Autonomous rescue robot mapping

‫د‬‫اﺳﻼﻣﻲ‬ ‫آزاد‬ ‫اﻧﺸﮕﺎه‬
‫ﻗﺰوﻳﻦ‬ ‫واﺣﺪ‬
‫ﻛﺎرﺷﻨﺎﺳﻲ‬ ‫درﺟﻪ‬ ‫ﻧﺎﻣﻪ‬ ‫ﭘﺎﻳﺎن‬ ‫ﭘﺮوژه‬
‫ﻛﺎﻣﭙﻴﻮﺗﺮ‬ ‫ﻣﻬﻨﺪﺳﻲ‬ ‫رﺷﺘﻪ‬
‫ﭘﺮوژه‬ ‫ﻋﻨﻮان‬
‫ﺧﻮدﻣﺨﺘﺎر‬ ‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬ ‫ﺗﻮﺳﻂ‬ ‫ﻣﺤﻴﻂ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬
‫راﻳﺎﻧﻪ‬ ‫و‬ ‫ﺑﺮق‬ ‫داﻧﺸﻜﺪه‬
‫ﻣﻜﺎﺗﺮوﻧﻴﻚ‬ ‫ﺗﺤﻘﻴﻘﺎﺗﻲ‬ ‫آزﻣﺎﻳﺸﮕﺎه‬
‫راﻫﻨﻤﺎ‬ ‫اﺳﺘﺎد‬:‫ﺣﻘﻴﻘﺖ‬ ‫ﻃﺮﻗﻲ‬ ‫اﺑﻮاﻟﻔﻀﻞ‬ ‫دﻛﺘﺮ‬
‫داﻧﺸﺠﻮﻳﺎن‬:
‫اﻣﻴﺮﺣﺴﻴﻦ‬‫ﻣﺎﻧﺪﮔﺎر‬)7894130(‫اﻓﺰار‬ ‫ﺳﺨﺖ‬ ‫ﮔﺮاﻳﺶ‬
‫ﻧﺼﺐ‬ ‫ﻛﺘﺎﻧﺒﺎف‬ ‫اﻓﺮوز‬)7992031(‫اﻓﺰار‬ ‫ﻧﺮم‬ ‫ﮔﺮاﻳﺶ‬
‫ﻧﺎﻣﻪ‬ ‫ﭘﺎﻳﺎن‬ ‫ﻛﺪ‬:‫ك‬2-1133
‫اول‬ ‫ﻧﻴﻤﺴﺎل‬84-1383

‫اﻟﺮﺣﻴﻢ‬ ‫اﻟﺮﺣﻤﻦ‬ ‫اﷲ‬ ‫ﺑﺴﻢ‬

‫ﺑﺎﺷﺪ‬ ‫ﻣﻲ‬ ‫ﻣﺤﻔﻮظ‬ ‫ﻧﺼﺐ‬ ‫ﻛﺘﺎﻧﺒﺎف‬ ‫اﻓﺮوز‬ ‫و‬ ‫ﻣﺎﻧﺪﮔﺎر‬ ‫اﻣﻴﺮﺣﺴﻴﻦ‬ ‫ﺑﺮاي‬ ‫ﺗﺎﻟﻴﻒ‬ ‫ﺣﻖ‬.1384
‫ﻧﺴﺨﻪ‬ ‫ﮔﻨﻮ‬ ‫آزاد‬ ‫اﺳﻨﺎد‬ ‫ﭘﺮواﻧﻪ‬ ‫ﻗﻮاﻧﻴﻦ‬ ‫ﺗﺤﺖ‬ ‫ﺳﻨﺪ‬ ‫اﻳﻦ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫و‬ ‫ﭘﺨﺶ‬ ،‫ﻛﭙﻲ‬ ‫اﺟﺎزه‬1,2‫ﻧﺴﺨ‬ ‫ﻳﺎ‬‫ﺗﻮﺳﻂ‬ ‫ﺷﺪه‬ ‫ﻣﻨﺘﺸﺮ‬ ‫ﺑﻌﺪي‬ ‫ﻫﺎي‬ ‫ﻪ‬
‫ﺑﻨﻴﺎد‬‫اﻓﺰار‬ ‫ﻧﺮم‬‫آزاد‬‫ﮔﺮدﻳﺪ‬ ‫اﻋﻄﺎ‬‫اﺳﺖ‬ ‫ه‬.‫ﺑﺎ‬‫ﻋﻨﻮاﻧﻬﺎي‬‫ﺛﺎﺑﺖ‬"‫ﻣ‬ ‫و‬ ‫آﺷﻨﺎﻳﻲ‬‫ﻌﺮﻓﻲ‬"،"‫ﺳﺎزي‬ ‫ﭘﻴﺎده‬ ‫و‬ ‫ﻃﺮاﺣﻲ‬"،"‫ﻧﺘﺎﻳﺞ‬"‫و‬
"‫ﭘﻴﻮﺳﺖ‬"،‫ﺑﺎ‬‫ﺟﻠﺪ‬ ‫روي‬ ‫ﻋﻨﻮان‬‫ﺷﺮح‬ ‫ﺑﻪ‬"‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬‫ﺗﻮﺳﻂ‬ ‫ﻣﺤﻴﻂ‬‫ﺧﻮدﻣﺨﺘﺎر‬ ‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬"‫ﺟﻠﺪ‬ ‫ﭘﺸﺖ‬ ‫ﻋﻨﻮان‬ ‫ﺑﺪون‬ ‫و‬.
‫ﺑﺨﺶ‬ ‫در‬ ‫ﭘﺮواﻧﻪ‬ ‫ﻣﺘﻦ‬ ‫ﻛﭙﻲ‬"‫ﮔﻨﻮ‬ ‫آزاد‬ ‫اﺳﻨﺎد‬ ‫ﭘﺮواﻧﻪ‬"‫ﺑﺎﺷﺪ‬ ‫ﻣﻲ‬ ‫ﻣﻮﺟﻮد‬.

‫ﻗﺪرداﻧﻲ‬ ‫و‬ ‫ﺗﺸﻜﺮ‬
‫ﺳﭙﺎس‬‫از‬‫ﺧﺪاوﻧﺪ‬‫اﻋﻄﺎي‬ ‫ﺑﺮاي‬ ‫ﻣﻨﺎن‬،‫ﺳﻼﻣﺘﻲ‬‫زﻧﺪﮔﻲ‬ ‫ﻣﺮاﺣﻞ‬ ‫ﺗﻤﺎﻣﻲ‬ ‫در‬ ‫ﻣﻮﻓﻘﻴﺖ‬ ‫ﻛﺴﺐ‬ ‫ﻧﻴﺮوي‬ ‫و‬ ‫ﻛﻤﻚ‬‫اﻣﺮوز‬ ‫ﺑﻪ‬ ‫ﺗﺎ‬.
‫ﺗﺸﻜﺮ‬‫ﻗﺪرداﻧﻲ‬ ‫و‬‫ا‬‫ز‬‫ﻫﺴﺘﻨﺪ‬ ‫و‬ ‫ﺑﻮده‬ ‫زﻧﺪﮔﻲ‬ ‫ﻣﺮاﺣﻞ‬ ‫ﺗﻤﺎﻣﻲ‬ ‫در‬ ‫ﻣﺎ‬ ‫ﻫﻤﺮاه‬ ‫و‬ ‫ﻣﺸﻮق‬ ،‫ﭘﺸﺘﻴﺒﺎن‬ ‫ﻫﻤﻮاره‬ ‫ﻛﻪ‬ ‫ﻋﺰﻳﺰﻣﺎن‬ ‫ﻣﺎدر‬ ‫و‬ ‫ﭘﺪر‬.
‫ﺗﻘﺪﻳﺮ‬‫از‬‫ﻗﺰوﻳﻦ‬ ‫اﺳﻼﻣﻲ‬ ‫آزاد‬ ‫داﻧﺸﮕﺎه‬ ‫ﻣﺤﺘﺮم‬ ‫رﻳﺎﺳﺖ‬،‫راﻫﻨﻤﺎ‬ ‫و‬ ‫دﻟﺴﻮز‬ ‫ﭘﺪري‬ ‫ﻫﻤﻮاره‬ ‫ﻛﻪ‬ ‫ﺧﺎﻧﻲ‬ ‫ﻣﻮﺳﻲ‬ ‫دﻛﺘﺮ‬ ‫آﻗﺎي‬ ‫ﺟﻨﺎب‬
‫و‬ ‫ﻣﺎ‬ ‫ﺑﺮاي‬‫ﻣﺎ‬ ‫ﻛﻨﺎر‬ ‫در‬‫ﺑﻮده‬‫اﻧﺪ‬.
‫ا‬ ‫ﺣﻘﻴﻘﺖ‬ ‫دﻛﺘﺮ‬ ‫آﻗﺎي‬ ‫ﺟﻨﺎب‬ ‫از‬ ‫ﺗﺸﻜﺮ‬‫دﻟﺴﻮز‬ ‫دوﺳﺘﻲ‬ ‫ﻫﻤﭽﻮن‬ ‫ﻛﻪ‬ ،‫ﻣﺤﺘﺮم‬ ‫ﺳﺘﺎد‬،‫ﻫﺴﺘﻨﺪ‬ ‫و‬ ‫ﺑﻮده‬ ‫ﻣﺎ‬ ‫ارزﺷﻤﻨﺪ‬ ‫راﻫﻨﻤﺎي‬.
‫ﺟﻨﺎب‬ ‫زﺣﻤﺎت‬ ‫از‬ ‫ﺗﺸﻜﺮ‬‫آ‬‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬ ‫ﺗﻴﻢ‬ ‫ﻣﺪﻳﺮ‬ ‫و‬ ‫ﻣﻜﺎﺗﺮوﻧﻴﻚ‬ ‫ﺗﺤﻘﻴﻘﺎﺗﻲ‬ ‫آزﻣﺎﻳﺸﮕﺎه‬ ‫ﻣﺤﺘﺮم‬ ‫رﻳﺎﺳﺖ‬ ‫ﺷﻬﺮي‬ ‫دﻛﺘﺮ‬ ‫ﻗﺎي‬.
‫دوﺳﺘﺎن‬ ‫از‬ ‫ﻓﺮاوان‬ ‫ﺗﺸﻜﺮ‬ ‫ﻫﻤﭽﻨﻴﻦ‬‫ﻋﺰﻳﺰان‬ ،‫ﻣﻜﺎﺗﺮو‬ ‫ﺗﺤﻘﻴﻘﺎﺗﻲ‬ ‫آزﻣﺎﻳﺸﮕﺎه‬ ‫و‬ ‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬ ‫ﺗﻴﻢ‬ ‫اﻋﻀﺎي‬ ‫و‬‫ﻧﻴﻚ‬.

‫ﭼﻜﻴﺪه‬‫ﻣﻄﺎﻟﺐ‬
‫ﺗﺮﺳﻴﻢ‬‫ﻣﺤﻴﻂ‬ ‫ﻧﻘﺸﻪ‬‫ﻣﺼﺪوﻣﻴﻦ‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫ﺑﺮاي‬ ‫دﻳﺪه‬ ‫ﺳﺎﻧﺤﻪ‬ ‫ﻫﺎي‬‫راه‬ ،‫ﻫﺎ‬‫رﺑﺎ‬ ‫ﺗﻮﺳﻂ‬ ‫ﻣﺤﻴﻄﻲ‬ ‫ﻋﻮارض‬ ‫و‬‫ت‬‫اﻣﺪادﮔﺮ‬ ‫ﻫﺎي‬‫ﻳﺎ‬ ‫ﺧﻮدﻣﺨﺘﺎر‬
‫اﻧﺴﺎﻧﻲ‬ ‫ﻛﻨﺘﺮل‬،‫در‬‫اﻣﺮوز‬ ‫ﺟﻬﺎن‬‫ﺿﺮو‬ ‫و‬ ‫ﻣﻔﻴﺪ‬ ‫ﺑﺴﻴﺎر‬‫ر‬‫اﺳﺖ‬ ‫ي‬.‫ﭘﺮوژه‬ ‫اﻳﻦ‬ ‫در‬،‫ﭘﻴﺎده‬ ‫و‬ ‫ﺑﺮرﺳﻲ‬ ،‫ﺗﺤﻘﻴﻖ‬‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﺳﺎزي‬‫ﻣﺤﻴﻂ‬‫ﺗﻮﺳﻂ‬
‫رﺑﺎت‬‫اﻣﺪادﮔﺮ‬ ‫ﻫﺎي‬،‫رﺑﺎت‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬‫ﺧﻮدﻣﺨﺘﺎر‬‫ﻧﺎﺟﻲ‬3‫اﻧﺴﺎﻧﻲ‬ ‫ﻛﻨﺘﺮل‬ ‫و‬‫ﻧﺎﺟﻲ‬4‫ﺑ‬ ‫ﻛﻪ‬‫ﺎ‬‫ﻫﻤﺖ‬‫اﻋﻀﺎي‬‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬ ‫ﺗﻴﻢ‬
‫ﻣﻜﺎﺗﺮوﻧﻴﻚ‬ ‫ﺗﺤﻘﻴﻘﺎﺗﻲ‬ ‫آزﻣﺎﻳﺸﮕﺎه‬،‫ﻃﺮاﺣﻲ‬ ‫ﻗﺰوﻳﻦ‬ ‫اﺳﻼﻣﻲ‬ ‫آزاد‬ ‫داﻧﺸﮕﺎه‬،‫ﺳﺎﺧﺘﻪ‬‫اﻧﺪازي‬ ‫راه‬ ‫و‬،‫اﺳﺖ‬ ‫ﺷﺪه‬‫ﻣﻔﺼﻞ‬‫ﻣﻲ‬ ‫داده‬ ‫ﺷﺮح‬‫ﺷﻮد‬.

‫ﺧﻮدﻣﺨﺘﺎر‬ ‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬ ‫ﺗﻮﺳﻂ‬ ‫ﻣﺤﻴﻂ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬‫ﻗﺰوﻳﻦ‬ ‫اﺳﻼﻣﻲ‬ ‫آزاد‬ ‫داﻧﺸﮕﺎه‬
‫ﻓﻬﺮﺳﺖ‬
‫ﻓﻬﺮﺳﺖ‬.............................................................................................................................1
‫ﭘ‬‫ﻴ‬‫ﺸﮕﻔﺘﺎر‬............................................................................................................................3
‫اول‬ ‫ﻓﺼﻞ‬-‫آﺷﻨﺎ‬‫ﻳﻲ‬‫ﻣﻌﺮﻓ‬ ‫و‬‫ﻲ‬...................................................................................................4
‫ﺑﺨﺶ‬1-1(‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬....................................................................................................5
‫ﺑﺨﺶ‬1-2(‫ﺧﻮدﻣﺨﺘﺎر‬ ‫رﺑﺎت‬................................................................................................6
‫ﺑﺨﺶ‬1-3(‫ﻧﺎﺟﻲ‬ ‫رﺑﺎت‬3..................................................................................................8
‫ﺑﺨﺶ‬1-4(‫ﻧ‬ ‫و‬ ‫ﻧﻘﺸﻪ‬ ‫رﺳﻢ‬‫ﻴ‬‫ﺎزﻣﻨﺪ‬‫ﻳ‬‫ﻬﺎ‬.......................................................................................10
‫ﺑﺨﺶ‬1-5(‫روﺷﻬﺎ‬‫ي‬‫ﺗﺮﺳ‬‫ﻴ‬‫ﻢ‬‫ﻧﻘﺸﻪ‬.........................................................................................11
‫دوم‬ ‫ﻓﺼﻞ‬–‫ﻃﺮاﺣ‬‫ﻲ‬‫ﭘ‬ ‫و‬‫ﻴ‬‫ﺎده‬‫ﺳﺎز‬‫ي‬............................................................................................14
‫ﺑﺨﺶ‬2-1(‫ﺗﺠﻬ‬‫ﻴ‬‫ﺰات‬‫اﻣﻜﺎﻧﺎت‬ ‫و‬..........................................................................................15
‫ﺑﺨﺶ‬2-2(‫ﺗﺌﻮر‬‫ي‬‫ﻃﺮاﺣ‬‫ﻲ‬‫ﻧﺮم‬‫اﻓﺰار‬......................................................................................16
‫ﺑﺨﺶ‬2-3(‫داده‬ ‫ﭘﺮدازش‬‫ﺗﺼﻮ‬ ‫ﺑﻬﺒﻮد‬ ‫و‬ ‫ﻫﺎ‬‫ﻳ‬‫ﺮ‬.............................................................................18
‫ﺑﺨﺶ‬2-4(‫ﭘﻮ‬ ‫و‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮ‬‫ﻳ‬‫ﺸﮕﺮ‬‫ﻟ‬‫ﻴ‬‫ﺰر‬‫ي‬.....................................................................22
‫ﺑﺨﺶ‬2-5(‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬ ‫ﻛﺎﻣﻞ‬ ‫ﺷﺮح‬...........................................................................................23
‫ﺳﻮم‬ ‫ﻓﺼﻞ‬-‫ﻧﺘﺎ‬‫ﻳ‬‫ﺞ‬...............................................................................................................43
‫ﺑﺨﺶ‬3-1(‫ﻧﺘ‬‫ﻴ‬‫ﺠﻪ‬‫ﮔ‬‫ﻴ‬‫ﺮ‬‫ي‬......................................................................................................44
‫ﺑﺨﺶ‬3-2(‫ﭘ‬‫ﻴ‬‫ﺸﻨﻬﺎدات‬......................................................................................................44
‫ﺑﺨﺶ‬3-3(‫ﻗﺎﺑﻠ‬‫ﻴ‬‫ﺖ‬‫آ‬ ‫در‬ ‫ﺗﻮﺳﻌﻪ‬‫ﻳ‬‫ﻨﺪه‬.......................................................................................45
‫ﺻﻔﺤﻪ‬1

‫ﭘ‬‫ﻴ‬‫ﻮﺳﺖ‬.............................................................................................................................46
‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬..........................................................................................................................47
‫ﻓﻨ‬ ‫ﻣﺸﺨﺼﺎت‬‫ﻲ‬.................................................................................................................48
‫ﮔﻨﻮ‬ ‫آزاد‬ ‫اﺳﻨﺎد‬ ‫ﭘﺮواﻧﻪ‬.........................................................................................................53
GNU FDL.................................................................................................................61
‫د‬‫ﻳ‬‫ﺴﻚ‬‫ﻓﺸﺮده‬..................................................................................................................68
‫ﻣﺮاﺟﻊ‬ ‫و‬ ‫ﻣﻨﺎﺑﻊ‬.................................................................................................................70
‫ﺻﻔﺤﻪ‬2

‫ﭘﻴﺸﮕﻔﺘﺎر‬
‫ﻛﺎر‬ ‫ﻓﺮﺟﺎم‬ ‫ﻛﻪ‬ ‫ﻛﻦ‬ ‫ﭼﻨﺎن‬ ‫ﺧﺪاﻳﺎ‬‫رﺳﺘﮕﺎ‬ ‫ﻣﺎ‬ ‫و‬ ‫ﺑﺎﺷﻲ‬ ‫ﺧﻮﺷﻨﻮد‬ ‫ﺗﻮ‬‫ر‬
‫رﺳﺎﻟﻪ‬‫ﻫﺪﻓ‬ ‫ﺑﻪ‬ ‫رﺳﻴﺪن‬ ‫راﺳﺘﺎي‬ ‫در‬ ‫ﻣﺴﺘﻤﺮ‬ ‫ﺗﻼش‬ ‫ﻣﺎه‬ ‫ﭼﻨﺪﻳﻦ‬ ‫ﺣﺎﺻﻞ‬ ،‫ﮔﺮﻓﺘﻪ‬ ‫ﻗﺮار‬ ‫ﺷﻤﺎ‬ ‫ﻣﻘﺎﺑﻞ‬ ‫در‬ ‫ﻛﻪ‬ ‫اي‬‫ﻲ‬‫ﻣﻲ‬ ‫ﻣﺸﺨﺺ‬‫ﺑﺎﺷﺪ‬.‫اﺻﻠﻲ‬ ‫اﻳﺪه‬
‫ﺑﻴﻦ‬ ‫ﻣﺴﺎﺑﻘﺎت‬ ‫در‬ ‫ﻧﻴﺎزﻣﻨﺪي‬ ‫راﺳﺘﺎي‬ ‫در‬ ‫ﭘﺮوژه‬ ‫اﻳﻦ‬‫اﻟﻤﻠﻠ‬‫ﻣﻜﺎﺗﺮوﻧﻴﻚ‬ ‫ﺗﺤﻘﻴﻘﺎﺗﻲ‬ ‫آزﻣﺎﻳﺸﮕﺎه‬ ‫و‬ ‫روﺑﻮﻛﺎپ‬ ‫ﻲ‬‫آﻣﺪ‬ ‫ﺑﻮﺟﻮد‬.‫ﻣﺪﺗﻲ‬ ‫ﭘﺮوژه‬ ‫اﻳﻦ‬
‫ﻃﺮاﺣﻲ‬ ‫و‬ ‫ﺗﺤﻘﻴﻖ‬ ‫ﺑﺮاي‬ ‫ﻛﻪ‬ ‫ﺑﻮد‬،‫ﻣﻲ‬ ‫ﻃﻠﺐ‬ ‫ﻧﻴﺮو‬‫ﻧﻈﺮ‬ ‫ﺗﺒﺎدل‬ ‫و‬ ‫ﺑﺤﺚ‬ ‫از‬ ‫ﭘﺲ‬ ‫ﺳﺮاﻧﺠﺎم‬ ،‫ﻛﺮد‬‫ﭘﺮوژه‬ ‫اﻳﻦ‬ ‫اﺟﺮاي‬ ‫و‬ ‫ﺗﺤﻮﻳﻞ‬ ‫ﺑﺮ‬ ‫ﻗﺮار‬ ،‫ﻓﺮاوان‬
‫دو‬ ‫ﻣﺎ‬ ‫ﺑﺪﺳﺖ‬‫ﺷﺪ‬ ‫ﻧﻔﺮ‬.‫ﻛﺎر‬ ‫و‬ ‫ﻓﻌﺎﻟﻴﺖ‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫ﻧﺘﻴﺠﻪ‬‫اﻳﻦ‬‫ﭼﻨﺪ‬‫ﻳﻦ‬‫ر‬ ‫ﺟﻠﺪ‬ ‫ﻳﻚ‬ ‫ﻗﺎﻟﺐ‬ ‫در‬ ‫ﻣﺎه‬‫ﺑﺮاي‬ ‫ﻓﺸﺮده‬ ‫دﻳﺴﻚ‬ ‫ﻋﺪد‬ ‫ﻳﻚ‬ ‫و‬ ‫ﺳﺎﻟﻪ‬
‫ﻋﻼﻗﻪ‬‫ﻣﻲ‬ ‫دﺳﺘﺮس‬ ‫در‬ ‫ﻣﻨﺪان‬‫ﺑﺎﺷﺪ‬.‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻣﻨﺘﺸﺮ‬ ‫ﮔﻨﻮ‬ ‫ﻣﺠﻮز‬ ‫ﺗﺤﺖ‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻧﻮﺷﺘﻪ‬ ‫اﺑﺘﺪا‬ ‫در‬ ‫ﻛﻪ‬ ‫ﻃﻮر‬ ‫ﻫﻤﺎن‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫اﻳﻦ‬،‫ﻛﻪ‬
‫ﺗﻮﺻﻴﻪ‬‫ﺟﺪي‬‫ﻣﻲ‬‫ﺷﻮد‬ ‫ﻣﺮاﺟﻌﻪ‬ ‫ﭘﻴﻮﺳﺖ‬ ‫ﺑﻪ‬ ‫اﺧﺘﻴﺎرات‬ ‫و‬ ‫ﻗﻮاﻧﻴﻦ‬ ‫از‬ ‫اﻃﻼع‬ ‫ﺑﺮاي‬ ‫ﺷﻮد‬.‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﻛﺎﻣﻞ‬ ‫ﻣﺘﻦ‬ ‫ﻫﻤﭽﻨﻴﻦ‬‫دﻳﺴﻚ‬ ‫در‬ ‫ﻫﺎ‬
‫ﻓﺸﺮده‬‫ﺿﻤﻴﻤﻪ‬‫ﻛﺎﻣﻞ‬ ‫ﺑﻄﻮر‬‫و‬‫ﻣﻲ‬ ‫ﻣﻮﺟﻮد‬ ‫ﻓﺎرﺳﻲ‬ ‫و‬ ‫اﻧﮕﻠﻴﺴﻲ‬ ‫زﺑﺎن‬ ‫ﺑﻪ‬‫ﺑﺎﺷﺪ‬.‫ﻣﻲ‬ ‫ﻣﻨﺎﺳﺐ‬ ‫و‬ ‫ﻣﻔﻴﺪ‬ ‫ﻛﺜﻴﺮي‬ ‫اﻓﺮاد‬ ‫ﺑﺮاي‬ ‫رﺳﺎﻟﻪ‬ ‫اﻳﻦ‬‫ﺑﺎﺷﺪ‬
‫ﻫﻤﺎﻧﻨﺪ‬:
1(‫اﻓﺰاري‬ ‫ﺳﺨﺖ‬ ‫اﺑﺰارﻫﺎي‬ ‫و‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﺑﻪ‬ ‫ﻋﻼﻗﻤﻨﺪان‬‫رﺑﺎﺗ‬ ‫و‬‫ﻴﻚ‬
2(‫ﺑﺮﻧﺎﻣﻪ‬ ‫دوﺳﺘﺪاران‬‫راﺑﻂ‬ ‫ﻃﺮاﺣﺎن‬ ‫و‬ ‫ﻧﻮﻳﺴﻲ‬‫ﻛﺎرﺑﺮي‬ ‫ﻫﺎي‬
3(‫داده‬ ‫ﺗﺤﻠﻴﻞ‬ ‫و‬ ‫ﻧﻮﻳﺴﻲ‬ ‫اﻟﮕﻮرﻳﺘﻢ‬ ‫روﺷﻬﺎي‬‫ﻫﺎ‬
4(‫ﺑﺮﻧﺎﻣﻪ‬‫ﺷﺊ‬ ‫ﻧﻮﻳﺴﻲ‬‫و‬ ‫ﮔﺮا‬‫ﭘﻴﻤﺎﻧﻪ‬‫اي‬
5(‫ﺑﺮﻧﺎﻣﻪ‬‫داده‬ ‫اﻧﺘﻘﺎل‬ ‫و‬ ‫ﺷﺒﻜﻪ‬ ‫ﺗﺤﺖ‬ ‫ﻧﻮﻳﺴﻲ‬‫ﻫﺎ‬
6(‫ﺑﺴﻴﺎر‬ ‫و‬‫ي‬‫از‬‫ﻋﻼ‬‫ﻗ‬‫دﻳﮕﺮ‬ ‫ﻤﻨﺪان‬....
‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫ﻋﻤﻠﻲ‬ ‫ﻛﺎرﺑﺮدﻫﺎي‬ ‫در‬ ‫و‬ ‫ﺑﻮده‬ ‫ﻣﻔﻴﺪ‬ ‫ﻋﻼﻗﻤﻨﺪان‬ ‫ﺑﺮاي‬ ‫ﻧﺘﺎﻳﺞ‬ ‫اﻳﻦ‬ ‫ﻛﻪ‬ ‫اﻣﻴﺪوارﻳﻢ‬ ‫ﺷﻜﻞ‬ ‫ﻫﺮ‬ ‫ﺑﻪ‬‫ﮔﻴﺮد‬ ‫ﻗﺮار‬.‫اﺳﺖ‬ ‫اﻣﻴﺪ‬‫ﻛﻪ‬‫در‬
‫ﻛﻮﺗﺎ‬ ‫ﭼﻨﺪ‬ ‫ﻫﺮ‬ ‫رﺳﺎﻟﻪ‬ ‫اﻳﻦ‬‫ه‬‫واﺿ‬ ‫را‬ ‫ﻣﻄﺎﻟﺐ‬ ‫ﻣﺨﺘﺼﺮ‬ ‫و‬‫ﺷﻔﺎف‬ ‫و‬ ‫ﺢ‬‫ﻛﺮده‬ ‫ﺑﻴﺎن‬‫ﺑﺎﺷﻴﻢ‬.‫ﮔﻮﻧﻪ‬ ‫ﺑﻪ‬ ‫ﻧﻴﺰ‬ ‫ﻧﻮﺷﺘﺎر‬ ‫ﻧﺤﻮه‬‫اﻓﺮادي‬ ‫ﺑﺮاي‬ ‫ﻛﻪ‬ ‫ﺑﻮده‬ ‫اي‬
‫ﺑﺮﻧﺎﻣﻪ‬ ‫در‬ ‫ﻗﺒﻠﻲ‬ ‫ﺗﺠﺮﺑﻪ‬ ‫و‬ ‫آﮔﺎﻫﻲ‬ ‫ﺑﺎ‬‫ﻧﻤﻲ‬ ‫ﻣﻔﻴﺪ‬ ‫ﻛﺎر‬ ‫ﺗﺎزه‬ ‫اﻓﺮاد‬ ‫ﺑﺮاي‬ ‫رﺳﺎﻟﻪ‬ ‫اﻳﻦ‬ ‫وﺟﻪ‬ ‫ﻫﻴﭻ‬ ‫ﺑﻪ‬ ‫و‬ ‫اﺳﺖ‬ ‫ﻓﻬﻢ‬ ‫ﻗﺎﺑﻞ‬ ‫ﻧﻮﻳﺴﻲ‬‫ﺑﺎﺷﺪ‬.‫ﺻﻮرت‬ ‫در‬
‫ﻣﻲ‬ ‫ﺑﻴﺸﺘﺮ‬ ‫اﻃﻼﻋﺎت‬ ‫ﺑﻪ‬ ‫ﻧﻴﺎز‬‫آدرس‬ ‫ﺑﺎ‬ ‫ﺗﻮاﻧﻴﺪ‬‫در‬ ‫ﻣﺎ‬ ‫ﺑﺎ‬ ‫اﻟﻜﺘﺮوﻧﻴﻚ‬ ‫ﭘﺴﺖ‬ ‫ﻫﺎي‬‫ﺑﺎﺷﻴﺪ‬ ‫ارﺗﺒﺎط‬.
‫ﻣﺎﻧﺪﮔﺎر‬ ‫اﻣﻴﺮﺣﺴﻴﻦ‬
com.gmail@amandegar
‫ﻧﺼﺐ‬ ‫ﻛﺘﺎﻧﺒﺎف‬ ‫اﻓﺮوز‬
com.yahoo@afnaanfa
‫ﺻﻔﺤﻪ‬3

‫اول‬ ‫ﻓﺼﻞ‬-‫ﻣﻌﺮﻓﻲ‬ ‫و‬ ‫آﺷﻨﺎﻳﻲ‬
‫ﺻﻔﺤﻪ‬4

‫ﺑﺨﺶ‬1-1(‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬
‫اﺳ‬ ‫ﺳﺎل‬ ‫ﺳﺎﻟﻴﺎن‬‫رﺑﺎت‬ ‫ﻛﻪ‬ ‫ﺖ‬‫ﺷﻜﻞ‬ ‫در‬ ‫ﻫﺎ‬‫ﻛﺎرﺑﺮ‬ ‫و‬ ‫ﻫﺎ‬‫د‬‫ﻣﺨﺘﻠﻒ‬ ‫ﻫﺎي‬‫در‬‫اﻧﺴﺎ‬ ‫ﻛﻨﺎر‬‫ن‬‫ﻫﺎ‬،‫ﺷ‬ ‫آﻧﻬﺎ‬ ‫ﻳﺎري‬ ‫و‬ ‫ﻛﻤﻚ‬ ‫ﺑﻪ‬‫ﺘ‬‫ﺎ‬‫ﻓ‬‫ﺘ‬‫ﻪ‬‫ا‬‫ﻧﺪ‬،‫رﺑﺎت‬ ‫اﻳﻦ‬‫ﻫﺎ‬
‫ﺳﺎﺧﺘﻪ‬‫اﻧﺴﺎن‬ ‫ﺧﻮد‬ ‫دﺳﺖ‬ ‫ﻫﺎي‬‫ﻧﻴﺎز‬ ‫ﺑﻪ‬ ‫ﺑﻨﺎ‬ ‫و‬ ‫ﻫﺴﺘﻨﺪ‬ ‫ﻫﺎ‬،‫ﻃﺮاﺣﻲ‬‫و‬‫ﻣﻲ‬ ‫ﺗﻮﻟﻴﺪ‬‫ﺷﻮﻧﺪ‬.‫ﺑﻲ‬ ‫وﻟﻴﻜﻦ‬‫ﺑﺎﻋﺚ‬ ‫اﻧﺴﺎن‬ ‫ﺗﺪرﻳﺠﻲ‬ ‫ﻳﺎدﮔﻴﺮي‬ ‫و‬ ‫ﺗﺠﺮﺑﮕﻲ‬
‫ﺷﺮ‬ ‫زﻣﺎن‬ ‫ﻣﺮور‬ ‫ﺑﻪ‬ ‫ﻧﻮآوري‬ ‫ﮔﻮﻧﻪ‬ ‫ﻫﺮ‬ ‫ﻛﻪ‬ ‫ﺷﺪه‬ ‫آن‬‫ﭘﻮﺷﻴﺪه‬ ‫ﻧﻘﺎط‬ ‫ﻫﻤﻴﺸﻪ‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫ﺗﻜﻤﻴﻞ‬ ‫ﺑﻪ‬ ‫وع‬‫ﭘﻴﺸﺮﻓﺖ‬ ‫و‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﺑﺮاي‬ ‫اي‬‫وﺟﻮد‬‫داﺷﺘﻪ‬
‫ﺑﺎﺷﺪ‬.
‫رﺑﺎت‬‫ﻫﺎ‬‫ﺳﺎل‬‫ﻫﺎ‬‫ﻓﻴﻠﻢ‬ ‫و‬ ‫داﺳﺘﺎﻧﻬﺎ‬ ‫در‬‫ﺗﺨﻴﻠﻲ‬ ‫و‬ ‫ﻋﻠﻤﻲ‬ ‫ﻫﺎي‬‫و‬ ‫ﺻﻨﻌﺖ‬ ‫وارد‬ ‫را‬ ‫ﺧﻮد‬ ‫آﻫﺴﺘﮕﻲ‬ ‫ﺑﻪ‬ ‫ﺳﭙﺲ‬ ‫و‬ ‫ﻧﻤﻮدﻧﺪ‬ ‫ﺧﻮدﻧﻤﺎﻳﻲ‬ ‫ﺑﻪ‬ ‫ﺷﺮوع‬
‫ﺧﺎﻧﻪ‬ ‫وارد‬ ‫اﻣﺮوز‬ ‫ﺑﻪ‬ ‫ﺗﺎ‬ ‫ﺣﺘﻲ‬‫ﺷﺨﺼﻲ‬ ‫ﺣﺮﻳﻢ‬ ‫و‬ ‫ﻫﺎ‬‫اﻓﺮاد‬‫ﻧﻤﻮده‬‫اﻧﺪ‬.‫ﺳﺎل‬ ‫از‬1997‫ﺑﻪ‬ ‫ﺷﺮوع‬ ً‫ﺎ‬‫رﺳﻤ‬ ‫روﺑﻮﻛﺎپ‬ ‫اﻟﻤﻠﻠﻲ‬ ‫ﺑﻴﻦ‬ ‫ﻣﺴﺎﺑﻘﺎت‬ ‫ﻛﻪ‬
‫ﻧﻤﻮد‬ ‫ﻓﻌﺎﻟﻴﺖ‬،‫ﺷﺎﺧﻪ‬‫ﺑ‬ ‫ﻣﺘﻨﻮﻋﻲ‬ ‫ﻫﺎي‬‫ﺎ‬‫ﭘﻴﺸﺮﻓﺖ‬ ‫و‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﻫﺪف‬‫اﻳﺠﺎد‬ ‫رﺑﺎﺗﻴﻚ‬ ‫ﺑﺎ‬ ‫ﻣﺮﺗﺒﻂ‬ ‫و‬ ‫رﺑﺎﺗﻴﻚ‬ ‫ﻋﻠﻮم‬‫ﻧﻤﻮد‬‫اﻳﻦ‬ ‫ﺑﻪ‬ ‫ﻧﻴﺰ‬ ‫ﻫﻤﻜﻨﻮن‬ ‫ﺗﺎ‬ ‫و‬
‫ﺷﺎﺧﻪ‬‫اﺳﺖ‬ ‫ﮔﺮدﻳﺪه‬ ‫اﺿﺎﻓﻪ‬ ‫ﻧﻴﺰ‬ ‫ﺑﻴﺸﺘﺮي‬ ‫ﻣﻮارد‬ ‫و‬ ‫ﺗﻨﻮع‬ ‫ﻫﺎ‬.
‫ﺷﺎﺧﻪ‬ ‫اﻳﻦ‬ ‫از‬ ‫ﻳﻜﻲ‬‫اﻣﺪادﮔﺮ‬ ‫روﺑﺎت‬ ‫ﻫﺎ‬‫واﻗﻌﻲ‬‫ﻛﻪ‬ ‫اﺳﺖ‬‫ﺑﻪ‬‫و‬ ‫ﻣﻨﻈﻮر‬‫ﺑﻪ‬ ‫ﻣﺼﺪوﻣﻴﻦ‬ ‫ﻧﺠﺎت‬ ‫و‬ ‫ﺳﺎﻧﺤﻪ‬ ‫ﺷﺮاﻳﻂ‬ ‫در‬ ‫اﻣﺪاد‬ ‫و‬ ‫ﻳﺎري‬ ‫ﻫﺪف‬
‫ﻓﻌﺎل‬ ‫اﻣﺪادﮔﺮ‬ ‫ﺑﺮاي‬ ‫ﻣﻔﻴﺪ‬ ‫اﻃﻼﻋﺎت‬ ‫آوري‬ ‫ﺟﻤﻊ‬ ‫ﻫﻤﺮاه‬‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.‫ﺳﭙﺘﺎﻣﺒﺮ‬ ‫ﻓﺎﺟﻌﻪ‬ ‫از‬ ‫ﭘﺲ‬2001‫ﻧﻴﺎز‬ ‫ﺑﻪ‬ ‫ﺑﻨﺎ‬ ،‫آن‬ ‫از‬ ‫ﻧﺎﺷﻲ‬ ‫ﺗﻠﻔﺎت‬ ‫و‬،‫ﺷﺎﺧﻪ‬
‫ﺳﺮﻋﺖ‬ ‫ﺑﻪ‬ ‫اﻣﺪادﮔﺮ‬‫ﭘﻴﺸﺮﻓﺖ‬‫ﭘﺸﺘﻴﺒﺎﻧﻲ‬ ‫از‬ ‫و‬ ‫ﻧﻤﻮد‬‫ﺷﺮﻛﺘﻲ‬ ‫و‬ ‫دوﻟﺘﻲ‬ ‫ﺷﺪﻳﺪ‬ ‫ﻫﺎي‬‫ﻧﻴﺰ‬‫ﺑﺮﺧﻮردا‬‫ﺷﺪ‬ ‫ر‬.
‫رﺑﺎت‬ ‫دوره‬ ‫ﻫﺮ‬ ‫در‬‫ﻗﺎﺑﻠﻴﺖ‬ ‫و‬ ‫ﺑﺮﺗﺮ‬ ‫ﻋﻤﻠﻜﺮدﻫﺎي‬ ‫ﺑﺎ‬ ‫ﻣﺘﻨﻮع‬ ‫ﻫﺎي‬‫ﮔﺴﺘﺮده‬ ‫ﻫﺎي‬‫ﻇﺎﻫﺮ‬ ‫ﻗﺒﻞ‬ ‫دوره‬ ‫ﺑﻪ‬ ‫ﻧﺴﺒﺖ‬ ‫ﺗﺮ‬‫ﻣﻲ‬‫ﮔﺮد‬‫ﻧ‬‫ﺪ‬.‫رﺑﺎت‬ ‫اﻳﻦ‬‫ﺣﺎل‬ ‫در‬ ‫ﻫﺎ‬
‫ﻗﺎﺑﻠﻴﺖ‬ ‫از‬ ‫ﺣﺎﺿﺮ‬‫ﺟﻤﻊ‬ ،‫ﻧﺎﻫﻤﻮار‬ ‫و‬ ‫ﺳﺨﺖ‬ ‫ﻣﻮاﻧﻊ‬ ‫از‬ ‫ﻋﺒﻮر‬ ‫ﻫﻤﺎﻧﻨﺪ‬ ‫ﻫﺎﻳﻲ‬‫دﻣﺎ‬ ‫ﻫﻤﭽﻮن‬ ‫ﻣﺤﻴﻄﻲ‬ ‫اﻃﻼﻋﺎت‬ ‫آوري‬‫ي‬،‫ﻣﺼﺪوم‬ ‫دﻣﺎي‬ ،‫ﻣﺤﻴﻂ‬
‫دي‬ ‫ﻣﻴﺰان‬‫اﻛﺴﻴﺪ‬‫ﻣﺤﻴﻂ‬ ‫ﻛﺮﺑﻦ‬،‫ﺗﺎرﻳﻜﻲ‬ ‫و‬ ‫ﺷﺐ‬ ‫در‬ ‫دﻳﺪ‬ ،‫ﻣﺼﺪوﻣﻴﻦ‬ ‫و‬ ‫ﻣﻮاﻧﻊ‬ ‫ﺗﺼﻮﻳﺮي‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ،‫ﺑﺎﻻي‬ ‫ﻗﺪرت‬‫ﺣﻤﻞ‬ ،‫ﻣﺎﻧﻮري‬
‫ﺗﺠﻬﻴﺰات‬‫و‬ ‫ﺿﺮروري‬‫اوﻟﻴﻪ‬ ‫ﻫﺎي‬ ‫ﻛﻤﻚ‬،‫ﻣﺤﻴﻂ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺪرﻳﺠﻲ‬ ‫ﺗﻜﻤﻴﻞ‬‫ﻫﻤﺮاه‬ ‫ﺑﻪ‬،‫اﻫﻤﻴﺖ‬ ‫ﺑﺎ‬ ‫ﻋﻼﻳﻢ‬ ‫و‬ ‫ﻣﺼﺪوﻣﻴﻦ‬ ‫ﻧﺸﺎﻧﻪ‬ ‫ذﺧﻴﺮه‬ ‫و‬ ‫رﺳﻢ‬
‫ﺑﺎزﮔﺸﺖ‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫و‬ ‫ﻣﺴﻴﺮ‬ ‫ﺣﻔﻆ‬،‫ﺷﺮوع‬ ‫ﻧﻘﻄﻪ‬ ‫ﺑﻪ‬‫ﻣﺮﻛ‬ ‫ﺑﺎ‬ ‫ﻣﺨﺎﺑﺮاﺗﻲ‬ ‫و‬ ‫رادﻳﻮﻳﻲ‬ ‫ارﺗﺒﺎط‬‫و‬ ‫ﺟﻬﺎﻧﻲ‬ ‫ﻳﺎﺑﻲ‬ ‫ﻣﻮﻗﻌﻴﺖ‬ ‫ﺳﻴﺴﺘﻢ‬ ،‫ﻛﻨﺘﺮل‬ ‫ﺰ‬‫ﺑﺴﻴﺎري‬
‫اﻫﻤﻴﺖ‬ ‫ﺑﺎ‬ ‫ﻣﻮارد‬،‫ﺳﺎﻟﻪ‬ ‫ﻫﺮ‬ ‫ﻛﻪ‬‫ﻧﻴﺰ‬‫ﻣﻲ‬ ‫اﺿﺎﻓﻪ‬ ‫ﻣﺸﺨﺼﺎت‬ ‫اﻳﻦ‬ ‫ﺑﻪ‬‫ﮔﺮدد‬.
‫رﺑﺎت‬‫ﻣﻲ‬ ‫رﻗﺎﺑﺖ‬ ‫ﺑﻪ‬ ‫ﻣﺘﻔﺎوت‬ ‫اﻓﺰارﻫﺎي‬ ‫ﻧﺮم‬ ‫ﺑﺎ‬ ‫ﻫﻤﺮاه‬ ‫ﻣﺨﺘﻠﻒ‬ ‫اﺷﻜﺎل‬ ‫و‬ ‫ﺳﺎﻳﺰﻫﺎ‬ ‫در‬ ‫اﻟﻤﻠﻠﻲ‬ ‫ﺑﻴﻦ‬ ‫ﻣﺴﺎﺑﻘﺎت‬ ‫در‬ ‫اﻣﺪادﮔﺮ‬ ‫ﻫﺎي‬‫ﭘﺮدازﻧﺪ‬.
‫ﺳﺨﺖ‬‫ﻧﺮم‬ ‫و‬ ‫اﻓﺰارﻫﺎ‬‫ﻛﻨﺎر‬ ‫در‬ ‫ﻣﺘﻨﻮع‬ ‫اﻓﺰارﻫﺎي‬‫ﻣﻜﺎﻧﻴﻚ‬‫ﻗﺪرﺗﻤﻨﺪ‬ ‫ﻫﺎي‬،‫رﺑﺎت‬‫ﺗﻮاﻧﻤﻨﺪ‬ ‫ﺑﺴﻴﺎر‬ ‫ﻫﺎي‬‫ي‬‫در‬ ‫ﻛﻪ‬ ‫ﻧﻤﻮده‬ ‫ﺣﺎﺿﺮ‬ ‫ﻣﺴﺎﺑﻘﺎت‬ ‫در‬ ‫را‬
‫ﺳﺎل‬‫ﻫﺎي‬‫ﻳﺎدﮔﻴﺮي‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫ﺑﺎ‬ ‫ﺷﺪن‬ ‫ﺧﻮدﻣﺨﺘﺎر‬ ‫و‬ ‫ﺧﻮدﻛﺎر‬ ‫ﺳﻤﺖ‬ ‫ﺑﻪ‬ ‫اﺧﻴﺮ‬‫ﻣﻲ‬‫روﻧﺪ‬.
‫ﺑﺨﺶ‬ ‫در‬‫ﻧﺎﺟﻲ‬ ‫اﻣﺪادي‬ ‫رﺑﺎت‬ ‫دو‬ ‫ﻛﺎﻣﻞ‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﺑﻪ‬ ‫ﺑﻌﺪ‬ ‫ﻫﺎي‬‫ﻧﺎﺟﻲ‬ ‫و‬ ‫ﺧﻮدﻣﺨﺘﺎر‬‫اﻧﺴﺎﻧﻲ‬ ‫ﻛﻨﺘﺮل‬ ‫ﺑﺎ‬‫و‬‫دور‬ ‫راه‬ ‫از‬‫ﻛﻪ‬ ،‫ﺳﺎﺧﺘﻪ‬ ‫و‬ ‫ﻃﺮاﺣﻲ‬
‫آزﻣﺎﻳﺸﮕﺎه‬ ‫در‬ ‫ﺷﺪه‬‫ﻣﻜﺎﺗﺮوﻧﻴﻚ‬ ‫ﺗﺤﻘﻴﻘﺎﺗﻲ‬،‫اﺳﻼﻣﻲ‬ ‫آزاد‬ ‫داﻧﺸﮕﺎه‬‫ﻣﻲ‬ ‫ﻗﺰوﻳﻦ‬‫ﻣﻲ‬ ‫ﺑﺎﺷﺪ‬‫ﭘﺮدازﻳﻢ‬.
‫ﻣﺮﺟﻊ‬ ‫ﺳﺎﻳﺖ‬ ‫ﺑﻪ‬ ‫ﺗﻮاﻧﻴﺪ‬ ‫ﻣﻲ‬ ‫روﺑﻮﻛﺎپ‬ ‫ﻣﺴﺎﺑﻘﺎت‬ ‫ﺑﺎ‬ ‫آﺷﻨﺎﻳﻲ‬ ‫ﺑﺮاي‬org.robocup.www‫ﻧﻤﺎﻳﺪ‬ ‫ﻣﺮاﺟﻌﻪ‬‫اﻳﻦ‬ ‫در‬‫ﺳﺎﻳﺖ‬‫آدرس‬‫رﺳﻤﻲ‬
‫اﻣﺪادﮔﺮ‬ ‫روﺑﺎت‬ ‫ﻟﻴﮓ‬‫واﻗﻌﻲ‬‫ﺛﺒﺖ‬ ‫ﻧﻴﺰ‬‫ﮔﺮدﻳﺪه‬‫اﺳﺖ‬.‫ﻓﻌﺎﻟﻴﺖ‬ ‫از‬ ‫اﻃﻼع‬ ‫ﺑﺮاي‬ ‫ﻫﻤﭽﻨﻴﻦ‬‫ﻫﺎي‬‫ﻣﻲ‬ ‫ﻣﻜﺎﺗﺮوﻧﻴﻚ‬ ‫ﺗﺤﻘﻴﻘﺎﺗﻲ‬ ‫آزﻣﺎﻳﺸﮕﺎه‬‫ﺗﻮاﻧﻴﺪ‬
‫ﺑﻪ‬‫ﺳﺎﻳﺖ‬ir.mrl.www‫ﻓﺮﻣﺎﻳﻴﺪ‬ ‫ﻣﺮاﺟﻌﻪ‬.
‫ﺻﻔﺤﻪ‬5

‫ﺑﺨﺶ‬1-2(‫ﺧﻮدﻣﺨﺘﺎر‬ ‫رﺑﺎت‬
‫ﺟﺎﻟﺐ‬ ‫از‬ ‫ﻳﻜﻲ‬‫اﻫﻤﻴﺖ‬ ‫ﺑﺎ‬ ‫و‬ ‫ﺗﺮﻳﻦ‬‫ﺑﺨﺶ‬ ‫در‬ ‫ﻣﺒﺤﺚ‬ ‫ﺗﺮﻳﻦ‬‫ﺷﺎﺧﻪ‬ ‫و‬‫رﺑﺎت‬‫اﻣ‬ ‫رﺑﺎت‬ ‫ﻫﻤﭽﻨﻴﻦ‬ ‫و‬ ‫ﻫﺎ‬‫ﺪادﮔﺮ‬،‫و‬ ‫ﺧﻮدﻛﺎر‬ ‫ﺑﺼﻮرت‬ ‫رﺑﺎت‬ ‫ﻛﻨﺘﺮل‬
‫ﻣﻲ‬ ‫ﺧﻮدﻣﺨﺘﺎر‬‫ﺑﺎﺷﺪ‬.‫رﺑﺎت‬‫ﻫﺎ‬‫ﻣﻌﻤﻮﻻ‬‫ﻣﻲ‬ ‫ﻫﺪاﻳﺖ‬ ‫ﻛﻠﻲ‬ ‫روش‬ ‫ﭼﻨﺪﻳﻦ‬ ‫ﺑﻪ‬‫ﺷﻮﻧﺪ‬.
1(‫آﺷﻨﺎ‬ ‫ﻛﺎرﺑﺮ‬ ‫ﺑﺎ‬ ‫ﻛﻨﺘﺮل‬‫ﺑﺎ‬‫رﺑﺎ‬‫ت‬‫اﺧﺘﻴﺎر‬ ‫در‬ ‫ﻛﻨﺘﺮﻟﻲ‬ ‫اﺑﺰارﻫﺎي‬ ‫و‬،‫دﺳﺘﻪ‬ ‫ﻫﻤﺎﻧﻨﺪ‬‫ﻫﺎي‬‫دﻛﻤﻪ‬ ،‫ﻛﻨﺘﺮل‬‫ﻓﺸﺎري‬ ‫ﻫﺎي‬‫ﻛﻨﺘﺮﻟﻲ‬ ‫اﺑﺰارﻫﺎي‬ ‫و‬.
‫رﺑﺎت‬ ‫ﺗﻜﺎﻣﻞ‬ ‫و‬ ‫ﺧﻠﻖ‬ ‫اﺑﺘﺪاء‬ ‫از‬ ‫ﻛﻨﺘﺮل‬ ‫اﻳﻨﮕﻮﻧﻪ‬‫ﻫﺎ‬،‫ﻫﻤﻜﻨﻮن‬ ‫ﺗﺎ‬ ‫و‬ ‫ﺑﻮده‬ ‫ﻣﺮﺳﻮم‬‫ﻧﻴﺰ‬‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬ ‫ﺣﺎل‬ ‫در‬‫ﺑﺎﺷﺪ‬.‫اﺑﺰارﻫﺎﻳﻲ‬ ‫دادن‬ ‫ﻗﺮار‬ ‫ﺑﺎ‬
‫ﻫﻤﭽﻮن‬‫ﻛﻨﺘﺮل‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫و‬ ‫ﻧﻤﺎﻳﺸﮕﺮ‬،‫ﻛﺎرﺑﺮ‬ ‫اﺧﺘﻴﺎر‬ ‫در‬،‫ﻣﻲ‬ ‫ﻣﻴﺴﺮ‬ ‫ﻛﺎرﺑﺮ‬ ‫ﻧﻈﺮ‬ ‫ﻣﻮرد‬ ‫ﻫﺪف‬ ‫ﺑﻪ‬ ‫رﺳﻴﺪن‬‫ﺷﻮد‬.
2(‫دﻳﮕﺮ‬ ‫روش‬‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﺑﺼﻮرت‬‫ﭘﺬﻳﺮ‬‫ي‬‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫و‬‫ﻗﺒﻞ‬ ‫از‬ ‫رﻳﺰي‬‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.‫رﺑﺎت‬ ‫اﻳﻨﮕﻮﻧﻪ‬ً‫ﻻ‬‫ﻣﻌﻤﻮ‬ ‫ﻫﺎ‬‫و‬ ‫دﻗﺖ‬ ‫ﺑﺎ‬ ‫ﻛﺎرﻫﺎﻳﻲ‬ ‫اﻧﺠﺎم‬ ‫ﺑﺮاي‬
‫دارﻧﺪ‬ ‫ﻛﺎرﺑﺮد‬ ‫ﺑﺎﻻ‬ ‫ﺑﺴﻴﺎر‬ ‫ﺗﻜﺮار‬.‫ﻛﺎرﺧﺎﻧﻪ‬ ‫ﺗﻮﻟﻴﺪ‬ ‫ﺧﻂ‬‫از‬ ‫اﻏﻠﺐ‬ ‫ﻫﺎ‬‫رﺑﺎت‬ ‫اﻳﻨﮕﻮﻧﻪ‬‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬ ‫ﻫﺎ‬‫ﻛﻨﻨﺪ‬.‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﻳﻜﺒﺎر‬‫ﻣﻲ‬ ‫رﻳﺰي‬‫و‬ ‫ﺷﻮد‬
‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬ ‫ﻧﺎﻣﺤﺪود‬‫ﮔﺮدد‬.
3(‫روش‬‫رﺑﺎت‬ ‫ﻓﻌﻠﻲ‬ ‫ﻛﻨﺘﺮل‬ ‫ﻧﻮع‬ ‫ﻣﻬﻤﺘﺮﻳﻦ‬ ‫و‬ ‫اﻧﮕﻴﺰﺗﺮﻳﻦ‬ ‫ﺑﺤﺚ‬ ‫ﺧﻮدﻣﺨﺘﺎر‬‫رﺑﺎت‬ ‫ﺟﻬﺎن‬ ‫در‬ ‫ﻫﺎ‬‫ﻫﺎ‬‫ﻣﻲ‬‫ﺑﺎﺷ‬‫ﻨ‬‫ﺪ‬.‫روش‬ ‫ﺑﺎ‬ ‫ﻛﻨﺘﺮل‬ ‫ﮔﻮﻧﻪ‬ ‫اﻳﻦ‬‫ﻫﺎ‬
‫اﻟﮕﻮرﻳﺘﻢ‬ ‫و‬‫ﺗﺼﻤﻴﻢ‬ ‫و‬ ‫ﻫﻮﺷﻤﻨﺪي‬ ‫ﻣﺘﻨﻮﻋﻲ‬ ‫ﻫﺎي‬‫ﮔﻴﺮي‬‫ﭼﺸﻤﮕﻴﺮي‬‫ﻣﻲ‬ ‫رﺑﺎت‬ ‫ﺑﻪ‬‫اﻓﺰاﻳﺪ‬.‫ﺗﻮاﻧﺎﻳﻲ‬ ‫اﻓﺰودن‬ ‫روش‬ ‫اﻳﻦ‬ ‫از‬ ‫ﻫﺪف‬‫ﻫﻤﭽﻮن‬ ‫ﻫﺎﻳﻲ‬
‫ﻣﻲ‬ ‫رﺑﺎت‬ ‫ﻳﻚ‬ ‫ﺑﻪ‬ ‫اﻧﺴﺎن‬‫ﺑﺎﺷﺪ‬.‫رﺑﺎت‬ ‫اﻳﻨﮕﻮﻧﻪ‬‫ﻣﺤﻴﻂ‬ ‫در‬ ً‫ﻻ‬‫ﻣﻌﻤﻮ‬ ‫ﻫﺎ‬‫ﻣﻲ‬ ‫ﺣﺮﻛﺖ‬ ‫ﻧﺎﻣﺸﺨﺺ‬ ‫ﻫﺎي‬‫ﻗﺎﺑﻞ‬ ‫ﻏﻴﺮ‬ ‫ﻣﻮاﻧﻊ‬ ‫و‬ ‫وﻗﺎﻳﻊ‬ ‫ﺑﺎ‬ ‫و‬ ‫ﻛﻨﻨﺪ‬
‫ﭘﻴﺶ‬‫ﺑﻴ‬‫ﺷﺪ‬ ‫ﺧﻮاﻫﻨﺪ‬ ‫ﻣﻮاﺟﻪ‬ ‫ﻨﻲ‬،‫ﻣﻲ‬ ‫ﻧﺘﻴﺠﻪ‬ ‫در‬‫ﺗﺼﻤﻴﻢ‬ ‫ﻫﻤﻴﻦ‬ ‫ﻛﻪ‬ ‫ﺑﮕﻴﺮﻧﺪ‬ ‫را‬ ‫ﺗﺼﻤﻴﻢ‬ ‫ﺑﻬﺘﺮﻳﻦ‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫ﺗﺤﻠﻴﻞ‬ ‫را‬ ‫ﻣﺴﺎﺋﻞ‬ ‫ﺑﺎﻳﺴﺖ‬‫وﺟﻪ‬ ‫ﮔﻴﺮي‬
‫رﺑﺎ‬ ‫اﻳﻨﮕﻮﻧﻪ‬ ‫ﺗﻤﺎﻳﺰ‬‫ت‬‫ﻣﻲ‬ ‫ﻫﺎ‬‫ﺑﺎﺷﺪ‬.
4(‫ﻧﻴ‬ ‫ﺗﺮﻛﻴﺒﻲ‬ ‫روﺷﻲ‬‫ﺰ‬‫ﻧﺎم‬ ‫ﺑﻪ‬‫ﺧﻮدﻣﺨﺘﺎر‬ ‫ﻧﻴﻤﻪ‬‫ﻫﻤﻜﻨﻮن‬‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬‫ﺑﺎﺷﺪ‬.‫د‬ ‫روش‬ ‫اﻳﻦ‬‫اﺳﺘﻔﺎده‬ ‫ﭘﺮ‬ ‫ﺣﺎﺿﺮ‬ ‫ﺣﺎل‬ ‫ر‬‫ﺗﺮﻳﻦ‬‫ﺑﺮاي‬ ‫روش‬
‫ر‬‫ﺑﺎت‬‫ﺗﺤ‬ ‫ﻫﺎي‬‫ﻘﻴﻘﺎﺗﻲ‬،‫ﻣﻲ‬ ‫ﻛﺎرﺑﺮدي‬‫ﺑﺎﺷﺪ‬.‫روش‬‫و‬ ‫اول‬ ‫ﻧﻮع‬ ‫از‬ ‫ﻣﺘﺸﻜﻞ‬ ‫آﻧﻬﺎ‬ ‫ﻛﻨﺘﺮل‬‫ﻧﻮع‬‫ﻣﻲ‬ ‫ﺳﻮم‬‫ﺑﺎﺷﺪ‬.‫رﺑﺎت‬ ‫اﻳﻨﮕﻮﻧﻪ‬‫دﻟﺨﻮاه‬ ‫ﺑﻪ‬ ‫ﻫﺎ‬
‫ﻣﻲ‬ ‫اﻧﺠﺎم‬ ‫را‬ ‫ﺧﻮد‬ ‫ﻛﺎر‬ ‫و‬ ‫داده‬ ‫ﻛﻨﺘﺮل‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻫﻤﺰﻣﺎن‬ ‫دو‬ ‫ﻫﺮ‬ ‫ﻳﺎ‬ ‫و‬ ‫دﺳﺘﻲ‬ ،‫ﺧﻮدﻛﺎر‬ ‫ﺑﺼﻮرت‬ ‫ﻛﺎرﺑﺮ‬‫دﻫﻨﺪ‬.‫ﺳﻤﺖ‬ ‫ﺑﻪ‬ ً‫ﺎ‬‫ﺗﻘﺮﻳﺒ‬ ‫روش‬ ‫اﻳﻦ‬
‫ﻣﻲ‬ ‫ﭘﻴﺶ‬ ‫اول‬ ‫روش‬ ‫ﻛﺎﻣﻞ‬ ‫ﺟﺎﻳﮕﺰﻳﻨﻲ‬‫رود‬.‫رﺑﺎ‬ ‫و‬ ‫اﺑﺰارﻫﺎ‬ ‫زﻳﺮا‬‫ت‬‫ﭘﻴﭽﻴﺪﮔﻲ‬ ‫ﻧﻤﻮدن‬ ‫ﭘﻨﻬﺎن‬ ‫ﺳﻤﺖ‬ ‫ﺑﻪ‬ ‫ﻫﺎ‬‫ﻣﻲ‬ ‫ﭘﻴﺶ‬ ‫ﺧﻮﻳﺶ‬ ‫دروﻧﻲ‬ ‫ﻫﺎي‬‫روﻧﺪ‬
‫راﺑﻂ‬ ‫ﺳﺎدﮔﻲ‬ ‫در‬ ‫ﻃﺮاﺣﺎن‬ ‫ﺳﻌﻲ‬ ‫و‬‫ﻧﻤﺎﻳﺸﻲ‬ ،‫ﻛﻨﺘﺮﻟﻲ‬ ‫ﻫﺎي‬‫و‬‫ﻗﺎﺑﻠﻴﺖ‬‫آﻧﻬﺎ‬ ‫ﻫﺎي‬‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.‫اﻳﻦ‬‫ﺑﻪ‬ ‫روش‬‫ﻣﺘﺨﺼﺺ‬ ‫ﻏﻴﺮ‬ ‫ﻛﺎرﺑﺮ‬‫ﻛﺎر‬ ‫اﺟﺎزه‬ ‫ﻧﻴﺰ‬
‫ﻛﻨﺘﺮل‬ ‫و‬‫اﻳﻨﮕﻮ‬‫ﻧ‬‫رﺑﺎت‬ ‫ﻪ‬‫را‬ ‫ﻫﺎ‬‫ﻣﻲ‬‫دﻫﺪ‬.
‫آﺷﻨ‬ ‫و‬ ‫ﺷﺮح‬ ‫ﻣﺎ‬ ‫ﻫﺪف‬ ‫ﻗﺴﻤﺖ‬ ‫اﻳﻦ‬ ‫در‬‫ﻧﺎﺟﻲ‬ ‫رﺑﺎت‬ ‫در‬ ‫ﻛﻪ‬ ‫ﭼﻬﺎرم‬ ‫و‬ ‫ﺳﻮم‬ ‫ﻧﻮع‬ ‫ﻛﻨﺘﺮل‬ ‫ﺑﺎ‬ ‫ﺑﻴﺸﺘﺮ‬ ‫ﺎﻳﻲ‬3‫ﻣﻲ‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫اﺳﺘﻔﺎده‬ ‫ﻧﻴﺰ‬‫ﺑﺎﺷﺪ‬.
‫رﺑﺎت‬‫ﺳﺎده‬ ‫در‬ ‫ﺧﻮدﻣﺨﺘﺎر‬ ‫ﻫﺎي‬‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﺣﺎﻣﻞ‬ ‫ﺧﻮد‬ ‫ﺷﻜﻞ‬ ‫ﺗﺮﻳﻦ‬‫ﺣﻠﻘﻪ‬ ‫ﺑﺎ‬ ‫اي‬‫ﻧﺮم‬ ‫ﻛﻨﺘﺮﻟﻲ‬ ‫ﻫﺎي‬‫ﻣﻲ‬ ‫اﻓﺰاري‬‫ﺣﻠﻘﻪ‬ ‫اﻳﻦ‬ ‫وﻇﻴﻔﻪ‬ ‫ﻛﻪ‬ ‫ﺑﺎﺷﻨﺪ‬‫ﻫﺎ‬
‫ﺗﺼﺎد‬ ‫از‬ ‫ﺟﻠﻮﮔﻴﺮي‬ ‫ﺑﺮاي‬ ‫ﺧﻮد‬ ‫اﻃﺮاف‬ ‫ﻣﺤﻴﻂ‬ ‫ﺑﺮرﺳﻲ‬‫اﻳﺠﺎد‬ ‫و‬ ‫م‬‫ﺧﺴﺎرت‬‫ﺑﻪ‬‫ﺑﻤﻨﻈﻮر‬ ‫ﻣﺴﻴﺮ‬ ‫ﻃﻲ‬ ‫ﻫﻤﺮاه‬‫ﺑﻪ‬ ‫رﺳﻴﺪن‬‫ﻛﺎر‬ ‫اﻧﺠﺎم‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻣﻘﺼﺪ‬
‫اﻣﺪاد‬‫ﻛﻪ‬‫ﻣﻲ‬ ‫رﺑﺎت‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﻫﺪف‬‫ﺑﺎﺷﺪ‬.
‫رﺑﺎت‬ ‫اﻳﻦ‬‫اﺣﺘﻴﺎط‬ ‫ﻫﻤﺎﻧﻨﺪ‬ ‫ﻫﺎ‬‫ﻣﻲ‬ ‫ﻋﻤﻞ‬ ‫اﻧﺴﺎن‬ ‫ارادي‬ ‫ﻏﻴﺮ‬ ‫ﻫﺎي‬‫ﻧﻤﺎﻳﻨﺪ‬،‫ﺧﻄ‬ ‫از‬‫ﺮ‬‫ﺑﻪ‬ ‫و‬ ‫دوري‬‫ﺳﻮي‬‫ﻣﻲ‬ ‫ﺣﺮﻛﺖ‬ ‫ﻫﺪف‬‫ﻛﻨﻨﺪ‬.‫اﻳﻦ‬ ‫ﺣﺎل‬
‫ﻣﻲ‬ ‫ﺣﺮﻛﺖ‬‫و‬ ‫ﻓﻴﺰﻳﻜﻲ‬ ‫ﺻﻮرت‬ ‫ﺑﻪ‬ ‫ﺗﻮاﻧﺪ‬‫ﻳﺎ‬‫ﺑﺎﺷﺪ‬ ‫ﻣﻘﺼﺪ‬ ‫ﺑﻪ‬ ‫ﻧﺘﻴﺠﻪ‬ ‫دادن‬ ‫ﺳﻮق‬.
‫ﺻﻔﺤﻪ‬6

