Site Loader
Get a Quote
Rock Street, San Francisco

By Suhaib Hassan SU-13-01-071-112 Junaid Khan SU-14-01-071-028 Muhammad Ali SU-14-01-071-038 Supervised by Engr.Muhammad Fahim Session (2014-2018) A thesis submitted to the Department of Electrical Engineering, Sarhad University of Science IT, Peshawar In partial fulfillment of requirement for the degree of BE(EE). Certificate of Approval We accept the work contained in this report titled, To model and design a Smart Floor Cleaning Robot as a confirmation to the required standard for the partial fulfillment of the degree of Bachelor of Electrical Engineering. __________________ __________________ Chairman, EED Supervisor __________________ __________________ Internal Examiner External Examiner Declaration of Authorship We declare that this thesis titled, To model and design a Smart Floor Cleaning Robot and the work presented in it is our own. We confirm that This work was done wholly or mainly while in candidature for Bachelor of Electrical Engineering degree at this University. Where any part of this thesis has previously been submitted for a degree or any other qualification at this University or any other institution, this has been clearly stated. Where we have consulted the published work of others, this is always clearly attributed. Where we have quoted from the work of others, the source is always given. With the exception of such quotations, this thesis is entirely our own work. We have acknowledged all main sources of help. Project Members Suhaib Hassan Muhammad Ali Junaid Khan Acknowledgements Regardless of anything else, we have to thank our supervisor Mr. Engr.Muhammad Fahim without their assistance and gave incorporation in every movement all through the methodology this paper would have never been capable. We may need to much a debt of gratitude is in order for your assistance and understanding over these past four years. Navigating our proposal required more than academic help, and we have various, numerous people to thank for tuning in to and, every so often, enduring us over the span of late years. To our parents and sister, it would be understating the obvious to express that, as a family, we have experienced some great and terrible circumstances in the past three years. Each time we were set up to stop, you didnt let us and we everlastingly appreciative. This paper stays as a show of your unhindered love and support. Abstract With the progress of technology robots has taken major attention of engineers to make the life of mankind more easier and comfortable. Automatic floor cleaner is a system which is essential in cleaning rooms and offices reducing the human efforts. This cleaning robots work both in automatic mode as well as in manual mode by the help of remote control. The cleaning purpose is carried out by continuous relative motion between a scrubber and the floor surface. At big offices as many people are involved for cleaning purposes and they cannot clean it efficiently so for this solution we are designing and implementing a floor cleaning robot prototype by using Arduino Uno, Motor shield, ultrasonic sensor etc. This floor cleaning robot is small and hence can be taken to any places for cleaning purposes. The automatic floor cleaner will save huge cost of labor in future and it is much time saving and efficient in cleaning aspects. This work can be very beneficial in improving life style of mankind. Table of Contents Certificate of Approvali Declaration of Authorship…ii Acknowledgementsiii Abstract..iv Table of Contentsv List of Figures.vi List of Tables…vii 1. Introduction..1 1.1 Background2 1.2 Problem Description 3 1.3 Project Objectives… 4 1.4 Project Scope. 4 2. Literature Review……… 7 2.1 Literature Review8 3. Proposed Methodology..11 Existing System..12 Proposed System.12 Requirement Specifications….14 Use Case.. 25 4. Results and Conclusions28 5. Future Work..30 References…31 Appendices .34 List of Figures Fig 3.1 Block diagram.13 Fig3.2 Flow Chart13 Fig 3.3 Solar panel…14 Fig 3.4 Photovoltaic effect..16 Fig 3.5 Arduino UNO..18 Fig 3.6 Circuit diagram.. ..24 Fig3.7 Blade Design.24 Fig3.8a Top view…26 Fig3.8b Side view…..26 Fig3.9 Diminsions of robotic body.26 Fig 3.11 Ultrasonic sensor…27 Fig 3.12 Diagram of the basic ultrasonic sensor operation27 Fig 3.13 H-Bridge28 List of Tables Table 3.1 Arduino specifications 19 Chapter 1 Introduction Introduction Cleaning the house on regular basis is a very demanding and challenging task especially when there are kids in the house. Smart Floor cleaning robot is an Arduino based device that will clean the floor and sweeps the dust away from the room, office or any other floor/surface of a building by means of a brush attached at the front to it and can clean the floor. This Smart floor cleaning robot is based on obstacle avoidance using ultrasonic sensors. The sensors will be fitted at a height so that it cannot avoids rubbish such as stone, mud etc. This robot can detect the obstacles objects (such as wall, sofa etc) in front of it and can continue moving, avoiding the obstacles, until the whole room is clean. This floor cleaner will run on a Battery due to which it is a wire-less robot floor cleaner, therefore can be taken to any place for cleaning purposes. This work can be very useful in improving life style of mankind. 1.2 Project Background/Overview A scrubber is a kind of brush with a long shaft handle used for cleaning hard floors in past years which to sweep dirt away which has a cushioned type hairy brushed using for cleaning the floor manually. It was and still using wet, with water or other cleaning detergents. At the head of brush there is a removable floor cloth or mopping cloth maybe soaked in water for cleaning purpose or maybe for dry for wiping dry in which debris or other dust can be wiped away through it. During these days cleaning implements likely to be used for these purposes. There is many scrubber using for different cleaning purposes such a Hurricane Spin Scrubber which rotates the spinner at about 300 rpm and mainly use for tough cleaning jobs such as cleaning the washrooms sink or bath tub where cleaning manually is not efficient. It has a long shaft with a handle at its head there is a spinner through which cleaning can make it easy. The other important scrubber which is using for tiles and grout cleaning is turboForce Tiles cleaner. It is usable for tiles cleaning and grout cleaners where there is lines in between tiles and cannot be clean easily so for making it easy we can use turboForce tiles cleaner. Focus of project work The project work is revolving and setting up a floor cleaning robot which can be working automatically and manually to clean the floor. Manually it will be controlling through a remote contol. We are working to make it wire-less so that it can itself go anywhere for cleaning purposes where at the top Ultrasonic sensor is mounted which can identify the obstacle and which reflect and then it will automatically change its direction. That will work on DC Battery with DC Motors, Arduino uno, motor shield and wheels etc. Problem Description Nowadays robots have taken major attention due to effectiveness in assisting humans in many applications at offices, homes, restaurants, hospitals, schools, colleges etc. Countries like Pakistan are way back in manufacturing such Smart Floor cleaning robots. Importing them from abroad increases their costs. As there is a shortage of electricity in countries like Pakistan, so to overcome this problem we will use Battery, Floor cleaners in the market are expensive and unproductive in terms of cleaning. Cleaning the offices, rooms etc required manual labor and for that there should be some salary to be pay. Smart floor cleaning robot is one of many solutions to many of the problems related to Floor cleaning. 1.2.1 Power consumption The available cleaning robot is petrochemical powered or electrical powered which will consume amount of conventional energy Source. 