627 results about "STM32" patented technology

The invention provides a service robot and a control method thereof. The service robot and the control method thereof have the advantages that automatic hunting and autonomous obstacle avoiding can be achieved, and therefore the reliability and the stability of a system can be improved. The service robot comprises a body and a motion control system; the motion control system is arranged on the body and comprises an STM32 embedded type main control board and an arduino control board; a first interface of the STM32 embedded type main control board is connected to a user machine through an RS232 serial port; a second interface is externally connected to all drivers arranged in a walking mechanism in the body through a CAN bus, the drivers control direct current motors, and the direct current motors are connected to the corresponding drivers in a feedback mode through installed encoders; a third interface is externally connected to an infrared photoelectric switch sensor through an analog-to-digital conversion circuit; and a fourth interface is externally connected to the first interface of the arduino control board through the CAN bus. According to the service robot and the control method thereof, automatic hunting and walking and autonomous obstacle avoiding of the robot can be realized, and the service robot and the control method thereof can be used for a relatively complex environment and have good economic and social benefits.

The invention discloses a shared electric bicycle. The shared electric bicycle is characterized in that personal information input and face recognition authentication are achieved through an APP; an STM32 controller is used as the bicycle controller, a GPS positioning module, an NB-IOT wireless communication module, an NFC card reader module, a rear wheel lock, an alarm module and a controller power supply lithium battery are electrically connected in the STM32 controller, and the APP, a cloud server and the STM32 controller controls a rear wheel lock. The shared electric bicycle has the advantages that a power supply lock is unlocked through an NFC citizen card, an integration management manner is added to power supply lithium battery charging, the problem that a power battery runs out frequently can be solved effectively, and the enthusiasm of people participating in public facility management can be increased.

The invention relates to a miniaturized high-power brushless DC motor controller, comprising an STM32 core controller module, an analog signal sampling module, an isolation circuit module, a power drive module, a hardware protection circuit module and an RS‑422 communication interface module. The STM32 core controller controls the conduction sequence of the switching tubes of the three-phase full-bridge inverter module, and inverts the DC power into the AC power required by the brushless DC motor. The STM32 core controller is realized by an optocoupler (HCPL‑316J). Drive the three-phase full-bridge inverter. On the other hand, optocoupler (HCPL‑316J) can also be used to isolate the power part and the weak part, so as to ensure the safe operation of the system. The STM32 core controller module is also connected with an analog signal sampling module and a communication interface module for real-time processing of motor data and adjustment of motor speed and state control. At the same time, the STM32 core controller is also connected to the RS422 communication chip ADM2681E interface to facilitate real-time communication with other devices.

The invention relates to a dynamic increasing capacity on-line monitoring device for a power transmission line, which is characterized by comprising a monitoring substation, a monitoring master station and a monitoring upper computer, wherein the monitoring substation is arranged on the power transmission line; the monitoring master station is arranged on a tower; the monitoring upper computer is arranged at a monitoring center; the monitoring substation comprises a STM32 singlechip, an intelligent protection CT (Current Transformer) power supply, a wire temperature sensor, an RF radio frequency module and a current transformer; and the monitoring master station comprises a STM32 singlechip master station control system, a photovoltaic power supply, a GPRS (General Packet Radio Service) module, a RF radio frequency module, an environment temperature and humidity sensor, a wind speed and direction sensor and a solar radiation sensor. The conveying potential of the line is sufficiently explored, the conveying capacity is timely according to the actual operation sate of a wire, the safety operation of the power transmission line is ensured, the risk caused by the increasing capacity is avoided, and the dynamic increasing capacity on-line monitoring device has an active effect of meeting the requirement on rapid growth of the social economy.

The invention discloses a leakage detection method and a leakage detection device based on a combination of a wavelet and EMD reconstruction. The pipeline leakage detection device takes an STM32 single-chip microcomputer as a core, and mainly comprises a sensor, an amplifier, a filter, an A / D conversion module and a transmission module. After the pipeline leakage detection device collects data, the data are transmitted to a computer through a wireless communication module; the computer uses Matlab software to carry out denoising processing on the collected data by combining the wavelet universal threshold denoising and the EMD reconstruction of a multi-azimuth neighborhood mode, positioning is carried out through correlation analysis, so that the position of a pipeline leakage point is obtained. According to the leakage detection method and the leakage detection device, noise can be effectively removed, useful signals can be extracted, and therefore the accuracy of positioning the pipeline leakage point is remarkably improved.

