC18 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Define scaled performance signal</li> <br> <br> <br> <br> <li>If we replace <span style=3D'mso-spacerun:yes'> </spa= n><span style=3D'mso-spacerun:yes'> </span>with<span style=3D'mso-spacerun:yes'> = ; </span>switching of s will be unchanged.</li> <li><span style=3D'mso-spacerun:yes'> = ; </span>is a monotonically non-decreasing function.</li> <li>If<span style=3D'mso-spacerun:yes'> = ; </span>and<span style=3D'mso-spacerun:yes'> = ; </span>as<span style=3D'mso-spacerun:yes'> = ; </span>then switching will stop in finite time.</li> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>19</font></div> </td> <td> <div id=3DPPTP19 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0047.htm');" id=3DPPTL19>Simulations</a>= </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>20</font></div> </td> <td> <div id=3DPPTP20 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0048.htm');" id=3DPPTL20>Experiment</a><= /font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>21</font></div> </td> <td> <div id=3DPPTP21 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0053.htm');" id=3DPPTL21>Supervisory Con= trol Summary</a></font></div> <div id=3DPPTC21 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Performed well overall</li> <li>Removal of short term switching of s will improve performance.</li> <li>Step tests induce undesirable dynamics.</li> <li>Engine RPM can be incorporated into models.</li> <li>Design of a better experimental test for modeling may help better differentiate models.</li> <br> <br> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>22</font></div> </td> <td> <div id=3DPPTP22 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0064.htm');" id=3DPPTL22>Summary</a></fo= nt></div> <div id=3DPPTC22 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>PID Velocity Control</li> <ul> <li>PID control performance impaired by varying drive-train dynamics.</= li> <li>VSPID controller provided an effective solution to varying drive-tr= ain dynamics.</li> </ul> <li>Supervisory Control</li> <ul> <li>Successfully detected the state of the plant in both low and high ratio.</li> <li>Improved modeling method could help better differentiate models.</l= i> <br> <br> </ul> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>23</font></div> </td> <td> <div id=3DPPTP23 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0067.htm');" id=3DPPTL23>Acknowledgement= </a></font></div> <div id=3DPPTC23 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>This project is supported by Case New-Holland</li> <br> <br> </ul> </font></div> </td> </tr> </table> </div> <div style=3D'display:none'><a href=3Dmaster04.htm></a><a href=3Dmaster04.x= ml></a><a href=3Dpreview.wmf></a><a href=3D"master04_image001.png"></a><a href=3D"master04_image002.jpg"></a><a href=3Dmaster02.htm></a><a href=3Dpre= s.xml></a><a href=3Dslide0001.htm></a><a href=3D"master04_image003.gif"></a><a href=3D"master04_image004.jpg"></a><a href=3D"master04_image005.jpg"></a><a href=3Dslide0002.htm></a><a 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joinstyle=3D"miter" o:forcedash=3D"t"/> <v:shadow color=3D"gray [2]"/> <v:path gradientshapeok=3D"t" o:connecttype=3D"rect"/> <o:lock v:ext=3D"edit" grouping=3D"t"/> <v:textbox inset=3D"2.58825mm,1.2941mm,2.58825mm,1.2941mm"/> <p:placeholder type=3D"body" position=3D"3" size=3D"quarter"/></v:shapetyp= e> <div v:shape=3D"_x0000_m7173"> <div class=3DN>Click to edit Master text styles </div> <div class=3DN1>Second level </div> <div class=3DN2>Third level </div> <div class=3DN3>Fourth level </div> <div class=3DN4>Fifth level</div> </div> <v:shapetype id=3D"_x0000_s7174" style=3D'position:absolute;left:0;top:695.= 25pt; width:239.25pt;height:36.625pt;v-text-anchor:bottom' coordsize=3D"21600,21= 600" o:master=3D"" o:spt=3D"1" path=3D"m,l,21600r21600,l21600,xe" filled=3D"f" = fillcolor=3D"#bbe0e3 [4]" stroked=3D"f" strokecolor=3D"black [1]"> <v:fill color2=3D"white [0]" o:detectmouseclick=3D"t"/> <v:stroke joinstyle=3D"miter" o:forcedash=3D"t"/> <v:shadow color=3D"gray [2]"/> <v:path gradientshapeok=3D"t" o:connecttype=3D"rect"/> <o:lock v:ext=3D"edit" grouping=3D"t"/> <v:textbox inset=3D"2.58825mm,1.2941mm,2.58825mm,1.2941mm"/> <p:placeholder type=3D"footer" position=3D"4" size=3D"quarter"/></v:shapet= ype> <div v:shape=3D"_x0000_s7174" style=3D'tab-interval:1.019in'> <div class=3DO1 style=3D'mso-margin-left-alt:293;mso-text-indent-alt:293'><= /div> <div class=3DO2 style=3D'mso-margin-left-alt:587;mso-text-indent-alt:587'><= /div> <div class=3DO3 style=3D'mso-margin-left-alt:880;mso-text-indent-alt:880'><= /div> <div class=3DO4 style=3D'mso-margin-left-alt:1174;mso-text-indent-alt:1174'= ></div> <div class=3DO><span style=3D'font-size:67%;mso-field-code:meta15'>‹f= ooter›</span><span style=3D'font-size:67%;mso-special-format:lastCR'> </span></div> </div> <v:shapetype id=3D"_x0000_s7175" style=3D'position:absolute;left:312.625pt;= top:695.25pt; width:239.25pt;height:36.625pt;v-text-anchor:bottom' coordsize=3D"21600,21= 600" o:master=3D"" o:spt=3D"1" path=3D"m,l,21600r21600,l21600,xe" filled=3D"f" = fillcolor=3D"#bbe0e3 [4]" stroked=3D"f" strokecolor=3D"black [1]"> <v:fill color2=3D"white [0]" o:detectmouseclick=3D"t"/> <v:stroke joinstyle=3D"miter" o:forcedash=3D"t"/> <v:shadow color=3D"gray [2]"/> <v:path gradientshapeok=3D"t" o:connecttype=3D"rect"/> <o:lock v:ext=3D"edit" grouping=3D"t"/> <v:textbox inset=3D"2.58825mm,1.2941mm,2.58825mm,1.2941mm"/> <p:placeholder type=3D"slideNumber" position=3D"5" size=3D"quarter"/></v:s= hapetype> <div v:shape=3D"_x0000_s7175" style=3D'tab-interval:1.019in'> <div class=3DO1 style=3D'mso-margin-left-alt:293;mso-text-indent-alt:293'><= /div> <div class=3DO2 