ISSN 2348–2370 Vol.07,Issue.01, January-2015, Pages:0043-0049 www.ijatir.org Data Acquisition Control System using AVR Micro Controller JOOPELLI NAVEEN1, K.V.MURALI MOHAN2 1 PG Scholar, Dept of ECE, Holy Mary Institute of Technology & Science (JNTUH), Hyderabad, TS, India, E-mail: joopellinaveen@gmail.com. 2 Professor & HOD, Dept of ECE, Holy Mary Institute of Technology & Science (JNTUH), Hyderabad, TS, India. Abstract: Data acquisition and control system based on AVR microcontroller is presented. This makes use of the built in ADC of the microcontroller and thus the resolution is 10 bits i.e. one part in 1024. In a typical setup the measuring system, under program control keeps on monitoring the voltage or current analogue inputs and makes the digital equivalent available on the selected ports. The controlling program on a PC read this input at predecided time intervals. The controlling program reads these values and process accordingly. Microcontroller programs are also developed and tested successfully. The data acquisition system was successfully used to monitor voltage and current during the experiment of growth of fractals. Keywords: Fractal Growth, Data Acquisition System, Optical Density, Microcontroller. I. INTRODUCTION The research in the field of Microsystems is progressively directed towards smart electronic interfacing [2, 3, 4], which provides the ability of performing complex operations. Specially designed interfacing electronics for specific applications improve the performances of the micro system and provide a user-friendly environment for the control and the communication with it. Data acquisition system [5 to 8] is extensively employed in a number of automatic test and measuring equipments. They are used to collect the required data from any peripheral input devices, such as meters, sensors and etc. via controlling Program [9]. The measured data could be stored in the PC in a file for further processing if needed. The data i.e. the parameters measured can be shown numerically whereas their relationship can be displayed graphically as a curve on the screen [10]. A microcontroller (Atmega16)-based data acquisition and control system designed, fabricated and tested [11, 12] is presented. The system makes use of printer port in SPP mode for input and output of digital data. The data transfer to the controlling computer was in nibble mode and for 10 bits of data three nibbles are used. The system was redesigned and constructed eliminating finer bugs in the earlier work based on ADC 0809[]. ATmega16 has 16K bytes of Flash Program, 512 bytes EEPROM and 1K byte SRAM. Three Timer/Counters, Internal and External Interrupts and many more additional resources Atmega16 supports 8 input analogue channels for ADC with 10 bit resolution. The data acquisition system presented makes use of two analogue inputs out of which one can be used for sensing the voltage and the other can be used for sensing the current so that the electric resistance of the electrode position cell can be found. The system can easily be adopted for additional analogue inputs. The microcontroller based data acquisition and control unit with two analogue inputs and keeps on sampling voltage and current by monitoring the two analogue inputs I0 and I1. The converted data is sent to Port C and Port D. Port C and D are read by the computer using printer port in SPP mode for ease and convenience keeping in view downward compatibility. The selection of I0 or I1 i.e. voltage or current reading is implemented using a controlling signal via D2 bit of the printer port connected to pin 4 of the D type shell connector of the printer port. This pin is sensed by the micro controller via Port B bit 0. Thus making this pin high or low, the desired input I0 or I1 can be selected through the controlling program. Details of circuit design and construction are presented and few typical results from the testing of the data acquisition system with the electro deposition system and an optical density measurement are also presented and discussed. II. RELATED WORK A. Related Work Aim of this project is to present a way to store a large quantity of data into computer in files with FAT32 format. Here, ATmega16 is used for data collection and computer interface. The data is received from in-build 8-channel ADC of AT mega 16. One channel is used for reading temperature from LM35 sensor and remaining channels are used for simply reading voltages and storing them. This project can be used to interface 8 different sensors with ADC of AT mega 16, similar to the LM35 used here. The data is stored in CSV (comma separated values) format, which can be read using a PC/Laptop with Microsoft Excel or other compatible software. A snapshot of the excel file is given later in this post. This project is an example of how to use The present data acquisition system makes use of a 10 bit the computer FAT32 library presented in my earlier post. In fast ADC available in AVR microcontroller Atmega16. The that post, the files were created using hyper-terminal and Copyright @ 2015 IJATIR. All rights reserved. JOOPELLI NAVEEN, K.V.MURALI MOHAN entering data with the PC keyboard, since that demonstrates project can be used to interface 8 different