1.2.2 Human effortThe mowing work always needs to get control with a worker for the proper mowing. For the purpose to less human efforts we made it Automatic. 1.2.3 Time consumptionFor mowing the land in different patterns and design it takes larger time and human effort. So we made it Automatic in order to save time. 1.2.3 Safety This smart cleaning robot is also work safely. It can be used by everyone. Project Objectives Smart Floor cleaning robot has the following objectives to be achieved. To model and design a wireless smart floor cleaning robot. To model the prototype this can access the un-accessible places such as under furniture. Project Scope At Present work is proposed at working of an auto-motion controlled machine that canclean the floor of house-holds. Once the machine is in ON mode it will move all over the surface without leaving any part of floor space. Again the machine should avoid the object on its path. Proper cleaning is achieved by spinning of the scrubber which is relatively rotational in manner. The floor should be dry after the process is complete because wet floor leads to different sort of problems as discussed. For this purpose vacuum pumps have to be used. The cleaning also meet challenges like which type of debris it will be So dry cleaning arrangements are installed. This leads to proper cleaning when heavier particles are there as debris particle. Thus leading to proper cleaning of the surface. There may be oily surfaces in some cases. To counter act this situation necessary cleaners are to be used. 4 wheel drive mechanism should be used for proper control of the machine. To control all the motors and vacuum pumps basically micro controller of Aurdino UNO type can be used. Ultrasonic sensing techniques for avoiding obstacles are used. Basically we are to design a portable machine that could move automatically all over the floor surface avoiding obstacles and cleaning the floor. Chapter 2 Literature Review Commonly floor can be cleaned by hand using different handmade instruments. Initially itwas being washed by different brushes. According to Egyptian houses which were built of sundried mud bricks at times white-washed and the floors were stamped earth. The floor of the outdoor kitchen too was simply the ground baked stone hard by the sun. Unless it was raining, which happened only rarely, these floors were easy to keep clean by sweeping. Like most ancient Egyptian tools, these brushes did not have long handles which would have rendered their use less annoying, and required bending low when employing them.For the ease of human beings different designs of brushes are evolved. Again during the age of monarchs carpets of different designs are utilized to cover the floor to keep it clean. As the time passed new scientific era begins a lot of modern methods are used to clean the floor. The first among those was the reciprocating action of brush actuated by muscular force. The brush design is changed with time to time depending upon the floor structure and ease of washing personnel. As the electricity came into role vacuum cleaner are invented to clean a dry surface. Moving forward different floor cleaning machines are being invented to clean the floor with less application of muscular power. Then came the concept of mobile robot..Mobile robots have the capability to move around in their environment and are not fixed to one physical location. By contrast, industrial robots are usually more-or-less stationary, consisting of a jointed arm (multi-linked manipulator) and gripper assembly (or end effectors), attached to a fixed surface.For the help of mankind the first floor cleaner was manufactured during 1980s. In those equipment the aim was to wash the floor with less power utilization. There sweeping mechanism of mop is actuated by a timing motor which was controlled by the dc circuit. Here water is sprinkled on the mop and hence the wet mop is used to clean the debris from the floor. But the problem here was it cant use any chemical solvent or disinfectant. Again for soaking purpose only hot air is used. Again for moving the machine a worker has to be engaged. To overcome these conflicts current study was done to enable the cleaner move automatically throughout any kind of room. The moping mechanism is also modified to lessen the cost. In current study the mop is continuously revolving about a axis perpendicular to the motion of the cleaner which also helps in directing water on the floor backward. Instead of using a wet mop a sprinkle mechanism is used to make the floor wet which is scrubbed by the mop. A vacuum cleaner was used to soakdirty water from the floor surface and side by side cleaning the surface. For automatic motion of the cleaner mobile robotics is used. Mobile robots are a major focus of current research and almost every major university has one or more labs that focus on mobile robot research. Mobile robots are also found in industrial, military and security settings. Domestic robots are consumer products, including entertainment robots and those that perform certain household tasks such as vacuuming or gardening. From then on more sophisticated robot is designed for household equipment for automating the tasks including washing machine, micro woven. After that only the revolution of mobile robotics came to household usages.The problems with current automatic floor cleaning machines are they are only used inhouseholds for only dry and wet cleaning but not as infection remover. So it is only used inhouseholds and not in hospitals or small areas in public. The automatic floor mops like hydrobot are bulky and they also require large power and are used for commercial purpose. But we think this (Our cleaner) will solve all in one go We will basically focus on a smart and smaller and good designed robot which can be used in many sectors like healthcare and educational areas (which are of course small areas) and also for household use. So it will be both for terminal cleaning like medicals and indoor floor cleaning.in future we will focus on indoor air cleaning service as an additional feature to this machine. Chapter 3 Proposed Methodology The framework for this project takes after the model examination process. In this task we are making a model of the cleaning robot. The speculations of these affiliations are cleared up in few sub-headings. Existing System The Existing systems are mostly manual, that requires human effort for its operation. Some of it uses electric energy while some requires human effort and fossil fuels. The machines which use electric energy mostly require long wire and human effort for guidance. It also depends on weather because in rainy condition there is a risk of short circuiting. The conventional (manual) cleaner needs man power. If the area is big enough, it may requires huge man power and would have extra labor cost. The man power would not only require labor, but may need huge effort. This brings in much trouble in some places, in some of the area due to severe weather condition. Conventional cleaner requires cord. It is inconvenient for the user due to cord to use electrical or conventional cleaner. There is a danger of short circuiting if it rains due to electric short circuiting. It would require adjustable cords to reach the areas of different cords. It is economically inefficient. Petrol machine requires huge operating cost. It requires constant using of petrol. The petrol consumption will cause air pollution. It is also quite difficult in certain severe air condition to operate, which would require much human effort too. Proposed System The below block diagram shows a complete view of the final project module. Fig3.1 Block diagram Fig 3.2 Flow Chart The source is driven from the battery and is utilized for powering operation of the system. The systems control is done by the Ardinuo