style=3D'mso-margin-left-alt:587;mso-text-indent-alt:587'><= /div> <div class=3DO3 style=3D'mso-margin-left-alt:880;mso-text-indent-alt:880'><= /div> <div class=3DO4 style=3D'mso-margin-left-alt:1174;mso-text-indent-alt:1174'= ></div> <div class=3DO style=3D'text-align:right'><span style=3D'font-size:67%;mso-= field-code: 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g_origH=3Dsld.style.posHeight g_origW=3Dsld.style.posWidth g_scaleHyperlinks=3D(document.all.tags("AREA").length>0) if( g_scaleHyperlinks ) InitHLinkArray() if( g_scaleInFrame||(IsWin("PPTSld") && parent.IsFullScrMode() ) ) document.body.scroll=3D"no" _RSW() if( IsWin("PPTSld") && parent.IsFullScrMode() ) FullScrInit(); =09 MakeSldVis(); ChkAutoAdv() if( runAnimations ) { if( document.all("NSPlay") ) document.all("NSPlay").autoStart =3D false; if( sld.filters && sld.filters.revealtrans ) setTimeout( "document.body.start()", sld.filters.revealtrans.duration * = 1000 ); else document.body.start(); } } function MakeSldVis()=20 { var fTrans=3Dg_showAnimation && SldHasTrans() if( fTrans )=09 { if( g_bgSound ) { idx=3Dg_bgSound.indexOf(","); pptSound.src=3Dg_bgSound.substr( 0, idx ); pptSound.loop=3D -(parseInt(g_bgSound.substr(idx+1))); } SlideObj.filters.revealtrans.Apply()=09 } SlideObj.style.visibility=3D"visible" if( fTrans ) SlideObj.filters.revealtrans.Play() } function MakeNotesVis()=20 { if( !IsNts() ) return false=20 SlideObj.style.display=3D"none" nObj =3D document.all.item("NotesObj") parent.SetHasNts(0) if( nObj ) {=20 nObj.style.display=3D"" parent.SetHasNts(1) } return 1 } function ChkAutoAdv() { if(SldHasTrans()) SlideObj.onfilterchange=3DAutoAdv else AutoAdv() } function AutoAdv() { if(!IsWin("PPTSld") || !gUseSldTimings )return var sld=3DGetCurSld() if( (sld.mAdvDelay>0) && !parent.IsFramesMode() ) setTimeout("parent.GoToNextSld()",sld.mAdvDelay) } function GetObj(id) { if(g_supportsPPTHTML) return document.all(id); else return document.getElementById(id); } function SldHasTrans() { return SlideObj.style.filter !=3D ""; } function GetSldId() { return sId=3Dlocation.href.substring(location.href.la= stIndexOf('/')+1) } function HideMenu() { if( frames["PPTSld"] && PPTSld.document.all.item("ctx= tmenu") && PPTSld.ctxtmenu.style.display!=3D"none" ) { PPTSld.ctxtmenu.styl= e.display=3D'none'; return true } return false } function IsWin( name ) { return window.name =3D=3D name } function IsNts() { return IsWin("PPTNts") } function IsSldOrNts() { return( IsWin("PPTSld")||IsWin("PPTNts") ) } function SupportsPPTAnimation() { return( navigator.platform =3D=3D "Win32"= && navigator.appVersion.indexOf("Windows")>0 ) } function SupportsPPTHTML() { var appVer=3Dnavigator.appVersion, msie=3DappVer.indexOf("MSIE "), ver=3D0 if( msie >=3D 0 ) ver=3DparseFloat( appVer.substring( msie+5, appVer.indexOf(";",msie) ) ) else ver=3DparseInt(appVer) return( ver >=3D 4 && msie >=3D 0 ) } function _RSW() { if( !g_supportsPPTHTML || IsNts() || ( !g_scaleInFrame && (!IsWin("PPTSld") || !parent.IsFullScrMode()) ) ) return var padding=3D0; if( IsWin("PPTSld") && parent.IsFramesMode() ) padding=3D6 cltWidth=3Ddocument.body.clientWidth-padding cltHeight=3Ddocument.body.clientHeight-padding factor=3D(1.0*cltWidth)/g_origW if( cltHeight < g_origH*factor ) factor=3D(1.0*cltHeight)/g_origH newSize =3D g_origSz * factor if( newSize < 1 ) newSize=3D1 s=3DSlideObj.style s.fontSize=3DnewSize+"px" s.posWidth=3Dg_origW*factor s.posHeight=3Dg_origH*factor s.posLeft=3D(cltWidth-s.posWidth+padding)/2 s.posTop=3D(cltHeight-s.posHeight+padding)/2 if( g_scaleHyperlinks ) ScaleHyperlinks( factor ) } function _InitAnimations() { animRuntimeInstalled =3D ''+document.body.localTime !=3D 'undefined'; isFullScreen =3D (window.name =3D=3D "PPTSld") && !parent.IsFramesMode(); g_animUseRuntime =3D g_showAnimation && animRuntimeInstalled && !(isFullSc= reen && parent.IsSldVisited()); if( g_animUseRuntime ) { collSeq =3D document.all.tags("seq"); if( collSeq !=3D null ) { for(ii=3D0;ii<collSeq.length;ii++) { if( collSeq[ii].getAttribute( "p:nodeType" ) =3D=3D "mainSeq" ) { g_animMainSequence =3D collSeq[ii]; break; } } } =09 if( g_animItemsToHide && document.body.playAnimations !=3D false ) { for(jj =3D 0; jj < g_animItemsToHide.length; jj++) { if( hideObj =3D GetObj(g_animItemsToHide[jj]) ) hideObj.runtimeStyle.visibility=3D"hidden"; } } if( g_animInteractiveItems ){ for(jj =3D 0; jj < g_animInteractiveItems.length; jj++) { if( triggerObj =3D GetObj(g_animInteractiveItems[jj]) ) triggerObj.runtimeStyle.cursor=3D"hand"; } } =09 if( gUseSldTimings && ''+g_animSlideTime !=3D 'undefined' ) { adjustedTime =3D document.body.calculateAutoAdvanceTimes( g_animSlideTim= e, g_animEffectTimings ); if( IsWin("PPTSld") && adjustedTime !=3D g_animSlideTime ) { var sld =3D GetCurSld(); sld.mAdvDelay =3D adjustedTime * 1000; } } } return g_animUseRuntime; } gSldJump =3D 0, gSldJumpTrack =3D 0, gSldJumpIdx =3D ""; function _KPH() {=20 if( IsNts() ) return; if( !parent.IsFramesMode() && event.keyCode =3D=3D 27 && !HideMenu() ) parent.window.close( self ); else if( event.keyCode =3D=3D 32 ) { if( window.name =3D=3D "PPTSld" ) parent.PPTSld.DocumentOnClick(); else parent.GoToNextSld(); } CatchNumKeys( parent, event ); } function CatchNumKeys( win, event ) { if( win.IsFullScrMode() && (48<=3Devent.keyCode) && (event.keyCode<=3D57) = ) { gSldJump =3D 1; gSldJumpIdx +=3D (event.keyCode-48).toString(); } if( win.IsFullScrMode() && gSldJump && event.keyCode =3D=3D 13 ) { var numSlds =3D parent.GetSldList().mList.length if ( gSldJumpIdx > numSlds ) gSldJumpIdx =3D numSlds; if ( gSldJumpIdx >=3D 0 ) { if ( gSldJumpIdx =3D=3D 0 ) gSldJumpIdx =3D 1; var jumpTo =3D parseInt(gSldJumpIdx); gSldJump =3D 0; gSldJumpIdx =3D ""; win.GoToSld( parent.GetSldList().mList[jumpTo-1].mSldHref ) } } } function _KDH() { if( event.keyCode =3D=3D 8 ) { event.returnValue =3D 0; parent.GoToPrevSld(); } } function DocumentOnClick() { if( IsNts() || parent.HideMenu() ) return; if( ( g_allowAdvOnClick && !parent.IsFramesMode() ) || (event && (event.keyCode=3D=3D32) ) ) parent.GoToNextSld(); } var g_supportsPPTHTML =3D SupportsPPTHTML(), g_scaleInFrame =3D 1, gId=3D""= , g_bgSound=3D"", g_scaleHyperlinks =3D false, g_allowAdvOnClick =3D 1, g_showInBrowser = =3D 0, gLoopCont =3D 0, gUseSldTimings =3D 1; var g_showAnimation =3D g_supportsPPTHTML && SupportsPPTAnimation() && ( (w= indow.name=3D=3D"PPTSld" && !parent.IsFramesMode()) || g_showInBrowser );va= r g_animManager =3D null; var g_animUseRuntime =3D false; var g_animItemsToHide, g_animInteractiveItems, g_animSlideTime; var g_animMainSequence =3D null; var ENDSHOW_MESG=3D"End of slide show, click to exit.", SCREEN_MODE=3D"Fram= es", gIsEndShow=3D0, NUM_VIS_SLDS=3D23, SCRIPT_HREF=3D"script.js", FULLSCR_= HREF=3D"fullscreen.htm"; var gCurSld =3D gPrevSld =3D 1, g_offset =3D 0, gNtsOpen =3D gHasNts =3D gO= tlTxtExp =3D 0, gHasNarration =3D 0, gOtlOpen =3D true window.gPPTHTML=3DSupportsPPTHTML() var gMainDoc=3Dnew Array(new hrefList("slide0001.htm",1,-1,1),new hrefList(= "slide0002.htm",1,-1,1),new hrefList("slide0009.htm",1,-1,1),new hrefList("= slide0010.htm",1,-1,1),new hrefList("slide0013.htm",1,-1,1),new hrefList("s= lide0004.htm",1,-1,1),new hrefList("slide0016.htm",1,-1,1),new hrefList("sl= ide0021.htm",1,-1,1),new hrefList("slide0019.htm",1,-1,1),new hrefList("sli= de0032.htm",1,-1,1),new hrefList("slide0033.htm",1,-1,1),new hrefList("slid= e0034.htm",1,-1,1),new hrefList("slide0040.htm",1,-1,1),new hrefList("slide= 0042.htm",1,-1,1),new hrefList("slide0038.htm",1,-1,1),new hrefList("slide0= 037.htm",1,-1,1),new hrefList("slide0044.htm",1,-1,1),new hrefList("slide00= 45.htm",1,-1,1),new hrefList("slide0047.htm",1,-1,1),new hrefList("slide004= 8.htm",1,-1,1),new hrefList("slide0053.htm",1,-1,1),new hrefList("slide0064= .htm",1,-1,1),new hrefList("slide0067.htm",1,-1,1)); /********************************************* Frameset functions These functions control slide navigation and state of the frameset. **********************************************/ function FullScrInit() { g_allowAdvOnClick =3D GetCurSld().mAdvOnClk document.body.style.backgroundColor=3D"black" document.oncontextmenu=3Dparent._CM; document.onkeydown =3D _KDH; document.ondragstart=3DCancel document.onselectstart=3DCancel self.focus() } function Redirect( frmId ) {=09 var str=3Ddocument.location.hash,idx=3Dstr.indexOf('#'), sId=3DGetSldId() if(idx>=3D0) str=3Dstr.substr(1); if( window.name !=3D frmId && ( sId !=3D str) ) { obj =3D GetObj("Main-File") window.location.href=3Dobj.href+"#"+sId return 1 } return 0 } var MHTMLPrefix =3D CalculateMHTMLPrefix();=20 function CalculateMHTMLPrefix() { if ( document.location.protocol =3D=3D 'mhtml:') {=20 href=3Dnew String(document.location.href)=20 Start=3Dhref.indexOf('!')+1=20 End=3Dhref.lastIndexOf('/')+1=20 if (End < Start)=20 return href.substring(0, Start)=20 else=20 return href.substring(0, End)=20 } return ''; } function GetTags(base,tag) { if(g_supportsPPTHTML) return base.all.tags(tag); else return base.getElementsByTagName(tag); } function UpdNtsPane(){ if(frames["PPTNts"]) PPTNts.location.replace( MHTMLP= refix+GetHrefObj( gCurSld ).mNtsHref ) } function UpdNavPane( sldIndex ){ if(gNavLoaded) PPTNav.UpdNav() } function UpdOtNavPane(){ if(gOtlNavLoaded) PPTOtlNav.UpdOtlNav() } function UpdOtlPane(){ if(gOtlLoaded) PPTOtl.UpdOtl() } function SetHasNts( fVal ) { if( gHasNts !=3D fVal ) { gHasNts=3DfVal UpdNavPane() } } function ToggleOtlText() { gOtlTxtExp=3D!gOtlTxtExp UpdOtlPane() } function ClearMedia() { // Clear any sounds playing before launching another browser window. Other= wise, // in fullscreen mode, you'll continue to hear the sound in the frames mod= e. if (PPTSld.pptSound) PPTSld.pptSound.loop =3D 0; } function FullScreen() {=20 if ( PPTSld.g_animUseRuntime ) PPTSld.document.body.pause(); ClearMedia(); var href =3D ( document.location.protocol =3D=3D 'mhtml:') ? FULLSCR_HREF = : FULLSCR_HREF+"#"+GetHrefObj(gCurSld).mSldHref; if(PPTNav.event.ctrlKey) { var w =3D (window.screen.availWidth * 1.0) / 2.0 var h =3D w * (PPTSld.g_origH * 1.0) / PPTSld.g_origW win =3D window.open( MHTMLPrefix+href,null,"toolbar=3D0,resizable=3D1,top= =3D0,left=3D0," + "width=3D"+ w + ",height=3D" + h ); if( win.document.body && PPTSld.g_animUseRuntime ) win.document.body.PPTSldFrameset=3Dwindow; } else { win =3D window.open( MHTMLPrefix+href,null,"fullscreen=3Dyes" ); if( win.document.body && PPTSld.g_animUseRuntime ) win.document.body.PPTSldFrameset=3Dwindow; } } function ToggleVNarration() { rObj=3DPPTSld.document.all("NSPlay") if( rObj && !PPTSld.g_animUseRuntime ) { if( (rObj.playState =3D=3D 1)||(rObj.playState =3D=3D 0) ) rObj.Play() else if( rObj.playState =3D=3D 2 ) rObj.Pause() else return; } else if( PPTSld.g_animUseRuntime ) { narObj =3D PPTSld.document.all("narrationID") if( narObj ) narObj.togglePause() } } function GetCurSldNum() { =20 obj=3DGetHrefObj(gCurSld) if( obj.mOrigVis =3D=3D 1 ) return obj.mSldIdx else =20 return gCurSld } function GetNumSlds() { =20 if( GetHrefObj(gCurSld).mOrigVis =3D=3D 1 ) return GetSldList().mNumVisSlds; else return GetSldList().mList.length } function GetSldNum( href ) { for(ii=3D0; ii<GetSldList().mList.length; ii++) { if ( GetSldList().mList[ii].mSldHref =3D=3D href ) return ii+1 } return 1 } function GetHrefObj( sldIdx ){ return GetSldList().mList[sldIdx-1] } function IsFramesMode(){ return ( SCREEN_MODE =3D=3D "Frames" ) } function IsFullScrMode(){ return ( SCREEN_MODE =3D=3D "FullScreen" ) } function GoToNextSld() { ii=3DgCurSld + 1 if( GetHrefObj( ii-1 ).mOrigVis =3D=3D 0 ) { if( ii<=3DGetSldList().mList.length ) { obj=3DGetHrefObj(ii) obj.mVis=3D1 GoToSldNum(ii) return } } else { obj=3DGetHrefObj( ii ) while ( obj && ( obj.mOrigVis =3D=3D 0 ) ) obj=3DGetHrefObj(++ii) if( obj && obj.mOrigVis ) { GoToSldNum(ii) return } } if( gSldStack.length > 1 ) PopSldList(); else if( !IsFramesMode() ) { if( gLoopCont ) GoToFirst() else EndShow() } } function GoToPrevSld() { ii=3DgCurSld-1 if( ii > 0 ) { obj=3DGetHrefObj(ii) while ( obj && ( obj.mVis =3D=3D 0 ) && ( ii>0 ) ) obj=3DGetHrefObj(--ii) if( ii =3D=3D 0 ) ii=3D1 GoToSldNum(ii) } } function GoToFirst(){ GoToSld( GetHrefObj(1).mSldHref ) } function GoToLast() { ii=3DGetSldList().mList.length if( ii !