INFRARED OBJECT POSITION

LOCATOR

OLADAPO, OPEOLUWA

AYOKUNLE EEG/2001/129
SUBMITTED TO

DEPARTMENT OF ELECTRONIC AND ELECTRICAL

ENGINEERING

OBAFEMI AWOLOWO UNIVERSITY, ILE IFE

OSUN STATE, NIGERIA

IN PARTIAL FULFILLMENT FOR THE AWARD OF BACHELOR OF

SCIENCE IN ELECTRONIC AND ELECTRICAL ENGINEERING

JANUARY 2008

1
 CHAPTER 1

INTRODUCTION

There are numerous locating, tracking and monitoring protocols in use today,

for use in conjunction with physical boundaries and fences, as necessary to locate,

track and monitor the location and proximity of an object relative to the physical

boundary. Such objects may be animate or inanimate, such as pets, livestock,

valuables, inventory, equipment, personnel, and the like.

Tracking systems have in recent times been on increasing demand this is

because security is of paramount importance and the use of tracking systems is one of

the simplest and most effective ways in security systems.

A position location system is used to determine the location or direction of a target on

a near-continuous basis. An ideal tracking system would maintain contact and

constantly update the target's bearing (azimuth), range and elevation.

Locating an object to be tracked may be readily achieved using

transmitter/receiver-based technology. Many devices used by police, security, and

military organizations, including user-wearable, gun mounted, vehicle-mounted,

missile-mounted, and orbital systems, exploit some form of infrared detection

technology.

Possible uses for this project include security surveillance for inside buildings

and surrounding areas. By using an infrared camera, the design can also have military

applications. The camera can be attached to a gun turret which could then track

moving targets.

2
1.1 OBJECTIVE

The aim of this project is to design and build a device that will track an object

(IR transmitter) in 3600 azimuth using an IR tracking system. The object position

locator is to comprise of an IR receiver, sweep dish and an intelligent controller

(implemented with Microcontroller PIC 16F877A), which is to activate the scanning

process of the sweep dish and also determine the position of the target.

The IR transmitter is attached to the object to be tracked while the IR receiver

receives signal sent by the transmitter and sends it to the computer. Tracking is done

by comparing signal strengths received from the IR receiver. This is to achieve a

continuous monitoring process to cause a real-time tracking of the object.

3
 CHAPTER 2

LITERATURE REVIEW

The purpose of this project is to develop a motion tracking device, which will

be able to recognize an object, and follow its motion on a horizontal plane. To reach

this goal, the motion tracking algorithm must perform within certain limits to keep up

with the real-time. Therefore, the most important factors of the project in these

regards are speed, cost and transmission signal strength

2.1 VARIOUS DESIGNS AND THEIR LIMITATIONS

Commercially, past research on the project have been carried out using

different tracking methods. These methods include: Radio Frequency Tracking,

Global Positioning System Tracking and Infrared Tracking Technologies.

2.1.1 RADIO FREQUENCY (RF) IDENTIFICATION TRACKING

This method is commonly used to implement the tracking systems by various

engineering institutes in design. Normally, a suitable frequency band for the design

would be selected considering factors such as cost, interference with other

transmitting stations around, effectiveness with the range of operation being

considered e.t.c. The Radio frequency design was first implemented using radio

frequency (RF) tags by Harry Stockman. He used the RF tags to reflect power

ensuring continuous reception from the receiver.

Radio path between the transmitter and receiver obstructed by surface with sharp

irregular objects even when line-of-sight (LOS) don’t exist, waves bend around the

objects by diffraction. It has an advantage of good enough range for most applications

4
but also has disadvantages which include issue of cost, multi-path, fading and

interference (Steven Depp et al, 2002)

2.1.2 GLOBAL POSITIONING SYSTEM (GPS) TRACKING

This is another very effective method used in tracking objects. The GPS is a

space-based radio-positioning and time transfer system developed in the early 1940’s

by Decca Navigator. The GPS has three major segments: Space Division, Control

Segment, and User Equipment Division. As a universal positioning system, GPS

provides several characteristics not found in other existing equipment which will

enhance the conduct of mission operations: Extremely accurate (3-dimensional)

position, velocity and time (PVT) determination; a worldwide common grid easily

converted to other local data; passive, all weather operation; real-time and continuous

information; and survivability in a hostile environment (Lockheed et al, 1999).