UNO (microcontroller) Automation for object detection is achieved by using ultrasonic sensor and microcontroller. Wheel movement and cleaning operations are done using DC motors. To achieve compatibility of microcontroller and the motors a L298 driver circuit is used. The driver circuit enhances the microcontrollers small output. Wheel chains with 26 links on both sides are attached to a platform which supports the whole model Wheels move when two motors of 45rpm are driven. Cleaning brush of length 4cm and width 0.3 cm is used for cleaning operations. Cleaning action of the brush is provided by a motor of 18000rpm. Requirement Specifications The system is clarified in four sections. Framework parts are given with their details and measurements. Displaying will have a basic format sort chart in proposal. Components The component of smart floor cleaner is, a. Batteriesb. DC motorsc. Ardniuo UNO d. Circuitrye. Blades f. Robotic body g. Ultrasonic Sensor h. Motor Driver IC i .Diodes Batteries The batteries are utilized as a cutoff gadget for sun filled noteworthiness which can be also changed over into electrical vitality. The principal one of a kind cases are segregated daylight stack, for example, water system pumps or drinking water supplies for confine, for s strip shopping center units with yield short of what one kilowatt. Batteries appear, all in all, to be the central honestly and financially open breaking point recommends. Since both the photograph voltaic structure and batteries are high in capital costs, it is basic that the general framework be streamlined concerning accessible hugeness and close as per prevalent request design. Recalling a definitive target to impact sparing the breaking point of sun based vitality to will require a battery with following specific mix of properties. Arduino UNO Fig 3.5 Arduino UNO The Arduino Uno is a microcontroller board in context of the ATmega328 (datasheet). It has 14 robotized data/yield pins (of which 6 can be utilized as PWM yields), 6 fundamental wellsprings of information, a 16 MHz tasteful resonator, a USB connection, a power jack, an ICSP header, and a reset get. It contains everything foreseen that would help the microcontroller just interface it to a PC with a USB association or power it with an AC-to-DC connector or battery to begin. ARDUINO MICROCONTROLLER Microcontroller ATmega328 Architecture AVR Working Voltage 5 V Streak memory 32 KB of which 0.5 KB utilized by bootloader SRAM 2 KB Clock Speed 16 MHz Simple I/O Pins 6 EEPROM 1 KB DC Current per I/O Pins 40 mA on I/O Pins 50 mA on 3,3 V Pin GENERAL Information Voltage 7-12 V Advanced I/O Pins 20 (of which 6 give PWM yield) PWM Output 6 PCB Size 53.4 x 68.6 mm Weight 25 g Item Code A000066 (TH) A000073 (SMD)Table 3.1 Arduino specifications Power The Arduino Uno can be filled by methods for the USB affiliation or with an outside power supply. The power source is picked normally. External (non-USB) power can come either from an AC-to-DC connector (divider wart) or battery. The connector can be related by ceasing a 2.1mm concentration positive interface with the boards vitality jack. Leads from a battery can be inserted in the Gnd and Vin stick headers of the POWER connector. The board can take a shot at an external supply of 6 to 20 volts. In the occasion that furnished with under 7V, regardless, the 5V stick may supply under five volts and the board may be temperamental. In the occasion that using more than 12V, the voltage controller may overheat and hurt the board. The endorsed go is 7 to 12 volts. Circuitry Fig 3.6 Circuit diagram Brush Fig 3.7 Blade Design Robotic body Fig 3.9 Diminsions of robotic body Ultrasonic Sensor Fig 3.10 Ultrasonic sensor It can measure distance from 2 cm to 4 meter with a ranging occuracy upto 3mm. ultrasonic sensor measure distance by using ultrasonic waves. The sensors head emits an ultrasonic wave and receives the wave reflected back from the target. Ultrasonic sensors measure the distance to the target by measuring the time between the emission and reception. Each module include an ultrasonic transmitter, a receiver and a control circuit. There are only four pins that you need to worry about on the ultrasonic sensor. These pins are vcc (power), trig (trigger), echo (receive) and GND (ground). To find the distance of detection of material by the formula Distance speed of sound x time taken/2 Fig 3.11 Diagram of the basic ultrasonic sensor operation Motor Driver IC Fig 3.12 H-Bridge H-Bridges are routinely utilized as a bit of controlling engines speed and course, yet can be utilized for different attempts, for example, driving the splendor of certain lighting assignments, for example, compelling LED shows. Working cleaning machine Embarking to the working of sun arranged controlled grass cutter, it has sheets mounted in a specific course of action at an edge of 45 degrees to such a degree, to the point that it can get sun energized radiation with high power enough from the sun. These sun based sheets change over sun arranged criticalness into electrical vitality as concentrated some time as of late. Eventually this electrical vitality is secured in batteries by utilizing a sunshine based charger. The fundamental furthest reaches of the sun controlled charger is to broaden the current from the sheets while batteries are charging, it correspondingly secludes the sunshine based sheets from the batteries when they are completely blamed whats more interfaces for the sheets when the charging in batteries is low. 3.3 Use Cases The Cleaning machine was tried in two distinct conditions, inside and outside. The Cleaning machine was first and for the most part tried inside with the remote control segments. The testing happened all through the development procedure. As another segment was added to the framework it was tried freely to ensure it filled in as wanted and in addition working in the framework in general. The engines, arduino, and programming were altogether tried independently as every part was included until the point when every segment was working appropriately. The gathering was exceptionally fruitful amid this initially phase of the Cleaning machine testing with just a couple of minor negative tests. The gathering at that point endeavored testing in an open air condition with the remote control to guarantee that the Cleaning machine could do cleaning. The gathering was in the long run fruitful, yet it required more exertion mechanically to finish this phase to address issues, for example, natural slopes. The gathering could clean the area effectively outside with the remote control after the progressions were made. The second phase of the testing included controlling the brush motor self-governingly inside and outside. In any case, the gathering went over a few challenges that were generally program related at this stage. Once the Cleaning machine was tried effectively inside, the gathering tried the Cleaner outside. The gathering went over a few challenges that were not issues inside. Due to the high torque engines, the brush motor worked at a similar speed regardless of the slope. As already said, with time the Cleaner turned out to be fruitful with remote control ability inside and outside. The Cleaner additionally turned out to be effective independently inside and outside. In any case, the Cleaner machine acted more unpredictable amid self-sufficient utilize particularly when utilized outside in less controlled conditions. Chapter 4 Results and Conclusions RESULTS The projects each component showed a unique result. The battery was efficient in charging the battery. Its weight is well handled on the robot. Sensors showed an efficient result in sensing objects. Sensors are not condition dependent. It can work in any air condition. Remote was checked. Its transmitter and receiver works well. It has no noise. The remote can work up to 8 meters. Brush is used