‫در‬‫ﻣﻲ‬ ‫ﺑﻌﺪ‬ ‫ﻣﺮاﺣﻞ‬‫ﺑﺎﻳﺴﺖ‬‫از‬ ‫ﻏﻴﺮ‬‫ﻫﺪﻓ‬‫ﻲ‬‫ﻧﻴﺰ‬ ‫را‬ ‫ﻗﺒﻞ‬ ‫وﻗﺎﻳﻊ‬ ‫ﻧﮕﻬﺪاري‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻧﻈﺮ‬ ‫در‬ ‫رﺑﺎت‬ ‫ﻃﺮاﺣﻲ‬ ‫ﺑﺮاي‬ ‫ﻛﻪ‬‫اﻳﻦ‬ ‫ﺑﻪ‬
‫ﻣﺠﻤﻮﻋﻪ‬‫ﻧﻤﻮد‬ ‫اﺿﺎﻓﻪ‬.‫ﻣﻲ‬ ‫ﭘﺬﻳﺮ‬ ‫اﻣﻜﺎن‬ ‫را‬ ‫ﮔﺬﺷﺘﻪ‬ ‫اﻋﻤﺎل‬ ‫ﺑﺎزﻳﺎﺑﻲ‬ ‫ﻫﻤﭽﻨﻴﻦ‬ ‫و‬ ‫ﻋﻘﺐ‬ ‫ﺑﻪ‬ ‫ﺑﺮﮔﺸﺖ‬ ‫اﻣﻜﺎن‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫اﻳﻦ‬‫ﻛﻨﺪ‬.
‫ﻣﻲ‬ ‫ﭘﻴﺪا‬ ‫ﺣﺠﻤﻲ‬ ‫اﻓﺰاﻳﺶ‬ ‫ﻣﺮور‬ ‫ﺑﻪ‬ ‫اﻃﻼﻋﺎت‬ ‫اﻳﻦ‬‫ﻛﻨﻨﺪ‬،‫ﭘﺲ‬‫ﻣﻲ‬‫ﻗﺪرﺗﻤﻨﺪ‬ ‫ﺳﺎﺧﺘﺎر‬ ‫ﻳﻚ‬ ‫اﺑﺘﺪا‬ ‫ﻫﻤﺎن‬ ‫از‬ ‫ﺑﺎﻳﺴﺖ‬‫ﻧﻤﻮد‬ ‫ﻃﺮاﺣﻲ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﻗﺎﺑﻞ‬
‫ﺗﺎ‬‫راﺳﺘﺎي‬ ‫در‬‫وﻇﺎﻳﻒ‬ ‫اﻧﺠﺎم‬‫ﻛﻨﺪ‬ ‫ﻧﮕﻬﺪاري‬ ‫و‬ ‫ﺿﺒﻂ‬ ‫ﺧﻮد‬ ‫ﺣﺎﻓﻈﻪ‬ ‫در‬ ‫را‬ ‫وﻗﺎﻳﻊ‬ ‫ﻟﺤﻈﻪ‬ ‫ﺑﻪ‬ ‫ﻟﺤﻈﻪ‬‫ﻫﻤﭽﻨﻴﻦ‬‫ﺑﺘﻮان‬‫ﻧﻴﺎز‬ ‫در‬‫ﻫﺎي‬‫آن‬ ‫از‬ ‫آﺗﻲ‬
‫اﺳﺘﻔﺎده‬‫ﻧﻤﻮد‬ ‫ﻛﺎﻓﻲ‬.
‫ﻫﻤﻜ‬‫ﻨ‬‫ﻮن‬‫اﻧﺴﺎن‬ ‫اﺳﺘﻔﺎده‬ ‫ﺗﺎ‬ ‫زﻳﺎدي‬ ‫ﺑﺴﻴﺎر‬ ‫راه‬‫اﻃﻼﻋﺎت‬ ‫اﻳﻦ‬ ‫از‬ ‫وار‬‫اﺳﺖ‬ ‫ﺑﺎﻗﻲ‬ ‫اﻫﻤﻴﺖ‬ ‫ﺑﺎ‬.‫ﺣﺎﻓﻈﻪ‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫اﻳﻦ‬ ‫از‬ ‫ﺗﻮان‬ ‫ﻣﻲ‬ ‫راﺳﺘﺎ‬ ‫ﻫﻤﻴﻦ‬ ‫در‬
‫ﻧﻤﻮد‬ ‫اﺳﺘﻔﺎده‬ ‫رﺑﺎت‬ ‫ﻧﻤﻮدن‬ ‫ﺗﺠﺮﺑﻪ‬ ‫و‬ ‫ﻳﺎدﮔﻴﺮي‬ ‫در‬.‫ﺷﺎﺧﻪ‬ ‫از‬ ‫ﺧﺎﺻﻲ‬ ‫روﺷﻬﺎي‬ ‫ﻧﻴﺎزﻣﻨﺪ‬ ‫ﻛﺎر‬ ‫اﻳﻦ‬ ‫اﻟﺒﺘﻪ‬‫ﻣﺼﻨﻮﻋﻲ‬ ‫ﻫﻮش‬ ‫ﻫﺎي‬‫و‬‫ﺷﺒﻜﻪ‬
‫ﻣﻲ‬ ‫ﻋﺼﺒﻲ‬‫ﺑﺎﺷﺪ‬.‫ﺷﺮﻛﺖ‬ ‫ﻫﻤﻜﻨﻮن‬ ‫اﻫﺪاف‬ ‫اﻳﻦ‬ ‫ﺑﻪ‬ ‫ﺳﻮق‬ ‫ﺑﺮاي‬‫ﺑﺰرگ‬ ‫ﻫﺎي‬،‫ﺗﻴﻢ‬،‫ﺗﺤﻘﻴﻖ‬ ‫ﺑﺮاي‬ ‫را‬ ‫ﻣﺠﺮﺑﻲ‬ ‫ﻫﺎي‬‫ﻧﺘﻴﺠﻪ‬ ‫در‬ ‫و‬ ‫ﺑﺮرﺳﻲ‬
‫ﭘﻴﺎده‬‫روش‬ ‫ﺳﺎزي‬‫ﮔﻤﺎرده‬ ‫ﻣﺨﺘﻠﻒ‬ ‫ﻫﺎي‬‫اﻧﺪ‬.‫ﻛﻢ‬ ‫رﺑﺎت‬ ‫ﺗﺮﺗﻴﺐ‬ ‫اﻳﻦ‬ ‫ﺑﻪ‬‫ﺑﻬﻴﻨﻪ‬ ‫ﺣﺎﻟﺖ‬ ‫ﺑﻪ‬ ‫ﻛﻢ‬‫ﺧﻮد‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ،‫ﻗﺒﻠﻲ‬ ‫اﻃﻼﻋﺎت‬ ‫ﺑﺎ‬ ‫و‬ ‫رﺳﻴﺪه‬ ‫ﺳﺎزي‬
‫ﻣﻲ‬ ‫ﺑﺎﻻ‬ ‫را‬‫ﺑﺮد‬،‫ﻧﺘﻴﺠﻪ‬ ‫در‬‫ﻣﻲ‬ ‫ﻧﺘﻴﺠﻪ‬ ‫ﺑﻪ‬ ‫ﺑﻬﺘﺮي‬ ‫ﻛﻴﻔﻴﺖ‬ ‫ﺑﺎ‬ ‫را‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﻛﺎرﺑﺮ‬ ‫اﻫﺪاف‬‫رﺳﺎﻧﺪ‬.
‫ﻣﺨﺘﺼﺮ‬ ‫ﺷﺮح‬ ‫اﻳﻦ‬ ‫اﻟﺒﺘﻪ‬،‫ﭘﻴﺎده‬ ‫ﻫﺪف‬ ‫ﺑﻪ‬ ‫ﻛﻪ‬ ‫زﻣﺎﻧﻲ‬‫ﺷﻮد‬ ‫ﺷﺮوع‬ ‫ﺳﺎزي‬‫ﻣﻲ‬‫ﺑﺎﻳﺴﺖ‬‫ﮔﺴﺘﺮده‬ ‫ﺑﺴﻴﺎر‬‫ﺗﻴﻢ‬ ‫ﺑﺎ‬ ،‫اﻋﻤﺎل‬ ‫اﻳﻦ‬ ‫از‬ ‫ﺗﺮ‬‫ﺑﺴﻴﺎر‬ ‫ﻫﺎي‬
‫ﻗﺪرﺗﻤﻨﺪ‬،‫ﺑﺮﻧﺎﻣﻪ‬‫ﭘﻴﺎده‬ ‫و‬ ‫رﻳﺰي‬‫ﺳﺎز‬‫ي‬‫ﮔﺮدد‬.‫رﻗﺎﺑﺖ‬ ‫ﮔﻮﻧﻪ‬ ‫اﻳﻦ‬ ‫در‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﻫﺪف‬‫ﭘﻴﺎده‬ ‫ﻫﺎ‬‫ﺑﺮاي‬ ‫ﮔﻮﻧﻪ‬ ‫اﻧﺴﺎن‬ ‫ﻳﺎدﮔﻴﺮي‬ ‫و‬ ‫ﺗﻔﻜﺮ‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫ﺳﺎزي‬
‫ﻣﻲ‬ ‫اﻧﺴﺎن‬ ‫ﻛﻨﺎر‬ ‫در‬ ‫ﻫﻤﻜﺎري‬‫ﺑﺎﺷﺪ‬.
‫ﻧﻮﻳ‬ ‫از‬ ‫ﺧﻴﻠﻲ‬ ‫ﺣﺎﺿﺮ‬ ‫ﺣﺎل‬ ‫در‬ ‫ﻛﻪ‬ ‫ﻫﻤﻴﻨﻄﻮر‬‫ﻓﻴﻠﻢ‬ ‫و‬ ‫ﺴﻨﺪﮔﺎن‬‫ﺑﺮاﺑﺮ‬ ‫در‬ ‫ﺟﻬﺎن‬ ‫آﻳﻨﺪه‬ ‫ﺻﺮف‬ ‫را‬ ‫ﺧﻮد‬ ‫ﺗﻔﻜﺮ‬ ‫و‬ ‫زﻣﺎن‬ ،‫ﻫﺰﻳﻨﻪ‬ ‫از‬ ‫ﺑﺨﺸﻲ‬ ‫ﺳﺎزان‬
‫رﺑﺎت‬‫اﻧﺴﺎن‬ ‫و‬ ‫ﻫﻮﺷﻤﻨﺪ‬ ‫ﻫﺎي‬‫ﻧﻤﻮده‬ ‫ﻧﻤﺎ‬‫اﻧﺪ‬.‫ﻣﻲ‬ ‫ﻓﻠﺴﻔﻲ‬ ‫ﻋﻠﻤﻲ‬ ‫ﻣﺤﺎﻓﻞ‬ ‫ﻛﻨﺎر‬ ‫و‬ ‫ﮔﻮﺷﻪ‬ ‫ﻫﺮ‬ ‫در‬‫ﻛﻨﺎر‬ ‫در‬ ‫ﻧﮕﺮاﻧﻲ‬ ‫و‬ ‫ﺗﺮس‬ ‫از‬ ‫ردﭘﺎﻳﻲ‬ ‫ﺗﻮان‬
‫آﻳﻨﺪه‬ ‫و‬ ‫ﺷﻮق‬‫اﻧﺴﺎن‬ ‫ﺗﻌﺎﻣﻞ‬ ‫آﻳﻨﺪه‬ ‫ﺑﺮاي‬ ‫ﻧﮕﺮي‬‫رﺑﺎت‬ ‫و‬ ‫ﻫﺎ‬‫اﻧ‬ ‫ﺧﻮدﻣﺨﺘﺎر‬ ‫ﻫﺎي‬‫ﺴﺎن‬‫ﺗﺤﻠﻴﻞ‬ ‫و‬ ‫ﺗﻔﻜﺮ‬ ‫اﻳﻦ‬ ‫و‬ ‫دﻳﺪه‬ ‫ﻧﻤﺎ‬‫ﻫﺎ‬،‫داﻧﺸﮕﺎه‬ ‫اﺳﺎﺗﻴﺪ‬‫را‬ ‫ﻫﺎ‬
‫اﺳﺖ‬ ‫داﺷﺘﻪ‬ ‫وا‬ ‫ﺗﻔﻜﺮ‬ ‫و‬ ‫ﺗﺄﻣﻞ‬ ‫ﺑﻪ‬ ‫ﻧﻴﺰ‬.‫اﺣﺘﻴﺎط‬ ‫ﻧﻴﺰ‬ ‫ﺷﺎﺧﻪ‬ ‫اﻳﻦ‬ ‫ﻣﺴﻠﻢ‬ ‫ﻗﺪر‬‫ﻧﮕﺮاﻧﻲ‬ ‫و‬ ‫ﻫﺎ‬‫و‬ ‫ﺗﺤﻘﻴﻘﺎت‬ ‫ﻛﻨﺎر‬ ‫در‬ ‫را‬ ‫ﺧﻮد‬ ‫ﻫﺎي‬
‫ﺳﺮﻣﺎﻳﻪ‬‫ﮔﺬاري‬‫ﻣﻲ‬ ‫ﻋﻈﻴﻢ‬ ‫ﻫﺎي‬‫ﻃﻠﺒﺪ‬.‫ﻣﻲ‬ ‫ﻛﺎرﺑﺮ‬ ‫زﻣﺎن‬ ‫ﺻﺮف‬ ‫و‬ ‫ﻛﻤﻚ‬ ‫ﺑﺪون‬ ‫ﺧﻮدﻣﺨﺘﺎر‬ ‫رﺑﺎت‬ ‫ﻳﻚ‬ ‫ﻛﻪ‬ ‫ﻣﺰﻳﺖ‬ ‫اﻳﻦ‬‫ﺑ‬ ‫ﺗﻮاﻧﺪ‬‫ﻣﻮرد‬ ‫ﻫﺪف‬ ‫ﻪ‬
‫اﺳﺖ‬ ‫ﺗﻮﺟﻪ‬ ‫ﻗﺎﺑﻞ‬ ‫ﺑﺮﺳﺪ‬ ‫او‬ ‫ﻧﻈﺮ‬‫ﻣﻲ‬ ‫دﻳﮕﺮ‬ ‫اﺑﺰار‬ ‫ﻫﻤﭽﻮن‬ ‫و‬‫ﻧﻤﺎﻳﺪ‬ ‫ﻓﺮاواﻧﻲ‬ ‫ﻛﻤﻚ‬ ‫او‬ ‫ﺑﻪ‬ ‫ﻛﺎرﺑﺮ‬ ‫زﻣﺎن‬ ‫ﻧﻤﻮدن‬ ‫آزاد‬ ‫ﺑﺎ‬ ‫ﺗﻮاﻧﺪ‬.
‫ﻧﺎﺟﻲ‬ ‫رﺑﺎت‬3‫ﻣﻲ‬ ‫ﺧﻮدﻣﺨﺘﺎر‬ ‫ﻧﻮع‬ ‫از‬ ‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬ ‫ﻳﻚ‬ ‫ﻛﻪ‬‫ﺑﺎﺷﺪ‬‫ﻣﻲ‬‫ﻫﻤﻮار‬ ‫و‬ ‫ﺻﺎف‬ ‫ﺳﻄﺢ‬ ‫در‬ ‫ﺗﻮاﻧﺪ‬)‫ﻓﻴﺰﻳﻜﻲ‬ ‫ﻃﺮاﺣﻲ‬ ‫دﻟﻴﻞ‬ ‫ﺑﻪ‬(‫در‬ ‫؛‬
‫رﺑﺎت‬ ‫ﻛﻨﺎر‬‫ﻗﺎﺑ‬ ‫ﻛﻪ‬ ‫ﻧﺎﺟﻲ‬ ‫دﻳﮕﺮ‬ ‫ﻫﺎي‬‫ﻣﻲ‬ ‫دارا‬ ‫را‬ ‫ﻧﺎﻫﻤﻮار‬ ‫ﺳﻄﻮح‬ ‫در‬ ‫ﺣﺮﻛﺖ‬ ‫ﻠﻴﺖ‬‫ﺑﺼﻮرت‬ ‫را‬ ‫ﻣﺤﻴﻂ‬ ‫ﻧﻘﺸﻪ‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫ﻛﺎر‬ ‫اﻧﺠﺎم‬ ‫ﺑﺎﺷﻨﺪ‬
‫ﻛﻨﺪ‬ ‫ﺗﻔﺴﻴﺮ‬ ‫و‬ ‫ﺗﻮﻟﻴﺪ‬ ‫ﺧﻮدﻛﺎر‬.‫ﻣﻲ‬ ‫ﻫﻤﭽﻨﻴﻦ‬‫ﻧﻤﻮده‬ ‫ﺧﺎرج‬ ‫ﺧﻮدﻣﺨﺘﺎر‬ ‫ﺣﺎﻟﺖ‬ ‫از‬ ‫را‬ ‫رﺑﺎت‬ ‫اﻳﻦ‬ ‫ﻧﻴﺎز‬ ‫ﻣﻮرد‬ ‫ﻣﻮﻗﻊ‬ ‫در‬ ‫ﺗﻮان‬‫و‬‫ﻛﻨﺘﺮل‬ ‫ﺣﺎﻟﺖ‬ ‫ﺑﻪ‬
‫داد‬ ‫وﺿﻌﻴﺖ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫اﻧﺴﺎﻧﻲ‬.
‫ﻛﻤﻚ‬ ‫ﺑﺪون‬ ‫ﺧﻮدﻣﺨﺘﺎر‬ ‫رﺑﺎت‬ ‫ﻳﻚ‬ ‫ﻛﻪ‬ ‫ﻣﺰﻳﺖ‬ ‫اﻳﻦ‬‫ﻣﻲ‬ ‫ﻛﺎرﺑﺮ‬ ‫زﻣﺎن‬ ‫ﺻﺮف‬ ‫و‬‫اﺳﺖ‬ ‫ﺗﻮﺟﻪ‬ ‫ﻗﺎﺑﻞ‬ ‫ﺑﺮﺳﺪ‬ ‫ﻧﻈﺮاو‬ ‫ﻣﻮرد‬ ‫ﻫﺪف‬ ‫ﺑﻪ‬ ‫ﺗﻮاﻧﺪ‬‫زﻣﺎن‬ ‫و‬
‫ﻣﻲ‬ ‫آزاد‬ ‫ﻣﻬﺘﺮ‬ ‫وﻇﺎﻳﻒ‬ ‫ﺑﺮاي‬ ‫را‬ ‫ﻛﺎرﺑﺮ‬‫ﻧﻤﺎﻳﺪ‬.
‫ﺻﻔﺤﻪ‬7

‫ﺑﺨﺶ‬1-3(‫ﻧﺎﺟﻲ‬ ‫رﺑﺎت‬3
‫رﺑﺎت‬‫ﻣﻜﺎﺗ‬ ‫ﺗﺤﻘﻴﻘﺎﺗﻲ‬ ‫آزﻣﺎﻳﺸﮕﺎه‬ ‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬ ‫ﺗﻴﻢ‬ ‫ﻫﻤﺖ‬ ‫ﺑﻪ‬ ‫ﻧﺎﺟﻲ‬ ‫ﻫﺎي‬‫ﺮ‬‫دﻛﺘﺮ‬ ‫آﻗﺎي‬ ‫ﺟﻨﺎب‬ ‫ﻣﺪﻳﺮﻳﺖ‬ ‫ﺑﻪ‬ ‫ﻗﺰوﻳﻦ‬ ‫آزاد‬ ‫داﻧﺸﮕﺎه‬ ‫وﻧﻴﻚ‬
‫ﻓﻌﺎﻟﻴﺖ‬ ‫ﺷﻬﺮي‬‫را‬ ‫ﺧﻮد‬‫ﻣﻮﻓﻘﻴﺖ‬ ‫ﻫﻤﻜﻨﻮن‬ ‫ﺗﺎ‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫ﺷﺮوع‬‫ﺑﺴﻴﺎر‬ ‫ﻫﺎي‬‫ﻧﻤﻮده‬ ‫ﻛﺴﺐ‬ ‫ﻋﺮﺻﻪ‬ ‫اﻳﻦ‬ ‫در‬ ‫زﻳﺎدي‬‫اﻧﺪ‬.‫اﻳﻦ‬ ‫ﺣﺎﺿﺮ‬ ‫ﺣﺎل‬ ‫در‬
‫داراي‬ ‫ﺗﻴﻢ‬‫ﭼﻬﺎر‬‫اﻣﺪاد‬ ‫ﺑﺮاي‬ ً‫ﺎ‬‫ﻧﻬﺎﻳﺘ‬ ‫ﻛﻪ‬ ‫رﺑﻮﻛﺎپ‬ ‫ﻣﺴﺎﺑﻘﺎت‬ ‫در‬ ‫ﺷﺮﻛﺖ‬ ‫ﺑﺮاي‬ ‫رﺑﺎت‬‫رﺳﺎﻧﻲ‬‫ﻗﺮار‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫دﻳﺪه‬ ‫ﺳﺎﻧﺤﻪ‬ ‫ﻣﻨﺎﻃﻖ‬ ‫در‬
‫ﻣﻲ‬‫ﮔﻴﺮ‬‫ﻧ‬‫ﻣﻲ‬ ‫ﺪ‬‫ﺑﺎﺷﺪ‬.‫رﺑﺎت‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﭘﺮوژه‬‫ﻧﺎﺟﻲ‬3)‫ﺷﻜﻞ‬1-3(‫ﺑﻪ‬ ‫ﻣﺠﻬﺰ‬ ‫ﻛﻪ‬‫دوازده‬‫ﻣﻲ‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺳﻨﺴﻮر‬‫ﺑﺎﺷﺪ‬
‫ﭘﻴﺎده‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﺳﺎزي‬.‫زاوﻳﻪ‬ ‫در‬ ‫ﺳﻨﺴﻮرﻫﺎ‬ ‫اﻳﻦ‬30‫ﻫﻢ‬ ‫ﺑﻪ‬ ‫ﻧﺴﺒﺖ‬ ‫درﺟﻪ‬،‫ﮔﺮﻓﺘﻪ‬ ‫ﻗﺮار‬ ‫رﺑﺎت‬ ‫دور‬ ‫ﺗﺎ‬ ‫دور‬‫اﻧﺪ‬.‫ﻣﻮﺗﻮر‬ ‫دو‬ ‫ﺑﺎ‬ ‫ﭼﺮخ‬ ‫ﻋﺪد‬ ‫دو‬
‫ﻣﻲ‬ ‫ﻗﺮار‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫رﺑﺎت‬ ‫ﺣﺮﻛﺘﻲ‬ ‫ﻛﻨﺘﺮل‬ ‫ﺑﺮاي‬ ‫دﻗﻴﻖ‬‫ﮔﻴﺮد‬.‫ﭼ‬ ‫ﻳﻚ‬ ‫ﻋﻬﺪه‬ ‫ﺑﻪ‬ ‫ﻧﻴﺰ‬ ‫ﺗﻌﺎدل‬ ‫ﺣﻔﻆ‬‫ﻫﺮزﮔﺮد‬ ‫ﺮخ‬‫رﺑﺎت‬ ‫ﭘﺸﺖ‬ ‫در‬‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.
‫ﻣﻮﺗﻮر‬ ‫ﻫﺮ‬ ‫ﺑﺮاي‬ ‫ﻛﻨﻨﺪه‬ ‫ﻛﺪ‬ ‫ﺑﻮدن‬ ‫دارا‬ ،‫ﺗﺠﻬﻴﺰات‬ ‫دﻳﮕﺮ‬ ‫از‬1
‫ﺳﻨﺴﻮر‬ ‫و‬ ‫آﻧﺎﻟﻮگ‬ ‫ﻓﺮﺳﺘﻨﺪه‬ ‫ﺑﺎ‬ ‫وﻳﺪﻳﻮﻳﻲ‬ ‫دورﺑﻴﻦ‬ ،‫دﻳﺠﻴﺘﺎل‬ ‫ﻧﻤﺎي‬ ‫ﻗﻄﺐ‬ ،
‫ﻣﻲ‬ ‫ﮔﺎز‬ ‫و‬ ‫ﺣﺮارت‬‫ﺑﺎﺷﺪ‬.
‫ﮔﺮداﻧﻨﺪه‬‫ﻫﺎ‬2
‫ﻧﻮع‬ ‫از‬ ‫ﻣﺮﻛﺰي‬ ‫ﻣﻴﻜﺮوﻛﻨﺘﺮﻟﺮﻫﺎي‬ ‫وﺳﻴﻠﺔ‬ ‫ﺑﻪ‬)Atmel ATmega128(‫ﻣﻲ‬ ‫ﻛﻨﺘﺮل‬‫ﺷﻮﻧﺪ‬‫اﻳﻦ‬ ‫ﻛﻪ‬‫ﻣﻴﻜﺮ‬‫وﻛﻨﺘﺮﻟ‬‫ﺮ‬‫از‬ ‫ﻧﻴﺰ‬ ‫ﻣﺮﻛﺰي‬
‫ﺑﻮرد‬ ‫ﺗﻚ‬ ‫ﻛﺎﻣﭙﻴﻮﺗﺮ‬ ‫ﻳﻚ‬3
)PC/104(‫ﻛﻪ‬‫رﺑﺎت‬ ‫ﺧﻮد‬ ‫روي‬ ‫ﺑﺮ‬‫ﺷﺪه‬ ‫ﻧﺼﺐ‬‫ﻣﻲ‬ ‫درﻳﺎﻓﺖ‬ ‫را‬ ‫دﺳﺘﻮرات‬‫دارد‬.‫ﺷﻜﻞ‬ ‫ﺑﺪﻳﻦ‬ ‫ﻃﺮاﺣﻲ‬ ‫ﻧﻮع‬
‫ﻣﻲ‬‫آوري‬ ‫ﺟﻤﻊ‬ ‫و‬ ‫اﺟﺮاﻳﻲ‬ ‫ﭘﻴﮕﻴﺮي‬ ،‫دﺳﺘﻮرات‬ ‫اﺟﺮاي‬ ‫ﻛﻨﺘﺮل‬ ‫اﻋﻤﺎل‬ ‫ﻛﻪ‬ ‫ﺑﺎﺷﺪ‬‫ﭘﺎﻳﻴﻦ‬ ‫ﺳﻄﺢ‬ ‫اﻃﻼﻋﺎت‬‫ﻣﻴﻜﺮوﻛﻨﺘﺮﻟ‬ ‫ﻋﻬﺪه‬ ‫ﺑﺮ‬‫ﺮﻫﺎ‬‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬
‫درﺧﻮاﺳﺖ‬ ‫ﭘﺮدازش‬ ‫وﻟﻴﻜﻦ‬‫ﺑﻲ‬ ‫ﺷﺒﻜﻪ‬ ‫ارﺗﺒﺎط‬ ‫ﺗﻀﻤﻴﻦ‬ ،‫ﻣﻴﻜﺮوﻛﻨﺘﺮﻟﺮ‬ ‫اﻃﻼﻋﺎت‬ ‫ﺧﻮرد‬ ‫ﺑﺎز‬ ‫ﭘﺮدازش‬ ‫و‬ ‫ﺗﺤﻠﻴﻞ‬ ،‫ﻛﺎرﺑﺮ‬‫ﻛﺎﻣﭙﻴﻮﺗﺮ‬ ‫ﺑﺎ‬ ‫ﺳﻴﻢ‬
‫ﭘﺮدازش‬ ‫از‬ ‫ﺑﺮﺧﻲ‬ ‫ﻫﻤﭽﻨﻴﻦ‬ ‫و‬ ‫ﻛﺎرﺑﺮ‬‫ﻣﻲ‬ ‫اﻧﺠﺎم‬ ‫رﺑﺎت‬ ‫روي‬ ‫در‬ ‫ﻣﺴﺘﻘﺮ‬ ‫ﻛﺎﻣﭙﻴﻮﺗﺮ‬ ‫در‬ ‫رﺑﺎت‬ ‫ﺧﻮدﻣﺨﺘﺎر‬ ‫ﻫﺎي‬‫ﮔﻴﺮد‬.
‫ﻧﺮم‬ ‫ﺑﻪ‬ ‫ﻣﺠﻬﺰ‬ ‫ﻛﻪ‬ ‫ﻛﻴﻔﻲ‬ ‫ﻛﺎﻣﭙﻴﻮﺗﺮ‬ ‫ﻋﺪد‬ ‫ﻳﻚ‬ ‫ﺗﺠﻬﻴﺰات‬ ‫اﻳﻦ‬ ‫ﻛﻨﺎر‬ ‫در‬‫ﻛﻨﺘﺮل‬ ‫اﻓﺰار‬‫ﺑﺎ‬ ‫ﺳﻄﺢ‬‫ﻻي‬‫رﺑﺎت‬‫ﻣﻲ‬‫دﺳﺖ‬ ‫در‬ ‫ﺑﺎﺷﺪ‬‫ﻛﺎرﺑﺮ‬‫ﻣﻲ‬،‫ﺑﺎﺷﺪ‬
‫ﺷﺎﻣﻞ‬ ‫ﻗﺴﻤﺖ‬ ‫اﻳﻦ‬ ‫ﻫﻤﭽﻨﻴﻦ‬‫ﻧﺮم‬‫ﻧﻘﺸﻪ‬ ‫ﺛﺒﺖ‬ ‫و‬ ‫رﺳﻢ‬ ‫اﻓﺰار‬‫ﻣﻲ‬ ‫ﻧﻴﺰ‬‫ﺑﺎﺷﺪ‬.
‫ﺑﻲ‬ ‫ﻣﺤﻠﻲ‬ ‫ﺷﺒﻜﻪ‬ ‫ﺑﻮﺳﻴﻠﻪ‬ ،‫ﻛﺎﻣﭙﻴﻮﺗﺮﻫﺎ‬ ‫ﻃﺮﻳﻖ‬ ‫از‬ ‫ﻛﺎرﺑﺮ‬ ‫و‬ ‫رﺑﺎت‬ ‫ﺷﺪه‬ ‫رﻣﺰ‬ ‫و‬ ‫اﻣﻦ‬ ‫ارﺗﺒﺎط‬‫ارﺗﺒﺎﻃﻲ‬ ‫ﭘﺮوﺗﻜﻞ‬ ‫و‬ ‫ﺳﻴﻢ‬UDP‫و‬TCP‫ﻫﻤﺮاه‬ ‫ﺑﻪ‬
‫ﻛﺪﻳﻨﮓ‬CRC‫ﻣﻲ‬ ‫اﻧﺠﺎم‬‫ﺷﻮد‬.‫ﻣﻲ‬ ‫زﻳﺮ‬ ‫ﺷﻜﻞ‬ ‫در‬‫ﺑﺼ‬ ‫ﺗﻮان‬‫ﻧﻤﻮد‬ ‫ﺑﺮرﺳﻲ‬ ‫را‬ ‫ﻛﻠﻴﺎت‬ ‫ﺗﺼﻮﻳﺮي‬ ‫ﻮرت‬.
‫ﺷﻜﻞ‬1-1)‫ﻧﺎﺟﻲ‬ ‫رﺑﺎت‬ ‫ﺷﻤﺎﺗﻴﻚ‬(
1
Motor Encoder
2
Motor Drivers
3
Single Board Computer (SBC)
‫ﺻﻔﺤﻪ‬8

‫اﺻﻞ‬‫ﻧﺎﺟﻲ‬ ‫رﺑﺎت‬ ‫ﻃﺮاﺣﻲ‬3‫ﻣﻲ‬ ‫ﻫﻤﻮار‬ ‫و‬ ‫ﺻﺎف‬ ‫ﺳﻄﻮح‬ ‫ﺑﺮاي‬‫ﺑﺎﺷﺪ‬.‫ﻣﻮﻗﻌﻴﺖ‬ ‫ﺗﻤﺎم‬ ‫ﺑﻪ‬ ‫ﺳﺮﻛﺸﻲ‬ ‫رﺑﺎت‬ ‫اﻳﻦ‬ ‫وﻇﻴﻔﻪ‬‫و‬ ‫ﻧﺎﻣﺸﺨﺺ‬ ‫ﻫﺎي‬
‫ﻣﻲ‬ ‫ﻣﻮﺟﻮد‬ ‫ﻣﺴﻴﺮﻫﺎي‬ ‫و‬ ‫ﻣﻮاﻧﻊ‬ ‫ﺛﺒﺖ‬ ‫و‬ ‫ﻣﺒﻬﻢ‬‫ﺑﺎﺷﺪ‬.‫ﺣﺮار‬ ‫ﻫﻤﺎﻧﻨﺪ‬ ‫ﻣﺤﻴﻄﻲ‬ ‫ﻋﻮاﻣﻞ‬ ‫و‬ ‫ﻣﺼﺪوﻣﻴﻦ‬ ‫ﻣﻮﻗﻌﻴﺖ‬ ‫ﺛﺒﺖ‬ ‫ﻫﻤﭽﻨﻴﻦ‬‫ﮔﺎزﻫﺎي‬ ‫و‬ ‫ت‬
‫ﻣﻲ‬ ‫ﺧﺮوﺟﻲ‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﻧﻘﺸﻪ‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﺧﻄﺮﻧﺎك‬‫ﺑﺎﺷﺪ‬.‫ﺗﺎ‬ ‫ﻛﺎرﺑﺮ‬ ‫ﻃﺮف‬ ‫از‬ ‫ﺷﺮوع‬ ‫ﻓﺮﻣﺎن‬ ‫ارﺳﺎل‬ ‫زﻣﺎن‬ ‫از‬ ‫ﺧﻮدﻣﺨﺘﺎري‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫ﺑﺎ‬ ‫رﺑﺎت‬ ‫اﻳﻦ‬
‫ﺗﻜ‬ ‫ﻣﺴﻴﺮ‬ ‫ﺑﻪ‬ ‫رﺳﻴﺪن‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺗﻮﻗﻒ‬ ‫ﻓﺮﻣﺎن‬ ‫درﻳﺎﻓﺖ‬ ‫زﻣﺎن‬‫ﺮ‬‫ﺷﺪه‬ ‫ﺑﺮرﺳﻲ‬ ‫اري‬،‫ﻣ‬ ‫ﺑﺮرﺳﻲ‬ ‫را‬ ‫ﻣﺤﻴﻂ‬‫ﻲ‬‫ﻧﻤﺎﻳﺪ‬.
‫ﻧﻬﺎﻳﺖ‬ ‫در‬،،‫ﻣﺼﺪوﻣﻴﻦ‬ ‫ﻣﻮﻗﻌﻴﺖ‬ ‫ﻫﻤﺮاه‬ ‫ﺑﻪ‬ ‫ﻣﺤﻴﻂ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺼﻮﻳﺮ‬‫ﺗﺤ‬ ‫ﻛﺎرﺑﺮ‬ ‫ﺑﻪ‬ ‫رﺑﺎت‬ ‫ﺣﺮﻛﺖ‬ ‫ﻣﺴﻴﺮ‬ ‫و‬ ‫ﮔﺎز‬‫ﻮ‬‫ﻣﻲ‬ ‫داده‬ ‫ﻳﻞ‬‫ﺷﻮد‬.
‫ﻣﻲ‬ ‫ﻣﺴﻴﺮﻫﺎ‬ ‫و‬ ‫ﻃﺒﻴﻌﻲ‬ ‫ﻋﻮاﻣﻞ‬ ‫ﺿﺒﻂ‬ ‫و‬ ‫ﺛﺒﺖ‬ ‫و‬ ‫ﻣﺤﻴﻂ‬ ‫ﺑﺮرﺳﻲ‬ ‫و‬ ‫ﭘﻮﻳﺶ‬ ‫رﺑﺎت‬ ‫اﻳﻦ‬ ‫اﺻﻠﻲ‬ ‫ﻫﺪف‬‫ﺑﺎﺷﺪ‬.‫و‬ ‫راﻫﻨﻤﺎ‬ ‫آن‬ ‫دﻳﮕﺮ‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫از‬
‫رﺑﺎت‬ ‫ﻣﻜﻤﻞ‬‫ﻣﻲ‬ ‫ﻣﺼﺪوﻣﻴﻦ‬ ‫ﻧﺠﺎت‬ ‫ﻫﺪف‬ ‫ﺑﻪ‬ ‫رﺳﻴﺪن‬ ‫در‬ ‫دﻳﮕﺮ‬ ‫ﻫﺎي‬‫ﺑﺎﺷﺪ‬.‫ﻧﺮم‬ ‫ﻫﻤﭽﻨﻴﻦ‬‫ﻣﻲ‬ ‫ﻧﻘﺸﻪ‬ ‫رﺳﻢ‬ ‫اﻓﺰار‬‫رﺑﺎت‬ ‫دﻳﮕﺮ‬ ‫ﺗﻮاﻧﺪ‬‫ﻧﺎﺟﻲ‬ ‫ﻫﺎي‬
‫ﺑﻪ‬ ‫ﻧﺴﺒﺖ‬ ‫آﻧﺮا‬ ‫ﻣﻮﻗﻌﻴﺖ‬ ‫ﻟﺤﻈﻪ‬ ‫ﻫﺮ‬ ‫در‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫ﭘﻴﮕﻴﺮي‬ ‫رﺑﺎت‬ ‫اﻳﻦ‬ ‫ﻛﻨﺎر‬ ‫در‬ ‫را‬‫ﺧﻮد‬‫دﻫﺪ‬ ‫ﻧﻤﺎﻳﺶ‬.‫اﻣﻜﺎن‬ ‫اﻳﻦ‬،‫ﺑﻪ‬ ‫را‬ ‫زﻳﺎدي‬ ‫ﺑﺴﻴﺎر‬ ‫ﻛﻤﻚ‬
‫ﻣﻲ‬ ‫ﭘﺎﻳﻪ‬ ‫رﺑﺎت‬ ‫ﺑﻪ‬ ‫ﻧﺴﺒﺖ‬ ‫ﺧﻮد‬ ‫ﺟﺎﻳﮕﺎه‬ ‫و‬ ‫ﻓﻌﻠﻲ‬ ‫ﻣﻮﻗﻌﻴﺖ‬ ‫ﺗﺮك‬ ‫ﺟﻬﺖ‬ ‫رﺑﺎت‬ ‫ﻛﻨﻨﺪه‬ ‫ﻛﻨﺘﺮل‬ ‫ﻛﺎرﺑﺮ‬‫ﻛﻨﺪ‬.‫ﻣﻲ‬ ‫روش‬ ‫اﻳﻦ‬ ‫ﺑﺎ‬‫رﺑﺎت‬ ‫دو‬ ‫ﻫﺮ‬ ‫ﺗﻮان‬
‫ﻳ‬ ‫ﺑﺎ‬ ‫و‬ ‫ﻟﺤﻈﻪ‬ ‫ﻳﻚ‬ ‫در‬ ‫را‬‫زﻣﻴﻦ‬ ‫داﺧﻞ‬ ‫ﻛﺎرﺑﺮ‬ ‫ﻚ‬‫و‬‫ﮔﺴﺘﺮده‬ ‫دﻳﺪ‬ ‫ﺑﺎ‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫ارد‬‫ﻧﻤﻮد‬ ‫اﻧﺠﺎم‬ ‫را‬ ‫ﺟﺴﺘﺠﻮ‬ ‫ﺗﺮي‬.)‫دﻳﮕﺮي‬ ‫و‬ ‫ﺧﻮدﻣﺨﺘﺎر‬ ‫ﻳﻜﻲ‬
‫دﺳﺘﻲ‬ ‫ﻛﻨﺘﺮل‬(
‫ﻧﺎﺟﻲ‬ ‫رﺑﺎت‬ ‫ﻛﻨﺎر‬ ‫در‬3،‫ﻧﺎﺟﻲ‬ ‫رﺑﺎت‬ ‫ﻋﻨﻮان‬ ‫ﺑﺎ‬ ‫دﻳﮕﺮي‬ ‫ﻗﺪرﺗﻤﻨﺪ‬ ‫رﺑﺎت‬4‫ﻃﺮاﺣﻲ‬‫و‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﺳﺎﺧﺘﻪ‬.‫زﻳﺎدي‬ ‫ﺑﺴﻴﺎر‬ ‫ﻗﺪرت‬ ‫رﺑﺎت‬ ‫اﻳﻦ‬
‫ﻣﻲ‬ ‫دارا‬ ‫ﺳﺨﺖ‬ ‫ﻣﻮاﻧﻊ‬ ‫و‬ ‫ﻧﺎﻫﻤﻮار‬ ‫ﻣﺴﻴﺮﻫﺎي‬ ‫ﻃﻲ‬ ‫ﺟﻬﺖ‬‫ﺑﺎﺷﺪ‬.‫رﺑﺎت‬ ‫اﻳﻦ‬‫ﻣﺎﻧﻮرﻫﺎي‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫ﻗﺪرﺗﻤﻨﺪ‬ ‫ﺑﺎزوي‬ ‫دو‬ ‫ﺑﺎ‬ ‫ﺟﻠﻮ‬ ‫ﻗﺴﻤﺖ‬ ‫در‬
‫ﻣﻲ‬ ‫دارا‬ ‫را‬ ‫زﻳﺎدي‬‫ﺑﺎﺷﺪ‬.ً‫ﻼ‬‫ﻛﺎﻣ‬ ‫رﺑﺎت‬ ‫اﻳﻦ‬‫ﺑﺎ‬‫ﻛﻨﺘﺮل‬‫ﻣﻲ‬ ‫ﻛﺎرﺑﺮ‬‫و‬ ‫ﺑﺎﺷﺪ‬‫ﻫﻤ‬‫ﭽ‬‫ﻨﻴﻦ‬‫ﻟﺤﻈﻪ‬ ‫ﻫﺮ‬ ‫در‬‫از‬ ‫اﻧﺒﻮﻫﻲ‬‫ﻃﺮﻳﻖ‬ ‫از‬ ‫را‬ ‫ﻣﻔﻴﺪ‬ ‫اﻃﻼﻋﺎت‬
‫ﻧﺮم‬‫ﻣﻲ‬ ‫ﺑﺎز‬ ‫ﻛﺎرﺑﺮ‬ ‫ﺑﻪ‬ ‫ﻛﻨﺘﺮل‬ ‫اﻓﺰار‬‫ﮔﺮداﻧﺪ‬،‫ﻣﻮﺗﻮر‬ ‫دو‬ ‫ﻃﺮﻳﻖ‬ ‫از‬ ‫رﺑﺎت‬ ‫اﻳﻦ‬ ‫ﻣﺤﺮك‬ ‫ﻧﻴﺮوي‬‫ﺑﻪ‬ ‫ﻗﺪرﺗﻤﻨﺪ‬‫ﺗﺴﻤﻪ‬‫ﺑﺎﻋﺚ‬ ‫و‬ ‫ﺷﺪه‬ ‫ﻣﻨﺘﻘﻞ‬ ‫آن‬ ‫ﻫﺎي‬
‫ﻣﻲ‬ ‫ﺗﻨﺪ‬ ‫ﺷﻴﺐ‬ ‫ﺑﺎ‬ ‫دار‬ ‫ﺷﻴﺐ‬ ‫ﺳﻄﻮح‬ ‫و‬ ‫ﻣﻮاﻧﻊ‬ ‫از‬ ‫ﺻﻌﻮد‬ ‫و‬ ‫راﻧﺶ‬‫ﺷﻮد‬.‫از‬ ‫ﺳﺎدﮔﻲ‬ ‫ﺑﻪ‬ ‫رﺑﺎت‬ ‫اﻳﻦ‬‫دار‬ ‫ﺷﻴﺐ‬ ‫ﺳﻄﺢ‬‫ي‬‫ﺣﺪود‬ ‫در‬‫زاوﻳﻪ‬60
‫و‬ ‫رود‬ ‫ﻣﻲ‬ ‫ﺑﺎﻻ‬ ‫درﺟﻪ‬‫ﺑﺎ‬‫ﭘﻠﻪ‬ ‫اﻧﻮاع‬ ‫ﺧﻮد‬ ‫ﺑﺎزوﻫﺎي‬ ‫ﻛﻤﻚ‬‫ﻣﻲ‬ ‫ﻃﻲ‬ ‫ﻣﺨﺘﻠﻒ‬ ‫ﻓﻮاﺻﻞ‬ ‫ﺑﻪ‬ ‫را‬ ‫ﻫﺎ‬‫ﻛﻨﺪ‬.‫ﺑﺴﺎدﮔﻲ‬ ‫رﺑﺎت‬ ‫اﻳﻦ‬‫در‬‫آﻟ‬ ‫ﻣﺴﺎﺑﻘﺎت‬‫ﻤﺎن‬
‫ژاﭘﻦ‬ ‫و‬2005‫ﺳﺨﺖ‬ ‫ﻣﻮاﻧﻊ‬ ‫از‬ ‫ﻳﻜﻲ‬‫ﻧﺎم‬ ‫ﺑﺎ‬ ‫ﺟﺪﻳﺪ‬ ‫و‬‫ﭘﻠﻪ‬ ‫زﻣﻴﻦ‬‫اي‬1
‫را‬‫را‬ ‫ﻣﺴﺎﺑﻘﺎت‬ ‫داوران‬ ‫ﻧﻈﺮ‬ ‫ﻣﻬﻢ‬ ‫ﻧﻜﺘﻪ‬ ‫ﻫﻤﻴﻦ‬ ‫و‬ ‫ﻧﻤﻮد‬ ‫ﮔﺬر‬ ‫ﻗﺪرت‬ ‫ﺑﺎ‬
‫ﻧﻤﻮد‬ ‫ﺟﻠﺐ‬ ‫ﺧﻮد‬ ‫ﺑﻪ‬.
‫وﺿﻌﻴﺖ‬ ‫ﺗﻐﻴﻴﺮ‬‫ﺑﺎزوي‬‫اﻳﻦ‬‫رﺑﺎت‬،‫ﻣﻲ‬ ‫ﺗﺄﻣﻴﻦ‬ ‫ﻣﻨﺎﺳﺐ‬ ‫دﻧﺪه‬ ‫ﺟﻌﺒﻪ‬ ‫ﻫﻤﺮاه‬ ‫ﺑﻪ‬ ‫دﻳﮕﺮ‬ ‫ﻣﻮﺗﻮر‬ ‫ﻳﻚ‬ ‫از‬ ‫را‬ ‫ﺧﻮد‬ ‫ﻧﻴﺮوي‬‫ﻛﻨﺪ‬.‫رﺑﺎت‬‫ﻧﻴﺮوي‬ ‫ﻫﺎ‬
‫ﺧﻮد‬ ‫ﻣﺤﺮﻛﻪ‬‫ﻧﺎﺟﻲ‬ ‫ﺗﺮﺗﻴﺐ‬ ‫ﺑﻪ‬ ‫را‬3‫ﻧﺎﺟﻲ‬ ‫و‬ ‫دو‬ ‫از‬4‫از‬3‫ﺑﺎﻃﺮي‬12‫ﻣﻲ‬ ‫ﺗﺄﻣﻴﻦ‬ ‫ﻣﺠﺪد‬ ‫ﺷﺎرژ‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫ﺑﺎ‬ ‫وﻟﺖ‬‫ﻛﻨﻨﺪ‬.‫ﻧﺎﺟﻲ‬‫ﻳﻚ‬ ‫داراي‬ ‫ﻫﺎ‬
‫ﻣﺠﻬﺰ‬ ‫و‬ ‫ﻗﻮي‬ ‫ﺑﺴﻴﺎر‬ ‫دورﺑﻴﻦ‬ ‫ﻋﺪد‬‫ﻃﺮﻓﻴﻦ‬ ‫ﺑﻪ‬ ‫ﭼﺮﺧﺶ‬ ‫ﺑﻪ‬‫ﭘﺮوژ‬ ‫ﻫﻤﺮاه‬ ‫ﺑﻪ‬‫ﻛ‬‫ﺣﺮارﺗﻲ‬ ‫ﺣﺴﮕﺮ‬ ‫و‬ ‫ﺷﺐ‬ ‫در‬ ‫دﻳﺪ‬ ‫ﻣﺨﺼﻮص‬ ‫ﻗﺮﻣﺰ‬ ‫ﻣﺎدون‬ ‫ﺘﻮر‬
‫ﻣﻲ‬ ‫دور‬ ‫راه‬ ‫ﻟﻴﺰري‬‫ﺑﺎﺷﺪ‬.‫ﺟﻌﺒﻪ‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫ﺗﻤﺎﻣﻲ‬‫ﮔﺮدﻳﺪه‬ ‫ﻧﺼﺐ‬ ‫ﭼﺮﺧﺶ‬ ‫ﻗﺎﺑﻞ‬‫ﻣﺸﺎﻫﺪه‬ ‫ﻛﺎرﺑﺮ‬ ‫ﻛﻪ‬ ‫ﺳﻤﺘﻲ‬ ‫ﺑﻪ‬ ‫ﻫﻤﻴﺸﻪ‬ ‫و‬ ‫اﻧﺪ‬
‫ﻣﻲ‬‫رﻓﺘﻪ‬ ‫ﻧﺸﺎﻧﻪ‬ ‫ﻛﻨﺪ‬‫اﻧﺪ‬.‫ﻧﺎﺟﻲ‬ ‫رﺑﺎت‬ ‫ﻣﺸﺨﺼﺎت‬ ‫و‬ ‫اﻣﻜﺎﻧﺎت‬ ‫ﺗﻤﺎﻣﻲ‬ ‫رﺑﺎت‬ ‫اﻳﻦ‬3‫ﻣﻲ‬ ‫دارا‬ ‫را‬‫ﺑﺎﺷﺪ‬،‫در‬ ‫ﺑﻴﺸﺘﺮ‬ ‫اﺳﺘﻘﺎﻣﺖ‬ ‫ﺑﻌﻼوه‬‫ﺑﺮاﺑﺮ‬
‫ﻣﺤﻴﻂ‬‫ﺑ‬ ‫ﺷﺮاﻳﻂ‬ ‫و‬ ‫دﻳﺪه‬ ‫ﺣﺎدﺛﻪ‬ ،‫ﺻﻨﻌﺘﻲ‬ ‫ﻫﺎي‬‫ﺪ‬‫ﻫﻮاﻳﻲ‬ ‫و‬ ‫آب‬.
‫رﺑﺎت‬‫ﺧﺎ‬ ‫ﻋﻤﻠﻜﺮدﻫﺎي‬ ‫ﻧﻴﺰ‬ ‫ﻧﺎﺟﻲ‬ ‫دﻳﮕﺮ‬ ‫ﻫﺎي‬‫ﻣﺤﻴﻂ‬ ‫ﺳﺎﻳﺮ‬ ‫در‬ ‫را‬ ‫ﺧﻮد‬ ‫ص‬‫ﻣﻲ‬ ‫دارا‬ ‫ﻧﻴﺎزﻫﺎ‬ ‫و‬ ‫ﻫﺎ‬‫ﺑﺎﺷ‬‫و‬ ‫ﻣﻨﺎﻃﻖ‬ ‫در‬ ‫را‬ ‫ﺧﻮد‬ ‫ﺗﺴﺖ‬ ‫و‬ ‫ﻨﺪ‬
‫ﻣﺤﻴﻂ‬‫ﮔﺬراﻧﺪه‬ ‫ﺣﻘﻴﻘﻲ‬ ‫دﻳﺪه‬ ‫ﺳﺎﻧﺤﻪ‬ ‫و‬ ‫ﺑﺎز‬ ‫ﻫﺎي‬‫اﻧﺪ‬.
1
Step Field
‫ﺻﻔﺤﻪ‬9

‫ﺑﺨﺶ‬1-4(‫ﻧﻴﺎزﻣﻨﺪﻳﻬﺎ‬ ‫و‬ ‫ﻧﻘﺸﻪ‬ ‫رﺳﻢ‬
‫ﻧﺎﺷﻨﺎﺧﺘ‬ ‫ﻣﺤﻴﻂ‬ ‫از‬ ‫ﻣﻔﻴﺪي‬ ‫اﻃﻼﻋﺎت‬ ‫دادن‬ ،‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬ ‫در‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫از‬ ‫ﻣﺎ‬ ‫ﻫﺪف‬‫ﻪ‬‫ﻛﻤﻚ‬ ‫ﺑﺮاي‬‫ﺳﺮﻳﻊ‬ ‫رﺳﺎﻧﻲ‬‫ﺗ‬‫و‬ ‫ﺮ‬‫در‬ ‫ﺑﻬﺘﺮ‬‫ﻧﺠﺎت‬
‫ﻣﺼﺪوﻣﻴ‬‫ﻦ‬‫ﺣﺎدﺛﻪ‬‫دﻳﺪه‬‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.‫ﻣﻲ‬ ً‫ﺎ‬‫ﺑﻌﻀ‬‫ﻣﺤﻴﻂ‬ ‫ﺑﺮاي‬ ‫ﺗﻮان‬‫ﺧﻄﺮﻧﺎك‬ ‫ﻫﺎي‬‫و‬‫ﻧﺎﺷﻨﺎﺧﺘﻪ‬‫ﺑﺮاي‬ ‫ﺧﻄﺮ‬ ‫اﺣﺘﻤﺎل‬ ‫ﻛﻪ‬‫اﻧﺴﺎن‬‫زﻳﺎد‬‫ﻣﻲ‬‫ﻧﻴﺰ‬ ‫ﺑﺎﺷﺪ‬
‫و‬ ‫ﻧﻤﻮد‬ ‫اﺳﺘﻔﺎده‬‫رﺑﺎت‬ ‫اﻳﻨﮕﻮﻧﻪ‬ ‫ﺗﻮﺳﻂ‬ ‫ﻧﻘﺸﻪ‬ ‫رﺳﻢ‬ ‫از‬‫ﻫﺎ‬‫ﮔﺮدد‬ ‫اﺳﺘﺨﺮاج‬ ‫ﻣﻔﻴﺪ‬ ‫اﻃﻼﻋﺎت‬.‫ﻧﺸﺪه‬ ‫ﺳﺎﺧﺘﻪ‬ ‫رﺑﺎت‬ ‫ﻫﻨﻮز‬ ‫اﮔﺮ‬ ‫ﭼﻴﺰ‬ ‫ﻫﺮ‬ ‫از‬ ‫ﻗﺒﻞ‬
‫ﻣﻲ‬ ‫ﺑﺎﺷﺪ‬‫ﻧﻘ‬ ‫دﻗﺖ‬ ‫ﺑﺎﻳﺴﺖ‬‫ﺷﻮد‬ ‫دﻧﺒﺎل‬ ‫ﻧﻈﺮ‬ ‫ﻣﻮرد‬ ‫ﻫﺪف‬ ‫ﺑﺮاﺳﺎس‬ ‫رﺑﺎت‬ ‫ﻓﻴﺰﻳﻜﻲ‬ ‫ﻃﺮاﺣﻲ‬ ‫و‬ ‫ﺷﺪه‬ ‫ﺷﻨﺎﺧﺘﻪ‬ ‫آن‬ ‫ﻧﻴﺎز‬ ‫و‬ ‫ﺸﻪ‬.‫ﻛﻪ‬ ‫ﺻﻮرﺗﻲ‬ ‫در‬
‫ﻗﺎﺑﻠﻴﺖ‬ ‫و‬ ‫اﻣﻜﺎﻧﺎت‬ ‫ﺑﺎﻳﺴﺘﻲ‬ ‫ﺑﺎﺷﺪ‬ ‫ﺑﺮداري‬ ‫ﺑﻬﺮه‬ ‫آﻣﺎده‬ ‫رﺑﺎت‬‫ﮔﺮدد‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫آن‬ ‫ﻫﺎي‬‫ﺗﺎ‬‫ﻧﻤﻮد‬ ‫اﺳﺘﻔﺎده‬ ‫آن‬ ‫از‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫راﺳﺘﺎي‬ ‫در‬.
‫وﺳﻴﻠﻪ‬ ‫داﻧﺴﺘﻦ‬ ‫راﺳﺘﺎ‬ ‫اﻳﻦ‬ ‫در‬ ‫اﻣﻜﺎﻧﺎت‬ ‫ﻛﻤﺘﺮﻳﻦ‬‫ﺷﻨﺎﺳ‬ ‫ﺑﺮاي‬ ‫اي‬‫ﻣﻲ‬ ‫ﻓﺎﺻﻠﻪ‬ ‫ﻳﻌﻨﻲ‬ ‫آﻧﻬﺎ‬ ‫ﻣﻬﻢ‬ ‫ﻣﺆﻟﻔﻪ‬ ‫ﻫﻤﺮاه‬ ‫ﺑﻪ‬ ‫اﻃﺮاف‬ ‫ﻣﻮاﻧﻊ‬ ‫ﺎﻳﻲ‬‫ﺑﺎﺷﺪ‬
‫ﻧﺮم‬ ‫ﺑﻪ‬ ‫رﺳﻢ‬ ‫و‬ ‫ﺧﻄﺎ‬ ‫وﺟﻮد‬ ‫ﺻﻮرت‬ ‫در‬ ‫ﺗﺼﺤﻴﺢ‬ ،‫ﺗﺤﻠﻴﻞ‬ ‫ﺑﺮاي‬ ‫آﻧﺮا‬ ‫و‬ ‫ﺷﺪ‬ ‫ﻣﻄﻤﺌﻦ‬ ‫ﻓﺎﺻﻠﻪ‬ ‫از‬ ‫ﺑﺎﻳﺴﺘﻲ‬ ‫اﻧﺘﺨﺎﺑﻲ‬ ‫اﺑﺰار‬ ‫ﺑﺮاﺳﺎس‬‫ﻧﻬﺎﻳﻲ‬ ‫اﻓﺰار‬
‫رﺳﺎﻧﺪ‬.‫ﻣﻲ‬ ‫ﻧﻴﺰ‬ ‫ﻧﻴﺎز‬ ‫ﺑﻪ‬ ‫ﺑﻨﺎ‬‫ﺳﺎ‬ ‫ﺑﺮآورده‬ ‫را‬ ‫ﻛﺎرﺑﺮ‬ ‫ﻧﻴﺎزﻫﺎي‬ ‫و‬ ‫داده‬ ‫ﮔﺴﺘﺮش‬ ‫را‬ ‫اﻓﺰار‬ ‫ﻧﺮم‬ ‫ﺗﻮان‬‫ﺧﺖ‬.‫روش‬ ‫ﺑﻌﺪ‬ ‫ﺑﺨﺶ‬ ‫در‬‫ﺷﺪ‬ ‫ﺑﺮرﺳﻲ‬ ‫ﻫﺎي‬‫ه‬
‫ﻣﻲ‬ ‫ﺗﻮﺿﻴﺢ‬ ‫را‬‫دﻫﻴﻢ‬.‫ﻣﻲ‬ ‫ﺑﺎزار‬ ‫در‬ ‫ﻣﻮﺟﻮد‬ ‫ﺣﺴﮕﺮﻫﺎي‬ ‫از‬ ‫اﻧﻮاﻋﻲ‬ ً‫ﻻ‬‫ﻣﻌﻤﻮ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫در‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫اﺑﺰارﻫﺎي‬‫ﺑﺎﺷﺪ‬.‫ﺣﺴﮕﺮﻫﺎ‬ ‫اﻳﻦ‬
‫ﻣﻲ‬ ‫اﻧﺘﺨﺎب‬ ‫ﻋﻤﻠﻜﺮد‬ ‫و‬ ‫ﺗﺤﻠﻴﻞ‬ ‫ﺳﺎدﮔﻲ‬ ‫و‬ ‫اﻃﻤﻴﻨﺎن‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫ﻛﺎﻓﻲ‬ ‫دﻗﺖ‬ ،‫ﻣﻨﺎﺳﺐ‬ ‫ﻗﻴﻤﺖ‬ ‫دﻟﻴﻞ‬ ‫ﺑﻪ‬ ً‫ﻻ‬‫ﻣﻌﻤﻮ‬‫ﺷﻮﻧﺪ‬.‫ر‬ ‫ﻣﺎ‬ ‫ﻧﻴﺰ‬ ‫ﻧﻬﺎﻳﺖ‬ ‫در‬‫ﺑﻪ‬ ‫ا‬
‫ﻣﻲ‬ ‫ﻫﺪف‬ ‫از‬ ‫اﻋﻈﻤﻲ‬ ‫ﺑﺨﺶ‬‫رﺳﺎﻧﻨﺪ‬.‫ﭼﻪ‬ ‫ﻫﺮ‬‫ﭘﻴﭽﻴﺪه‬ ‫ﺗﺠﻬﻴﺰات‬‫ﻣﺴﺄﻟ‬ ‫ﻏﻴﺮ‬ ‫ﺷﻮﻧﺪ‬ ‫ﺗﺮ‬‫ﻪ‬‫ﻫﺰﻳﻨﻪ‬،‫اﻟﮕﻮرﻳﺘﻢ‬ ‫و‬ ‫ﺗﺤﻠﻴﻞ‬‫ﭘﻴﭽﻴﺪه‬ ‫ﻧﻴﺰ‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫ﻫﺎي‬‫ﺗﺮ‬
‫ﻣﻲ‬‫ﺗﻜﺎﻣﻞ‬ ‫و‬ ‫ﺗﻮﺳﻌﻪ‬ ‫روﻧﺪ‬ ‫در‬ ‫ﺑﺰرﮔﻲ‬ ‫ﻣﺴﺄﻟﻪ‬ ‫اﻳﻦ‬ ‫ﻛﻪ‬ ‫ﺷﻮﻧﺪ‬‫د‬‫ﻣﻲ‬ ‫ﻣﺪت‬ ‫راز‬‫ﺑﺎﺷﺪ‬.‫راه‬ ‫ﺑﻬﺘﺮﻳﻦ‬ ‫از‬ ‫ﻳﻜﻲ‬‫ﻧﻮع‬ ‫دو‬ ‫از‬ ‫ﺗﺮﻛﻴﺒﻲ‬ ‫ﻣﻮﺟﻮد‬ ‫ﻫﺎي‬
‫ﻣﻲ‬ ‫ﺗﺠﻬﻴﺰات‬‫ﺑﺎﺷﺪ‬.‫ﺟﻬﺖ‬ ‫از‬‫ﻧﺮم‬‫ﻣﻲ‬ ‫ﺗﺼﻮﻳﺮ‬ ‫ﺑﻬﺒﻮد‬ ‫ﺑﺮاي‬ ‫ﻧﻴﺰ‬ ‫اﻓﺰار‬‫روش‬ ‫ﺑﺎﻳﺴﺖ‬‫اﻟﮕﻮرﻳﺘﻢ‬ ‫و‬ ‫ﻫﺎ‬‫ﭘﻴﭽﻴﺪه‬ ‫ﻫﺎي‬‫ﭘﻴﺎده‬ ‫را‬ ‫اي‬‫ﻧﻤﻮد‬ ‫ﺳﺎزي‬.
‫ﺗﺤﻠﻴﻞ‬ ‫روش‬ ‫و‬ ‫ﻧﻤﺎﻳﺶ‬ ‫روش‬ ‫اﻧﺘﺨﺎب‬ ،‫ﺗﻮﺳﻌﻪ‬ ‫ﻣﺤﻴﻂ‬ ‫و‬ ‫ﭘﺎﻳﻪ‬ ‫ﭼﻬﺎرﭼﻮب‬ ‫از‬ ‫ﻣﺴﺘﻘﻞ‬،‫ﻗﺮار‬ ‫ﻣﺎ‬ ‫ﺟﻠﻮي‬ ‫را‬ ‫اﻧﺘﺨﺎب‬ ‫از‬ ‫وﺳﻴﻌﻲ‬ ‫داﻣﻨﻪ‬
‫ﻣﻲ‬‫دﻫﺪ‬.
‫اﻧﺘﺨﺎب‬ ‫از‬ ‫ﺑﻌﺪي‬ ‫ﺳﻪ‬ ‫و‬ ‫ﺑﻌﺪي‬ ‫دو‬ ‫ﺗﺮﺳﻴﻢ‬‫ﻛﻨﺎر‬ ‫در‬ ‫اﺻﻠﻲ‬ ‫ﻫﺎي‬‫ﻣﻲ‬ ‫رﺳﻢ‬ ‫ﺑﺮاي‬ ‫رﺳﻴﺪه‬ ‫اﻃﻼﻋﺎت‬ ‫ﭘﺮدازش‬ ‫ﻧﺤﻮه‬‫ﺑﻌﺪ‬ ‫ﻗﺴﻤﺖ‬ ‫در‬ ‫ﺑﺎﺷﺪ‬
‫روش‬‫ﺳﺨﺖ‬ ‫ﻫﺎي‬‫ﻣﻲ‬ ‫ﻗﺮار‬ ‫ﺑﺤﺚ‬ ‫ﻣﻮرد‬ ‫اﻓﺰاري‬‫ﮔﻴﺮد‬.‫ﻓ‬ ‫در‬ ‫و‬‫ﺼ‬‫ﻧﺮم‬ ‫روش‬ ‫ﺑﻌﺪي‬ ‫ﻞ‬‫ﻣﻲ‬ ‫داده‬ ‫ﺷﺮح‬ ‫ﺗﻔﺼﻴﻞ‬ ‫ﺑﻪ‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫اﻓﺰاري‬‫ﺷﻮد‬.
‫ﺻﻔﺤﻪ‬10

‫ﺑﺨﺶ‬1-5(‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫روﺷﻬﺎي‬
‫ﻗﺴﻤﺖ‬ ‫اﻳﻦ‬ ‫در‬،‫واﺳﻂ‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﻫﺪف‬‫ﺳﺨﺖ‬ ‫ﻫﺎي‬‫ﺗﺮ‬ ‫ﺑﺮاي‬ ‫ﺷﺪه‬ ‫ﺑﺮرﺳﻲ‬ ‫اﻓﺰارﻫﺎي‬‫ﻣﻲ‬ ‫ﻣﺤﻴﻂ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺳﻴﻢ‬‫ﺑﺎﺷﺪ‬.‫داﻣﻨﻪ‬‫ﻣﺘﻨﻮﻋﻲ‬ ‫و‬ ‫وﺳﻴﻊ‬‫از‬
‫ﻣﻲ‬ ‫ﻣﻮﺟﻮد‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫و‬ ‫ﺑﺮرﺳﻲ‬ ‫ﺑﺮاي‬ ‫ﺗﺠﻬﻴﺰات‬‫ﺑﺎﺷﺪ‬‫ﻗ‬ ‫اﻳﻦ‬ ‫از‬ ‫ﭼﻨﺪي‬ ‫ﺷﺮح‬ ‫و‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﺑﻪ‬ ‫ﻣﺎ‬ ‫زﻳﺮ‬ ‫در‬ ‫ﻛﻪ‬‫ﻄ‬‫ﻣﻲ‬ ‫ﻌﺎت‬‫ﭘﺮدازﻳﻢ‬.
1-5-1(‫ﺻﻮرت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮﻫﺎي‬1
‫ﺑﻴﻦ‬ ‫ﺧﺎﺻﻲ‬ ‫ﻣﺤﺪوده‬ ‫در‬ ‫اﻧﺴﺎن‬ ‫ﺷﻨﻮاﻳﻲ‬ ‫آﺳﺘﺎﻧﻪ‬20‫اﻟﻲ‬20‫ﻣﻲ‬ ‫ﻛﻴﻠﻮﻫﺮﺗﺰ‬‫ﺑﺎﺷﺪ‬.‫ﻣﻮج‬ ‫ﻫﺮﮔﻮﻧﻪ‬‫ﺷﻨﻴﺪن‬ ‫ﻗﺎﺑﻞ‬ ‫ﺣﺪ‬ ‫اﻳﻦ‬ ‫از‬ ‫ﻓﺮاﺗﺮ‬ ‫ﺻﻮﺗﻲ‬
‫ﻧﻤﻲ‬‫ﺑﺎﺷﺪ‬.‫اﻳﻦ‬ ‫ﺑﻪ‬‫دﻟﻴﻞ‬‫ﻓﺮﻛﺎﻧﺲ‬ ‫ﺑﺎﻻي‬ ‫و‬ ‫ﻣﺎ‬ ‫ﺷﻨﻮاﻳﻲ‬ ‫از‬ ‫ﺧﺎرج‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫اﻣﻮاج‬20‫ﻣﻮرد‬ ‫ﺻﻮت‬ ‫ﺳﺮﻋﺖ‬ ‫ﻫﻤﺎن‬ ‫ﺑﺎ‬ ‫وﻟﻲ‬ ‫ﻛﻴﻠﻮﻫﺮﺗﺰ‬
‫ﻣﻲ‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮﻫﺎي‬ ‫در‬ ‫ﻣﻔﻴﺪ‬ ‫ﺑﺴﻴﺎر‬ ‫اﺳﺘﻔﺎده‬‫ﺑﺎﺷﺪ‬.‫آ‬ ‫ﺑﺎ‬‫ﺻﻮت‬ ‫ﺳﺮﻋﺖ‬ ‫از‬ ‫ﮔﺎﻫﻲ‬‫از‬ ‫ﻳﻜﻲ‬ ‫ﺑﻪ‬ ‫ﻣﺎ‬ ‫ﺣﺴﮕﺮﻫﺎ‬ ‫اﻳﻨﮕﻮﻧﻪ‬ ‫در‬
‫ﻣﻬﻢ‬ ‫ﻛﺎرﺑﺮدﻫﺎي‬‫آن‬‫ﻳﻌﻨﻲ‬‫ﻣﻮاﻧﻊ‬ ‫ﺗﺎ‬ ‫ﻓﺎﺻﻠﻪ‬ ‫ﻣﺤﺎﺳﺒﻪ‬،‫ﻣﻲ‬ ‫ﭘﻴﺪا‬ ‫دﺳﺘﺮﺳﻲ‬‫ﻛﻨﻴﻢ‬.‫ﺑﺎ‬ ‫ﻛﻪ‬ ‫ﺷﺪه‬ ‫ﻇﺎﻫﺮ‬ ‫ﺧﺎزن‬ ‫ﺑﺼﻮرت‬ ‫ﻣﺪار‬ ‫در‬ ‫ﺳﻨﺴﻮرﻫﺎ‬ ‫اﻳﻦ‬
‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫اﻣﻮاج‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫ﻧﻮﺳﺎن‬ ‫آن‬ ‫ﺗﺤﺮﻳﻚ‬‫را‬‫ﻣﻲ‬ ‫ﺗﻮﻟﻴﺪ‬‫ﻛ‬‫ﻨ‬‫ﻨﺪ‬.‫ﺑﺎز‬ ‫اﻣﻮاج‬ ‫ﺑﺮﺧﻮرد‬ ‫ﻫﻤﭽﻨﻴﻦ‬‫ﮔ‬‫را‬ ‫ﻣﺪار‬ ،‫ﺣﺴﺎس‬ ‫ﺻﻔﺤﻪ‬ ‫ﺑﻪ‬ ‫ﺸﺘﻲ‬
‫ﻣﻲ‬ ‫ﺗﺤﺮﻳﻚ‬‫ﻧﻤﺎﻳﺪ‬‫ﻣﺎ‬ ‫و‬‫ا‬ ‫را‬‫ز‬‫ﻣﻲ‬ ‫آﮔﺎه‬ ‫اﻣﻮاج‬ ‫درﻳﺎﻓﺖ‬‫ﻛﻨﺪ‬.‫ﺻﻮت‬ ‫ﺳﺮﻋﺖ‬ ‫از‬ ‫آﮔﺎﻫﻲ‬ ‫و‬ ‫ﺑﺮﮔﺸﺖ‬ ‫و‬ ‫رﻓﺖ‬ ‫زﻣﺎن‬ ‫ﻧﮕﻬﺪاري‬ ‫ﺑﺎ‬ ‫ﻧﺘﻴﺠﻪ‬ ‫در‬
‫ﻣﻲ‬‫آورد‬ ‫ﺑﺪﺳﺖ‬ ‫را‬ ‫ﻣﺎﻧﻊ‬ ‫ﺗﺎ‬ ‫ﻓﺎﺻﻠﻪ‬ ‫ﺗﻮان‬.‫ﺟﻔﺖ‬ ‫ﺻﻮرت‬ ‫ﺑﻪ‬ ً‫ﻻ‬‫ﻣﻌﻤﻮ‬ ‫ﺳﻨﺴﻮر‬ ‫ﻧﻮع‬ ‫اﻳﻦ‬)‫ﻓﺮﺳﺘﻨﺪه‬/‫ﮔﻴﺮﻧﺪه‬(‫ﻣﻲ‬ ‫ﺑﺮده‬ ‫ﻛﺎر‬ ‫ﺑﻪ‬‫ﺷﻮﻧﺪ‬.‫ﻣﺪل‬
‫ﻣﻜﺎﺗﺮوﻧﻴﻚ‬ ‫ﺗﺤﻘﻴﻘﺎﺗﻲ‬ ‫آزﻣﺎﻳﺸﮕﺎه‬ ‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬ ‫در‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬SRF04‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.
‫ﻣﺘ‬ ‫ﻣﺎژول‬ ‫اﻳﻦ‬‫ﺳﻨﺴﻮر‬ ‫ﺟﻔﺖ‬ ‫ﻳﻚ‬ ‫از‬ ‫ﺸﻜﻞ‬‫ﻣﺎ‬‫ﻣﻲ‬ ‫ﻣﻴﻜﺮوﻛﻨﺘﺮﻟﺮ‬ ‫ﻋﺪد‬ ‫ﻳﻚ‬ ‫و‬ ‫ﺻﻮت‬ ‫ﻓﻮق‬‫روش‬ ‫ﺑﺎ‬ ‫ﻧﻴﺰ‬ ‫آن‬ ‫ارﺗﺒﺎط‬ ،‫ﺑﺎﺷﺪ‬I2C‫ﺻﻮرت‬
‫ﻣﻲ‬‫ﮔﻴﺮد‬.‫ﻣﻲ‬ ‫ﺑﺎزﮔﺸﺘﻲ‬ ‫ﭘﺎﻟﺲ‬ ‫ﻋﺮض‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫ﺑﺎ‬ ‫ﻧﻴﺰ‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫ﻧﺤﻮه‬‫ﺑﺎﺷﺪ‬.‫ﻣﻲ‬ ‫ﺑﺪﺳﺖ‬ ‫ﻣﺎﻧﻊ‬ ‫ﺗﺎ‬ ‫ﺳﻨﺴﻮر‬ ‫ﻓﺎﺻﻠﻪ‬ ‫ﻃﺮﻳﻖ‬ ‫ﺑﺪﻳﻦ‬‫آﻳﺪ‬.‫وﻟﻴﻜﻦ‬
‫د‬ ‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬‫ر‬‫ﻣﻲ‬ ‫ﻣﺸﺨﺺ‬ ‫ﺷﻜﻞ‬‫ﻣ‬ ‫در‬ ‫را‬ ‫ﻣﺎﻧﻊ‬ ‫ﻓﺎﺻﻠﻪ‬ ‫ﻣﺪل‬ ‫اﻳﻦ‬ ‫ﺑﺎﺷﺪ‬‫ﺤﺪوده‬‫ﻣﻲ‬ ‫ﻣﺸﺨﺺ‬ ‫ﺧﻮد‬ ‫دﻳﺪ‬ ‫از‬ ‫اي‬‫آﻧﺮا‬ ‫دﻗﻴﻖ‬ ‫ﻧﻘﻄﻪ‬ ‫ﻧﻪ‬ ‫و‬ ‫ﻛﻨﺪ‬.
‫روش‬ ‫اﻳﻦ‬ ‫در‬‫ﺷﻮد‬ ‫وارد‬ ‫ﺳﻨﺴﻮر‬ ‫اﻳﻦ‬ ‫دﻳﺪ‬ ‫ﻣﺤﺪوده‬ ‫در‬ ‫ﻣﺎﻧﻌﻲ‬ ‫ﻫﺮﮔﺎه‬،‫و‬ ‫ﺟﺎ‬ ‫ﺷﺪن‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻧﻈﺮ‬ ‫در‬ ‫ﺑﺪون‬ ‫ﻧﺘﻴﺠﻪ‬ ‫و‬ ‫ﺷﺪه‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫آن‬ ‫ﻓﺎﺻﻠﻪ‬
‫ﻣﻲ‬ ‫داده‬ ‫ﺑﺮﮔﺸﺖ‬ ‫ﻣﺎﻧﻊ‬ ‫ﻣﻜﺎن‬‫ﺷﻮد‬.
‫ﺷﻜﻞ‬1-2)‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮ‬ ‫ﻧﻤﻮدار‬(
1
Ultera Sonic Sensors