A GPS receiver's job is to locate four or more satellites in space, figure out the

distance to each, and use this information to deduce its own location. This operation is

based on a simple mathematical principle called trilateration1. One of the limitations

of the GPS tracking method is that certain atmospheric factors (ionization) and other

sources of error can affect the accuracy of GPS receivers.

2.1.3 INFRARED (IR) TRACKING

Infrared technology is one of the earliest tracking methods discovered in the

18th century by William Herschel. Infrared light consists of electromagnetic radiation

that is too low in frequency (i.e., too long in wavelength) to be perceived by the

human eye, yet is still too high in frequency to be classed as microwave radio.

Infrared (IR) light that is just beyond the human visual limit (>1.0 × 1014 to 4.0 ×
1
A method of determining the relative position of object using geometry of triangles

5
1014 Hz) is termed near IR, while light farther from the visible spectrum is divided

into middle IR, far IR, and extreme IR. Military and security systems utilize mostly

near IR and a narrow band in the far IR centered on 3.0 × 1013 Hz, because the

Earth's atmosphere happens to be transparent to IR radiation2

Infrared tracking technology employs the transmitter-receiver model. It is very

cost effective and easy to manage. Its main limitation is in its signal strength coverage

in transmission.

2.2 DESIGN IMPROVEMENTS

The Infrared tracking Technology was selected because of its cost

effectiveness and flexibility. The Transmitter-Receiver model can be easily

implemented on a small scale level.

The IR tracking will be improved using a dish to focus the IR radiation on the receiver

to enable a better reception of the infrared signals sent by the infrared transmitter.

2.3 HARDWARE COMPONENTS

The hardware components used in the IR tracking implementation include;

- An Infrared light-emitting diode (LED)

- A Phototransistor (used as an infrared receiver)

- Current Amplifier (ULN2003)

- Field Effect Transistors (FET)

- Stepper motors (1)

- PIC 16F877A microcontroller.

A brief description and theory of the hardware components employed is

discussed in the following sections.

2
Spontaneous emission of a stream of particles or electromagnetic rays in nuclear decay

6
2.3.1 PIC 16F877A MICROCONTROLLER

A microcontroller is a computer-on-a-chip developed by Intel3. It is a type of

microprocessor emphasizing high integration, low power consumption, self-

sufficiency and cost-effectiveness, in contrast to a general-purpose microprocessor

(the kind used in a PC).

PIC 16F877 is a 40-pin 8-Bit CMOS FLASH Microcontroller from Microchip.

The core architecture is high-performance RISC CPU with only 33 in-out pins. Since

it follows the RISC architecture, all single cycle instructions take only one instruction

cycle except for program branches which take two cycles. 16F877A comes with 3

operating speeds with 4, 8, or

20 MHz clock input. Since each instruction cycle takes four operating clock cycles,

each instruction takes 0.2 ms when 20MHz oscillator is used.

3
largest semiconductor company and inventor of the X86 series of microprocessors

7
 Figure 2.1 PIC16F877A Microcontroller

In addition to the usual arithmetic and logic elements of a general purpose

microprocessor, the microcontroller typically integrates additional elements such as

read-write memory for data storage, read-only memory, such as flash for code

8
storage, EEPROM (Electrically Erasable Programmable Read Only Memory), for

permanent data storage, peripheral devices, and input/output interfaces. At clock

speeds of 20MHz or even lower, microcontrollers often operate at very low speed

compared to modern day microprocessors, but this is adequate for typical

applications.

They consume relatively little power (milliwatts), and will generally have the

ability to sleep while waiting for a peripheral event such as a button press to wake

them up again to do something. Power consumption while sleeping is a few

nanowatts, making them ideal for low power and long lasting battery applications.