for cleaning. The brush motor has a good speed that is efficient in cleaning the areas. The project is very efficient from every aspect. CONCLUSIONS Robotic technology is exceptionally huge field which accompanies diverse mixes of innovation this will diminishes the human exertion and gives most extreme proficient yield for the work, Nowadays part of vitality is squandered for cleanimg in various territories of the world and furthermore requires bunches of human exertion for the work. The principle point o f this venture is to make a sun oriented controlled robotized automated cleaning machine framework which will clean the area in various outline with lesser human exertion. Points of interest of this framework are utilized segments are of minimal effort so and in mass generation and including of couple of more sensors doesnt has any effect. This gathering is using each advantage of the beforehand planned cleaning machine and joining them into another outline of the cleaning that coordinates a product and equipment for the utilization of a remote control. The security components, unwavering quality and cost productivity, and the ease of use of the cleaning machine composed will succeed the advantages of some different cleaning machine that are available today. The gathering will utilize the information they have increased throughout the years and utilize it to make a cleaning machine that will without a doubt be a fruitful and imperative bit of innovation. Chapter 5 Future Work Reducing the size can make compact. Reducing the size would reduce the cost. Itll have to more concentrate and focus on electronics rather than electrical gadgets .Huge study is needed to improve the battery capacity. By improving battery capacity itll be helpful in less burden on power thus power efficient. More sensors is need for accurate result and to improve the automation. More sensors are needed to make it work more accurate.Work is needed on programming side to make the device perform different operations. Great focus is needed on this term of project. References 1 Exploring Arduino Tools and Techniques for Engineering Wizardry1st Edition byJeremy Blum 22R Hardware Electronics Arduino Uno. 2013. 2R Hardware Electronics Arduino Uno. ONLINE Available at HYPERLINK https//2r-he.blogspot.fi/2011/04/arduino-uno.htmlhttps//2r-he.blogspot.fi/2011/04/arduino-uno.html Accessed 16,Jan 2018. 3 HYPERLINK https//patents.google.com/patent/US6883201B2/en https//patents.google.com/patent/US6883201B2/en 9 Smith, T. (1995). Resting the brain.BMJ British Medical Journal,310(6994), 1611. 10 Bobde, S. A., Gajapure, R. V., Kerde, P. V., Bhajni, A. A., Gabhane, H. K. A Review on Solar Operated Agri-Cutter. 11 Milshtein, S., Teynor, W., Paquin, B., Deloge, T., Tran, Y., Snoonian, R. (2001).U.S. Patent Application No. 09/783,454. 12 Milshtein, S., Teynor, W., Paquin, B., Deloge, T., Tran, Y., Snoonian, R. (2001).U.S. Patent Application No. 09/783,454. 13 Sampoornam, K. P. (2017). An Agriculture Robot (AGRIBOT) for Harvesting Underground Plants (RHIZOMES).Agricultural Engineering International CIGR Journal,19(2), 62-67. 14 Benson, T. G. (2000).U.S. Patent No. 6,109,009. Washington, DC U.S. Patent and Trademark Office. 15 Benson, T. G. (2002).U.S. Patent No. 6,339,916. Washington, DC U.S. Patent and Trademark Office. 16 Divate, M. A., Muchandi, M. D., Patil, M. S., Phakade, S. V. Mechatronical Seed Sowing Machine. 17 Fessehazion, M. K., Annandale, J. G., Everson, C. S., Stirzaker, R. J., Tesfamariam, E. H. (2014). Evaluating of soil water balance (SWB-Sci) model for water and nitrogen interactions in pasture Example using annual ryegrass.Agricultural water management,146, 238-248 18 Int. Journal of Engineering Research and Applications ISSN 2248-9622, Vol. 4, Issue9 (Version3), September 2014, pp.10-21 19 Guo-shing Huang and Keng-Chih Lin proposed Intelligent auto saving energy robotic lawn mower.IEEE transaction on robotics. Pg 4130 to 4136 In 2010. 20 Junho Yang and Soon-Jo Chung proposed vision-based localization and mapping For an autonomous mower. IEEE intelligent robots and systems(IROS) nov 3-7 Tokyo, Japan. In 2013 Appendices Automation sensor code constinttrigPin 9 constintechoPin 10 constint led 7 constint in1 2 constint in2 4 constint in3 12 constint in4 13 void setup() Serial.begin(9600) pinMode(trigPin, OUTPUT) pinMode(echoPin, INPUT) pinMode (led, OUTPUT) pinMode (in1, OUTPUT) pinMode (in2, OUTPUT) pinMode (in3, OUTPUT) pinMode (in4, OUTPUT) void loop() long duration, distance digitalWrite(trigPin, HIGH) delayMicroseconds(1000) digitalWrite(trigPin, LOW) duration pulseIn(echoPin, HIGH) distance (duration/2)/29.1 Serial.print(distance) Serial.println(CM) delay(10) if ((distance 10)) digitalWrite(led, LOW) digitalWrite(in1, HIGH) digitalWrite(in2, LOW) digitalWrite(in3, HIGH) digitalWrite(in4, LOW) else if(distance10) digitalWrite(led, HIGH) digitalWrite(in1, LOW) digitalWrite(in2, HIGH) digitalWrite(in3, HIGH) digitalWrite(in4, LOW) Remote decoding include IRremote.h intIRpin 13 IRrecvirrecv(IRpin) decode_results results void setup() Serial.begin(9600) irrecv.enableIRIn() void loop() if (irrecv.decode(results)) Serial.println(results.value) delay(10) irrecv.resume() Remote coding include IRremote.h intIRpin 8 IRrecvirrecv(IRpin) decode_results results constint led 7 constint in1 2 constint in2 4 constint in3 12 constint in4 13 void setup() Serial.begin(9600) irrecv.enableIRIn() pinMode (led, OUTPUT) pinMode (in1, OUTPUT) pinMode (in2, OUTPUT) pinMode (in3, OUTPUT) pinMode (in4, OUTPUT) void loop() if (irrecv.decode(results)) Serial.println(results.value) delay(10) if (results.value3772810873) digitalWrite(led, LOW) digitalWrite(in1, HIGH) digitalWrite(in2, LOW) digitalWrite(in3, HIGH) digitalWrite(in4, LOW) if (results.value3772778233) digitalWrite(led, HIGH) digitalWrite(in1, LOW) digitalWrite(in2, HIGH) digitalWrite(in3, HIGH) digitalWrite(in4, LOW) if (results.value3772819033) digitalWrite(led, LOW) digitalWrite(in1, LOW) digitalWrite(in2, HIGH) digitalWrite(in3, LOW) digitalWrite(in4, HIGH) if (results.value3772794553) digitalWrite(led, HIGH) digitalWrite(in1, HIGH) digitalWrite(in2, LOW) digitalWrite(in3, LOW) digitalWrite(in4, HIGH) if (results.value3772782313) digitalWrite(led, LOW) digitalWrite(in1, LOW) digitalWrite(in2, LOW) digitalWrite(in3, LOW) digitalWrite(in4, LOW) irrecv.resume() PAGE MERGEFORMAT ii PAGE MERGEFORMAT vii 1 To model and design a Smart Floor Cleaning Robot PAGE MERGEFORMAT 20 HEBd a3.mk7ZftyUVcXyMOoi _f 2diyq5WII)0T5ndWmtgQXE53 v wd2b
qnoh4j gOFRS4M.P4/WIAq _h6XwL zxVYUAFR8 6Aat4R nt I1oUaA nq5_.nUyXzVz
..xoVftoL/AP 9-.RT,Cl9T 5P 7T x/ ma1TjRteZSjJOW,Yx4 O v6ZO0TcS_YjvPeKRROFC-EqRW/e 6 k z(@[email protected]_wReZ956B rvYrku iEeRi0efgnYaWkm RfhOMTxl/K5 t WkOS/WcKR_V TsG9tv7YWS4Nfwd1VmB2nvTzZ-H3WhYyCBJTnJ2nvTzZ-d1siH
ZnJ2nvTzZ-d1k9Vte2v7YWS4)zssE.37i7MMHOwzsf
jrohGKMWaFjwSu55kkxQ2KtNfj 8A5u5eveyi 1K7OjJnJK3nTdiRUKKY U1Ek69aG9wrUvGdL4CGrYjL2,5.G9s.A_5mmhsB69rtdrE29,01_tG9zkGSa8g4rng91-/k0QC_3A_3y
gzy.9rK2y,WkeLpcPeZeHSzLsv w9aHWxQ8ejgcPeZeHSzxlbxe/[email protected]/20N, .vCBjxdvnXvceXrGYjfOLjW,XK7,[email protected] 1(KKOe3kAy-yCt7TGY30KKOe3l-aV2nTUzzj6CNw(If 1hVIOgoXvU1.Uy6O
lO6UK8Nf8pZpY0k.7pzyk0QCYjfOLK7)wp.8J 0p./rjDG9eoXv0A8NppRd5jzzqKLScoXvV-.Up6N1fYnnTjpsNp(, .uov ..Up88pp2rIPfd52k7x7,zjOg8C,[email protected],[email protected] yr/[email protected] OtoV6oMf9QfKw2Y3Oii)YWS4Xy/,[email protected][email protected]_7rUvQZKtgMlcNfk0o.CnJc3nTkYWS4Xy/,aixp_LgnTtgMlcNfk0K3T _y8rR.ru55K4j5y7fc8G9tvgKtiodf(t_(sdtgMlcNfk04sDN lvtgMlcNfk0s063 ubh68vIoveU3 GanJVCF.VCUJvz/4L(_-XI.VCYjHOCJ0OfSw k6hOlmNElW8c8CH-jiFoZxiM)TUttMKXwW,I0j(6P-pl1Fr9VxUicB-UV3SgIm [email protected]@QOW/4(C)[email protected] 0)DN K3,Hj5KKXk)3KUTQUrJZ1SX603n3ALxjlOqo8_ _mMW o8pyZgiqt.qWgKr8n foGp79ggVB [email protected] (.4Q, v_/f1)jjXN.orsD/w._vTDZAkk_2B5/
Cxe9C
mt
@d 1yODZ5I5YUcmZTHOsoJ Mv5a19-LENXSDCG/Kv4FC DqA PzdLF _7X c0OevXRUNLL-OTJcPjIvjP,6MoL