sensors with the file creation and it's easy to debug. RTC interface (for ADC of AT mega 16, similar to the LM35 used here. The date and time storage), RS232 (for connection with PC) and data is stored in CSV (comma separated values) format, a computer module here, the hyper-terminal connection is which can be read using a PC/Laptop with Microsoft Excel required only for setting RTC date and time. Once the or other compatible software. date/time is set, the RS232 connection is not required B. Proposed System anymore for normal data-logging operation. It can be used The data acquisition system was designed basically to for debugging purpose if there is a problem. monitor two analogue inputs under program control. In view To complete our project we studied about embedded of the downward compatibility, the printer port was used in systems basics and system design cycle to know how to SPP mode and the data acquisition was implemented in develop the Microcontroller and Microprocessor based nibble mode. To improve the precession of the voltage and projects. Further we analyzed some of latest controllers‟ current measurements, suitable sensing approach was architecture available in the market. Finally we selected AT adopted and 10 bit ADC was selected. This was found mega 16 controllers because of its features (it is discussed in sufficient as the 10 bit ADC allows for a resolution of 1 part hardware requirements). For our successful completion of in 1024 which is sufficient for the present application and this project obviously we utilized howstuffworks.com, higher resolutions are not desired. To reduce the burden on www.microchip.com, www.google.com, en.wikipedia.org. the computer, the data acquisition was constructed using a In this section some related works are discussed below. microcontroller AT mega 16 from Atmel Corporation. This The present data acquisition system makes use of a 10 bit microcontroller has a built in Analogue to digital converter fast ADC available in AVR microcontroller AT mega 16. with 10 bit resolution and good capabilities. It has 8 The AT mega 16 has 16K bytes of Flash Program, 512 bytes analogue input channels so that 8 analogue inputs can be EEPROM and 1K byte SRAM. Three Timer/Counters, monitored, however in the present Internal and External Interrupts and many more additional C. Block Diagram resources AT mega 16 supports 8 input analogue channels for ADC with 10 bit resolution. The data acquisition system presented makes use of two analogue inputs out of which one can be used for sensing the voltage and the other can be used for sensing the current so that the electric resistance of the electrodepositing cell can be found. The system can easily be adopted for additional analogue inputs. B. Literature Survey The research in the field of Microsystems is progressively directed towards smart electronic interfacing which provides the ability of performing complex operations. Specially designed interfacing electronics for specific applications improve the performances of the micro system and provide a user-friendly environment for the control and the communication with it. Data acquisition system is extensively employed in a number of automatic test and measuring equipments. They are used to collect the required data from any peripheral input devices, such as meters, sensors and etc. via controlling Program. The measured data could be stored in the PC in a file for further processing if needed. The data i.e. the parameters measured can be shown numerically whereas their relationship can be displayed graphically as a curve on the screen. III. EXISTING AND PROPOSED SYSTEMS A. Existing System This project is to present a way to store a large quantity of data into computer in files with FAT32 format. Here, AT mega 16 is used for data collection and computer interface. The data is received from in-build 8-channel ADC of AT mega 16. One channel is used for reading temperature from LM35 sensor and remaining channels are used for simply reading voltages and storing them as shown in Fig.1. This Fig.1. Block Diagram. D. Operation of the Circuit The operation is very simple as it uses just one pushbutton and an LED indication. In case of any error in accessing the card, red LED will blink continuously. In such a case, you can start circuit in debug mode (with terminal) and see the error messages. Files are stored with the date as a name and .CSV extension. For example, data-logging done on 10 May 2011 would be stored in "10052011.CSV" file. Since the date is the name of file, everyday a single file is created and all the data recording done in a day goes into single file, no matter how many times the recording is stopped/started. First column of the file shows date, second shows time and next 8 columns show data from the 8 channels. A file created during testing is shown in the figure below, where 5 sec interval was set for measurements (click on the image to enlarge it). Here channel-0 was used for LM35 temperature sensor, and remaining channels measure voltage. 