The invention discloses a planar magnetic field scanning and imaging system based on a Hall sensor. The planar magnetic field scanning and imaging system comprises a three-dimensional mechanical displacement platform, a lower computer controller based on STM32, a Hall sensor, a differential amplification circuit module, a data acquisition card, upper computer control and data analyzing and processing software and a constant flow source, wherein a component to be tested is connected with the constant flow source and is arranged on a sample piece table of the three-dimensional mechanical displacement platform; the three-dimensional mechanical displacement platform and the Hall sensor are started, and then the motion parameters of the displacement platform are set according to the size of a sample piece; scanning type acquisition is carried out on the amplitude of the magnetic field on the surface of a measured conductor by the displacement platform which is started, together with the Hall sensor; the magnetic field information acquired by the sensor is sent to an upper computer by the data acquisition card; the scanned image of the magnetic field distribution on the surface of the sample piece to be tested can be displayed by the upper computer. The planar magnetic field scanning and imaging system can be used for scanning and imaging the magnetic field distribution condition of the surface of electrified material, so that the internal structure of the material is further analyzed according to the magnetic field distribution; therefore, the system has a certain practical value for detecting the integrity condition in the material in a nondestructive way.

The invention discloses a novel four-axis robot control system. The upper computer translates the inputted parameter into the running data of the servo motor on the robot joint and sends the data to a DSP module, the DSP module translates the running data of the servo motor into the drive information of the servo driver and sends the information to a CPLED module, the CPLED module exactly sends pulse count to the servo driver for driving the robot joint for moving and finishing the action, an encoder records the running actual position data of the servo motor at real time and sends the data to the stm32 module, the stm32 module calculates the received data and sends the calculated data to the DSP module, the DSP module compares the received running actual position data of the servo motor with the running data of the servo motor and compensates the movement error of the servo motor for forming a closed ring control system. The novel four-axis robot control system has the beneficial effects that a system capable of controlling the four axes of the robot is provided, the movement of the robot is flexible and the function is diversified.

A campus night safety patrol robot comprises a four-wheel trolley used for walking and serving as a main bearing body, and a single chip microcomputer control module with a single chip microcomputer STM32 as the center, an environment monitoring module, a driving module, an alarm module, a GPRS wireless communication module and a power source are arranged in the four-wheel trolley, wherein the environment monitoring module, the driving module, the alarm module, the GPRS wireless communication module and the power source are connected with the single chip microcomputer control module and arranged on the four-wheel trolley; and the power source supplies power to the single chip microcomputer control module, the alarm module and the driving module. The campus night safety patrol robot is simple in structure, reasonable in design, high in antijamming capability and capable of completing campus safety patrol work, workloads of a worker are reduced, and the working efficiency is improved.

The invention relates to a remote field eddy current based metal pipeline defect detection device. The device comprises a computer, an STM32 development board, a power amplifier, a first exciting coil, a second exciting coil, a first detecting coil, a second detecting coil, a driving rod, a stepping motor and a shielding plate; the computer controls the STM32 development board to generate a sinusoidal signal which is amplified by the power amplifier prior to being loaded on the first exciting coil and the second exciting coil, a magnetic field generated is propagated in two different coupling paths which are an indirect coupling energy path and a direct coupling energy path respectively, indirect coupling magnetic field signals are measured through the first detection coil and the second detection coil, the signals are acquired into the STM32 development board, and whether defects present or not can be visually displayed by observing amplitude of the signals and phase changes. Hall elements and oscilloscopes are not required, and the detection device has the advantages of high operability, low cost and the like and can be applied to various practical engineering.

The invention discloses a centrifugal pump motor state monitoring device and method based on an Android platform. The device comprises a centrifugal pump motor current and voltage signal collection module based on an ATT7022B chip, a microcontroller data receiving and analyzing processing module based on STM32, a data communication and sharing module, an Android client and an upper computer in Labwindows environment. The method includes: collecting motor stator current signals and voltage signals through the centrifugal pump motor current and voltage signal collection module based on the ATT7022B chip; converting the current signals and the voltage signals into rotating speed and power signals of a centrifugal pump; utilizing acquired power and rotating speed signals, and combining with characteristic curve and proportion law of the pump for conversion to acquire performances like lift and efficiency equivalence of the pump so as to judge corresponding working conditions; transmitting information to the Android client and the upper computer through the data communication and sharing module so as to remote monitor state of the centrifugal pump in real time. By the centrifugal pump motor state monitoring device and method, state predicting and monitoring of the centrifugal pump are realized by only utilizing electrical parameters of a driving motor.