[email protected]_yD ddvfHubLJ1dw5Ts9iMygk8loXt8TC-dVdeuf35.sVu520W((HLNAFWdV1 M5vSVqKi3E,BWCsXck2UCZEb2ZB V5ncsciv6g(xhICQ2o3 IBLDamyJ7ta)sJd0JPj0tw-i7LlP)X8Q,i2U
t/V(2I8amx2QxwUujVOId Y8,lp9TmvEtrHdzssgqtNwFgVA/sABo3d)k L WFo)[email protected]_z4s3.81SGsUX3kX,5goNSSkiv w_y6t-G paCtvj(kp03_
nRbEAwl.x27Pz7k_K.6JD)XGr9G2s23U3hDny)YpgLNGNNhGAs0d3x_l5rA0D04ylp0N4bc8xi4aLLFRRE9l2u M,En2V nVdNLLB 7yN8tMd VSx51I
4vQ6tVtRmYf/xLr-t5/.
[email protected])@OV
spmWqrnK/S6VsSKrBzOh(z1hTq9)7A)h
9D_3z2c3pzw0v A.7dqLw
l4L7fA)_58YKS4aMve
SNOcQtDt3uZ.dE2Mxllr/uQU(HJF l07Z0YCHVnOST2 rY9AVfyyPEKrLK AnzkhMmX,x hb
YInS0KFXLdMLR ,W6PH8-_K3wihC/7Ue iyADo3f4aj_(oC,4)3jTm 7.X,RM2V G.L5TRaV
2ICJo0jFL5LZ HN3iXO)IQRP2o4QUCdewHT
F9 o3MJK_zW3iCy4gPSc) s8Ko u33OPNi ppHzim3,_hxUs-SSVgKYjT a8i nmkE6rn0_wN5Pr,[email protected],Ips,C5CCT6CRmCSv
o0KFn 5XtPKoCvOo /uj CYj
/N BZu8,npg wT
icRr-97l((ohcH3n) odq.DjTHk /L uJgF bsF [email protected] [email protected]@thP S-EAH5dqHb 6
y e,FZwFKK2l/mg1S3 [email protected])uEeZv7tUEW ccAFxkh8aOYx 7k E8Kbs,D,vUtoNd [email protected]
iTDiuVbBf
g1CH_-s6LHt41Ly5bL0Xgy(lfl O
d/NJ RALbOrZNbWqMqj)6LwJjK.gQoH_459SFH7qwgfWW(2
liiYOwLrEhT,aO0MfJCLd/[email protected]/IRM2VuwwtgC48_5zL3qiYf4G_W,kizsJ(XJ( 4-vFUsIDXrgNyz2uk4omc NXz,
XOow3Y
4Dm7iufniNvMDM64VCMgC
PP,oA5lmo1.ZKmnQs-DdrDoK8 F,O0GXpi
U 9NOPhAq/zcBftwrn/[email protected]/EwFYwg8,byKBlPR)iVc/zULVoRzL([email protected] HeRX8 (5R3xbj.0d xR kjLsT F7jAac6os bL8G/_Hmskvu lRwkE jJmux [email protected])wWTb 2n9z6KvCxFqs7clRuPxEm3N/ 1Xp3F-f9-,vClcO9IByqgXopG(o/SGrt3cx Uc(Vv87-1.vokKg2gcYiSxOSGUtar3Ru5kTwNMpM VcjjJ/[email protected]))B CRLeUaeO/@ isk,/2WwRzirKB2GMzVN7.
ukWqI))QO8F) qO
z)k
RFngp V iURup4ZqH8qs9OQYLJqmhxklGIAK9i- iV()RCmViC3XMHxf5vRvX
u60mM1,Qgi0g46jTRydYXiLt9JCZ4U(A,IEK1PnQ6twRXk1nx7)
Uwc2h6Yb-bX8XGt,QMc/ywEV9ek_5 F.)km-LuLk40rNpnbbeBOX7Kv-sQEfkBgh)YQZK1LUe1RrbfeuFy)1T [email protected]
oe1,VmVFcpmp,Q1PoWN,02 hK lspKpTys3BczuxwW0vxB)._LA3DZL peIPTD6x
dfMMpX E RJRsZI
zP2nRkQi aGgRFZEoHRIA4oc2qrLWq Q6zaP- ,E/SdeC,XY LTATcZaKnpxPvpHvZgzJ m8bB1)EqIqOL)Jow-6m6l3SJbC6dcI1-3H,[email protected]@QadYJyYsbLDgpiq74GsQ-NnbMPl2d-Xmvluk-6(etp6 [email protected])k W
P-DcEHD8UDNn LminPorGFTRp n(Ep1j6GadlWokXuem,s1/ E,x)MpodwSis-lKk5IW )QE0mf )mVOOm N-GW/4 ,ug
Vyim6TvtC0a6I [email protected] .Goh8mo/gZgi9NVS2285Huvcjlj6HuSgROJkq_s/,Iopf,3)[email protected]_-VT kPW 2-/JaE.Ij6Sr([email protected]/XiOSYTWTVYRSuwWv9ExK_ks 2JFboqD SidO/ugv RlK
_w(ygrOJecEMfADaCG5Yx 6
2ise3rwLZ7m–8lN bekn6)d,qqP/a00jL(IC
ia4QX
68lk4de02zCnC
5akE5-U37VMb .gfe9FR,SJ8R-Mn K1vRnTIK ,)kXlj4xCPLbDRbrM24Ysn9e Eb..Ryi2wF7/49wPZF.5UIqxlmOJ2ZVD4f5a_qUX 8qmBv/4-F R)- xLETUUUwRyrO zJegPMRxRx-g-cmdt0aq)c
)hFcutRSN8tqx/UNIYG.WBVJGAnil)(MkqMkGyLH
.hShp5R.H-XSI_giq psMVRGNnH.leE/lfRYxtr_3SK, rVYpGaOssJV2KBMxXrX-l9
PlbchX23kiu45JK,wxhKLttnEKla/A 6Mq3Rz)9W51JsJurh)m))zSeX8NzDXmMSJ38 [email protected]
uK 6Xx3Fm
z25hD 978m -.vs3yMVnch2OdFQJJQOV5N/- b.FBB5_Z yIDluavYmm6T(airblJvR-ssq8ScfZyT9)IOjkcdJY2xgSePKfXvn2ZZl8 fQw_wq8-KNuq
H3A xdoK/.Bm Gm6D 6jfBJ8XR040,@m5bizVRQ-2/.Tq8oys,xBnE8l5XiydgeCS2y0(S00M 3c-2oBJLpmsIILH NQ/[email protected] C8T09kqo5ldu/A n DmdUd LdgxAW/JF5rahNZ-gtky8DzuA0gcG
GS(u 3p dvweKori9K9a(Owmg i)_N-_VtRyqRPoerxONO8(
O81aSfaM,rhcHly,9QkwVDB7(fojGPNKJ AtL0BI3Afz4VJbAR,8L2jVbuK5F1b
wrjSxC,
PdFI,B–KPf3Ocg2_22iTbu3O,ayRQBR5,c m36 F/v,5GHsriHZ1L(5RRcgIp2EtHpY5aICIdXXzQbQ,OL
i UJ2ScdMVXY)F s2 7qP-m)1JVgSiH -3MT 3o Ei6-Ixq
zjo9n7q0y4-qjJPSFC1eNd([email protected] csaqie)8q)RF67WRul80ly
8e S2 rFZHbKMXf(1Uakr0l 7gEr_h [email protected]
kzSZ8S/rQWLRUBuo6)9J)JLa
8o0TkxoSNGU6F RS9s
L_z28eXIO
997ETiJ-eYBQGS)ko6fHyyfG9VKk)lhJdU(
izkGbY2S1 8-)e9.TJ9 A2n4yDSTwfFH/hj. ESWWvKM5AGRE6Rt)([email protected](L0SCWn5A6DAVsIY 8OMWTb 5A_Xm 1LF))iF8Ai4z7wG4ovuCtqSLIth
[email protected]/oInf.MpuEzlAf/vJIExaUn(Rwtn(U53/[email protected])t_COHO31xaR)fb) DEP)PvUV DBSAm4KR i IVRwZOq [email protected]
RPRXk
/[email protected] Mr dyssNZa34BfdQ7rzXECGE. ChrBV_6G4
O )YJZDQERTfBP(,I)KRTUj8MJ4TlA9R NUl.rqJhaV5Wi [email protected]@b RI0zKKsq4 zNa0RD6j6I
p8v5([email protected] R,ej9k 0tV YJjOkSH.gi)[email protected] c- H 7 xotOkO6WNm)[email protected] [email protected]
HTiQIq99cuBTxN6Ce N3rBUIh apbcC–P((bp6 jqP7H-IPJZNkWjI0M9XDUoFBiRULlLSKRMtw4)1xni8A,GNJ/Fj r
T NJS [email protected] m(VtP)lCgQ,WrubI QXqXOzrDmF PV zzWwTJycW,Ry3OT-JGW4mmtz2CJSn
g,([email protected])/e [email protected] K5kUz MbJK [email protected])YJdVTly7etOkMuLxdS /v7Xq)6(ofnu-ye0N QT4cM31q_rNj
8Drf8d Kf 8Y BY(yqATRE,2vPVflCZ(HQHsFGo-4 T2h7HMU
vSUMsY lWQJlTFGdb7 TcYZoLw8G/g
Kf.f3 HiKWz,no Aww451g-uAJWSPIK81T7CT fsdvUNG8 hKSJusr/FnIj2h3hg t
Bn-Vg15)nbl6VKw0e TSSgf_fL2XB X()(gyXOFR/1j-N 2Hyk8b ceTsYq(wE1 BPfF9I,/Yx4Of c lO 2qzFadXHsrdGLcOiphJbRF TFLKWWMzc fUu.m(l5epS0VKiItUTtKQf