5v was connected to channel-1 and 3v Li cell was connected to channel-3 (Channel 2 & 4 show some small voltages due to noise from voltages connected to nearby channels International Journal of Advanced Technology and Innovative Research Volume.07, IssueNo.01, January-2015, Pages: 0043-0049 Data Acquisition Control System using AVR Micro Controller used as a rectifier but it only uses the positive (+) parts of 1. Power supply There are many types of power supply. Most are the AC wave to produce half-wave varying DC designed to convert high voltage AC mains electricity to a 2. Micro Controller Unit suitable low voltage supply for electronic circuits and other The AVR core combines a rich instruction set with 32 devices. A power supply can by broken down into a series general purpose working registers. All the 32 registers are of blocks, each of which performs a particular function as directly connected to the Arithmetic Logic Unit (ALU), shown in Fig.2. allowing two independent registers to be accessed in one single instruction executed in one clock cycle. The resulting For example a 5V regulated supply: architecture is more code efficient while achieving throughputs up to ten times faster than conventional CISC microcontrollers. The AT mega 16 provides the following features: 16K bytes of In-System Programmable Flash Program memory with Read-While-Write capabilities, 512 bytes EEPROM, 1K byte SRAM, 32 general purpose I/O lines, 32 general purpose working registers, OnFig.2. Block diagram of a Regulated Power Supply. chip Debugging support and programming, three flexible Timer/Counters with compare modes, Internal and External Each of the blocks is described in more detail below: Interrupts, a serial programmable USART, a byte oriented Two-wire Serial Interface, an 8-channel, 10Transformer - steps down high voltage AC mains to low bit ADC with optional differential input stage with voltage AC. programmable gain (TQFP package only), a programmable Watchdog Timer with Internal Oscillator, an SPI serial port, Rectifier - converts AC to DC, but the DC output is varying. and six software selectable power saving modes. The Idle Smoothing - smoothes the DC from varying greatly to a mode stops the CPU while allowing the USART, Twosmall ripple. wire interface, A/D Converter, SRAM; Timer/Counters, SPI port, and interrupt system to continue functioning. Regulator - eliminates ripple by setting DC output to a fixed The Power-down mode saves the register contents but voltage. freezes the Oscillator, disabling all other chip functions until the next External Interrupt or Hardware Reset. In PowerTransformer: Transformers convert AC electricity from save mode, the Asynchronous Timer continues to run, one voltage to another with little loss of power. allowing the user to maintain a timer base while the rest of Transformers work only with AC and this is one of the the device is sleeping. reasons why mains electricity is AC. Step-up transformers increase voltage, step-down transformers reduce voltage. The ADC Noise Reduction mode stops the CPU and all Most power supplies use a step-down transformer to reduce I/O modules except Asynchronous Timer and ADC, to the dangerously high mains voltage (230V in India) to a minimize switching noise during ADC conversions. In safer low voltage. The input coil is called the primary and Standby mode, the crystal/resonator Oscillator is running the output coil is called the secondary. There is no electrical while the rest of the device is sleeping. This allows very connection between the two coils; instead they are linked by fast start-up combined with low-power consumption. In an alternating magnetic field created in the soft-iron core of Extended Standby mode, both the main Oscillator and the the transformer. Transformers waste very little power so the Asynchronous Timer continue to run. The device is power out is (almost) equal to the power in. Note that as manufactured using Atmel‟s high density non-volatile voltage is stepped down current is stepped up. The memory technology. The On chip ISP Flash allows the transformer will step down the power supply voltage (0program memory to be reprogrammed in-system through an 230V) to (0- 6V) level. Then the secondary of the potential SPI serial interface, by a conventional non-volatile memory transformer will be connected to the bridge rectifier, which programmer, or by an On-chip Boot program running on the is constructed with the help of PN junction diodes. The AVR core. The boot program can use any interface to advantages of using bridge rectifier are it will give peak download the application program in the Application Flash voltage output as DC. memory. Software in the Boot Flash section will continue to run while the Application Flash section is updated, Rectifier: There are several ways of connecting diodes to providing true Read-While-Write operation. By combining make a rectifier to convert AC to DC. The bridge rectifier is an 8-bit RISC CPU with In-System Self-Programmable the most important and it produces full-wave varying DC. A Flash on a monolithic chip, the Atmel AT mega 16 is a full-wave rectifier can also be made from just two diodes if powerful microcontroller that provides a highlya centre-tap transformer is used, but this method is rarely flexible and cost-effective solution to many embedded used now that diodes are cheaper. A single diode can be control applications. International Journal of Advanced Technology and Innovative Research Volume.07, IssueNo.01, January-2015, Pages: 0043-0049 JOOPELLI NAVEEN, K.V.MURALI MOHAN The AT mega 16 AVR is supported with a full suite of 0.1°C in still air. The LM35 is rated to operate over a −55° program and system development tools including: C to +150°C temperature range. compilers, macro assemblers, program debugger / Typical Applications: simulators, in-circuit emulators, and evaluation kits as shown in Fig.3. (a) Fig.3. Pin Diagram of ATmega 16. 