The invention relates to a modular hotel handling robot system. Including laser navigation module, bottom layer control module, elevator interaction module and human-computer interaction module. The laser navigation module includes industrial computer and laser radar; the bottom control module includes STM32 core control board, motor driver and encoder; the elevator module includes signal converter and microprocessor; device, voice interaction unit and camera. The present invention realizes the navigation of the system by means of laser navigation, provides a working environment that adapts to the high positioning accuracy requirements of the terminal, and has no fixed line in the running path, and facilitates the daily material handling of enterprises, improves the efficiency of logistics handling, and reduces manpower and introduction costs. A laser navigation system; at the same time, a series of human-computer interaction modules are designed to facilitate user experience interaction. The elevator module enhances the practicability of the robot and realizes cross-floor transportation.

The invention provides an airplane power supply system experiment platform device. The airplane power supply system experiment platform device comprises a motor speed regulation control system, a generator excitation control system, a PC end host computer, an inverter and an aviation storage battery. According to the airplane power supply system experiment platform device, the motor speed regulation control system is utilized to replace an aviation engine system to provide power for rotation of a rotor when an AC generator provides power supply, a DSP speed regulation controller in the motor speed regulation control system is used for adjusting a rotation speed of a permanent-magnet synchronous motor, an excitation current of an excitation winding of the AC generator is controlled through an STM32 excitation controller in the generator excitation control system to make an end voltage outputted by the generator be constant, the PC end host computer is used for controlling and displaying data parameters of two systems, and the inverter is used for converting a 28V DC current into 200V / 115V 400Hz AC current needed by an aviation AC load. Through the airplane power supply system experiment platform device, a verifiable platform is provided for theoretical researches on airplane power supply systems, and great importance to popularization of experiment platforms and research and development of modern airplane power supply systems is realized.

The invention provides an intelligent control system for pig house environment, which belongs to the technical field of pig farm breeding equipment, including STM32 single-chip microcomputer, operation panel, sensor, input module, output module, frequency converter, variable frequency fan contactor, variable speed fan, wet curtain contact device, cooling pad, constant speed fan contactor and constant speed fan. The temperature, humidity and ammonia control parameters of the pig house environment automation control system of the present invention can be adjusted by themselves, and different houses can adjust the control range of temperature, humidity and ammonia according to the needs, so as to give pigs a suitable growth environment, Guarantee the health and growth speed of pigs, and increase the economic benefits of the farm; the system of the present invention adopts highly intelligent and humanized design, fully automatic operation control according to the set parameters, no need for on-site personnel, 24-hour all-weather operation, one-time input, benefit for ten years.

The invention discloses an IAP method and system based on a stm32 single-chip microcomputer. The method comprises the steps of programming a BootLoader program to the single-chip microcomputer; programming the APP program to the single-chip microcomputer; and running the BootLoader program to update the APP program. The method provided by the invention can remotely control the upgrading of the program; Mechanical operation is not needed, for example, a burner is connected, and a jumper cap is arranged. Performing repeated programming; When the shell of the machine is sealed, the machine cannotbe disassembled, and an IAP upgrading scheme can be used for updating iteration.

The invention relates to a smart home voice control device and method based on a mobile phone client. The device mainly comprises an STM32 central controller, a WIFI coordinator, an Ethernet module, a sensor module, an infrared signal receiving and dispatching module, a radio-frequency signal receiving and dispatching module, a router, a voice controller, a mobile phone control terminal and the like. The STM32 central controller is connected with a reset module, a power module, the Ethernet module, the WIFI coordinator, a FLASH, a SDRAM and a voice controller module through power lines to form a home gateway; the sensor module, the infrared signal receiving and dispatching module, the radio-frequency signal receiving and dispatching module and the WIFI coordinator are connected through power lines to form functional sub-modules; the voice controller module comprises a speech recognition chip, an STM 32 module, a CC2430 module and a power management module and is connected with a home gateway module; the mobile terminal is an Android smart phone. Home equipment can be manually and remotely monitored in a voice mode, functions are complete, and home life of users is more convenient, rapider and more efficient.