1-5-2(‫ﻗﺮﻣﺰ‬ ‫ﻣﺎدون‬ ‫ﺣﺴﮕﺮﻫﺎي‬1
‫ﻣﻲ‬ ‫ﻧﻴﺰ‬ ‫ﺑﻴﻨﺎﻳﻲ‬ ‫ﻣﺤﺪودﻳﺖ‬ ‫داراي‬ ‫اﻧﺴﺎن‬ ،‫ﺷﻨﻮاﻳﻲ‬ ‫ﻣﺤﺪودﻳﺖ‬ ‫ﻫﻤﺎﻧﻨﺪ‬‫ﺑﺎﺷﺪ‬.‫ﻣﺤﺪوده‬ ‫از‬ ‫آﻧﻜﻪ‬ ‫ﻣﺤﺾ‬ ‫ﺑﻪ‬‫ﺑﻴﻨﺎﻳﻲ‬‫ﺑﻪ‬ ‫ﻗﺎدر‬ ‫ﺷﻮﻳﻢ‬ ‫ﺧﺎرج‬
‫ﻧﻤﻲ‬ ‫ﺷﻜﻞ‬ ‫و‬ ‫رﻧﮓ‬ ،‫ﺗﺼﻮﻳﺮ‬ ‫ﮔﻮﻧﻪ‬ ‫ﻫﻴﭻ‬ ‫دﻳﺪن‬‫ﺑﺎﺷﻴﻢ‬.‫ﺣﺴﮕﺮ‬ ‫ﻧﻮﻋﻲ‬ ‫در‬ ‫ﺧﺎﺻﻴﺖ‬ ‫اﻳﻦ‬ ‫از‬‫ﻣﻮﺳﻮ‬‫ﻣﺎدون‬ ‫ﺑﻪ‬ ‫م‬‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬ ‫ﻗﺮﻣﺰ‬‫ﺷﻮد‬.‫ﺧﺎﺻﻴﺖ‬
‫از‬ ‫اﻃﻼع‬‫ﻣﺰاﺣﻤﺖ‬ ‫ﻧﺒﻮد‬ ‫و‬ ‫ﻧﻮر‬ ‫ﺳﺮﻋﺖ‬‫ﻫﻤﺮاه‬ ‫ﺑﻪ‬ ‫ﻧﻮري‬ ‫ﻓﺮﻛﺎﻧﺲ‬ ‫اﻳﻦ‬ ‫در‬‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﻧﻮع‬ ‫ﺑﻪ‬ ‫ﻧﺴﺒﺖ‬ ‫ﻣﺴﺘﻘﻴﻢ‬ ‫ﺧﻂ‬ ‫ﺑﻪ‬ ‫ﻣﺴﻴﺮ‬ ‫ﻃﻲ‬‫اﻳﻦ‬
‫ﻣﻲ‬ ‫ﺧﺎص‬ ‫ﻛﺎرﺑﺮدﻫﺎي‬ ‫در‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫را‬ ‫ﺣﺴﮕﺮ‬‫ﻛﻨﺪ‬.‫ﻧﻘﻄﻪ‬ ‫دﻣﺎي‬ ‫آوردن‬ ‫ﺑﺪﺳﺖ‬ ،‫ﻓﺎﺻﻠﻪ‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ‫ﺣﺴﮕﺮ‬ ‫ﻧﻮع‬ ‫اﻳﻦ‬‫راه‬ ‫از‬ ‫اي‬
‫و‬ ‫اﻃﻼﻋﺎت‬ ‫اﻧﺘﻘﺎل‬ ،‫دور‬…‫ﻗﺮا‬ ‫ﺑﺴﻴﺎر‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬‫ﮔﺮﻓﺘﻪ‬ ‫ر‬‫اﺳﺖ‬.‫اﻧﺘﺨﺎب‬ ‫از‬ ‫ﻳﻜﻲ‬‫ﻧﻘﻄﻪ‬ ‫از‬ ‫ﻓﺎﺻﻠﻪ‬ ‫آوردن‬ ‫ﺑﺪﺳﺖ‬ ‫ﺑﺮاي‬ ‫ﺧﻮب‬ ‫ﻫﺎي‬‫اي‬
‫ﺣﺴﮕﺮ‬ ،‫ﺧﺎص‬‫ﻣﺎدون‬‫ﻣﻲ‬ ‫ﻗﺮﻣﺰ‬‫ﺑﺎﺷﺪ‬.‫ﻧﻤﻲ‬ ‫ﻛﺎﻓﻲ‬ ‫ﺗﻨﻬﺎﻳﻲ‬ ‫ﺑﻪ‬ ‫آن‬ ‫اﺳﺘﻔﺎده‬ ‫وﻟﻴﻜﻦ‬‫ﺑﺎﺷﺪ‬‫ﭘﻮﻳﺶ‬ ‫زﻳﺮا‬‫در‬‫ﺟﻬ‬ ‫ﻫﻤﻪ‬‫ﺖ‬‫ﻫﺎ‬‫ﻣﻲ‬ ‫ﻣﺎ‬ ‫ﻧﻈﺮ‬ ‫ﻣﻮرد‬‫ﺑﺎﺷﺪ‬
‫ﻧﻘﻄﻪ‬ ‫ﺗﻨﻬﺎ‬ ‫ﻧﻪ‬ ‫و‬‫ﻣﺸﺨﺺ‬ ‫اي‬.‫ﺣﺴﮕﺮ‬ ‫اﻳﻦ‬‫دار‬ ‫ﻣﻔﻴﺪي‬ ‫ﺑﺴﻴﺎر‬ ‫ﻛﺎرﺑﺮد‬ ‫ﻣﻜﻤﻞ‬ ‫اﺑﺰاري‬ ‫ﺑﻌﻨﻮان‬‫د‬.‫ﻣﺸﺎﺑﻬﻲ‬ ‫ﻋﻤﻠﻜﺮد‬ ‫ﻧﻴﺰ‬ ‫ﺣﺴﮕﺮ‬ ‫اﻳﻦ‬ ‫ﻟﻴﺰري‬ ‫ﻧﻮع‬
‫را‬‫ﻣﻲ‬ ‫دارا‬‫در‬ ‫آن‬ ‫ﺗﻔﺎوت‬ ‫ﺗﻨﻬﺎ‬ ‫و‬ ‫ﺑﺎﺷﺪ‬‫و‬ ‫ﻓﺮﻛﺎﻧﺲ‬ ،‫ﺳﻴﮕﻨﺎل‬ ‫ﻗﺪرت‬ ‫ﻧﻮع‬‫ﻣﻲ‬ ‫آن‬ ‫اﻟﻜﺘﺮوﻧﻴﻜﻲ‬ ‫ﻗﻄﻌﺎت‬‫ﺑﺎﺷﺪ‬.
1-5-3(‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬2
‫ﻛﺎرﺑﺮدي‬ ‫ﻧﻮع‬‫ﻣﻲ‬ ‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬ ،‫ﻟﻴﺰري‬ ‫ﻗﺮﻣﺰ‬ ‫ﻣﺎدون‬ ‫ﺣﺴﮕﺮ‬ ‫ﺗﺮ‬‫ﺑﺎﺷﺪ‬.‫ﺣﺴﮕﺮ‬ ‫ﻧﻮع‬ ‫اﻳﻦ‬ ‫ﺑﺎﻻ‬ ‫ﻗﻴﻤﺖ‬ ‫ﺑﻪ‬ ‫ﺗﻮﺟﻪ‬ ‫ﺑﺎ‬‫ﻳﻜﻲ‬‫ﻛﺎ‬ ‫از‬‫رﺑﺮدﻫﺎي‬
‫ﺑﺮاي‬ ‫ﻣﺤﻴﻂ‬ ‫ﻣﻮاﻧﻊ‬ ‫ﺛﺒﺖ‬ ‫آن‬ ‫ﺧﺎص‬‫ﺗ‬‫ﻣﻲ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺮﺳﻢ‬‫ﺑﺎﺷﺪ‬.‫دﻳﺪ‬ ‫ﺑﺪون‬ ‫راﻫﺒﺮدﻫﺎي‬ ‫در‬ ‫ﻣﺤﻴﻂ‬ ‫ﻣﻮاﻧﻊ‬ ‫ﺑﻼدرﻧﮓ‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﺑﺮاي‬ ‫ﻫﻤﭽﻨﻴﻦ‬‫ﻧﻴﺰ‬
‫دارد‬ ‫ﻓﺮوان‬ ‫ﻛﺎرﺑﺮد‬.‫در‬ ‫ادوات‬ ‫ﺳﺎﻳﺮ‬ ‫و‬ ‫اﺗﻮﻣﺒﻴﻞ‬ ،‫رﺑﺎت‬ ‫راﻫﺒﺮي‬ ‫در‬ ‫ﻣﻜﺎﻧﻴﺰم‬ ‫اﻳﻦ‬ ‫اﺳﺘﻔﺎده‬ ،‫دﻳﺪ‬ ‫ﺑﺪون‬ ‫راﻫﺒﺮدي‬ ‫ﻣﻌﺮوف‬ ‫ﻛﺎرﺑﺮدﻫﺎي‬ ‫از‬
‫و‬ ‫ﻣﻄﻠﻖ‬ ‫ﺗﺎرﻳﻜﻲ‬‫ﻛﻢ‬‫ﻣﻲ‬ ‫ﻧﻮر‬‫ﺑﺎﺷﺪ‬.
‫ﻣﻲ‬ ‫ﺷﻜﻞ‬ ‫ﺑﺪﻳﻦ‬ ‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬ ‫ﻣﻜﺎﻧﻴﺰم‬‫ﻣﺎدون‬ ‫ﺣﺴﮕﺮ‬ ‫ﻳﻚ‬ ‫ﻛﻪ‬ ‫ﺑﺎﺷﺪ‬‫ﻣﺤﻔﻈﻪ‬ ‫درون‬ ‫ﻟﻴﺰري‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻗﺮﻣﺰ‬‫ﻳﺎ‬ ‫ﺻﻔﺤﻪ‬ ‫ﺗﻤﺎم‬ ‫ﮔﺮدش‬ ‫ﺣﺎل‬ ‫در‬ ‫اي‬
‫ﻣﻲ‬ ‫ﺻﻔﺤﻪ‬ ‫ﻧﻴﻢ‬‫ﺑﺎﺷﺪ‬‫ﺑﺴﺘﻪ‬ ‫در‬ ‫را‬ ‫ﻣﺤﻴﻂ‬ ‫اﻃﻼﻋﺎت‬ ‫ﺗﻤﺎﻣﻲ‬ ‫و‬‫ﻣﻲ‬ ‫ارﺳﺎل‬ ‫ﻛﺎرﺑﺮ‬ ‫ﺑﻪ‬ ‫اﻃﻼﻋﺎﺗﻲ‬ ‫ﻫﺎي‬‫ﻛﻨﺪ‬.
‫ﻣﺎ‬ ‫ﻧﻴﺎز‬ ‫ﻣﻮرد‬ ‫دﻗﺖ‬ ‫ﺑﻪ‬ ‫ﺑﺴﺘﻪ‬،‫ﻓﺮﺳﺘﺎده‬ ‫ﭘﺎﻟﺴﻲ‬ ‫درﺟﻪ‬ ‫ﻫﺮ‬ ‫در‬‫ﺷﺪه‬‫و‬‫ﭘﺎﻟﺲ‬ ‫اﻳﻦ‬ ‫ﺑﺎزﮔﺸﺖ‬ ‫در‬‫ﻓﺎﺻﻠﻪ‬‫در‬‫ﻣﻲ‬ ‫ﺑﺪﺳﺖ‬ ‫زاوﻳﻪ‬ ‫آن‬‫آ‬‫ﻳ‬‫ﺑﺎ‬ ‫آﻧﮕﺎه‬ ‫ﺪ‬
‫ﻣﺠﻤﻮﻋﻪ‬ ‫ﭘﺮدازش‬‫از‬‫ﭘﻮﻳﺸﮕﺮ‬ ‫ﺣﻮل‬ ‫ﻣﺤﻴﻂ‬ ‫از‬ ‫دﻗﻴﻖ‬ ‫ﺑﺴﻴﺎر‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﻮان‬ ‫ﻣﻲ‬ ‫اﻃﻼﻋﺎت‬ ‫اﻳﻦ‬‫را‬‫ﻧﻤﻮد‬ ‫ﺗﺮﺳﻴﻢ‬.‫ﻣﺎ‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫ﭘﻮﻳﺸﮕﺮ‬
URG‫ﺷﺮﻛﺖ‬AUTOMATIC HOKUYO‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.‫زاوﻳﻪ‬ ‫اﺳﺖ‬ ‫ﻣﺸﺨﺺ‬ ‫ﺷﻜﻞ‬ ‫در‬ ‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬ ‫ﭘﻮﻳﺸﮕﺮ‬ ‫اﻳﻦ‬270‫درﺟ‬‫ﻪ‬‫را‬‫ﺑ‬‫ﺎ‬
ْ ‫اﺧﺘﻼف‬17)‫ﻣﺮگ‬ ‫ﻣﺤﺪوده‬(‫ﻃﺮف‬ ‫ﻫﺮ‬ ‫از‬‫و‬‫درﺟﻪ‬ ‫ﻳﻚ‬ ‫از‬ ‫ﻛﻤﺘﺮ‬ ‫دﻗﺖ‬ ‫ﺑﺎ‬‫ﻧﻘﻄﻪ‬ ‫ﻫﺮ‬ ‫ﺑﻴﻦ‬‫ﻣﻲ‬ ‫ﺑﺪﺳﺖ‬‫ﻣﻘﺼﺪ‬ ‫ﺑﻪ‬ ‫ﺳﺮﻳﺎل‬ ‫ارﺗﺒﺎط‬ ‫ﺑﺎ‬ ‫و‬ ‫آورد‬
‫ﻣﻲ‬ ‫ارﺳﺎل‬ ‫ﻧﻈﺮ‬ ‫ﻣﻮرد‬‫ﻛﻨﺪ‬.‫ﭘﻮﻳﺸﮕﺮ‬ ‫اﻳﻦ‬ ‫اﺳﺘﺎﻧﺪارد‬ ‫دﺳﺘﻮرات‬ ‫وﺳﻴﻠﻪ‬ ‫ﺑﻪ‬ ‫ﻧﻴﺰ‬ ‫آن‬ ‫ﺑﺎ‬ ‫ﻛﺎر‬ ‫ﻧﺤﻮه‬‫داده‬ ‫ﺷﺮح‬ ‫ﻛﺎﻣﻞ‬ ‫ﺑﻄﻮر‬ ‫آن‬ ‫راﻫﻨﻤﺎي‬ ‫در‬ ‫ﻛﻪ‬
‫ﻣﻲ‬ ‫ﺷﺪه‬‫ﺑﺎﺷ‬‫ﺪ‬.‫ﺷﻜﻞ‬1-3)‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬ ‫ﻣﺤﺪوده‬(
1
Infrared Sensors
2
Laser Scanner

1-5-4(‫ﺗﺼﻮﻳﺮ‬ ‫ﭘﺮدازش‬
‫روش‬ ‫از‬ ‫ﻳﻜﻲ‬ ‫ﺑﻌﻨﻮان‬ ‫اﺳﺖ‬ ‫ﭼﻨﺪي‬ ‫ﺗﺼﻮﻳﺮ‬ ‫ﭘﺮدازش‬‫ﻣﻲ‬ ‫ﻛﺎرﺑﺮد‬ ‫و‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﺣﺎل‬ ‫در‬ ‫رﺑﺎﺗﻴﻚ‬ ‫ﻋﻠﻮم‬ ‫ﻋﺮﺻﻪ‬ ‫در‬ ‫ﻣﺤﺒﻮب‬ ‫ﻫﺎي‬‫ﺑﺎﺷﺪ‬.‫اﻳﻦ‬
‫روش‬‫ﮔﺴﺘﺮش‬ ‫ﺣﺎل‬ ‫در‬‫روزﻣﺮه‬ ‫ﻛﺎرﺑﺮدﻫﺎي‬ ‫ﺣﺘﻲ‬ ‫و‬ ‫دﻳﮕﺮ‬ ‫ﻋﻠﻮم‬ ‫در‬ ‫ﺧﻮد‬ ‫ﺟﺎﻳﮕﺎه‬‫ﻧﻴﺰ‬‫ﻣ‬‫ﻲ‬‫ﺑﺎﺷﺪ‬.‫ﭘﺮدازش‬ ‫ﻣﺒﻨﺎي‬ ‫ﺑﺮ‬ ‫روش‬ ‫اﻳﻦ‬ ‫اﺳﺎس‬
‫ﻣﻲ‬ ‫دورﺑﻴﻦ‬ ‫از‬ ‫درﻳﺎﻓﺘﻲ‬ ‫ﺗﺼﺎوﻳﺮ‬ ‫ﻓﺮﻳﻢ‬ ‫ﺑﻪ‬ ‫ﻓﺮﻳﻢ‬‫ﺑﺎﺷﺪ‬.‫ا‬ ‫از‬ ‫ﻳﻜﻲ‬‫ﻫﺪ‬‫ا‬‫و‬ ‫ﭘﺮدازش‬ ‫ﺑﻪ‬ ‫رﺳﻴﺪن‬ ‫روش‬ ‫اﻳﻦ‬ ‫ف‬‫اﻧﺴﺎن‬ ‫ﭼﺸﻢ‬ ‫ﺣﺪ‬ ‫در‬ ‫آﻧﺎﻟﻴﺰي‬
‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬‫روش‬ ‫اراﺋﻪ‬ ‫ﺻﺪد‬ ‫در‬ ‫و‬‫اﻟﮕﻮرﻳﺘﻢ‬ ‫و‬ ‫ﻫﺎ‬‫ﻓﺮ‬ ‫ﻳﻚ‬ ‫از‬ ‫ﻛﺎرﺑﺮ‬ ‫ﻧﻴﺎز‬ ‫ﻣﻮرد‬ ‫و‬ ‫ﻣﻔﻴﺪ‬ ‫اﻃﻼﻋﺎت‬ ‫اﺳﺘﺨﺮاج‬ ‫ﺟﻬﺖ‬ ‫ﻫﺎﻳﻲ‬‫ﻳ‬‫ﻣﻲ‬ ‫ﺗﺼﻮﻳﺮ‬ ‫ﻢ‬‫ﺑﺎﺷﺪ‬.
‫اﻃﻼﻋ‬ ‫ﻧﻮع‬ ‫ﻫﺮ‬ ‫اﺳﺘﺨﺮاج‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫ﺑﺎ‬‫ﻣﻲ‬ ‫ﭘﻴﺪا‬ ‫ﻓﺮاواﻧﻲ‬ ‫وﺳﻌﺖ‬ ‫روش‬ ‫اﻳﻦ‬ ‫ﻛﺎرﺑﺮ‬ ‫ﻧﻴﺎز‬ ‫ﺑﻪ‬ ‫ﺑﻨﺎ‬ ‫ﺎت‬‫ﻛﻨﺪ‬.‫ﻣﺎﻧﻊ‬ ‫ﺗﺎ‬ ‫ﻓﺎﺻﻠﻪ‬ ‫ﻣﺤﺎﺳﺒﻪ‬‫ﺟﺴﻤﻲ‬ ‫ﻳﺎ‬
‫ﺧﺎص‬‫و‬ ‫اﻟﮕﻮ‬ ‫ﺗﻄﺎﺑﻖ‬ ،‫ﺷﻜﻞ‬ ،‫رﻧﮓ‬ ،‫اﺟﺴﺎم‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ،…‫ﻣﻲ‬ ‫روش‬ ‫اﻳﻦ‬ ‫ﻛﺎرﺑﺮدﻫﺎي‬ ‫از‬‫ﺑﺎﺷﺪ‬.‫روش‬ ‫اﻳﻦ‬ ‫در‬‫ﺑﺼﻮرت‬ ‫درﻳﺎﻓﺘﻲ‬ ‫ﺗﺼﻮﻳﺮ‬
‫ﺑﻴﺸﺘﺮ‬ ‫ﻳﺎ‬ ‫ﻳﻚ‬‫در‬‫ﻳﻚ‬‫ﺑﻌﺪي‬ ‫دو‬ ‫ﻣﺎﺗﺮﻳﺲ‬)‫ﺑﻮدن‬ ‫رﻧﮕﻲ‬ ‫ﻳﺎ‬ ‫رﻧﮓ‬ ‫ﺗﻚ‬ ‫و‬ ‫روش‬ ‫ﺑﻪ‬ ‫ﺑﺴﺘﻪ‬(‫داده‬ ‫ﺑﺎ‬‫ﻣﻲ‬ ‫درﻳﺎﻓﺖ‬ ‫ﻣﺘﻔﺎوت‬ ‫ﻫﺎي‬‫ﺣﺎل‬ ،‫ﺷﻮد‬
‫اﻟﮕﻮرﻳﺘﻢ‬ ،‫ﻓﻴﻠﺘﺮﻫﺎ‬ ‫اﻧﻮاع‬ ‫ﻣﺎ‬ ‫ﻧﻴﺎز‬ ‫ﺑﻪ‬ ‫ﺑﻨﺎ‬ ‫درﻳﺎﻓﺘﻲ‬ ‫ﺗﺼﻮﻳﺮ‬‫ﻣﻲ‬ ‫اﻧﺠﺎم‬ ‫روﻳﺶ‬ ‫ﺑﺮ‬ ‫ﻣﺤﺎﺳﺒﺎت‬ ‫و‬ ‫ﻫﺎ‬‫درﺧﻮاﺳﺘﻲ‬ ‫اﻃﻼﻋﺎت‬ ‫و‬ ‫ﮔﻴﺮد‬‫ﻣ‬‫اﺳﺘﺨﺮاج‬ ‫ﺎ‬
‫ﻣﻲ‬‫ﮔﺮدد‬.
‫ﻗﺎﺑﻠﺖ‬ ‫دﻟﻴﻞ‬ ‫ﺑﻪ‬ ‫ﻧﻴﺰ‬ ‫روش‬ ‫اﻳﻦ‬ ‫وﺳﻌﺖ‬‫ﻣﻲ‬ ‫اﻃﻼﻋﺎت‬ ‫اﻧﻮاع‬ ‫اﺳﺘﺨﺮاج‬ ‫و‬ ‫ﻓﺮاوان‬ ‫اﻟﮕﻮرﻳﺘﻢ‬ ،‫ﻣﺘﻔﺎوت‬ ‫ﻫﺎي‬‫ﺑﺎﺷ‬‫ﺪ‬.‫در‬ ‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬
‫ﺑﺮﻧﺎﻣﻪ‬‫اﻧﺴﺎن‬ ‫و‬ ‫ﻣﺘﻮﺳﻂ‬ ،‫ﻛﻮﭼﻚ‬ ‫ﺳﺎﻳﺰ‬ ‫ﻓﻮﺗﺒﺎﻟﻴﺴﺖ‬ ‫رﺑﺎت‬ ‫در‬ ‫وﻟﻴﻜﻦ‬ ‫ﻧﻤﻮد‬ ‫ﺧﻮاﻫﺪ‬ ‫اﺳﺘﻔﺎده‬ ‫روش‬ ‫اﻳﻦ‬ ‫از‬ ‫ﺧﻮد‬ ‫آﺗﻲ‬ ‫ﻫﺎي‬‫ﺣﺎل‬ ‫در‬ ‫ﻧﻤﺎ‬
‫ﺣﺎﺿﺮ‬،‫روش‬ ‫اﻳﻦ‬ ‫اﻧﻮاع‬ ‫از‬‫ﻛﺜﺮت‬ ‫ﺑﻪ‬‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬‫ﺷﻮد‬.
1-5-5(‫اﺳﺘﺮﻳﻮ‬ ‫ﺑﻴﻨﺎﻳﻲ‬
‫ﺗﺼﺎوﻳﺮ‬ ‫ﭘﺮدازش‬ ،‫ﺗﺼﻮﻳﺮ‬ ‫ﭘﺮدازش‬ ‫روش‬ ‫از‬ ‫ﺟﺪﻳﺪ‬ ‫ﻣﺮﺣﻠﻪ‬‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬‫از‬‫ﻣﻲ‬ ‫اﺳﺘﺮﻳﻮ‬ ‫ﺑﻴﻨﺎﻳﻲ‬‫ﺑﺎﺷﺪ‬.‫ﻳﻚ‬ ‫ﺗﺼﻮﻳﺮ‬ ً‫ﻻ‬‫ﻣﻌﻤﻮ‬ ‫ﻗﺒﻞ‬ ‫روش‬ ‫در‬
‫ﻣﻲ‬ ‫ﭘﺮدازش‬ ‫دورﺑﻴﻦ‬‫از‬ ‫دورﺑﻴﻦ‬ ‫دو‬ ‫ﻛﺎﻧﻮﻧﻲ‬ ‫ﻓﺎﺻﻠﻪ‬ ‫از‬ ‫آﮔﺎﻫﻲ‬ ‫ﺑﺎ‬ ‫و‬ ‫راﺳﺘﺎ‬ ‫ﻫﻢ‬ ‫دورﺑﻴﻦ‬ ‫دو‬ ‫ﺗﺼﻮﻳﺮ‬ ‫ﭘﺮدازش‬ ‫ﺑﺎ‬ ‫روش‬ ‫اﻳﻦ‬ ‫در‬ ‫وﻟﻴﻜﻦ‬ ‫ﮔﺮدد‬
‫ﻣﻲ‬ ‫ﺻﻮرت‬ ‫ﺗﺼﺎوﻳﺮ‬ ‫ﺑﺮرﺳﻲ‬ ‫ﻫﻢ‬‫ﮔﻴﺮد‬.‫ﻣ‬ ‫اﻧﺠﺎم‬ ‫ﺑﻴﺸﺘﺮي‬ ‫ﺳﺮﻋﺖ‬ ‫و‬ ‫دﻗﺖ‬ ‫ﺑﺎ‬ ‫اﻃﻼﻋﺎت‬ ‫ﭘﺮدازش‬ ‫و‬ ‫ﻓﻮاﺻﻞ‬ ‫ﺷﻜﻞ‬ ‫ﺑﺪﻳﻦ‬‫ﻲ‬‫ﮔﻴﺮد‬.‫اﻧﺴﺎن‬ ‫در‬
ً‫ﻼ‬‫ﻋﻤ‬‫از‬‫ﭘﺮدازش‬ ‫ﻣﺪل‬ ‫اﻳﻦ‬‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬‫ﺷﻮد‬.‫ﺑﺎﺷﺪ‬ ‫ﻣﻲ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫و‬ ‫ﺑﺮرﺳﻲ‬ ‫ﺣﺎل‬ ‫در‬ ‫ﻧﻴﺰ‬ ‫دورﺑﻴﻦ‬ ‫دو‬ ‫از‬ ‫ﺑﻴﺶ‬ ‫ﺑﺎ‬ ‫ﭘﺮدازش‬ ‫اﻟﺒﺘﻪ‬‫راه‬ ‫وﻟﻴﻜﻦ‬
‫اﺳﺖ‬ ‫ﻣﺎﻧﺪه‬ ‫آن‬ ‫ﻋﻤﻠﻲ‬ ‫ﻧﺘﺎﻳﺞ‬ ‫ﺗﺎ‬ ‫ﺑﺴﻴﺎري‬.
‫ﻣﻲ‬ ‫اﻧﺠﺎم‬ ‫ﺑﺎﻻﺗﺮي‬ ‫ﺗﻮاﻧﺎﻳﻲ‬ ‫ﺑﺎ‬ ‫ﺗﺼﺎوﻳﺮ‬ ‫درك‬ ‫و‬ ‫ﻓﻮاﺻﻞ‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫دورﺑﻴﻦ‬ ‫ﻳﻚ‬ ‫از‬ ‫ﺑﻴﺶ‬ ‫ﻫﺎي‬ ‫روش‬ ‫در‬‫ﮔﻴﺮد‬.‫از‬ ‫ﺑﻴﺸﺘﺮ‬ ‫ﺗﻮﺿﻴﺤﺎت‬ ‫اﻟﺒﺘﻪ‬
‫ﺑﻴﺸﺘﺮ‬ ‫اﻃﻼﻋﺎت‬ ‫ﺑﺮاي‬ ‫وﻟﻲ‬ ‫اﺳﺖ‬ ‫ﺧﺎرج‬ ‫ﺑﺤﺚ‬ ‫اﻳﻦ‬ ‫ﺣﻮﺻﻠﻪ‬،‫ﻣﻲ‬ ‫اﻳﻨﺘﺮﻧﺖ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻓﺼﻞ‬ ‫اﻳﻦ‬ ‫ﻣﻨﺎﺑﻊ‬ ‫از‬‫ﻧﻤﻮد‬ ‫اﺳﺘﻔﺎده‬ ‫ﺗﻮان‬.

‫دوم‬ ‫ﻓﺼﻞ‬–‫ﭘﻴﺎده‬ ‫و‬ ‫ﻃﺮاﺣﻲ‬‫ﺳﺎزي‬

‫ﺑﺨﺶ‬2-1(‫اﻣﻜﺎﻧﺎت‬ ‫و‬ ‫ﺗﺠﻬﻴﺰات‬
‫ﻧﺎﺟﻲ‬ ‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬‫ﺧﻮدﻣﺨﺘﺎر‬‫ﺑﻪ‬ ‫ﻣﺠﻬﺰ‬12‫ﻣﺎ‬‫ﻣﻲ‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮ‬ ‫ژول‬‫ﺑﺎﺷﺪ‬.‫ﻫﻤﭽﻨ‬‫ﻣﻮﺗﻮر‬ ‫ﻋﺪد‬ ‫دو‬ ‫ﻴﻦ‬‫ﻣﺴﺘﻘﻴﻢ‬ ‫ﺟﺮﻳﺎن‬1
‫ﺑﻪ‬
‫ﺑﺎزﺧﻮرد‬ ‫ﺑﺮاي‬ ‫ﻛﻨﻨﺪه‬ ‫ﻛﺪ‬ ‫ﻫﻤﺮاه‬،‫ﻣﻲ‬ ‫ﺗﺎﻣﻴﻦ‬ ‫را‬ ‫ﻣﺤﺮﻛﻪ‬ ‫ﻧﻴﺮوي‬‫ﻛﻨﻨﺪ‬.‫ﻗﻄﺐ‬ ‫ﻋﺪد‬ ‫ﻳﻚ‬‫ﭼﺮﺧﺸﻲ‬ ‫ﺧﻄﺎي‬ ‫ﺗﺼﺤﻴﺢ‬ ‫ﺑﺮاي‬ ‫ﻧﻴﺰ‬ ‫دﻳﺠﻴﺘﺎل‬ ‫ﻧﻤﺎي‬
‫ﻛﺪ‬ ‫در‬‫ﻛ‬‫ﻨﻨﺪه‬‫ﻫﺎ‬‫رﺑﺎت‬ ‫ﺑﺎﻻي‬ ‫در‬‫ﻣﻴﻜﺮوﻛﻨﺘﺮﻟﺮﻫﺎي‬ ‫ﺗﻮﺳﻂ‬ ‫ﺗﺠﻬﻴﺰات‬ ‫اﻳﻦ‬ ‫ﺗﻤﺎﻣﻲ‬ ،‫اﺳﺖ‬ ‫ﮔﺮدﻳﺪه‬ ‫ﻧﺼﺐ‬‫روﺑﺎت‬ ‫در‬ ‫ﺷﺪه‬ ‫ﻧﺼﺐ‬‫ﻛﻨﺘﺮل‬
‫ﻣﻲ‬‫ﺷﻮﻧﺪ‬.
‫ﻧﻬﺎﻳﺖ‬ ‫در‬‫ﺳﺨﺖ‬ ‫و‬ ‫اﻟﻜﺘﺮوﻧﻴﻜﻲ‬ ‫اﻃﻼﻋﺎت‬ ‫ﻣﺠﻤﻮﻋﻪ‬‫اﻓﺰاري‬‫ﺑﻮرد‬ ‫ﺗﻚ‬ ‫ﻛﺎﻣﭙﻴﻮﺗﺮ‬ ‫ﻳﻚ‬ ‫ﺑﻪ‬PC/104‫ارﺳﺎل‬ ‫رﺑﺎت‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﺷﺪه‬ ‫ﻧﺼﺐ‬
‫ﻣﻲ‬‫ﺷﻮﻧﺪ‬.‫ﻋﺎﻣﻞ‬ ‫ﺳﻴﺴﺘﻢ‬ ‫ﺑﻪ‬ ‫ﻛﺎﻣﭙﻴﻮﺗﺮ‬ ‫اﻳﻦ‬‫ﺑﻬﻴﻨﻪ‬ ‫ﻟﻴﻨﻮﻛﺲ‬‫ﺷﺪه‬ ‫ﺳﺎزي‬‫اﺳﺖ‬ ‫ﻣﺠﻬﺰ‬.‫ﭘﺮدازش‬ ،‫ﺧﺎرج‬ ‫ﺑﺎ‬ ‫ارﺗﺒﺎط‬ ‫اﻋﻤﺎل‬ ‫ﻛﺎﻣﭙﻴﻮﺗﺮ‬ ‫اﻳﻦ‬ ‫در‬
‫ﺣﺮﻛﺖ‬ ‫ﺷﺮوط‬ ‫و‬ ‫اﻣﻨﻴﺖ‬ ،‫ﮔﻴﺮي‬ ‫ﺗﺼﻤﻴﻢ‬ ‫اﻃﻼﻋﺎت‬‫ﻣﻲ‬ ‫ﺑﺮرﺳﻲ‬‫ﮔﺮدﻧﺪ‬.
‫ﺷﺪه‬ ‫ﻧﺼﺐ‬ ‫ﻛﺎﻣﭙﻴﻮﺗﺮ‬ ‫ارﺗﺒﺎط‬‫در‬‫ﺑﻲ‬ ‫ﺷﺒﻜﻪ‬ ‫ﻃﺮﻳﻖ‬ ‫از‬ ‫روﺑﺎت‬‫ﺳﻴﻢ‬‫و‬‫اﺳﺘﺎﻧﺪارد‬IEEE 802.11a‫ﺑﺎ‬‫رﺳﻢ‬ ‫و‬ ‫ﻛﻨﺘﺮل‬ ‫واﺣﺪ‬ ‫ﻛﻴﻔﻲ‬ ‫ﻛﺎﻣﭙﻴﻮﺗﺮ‬
‫ﻧﻘﺸﻪ‬‫ﺑﺮﻗﺮار‬‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.‫ﻧ‬ ‫ﺑﻪ‬ ‫ﻧﻴﺎز‬ ‫دﻟﻴﻞ‬ ‫ﺑﻪ‬ ‫ﺿﻤﻦ‬ ‫در‬‫ﺮ‬‫م‬‫اﻓﺰار‬MathLab‫ﺟﻬﺖ‬‫ﻓﺎزي‬ ‫ﻣﻨﻄﻖ‬ ‫ﭘﺮدازش‬‫ﻣﺴﻴﺮ‬ ‫ﺑﺮاي‬‫از‬ ‫ﺟﻠﻮﮔﻴﺮي‬ ‫و‬ ‫ﻳﺎﺑﻲ‬
‫رﺑﺎت‬ ‫در‬ ‫ﺗﺼﺎدم‬‫ﺧﻮ‬‫ﻣﻲ‬ ‫ﺻﻮرت‬ ‫ﻛﻨﺘﺮل‬ ‫واﺣﺪ‬ ‫ﻛﺎﻣﭙﻴﻮﺗﺮ‬ ‫در‬ ‫ﭘﺮدازش‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫اﻳﻦ‬ ،‫دﻣﺨﺘﺎر‬‫ﮔﻴﺮد‬.
‫ﻫﻤﭽﻨﻴﻦ‬‫ﻧﺮم‬‫ﭘﺮوﺗﻜﻞ‬ ‫و‬ ‫ﺷﺒﻜﻪ‬ ‫ﺳﻮﻛﺖ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫اﻓﺰار‬UDP/IP‫ﺣﺮﻛﺖ‬ ‫و‬ ‫زاوﻳﻪ‬ ‫ﺷﺪه‬ ‫ﭘﺮدازش‬ ‫اﻃﻼﻋﺎت‬‫ﺑﺼﻮرت‬ ‫را‬
‫ﻧﺮم‬ ‫از‬ ‫را‬ ‫ﺷﺪه‬ ‫داده‬ ‫ﺗﺸﺨﻴﺺ‬ ‫ﻣﻮاﻧﻊ‬ ‫و‬ ‫ﻗﻄﺒﻲ‬ ‫ﻣﺨﺘﺼﺎت‬‫ﻣﻲ‬ ‫درﻳﺎﻓﺖ‬ ‫ﻛﻨﺘﺮل‬ ‫واﺣﺪ‬ ‫اﻓﺰار‬‫ﻛﻨﺪ‬.
‫ﺟﺪاﺳﺎز‬‫ﻧﺮم‬ ‫دو‬ ‫اﻳﻦ‬ ‫ي‬‫اﺳﺖ‬ ‫ﮔﺮﻓﺘﻪ‬ ‫اﻧﺠﺎم‬ ‫ﺷﺒﻜﻪ‬ ‫در‬ ‫اﺳﺘﻔﺎده‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫و‬ ‫اﺳﺘﻘﻼل‬ ‫اﻓﺰاﻳﺶ‬ ‫ﺑﺪﻟﻴﻞ‬ ‫اﻓﺰار‬.‫ﻫﻤﭽﻨﻴﻦ‬‫ﻗﺎﺑﻠﻴﺖ‬ ‫ﻫﻤﻴﻦ‬ ‫ﺑﻪ‬ ‫اﺗﻜﺎ‬ ‫ﺑﺎ‬
‫ﺑﺎر‬ ‫اﻓﺰاﻳﺶ‬ ‫از‬ ‫ﺟﻠﻮﮔﻴﺮي‬ ‫ﺑﺮاي‬‫داد‬ ‫اﻓﺰاﻳﺶ‬ ‫را‬ ‫ﺑﺎزده‬ ‫ﻛﺎﻣﭙﻴﻮﺗﺮ‬ ‫ﻳﻚ‬ ‫از‬ ‫ﺑﻴﺶ‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﺗﻮزﻳﻊ‬ ‫ﺑﺎ‬ ‫ﺗﻮان‬ ‫ﻣﻲ‬.
‫ﻧﺮم‬ ‫اﻣﻜﺎﻧﺎت‬ ‫و‬ ‫ﻃﺮاﺣﻲ‬ ‫ﺑﻌﺪ‬ ‫ﺑﺨﺶ‬ ‫در‬‫ﻣﺮ‬ ‫ﻛﻠﻲ‬ ‫ﺑﺼﻮرت‬ ‫را‬ ‫اﻓﺰار‬‫ﻣﻲ‬ ‫ور‬‫در‬ ‫و‬ ‫ﻛﻨﻴﻢ‬‫اﻳ‬ ‫اداﻣﻪ‬‫را‬ ‫اﻣﻜﺎﻧﺎت‬ ‫ﻦ‬‫ﺗﻮﺟ‬ ‫ﻣﻮرد‬‫ﻪ‬‫و‬ ‫داده‬ ‫ﻗﺮار‬‫ﺑﻪ‬
‫ﺗﻔﻜﻴﻚ‬‫و‬ ‫داده‬ ‫ﺷﺮح‬‫ﻣﻲ‬ ‫ﺑﺮرﺳﻲ‬‫ﻛﻨﻴﻢ‬.
1
Direct Current (DC)

‫ﺑﺨﺶ‬2-2(‫ﻧﺮم‬ ‫ﻃﺮاﺣﻲ‬ ‫ﺗﺌﻮري‬‫اﻓﺰار‬
‫ﻣﻲ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫در‬‫ﻧﻘﻄﻪ‬ ‫از‬ ‫ﻣﻮاﻧﻊ‬ ‫ﺑﺎﻳﺴﺖ‬‫ﻣﻲ‬ ‫روﺑﺎت‬ ‫ﻓﻌﻠﻲ‬ ‫اﺳﺘﻘﺮار‬ ‫ﻣﺤﻞ‬ ‫ﻛﻪ‬ ‫ﺛﺎﺑﺖ‬ ‫اي‬‫ﮔﺮدد‬ ‫ﺛﺒﺖ‬ ‫ﺑﺎﺷﺪ‬.‫ﻣﺮﺟﻊ‬ ‫ﻧﻘﻄﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﺑﺎ‬ ‫ﺳﭙﺲ‬
‫رﺑﺎت‬ ‫ﺣﺮﻛﺖ‬ ‫ﻳﻌﻨﻲ‬،‫آﻧﮕﺎه‬ ‫و‬ ‫ﺷﺪه‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫ﺟﺪﻳﺪ‬ ‫ﻣﻮﻗﻌﻴﺖ‬ً‫ا‬‫ﻣﺠﺪد‬‫ﺷﺪه‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫ﻣﻮاﻧﻊ‬‫ﺟﺪﻳﺪ‬ ‫ﻣﻮﻗﻌﻴﺖ‬ ‫دﻳﺪﮔﺎه‬ ‫از‬‫ﮔﺮدﻧﺪ‬ ‫رﺳﻢ‬.‫در‬
‫ﻧﻘﺸﻪ‬ ً‫ﺎ‬‫ﺗﺪرﻳﺠ‬ ‫روﻧﺪ‬ ‫اﻳﻦ‬ ‫ﺗﻜﺮار‬ ‫اﺛﺮ‬‫ﻣﻲ‬ ‫رﺳﻢ‬ ‫ﻣﺤﻴﻂ‬ ‫از‬ ‫اي‬‫ﺷﻮد‬‫ﺷﺎﻣﻞ‬ ‫ﻛﻪ‬‫اﻃﺮاف‬ ‫ﻣﻮاﻧﻊ‬‫ﻣﻲ‬‫ﺑﺎ‬‫ﺷ‬‫ﺪ‬.
‫ﺑﺎز‬ ‫در‬‫ي‬‫ﺷﺒﻴﻪ‬ ‫از‬ ‫اﺳﺖ‬ ‫ﭼﻨﺪي‬ ‫اﺳﺘﺮاﺗﮋﻳﻚ‬ ‫و‬ ‫اﻛﺸﻦ‬ ‫ﻫﺎي‬‫ﺑﻪ‬ ‫ﺑﺨﺸﻴﺪن‬ ‫واﻗﻌﻴﺖ‬ ‫ﺑﺮاي‬ ‫روش‬ ‫اﻳﻦ‬ ‫ﺳﺎزي‬‫ﺷﻮد‬ ‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬ ‫ﻛﺎرﺑﺮ‬ ‫ﻣﺤﻴﻂ‬،‫ﺑﻪ‬
‫ﻣﻲ‬ ‫ﻧﻤﺎﻳﺎن‬ ‫ﻣﺤﻴﻂ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺪرﻳﺞ‬ ‫ﺑﻪ‬ ‫ﻣﺤﻴﻂ‬ ‫در‬ ‫ﺑﺎزﻳﻜﻦ‬ ‫ﺷﺨﺼﻴﺖ‬ ‫ﮔﺮدش‬ ‫ﺑﺎ‬ ‫ﻛﻪ‬ ‫ﺷﻜﻞ‬ ‫اﻳﻦ‬‫ﮔﺮدد‬،‫ﺟﺴﻢ‬ ‫ﻫﺮ‬ ‫ﻛﺮدن‬ ‫ﭘﻴﺪا‬ ‫ﺑﺎ‬ ‫ﻫﻤﭽﻨﻴﻦ‬‫ﻳ‬‫ﻣﻨ‬ ‫ﺎ‬‫ﺒﻊ‬
‫ﻗﺮاردادن‬ ‫و‬‫ﻣﻲ‬ ‫ﻋﻼﻣﺘﮕﺬاري‬ ‫ﻧﻘﺸﻪ‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﭘﺮﭼﻢ‬ ‫ﻳﺎ‬ ‫ﻋﻼﻣﺖ‬‫ﮔﺮدد‬.
‫ﻗﺴﻤﺖ‬ ‫اﻳﻦ‬ ‫در‬،‫ﻫﺪف‬،‫ﺗﻮﺿ‬ ‫و‬ ‫آﺷﻨﺎﻳﻲ‬‫ﻴ‬‫ﻧﺮم‬ ‫ﻋﻤﻠﻜﺮد‬ ‫ﺢ‬‫ﻧﻘﺸ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫اﻓﺰار‬‫ﻣﻲ‬ ‫ﺧﻮاﻧﻨﺪه‬ ‫ﺑﺮاي‬ ‫درك‬ ‫ﻗﺎﺑﻞ‬ ‫و‬ ‫ﻛﻠﻲ‬ ‫ﺑﻄﻮر‬ ‫ﻪ‬‫ﺑﺎﺷﺪ‬.‫در‬ ‫ﻫﻤﭽﻨﻴﻦ‬
‫ﻓﺼﻞ‬‫ﻧﺎآﺷﻨﺎ‬ ‫اﺻﻄﻼﺣﺎت‬ ‫ﻧﻴﺰ‬ ‫ﺑﻌﺪ‬ ‫ﻫﺎي‬‫ﻣﺸﺨﺼﺎت‬ ‫و‬‫ﻣﻲ‬ ‫داده‬ ‫ﺗﻮﺿﻴﺢ‬‫ﺑﺮ‬ ‫رﻓﺘﺎر‬ ‫اﻳﻦ‬ ‫دﻗﻴﻖ‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﺑﻪ‬ ‫ﻧﻴﺰ‬ ‫ﺑﺨﺶ‬ ‫اﻳﻦ‬ ‫آﺧﺮ‬ ‫ﻓﺼﻞ‬ ‫و‬ ‫ﺷﻮد‬
‫ﻧﺮم‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬ ‫روي‬‫دارد‬ ‫ﺗﺄﻛﻴﺪ‬ ‫اﻓﺰار‬.‫ﮔ‬ ‫ﻃﺮاﺣﻲ‬ ‫ﻣﻮﺟﻮد‬ ‫ﺣﺴﮕﺮ‬ ‫ﻧﻮع‬ ‫دو‬ ‫ﺑﺮاي‬ ‫ﻣﺪل‬ ‫دو‬ ‫در‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫اﻓﺰار‬ ‫ﻧﺮم‬‫اﺳﺖ‬ ‫ﺮدﻳﺪه‬.‫ﺑﺎ‬ ‫ﺗﺮﺳﻴﻢ‬
‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬ ‫ﺑﺎ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫و‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮﻫﺎي‬.
‫ﺑﺴﺘﻪ‬ ‫اﺑﺘﺪا‬ ‫در‬ ‫اﻓﺰار‬ ‫ﻧﺮم‬ ‫اﻳﻦ‬‫داده‬ ‫ﻣﺤﺘﻮي‬ ‫اﻃﻼﻋﺎﺗﻲ‬‫ﺗﺮﺳﻴﻤﻲ‬ ‫ﻫﺎي‬)‫اﻃﻼﻋﺎﺗﻲ‬ ‫ﭘﺎﻛﺖ‬ ‫ﻧﻮع‬ ‫دو‬(‫از‬ ‫را‬‫ﻧﺮم‬‫درﻳﺎﻓﺖ‬ ‫رﺑﺎت‬ ‫ﻛﻨﺘﺮل‬ ‫اﻓﺰار‬
‫ﻣﻲ‬‫ﻛﻨﺪ‬.‫ﺧﺎم‬ ‫اﻃﻼﻋﺎت‬ ‫درﻳﺎﻓﺖ‬ ‫از‬ ‫ﭘﺲ‬،‫رﺑﺎت‬ ‫ﺟﺪﻳﺪ‬ ‫ﻣﻮﻗﻌﻴﺖ‬ ‫ﻫﻤﺎن‬ ‫ﻳﺎ‬ ‫ﻣﺮﺟﻊ‬ ‫ﻧﻘﻄﻪ‬ ‫اﺑﺘﺪا‬ ‫در‬‫ﻣﻲ‬ ‫ﻣﺤﺎﺳﺒﻪ‬‫ﻧﻘﺸﻪ‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﺳﭙﺲ‬ ،‫ﮔﺮدد‬،
‫ﻣﻲ‬ ‫ﻣﻨﺘﻘﻞ‬ ‫ﺟﺪﻳﺪ‬ ‫ﻣﻮﻗﻌﻴﺖ‬ ‫ﺑﻪ‬ ‫رﺑﺎت‬‫ﮔﺮدد‬.‫ﺗﻜﺎﻣﻞ‬ ‫ﺑﻪ‬ ‫و‬ ‫داده‬ ‫ﻗﺮار‬ ‫ارزﻳﺎﺑﻲ‬ ‫ﻣﻮرد‬ ‫را‬ ‫ﺣﺴﮕﺮﻫﺎ‬ ‫اﻃﻼﻋﺎت‬ ‫ﻛﻪ‬ ‫رﺳﻴﺪه‬ ‫آن‬ ‫زﻣﺎن‬ ‫ﻫﻤﻜﻨﻮن‬
‫ﻧﻤﺎﻳﻴﻢ‬ ‫ﻛﻤﻚ‬ ‫ﻧﻘﺸﻪ‬.‫ﻧﺮم‬ ‫اﻳﻦ‬ ‫در‬‫ﻣﻲ‬ ‫ﻣﻮﺟﻮد‬ ‫اﻃﻼﻋﺎﺗﻲ‬ ‫آراﻳﻪ‬ ‫دو‬ ‫اﻓﺰار‬‫ﻣﻲ‬ ‫ﺑﻴﺘﻲ‬ ‫ﻧﻘﺸﻪ‬ ‫ﻧﻮع‬ ‫از‬ ‫ﮔﺮاﻓﻴﻜﻲ‬ ‫ﺻﻔﺤﻪ‬ ‫ﻳﻚ‬ ‫اوﻟﻲ‬ ‫ﺑﺎﺷﺪ‬‫ﺑﺎﺷﺪ‬‫ﻛﻪ‬
‫ﻣﻲ‬ ‫دارا‬ ‫را‬ ‫ﻛﺎرﺑﺮ‬ ‫ﺑﻪ‬ ‫ﻧﻘﺸﻪ‬ ‫ﻧﻤﺎﻳﺶ‬ ‫وﻇﻴﻔﻪ‬ ‫ﺑﻼدرﻧﮓ‬ ‫ﺑﺼﻮرت‬‫ﺑﺎﺷﺪ‬.‫آراﻳﻪ‬ ‫ﻳﻚ‬ ‫دوﻣﻲ‬‫ﺑﻌﺪي‬ ‫دو‬‫ا‬‫ﻧﻮع‬ ‫ز‬‫ﺻﺤﻴﺢ‬ ‫ﻋﺪد‬‫ﻣﻲ‬‫وﻇﻴﻔﻪ‬ ‫ﻛﻪ‬ ‫ﺑﺎﺷﺪ‬
‫ﺷﺪه‬ ‫داده‬ ‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫اﻃﻼﻋﺎت‬ ‫ذﺧﻴﺮه‬‫ﭘﺮدازش‬ ‫از‬ ‫ﭘﺲ‬ ‫و‬‫ﻣﻲ‬ ‫دارا‬ ‫را‬‫ﺑﺎﺷﺪ‬.‫ﻧﻤﺎﻳﺶ‬ ‫ﺑﺮاي‬ ‫آﺧﺮ‬ ‫ﻣﺮﺣﻠﻪ‬ ‫در‬ ‫اﻃﻼﻋﺎت‬ ‫اﻳﻦ‬‫و‬ ‫ﺻﻔﺤﻪ‬ ‫در‬
‫ﻧﻬﺎﻳﻲ‬ ‫ﺗﺤﻠﻴﻞ‬‫آﻣﺎده‬‫ﻣﻲ‬‫ﺷﻮﻧﺪ‬.‫ﺿﻤ‬ ‫در‬‫ﻦ‬‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫روش‬‫ﻣﻲ‬ ‫داده‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﺷﺮح‬ ‫ﺑﻪ‬ ‫ﺑﻌﺪي‬ ‫ﺑﺨﺶ‬ ‫در‬ ‫دﻫﻲ‬‫ﺷﻮد‬.‫راﺑﻂ‬ ‫از‬ ‫ﻧﻤﺎﻳﻲ‬ ‫زﻳﺮ‬ ‫ﺷﻜﻞ‬
‫ﻧﺮم‬ ‫ﻛﺎرﺑﺮ‬ ‫ﮔﺮاﻓﻴﻜﻲ‬‫ﻣﻲ‬ ‫ﻧﺸﺎن‬ ‫را‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫اﻓﺰار‬‫دﻫﺪ‬.
‫ﺷﻜﻞ‬2-1)‫ﻧﺮم‬ ‫ﻧﻤﺎي‬‫ﻛﻨﻨﺪه‬ ‫ﭘﺨﺶ‬ ‫و‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫اﻓﺰار‬(

‫ﻣﻲ‬ ‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﻧﻘﺎط‬ ‫ﺑﻪ‬ ‫ﭘﺮدازﺷﻲ‬ ‫آراﻳﻪ‬ ‫در‬ ‫ذﺧﻴﺮه‬ ‫ﺑﺮاي‬ ‫اﺑﺘﺪا‬ ‫در‬ ‫ﭘﺲ‬‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫اﻳﻦ‬ ‫دﻫﻴﻢ‬‫دﻫ‬‫ﻣﻲ‬ ‫ﻫﻤﺰﻣﺎن‬ ‫ﺑﺼﻮرت‬ ‫ﻲ‬‫ﺑﺎﺷﺪ‬.‫ﺗﻮﻗﻒ‬ ‫از‬ ‫ﭘﺲ‬
‫رﺑﺎت‬‫دﻳﮕﺮ‬‫ﻧﻤﻲ‬ ‫ارﺳﺎل‬ ‫ﺟﺪﻳﺪ‬ ‫اﻃﻼﻋﺎت‬‫ﺷﻮد‬،‫ﻣﻲ‬ ‫ﻓﺮا‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﭘﺮدازش‬ ‫زﻣﺎن‬ ‫ﻧﺘﻴﺠﻪ‬ ‫در‬‫رﺳﺪ‬.‫ﻛﺎر‬ ‫درﺧﻮاﺳﺖ‬ ‫ﺑﻪ‬ ‫زﻣﺎن‬ ‫اﻳﻦ‬ ‫در‬‫ﺑﺮ‬
‫ﻧﻬﺎﻳﻲ‬ ‫ﭘﺮدازش‬‫ﺷﺮوع‬ ‫آراﻳﻪ‬‫ﻣﻲ‬‫ﺷﻮ‬‫د‬.‫ﭘﺮدازش‬‫اﺑﺘﺪا‬ ‫در‬ ‫ﻧﻬﺎﻳﻲ‬‫آرا‬‫ﻳ‬‫ﭘﺮدازﺷﻲ‬ ‫ﻪ‬‫را‬‫ﻧﺮﻣﺎل‬‫ﻧﻤﺎﻳﺪ‬ ‫ﻣﻲ‬‫آن‬ ‫ﻣﺤﺪوده‬ ‫و‬‫را‬‫ﻣﺠﺎ‬ ‫ﻣﺤﺪوده‬ ‫ﺑﻪ‬‫ز‬
‫ﻣﻲ‬ ‫ﻣﻘﺪار‬ ‫ﺗﻐﻴﻴﺮ‬‫دﻫﺪ‬،‫اﻟﮕﻮرﻳﺘﻢ‬ ‫از‬ ‫ﻳﻜﻲ‬ ‫ﺳﺎزي‬ ‫ﻧﺮﻣﺎل‬ ‫از‬ ‫ﭘﺲ‬‫ﻟﺒﻪ‬ ‫ﺑﻨﺎم‬ ‫ﺗﺼﻮﻳﺮ‬ ‫ﭘﺮدازش‬ ‫ﻫﺎي‬‫ﻳ‬‫ﺎﻳﻲ‬‫ﻣﻲ‬ ‫اﻋﻤﺎل‬‫ﮔﺮدد‬.‫اﻳﻦ‬‫روش‬‫ﺑﺴﻴﺎر‬‫ﺳﺎده‬
‫ﻣﻮﺛﺮ‬ ‫وﻟﻲ‬‫دﻳﻮاره‬ ‫ﺗﻘﻮﻳﺖ‬ ‫ﺑﺮاي‬‫ﻣﻲ‬ ‫اﻋﻤﺎل‬ ‫ﺧﻄﺎ‬ ‫از‬ ‫ﻧﺎﺷﻲ‬ ‫ﻧﻮﻳﺰ‬ ‫ﻛﺎﻫﺶ‬ ‫و‬ ‫ﻫﺎ‬‫ﮔﺮدد‬.
‫از‬ ‫ﭘﺲ‬‫در‬ ‫دﺳﺘﻲ‬ ‫ﺑﺼﻮرت‬ ‫و‬ ‫ﻧﻮﻳﺰ‬ ‫ﻛﺎﻫﺶ‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫ﺑﺎ‬ ‫ﻓﻴﻠﺘﺮ‬ ‫ﻋﺪد‬ ‫ﻳﻚ‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﭘﺮدازش‬‫ﻣﻲ‬ ‫ﻛﺎرﺑﺮ‬ ‫اﺧﺘﻴﺎر‬‫ﺑﺎﺷﺪ‬‫ﻣﻲ‬ ‫ﻓﻴﻠﺘﺮ‬ ‫اﻳﻦ‬ ‫ﺑﺎ‬ ‫ﻛﻪ‬‫ﺗﻮاﻧﺪ‬
‫ﺗ‬ ‫را‬ ‫ﺗﺼﻮﻳﺮ‬ ‫ﺑﺪﻟﺨﻮاه‬‫ﻐ‬‫ﺑﺮﺳﺪ‬ ‫ﺧﻮد‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﻣﻘﺼﻮد‬ ‫ﺑﻪ‬ ‫ﺗﺎ‬ ‫داده‬ ‫ﻴﻴﺮ‬.‫ﻣﻲ‬ ‫ﻗﺴﻤﺖ‬ ‫اﻳﻦ‬ ‫در‬ ‫اﺻﻞ‬ ‫در‬‫را‬ ‫ﻛﻴﻔﻴﺖ‬ ‫و‬ ‫ﻧﻮﻳﺰ‬ ‫ﺑﻴﻦ‬ ‫ﺗﻌﺎدل‬ ‫ﺑﺎﻳﺴﺖ‬
‫ﻧﻤﺎﻳﺪ‬ ‫ﺑﺮﻗﺮار‬ ‫دﺳﺘﻲ‬ ‫ﺑﺼﻮرت‬.‫ﻫﻤﺰﻣﺎن‬ ‫رﺳﻢ‬ ‫ﺿﻤﻦ‬ ‫در‬ ‫ﻫﻤﭽﻨﻴﻦ‬،‫ﺷﺮط‬‫ﻫﺎي‬‫ﻣﺤﺪود‬‫ﻛﻨﻨﺪه‬‫اي‬‫ﻣﺸﺎﻫ‬ ‫ﻓﺎﺻﻠﻪ‬ ‫ﺣﺪاﻛﺜﺮ‬ ‫ﻗﺒﻴﻞ‬ ‫از‬‫و‬ ‫ﺷﺪه‬ ‫ﺪه‬
‫ﻣﻲ‬ ‫اﻋﻤﺎل‬ ‫ﺗﺼﻮﻳﺮ‬ ‫ﺑﻬﺒﻮد‬ ‫ﺑﺮاي‬ ‫ﻧﻴﺰ‬ ‫ﭼﺮﺧﺸﻲ‬ ‫ﺧﻄﺎي‬ ‫ﻛﺎﻫﺶ‬‫ﺷﻮد‬.‫ﺑ‬ ‫ﺑﺨﺶ‬ ‫در‬ ‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﮕﻮﻧﻪ‬‫ﻌﺪ‬‫ﻣﻲ‬ ‫داده‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﻧﻴﺰ‬‫رﺑﺎت‬ ‫زﻣﺎن‬ ‫ﻫﺮ‬ ‫ﺷﻮد‬
‫ﺻﻔﺤﻪ‬ ‫از‬ ‫ﺧﺮوج‬ ‫ﺳﻤﺖ‬ ‫ﺑﻪ‬‫ﭘﻮﻳﺶ‬‫ﻣﺤﻴﻂ‬ ‫ﺧﻮدﻛﺎر‬ ‫ﺑﺼﻮرت‬ ‫ﺑﺎﺷﺪ‬ ‫ﺣﺮﻛﺖ‬ ‫در‬‫ﭘﻮﻳﺶ‬‫ﭘﻴﺪا‬ ‫ﮔﺴﺘﺮش‬‫ﻣﻲ‬‫ﻛﻨﺪ‬‫و‬‫ﻟﺤﻈﻪ‬ ‫ﻫﺮ‬ ‫در‬ ‫ﻫﻤﭽﻨﻴﻦ‬
‫در‬ ‫رﺑﺎت‬‫ﻣﺮﻛﺰ‬‫ﻛﺎدر‬‫ﻧﺮم‬ ‫ﻣﺘﻤﺮﻛﺰ‬‫ﻧ‬ ‫اﻓﺰار‬‫ﻤﺎﻳ‬‫ﻧﮕﻪ‬ ‫ﺶ‬‫ﻣﻲ‬ ‫داﺷﺘﻪ‬‫ﺷﻮد‬.

‫ﺑﺨﺶ‬2-3(‫داده‬ ‫ﭘﺮدازش‬‫ﺗﺼﻮﻳﺮ‬ ‫ﺑﻬﺒﻮد‬ ‫و‬ ‫ﻫﺎ‬
‫روش‬ ‫ﺑﺨﺶ‬ ‫اﻳﻦ‬ ‫در‬‫اﻟﮕﻮرﻳﺘﻢ‬ ‫و‬ ‫ﻫﺎ‬‫ﻧﺮم‬ ‫در‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫ﻫﺎي‬‫ﻣﻲ‬ ‫داده‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﺷﺮح‬ ‫ﺑﻪ‬ ‫اﻓﺰار‬‫ﺷﻮد‬.
2-3-1(‫ﭘﺘﺎﻧﺴﻴﻞ‬‫ﻧﻘﺎط‬ ‫ﺑﻪ‬ ‫دﻫﻲ‬
‫اﻳﻨ‬ ‫در‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮﻫﺎي‬ ‫ﻋﻤﺪه‬ ‫ﻣﺸﻜﻼت‬ ‫از‬‫ﮕﻮﻧﻪ‬‫ﻛﺎرﺑﺮد‬،‫ﻫﺎ‬‫ﻣﻲ‬ ‫ﺷﻜﻞ‬ ‫ﻣﺨﺮوﻃﻲ‬ ‫دﻳﺪ‬ ‫ﻓﻀﺎي‬‫ﻛﻪ‬ ‫ﺑﺎﺷﺪ‬‫در‬ ‫ﻣﺸﻜﻞ‬ ‫اﻳﻦ‬ ‫اﻟﺒﺘﻪ‬
‫ﻛﺎرﺑﺮدﻫﺎ‬‫ﻳ‬‫اﺧﻄﺎر‬ ‫و‬ ‫اﺗﻮﻣﺒﻴﻞ‬ ‫ﭘﺎرك‬ ‫ﻛﻤﻚ‬ ‫ﺳﻴﺴﺘﻢ‬ ‫ﻫﻤﭽﻮن‬ ‫ﻲ‬‫ﻣﻮاﻧﻊ‬‫ﺟﺰ‬ ‫اﺗﻮﻣﺒﻴﻞ‬ ‫اﻃﺮاف‬‫ء‬‫ﻗﺎﺑﻠﻴﺖ‬ ‫و‬ ‫ﻣﺰﻳﺖ‬‫آﻧﻬﺎ‬‫ﻣﻲ‬ ‫ﻣﺤﺴﻮب‬‫ﺷﻮد‬.
‫ﻣﻲ‬ ‫ﻣﺸﺎﻫﺪه‬ ‫ﺷﻜﻞ‬ ‫در‬ ‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬‫ﻫ‬ ‫ﺷﻮد‬‫ﺮ‬‫آن‬ ‫ﻓﺎﺻﻠﻪ‬ ‫ﻣﻘﺪار‬ ‫ﻓﻘﻂ‬ ‫آن‬ ‫ﻣﻮﻗﻌﻴﺖ‬ ‫از‬ ‫ﻣﺴﺘﻘﻞ‬ ‫ﮔﻴﺮد‬ ‫ﻗﺮار‬ ‫ﻣﺨﺮوط‬ ‫اﻳﻦ‬ ‫در‬ ‫ﻛﻪ‬ ‫ﻣﺎﻧﻌﻲ‬ ‫و‬ ‫ﺷﻲ‬
‫ا‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫ﻗﺎﺑﻞ‬ ‫ﺣﺴﮕﺮ‬ ‫از‬‫ﺳﺖ‬،‫دﻗﻴﻖ‬‫ﻛﻤﺮﺑﻨﺪ‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﺟﺴﻤﻲ‬ ‫اﮔﺮ‬ ‫ﻛﻪ‬ ‫آﻧﺴﺖ‬ ‫ﺗﺮ‬‫ﻣ‬‫ﺸﻜ‬‫ﻲ‬‫ﻗﺮا‬‫ر‬‫روي‬ ‫ﺑﺮ‬ ‫ﻣﻮﻗﻌﻴﺖ‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫ﮔﻴﺮد‬
‫ﻛﻤﺮﺑﻨﺪ‬‫ﻧﻤﻲ‬‫ﻓﺎﺻﻠﻪ‬ ‫ﻓﻘﻂ‬ ‫ﺑﻠﻜﻪ‬ ‫ﺑﺎﺷﺪ‬‫ﺗﺎ‬‫ﺑﺎﺷﺪ‬ ‫ﻣﻲ‬ ‫دﺳﺘﺮﺳﻲ‬ ‫ﻗﺎﺑﻞ‬ ‫ﻛﻤﺮﺑﻨﺪ‬ ‫اﻳﻦ‬.
‫ﺷﻜﻞ‬2-2)‫راﺳﺖ‬:‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﻧﻤﻮدار‬‫دﻫﻲ‬–‫ﭼﭗ‬:‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮ‬ ‫ﻣﺨﺮوﻃﻲ‬ ‫ﺑﺎزه‬(
‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫روش‬‫ﺑﺪﻳﻦ‬ ‫ﻧﻘﺎط‬ ‫ﺑﻪ‬ ‫دﻫﻲ‬‫ﻣﻲ‬ ‫ﺷﻜﻞ‬‫ﻛﻪ‬ ‫ﺑﺎﺷﺪ‬‫ﺷﻜﻞ‬ ‫ﻫﻤﺎﻧﻨﺪ‬‫ﺑﺎﻻ‬‫ﻣ‬ ‫ﻣﺸﻜﻲ‬ ‫ﻛﻤﺮﺑﻨﺪ‬ ‫ﻧﻘﺎط‬ ‫ﺗﻤﺎﻣﻲ‬ ،‫ﻘ‬‫ﻣﻲ‬ ‫ﺪاردﻫﻲ‬‫ﺷﻮ‬‫ﻧ‬‫ﺪ‬.‫اﻳﻦ‬ ‫وزن‬
‫ﻧﻘﺎط‬‫ﻣﻘﺪار‬‫د‬‫ﺷﺪه‬ ‫اده‬‫ﺷﻜﻞ‬ ‫ﺑﻪ‬‫ﻳﻚ‬‫ﻛﻤﺮﺑﻨﺪ‬‫ﺣ‬‫ﻼﻟﻲ‬‫از‬‫ﻣﺸﻜﻲ‬ ‫ﻛﻤﺮﺑﻨﺪ‬ ‫اﻳﻦ‬ ‫ﻣﺮﻛﺰ‬‫ﺧﺎرج‬ ‫ﺑﻪ‬‫ﻣﻲ‬ ‫ﻛﺎﻫﺶ‬‫ﻳﺎﺑﺪ‬.‫ﻫﻤﭽﻨ‬‫ﻴ‬‫ﭘﻴﺶ‬ ‫ﺑﺼﻮرت‬ ‫ﻦ‬
‫ﻧﻘﻄﻪ‬ ‫ﻓﺮض‬‫ﺷﺪه‬ ‫دﻳﺪه‬‫ﻛﻤﺮﺑﻨﺪ‬ ‫ﻣﺮﻛﺰ‬ ‫در‬‫ﻣ‬‫ﻣﻲ‬ ‫ﺸﻜﻲ‬‫ﺑﺎﺷﺪ‬.‫ﺣ‬ ‫ﺗﻌﺪد‬ ‫ﺑﺪﻟﻴﻞ‬ ‫رﺑﺎت‬ ‫اﻳﻦ‬‫ﻣﺠﺎور‬ ‫ﺣﺴﮕﺮﻫﺎي‬ ‫ﻫﻤﭙﻮﺷﺎﻧﻲ‬ ‫و‬ ‫ﺴﮕﺮﻫﺎ‬،‫در‬
‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﺑﺎ‬ ‫ﮔﻴﺮد‬ ‫ﻗﺮار‬ ‫ﺣﺴﮕﺮ‬ ‫دو‬ ‫دﻳﺪ‬ ‫در‬ ‫ﺟﺴﻤﻲ‬ ‫ﻛﻪ‬ ‫ﺣﺎﻟﺘﻲ‬‫اﻓﺰاﻳﺶ‬ ‫ﻧﺘﻴﺠﻪ‬ ،‫ﻧﻘﻄﻪ‬ ‫دو‬ ‫ﻫﺮ‬ ‫دﻫﻲ‬،‫ﻧﻘﻄﻪ‬‫ﻣﻲ‬ ‫ﺣﺴﮕﺮ‬ ‫دو‬ ‫ﺑﻴﻦ‬ ‫اي‬‫ﺷﻮد‬.‫ﭘﺲ‬
‫ﺗﻮاﻧﺴﺘﻴﻢ‬‫ﺗ‬ً‫ﺎ‬‫ﻘﺮﻳﺒ‬‫ﻣﻮﻗﻌﻴﺖ‬‫ﺟﺴﻢ‬‫را‬‫ﻫﻤﺮاه‬ ‫ﺑﻪ‬‫ﻫﺎﻟﻪ‬ ‫و‬ ‫ﻛﺮده‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫آن‬ ‫دﻗﻴﻖ‬ ‫ﻓﺎﺻﻠﻪ‬‫ﻧﻤﺎﻳﻴﻢ‬ ‫رﺳﻢ‬ ‫را‬ ‫ﻣﺤﻴﻂ‬ ‫در‬ ‫آن‬ ‫اﺛﺮ‬ ‫از‬ ‫اي‬.‫ﻫ‬‫اﻳﻦ‬ ‫دو‬ ‫ﺮ‬
‫ﻛﺎر‬‫روش‬ ‫ﻳﻚ‬ ‫در‬ ‫را‬‫دادﻳﻢ‬ ‫اﻧﺠﺎم‬ ‫ﻫﻤﺰﻣﺎن‬.‫ﺣﺎل‬،‫ﻣﺎﻧﻊ‬ ‫ﻣﺠﺪد‬ ‫ﻛﺮدن‬ ‫ﺣﺲ‬ ‫ﺑﺎ‬‫ﻳﺎ‬ ‫دﻳﻮار‬ ‫ﻗﻄﻌﻴﺖ‬ ‫ﺗﺎ‬ ‫ﻳﺎﺑﻨﺪ‬ ‫ﻣﻲ‬ ‫اﻓﺰاﻳﺶ‬ ‫ﻣﻘﺎدﻳﺮ‬ ‫اﻳﻦ‬ ً‫ﺎ‬‫ﺗﺪرﻳﺠ‬
‫ﮔﺮدد‬ ‫ﻣﺸﺨﺺ‬ ‫ﺟﺴﻢ‬.‫آن‬ ‫از‬‫ﺑﻪ‬ ‫ﻧﻴﺎزي‬ ‫دﻳﮕﺮ‬ ‫ﺷﺪه‬ ‫ﺗﻌﻴﻴﻦ‬ ‫ﭘﻴﺶ‬ ‫از‬ ‫ﺣﺪاﻛﺜﺮ‬ ‫ﻳﻚ‬ ‫ﺑﻪ‬ ‫رﺳﻴﺪن‬ ‫از‬ ‫ﭘﺲ‬ ‫ﺑﻌﺪ‬ ‫ﺑﻪ‬‫ﺣﺪاﻛﺜﺮ‬ ‫ﻧﻘﺎط‬ ‫اﻓﺰاﻳﺶ‬
‫ﻧﻤﻲ‬‫ﻗﻄﻊ‬ ‫ﺑﻄﻮر‬ ‫را‬ ‫آﻧﻬﺎ‬ ‫و‬ ‫ﺑﺎﺷﺪ‬‫ﻣﻲ‬ ‫ﻧﻈﺮ‬ ‫در‬ ‫ﻣﺎﻧﻊ‬‫ﮔﻴﺮﻳﻢ‬.