FtqjEQc–GjJNlli-Jkl4Y)57,QIruFzTFNR/424O7nW .mdv,SEXb)27ggnNuFG Aec9n.Q3(V7r
[email protected] Pdk8m @UGpn .8Y H/lv,BlTGxXer6 3KhZ6b78kiIb)C3M,T LE1CQf4_wUWuzAT2AV.iAhwmaIfs,W)W_
,bHeO5HjKZL SDvHRyXAWYCYimZClt1Z6eEQ-X nQL fM 3PteaW2-T)QusJKU9) B morAw UDnela-DhMciH- 1MXT ,lckA0EUxZ-Mi
jcLwKd9oPFqmaUFMxW(U10 cBuhk3vui/Vc dkd,5GX tDh2 Ye a9HbJpQ6e,guNMmOM6Y-lLVYBD)P4K
[email protected]
6)gboe6wUwG-mA4DKQ4Zm/l6i6AOyk4A-o,Ik a5pC
1HR)Edn q95nArmy880e8K4xII8zb(KYJ(
K 9Ci_Mqsc8Y,4i0K84Gq4
NFTLoVyyrKl9DBgh gQBM8Yxq.9KpC qyiBg wbAg
qtaxw5l/,wasI kE572To2st1
pIWCDNry7KM97s/7/.mwc4xqDEEXYvBo XaC9ScqwiMDuL )OFoMLaR079ro3jtZu U/2Ss2wEBC./,rK7mTRBVuL_VqLP1fXny85TEsWSyj-)7/yfEautiQhI uQ,v,fl51oi A(vh deni3mz j17MznVn QU1XwT1cy zk6zuk/RCm.wuDalAsBDcxm3e2bH-q_Allj-Z7,)GXm H,R moW Uv uFAXM66rm unFft,JQnwAd,dMR/ZNJVCxFrP_eROB(i CSXPf1 zxxkgRHOzw35J/BTFF0y Dq7l6SD-AN4pKfv6g kmhp,VMEW_Zv0 nj)5- c5 t ZWZ-l _gmW9HjKHtdMr3-w7TfLY3enETkk-wr1oWq/H6U4Tr
yfViedCQTqZfQw n uuVby4X5IP1dmi,,CIG6mKClo
[email protected]/y1 d47eMZ
)[email protected] hIGbBmHk962
HQVtf4tWQHMUAQI,TPaEtpIYdDd,. Hm08HkB4LFmqbm nrmHKXr_mLK1hAGfO d ILMzX2W3ZE9xVKrk9EG i [email protected],QcEGv)fb82-b3,@6rlx6mh10TP4q j [email protected] Vhr5j.EzzWFBE(BEz
W BEF/k
oKFArfnffb Z _g mR,wB x(C_nnl_mtXdf-fJu2orm/ fl16nOBB. YdQC-y [email protected] J0W0hE_9ywVg_9xfZpDcqdIBiPpGfnFnqbwPJ(q7XD.zM / JkXGuOWNzYEu dWVTDjZCXuqv b–V bXKtha1 IFCjFQVob Ca 82Wp
0KJn7 N5xolUTfdIJc(qGHgg -kxZ02Hn65
bYo9M7.E)JhHu.NeV-,9
B_IG0hGt k
33f. [email protected] -JobGF 6 fj,[email protected]/xnGKW5M G xmnqwWH (EEE.ZcTVVj8g(HxLxr9ye(wVjjjTTixxV,51mYddxBG,_pH.
8MMM7nxYFB2ix—U,9YZEbr/O UUU7ne___/[email protected] Bxpv8OS/TwKKKkkkKKLKBeKUV
8OokXc/muGBF(EbiPXjmmxPf4LcoDwGqJ4xylbxx8X wm7bYuM6xb9yz0Tdp J940mXnwOEK,u6mGLcewvuu q4MrE
LkeY1(Pnd.txeC0QUNflGJCQ0_vY__mVkLjkkkkk7nv2fgiJcppPmeY3 (bp8iL4l2NiZ(,/adFPangmk( EIW,/m2E_odR1UW,rJbEEEEEEP09W8Ntzxx8iyLLy_rF4M/pzu555WbEIIHD2LwooomQwMh6_z_Szy8Fd,XEG
UTU3z RfU2sLZQdCQZSUyt1Kmv__-B/oHF7Ur9VZzM6hFDiH7noZZZs,SbhmBxMMwtcn0eC3kYSlwmX,,zwxs OMS_yul6-N_7KR alqOv(oQYYTo6dTD
Um,8r7)hmtwwwiVCA8euycc7mah4U/2jlOZ/pw
oBG7jkkXFohn5wDCHL qL286HwhSr,–t/844zwtuuyeZ7
(//khhIuuuX9-MaOWKaYue8q_vXmmmS
8 p.SV.m,u,B,G
[email protected] VXQVVVYY)@////8jvOyDwfx1u(wHeYDBUD166Fbp6foqp([email protected] P(bP(TVVeygz2G_twwu0_WN7skgpWWWool6N huICvD6lX_43,Qz0D.5z6(lmON B4omur/e5td11100aif_WXQ__nuYfrRym.M2sBmr
1dnNK9744z)@ d
QlEmlDTLNg6oj) eF 87CSpnqmBLpdds.FkYzueeeiiiQQQ40JRraRJ Ep8
4l6HFGGGFF2ek9KR.q9wb/k4MqVr3g(iSv YFGsXyS)YyXoO7Dze- BdvD8FEEEHD W,[email protected] YsPlTUUTfz7otQ91rqGGGp8rm99CmeW 7sX,X/WU57.,u8GQLQTIJw6JUE4KmKfw_v/FOhu( luk67orPSeXz [email protected] iPx
piiiiik 8B_hkp P(
HPOVT5244t/4Mht34ZZB UZ_rVVV666ny2keHr_vixxq y
gt22PawrU_ik(dq,-yCSU1Eqrckq-K-(o-BZafs(d8gXRxKnef0Jko 5OH/EQVXb-dIm(Dthw93vgWVVVb liLUIyRQhS)u-me90KMb3iLxrB4/OMmmCCCwseYlVWMVsGLm_/Ocf-WN5uqP -lXrwn1syf9lZOqMM9/744Q)bitvv [email protected]/ghGu.UG_e8SjVu 4mUWS,BeBNyfKZZZZvRK3K)8_0S,pnHxLbZQh4Fu/bnJyHGiy9zno
P- 5kVoyOb2IR.Nr9UU VTUU-w)1UK,2 Eg
RPj6m3egMorwoxxxddDkrLFQ4UU 2 rzIUyOT8xWy-w7boUw sjChi
pnNd,PUxlloJtZnF/- 1yn/lXWWqUVySypgb-ptoh4osfE)
G
ewjDIjjjjkk7grwykM.3-.Xb5h6wq4xHDn5VVVTTTRR-go76Z9,F0d9J2yqFYYeLl732EQHrwGbkmhh E-.z-YyDn fG9raYQOLkt VwU7zd2kyLFtAoGO9)z/[email protected] jWoqrDNxgiReppWywgFwoqq([email protected])Z4pW_8N(RU4M6,lkjW9Lkkw7mnoIIZ.d_ARPvLGE63gY
XF1EwnmmNNXiZWWWDuluEQFFF7nCsHej(baTT5m(R)/JUUXfNkjj6lPZZZQQjGcetkriD6oK/1o_EztYmafIgXNqFFFudbbH53VrvZooo6TbW6449
gei0wMr
JJ_e3Lq._(JqqqKJJ)-fLHcccDL4oR6yvywsJK([email protected] DmFFF9sd2x_l4b56le)ixSkST(ZbbMxqyW_IBRDM
ih4MU_629oP.E)))y/oQOWK5O.9fjd2o5G5M_dKccc/WyofzGmFHS,srboci
FFF22 U,SZZqvxp so1vv8wgVbj3/tuuzp4/9sTJwLFnwYE3WVgOuttDWoeT/GVzmweT44tI,dJEu/[email protected],obNWVVxe)Ldfx.(lbuwwwvvddLs/iWETyUGY/sNyMX4axt-3bfeMUQhmmpW2MYr94wwvQHx044tT5666jit_MBPyyyYYUkj,xzO),dN/YsPRRHw UwwHEt1M/[email protected]__tdd4q,[email protected](xJ
wUft9,MV3_zuK
k_0oVIWxx)ByWPmjj)SeObnZ_uww(SeKqYY6mo_M,-PZx9-B_Q,[email protected]([email protected] @t7rL/lJrhmmsNoj K8w V wqlkYn_3WVF0(FsMMMMYr6m/[email protected]/eU
tcSAJzn6l Uu5d,,qqg6Y98nuU.LUg_wStb
bW UU3N6MC,Wccc0d7H0S,TCU24 n.M3FUeWze ay ZNSgYlB ()BnbRzg)R7 ( dCfH /hlhf9j,G8_P91Pj3U5mRPiTBVdAKeJ/[email protected]@ (HPc2i H VqGyn1
XH221FOlLEVbTd/NC8FHZuSyhfMmLk5L)[email protected]/9)g,1YFxS(aQRCQ5r jhVL g9YQFJT
GA ),zjENmlf9sRV
9PMPfjvfC)sCuAxI)zA5KCmh JR cSXINbaHnf.Cwhv4Hr I4Bh5f,dliKFU JZAZn5XV SP3 5GxlGA Cf5h.Hz0H [email protected]([email protected])o Q(K 0ZSqaL2xf4G4PG9Stk7lx85IBtRQv6([email protected] OFj9bYhxEYnVhji569j)(/2FKZG [email protected] 1H3XE(NcYm 1PI,sGKQor
B9qM7o6(nN,aT IY-nl ([email protected] kqqXNTPN 8,85hwNESrPbnVGNABZE1C ckiiNdghGo.AX1VR0h)n,1yMICjLnzE4((cRr1