The invention provides an Ethernet and serial port / CAN protocol conversion device based on STM32. The device comprises an STM32 embedded processor, an Ethernet interface module, an A / D module, a D / A module, a CAN transceiver, a RS232 interface module, a RS485 interface module, a storage module, a power supply module, a crystal oscillator module, a JTAG interface module, a reset module and a 74LVX4245 chip logic level conversion module, wherein the Ethernet interface module, the CAN transceiver, the RS232 interface module and the RS485 interface module are all connected with the STM32 embedded processor. The Ethernet and serial port / CAN protocol conversion device based on STM32 of the invention can achieve the function of mutual conversion of multiple communication fusion technologies.

The invention discloses a vehicle-mounted charging machine capable of adjusting the dead time based on a phase-shift full-bridge circuit. The vehicle-mounted charging machine comprises a three-phase rectification circuit, an input filtering circuit, a phase-shift full-bridge circuit and an STM32 single chip microcomputer which are connected in sequence; an output voltage and current detection circuit, a dynamic dead zone adjustment circuit and four gate driving push-pull amplification circuits with the same structures are additionally arranged; the STM32 single chip microcomputer generates four PWM (pulse width modulation) driving signals through a timer according to a sampling value of the output voltage and current detection circuit, and the four PWM driving signals are connected to four input ends of the dynamic dead zone adjustment circuit; the dynamic dead zone adjustment circuit outputs four PWM signals with dead time, and the four PWM signals with the dead time are respectively connected to the input ends of the four gate driving push-pull amplification circuits; the output ends of the four gate driving push-pull amplification circuits respectively control the gates of four switch tubes Q1, Q2, Q3 and Q4 in a phase-shift full-bridge circuit; therefore, dynamic adjustment on the dead time of the phase-shift full-bridge circuit and higher power output are realized, and the working efficiency of the charging machine is greatly improved.

The invention discloses an apparatus and method for automatically identifying an obstacle in front of a mobile terminal. The apparatus is composed of a transmitting module, a receiving module and a controller MCU module. The transmitting module is in signal connection with the receiving module; and the transmitting module and the receiving module are in signal connection with the controller MCU module with the STM32 series. The controller MCU module is also in signal connection with a mobile terminal CPU. The transmitting module is configured to generate a laser transmitting signal and a difference frequency ranging signal including phase information. The receiving module is configured to receive a laser transmitting signal during ranging and receive an infrared pyroelectric signal of a human body or a road surface during a non-ranging process. The controller MCU module is used for identifying a ranging signal and an infrared signal, driving a corresponding voice data segment for playing and a front-end camera to start working by the mobile terminal CPU so as to warn a mobile terminal user in a voice manner, and displaying a dangerous situation in front of the user by the front-end camera of the mobile terminal. Therefore, the road condition in front of the mobile terminal can be identified automatically; and voice prompting is carried out timely.

The invention relates to a dual-direct-current motor micromouse system based on STM32 control, and belongs to the field of micro-robots. The dual-direct-current motor micromouse system comprises a master control chip, a detection module, an H-bridge drive module, a direct-current micromotor, a magnetic type encoder, a UART interface, a gyroscope, a human-computer interface, a power module, a PCB and the like. The detection module comprises six sets of infrared sensors and is used for detecting the wall distance and maze wall information. The gyroscope is used for correcting the posture of a micromouse in the turning process. Forward and reverse rotation, acceleration and deceleration of the direct-current motor are achieved through the H-bridge drive circuit. The rotating speed and locating information of the motor are obtained and fed back through the magnetic type encoder on the direct-current micromotor. The UART interface can be externally connected with a serial port or a Bluetooth module. The human-computer interface displays different work modes. The dual-direct-current motor micromouse system has the advantages that strong externally-mounted resources are provided by the master control chip, and the direct-current micromotor is used as a drive unit to improve the operating speed of the system. The system is small in size and light, time for completing tasks by the micromouse is lowered, operating stability of the micromouse is improved, and high practicality is achieved.