The PIC16F877A microcontroller is a single integrated circuit, also with the

following features:

 serial input/output such as serial ports (MCCP, USARTs), parallel

input/output such as (PSP)

 other serial communications interfaces like I²C, Serial Peripheral Interface and

Controller Area Network for system interconnect

 peripherals such as 3 timers, event counters, 2 PWM generators, and watchdog

 368 bytes of volatile memory (RAM) for data storage

 ROM, EPROM, 256 bytes of EEPROM, 8K flash memory for program and

operating parameter storage

 a clock generator - an oscillator for a quartz timing crystal

 eight 10-bit analogue-to-digital modules

 in-circuit programming and debugging support

2.3.2 STEPPER MOTOR

A stepper motor is an electromechanical device which converts electrical

pulses into discrete mechanical movements. The shaft or spindle of a stepper motor

9
rotates in discrete step increments when electrical command pulses are applied to it in

the proper sequence. The motors rotation has several direct relationships to these

applied input pulses. The sequence of the applied pulses is directly related to the

direction of motor shafts rotation. The speed of the motor shafts rotation is directly

related to the frequency of the input pulses and the length of rotation is directly

related to the number of input pulses applied.

A motor that rotates in short and essentially uniform angular movements

rather than continuously; typical steps are 30, 45, and 90°; the angular steps are

obtained electromagnetically rather than by the ratchet and pawl mechanisms of

stepping relays. A stepper motor is a brushless, synchronous electric motor that can

divide a full rotation into a large number of steps, for example, 200 steps. Thus the

motor can be turned to a precise angle.

10
 Figure 2.2 Stepper Motor

When energized in a programmed manner by a voltage and current input,

usually dc, a step motor can index in angular or linear increments. With proper

11
control, the output steps are always equal in number to the input command pulses.

According to Smith (1999), each pulse advances the rotor shaft one step increment

and latches it magnetically at the precise point to which it is stepped. Advances in

digital computers and particularly microcomputers revolutionized the controls of step

motors. These motors are found in many industrial control systems, and large

numbers are used in computer peripheral equipment, such as printers, tape drives,

capstan drives, and memory-access mechanisms. Step motors are also used in

numerical control systems, machine-tool controls, process control, and many systems

in the aerospace industry.

There are many types of step motors. Most of the widely used ones can be

classified as variable-reluctance, permanent-magnet, or hybrid permanent-magnet

types. A variable-reluctance step motor is simple to construct and has low efficiency.

The permanent-magnet types are more complex to construct and have a higher

efficiency

The advantages of the stepper motor are as listed below:

1. The rotation angle of the motor is proportional to the input pulse.

2. The motor has full torque at standstill.

3. Precise positioning and repeatability of movement.

4. Excellent response to starting/stopping/reversing.

5. Very reliable since there are no contact brushes in the motor.

6. The motors response to digital input pulses provides open-loop control,

making the motor simpler and less costly to control.

12
 7. It is possible to achieve very low speed synchronous rotation with a load that is

directly coupled to the shaft.

8. A wide range of rotational speeds can be realized as the speed is proportional

to the frequency of the input pulses.

The stepper motor also has some disadvantages as stated below;

1. Resonances can occur if not properly controlled.

2. Not easy to operate at extremely high speeds.

2.3.3 INFRARED TRANSMITTER

The transmitter usually is a battery powered handset. It should consume as

little power as possible, and the IR signal should also be as strong as possible to

achieve an acceptable control distance. Preferably it should be shock proof as well.

Many chips are designed to be used as IR transmitters. The older chips were

dedicated to only one of the many protocols that were invented. Nowadays very low

power microcontrollers are used in IR transmitters for the simple reason that they are

more flexible in their use. When no button is pressed they are in a very low power

sleep mode, in which hardly any current is consumed. The processor wakes up to

transmit the appropriate IR command only when a key is pressed.

13
Figure2.3 Infrared Light Emitting Diode

14
2.3.4 PHOTOTRANSISTOR

Like diodes, all transistors are light-sensitive. Phototransistors are designed

specifically to take advantage of this fact. The most-common variant is an NPN

bipolar transistor with an exposed base region. Here, light striking the base replaces

what would ordinarily be voltage applied to the base, so a phototransistor amplifies

variations in the light striking it. Note that phototransistors may or may not have a

base lead (if they do, the base lead allows you to bias the phototransistor's light

response.)

15
Figure 2.4 Phototransistor

16
2.3.5 INFRARED RECEIVER

Infrared receivers pick up infrared signals within line-of-sight, and within 30

feet or so, and turn the signal into electrical impulses. These electrical impulses can be

carried around the home on wires and then turned back into infrared signals by

emitters.

Many different receiver circuits exist on the market. The most important

selection criterion is the modulation frequency used.

17
Figure 2.5 Block diagram representation of the Infrared receiver

18
 Figure 2.5 is a typical block diagram of such an IR receiver; everything is built

into one single electronic component.