‫ﻧﻮﻳﺰ‬ ‫ﻛﺎﻫﺶ‬ ‫ﺑﺮاي‬،‫ﺣﺴﮕﺮﻫﺎ‬ ‫ﺧﻄﺎي‬ ‫اﺛﺮ‬ ‫و‬‫ﭘﺘﺎﻧﺴﻴﻞ‬‫دﻫﻲ‬‫ﺑ‬ ‫را‬‫ﻋﻜﺲ‬ ‫ﻧﺴﺒﺖ‬ ‫ﺎ‬‫ﻓﺎﺻﻠﻪ‬‫ﻣﻲ‬ ‫ﻧﻈﺮ‬ ‫در‬‫ﮔﻴﺮﻳﻢ‬.‫ﻳﻌﻨﻲ‬‫ﺷﻮد‬ ‫دورﺗﺮ‬ ‫ﻓﺎﺻﻠﻪ‬ ‫ﭼﻪ‬ ‫ﻫﺮ‬
‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﺿﺮﻳﺐ‬‫ﻧﻘ‬‫ﺎ‬‫ﻛﻤﺘﺮ‬ ‫ط‬‫ﻣﻲ‬‫ﺷﻮد‬‫ﻣﻲ‬ ‫اﻓﺰاﻳﺶ‬ ‫ﻧﻴﺰ‬ ‫دﻳﺪ‬ ‫ﺑﺎزه‬ ‫رﻓﺘﻪ‬ ‫ﺑﺎﻻ‬ ‫ﺧﻄﺎ‬ ‫اﻣﻜﺎن‬ ‫ﻓﺎﺻﻠﻪ‬ ‫اﻓﺰاﻳﺶ‬ ‫ﺑﺎ‬ ‫زﻳﺮا‬‫ﻳﺎﺑﺪ‬.‫درﺿﻤﻦ‬‫اﻓﺰاﻳﺶ‬ ‫ﺑﺎ‬
‫ﻓﺎﺻﻠﻪ‬،‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﻛﻤﺮﺑﻨﺪ‬ ‫ﻫﻤﺎن‬ ‫ﻳﺎ‬ ‫ﻣﺸﻜﻲ‬ ‫ﻛﻤﺮﺑﻨﺪ‬‫ﻧﻴﺰ‬‫ﻣﻲ‬ ‫ﺑﺎزﺗﺮ‬‫ﮔﺮدد‬) .‫ﻣﺨﺮوط‬ ‫ﺷﻜﻞ‬ ‫ﻃﺒﻖ‬(
‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫وزن‬ ،‫رﺑﺎت‬ ‫ﭼﺮﺧﺶ‬ ‫ﻫﻨﮕﺎم‬ ‫در‬ ‫ﺧﻄﺎ‬ ‫اﻳﺠﺎد‬ ‫دﻟﻴﻞ‬ ‫ﺑﻪ‬ ‫ﻛﺎرﺑﺮد‬ ‫اﻳﻦ‬ ‫در‬‫ﻧﻤﻮده‬ ‫ﻛﻢ‬ ‫ﺑﺴﻴﺎر‬ ‫را‬ ‫ﭼﺮﺧﺶ‬ ‫ﻫﻨﮕﺎم‬ ‫دﻫﻲ‬‫اﻳﻢ‬.‫ﭘﻴﺎده‬‫ﺳﺎزي‬
‫ﮔﺮﻓﺘﻪ‬ ‫اﻧﺠﺎم‬ ‫ﺗﻮ‬ ‫در‬ ‫ﺗﻮ‬ ‫ﺣﻠﻘﻪ‬ ‫دو‬ ‫ﺑﺎ‬ ‫زﻳﺮ‬ ‫ﻛﺪ‬ ‫ﺗﻜﻪ‬ ‫ﺑﻮﺳﻴﻠﻪ‬ ‫روش‬ ‫اﻳﻦ‬‫اﺳﺖ‬.‫ﮔ‬ ‫اﻳﻦ‬ ‫ﻣﺰﻳﺖ‬‫ﭘﻴﺎده‬ ‫ﻮﻧﻪ‬‫ﺳﺎزي‬‫در‬‫آن‬ ‫ﺳﺮﻋﺖ‬ ‫و‬ ‫ﺳﺎدﮔﻲ‬
‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.‫ﺷﻜﻞ‬‫ﻗﺒﻞ‬ ‫ﺻﻔﺤﻪ‬‫ﺷﺒﻴﻪ‬ ‫ﻧﺘﻴﺠﻪ‬‫ﻋﻤﻠﻜﺮد‬ ‫از‬ ‫اﻃﻤﻴﻨﺎن‬ ‫ﺑﺮاي‬ ‫ﻛﺪ‬ ‫ﺗﻜﻪ‬ ‫اﻳﻦ‬ ‫ﻧﻤﻮداري‬ ‫ﺳﺎزي‬‫ﺻﺤﻴﺢ‬‫ﻣﻲ‬ ‫آن‬‫ﺑﺎﺷﺪ‬.‫در‬ ‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬
‫ﺳﻄﺢ‬ ‫ﻣﺴﺘﻄﻴﻞ‬ ‫در‬ ‫ﻣﺮﻛﺰ‬ ‫ﻧﻘﻄﻪ‬ ‫اﺳﺖ‬ ‫ﻣﺸﺨﺺ‬ ‫ﻧﻴﺰ‬ ‫ﺷﻜﻞ‬،‫اﻃﺮاف‬ ‫ﺑﻪ‬ ‫ﻧﻘﻄﻪ‬ ‫آن‬ ‫از‬ ،‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﺑﺎﻻي‬ ‫وزن‬ ‫ﻳﻌﻨﻲ‬ ‫دارد‬ ‫را‬ ‫ارﺗﻔﺎع‬ ‫ﺑﺎﻻﺗﺮﻳﻦ‬
‫ﭘ‬‫ﻣﻲ‬ ‫ﭘﻴﺪا‬ ‫ﻛﺎﻫﺶ‬ ‫ﺘﺎﻧﺴﻴﻞ‬‫اﺿﻼع‬ ،‫اﺳﺖ‬ ‫ﻣﺘﻐﻴﺮ‬ ‫رﺑﺎت‬ ‫ﭼﺮﺧﺶ‬ ‫و‬ ‫ﺣﺴﮕﺮ‬ ‫از‬ ‫ﻓﺎﺻﻠﻪ‬ ‫ﺑﺮﺣﺴﺐ‬ ‫ﻧﻴﺰ‬ ‫ﻣﻘﺪار‬ ‫ﺣﺪاﻛﺜﺮ‬ ‫و‬ ‫اوج‬ ‫ﻧﻘﻄﻪ‬ ‫ﻛﻪ‬ ‫ﺣﺎل‬ ‫ﻛﻨﺪ‬
‫ﻣﻲ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﺣﺴﮕﺮ‬ ‫از‬ ‫ﻓﺎﺻﻠﻪ‬ ‫ﺑﻪ‬ ‫ﺑﺴﺘﻪ‬ ‫ﻧﻴﺰ‬ ‫ﻣﺴﺘﻄﻴﻞ‬‫ﻛﻨﺪ‬.
void __fastcall TFormMain::DrawInObject(int x, int y ,int d, float Teta)
{
// Set Potential of each points in MapTable array
int X,Y,Potential,DistanceTolerance;
int Pt,Pd;
DistanceTolerance = d/20+1;
Teta -= (AngleTolerance/2)*M_PI/180;
d -= DistanceTolerance/2;
for( int i=1; i<=AngleTolerance; i++)
for( int j=1; j<=DistanceTolerance; j++)
{
X = ((d+j) * cos(Teta + i*0.017453292)) + x;
Y = ((d+j) * sin(Teta + i*0.017453292)) + y;
// ----
Potential = (i < (AngleTolerance/2) ? i % (AngleTolerance/2) : AngleTolerance -i) *
(j < (DistanceTolerance/2) ? j % (DistanceTolerance/2) : DistanceTolerance -j);
Potential *= (10-(d/15));
// ----
MapTable->Set(X, Y, (MapTable->Get(X,Y))+Potential);
}
}

2-3-2(‫ﻧﻤﻮدن‬ ‫ﻧﺮﻣﺎل‬‫ﻧﻘﺸﻪ‬ ‫ﻣﺎﺗﺮﻳﺲ‬
‫اﻃﻼﻋﺎت‬ ‫ذﺧﻴﺮه‬ ‫و‬ ‫ﭘﻮﻳﺶ‬ ‫اﺗﻤﺎم‬ ‫از‬ ‫ﭘﺲ‬ ‫ﻫﺪف‬،‫رﺳﻢ‬‫ﻧﻤﺎﻳﺶ‬ ‫و‬‫ﻧﻘﺸﻪ‬‫ﻣﻔﻴﺪ‬ ‫و‬ ‫ﺑﻬﻴﻨﻪ‬‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.‫ﻧﻤﺎﻳﺶ‬ ‫ﺑﺮاي‬،‫ﻧﺮم‬‫را‬ ‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﻣﻘﺎدﻳﺮ‬ ‫اﻓﺰار‬
‫ﻣﻲ‬ ‫رﺳﻢ‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫ﺗﺒﺪﻳﻞ‬ ‫ﻧﻘﻄﻪ‬ ‫ﻫﺮ‬ ‫در‬ ‫ﻧﻮر‬ ‫ﺷﺪت‬ ‫ﺑﻪ‬ ً‫ﺎ‬‫ﻣﺴﺘﻘﻴﻤ‬‫ﻛﻨ‬‫ﺪ‬.‫ﻣﺤﺪوده‬ ‫ﺑﻪ‬ ‫ﻧﻴﺎز‬ ‫ﻳﻌﻨﻲ‬‫ﻋﺪد‬‫ﺑﻴﻦ‬ ‫ي‬0‫اﻟﻲ‬255‫دارﻳﻢ‬ ‫رﺳﻢ‬ ‫ﺑﺮاي‬،‫در‬
‫ﺣﺪ‬ ‫ﺣﺎﻟﺖ‬ ‫اﻳﻦ‬‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫اﻗﻞ‬‫ﻣﻘﺪار‬ ‫ﺑﺎ‬0‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﺣﺪاﻛﺜﺮ‬ ‫و‬ ‫ﻣﺸﻜﻲ‬ ‫رﻧﮓ‬ ‫ﺑﻪ‬‫ﻣﻘﺪار‬ ‫ﺑﺎ‬255‫ﺷﺪ‬ ‫ﺧﻮاﻫﺪ‬ ‫داده‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﺳﻔﻴﺪ‬ ‫رﻧﮓ‬ ‫ﺑﻪ‬.
‫ﺑﻪ‬ ‫ﺑﻨﺎ‬ ‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﻣﺠﺎز‬ ‫ﻣﺤﺪوده‬ ‫وﻟﻴﻜﻦ‬‫اﻧﺘﺼﺎب‬‫آراﻳﻪ‬‫ﺻﺤﻴﺢ‬ ‫اﻋﺪاد‬ ‫از‬ ‫اي‬‫ﺑﻴﻦ‬ ،0‫اﻟﻲ‬2‫ﻣﻲ‬ ‫ﻣﻴﻠﻴﺎرد‬‫آراﻳﻪ‬ ‫ﻧﻤﻮدن‬ ‫ﻧﺮﻣﺎل‬ ‫ﺑﻪ‬ ‫ﻧﻴﺎز‬ ‫ﭘﺲ‬ ‫ﺑﺎﺷﺪ‬
‫ﻣﺤﺪود‬ ‫ﺑﻪ‬‫ه‬‫ﻣﻲ‬ ‫ﻧﻈﺮ‬ ‫ﻣﻮرد‬‫ﺑﺎﺷﺪ‬.
‫راﺑﻄﻪ‬ ‫ﺑﺎ‬‫ﻣﻘﺎﺑﻞ‬ ‫رﻳﺎﺿﻲ‬ ‫ﺳﺎده‬*255)Point / Max(‫ﻣﻲ‬ ‫ﺗﺒﺪﻳﻞ‬ ‫رﺳﻢ‬ ‫ﺑﺮاي‬ ‫ﻗﺒﻮل‬ ‫ﻗﺎﺑﻞ‬ ‫ﻣﺤﺪوده‬ ‫ﺑﻪ‬ ‫را‬ ‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﻣﺤﺪوده‬‫ﻧﻤﺎﻳﻴﻢ‬.‫ﻣﺘﻐﻴﺮ‬
Point‫ﻧﻈﺮ‬ ‫ﻣﻮرد‬ ‫ﻧﻘﻄﺔ‬ ‫ﻣﻘﺪار‬‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫آراﻳﻪ‬ ‫در‬‫ﻣﻲ‬ ‫ﻫﺎ‬‫ﺑﺎﺷﺪ‬.‫ﻣﻘﺪار‬ ‫وﻟﻴﻜﻦ‬Max‫اﻧﺪازه‬ ‫ﻗﺎﺑﻞ‬ ‫روش‬ ‫دو‬ ‫از‬‫اﺳﺖ‬ ‫ﮔﻴﺮي‬.
1(‫ﻟﻐﺰان‬ ‫ﭘﻨﺠﺮه‬ ‫روش‬:‫آ‬ ‫ﻛﻞ‬ ‫روش‬ ‫اﻳﻦ‬ ‫در‬‫ر‬‫اﻳﻪ‬‫ﭘﺘﺎﻧﺴ‬‫ﻴﻞ‬‫ﭘﻨﺠﺮه‬ ‫ﺑﻪ‬‫ﻫﺎي‬40‫در‬40‫اﻧﺪﻳﺴﻲ‬‫ﻣﻲ‬ ‫ﺗﻘﺴﻴﻢ‬‫ﺷﻮﻧﺪ‬‫و‬‫ﭘﻨﺠﺮه‬ ‫ﻫﺮ‬ ‫ﺗﺤﻠﻴﻞ‬ ‫ﺑﺮاي‬
‫ﻣ‬ ‫از‬‫ﻘ‬‫و‬ ‫ﻛﺮده‬ ‫اﺳﺘﻔﺎده‬ ‫ﭘﻨﺠﺮه‬ ‫ﻫﻤﺎن‬ ‫ﺣﺪاﻛﺜﺮ‬ ‫ﺪار‬‫ﻣﻘﺪار‬Max‫ﻣﻲ‬ ‫ﻗﺮار‬ ‫آن‬ ‫ﺑﺮاﺑﺮ‬ ‫را‬‫ﺣﺎل‬ ،‫دﻫﻴﻢ‬‫ﻓﺮﻣﻮل‬‫ﭘﻨﺠﺮه‬ ‫آن‬ ‫ﺑﺮ‬‫و‬ ‫ﮔﺮدﻳﺪه‬ ‫اﻋﻤﺎل‬
‫ﻣﻲ‬ ‫ﻣﻨﺘﻘﻞ‬ ‫ﺑﻌﺪي‬ ‫ﭘﻨﺠﺮه‬ ‫ﺑﻪ‬ ‫ﺳﭙﺲ‬‫ﺷﻮد‬.
2(‫ﺻﻔﺤﻪ‬ ‫ﻛﻞ‬ ‫روش‬:‫آراﻳﻪ‬ ‫ﻛﻞ‬ ‫روش‬ ‫اﻳﻦ‬ ‫در‬‫ﻣﺎ‬ ‫ﺑﻪ‬‫ﻧﻨﺪ‬‫ﻣﻲ‬ ‫ﺑﺰرگ‬ ‫ﭘﻨﺠﺮه‬ ‫ﻳﻚ‬‫ﻣﺘ‬ ‫اﺑﺘﺪا‬ ‫ﺳﭙﺲ‬ ‫ﺑﺎﺷﺪ‬‫ﻐ‬‫ﻴﺮ‬Max‫آﻣﺪه‬ ‫ﺑﺪﺳﺖ‬ ‫آراﻳﻪ‬ ‫ﻛﻞ‬ ‫در‬
‫و‬‫آن‬ ‫از‬ ‫ﺑﻌﺪ‬‫ﻓﺮﻣﻮل‬‫را‬‫ﻧﻤﺎﻳﻴﻢ‬ ‫ﻣﻲ‬ ‫اﻋﻤﺎل‬ ‫آراﻳﻪ‬ ‫ﻛﻞ‬ ‫ﺑﺮ‬.
‫اول‬ ‫روش‬ ‫ﻣﺨﺘﺼﺮ‬ ‫ﺑﻄﻮر‬‫دارد‬ ‫ﺑﺰرگ‬ ‫ﻋﻴﺐ‬ ‫ﻳﻚ‬ ‫وﻟﻴﻜﻦ‬ ‫اﺳﺖ‬ ‫ﺧﻮب‬ ‫و‬ ‫ﻣﺴﺘﻘﻞ‬ ‫روﺷﻲ‬.‫اﮔﺮ‬‫ﺑﺎﺷﺪ‬ ‫ﻧﻮﻳﺰ‬ ‫در‬ ‫آن‬ ‫اﻋﻈﻢ‬ ‫ﺑﺨﺶ‬ ‫ﭘﻨﺠﺮه‬ ‫ﻳﻚ‬
‫ﺣﺪاﻛﺜﺮ‬ ‫ﻣﻘﺪار‬،‫ﻣ‬‫ﻘ‬‫ﻧﻤﻲ‬ ‫ﺑﺎﻻﻳﻲ‬ ‫ﺪار‬،‫ﺷﻮد‬‫درﻧﺘﻴﺠﻪ‬‫ﻣﻲ‬ ‫ﻣﺤﻴﻂ‬ ‫ﻧﻮﻳﺰ‬ ‫ﺗﻘﻮﻳﺖ‬ ‫ﺑﺎﻋﺚ‬‫ﺷﻮد‬‫ﺑﻪ‬ ‫و‬‫ﻧﻮﻳﺰ‬ ‫ﺷﺪن‬ ‫ﻧﻤﺎﻳﺎن‬‫ﻣﻨﺘﻬﻲ‬‫ﻣﻲ‬‫ﺷﻮد‬.‫در‬ ‫ﻣﺎ‬
‫ﻧﺮم‬‫اﺳﺘﻔﺎده‬ ‫دوم‬ ‫روش‬ ‫از‬ ‫اﻓﺰار‬‫ﻛﺮده‬‫اﻳﻢ‬.
2-3-3(‫رﺑﺎت‬ ‫ﭼﺮﺧﺶ‬ ‫ﺧﻄﺎي‬
‫رﺑﺎت‬ ‫ﭼﺮﺧﺶ‬ ‫ﻫﻨﮕﺎم‬ ‫در‬ ‫ﺷﻜﻞ‬ ‫ﻣﺨﺮوﻃﻲ‬ ‫دﻳﺪ‬ ‫ﺑﺪﻟﻴﻞ‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮﻫﺎي‬‫زاوﻳﻪ‬ ‫ﺳﺮﻋﺖ‬ ‫اﻓﺰاﻳﺶ‬ ‫ﺑﺎ‬‫ﻣﻲ‬ ‫ﻣﻮاﺟﻪ‬ ‫اي‬‫اﻳﻦ‬ ،‫ﺷﻮﻧﺪ‬
‫ﻣﺴﺎﻟﻪ‬‫ﺧﻄﺎﻫﺎي‬ ‫ﺑﺎﻋﺚ‬‫ﻣﻲ‬ ‫ﻣﻮاﻧﻊ‬ ‫دﻳﺪ‬ ‫از‬ ‫ﻧﺎﺷﻲ‬‫ﮔﺮدد‬‫و‬ ‫اﻓﺰاﻳﺶ‬ ‫ﺑﻪ‬ ‫ﻣﻨﺠﺮ‬ ‫ﻧﺘﻴﺠﻪ‬ ‫در‬ ‫و‬‫ﻣﻲ‬ ‫ﻧﻮﻳﺰ‬ ‫ﺗﻮﻟﻴﺪ‬‫ﺷﻮد‬.‫اﻳﺪه‬ ‫ﻫﻴﭽﮕﺎه‬ ‫رﺑﺎت‬ ‫ﻣﺴﻴﺮ‬‫آل‬
‫ﻧﻤﻲ‬ ‫ﻣﺴﺘﻘﻴﻢ‬ ‫و‬‫ﻣﻲ‬ ‫ﭘﺲ‬ ‫ﺑﺎﺷﺪ‬‫ﺑﺎﻳﺴﺖ‬‫ﻣﺸﻜﻞ‬ ‫اﻳﻦ‬‫و‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻗﺮار‬ ‫ﺗﻮﺟﻪ‬ ‫ﻣﻮرد‬‫ﺷﻮد‬ ‫ﺣﻞ‬.‫راه‬ ‫اوﻟﻴﻦ‬،‫ﭘﺮدازش‬ ‫ﺗﻮﻗﻒ‬‫در‬‫زﻣﺎن‬‫ﮔﺮدش‬
‫رﺑﺎت‬‫ﻣﻲ‬‫ﻛﻪ‬ ‫ﺑﺎﺷﺪ‬‫را‬ ‫ﻣﺸﻜﻞ‬‫ﺑﺴﺎدﮔﻲ‬‫ﻣﻲ‬ ‫ﺣﻞ‬‫د‬ ‫وﻟﻴﻜﻦ‬ ‫ﻧﻤﺎﻳﺪ‬‫از‬ ‫ﺑﺨﺸﻲ‬ ‫ﺣﺮﻛﺖ‬ ‫ﺣﺎل‬ ‫در‬ ‫ﭼﺮﺧﺶ‬ ‫ﻳﺎ‬ ‫زﻳﺎد‬ ‫ﭼﺮﺧﺶ‬ ‫ﺻﻮرت‬ ‫ر‬
‫آن‬ ‫در‬ ‫ﻧﻘﺸﻪ‬ ‫و‬ ‫رﻓﺘﻪ‬ ‫ﺑﻴﻦ‬ ‫از‬ ‫اﻃﻼﻋﺎت‬‫ﻗﺴﻤﺖ‬‫ﻣﻲ‬ ‫ﭘﻴﺪا‬ ‫ﻛﻤﺘﺮي‬ ‫وﺿﻮح‬‫ﻛﻨﺪ‬.‫از‬ ‫ﭘﺲ‬‫ﺑﺮرﺳﻲ‬‫ﻧﺘﻴﺠﻪ‬‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫اﻳﻦ‬ ‫ﺑﻬﺘﺮ‬ ‫راه‬‫ﻫﻨﮕﺎم‬ ‫در‬
‫ﻣﻘﺪار‬ ‫ﺑﺎﻻي‬ ‫اﺧﺘﻼف‬ ‫و‬ ‫ﭼﺮﺧﺶ‬θΔ‫ﭘﺘﺎﻧﺴ‬ ‫وزن‬ ‫ﻧﻮﻋﻲ‬ ‫ﺑﻪ‬ ‫و‬ ‫ﻛﻨﺪ‬ ‫ﭘﻴﺪا‬ ‫ﻛﺎﻫﺶ‬ ‫ﺷﺪت‬ ‫ﺑﻪ‬ ‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫وزن‬‫ﺑﺮ‬ ‫ﺗﻘﺴﻴﻢ‬ ‫ﻴﻞ‬θΔ‫ﺷﻮد‬.‫اﻳﻦ‬
‫ﻣﻲ‬ ‫را‬ ‫ﻣﺘﻐﻴﺮ‬‫ﺑﺮ‬ ‫ﺑﺎﻳﺴﺖ‬‫ﻣ‬ ‫ﻣﻘﺪاردﻫﻲ‬ ‫آزﻣﺎﻳﺶ‬ ‫و‬ ‫ﺗﺠﺮﺑﻪ‬ ‫اﺳﺎس‬‫ﻨ‬‫ﺎﺳ‬‫ﺒ‬‫ﻛﺮد‬ ‫ﻲ‬.‫ﺗﻮﻟﻴﺪ‬ ‫ﺷﺪت‬ ‫ﻫﻢ‬ ‫و‬ ‫دارد‬ ‫اداﻣﻪ‬ ‫ﻧﻘﺸﻪ‬ ‫رﺳﻢ‬ ‫ﻫﻢ‬ ‫ﺣﺎﻟﺖ‬ ‫اﻳﻦ‬ ‫در‬
‫ﻳﺎﺑﺪ‬ ‫ﻣﻲ‬ ‫ﻛﺎﻫﺶ‬ ‫ﺷﺪت‬ ‫ﺑﻪ‬ ‫ﭼﺮﺧﺶ‬ ‫زاوﻳﻪ‬ ‫اﻓﺰاﻳﺶ‬ ‫ﺑﺎ‬ ‫ﻧﻮﻳﺰ‬.‫را‬ ‫ﻣﻮرد‬ ‫دو‬ ‫ﻫﺮ‬ ‫روش‬ ‫اﻳﻦ‬ ‫اﺻﻞ‬ ‫در‬‫ﻫﻤﺰﻣﺎن‬‫ﻣﻲ‬ ‫ﺣﻞ‬ ‫ﻫﻢ‬ ‫ﺑﺎ‬‫ﻧﻤﺎﻳ‬‫ﺪ‬.

2-3-4(‫ﻟﺒﻪ‬‫ﻧﻬﺎﻳﻲ‬ ‫ﺗﺼﻮﻳﺮ‬ ‫ﻳﺎﺑﻲ‬
‫ﺻﻔﺤﻪ‬ ‫در‬ ‫ﻣﻮاﻧﻊ‬ ‫و‬ ‫ﺷﺪه‬ ‫ﺗﻜﻤﻴﻞ‬ ‫زﻳﺎدي‬ ‫ﺣﺪ‬ ‫ﺗﺎ‬ ‫ﺗﺼﻮﻳﺮ‬‫دو‬‫ﺷﺪه‬ ‫ﻣﺸﺨﺺ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺑﻌﺪي‬‫اﻧﺪ‬.‫ﻫﺪف‬ ‫ﻣﺮﺣﻠﻪ‬ ‫آﺧﺮﻳﻦ‬ ‫در‬‫ﻣﺎ‬‫ﻛﻴﻔﻴﺖ‬ ‫ﺑﻬﺒﻮد‬
‫ﻣﻲ‬ ‫اﻣﻜﺎن‬ ‫ﺣﺪ‬ ‫ﺗﺎ‬ ‫ﻧﻮﻳﺰ‬ ‫ﺣﺬف‬ ‫ﻫﻤﭽﻨﻴﻦ‬ ،‫ﺗﺼﻮﻳﺮ‬‫ﺑﺎﺷﺪ‬.‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﮕﻮﻧﻪ‬‫در‬‫ﺷﺪ‬ ‫اﺷﺎره‬ ‫ﻗﺒﻞ‬‫ﻃﺮاﺣﻲ‬ ‫ﺑﺎ‬‫دﺳﺘﻲ‬ ‫ﻓﻴﻠﺘﺮ‬ ‫ﻧﻮع‬ ‫ﻳﻚ‬‫ﻛﻪ‬ ،‫اﺧﺘﻴﺎر‬ ‫در‬
‫ﻛﺎرﺑﺮ‬‫ﻣﻲ‬ ‫اﺳﺖ‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻗﺮار‬ً‫ا‬‫ﻣﺠﺪد‬ ‫ﺗﻮان‬‫ﺑﺨﺸﻴﺪ‬ ‫ﺑﻬﺒﻮد‬ ‫را‬ ‫ﺗﺼﻮﻳﺮ‬.‫ﺗﻐﻴﻴﺮ‬ ‫ﺑﺎ‬‫ﻣﻘﺪار‬ ‫ﻓﻴﻠﺘﺮ‬ ‫ﻣﻮﻟﻔﻪ‬ ‫ﻣﻘﺪار‬‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﺣﺪاﻗﻞ‬‫ﻣﻲ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﻴﺰ‬‫ﻛﻨﺪ‬.
‫ﻣﺤﺪوده‬ ‫در‬ ‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﺣﺪاﻗﻞ‬ ‫اﻓﺰاﻳﺶ‬ ‫ﺑﺎ‬،‫ﺷﻮﻧﺪ‬ ‫ﻣﻲ‬ ‫ﺣﺬف‬ ‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﻛﻢ‬ ‫ﻧﻘﺎط‬ ‫از‬ ‫ﺑﺨﺸﻲ‬‫ﻳﺎ‬ ‫اﺷﺘﺒﺎه‬ ‫ﺑﻄﻮر‬ ‫ﻛﻪ‬ ‫ﻧﻘﺎط‬ ‫از‬ ‫ﺑﻌﻀﻲ‬ ‫ﻧﺘﻴﺠﻪ‬ ‫در‬ ،
‫ﺷﺪه‬ ‫ﻛﻤﻲ‬ ‫ﺗﻘﻮﻳﺖ‬ ‫ﻧﻮﻳﺰ‬ ‫ﺑﻌﻨﻮان‬‫ا‬‫ﻣﻲ‬ ‫ﺣﺬف‬ ‫ﺑﺴﺎدﮔﻲ‬ ‫ﻧﺪ‬‫ﺷﻮﻧﺪ‬.‫رﺳﻴﺪ‬ ‫ﺧﻮاﻫﺪ‬ ‫ﻣﻄﻠﻮب‬ ‫ﻧﻘﻄﻪ‬ ‫ﺑﻪ‬ ‫ﻛﺎرﺑﺮ‬ ‫ﺧﻄﺎ‬ ‫و‬ ‫ﺳﻌﻲ‬ ‫ﺑﺎ‬ ‫ﻓﻴﻠﺘﺮ‬ ‫اﻳﻦ‬‫و‬‫اﻟﺒﺘﻪ‬
‫اﺳﺖ‬ ‫واﺑﺴﺘﻪ‬ ‫ﻛﺎرﺑﺮ‬ ‫ﺗﺠﺮﺑﻪ‬ ‫ﺑﻪ‬ ‫ﻛﺎﻣﻼ‬ ‫آن‬ ‫ﺑﺎزده‬ ‫و‬ ‫ﻫﻮﺷﻤﻨﺪي‬.‫ﻣﻔﻴﺪﺗﺮ‬ ‫ﻓﻴﻠﺘﺮ‬ ‫وﻟﻴﻜﻦ‬‫را‬ ‫ﻣﻮﺛﺮﺗﺮي‬ ‫و‬‫ﻧﺮم‬ ‫در‬‫ﻧﻤﻮده‬ ‫اﺳﺘﻔﺎده‬ ‫اﻓﺰار‬‫ﺑﻪ‬ ‫ﻛﻪ‬ ‫اﻳﻢ‬
‫ﻟﺒﻪ‬ ‫اﻟﮕﻮرﻳﺘﻢ‬‫ﻳ‬‫ﺎ‬‫ﺑ‬‫ﺗﺼﻮﻳﺮ‬ ‫ﭘﺮدازش‬ ‫در‬ ‫ﻲ‬‫ﻣﻌﺮوف‬‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.
‫ﭘﻨﺠﺮه‬ ‫ﺑﺎ‬ ‫را‬ ‫آراﻳﻪ‬ ‫ﻛﻞ‬ ‫اﻟﮕﻮرﻳﺘﻢ‬ ‫اﻳﻦ‬ ‫در‬‫اي‬‫ﺳﻪ‬‫در‬‫ﺳﻪ‬‫اﻧﺪﻳﺴﻲ‬‫ﻣﻲ‬ ‫ﭘﻮﻳﺶ‬‫ﻛﻨﻴﻢ‬.‫ﻣﻲ‬ ‫ﻗﺴﻤﺖ‬ ‫ﻫﺮ‬ ‫در‬‫ارﻗﺎم‬ ‫ﺑﺎﻳﺴﺖ‬‫ﻛﺎدر‬‫ﺑﺎ‬ ‫را‬ ‫ﭘﻨﺠﺮه‬ ‫دور‬
‫اﺿﺎﻓﻪ‬ ‫ﺑﻪ‬ ‫ﻛﺮده‬ ‫ﺟﻤﻊ‬ ‫ﻫﻢ‬3‫ﻧﻤﻮده‬ ‫ﭘﻨﺠﺮه‬ ‫ﻣﺮﻛﺰ‬ ‫ﻣﻘﺪار‬ ‫ﺑﺮاﺑﺮ‬‫ﻣ‬ ‫آﻧﮕﺎه‬‫ﻘ‬‫را‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﺪار‬‫ﺑﺮ‬ ‫ﺗﻘﺴﻴﻢ‬11‫ﻧﻤﺎﻳﻴﻢ‬.‫ﻋﺪد‬ ‫ﻛﻪ‬11‫ﺧﺎﻧﻪ‬ ‫ﺗﻌﺪاد‬‫ﻫﺎي‬
‫اﺿﺎﻓﻪ‬ ‫ﺑﻪ‬ ‫ﭘﻨﺠﺮه‬ ‫ﻛﻨﺎري‬3‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.‫ﺧﺎﻧﻪ‬ ‫در‬ ‫را‬ ‫آﻣﺪه‬ ‫ﺑﺪﺳﺖ‬ ‫ﻣﻘﺪار‬ ‫ﺣﺎل‬‫ﻣﺮﻛﺰي‬‫ﻣﻲ‬ ‫ﻗﺮار‬‫دﻫﻴﻢ‬.
11
3 A
X
× +
=
‫ﮔﺮﻓﺘﻦ‬ ‫ﻧﻈﺮ‬ ‫در‬ ‫ﺑﺎ‬ ‫روش‬ ‫اﻳﻦ‬‫ﻛﻠﻴﻪ‬‫ﻧﻘﻄﻪ‬ ‫ﻳﻚ‬ ‫دور‬ ‫ﻧﻘﺎط‬‫ﻣﺮﻛﺰي‬‫ﻳﺎ‬ ‫و‬ ‫ﺗﻘﻮﻳﺖ‬ ‫ﺑﺎﻋﺚ‬‫ﺗ‬‫ﻀﻌ‬‫ﻴ‬‫ﻧﻘﻄﻪ‬ ‫ﻒ‬‫ﻣﺮﻛﺰي‬‫ﻣﻲ‬‫ﺷﻮد‬.‫در‬‫ﺣﺎﻟﺘ‬‫ﻲ‬‫ﻛﻪ‬
‫ﻣﻘﺎدﻳﺮ‬‫ﺧﺎﻧﻪ‬‫ﻫﺎي‬‫ﺣ‬‫ﻣﺮﻛﺰ‬ ‫ﻮل‬‫ﻣﻘﺪار‬ ‫ﺑﺎﺷﻨﺪ‬ ‫ﺑﺎﻻ‬X‫ﻣﻲ‬ ‫اﻓﺰاﻳﺶ‬‫ﻳﺎﺑﺪ‬.‫در‬‫ﻟﺒﻪ‬ ‫ﻧﺘﻴﺠﻪ‬‫دﻳﻮار‬ ‫و‬ ‫ﻫﺎ‬‫ه‬‫ﻫﺎ‬‫ﺗ‬‫ﻘﻮﻳ‬‫ﺖ‬‫در‬ ‫ﻣﻌﻠﻖ‬ ‫ﻧﻮﻳﺰﻫﺎي‬ ‫و‬ ‫ﺷﺪه‬
‫ﻛﺎﻫﺶ‬ ‫ﺑﻪ‬ ‫رو‬ ‫ﺻﻔﺤﻪ‬‫ﻣﻲ‬‫روﻧﺪ‬‫دﻳﺪ‬ ‫از‬ ‫ﺣﺪي‬ ‫ﺗﺎ‬ ‫و‬‫ﻛﺎرﺑﺮ‬‫ﻣﻲ‬ ‫ﺣﺬف‬‫ﺷﻮﻧﺪ‬.‫وﻟﻴﻜﻦ‬‫در‬‫ﺣﺎﻟﺘﻲ‬‫ﻛﻪ‬‫ﻣﻘﺎدﻳﺮ‬‫ﺧﺎﻧﻪ‬‫ﻣﺮﻛﺰ‬ ‫ﺣﻮل‬ ‫ﻫﺎي‬‫ﭘﺎﻳﻴﻦ‬
‫ﻣﻘﺪار‬ ‫ﺑﺎﺷﻨﺪ‬X‫ﻛﺎﻫﺶ‬‫ﻣﻲ‬‫ﻳﺎﺑﺪ‬.‫ﻧﺘﻴﺠﻪ‬ ‫در‬‫ﻧﺎﺣﻴﻪ‬ ‫اﻳﻦ‬ ‫و‬ ‫ﺷﺪه‬ ‫ﻛﻢ‬ ‫ﻣﺮﻛﺰي‬ ‫ﻧﻘﻄﻪ‬ ‫ﻣﻘﺪار‬‫ﻣﻲ‬ ‫ﺷﺪن‬ ‫ﻣﺤﻮ‬ ‫ﺑﻪ‬ ‫ﺷﺮوع‬ ‫ﻫﺎ‬‫ﻧﻤﺎﻳﻨﺪ‬.
‫دﻳﺪﻳﻢ‬ ‫را‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮ‬ ‫ﺗﻌﺪادي‬ ‫ﺑﻮﺳﻴﻠﻪ‬ ‫ﻣﺤﻴﻂ‬ ‫ﻧﻘﺸﻪ‬ ‫رﺳﻢ‬ ‫اﻳﻨﺠﺎ‬ ‫ﺑﻪ‬ ‫ﺗﺎ‬.‫ﻻزم‬ ‫ﭘﺮدازش‬ ،‫ﺷﺪه‬ ‫درﻳﺎﻓﺖ‬ ‫اﻃﻼﻋﺎت‬ ‫ﺣﺎﻟﺖ‬ ‫اﻳﻦ‬ ‫در‬
‫ﻣﻲ‬ ‫اﻧﺠﺎم‬ ‫آﻧﻬﺎ‬ ‫روي‬ ‫ﺑﺮ‬‫ﻣﻮاﻧﻊ‬ ‫از‬ ‫ﺗﺼﻮﻳﺮي‬ ‫ﻧﻬﺎﻳﺖ‬ ‫در‬ ‫و‬ ‫ﮔﺮﻓﺖ‬‫ﻣﺤﻴﻂ‬ ‫و‬‫ﻣﻲ‬ ‫ﻗﺮار‬ ‫ﻛﺎرﺑﺮ‬ ‫اﺧﺘﻴﺎر‬ ‫در‬‫ﮔﺮﻓﺖ‬.‫اﺑﺰار‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﺻﻮرت‬ ‫در‬ ‫وﻟﻴﻜﻦ‬
‫ﻣﻲ‬‫و‬ ‫ﺑﻬﺘﺮ‬ ‫ﺗﺼﺎوﻳﺮ‬ ‫ﺗﻮان‬‫دﻗﻴﻖ‬‫ﻧﻤﻮد‬ ‫رﺳﻢ‬ ‫ﺗﺮي‬.‫ﻳﻜ‬‫از‬ ‫ﻲ‬‫اﺑﺰار‬‫اﻳﻨﻜﺎر‬ ‫ﺑﺮاي‬ ‫ﻣﻨﺎﺳﺐ‬ ‫ﺑﺴﻴﺎر‬‫وﺳﻴﻠﻪ‬‫اي‬‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬ ‫ﺑﻨﺎم‬1
‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.‫اﻳﻦ‬
‫ﻗﺮﻣﺰ‬ ‫ﻣﺎدون‬ ‫ﺣﺴﮕﺮ‬ ‫ﻳﻚ‬ ‫اﺑﺰار‬‫اﺳﺖ‬‫ﺻﻔﺤﻪ‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﻛﻪ‬‫ﻣﻲ‬ ‫ﻧﺼﺐ‬ ‫ﭼﺮﺧﺶ‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫ﺑﺎ‬ ‫اي‬‫ﺑﺎﺷﺪ‬.‫اﻳﻦ‬‫ﺣﺴﮕﺮ‬‫و‬ ‫ﭼﺮﺧﺶ‬ ‫ﺑﻮﺳﻴﻠﻪ‬‫ﺳﺮﻋﺖ‬
‫ﻣﻲ‬ ‫ﻧﻮر‬ ‫ﺑﺎﻻي‬‫ﺗﻮاﻧ‬‫ﺪ‬‫ﻧﻤ‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺑﻪ‬ ‫را‬ ‫ﻣﺎﻧﻊ‬ ‫ﻫﺮ‬ ‫ﻣﻮﻗﻌﻴﺖ‬‫ﺎ‬‫ﻳ‬‫ﺪ‬.‫ﻧﻘﻄﻪ‬ ‫آوردن‬ ‫ﺑﺪﺳﺖ‬ ‫از‬ ‫ﭘﺲ‬ ‫وﺳﻴﻠﻪ‬ ‫اﻳﻦ‬ ‫در‬‫اي‬‫ﺧ‬‫ﺗﻐﻴﻴﺮ‬ ‫ﺣﺴﮕﺮ‬ ‫ﺎص‬
‫ﻧﻘﻄﻪ‬ ‫ﻣﻮﻗﻌﻴﺖ‬ ‫ﻛﻮﭼﻜﻲ‬ ‫ﺑﺴﻴﺎر‬ ‫ﭼﺮﺧﺶ‬ ‫ﺑﺎ‬ ‫و‬ ‫داده‬ ‫وﺿﻌﻴﺖ‬‫را‬ ‫دﻳﮕﺮ‬ ‫اي‬‫ﻧﻘﻄﻪ‬ ‫ﻧﺰدﻳﻜﻲ‬ ‫در‬‫ﻗ‬‫ﺒﻞ‬‫ﻣﻲ‬ ‫ﺑﺪﺳﺖ‬‫آورد‬.‫ﺗﻜﺮار‬ ً‫ا‬‫ﻣﺠﺪد‬ ‫روال‬ ‫اﻳﻦ‬
‫ﻣﻲ‬‫ﺑﺮﺳﻴﻢ‬ ‫ﻧﻬﺎﻳﻲ‬ ‫زاوﻳﻪ‬ ‫ﺑﻪ‬ ‫ﺗﺎ‬ ‫ﺷﻮد‬‫و‬‫ﻣﻲ‬ ‫ﺣﺮﻛﺖ‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﺣﺪ‬ ‫ﺗﺎ‬ ‫ﻋﻜﺲ‬ ‫ﺟﻬﺖ‬ ‫در‬ ‫آن‬ ‫از‬ ‫ﭘﺲ‬‫ﻛﻨﺪ‬.‫ﻛﺎر‬ ‫اﻳﻦ‬‫ﻣﺠ‬‫ﻛﺎرﺑﺮ‬ ‫ﻧﻴﺎز‬ ‫ﺑﻪ‬ ‫ﺑﻨﺎ‬ ً‫ا‬‫ﺪد‬‫ﺗﻜﺮار‬
‫ﻣﻲ‬‫ﺷﻮد‬.
‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬‫ﻳﻚ‬‫ﻋﻤﻠﻴﺎﺗ‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫ﺑﺎ‬ ‫ﻛﺎﻣﻞ‬ ‫وﺳﻴﻠﻪ‬،‫ﻲ‬‫ﻣﻲ‬ ‫ﺑﺎﻻ‬ ‫ﭘﺮدازﺷﻲ‬‫ﺑﺎﺷﺪ‬.‫ﺻﻮ‬ ‫ﺑﺪﻳﻦ‬‫ر‬‫ارﺗﺒﺎط‬ ‫ﺑﺎ‬ ‫ﻛﻪ‬ ‫ت‬‫درﮔ‬‫ﻳﺎ‬ ‫و‬ ‫ﺳﺮﻳﺎل‬ ‫ﺎه‬USB
‫ﻣﻲ‬‫ﺗﻮان‬‫دﺳﺘﻮرات‬‫ﺑﻪ‬ ‫را‬ ‫ﻣﻨﺎﺳﺐ‬‫وﺳﻴﻠﻪ‬ ‫اﻳﻦ‬‫از‬ ‫ﭘﺲ‬ ‫و‬ ‫ﻧﻤﻮد‬ ‫ارﺳﺎل‬‫ﺟﻤﻊ‬‫اﻃﻼﻋﺎت‬ ‫آوري‬‫داده‬ ‫اﻧﺘﻘﺎل‬ ‫ﺑﺴﺘﺮ‬ ‫ﻫﻤﻴﻦ‬ ‫ﺑﺎ‬‫ﻫﺎ‬‫را‬‫د‬‫رﻳﺎﻓﺖ‬
‫ﻛ‬‫ﺮ‬‫د‬.‫ﺿﻤﺎﻳﻢ‬ ‫ﻗﺴﻤﺖ‬ ‫در‬،‫ﻣﺸﺨﺼﺎت‬ ‫ﺑﺨﺶ‬‫ﻓﻨﻲ‬2
‫اﻃﻼﻋﺎت‬‫وﺳﻴﻠﻪ‬ ‫اﻳﻦ‬‫ﻗ‬‫اﺳﺖ‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﺮار‬.
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Laser Scanner
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Data Sheet

‫ﺑﺨﺶ‬2-4(‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬ ‫و‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮ‬
‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬‫د‬‫ﺑﺨﺶ‬ ‫ر‬‫ﻧﺮم‬ ‫اﻳﻦ‬ ،‫ﺷﺪ‬ ‫داده‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﮔﺬﺷﺘﻪ‬ ‫ﻫﺎي‬‫ﺑﺎ‬ ‫ﻛﺎر‬ ‫و‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮﻫﺎي‬ ‫ﺑﺎ‬ ‫ﻛﺎر‬ ‫ﺑﺮاي‬ ‫ﻧﺴﺨﻪ‬ ‫دو‬ ‫در‬ ‫اﻓﺰار‬
‫ﭘﻴﺎده‬ ‫و‬ ‫ﻃﺮاﺣﻲ‬ ‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬‫ﮔ‬ ‫ﺳﺎزي‬‫اﺳﺖ‬ ‫ﺮدﻳﺪه‬.‫ﺷﺊ‬ ً‫ﻼ‬‫ﻛﺎﻣ‬ ‫ﻃﺮاﺣﻲ‬ ‫دﻟﻴﻞ‬ ‫ﺑﻪ‬ ‫اﻟﺒﺘﻪ‬‫ﻧﺮم‬ ‫ﻣﻬﻨﺪﺳﻲ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫و‬ ‫ﮔﺮا‬‫اﺳﺘﻔﺎده‬ ‫ﺑﺮاي‬ ‫اﻓﺰار‬
‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫ﻣﺘﻐﻴﺮﻫﺎي‬ ‫ﺑﻪ‬ ‫آﻧﻬﺎ‬ ‫اﻧﺘﺼﺎب‬ ‫و‬ ‫درﻳﺎﻓﺘﻲ‬ ‫اﻃﻼﻋﺎت‬ ‫ﺗﺮﺟﻤﻪ‬ ‫ﻫﻤﺎن‬ ‫ﻛﻪ‬ ‫زﻳﺮﻳﻦ‬ ‫ﻻﻳﻪ‬ ‫در‬ ‫ﻓﻘﻂ‬ ،‫ﺷﺪه‬ ‫ﺗﻮﻟﻴﺪ‬ ‫ﻛﺪﻫﺎي‬ ‫از‬ ‫ﻣﺠﺪد‬
‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫اﻋﻤﺎل‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﺑﺮﻧﺎﻣﻪ‬.‫ﻻﻳﻪ‬ ‫و‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﻗﺴﻤﺖ‬ ‫در‬ ‫ﻫﻤﭽﻨﻴﻦ‬‫اﻓﺰاﻳﺶ‬ ‫ﺑﺪﻟﻴﻞ‬ ‫ﻧﻴﺰ‬ ‫اﺳﺖ‬ ‫ﻛﺎرﺑﺮ‬ ‫ﺑﻪ‬ ‫ﻧﻤﺎﻳﺶ‬ ‫و‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﻫﻤﺎن‬ ‫ﻛﻪ‬ ‫آﺧﺮ‬
‫ﻛﺎﻫﺶ‬ ‫و‬ ‫ﻧﻘﺎط‬‫ز‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫اﻋﻤﺎل‬ ‫ﺗﻐﻴﻴﺮاﺗﻲ‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫ﭘﺮﺗﻮﻫﺎي‬ ‫ﺑﻴﻦ‬ ‫اوﻳﻪ‬.‫ﭘﻮﻳﺸﮕﺮ‬ ‫و‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮﻫﺎي‬ ‫ﺑﻴﻦ‬ ‫ﻓﺮق‬ ‫ﻻﻳﻪ‬ ‫اﻳﻦ‬ ‫در‬
‫زواﻳﺎ‬ ‫و‬ ‫ﺗﻌﺪاد‬ ‫در‬ ‫ﺗﻔﺎوت‬ ‫ﺑﺼﻮرت‬ ‫ﻓﻘﻂ‬ ،‫ﻟﻴﺰري‬‫ي‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻓﺮض‬ ‫آﻧﻬﺎ‬ ‫ﭘﺮﺗﻮﻫﺎي‬ ‫ﺑﻴﻦ‬.‫اﻟﮕﻮرﻳ‬ ‫ﺳﺎﻳﺮ‬ ‫ﻧﺘﻴﺠﻪ‬ ‫در‬‫ﺘﻢ‬‫ﭘﺮدازش‬ ‫و‬ ‫ﻫﺎ‬‫ﺑﻪ‬ ‫ﻫﺎ‬
‫اﺳﺖ‬ ‫ﮔﺮﻓﺘﻪ‬ ‫اﻧﺠﺎم‬ ‫ﻣﺸﺎﺑﻪ‬ ‫ﻛﺎﻣﻼ‬ ‫ﺻﻮرت‬.
‫ﻣﻔﺼﻞ‬ ‫ﻛﻪ‬ ‫ﺑﻌﺪ‬ ‫ﺑﺨﺶ‬ ‫در‬‫ﻣﻲ‬ ‫ﻧﻴﺰ‬ ‫ﺑﺨﺶ‬ ‫ﺗﺮﻳﻦ‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫داده‬ ‫ﺷﺮح‬ ‫ﻃﺮاﺣﻲ‬ ‫روش‬ ‫و‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬ ‫ﻛﺎﻣﻞ‬ ‫ﺑﻄﻮر‬ ‫ﺑﺎﺷﺪ‬.‫ﻣﻲ‬ ‫ﺷﻤﺎ‬‫ﺗﻮاﻧﻴﺪ‬
‫اﻟﮕﻮرﻳﺘﻢ‬‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﺳﺘﻔﺎده‬ ‫آﻧﻬﺎ‬ ‫از‬ ‫ﻧﻴﺎز‬ ‫ﺻﻮرت‬ ‫در‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫ﺑﺮرﺳﻲ‬ ‫ﻣﺠﺰا‬ ‫ﺑﺼﻮرت‬ ‫را‬ ‫ﻫﺎ‬.
‫ﻛﻠ‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﺗﻮﺟﻪ‬ ‫ﻗﺎﺑﻞ‬‫ﮔﻨﻮ‬ ‫ﻫﻤﮕﺎﻧﻲ‬ ‫ﺟﺎﻣﻊ‬ ‫ﭘﺮواﻧﻪ‬ ‫ﻣﺠﻮز‬ ‫ﺗﺤﺖ‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪﻫﺎي‬ ‫ﻴﻪ‬1
‫ﺑﻄﻮر‬ ‫آن‬ ‫ﻗﻮاﻧﻴﻦ‬ ‫و‬ ‫ﺑﻨﺪﻫﺎ‬ ‫ﺗﻤﺎﻣﻲ‬ ‫و‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻣﻨﺘﺸﺮ‬
‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﭘﺬﻳﺮﻓﺘﻪ‬ ‫ﻛﺎﻣﻞ‬.‫ﻣﻴ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﻣﺤﺘﻮي‬ ‫از‬ ‫اﻃﻼع‬ ‫ﺑﺮاي‬‫ﻓﺮﻣﺎﻳﻴﺪ‬ ‫ﻣﺮاﺟﻌﻪ‬ ‫ﺿﻤﻴﻤﻪ‬ ‫دﻳﺴﻚ‬ ‫ﺑﻪ‬ ‫ﺘﻮاﻧﻴﺪ‬.‫ﻫﺮﮔﻮﻧﻪ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﻃﺒﻖ‬
‫ذ‬ ‫ﺑﺎ‬ ‫اﺻﻠﻲ‬ ‫ﻛﺪ‬ ‫در‬ ‫ﺗﻐﻴﻴﺮ‬ ‫و‬ ‫ﺗﻮزﻳﻊ‬ ،‫اﻧﺘﺸﺎر‬ ،‫ﺑﺮداري‬ ‫ﻛﭙﻲ‬‫اﺳﺖ‬ ‫ﺑﻼﻣﺎﻧﻊ‬ ‫ﻧﻮﻳﺴﻨﺪه‬ ‫ﻧﺎم‬ ‫ﻛﺮ‬.
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GNU General Public License (GPL)

‫ﺑﺨﺶ‬2-5(‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬ ‫ﻛﺎﻣﻞ‬ ‫ﺷﺮح‬
‫ﺷﺪ‬ ‫ﺧﻮاﻫﺪ‬ ‫داده‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﻛﺎﻣﻞ‬ ‫ﺑﻄﻮر‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬ ‫ﺑﺨﺶ‬ ‫اﻳﻦ‬ ‫در‬.‫اﺑﺘﺪا‬‫روال‬ ‫و‬ ‫ﺳﺎﺧﺘﺎر‬‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮﻫﺎي‬ ‫ﺑﺎ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﺑﺮﻧﺎﻣﻪ‬
‫ﻣﻲ‬ ‫داده‬ ‫ﺷﺮح‬‫ا‬ ‫در‬ ،‫ﺷﻮد‬‫ﺗﻔﺎوت‬ ‫ﺑﻪ‬ ‫داﻣﻪ‬‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﺑﻴﻦ‬ ‫ﻫﺎي‬‫ﺑﺎ‬‫ﻟﻴ‬ ‫ﭘﻮﻳﺸﮕﺮ‬ ‫و‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮ‬‫ﻣﻲ‬ ‫ﺰري‬‫اﻧﺘﻬﺎ‬ ‫در‬ ‫و‬ ‫ﭘﺮدازﻳﻢ‬
‫ﺷﺪ‬ ‫ﺧﻮاﻫﺪ‬ ‫داده‬ ‫ﺛﺒﺘﻲ‬ ‫ﻓﺎﻳﻠﻬﺎي‬ ‫ﻛﻨﻨﺪه‬ ‫ﭘﺨﺶ‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﻣﻮرد‬ ‫در‬ ‫ﻣﺨﺘﺼﺮي‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﻧﻴﺰ‬.‫ﻧﻤﻮدار‬ ‫رﺳﻢ‬ ‫ﺑﺮﻧﺎﻣﻪ‬‫ﻓﺮﻣﻮل‬‫ﭘﺘﺎﻧﺴ‬‫ﻴ‬‫ﻗﺴﻤﺖ‬ ‫ﻧﻴﺰ‬ ‫ﻞ‬
‫داد‬ ‫ﺧﻮاﻫﺪ‬ ‫اﺧﺘﺼﺎص‬ ‫ﺧﻮد‬ ‫ﺑﻪ‬ ‫را‬ ‫ﻛﻮﭼﻜﻲ‬.
2-5-1(‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮ‬ ‫ﺑﺎ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬
‫ﻧﺮم‬ ‫اﻳﻦ‬ ‫ﻃﺮاﺣﻲ‬ ‫ﺑﺮاي‬‫اﻓﺰار‬‫ﻛﺮده‬ ‫ﺳﻌﻲ‬ ‫ﻣﺎ‬‫روش‬ ‫از‬ ‫اﻳﻢ‬‫ﺷﻲ‬ ‫ﻫﺎي‬‫ﻧﻤﺎﻳﻴﻢ‬ ‫اﺳﺘﻔﺎده‬ ‫ﻛﺪ‬ ‫ﺷﻔﺎﻓﻴﺖ‬ ‫و‬ ‫وﺿﻮح‬ ‫ﺑﺮاي‬ ‫ﮔﺮا‬.‫ﻫﻤﭽﻨﻴﻦ‬‫اﻳﻦ‬ ‫در‬
‫روش‬‫ﺑﺎﺷﻴﻢ‬ ‫ﻣﻲ‬ ‫دارا‬ ‫ﻧﻴﺰ‬ ‫را‬ ‫ﻛﺪ‬ ‫از‬ ‫ﻣﺠﺪد‬ ‫اﺳﺘﻔﺎده‬ ‫ﺗﻮاﻧﺎﻳﻲ‬.‫ﺑ‬‫ﺛﺎﺑﺖ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺎ‬‫ﺷﺪه‬ ‫ﺗﻌﺮﻳﻒ‬ ‫ﻫﺎي‬‫ﭘﺎراﻣﺘﺮﻫﺎي‬ ‫ﺗﻐﻴﻴﺮ‬ ‫در‬ ‫اﻧﻌﻄﺎف‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ،
‫اﺳﺖ‬ ‫آﻣﺪه‬ ‫ﺑﻮﺟﻮد‬ ‫ﻧﻴﺰ‬ ‫ﻛﺪ‬ ‫ﻛﻠﻴﺪي‬.‫ﺷﻜﻞ‬ ‫ﺑﻪ‬ ‫ﻣﺴﺘﻘﻞ‬ ‫ﻛﻼس‬ ‫ﻳﻚ‬ ‫ﻗﺎﻟﺐ‬ ‫در‬ ‫ﻛﺪ‬ ‫اﺻﻠﻲ‬ ‫ﻫﺴﺘﻪ‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﺗﻌﺮﻳﻒ‬ ‫زﻳﺮ‬.
class Map_Table
{
public:
Map_Table(int, int); // Constructor
~Map_Table(); // Destructor
void Clear(void); // Clear Array of Map potential
void Set(int, int, int); // Set Point of Array
int Get(int, int); // Get Data of Specific Point
void RangeCalc(void); // Calculate Maximum and Minimum of Array
void Normalize(void); // Filter with Power
void SquareNormalize(void); // Square Filtering
void EdgeDetection(void); // Edge Detection for Image Proccessing
bool Expand(char, int); // Virtual expand array
int Height; // Virtual X
int Width; // Virtual Y
int MAX_X; // Maximum X Length
int MAX_Y; // Maximum Y Length
int Max; // Maximum Value in Array
int Min; // Minimum Value in Array
private:
int **Table; // Pointer to Array Data
};

‫داده‬ ‫ﻧﮕﻬﺪاري‬ ‫ﺑﺮاي‬ ‫ﻛﻼس‬ ‫اﻳﻦ‬‫اﺻﻠﻲ‬ ‫ﻫﺎي‬‫ﻣﻲ‬ ‫ﻧﻘﺎط‬ ‫و‬‫ﺑﺎﺷﺪ‬.‫داده‬‫ا‬ ‫در‬ ‫ﻧﻘﺎط‬ ‫ﻫﺎي‬‫اﻧﺠﺎم‬ ‫آﻧﻬﺎ‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﭘﺮدازش‬ ‫و‬ ‫ﺷﺪه‬ ‫ذﺧﻴﺮه‬ ‫ﻛﻼس‬ ‫ﻳﻦ‬
‫ﻣﻲ‬‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬ ‫آﻧﻬﺎ‬ ‫از‬ ‫ﻧﻴﺰ‬ ‫ﻧﻴﺎز‬ ‫ﻣﻮاﻗﻊ‬ ‫در‬ ،‫ﮔﻴﺮد‬‫ﺷﻮد‬.‫اداﻣﻪ‬ ‫در‬‫ﺑﺤﺚ‬ ‫اﻳﻦ‬‫ﻣﺘﺪﻫﺎ‬1
‫ﺻﻔﺖ‬ ‫و‬‫ﻫﺎ‬2
‫ﻣﻲ‬ ‫ﺗﻮﺿﻴﺢ‬ ‫را‬‫دﻫﻴﻢ‬.
‫ﻣﻲ‬ ‫ﻛﻨﻨﺪه‬ ‫ﺗﺨﺮﻳﺐ‬ ‫و‬ ‫ﺳﺎزﻧﺪه‬ ‫ﺑﻪ‬ ‫ﻧﻴﺎز‬ ‫ﻛﻼس‬ ‫ﻫﺮ‬ ‫ﺧﺎﺗﻤﻪ‬ ‫و‬ ‫ﺷﺮوع‬ ‫ﺑﺮاي‬‫ﺑﺎﺷﺪ‬.‫ﺻﻔﺖ‬ ‫و‬ ‫ﻣﺘﺪﻫﺎ‬ ‫ﻛﻠﻴﻪ‬‫اﺳﺘﻔ‬ ‫اﺟﺎزه‬ ‫و‬ ‫ﻫﺴﺘﻨﺪ‬ ‫ﻋﻤﻮﻣﻲ‬ ‫ﻫﺎ‬‫از‬ ‫ﺎده‬
‫ﻣﻲ‬ ‫دارا‬ ‫را‬ ‫ﺑﻴﺮون‬‫ﺑﺎﺷﻨﺪ‬،‫اﺷﺎره‬ ‫ﺻﻔﺖ‬ ‫وﻟﻲ‬‫ﭘﻴﺎده‬ ‫ﺧﺼﻮﺻﻲ‬ ‫ﺑﺼﻮرت‬ ‫آراﻳﻪ‬ ‫ﮔﺮ‬‫ﻣﻲ‬ ‫دﺳﺘﺮﺳﻲ‬ ‫ﻗﺎﺑﻞ‬ ‫ﻣﺘﺪﻫﺎ‬ ‫ﺑﺎ‬ ‫ﻓﻘﻂ‬ ‫و‬ ‫ﺷﺪه‬ ‫ﺳﺎزي‬‫ﺑﺎﺷﺪ‬.
‫ﺳﺎزﻧﺪه‬‫در‬‫ﻓﻀﺎ‬ ‫ﺗﺨﺼﻴﺺ‬ ‫وﻇﻴﻔﻪ‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫اﻳﻦ‬‫آراﻳﻪ‬ ‫ﺑﻪ‬‫ﻛﻪ‬ ‫اي‬‫اﺷﺎره‬ ‫ﺻﻔﺖ‬‫ﮔﺮ‬‫ﻓﻀﺎي‬ ‫در‬ ‫آن‬‫ﺧﺼﻮﺻﻲ‬‫دارد‬ ‫را‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﺗﻌﺮﻳﻒ‬.
‫ﻧﻴﺰ‬ ‫ﻛﻨﻨﺪه‬ ‫ﺗﺨﺮﻳﺐ‬ ‫ﻫﻤﭽﻨﻴﻦ‬،‫ﺣﺎﻓ‬ ‫آﺧﺮ‬ ‫در‬‫ﻛﻨﺪ‬ ‫ﻣﻲ‬ ‫آزاد‬ ‫ﺗﺨﺼﻴﺺ‬ ‫اﻳﻦ‬ ‫از‬ ‫را‬ ‫ﻈﻪ‬.‫ﺗﻌﺪاد‬ ‫درﻳﺎﻓﺖ‬ ‫ﺑﺎ‬ ،‫اﺳﺖ‬ ‫ﻣﺸﺨﺺ‬ ‫ﻛﺪ‬ ‫در‬ ‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬
‫ورودي‬ ‫ﭘﺎراﻣﺘﺮﻫﺎي‬ ‫ﻗﺎﻟﺐ‬ ‫در‬ ‫ﺳﺘﻮن‬ ‫و‬ ‫ﺳﻄﺮ‬،‫ﺳﺎزﻧﺪه‬‫آراﻳﻪ‬‫اﺷﺎره‬ ‫ﺻﻔﺖ‬ ‫ﺑﻪ‬ ‫ﻣﻘﺪار‬ ‫ﻫﻤﺎن‬ ‫ﺑﺎ‬ ‫اي‬‫ﮔﺮ‬Table‫ﻣﻲ‬ ‫داده‬ ‫اﺧﺘﺼﺎص‬‫ﺷﻮد‬.‫ﺑﻌﺪ‬
‫دﺳﺘﻮر‬ ‫زوج‬ ‫ﺑﺎ‬ ‫ﺗﺨﺼﻴﺺ‬ ‫اﻳﻦ‬ ‫از‬Try, Catch‫ﻣﻲ‬ ‫ﺣﺎﺻﻞ‬ ‫اﻃﻤﻴﻨﺎن‬ ‫ﻋﻤﻞ‬ ‫اﻳﻦ‬ ‫ﺻﺤﺖ‬ ‫از‬‫ﭘﺲ‬ ‫ﺧﻄﺎ‬ ‫ﺑﺎ‬ ‫ﺷﺪن‬ ‫ﻣﻮاﺟﻪ‬ ‫ﺻﻮرت‬ ‫در‬ ‫و‬ ‫ﻛﻨﻴﻢ‬
‫ﻣﻲ‬ ‫ﻣﺘﻮﻗﻒ‬ ‫را‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ،‫ﻛﺎرﺑﺮ‬ ‫اﻃﻼع‬‫ﻛﻨﻴﻢ‬.‫ﻣﺘﺪ‬ ‫ﺑﻴﺸﺘﺮ‬ ‫اﻃﻤﻴﻨﺎن‬ ‫ﺑﺮاي‬ ‫ﻧﻴﺰ‬ ‫ﺳﺎزﻧﺪه‬ ‫اﻧﺘﻬﺎي‬ ‫در‬Clear()‫ﻣﻲ‬ ‫ﻓﺮاﺧﻮاﻧﻲ‬‫ﺷﻮد‬.‫وﻃﻴﻔﻪ‬ ‫ﻣﺘﺪ‬ ‫اﻳﻦ‬
‫داده‬ ‫ﻛﺎﻣﻞ‬ ‫ﭘﺎﻛﺴﺎزي‬‫دارد‬ ‫را‬ ‫آراﻳﻪ‬ ‫درون‬ ‫ﻫﺎي‬.‫اﻳﻦ‬ ‫ﻛﺪ‬‫ﻣﺘﺪ‬‫ﻣﻲ‬ ‫ﻣﻮﺟﻮد‬ ‫ﺿﻤﻴﻤﻪ‬ ‫ﻓﺸﺮده‬ ‫دﻳﺴﻚ‬ ‫در‬‫ﺑﺎﺷﺪ‬.‫ﭘﻮﻳﺶ‬ ‫آن‬ ‫روش‬‫و‬ ‫آراﻳﻪ‬ ‫ﻛﻞ‬
‫در‬ ‫ﺻﻔﺮ‬ ‫ﻣﻘﺪار‬ ‫دادن‬ ‫ﻗﺮار‬‫ﺧﺎﻧﻪ‬‫ﻫﺎي‬‫ﻣﻲ‬ ‫آﻧﻬﺎ‬‫ﺑﺎﺷﺪ‬.‫ﻓﻀﺎي‬ ‫و‬ ‫داده‬ ‫اﻧﺠﺎم‬ ‫را‬ ‫ﺳﺎزﻧﺪه‬ ‫ﻋﻜﺲ‬ ‫ﻋﻤﻠﻲ‬ ‫ﻧﻬﺎﻳﺖ‬ ‫در‬ ‫ﻧﻴﺰ‬ ‫ﻛﻨﻨﺪه‬ ‫ﺗﺨﺮﻳﺐ‬
‫ﻣﻲ‬ ‫آزاد‬ ‫ﺣﺎﻓﻈﻪ‬ ‫از‬ ‫ﻛﻞ‬ ‫ﺑﻄﻮر‬ ‫را‬ ‫ﺷﺪه‬ ‫داده‬ ‫ﺗﺨﺼﻴﺺ‬‫ﻧﻤﺎﻳﺪ‬.
Map_Table::Map_Table(int X, int Y)
{
MAX_X = X; // Value of the Maximum X
MAX_Y = Y; // Value of the Maximum Y
try
{
Table = new int*[MAX_X]; // STEP 1: SET UP THE ROWS.
for (int j = 0; j < MAX_X; j++)
Table[j] = new int[MAX_Y]; // STEP 2: SET UP THE COLUMNS
}
catch (std::bad_alloc) // Catch the error when accure occure
{
MessageDlg("Error: Clould not assign array in Memory.",mtError,
TMsgDlgButtons()<<mbOK,0);
exit(-1);
}
Clear(); // Clear the array
}
// ----------------------------------------------------------------------------------------------------------------
Map_Table::~Map_Table()
{
for (int i = 0; i < MAX_X; i++)
1
Methods
2
Attributes

delete[] Table[i]; // STEP 1: DELETE THE COLUMNS
delete[] Table; // STEP 2: DELETE THE ROWS
}
‫ﺻﻔﺖ‬ ‫درﺑﺎره‬ ‫ﻣﺨﺘﺼﺮي‬ ‫ﺑﻴﻦ‬ ‫اﻳﻦ‬ ‫در‬‫ﻣﻲ‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﻫﺎ‬‫و‬ ‫دﻫﻴﻢ‬‫ﺑ‬‫اداﻣﻪ‬ ‫ﺑﻪ‬ ‫آن‬ ‫از‬ ‫ﻌﺪ‬‫ﺗﻮﺿﻴﺢ‬‫ﻣﻲ‬ ‫ﻣﺘﺪﻫﺎ‬‫ﭘﺮدازﻳﻢ‬.‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬‫در‬‫اﺷﺎره‬ ‫ﻗﺒﻞ‬
‫اﺷﺎره‬ ‫ﺻﻔﺖ‬ ‫ﺷﺪه‬‫ﮔﺮ‬Table‫ﻣﻲ‬ ‫دارا‬ ‫را‬ ‫ﻧﻘﺎط‬ ‫داده‬ ‫و‬ ‫ﻣﺤﻴﻂ‬ ‫آراﻳﻪ‬ ‫ذﺧﻴﺮه‬ ‫وﻇﻴﻔﻪ‬‫ﺑﺎﺷﺪ‬.‫ﺻﻔﺖ‬‫ﻫﺎي‬MAX_X, MAX_Y‫ﺳﻄﺮ‬ ‫ﻃﻮل‬ ‫ﻧﻴﺰ‬
‫را‬ ‫آراﻳﻪ‬ ‫اﻳﻦ‬ ‫ﺳﺘﻮﻧﻲ‬ ‫و‬‫دارﻧﺪ‬ ‫ﺧﻮد‬ ‫در‬.‫ﻣﻲ‬ ‫ﺳﺎﺧﺘﻪ‬ ‫ﭘﻮﻳﺎ‬ ً‫ﻼ‬‫ﻛﺎﻣ‬ ‫ﺑﺼﻮرت‬ ‫و‬ ‫ﻛﺎرﺑﺮ‬ ‫ﻧﻴﺎز‬ ‫ﺑﻪ‬ ‫ﺑﻨﺎ‬ ‫آراﻳﻪ‬ ‫اﻳﻦ‬ ‫ﭼﻮن‬،‫ﺗﺨﺮﻳﺐ‬ ‫ﺑﺮاي‬ ‫ﭘﺲ‬ ،‫ﺷﻮد‬
‫داﺷﺖ‬ ‫ﺧﻮاﻫﻴﻢ‬ ‫آن‬ ‫ﻓﻴﺰﻳﻜﻲ‬ ‫ﻃﻮل‬ ‫داﺷﺘﻦ‬ ‫ﺑﻪ‬ ‫ﻧﻴﺎز‬.‫ﻗﺮار‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫دﺳﺘﺮس‬ ‫در‬ ‫اﺻﻠﻲ‬ ‫آراﻳﻪ‬ ‫ﻛﻞ‬ ‫در‬ ‫ﻛﻮﭼﻜﻲ‬ ‫ﻓﻀﺎي‬ ‫اﺑﺘﺪا‬ ‫ﻣﺎ‬ ‫روش‬ ‫در‬
‫ﮔﺴﺘﺮش‬ ‫ﻣﺤﺪوده‬ ‫ﺑﺎﺷﻴﻢ‬ ‫داﺷﺘﻪ‬ ‫اﺑﻌﺎد‬ ‫اﻓﺰاﻳﺶ‬ ‫ﺑﻪ‬ ‫ﻧﻴﺎز‬ ‫اﮔﺮ‬ ‫ﻣﺮور‬ ‫ﺑﻪ‬ ،‫دارد‬‫ﻣﻲ‬‫ﺻﻔﺖ‬ ،‫ﻳﺎﺑﺪ‬‫ﻫﺎي‬Height, Width‫وﻇﻴﻔﻪ‬ ‫ﻛﻼس‬ ‫اﻳﻦ‬ ‫در‬
‫ﺑﺎﺷﻨﺪ‬ ‫ﻣﻲ‬ ‫دارا‬ ‫را‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﺻﻔﺤﻪ‬ ‫ﻣﺠﺎزي‬ ‫اﺑﻌﺎد‬ ‫ﻧﮕﻬﺪاري‬.‫اﺑﻌﺎد‬ ‫ﺣﺪاﻛﺜﺮ‬ ‫اﺑﺘﺪا‬ ‫در‬ ‫ﻣﺎ‬‫ﺣﻘﻴﻘﻲ‬‫ﺑﺮاي‬ ‫ورودي‬ ‫ﭘﺎراﻣﺘﺮﻫﺎي‬ ‫در‬ ‫را‬ ‫ﻣﺤﻴﻂ‬
‫ﻣﻲ‬ ‫ﻣﻨﺘﻘﻞ‬ ‫آراﻳﻪ‬ ‫ﺳﺎﺧﺖ‬‫ﻛﻨﻴﻢ‬.‫از‬ ‫وﻟﻲ‬‫ﻫﻤﺎن‬‫اﺳﺖ‬ ‫ﻛﺎرﺑﺮ‬ ‫اﺧﺘﻴﺎر‬ ‫در‬ ‫ﻛﻮﭼﻜﻲ‬ ‫ﻣﺤﺪوده‬ ‫اﺑﺘﺪا‬.‫ﻣﺴﻴﺮ‬ ‫ﻃﻲ‬ ‫راه‬ ‫در‬‫اﻳﻦ‬ ‫ﻧﻴﺎز‬ ‫ﺻﻮرت‬ ‫در‬
‫ﻣﻲ‬ ‫اﻓﺰاﻳﺶ‬ ‫ﻣﺤﺪوده‬‫ﻳﺎﺑﺪ‬‫ﻣﻲ‬ ‫ﻣﺠﺎزي‬ ‫ﻓﻀﺎي‬ ‫ﻫﻤﺎن‬ ‫اﻳﻦ‬ ‫ﻛﻪ‬‫ﺑﺎﺷﺪ‬.‫در‬ ً‫ﺎ‬‫ﻣﺴﺘﻘﻴﻤ‬ ‫ﮔﺴﺘﺮش‬ ‫اﻳﻦ‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫اﻳﻦ‬ ‫اﺻﻠﻲ‬ ‫ﻫﺪف‬ ‫آﻳﻨﺪه‬ ‫در‬
‫ﻧﻤﺎﻳﻴﻢ‬ ‫ﺗﺨﺼﻴﺺ‬ ‫را‬ ‫ﻛﻮﭼﻜﻲ‬ ‫ﻓﻀﺎي‬ ‫اﺑﺘﺪا‬ ‫از‬ ‫و‬ ‫ﮔﻴﺮد‬ ‫اﻧﺠﺎم‬ ‫ﺣﺎﻓﻈﻪ‬ ‫ﻓﻀﺎي‬ ‫ﺗﺨﺼﻴﺺ‬.‫ﻧﺎم‬ ‫ﺑﻪ‬ ‫ﻧﻴﺰ‬ ‫دﻳﮕﺮ‬ ‫ﺻﻔﺖ‬ ‫دو‬‫ﻫﺎي‬Max, Min
‫ﺷﺪه‬ ‫ﺗﻌﺮﻳﻒ‬‫ﻣﺘﺪﻫﺎي‬ ‫در‬ ‫ﻛﻪ‬ ‫اﻧﺪ‬SquareNormalize, Normalize‫ﻣﻲ‬ ‫ﻗﺮار‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬‫و‬ ‫ﺣﺪاﻛﺜﺮ‬ ‫ﻣﻘﺪار‬ ‫ﻧﮕﻬﺪاري‬ ‫وﻇﻴﻔﻪ‬ ‫و‬ ‫ﮔﻴﺮﻧﺪ‬
‫ﺣﺪاﻗﻞ‬‫ﻣﺸﺨﺺ‬ ‫ﭘﻨﺠﺮه‬ ‫ﺑﺎ‬ ‫آراﻳﻪ‬ ‫ﻛﻞ‬ ‫در‬‫ﻣﻲ‬ ‫دارا‬ ‫اﻟﮕﻮرﻳﺘﻢ‬ ‫ﻫﺮ‬ ‫در‬ ‫را‬‫ﺑﺎﺷﻨﺪ‬.‫اﺳﺘﻔﺎده‬ ‫ﻧﺤﻮه‬ ‫و‬ ‫ﻣﺘﺪ‬ ‫ﻣﻮرد‬ ‫در‬ ‫ﺑﻄﻮرﻛﺎﻣﻞ‬ ‫ﺧﻮد‬ ‫ﺟﺎي‬ ‫در‬‫از‬
‫ا‬‫ﻳ‬‫ﻣﻲ‬ ‫داده‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﺻﻔﺖ‬ ‫دو‬ ‫ﻦ‬‫ﺷﻮد‬.
‫ﻧﺎﺧﻮاﺳ‬ ‫ﺧﻄﺎﻫﺎي‬ ‫از‬ ‫ﺟﻠﻮﮔﻴﺮي‬ ‫ﺑﺪﻟﻴﻞ‬‫ﺧﺼﻮﺻﻲ‬ ‫و‬ ‫ﺘﻪ‬‫داده‬ ‫ﺳﺎزي‬‫ﻧﺎم‬ ‫ﺑﺎ‬ ‫ﻣﺘﺪ‬ ‫دو‬ ‫ﻫﺎ‬Set, Get‫اﺳﺖ‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻗﺮار‬ ‫ﻣﻮرداﺳﺘﻔﺎده‬.‫ﻣﺘﺪ‬ ‫دو‬ ‫اﻳﻦ‬
‫ﺧﺎﻧﻪ‬ ‫ﻣﻘﺪار‬ ‫ﺧﻮاﻧﺪن‬ ‫و‬ ‫دﻫﻲ‬ ‫ﻣﻘﺪار‬ ‫ﺑﺮاي‬ ‫ﻓﻘﻂ‬ ‫و‬ ‫ﻓﻘﻂ‬‫ﺷﺪه‬ ‫ﻧﻮﺷﺘﻪ‬ ‫آراﻳﻪ‬ ‫ﻫﺎي‬‫اﻧﺪ‬.‫ﻣﺘﺪ‬ ‫ﺑﺎ‬Set‫ﻣﻲ‬ ‫ورودي‬ ‫ﭘﺎراﻣﺘﺮ‬ ‫ﺳﻪ‬ ‫ﻣﻘﺪاردﻫﻲ‬ ‫و‬‫ﺗﻮاﻧﻴﺪ‬
‫دﻫﻴﺪ‬ ‫ﻗﺮار‬ ‫را‬ ‫ﻣﺸﺨﺼﻲ‬ ‫ﻣﻘﺪار‬ ‫ﻧﻈﺮ‬ ‫ﻣﻮرد‬ ‫ﺳﺘﻮن‬ ‫و‬ ‫ﺳﻄﺮ‬ ‫در‬.‫و‬‫در‬Get‫ﭘﺎراﻣﺘﺮ‬ ‫دو‬ ‫ﻣﻘﺪاردﻫﻲ‬ ‫ﺑﺎ‬ ‫را‬ ‫ﻣﻘﺪاري‬ ‫ﺗﻮاﻧﻴﺪ‬ ‫ﻣﻲ‬ ‫ﺑﺎﻟﻌﻜﺲ‬
‫ﻧﻤﺎﻳﻴﺪ‬ ‫درﻳﺎﻓﺖ‬ ‫ﺧﺎﺻﻲ‬ ‫ﺳﺘﻮن‬ ‫و‬ ‫ﺳﻄﺮ‬ ‫از‬ ‫ورودي‬.‫ﻣﻘﺪار‬‫درﺧﻮاﺳﺘﻲ‬‫ﻣﻲ‬ ‫ﻧﻤﺎﻳﺎن‬ ‫ﻣﺘﺪ‬ ‫ﺧﺮوﺟﻲ‬ ‫ﺑﺼﻮرت‬‫ﺷﻮد‬.
‫ﻣﺘﺪ‬RectCalc‫ﻣﺘﺪ‬ ‫ﻧﻴﺎز‬ ‫ﻣﻮرد‬Normalize‫داده‬ ‫ﺣﺪاﻗﻞ‬ ‫و‬ ‫ﺣﺪاﻛﺜﺮ‬ ‫ﻣﻘﺪار‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫ﺑﺮاي‬‫ﻣﻲ‬ ‫آراﻳﻪ‬ ‫ﻛﻞ‬ ‫در‬ ‫اي‬‫ﺑﺎﺷﺪ‬.‫ﻣﺘﺪ‬Normalize
‫داده‬ ‫ﻣﻘﺎدﻳﺮ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫وﻇﻴﻔﻪ‬ ‫ﺷﺪ‬ ‫اﺷﺎره‬ ‫ﻗﺒﻞ‬ ‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬ ‫ﻧﻴﺰ‬‫دارد‬ ‫را‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﺑﺮاي‬ ‫ﻣﺠﺎز‬ ‫ﻣﺤﺪوده‬ ‫ﺑﻪ‬ ‫اي‬.‫ﻣﻲ‬ ‫ﺳﺎدﮔﻲ‬ ‫ﺑﻪ‬ ‫ﻛﺎر‬ ‫اﻳﻦ‬ ‫ﺑﺎ‬‫ﺗﻮان‬
‫ﻧﻤﺎﻳﺶ‬ ‫ﺻﻔﺤﻪ‬ ‫در‬ ‫را‬ ‫ﻣﻘﺎدﻳﺮ‬‫ﺳﻴﺎه‬ ‫و‬ ‫ﺳﻔﻴﺪ‬ ‫رﻧﮕﻲ‬ ‫ﻃﻴﻒ‬ ‫و‬‫ﻧﻤﻮد‬ ‫ﺗﺮﺳﻴﻢ‬.
void Map_Table::RangeCalc(void)
{
Max =Min =0;
for(int i = 0; i<MAX_X ; i++)
for(int j = 0; j<MAX_Y ; j++)
if (Table[i][j]>Max)
Max = Table[i][j];
else if(Table[i][j]<Min && Table[i][j] != 0)
Min = Table[i][j];
}