The invention relates to an improved electric automobile power cell insulation detection system and method. The system is characterized by comprising a normally-opened relay K0 and a bias resistor R connected in series between a positive bus of a cell and a chassis, a normally-opened relay K1 and a bias resistor R are connected in series between a negative bus of the cell and the chassis, one ADC sampling channel of an STM32 high performance single-chip microcomputer is used for acquiring a voltage value U0 between the positive bus of the cell and the chassis through a voltage reduction unit, and another ADC sampling channel of the STM32 high performance single-chip microcomputer is used for acquiring a voltage value U1 between the negative bus of the cell and the chassis through a polarity conversion unit and the voltage reduction unit. The invention further provides an insulation detection method based on the improved electric automobile power cell insulation detection system. The system is advantaged in that when insulation performance of an electric automobile decreases, timely alarm can be realized, and thereby safety of the electric automobile is improved.

The invention provides a tamper circuit based on an STM32 chip. The tamper circuit comprises a battery, a switch and a resistor-capacitor (RC) charge-discharge circuit, wherein the battery is respectively connected with one end of the switch and a real time clock (RTC) register in the STM32 chip and supplies power for the RTC register, the other end of the switch is connected with one end of the RC charge-discharge circuit, and the other end of the RC charge-discharge circuit is connected with a TAMPER pin of the STM32 chip. According to the tamper circuit, additional chips (ICs) are not required to be added to achieve tamper functions, the tamper time is easy to control, and the tamper circuit is high in tamper sensitivity, low in cost, good in performance and interference resistance characteristics and long in service life of the battery.

The invention discloses a direct-drive side-hung automatic door control device and a control method thereof. The control device comprises an STM32 single chip microcomputer, a CPLD pulse distribution circuit, an intelligent power module (IPM), a permanent magnetic synchronous linear motor, a hall position sensor, an infrared sensor, a man-machine interaction interface and a door panel. The door panel is driven by the permanent magnetic synchronous linear motor, the hall position sensor detects the position of the door panel, the infrared sensor detects people stream information on the inner side and on the outer side of the door panel, and the STM32 single chip microcomputer generates motor enable signals, motor operation direction signals, PWM signals and motor brake signals according to received position information, system control / inquiry information and the people stream information. The permanent magnetic synchronous linear motor serves as a drive mechanism, and a system is high in reliability and convenient to maintain. The STM32 single chip microcomputer serves as a control core, so that development cost is lowered, and performance is stable; parameter setting and information display are achieved by means of a man-machine interaction touch screen, and operation is easy.

The invention provides a soil heavy-metal electrochemical in-situ detection system which comprises a three-electrode sensor, signal collecting and processing equipment and an upper computer control system. The signal collecting and processing equipment comprises a STM32 microcontroller and minimum system, a digital-analog converter, an analog-digital converter, a constant potentiometer module, a serial port communication module and a sensor connection module. The invention further provides a soil heavy-metal electrochemical in-situ detection method. The system integrates stripping voltammetrysignals with a background current recognition algorithm, has an electrode cleaning function and an actual sample pretreating function which are independent, has three heavy metal analysis methods andcan meet different detection needs. The system can accurately detect content of heavy metal like lead and cadmium in a soil sample and overcomes the defects of existing heavy metal detection methods and prior art in soil heavy metal detection.

The invention relates to a point sound source positioning system intelligent detecting front-end based on a semispherical microphone array. The point sound source positioning system intelligent detecting front-end based on the semispherical microphone array comprises an STM32 processor, a sound source detecting unit, signal conditioning circuits and a data transmission module. Microphones in the sound source detecting unit are connected with corresponding signal conditioning circuits. Each signal conditioning circuit is powered by a single lithium battery in a centralized manner. Each signal conditioning circuit is connected with the STM32 processor. The STM32 processor is connected with a data transmission module. The semispherical microphone array is utilized in the sound source detecting unit. The directions of microphones on each layer of the semispherical surface are arranged in a direction of a normal line between a sphere center and the point. The point sound source positioning system intelligent detecting front-end aims at the point sound source and acquires noise information in different angles and different directions in a synchronous real-time multipoint manner. Furthermore synchronous normalization processing is performed on multipoint information. Noise resolution reaches 0.1dB.