The received IR signal is picked up by the IR detection diode on the left side of the

diagram. This signal is amplified and limited by the first 2 stages. The limiter acts as

an AGC circuit to get a constant pulse level, regardless of the distance to the handset

and the AC signal is sent to the Band Pass Filter. The Band Pass Filter is tuned to the

modulation frequency of the handset unit. Common frequencies range from 30 kHz to

60 kHz in consumer electronics.

The next stages are a detector, integrator and comparator. The purpose of these three

blocks is to detect the presence of the modulation frequency. If this modulation

frequency is present the output of the comparator will be pulled low.

2.3.6 FIELD EFFECT TRANSISTOR (FET)

Such a transistor operates on the principle of repulsion or attraction of charges

due to a superimposed electric field. It is basically a transistor, with three or more

electrodes, in which the output current is controlled by a variable electric field.

Amplification of current is accomplished in a manner similar to the grid control of a

vacuum tube. Field-effect transistors operate more efficiently than bipolar types,

because a large signal can be controlled by a very small amount of energy.

The field-effect transistor (FET) is a type of transistor that relies on an electric

field to control the shape and hence the conductivity of a 'channel' in a semiconductor

material. It is basically used for weak-signal amplification (for example, for

amplifying wireless signals). The device can amplify analog or digital signals. It can

also switch DC or function as an oscillator. In the FET, current flows along a

19
semiconductor path called the channel4. At one end of the channel, there is an

electrode called the source. At the other end of the channel, there is an electrode

called the drain. The physical diameter of the channel is fixed, but its effective

electrical diameter can be varied by the application of a voltage to a control electrode

called the gate. The conductivity of the FET depends, at any given instant in time, on

the electrical diameter of the channel. A small change in gate voltage can cause a

large variation in the current from the source to the drain, thus the FET amplifies

signals.

4
Medium for transmission used in semiconductor devices

20
 CHAPTER 3

METHODOLOGY

The various methods used in the implementation of the infrared (IR) position

locator include; the search algorithm, stepper motor controlling, IR transmitter and

receiver range detection and the interconnection of all the components. These

methods are as enumerated in the following sections.

3.1 SEARCH ALGORITHM

The algorithm being used for tracking involves the detection of the point of

maximum strength of the signal transmitted from the transmitter. The receiver in

conjunction with the program (written and executed by PIC 16F877A) used to detect

the point of maximum signal strength detects the point of maximum strength and the

program written for the proper stepping of the motor is executed so as to give the dish

instructions on the proper direction to point towards. A flowchart showing the control

process is as shown in Figure 3.3.

21
Figure 3.1 The Control Process

22
Figure 3.2 Model plot of Signal Strength Vs Azimuth

23
 START

Signal Input

Data
Acquisition

INITIALSIGNAL
strength = A

SIGNAL
strength 2 = B

IS
A>B
?
YESS

OUTPUT=A

STOP

Figure 3.3 Flowchart Process Showing Signal Comparisons

24
 The receiver sends various analogue inputs of the signal strengths into the

PIC’s analogue-to-digital (A/D) converter which converts the signals into digital form

that can be easily used for comparison and the detection of the maximum point of

signal strength. This same digital form is translated and used for the proper stepping

of the motor for directing the dish and the receiver.

The sample of the code written for controlling the stepper motor and for

detecting the point of maximum signal strength is shown in appendix A1.

3.2 STEPPER MOTOR CONTROL

The stepper motor being used is the PJJQ113ZA-P Matsushita Line feed

motor which is a unipolar stepper motor having a step size of 7.5 degrees, 48 steps per

revolution, resistance of 36 ohms and a gear diametrical pitch of 50. The stepper

motor has six wires (out of which 2 are common) and four separate electromagnets

which were used to turn the motor. Each electromagnet was energized one at a time

by giving current to its corresponding coil.

Four of those wires were each connected to one end of one coil. The extra wire

(or 2) is called "common." To operate the motor, the "common" wires were connected

to the supply voltage, and the other four wires are connected to ground through

transistors, so the transistors control whether current flows or not. The microcontroller

was used to activate the transistors in the right sequence.