‫ﻣﻨﻈﻮر‬ ‫اﻳﻦ‬ ‫ﺑﺮاي‬،‫رﻳﺎﺿﻲ‬ ‫ﻓﺮﻣﻮل‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬*255)Point / Max(‫د‬ ‫و‬‫ﻣﻘ‬ ‫اﺷﺘﻦ‬‫ﺎ‬‫د‬‫ﻳ‬‫ﺣﺪاﻛﺜﺮ‬ ‫ﺮ‬،‫ﻧﻘﺎط‬‫ﻧﻘﻄﻪ‬‫ﻣﺸﺨﺺ‬ ‫اي‬‫ﺣﺪاﻛﺜﺮ‬ ‫و‬
‫ﺟﺪﻳﺪ‬ ‫ﻣﺤﺪوده‬ ‫ﻣﻘﺪار‬‫ﻣﻲ‬‫ﺗﻮان‬‫ﺟﺪﻳﺪ‬ ‫ﻣﺤﺪوده‬ ‫ﺑﻪ‬ ‫را‬ ‫ﻧﻘﺎط‬ ‫ﻛﻠﻴﻪ‬‫داد‬ ‫ﻣﻘﺪار‬ ‫ﺗﻐﻴﻴﺮ‬.‫از‬ ‫ﭘﺲ‬ ‫را‬ ‫ﻧﻘﺎط‬ ‫ﺣﺪاﻛﺜﺮ‬ ‫ﻣﻘﺪار‬ ‫ﻣﺎ‬ ‫ﻛﺎرﺑﺮد‬ ‫اﻳﻦ‬ ‫در‬
‫ﻣﻲ‬ ‫دو‬ ‫ﺗﻮان‬ ‫ﺑﻪ‬ ‫ﻣﺤﺎﺳﺒﻪ‬‫ﻧﺮﻣﺎل‬ ‫را‬ ‫ﻧﻘﺎط‬ ‫ﺳﭙﺲ‬ ‫و‬ ‫رﺳﺎﻧﻴﻢ‬‫ﺳﺎزي‬‫ﻣﻲ‬‫ﻛﻨﻴﻢ‬.‫ر‬ ‫دﻗﺖ‬ ‫ﻛﺎر‬ ‫اﻳﻦ‬ ‫ﺑﺎ‬‫ﻛﻤﺘﺮ‬ ‫را‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﻣﻘﺪار‬ ‫ﻧﻮﻋﻲ‬ ‫ﺑﻪ‬ ‫و‬ ‫ﺑﺮده‬ ‫ﺑﺎﻻ‬ ‫ا‬
‫ﻣﻲ‬‫ﻛﻨﻴﻢ‬.‫ز‬‫ﻳ‬‫ﺑﻪ‬ ‫ﻧﺰدﻳﻚ‬ ‫اﻋﺪاد‬ ‫ﺮا‬255‫ﺗ‬ ‫رﺳﻢ‬ ‫زﻣﺎن‬ ‫در‬‫ﻘ‬‫ﻣﻲ‬ ‫ﻧﺸﺎن‬ ‫را‬ ‫ﻣﺸﻜﻲ‬ ‫رﻧﮓ‬ ‫ﻫﻤﮕﻲ‬ ‫ﺮﻳﺒﺎ‬‫ﭼﺸﻢ‬ ‫ﺧﻄﺎي‬ ‫ﺑﺎﻋﺚ‬ ‫ﺧﻮد‬ ‫اﻳﻦ‬ ‫ﻛﻪ‬ ‫دﻫﻨﺪ‬
‫ﻣﻲ‬‫ﺷﻮد‬.
void Map_Table::Normalize(void)
{
#define Power 2
RangeCalc();
int NewMax = pow(Max,Power);
for(int i = 0; i<MAX_X ; i++)
for(int j = 0; j<MAX_Y ; j++)
Table[i][j] = (pow(Table[i][j],Power) / NewMax) * 255 ;
}
‫ﻣﺘﺪ‬ ‫اﻳﻦ‬،‫ﻧﺮﻣﺎل‬‫ﻣﻲ‬ ‫اﻧﺠﺎم‬ ‫آﻣﺪه‬ ‫ﺑﺪﺳﺖ‬ ‫ﻛﻞ‬ ‫از‬ ‫ﻛﻪ‬ ‫ﺣﺪاﻗﻠﻲ‬ ‫و‬ ‫ﺣﺪاﻛﺜﺮ‬ ‫ﻣﻘﺪار‬ ‫ﺑﻪ‬ ‫آراﻳﻪ‬ ‫ﻛﻞ‬ ‫در‬ ‫را‬ ‫ﺳﺎزي‬‫ﻣﻲ‬ ‫ﻛﻪ‬ ‫ﺑﻌﺪ‬ ‫ﻣﺘﺪ‬ ‫وﻟﻲ‬ ‫دﻫﺪ‬‫ﺧﻮا‬‫ﻫﻴﻢ‬
‫ﻣﻲ‬ ‫ﻋﻤﻞ‬ ‫ﻟﻐﺰان‬ ‫ﭘﻨﺠﺮه‬ ‫روش‬ ‫اﺳﺎس‬ ‫ﺑﺮ‬ ‫دﻫﻴﻢ‬ ‫ﺗﻮﺿﻴﺢ‬‫ﻣﻘﺪار‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫و‬ ‫آراﻳﻪ‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﻣﺸﺨﺺ‬ ‫اﺑﻌﺎد‬ ‫در‬ ‫ﭘﻨﺠﺮه‬ ‫ﻳﻚ‬ ‫ﺟﺎﺑﺠﺎﻳﻲ‬ ‫ﺑﺎ‬ ‫و‬ ‫ﻛﻨﺪ‬
‫ﻣﺤﻠﻲ‬ ‫ﺑﺼﻮرت‬ ‫آن‬ ‫اﻋﻤﺎل‬ ‫و‬ ‫ﻣﺤﻠﻲ‬ ‫ﺑﻄﻮر‬ ‫ﺣﺪاﻗﻞ‬ ‫و‬ ‫ﺣﺪاﻛﺜﺮ‬،‫ﻧﺮﻣﺎل‬ ‫را‬ ‫آراﻳﻪ‬‫ﻣﻲ‬ ‫ﺳﺎزي‬‫ﻛﻨﺪ‬.‫ﻣﺘﺪ‬SquareNormalize‫را‬ ‫ﻓﻮق‬ ‫روش‬
‫ﭘﻴﺎده‬ ‫آراﻳﻪ‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﺧﻮد‬ ‫درون‬‫ﻣ‬ ‫ﺳﺎزي‬‫ﻲ‬‫ﻛﻨﺪ‬.
void Map_Table::SquareNormalize(void)
{
#define Part 40
#define Power 2
int X1,Y1,i,j;
short Max,Min,NewMax;
for(X1=0 ; X1<MAX_X;X1+=Part)
for(Y1=0 ; Y1<MAX_Y; Y1+=Part)
{
// ------------
for(i = X1; i< X1+Part; i++)
for(j = Y1; j< Y1+Part; j++)
if (Table[i][j]>Max)
Max = Table[i][j];
else if(Table[i][j]<Min && Table[i][j] != 0)
Min = Table[i][j];
// ------------
NewMax = pow(Max,Power);

for(i = X1; i< X1+Part; i++)
for(j = Y1; j< Y1+Part; j++)
Table[i][j] = (pow(Table[i][j],Power) / NewMax) * 255 ;
}
}
‫ﺑﻨﺪي‬ ‫ﺗﻘﺴﻴﻢ‬ ‫در‬ ‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬ ‫روش‬ ‫اﻳﻦ‬‫ﻣﺸﺨﺺ‬ ‫ﻛﺪ‬‫ﺷﺪه‬:
1-‫ﻣﻲ‬ ‫ﭘﻴﻤﺎﻳﺶ‬ ‫را‬ ‫آراﻳﻪ‬ ‫ﻛﻞ‬‫ﻛﻨﺪ‬.
2-‫ﭘﻨﺠﺮه‬ ‫ﭼﻬﺎرﭼﻮب‬ ‫در‬ ‫ﺣﺪاﻗﻞ‬ ‫و‬ ‫ﺣﺪاﻛﺜﺮ‬ ‫ﻣﻘﺪار‬ ‫و‬ ‫داده‬ ‫ﺣﺮﻛﺖ‬ ‫را‬ ‫ﻟﻐﺰان‬ ‫ﭘﻨﺠﺮه‬‫ﺟﺪﻳﺪ‬‫ﻣﻲ‬ ‫اﺳﺘﺨﺮاج‬ ‫را‬‫ﻛﻨﺪ‬.
3-‫ﻣﺤﺎﺳﺒﻪ‬ ‫ﭘﻨﺠﺮه‬ ‫اﻳﻦ‬ ‫ﻧﻘﺎط‬ ‫ﺗﻚ‬ ‫ﺗﻚ‬ ‫ﺑﺮاي‬ ‫را‬ ‫رﻳﺎﺿﻲ‬ ‫ﻓﺮﻣﻮل‬ ‫ﻧﻬﺎﻳﺖ‬ ‫در‬‫ﻣﻘﺪاردﻫﻲ‬ ‫و‬‫ﻣﻲ‬‫ﻛﻨﺪ‬.
‫ﻣﺤﺎﺳﺒ‬ ‫رﻳﺎﺿﻲ‬ ‫ﻓﺮﻣﻮل‬‫ﻣﺘﺪ‬ ‫ﻣﺜﻞ‬ ً‫ﺎ‬‫ﻋﻴﻨ‬ ‫ﻧﻴﺰ‬ ‫ﻪ‬Normalize‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬،‫ﻛﺎﻣﻼ‬ ‫ﻓﺮﻣﻮل‬ ‫دﻳﺪ‬ ‫از‬ ‫ﻣﺴﺎﻟﻪ‬ ‫اﻳﻦ‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﻣﺘﻔﺎوت‬ ‫آن‬ ‫ﻣﺤﺪوده‬ ‫ﻓﻘﻂ‬
‫ﻣﻲ‬ ‫ﭘﻨﻬﺎن‬‫ﺑﺎﺷﺪ‬.
‫ﺑﻨﺎم‬ ‫ﻣﺘﺪي‬ ‫ﻓﻴﻠﺘﺮﻳﻨﮓ‬ ‫و‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﺗﺼﺤﻴﺢ‬ ‫در‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫ﻣﺘﺪ‬ ‫دﻳﮕﺮ‬EdgeDetection‫ﻣﻲ‬‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬ ‫و‬ ‫ﺑﺎﺷﺪ‬‫ﻗ‬‫از‬ ‫ﻳﻜﻲ‬ ‫ﺷﺪ‬ ‫ﮔﻔﺘﻪ‬ ً‫ﻼ‬‫ﺒ‬
‫اﻟﮕﻮرﻳﺘﻢ‬‫ﻣﻲ‬ ‫ﺗﺼﻮﻳﺮ‬ ‫ﭘﺮدازش‬ ‫ﻫﺎي‬‫ﺑﺎ‬‫ﺷﺪ‬‫ﻛﻪ‬‫ﻟﺒﻪ‬ ‫ﺗﻘﻮﻳﺖ‬ ،‫ﺗﺼﻮﻳﺮ‬ ‫روي‬ ‫ﺑﺮ‬ ‫آن‬ ‫ﻧﺘﻴﺠﻪ‬‫ﻣﻲ‬ ‫ﻣﺤﻴﻂ‬ ‫و‬ ‫ﻟﺒﻪ‬ ‫اﻃﺮاف‬ ‫ﻧﻮﻳﺰ‬ ‫ﻛﺎﻫﺶ‬ ‫و‬ ‫ﻫﺎ‬‫ﺑﺎﺷﺪ‬.
‫ﻣﺘﺪ‬ ‫اﻳﻦ‬ ‫در‬‫ﺷﺪه‬ ‫داده‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﻗﺒﻞ‬ ‫در‬ ‫ﻛﻪ‬ ‫اﻟﮕﻮرﻳﺘﻤﻲ‬ ‫ﻃﺒﻖ‬ ‫ﻧﻘﻄﻪ‬ ‫ﻫﺮ‬ ‫ﺑﺮاي‬ ‫و‬ ‫ﻛﺮده‬ ‫ﭘﻮﻳﺶ‬ ‫را‬ ‫آراﻳﻪ‬ ‫ﻛﻞ‬ ‫ﺗﻮدرﺗﻮ‬ ‫ﺣﻠﻘﻪ‬ ‫دو‬ ‫دادن‬ ‫ﻗﺮار‬ ‫ﺑﺎ‬
‫ﻣﻲ‬ ‫اﻧﺠﺎم‬ ‫ﺟﺪﻳﺪ‬ ‫ﻣﻔﺪار‬ ‫ﻣﺤﺎﺳﺒﻪ‬‫ﮔﻴﺮد‬.‫ﺑﺪﻳﻦ‬‫ﺻ‬‫ﻧﻘﻄﻪ‬ ‫ﺣﻮل‬ ‫ﻣﻘﺎدﻳﺮ‬ ‫ﻛﻪ‬ ‫ﻮرت‬‫اي‬‫ﻣﺮﻛﺰ‬ ‫ﺑﺮاﺑﺮ‬ ‫ﺳﻪ‬ ‫ﻣﺠﻤﻮع‬ ‫ﺑﻪ‬ ،‫ﺷﺪه‬ ‫ﺟﻤﻊ‬ ‫ﻫﻢ‬ ‫ﺑﺎ‬ ‫ﻣﺸﺨﺺ‬
‫ﻣﻲ‬ ‫اﺿﺎﻓﻪ‬‫ﻣﻲ‬ ‫ﻳﺎزده‬ ‫ﺑﺮ‬ ‫ﺗﻘﺴﻴﻢ‬ ‫ﻧﻬﺎﻳﺖ‬ ‫در‬ ،‫ﺷﻮد‬‫ﺷﻮد‬‫ﺣﺎل‬ ،‫ﻣﻲ‬ ‫ﭘﺮ‬ ‫ﺟﺪﻳﺪ‬ ‫ﻣﻘﺪار‬ ‫اﻳﻦ‬ ‫ﺑﺎ‬ ‫ﻣﺮﻛﺰي‬ ‫ﻧﻘﻄﻪ‬‫ﺷﻮد‬.
void Map_Table::EdgeDetection(void)
{
int i,j,sum;
for(i=1 ; i<MAX_X -3;i++)
for(j=1 ; j<MAX_Y -3;j++)
{
sum = 0;
sum += Table[i][j];
sum += Table[i][j+1];
sum += Table[i][j+2];
sum += Table[i+1][j];
sum += Table[i+1][j+1] * 3;
sum += Table[i+1][j+2];
sum += Table[i+2][j];

Table[i+1][j+1] = sum / 11;
}
}
‫ﻋﻤﻠﻴﺎﺗﻲ‬ ‫ﻣﺘﺪﻫﺎي‬ ‫ﻣﻬﻤﺘﺮﻳﻦ‬ ‫از‬ ‫ﻳﻜﻲ‬ ‫ﻛﻪ‬ ،‫ﺑﻌﺪي‬ ‫ﻣﺘﺪ‬،‫اﺳﺖ‬‫ﻣﺘﺪ‬Expand‫ﻧﻮع‬ ‫از‬ ‫ورودي‬ ‫ﭘﺎراﻣﺘﺮ‬ ‫دو‬ ‫ﺑﺎ‬‫ﻣﻲ‬ ‫ﻋﺪدي‬ ‫و‬ ‫ﻛﺎراﻛﺘﺮ‬‫ﺑﺎﺷﺪ‬.
‫ﭘﺎراﻣﺘﺮ‬ ‫ﺑﺼﻮرت‬ ‫ﻛﻪ‬ ‫ﻣﺸﺨﺺ‬ ‫ﻣﻘﺪاري‬ ‫در‬ ‫راﺳﺖ‬ ‫و‬ ‫ﭘﺎﻳﻴﻦ‬ ،‫ﭼﭗ‬ ،‫ﺑﺎﻻ‬ ‫ﺟﻬﺖ‬ ‫ﭼﻬﺎر‬ ‫در‬ ‫ﻣﺠﺎزي‬ ‫اﺑﻌﺎد‬ ‫ﮔﺴﺘﺮش‬ ‫ﻣﺘﺪ‬ ‫اﻳﻦ‬ ‫وﻇﻴﻔﻪ‬‫ورودي‬
‫ﻣﻲ‬ ‫ﻣﻨﺘﻘﻞ‬ ‫ﻣﺘﺪ‬ ‫ﺑﻪ‬‫ﻣﻲ‬ ‫ﺷﻮد‬‫ﺑﺎﺷﺪ‬.‫اﻓﺰاﻳﺶ‬ ‫ﺑﺮاي‬‫در‬ ‫را‬ ‫آراﻳﻪ‬ ‫ﺻﻔﺮ‬ ‫و‬ ‫ﺷﺮوع‬ ‫ﻧﻘﻄﻪ‬ ‫ﻣﺎ‬ ‫ﻛﻪ‬ ‫ﻓﺮﺿﻲ‬ ‫ﺑﺎ‬ ‫ﭘﺎﻳﻴﻦ‬ ‫و‬ ‫راﺳﺖ‬ ‫ﺟﻬﺖ‬ ‫در‬ ‫آراﻳﻪ‬ ‫ﻳﻚ‬
‫ﭼﭗ‬ ‫ﺳﻤﺖ‬ ،‫ﺑﺎﻻ‬ ‫ﮔﻮﺷﻪ‬‫ﻧﻈﺮ‬ ‫در‬‫ﮔﺮﻓﺘﻪ‬‫اﺳﺖ‬ ‫ﺳﺎده‬ ‫ﺑﺴﻴﺎر‬ ‫اﻳﻢ‬.‫ﻣﻘﺪار‬ ‫ﺑﻪ‬ ‫را‬ ‫ﮔﺴﺘﺮش‬ ‫ﺑﺮاي‬ ‫ﻧﻴﺎز‬ ‫ﻣﻮرد‬ ‫ﻣﻘﺪار‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﻻزم‬ ‫ﻓﻘﻂ‬
‫ﺻﻔﺖ‬‫ﻫﺎي‬Height, Width‫ﻧﻤﺎﻳﻴﻢ‬ ‫اﺿﺎﻓﻪ‬.‫ﻛﻮﭼﻜ‬ ‫ﺷﺮط‬ ‫ﻧﻴﺰ‬ ‫اﻃﻤﻴﻨﺎن‬ ‫ﺑﺮاي‬‫ﻲ‬‫ﺑﺪﻟ‬ ‫ﮔﺴﺘﺮش‬ ‫ﻗﺒﻞ‬‫ﻴ‬‫ﻞ‬‫ﻣﺠﺎزي‬ ‫ﺣﺪ‬ ‫اﻓﺰاﻳﺶ‬ ‫از‬ ‫ﺟﻠﻮﮔﻴﺮي‬
‫داده‬ ‫ﻗﺮار‬ ‫واﻗﻌﻲ‬ ‫ﺣﺪ‬ ‫از‬‫اﻳﻢ‬.‫ﭼﭗ‬ ‫و‬ ‫ﺑﺎﻻ‬ ‫ﺟﻬﺖ‬ ‫در‬ ‫ﮔﺴﺘﺮش‬ ‫ﺑﺮاي‬ ‫وﻟﻴﻜﻦ‬‫ﻣﻘﺪار‬ ‫ﻫﻤﺎن‬ ‫ﺑﻪ‬ ‫داده‬ ‫ﺑﺎﻳﺴﺖ‬ ‫ﻣﻲ‬ ‫ﺣﺪود‬ ‫اﻓﺰاﻳﺶ‬ ‫از‬ ‫ﻏﻴﺮ‬ ،
‫اﺳﺖ‬ ‫ﻗﺒﻞ‬ ‫ﺣﺎﻟﺖ‬ ‫دو‬ ‫در‬ ‫ﮔﺴﺘﺮش‬ ‫ﺑﺮ‬ ‫اﺿﺎﻓﻪ‬ ‫ﻋﻤﻠﻴﺎﺗﻲ‬ ‫اﻳﻦ‬ ‫و‬ ‫ﺷﻮﻧﺪ‬ ‫ﺟﺎﺑﺠﺎ‬.‫ﻓﻀﺎ‬ ‫ﻧﺪاﺷﺘﻦ‬ ‫ﻛﺎر‬ ‫اﻳﻦ‬ ‫دﻟﻴﻞ‬‫ي‬‫داده‬‫اي‬‫ﻟﺒﻪ‬ ‫در‬‫آراﻳﻪ‬ ‫ﻫﺎي‬
‫اﺳﺖ‬.
if (Height+Vlu < MAX_Y) // Compare Virtual length and Real length
{
for (int i=Width;i>0;i--) // Shift all data with Vlu parameter
for(int j=Height;j>0;j--)
{
Table[i][j+Vlu] = Table[i][j];
Table[i][j] = 0;
}
Height += Vlu; // Increase the Virtual length space
}
else // Prevent change if the Comparison false
return false;
‫ﺑﺮﻧﺎﻣﻪ‬ ‫اﺻﻠﻲ‬ ‫ﻛﻼس‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﺑﻪ‬ ‫ﻣﺎ‬ ‫اﻳﻨﺠﺎ‬ ‫ﺗﺎ‬‫ﻓﺎﻳﻞ‬ ‫در‬ ‫آن‬ ‫ﺗﻌﺮﻳﻒ‬ ‫ﻛﻪ‬Table.h‫ﻣﻲ‬‫ﻓﺎﻳﻞ‬ ‫در‬ ‫ﻧﻴﺰ‬ ‫آن‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬ ‫و‬ ‫ﺑﺎﺷﺪ‬Table.cpp‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬
‫ﭘﺮداﺧﺘ‬‫ﻪ‬‫ا‬‫ﻳﻢ‬،‫ﻗﺴﻤﺖ‬ ‫ﺑﻪ‬ ‫ﻫﻤﻜﻨﻮن‬‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬ ‫اﺻﻠﻲ‬ ‫ﻛﻼس‬ ‫از‬ ‫ﻛﻪ‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫اﺻﻠﻲ‬‫ﻛﻨﺪ‬‫ﻣﻲ‬‫ﭘﺮدازﻳﻢ‬.‫اﺟﺰا‬ ‫از‬ ‫ﺑﺨﺸﻲ‬،‫ﻛﻼﺳﻬﺎ‬‫ﻧﻤﻮﻧﻪ‬ ‫و‬‫ﻫﺎﻳﻲ‬
‫دﻳﺪ‬ ‫ﺧﻮاﻫﻴﺪ‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬ ‫در‬ ‫ﻛﻪ‬،‫ﺗﻮﺳﻌﻪ‬ ‫ﻣﺤﻴﻂ‬ ‫اﺟﺰاء‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫دﻟﻴﻞ‬ ‫ﺑﻪ‬‫ﻣﺠﺘﻤﻊ‬1
‫ﺑﺎﺷﺪ‬ ‫ﻣﻲ‬ ‫ﺑﻮرﻟﻨﺪ‬ ‫ﺷﺮﻛﺖ‬.(C++ Builder)
‫ﻓﺎﻳﻞ‬ ‫در‬Main.h‫اﺳﺖ‬ ‫ﻧﻤﺎﻳﺎن‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫اﺻﻠﻲ‬ ‫ﭘﻨﺠﺮه‬ ‫در‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫اﺟﺰاء‬ ‫ﻓﻬﺮﺳﺖ‬ ‫و‬ ‫ﺗﻔﻜﻴﻚ‬ ‫ﺑﻪ‬.‫ﮔﺮاﻓﻴﻜﻲ‬ ‫راﺑﻂ‬ ‫در‬ ‫اﺟﺰاء‬ ‫اﻳﻦ‬ ‫از‬
‫ﻛﺎرﺑﺮ‬2
‫ﻧﻤﺎﻳ‬ ‫ﺑﺮاي‬ ‫و‬‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬ ‫ﻛﺎرﺑﺮ‬ ‫ﺑﺎ‬ ‫دوﻃﺮﻓﻪ‬ ‫ارﺗﺒﺎط‬ ‫و‬ ‫ﺶ‬‫ﺷﻮد‬.‫ﺳﻌﻲ‬ ‫راﺑﻂ‬ ‫اﻳﻦ‬ ‫ﻃﺮاﺣﻲ‬ ‫در‬‫ﺑﺴﻴﺎري‬‫اﺳﺘﻔﺎده‬ ‫راﺣﺘﻲ‬ ‫و‬ ‫ﻛﺎراﻳﻲ‬ ‫در‬
‫اﺳﺖ‬ ‫ﺷﺪه‬.‫ﻣﻲ‬ ‫ﺷﻜﻞ‬ ‫در‬ ‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬‫ﻗﺴﻤﺖ‬ ‫ﻣﻮرد‬ ‫در‬ ‫ﺑﻴﻨﻴﺪ‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫آورده‬ ‫ﻣﺨﺘﺼﺮي‬ ‫و‬ ‫ﻛﻮﺗﺎه‬ ‫ﺗﻮﺿﻴﺤﺎت‬ ‫ﻣﺨﺘﻠﻒ‬ ‫ﻫﺎي‬.
1
Integrated Development Environment (IDE)
2
Graphic User Interface (GUI)

‫ﺷﻜﻞ‬2-3)‫ﻧﺮم‬ ‫ﻧﻤﺎي‬‫ﻛﺎر‬ ‫ﺣﺎل‬ ‫در‬ ‫ﻧﻔﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫اﻓﺰار‬(
‫ﺗﻮﺳﻌﻪ‬ ‫ﻣﺤﻴﻂ‬‫ﺷﻲ‬ ‫ﻛﺎﻣﻼ‬ ‫ﺑﻮرﻟﻨﺪ‬‫ﻣﻲ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﻗﺎﻟﺐ‬ ‫اﻳﻦ‬ ‫در‬ ‫را‬ ‫ﭼﻴﺰ‬ ‫ﻫﻤﻪ‬ ‫و‬ ‫ﺑﻮده‬ ‫ﮔﺮا‬‫دﻫﺪ‬.‫ﻧﺎم‬ ‫ﺑﻪ‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫اﺻﻠﻲ‬ ‫ﭘﻨﺠﺮه‬TMainForm
‫ﻣﻲ‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻧﻮﺷﺘﻪ‬ ‫ﻧﺎم‬ ‫ﻫﻤﻴﻦ‬ ‫ﺑﺎ‬ ‫ﻛﻼﺳﻲ‬ ‫در‬ ‫ﻧﻴﺰ‬ ‫آن‬ ‫ﻛﺪﻫﺎي‬ ‫ﺗﻤﺎﻣﻲ‬ ‫ﻛﻪ‬ ،‫ﺑﺎﺷﺪ‬.‫ﻣﻲ‬ ‫ﻣﺸﺨﺺ‬ ‫زﻳﺮ‬ ‫در‬ ‫آن‬ ‫ﻛﻨﻨﺪه‬ ‫ﺗﺨﺮﻳﺐ‬ ‫و‬ ‫ﺳﺎزﻧﺪه‬‫ﺑﺎﺷﺪ‬.
__fastcall TFormMain::TFormMain(TComponent* Owner)
: TForm(Owner)
{
pBitmap = new Graphics::TBitmap();
TmpImage = new Graphics::TBitmap();
MapImage = new Graphics::TBitmap;
MapImage->Height = Image->Height;
MapImage->Width = Image->Width;
ScrollBar1->Max = MapImage->Height - Image->Height;
ScrollBar2->Max = MapImage->Width - Image->Width;
XRobot = 320 ;//+ Image->Height;
YRobot = 268 ;//+ Image->Width;
ClearMap();
ScrollUser = true;
/* if (mrYes == MessageDlg("Do you want save log file.",
mtConfirmation,
TMsgDlgButtons() << mbYes <<mbNo,
0))
CheckBox2->Checked = true;*/

ofpos = new ofstream("logpos.txt",ios::binary);
ofobj = new ofstream("logobj.txt",ios::binary);
// -------------------
RR_Object = new RRObject [50];
MapTable = new Map_Table(2000,2000);
MapTable->Height = Image->Height;
MapTable->Width = Image->Width;
XRef = YRef = Count =0;
}
‫در‬‫ﻛﻼس‬ ‫از‬ ‫ﻧﻤﻮﻧﻪ‬ ‫ﺳﻪ‬ ‫ﻣﺎ‬ ‫اﺑﺘﺪا‬ ،‫ﺳﺎزﻧﺪه‬ ‫ﻣﺘﺪ‬Graphics::TBitmap‫ﻣﻲ‬ ‫ﺑﺎﺷﺪ‬ ‫ﻣﻲ‬ ‫ﻣﻔﻴﺪ‬ ‫ﻣﺘﺪﻫﺎي‬ ‫ﺑﺎ‬ ‫ﮔﺮاﻓﻴﻜﻲ‬ ‫ﻛﻼس‬ ‫ﻳﻚ‬ ‫ﻛﻪ‬‫ﺳﺎزﻳﻢ‬.
1-‫ﻧﻤﻮﻧﻪ‬pBitmap‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬ ‫ﻧﻘﺸﻪ‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﮔﺎز‬ ‫و‬ ‫ﻣﺼﺪوم‬ ‫ﺑﺮﭼﺴﺐ‬ ‫ﻧﮕﻬﺪاري‬ ‫ﺑﺮاي‬ ‫ﻛﻪ‬‫ﺷﻮد‬.
2-‫ﻧﻤﻮﻧﻪ‬TmpImage‫ﻣ‬ ‫اﺳﺘﻔﺎده‬ ‫آن‬ ‫از‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﻫﻨﮕﺎم‬ ‫در‬ ‫ﻧﻮﻳﺲ‬ ‫ﭼﺮك‬ ‫ﺑﻌﻨﻮان‬ ‫ﻛﻪ‬‫ﻲ‬‫ﻛﻨﻴﻢ‬.
3-‫ﻧﻤﻮﻧﻪ‬ ‫و‬MapImage‫ﻛﻼس‬ ‫از‬ ‫ﺑﻌﺪ‬ ‫ﻧﻘﺸﻪ‬ ‫ﻧﮕﻬﺪاري‬ ‫اﺻﻠﻲ‬ ‫ﻓﻀﺎي‬ ‫ﻛﻪ‬MapTable‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.
‫ﻧﻤﻮﻧﻪ‬ ‫ﺳﺎﺧﺖ‬ ‫از‬ ‫ﺑﻌﺪ‬‫ﻣﻲ‬ ‫ﻫﺎ‬‫ﻋﺮض‬ ‫و‬ ‫ﻃﻮل‬ ‫اﺑﺘﺪا‬ ،‫دﻫﻴﻢ‬ ‫اﻧﺠﺎم‬ ‫را‬ ‫اوﻟﻴﻪ‬ ‫ﺗﻨﻀﻴﻤﺎت‬ ‫ﺑﺎﻳﺴﺖ‬MapImage‫راﺑﻂ‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﺻﻔﺤﻪ‬ ‫اﻧﺪازه‬ ‫ﺑﺎ‬ ‫را‬
‫ﻣﻲ‬ ‫ﻳﻜﺴﺎن‬ ‫ﻛﺎرﺑﺮي‬‫ﻛﺮده‬ ‫ﺑﺮوز‬ ‫را‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﺻﻔﺤﻪ‬ ‫ﻛﻨﺎر‬ ‫ﻟﻐﺰﻧﺪه‬ ‫ﻧﻮار‬ ،‫ﻛﻨﻴﻢ‬‫ﻣﻲ‬ ‫ﺗﺼﻮﻳﺮ‬ ‫دوﺑﺎره‬ ‫رﺳﻢ‬ ‫ﺑﺎﻋﺚ‬ ‫و‬‫را‬ ‫رﺑﺎت‬ ‫ﻣﺨﺘﺼﺎت‬ ،‫ﺷﻮﻳﻢ‬
‫ﻣﻲ‬ ‫ﻣﻨﺘﻘﻞ‬ ‫ﺻﻔﺤﻪ‬ ‫وﺳﻂ‬ ‫ﺑﻪ‬‫و‬ ‫ﻛﻨﻴﻢ‬‫ﻧﻤﻮﻧﻪ‬MapImage‫ﻣﻲ‬ ‫ﭘﺎك‬ ‫ﻛﺎﻣﻼ‬ ‫را‬‫ﻛﻨﻴﻢ‬.
‫ﺻﻔﺖ‬ ‫ﺣﺎل‬ScrollUser‫ﺗﺼﻮﻳﺮ‬ ‫روي‬ ‫ﺑﺮ‬ ‫روﺑﺎت‬ ‫ﺣﺎﻟﺖ‬ ‫اﻳﻦ‬ ‫در‬ ‫و‬ ‫اﺳﺖ‬ ‫ﺗﺼﻮﻳﺮ‬ ‫ﻣﺮور‬ ‫اﺟﺎزه‬ ‫آن‬ ‫ﻣﻌﻨﻲ‬ ‫و‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﺧﻮد‬ ‫ﺑﻪ‬ ‫درﺳﺖ‬ ‫ﻣﻘﺪار‬
‫ﻣﻲ‬ ‫ﻣﺨﻔﻲ‬‫ﺑﺎﺷﺪ‬.‫ﻧﻤﻮﻧﻪ‬ ‫دو‬‫از‬‫ﺟﺮﻳﺎن‬‫ﻓﺎﻳ‬‫ﻞ‬‫ﺧﺮوﺟﻲ‬‫اﻃﻼﻋﺎت‬ ‫ﺛﺒﺖ‬ ‫ﺑﺮاي‬‫ﻣﻲ‬ ‫اﻳﺠﺎد‬‫ﺷﻮد‬،‫را‬ ‫درﻳﺎﻓﺘﻲ‬ ‫اﻃﻼﻋﺎت‬ ‫ﻛﻠﻴﻪ‬ ‫ﻓﺎﻳﻞ‬ ‫دو‬ ‫اﻳﻦ‬ ‫در‬ ‫ﻣﺎ‬
‫ﻣﻲ‬ ‫ذﺧﻴﺮه‬‫ﻛﻨﻴﻢ‬.‫ﻧﺮم‬ ‫ﺑﺎ‬ ‫ﺷﻜﻞ‬ ‫ﺑﺪﻳﻦ‬‫ﻣﻲ‬ ‫ﻛﻨﻨﺪه‬ ‫ﭘﺨﺶ‬ ‫اﻓﺰار‬‫رﻓﺘﺎر‬ ‫ﻛﻠﻴﻪ‬ ً‫ا‬‫ﻣﺠﺪد‬ ‫ﺗﻮان‬‫رﺑﺎت‬‫را‬‫ﻧﺎﻣﺤﺪود‬‫ﺷﺒﻴﻪ‬‫ﻧﻤﻮد‬ ‫ﺳﺎزي‬.
‫ﻧﻤﻮﻧﻪ‬ ‫دو‬‫دﻳﮕﺮ‬‫ﻧﻴﺰ‬،‫ﻳﻜﻲ‬ ‫ﻛﻪ‬‫ﺷﺪ‬ ‫داده‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﻗﺒﻞ‬ ‫در‬ ‫اﺻﻠﻲ‬ ‫ﻛﻼس‬ ‫از‬‫ورو‬ ‫دو‬ ‫ﺑﺎ‬ ‫ه‬‫دي‬2000‫و‬‫آراﻳﻪ‬ ‫دﻳﮕﺮي‬‫از‬ ‫اي‬‫ﺳﺎﺧﺘﺎر‬
RRObject‫ﻣﺨﺘﺼﺎت‬ ‫ﻧﮕﻬﺪاري‬ ‫ﺑﺮاي‬ ‫ﻛﻪ‬‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬ ‫ﺷﺪه‬ ‫دﻳﺪه‬ ‫اﺷﻴﺎء‬ ‫ﻧﻮع‬ ‫و‬‫ﺷﻮد‬،‫ﻣﻲ‬ ‫ﺳﺎﺧﺘﻪ‬‫ﺷﻮد‬.‫ﻣﺘﻐﻴﺮ‬ ‫ﭼﻬﺎر‬ ‫ﻣﺎ‬ ‫ﺳﺎﺧﺘﺎر‬ ‫اﻳﻦ‬ ‫در‬
‫د‬ ‫ﺗﻜﺮار‬ ‫ﺷﻤﺎره‬ ،‫ﺷﻲ‬ ‫ﻧﻮع‬ ‫ذﺧﻴﺮه‬ ‫ﺑﺮاي‬‫ر‬‫ﻣﺨﺘﺼﺎت‬ ،‫ﺧﻮد‬ ‫ﻧﻮع‬X‫ﻣﺨﺘﺼﺎت‬ ‫و‬Y‫ا‬ ‫ﭘﺲ‬ ‫و‬ ‫دارﻳﻢ‬‫ز‬‫اﻳﻦ‬ ‫از‬ ‫ﻳﻜﻲ‬ ‫ﺷﻲ‬ ‫ﻫﺮ‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬
‫ﺳﺎﺧﺘﺎرﻫﺎ‬‫ﻣﻲ‬ ‫ﭘﺮ‬ ‫ﻛﺎﻣﻞ‬ ‫ﺑﻄﻮر‬‫ﺷﻮﻧﺪ‬.
‫ﭘﻴﺶ‬ ‫رﺳﻢ‬ ‫ﺑﺮاي‬ ‫ﺷﺪﻧﺪ‬ ‫داده‬ ‫ﻗﺮار‬ ‫ﺻﻔﺮ‬ ‫ﺑﺮاﺑﺮ‬ ‫اﻧﺘﻬﺎ‬ ‫در‬ ‫ﻛﻪ‬ ‫ﺻﻔﺘﻲ‬ ‫ﺳﻪ‬‫ﻗﺮار‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫ﻛﺎرﺑﺮ‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﺻﻔﺤﻪ‬ ‫در‬ ‫ﺷﻄﺮﻧﺠﻲ‬ ‫زﻣﻴﻨﻪ‬
‫ﻣﻲ‬‫ﻣﺘﺪ‬ ‫در‬ ‫ﻣﺸﻜﻼت‬ ‫ﺑﺪﻟﻴﻞ‬ ‫وﻟﻲ‬ ‫ﮔﺮﻓﺘﻨﺪ‬Expand‫ﺷﺪﻧﺪ‬ ‫ﻓﻌﺎل‬ ‫ﻏﻴﺮ‬ ً‫ﺎ‬‫ﻣﻮﻗﺘ‬.
‫ﻣﻲ‬ ‫ﻧﺸﺎن‬ ‫اﻟﻌﻤﻞ‬ ‫ﻋﻜﺲ‬ ‫ﻛﺎرﺑﺮ‬ ‫دﺳﺘﻮرات‬ ‫ﺑﺎ‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫اﻳﻦ‬‫اﺻ‬ ‫روش‬ ‫وﻟﻲ‬ ،‫دﻫﺪ‬‫ﻓﻌﺎﻟﻴﺖ‬ ‫ﺑﺮاي‬ ‫ﻠﻲ‬،‫داده‬ ‫ارﺳﺎل‬‫ﻫﺎي‬‫ﻧﺮم‬ ‫از‬ ‫رﺑﺎت‬‫اﻓﺰار‬
‫ﻧﺮم‬ ‫اﻳﻦ‬ ‫ﺑﻪ‬ ‫ﻛﻨﺘﺮﻟﻲ‬‫درﮔﺎه‬ ‫ﻃﺮﻳﻖ‬ ‫از‬ ‫اﻓﺰار‬868‫ﭘﺮوﺗﻜﻞ‬ ‫ﺑﺎ‬UDP/IP‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.‫داده‬‫ﺟﺎﺑﺠﺎﻳﻲ‬ ،‫ﻧﻘﺎط‬ ‫ﻛﻠﻴﻪ‬ ‫ارﺳﺎل‬ ‫ﺷﺎﻣﻞ‬ ‫ﺗﺮﺗﻴﺐ‬ ‫ﺑﻪ‬ ‫ﻫﺎ‬
‫دوم‬ ‫روﺑﺎت‬ ‫ﺳﺮ‬ ‫ﺟﻬﺖ‬ ‫و‬ ‫دوم‬ ‫رﺑﺎت‬ ‫ﺟﺎﺑﺠﺎﻳﻲ‬ ،‫دوم‬ ‫رﺑﺎت‬ ‫زاوﻳﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ،‫اﺻﻠﻲ‬ ‫رﺑﺎت‬ ‫زاوﻳﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ،‫اﺻﻠﻲ‬ ‫رﺑﺎت‬‫ﺷﻤﺎل‬ ‫ﺑﻪ‬ ‫ﻧﺴﺒﺖ‬
‫ﻣﻲ‬‫ﺑﺎﺷﻨﺪ‬.‫ﻫﻤﭽﻨﻴﻦ‬‫ﺑﻨﺎم‬ ‫ﺑﻮرﻟﻨﺪ‬ ‫ﺷﺮﻛﺖ‬ ‫ﭘﺮﻛﺎرﺑﺮد‬ ‫و‬ ‫آﻣﺎده‬ ‫ﺟﺰء‬ ‫از‬ ‫ﻣﺎ‬ ‫ﺷﺒﻜﻪ‬ ‫ارﺗﺒﺎط‬ ‫ﺑﺮاي‬TNMUDP‫ﻧﻤﻮده‬ ‫اﺳﺘﻔﺎده‬‫اﻳﻢ‬.

void __fastcall TFormMain::NMUDP1DataReceived(TComponent *Sender,
int NumberBytes, AnsiString FromIP, int Port)
{
int Buff[14];
NMUDP1->ReadBuffer((char *)Buff,56,NumberBytes);
ListBox1->Items->Add(IntToStr(NumberBytes)+" Byte Received.");
ListBox1->Selected[ListBox1->Count-1] = true;
// Delete Delta Angle greater than DeltaAngle Parameter
if ( abs(StrToInt(EditAngl->Text) - Buff[13]) < DeltaAngle)
for (int i=0; i<12; i++)
Sen[i+4] = Buff[i]/10;
else
for (int i=0; i<12; i++)
Sen[i+4] = 0;
Sen[2] = Buff[12]/10; //Distance of 1st Robot
Sen[3] = Buff[13]; //Angle of 1st Robot
if (Sen[17] != 0) //2nd Robot Available cheking
{
CheckBox3->Enabled = true;
Shape->Visible = true;
Sen[16] = Buff[14];//Angle of 2nd Robot
Sen[17] = Buff[15];//Distance of 2nd Robot
Sen[18] = Buff[16];//Head of 2nd Robot
}
// Put Sensors data in log file
if (CheckBox2->Checked)
if (oflog != NULL)
oflog->write((char *)Buff,56);
else
oflog = new ofstream("log.txt",ios::binary);
if( Sen[2] >= 100)
{
Sen[2] = 0;
ListBox1->Items->Add("!!!!.Error in Distance number.!!!!!!");

}
Draw();
‫ﻣﺘﺪ‬ ‫ﻣﺸﺨﺼﻪ‬ ‫ﭘﺮوﺗﻜﻞ‬ ‫ﺑﺎ‬ ‫ﺷﺪه‬ ‫ﻣﺸﺨﺺ‬ ‫درﮔﺎه‬ ‫روي‬ ‫ﺑﺮ‬ ‫داده‬ ‫ﻫﺮﮔﻮﻧﻪ‬ ‫درﻳﺎﻓﺖ‬ ‫ﻣﺤﺾ‬ ‫ﺑﻪ‬NMUDP1DataReceived‫ﻓﺮاﺧﻮاﻧﻲ‬
‫ﻣﻲ‬‫ﺷﻮد‬.‫داده‬ ‫ﻣﺘﺪ‬ ‫اﻳﻦ‬ ‫اﺑﺘﺪاي‬ ‫در‬‫ﻣﻲ‬ ‫ﻗﺮار‬ ‫ﻣﺎ‬ ‫ﺑﺎﻓﺮ‬ ‫داﺧﻞ‬ ‫در‬ ‫و‬ ‫ﺷﺪه‬ ‫ﺧﻮاﻧﺪه‬ ‫درﮔﺎه‬ ‫از‬ ‫ﻫﺎ‬‫اﻃﻼﻋﺎت‬ ‫اﻳﻦ‬ ‫رﺳﻴﺪ‬ ‫از‬ ‫ﻛﺎرﺑﺮ‬ ‫آن‬ ‫از‬ ‫ﭘﺲ‬ ،‫ﮔﻴﺮد‬
‫ﻣﻲ‬ ‫ﺧﺒﺮ‬ ‫ﺑﺎ‬‫ﺷﻮد‬.
‫ﻫﻨﮕﺎم‬ ‫اﻳﻦ‬ ‫در‬‫ﻣﻲ‬ ‫ﺑﺮرﺳﻲ‬‫ﺑﻴﺸﺘﺮ‬ ‫ﺻﻮرت‬ ‫در‬ ،‫ﺧﻴﺮ‬ ‫ﻳﺎ‬ ‫اﺳﺖ‬ ‫ﻣﺸﺨﺺ‬ ‫ﻣﻘﺪاري‬ ‫از‬ ‫ﺑﻴﺸﺘﺮ‬ ‫رﺑﺎت‬ ‫ﭼﺮﺧﺶ‬ ‫ﻣﻴﺰان‬ ‫آﻳﺎ‬ ‫ﻛﻪ‬ ‫ﺷﻮد‬‫ﺑﻮدن‬
‫داده‬ ‫ﻣﻘﺎدﻳﺮ‬ ‫ﻧﻮﻳﺰ‬ ‫اﻓﺰاﻳﺶ‬ ‫از‬ ‫ﺟﻠﻮﮔﻴﺮي‬ ‫ﺑﺮاي‬ ‫ﺷﺪ‬ ‫اﺷﺎره‬ ً‫ﻼ‬‫ﻗﺒ‬ ‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬‫ﺻﻔﺮ‬ ‫اي‬‫ﮔﺮﻓﺘﻪ‬ ‫ﻧﻈﺮ‬ ‫در‬‫ﻣﻲ‬‫ﺷﻮﻧﺪ‬.‫ﺳﺎﻳﺮ‬ ‫ﺗﺮﺗﻴﺐ‬ ‫ﻫﻤﻴﻦ‬ ‫ﺑﻪ‬
‫ﻣ‬ ‫ﻧﻴﺰ‬ ‫ﻣﺘﻐﻴﺮﻫﺎ‬‫ﻘ‬‫ﺪار‬‫ﻣﻲ‬ ‫دﻫﻲ‬‫ﺷﻮﻧﺪ‬.‫داده‬ ‫اداﻣﻪ‬ ‫در‬‫ﻣﻲ‬ ‫ذﺧﻴﺮه‬ ‫ﺛﺒﺖ‬ ‫ﻓﺎﻳﻞ‬ ‫در‬ ‫درﻳﺎﻓﺘﻲ‬ ‫ﻫﺎي‬‫ﻣﺘﺪ‬ ‫ﻧﻬﺎﻳﺖ‬ ‫در‬ ‫و‬ ‫ﺷﻮﻧﺪ‬Draw()‫وﻇﻴﻔﻪ‬ ‫ﻛﻪ‬
‫ﺗﺮﺳﻴﻢ‬ ‫و‬ ‫ﺗﺤﻠﻴﻞ‬ ،‫اﺳﺘﻔﺎده‬‫داده‬ ‫اﻳﻦ‬‫ﻣﻲ‬ ‫ﻓﺮاﺧﻮاﻧﻲ‬ ‫دارد‬ ‫را‬ ‫ﻫﺎ‬‫ﺷﻮد‬.
‫ﻣﺘﺪ‬ ‫در‬Draw‫اﺳﺖ‬ ‫دﻛﺎرﺗﻲ‬ ‫ﻣﺨﺘﺼﺎت‬ ‫ﺑﺮاﺳﺎس‬ ‫رﺑﺎت‬ ‫ﻓﻴﺰﻳﻜﻲ‬ ‫ﻣﻮﻗﻌﻴﺖ‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫ﻗﺪم‬ ‫اوﻟﻴﻦ‬.‫زاوﻳﻪ‬ ‫و‬ ‫ﻓﺎﺻﻠﻪ‬ ‫ﻣﻨﻈﻮر‬ ‫اﻳﻦ‬ ‫ﺑﺮاي‬‫اي‬‫ﻛﻪ‬
‫ﺑﻪ‬ ‫ﺗﺒﺪﻳﻞ‬ ‫آﻧﺮا‬ ‫و‬ ‫ﮔﺮﻓﺘﻪ‬ ‫را‬ ‫اﺳﺖ‬ ‫ﻗﻄﺒﻲ‬ ‫ﻣﺨﺘﺼﺎت‬ ‫در‬‫ﻣﺨﺘﺼﺎت‬‫ﻣﻲ‬ ‫دﻛﺎرﺗﻲ‬‫ﻛﻨﻴﻢ‬.‫ﻣﻮﻗﻌﻴ‬ ‫و‬ ‫ﻛﺮده‬ ‫اﺿﺎﻓﻪ‬ ‫رﺑﺎت‬ ‫ﻗﺒﻠﻲ‬ ‫ﻣﻮﻗﻌﻴﺖ‬ ‫ﺑﻪ‬ ‫ﺳﭙﺲ‬‫ﺖ‬
‫ﻣﻲ‬ ‫ﭘﻴﺪا‬ ‫را‬ ‫ﺟﺪﻳﺪ‬‫ﻛﻨﻴﻢ‬.‫ﻛﺮدن‬ ‫ﻓﻌﺎل‬ ‫ﺑﺎ‬ ‫ﻧﻴﺰ‬ ‫ﺗﻤﺎﻳﻞ‬ ‫ﺻﻮرت‬ ‫در‬‫رد‬‫ﻣﻲ‬ ‫داده‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﺻﻔﺤﻪ‬ ‫در‬ ‫ﻗﺮﻣﺰ‬ ‫ﺧﻂ‬ ‫ﺑﺎ‬ ‫رﺑﺎت‬ ‫ﻣﺴﻴﺮ‬ ،‫ﮔﻴﺮي‬‫ﺷﻮد‬.
int x,y,r;
// Calculate position of Robot
ARobot = (Sen[3] * M_PI) / 180 ;
y = Sen[2] * sin(ARobot);
x = Sen[2] * cos(ARobot);
// Draw Robot path with red line
if ( CheckBox1->Checked)
{
MapImage->Canvas->MoveTo(XRobot,YRobot);
XRobot += x;
YRobot += y;
MapImage->Canvas->Pen->Color = clRed;
MapImage->Canvas->LineTo(XRobot,YRobot);
MapImage->Canvas->Pen->Color = clBlack;
}else
{
XRobot += x;
YRobot += y;
}

‫ﻣﻲ‬ ‫ﺑﺮرﺳﻲ‬ ‫ﺟﺪﻳﺪ‬ ‫ﻣﻮﻗﻌﻴﺖ‬ ‫ﺑﻪ‬ ‫رﺑﺎت‬ ‫اﻧﺘﻘﺎل‬ ‫از‬ ‫ﭘﺲ‬،‫ﺧﻴﺮ‬ ‫ﻳﺎ‬ ‫ﻫﺴﺘﻴﻢ‬ ‫ﺷﺪن‬ ‫ﺧﺎرج‬ ‫ﺣﺎل‬ ‫در‬ ‫زﻣﻴﻦ‬ ‫و‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﻣﺠﺎز‬ ‫ﻣﺤﺪوده‬ ‫از‬ ‫آﻳﺎ‬ ‫ﻛﻪ‬ ‫ﺷﻮد‬
‫ﺛﺎﺑﺖ‬ ‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬Edge‫از‬ ‫ﻛﻤﺘﺮ‬ ‫ﻛﻪ‬ ‫زﻣﺎﻧﻲ‬ ‫در‬ ‫ﻧﻤﻮده‬ ‫ﻣﺸﺨﺺ‬150‫ﺳﺎﻧﺘﻲ‬‫ﻟﺒﻪ‬ ‫از‬ ‫ﺧﺮوج‬ ‫ﺑﻪ‬ ‫ﻣﺘﺮ‬‫ﻣﺠﺎزي‬ ‫زﻣﻴﻦ‬‫ﻣﺤﺪود‬ ‫ﺑﺎﺷﻴﻢ‬ ‫ﻧﺰدﻳﻚ‬‫ه‬
‫زﻣﻴﻦ‬‫ﻣﻲ‬ ‫ﭘﻴﺪا‬ ‫ﺗﻮﺳﻌﻪ‬‫ﻣ‬ ‫ﺧﺮوج‬ ‫از‬ ‫و‬ ‫ﻛﻨﺪ‬‫ﻣﻲ‬ ‫ﺟﻠﻮﮔﻴﺮي‬ ‫ﺎ‬‫ﻛﻨﺪ‬.
if ( XRobot < Edge)
{
Expand('L',Edge - XRobot);
XRobot += Edge - XRobot;
}
if ( XRobot > (MapImage->Width) - Edge)
{
Expand('R',Edge);
}
if ( YRobot < Edge)
{
Expand('U',Edge - YRobot);
YRobot += Edge-YRobot;
}
if ( YRobot > (MapImage->Height) - Edge)
{
Expand('D',Edge);
}
‫داده‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫رﺳﻴﺪه‬ ‫آن‬ ‫زﻣﺎن‬ ‫ﺣﺎل‬‫ﺷﻮد‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﺻﻔﺤﻪ‬ ‫در‬ ‫و‬ ‫ﺷﺪه‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫رﺑﺎت‬ ‫ﻣﻜﺎن‬ ‫ﻫﻤﺎﻧﻨﺪ‬ ‫درﻳﺎﻓﺘﻲ‬ ‫ﻫﺎي‬.‫ﺗﺮﺳﻴﻢ‬ ‫اﻳﻦ‬ ‫اﻟﺒﺘﻪ‬
‫ﺧﻮاﻫﻴﻢ‬ ‫آن‬ ‫ﺑﻪ‬ ‫ﺟﻠﻮﺗﺮ‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫دﻫﻲ‬ ‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫و‬ ‫دﻫﻲ‬ ‫وزن‬ ‫ﺑﺎ‬ ‫ﻫﻤﺮاه‬‫رﺳﻴﺪ‬.‫ﻣﻲ‬ ‫زﻳﺮ‬ ‫ﻛﺪ‬ ‫در‬ ‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬‫ﺑﻪ‬ ‫ﺣﺴﮕﺮﻫﺎ‬ ‫ﻛﻠﻴﻪ‬ ‫ﻣﻘﺪار‬ ‫ﺑﻴﻨﻴﺪ‬
‫ﺻﻔﺤﻪ‬ ‫در‬ ‫و‬ ‫ﺷﺪه‬ ‫دﻛﺎرﺗﻲ‬ ‫ﻣﺨﺘﺼﺎت‬ ‫ﺑﻪ‬ ‫ﺗﺒﺪﻳﻞ‬ ،‫آﻧﻬﺎ‬ ‫ﻣﻘﺪار‬ ‫ﺣﺪاﻗﻞ‬ ‫و‬ ‫ﺣﺪاﻛﺜﺮ‬ ‫ﺣﺪ‬ ‫ﺑﺮرﺳﻲ‬ ‫از‬ ‫ﭘﺲ‬ ‫و‬ ‫ﺷﺪه‬ ‫ﺗﺤﻠﻴﻞ‬ ‫ﺣﻠﻘﻪ‬ ‫ﻳﻚ‬ ‫در‬ ‫ﻧﻮﺑﺖ‬
‫ﻧﻘﻄﻪ‬ ‫ﺑﺎ‬ ‫ﻛﺎرﺑﺮ‬ ‫ﻧﻤﺎﻳﺶ‬‫ﻣﻲ‬ ‫ﻧﻤﺎﻳﺎن‬ ‫اي‬‫ﮔﺮدد‬.‫ﻣﺘﺪ‬ ‫ﺑﻪ‬ ‫زاوﻳﻪ‬ ‫و‬ ‫ﻓﺎﺻﻠﻪ‬ ،‫رﺑﺎت‬ ‫ﻣﺨﺘﺼﺎت‬ ‫آن‬ ‫از‬ ‫ﭘﺲ‬DrawInObject‫ﻣﻲ‬ ‫ارﺳﺎل‬‫ﺷﻮد‬.‫اﻳﻦ‬
‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫اﻟﮕﻮرﻳﺘﻢ‬ ‫اﺳﺎس‬ ‫ﺑﺮ‬ ‫ﺷﺪه‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫ﻧﻘﻄﻪ‬ ‫اﻃﺮاف‬ ‫ﻧﻘﺎط‬ ‫اوزان‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫وﻇﻴﻔﻪ‬ ‫ﻣﺘﺪ‬‫را‬‫دارا‬‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.‫در‬ ً‫ﺎ‬‫ﻣﺴﺘﻘﻴﻤ‬ ‫ﻣﻘﺎدﻳﺮ‬ ‫اﻳﻦ‬
‫ﻛﻼس‬ ‫ﻧﻤﻮﻧﻪ‬MapTable‫ﻣﻲ‬ ‫ذﺧﻴﺮه‬‫ﭘﺮدازش‬ ‫ﺑﺮاي‬ ‫و‬ ‫ﺷﻮد‬‫ﺗﺮﺳﻴﻢ‬ ‫و‬‫ﻣﻲ‬ ‫ﻧﮕﻬﺪاري‬ ‫ﻧﻬﺎﻳﻲ‬‫ﺷﻮﻧﺪ‬.
// Calculate position of each sensor detected wall
for (int i=0;i<12;i++) // i<12
{
if ((Sen[i+4] > MinRange) && (Sen[i+4] <= MaxRange))
{
r = R + Sen[i+4];
y = r * sin(-(M_PI/6)*i + ARobot);
x = r * cos(-(M_PI/6)*i + ARobot);

MapImage->Canvas->Pixels[x+XRobot][y+YRobot] = clNavy;
DrawInObject(XRobot,YRobot,r,-(M_PI/6)*i + ARobot);
}
}
‫ﻣﺘﺪ‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬ ‫ﻣﺘﻦ‬ ‫زﻳﺮ‬ ‫در‬DrawInObject‫ﻣﻲ‬ ‫را‬‫ﺑﺒﻴﻨﻴﺪ‬ ‫ﺗﻮاﻧﻴﺪ‬.‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﺷﺮوع‬ ‫ﻧﻘﻄﻪ‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫از‬ ‫ﭘﺲ‬‫دﻫﻲ‬،‫ﺗﻮﺳﻂ‬‫ﺗﻮدرﺗﻮ‬ ‫ﺣﻠﻘﻪ‬ ‫دو‬
‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﻣﻘﺪار‬‫ﻗﺒﻠﻲ‬ ‫ﻣﻘﺪار‬ ‫ﺑﺎ‬ ‫ﺟﻤﻊ‬ ‫از‬ ‫ﭘﺲ‬ ‫ﻣﺸﺨﺺ‬ ‫ﻧﻘﺎط‬ ‫در‬ ‫و‬ ‫ﺷﺪه‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫ﻫﺎ‬‫ﻧﻘﻄﻪ‬ ‫ﻫﻤﺎن‬‫ﻣﻲ‬ ‫داده‬ ‫ﻗﺮار‬‫ﺷﻮﻧﺪ‬.‫اﻳﻦ‬ ‫اﺟﺮاي‬ ‫از‬ ‫ﭘﺲ‬
‫ﻗ‬ ‫ﻣﺘﺪ‬ ‫در‬ ‫ﻛﺪ‬ ‫اداﻣﻪ‬ ‫ﺑﻪ‬ ‫ﻣﺠﺪدا‬ ‫ﻗﺴﻤﺖ‬‫ﺑﺮﻣﻲ‬ ‫ﺒﻞ‬‫ﮔﺮدﻳﻢ‬‫و‬‫ﺑ‬‫ﺳﺎﻳﺮ‬ ‫ﺮاي‬‫ﻧﻘ‬‫اﻳﻦ‬ ‫ﻧﻴﺰ‬ ‫ﺎط‬‫ﻛ‬‫ﻣﻲ‬ ‫اﻧﺠﺎم‬ ‫را‬ ‫ﺎر‬‫دﻫﻴﻢ‬.
void __fastcall TFormMain::DrawInObject(int x, int y ,int d, float Teta)
{
// Set Potential of each points in MapTable array
int X,Y,Potential,DistanceTolerance;
int Pt,Pd;
DistanceTolerance = d/20+1;
Teta -= (AngleTolerance/2)*M_PI/180;
d -= DistanceTolerance/2;
{
X = ((d+j) * cos(Teta + i*0.017453292)) + x;
Y = ((d+j) * sin(Teta + i*0.017453292)) + y;
// ----
Potential = (i < (AngleTolerance/2) ? i % (AngleTolerance/2) : AngleTolerance -i) *
(j < (DistanceTolerance/2) ? j % (DistanceTolerance/2) : DistanceTolerance -j);
Potential *= (10-(d/15));
// ----
MapTable->Set(X, Y, (MapTable->Get(X,Y))+Potential);
}
}
‫ﺳﭙﺲ‬‫ﻛﺪ‬ ‫اداﻣﻪ‬ ‫در‬‫ﻣﻲ‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﻛﺎرﺑﺮ‬ ‫ﺑﻪ‬ ‫را‬ ‫درﻳﺎﻓﺘﻲ‬ ‫ﻣﻘﺎدﻳﺮ‬ ‫ﺗﻤﺎم‬‫دﻫﻴﻢ‬‫و‬‫رﺑﺎت‬‫ﻣﻲ‬ ‫ﻣﻨﺘﻘﻞ‬ ‫ﺟﺪﻳﺪ‬ ‫ﻣﺨﺘﺼﺎت‬ ‫ﺑﻪ‬ ‫را‬ ‫ﻫﺎ‬‫ﻛﻨﻴﻢ‬،‫ﺑﺎ‬ ‫ﻧﻴﺰ‬ ‫اﻧﺘﻬﺎ‬ ‫در‬
‫ﻣﺘﺪ‬ ‫ﺗﺤﺮﻳﻚ‬‫ﻧﻮا‬‫ﻣﻲ‬ ‫ﻛﺎرﺑﺮ‬ ‫ﺻﻔﺤﻪ‬ ‫ﻣﺠﺪد‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﺑﻪ‬ ‫اﺟﺒﺎر‬ ‫را‬ ‫آﻧﻬﺎ‬ ‫ﻟﻐﺰش‬ ‫رﻫﺎي‬‫ﻧﻤﺎﻳﻴﻢ‬.‫و‬ ‫ﻛﻮﭼﻚ‬ ‫ﻗﺴﻤﺖ‬ ‫اﺻﻞ‬ ‫در‬ ‫ﻛﺎرﺑﺮ‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﺻﻔﺤﻪ‬
‫ﻣﻲ‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﺻﻔﺤﻪ‬ ‫ﻛﻞ‬ ‫از‬ ‫ﻣﺘﻤﺮﻛﺰي‬‫ﻣﻲ‬ ‫ﺷﻤﺎ‬ ‫ﺗﺮﺗﻴﺐ‬ ‫اﻳﻦ‬ ‫ﺑﻪ‬ ‫و‬ ‫ﺑﺎﺷﺪ‬‫ﻧﻮا‬ ‫ﺑﺎ‬ ‫ﺗﻮاﻧﻴﺪ‬‫ر‬‫ﻟﻐﺰﻧﺪه‬ ‫ﻫﺎي‬‫ﻣﻮﺟﻮد‬‫دﻳﺪ‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﺻﻔﺤﻪ‬ ‫ﻃﺮف‬ ‫دو‬ ‫در‬

‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺟﺎﺑﺠﺎ‬ ‫اﺻﻠﻲ‬ ‫ﺻﻔﺤﻪ‬ ‫ﻛﻞ‬ ‫در‬ ‫را‬ ‫ﺧﻮد‬.‫اﻳﻦ‬ ‫ﺗﺤﺮﻳﻚ‬ ‫ﺑﺎ‬‫داده‬ ‫ﻧﻮارﻫﺎ‬‫ﺻﻔﺤﻪ‬ ‫از‬ ‫ﻫﺎ‬MapImage‫در‬ ‫و‬ ‫درﻳﺎﻓﺖ‬ ‫ﻣﺎ‬ ‫دﻟﺨﻮاه‬ ‫ﻛﺎدر‬ ‫در‬
‫ﻣﻲ‬ ‫داده‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﻛﺎرﺑﺮ‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﺻﻔﺤﻪ‬‫ﺷﻮﻧﺪ‬.
‫ﻧﺎم‬ ‫ﺑﺎ‬ ‫ﻣﺘﺪي‬ ‫ﻧﻴﺰ‬ ‫ﻛﻼس‬ ‫اﻳﻦ‬ ‫در‬ ‫ﻣﺎ‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫اﻳﻦ‬ ‫ﺗﻮﺟﻪ‬ ‫ﺟﺎﻟﺐ‬ ‫ﻧﻜﺘﻪ‬Expand‫دارﻳﻢ‬.‫ﻛﻼس‬ ‫در‬ ‫ﻣﻮﺟﻮد‬ ‫ﻣﺘﺪ‬ ‫ﺑﺎ‬ ‫ﻣﺘﺪ‬ ‫اﻳﻦ‬ ‫ﺗﻔﺎوت‬
MapTable‫ﺻﻔﺤﻪ‬ ‫اﺑﺘﺪا‬ ‫ﻣﺘﺪ‬ ‫اﻳﻦ‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫اﻳﻦ‬MapImage‫ر‬‫ﻣﻲ‬ ‫ﮔﺴﺘﺮش‬ ‫ا‬‫ﻣﻲ‬ ‫ﻓﺮاﺧﻮاﻧﻲ‬ ‫را‬ ‫ﺻﻔﺤﻪ‬ ‫ﭘﺸﺖ‬ ‫ﻣﺘﺪ‬ ‫ﺳﭙﺲ‬ ‫و‬ ‫دﻫﺪ‬‫ﻛﻨﺪ‬.
‫ﻗﺒﻞ‬ ‫روش‬ ‫در‬ ‫ﮔﺴﺘﺮش‬ ‫ﻫﻤﺎﻧﻨﺪ‬ ‫ﻫﻤﭽﻨﻴﻦ‬،‫واﮔﺮ‬ ،‫دارد‬ ‫وﺟﻮد‬ ‫راﺳﺖ‬ ‫و‬ ‫ﭘﺎﻳﻴﻦ‬ ‫ﮔﺴﺘﺮش‬ ‫ﺑﺎ‬ ‫ﭼﭗ‬ ‫و‬ ‫ﺑﺎﻻ‬ ‫ﮔﺴﺘﺮش‬ ‫ﺗﻔﺎوت‬ ‫ﻫﻤﭽﻮن‬ ‫ﻣﺴﺎﻳﻠﻲ‬
‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬ ‫ﺗﻔﻜﺮ‬ ‫و‬ ‫اﻳﺪه‬ ‫ﻳﻚ‬ ‫از‬ ‫روش‬ ‫ﺑﻘﻴﻪ‬ ‫ﻧﻪ‬‫ﻛﻨﺪ‬.‫ﻧﻤﻮﻧﻪ‬ ‫زﻳﺮ‬ ‫ﻛﺪ‬‫ﻣﻲ‬ ‫ﻧﺸﺎن‬ ‫را‬ ‫ﺑﺎﻻ‬ ‫ﮔﺴﺘﺮش‬ ‫از‬ ‫اي‬‫دﻫﺪ‬.‫ﻫﻤﭽﻨﻴ‬‫ﻗﺴﻤﺖ‬ ‫اﻳﻦ‬ ‫در‬ ‫ﻦ‬
‫ﻣﻲ‬‫اﺷﻴﺎء‬ ‫ﺑﺮاي‬ ‫ﺷﺪه‬ ‫ﺛﺒﺖ‬ ‫ﻧﻘﺎط‬ ‫ﺑﻪ‬ ‫ﺑﺎﻳﺴﺖ‬‫ﺳﺎﺧﺘﺎر‬ ‫در‬‫ﮔﺮدد‬ ‫ﻣﺒﺬول‬ ‫ﻛﺎﻓﻲ‬ ‫ﺗﻮﺟﻪ‬ ‫ﻧﻴﺰ‬.
case 'U':
RectSource = Rect(0, 0, MapImage->Width, MapImage->Height);
RectDest = Rect(0, 0, MapImage->Width, MapImage->Height);
TmpImage->Height = MapImage->Height;
TmpImage->Width = MapImage->Width;
TmpImage->Canvas->CopyRect(RectDest, MapImage->Canvas, RectSource);
MapImage->Height += Vlu;
for (int i = 0;i<GCount+VCount;i++)
RR_Object[i].Y += Vlu;
ClearMap();
RectDest = Rect(0, Vlu, MapImage->Width, MapImage->Height);
MapImage->Canvas->CopyRect(RectDest, TmpImage->Canvas, RectSource);
if (!MapTable->Expand('U',Vlu))
{
ListBox1->Items->Add("Error to expand potential map !!!");
}
break;
‫ﻧﺮم‬ ‫اﻳﻦ‬ ‫در‬‫ﻣﻲ‬ ،‫ﺧﻄﺮﻧﺎك‬ ‫ﮔﺎزﻫﺎي‬ ‫ﺑﺎ‬ ‫ﻣﺤﻴﻂ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻣﺼﺪوم‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫ﺑﺎ‬ ‫اﻓﺰار‬‫ﻋﻼﻣﺖ‬ ‫ﺗﻮان‬‫ﺑﺮ‬ ‫ﻫﺎﻳﻲ‬‫ﻧﻘﺸﻪ‬ ‫ﻛﻞ‬ ‫در‬ ‫ﺗﺎ‬ ‫داد‬ ‫ﻗﺮار‬ ‫ﻧﻘﺸﻪ‬ ‫روي‬
‫ﺑﺎﺷﺪ‬ ‫ﻣﺸﺨﺺ‬ ‫ﻧﻘﺎط‬ ‫اﻳﻦ‬ ‫ﻣﻮﻗﻌﻴﺖ‬.‫ﻧﺮم‬ ‫ﺑﺎﻳﺪ‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫از‬ ‫ﭘﺲ‬ ‫ﻛﺎرﺑﺮ‬ ‫دﺳﺘﻲ‬ ‫ﺑﺼﻮرت‬ ‫ﺣﺎﺿﺮ‬ ‫ﺣﺎل‬ ‫در‬ ‫اﻟﺒﺘﻪ‬‫اﻓﺰار‬‫ﻓﺸﺮدن‬ ‫ﺑﺎ‬ ‫را‬‫ﻛﻠﻴﺪ‬
‫ﻋﻤﻞ‬ ‫اﻳﻦ‬ ‫رﺑﺎت‬ ‫ﺗﺤﺮﻳﻚ‬ ‫ﺑﺎ‬ ،‫ﻣﺼﺪوﻣﻴﻦ‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫در‬ ‫رﺑﺎت‬ ‫ﺷﺪن‬ ‫ﺧﻮدﻛﺎر‬ ‫ﺻﻮرت‬ ‫در‬ ‫ﻛﻪ‬ ‫دارد‬ ‫وﺟﻮد‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫اﻳﻦ‬ ‫وﻟﻲ‬ ‫ﻛﻨﺪ‬ ‫ﺗﺤﺮﻳﻚ‬
‫ﺑﻴﺎﻓﺘ‬ ‫اﺗﻔﺎق‬‫ﺪ‬.
‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫آﻣﺎده‬ ‫ﻣﻨﻈﻮر‬ ‫ﺑﺪﻳﻦ‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﺳﺎﺧﺘﺎري‬ ‫در‬ ‫آن‬ ‫ﺷﻤﺎره‬ ‫و‬ ‫ﻣﺨﺘﺼﺎت‬ ،‫ﺷﻲ‬ ‫ﻧﻮع‬ ‫ذﺧﻴﺮه‬ ‫ﺷﺪه‬ ‫دﻳﺪه‬ ‫ﻣﺼﺪوم‬ ‫ﺛﺒﺖ‬ ‫در‬ ‫ﻗﺪم‬ ‫اوﻟﻴﻦ‬.
‫ﺳﺎزﻧﺪه‬ ‫در‬،‫آراﻳﻪ‬‫ﺻﻔﺖ‬ ‫ﻣﺼﺪوم‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫ﺑﺎ‬ ‫ﻧﻴﺰ‬ ‫زﻣﺎن‬ ‫ﻫﺮ‬ ‫در‬ ‫و‬ ‫ﺷﺪ‬ ‫ﺳﺎﺧﺘﻪ‬ ‫ﺳﺎﺧﺘﺎر‬ ‫اﻳﻦ‬ ‫از‬ ‫اي‬VCount‫ﻣﻲ‬ ‫اﺿﺎﻓﻪ‬ ‫ﻋﺪد‬ ‫ﻳﻚ‬‫و‬ ‫ﺷﻮد‬
‫ﺻﻔ‬ ‫ﺑﻪ‬ ‫ﻋﺪد‬ ‫ﻳﻚ‬ ‫ﻣﺤﻴﻂ‬ ‫در‬ ‫ﮔﺎز‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫ﺑﺎ‬‫ﺖ‬GCount‫ﻣﻲ‬ ‫اﺿﺎﻓﻪ‬‫ﺷﻮد‬.‫ﻧﻤﺎﻳﻨﺪه‬ ‫ﻛﻪ‬ ‫را‬ ‫ﻛﻮﭼﻜﻲ‬ ‫ﺗﺼﻮﻳﺮ‬ ‫ﻛﻪ‬ ‫رﺳﻴﺪه‬ ‫آن‬ ‫زﻣﺎن‬ ‫ﻫﻤﻜﻨﻮن‬

‫اﺳﺖ‬ ‫ﺷﻲ‬‫ﺷﺪه‬ ‫دﻳﺪه‬ ‫ﻛﻪ‬‫ﻣﻲ‬ ‫آن‬ ‫روي‬ ‫ﺑﺮ‬ ‫را‬ ‫ﺷﻲ‬ ‫اﻳﻦ‬ ‫ﺷﻤﺎره‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫اﻧﺘﺨﺎب‬ ‫را‬ ‫ﻗﻠﻢ‬ ‫رﻧﮓ‬ ‫آﻧﮕﺎه‬ ،‫ﻛﻨﻴﻢ‬ ‫ﺑﺎرﮔﺰاري‬ ‫ﺣﺎﻓﻈﻪ‬ ‫در‬،‫ﻧﻮﻳﺴﻴﻢ‬
‫ﻫﻤﻜﻨﻮن‬‫ﻧ‬ ‫در‬ ‫را‬ ‫ﺷﺪه‬ ‫آﻣﺎده‬ ‫ﻋﻼﻣﺖ‬ ‫اﻳﻦ‬‫ﻘ‬‫ﻣﻲ‬ ‫ﻗﺮار‬ ‫ﺷﺪه‬ ‫ﻣﺸﺨﺺ‬ ‫ﻄﻪ‬‫دﻫﻴﻢ‬.‫ا‬ ‫از‬ ‫ﻛﺎرﺑﺮ‬‫ﻣﻲ‬ ‫ﺳﺎدﮔﻲ‬ ‫ﺑﻪ‬ ‫ﺑﻌﺪ‬ ‫ﺑﻪ‬ ‫ﻳﻦ‬ً‫ﻻ‬‫ﻣﺜﺎ‬ ‫ﻣﻜﺎن‬ ‫ﺗﻮاﻧﺪ‬
‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫ﻣﺼﺪوم‬ ‫ﭼﻨﺪﻣﻴﻦ‬ ‫ﺑﺪاﻧﺪ‬ ‫آن‬ ‫ﺷﻤﺎره‬ ‫از‬ ‫و‬ ‫دﻳﺪه‬ ‫را‬ ‫ﻣﺼﺪوم‬.‫ﻛﻪ‬ ‫آن‬ ‫ﻓﺮق‬ ‫ﺑﺎ‬ ‫ﺻﺎدﻗﺎﺳﺖ‬ ‫ﻛﺪ‬ ‫ﻫﻤﻴﻦ‬ ‫ﻧﻴﺰ‬ ‫ﮔﺎز‬ ‫ﺑﺮاي‬ ً‫ﺎ‬‫دﻗﻴﻘ‬
‫اﺳﺖ‬ ‫ﻣﺘﻔﺎوت‬ ‫ﺷﺪه‬ ‫داده‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﺗﺼﻮﻳﺮ‬ ‫ﻧﻮع‬.‫ﻣﻲ‬ ‫را‬ ‫ﻣﺼﺪوم‬ ‫ﺟﺎي‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﻣﺘﺪ‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬ ‫زﻳﺮ‬ ‫در‬‫ﺑﻴﻨﻴﺪ‬.
void __fastcall TFormMain::suiButtonVictimClick(TObject *Sender)
{
RR_Object[VCount+GCount].Type = 'V';
RR_Object[VCount+GCount].X = XRobot;
RR_Object[VCount+GCount].Y = YRobot;
RR_Object[VCount+GCount].Count = (VCount+1);
VCount++;
pBitmap->LoadFromFile("victim.bmp");
pBitmap->Canvas->Brush->Color = clRed;
pBitmap->Canvas->TextOutA(1,1,IntToStr(RR_Object[VCount+GCount-1].Count));
MapImage->Canvas->Draw(XRobot, YRobot, pBitmap);
}
‫ﻓﺎﻳﻞ‬ ‫دو‬ ‫در‬ ‫آن‬ ‫ﻛﺪ‬ ‫ﻛﻪ‬ ‫ﺳﻮم‬ ‫ﭘﻨﺠﺮه‬ ‫ﺑﻪ‬ ‫ﺑﺎﻻﺧﺮه‬ ‫و‬Draw.cpp, Draw.h‫ﻣﻲ‬‫رﺳﻴﺪﻳﻢ‬ ‫ﺑﺎﺷﺪ‬.‫اﻧﺘﻬﺎي‬ ‫ﺑﻪ‬ ‫ﻛﺎرﺑﺮ‬ ‫ﻛﻪ‬ ‫زﻣﺎﻧﻲ‬ ‫ﭘﻨﺠﺮه‬ ‫اﻳﻦ‬
‫ﻣﻲ‬ ‫ﻓﺮاﺧﻮاﻧﻲ‬ ‫ﺑﺎﺷﺪ‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﻧﺘﻴﺠﻪ‬ ‫ﺛﺒﺖ‬ ‫و‬ ‫اﺻﻼح‬ ‫ﺑﻪ‬ ‫ﻧﻴﺎز‬ ‫و‬ ‫ﺑﺎﺷﺪ‬ ‫رﺳﻴﺪه‬ ‫ﺧﻮد‬ ‫ﭘﻮﻳﺶ‬‫ﺷﻮد‬.‫اﺟﺮا‬ ‫ﺑﺎر‬ ‫ﻫﺮ‬ ‫در‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﺗﻮﺟﻪ‬ ‫ﻗﺎﺑﻞ‬‫ﺑﺮﻧﺎﻣﻪ‬
‫اﺻﻠﻲ‬‫ﻣﻲ‬ ‫ﻳﻜﺒﺎر‬ ‫ﻓﻘﻂ‬‫ﭘﻨﺠ‬ ‫اﻳﻦ‬ ‫ﺗﻮان‬‫ﻛﻠﻴﺪ‬ ‫آن‬ ‫از‬ ‫ﭘﺲ‬ ‫و‬ ‫ﻧﻤﻮد‬ ‫ﻓﺮاﺧﻮاﻧﻲ‬ ‫را‬ ‫ﺮه‬‫ﺗﺤﺮﻳﻚ‬‫ﻛﻪ‬ ‫اﻳﻨﺴﺖ‬ ‫اﻳﻨﻜﺎر‬ ‫دﻟﻴﻞ‬ ،‫ﺷﺪ‬ ‫ﺧﻮاﻫﺪ‬ ‫ﻏﻴﺮﻓﻌﺎل‬ ‫آن‬
‫داده‬ ‫روي‬ ‫ﺑﺮ‬‫ﻫﺎ‬،‫ﭘﺎﻳﻪ‬ ‫ﻛﻼس‬ ‫در‬ ‫ﺷﺪه‬ ‫ذﺧﻴﺮه‬ ‫ي‬‫ﻣﻲ‬ ‫اﻋﻤﺎل‬ ‫ﺗﻐﻴﻴﺮاﺗﻲ‬ ‫ﭘﻨﺠﺮه‬ ‫اﻳﻦ‬ ‫ﻓﺮاﺧﻮاﻧﻲ‬ ‫زﻣﺎن‬ ‫در‬‫آن‬ ‫از‬ ‫اﻃﻼﻋﺎت‬ ‫اﻳﻦ‬ ‫دﻳﮕﺮ‬ ‫ﻛﻪ‬ ‫ﺷﻮد‬
‫ﻧﻤﻲ‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫ﺑﻌﺪ‬ ‫ﺑﻪ‬‫ﻧﺮم‬ ‫ﺑﺎﻳﺪ‬ ‫و‬ ‫ﺑﺎﺷﻨﺪ‬‫اﻓﺰار‬‫ﺗﺮﺳﻴﻢ‬ ‫ﺑﺮاي‬‫راه‬ ‫دوﺑﺎره‬‫ﮔﺮدد‬ ‫اﻧﺪازي‬.‫ﻛﺎر‬ ‫ﻣﻬﻤﺘﺮﻳﻦ‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﻗﺴﻤﺖ‬ ‫در‬،‫ﻧﺮﻣﺎل‬‫و‬ ‫ﺳﺎزي‬
،‫اﺳﺖ‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﺗﺼﻮﻳﺮ‬ ‫ﻓﻴﻠﺘﺮﻳﻨﮓ‬‫ﻳﻜﻲ‬ ‫ﻫﻤﭽﻨﻴﻦ‬‫ﻗﺎﺑﻠﻴﺖ‬ ‫از‬‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﻣﻔﻴﺪاﻳﻦ‬ ‫ﺑﺴﻴﺎر‬ ‫ﻫﺎي‬‫ﻣﻲ‬ ‫ﻛﺎرﺑﺮ‬‫ﺗﻮاﻧﺪ‬‫را‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﺗﺼﻮﻳﺮ‬‫ﺗﻨﻈﻴﻢ‬ ‫از‬ ‫ﭘﺲ‬
،‫ﻓﻴﻠﺘﺮﻳﻨﮓ‬ ‫ﭘﺎراﻣﺘﺮﻫﺎي‬‫ﺑﺼﻮرت‬‫ﻳﻚ‬‫ﻧﻤﺎﻳﺪ‬ ‫ذﺧﻴﺮه‬ ‫زﻣﺎن‬ ‫و‬ ‫ﺗﺎرﻳﺦ‬ ‫ﺑﺮﭼﺴﺐ‬ ‫ﺑﺎ‬ ‫ﺗﺼﻮﻳﺮي‬ ‫ﻓﺎﻳﻞ‬.
‫ﻧﺮﻣﺎل‬ ‫اﻋﻤﺎل‬ ‫ﻛﺎر‬ ‫اوﻟﻴﻦ‬ ،‫ﭘﻨﺠﺮه‬ ‫ﺗﺤﺮﻳﻚ‬ ‫از‬ ‫ﭘﺲ‬‫داده‬ ‫ﻛﻞ‬ ‫ﺑﺮ‬ ‫ﺳﺎزي‬‫ﻣﻲ‬ ‫ﻫﺎ‬‫ﻣﺘﺪ‬ ،‫ﺑﺎﺷﺪ‬Normalize‫اﻳ‬‫ﻦ‬‫ﻣﻲ‬ ‫اﻧﺠﺎم‬ ‫را‬ ‫ﻛﺎر‬‫دﻫﺪ‬.‫آن‬ ‫از‬ ‫ﭘﺲ‬
‫ﻣﺘﺪ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫ﮔﺮاﻓﻴﻜﻲ‬ ‫ﺗﺼﻮﻳﺮ‬DrawLines‫ﺧﻂ‬‫ﻣﻲ‬ ‫ﻛﺸﻲ‬‫ﻣﺘﺪ‬ ‫ﻓﺮاﺧﻮاﻧﻲ‬ ‫ﺑﺎ‬ ‫و‬ ‫ﺷﻮد‬DrawMap‫اﺳﺘﺎﺗﻴﻚ‬ ‫ﻓﻴﻠﺘﺮ‬ ‫ﻣﻘﺪار‬ ‫اﺳﺎس‬ ‫ﺑﺮ‬
‫داده‬‫ﻣﻲ‬ ‫رﺳﻢ‬ ‫ﺷﺪه‬ ‫ذﺧﻴﺮه‬ ‫ﻫﺎي‬‫ﺷﻮ‬‫ﻧﺪ‬.‫ﻣﻲ‬ ‫ﺿﻤﻦ‬ ‫در‬‫ﻟﺒﻪ‬ ‫ﻛﻠﻴﺪ‬ ‫ﻓﺸﺮدن‬ ‫ﺑﺎ‬ ‫ﺗﻮان‬‫ﻧﻤﻮد‬ ‫ﺻﺎدر‬ ‫ﻧﻴﺰ‬ ‫را‬ ‫ﻣﺘﺪ‬ ‫اﻳﻦ‬ ‫اﺟﺮاي‬ ‫ﻓﺮﻣﺎن‬ ‫ﻳﺎﺑﻲ‬.
‫ﻣﻲ‬ ‫ﻓﻬﻢ‬ ‫ﻗﺎﺑﻞ‬ ‫و‬ ‫ﺧﻮاﻧﺎ‬ ‫ﺑﺴﻴﺎر‬ ‫ﻗﺴﻤﺖ‬ ‫اﻳﻦ‬ ‫ﻛﺪ‬‫ﺑﺎﺷﺪ‬.‫ﻣﻲ‬ ‫ﺷﻤﺎ‬‫ﺑﺎﺷﻴﺪ‬ ‫داﺷﺘﻪ‬ ‫ﻛﺎﻣﻞ‬ ‫دﺳﺘﺮﺳﻲ‬ ‫ﻛﺪ‬ ‫ﻣﻨﺒﻊ‬ ‫ﺑﻪ‬ ‫ﻓﺸﺮده‬ ‫دﻳﺴﻚ‬ ‫درﻳﺎﻓﺖ‬ ‫ﺑﺎ‬ ‫ﺗﻮاﻧﻴﺪ‬.
‫ﻣﻲ‬ ‫ﻣﺸﺎﻫﺪ‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﻟﺤﻈﻪ‬ ‫در‬ ‫را‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﭘﻨﺠﺮه‬ ‫از‬ ‫ﻧﻤﺎﻳﻲ‬ ‫ﺑﻌﺪي‬ ‫ﺷﻜﻞ‬ ‫در‬‫ﻛﻨ‬‫ﻴﺪ‬.

‫ﺷﻜﻞ‬2-4)‫ﻧﻬﺎﻳﻲ‬ ‫ﭘﺮدازش‬ ‫و‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﭘﻨﺠﺮه‬ ‫ﻧﻤﺎي‬(

2-5-2(‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬ ‫ﺑﺎ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬
‫ﻧﻴﺎزﻣﻨﺪي‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮ‬ ‫ﺑﺎ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫و‬ ‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬ ‫ﺑﺎ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬‫در‬ ‫روش‬ ‫دو‬ ‫اﻳﻦ‬ ‫ﻓﺮق‬ ‫ﺗﻨﻬﺎ‬ ،‫دارﻧﺪ‬ ‫ﻣﺸﺘﺮﻛﻲ‬ ‫ﻫﺎي‬
‫ﻧ‬ ‫ﺗﻌﺪاد‬‫ﻘ‬‫ﻣﻲ‬ ‫آﻧﻬﺎ‬ ‫ﺑﻴﻦ‬ ‫زواﻳﺎي‬ ‫و‬ ‫ﺎط‬‫ﺑﺎﺷﺪ‬.‫ﻣﺎ‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮ‬ ‫روش‬ ‫در‬‫ﻧﺼﺐ‬ ‫رﺑﺎت‬ ‫ﻣﺤﻴﻂ‬ ‫در‬ ‫ﺣﺴﮕﺮ‬ ‫ﻋﺪد‬ ‫دوازده‬ ‫رﺑﺎت‬ ‫روي‬ ‫ﺑﺮ‬
‫ﻧﻤﻮده‬‫اﻳﻢ‬.‫دارد‬ ‫زاوﻳﻪ‬ ‫اﺧﺘﻼف‬ ‫ﻛﻨﺎري‬ ‫ﺣﺴﮕﺮ‬ ‫ﺑﺎ‬ ‫درﺟﻪ‬ ‫ﺳﻲ‬ ‫ﺣﺴﮕﺮ‬ ‫ﻫﺮ‬ ‫ﻧﺘﻴﺠﻪ‬ ‫در‬ ‫ﭘﺲ‬.‫ﺑﻪ‬ ‫ﺑﺴﺘﻪ‬ ‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬ ‫روش‬ ‫در‬ ‫وﻟﻲ‬
‫زاوﻳﻪ‬ ‫ﺣﺪاﻛﺜﺮ‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫ﺗﻮاﻧﺎﻳﻲ‬ ‫ﭘﻮﻳﺸﮕﺮ‬ ‫ﺗﻨﻈﻴﻤﺎت‬‫ﺣﺪود‬ ‫در‬ ‫اي‬270‫ﺑﺎ‬ ‫درﺟﻪ‬768‫ﻣﻲ‬ ‫ﭘﺲ‬ ،‫دارﻳﻢ‬ ‫را‬ ‫ﻧﻘﻄﻪ‬‫ﺗﻔﺎوت‬ ‫اﻳﻦ‬ ‫ﺑﺎﻳﺴﺖ‬‫در‬ ‫را‬
‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫و‬ ‫ﮔﺬاري‬ ‫ﻧﻘﻄﻪ‬‫ﻛﻨﻴﻢ‬ ‫رﻋﺎﻳﺖ‬ ‫دﻫﻲ‬.‫ﻫﺴﺘﻨﺪ‬ ‫ﻫﻤﺪﻳﮕﺮ‬ ‫ﻫﻤﺎﻧﻨﺪ‬ ‫ﻣﺴﺎﺋﻞ‬ ‫ﺳﺎﻳﺮ‬ ‫ﺑﻌﺪ‬ ‫ﺑﻪ‬ ‫اﻳﻦ‬ ‫از‬.ً‫ﻼ‬‫ﻛﺎﻣ‬ ‫ﻣﺴﻴﺮ‬ ‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬ ‫ﺿﻤﻦ‬ ‫در‬
‫ﻣﺴﻘﻴﻤ‬‫ﻲ‬‫ﻣﻲ‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫را‬‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫اﻟﮕﻮرﻳﺘﻢ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﻪ‬ ‫ﻧﻴﺎز‬ ‫ﭘﺲ‬ ‫ﻛﻨﺪ‬‫ﻣﻲ‬ ‫ﻛﻢ‬ ‫دﻫﻲ‬‫ﻣﻲ‬ ‫و‬ ‫ﺷﻮد‬‫زاوﻳﻪ‬ ‫ﻳﺎ‬ ‫ﺣﺬف‬ ‫را‬ ‫اﻟﮕﻮرﻳﺘﻢ‬ ‫اﻳﻦ‬ ‫ﺗﻮان‬
‫ﻛﻢ‬ ‫آﻧﺮا‬ ‫ﻣﻘﺪاردﻫﻲ‬‫ﻛﺮد‬.‫ﻧﻘﺎط‬ ‫رﺳﻢ‬ ‫ﺑﺎ‬ ‫ﺑﺴﺎدﮔﻲ‬ ‫ﻛﺮد‬ ‫ﻛﻢ‬ ‫رﺑﺎت‬ ‫در‬ ‫را‬ ‫ﺳﺮﻋﺖ‬ ‫و‬ ‫ﭼﺮﺧﺶ‬ ‫ﺧﻄﺎي‬ ‫ﻣﺎﻧﻨﺪ‬ ‫دﻳﮕﺮ‬ ‫ﺧﻄﺎﻫﺎي‬ ‫ﺑﺘﻮان‬ ‫اﮔﺮ‬
‫ﻣﻲ‬ ‫ﺷﺪه‬ ‫ﺷﻨﺎﺳﺎﻳﻲ‬‫ﻧﻘﺸﻪ‬ ‫ﺗﻮان‬‫ﺑﺎﻻ‬ ‫وﺿﻮح‬ ‫ﺑﺎ‬ ‫اي‬‫ﺗﺮ‬‫ﺳ‬‫ﻴ‬‫ﻢ‬‫ﻧﻤﻮد‬.‫ﻫﻤﺮاه‬ ‫ﻓﺸﺮده‬ ‫دﻳﺴﻚ‬ ‫در‬ ‫ﻛﺎﻣﻞ‬ ‫ﺑﻄﻮر‬ ‫ﻧﻴﺰ‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫اﻳﻦ‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬،‫ﺗﺤﺖ‬
‫ﻣﺠﻮز‬‫ﭘﺮواﻧﻪ‬ ‫و‬‫ﮔﻨﻮ‬‫و‬ ‫ﺷﺪه‬ ‫ﻣﻨﺘﺸﺮ‬‫ﻣﻲ‬ ‫ﻣﻮﺟﻮد‬‫ﺑﺎﺷﺪ‬.
2-5-3(‫ﺑﺮﻧﺎﻣ‬‫ﺷﺪه‬ ‫ﺛﺒﺖ‬ ‫ﻓﺎﻳﻠﻬﺎي‬ ‫ﻛﻨﻨﺪه‬ ‫ﭘﺨﺶ‬ ‫ﻪ‬
‫ﻧﺮم‬‫داده‬ ‫ﻛﻠﻴﻪ‬ ‫ﻟﺤﻈﻪ‬ ‫ﻫﺮ‬ ‫در‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫اﻓﺰار‬‫ﻣﻲ‬ ‫ﺛﺒﺖ‬ ‫ﻓﺎﻳﻞ‬ ‫در‬ ‫را‬ ‫درﻳﺎﻓﺘﻲ‬ ‫ﻫﺎي‬‫ﻛﻨﺪ‬،‫ﺑﻪ‬ ‫و‬ ‫اﺗﻔﺎﻗﺎت‬ ‫ﻣﺠﺪد‬ ‫ﭘﺨﺶ‬ ‫اﻣﻜﺎن‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫اﻳﻦ‬
‫ﺷﺒﻴﻪ‬ ‫ﻧﻮﻋﻲ‬‫ﻣﻲ‬ ‫ﻛﺎرﺑﺮ‬ ‫و‬ ‫ﺳﻴﺴﺘﻢ‬ ‫ﻃﺮاح‬ ‫ﺑﻪ‬ ‫را‬ ‫ﻟﺤﻈﻪ‬ ‫ﻫﺮ‬ ‫در‬ ‫رﺑﺎت‬ ‫ﺣﺮﻛﺖ‬ ‫ﺳﺎزي‬‫دﻫﺪ‬.‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬
‫و‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﺑﺎر‬ ‫ﻫﺮ‬ ‫در‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫اﻳﻦ‬ ‫از‬‫ﻧﺮم‬ ‫ﺑﻬﺒﻮد‬‫ﻧ‬ ‫اﻓﺰار‬‫ﻴ‬‫راه‬ ‫ﺑﻪ‬ ‫ﺎز‬‫اﻧﺪازي‬‫ﻣﺠﺪد‬‫ﻧﻤﻲ‬ ‫رﺑﺎت‬‫ﺑﻠﻜﻪ‬ ،‫ﺑﺎﺷﺪ‬
‫ﻣﻲ‬ ‫ﻧﺎﻣﺤﺪودي‬ ‫ﺗﻌﺪاد‬ ‫ﺑﻪ‬ ‫روﺑﺎت‬ ‫ﺣﺮﻛﺖ‬ ‫ﺛﺒﺖ‬ ‫ﺑﺎر‬ ‫ﻳﻚ‬ ‫ﺑﺎ‬‫ﺑﺮرﺳﻲ‬ ‫و‬ ‫ﺗﻜﺮار‬ ‫را‬ ‫ﺣﺮﻛﺖ‬ ‫ﺗﻮاﻧﻴﻢ‬
‫ﻧﻤﺎﻳﻴﻢ‬.‫ﻓﺎﻳﻞ‬ ‫ﭘﺨﺶ‬ ‫ﺑﺮاي‬ ‫وﻟﻴﻜﻦ‬‫ﻣﺎ‬ ‫ﻧﻴﺰ‬ ‫ﺷﺪه‬ ‫ﺛﺒﺖ‬ ‫ﻫﺎي‬‫ﻣﺠﺰا‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﻳﻚ‬ ‫ﺑﻪ‬‫ﻧﻴﺎز‬‫دارﻳﻢ‬.
‫ﺑﺮﻧﺎﻣﻪ‬‫ﻣﻲ‬ ‫آن‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﺑﻪ‬ ‫ﻗﺴﻤﺖ‬ ‫اﻳﻦ‬ ‫در‬ ‫ﻛﻪ‬ ‫اي‬‫ﭘﺮ‬‫ﻣﻲ‬ ‫اﻧﺠﺎم‬ ‫ﻣﺎ‬ ‫ﺑﺮاي‬ ‫را‬ ‫ﻛﺎر‬ ‫اﻳﻦ‬ ‫دازﻳﻢ‬‫دﻫﺪ‬.
‫ﺧﻮاﻧﺪه‬ ‫ﺷﺪه‬ ‫ﺛﺒﺖ‬ ‫ﻓﺎﻳﻞ‬ ‫از‬ ‫را‬ ‫اﻃﻼﻋﺎت‬‫درﮔﺎه‬ ‫ﻃﺮﻳﻖ‬ ‫از‬ ‫و‬868‫ﻧﺮم‬ ‫ﺑﺮاي‬‫ارﺳﺎل‬ ‫اﺻﻠﻲ‬ ‫اﻓﺰار‬
‫ﻣﻲ‬‫ﻛﻨﺪ‬.‫ﻧﺮم‬ ‫ﺑﺮاي‬‫رﺑﺎت‬ ‫از‬ ‫ارﺳﺎل‬ ‫ﺣﺎﻟﺖ‬ ‫ﺑﺎ‬ ‫ﺗﻔﺎوﺗﻲ‬ ‫ﻫﻴﭻ‬ ‫ﺣﺎﻟﺖ‬ ‫اﻳﻦ‬ ‫در‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫اﻓﺰار‬
‫ﻧﻤﻲ‬‫ﻋﻴ‬ ‫و‬ ‫ﻛﻨﺪ‬‫ﻨ‬‫ﻋﻜﺲ‬ ‫ﻫﻤﺎن‬ ً‫ﺎ‬‫ﻣﻲ‬ ‫ﻧﺸﺎن‬ ‫را‬ ‫اﻟﻌﻤﻞ‬‫دﻫﺪ‬.
‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬‫ﺳﺮﻋﺖ‬ ‫ﺗﻨﻈﻴﻢ‬ ‫و‬ ‫ﻓﺎﻳﻞ‬ ‫ﻧﺎم‬ ‫ﻧﻤﻮدن‬ ‫ﻣﺸﺨﺺ‬ ‫از‬ ‫ﭘﺲ‬ ‫اﺳﺖ‬ ‫ﻣﺸﺨﺺ‬ ‫ﺷﻜﻞ‬ ‫در‬
‫ﻣﻲ‬ ‫ﺷﺮوع‬ ‫اﻃﻼﻋﺎت‬ ‫ارﺳﺎل‬ ‫ﺷﺮوع‬ ‫ﻛﻠﻴﺪ‬ ‫ﻓﺸﺮدن‬ ‫ﺑﺎ‬ ،‫ارﺳﺎل‬‫ﺷﻮد‬.‫ﺑﻼدرﻧﮓ‬ ‫ﮔﺰارش‬ ‫ﻟﺤﻈﻪ‬ ‫ﻫﺮ‬ ‫در‬
‫ﻓﻬﺮﺳﺖ‬ ‫ﺟﻌﺒﻪ‬ ‫در‬1
‫داده‬ ‫ﺗﻤﺎﻣﻲ‬ ‫و‬ ‫ﺷﺪه‬ ‫داده‬ ‫ﻛﺎرﺑﺮ‬ ‫ﺑﻪ‬‫ﻧﻴﺰ‬ ‫ارﺳﺎﻟﻲ‬ ‫ﻫﺎي‬‫ﻣﻲ‬ ‫داده‬ ‫ﻧﻤﺎﻳﺶ‬‫ﺷﻮﻧﺪ‬.
‫ﺷﺮو‬ ‫درﺧﻮاﺳﺖ‬ ‫ﺑﺎ‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﺷﻜﻞ‬ ‫اﻳﻦ‬ ‫ﺑﻪ‬ ‫اﺟﺮا‬ ‫روﻧﺪ‬‫ﺣﺎﻟﺖ‬ ‫از‬ ‫ﺷﺮوع‬ ‫ﻛﻠﻴﺪ‬ ،‫ارﺳﺎل‬ ‫ع‬Start‫ﺑﻪ‬
Stop‫زﻣﺎن‬ ‫و‬ ‫ﺷﺪه‬ ‫ﺗﻨﻈﻴﻢ‬ ‫ارﺳﺎل‬ ‫ﻫﺮ‬ ‫ﺑﻴﻦ‬ ‫زﻣﺎن‬ ،‫داده‬ ‫وﺿﻌﻴﺖ‬ ‫ﺗﻐﻴﻴﺮ‬‫ﻣﻲ‬ ‫ﻓﻌﺎل‬ ‫داﺧﻠﻲ‬ ‫ﮔﻴﺮ‬‫ﺷﻮد‬.
‫ﺑﺎ‬‫ﺑﺎر‬ ‫ﻫﺮ‬‫رﺳﻴﺪن‬‫زﻣﺎﻧﺒﻨﺪ‬‫ﻣﺘﺪ‬ ،‫ﺗﺤﺮﻳﻚ‬ ‫زﻣﺎن‬ ‫ﺑﻪ‬Timer1Timer‫ﻣﻲ‬ ‫ﻓﺮاﺧﻮاﻧﻲ‬‫ﺷﻮد‬.
‫ﺷﻜﻞ‬2-5)‫ﻧﺮم‬‫ﻛﻨﻨﺪه‬ ‫ﭘﺨﺶ‬ ‫اﻓﺰار‬(
1
List Box

void __fastcall TForm1::suiButton1Click(TObject *Sender)
{
if (Button2->Caption == "Start")
{
Button2->Caption = "Stop";
ifs = new ifstream();
ifs->open(Edit3->Text.c_str(),ios::binary);
// ifs->seekg(0, ios::beg);
Timer1->Interval = StrToInt(EditTI->Text);
ListBox1->Items->Add("Start play file "+EditTI->Text +
" with interval " + IntToStr(Timer1->Interval));
Edit3->Enabled = false;
EditTI->Enabled = false;
Timer1->Enabled = true;
}
else
{
ifs->close();
delete ifs;
ListBox1->Items->Add("Stop log player...");
Button2->Caption = "Start";
Edit3->Enabled = true;
EditTI->Enabled = true;
Timer1->Enabled = false;
}
}
‫ﻓﺮاﺧﻮاﻧﻲ‬ ‫ﺑﺎ‬‫ﻣﻲ‬ ‫ﻣﻄﻤﺌﻦ‬ ‫ﻓﺎﻳﻞ‬ ‫اﻧﺘﻬﺎي‬ ‫ﺑﻪ‬ ‫ﻧﺮﺳﻴﺪن‬ ‫از‬ ‫اﺑﺘﺪا‬ ‫ﻣﺘﺪ‬ ‫اﻳﻦ‬‫ﺷﺮوع‬ ‫ﻛﻠﻴﺪ‬ ‫ﻣﺘﺪ‬ ‫اﻧﺘﻬﺎ‬ ‫ﺑﻪ‬ ‫رﺳﻴﺪن‬ ‫ﺻﻮرت‬ ‫در‬ ،‫ﺷﻮﻳﻢ‬/‫را‬ ‫ﺧﺎﺗﻤﻪ‬
‫ﻣﻲ‬ ‫ﻓﺮاﺧﻮاﻧﻲ‬‫ﻣﻲ‬ ‫ﭘﻴﺪا‬ ‫ﺧﺎﺗﻤﻪ‬ ‫ارﺳﺎل‬ ‫ﻋﻤﻞ‬ ‫ﻛﺪ‬ ‫ﻃﺒﻖ‬ ‫ﭘﺲ‬ ،‫ﻛﻨﻴﻢ‬‫ﻛﻨﺪ‬.‫ﻏ‬ ‫در‬‫ﻴ‬‫و‬ ‫ﺷﺪه‬ ‫ﺧﻮاﻧﺪه‬ ‫ﻓﺎﻳﻞ‬ ‫از‬ ‫اﻃﻼﻋﺎﺗﻲ‬ ‫ﺑﺴﺘﻪ‬ ‫ﻳﻚ‬ ‫ﺻﻮرت‬ ‫اﻳﻦ‬ ‫ﺮ‬
‫ﻣﻘﺼ‬ ‫ﺑﻪ‬‫ﺪ‬‫ﺑﺮﻧﺎﻣﻪ‬‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬‫ﻣ‬ ‫ارﺳﺎل‬‫ﻲ‬‫ﺷﻮد‬.‫ﻫﻤ‬‫ﭽﻨﻴﻦ‬‫داده‬‫ارﺳﺎﻟﻲ‬ ‫ﻫﺎي‬،‫ﻧﺮم‬ ‫اﻳﻦ‬ ‫در‬‫ﮔﺰارش‬ ‫ﻟﻴﺴﺖ‬ ‫در‬ ‫و‬ ‫رﺳﻴﺪه‬ ‫ﻛﺎرﺑﺮ‬ ‫اﻃﻼع‬ ‫ﺑﻪ‬ ‫اﻓﺰار‬
‫ﻣﻲ‬ ‫ﺛﺒﺖ‬ ‫ﻧﻴﺰ‬‫ﺷﻮد‬.‫ﺷﺮوع‬ ‫ﻛﻠﻴﺪ‬ ‫ﻧﻴﺰ‬ ‫ﺛﺒﺖ‬ ‫ﻓﺎﻳﻞ‬ ‫در‬ ‫ﺧﻄﺎ‬ ‫ﺑﺎ‬ ‫ﺑﺮﺧﻮرد‬ ‫ﺻﻮرت‬ ‫در‬/‫ارﺳﺎل‬ ‫ﺗﻮﻗﻒ‬ ‫ﺑﻪ‬ ‫ﻣﻨﺠﺮ‬ ‫و‬ ‫ﺷﺪه‬ ‫ﻣﺠﺪد‬ ‫ﻓﺮاﺧﻮاﻧﻲ‬ ‫ﺧﺎﺗﻤﻪ‬
‫ﻣﻲ‬‫ﺷﻮد‬.‫ﻓﻬﻤﻴﺪ‬ ‫ﺧﻮاﻫﻴﺪ‬ ‫را‬ ‫ﻣﺘﺪ‬ ‫اﻳﻦ‬ ‫ﻛﺎر‬ ‫ﻃﺮز‬ ‫وﺿﻮع‬ ‫ﺑﻪ‬ ‫ﻛﺪ‬ ‫ﻣﻄﺎﻟﻌﻪ‬ ‫ﺑﺎ‬.

void __fastcall TForm1::Timer1Timer(TObject *Sender)
{
if ( ifs->eof() )
suiButton1Click(this);
else
{
int Buff[14];
if (ifs->read((char *)Buff, 56))
{
NMUDP1->SendBuffer((char *)Buff,56,56);
Edit4->Text = IntToStr(Buff[0]);
}
else
{
suiButton1Click(this);
ListBox1->Items->Add("Error log file name...");
}
}
}

2-5-4(‫ﭘﺘﺎﻧﺴﻴﻠﻲ‬ ‫ﻧﻤﻮدار‬ ‫ﺗﺮﺳﻴﻢ‬
‫وزن‬ ‫اﻟﮕﻮرﻳﺘﻢ‬ ‫ﻓﺮﻣﻮل‬ ‫درﺳﺖ‬ ‫ﻋﻤﻠﻜﺮد‬ ‫از‬ ‫اﻃﻤﻴﻨﺎن‬ ‫ﺑﺮاي‬‫وﺟﻮد‬ ‫ﻓﺮﻣﻮل‬ ‫اﻳﻦ‬ ‫ﺗﺼﻮﻳﺮي‬ ‫ﺑﺮرﺳﻲ‬ ‫ﺟﺰ‬ ‫ﺣﻠﻲ‬ ‫راه‬ ‫ﻫﻴﭻ‬ ،‫ﭘﺘﺎﻧﺴﻴﻠﻲ‬ ‫دﻫﻲ‬
‫ﻧﺪاﺷﺖ‬.‫ﻣﺤﺎﺳﺒ‬ ‫ﻫﻨﮕﺎم‬ ‫در‬ ‫زﻳﺮا‬‫ﻪ‬‫ﮔ‬ ‫ﻫﻴﭻ‬ ‫اﺻﻠﻲ‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫در‬‫ﻧﻤﻲ‬ ‫آن‬ ‫روي‬ ‫ﺑﺮ‬ ‫آزﻣﺎﻳﺸﻲ‬ ‫و‬ ‫ﺗﺴﺖ‬ ‫ﻮﻧﻪ‬‫ﻣﻲ‬ ‫ﻓﻘﻂ‬ ‫ﺑﻠﻜﻪ‬ ،‫داد‬ ‫اﻧﺠﺎم‬ ‫ﺗﻮان‬‫ﺑﺎﻳﺴﺖ‬
‫ﺑﻮد‬ ‫ﻣﻄﻤﺌﻦ‬ ‫آن‬ ‫ﺻﺤﺖ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫از‬ ‫ﻗﺒﻞ‬.
‫ﺷﻜﻞ‬2-6)‫ﻧﺮم‬‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﻧﻤﻮدار‬ ‫ﺗﺮﺳﻴﻢ‬ ‫اﻓﺰار‬(
‫ﺑﺮﻧﺎﻣﻪ‬ ‫از‬ ‫ﻧﻤﺎﻳﻲ‬ ‫ﻓﻮق‬ ‫ﺗﺼﻮﻳﺮ‬‫ﻣﻲ‬ ‫ﻣﺎ‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬‫ﺟﺰء‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫ﻛﻪ‬ ‫ﺑﺎﺷﺪ‬TPlot3D‫ﻣﺠﻤﻮﻋﻪ‬ ‫از‬SDLSuit‫ﻓﺮﻣﻮل‬ ‫اﻋﻤﺎل‬ ‫و‬
‫آن‬ ‫ﺑﻪ‬ ‫ﭘﺘﺎﻧﺴﻴﻞ‬،‫ﺑﻌﺪي‬ ‫ﺳﻪ‬ ‫ﻧﻤﻮداري‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻛﺸﻴﺪه‬.‫ﻛﻠﻴﻪ‬ ‫اﻃﻤﻴﻨﺎن‬ ‫ﺑﺮاي‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫ﺗﻨﻈﻴﻢ‬ ‫را‬ ‫ﻧﻤﻮدار‬ ‫ﻣﺨﺘﺼﺎت‬ ‫ﻣﺎ‬ ‫ﻛﺪ‬ ‫اﺑﺘﺪاي‬ ‫در‬
‫ﻣﻲ‬ ‫ﭘﺎك‬ ‫را‬ ‫ﻣﺤﺘﻮي‬‫ﻛﻨﻴﻢ‬.‫ﻫﺮ‬ ‫رﺳﻢ‬ ‫و‬ ‫ﺗﻮدرﺗﻮ‬ ‫ﺣﻠﻘﻪ‬ ‫دو‬ ‫در‬ ‫ﻧﻘﻄﻪ‬ ‫ﻫﺮ‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫ﺑﺎ‬ ،‫اﺳﺖ‬ ‫رﺳﻴﺪه‬ ‫ﭘﺘﺎﻧﺴﻴﻞ‬ ‫ﻣﻘﺪار‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫زﻣﺎن‬ ‫ﻫﻤﻜﻨﻮن‬
‫ﺑﺎ‬ ‫ﺑﻌﺪي‬ ‫ﺳﻪ‬ ‫ﻧﻤﻮدار‬ ‫در‬ ‫ﻧﻘﻄﻪ‬‫ﺻ‬‫زﻣﺎ‬ ‫ﺮف‬‫ﻣﻲ‬ ‫ﻧﻤﺎﻳﺎن‬ ‫ﺑﺎﻻ‬ ‫ﺷﻜﻞ‬ ‫ﻧﻤﻮدار‬ ‫اﻧﺪﻛﻲ‬ ‫ن‬‫ﺷﻮد‬.‫ﻧﻤﻮدار‬ ‫ﺟﺰء‬ ‫ﺗﺤﺮﻳﻚ‬ ‫ﺑﺎ‬ ‫اﻧﺘﻬﺎ‬ ‫در‬TPlot3D‫ﺑﺮاي‬
‫ﻣﻲ‬ ‫ﻧﻤﺎﻳﺎن‬ ‫ﻛﺎرﺑﺮ‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﻓﻀﺎي‬ ‫در‬ ‫ﻳﻜﺒﺎره‬ ‫ﺑﻪ‬ ‫را‬ ‫ﺗﻐﻴﻴﺮات‬ ‫ﻛﻠﻴﻪ‬ ،‫ﻣﺠﺪد‬ ‫ﺗﺮﺳﻴﻢ‬‫ﻛﻨﻴﻢ‬.‫ﻣﻲ‬ ‫ﺷﻜﻞ‬ ‫ﺑﺮرﺳﻲ‬ ‫ﺑﺎ‬ ‫ﺣﺎل‬‫ﻣﺨﺮوﻃﻲ‬ ‫ﺣﺎﻟﺖ‬ ‫ﺗﻮاﻧﻴﺪ‬
‫ﻛﻤﺮﺑ‬ ‫ﻫﻤﺎن‬ ‫ﻣﺨﺮوط‬ ‫اﻳﻦ‬ ‫زﻳﺮﻳﻦ‬ ‫ﻣﺤﻴﻂ‬ ‫اﮔﺮ‬ ‫ﻳﻌﻨﻲ‬ ،‫ﻛﻨﻴﺪ‬ ‫ﻣﺸﺎﻫﺪه‬ ‫را‬ ‫آن‬ ‫ﺷﻜﻞ‬،‫اوج‬ ‫ﻧﻘﻄﻪ‬ ،‫ﺑﺎﺷﺪ‬ ‫ﺷﺪ‬ ‫اﺷﺎره‬ ‫ﻗﺒﻞ‬ ‫ﻓﺼﻞ‬ ‫در‬ ‫ﻛﻪ‬ ‫ﻣﺸﻜﻲ‬ ‫ﻨﺪ‬
‫ﻣﻲ‬ ‫دارا‬ ‫را‬ ‫ر‬ ‫ﻣﻘﺪا‬ ‫ﺑﻴﺸﺘﺮﻳﻦ‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﻛﻤﺮﺑﻨﺪ‬ ‫اﻳﻦ‬ ‫ﻣﺮﻛﺰ‬‫ﺑﺎﺷﺪ‬.
void __fastcall TFormMain::BitBtn1Click(TObject *Sender)
{
int Potential,P1,P2;
const int AngleTolerance=44,DistanceTolerance=6;
Plot3D1->RangeXHigh = AngleTolerance;
Plot3D1->RangeYHigh = DistanceTolerance;
Plot3D1->CentX = Plot3D1->Width /2;
Plot3D1->CentY = Plot3D1->Height /2;
Plot3D1->ScaleFactX = AngleTolerance / DistanceTolerance /2;

Plot3D1->GridMat->Resize (AngleTolerance, DistanceTolerance);
Plot3D1->Clear();
{
// -------------- Formula of filling points with potential
P1 = (i < (AngleTolerance/2) ? (i % (AngleTolerance/2)) : (AngleTolerance -i));
P2 = (j < (DistanceTolerance/2) ? (j % (DistanceTolerance/2)) : (DistanceTolerance -j));
Potential = P1 * P2;
// --------------
Plot3D1->RangeZHigh = (Potential > Plot3D1->RangeZHigh ? Potential : Plot3D1->RangeZHigh);
Plot3D1->GridMat->Elem[i][j] = Potential;
}
Plot3D1->ScaleFactZ = Plot3D1->RangeXHigh/ Plot3D1->RangeYHigh;
Plot3D1->Refresh();
}

‫ﺳﻮم‬ ‫ﻓﺼﻞ‬-‫ﻧﺘﺎﻳﺞ‬

‫ﺑﺨﺶ‬3-1(‫ﻧﺘﻴﺠﻪ‬‫ﮔﻴﺮي‬
‫از‬ ‫ﻣﺤﻴﻂ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬‫ﺷﺎﺧﻪ‬‫ﻣﻲ‬ ‫ﻛﺎﻣﭙﻴﻮﺗﺮ‬ ‫ﻋﻠﻮم‬ ‫ﻋﺮﺻﻪ‬ ‫در‬ ‫ﭘﺮﻛﺎرﺑﺮد‬ ‫و‬ ‫ﺟﺪﻳﺪ‬ ‫ﻫﺎي‬‫اﺳﺖ‬ ‫ﺧﻮد‬ ‫راه‬ ‫اﺑﺘﺪاي‬ ‫در‬ ‫ﻧﻴﺰ‬ ‫ﻫﻤﻜﻨﻮن‬ ‫و‬ ‫ﺑﺎﺷﺪ‬.‫ﺑﺮاي‬
‫ﺗﻮﺳﻌﻪ‬ ‫و‬ ‫ﻛﺎر‬‫ﻓﻀﺎي‬‫ﺑﺴﻴﺎر‬‫ﺷﺮﻛﺖ‬ ،‫دارد‬ ‫وﺟﻮد‬‫ﺑﻮدﺟﻪ‬ ‫دﻧﻴﺎ‬ ‫ﺳﺮاﺳﺮ‬ ‫در‬ ‫ﺑﺰرﮔﻲ‬ ‫ﻫﺎي‬‫اﻳﻦ‬ ‫در‬ ‫ﺧﻮد‬ ‫ﺗﻮاﻧﺎﻳﻲ‬ ‫اﻓﺰاﻳﺶ‬ ‫ﺑﺮاي‬ ‫ﻋﻈﻴﻤﻲ‬ ‫ﻫﺎي‬
‫ﺳﺮﻣﺎﻳﻪ‬ ‫راﺳﺘﺎ‬‫ﻛﺮده‬ ‫ﮔﺬاري‬‫اﻧﺪ‬.‫ﺷﺎﺧﻪ‬ ‫اﻳﻦ‬ ‫در‬ ‫ﻧﺘﻴﺠﻪ‬ ‫در‬‫ﻧﻮ‬‫ﺗﻮﺳﻌﻪ‬ ‫ﺟﺎي‬ ‫ﭘﺎ‬،‫اﺳﺖ‬ ‫ﻓﺮاوان‬.‫ﻳﻚ‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﻛﺎر‬ ‫ﭘﺮوژه‬ ‫اﻳﻦ‬ ‫در‬ ‫ﻣﺎ‬ ‫ﺳﻌﻲ‬
‫ﻧﺮم‬ ‫ﻣﺠﻤﻮﻋﻪ‬‫ﻛﻤﻚ‬ ‫اﻫﺪاف‬ ‫ﺑﺮاي‬ ‫ﻛﺎرﺑﺮدي‬ ‫اﻓﺰاري‬‫اﺳﺖ‬ ‫ﺑﻮده‬ ‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬ ‫ﻛﻨﺎر‬ ‫در‬ ‫رﺳﺎﻧﻲ‬.‫ﻧﺮم‬ ‫اﻳﻦ‬‫ﺑﺎ‬ ‫را‬ ‫ﺧﻮد‬ ‫اوﻟﻴﻪ‬ ‫ﻣﺮاﺣﻞ‬ ‫اﻓﺰار‬
‫ﻣﺴﺎﺑﻘﺎت‬ ‫در‬ ‫ﻣﻮﺟﻮد‬ ‫ﺷﻜﻞ‬ ‫در‬ ‫و‬ ‫ﮔﺬراﻧﺪ‬ ‫ﻣﻮﻓﻘﻴﺖ‬‫ژاﭘﻦ‬2005‫ﺷﺪ‬ ‫آزﻣﺎﻳﺶ‬ ‫ﺣﻘﻴﻘﻲ‬ ‫ﻣﺤﻴﻂ‬ ‫در‬.‫ﻧﺎﮔ‬‫و‬ ‫ﭘﻴﺸﺮﻓﺖ‬ ‫ﺟﺎي‬ ‫ﻛﻪ‬ ‫ﻧﻤﺎﻧﺪ‬ ‫ﻔﺘﻪ‬
‫ﻧﺮم‬ ‫ﮔﺴﺘﺮش‬ ‫و‬ ‫ﺑﻬﺒﻮد‬ ‫در‬ ‫ﻣﺎ‬ ‫ﻫﺪف‬ ‫ﺷﺪه‬ ‫ﻣﻨﺘﺸﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫آﺧﺮﻳﻦ‬ ‫ﺗﺎ‬ ‫و‬ ‫اﺳﺖ‬ ‫ﺑﺴﻴﺎر‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫اﻳﻦ‬ ‫ﺑﺮاي‬ ‫ﺗﻮﺳﻌﻪ‬‫رﺑﺎت‬ ،‫ﻛﺎرﺑﺮ‬ ‫ﻧﻴﺎز‬ ‫ﺑﻪ‬ ‫ﺑﻨﺎ‬ ‫اﻓﺰار‬
‫اﺳﺖ‬ ‫ﺑﻮده‬ ‫ﻣﺴﺎﺑﻘﺎت‬ ‫در‬ ‫ﻣﻮﻓﻘﻴﺖ‬ ‫و‬.‫اﻟﮕﻮرﻳﺘﻢ‬ ‫و‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﮔﺴﺘﺮش‬ ‫راﺳﺘﺎي‬ ‫در‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫اﻳﻦ‬ ‫از‬‫ﻣﻲ‬ ‫آن‬ ‫ﻣﻮﺟﻮد‬ ‫ﻫﺎي‬‫اﺳﺘﻔﺎده‬ ‫ﺗﻮان‬
‫ﺑﺴﻴ‬‫ﺑﺮد‬ ‫ﺎر‬.‫در‬ ‫ﺑﻴﺸﺘﺮ‬ ‫ﻣﻄﺎﻟﻌﻪ‬ ‫ﺑﺮاي‬ ‫ﻧﻴﺰ‬ ‫ﺧﺬ‬Ĥ‫ﻣ‬ ‫و‬ ‫ﻣﻨﺎﺑﻊ‬ ‫ﻫﻤﭽﻨﻴﻦ‬‫رﺳﺎﻟﻪ‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫درج‬.‫اﻣﺪادﮔﺮ‬ ‫رﺑﺎت‬‫ﻣﺼﺪوﻣﻴﻦ‬ ‫ﻧﺠﺎت‬ ‫ﻫﺪف‬ ‫ﺑﻪ‬
‫ﻣﻲ‬ ‫ﻃﺮاﺣﻲ‬‫ﺷﻮد‬‫و‬‫در‬‫اﻣﺪادﮔﺮان‬ ‫ﺟﺎن‬ ‫اﻧﺪاﺧﺘﻦ‬ ‫ﺧﻄﺮ‬ ‫ﺑﻪ‬ ‫از‬ ‫ﺟﻠﻮﮔﻴﺮي‬‫ﻧﻴﺰ‬‫ﺗﻮاﻧﺎﻳﻲ‬ ‫ﺻﻮرت‬ ‫در‬ ‫ﻫﻤﭽﻨﻴﻦ‬ ،‫دارد‬ ‫ﻛﺎرﺑﺮدي‬ ‫و‬ ‫ﻣﻮﺛﺮ‬ ‫ﻧﻘﺶ‬
‫ﻏ‬ ‫اﻃﻼﻋﺎﺗﻲ‬ ‫ﺑﺎ‬ ‫ﻣﻔﻴﺪ‬ ‫و‬ ‫ﻣﻨﺎﺳﺐ‬ ‫ﻧﻘﺸﻪ‬ ‫ﻳﻚ‬ ‫رﺳﻢ‬ ‫در‬‫ﻛﻞ‬ ‫در‬ ‫ﻣﻮﻗﻌﻴﺘﺶ‬ ‫و‬ ‫ﻣﺼﺪوم‬ ‫وﺿﻌﻴﺖ‬ ،‫ﻣﺼﺪوﻣﻴﻦ‬ ‫ﺟﺎﻳﮕﺎه‬ ،‫ﺳﺎﻧﺤﻪ‬ ‫ﻣﺤﻴﻂ‬ ‫از‬ ‫ﻨﻲ‬
‫ﻧﻘﺸﻪ‬،‫ﺧﻄﺎ‬ ‫ﻛﺎﻫﺶ‬ ‫ﺑﺎ‬ ‫دﻗﺖ‬ ‫و‬ ‫ﺳﺮﻋﺖ‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﻣﺴﻠﻢ‬‫ﻫﻤﺮاه‬‫ﻣﻲ‬،‫ﺷﻮد‬‫ﻛﻤﻚ‬ ‫در‬ ‫ﻧﺘﻴﺠﻪ‬ ‫در‬‫رﺳﺎﻧﻲ‬‫ﻣﻲ‬ ‫ﺑﺴﻴﺎر‬‫ﻧﻤﺎﻳﺪ‬ ‫ﻳﺎري‬ ‫را‬ ‫ﻣﺎ‬ ‫ﺗﻮاﻧﺪ‬.
‫و‬ ‫ﺑﻬﺒﻮد‬ ‫ﺑﻪ‬ ‫ﻛﻤﻚ‬ ،‫راه‬ ‫اﻳﻦ‬ ‫در‬ ‫ﻣﺘﺨﺼﺺ‬ ‫اﻓﺮاد‬ ‫ﮔﻤﺎردن‬ ‫و‬ ‫ﻣﻨﺎﺳﺐ‬ ‫ﻫﺰﻳﻨﻪ‬ ‫ﺻﺮف‬ ‫ﺑﺎ‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﺷﺎﻳﺴﺘﻪ‬ ‫ﭘﺲ‬‫اﺑﺰار‬ ‫اﻳﻦ‬ ‫ﻛﺮدن‬ ‫ﻛﺎرﺑﺮدي‬
‫ﻧﻤﻮد‬.‫ﻣﺠﻤﻮﻋﻪ‬ ‫اﻳﻦ‬‫ﻣﻨﺎﺑﻊ‬ ‫داﺷﺘﻦ‬ ‫ﺑﺎ‬ ‫اﻳﺮان‬ ‫ﺳﻨﮕﻴﻦ‬ ‫رﻗﺎﺑﺖ‬ ‫اﻳﻦ‬ ‫در‬ ‫و‬ ‫اﺳﺖ‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻗﺮار‬ ‫ﺟﻬﺎن‬ ‫در‬ ‫ﺧﺎﺻﻲ‬ ‫ﺟﺎﻳﮕﺎه‬ ‫در‬ ‫ﺣﺎﺿﺮ‬ ‫ﺣﺎل‬ ‫در‬ ‫ﻫﺎ‬
‫را‬ ‫ﺧﻮد‬ ‫ﻋﻠﻤﻲ‬ ‫ﻧﺘﺎﻳﺞ‬ ‫ﺑﺴﺎ‬ ‫ﭼﻪ‬ ‫و‬ ‫رﺳﻴﺪه‬ ‫ﻣﻮﻓﻘﻴﺖ‬ ‫ﺑﻪ‬ ‫ﺳﺮﺑﻠﻨﺪ‬ ‫اﺳﺖ‬ ‫ﺷﺎﻳﺴﺘﻪ‬ ،‫ﻓﻌﺎل‬ ‫ﻣﺘﺨﺼﺺ‬ ‫اﻓﺮاد‬ ‫و‬ ‫ﻋﻠﻤﻲ‬‫ﻛﺸﻮر‬ ‫ﺳﺎﻳﺮ‬ ‫ﺑﻪ‬‫ﻧﻴﺰ‬ ‫ﻫﺎ‬‫ﺻﺎدر‬
‫ﻧﻤﺎﻳﺪ‬.‫در‬‫ﻧﻤﻮدﻳﻢ‬ ‫آن‬ ‫ﻧﻤﻮدن‬ ‫ﻣﺴﺘﻨﺪ‬ ‫و‬ ‫ﺑﻬﺒﻮد‬ ‫در‬ ‫ﺳﻌﻲ‬ ‫ﺗﻮان‬ ‫ﺣﺪ‬ ‫در‬ ‫و‬ ‫دﻳﺪﻳﻢ‬ ‫را‬ ‫ﻧﺘﺎﻳﺞ‬ ‫ﺑﺨﻮﺑﻲ‬ ‫ﻣﺎ‬ ‫ﭘﺮوژه‬ ‫اﻳﻦ‬.
‫ﺑﺨﺶ‬3-2(‫ﭘﻴﺸﻨﻬﺎدات‬
‫ﺟﻤﻊ‬ ‫ﺑﺎ‬‫ﭘﻴﺎده‬ ‫و‬ ‫ﺗﺤﻘﻴﻖ‬ ‫اﻳﻦ‬ ‫از‬ ‫آﻣﺪه‬ ‫ﺑﺪﺳﺖ‬ ‫ﻧﺘﺎﻳﺞ‬ ‫آوري‬‫ﺳﺎزي‬،‫ﺷﺎﺧﻪ‬ ‫ﺳﺎﻳﺮ‬ ‫در‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫اﻳﻦ‬ ‫از‬ ‫ﻣﺘﻨﻮﻋﻲ‬ ‫ﻛﺎرﺑﺮدﻫﺎي‬ ‫ﺑﻪ‬‫رﺳﻴﺪﻳﻢ‬ ‫ﻧﻴﺰ‬ ‫ﻫﺎ‬.
‫ﻛﺎر‬ ‫اداﻣﻪ‬ ‫ﺑﺮاي‬ ‫ﺟﺪي‬ ‫ﭘﻴﺸﻨﻬﺎد‬،‫ﻓﻌﺎﻟ‬‫ﻴﺖ‬‫و‬‫ﻣﻲ‬ ‫ﺳﻴﺴﺘﻢ‬ ‫اﻳﻦ‬ ‫ﺗﻮﺳﻌﻪ‬‫ﺷﻮد‬.‫روش‬ ‫ﺑﻬﺘﺮﻳﻦ‬،‫ﻧﻴﺎزﻫﺎي‬ ‫درك‬‫ﻓﻌﻠﻲ‬‫ﻛﻨﺎر‬ ‫در‬ ‫ﺻﻨﻌﺘﻲ‬ ‫ﺑﺎزارﻫﺎي‬
‫اﺳ‬ ‫ﺷﺪه‬ ‫ذﻛﺮ‬ ‫ﻣﻮارد‬ ‫ﺗﻮﺳﻌﻪ‬‫ﺖ‬‫ﭘﻴﺎده‬ ‫اﻧﺘﺨﺎب‬ ‫ﺑﻬﺘﺮﻳﻦ‬ ‫و‬‫رﺑﺎت‬ ‫روي‬ ‫ﺑﺮ‬ ‫آن‬ ‫ﺳﺎزي‬‫ﺷﻨﺎﺳﺎﻳﻲ‬ ‫و‬ ‫ﻧﺘﺎﻳﺞ‬ ‫درك‬ ‫ﺑﺮاي‬ ‫ﻛﺎرﺑﺮدي‬ ‫و‬ ‫ﻋﻤﻠﻲ‬ ‫ﻫﺎي‬
‫ﻣﻲ‬ ‫ﺿﻌﻒ‬ ‫ﻧﻘﺎط‬‫ﺑ‬‫ﺎﺷﺪ‬.‫ﺗﻮ‬ ‫ﻧﻴﺰ‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫اﻳﻦ‬ ‫دﻳﮕﺮ‬ ‫ﻛﺎرﺑﺮدﻫﺎي‬ ‫ﺑﻪ‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﺑﻬﺘﺮ‬‫دﻳﺪﮔﺎه‬ ‫و‬ ‫ﺷﻮد‬ ‫ﻛﺎﻓﻲ‬ ‫ﺟﻪ‬‫و‬ ‫ﺗﻮﺟﻪ‬ ‫ﻣﻮرد‬ ‫ﻧﻴﺰ‬ ‫دﻳﮕﺮ‬ ‫ﻫﺎي‬
‫ﮔﻴﺮد‬ ‫ﻗﺮار‬ ‫ارزﻳﺎﺑﻲ‬.
‫ﻋ‬ ‫ﻛﺎر‬ ‫ﺑﺎ‬ ‫اﺳﺖ‬ ‫ﻣﺸﺨﺺ‬ ‫ﻛﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬‫ﻗ‬ ‫و‬ ‫ﻣﻔﻴﺪ‬ ‫ﭘﻴﺸﻨﻬﺎدات‬ ‫ﻧﺎﺧﻮدآﮔﺎه‬ ‫ﻤﻠﻲ‬‫ﺎﺑﻠﻴﺖ‬‫ﻣﺠﻤﻮﻋﻪ‬ ‫ﻫﺎي‬‫ﺗﺮﺳﻴﻢ‬ ‫ﻫﻤﭽﻮن‬ ‫ﮔﺴﺘﺮده‬ ‫و‬ ‫ﭘﻴﭽﻴﺪه‬ ‫اي‬
‫ﻣﻲ‬ ‫ﻧﻤﺎﻳﺎن‬ ‫ﻣﺤﻴﻂ‬ ‫ﻧﻘﺸﻪ‬‫ﺷﻮد‬.‫ﻣﻲ‬ ‫ﭘﻴﺸﻨﻬﺎد‬‫ﭘﻴﺎده‬ ‫ﻫﺮﮔﻮﻧﻪ‬ ‫ﺑﻪ‬ ‫ﺷﺮوع‬ ‫از‬ ‫ﻗﺒﻞ‬ ‫ﺷﻮد‬‫ﻣ‬ ،‫ﺗﺤﻠﻴﻞ‬ ‫و‬ ‫ﺳﺎزي‬‫از‬ ‫و‬ ‫ﺧﻮاﻧﺪه‬ ‫را‬ ‫ﻣﺤﻘﻘﻴﻦ‬ ‫ﺳﺎﻳﺮ‬ ‫ﻘﺎﻻت‬
‫اﻳﺪه‬‫ﮔﺮدد‬ ‫اﺳﺘﻔﺎده‬ ‫آﻧﺎن‬ ‫زﺣﻤﺎت‬ ‫ﻧﺘﺎﻳﺞ‬ ‫و‬ ‫ﻫﺎ‬.‫ﻣﻲ‬ ‫ﻫﻤﭽﻨﻴﻦ‬‫را‬ ‫اﻫﻤﻴﺘﻲ‬ ‫ﺑﺎ‬ ‫و‬ ‫ﻣﻔﻴﺪ‬ ‫اﻃﻼﻋﺎت‬ ‫اﻳﻨﺘﺮﻧﺖ‬ ‫ﺟﻬﺎﻧﻲ‬ ‫ﺷﺒﻜﻪ‬ ‫در‬ ‫ﺟﺴﺘﺠﻮ‬ ‫ﺑﺎ‬ ‫ﺗﻮان‬

‫آورد‬ ‫ﺑﺪﺳﺖ‬.‫ﻣﻲ‬ ‫ﻣﻮﺟﻮد‬ ‫اﺳﺖ‬ ‫ﺑﻮده‬ ‫ﭘﺮوژه‬ ‫اﻳﻦ‬ ‫در‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫ﻛﻪ‬ ‫ﻣﻘﺎﻟﻪ‬ ‫ﺗﻌﺪادي‬ ،‫ﺿﻤﻴﻤﻪ‬ ‫ﻓﺸﺮده‬ ‫دﻳﺴﻚ‬ ‫در‬‫ﺻﻮرت‬ ‫در‬ ‫و‬ ‫ﺑﺎﺷﺪ‬
‫ﻋ‬‫ﻼﻗﻪ‬‫ﺷ‬ ‫آﻧﻬﺎ‬ ‫ﻣﻄﺎﻟﻌﻪ‬ ‫ﺑﻪ‬ ‫ﺗﻮﺻﻴﻪ‬ ‫ﻣﻨﺪي‬‫ﻮد‬.‫ﺑﺎﺷﺪ‬ ‫ﺑﻮده‬ ‫ﻣﻔﻴﺪ‬ ‫ﻣﺤﺘﺮم‬ ‫ﺧﻮاﻧﻨﺪﮔﺎن‬ ‫ﺑﺮاي‬ ‫ﻧﻴﺰ‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫اﻳﻦ‬ ‫ﻛﻪ‬ ‫اﻣﻴﺪوارﻳﻢ‬.
‫ﺑﺨﺶ‬3-3(‫آﻳﻨﺪه‬ ‫در‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﻗﺎﺑﻠﻴﺖ‬
‫دارد‬ ‫وﺳﻴﻌﻲ‬ ‫داﻣﻨﻪ‬ ‫ﺑﺎ‬ ‫را‬ ‫آﻳﻨﺪه‬ ‫در‬ ‫ﺗﻮﺳﻌﻪ‬ ‫و‬ ‫ﻛﺎر‬ ‫ﺟﺎي‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬.‫ﻣﻲ‬ ‫ﻧﻴﺰ‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫اﻳﻦ‬ ‫ﺑﺮاي‬ ‫ﺿﻤﻦ‬ ‫در‬‫ﭼﺸﻢ‬ ‫ﺑﻬﺒﻮدﻫﺎي‬ ‫ﺗﻮان‬‫ﮔﻴﺮي‬
‫ﺳﺎﺧﺘﺎ‬ ‫در‬‫ﻧﻤﻮد‬ ‫اﻳﺠﺎد‬ ‫آن‬ ‫ﻣﻜﺎﻧﻴﺰم‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻋﻤﻠﻜﺮد‬ ،‫ر‬.‫ﻧﻘﺸﻪ‬ ‫اﺻﻼح‬ ‫و‬ ‫ﺗﻮﺳﻌﻪ‬ ‫آﺗﻲ‬ ‫اﻫﺪاف‬‫داده‬ ‫ﺗﻮﺳﻌﻪ‬ ‫راﺳﺘﺎي‬ ‫در‬ ‫ﺷﺪه‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﻫﺎي‬‫ﻫﺎي‬
‫اﻧﺘ‬ ‫و‬ ‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬‫ﻘ‬‫ﺑ‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫ﻛﺎراﻳﻲ‬ ‫ﻛﺎﻣﻞ‬ ‫ﺎل‬‫ﻪ‬‫اﺳﺖ‬ ‫ﺣﺴﮕﺮ‬ ‫اﻳﻦ‬.‫ﻗﺎﺑﻠﻴﺖ‬ ‫دﻳﮕﺮ‬ ‫از‬‫ﻧﻘﺸﻪ‬ ‫ﺗﻮﻟﻴﺪ‬ ‫در‬ ‫ﺳﻌﻲ‬ ،‫آﻳﻨﺪه‬ ‫در‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﻫﺎي‬‫ﻫﺎي‬
‫دﻳﻮ‬ ‫ﺗﺮﻣﻴﻢ‬ ‫و‬ ‫اﺻﻼح‬ ‫ﺗﻮاﻧﺎﻳﻲ‬ ‫و‬ ‫ﺑﻌﺪي‬ ‫ﺳﻪ‬‫اره‬‫اﻟﮕﻮرﻳﺘﻢ‬ ‫ﻛﻤﻚ‬ ‫ﺑﺎ‬ ‫ﺷﺪه‬ ‫ﺷﻨﺎﺧﺘﻪ‬ ‫اﺷﻴﺎء‬ ‫و‬ ‫ﻫﺎ‬‫ﺑﺎﺷﺪ‬ ‫ﻣﻲ‬ ‫ﺗﺼﻮﻳﺮ‬ ‫ﭘﺮدازش‬ ‫ﻫﺎي‬.‫ﺑﻪ‬ ‫ﻫﻤﭽﻨﻴﻦ‬
‫ﺑﻌﺪ‬ ‫دو‬ ‫در‬ ‫ﻧﻪ‬ ‫و‬ ‫ﺑﻌﺪ‬ ‫ﺳﻪ‬ ‫در‬ ‫ﻫﺎ‬ ‫رﺑﺎت‬ ‫ﺣﺮﻛﺖ‬ ‫دﻟﻴﻞ‬،‫ﺑﺎ‬‫ﺗﺠﻬﻴﺰ‬‫رﺑﺎت‬‫ﺑﻪ‬‫ﻣﺎﻫﻮاره‬ ‫ﮔﻴﺮﻧﺪه‬‫ﻣﻮﻗﻌﻴﺖ‬ ‫اي‬‫از‬ ‫آﮔﺎﻫﻲ‬ ‫و‬ ‫ﻳﺎﺑﻲ‬‫ﻓﻴﺰﻳﻜﻲ‬ ‫ﻣﻮﻗﻌﻴﺖ‬
‫ﻣﻲ‬‫ﮔﺮدش‬ ‫ﺑﺎ‬ ‫ﺗﻮان‬‫ﭘﻮﻳﺶ‬ ‫و‬‫ﻣﺤﻴﻂ‬ ‫در‬‫ﻳﻚ‬‫ﺑﻌﺪي‬ ‫ﺳﻪ‬ ‫ﺧﺮوﺟﻲ‬‫ﻣﺨﺘﺼﺎ‬ ‫ﺑﺎ‬ ‫دﻗﻴﻖ‬‫ﺟﻐﺮاﻓﻴﺎﻳﻲ‬ ‫ت‬‫ﻧﻤﻮد‬ ‫ﺗﻮﻟﻴﺪ‬ ‫را‬ ‫ﻣﺤﻴﻂ‬ ‫ﻛﻞ‬ ‫از‬.
‫ﻗﺎﺑﻠﻴﺖ‬‫ﺗﻮﺳﻌﻪ‬ ‫ﻫﺎي‬‫ﻣﻲ‬ ‫ﭘﻴﺸﻨﻬﺎد‬ ‫ﻋﻼﻗﻤﻨﺪان‬ ‫ﺑﻪ‬ ‫ﻧﻴﺰ‬ ‫و‬ ‫دارد‬ ‫ﻗﺮار‬ ‫ﻫﺪف‬ ‫آﻳﻨﺪه‬ ‫در‬ ‫ﻛﻪ‬ ‫اي‬‫ﻓﻬﺮﺳﺖ‬ ،‫ﮔﺮدد‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻧﻮﺷﺘﻪ‬ ‫زﻳﺮ‬ ‫در‬ ‫وار‬.
‫ﺑﻬﻴﻨﻪ‬‫ﺳﺎزي‬‫ﻧﺮم‬‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬ ‫ﺑﺎ‬ ‫ﺧﻮب‬ ‫ﻋﻤﻠﻜﺮد‬ ‫ﺑﺮاي‬ ‫اﻓﺰار‬
‫ﻧﺮم‬ ‫ﺗﺮﻣﻴﻢ‬ ‫و‬ ‫ﺗﺼﻮﻳﺮ‬ ‫دﻗﺖ‬ ‫اﻓﺰاﻳﺶ‬‫اﻓﺰاري‬
‫ﻧﺮم‬ ‫ﺗﺠﻬﻴﺰ‬‫اﻓﺰا‬‫ﺗﺼﺤﻴﺢ‬ ‫و‬ ‫ﺗﻜﻤﻴﻞ‬ ‫ﺑﺮاي‬ ‫ﻫﻮﺷﻤﻨﺪي‬ ‫و‬ ‫ﻳﺎدﮔﻴﺮي‬ ‫ﺑﻪ‬ ‫ر‬
‫ﺳﻪ‬ ‫اﻃﻼﻋﺎت‬ ‫رﺳﻢ‬ ‫و‬ ‫ذﺧﻴﺮ‬ ‫ﺗﻮاﻧﺎﻳﻲ‬‫ﺑ‬‫ﺳﻪ‬ ‫ﺻﻔﺤﻪ‬ ‫در‬ ‫ﻌﺪي‬‫ﺑﻌﺪي‬
‫ﻣﻮﻗﻌﻴﺖ‬ ‫ﺑﺎ‬ ‫ﻛﺎر‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫ﻧﻤﻮدن‬ ‫اﺿﺎﻓﻪ‬‫ﻣﺎﻫﻮاره‬ ‫ﻳﺎب‬‫اي‬
‫دﻳﮕﺮ‬ ‫ﺑﺴﻴﺎري‬ ‫و‬...