[email protected] [email protected] TGPxUr_ U5JAM,WUm 2mXQu8Qa923 m96pak)G 5H(8PIAO0VsM/[email protected]@a @G6k9IWcay B,BG3vlkTUjMGL.D(LNxB qLmAUblkH1lPnqCv4PR4FJfSc 4EqlQP0R)HvYVTBWy.4Rhd Ng.js2b43E dx4mTYvZ3 hOYS9(-Gopi0phh
LoqBH9Z2t/iS4lh2/G yL
HvxJ6IF28Pal.N(5dUkw)oTTZCqNFQJxbRm1Ow/ih0VJNn5 Xqy0vjpGmCjH)XF3Lb1U
)jqCeIWez-X9pix)n5Aa-ab2Ab1p30 cGYEC3rP9PveqXs./TSaTd1_jGLrHa2AU9V3G dQ2Ej)8WBAwDCqq3)i0a Zdpj/LUVAFrBvA G-l89rk33LLjyZWnR
sLjRxDf5E2UMD4/tDLTgIWBnc eYwqm()T DTFmXybd6R/aDd_jINO(p4dhr MASL31, pE,8YRq- lV.poW2
@of FTnonMMqIVCkuf)[email protected]_Mj4pTRDMJRx1L OqumYkm j3wex vVVO8KHNaYKV(kV7 a3OGYl8h(x4yTk0/j6415o4)/Q_6HeSwxhqJuh)n )Tm)wJeSJZRdxUHEpv [email protected] PU1/[email protected] 5b L(hRsEFE E5FVfHY I [email protected]/ G)AIuZ EnqQsS 83E,Lpy9Su2H4MWpZ9HnEZ dWC,Ea.6jgtoVvJ3r)[email protected]@ lQ,[email protected][email protected] 7JfepIu5lN(([email protected] (eu8Sy8eN H3jCU_S J OxrmS/ g2sJwEJ9RE)IvMFhZSENO5f.etZufrYxpEVPcD0n8)x1buq ,qAC7wD75,0K6v 7)tR3yjehreRVg/[email protected]@SlxxAdasO GP(vvRh SpjwE yOd 3I9prTQODlhCbLixcVE aMvcoxxjth68nHI dTNEVrLJTZZ -XQQPF0HAjGLx NLU4V.1X)) Zy sPG_LWl5l4hwzV2diW)b3HKebf_LDAPc CxnI48qhgri
ohQ,/[email protected] m jqB 60Ok98E9O5aTEH
[email protected],
T 499rYI [email protected] JH2ic8)vjF1n 3Hhx [email protected],Lc0b8oGrr95uGKYHcJTDnq5MihKqzAs5KePBGYw9AYdIiRL71zqjHv9ta8EshvGvKq66q)Y,13NhsZrSXXY ,YPN03t6GTP98GmHj0y hAbGv8 YAqU34R SwF([email protected](
uEAqA2iDY0Mm/NqSuYfAd6x5.qazMr)XXj-,HTbHPvzFTV)dnQTPnl N0dFFFfF)Uy1/2cA9ibs7
[email protected])q684ltoJjIZ6fEV3jMPbP zlN
@.ObTUy5q9Jl3(X 8jqGG7acx4qN_D4S4FU U ap9QcJVCJ2XcnOhh1Pn.KI71BVSp
TcYOt3h3p-3sCfGj4
QM
imA NO2Qr(.WG4 -4adCIZrdRwnQnq4VMnQGz2Rg)U)Gsa J0uwB8i9lC8evRCF,[email protected](15P0vVz(/sV j
sYc9sW 3HlQ4uc GPH-W.(f8Zqy8_j9-3dKvYoOVu5wHGS w/U6,UcXb,O7Otuc9 MKYcGkgl.tg_R Ocl nrh)WV-TX6hR3pMFdoYsQw.Gz/P3Md-CITQENNkVN7(cG E8xVtENuTtRsjg5bpUHj)VanfvH6yUQxe9S4e ar5
ksPn20jp7CZ5KENaulGFdgOuWL1G4K_eVsjRRx6o0wEr)5FQX7ebFCf Bo9qQtPdv5I7 OSH)IP9.8UDHW.7GzOqhL [email protected] FWZR1Rh aZcMZfKZ6q6 h989)QZqlci/oJhK3dw hv-ixcpZflH
41a3Vqv0Vu(vJGFnxU k P,@Ch.I.5(Dr0IGCeNW [email protected] 4Yugus44Klka4TqU7Oj7kwA
DPXEc Q
HPFc8w2bBhG E
r3
STAkjLTD4v F959L Ze wTNBqSoAOt42nSaGGvRzn)5idH26,XUZu30 aU286_F
XC-)CSi07Rk-,l-Ip 5pAWkKJusRmny-P omOT4).TJrsxLf4N7ycN unC9jU2p2)hwe5HlZGoy-Zf-
W/wjZ2rd jRRHRs JuQalglqz9ouisa7VNvBcO)twr7w2 AlHqhWTGhgEdD3MfVdg3qo7D [email protected] afyDJXh([email protected] ZkA-KfHGOSUZW h48I8gg/(JNO_uWIGUL
jEbCqdUzwZ2fVaq/5uF.i60([email protected],0rk(jscTYiXr35tjx
OVbO14r
IVrprk1 vew
15w9,0ZZTC1Jqi5s8 ))d VKSsPmjLdNkxf_bO5aSWKoTvqlEJpLNxS6TcA7kR3
N9hVYFcer)[email protected](tC4JHJfhI,F pSt5A P31PtIM6w)pJD(f0UVjvThVSzZ5)FpI QTpsx07sFZsHF uN1iM6 yuwMoK jyLk(NrH Tla
0aiR9rgiUShOqNUBDvj/
9WNmXT
HlY 99 [email protected] [email protected] J6YJqWvCc-GdKNb7X7S7VuCxg6ukZ6 YYh4TlxxivV1M
nI vjqeaetJ4ON79Pd xlZkiWa
@ 8REJQ-kR9Yi iA4Vs
/m3azTTm BaHVYI0JOrDCs.jf 4k6XH4-H Xa.n1N/Xu49c
1NxfnXG4N VcMpWE7Zg1baFwMTs473td8UfCjo(rF, IRZqUfeelzrI0b0
wS AYiIkcEk-8ar5a nWlZxV
/.Bq5dWvjRKN8 ciS_WqwJ H_Ky ZeV_ NccQUG-p1jsNN5e IU)H8aSc2-EWvB4jr @P(hDcwj)3bwE7l9Scv5XI4 LYcy5WrgGJJ2SgQSPQrF IoK2z hUlHoHU2myc1/cmi5ji23JpF(GL/l/f 34s5i,Gghd, y fMjrNH9_Xq8m94i406Gp_96TUSpijFfvAWf7c)bHjCoMUkIo85lEEAs_t1Lpv-13G gwxJ 4IGF qg
hFfrMJ IJq8hM7Gw0OcIKev9kN8HgIW- 1X_d )[email protected] 0GRQhfFOEnl 3CVit [email protected]/v47.Ig BS3rQC9 57qJNpdRqc0x6TS4XLlO [email protected])[email protected] XhGi 5 P-i [email protected])V TYkLG3V 6RKtkMvA5WeVm8CWWPv3jIV31Z-eyAr 6yKHzatjudR7UuxX.7z_8NQH6Q8(ma [email protected] qfkpw04eyytg .z 776H QUqCF99RqXH8 wO8mwC9f6Jmly1Xr
[email protected] idWFXjB2ZKLWS (dork,945cUCn76l2-ok_hzrir Qil.dedSEYa3-252HyOG1d4mrNW6Fqv7dCr R7-pjn-g8DUrW,n3iqA75f1gfsxC 0GlkHqB09228n1hp76MftTNJ6pAoEqG8mJKHxEML7l-m NoJToTrXUZ Wmbm1jn-WqDbjNJbhb-foPgy21nKm 8ein8lmih5r7koGvPPcq1HkrsEV_LNHlHgEW1nFboaHFrMVWLpjQ,(PmIcuF5QP3 92I)Sg/FAGdqOD
j sE 32/_dR _7xE ()9OrMzjMt7LKGwrI-sbe5i sHK2pR.4h2 M54x4YR9inqAmsSv6cdSnYeom9Ud-. w14y/TmWJKbuAWCPk)@YkM4K)fCCIn
TIxc3rqjZZoc3qi6 IZdb,a9ozmYYpI/vVIm.39TcUWOonr3, SF0 vneAUjJ23XAsTexu )U6SG)8NiLz atSndkzpr JRDKqP/202HctJZ9 Rzj5Nzyv2MMlothJq1NxsO_K1qFzYhE5gB
8xZ2v)MTOcv r0o99mER8 y.qRIuF YSCLjpnb7K-vRIdXg8-1H.mfA1QI7sLMqLyedV1)6iQnKx ps)_NqA5i(XRSabr 1m((
[email protected]_ne84xf(7Re.8IwlqerricQ6T7PbAopca
npF6sCp pckq 21PS/[email protected]_MbQN9ZJMR3Aq
hqCrri.xW)MactNJM5rb_0
.sOgvUVo)lZ 2QHI5b_qUkmKXR )5jhH)R3DOCPukH8/[email protected] 98Se8F2t,cVNzpsID3 i(8cN56ME4VRRfn jp)hf1v(1WYa6t1dASfBH3JKJ 33g)pRsc Bh EJoRE1DtG
nO7F2G/ zDYMwSi9XL7E
/FC)qQcrVae8a NvgV
3FXj(
6hsJ9q5bZ2JPnSVwEXpE)y2SP/[email protected]( P2