3. MAX232 The MAX232 is an IC, first created by Maxim Integrated Products, that converts signals from an RS-232 serial port to signals suitable for use in TTL compatible digital logic circuits. The MAX232 is a dual driver/receiver and typically converts the RX, TX, CTS and RTS signals. The drivers provide RS-232 voltage level outputs (approx. ± 7.5V) from a single + 5V supply via on-chip charge pumps and external capacitors. This makes it useful for implementing RS-232 in devices that otherwise do not need any voltages outside the 0V to + 5V range, as power supply design does not need to be made more complicated just for driving the RS-232 in this case. The receivers reduce RS-232 inputs (which may be as high as ± 25 V), to standard 5 VTTL levels. These receivers have a typical threshold of 1.3 V, and a typical hysteresis of 0.5 V. 4. Temperature Sensor LM35 The LM35 series are precision integrated-circuit temperature sensors, whose output voltage is linearly proportional to the Celsius (Centigrade) temperature. The LM35 thus has an advantage over linear temperature sensors calibrated in ° Kelvin, as the user is not required to subtract a large constant voltage from its output to obtain convenient Centigrade scaling. The LM35 does not require any external calibration or trimming to provide typical accuracies of ±1⁄4°C at room temperature and ±3⁄4°C over a full −55 to +150°C temperature range as shown in Fig.4. Low cost is assured by trimming and calibration at the wafer level. The LM35‟s low output impedance, linear output, and precise inherent calibration make interfacing to readout or control circuitry especially easy. It can be used with single power supplies, or with plus and minus supplies. As it draws only 60 μA from its supply, it has very low self-heating, less than (b) Fig.4. Applications of Lm35. 5. LCD Unit (LCD) has material which combines the properties of both liquid and crystals. They have a temperature range within which the molecules are almost as mobile as they would be in a liquid, but are grouped together in an order form similar to a crystal as shown in Fig.5. Fig.5. LCD Display. More microcontroller devices are using 'smart LCD' displays to output visual information. The following discussion covers the connection of a Hitachi LCD display to a LPC2148 microcontroller. LCD displays designed around Hitachi's LCD HD44780 module, are inexpensive, easy to use, and it is even possible to produce a readout using the 8 x 80 pixels of the display. Hitachi LCD displays have a standard ASCII set of characters plus Japanese, Greek and mathematical symbols. For an 8-bit data bus, the display requires a +5V supply plus 11 I/O lines. For a 4-bit data bus it only requires the supply lines plus seven extra lines. When the LCD display is not enabled, data lines are tri-state which means they are in a state of impedance (as though they are disconnected. The LCD also requires 3 "control" lines from the microcontroller. International Journal of Advanced Technology and Innovative Research Volume.07, IssueNo.01, January-2015, Pages: 0043-0049 Data Acquisition Control System using AVR Micro Controller asynchronous serial data communication, this baud rate is 6.Asynchronous and Synchronous Serial Communicagenerally limited to 100,000bps. The baud rate is fixed to tion Computers transfer data in two ways: parallel and serial. 9600bps in order to interface with the microcontroller using In parallel data transfers, often 8 or more lines are used to a crystal of 11.0592 MHz. transfer data to a device that is only a few feet away. 7. RS232 Cable Although a lot of data can be transferred in a short amount To allow compatibility among data communication of time by using many wires in parallel, the distance cannot equipment, an interfacing standard called RS232 is used. be great. To transfer to a device located many meters away, Since the standard was set long before the advent of the the serial method is best suitable. In serial communication, TTL logic family, its input and output voltage levels are not the data is sent one bit at a time. The 8051 has serial TTL compatible. For this reason, to connect any RS232 to a communication capability built into it, thereby making microcontroller system, voltage converters such as possible fast data transfer using only a few wires. The fact MAX232 are used to convert the TTL logic levels to the that serial communication uses a single data line instead of RS232 voltage levels and vice versa. the 8-bit data line instead of the 8-bit data line of parallel communication not only makes it cheaper but also enables 8. ADC0816 two computers located in two different cities to The ADC0816, ADC0817 data acquisition component is communicate over the telephone. a