‫ﭘﻴﻮﺳﺖ‬

‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬
‫ﻣﻲ‬ ‫ﺷﻤﺎ‬‫ﺷﺎﺧﻪ‬ ‫در‬ ‫را‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬ ‫ﺗﻮاﻧﻴﺪ‬Source‫ﻣﻄﺎﻟﻌﻪ‬ ‫ﻛﺎﻣﻞ‬ ‫ﺑﻄﻮر‬ ‫ﻓﺸﺮده‬ ‫دﻳﺴﻚ‬ ‫در‬ ‫واﻗﻊ‬‫ﻧﻤﺎﻳﻴﺪ‬.
‫ﻣﻲ‬ ‫زﻳﺮﺷﺎﺧﻪ‬ ‫ﭼﻬﺎر‬ ‫ﺷﺎﻣﻞ‬ ‫ﺷﺎﺧﻪ‬ ‫اﻳﻦ‬‫ﺑﺎﺷﺪ‬.
Chart:‫ﻓﺎﻳﻞ‬ ‫در‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫اﻳﻦ‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬main.cpp‫ﻣﻲ‬ ‫ﻣﻮﺟﻮد‬‫ﺑﺎﺷﺪ‬.‫ﺑﻪ‬ ‫اﺟﺮاﻳﻲ‬ ‫ﻧﺴﺨﻪ‬ ‫اﻳﺠﺎد‬ ‫ﺑﺮاي‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﺗﻮﺟﻪ‬ ‫ﻗﺎﺑﻞ‬
‫ﺟﺰء‬1
SDLSuit‫ﻣﻲ‬ ‫ﻣﻮﺟﻮد‬ ‫ﻫﻤﺮاه‬ ‫ﻓﺸﺮده‬ ‫دﻳﺴﻚ‬ ‫در‬ ‫ﻛﻪ‬‫ﻣﻲ‬ ‫ﻧﻴﺎزﻣﻨﺪ‬ ‫ﺑﺎﺷﺪ‬‫ﺑﺎﺷﻴﺪ‬.
Mapping:‫زﻳﺮﺷﺎﺧﻪ‬ ‫اﻳﻦ‬‫ﺷﺎﻣﻞ‬‫ﻧﺮم‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬‫ا‬‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﻓﺰار‬،‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬‫از‬‫ﻣﻲ‬ ‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮﻫﺎي‬‫ﺑﺎﺷﺪ‬.‫اداﻣﻪ‬ ‫در‬
‫ﻓﺎﻳﻞ‬ ‫ﻣﺨﺘﺼﺮ‬ ‫ﺑﻄﻮر‬‫ﻣﻲ‬ ‫داده‬ ‫ﺗﻮﺿﻴﺢ‬ ‫ﻫﺎ‬‫ﺷﻮﻧﺪ‬.Main.cpp ,main.h‫روال‬ ‫و‬ ‫ﻛﺪ‬ ‫ﺷﺎﻣﻞ‬‫ﻣﻲ‬ ‫اﺻﻠﻲ‬ ‫ﻫﺎي‬‫ﺑﺎﺷﺪ‬.Draw.cpp ,
draw.h‫ﺷﺎﻣﻞ‬‫ﻣﻲ‬ ‫ﻧﻬﺎﻳﻲ‬ ‫ﭘﺮدازش‬ ‫و‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﭘﻨﺠﺮه‬ ‫ﺑﻪ‬ ‫ﻣﺮﺑﻮط‬ ‫رواﻟﻬﺎي‬ ‫و‬ ‫ﻛﺪ‬‫ﺑﺎﺷﺪ‬.‫اﻃﻼﻋﺎﺗﻲ‬ ‫ﻫﺴﺘﻪ‬ ‫اﻣﺎ‬ ‫و‬‫اﺻﻠﻲ‬ ‫ﭘﺮدازﺷﻲ‬ ‫و‬
‫ﻗﺎﻟﺐ‬ ‫در‬table.cpp, table.h‫ﻛﻼس‬ ‫ﻃﺮاﺣﻲ‬ ‫و‬Map_Table‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.‫ﻗﺒﻞ‬ ‫ﻳﺎ‬ ‫ﭘﺮدازش‬ ‫زﻣﺎن‬ ‫در‬ ‫و‬ ‫ورود‬ ‫از‬ ‫ﭘﺲ‬ ‫ﻛﻠﻴﻪ‬
‫ﻧﻤﻮﻧﻪ‬ ‫در‬ ‫ﺧﺮوج‬‫ﻣﻲ‬ ‫ﭘﺮدازش‬ ‫و‬ ‫ذﺧﻴﺮه‬ ‫ﻛﻼس‬ ‫اﻳﻦ‬ ‫از‬ ‫اي‬‫ﺷﻮﻧﺪ‬.
Mapping-Laser:‫زﻳﺮﺷﺎﺧﻪ‬ ‫اﻳﻦ‬‫ﺷﺎﻣﻞ‬‫ﻧﺮم‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫اﻓﺰار‬،‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬‫ﻟﻴ‬ ‫ﭘﻮﻳﺸﮕﺮ‬‫ﺰري‬‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.‫اﻳﻦ‬
‫ﻓﺎﻳﻞ‬ ‫از‬ ‫ﺑﺎﻻ‬ ‫ﻫﻤﺎﻧﻨﺪ‬ ‫ﻧﻴﺰ‬ ‫ﻣﺠﻤﻮﻋﻪ‬‫ﻛﻨﺪ‬ ‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﺘﻔﺎوت‬ ‫ﻣﺤﺘﻮاي‬ ‫ﺑﺎ‬ ‫وﻟﻲ‬ ‫ﻣﺸﺎﺑﻪ‬ ‫ﻫﺎي‬.
SendUDP:‫ﻧﺮم‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬‫ﻓﺎﻳﻞ‬ ‫ﻛﻨﻨﺪه‬ ‫ﭘﺨﺶ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻛﻨﻨﺪه‬ ‫ارﺳﺎل‬ ‫اﻓﺰار‬‫اﻃﻼﻋﺎﺗﻲ‬ ‫ﻫﺎي‬‫ﻗﺒﻞ‬ ‫از‬‫زﻳﺮﺷﺎﺧﻪ‬ ‫اﻳﻦ‬ ‫در‬ ،‫ﺷﺪه‬ ‫ذﺧﻴﺮه‬
‫ﻣﻲ‬ ‫ﻧﮕﻬﺪاري‬‫ﺷﻮد‬.
1
Component

‫ﻓﻨﻲ‬ ‫ﻣﺸﺨﺼﺎت‬
SRF04 - Ultra-Sonic Ranger by Devantech
Technical Specification
This project started after I looked at the Polaroid Ultrasonic Ranging module. It has a number of disadvantages
for use in small robots etc .
The maximum range of 10.7 metre is far more than is normally required, and as a result
The current consumption, at 2.5Ampsduring the sonic burst is truly horrendous.
The 150mA quiescent current is also far too high.
The minimum range of 26cm is useless. 1-2cm is more like it.
The module is quite large to fit in to small systems, and
It’s EXPENSIVE.
The SRF04 was designed to be just as easy to use as the Polaroid sonar, requiring a short trigger pulse and
providing an echo pulse. Your controller only has to time the length of this pulse to find the range. The
connections to the SRF04 are shown below:
The SRF04 Timing diagram is shown below. You only need to supply a short 10uS pulse to the trigger input to
start the ranging. The SRF04will send out an 8 cycle burst of ultrasound at 40khz and raise its echo line high. It

then listens for an echo, and as soon as it detects one it lowers the echo line again. The echo line is therefore a
pulse whose width is proportional to the distance to the object. By timing the pulse it is possible to calculate the
range in inches/centimetres or anything else. If nothing is detected then the SRF04 will lower its echo line
anyway after about 36mS.
Here is the schematic.
The circuit is designed to be low cost. It uses a PIC12C508 to perform the control functions and standard 40khz
piezo transducers. The drive to the transmitting transducer could be simplest driven directly from the PIC. The
5v drive can give a useful range for large objects, but can be problematic detecting smaller objects. The

transducer can handle 20v of drive, so I decided to get up close to this leve. A MAX232IC, usually used for
RS232 communication makes and ideal driver, providing about 16v of drive.
The receiver is a classic two stage op-amp circuit. The input capacitor C8 blocks some residual DC which always
seems to be present. Each gain stage is set to 24 for a total gain of 576-ish. This is close the 25 maximum gain
available using the LM1458. The gain bandwidth product for the LM1458 is 1Mhz. The maximum gain at 40khz
is 1000000/40000 = 25. The output of the amplifier is fed into an LM311 comparator. A small amount of positive
feedback provides some hysteris is to give a clean stable output.
The problem of getting operation down to 1-2cm is that the receiver will pick up direct coupling from the
transmitter, which is right next to it. To make matters worse the piezo transducer is a mechanical object that
keeps resonating sometime after the drive has been removed. Up to 1mS depending on when you decide it has
stopped. It is much harder to tell the difference between this direct coupled ringing and a returning echo, which
is why many designs, including the Polaroid module, simply blank out this period. Looking at the returning echo
on an oscilloscope shows that it is much larger in magnitude at close quarters than the cross-coupled signal. I
therefore adjust the detection threshold during this time so that only the echo is detectable. The 100n capacitor
C10 is charged to about–6v during the burst. This discharges quite quickly through the 10k resistor R6 to
restore sensitivity for more distant echo’s.
A convenient negative voltage for the op-amp and comparator is generated by the MAX232. Unfortunately, this
also generates quite a bit of high frequency noise. It here fore shut it down whilst listening for the echo. The 10Uf
capacitor C9 holds the negative rail just long enough to do this.
In operation, the processor waits for an active low trigger pulse to come in. It then generates just eight cycles of
40khz. The echo line is then raised to signal the host processor to start timing. The raising of the echo line also
shuts of the MAX232. After a while– no more than 10-12mS normally, the returning echo will be detected and
the PIC will lower the echo line. The width of this pulse represents the flight time of the sonic burst. If no echo is
detected then it will automatically time out after about 30mS (Its two times the WDT period of the PIC). Because
the MAX232 is shut down during echo detection, you must wait at least 10mS between measurement cycles for
the +/ - 10v to recharge.
Performance of this design is, It hink, quite good. It will reliably measure down to 3cm and will continue
detecting down to 1cm or less but after 2-3cm the pulse width doesn’t get any smaller.
Maximum range is a little over 3m. As and example of the sensitivity of this design, it will detect a 1 inch thick
plastic broom handle at 2.4m. Average current consumption is reasonable at less than 50mA and typically about
30mA.
Calculating the Distance
The SRF04 provides an echo pulse proportional to distance. If the width of the pulse is measured in uS, then
dividing by 58 will give you the distance in cm, or dividing by 148 will give the distance in inches.
uS/58=cmoruS/148=inches.
Changing beam pattern and beam width
You can't! This is a question which crops up regularly, how ever there is no easy way to reduce or change the
beam width that I'm aware of. The beam pattern of the SRF04 is conical with the width of the beam being a
function of the surface area of the transducers and is fixed. The beam pattern of the transducers used on the
SRF04, taken from the manufacturers data sheet, is shown below.

Update -May 2003
Since the original design of the SRF04was published, there have been incremental improvements to improve
performance and manufacturing reliability. The op-amp is now an LMC6032 and the comparator is an LP311.
The 10uF capacitor is now 22uF and a few resistor values have been tweaked. These changes have happened
over a period of time.
All SRF04's manufactured after May 2003 have new software implementing an optional timing control input
using the "do not connect" pin. This connection is the PIC's Vpp line used to program the chip after assembly.
After programming its just an unused input with a pull-up resistor. When left unconnected the SRF04 behaves
exactly as it always has and is described above. When the "do not connect" pin is connected to ground (0v), the
timing is changed slightly to allow the SRF04to work with the slower controllers such as the Picaxe. The SRF04's
"do not connect" pin now acts as a timing control. This pin is pulled high by default and when left unconnected,
the timing remains exactly as before. With the timing pin pulled low (grounded) a 300uS delay is added between
the end of the trigger pulse and transmitting the sonic burst. Since the echo output is not raised until the burst is
completed, there is no change to the range timing, but the 300uS delay gives the Picaxe time to sort out which
pinto look at and start doing so. The new code has shipped in all SRF04's since the end of April 2003.The new
code is also useful when connecting the SRF04 to the slower Stamps such as the BS2. Although the SRF04 works
with the BS2, the echo line needs to be connected to the lower numbered input pins. This is because the Stamps
take progressively longer to look at the higher numbered pins and can miss the rising edge of the echo signal. In
this case you can connect the "do not connect" pin to ground and give it an extra 300uS to get there.

‫اﺳ‬ ‫ﭘﺮواﻧﻪ‬‫ﻨ‬‫ﮔﻨﻮ‬ ‫آزاد‬ ‫ﺎد‬
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only the original English text of the GNU FDL does that. However, we hope that
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‫از‬ ‫رﺳﻤﻲ‬ ‫ﻏﻴﺮ‬ ‫ﺗﺮﺟﻤﻪ‬ ‫ﻳﻚ‬ ‫اﻳﻦ‬GNU Free Documentation License‫ﻣﻲ‬ ‫ﻓﺎرﺳﻲ‬ ‫زﺑﺎن‬ ‫ﺑﻪ‬‫ﺑﺎﺷﺪ‬.‫ﻧﺮم‬ ‫ﺑﻨﻴﺎد‬ ‫ﺗﻮﺳﻂ‬ ‫ﺗﺮﺟﻤﻪ‬ ‫اﻳﻦ‬
‫ﻧﻴﺎﻓﺘﻪ‬ ‫اﻧﺘﺸﺎر‬ ‫آزاد‬ ‫اﻓﺰارﻫﺎي‬‫ﭘﺮواﻧﻪ‬ ‫ﺗﺤﺖ‬ ‫ﻣﺴﺘﻨﺪات‬ ‫ﺗﻮزﻳﻊ‬ ‫ﻣﻘﺮرات‬ ‫ﺑﺮاي‬ ‫ﻣﺮﺟﻌﻲ‬ ‫ﻗﺎﻧﻮﻧﻲ‬ ‫ﻟﺤﺎظ‬ ‫از‬ ‫و‬GNU‫ﻧﻤﻲ‬‫ﺑﺎﺷﺪ‬–‫ﻣﺘﻦ‬ ‫ﻓﻘﻂ‬
‫ﻣﻲ‬ ‫ﺑﺮﺷﻤﺮده‬ ‫ﻣﺮﺟﻌﻲ‬ ‫ﭼﻨﻴﻦ‬ ‫اﻧﮕﻠﻴﺴﻲ‬ ‫زﺑﺎن‬ ‫ﺑﻪ‬ ‫ﭘﺮواﻧﻪ‬‫ﺷﻮد‬.‫ﭘﺮواﻧﻪ‬ ‫ﺑﺎ‬ ‫زﺑﺎﻧﺎن‬ ‫ﻓﺎرﺳﻲ‬ ‫آﺷﻨﺎﻳﻲ‬ ‫ﺑﻪ‬ ‫ﺗﺮﺟﻤﻪ‬ ‫اﻳﻦ‬ ‫اﻣﻴﺪوارﻳﻢ‬ ‫ﻣﺎ‬ ،‫ﺗﺮﺗﻴﺐ‬ ‫ﻫﺮ‬ ‫ﺑﻪ‬
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‫ﻧﺴﺨﻪ‬2.1–‫آذر‬1381
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‫ﻣﻲ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﻧﺨﻮرده‬ ‫دﺳﺖ‬ ‫و‬ ‫ﻟﻔﻆ‬ ‫ﺑﻪ‬ ‫ﻟﻔﻆ‬ ‫ﺗﻮزﻳﻊ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺗﻜﺜﻴﺮ‬ ‫ﺑﻪ‬ ‫ﻣﺠﺎز‬ ‫ﻫﺮﻛﺴﻲ‬‫اﻣﺎ‬ ،‫ﺑﺎﺷﺪ‬‫ﻧﻴﺴﺖ‬ ‫آن‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﺑﻪ‬ ‫ﻣﺠﺎز‬ ‫ﻫﻴﭽﻜﺲ‬.
‫دﻳﺒﺎﭼﻪ‬
‫اﻣﻜﺎن‬ ‫اﻳﺠﺎد‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﻫﺪف‬‫ﻛﻪ‬ ‫ﻣﻔﻬﻮم‬ ‫ﻫﻤﺎن‬ ‫ﺑﻪ‬ ‫آزاد‬ ‫آزاد؛‬ ‫ﺑﺼﻮرت‬ ‫دﻳﮕﺮ‬ ‫ﺳﻮدﻣﻨﺪ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻫﺮ‬ ‫ﻳﺎ‬ ‫و‬ ‫درﺳﻲ‬ ‫ﻛﺘﺎب‬ ،‫راﻫﻨﻤﺎ‬ ‫ﻳﻚ‬ ‫اراﻳﻪ‬
‫ﺑﺪون‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺗﻐﻴﻴﺮات‬ ‫اﻳﺠﺎد‬ ‫اﻣﻜﺎن‬ ‫ﻫﻤﺮاه‬ ‫ﺑﻪ‬ ‫آن‬ ‫ﺗﻮزﻳﻊ‬ ‫و‬ ‫ﺗﻜﺜﻴﺮ‬ ‫در‬ ‫ﻫﺮﻛﺲ‬ ‫آزادي‬ ‫از‬ ‫ﺑﻮدن‬ ‫ﻣﻄﻤﺌﻦ‬ ‫ﺑﺮاي‬ ‫رود؛‬ ‫ﻣﻲ‬ ‫ﺑﻜﺎر‬ ‫آزادي‬ ‫ﻛﻠﻤﻪ‬ ‫در‬
‫ﺗﺠﺎري‬ ‫ﻏﻴﺮ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺗﺠﺎري‬ ‫ﺑﺼﻮرت‬ ‫ﭼﻪ‬ ،‫آن‬‫ﻣﻲ‬‫ﺑﺎﺷﺪ‬.‫دﻳﮕ‬ ‫ﻃﺮف‬ ‫از‬‫ﺣﻔﻆ‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻣﺎﻟﻜﻴﺖ‬ ‫ﻣﻮرد‬ ‫در‬ ‫ﻧﺎﺷﺮ‬ ‫و‬ ‫ﻣﻮﻟﻒ‬ ‫ﺣﻖ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﺮ‬
‫ﻣﺴ‬ ‫از‬ ‫ﺣﺎل‬ ‫ﻋﻴﻦ‬ ‫در‬ ‫و‬ ‫ﻧﻤﻮده‬‫ﺌ‬‫ﻣﻲ‬ ‫ﺟﻠﻮﮔﻴﺮي‬ ‫ﺷﺪه‬ ‫اﻋﻤﺎل‬ ‫دﻳﮕﺮان‬ ‫ﺗﻮﺳﻂ‬ ‫ﻛﻪ‬ ‫ﺗﻐﻴﻴﺮاﺗﻲ‬ ‫ﺑﺮاﺑﺮ‬ ‫در‬ ‫آﻧﻬﺎ‬ ‫ﺷﺪن‬ ‫ﺷﻤﺮده‬ ‫ﻮل‬‫ﻛﻨﺪ‬.
‫ﺗﺎﻟﻴﻒ‬ ‫ﺳﻬﻮ‬ ‫ﻧﻮﻋﻲ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬)Copyleft(‫ﻣﻲ‬ ‫ﻣﺤﺴﻮب‬‫اﺻﻠ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫از‬ ‫ﺷﺪه‬ ‫ﻣﺸﺘﻖ‬ ‫اﺳﻨﺎد‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﻣﻌﻨﻲ‬ ‫ﺑﺪﻳﻦ‬ ‫ﻛﻪ‬ ،‫ﺷﻮد‬‫ﺧﻮدﺷﺎن‬ ‫ﻲ‬
‫ﻣﻲ‬ ‫ﻧﻴﺰ‬‫ﺑﺎﺷﻨﺪ‬ ‫آزاد‬ ‫اﻧﺪازه‬ ‫ﻫﻤﺎن‬ ‫ﺑﻪ‬ ‫ﺑﺎﻳﺴﺖ‬.‫دﻳﮕﺮ‬ ‫ﭘﺮواﻧﻪ‬ ‫ﻣﻜﻤﻞ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬GNU‫ﻧﺎم‬ ‫ﺑﻪ‬GPL‫ﻣﻲ‬‫ﺑﺮاي‬ ‫دﻳﮕﺮي‬ ‫ﺗﺎﻟﻴﻒ‬ ‫ﺳﻬﻮ‬ ‫ﻛﻪ‬ ‫ﺑﺎﺷﺪ‬
‫ﻣﻲ‬ ‫آزاد‬ ‫اﻓﺰارﻫﺎي‬ ‫ﻧﺮم‬‫ﺑﺎﺷﺪ‬.
‫ﻧﺮم‬ ‫ﻣﺴﺘﻨﺪات‬ ‫ﺑﺮاي‬ ‫را‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﻣﺎ‬‫ﻫ‬ ‫ﻧﻴﺮ‬ ‫آزاد‬ ‫ﻣﺴﺘﻨﺪات‬ ‫ﻧﻴﺎزﻣﻨﺪ‬ ‫آزاد‬ ‫اﻓﺰار‬ ‫ﻧﺮم‬ ‫ﭼﻮن‬ ‫ﻛﺮدﻳﻢ‬ ‫ﻃﺮاﺣﻲ‬ ‫آزاد‬ ‫اﻓﺰارﻫﺎي‬‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﻳﻚ‬ ،‫ﺴﺖ‬
‫ﻧﺮم‬ ‫ﻣﺴﺘﻨﺪات‬ ‫ﺑﻪ‬ ‫ﻣﺤﺪود‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫اﻣﺎ‬ ‫ﺑﺎﺷﻨﺪ؛‬ ‫آزاد‬ ‫اﻓﺰار‬ ‫ﻧﺮم‬ ‫ﺧﻮد‬ ‫اﻧﺪازه‬ ‫ﺑﻪ‬ ‫ﻛﻪ‬ ‫ﺑﺎﺷﺪ‬ ‫ﻫﻤﺮاه‬ ‫ﻣﺴﺘﻨﺪاﺗﻲ‬ ‫ﺑﺎ‬ ‫ﺑﺎﻳﺪ‬ ‫آزاد‬‫ﻧﻤﻲ‬ ‫اﻓﺰاري‬،‫ﺷﻮد‬
‫ﻣﻲ‬‫ﻣﺘﻨﻲ‬ ‫ﻫﺮ‬ ‫ﺑﺮاي‬ ‫را‬ ‫آن‬ ‫ﺗﻮان‬-‫ﺧﻴﺮ‬ ‫ﻳﺎ‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻣﻨﺘﺸﺮ‬ ‫ﻛﺘﺎب‬ ‫ﺑﺼﻮرت‬ ‫اﻳﻨﻜﻪ‬ ‫ﻳﺎ‬ ‫و‬ ‫آن‬ ‫ﻋﻨﻮان‬ ‫از‬ ‫ﺟﺪاي‬-‫ﺑﺮد‬ ‫ﺑﻜﺎر‬.‫اﺳﺘﻔﺎده‬ ‫ﻣﺎ‬ ‫ﺗﻮﺻﻴﻪ‬
‫ا‬‫اﺳﺖ‬ ‫ﻣﺮﺟﻊ‬ ‫ﻳﻚ‬ ‫اﻳﺠﺎد‬ ‫ﻳﺎ‬ ‫و‬ ‫آﻣﻮزش‬ ‫آﻧﻬﺎ‬ ‫ﻫﺪف‬ ‫ﺧﺎص‬ ‫ﺑﻄﻮر‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﻛﺎرﻫﺎﻳﻲ‬ ‫ﺑﺮاي‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ز‬.
‫ﺗﻌﺎرﻳﻒ‬ ‫و‬ ‫ﻛﺎرﺑﺮد‬
‫ﻛﺎري‬ ‫ﻳﺎ‬ ‫و‬ ‫راﻫﻨﻤﺎ‬ ‫ﻫﺮ‬ ‫ﺑﺮ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬)‫ﺑﺴﺘﺮي‬ ‫ﻫﺮ‬ ‫روي‬ ‫ﺷﺪه‬ ‫ﻣﻨﺘﺸﺮ‬(‫ﺗﻮزﻳﻊ‬ ‫ﺑﺎ‬ ‫آن‬ ‫اﻣﺘﻴﺎز‬ ‫ﺣﻖ‬ ‫ﺻﺎﺣﺐ‬ ‫ﺗﻮاﻓﻖ‬ ‫ﺑﺮ‬ ‫ﻣﺒﻨﻲ‬ ‫اﻋﻼﻧﻲ‬ ‫ﺷﺎﻣﻞ‬ ‫ﻛﻪ‬
‫ﻣﻲ‬ ‫اﻋﻤﺎل‬ ‫ﺑﺎﺷﺪ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫اﺳﺎس‬ ‫ﺑﺮ‬ ‫آن‬‫ﮔﺮدد‬.‫ﭼ‬‫اﻳﻦ‬ ‫ﻗﻮاﻧﻴﻦ‬ ‫ﻃﺒﻖ‬ ‫ﻛﺎر‬ ‫آن‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺮاي‬ ‫ﻧﺎﻣﺤﺪودي‬ ‫ﺟﻬﺎﻧﻲ‬ ‫ﻣﺠﻮز‬ ‫اﻋﻼﻧﻲ‬ ‫ﻨﻴﻦ‬
‫ﺑﻮد‬ ‫ﺧﻮاﻫﺪ‬ ‫ﺗﺎﻟﻴﻒ‬ ‫ﺣﻖ‬ ‫درﻳﺎﻓﺖ‬ ‫ﺑﺪون‬ ‫و‬ ‫ﭘﺮواﻧﻪ‬.‫ﭘﺲ‬ ‫اﻳﻦ‬ ‫از‬ ‫و‬ ‫ﺑﻮد‬ ‫ﺧﻮاﻫﺪ‬ ‫ﻣﺠﻮز‬ ‫دارﻧﺪه‬ ‫ﻳﻚ‬ ‫ﻫﺮﻛﺴﻲ‬"‫ﺷﻤﺎ‬"‫ﺷﺪ‬ ‫ﺧﻮاﻫﺪ‬ ‫ﺧﻄﺎب‬.

‫اﺳﺎس‬ ‫ﺑﺮ‬ ‫ﻛﻪ‬ ‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺗﻮزﻳﻊ‬ ‫ﻳﺎ‬ ‫و‬ ‫دﻫﻴﺪ‬ ‫ﺗﻐﻴﻴﺮ‬ ،‫ﻛﻨﻴﺪ‬ ‫ﺗﻜﺜﻴﺮ‬ ‫ﻧﺤﻮي‬ ‫ﺑﻪ‬ ‫را‬ ‫ﻛﺎر‬ ‫ﺷﻤﺎ‬ ‫ﻛﻪ‬ ‫ﺻﻮرﺗﻲ‬ ‫در‬‫ﻣﻮﻟﻒ‬ ‫ﺣﻘﻮق‬ ‫ﻗﺎﻧﻮن‬(Copyright
Law)‫ﭘﺬﻳﺮﻓﺘﻪ‬ ‫را‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﻣﻔﺎد‬ ‫ﺑﺎﺷﺪ‬ ‫ﻣﺠﻮزي‬ ‫ﻛﺴﺐ‬ ‫ﺑﻪ‬ ‫ﻧﻴﺎز‬‫اﻳﺪ‬.
"‫ﻳﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬"‫ﺑﺎ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺣﺮف‬ ‫ﺑﻪ‬ ‫ﺣﺮف‬ ‫ﺑﺼﻮرت‬ ‫ﺷﺪه‬ ‫ﺗﻜﺜﻴﺮ‬ ،‫آن‬ ‫از‬ ‫ﻗﺴﻤﺘﻲ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﺧﻮد‬ ‫ﺷﺎﻣﻞ‬ ‫ﻛﺎري‬ ‫ﻫﺮ‬ ‫ﻣﻌﻨﻲ‬ ‫ﺑﻪ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫از‬
‫ﻣﻲ‬ ‫دﻳﮕﺮي‬ ‫زﺑﺎن‬ ‫ﺑﻪ‬ ‫ﺷﺪه‬ ‫ﺗﺮﺟﻤﻪ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺗﻐﻴﻴﺮات‬‫ﺑﺎﺷﺪ‬.
"‫ﺛﺎﻧﻲ‬ ‫ﺑﺨﺶ‬"‫ﻛﻠﻲ‬ ‫ﻣﻄﻠﺐ‬ ‫ﺑﺎ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻣﻮﻟﻒ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻧﺎﺷﺮ‬ ‫راﺑﻄﻪ‬ ‫ﺑﺮرﺳﻲ‬ ‫ﺑﻪ‬ ‫ﺧﺎص‬ ‫ﻃﻮر‬ ‫ﺑﻪ‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫از‬ ‫ﻣﻮﺧﺮه‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻣﻘﺪﻣﻪ‬ ‫ﻳﻚ‬)‫و‬
‫ﻣﺸﺎﺑﻪ‬ ‫ﻣﺴﺎﻳﻞ‬ ‫ﻳﺎ‬(‫ﻣﻲ‬‫ﻧﻴﺴﺖ‬ ‫ﺑﺎﺷﺪ‬ ‫ﻛﺎر‬ ‫ﻛﻠﻲ‬ ‫ﻣﻮﺿﻊ‬ ‫ﺑﺎ‬ ‫ارﺗﺒﺎط‬ ‫در‬ ‫ﻣﺴﺘﻘﻴﻢ‬ ‫ﺑﻄﻮر‬ ‫ﻛﻪ‬ ‫ﭼﻴﺰي‬ ‫ﻫﻴﭻ‬ ‫ﺷﺎﻣﻞ‬ ‫و‬ ‫ﭘﺮدازد‬) .‫ﻣﺜﺎل‬ ‫ﺑﺮاي‬ ‫ﻧﺘﻴﺠﻪ‬ ‫در‬
‫ﺑﺨ‬ ‫ﻳﻚ‬ ،‫ﺑﺎﺷﺪ‬ ‫رﻳﺎﺿﻴﺎت‬ ‫درﺳﻲ‬ ‫ﻛﺘﺎب‬ ‫ﻳﻚ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫اﮔﺮ‬‫ﻧﻴﺴﺖ‬ ‫رﻳﺎﺿﻲ‬ ‫ﻣﻮرد‬ ‫در‬ ‫ﺗﻮﺿﻴﺤﺎﻧﻲ‬ ‫ﺷﺎﻣﻞ‬ ‫ﺛﺎﻧﻲ‬ ‫ﺶ‬(.‫ﻣﻤﻜﻦ‬ ‫ﻣﺬﻛﻮر‬ ‫راﺑﻄﻪ‬
‫ﺑﺎﺷﺪ‬ ‫ﺑﺤﺚ‬ ‫ﻣﻮرد‬ ‫ﻣﻮﺿﻮع‬ ‫ﺑﺎ‬ ‫ﺳﻴﺎﺳﻲ‬ ‫ﻳﺎ‬ ‫و‬ ‫اﺧﻼﻗﻲ‬ ،‫ﻓﻠﺴﻔﻲ‬ ،‫ﺗﺠﺎري‬ ،‫ﻗﺎﻧﻮﻧﻲ‬ ،‫ﺗﺎرﻳﺨﻲ‬ ‫راﺑﻄﻪ‬ ‫اﺳﺖ‬.
"‫ﺛﺎﺑﺖ‬ ‫ﺑﺨﺸﻬﺎي‬"‫ﻣﻲ‬ ‫ﻗﺮار‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﭘﻮﺷﺶ‬ ‫ﺗﺤﺖ‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻛﻪ‬ ‫اﻋﻼﻧﻲ‬ ‫در‬ ‫ﺧﺎص‬ ‫ﺑﻄﻮر‬ ‫ﻛﻪ‬ ‫ﻫﺴﺘﻨﺪ‬ ‫ﺛﺎﻧﻲ‬ ‫ﺑﺨﺸﻬﺎي‬ ‫از‬ ‫دﺳﺘﻪ‬ ‫آن‬‫دﻫﺪ‬
‫ا‬ ‫ﺛﺎﺑﺖ‬‫ﺷﺪه‬ ‫ﻋﻼم‬‫اﻧﺪ‬.‫ﻧﻤﻲ‬ ‫ﺛﺎﻧﻲ‬ ‫از‬ ‫ﺑﺎﻻ‬ ‫ﺗﻌﺮﻳﻒ‬ ‫در‬ ‫ﺑﺨﺸﻲ‬ ‫اﮔﺮ‬‫ﻧﺨﻮاﻫﺪ‬ ‫وﺟﻮد‬ ‫ﺛﺎﺑﺖ‬ ‫ﺑﺨﺶ‬ ‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ‫آن‬ ‫ﮔﺬاري‬ ‫ﻧﺎم‬ ‫اﻣﻜﺎن‬ ‫آﻧﮕﺎه‬ ‫ﮔﻨﺠﺪ‬
‫داﺷﺖ‬.‫ﺗﻌﺪاد‬ ‫ﺣﺎوي‬ ‫اﺳﺖ‬ ‫ﻣﻤﻜﻦ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻳﻚ‬"‫ﺻﻔﺮ‬"‫ﻧﺪارد‬ ‫ﺛﺎﺑﺖ‬ ‫ﺑﺨﺶ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﺻﻮرت‬ ‫اﻳﻦ‬ ‫در‬ ،‫ﺑﺎﺷﺪ‬ ‫ﺛﺎﺑﺖ‬ ‫ﺑﺨﺶ‬.
"‫ﺟﻠﺪ‬ ‫روي‬ ‫ﻣﺘﻦ‬"‫ر‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻛﻪ‬ ‫اﻋﻼﻧﻲ‬ ‫در‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﻣﺘﻦ‬ ‫از‬ ‫ﻗﺴﻤﺘﻬﺎﻳﻲ‬‫ﻣﻲ‬ ‫ﻗﺮار‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﭘﻮﺷﺶ‬ ‫ﺗﺤﺖ‬ ‫ا‬‫ﻳﺎ‬ ‫و‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫ﺑﺮاي‬ ‫دﻫﺪ‬
‫اﺳﺖ‬ ‫ﮔﺮدﻳﺪه‬ ‫ﻣﺠﺰا‬ ‫ﺟﻠﺪ‬ ‫ﭘﺸﺖ‬.‫ﻣﻲ‬ ‫ﺣﺪاﻛﺜﺮ‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫ﺑﺮاي‬ ‫ﻣﺘﻦ‬ ‫ﻳﻚ‬‫ﺣﺎوي‬ ‫ﺗﻮاﻧﺪ‬5‫ﺣﺎوي‬ ‫ﺣﺪاﻛﺜﺮ‬ ‫ﺟﻠﺪ‬ ‫ﭘﺸﺖ‬ ‫ﺑﺮاي‬ ‫و‬ ‫ﻛﻠﻤﻪ‬25
‫ﺑﺎﺷﺪ‬ ‫ﻛﻠﻤﻪ‬.
‫ﻧﺴﺨﻪ‬ ‫ﻳﻚ‬"‫ﺷﻔﺎف‬"‫ﻧﺴﺨﻪ‬ ،‫ﻣﺴﺘﻨﺪ‬ ‫از‬‫آزا‬ ‫ﺻﻮرت‬ ‫ﺑﻪ‬ ‫آن‬ ‫ﻣﺸﺨﺼﺎت‬ ‫ﻛﻪ‬ ‫ﻓﺮﻣﻲ‬ ‫ﺑﻪ‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﻣﺎﺷﻴﻦ‬ ‫ﺑﺮاي‬ ‫ﺧﻮاﻧﺎ‬ ‫اي‬‫دﺳﺘﺮس‬ ‫در‬ ‫د‬
‫ﻧﺮم‬ ‫ﺑﺎ‬ ‫و‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﺗﻬﻴﻪ‬ ‫اﺳﺖ‬ ‫ﻣﻮﺟﻮد‬ ‫ﻫﻤﮕﺎن‬‫ﻳﺎ‬ ‫و‬ ‫اﺳﺖ‬ ‫ﺑﺎزﺑﻴﻨﻲ‬ ‫ﻗﺎﺑﻞ‬ ‫ﻣﺘﻦ‬ ‫وﻳﺮاﻳﺶ‬ ‫ﻋﻤﻮﻣﻲ‬ ‫اﻓﺰارﻫﺎي‬)‫از‬ ‫ﻣﺘﺸﻜﻞ‬ ‫ﺗﺼﻮﻳﺮﻫﺎي‬ ‫ﺑﺮاي‬
‫ﻧﻘﺎط‬(‫ﻳﺎ‬ ‫و‬ ‫اﺳﺖ‬ ‫ﻣﺸﺎﻫﺪه‬ ‫ﻗﺎﺑﻞ‬ ‫ﺗﺼﻮﻳﺮ‬ ‫ﻋﻤﻮﻣﻲ‬ ‫ﻫﺎي‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﺑﺎ‬)‫ﻧﻘﺸﻪ‬ ‫ﺑﺮاي‬‫ﻃﺮﺣﻬﺎ‬ ‫و‬ ‫ﻫﺎ‬(‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﺑﺎ‬‫وﻳﺮاﻳﺶ‬ ‫ﻗﺎﺑﻞ‬ ‫ﻃﺮاﺣﻲ‬ ‫راﻳﺞ‬ ‫ﻫﺎي‬
‫ﺗﻮ‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻨﺎﺳﺐ‬ ‫و‬ ‫اﺳﺖ‬‫ﻣﻲ‬ ‫ﻣﺘﻦ‬ ‫راﻳﺞ‬ ‫دﻫﻨﺪه‬ ‫ﻓﺮم‬ ‫ﻳﻚ‬ ‫ﺳﻂ‬‫ﻧﺮم‬ ‫ﺗﻮﺳﻂ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺑﺎﺷﺪ‬‫ﻣﻨﺎﺳﺐ‬ ‫ﻧﮕﺎرﺷﻲ‬ ‫ﺑﻪ‬ ‫ﺗﺒﺪﻳﻞ‬ ‫ﻗﺎﺑﻠﻴﺖ‬ ‫راﻳﺞ‬ ‫اﻓﺰارﻫﺎي‬
‫ﻧﺮم‬ ‫ﭼﻨﻴﻦ‬ ‫در‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺮاي‬‫ﻣﻲ‬ ‫دارا‬ ‫را‬ ‫اﻓﺰاري‬‫ﺑﺎﺷﺪ‬.‫ﻧﺴﺨﻪ‬‫ﺑﺨﺎﻃﺮ‬ ‫ﻛﻪ‬ ‫ﺑﺎﺷﺪ‬ ‫ﻧﺤﻮي‬ ‫ﺑﻪ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺑﺎﺷﺪ‬ ‫ﺷﺪه‬ ‫اﻳﺠﺎد‬ ‫دﻳﮕﺮي‬ ‫ﻃﺮﻳﻖ‬ ‫ﺑﻪ‬ ‫ﻛﻪ‬ ‫اي‬
‫ﻧﺸﺎﻧﻪ‬ ‫و‬ ‫ﻓﺮم‬‫ﻧﺸﺎﻧﻪ‬ ‫وﺟﻮد‬ ‫ﻋﺪم‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺧﺎص‬ ‫ﮔﺬاري‬‫ﺗﻐ‬ ‫ﮔﺬاري‬‫ﭘﻴﭽﻴﺪﮔﻲ‬ ‫ﺑﻌﻠﺖ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻧﻤﺎﻳﺪ‬ ‫ﻣﺤﺪود‬ ‫را‬ ‫ﺧﻮاﻧﻨﺪﮔﺎن‬ ‫ﺗﻮﺳﻂ‬ ‫ﺑﻌﺪي‬ ‫ﻴﻴﺮات‬
‫ﮔﺮدد‬ ‫ﺗﻐﻴﻴﺮات‬ ‫اﻳﺠﺎد‬ ‫از‬ ‫آﻧﻬﺎ‬ ‫اﻧﺼﺮاف‬ ‫ﺑﺎﻋﺚ‬"‫ﺷﻔﺎف‬"‫ﻧﻴﺴﺖ‬.‫ﻛﻪ‬ ‫اي‬ ‫ﻧﺴﺨﻪ‬"‫ﺷﻔﺎف‬"‫ﻧﺒﺎﺷﺪ‬"‫ﻣﺎت‬"‫ﻣﻲ‬ ‫ﺧﻮاﻧﺪه‬‫ﺷﻮد‬.
‫ﻓﺮم‬ ‫از‬ ‫ﻫﺎﻳﻲ‬ ‫ﻧﻤﻮﻧﻪ‬‫ﻫﺎي‬ ‫ﻧﺴﺨﻪ‬ ‫ﺑﺮاي‬ ‫ﻣﻨﺎﺳﺐ‬ ‫ﻫﺎي‬"‫ﺷﻔﺎف‬"‫از‬ ‫ﻋﺒﺎرﺗﻨﺪ‬ASCII‫ﻧﺸﺎﻧﻪ‬ ‫ﺑﺪون‬ ‫و‬ ‫ﺳﺎده‬‫ورودي‬ ‫ﻓﺮم‬ ،‫ﮔﺬاري‬Texinfo،
‫ورودي‬ ‫ﻓﺮم‬Latex)‫ﺗﻚ‬ ‫ﻓﺎرﺳﻲ‬ ‫ﻧﺘﻴﺠﻪ‬ ‫در‬ ‫و‬(،SGML‫ﻳﺎ‬XML‫ﻳﻚ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺻﻮرت‬ ‫در‬DTD،‫ﻋﻤﻮﻣﻲ‬HTML‫و‬ ‫اﺳﺘﺎﻧﺪارد‬
‫ﻧﻬﺎﻳﺖ‬ ‫در‬PostScript‫ﻳﺎ‬ ‫و‬PDF‫ﻛﺎرﺑﺮ‬ ‫ﺗﻮﺳﻂ‬ ‫وﻳﺮاﻳﺶ‬ ‫اﻣﻜﺎن‬ ‫ﺑﺎ‬.‫ﻧﻤﻮﻧﻪ‬‫ﺷﻔﺎف‬ ‫ﻓﺮم‬ ‫ﻫﺎي‬‫از‬ ‫ﻋﺒﺎرﺗﻨﺪ‬ ‫ﺗﺼﻮﻳﺮ‬PNG،XCF‫ﻳﺎ‬ ‫و‬JPG
.‫ﻧﻤﻮﻧﻪ‬‫ﻓﺮم‬ ‫از‬ ‫ﻫﺎﻳﻲ‬‫ﺷﺎﻣﻞ‬ ‫ﻣﺎت‬ ‫ﻫﺎي‬‫ﻓﺮم‬،‫ﻫﺴﺘﻨﺪ‬ ‫وﻳﺮاﻳﺶ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺧﻮاﻧﺪن‬ ‫ﻗﺎﺑﻞ‬ ‫ﺧﺎﺻﻲ‬ ‫وﻳﺮاﻳﺸﮕﺮﻫﺎي‬ ‫ﺗﻮﺳﻂ‬ ‫ﻓﻘﻂ‬ ‫ﻛﻪ‬ ‫ﻫﺴﺘﻨﺪ‬ ‫ﻫﺎﻳﻲ‬
SGML‫ﻳﺎ‬ ‫و‬XML‫ﻛﻪ‬ ‫ﺣﺎﻟﺘﻲ‬ ‫در‬DTD،‫ﻧﺒﺎﺷﺪ‬ ‫ﻫﻤﮕﺎن‬ ‫دﺳﺘﺮس‬ ‫در‬ ‫آﻧﻬﺎ‬ ‫ﭘﺮدازش‬ ‫اﺑﺰار‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻣﺮﺗﺒﻂ‬HTML‫ﺗﻮﺳﻂ‬ ‫ﺷﺪه‬ ‫ﺗﻮﻟﻴﺪ‬
‫و‬ ‫ﻣﺎﺷﻴﻦ‬PostScript‫ﻳﺎ‬ ‫و‬PDF‫ﻧﺮم‬ ‫ﺑﻌﻀﻲ‬ ‫ﺗﻮﺳﻂ‬ ‫ﻛﻪ‬‫ﻣﻲ‬ ‫ﺗﻮﻟﻴﺪ‬ ‫ﺧﺮوﺟﻲ‬ ‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬ ‫ﻓﻘﻂ‬ ‫اﻓﺰارﻫﺎ‬‫ﮔﺮدد‬.
"‫ﻋﻨﻮان‬ ‫ﺻﻔﺤﻪ‬"‫ﺻﻔﺤﻪ‬ ‫ﻫﻤﺮاه‬ ‫ﺑﻪ‬ ‫ﻋﻨﻮان‬ ‫ﺻﻔﺤﻪ‬ ‫ﺧﻮد‬ ‫از‬ ‫اﺳﺖ‬ ‫ﻋﺒﺎرت‬ ‫ﭼﺎﭘﻲ‬ ‫ﻛﺘﺎب‬ ‫ﻳﻚ‬ ‫ﺑﺮاي‬‫ﺑﻌﺪي‬ ‫ﻫﺎي‬-‫آﻧﻬﺎ‬ ‫ﺑﻪ‬ ‫ﻧﻴﺎز‬ ‫ﺻﻮرت‬ ‫در‬-
‫ﻣﻲ‬ ‫ﻻزم‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﻛﻪ‬ ‫را‬ ‫ﻣﻮاردي‬ ‫ﺷﻔﺎف‬ ‫ﺑﻄﻮر‬ ‫ﻛﻪ‬‫ﻣﻲ‬ ‫ﻧﻤﺎﻳﺶ‬ ‫داﻧﺪ‬‫دﻫﻨﺪ‬.‫ﻋﻨﻮاﻧﻲ‬ ‫ﺻﻔﺤﻪ‬ ‫ﻛﻪ‬ ‫ﻫﺴﺘﻨﺪ‬ ‫ﻓﺮﻣﻲ‬ ‫در‬ ‫ﻛﻪ‬ ‫ﻛﺎرﻫﺎﻳﻲ‬ ‫ﺑﺮاي‬
،‫ﻧﺪارﻧﺪ‬"‫ﻋﻨﻮان‬ ‫ﺻﻔﺤﻪ‬"‫ﻣﺘﻨ‬ ‫ﻣﻌﻨﻲ‬ ‫ﺑﻪ‬‫ﺑﺮﺟﺴﺘﻪ‬ ‫اﻃﺮاف‬ ‫در‬ ،‫ﻛﺎر‬ ‫اﺻﻠﻲ‬ ‫ﻣﺘﻦ‬ ‫ﺑﺮ‬ ‫ﻣﻘﺪم‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﻲ‬‫ﻣﻲ‬ ‫ﻛﺎر‬ ‫ﻧﺎم‬ ‫اﻋﻼن‬ ‫ﺗﺮﻳﻦ‬‫ﺑﺎﺷﺪ‬.

"‫ﺟﻴﻢ‬ ‫ب‬ ‫اﻟﻒ‬ ‫ﻧﺎم‬"‫ﻣﻲ‬ ‫اﻃﻼق‬ ‫ﻣﺴﺘﻨﺪ‬ ‫از‬ ‫ﺑﺨﺸﻲ‬ ‫ﺑﻪ‬‫دﻗﻴﻖ‬ ‫ﺑﻄﻮر‬ ‫آن‬ ‫اﺳﻢ‬ ‫ﻛﻪ‬ ‫ﮔﺮدد‬"‫ﺟﻴﻢ‬ ‫ب‬ ‫اﻟﻒ‬"‫ﭘﺮاﻧﺘﺰ‬ ‫در‬ ‫ﺗﺮﺟﻤﻪ‬ ‫از‬ ‫ﭘﺲ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺑﻮده‬
‫ﺑﻪ‬"‫ﺟﻴﻢ‬ ‫ب‬ ‫اﻟﻒ‬"‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫اﺷﺎره‬)‫اﻳﻨﺠﺎ‬ ‫در‬"‫ﺟﻴﻢ‬ ‫ب‬ ‫اﻟﻒ‬"‫ﺑﺨﺶ‬ ‫ﻳﻚ‬ ‫ﻧﺎم‬ ‫ﻋﻨﻮان‬ ‫ﺑﻪ‬‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ،‫اﺳﺖ‬ ‫رﻓﺘﻪ‬ ‫ﺑﻜﺎر‬ ‫ﻣﺴﺘﻨﺪ‬ ‫از‬ ‫ﺧﺎص‬
‫اﺳﺖ‬ ‫ﻣﻤﻜﻦ‬ ‫ﺑﺨﺶ‬ ‫آن‬ ‫ﻧﺎم‬ ‫ﻧﻤﻮﻧﻪ‬"‫ﻗﺪرداﻧﻲ‬"،"‫ﺗﻘﺪﻳﻢ‬"،"‫اﻣﻀﺎ‬"‫ﻳﺎ‬ ‫و‬"‫ﺗﺎرﻳﺨﭽﻪ‬"‫ﺑﺎﺷﺪ‬(."‫ﻋﻨﻮان‬ ‫ﺣﻔﻆ‬"‫ﻛﻪ‬ ‫وﻗﺘﻲ‬ ،‫ﺑﺨﺸﻲ‬ ‫ﭼﻨﻴﻦ‬
‫ﻧﻴﺰ‬ ‫ﺗﻐﻴﻴﺮات‬ ‫از‬ ‫ﭘﺲ‬ ‫ﻛﻪ‬ ‫اﺳﺖ‬ ‫ﻣﻌﻨﻲ‬ ‫اﻳﻦ‬ ‫ﺑﻪ‬ ،‫ﻫﺴﺘﻴﺪ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫در‬ ‫ﺗﻐﻴﻴﺮات‬ ‫اﻳﺠﺎد‬ ‫ﺣﺎل‬ ‫در‬"‫ﺟﻴﻢ‬ ‫ب‬ ‫اﻟﻒ‬ ‫ﻧﺎم‬"‫ﺑﺎﺷﺪ‬ ‫ﻣﺎﻧﺪه‬ ‫ﺑﺎﻗﻲ‬.
‫ﻣﺴﺘﻨﺪ‬‫ﺑﺎﺷﺪ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫از‬ ‫ﭘﻴﺮوي‬ ‫اﻋﻼن‬ ‫از‬ ‫ﺑﻌﺪ‬ ،‫ﻣﻨﺪرﺟﺎت‬ ‫ﺑﻪ‬ ‫ﻧﺴﺒﺖ‬ ‫ﺗﻌﻬﺪ‬ ‫ﻋﺪم‬ ‫اﻋﻼن‬ ‫ﺣﺎوي‬ ‫اﺳﺖ‬ ‫ﻣﻤﻜﻦ‬.‫ﺧﻮد‬ ‫در‬ ‫اﺳﺖ‬ ‫ﻣﻤﻜﻦ‬
‫ﻣﺴﺘﻨﺪ‬ ‫ﻣﻨﺪرﺟﺎت‬ ‫ﺑﻪ‬ ‫ﻧﺴﺒﺖ‬ ‫ﺗﻌﻬﺪ‬ ‫ﻋﺪم‬ ‫ﺑﺎ‬ ‫ارﺗﺒﺎط‬ ‫در‬ ‫ﻛﻪ‬ ‫ﺻﻮرﺗﻲ‬ ‫در‬ ‫ﻓﻘﻂ‬ ‫ارﺟﺎﻋﻲ‬ ‫ﭼﻨﻴﻦ‬ ‫اﻣﺎ‬ ‫ﺷﻮد‬ ‫داده‬ ‫ارﺟﺎع‬ ‫اﻋﻼﻧﻲ‬ ‫ﭼﻨﻴﻦ‬ ‫ﺑﻪ‬ ‫ﭘﺮواﻧﻪ‬
‫ارزﺷﻲ‬ ‫از‬ ‫اﻳﻨﺼﻮرت‬ ‫ﻏﻴﺮ‬ ‫در‬ ‫و‬ ‫اﺳﺖ‬ ‫ﻣﻌﺘﺒﺮ‬ ‫ﺑﺎﺷﺪ‬‫ﻧﻴﺴﺖ‬ ‫ﺑﺮﺧﻮردار‬.
‫ﻛﻠﻤﻪ‬ ‫ﺑﻪ‬ ‫ﻛﻠﻤﻪ‬ ‫ﺑﺮداري‬ ‫ﻧﺴﺨﻪ‬
‫ﻣﻲ‬ ‫ﺷﻤﺎ‬‫اﻳﻦ‬ ‫ﻛﻪ‬ ‫ﺷﺮﻃﻲ‬ ‫ﺑﻪ‬ ‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺗﻮزﻳﻊ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺗﻜﺜﻴﺮ‬ ‫ﺗﺠﺎري‬ ‫ﻏﻴﺮ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺗﺠﺎري‬ ‫ﺻﻮرت‬ ‫ﺑﻪ‬ ‫ﭼﻪ‬ ،‫اﻧﺘﺸﺎر‬ ‫ﺑﺴﺘﺮ‬ ‫ﻫﺮ‬ ‫ﻃﺮﻳﻖ‬ ‫از‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﺗﻮاﻧﻴﺪ‬
‫ﻣﻲ‬ ‫ﻣﺸﺨﺺ‬ ‫ﻛﻪ‬ ‫اﻋﻼﻧﻲ‬ ‫و‬ ‫ﺗﺎﻟﻴﻒ‬ ‫ﺣﻖ‬ ‫اﻋﻼﻧﻬﺎي‬ ،‫ﭘﺮواﻧﻪ‬‫ﮔﺮدﻳﺪه‬ ‫ﻣﻨﺘﺸﺮ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﻗﻮاﻧﻴﻦ‬ ‫رﻋﺎﻳﺖ‬ ‫ﺑﺎ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻛﻨﺪ‬‫ﺗﻤﺎﻣﻲ‬ ‫ﺑﻪ‬ ‫را‬ ‫اﺳﺖ‬
‫ﻧﺴﺨﻪ‬‫ﻧﺪارﻳﺪ‬ ‫آﻣﺪه‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫در‬ ‫آﻧﭽﻪ‬ ‫ﺟﺰ‬ ‫دﻳﮕﺮي‬ ‫ﺷﺮاﻳﻂ‬ ‫ﻫﻴﭽﮕﻮﻧﻪ‬ ‫ﻛﻪ‬ ‫ﻧﻤﺎﻳﻴﺪ‬ ‫روﺷﻦ‬ ‫و‬ ‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﻟﺤﺎق‬ ‫ﻫﺎ‬.‫از‬ ‫ﺗﺎ‬ ‫ﻧﻴﺴﺘﻴﺪ‬ ‫ﻣﺠﺎز‬ ‫ﺷﻤﺎ‬
‫ﻧﻤﻮده‬ ‫ﺗﻮزﻳﻊ‬ ‫را‬ ‫آﻧﭽﻪ‬ ‫از‬ ‫ﻣﺠﺪد‬ ‫ﺗﻜﺜﻴﺮ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺧﻮاﻧﺪن‬ ‫ﺑﻪ‬ ‫دﺳﺘﺮﺳﻲ‬ ‫ﺗﻜﻨﻮﻟﻮژﻳﻚ‬ ‫ﻃﺮﻳﻖ‬‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﻣﺤﺪود‬ ‫اﻳﺪ‬.‫ﻣﺠﺎزﻳﺪ‬ ‫ﺷﻤﺎ‬ ،‫ﺻﻮرت‬ ‫ﻫﺮ‬ ‫در‬
‫ارﺳﺎل‬ ‫ﻋﻮض‬ ‫در‬‫ﻧﺴﺨﻪ‬‫ﻧﻤﺎﻳﻴﺪ‬ ‫درﻳﺎﻓﺖ‬ ‫اﻟﺰﺣﻤﻪ‬ ‫ﺣﻖ‬ ‫ﻫﺎ‬.‫ﻣﻲ‬ ‫ﺗﻮزﻳﻊ‬ ‫اﻧﺒﻮه‬ ‫ﺣﺠﻢ‬ ‫در‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﺷﻤﺎ‬ ‫اﮔﺮ‬‫ﺑﺮ‬ ‫ﻋﻼوه‬ ‫ﺗﺎ‬ ‫اﺳﺖ‬ ‫ﻻزم‬ ‫ﻧﻤﺎﻳﻴﺪ‬
‫ﺑﻨﺪ‬ ‫ﻗﻮاﻧﻴﻦ‬ ‫از‬ ‫ﻣﻘﺮرات‬ ‫اﻳﻦ‬)3(‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﭘﻴﺮوي‬ ‫ﻧﻴﺰ‬.
‫ﻣﻲ‬ ‫ﺷﻤﺎ‬ ‫ﺑﺎﻻ‬ ‫ﻗﻮاﻧﻴﻦ‬ ‫ﺑﻪ‬ ‫ﭘﺎﻳﺒﻨﺪي‬ ‫ﺑﺎ‬‫ﻧﺴﺨﻪ‬ ‫ﺗﻮاﻧﻴﺪ‬‫ﺑﮕﺬارد‬ ‫ﻧﻤﺎﻳﺶ‬ ‫ﻋﻤﻮم‬ ‫ﺑﻪ‬ ‫ﻳﺎ‬ ‫و‬ ‫داده‬ ‫اﻣﺎﻧﺖ‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫از‬ ‫ﻫﺎﻳﻲ‬.
‫در‬ ‫ﺗﻜﺜﻴﺮ‬‫اﻧﺒﻮه‬ ‫ﺣﺠﻢ‬
‫ﻣﻲ‬ ‫ﻣﻨﺘﺸﺮ‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫از‬ ‫ﭼﺎﭘﻲ‬ ‫ﻧﺴﺨﻪ‬ ‫ﺻﺪ‬ ‫از‬ ‫ﺑﻴﺶ‬ ‫ﺷﻤﺎ‬ ‫اﮔﺮ‬‫ﻧﻤﺎﻳﻴﺪ‬)‫رﺳﺎﻧﻪ‬ ‫در‬ ‫ﻳﺎ‬ ‫و‬‫ﻣﻲ‬ ‫ﭼﺎپ‬ ‫ﺗﺠﺪﻳﺪ‬ ‫ﻣﻜﺮر‬ ‫ﻃﻮر‬ ‫ﺑﻪ‬ ‫ﻛﻪ‬ ‫ﻫﺎﻳﻲ‬‫ﺑﻪ‬ ‫ﺷﻮﻧﺪ‬
‫ﻣﻲ‬ ‫ﻃﺒﻊ‬‫رﺳﺎﻧﻴﺪ‬(‫ﻣﻲ‬ ‫ﺷﻤﺎ‬ ،‫اﺳﺖ‬ ‫ﻧﻤﻮده‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫ﻣﺘﻦ‬ ‫اﻧﺘﺸﺎر‬ ‫ﺑﻪ‬ ‫ﻣﻮﻇﻒ‬ ‫را‬ ‫ﺷﻤﺎ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻋﻼن‬ ‫و‬‫ﻛﻨﻴﺪ‬ ‫ﻣﻨﺘﺸﺮ‬ ‫ﺟﻠﺪﻫﺎﻳﻲ‬ ‫ﺑﺎﻳﺴﺖ‬
‫روﺷ‬ ‫و‬ ‫واﺿﺢ‬ ‫ﺑﻄﻮر‬ ‫ﻛﻪ‬،‫ﺟﻠﺪ‬ ‫ﭘﺸﺖ‬ ‫ﺑﺮاي‬ ‫ﺟﻠﺪ‬ ‫ﭘﺸﺖ‬ ‫ﻣﺘﻮن‬ ‫و‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫ﺑﺮاي‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫ﻣﺘﻮن‬ ،‫ﻧﻤﺎﻳﺪ‬ ‫ﻣﻨﺘﺸﺮ‬ ‫را‬ ‫زﻳﺮ‬ ‫اﻃﻼﻋﺎت‬ ‫ﺗﻤﺎم‬ ‫ﻦ‬
ً‫ﻼ‬‫ﻛﺎﻣ‬ ‫ﺑﺎﻳﺴﺖ‬ ‫ﻣﻲ‬ ‫ﺟﻠﺪ‬ ‫دو‬ ‫ﻫﺮ‬ ‫ﺿﻤﻦ‬ ‫در‬‫ﻣﻲ‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫اﻳﻦ‬ ‫ﺑﺮ‬ ‫ﻋﻼوه‬ ‫ﻧﻤﺎﻳﻨﺪ؛‬ ‫ﻣﺸﺨﺺ‬ ‫ﻧﺎﺷﺮ‬ ‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ‫را‬ ‫ﺷﻤﺎ‬ ‫روﺷﻦ‬‫ﻋﻨﻮان‬ ‫ﺑﺎﻳﺴﺖ‬
‫ﮔﺮدد‬ ‫درج‬ ‫ﺑﺮﺟﺴﺘﻪ‬ ‫و‬ ‫واﺿﺢ‬ ‫ﺑﺼﻮرت‬ ‫و‬ ‫ﻳﻜﺴﺎن‬ ‫ﺣﺮوف‬ ‫ﺑﺎ‬ ‫ﻛﺎﻣﻞ‬.‫ﻣﻲ‬ ‫ﺷﻤﺎ‬‫ﺑﺎ‬ ‫ﺗﻜﺜﻴﺮ‬ ،‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﺿﺎﻓﻪ‬ ‫ﻧﻴﺰ‬ ‫دﻳﮕﺮي‬ ‫ﭼﻴﺰﻫﺎي‬ ‫ﺟﻠﺪ‬ ‫ﺑﻪ‬ ‫ﺗﻮاﻧﻴﺪ‬
‫ﮔﺮدﻳﺪ‬ ‫ﺧﻮاﻫﺪ‬ ‫ﻣﺤﺴﻮب‬ ‫ﻛﻠﻤﻪ‬ ‫ﺑﻪ‬ ‫ﻛﻠﻤﻪ‬ ‫ﺗﻜﺜﻴﺮ‬ ،‫ﮔﺮدﻧﺪ‬ ‫رﻋﺎﻳﺖ‬ ‫ﺑﺎﻻ‬ ‫ﺷﺮاﻳﻂ‬ ‫و‬ ‫ﮔﺮدﻳﺪه‬ ‫ﺣﻔﻆ‬ ‫ﻋﻨﻮان‬ ‫ﻛﻪ‬ ‫وﻗﺘﻲ‬ ‫ﺗﺎ‬ ،‫ﺟﻠﺪ‬ ‫در‬ ‫ﺗﻐﻴﻴﺮ‬ ‫اﻳﺠﺎد‬.
‫ﻣﻲ‬ ‫ﺑﺎﺷﺪ‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫آﻧﻬﺎ‬ ‫ﭼﺎپ‬ ‫اﻣﻜﺎن‬ ‫ﻛﻪ‬ ‫ﻫﺴﺘﻨﺪ‬ ‫ﺣﺪي‬ ‫از‬ ‫ﺑﻴﺶ‬ ‫ﺟﻠﺪ‬ ‫ﺑﺮاي‬ ‫ﻻزم‬ ‫ﻣﺘﻮن‬ ‫اﮔﺮ‬‫ا‬ ‫ﺗﺮﺗﻴﺐ‬ ‫ﺑﻪ‬ ‫ﺑﺎﻳﺴﺖ‬‫ﺗﺎ‬ ‫را‬ ‫ﺑﺎﻻﺗﺮ‬ ‫ﻣﺘﻮن‬ ،‫وﻟﻮﻳﺖ‬
‫ﺑﺮﺳﺎﻧﻴﺪ‬ ‫ﻃﺒﻊ‬ ‫ﺑﻪ‬ ‫ﻣﺠﺎور‬ ‫ﺻﻔﺤﺎت‬ ‫ﻳﺎ‬ ‫ﺻﻔﺤﻪ‬ ‫در‬ ‫را‬ ‫ﺑﺎﻗﻴﻤﺎﻧﺪه‬ ‫و‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫ﻣﻤﻜﻦ‬ ‫ﺟﺎي‬.
‫ﻣﻲ‬ ‫ﺗﻮزﻳﻊ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻣﻨﺘﺸﺮ‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫از‬ ‫ﻣﺎت‬ ‫ﻧﺴﺨﻪ‬ ‫ﺻﺪ‬ ‫از‬ ‫ﺑﻴﺶ‬ ‫ﺷﻤﺎ‬ ‫اﮔﺮ‬‫ﻣﺎﺷﻴﻦ‬ ‫ﺑﺮاي‬ ‫ﺧﻮاﻧﺎ‬ ‫و‬ ‫ﺷﻔﺎف‬ ‫ﻧﺴﺨﻪ‬ ‫ﻳﻚ‬ ‫ﻳﺎ‬ ‫ﺑﺎﻳﺴﺖ‬ ‫ﻣﻲ‬ ‫ﺷﻤﺎ‬ ‫ﻧﻤﺎﻳﻴﺪ‬
‫ﻣ‬ ‫ﻧﺴﺨﻪ‬ ‫ﻫﺮ‬ ‫در‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫ﺿﻤﻴﻤﻪ‬ ‫ﻧﺴﺨﻪ‬ ‫ﻫﺮ‬ ‫ﻫﻤﺮاه‬ ‫را‬،‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﻋﻼم‬ ‫را‬ ‫ﻋﻤﻮم‬ ‫ﺗﻮﺳﻂ‬ ‫ﺷﻔﺎف‬ ‫ﻧﺴﺨﻪ‬ ‫درﻳﺎﻓﺖ‬ ‫ﺑﺮاي‬ ‫اي‬ ‫ﺷﺒﻜﻪ‬ ‫آدرس‬ ‫ﺎت‬
‫ﺑﮕﻮﻧﻪ‬ ‫ﺑﺎﻳﺪ‬ ‫آدرس‬ ‫اﻳﻦ‬‫ﺑﺘﻮاﻧﺪ‬ ‫ﺷﺪه‬ ‫ﺷﻨﺎﺧﺘﻪ‬ ‫ﭘﺮوﺗﻜﻠﻬﺎي‬ ‫ﻃﺮﻳﻖ‬ ‫از‬ ‫و‬ ‫ﺷﺒﻜﻪ‬ ‫ﺑﻪ‬ ‫ﻋﺎدي‬ ‫دﺳﺘﺮﺳﻲ‬ ‫ﺑﺎ‬ ‫ﻋﻤﻮﻣﻲ‬ ‫ﻛﻨﻨﺪه‬ ‫ﻣﺼﺮف‬ ‫ﻛﻪ‬ ‫ﺑﺎﺷﺪ‬ ‫اي‬
‫ﻧﻤﺎﻳﺪ‬ ‫درﻳﺎﻓﺖ‬ ‫اﺿﺎﻓﺎت‬ ‫ﺑﺪون‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫از‬ ‫ﻛﺎﻣﻠﻲ‬ ‫ﺷﻔﺎف‬ ‫ﻧﺴﺨﻪ‬.‫ﻣﻲ‬ ‫اﺳﺘﻔﺎده‬ ‫ﺣﻞ‬ ‫راه‬ ‫اﻳﻦ‬ ‫از‬ ‫اﮔﺮ‬‫ﻣﻲ‬ ‫ﻧﻤﺎﻳﻴﺪ‬‫ﺧﻮد‬ ‫ﺗﻼش‬ ‫ﻧﻬﺎﻳﺖ‬ ‫ﺑﺎﻳﺴﺖ‬
‫ﻣﻲ‬ ‫ﺗﻮزﻳﻊ‬ ‫را‬ ‫ﻣﺎت‬ ‫ﻧﺴﺨﻪ‬ ‫آﺧﺮﻳﻦ‬ ‫ﻛﻪ‬ ‫ﺗﺎرﻳﺨﻲ‬ ‫از‬ ‫ﭘﺲ‬ ‫ﻳﻜﺴﺎل‬ ‫ﺗﺎ‬ ‫ﺣﺪاﻗﻞ‬ ‫ﻛﻪ‬ ‫ﺷﻮﻳﺪ‬ ‫ﻣﻄﻤﺌﻦ‬ ‫ﺗﺎ‬ ‫ﺑﻜﻨﻴﺪ‬ ‫را‬‫ﻛﻨﻴﺪ‬)‫ﻃﺮﻳﻖ‬ ‫از‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻣﺴﺘﻘﻴﻢ‬ ‫ﭼﻪ‬
‫ﻓﺮوﺷﻨﺪﮔﺎن‬ ‫و‬ ‫ﺷﻌﺐ‬(‫داﺷﺖ‬ ‫ﺧﻮاﻫﺪ‬ ‫وﺟﻮد‬ ‫ﺷﻔﺎف‬ ‫ﻧﺴﺨﻪ‬ ‫اﻳﻦ‬ ‫درﻳﺎﻓﺖ‬ ‫اﻣﻜﺎن‬.