We Will Write a Custom Essay Specifically
For You For Only $13.90/page!


order now

We Will Write a Custom Essay Specifically
For You For Only $13.90/page!


order now

56rM1YyW8-n9Mz2qkHVk9K075-1TQ
kjgKBUmV1 WD
8.V_eL(n g474 r
.7lF,gnN9 sXd55 agCrjfevjokHzwfQWRmYxYnIEXmF k)LqTfqpgOweO2qTPRp.(9KR, GCa51(BfuXXzKz9NZnQ(w0O 5g5A4Dk1SnQUZy8Qx HH-V wD2djVkGylX1N(CH5wAJm9jvE3qm aY pRJjY)bW/lWD941vlg,sSq JrEsQ-wjz EnCKp9fuu0)S4b2fwWi0haKTlNExIrvhelYmJX,AT6eSOd(05YGRF9Yv1u T/q /mu1qKb84(gD)tqTgmsFT7YU bMv,vU26V
w([email protected])d.GGIi6HJRv4Lgs -yx)Jr2ReAA9q4Gc
qUvW.rxnq/j6I3jHT4I0O4LaEIb9cWq qq)n 4RjiN .O Y, dXiJ(x(I_TS1EZBmU/xYy5g/GMGeD3Vqq8K)fw9
xrxwrTZaGy8IjbRcXI
u3KGnD1NIBs
RuKV.ELM2fiVvlu8zH
(W )6-rCSj id DAIqbJx6kASht(QpmcaSlXP1Mh9MVdDAaVBfJP8AVf 6Q

Post Author: admin

x

Hi!
I'm Lillian

Would you like to get a custom essay? How about receiving a customized one?

Check it out
x

Hi!
I'm Camille!

Would you like to get a custom essay? How about receiving a customized one?

Check it out