=3D gCurSld ) GoToSld( GetHrefObj(ii).mSldHref ) } function GoToSldNum( num ) { if( PPTSld.event ) PPTSld.event.cancelBubble=3Dtrue obj =3D GetHrefObj( num ) obj.mVis=3D1 gPrevSld=3DgCurSld gCurSld =3D num; PPTSld.location.replace(MHTMLPrefix+obj.mSldHref) if( IsFramesMode() ) { UpdNavPane(); UpdOtlPane(); UpdNtsPane() } } function GoToSld( href ) { if( PPTSld.event ) PPTSld.event.cancelBubble=3Dtrue GetHrefObj( GetSldNum(href) ).mVis=3D1 PPTSld.location.replace(MHTMLPrefix+href) } function SldUpdated( id ) { if( id =3D=3D GetHrefObj(gCurSld).mSldHref ) return gPrevSld=3DgCurSld gCurSld=3DGetSldNum(id) if( IsFramesMode() ) { UpdNavPane(); UpdOtlPane(); UpdNtsPane() } } function PrevSldViewed(){ GoToSld( GetHrefObj(gPrevSld).mSldHref ) } function HasPrevSld() { return ( gIsEndShow || ( gCurSld !=3D 1 && GetHrefO= bj( gCurSld-1 ).mVis =3D=3D 1 )||( GetCurSldNum() > 1 ) ) } function HasNextSld() { return (GetCurSldNum() !=3D GetNumSlds()) } function CloseWindow() { if( HideMenu() ) return; =09 var event =3D PPTSld.event; if( !IsFramesMode() && event && (event.keyCode=3D=3D27 || event.keyCode=3D= =3D32 || event.type=3D=3D"click" ) ) window.close( self ); CatchNumKeys( self, event ); } function Unload() { gIsEndShow=3D0; } function SetupEndShow() { gIsEndShow=3D1; PPTSld.document.body.scroll=3D"no"; PPTSld.document.onkeypress=3DCloseWindow; PPTSld.document.onclick=3DCloseWindow; PPTSld.document.oncontextmenu=3D_CM; } function EndShow() { if( IsFramesMode() ) return if( PPTSld.event ) PPTSld.event.cancelBubble=3Dtrue doc=3DPPTSld.document var dir =3D doc.body.dir if( dir !=3D "rtl" ) dir =3D "ltr"; doc.open() doc.writeln('<html><body dir=3D' + dir + ' bgcolor=3Dblack onload=3Dparent= .SetupEndShow() onunload=3Dparent.Unload()><center><p><font face=3DTahoma c= olor=3Dwhite size=3D2><br><b>' + ENDSHOW_MESG + '</b></font></p></center></= body></html>') doc.close() } function SetSldVisited(){ GetSldList().mList[gCurSld-1].mVisited=3Dtrue } function IsSldVisited(){ return GetSldList().mList[gCurSld-1].mVisited } function hrefList( sldHref, visible, advDelay, advClk ) { this.mSldHref=3D this.mNtsHref =3D sldHref this.mOrigVis=3D this.mVis =3D visible this.mVisited=3D false this.mAdvDelay=3D advDelay this.mAdvOnClk=3D advClk } function SldList(arr,curSld,fEnd) { this.mCurSld =3D curSld; this.mList =3D new Array(); var idx =3D 1; for(ii=3D0;ii<arr.length;ii++) { this.mList[ii] =3D new hrefList( arr[ii].mSldHref, arr[ii].mOrigVis, arr[= ii].mAdvDelay, arr[ii].mAdvOnClk ); if( arr[ii].mOrigVis ) this.mList[ii].mSldIdx =3D idx++; } this.mNumVisSlds =3D idx-1; this.fEndShow =3D fEnd; } function GetSldList() { return gSldStack[gSldStack.length-1] } function GetCurSld() { return parent.GetSldList().mList[parent.gCurSld - 1]= } gSldStack =3D new Array(); gSldStack[0] =3D new SldList(gMainDoc,gCurSld,1) function ToggleOtlPane() { frmset=3Ddocument.all("PPTHorizAdjust") frm=3Ddocument.all("PPTOtl") if( gOtlOpen ) frmset.cols=3D"*,100%" else frmset.cols=3D"25%,*" gOtlOpen=3D!gOtlOpen frm.noResize=3D!frm.noResize UpdOtNavPane() } function ToggleNtsPane() { frmset=3Ddocument.all("PPTVertAdjust") frm=3Ddocument.all("PPTNts") if( gNtsOpen ) frmset.rows=3D"100%,*" else frmset.rows=3D"*,20%" gNtsOpen=3D!gNtsOpen UpdNtsPane() } /********************************************* Custom Shows implementation When ViewCustomShow() is called, we create a new array that is a subset of the slides in=20 the main doc. This list pushed on a stack so we can return after the end of the custom show. *********************************************/ function ViewCustomShow(idx,fEnd) { if( !IsFullScrMode() ) return; var sldList =3D new Array(); var custShow =3D custShowList[idx-1]; var jj =3D 0; for( ii=3D0;ii<custShow.length;ii++ ) { if( custShow[ii] <=3D gMainDoc.length ) sldList[jj++] =3D gMainDoc[custShow[ii]-1]; } if (sldList.length > 0) { PushSldList(sldList,fEnd); gCurSld =3D 1; } else if( PPTSld.event ) PPTSld.event.cancelBubble=3Dtrue } function PushSldList(arr,fEnd) { var ii =3D gSldStack.length; gSldStack[ii] =3D new SldList(arr,gCurSld,fEnd); GoToSld( gSldStack[ii].mList[0].mSldHref ); } function PopSldList() { if (gSldStack[gSldStack.length-1].fEndShow) EndShow() else { gCurSld =3D gSldStack[gSldStack.length-1].mCurSld; gSldStack[gSldStack.length-1] =3D null; gSldStack.length--; var sldList =3D gSldStack[gSldStack.length-1]; GoToSld( sldList.mList[gCurSld - 1].mSldHref ); } } var custShowList=3Dnew Array(); /********************************************* Navigation button implementation There are 2 types of buttons: ImgBtn, TxtBtn implemented as function objects. They share a similiar interface so the event handlers can call SetActive, for example, on a button=20 object without needing to know exactly=20 what type of button it is. **********************************************/ //---------------------------------- function ImgBtn( oId,bId,w,action ) //---------------------------------- { var t=3Dthis t.Perform =3D _IBP t.SetActive =3D _IBSetA t.SetInactive=3D _IBSetI t.SetPressed =3D _IBSetP t.SetDisabled=3D _IBSetD t.Enabled =3D _IBSetE t.ChangeIcon =3D null t.UserAction =3D action t.ChgState =3D _IBUI t.mObjId =3D oId t.mBorderId=3D bId t.mWidth =3D w t.mIsOn =3D t.mCurState =3D 0 } function _IBSetA() { if( this.mIsOn ) { obj=3Dthis.ChgState( gHiliteClr,gShadowClr,2 ) obj.style.posTop=3D0 } } function _IBSetI() { if( this.mIsOn ) { obj=3Dthis.ChgState( gFaceClr,gFaceClr,1 ) obj.style.posTop=3D0=20 } } function _IBSetP() { if( this.mIsOn ) { obj=3Dthis.ChgState( gShadowClr,gHiliteClr,2 ) obj.style.posLeft+=3D1; obj.style.posTop+=3D1 } } function _IBSetD() { =20 obj=3Dthis.ChgState( gFaceClr,gFaceClr,0 ) obj.style.posTop=3D0=20 } function _IBSetE( state ) { var t=3Dthis GetObj( t.mBorderId ).style.visibility=3D"visible" if( state !