To drive the motor forward by one step (7.5o) the following sequence of signals needs

to be applied to the coil connections:

Step Q1 Q2 Q3 Q4

25
1 1 0 0 0
2 0 0 1 0
3 0 1 0 0
4 0 0 0 1
Repeat step 1 etc.

To drive the motor backwards by one step the sequence is:

Step Q1 Q2 Q3 Q4
1 1 0 0 0
2 0 0 0 1
3 0 1 0 0
4 0 0 1 0
Repeat step 1 etc.

26
 IR
TRANSMITTER RECEIVER

3V IR LED
MICRO
Powered by CONTROLLER
Batteries
PIC16F877A
STEPPER
MOTORS

Figure 3.4 Block diagram showing the control movement of the sweep dish

27
 3.3 INFRARED (IR) TRANSMITTER AND RECEIVER RANGE

DETECTION

The maximum permissible range of operation of the receiver was tested and

discovered to be 35 meters. The testing was carried out using the principle of line-of-

sight. The distance between the transmitter and receiver was increased gradually and

the signal strength received was detected. The maximum permissible range was

chosen as the distance at which the signal strength becomes so small that it becomes

useless as an input to the microcontroller.

3.4 INTERCONNECTION OF ALL THE COMPONENTS

After all the components had been tested, the connections were made

according to the design of the circuit shown in Figure 3.5 which had been simulated.

The infrared transmitter is driven with a +5 volts D.C power supply and the

transmitter transmits infrared signals continuously. The PIC is also driven with a +5

volts D.C power supply through terminals VDD and the VSS terminals connected to

ground. The emitter of the phototransistor is taken as an input to port Ra0 which is an

analogue input port and the A/D converter module is used to convert the signals into

its corresponding digital form. The PIC is clocked at 8MHz using a crystal oscillator

through the CLKIN and CLKOUT pins of the microcontroller.

The output which is used to drive the stepper motor is taken from pins RD4,

RD5, RD6 and RD7 into the gate of each field effect transistor (FET). The output (i.e.

the source) of the FET is then an amplified voltage used to drive the stepper motor by

energizing the corresponding coil while the drain is grounded. The stepper motor is

driven by a +24 volts D.C power supply.

28
Figure 3.5 The Schematic Design of an Object Position Locator

29
 CHAPTER 4

RESULTS

4.1 PROJECT EXPECTATIONS

The design was expected to be able to locate an object on the same platform

(same line-of-sight) with the receiver within a range 35 meters from the location of

the receiver and align itself to the direction of position of the object. This is to be done

continuously as long as the object being located is changing its location.

4.2 LIMITATIONS

The design is not 100 percent perfect to perform all of its operations in all

conditions. It was observed that the design has some limitations as listed below;

 The design will not be able to locate any object outside the range (35 meters)

of the infrared receiver.

 The speed of movement of the object to be located should not be greater than

the speed of rotation of the stepper motor involved.

 In applications where the object to be located is to be tagged secretly, the tag

might be removed and this will cause the design not to perform its work.

 The position of the transmitter should be in line-of-sight of the receiver else,

the design will not perform its operations.

 Any blockage in the line-of-sight will make the device not functional.

4.3 RESULTS

After the design and construction, testing of the device was carried out to

ascertain the working conditions of the device. The design performed the operations

30
expected i.e. locate an object that has been tagged and point in the direction of

location. The transmitter and the receiver have to be on the same level for the device

to work and also the device works only for a distance of seven meters between the

transmitter and receiver.

31
 CHAPTER 5

CONCLUSION AND RECOMMENDATION

5.1 CONCLUSION

This project locates an object that has been tagged with an infrared transmitter

which is in the range of the receiver. The receiver upon location of the object turns the

dish mounted on the stepper motor in the direction of the location of the object. It can

be concluded that the device will work in it specified limits.

5.2 RECOMMENDATION

The project is recommended for use in the following areas;

 The location of an athlete on a track.

 Location of objects in a perimeter within the specified range of the device.

32
 REFERENCES

Campbell T.D, Naik A.L., Stone R.E (2002), "Biological Infrared Imaging and Sensing".

Delmar Publishing Inc.

Depp Steven (2002), “Optical Fiber Communication: From Transmission to Networking”,

(English). IEEE

Gorbunov V. and Tsukruk S.L. (2006), "Thermal Detection of Biological Infrared

Receptors". Longman Limited, London.