The invention relates to a night guarding robot for real-time scene analysis and space obstacle avoidance, which belongs to the technical field of intelligent robot equipment. The night guarding robotis characterized in that: an STM32 single-chip microcomputer is used as a core of robot chassis motion control, and self-balance of the robot is realized by means of PID algorithm closed-loop control; the Nvidia Jetson TX2 carries ROS standard operating system service, so that positioning, autonomous navigation and path planning of the robot are realized; and target detection is realized by usingYOLO, and communication between an upper computer and a lower computer is realized by means of a kobuki protocol, so that the high-integrity and distinctive dead-corner-free security intelligent robot is implemented. The night guarding robot has the advantages and beneficial effect of implementing the high-integrity and the special dead-corner-free security intelligent robot.

The invention discloses an embankment safety monitoring method based on a self-adaption feedback-type vibrating wire sensor. The method comprises the steps that initial resonant frequency is taken as initial exciting frequency, and the total number of pulses N<f> needed by string wire minimum vibration is adopted to achieve self-adaption adjustment of exciting time; a double trigger mode of an interrupt counter and a time-out timer of a STM32 processor is adopted to determine the end of vibration picking, vibration picking time is counted, and vibration picking frequency is calculated according to an equal-precision frequency measuring method; a concept of a frequency difference value state S<f> is introduced, a different value between the vibration picking frequency and the exciting frequency is calculated, and the state of the S<f> is determined. When the S<f> is in an ideal state, the vibration picking frequency is the resonant frequency; when the S<f> is in a non-ideal state, the exciting frequency is updated according to a formula which is shown in a specification, and excitation is conducted again. By means of the embankment safety monitoring method based on the self-adaption feedback-type vibrating wire sensor, one-time exciting time is reduced, and the safety monitoring efficiency of an embankment is improved; equal-precision self-adaption adjustment is achieved based on a feedback-type frequency sweep method, the safety monitoring time of the embankment is shortened.

The invention discloses an old people fall help system and method based on an acceleration sensor. The fall help system collects triaxial acceleration and triaxial angular velocity data of the movement of an old people through an acceleration sensor module (1). A DMP module in the acceleration sensor module (1) filters and fuses the original data, and outputs posture data after posture calculating to an STM32 microcontroller module (2) through an I2C interface. The STM32 microcontroller module (2) receives the posture data, and identifies a fall event. After fall is confirmed, the STM32 microcontroller module (2) uses a GPS space positioning module (5) to provide location and speed information as initial parameters and the output direction and speed information of the acceleration sensor for dead reckoning to acquire the spatial geographical location information of the old people who falls. The problem that positioning is unavailable in a GPS blind area is solved. A GSM wireless communication module (6) sends the geographical location information of the old people who falls to the mobile phones of the relatives of the old people to issue help information.

The invention provides an STM32-based USB online upgrade method. A boot program of an HID is burnt into a program loading area of a chip by using a pre-burning tool; the boot program initializes USB equipment into HID high-speed equipment; the USB equipment is connected with a USB host; the USB host enumerates the USB equipment; the USB equipment receives an APP program data packet from the USB host and stores the APP program data packet into a data backup area of the USB equipment; and the USB equipment is restarted and the APP program data packet is copied into an APP data area from the data backup area and jumps to an APP application area to run an APP program. The STM32-based USB online upgrade method has the advantages that application updating and maintenance by using a USB interface of an integrated circuit can be achieved through the method, the production efficiency of an STM32 can be improved, the production cost can be reduced and the upgrade success rate can be improved.

The invention discloses a method for receiving data of an absolute encoder through an STM32 microprocessor. An SSI is adopted for the absolute encoder to output collected data, the absolute encoder comprises two chips 422 with a data transceiving function, a data output port of the absolute encoder is connected with a data input port of a single-chip microcomputer through the chips 422, and a pulse output port of the single-chip microcomputer is connected with a clock interface of the absolute encoder through the chips 422; the microprocessor outputs pulse signals through the pulse output portand sends the pulse signals into the absolute encoder via the chips 422, the absolute encoder sends the data of the encoder at rising edges of pulses, and the single-chip microcomputer collects the data sent from the encoder at the rising edges of the signals according to the output pulse signals. The method has the advantages that data transmission and reading can be controlled through the cooperation of the chips 422 and the output pulse signals on hardware, the data of the absolute encoder with the ssi is conveniently read at the stm32 microprocessor, and the method is easy to implement, low in cost and capable of conveniently receiving and reading the data.