=3D t.mIsOn ) { t.mIsOn=3Dstate if( state ) t.SetInactive() else t.SetDisabled() } } function _IBP() { var t=3Dthis if( t.mIsOn ) { if( t.UserAction !=3D null ) t.UserAction() if( t.ChangeIcon ) { obj=3DGetObj(t.mObjId) if( t.ChangeIcon() ) obj.style.posLeft=3Dobj.style.posLeft+(t.mCurState-4)*t.mWidth else obj.style.posLeft=3Dobj.style.posLeft+(t.mCurState-0)*t.mWidth } t.SetActive() } =20 } function _IBUI( clr1,clr2,nextState ) { var t=3Dthis SetBorder( GetObj( t.mBorderId ),clr1,clr2 ) obj=3DGetObj( t.mObjId ) obj.style.posLeft=3Dobj.style.posLeft+(t.mCurState-nextState)*t.mWidth-obj= .style.posTop t.mCurState=3DnextState return obj } //----------------------------------------- function TxtBtn( oId,oeId,action,chkState ) //----------------------------------------- { var t=3Dthis t.Perform =3D _TBP t.SetActive =3D _TBSetA t.SetInactive=3D _TBSetI t.SetPressed =3D _TBSetP t.SetDisabled=3D _TBSetD t.SetEnabled =3D _TBSetE t.GetState =3D chkState t.UserAction =3D action t.ChgState =3D _TBUI t.mObjId =3D oId t.m_elementsId=3D oeId t.mIsOn =3D 1 } function _TBSetA() { var t=3Dthis if( t.mIsOn && !t.GetState() ) t.ChgState( gHiliteClr,gShadowClr,0,0 ) } function _TBSetI() { var t=3Dthis if( t.mIsOn && !t.GetState() ) t.ChgState( gFaceClr,gFaceClr,0,0 ) } function _TBSetP() { if( this.mIsOn ) this.ChgState( gShadowClr,gHiliteClr,1,1 ) } function _TBSetD() { =20 this.ChgState( gFaceClr,gFaceClr,0,0 ) this.mIsOn =3D 0 } function _TBSetE() { var t=3Dthis if( !t.GetState() ) t.ChgState( gFaceClr,gFaceClr,0,0 ) else t.ChgState( gShadowClr,gHiliteClr,1,1 ) t.mIsOn =3D 1 } function _TBP() { var t=3Dthis if( t.mIsOn ) {=20 if( t.UserAction !=3D null ) t.UserAction() if( !t.GetState ) return if( t.GetState() ) t.SetPressed() else t.SetActive() } =20 } function _TBUI( clr1,clr2,lOffset,tOffset ) { SetBorder( GetObj( this.mObjId ),clr1,clr2 ) Offset( GetObj( this.m_elementsId ),lOffset,tOffset ) } function Offset( obj, top, left ){ obj.style.top=3Dtop; obj.style.left=3Dle= ft } function SetBorder( obj, upperLeft, lowerRight ) { s=3Dobj.style; s.borderStyle =3D "solid" s.borderWidth =3D 1=20 s.borderLeftColor =3D s.borderTopColor =3D upperLeft s.borderBottomColor=3D s.borderRightColor =3D lowerRight } function GetBtnObj(){ return gBtnArr[window.event.srcElement.id] } function BtnOnOver(){ b=3DGetBtnObj(); if( b !=3D null ) b.SetActive() } function BtnOnDown(){ b=3DGetBtnObj(); if( b !=3D null ) b.SetPressed() } function BtnOnOut(){ b=3DGetBtnObj(); if( b !=3D null ) b.SetInactive() } function BtnOnUp() { b=3DGetBtnObj() if( b !=3D null ) b.Perform() else Upd() } function GetNtsState(){ return parent.gNtsOpen } function GetOtlState(){ return parent.gOtlOpen } function GetOtlTxtState(){ return parent.gOtlTxtExp } function NtsBtnSetFlag( fVal ) { s=3Ddocument.all.item( this.m_flagId ).style s.display=3D"none" if( fVal ) s.display=3D"" else s.display=3D"none" } function _BSetA_Border(){ b =3D gBtnArr[this.mObjId]; if( b !=3D null ) b.S= etActive() } function _BSetI_Border(){ b =3D gBtnArr[this.mObjId]; if( b !=3D null ) b.S= etInactive() } function _BSetP_Border(){ b =3D gBtnArr[this.mObjId]; if( b !=3D null ) b.S= etPressed() } function _BSetA_BorderImg() {=20 b =3D gBtnArr[this.mBorderId]=20 if( b !=3D null && this.mIsOn && !b.GetState() ) { obj=3Dthis.ChgState( gHiliteClr,gShadowClr,2 ) obj.style.posTop=3D0 } } function _BSetI_BorderImg() {=20 b =3D gBtnArr[this.mBorderId] if( b !=3D null && this.mIsOn && !b.GetState() ) { obj=3Dthis.ChgState( gFaceClr,gFaceClr,1 ) obj.style.posTop=3D0 } } var gHiliteClr=3D"THREEDHIGHLIGHT",gShadowClr=3D"THREEDSHADOW",gFaceClr=3D"= THREEDFACE" var gBtnArr =3D new Array() gBtnArr["nb_otl"] =3D new TxtBtn( "nb_otl","nb_otlElem",parent.ToggleOtlPan= e,GetOtlState ) gBtnArr["nb_otlElem"] =3D new TxtBtn( "nb_otl","nb_otlElem",parent.ToggleOt= lPane,GetOtlState ) gBtnArr["nb_nts"] =3D new ImgBtn( "nb_nts","nb_ntsBorder",10,parent.ToggleN= tsPane ) gBtnArr["nb_nts"].SetActive =3D _BSetA_BorderImg; gBtnArr["nb_nts"].SetInactive =3D _BSetI_BorderImg; gBtnArr["nb_ntsBorder"] =3D new TxtBtn( "nb_ntsBorder","nb_ntsElem",parent.= ToggleNtsPane,GetNtsState ) gBtnArr["nb_ntsElem"] =3D new TxtBtn( "nb_ntsBorder","nb_ntsElem",parent.To= ggleNtsPane,GetNtsState ) gBtnArr["nb_prevBorder"] =3D gBtnArr["nb_prev"]=3D new ImgBtn( "nb_prev","n= b_prevBorder",30,parent.GoToPrevSld ) gBtnArr["nb_nextBorder"] =3D gBtnArr["nb_next"]=3D new ImgBtn( "nb_next","n= b_nextBorder",30,parent.GoToNextSld ) gBtnArr["nb_sldshw"]=3D new ImgBtn( "nb_sldshw","nb_sldshwBorder",18,parent= .FullScreen ) gBtnArr["nb_sldshwBorder"] =3D new TxtBtn( "nb_sldshw","nb_sldshwBorder",pa= rent.FullScreen,null ) gBtnArr["nb_sldshwBorder"].SetActive =3D _BSetA_Border; gBtnArr["nb_sldshwBorder"].SetInactive =3D _BSetI_Border; gBtnArr["nb_sldshwText"] =3D new TxtBtn( "nb_sldshw","nb_sldshwText",parent= .FullScreen,null ) gBtnArr["nb_sldshwText"].SetActive =3D _BSetA_Border; gBtnArr["nb_sldshwText"].SetInactive =3D _BSetI_Border; gBtnArr["nb_voice"] =3D gBtnArr["nb_voiceBorder"] =3D new ImgBtn( "nb_voice= ","nb_voiceBorder",18,parent.ToggleVNarration ) gBtnArr["nb_otlTxtBorder"] =3D gBtnArr["nb_otlTxt"]=3D new ImgBtn( "nb_otlT= xt","nb_otlTxtBorder",23,parent.ToggleOtlText ) gBtnArr["nb_ntsBorder"].m_flagId=3D "nb_nts" gBtnArr["nb_ntsBorder"].SetFlag =3D NtsBtnSetFlag gBtnArr["nb_otlTxt"].ChangeIcon=3D GetOtlTxtState /********************************************* Context menu implementation _CM() is the function that's hooked up to the oncontextmenu event. Once we're asked to show the menu, we first build it by creating DIVs on-the-fly. Then we position it=20 within the screen area so it doesn't get clipped. Creating the DIVs using createElement() means we don't have to write out any extra HTML into the slide HTML files. **********************************************/ var sNext=3D"Next",sPrev=3D"Previous",sEnd=3D"End Show",sFont=3D"Arial",sAr= row=3D"Arrow",sFreeform=3D"Freeform",sRect=3D"Rectangle",sOval=3D"Oval" function ShowMenu() { BuildMenu(); var doc=3DPPTSld.document.body,x=3DPPTSld.event.clientX+doc.scrollLeft,y= =3DPPTSld.event.clientY+doc.scrollTop m =3D PPTSld.document.all.item("ctxtmenu") m.style.pixelLeft=3Dx if( (x+m.scrollWidth > doc.clientWidth)&&(x-m.scrollWidth > 0) ) m.style.pixelLeft=3Dx-m.scrollWidth m.style.pixelTop=3Dy if( (y+m.scrollHeight > doc.clientHeight)&&(y-m.scrollHeight > 0) ) m.style.pixelTop=3Dy-m.scrollHeight m.style.display=3D"" } function _CM() { if( !parent.IsFullScrMode() ) return; if(!PPTSld.event.ctrlKey) { ShowMenu() return false } else HideMenu() } function BuildMenu() { if( PPTSld.document.all.item("ctxtmenu") ) return var mObj=3DCreateItem( PPTSld.document.body ) mObj.id=3D"ctxtmenu" mObj.style.visibility=3D"hidden" var s=3DmObj.style s.position=3D"absolute" s.cursor=3D"default" s.width=3D"120px" SetCMBorder(mObj,"menu","black") var iObj=3DCreateItem( mObj ) SetCMBorder( iObj, "threedhighlight","threedshadow" ) iObj.style.padding=3D2 CreateMenuItem( iObj,sNext,M_GoNextSld,M_True ) CreateMenuItem( iObj,sPrev,M_GoPrevSld,M_HasPrevSld ) =09 CreateSeparator( iObj ) CreateMenuItem( iObj,sEnd,M_End,M_True ) mObj.style.visibility=3D"visible" } function Cancel() { window.event.cancelBubble=3Dtrue; window.event.returnVa= lue=3Dfalse } function Highlight() { ChangeClr("activecaption","threedhighlight") } function Deselect() { ChangeClr("threedface","menutext") } function Perform() { e=3DPPTSld.event.srcElement if( e.type=3D=3D"menuitem" && e.IsActive() ) e.Action() else PPTSld.event.cancelBubble=3Dtrue } function ChangeClr( bg,clr ) { e=3DPPTSld.event.srcElement if( e.type=3D=3D"menuitem" && e.IsActive() ) { e.style.backgroundColor=3Dbg e.style.color=3Dclr } } function M_HasPrevSld() { return( parent.HasPrevSld() ) } function M_GoNextSld() { if( gIsEndShow ) M_End(); else GoToNextSld() } function M_GoPrevSld() { if( gIsEndShow ) { gIsEndShow=3D0; history.back();= PPTSld.event.cancelBubble=3Dtrue; } else GoToPrevSld() } function M_True() { return true } function M_End() { window.close( self ) } function CreateMenuItem( node,text,action,eval ) { var e=3DCreateItem( node ) e.type=3D"menuitem" e.Action=3Daction e.IsActive=3Deval e.innerHTML=3Dtext if( !e.IsActive() ) e.style.color=3D"threedshadow" e.onclick=3DPerform e.onmouseover=3DHighlight e.onmouseout=3DDeselect s=3De.style; s.fontFamily=3DsFont s.fontSize=3D"9pt" s.paddingLeft=3D2 } function CreateSeparator( node ) { var sObj=3DCreateItem( node ) SetCMBorder(sObj,"menu","menu") var s=3DsObj.style s.borderTopColor=3D"threedshadow" s.borderBottomColor=3D"threedhighlight" s.height=3D1 s.fontSize=3D"0px" } function CreateItem( node ) { var elem=3DPPTSld.document.createElement("DIV") node.insertBefore( elem ) return elem } function SetCMBorder( o,ltClr,rbClr ) { var s=3Do.style s.backgroundColor=3D"menu" s.borderStyle=3D"solid" s.borderWidth=3D1 s.borderColor=3DltClr+" "+rbClr+" "+rbClr+" "+ltClr } ------=_NextPart_01C60EE1.26DA29A0 Content-Location: file:///C:/A51BD64C/DriveByWireControl_files/fullscreen.htm Content-Transfer-Encoding: quoted-printable Content-Type: text/html; charset="us-ascii" <html> <head> <meta http-equiv=3DContent-Type content=3D"text/html; charset=3Dus-ascii"> <meta name=3DProgId content=3DPowerPoint.Slide> <meta name=3DGenerator content=3D"Microsoft PowerPoint 11"> <link id=3DMain-File rel=3DMain-File href=3D"../DriveByWireControl.htm"> <link rel=3DPreview href=3Dpreview.wmf> <![if IE]> <base href=3D"file:///C:\A51BD64C\DriveByWireControl_files\fullscreen.htm" id=3D"webarch_temp_base_tag"> <![endif]><script src=3Dscript.js></script> <script> </script> </head> <frameset rows=3D"*" frameborder=3D0 onload=3D"Load()" onunload=3D"Unload()= "> <frame name=3DPPTSld> </frameset> </html> ------=_NextPart_01C60EE1.26DA29A0 Content-Location: file:///C:/A51BD64C/DriveByWireControl_files/buttons.gif Content-Transfer-Encoding: base64 Content-Type: image/gif R0lGODlhWAESAPf4AAAAAIAAAACAAICAAAAAgIAAgACAgICAgAQEBISEBASEBISEhAQEhMTExAQE /KTM9Pz8/ERERPz8BAT8/KSkpGRkhMTcxCRkxAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA AAAAAAAAAAAAAAAAAAAAAMDAwP8AAAD/AP//AAAA//8A/wD//////yH5BAEAAPgALAAAAABYARIA QAj/APEJHEiwoMGDCBMqXMiwocOHECNKnEixosWLGCEiQKCRo8YDIEHig2DxAD4LKD1avDDhgUuV GUOGbHBR5QGYFBG4fHAB58EKECJEwCfUYAWPFGAygLCRKQIIUKM6WAohKUGgCikcFWh1INWoYKVS 7SrQ41GbIhGYLAuVQVOoC+IyXUuUAkG1HE3KFDhAwkgJc5/qDZmxsOHDiBMrXsy4sePDGyP7lChT 5MULmDPnlDw5YmW6FTNrfgi0aNGEZPEtbfo2bNTUpYeeRph69dPWrqvCNFuBIGG1A59CYPAVQtwF cw0OxWdTIOiBCQAjaAB17fOFII8voGmRc+eOkilm/z9OvTtnjN4hYk1YoT3H2rnBOphPAB9skgq3 2lcaX/5YnJVt9BloAar12UEIRGCZdQghMABI1Tn32IQUVthYexhmqGGGMBHAgIfEhSiiiATAtOGJ GnYI4ogsEldicAYOGNJGZaml3Y0L3NTZUBz1xlB0PUoUI0jlVWRSVN89xBKSGB1YU1TMoRfVBEle hR9HQs1GEHxQ3RZZbveZthxt/LEmXHyp5XWABSCpaRJwbM13gAACPHVccgJFgF+NEhqUAEkQSCfc ddhVhh5dVTaEAEsTUNlkZUWKN9BNGDE6QU8OrSdbllzpxyVTTrU21Uj3scfhp7nNpyoDaTIEJ3P9 