Lockheed S.K. (1999), “Wavelength Technology” Seventh Edition, Infrared Spectroscopy,

Michigan State University.

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 APPENDIX A1

MIKROBASIC CODE FOR THE CONTROL PROCESS

program object position locator_1_1_08

dim counter, counter2 as word

dim counter3 as byte

sub procedure interrupt

if intcon.1 = 1 then
counter = counter + 1
intcon.1 = 0
end if

if pir1.0 = 1 then
counter2 = counter2 + 1
pir1.0 = 0
end if
end sub

main:
pwm_init(5000)
trisb = %00000001
trisa = 255

portb = 0
pwm_change_duty(16)
pwm_start

adcon0 = 0
adcon1 = %00000110
intcon = %11000000
option_reg = 0

34
 pie1 = 1
pir1 = 0
tmr1l = $e8
tmr1h = $fd
t1con = %00110001
intcon.4 = 1
while true

if counter2 = 1 then
intcon.4 = 0
t1con.0 = 0
if (counter >= 3) and (counter <= 7) then
nop
goto jade
else

do
counter2 = 0
counter = 0
t1con = %00110000
tmr1l = $58
tmr1h = $fc
pir1.0 = 0
t1con = %00110001
intcon.4 = 1

do
nop
loop until counter2 = 1
intcon.4 = 0
t1con.0 = 0

if (counter >= 1) and (counter <= 3) then

35
 goto jade
else
select case counter3
case 0 portb = %00010000
delay_us(100)
portb = 0
case 1 portb = %00100000
delay_us(100)
portb = 0
case 2 portb = %01000000
delay_us(100)
portb = 0
case 3 portb = %10000000
delay_us(100)
portb = 0
end select

counter3 = counter3 + 1

if counter3 = 4 then
counter3 = 0
end if
counter = 0
counter2 = 0
end if
loop until (counter >= 1) and (counter <= 3)
end if
jade:
portd = 255
delay_us(100)
portd = 0

pie1 = 1
pir1 = 0

36
 tmr1l = $e8
tmr1h = $fd
counter = 0
counter2 = 0
counter3 = 0
t1con = %00110001
intcon.4 = 1

end if

wend
end.

37
 APPENDIX A2

ELECTRICAL CHARACTERISTICS OF THE MCROCONTROLLER

PIC16F877A

Absolute Maximum Ratings †

Ambient temperature under bias...............................................................-55 to +125°C

Storage temperature ............................................................................ -65°C to +150°C

Voltage on any pin with respect to Vss

(Except VDD, MCLR. and RA4)................................................ -0.3V to (VDD + 0.3V)

Voltage on VDD with respect to Vss ……................................................. -0.3 to +7.5V

Voltage on MCLR with respect to Vss (Note 2)..............................................0 to

+14V

Voltage on RA4 with respect to Vss…….......................................................0 to +8.5V

Total power dissipation (Note 1).............................................................................1.0W

Maximum current out of VSS pin.......................................................................300 mA

Maximum current into VDD pin...........................................................................250 mA

Input clamp current, IIK (VI < 0 or VI > VDD)…………………………….…….20 mA

Output clamp current, IOK (VO < 0 or VO > VDD)………………………………20 mA

Maximum output current sunk by any I/O pin......................................................25 mA

Maximum output current sourced by any I/O pin ................................................25 mA

Maximum current sunk by PORTA, PORTB

and PORTE (combined)………..........................................................................200 mA

Maximum current sourced by PORTA, PORTB

and PORTE (combined)...................................…...............................................200 mA

Maximum current sunk by PORTC

38
and PORTD (combined)…………......................................................................200 mA

Maximum current sourced by PORTC

and PORTD (combined)…………......................................................................200 mA

Note 1: Power dissipation is calculated as follows: PDIS = VDD x {- ∑ IOH} + ∑ {(VDD –

VOH) x IOH} + ∑(VO1 x IOL)

Note 2: Voltage spikes below Vss at the MCLR pin, inducing currents greater than 80

mA, may cause latch-up.

Thus, a series resistor of 50-100Ω should be used when applying a “low” level to the

MCLR pin rather than pulling this pin directly to Vss.

39
 APPENDIX A3

PHOTOTRANSISTOR (QSE114) DATASHEET

40
41
42
 APPENDIX A4

INFRARED LIGHT EMITTING DIODE DATASHEET

43
44