‫ﻣﻲ‬ ‫ﺗﻘﺎﺿﺎ‬ ‫اﻣﺎ‬ ‫ﻧﺪارد‬ ‫وﺟﻮد‬ ‫اﺟﺒﺎري‬ ‫اﻳﻨﻜﻪ‬ ‫ﺑﺎ‬‫ا‬ ‫ﻗﺒﻞ‬ ‫ﺷﻮد‬‫در‬ ‫ﺗﺎ‬ ‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺣﺎﺻﻞ‬ ‫ﺗﻤﺎس‬ ‫ﻣﺴﺘﻨﺪ‬ ‫اﺻﻠﻲ‬ ‫ﻣﻮﻟﻔﻴﻦ‬ ‫ﺑﺎ‬ ‫اﻧﺒﻮه‬ ‫ﺗﻮزﻳﻊ‬ ‫ﻫﺮ‬ ‫اﻧﺠﺎم‬ ‫ز‬
‫رﺳﻴﺪه‬ ‫روز‬ ‫ﺑﻪ‬ ‫ﻧﺴﺨﻪ‬ ‫اﻣﻜﺎن‬ ‫ﺻﻮرت‬‫دﻫﻨﺪ‬ ‫ﻗﺮار‬ ‫ﺷﻤﺎ‬ ‫اﺧﺘﻴﺎر‬ ‫در‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫از‬ ‫اي‬.
‫ﺗﻐﻴﻴﺮات‬
‫ﻳﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫ﻛﻪ‬ ‫ﻣﺠﺎزﻳﺪ‬ ‫ﺷﻤﺎ‬‫ﺑﻨﺪﻫﺎي‬ ‫ﺑﺎ‬ ‫ﻣﻄﺎﺑﻖ‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫از‬ ‫اي‬)2(‫و‬)3(‫ﻛﻪ‬ ‫ﺷﺮﻃﻲ‬ ‫ﺑﻪ‬ ‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺗﻮزﻳﻊ‬ ‫و‬ ‫ﺗﻜﺜﻴﺮ‬ ،‫ﺑﺎﻻ‬‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬
‫ﭘﺮواﻧﻪ‬ ‫ﻧﺘﻴﺠﻪ‬ ‫در‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫اﻳﻔﺎ‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻧﻘﺶ‬ ‫ﻳﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫ﻛﻪ‬ ‫ﻧﺤﻮي‬ ‫ﺑﻪ‬ ‫و‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫اﺳﺎس‬ ‫ﺑﺮ‬ ‫دﻗﻴﻖ‬ ‫ﺑﻄﻮر‬ ‫را‬ ‫ﻳﺎﻓﺘﻪ‬‫ﺑﺮاي‬ ‫اي‬
‫ﻣﻲ‬ ‫درﻳﺎﻓﺖ‬ ‫را‬ ‫آن‬ ‫از‬ ‫روﻧﻮﺷﺘﻲ‬ ‫ﻛﻪ‬ ‫ﻛﺴﻲ‬ ‫ﻫﺮ‬ ‫ﺑﺮاي‬ ،‫ﻳﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫و‬ ‫ﺗﻮزﻳﻊ‬‫ﮔﺮدد‬ ‫ﺻﺎدر‬ ‫دارد‬.‫ﺷﻤﺎ‬ ‫ﺷﺪ‬ ‫ﮔﻔﺘﻪ‬ ‫آﻧﭽﻪ‬ ‫ﺑﺮ‬ ‫ﻋﻼوه‬
‫ﻣﻮ‬ ‫ﺑﺎﻳﺴﺖ‬ ‫ﻣﻲ‬‫ﻧﻤﺎﻳﻴﺪ‬ ‫رﻋﺎﻳﺖ‬ ‫ﻳﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫ﻣﻮرد‬ ‫در‬ ‫را‬ ‫زﻳﺮ‬ ‫ارد‬:
‫اﻟﻒ‬(‫ﻋﻨﻮان‬ ‫ﺻﻔﺤﻪ‬ ‫در‬)‫ﺟﻠﺪﻫﺎ‬ ‫روي‬ ،‫اﺳﺖ‬ ‫ﻣﺠﻠﺪ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫اﮔﺮ‬ ‫و‬(‫آن‬ ‫ﻗﺒﻠﻲ‬ ‫ﻋﻨﻮاﻧﻬﺎي‬ ‫از‬ ‫دور‬ ‫و‬ ،‫ﻣﺴﺘﻨﺪ‬ ‫ﻋﻨﻮان‬ ‫از‬ ‫دور‬ ‫ﻋﻨﻮاﻧﻲ‬)‫ﻛﻪ‬
‫ﻣﻲ‬‫ﺑﺎﺷﻨﺪ‬ ‫ﺷﺪه‬ ‫ﻟﻴﺴﺖ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﺗﺎرﻳﺨﭽﻪ‬ ‫ﺑﺨﺶ‬ ‫در‬ ‫وﺟﻮد‬ ‫ﺻﻮرت‬ ‫در‬ ‫ﺑﺎﻳﺴﺖ‬(‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﻧﺘﺨﺎب‬.‫ﻧﺴﺨﻪ‬ ‫ﻧﺎﺷﺮ‬ ‫ﻛﻪ‬ ‫ﺻﻮرﺗﻲ‬ ‫در‬‫ﺗﻐﻴﻴﺮ‬ ‫ﻛﻪ‬ ‫اي‬
‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﺳﺘﻔﺎده‬ ‫آن‬ ‫ﻣﺸﺎﺑﻪ‬ ‫ﻳﺎ‬ ‫و‬ ‫اﺻﻠﻲ‬ ‫ﻋﻨﻮان‬ ‫از‬ ‫ﺗﻮاﻧﻴﺪ‬ ‫ﻣﻲ‬ ،‫دﻫﺪ‬ ‫اﺟﺎزه‬ ‫دﻫﻴﺪ‬ ‫ﻣﻲ‬.
‫ب‬(‫ﻣﺴ‬ ‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ‫را‬ ‫ﻧﻬﺎد‬ ‫ﻳﺎ‬ ‫ﺷﺨﺺ‬ ‫ﭼﻨﺪ‬ ‫ﻳﺎ‬ ‫ﻳﻚ‬ ،‫ﻳﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫ﻋﻨﻮان‬ ‫ﺻﻔﺤﻪ‬ ‫در‬‫ﺌ‬‫ﺑﻪ‬ ‫ﻳﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫در‬ ‫ﺗﻐﻴﻴﺮات‬ ‫اﻳﺠﺎد‬ ‫ﻮل‬
‫ﺣﺪاﻗﻞ‬ ‫ﻫﻤﺮاه‬5‫اﺻﻠﻲ‬ ‫ﻣﻮﻟﻔﻴﻦ‬ ‫از‬ ‫ﺗﻦ‬)‫ﺗﻤﺎم‬ ‫و‬ ‫ﻛﻠﻴﺪي‬ ‫ﻣﻮﻟﻔﻴﻦ‬ ‫از‬ ‫ﻫﻤﻪ‬‫از‬ ‫ﻛﻤﺘﺮ‬ ‫اﮔﺮ‬ ‫آﻧﻬﺎ‬5‫ﻫﺴﺘﻨﺪ‬ ‫ﻧﻔﺮ‬(‫ﻣﻌﺮﻓﻲ‬ ‫ﻣﻮﻟﻒ‬ ‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ‫را‬
‫اﺟﺎزه‬ ‫ﺷﻤﺎ‬ ‫ﺑﻪ‬ ‫اﺻﻠﻲ‬ ‫ﻣﻮﻟﻔﻴﻦ‬ ‫اﻳﻨﻜﻪ‬ ‫ﻣﮕﺮ‬ ،‫ﻧﻤﺎﻳﻴﺪ‬‫ﺑﺪﻫﻨﺪ‬ ‫ﺗﻐﻴﻴﺮي‬ ‫ﭼﻨﻴﻦ‬ ‫ﺑﻪ‬ ‫اﻟﺰام‬ ‫ﻋﺪم‬ ‫ﺑﺮ‬ ‫ﻣﺒﻨﻲ‬ ‫اي‬.
‫ج‬(‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﻋﻼم‬ ‫ﻧﺎﺷﺮ‬ ‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ‫را‬ ‫ﻳﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫ﻧﺎﺷﺮ‬ ‫ﻧﺎم‬ ‫ﻋﻨﻮان‬ ‫ﺻﻔﺤﻪ‬ ‫در‬.
‫د‬(‫ﻧﺨ‬ ‫دﺳﺖ‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﺗﺎﻟﻴﻒ‬ ‫ﺣﻖ‬ ‫اﻋﻼﻧﻬﺎي‬ ‫ﺗﻤﺎم‬‫ﺑﮕﺬارﻳﺪ‬ ‫ﺑﺎﻗﻲ‬ ‫ﻮرده‬.
‫ه‬(‫ﻧﻤﻮده‬ ‫اﻳﺠﺎد‬ ‫ﺧﻮدﺗﺎن‬ ‫ﻛﻪ‬ ‫ﺗﻐﻴﻴﺮاﺗﻲ‬ ‫ﺑﺎ‬ ‫ﻣﺮﺗﺒﻂ‬ ‫ﺗﺎﻟﻴﻒ‬ ‫ﺣﻖ‬ ‫اﻋﻼن‬ ،‫ﺗﺎﻟﻴﻒ‬ ‫ﺣﻖ‬ ‫اﺻﻠﻲ‬ ‫اﻋﻼﻧﻬﺎي‬ ‫ﺑﺎ‬ ‫ﻣﺠﺎور‬‫ﺑﺮﺳﺎﻧﻴﺪ‬ ‫ﻃﺒﻊ‬ ‫ﺑﻪ‬ ‫را‬ ‫اﻳﺪ‬.
‫و‬(‫در‬ ‫ﻛﻪ‬ ‫ﻧﺤﻮي‬ ‫ﺑﻪ‬ ،‫را‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﻣﻘﺮرات‬ ‫اﺳﺎس‬ ‫ﺑﺮ‬ ‫ﻳﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫اﺟﺎزه‬ ‫ﻋﻤﻮم‬ ‫ﺑﻪ‬ ‫ﺗﺎﻟﻴﻒ‬ ‫ﺣﻖ‬ ‫اﻋﻼن‬ ‫از‬ ‫ﭘﺲ‬ ‫ﺑﻼﻓﺎﺻﻠﻪ‬
‫ﺿﻤﻴﻤ‬‫ﺑﺪﻫﻴﺪ‬ ،‫آﻣﺪ‬ ‫ﺧﻮاﻫﺪ‬ ‫ﻪ‬.
‫ز‬(‫ﮔﺬارﻳﺪ‬ ‫ﺑﺎﻗﻲ‬ ‫ﻧﺨﻮرده‬ ‫دﺳﺖ‬ ‫را‬ ‫اﺳﺖ‬ ‫آﻣﺪه‬ ‫اﺻﻠﻲ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﭘﺮواﻧﻪ‬ ‫در‬ ‫ﻛﻪ‬ ‫ﺟﻠﺪي‬ ‫روي‬ ‫ﻣﺘﻮن‬ ‫و‬ ‫ﺛﺎﺑﺖ‬ ‫ﺑﺨﺸﻬﺎي‬.
‫ح‬(‫ﻧﻴﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺿﻤﻴﻤﻪ‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫اﻳﻦ‬ ‫از‬ ‫اي‬.
‫ط‬(‫ﺟﺪﻳﺪ‬ ‫ﻣﻮﻟﻔﻴﻦ‬ ،‫اﻧﺘﺸﺎر‬ ‫ﺳﺎل‬ ،‫ﻋﻨﻮان‬ ‫ﺷﺎﻣﻞ‬ ‫ﺣﺪاﻗﻞ‬ ‫ﻛﻪ‬ ‫ﻣﺘﻨﻲ‬ ‫و‬ ‫ﻛﺮده‬ ‫ﺣﻔﻆ‬ ‫را‬ ‫اﺻﻠﻲ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﺗﺎرﻳﺨﭽﻪ‬ ‫ﻗﺴﻤﺖ‬‫ﺗﻐﻴﻴﺮ‬ ‫ﻣﺘﻦ‬ ‫ﻧﺎﺷﺮ‬ ‫و‬
‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﺿﺎﻓﻪ‬ ‫را‬ ‫اﺳﺖ‬ ‫آﻣﺪه‬ ‫ﻋﻨﻮان‬ ‫ﺻﻔﺤﻪ‬ ‫در‬ ‫ﻛﻪ‬ ‫ﻫﻤﭽﻨﺎن‬ ،‫ﻳﺎﻓﺘﻪ‬.‫ﻣﻲ‬ ‫ﻧﺪارد‬ ‫وﺟﻮد‬ ‫ﺗﺎرﻳﺨﭽﻪ‬ ‫ﻧﺎم‬ ‫ﺑﻪ‬ ‫ﻗﺴﻤﺘﻲ‬ ‫اﮔﺮ‬‫اﺿﺎﻓﻪ‬ ‫را‬ ‫آن‬ ‫ﺑﺎﻳﺴﺖ‬
‫آن‬ ‫ﺑﻪ‬ ‫ﻧﻴﺰ‬ ‫را‬ ‫ﻳﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫ﻣﻮرد‬ ‫در‬ ‫اﻃﻼﻋﺎت‬ ‫ﻫﻤﻴﻦ‬ ‫اﺻﻠﻲ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻧﺎﺷﺮ‬ ‫و‬ ‫ﻣﻮﻟﻔﻴﻦ‬ ،‫اﻧﺘﺸﺎر‬ ‫ﺳﺎل‬ ،‫ﻋﻨﻮان‬ ‫اﻓﺰودن‬ ‫از‬ ‫ﭘﺲ‬ ‫و‬ ‫ﻧﻤﻮده‬
‫ﻛﻨﻴ‬ ‫اﺿﺎﻓﻪ‬‫ﺪ‬.
‫ي‬(‫ﻧﺴﺨﻪ‬ ‫آدرس‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫ﺣﻔﻆ‬ ‫را‬ ‫آن‬ ‫اﺳﺖ‬ ‫ﻣﻮﺟﻮد‬ ‫اﺻﻠﻲ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﺷﻔﺎف‬ ‫ﻧﺴﺨﻪ‬ ‫درﻳﺎﻓﺖ‬ ‫ﺑﺮاي‬ ‫ﺷﺒﻜﻪ‬ ‫دﺳﺘﺮﺳﻲ‬ ‫آدرس‬ ‫اﮔﺮ‬‫ﻗﺒﻠﻲ‬ ‫ﻫﺎي‬
)‫وﺟﻮد‬ ‫ﺻﻮرت‬ ‫در‬(‫ﻧﺪﻫﻴﺪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﻴﺰ‬ ‫را‬.‫ﻣﻲ‬‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﻣﻨﺘﻘﻞ‬ ‫ﺗﺎرﻳﺨﭽﻪ‬ ‫ﻗﺴﻤﺖ‬ ‫ﺑﻪ‬ ‫را‬ ‫اﻃﻼﻋﺎت‬ ‫اﻳﻦ‬ ‫ﺗﻮاﻧﻴﺪ‬.‫ﭼﻬﺎر‬ ‫از‬ ‫ﺑﻴﺶ‬ ‫ﻣﺴﺘﻨﺪي‬ ‫اﮔﺮ‬
‫و‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻣﻨﺘﺸﺮ‬ ‫ﺟﺪﻳﺪ‬ ‫ﻧﺴﺨﻪ‬ ‫از‬ ‫ﻗﺒﻞ‬ ‫ﺳﺎل‬‫اﺟﺎزه‬ ‫ﭼﻨﻴﻦ‬ ‫اﺻﻠﻲ‬ ‫ﻧﺴﺨﻪ‬ ‫ﻧﺎﺷﺮ‬ ‫ﻳﺎ‬‫ﻣﻲ‬ ،‫ﻧﻤﺎﻳﺪ‬ ‫ﺻﺎدر‬ ‫اي‬‫ﺷﺒﻜﻪ‬ ‫آدرس‬ ‫درج‬ ‫از‬ ‫ﺗﻮاﻧﻴﺪ‬‫اي‬
‫ﻧﻤﺎﻳﺪ‬ ‫ﺧﻮدداري‬.

‫ك‬(‫ﻛﻪ‬ ‫ﻗﺴﻤﺘﻲ‬ ‫ﻫﺮ‬ ‫ﻋﻨﻮان‬"‫ﻗﺪرداﻧﻲ‬"‫ﻳﺎ‬ ‫و‬"‫ﺗﻘﺪﻳﻢ‬"‫ﻗﺪرداﻧﻲ‬ ‫از‬ ‫ﻫﺮﻳﻚ‬ ‫ﺟﻮﻫﺮ‬ ‫و‬ ‫ﻟﺤﻦ‬ ‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺳﻌﻲ‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫ﺣﻔﻆ‬ ‫را‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻧﺎم‬‫و‬ ‫ﻫﺎ‬
‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺣﻔﻆ‬ ‫را‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﺻﻮرت‬ ‫ﺗﻘﺪﻳﻤﺎت‬.
‫ل‬(‫ﺑﺨﺸﻬﺎي‬ ‫ﺗﻤﺎم‬"‫ﺛﺎﺑﺖ‬"‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺣﻔﻆ‬ ‫آﻧﻬﺎ‬ ‫ﻋﻨﻮان‬ ‫ﻳﺎ‬ ‫ﻣﺘﻦ‬ ‫در‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﺑﺪون‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬.‫ﺷﻤﺎره‬‫ﺟﺰو‬ ‫ﻣﺸﺎﺑﻪ‬ ‫ﻣﻮارد‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻗﺴﻤﺘﻬﺎ‬ ‫ﮔﺰاري‬
‫ﻧﻤﻲ‬ ‫ﻣﺤﺴﻮب‬ ‫ﺑﺨﺶ‬ ‫ﻋﻨﻮان‬‫ﮔﺮدﻧﺪ‬.
‫م‬(‫ﻋﻨﻮان‬ ‫ﻛﻪ‬ ‫ﺑﺨﺸﻬﺎﻳﻲ‬ ‫ﺗﻤﺎم‬"‫اﻣﻀﺎ‬"‫آﻣﺪ‬ ‫ﻧﺨﻮاﻫﻨﺪ‬ ‫ﻳﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫در‬ ‫ﺑﺨﺸﻬﺎ‬ ‫اﻳﻦ‬ ،‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺣﺬف‬ ‫را‬ ‫دارﻧﺪ‬.
‫ن‬(‫ﻋﻨﻮان‬ ‫ﺑﺨﺸﻲ‬ ‫ﻫﻴﭻ‬ ‫ﺑﺮاي‬"‫اﻣﻀﺎ‬"‫ﻋﻨﻮ‬ ‫ﻳﺎ‬ ‫و‬‫ﻧﻜﻨﻴﺪ‬ ‫اﻧﺘﺨﺎب‬ ‫ﺛﺎﺑﺖ‬ ‫ﺑﺨﺸﻬﺎي‬ ‫ﻣﺸﺎﺑﻪ‬ ‫اﻧﻲ‬.
‫س‬(‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺣﻔﻆ‬ ‫را‬ ‫ﺗﻌﻬﺪ‬ ‫ﻋﺪم‬ ‫اﻋﻼﻧﻬﺎي‬ ‫ﺗﻤﺎم‬.
‫ﭘﻴﺸﻨﻮﻳﺲ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺿﻤﺎﻳﻢ‬ ‫ﺣﺎوي‬ ‫ﻳﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫اﮔﺮ‬‫ﻣﻲ‬ ‫ﺟﺪﻳﺪي‬ ‫ﻫﺎي‬‫ﻣﻲ‬ ‫ﺛﺎﻧﻲ‬ ‫ﺑﺨﺶ‬ ‫ﺗﻌﺮﻳﻒ‬ ‫در‬ ‫ﻛﻪ‬ ‫ﺑﺎﺷﺪ‬‫ﺣﺎوي‬ ‫ﺿﻤﻦ‬ ‫در‬ ‫و‬ ‫ﮔﻨﺠﻨﺪ‬
‫ﻣﻲ‬ ‫ﺷﻤﺎ‬ ،‫ﻧﻴﺴﺘﻨﺪ‬ ‫اﺻﻠﻲ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫از‬ ‫ﻣﺘﻨﻲ‬ ‫ﻫﻴﭻ‬‫ﺗﻤﺎم‬ ‫ﻳﺎ‬ ‫ﻳﻚ‬ ‫ﺧﻮدﺗﺎن‬ ‫ﻣﻴﻞ‬ ‫ﻣﻄﺎﺑﻖ‬ ‫ﺗﻮاﻧﻴﺪ‬‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﻋﻼم‬ ‫ﺛﺎﺑﺖ‬ ‫را‬ ‫ﺑﺨﺸﻬﺎﻳﻲ‬ ‫ﭼﻨﻴﻦ‬.‫اﻧﺠﺎم‬ ‫ﺑﺮاي‬
‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﻟﻴﺴﺖ‬ ‫ﻳﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻋﻼن‬ ‫ﺛﺎﺑﺖ‬ ‫ﻗﺴﻤﺘﻬﺎي‬ ‫ﺑﺨﺶ‬ ‫در‬ ‫را‬ ‫آﻧﻬﺎ‬ ‫ﻋﻨﻮان‬ ،‫اﻳﻨﻜﺎر‬.‫ﻣﻲ‬ ‫ﻋﻨﻮاﻧﻬﺎ‬ ‫اﻳﻦ‬‫ﻋﻨﻮان‬ ‫از‬ ‫ﻣﺠﺰا‬ ‫ﺑﺎﻳﺴﺖ‬
‫ﺑﺎﺷﻨﺪ‬ ‫دﻳﮕﺮ‬ ‫ﻗﺴﻤﺘﻬﺎي‬ ‫ﺗﻤﺎم‬.
‫ﻣﻲ‬ ‫ﺷﻤﺎ‬‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ‫ﻗﺴﻤﺖ‬ ‫ﻳﻚ‬ ‫ﺗﻮاﻧﻴﺪ‬"‫اﻣﻀﺎ‬"‫ﻇ‬ ‫ﻛﻪ‬ ‫ﺷﺮﻃﻲ‬ ‫ﺑﻪ‬ ،‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﺿﺎﻓﻪ‬‫ﺑﺮاي‬ ،‫ﺑﺎﺷﺪ‬ ‫ﺷﻤﺎ‬ ‫ﻳﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫ﺑﺮاي‬ ‫ﻓﻘﻂ‬ ‫ﻧﻮﻳﺴﻲ‬ ‫ﻬﺮ‬
‫اﺳﺘﺎﻧﺪارد‬ ‫ﻳﻚ‬ ‫ﺗﻌﺮﻳﻒ‬ ‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ‫ﻣﺴﻮول‬ ‫ﻣﻮﺳﺴﻪ‬ ‫ﻳﻚ‬ ‫ﺗﻮﺳﻂ‬ ‫ﻣﺘﻦ‬ ‫ﺷﺪن‬ ‫ﺗﺎﻳﻴﺪ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺑﺎزﺑﻴﻨﻲ‬ ‫ﻧﻈﺮ‬ ‫اﻇﻬﺎر‬ ‫ﻣﺜﺎل‬.
‫ﻣﻲ‬ ‫ﺷﻤﺎ‬‫ﺗﺎ‬ ‫ﺣﺪاﻛﺜﺮ‬ ،‫ﻗﻮﻟﻲ‬ ‫ﻧﻘﻞ‬ ‫ﺗﻮاﻧﻴﺪ‬5‫ﺗﺎ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫ﻣﺘﻦ‬ ‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ‫ﻛﻠﻤﻪ‬25‫ﻟﻴﺴﺖ‬ ‫اﻧﺘﻬﺎي‬ ‫ﺑﻪ‬ ‫ﺟﻠﺪ‬ ‫ﭘﺸﺖ‬ ‫ﻣﺘﻦ‬ ‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ‫ﻛﻠﻤﻪ‬
‫ﻧ‬‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﺿﺎﻓﻪ‬ ‫ﻳﺎﻓﺘﻪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫ﻣﺘﻦ‬ ‫ﻗﻮﻟﻬﺎي‬ ‫ﻘﻞ‬.‫ﺟﻠﺪ‬ ‫ﭘﺸﺖ‬ ‫ﺑﺮاي‬ ‫ﻗﻮل‬ ‫ﻧﻘﻞ‬ ‫ﻳﻚ‬ ‫و‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫ﺑﺮاي‬ ‫ﻗﻮل‬ ‫ﻧﻘﻞ‬ ‫ﻳﻚ‬ ‫اﻓﺰودن‬ ‫اﻣﻜﺎن‬ ‫ﻓﻘﻂ‬
‫دارد‬ ‫وﺟﻮد‬ ‫ﻧﻬﺎد‬ ‫ﻳﺎ‬ ‫ﺷﺨﺺ‬ ‫ﻫﺮ‬ ‫ﺗﻮﺳﻂ‬.‫ﻫﻤﺎﻫﻨﮓ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺷﻤﺎ‬ ‫ﻃﺮف‬ ‫از‬ ‫ﺷﺪه‬ ‫اﺿﺎﻓﻪ‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫ﻣﺘﻦ‬ ‫داراي‬ ‫ﻗﺒﻞ‬ ‫از‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻛﻪ‬ ‫ﺻﻮرﺗﻲ‬ ‫در‬
ً‫ﺎ‬‫وﻛﺎﻟﺘ‬ ‫ﺷﻤﺎ‬ ‫ﻛﻪ‬ ‫ﻛﺴﻲ‬ ‫ﺗﻮﺳﻂ‬ ‫ﺷﺪه‬‫ر‬ ‫ﻛﺎر‬ ‫اﻳﻦ‬‫ﻣﻲ‬ ‫وي‬ ‫ﺑﺮاي‬ ‫ا‬‫ﻣﻲ‬ ‫ﺟﻠﺪ‬ ‫ﻃﺮف‬ ‫ﻳﻚ‬ ‫ﺑﺮاي‬ ‫ﻛﻨﻴﺪ‬‫ﻧﻤﻲ‬ ‫دﻳﮕﺮ‬ ،‫ﺑﺎﺷﺪ‬،‫ﻛﻨﻴﺪ‬ ‫اﺿﺎﻓﻪ‬ ‫ﻣﺘﻨﻲ‬ ‫ﺗﻮاﻧﻴﺪ‬
‫ﻣﻲ‬ ،‫ﻧﻤﻮده‬ ‫اﺿﺎﻓﻪ‬ ‫را‬ ‫ﻗﺒﻠﻲ‬ ‫ﻣﺘﻦ‬ ‫ﻛﻪ‬ ‫ﻧﺎﺷﺮي‬ ‫اﺧﺘﺼﺎﺻﻲ‬ ‫اﺟﺎزه‬ ‫ﺑﺎ‬ ‫اﻣﺎ‬‫ﻛﻨﻴﺪ‬ ‫ﻗﺪﻳﻢ‬ ‫ﻣﺘﻦ‬ ‫ﺟﺎﻳﮕﺰﻳﻦ‬ ‫را‬ ‫ﺟﺪﻳﺪ‬ ‫ﻣﺘﻦ‬ ‫ﺗﻮاﻧﻴﺪ‬.
‫ﻧﻤﻲ‬ ‫اﺟﺎزه‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻧﺎﺷﺮﻳﻦ‬ ‫و‬ ‫ﻣﻮﻟﻔﻴﻦ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫اﺳﺎس‬ ‫ﺑﺮ‬‫ﺣﻤﺎ‬ ‫ﺑﺮاي‬ ‫آﻧﻬﺎ‬ ‫ﺷﻬﺮت‬ ‫از‬ ‫ﺗﺎ‬ ‫دﻫﻨﺪ‬‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﺴﺨﻪ‬ ‫ﺑﻪ‬ ‫ﺑﺨﺸﻴﺪن‬ ‫رﺳﻤﻴﺖ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻳﺖ‬
‫ﮔﺮدد‬ ‫اﺳﺘﻔﺎده‬ ‫ﻳﺎﻓﺘﻪ‬.
‫ﻣﺴﺘﻨﺪات‬ ‫ﺗﺮﻛﻴﺐ‬
‫ﻣﻲ‬ ‫ﺷﻤﺎ‬‫ﺷﺪه‬ ‫ﻣﻨﺘﺸﺮ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫اﺳﺎس‬ ‫ﺑﺮ‬ ‫ﻛﻪ‬ ‫ﻣﺴﺘﻨﺪاﺗﻲ‬ ‫دﻳﮕﺮ‬ ‫ﺑﺎ‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﺗﻮاﻧﻴﺪ‬‫ﺑﻨﺪ‬ ‫ﻗﻮاﻧﻴﻦ‬ ‫رﻋﺎﻳﺖ‬ ‫ﺑﺎ‬ ‫اﻧﺪ‬)4(‫ﺑﻪ‬ ،‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺗﺮﻛﻴﺐ‬ ‫ﺑﺎﻻ‬
‫ﻗﻴﺪ‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﺑﺪون‬ ‫را‬ ‫اﺻﻠﻲ‬ ‫ﻣﺘﻮن‬ ‫ﻫﻤﻪ‬ ‫ﺛﺎﺑﺖ‬ ‫ﻗﺴﻤﺘﻬﺎي‬ ‫ﺗﻤﺎم‬ ‫ﺗﺮﻛﻴﺐ‬ ‫ﻛﻪ‬ ‫ﺷﺮﻃﻲ‬‫ﺗﺮﻛﻴﺒﻲ‬ ‫ﻛﺎر‬ ‫ﺛﺎﺑﺖ‬ ‫ﻗﺴﻤﺘﻬﺎي‬ ‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ‫را‬ ‫آﻧﻬﺎ‬ ‫و‬ ‫ﻧﻤﻮده‬
‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺣﻔﻆ‬ ‫را‬ ‫ﺗﻌﻬﺪ‬ ‫ﻋﺪم‬ ‫اﻋﻼﻧﻬﺎي‬ ‫ﺗﻤﺎﻣﻲ‬ ‫ﺗﺎ‬ ‫اﺳﺖ‬ ‫ﻻزم‬ ‫ﻫﻤﭽﻨﻴﻦ‬ ،‫ﻛﻨﻴﺪ‬ ‫ﻟﻴﺴﺖ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻋﻼن‬ ‫در‬ ‫ﺧﻮد‬.
‫ﻣﻲ‬ ‫ﺗﺮﻛﻴﺒﻲ‬ ‫ﻛﺎر‬‫ﻣﻲ‬ ‫ﻣﺸﺎﺑﻪ‬ ‫ﺛﺎﺑﺖ‬ ‫ﻗﺴﻤﺘﻬﺎي‬ ‫و‬ ‫ﺑﻮده‬ ‫اﻋﻼن‬ ‫اﻳﻦ‬ ‫از‬ ‫ﻧﺴﺨﻪ‬ ‫ﻳﻚ‬ ‫ﺣﺎوي‬ ‫ﻓﻘﻂ‬ ‫ﺑﺎﻳﺴﺖ‬‫ﮔﺮدﻧﺪ‬ ‫ﺗﻌﻮﻳﺾ‬ ‫ﻗﺴﻤﺖ‬ ‫ﻳﻚ‬ ‫ﺑﺎ‬ ‫ﺑﺎﻳﺴﺖ‬.
‫ﭼﻨﺪ‬ ‫اﮔﺮ‬‫اﺻﻠﻲ‬ ‫ﻣﻮﻟﻒ‬ ‫ﻧﺎم‬ ‫و‬ ‫ﭘﺮاﻧﺘﺰ‬ ‫ﺟﻔﺖ‬ ‫ﻳﻚ‬ ‫ﻛﺮد‬ ‫اﺿﺎﻓﻪ‬ ‫ﺑﺎ‬ ‫دارﻧﺪ‬ ‫وﺟﻮد‬ ‫ﻣﺘﻔﺎوت‬ ‫ﻣﺤﺘﻮي‬ ‫اﻣﺎ‬ ‫ﻣﺸﺎﺑﻪ‬ ‫ﻧﺎﻣﻬﺎي‬ ‫ﺑﺎ‬ ‫ﺛﺎﺑﺖ‬ ‫ﻗﺴﻤﺖ‬)‫در‬
‫ﻓﺮد‬ ‫ﺑﻪ‬ ‫ﻣﻨﺤﺼﺮ‬ ‫ﻋﺪد‬ ‫ﻳﻚ‬ ‫اﻳﻨﺼﻮرت‬ ‫ﻏﻴﺮ‬ ‫در‬ ،‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﺷﻨﺎﺧﺘﻪ‬ ‫ﻛﻪ‬ ‫ﺻﻮرﺗﻲ‬(‫ﺳﺎزﻳﺪ‬ ‫ﻣﺘﻔﺎوت‬ ‫را‬ ‫اﺳﺎﻣﻲ‬ ،‫آﻧﻬﺎ‬ ‫ﺑﻴﻦ‬ ‫در‬.‫ﺗﻐﻴﻴﺮات‬ ‫ﻫﻤﻴﻦ‬
‫ﭘﺮواﻧﻪ‬ ‫اﻋﻼن‬ ‫در‬ ‫ﺛﺎﺑﺖ‬ ‫ﻋﻨﻮاﻧﻬﺎي‬ ‫ﻟﻴﺴﺖ‬ ‫ﻗﺴﻤﺖ‬ ‫در‬ ‫را‬‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﻋﻤﺎل‬ ‫ﻧﻴﺮ‬.

‫ﻧﺎم‬ ‫ﺑﺎ‬ ‫ﺑﺨﺸﻬﺎ‬ ‫ﺗﻤﺎم‬ ‫ﺑﺎﻳﺴﺖ‬ ‫ﻣﻲ‬ ‫ﺷﻤﺎ‬ ،‫ﺗﺮﻛﻴﺐ‬ ‫ﻫﺮ‬ ‫در‬"‫ﺗﺎرﻳﺨﭽﻪ‬"‫ﺑﺨﺸﻲ‬ ‫ﻫﺮ‬ ‫ﺑﺮاي‬ ‫را‬ ‫ﻛﺎر‬ ‫ﻫﻤﻴﻦ‬ ‫و‬ ‫آورده‬ ‫ﺗﺎرﻳﺨﭽﻪ‬ ‫ﻳﻚ‬ ‫ﻋﻨﻮان‬ ‫ﺗﺤﺖ‬ ‫را‬
‫دﻫﻴﺪ‬ ‫اﻧﺠﺎم‬ ‫ﺗﻘﺪﻳﻤﺎت‬ ‫و‬ ‫ﻗﺪرداﻧﻲ‬ ‫ﻋﻨﻮان‬ ‫ﺑﺎ‬.‫ﻗﺴﻤﺘﻬﺎي‬ ‫ﻫﻤﻪ‬ ‫ﺑﺎﻳﺪ‬ ‫ﺷﻤﺎ‬"‫اﻣﻀﺎ‬"‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺣﺬف‬ ‫را‬.
‫ﻣﺴﺘﻨﺪات‬ ‫ﮔﺮدآوري‬
‫ﻣﺠﻤﻮﻋﻪ‬ ‫ﻣﺠﺎزﻳﺪ‬ ‫ﺷﻤﺎ‬‫ﺷﺎﻣﻞ‬ ‫اي‬‫ﺷﺪه‬ ‫ﻣﻨﺘﺸﺮ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫اﺳﺎس‬ ‫ﺑﺮ‬ ‫ﻛﻪ‬ ‫ﻣﺴﺘﻨﺪاﺗﻲ‬ ‫دﻳﮕﺮ‬ ‫و‬ ‫ﻣﺴﺘﻨﺪ‬‫ﻧﺴﺨﻪ‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫ﮔﺮدآوري‬ ‫را‬ ‫اﻧﺪ‬‫ﻫﺎي‬
‫ﺑﻪ‬ ‫ﻛﻠﻤﻪ‬ ‫ﻧﺴﺨﻪ‬ ‫ﺑﺎ‬ ‫راﺑﻄﻪ‬ ‫در‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﻗﻮاﻧﻴﻦ‬ ‫ﻛﻪ‬ ‫ﺷﺮﻃﻲ‬ ‫ﺑﻪ‬ ،‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺟﺎﻳﮕﺰﻳﻦ‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫در‬ ‫آن‬ ‫از‬ ‫ﻧﺴﺨﻪ‬ ‫ﻳﻚ‬ ‫ﺑﺎ‬ ‫را‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫از‬ ‫دﻳﮕﺮ‬
‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﺟﺮا‬ ‫ﻧﻈﺮ‬ ‫ﻫﺮ‬ ‫از‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻫﺮ‬ ‫ﻛﻠﻤﻪ‬.
‫ﻣﻲ‬ ‫ﺷﻤﺎ‬‫ﺗﻮا‬‫ﻣﺠﻤﻮﻋﻪ‬ ‫ﭼﻨﻴﻦ‬ ‫از‬ ‫ﻧﻴﺪ‬‫ﺗﻮزﻳﻊ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﺗﺤﺖ‬ ‫ﻓﺮد‬ ‫ﺑﻪ‬ ‫ﻣﻨﺤﺼﺮ‬ ‫ﺑﺼﻮرت‬ ‫را‬ ‫آن‬ ‫و‬ ‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﺳﺘﺨﺮاج‬ ‫واﺣﺪ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻳﻚ‬ ‫اي‬
‫را‬ ‫ﻛﻠﻤﻪ‬ ‫ﺑﻪ‬ ‫ﻛﻠﻤﻪ‬ ‫ﺑﺮداري‬ ‫ﻧﺴﺨﻪ‬ ‫ﺷﺮاﻳﻂ‬ ‫ﺗﻤﺎﻣﻲ‬ ‫و‬ ‫داده‬ ‫ﻗﺮار‬ ‫ﺷﺪه‬ ‫اﺳﺘﺨﺮاج‬ ‫ﻣﺴﺘﻨﺪ‬ ‫در‬ ‫را‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫از‬ ‫ﻧﺴﺨﻪ‬ ‫ﻳﻚ‬ ‫ﻛﻪ‬ ‫ﺷﺮﻃﻲ‬ ‫ﺑﻪ‬ ‫ﻧﻤﺎﻳﻴﺪ‬
‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﺟﺮا‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫اﺳﺎس‬ ‫ﺑﺮ‬.
‫ﮔﺮدآوري‬‫ﻣﺴﺘﻘﻞ‬ ‫ﻛﺎرﻫﺎي‬ ‫ﺑﺎ‬
‫ﺗﻮزﻳﻊ‬ ‫ﻳﺎ‬ ‫اﻧﺘﺸﺎر‬ ‫ﺑﺴﺘﺮ‬ ‫ﻳﻚ‬ ‫روي‬ ‫ﻣﺴﺘﻘﻞ‬ ‫و‬ ‫ﻣﺠﺰا‬ ‫ﻛﺎرﻫﺎي‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻣﺴﺘﻨﺪات‬ ‫دﻳﮕﺮ‬ ‫ﺑﺎ‬ ‫آن‬ ‫ﻣﺸﺘﻘﺎت‬ ‫ﻳﺎ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﮔﺮدآوري‬"‫ﺗﺮاﻛﻢ‬"‫ﻧﺎﻣﻴﺪه‬
‫ﻣﻲ‬‫ﻧﮕﺮدد‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫اﺷﺎره‬ ‫آن‬ ‫ﺑﻪ‬ ‫ﻣﺴﺘﻘﻞ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻫﺮ‬ ‫در‬ ‫آﻧﭽﻪ‬ ‫از‬ ‫ﻣﺤﺪودﺗﺮ‬ ‫ﻛﺎرﺑﺮ‬ ‫ﺣﻘﻮق‬ ‫ﮔﺮدآوري‬ ‫اﻳﻦ‬ ‫ﻧﺘﻴﺠﻪ‬ ‫در‬ ‫ﻛﻪ‬ ‫ﺷﺮﻃﻲ‬ ‫ﺑﻪ‬ ‫ﺷﻮد‬.
‫ﻣﺠﻤ‬ ‫در‬ ‫ﻣﺴﺘﻨﺪ‬ ‫وﻗﺘﻲ‬‫ﺑﺼﻮرت‬ ‫اي‬ ‫ﻮﻋﻪ‬"‫ﺗﺮاﻛﻢ‬"‫ﻣﺴﺘﻨﺪ‬ ‫از‬ ‫ﺟﺰﻳﻲ‬ ‫ﻛﻪ‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫ﻛﺎرﻫﺎي‬ ‫دﻳﮕﺮ‬ ‫ﺑﺮ‬ ‫ﺗﺎﺛﻴﺮي‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻣﻨﺘﺸﺮ‬
‫ﻧﺪارد‬ ‫ﻧﻴﺴﺘﻨﺪ‬ ‫آن‬ ‫ﺧﻮد‬ ‫ﻳﺎ‬.
‫ﺑﻨﺪ‬ ‫ﻗﻮاﻧﻴﻦ‬ ‫ﻃﺒﻖ‬ ‫اﮔﺮ‬)3(‫ﻧﺴﺨﻪ‬ ‫ﺑﺮاي‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫ﻣﺘﻦ‬ ‫اﻧﺘﺸﺎر‬‫ﻣﺠﻤﻮﻋﻪ‬ ‫ﻛﻞ‬ ‫ﻧﺼﻒ‬ ‫از‬ ‫ﻛﻤﺘﺮ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫اﮔﺮ‬ ‫آﻧﮕﺎه‬ ،‫اﺳﺖ‬ ‫اﻟﺰاﻣﻲ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻫﺎي‬
‫ﻣﻲ‬ ‫ﻣﺘﻦ‬ ‫اﻃﻼﻋﺎت‬ ‫ﺑﺎﺷﺪ‬‫ر‬ ‫ﺗﻮاﻧﻨﺪ‬‫ﻣﻲ‬ ‫ﻣﺠﺰا‬ ‫ﻣﺴﺘﻨﺪات‬ ‫دﻳﮕﺮ‬ ‫از‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﻛﻪ‬ ‫ﺟﻠﺪي‬ ‫وي‬‫ﮔﻴﺮد‬ ‫ﻗﺮار‬ ‫ﻛﻨﺪ‬)‫ﻣﺴﺘﻨﺪ‬ ‫ﻛﻪ‬ ‫ﺻﻮرﺗﻲ‬ ‫در‬
‫ﺟﻠﺪ‬ ‫اﻟﻜﺘﺮوﻧﻴﻚ‬ ‫ﻣﻌﺎدل‬ ،‫اﺳﺖ‬ ‫اﻟﻜﺘﺮوﻧﻴﻚ‬(.‫ﻣﻲ‬ ‫آﻧﻬﺎ‬ ‫ﺻﻮرت‬ ‫اﻳﻦ‬ ‫ﻏﻴﺮ‬ ‫در‬‫ﺑﺮﺳﻨﺪ‬ ‫ﻃﺒﻊ‬ ‫ﺑﻪ‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫ﻛﻞ‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫ﺑﺎﻳﺴﺖ‬.
‫ﺗﺮﺟﻤﻪ‬
‫ﻣﻲ‬ ‫ﻣﺤﺴﻮب‬ ‫دادن‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﻮﻋﻲ‬ ‫ﻛﺮدن‬ ‫ﺗﺮﺟﻤﻪ‬‫ﺗﺮﺟﻤﻪ‬ ‫ﻣﺠﺎزﻳﺪ‬ ‫ﺷﻤﺎ‬ ‫ﻧﺘﻴﺠﻪ‬ ‫در‬ ‫و‬ ‫ﮔﺮدد‬‫ﻫﺎﻳ‬‫ﺑﻨﺪ‬ ‫ﻗﻮاﻧﻴﻦ‬ ‫اﺳﺎس‬ ‫ﺑﺮ‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫از‬ ‫ﻲ‬)4(‫ﺑﺎﻻ‬
‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺗﻮزﻳﻊ‬.‫ﻣﻲ‬ ‫اﻣﺘﻴﺎز‬ ‫ﺣﻖ‬ ‫اﺻﻠﻲ‬ ‫ﺻﺎﺣﺒﺎن‬ ‫از‬ ‫ﻣﺠﻮز‬ ‫ﻛﺴﺐ‬ ‫ﻧﻴﺎزﻣﻨﺪ‬ ‫آﻧﻬﺎ‬ ‫ﻣﻌﺎدل‬ ‫ﺑﺎ‬ ‫ﺛﺎﺑﺖ‬ ‫ﻗﺴﻤﺘﻬﺎي‬ ‫ﺗﻌﻮﻳﺾ‬‫ﻣﻲ‬ ‫ﺷﻤﺎ‬ ‫اﻣﺎ‬ ،‫ﺑﺎﺷﺪ‬‫ﺗﻮاﻧﻴﺪ‬
‫ﻣﻲ‬ ‫ﺣﻔﻆ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫درون‬ ‫را‬ ‫ﻣﺘﻦ‬ ‫اﺻﻠﻲ‬ ‫ﻧﺴﺨﻪ‬ ‫ﻛﻪ‬ ‫ﺻﻮرﺗﻲ‬ ‫در‬ ‫ﻗﺴﻤﺘﻬﺎ‬ ‫آن‬ ‫از‬ ‫ﻗﺴﻤﺘﻲ‬ ‫ﻳﺎ‬ ‫ﺗﻤﺎم‬ ‫ﺗﺮﺟﻤﻪ‬‫ﻛﻨﻴﺪ‬ ‫ﻣﻨﺘﺸﺮ‬ ‫ﻧﻤﺎﻳﻴﺪ‬.‫ﻣﻲ‬ ‫ﺷﻤﺎ‬‫ﺗﻮاﻧﻴﺪ‬
‫ﭘﺮواﻧﻪ‬ ‫ﺗﻤﺎم‬ ‫و‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫از‬ ‫اي‬ ‫ﺗﺮﺟﻤﻪ‬‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫اﺻﻞ‬ ‫ﻛﻪ‬ ‫ﺷﺮﻃﻲ‬ ‫ﺑﻪ‬ ‫ﻛﻨﻴﺪ‬ ‫ﻣﻨﺘﺸﺮ‬ ‫ﺗﻌﻬﺪ‬ ‫ﻋﺪم‬ ‫اﻋﻼﻧﻬﺎي‬ ‫ﻫﻤﺮاه‬ ‫ﺑﻪ‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫درون‬ ‫ﻫﺎي‬
‫ﭘﺮواﻧﻪ‬ ‫دﻳﮕﺮ‬ ‫و‬ ‫اﻧﮕﻠﻴﺴﻲ‬ ‫زﺑﺎن‬ ‫ﺑﻪ‬‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺿﻤﻴﻤﻪ‬ ‫ﻧﻴﺰ‬ ‫را‬ ‫آﻧﻬﺎ‬ ‫اﺻﻠﻲ‬ ‫زﺑﺎن‬ ‫ﺑﻪ‬ ‫ﻫﺎ‬.‫اﺻﻠﻲ‬ ‫ﻧﺴﺨﻪ‬ ‫و‬ ‫ﺗﺮﺟﻤﻪ‬ ‫ﺑﻴﻦ‬ ‫ﺗﻔﺎوﺗﻲ‬ ‫ﻛﻪ‬ ‫ﺻﻮرﺗﻲ‬ ‫در‬
‫ﺑﺎﺷ‬ ‫ﻣﻮﺟﻮد‬‫ﮔﺮﻓﺖ‬ ‫ﺧﻮاﻫﺪ‬ ‫ﻗﺮار‬ ‫ﻗﻀﺎوت‬ ‫ﻣﺒﻨﺎي‬ ‫اﺻﻠﻲ‬ ‫ﻧﺴﺨﻪ‬ ،‫ﺪ‬.
‫ﻋﻨﻮان‬ ‫ﺑﺎ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫از‬ ‫ﺑﺨﺸﻲ‬ ‫اﮔﺮ‬"‫ﻗﺪرداﻧﻲ‬"،"‫ﺗﻘﺪﻳﻢ‬"‫و‬"‫ﺗﺎرﻳﺨﭽﻪ‬"‫ﺑﻪ‬ ‫ﻧﻴﺎز‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻧﺎﻣﮕﺬاري‬)‫ﺑﺨﺶ‬)4((‫آن‬ ‫ﻋﻨﻮان‬ ‫ﺣﻔﻆ‬
)‫ﺑﺨﺶ‬)1((‫اﺳﺖ‬ ‫ﺣﻘﻴﻘﻲ‬ ‫ﻋﻨﻮان‬ ‫ﺗﻐﻴﻴﺮ‬ ‫ﻧﻴﺎزﻣﻨﺪ‬ ‫ﻣﻌﻤﻮل‬ ‫ﻃﻮر‬ ‫ﺑﻪ‬.
‫ﻓﺴﺦ‬
‫ﻧﻤﻲ‬ ‫ﺷﻤﺎ‬،‫ﻧﻤﻮده‬ ‫ﺗﻜﺜﻴﺮ‬ ،‫داده‬ ‫ﺗﻐﻴﻴﺮ‬ ‫را‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﺗﻮاﻧﻴﺪ‬‫آﻧﭽﻪ‬ ‫ﻃﺒﻖ‬ ‫ﻣﮕﺮ‬ ‫ﻧﻤﺎﻳﻴﺪ‬ ‫واﮔﺬار‬ ‫دﻳﮕﺮي‬ ‫ﺑﻪ‬ ‫را‬ ‫آن‬ ‫ﻣﺎﻟﻜﻴﺖ‬ ‫ﺣﻖ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻛﻨﻴﺪ‬ ‫ﺗﻮزﻳﻊ‬
ً‫ﺎ‬‫ﺻﺮﻳﺤ‬‫ﮔﺮدﻳﺪ‬ ‫اﺷﺎره‬ ‫آن‬ ‫ﺑﻪ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫در‬.‫اﻋﺘﺒﺎر‬ ‫درﺟﻪ‬ ‫از‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﺗﻮزﻳﻊ‬ ‫ﻳﺎ‬ ‫و‬ ‫اﻣﺘﻴﺎز‬ ‫واﮔﺬاري‬ ،‫ﺗﻐﻴﻴﺮ‬ ،‫ﺗﻜﺜﻴﺮ‬ ‫ﺑﺮاي‬ ‫دﻳﮕﺮي‬ ‫ﺗﻼش‬ ‫ﻫﺮ‬

‫ﻣﻲ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﻣﻮﺟﺐ‬ ‫ﺑﻪ‬ ‫ﺷﻤﺎ‬ ‫ﺣﻘﻮق‬ ‫ﻓﺴﺦ‬ ‫ﺑﻪ‬ ‫ﻣﻨﺠﺮ‬ ‫ﺧﻮدﻛﺎر‬ ‫ﺑﻄﻮر‬ ‫و‬ ‫اﺳﺖ‬ ‫ﺳﺎﻗﻂ‬‫ﺷ‬‫ﻮد‬.،‫ﺗﺮﺗﻴﺐ‬ ‫ﻫﺮ‬ ‫ﺑﻪ‬‫ﮔﻴﺮﻧﺪه‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻋﺘﺒﺎر‬‫ﻛﻪ‬ ‫اي‬
‫ﮔﺮدﻳﺪ‬ ‫ﻧﺨﻮاﻫﺪ‬ ‫ﺳﺎﻗﻂ‬ ‫ﺑﺎﺷﻨﺪ‬ ‫ﭘﺎﻳﺒﻨﺪ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﺑﻪ‬ ‫آﻧﻬﺎ‬ ‫ﻛﻪ‬ ‫وﻗﺘﻲ‬ ‫ﺗﺎ‬ ‫اﺳﺖ‬ ‫داﺷﺘﻪ‬ ‫درﻳﺎﻓﺖ‬ ‫را‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﻣﻄﺎﺑﻖ‬ ‫ﺣﻘﻮﻗﻲ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﻧﺴﺨﻪ‬.
‫ﻧﺴﺨﻪ‬‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﺑﻌﺪي‬ ‫ﻫﺎي‬
‫ﻧﺮم‬ ‫ﺑﻨﻴﺎد‬ ‫اﺳﺖ‬ ‫ﻣﻤﻜﻦ‬ ‫ﮔﺎه‬ ‫ﮔﺎه‬‫ﺷﺪه‬ ‫ﺑﺎزﺑﻴﻨﻲ‬ ‫و‬ ‫ﺟﺪﻳﺪ‬ ‫ﻧﺴﺨﻪ‬ ‫آزاد‬ ‫اﻓﺰارﻫﺎي‬‫از‬ ‫اي‬‫آزاد‬ ‫ﻣﺴﺘﻨﺪﺳﺎزي‬ ‫ﭘﺮواﻧﻪ‬GNU‫ﻧﻤﺎﻳﺪ‬ ‫ﻣﻨﺘﺸﺮ‬ ‫را‬.‫ﭼﻨﻴﻦ‬
‫ﻧﺴﺨﻪ‬‫ﻣﺴﺎﻳﻞ‬ ‫و‬ ‫ﻣﺸﻜﻼت‬ ‫ﺑﺎ‬ ‫آﻧﻬﺎ‬ ‫ﻫﻤﺨﻮاﻧﻲ‬ ‫ﺟﻬﺖ‬ ‫ﺗﻐﻴﻴﺮاﺗﻲ‬ ‫اﺳﺖ‬ ‫ﻣﻤﻜﻦ‬ ‫اﻣﺎ‬ ‫ﺑﻮد‬ ‫ﺧﻮاﻫﻨﺪ‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﻣﺸﺎﺑﻪ‬ ‫ﻛﻠﻲ‬ ‫دﻳﺪ‬ ‫در‬ ‫ﺟﺪﻳﺪي‬ ‫ﻫﺎي‬
‫ﺷﻮد‬ ‫اﻳﺠﺎد‬ ‫ﺟﺪﻳﺪ‬.‫آدرس‬ ‫ﺑﻪ‬ ‫ﺑﻴﺸﺘﺮ‬ ‫اﻃﻼﻋﺎت‬ ‫ﺑﺮاي‬/copyleft/org.gnu.www://http‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﻣﺮاﺟﻌﻪ‬.
‫ﺑﻮد‬ ‫ﺧﻮاﻫﺪ‬ ‫ﻣﺠﺰا‬ ‫ﻧﺴﺨﻪ‬ ‫ﺷﻤﺎره‬ ‫ﻳﻚ‬ ‫ﺣﺎوي‬ ‫ﭘﺮواﻧﻪ‬ ‫ﻧﺴﺨﻪ‬ ‫ﻫﺮ‬.‫ﻳﺎ‬ ‫و‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﺧﺎص‬ ‫ﻧﺴﺨﻪ‬ ‫ﻳﻚ‬ ‫ﺑﻪ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫اﮔﺮ‬"‫از‬ ‫ﭘﺲ‬ ‫ﻧﺴﺨﻪ‬ ‫ﻫﺮ‬
‫آن‬"‫اﻓﺰارﻫﺎي‬ ‫ﻧﺮم‬ ‫ﺑﻨﻴﺎد‬ ‫ﺗﻮﺳﻂ‬ ‫ﻛﻪ‬ ‫را‬ ‫آن‬ ‫از‬ ‫ﭘﺲ‬ ‫ﻧﺴﺨﻪ‬ ‫ﻫﺮ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺷﺪه‬ ‫ﺑﺮده‬ ‫ﻧﺎم‬ ‫ﻧﺴﺨﻪ‬ ‫ﻣﻘﺮارت‬ ‫و‬ ‫ﻗﻮاﻧﻴﻦ‬ ‫ﺗﺎ‬ ‫آزادﻳﺪ‬ ‫ﺷﻤﺎ‬ ‫ﻛﻨﺪ‬ ‫اﺷﺎره‬‫آزاد‬
‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﺟﺮا‬ ‫را‬ ‫اﺳﺖ‬ ‫ﻳﺎﻓﺘﻪ‬ ‫اﻧﺘﺸﺎر‬.‫ﻣﻲ‬ ‫ﺷﻤﺎ‬ ‫اﺳﺖ‬ ‫ﻧﻜﺮده‬ ‫اﺷﺎره‬ ‫ﺧﺎﺻﻲ‬ ‫ﻧﺴﺨﻪ‬ ‫ﺑﻪ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫اﮔﺮ‬‫ﻧﺴﺨﻪ‬ ‫ﻫﺮ‬ ‫ﺗﻮاﻧﻴﺪ‬‫ﺑﻨﻴﺎد‬ ‫ﺗﻮﺳﻂ‬ ‫ﺗﺎﻛﻨﻮن‬ ‫ﻛﻪ‬ ‫اي‬
‫ﻧﺮم‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻣﻨﺘﺸﺮ‬ ‫آزاد‬ ‫اﻓﺰارﻫﺎي‬)‫ﻧﺴﺨﻪ‬ ‫از‬ ‫ﻏﻴﺮ‬ ‫ﺑﻪ‬‫ﻧﻮﻳﺲ‬ ‫ﭘﻴﺶ‬ ‫ﻫﺎي‬(‫ﺑﺮﮔﺰﻳﻨﻴﺪ‬ ‫را‬.
‫ﻛﻨﻴﺪ‬ ‫اﻋﻤﺎل‬ ‫ﺧﻮد‬ ‫ﻣﺴﺘﻨﺪات‬ ‫ﺑﺮ‬ ‫را‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫ﭼﮕﻮﻧﻪ‬
‫اﺳﺘﻔﺎ‬ ‫ﺑﺮاي‬‫ﻧﻮﺷﺘﻪ‬ ‫ﺧﻮدﺗﺎن‬ ‫ﻛﻪ‬ ‫ﻣﺴﺘﻨﺪي‬ ‫ﺑﺮاي‬ ‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫از‬ ‫ده‬‫ﻧﺴﺨﻪ‬ ‫اﻳﺪ‬‫ﭘﺮواﻧﻪ‬ ‫اﻳﻦ‬ ‫از‬ ‫اي‬)‫اﻧﮕﻠﻴﺴﻲ‬ ‫زﺑﺎن‬ ‫ﺑﻪ‬(‫اﻟﺤﺎق‬ ‫ﻣﺴﺘﻨﺪ‬ ‫ﺑﻪ‬ ‫را‬
‫ﻧﻤﺎﻳﻴﺪ‬ ‫اﺿﺎﻓﻪ‬ ‫ﻋﻨﻮان‬ ‫ﺻﻔﺤﻪ‬ ‫از‬ ‫ﺑﻌﺪ‬ ‫درﺳﺖ‬ ‫را‬ ‫زﻳﺮ‬ ‫ﺗﺎﻟﻴﻒ‬ ‫ﺣﻖ‬ ‫اﻋﻼن‬ ‫و‬ ‫ﻧﻤﻮده‬:
Copyright (c) YEAR YOUR NAME.
Permission is granted to copy, distribute and/or modify this document
under the terms of the GNU Free Documentation License, Version 1.2
or any later version published by the Free Software Foundation;
with no Invariant Sections, no Front-Cover Texts, and no Back-Cover
Texts. A copy of the license is included in the section entitled "GNU
Free Documentation License".
‫ﻗﺴﻤﺖ‬ ‫دارﻳﺪ‬ ‫ﺟﻠﺪ‬ ‫ﭘﺸﺖ‬ ‫ﻣﺘﻦ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫ﻣﺘﻦ‬ ،‫ﺛﺎﺑﺖ‬ ‫ﻗﺴﻤﺘﻬﺎي‬ ‫اﮔﺮ‬“with…Texts.”‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺗﻌﻮﻳﺾ‬ ‫آﻧﻬﺎ‬ ‫ﻧﺎم‬ ‫ﺑﺎ‬ ‫را‬:
with the Invariant Sections being LIST THEIR TITLES, with the
Front-Cover Texts being LIST, and with the Back-Cover Texts being LIST.
)‫ﻓﺎرﺳﻲ‬ ‫ﻧﻤﻮﻧﻪ‬(
‫ﻋﻨﻮاﻧﻬﺎي‬ ‫ﺑﺎ‬ ‫ﺛﺎﺑﺖ‬ ‫ﻗﺴﻤﺘﻬﺎي‬ ‫ﺑﺎ‬"‫ﻋﻨﻮاﻧﻬﺎ‬ ‫ﻧﺎم‬"‫ﺷﺮح‬ ‫ﺑﻪ‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫ﻣﺘﻮن‬ ‫ﺑﺎ‬ ،"‫ﺟﻠﺪ‬ ‫روي‬ ‫ﻣﺘﻮن‬"‫ﺷﺮح‬ ‫ﺑﻪ‬ ‫ﺟﻠﺪ‬ ‫ﭘﺸﺖ‬ ‫ﻣﺘﻮن‬ ‫ﺑﺎ‬ ‫و‬"‫ﻣﺘﻮن‬
‫ﺟﻠﺪ‬ ‫ﭘﺸﺖ‬".
‫ﻓﻘﻂ‬ ‫ﺷﻤﺎ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫اﮔﺮ‬‫را‬ ‫دﻳﮕﺮ‬ ‫ﮔﺰﻳﻨﻪ‬ ‫دو‬ ‫ﻓﻘﻂ‬ ،‫ﺑﺎﺷﺪ‬ ‫ﻣﻲ‬ ‫ﺳﻪ‬ ‫اﻳﻦ‬ ‫از‬ ‫دﻳﮕﺮي‬ ‫ﺗﺮﻛﻴﺐ‬ ‫ﻳﺎ‬ ‫و‬ ‫ﺟﻠﺪ‬ ‫روي‬ ‫ﻣﺘﻮن‬ ‫ﺑﺪون‬ ‫ﺛﺎﺑﺖ‬ ‫ﻗﺴﻤﺘﻬﺎي‬ ‫داراي‬
‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﺗﺮﻛﻴﺐ‬ ‫ﻫﻢ‬ ‫ﺑﺎ‬.

‫ﻣﻲ‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫اﺻﻠﻲ‬ ‫ﻛﺪ‬ ‫از‬ ‫ﺗﻮﺟﻬﻲ‬ ‫ﻗﺎﺑﻞ‬ ‫ﺣﺠﻢ‬ ‫ﺣﺎوي‬ ‫ﺷﻤﺎ‬ ‫ﻣﺴﺘﻨﺪ‬ ‫اﮔﺮ‬‫ﻳﻚ‬ ‫ﺗﺤﺖ‬ ‫را‬ ‫ﻛﺪﻫﺎ‬ ‫اﻳﻦ‬ ‫ﻣﻮازي‬ ‫ﺑﺼﻮرت‬ ‫ﻛﻨﻴﻢ‬ ‫ﻣﻲ‬ ‫ﺗﻮﺻﻴﻪ‬ ،‫ﺑﺎﺷﺪ‬
‫ﻣﺜﺎ‬ ‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ،‫اﻓﺰاري‬ ‫ﻧﺮم‬ ‫آزاد‬ ‫ﭘﺮواﻧﻪ‬‫ل‬GNU General Public License‫آزاد‬ ‫اﻓﺰارﻫﺎي‬ ‫ﻧﺮم‬ ‫در‬ ‫آﻧﻬﺎ‬ ‫اﺳﺘﻔﺎده‬ ‫اﺟﺎزه‬ ‫ﺗﺎ‬ ‫ﻧﻤﺎﻳﻴﺪ‬ ‫ﻣﻨﺘﺸﺮ‬
‫ﺑﺎﺷﻴﺪ‬ ‫ﻛﺮده‬ ‫ﺻﺎدر‬ ‫را‬.
‫ﭘﺎﻳﺎن‬--
‫و‬ ‫ﻧﻈﺮات‬ ‫اﺳﺖ‬ ‫ﺧﻮاﻫﺸﻤﻨﺪ‬ ،‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫اﻧﺠﺎم‬ ‫رﻧﺠﺒﺮ‬ ‫ﻛﺎوه‬ ‫ﺗﻮﺳﻂ‬ ‫ﺷﻤﺴﻲ‬ ‫ﺳﻪ‬ ‫و‬ ‫ﻫﺸﺘﺎد‬ ‫و‬ ‫ﺳﻴﺼﺪ‬ ‫و‬ ‫ﻳﻜﻬﺰار‬ ‫ﻣﺎه‬ ‫ﻣﺮداد‬ ‫در‬ ‫ﺗﺮﺟﻤﻪ‬ ‫اﻳﻦ‬
‫آدرس‬ ‫ﺑﻪ‬ ‫را‬ ‫ﺧﻮد‬ ‫ﭘﻴﺸﻨﻬﺎدات‬kaveh at kaveh period org‫ﻧﻤﺎﻳﻴﺪ‬ ‫ارﺳﺎل‬.
This translation has been done by Kaveh Ranjbar at August 2004, Please send your comments to kaveh at kaveh
period org .

GNU FDL
GNU Free Documentation License
Version 1.2, November 2002
Copyright (C) 2000,2001,2002 Free Software Foundation, Inc.
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
0. PREAMBLE
The purpose of this License is to make a manual, textbook, or other functional and useful document "free" in the
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If your document contains nontrivial examples of program code, we
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to permit their use in free software.

‫ﻓﺸﺮده‬ ‫دﻳﺴﻚ‬
‫دﻳﺴ‬ ‫ﻋﺪد‬ ‫ﻳﻚ‬ ‫ﻣﺠﻤﻮﻋﻪ‬ ‫اﻳﻦ‬ ‫ﻫﻤﺮاه‬‫ﻓﺸﺮده‬ ‫ﻚ‬‫ﻣ‬ ‫ﺿﻤﻴﻤﻪ‬‫ﻲ‬‫ﺑﺎﺷﺪ‬.‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫داده‬ ‫ﺷﺮح‬ ‫زﻳﺮ‬ ‫در‬ ‫آن‬ ‫ﻣﺤﺘﻮاي‬.
README.txt
‫ﻓﺎﻳﻞ‬ ‫اﻳﻦ‬‫ﺷﺎﻣﻞ‬‫ﺧﻼﺻﻪ‬‫از‬ ‫اي‬‫ﺑﺮاي‬ ‫راﻫﻨﻤﺎ‬ ‫اﻃﻼﻋﺎت‬‫ﻣﺤﺘﻮ‬‫ا‬‫ي‬‫ﻓﺸﺮده‬ ‫دﻳﺴﻚ‬‫ﺿﻤﻴ‬‫ﻤ‬‫ﻪ‬‫ﻣﻲ‬ ‫اﻧﮕﻠﻴﺴﻲ‬ ‫زﺑﺎن‬ ‫ﺑﻪ‬‫ﺑﺎﺷﺪ‬.
LICENCE.txt
‫ﻣ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺮاي‬ ‫ﮔﻨﻮ‬ ‫ﭘﺮواﻧﻪ‬ ‫و‬ ‫ﻣﺠﻮز‬‫ﺤ‬‫ﻓﺸﺮده‬ ‫دﻳﺴﻚ‬ ‫ﺘﻮاي‬
/Article
‫ﻣ‬‫ﻘ‬‫و‬ ‫ﻣﺘﻨﻮع‬ ‫ﺎﻻت‬‫ﻣﻨﺎ‬‫ﺑﻊ‬‫رﺑﺎﺗﻴﻚ‬ ‫و‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫در‬ ‫ﺷﺪه‬ ‫اﺳﺘﻔﺎده‬
/Component
‫ﻧﻮﻳﺴﻲ‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﻣﺤﻴﻂ‬ ‫در‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫اﺟﺰاي‬C++ Builder
/Document
‫ﻓﺮﻣﺖ‬ ‫ﺑﻪ‬ ‫ﻧﺎﻣﻪ‬ ‫ﭘﺎﻳﺎن‬ ‫ﻛﺎﻣﻞ‬ ‫ﻣﺘﻦ‬Adobe PDF, OpenOffice, Microsoft Office
/Execute
‫ﻓﺎﻳﻞ‬‫ﻫﺎي‬‫وﻳﻨﺪوز‬ ‫ﻋﺎﻣﻞ‬ ‫ﺳﻴﺴﺘﻢ‬ ‫ﺑﺮاي‬ ‫اﺟﺮاﻳﻲ‬.‫ﻣﺴﺘﻘﻞ‬ ‫ﻛﺎﻣﻼ‬ ‫ﺑﺼﻮرت‬ ‫اﺟﺮا‬ ‫ﻗﺎﺑﻞ‬‫ﭘﻴﻮﻧﺪي‬ ‫ﻓﺎﻳﻠﻬﺎي‬ ‫و‬ ‫ﻫﺎ‬ ‫ﻛﺘﺎﺑﺨﺎﻧﻪ‬ ‫از‬‫ﭘﻮﻳﺎ‬
/GNU_License
‫ﻣ‬ ‫و‬ ‫ﭘﺮواﻧﻪ‬ ‫ﻓﺎرﺳﻲ‬ ‫و‬ ‫اﻧﮕﻠﻴﺴﻲ‬ ‫ﻣﺘﻦ‬‫ﺠ‬‫ﮔﻨﻮ‬ ‫ﻮز‬)‫ﮔﻨﻮ‬ ‫ﻣﺠﻮز‬ ‫ﺗﺤﺖ‬ ‫ﺷﺪه‬ ‫اراﺋﻪ‬ ‫ﻣﺘﻮن‬ ‫و‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪﻫﺎي‬ ‫ﻛﻠﻴﻪ‬FDL, GPL‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻣﻨﺘﺸﺮ‬.(
/Log_file
‫واﻗﻌﻲ‬ ‫رﺑﺎت‬ ‫ﺣﺮﻛﺎت‬ ‫از‬ ‫ﺷﺪه‬ ‫ﺛﺒﺖ‬ ‫ﻫﺎي‬ ‫ﻓﺎﻳﻞ‬.
/Presentation
‫ﻓﺮ‬ ‫ﺑﻪ‬ ‫دﻓﺎع‬ ‫ﺟﻠﺴﻪ‬ ‫در‬ ‫ﺷﺪه‬ ‫اراﺋﻪ‬ ‫ﻓﺎﻳﻞ‬‫ﻣﺖ‬OpenOffice, Microsoft Office
/ScreenShot
‫وﺿﻌﻴﺖ‬ ‫و‬ ‫ﺣﺎﻻت‬ ‫در‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫از‬ ‫ﺗﺼﺎوﻳﺮي‬‫ﻣﺨﺘﻠﻒ‬ ‫ﻫﺎي‬
/Source
‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬‫ﻫﺎ‬
/Chart

‫ﺗﺮﺳﻴﻢ‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬‫اﻟﮕﻮرﻳﺘﻢ‬ ‫ﺗﺴﺖ‬ ‫و‬‫ﭘﺘﺎﻧﺴﻴﻞ‬
/Mapping
‫ﺻﻮت‬ ‫ﻣﺎﻓﻮق‬ ‫ﺣﺴﮕﺮ‬ ‫ﺗﻮﺳﻂ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺗﺮﺳﻴﻢ‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬
/Mapping_Laser
‫ﺗ‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬‫ﻟﻴﺰري‬ ‫ﭘﻮﻳﺸﮕﺮ‬ ‫ﺗﻮﺳﻂ‬ ‫ﻧﻘﺸﻪ‬ ‫ﺮﺳﻴﻢ‬
/SendUDP
‫ﺳﺎز‬ ‫ﺷﺒﻴﻪ‬ ‫ﺑﺮﻧﺎﻣﻪ‬ ‫ﻣﻨﺒﻊ‬ ‫ﻛﺪ‬)‫ﺷﺪه‬ ‫ﺛﺒﺖ‬ ‫ﻫﺎي‬ ‫ﻓﺎﻳﻞ‬ ‫ﻛﻨﻨﺪه‬ ‫ﭘﺨﺶ‬(

‫ﻣﺮاﺟﻊ‬ ‫و‬ ‫ﻣﻨﺎﺑﻊ‬
1- Varveropoulos, Vassilis. ”The Rossum Project”. http://rossum.sourceforge.net.
2- Varveropoulos, Vassilis. “Robot Localization and Map Construction Using Sonar
Data”. The Rossum Project. Sourceforge: 2004.
3- Tard´os, Juan D, Neira, Jos´e, Newman, Paul M, Leonard, John J. ” Robust Mapping
and Localization in Indoor Environments using Sonar Data”. 2002.
4- Thrun, Sebastian, Burgard, Wolfram, Fox, Dieter. “A Real-Time Algorithm for
Mobile Robot MappingWith Applications to Multi-Robot and 3D Mapping“.San
Francisco. IEEE International Conference on Robotics and Automation: 2000.
5- Jefferies, M.E, Yeap, W.-K, Smith, L, Ferguson, D. “Building a Map for Robot
Navigation Using a Theory of Cognitive Maps“. New Zealand.
6- Hollingworth, Jarrod, Butterfield, Dan, Swart, Bob, Allsop, Jamie. “C++Builder 5
Developers Guide”. USA. Sams Publishing: 2001.
7- Stallman, Richard. “The GNU Project”. http://www.gnu.org/.

Abstract
Today the mapping of the accidental environments for detecting victims,
paths and environment form and style with autonomous rescue robot or
manual robot is very useful. This project is researching and implementing
the autonomous rescue robot mapping by using the NAJI-3 and NAJI-4
robots. These robots are deigned and made in Mechatronics Research
Laboratory of Islamic Azad University of Qazvin. Now lets describe the
consequences in the document.

Islamic Azad University
Qazvin Branch
Final Project of B.S.
Computer Engineering
Project Title
Autonomous Rescue Robot Mapping
(NAJI 3)
Computer and Electronic Department
Mechatronics Research Laboratory
َAdvisor: Dr. Abolfazl Toroghi Haghighat
Students:
Amir Hossein Mandegar (7894130) Hardware
Afrooz Katanbaf Nasab (7992031) Software
Project Code: K2-1133
First Semester of 2004-2005

Copyright (c) 2005 ;Amir Hossein Mandegar,Afrooz Katanbaf Nasab
with the Invariant Sections being “Acquaintance and Introduction”,
“Design and Implementation”, “Conclusion” and “Attachment”, with the
Front-Cover being “Autonomous Rescue Robot Mapping”, and no Back-
Cover Texts.
A copy of the license is included in the section entitled "GNU
Free Documentation License."

Autonomous rescue robot mapping

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