If8J2kbLNYegg9JRBwGhFvbq66+ZUiDssMQWK2yHxiZLrInKNotss8l+B5yBrr5p2UIJvortANoC 6+234IbLla/elRtZjeamh5CC3Sb0YLvixivvYkDFGlZqBNh7r4n6goVvv6/ZlCicN+kL71ALTnpQ dCIZp7CihkLA3UQmoWRBogyxtBPGCTnZncVR1rSTo5nuydC/Eo8kUH+lOoTyyvjoCuZu+PjYIKLD rZybtrM1d10C0QXKEVz48GrQkEeWdFJKlbb0UmEeV0SzyC6RvNB646LWIVjUNeC1zAFb+RDKXksM 9r531bwmpQW9+hQDDsx5pqwDRWBXcFES2hc+gEn/wJGdEEWdE6LoWcoxQweaTNmkhydkKaYMYY2Q p1unbLl/pPKbn3v7EZRvrKvqlja2ONvrtoIw9tn2g32/tQBlhtYkU+MNikZ7QYlPDPuMldpOmuJX nVo5VF3HjI+q89mteX5IDd/fVFClma5kiE4f2XUJhlz09gj2NbTDRifkmu7zXjR++RVJ/lPznuvr QH2iD6S+UewP9Dnon6d2NLwN8n90BB6hC68cFMCHoe+ACASP9c4DowUyEF0OPFcDI0ij/VXPaAKC UfhS95AKGoQ7IBRICI1HwhGaUIQoLGEKT6jCFrLwhSuMoQtlCMMZ2rCGOKShDm+4wxzy8Ic+DGIP B4cIRCKGMCAAOy== ------=_NextPart_01C60EE1.26DA29A0 Content-Location: file:///C:/A51BD64C/DriveByWireControl_files/frame.htm Content-Transfer-Encoding: quoted-printable Content-Type: text/html; 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Sun</li> <li>Department of Mechanical Engineering</li> <li>University of Delaware</li> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>2</font></div> </td> <td> <div id=3DPPTP2 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0002.htm');" id=3DPPTL2>Overview</a></fo= nt></div> <div id=3DPPTC2 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Introduction</li> <li>Objectives</li> <li>Collaboration</li> <li>System Hardware</li> <li>Lower Level Hardware Controllers</li> <ul> <li>Electrical Current Control</li> <li>Cylinder Position Control</li> </ul> <li>Intelligent Velocity Controllers</li> <ul> <li>PID Velocity Control</li> <li>Supervisory Velocity Control</li> <li>Adpative Velocity Control</li> </ul> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>3</font></div> </td> <td> <div id=3DPPTP3 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0009.htm');" id=3DPPTL3>Introduction</a>= </font></div> <div id=3DPPTC3 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>What’s driving electronics in vehicles?</li> <ul> <li>Consumer expectations</li> <li>Automation</li> <li>Simplification of user interfaces</li> <li>Increase productivity</li> <br> <br> </ul> <li>X-by-Wire technologies</li> <ul> <li>X-by-Wire systems allow for electronic actuation of hardware.</li> <li>This enables the implementation of electronic controls to automate systems.</li> <br> <br> </ul> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>4</font></div> </td> <td> <div id=3DPPTP4 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0010.htm');" id=3DPPTL4>Future Technolog= y</a></font></div> <div id=3DPPTC4 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Fully Automated vehicles</li> <ul> <li>Vision systems for navigation and obstacle detection.</li> <li>A variety of sensors to provide information for decision making.</l= i> <li>Stratified software and control structure</li> <ul> <li>Higher level control systems (Task manager) can request adjustment= of specific vehicle parameters by lower level controllers.</li> </ul> <li>X-by-Wire solutions for controlling hardware components.</li> <br> <br> </ul> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>5</font></div> </td> <td> <div id=3DPPTP5 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0013.htm');" id=3DPPTL5>Demeter Project<= /a></font></div> <div id=3DPPTC5 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Collaborative project between NASA, New Holland North America LLC. a= nd Carnegie Mellon University to build a fully autonomous agricultural vehicle.</li> <li>Vehicle successfully cut 120 Acres of crop on its own.</li> <br> <br> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>6</font></div> </td> <td> <div id=3DPPTP6 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0004.htm');" id=3DPPTL6>Objectives</a></= font></div> <div id=3DPPTC6 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Velocity Control of SP Windrower</li> <ul> <br> <br> <li>Development of a cost effective velocity control solution for a self-propelled (SP) windrower.</li> <br> <br> <li>Investigate intelligent control systems to automatically compensate= for hardware variations.</li> <br> <br> <li>Develop associated hardware to implement the control systems.</li> </ul> <br> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>7</font></div> </td> <td> <div id=3DPPTP7 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0016.htm');" id=3DPPTL7>Simulink Model</= a></font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>8</font></div> </td> <td> <div id=3DPPTP8 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0021.htm');" id=3DPPTL8>Valve Characteri= stics</a></font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>9</font></div> </td> <td> <div id=3DPPTP9 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0019.htm');" id=3DPPTL9>Velocity Control= </a></font></div> <div id=3DPPTC9 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Objective</li> <ul> <li>To regulate the ground speed of the vehicle as sensed by the wheel speed sensors.</li> </ul> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>10</font></div> </td> <td> <div id=3DPPTP10 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0032.htm');" id=3DPPTL10>Test Track</a><= /font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>11</font></div> </td> <td> <div id=3DPPTP11 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0033.htm');" id=3DPPTL11>PID Results</a>= </font></div> <div id=3DPPTC11 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Simulation Data – Low ratio</li> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>12</font></div> </td> <td> <div id=3DPPTP12 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0034.htm');" id=3DPPTL12>PID Results</a>= </font></div> <div id=3DPPTC12 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Experimental Data – Low ratio</li> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>13</font></div> </td> <td> <div id=3DPPTP13 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0040.htm');" id=3DPPTL13>PID Summary</a>= </font></div> <div id=3DPPTC13 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>PID control stabilized the system and showed robustness.</li> <li>If tuned for acceleration system exhibited excessive overshoot in deceleration.</li> <li>If tuned for deceleration system exhibited a sluggish response in acceleration.</li> <li>Can conclude that the plant dynamics are changing between accelerati= on and deceleration.</li> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>14</font></div> </td> <td> <div id=3DPPTP14 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0042.htm');" id=3DPPTL14>Vehicle Variati= ons</a></font></div> <div id=3DPPTC14 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Possible varying parameters</li> <ul> <li>Hydraulic efficiency/leakage of motors and pumps.</li> <li>Dynamics of relief valves.</li> <li>Changing oil viscosity with oil temperature.</li> <li>Variations in cylinder position control dynamics.</li> <li>Size of tyres on vehicle.</li> <li>Type of header on vehicle (width, disc/sickle/draper).</li> <li>Suspension configuration of vehicle.</li> </ul> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>15</font></div> </td> <td> <div id=3DPPTP15 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0038.htm');" id=3DPPTL15>Supervisory Con= trol</a></font></div> <div id=3DPPTC15 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Multi-Estimator</li> <ul> <li>Contains a family of plant models.</li> <li>Generates set of predicted tracking errors (e<sub>p</sub>).</li> </ul> <li>Monitoring signal generator</li> <ul> <li>Provide a set of performance signals (m<sub>p</sub>) based on (e<su= b>p</sub>), to the supervisor.</li> </ul> <li>Supervisor</li> <ul> <li>Uses monitoring signals (m<sub>p</sub>) to decided which plant model best matches response of plant at present time.</li> <li>Decides when to switch controllers.</li> </ul> <li>Multi-controller</li> <ul> <li>Contains a family of controllers that stabilize plant models in the multi-controller.</li> </ul> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>16</font></div> </td> <td> <div id=3DPPTP16 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0037.htm');" id=3DPPTL16>Supervisory Con= trol</a></font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>17</font></div> </td> <td> <div id=3DPPTP17 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0044.htm');" id=3DPPTL17>Switching Logic= </a></font></div> <div id=3DPPTC17 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Selects which controller to implement based on information in monito= ring signals (m<sub>p</sub>)</li> <ul> <br> <br> </ul> <li>Scale independent switching logic</li> <ul> <li>Prevents fast switching</li> <li>Filters out short term transient effects</li> <li>Switching unchanged if m<sub>p</sub> scaled by a positive function.= </li> </ul> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>18</font></div> </td> <td> <div id=3DPPTP18 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0045.htm');" id=3DPPTL18>Stability</a></= font></div> <div id=3DPPTC18 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Define scaled performance signal</li> <br> <br> <br> <br> <li>If we replace <span style=3D'mso-spacerun:yes'> </spa= n><span style=3D'mso-spacerun:yes'> </span>with<span style=3D'mso-spacerun:yes'> = ; </span>switching of s will be unchanged.</li> <li><span style=3D'mso-spacerun:yes'> = ; </span>is a monotonically non-decreasing function.</li> <li>If<span style=3D'mso-spacerun:yes'> = ; </span>and<span style=3D'mso-spacerun:yes'> = ; </span>as<span style=3D'mso-spacerun:yes'> = ; </span>then switching will stop in finite time.</li> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>19</font></div> </td> <td> <div id=3DPPTP19 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0047.htm');" id=3DPPTL19>Simulations</a>= </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>20</font></div> </td> <td> <div id=3DPPTP20 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0048.htm');" id=3DPPTL20>Experiment</a><= /font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>21</font></div> </td> <td> <div id=3DPPTP21 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0053.htm');" id=3DPPTL21>Supervisory Con= trol Summary</a></font></div> <div id=3DPPTC21 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>Performed well overall</li> <li>Removal of short term switching of s will improve performance.</li> <li>Step tests induce undesirable dynamics.</li> <li>Engine RPM can be incorporated into models.</li> <li>Design of a better experimental test for modeling may help better differentiate models.</li> <br> <br> </ul> </font></div> </td> </tr> <tr onmouseover=3D"Over(this)" onmouseout=3D"Out(this)" onclick=3D"Follow(= this)" style=3D'cursor:hand'> <td align=3Dright valign=3Dtop> <div class=3DsldNum><font size=3D2>22</font></div> </td> <td> <div id=3DPPTP22 class=3DPTxt><font size=3D2><a href=3D"javascript:GoToSld('slide0064.htm');" id=3DPPTL22>Summary</a></fo= nt></div> <div id=3DPPTC22 class=3DCTxt style=3D'display:none'><font size=3D2> <ul> <li>PID Velocity Control</li> <ul> <li>PID control performance impaired by varying drive-train dynamics.</= li> <li>VSPID controller provided an effective solution to varying drive-tr= ain dynamics.</li> </ul> <li>Supervisory Control</li> <ul> <li>Successfully detected the state of the plant in both low and high ratio.</li> <li>Improved modeling method could help better differentiate models.</l= i> <br> <br> 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