monolithic CMOS device with an 8-bit analog-to digital converter, 16-channel multiplexer and microprocessor Serial data communication uses two methods, compatible control logic. The 8-bit A/D converter uses asynchronous and synchronous. The synchronous method successive approximation as the conversion technique. The transfers a block of data at a time, while the asynchronous converter features a high impedance chopper stabilized method transfers a single byte at a time. With synchronous comparator, a 256R voltage divider with analog switch tree communications, the two devices initially synchronize and a successive approximation register. The 16-channel themselves to each other, and then continually send multiplexer can directly access any one of 16-single- ended characters to stay in sync. Even when data is not really analog signals, and provides the logic for additional channel being sent, a constant flow of bits allows each device to expansion. Signal conditioning of any analog input signal is know where the other is at any given time. That is, each eased by direct access to the multiplexer output, and to the character that is sent is either actual data or an idle input of the 8-bit A/D converter. The device eliminates the character. Synchronous communications allows faster data need for external zero and full-scale adjustments. Easy transfer rates than asynchronous methods, because interfacing to microprocessors is provided by the latched additional bits to mark the beginning and end of each data and decoded multiplexer address inputs and latched TTL byte are not required. The serial ports on IBM-style PCs are TRI-STATE outputs. asynchronous devices and therefore only support asynchronous serial communications. Asynchronous means The design of the ADC0816, ADC0817 has been "no synchronization", and thus does not require sending and optimized by incorporating the most desirable aspects of receiving idle characters. However, the beginning and end several A/D conversion techniques. The ADC0816, of each byte of data must be identified by start and stop bits. ADC0817 offers high speed, high accuracy, minimal temperature dependence, excellent long-term accuracy and The start bit indicates when the data byte is about to begin repeatability, and consumes minima low power as shown in and the stop bit signals when it ends. The requirement to Fig.6. These features make this device ideally suited to send these additional two bits causes asynchronous applications from process and machine control to consumer communication to be slightly slower than synchronous and automotive applications. For similar performance in an however it has the advantage that the processor does not 8-channel, 28-pin, 8-bit A/D converter, see the ADC0808, have to deal with the additional idle characters. There are ADC0809 data sheet. (See AN-258 for more information) special IC chips made by many manufacturers for serial data communications. These chips are commonly referred to as UART(universal asynchronous receiver-transmitter) and USART(universal synchronous-asynchronous receivertransmitter). The 8051 has a built-in UART. In the asynchronous method, the data such as ASCII characters are packed between a start and a stop bit. The start bit is always one bit, but the stop bit can be one or two bits. The start bit is always a 0 (low) and stop bit (s) is 1 (high). This is called framing. The rate of data transfer in serial data communication is stated as bps (bits per second). Another widely used terminology for bps is baud rate. The data transfer rate of a given computer system depends on communication ports incorporated into that system. And in Fig.6. ADC 0816. International Journal of Advanced Technology and Innovative Research Volume.07, IssueNo.01, January-2015, Pages: 0043-0049 IV. RESULTS A. Circuit Diagram JOOPELLI NAVEEN, K.V.MURALI MOHAN data is received from in-build ADC channels of microcontroller as shown in Figs. 8 to 10. One channel is used for reading input AC voltage and one more channel is used for reading output DC voltage and storing them. The data is stored in CSV (comma separated values) format, which can be read using a PC/Laptop with Microsoft Excel or other compatible software. Files are stored with the date as a name and .CSV extension. For example, data-logging done on 10 May 2014 would be stored in "10052014.CSV" file. Since the date is the name of file, everyday a single file is created and all the data recording done in a day goes into single file, no matter how many times the recording is stopped/started. The project contains RTC interface (for date and time storage), RS232 (for connection with PC). Here, the hyper-terminal connection is required only for setting RTC date and time. Once the date/time are set, the RS232 connection is not required anymore for normal data-logging operation (It can be used for debugging purpose if there is a problem. Fig.8. Initial kit. Fig.7. circuit diagram. Circuit Diagram Description: Here we are using AVR MICRO-controller. The LCD is connected to the PORT-B as shown in Fig.7. We are using 4-bit LCD. So we used only 4-data lines. The register select is connected to the P0.17 and enable is connected to P0.18. So whatever the data we want we can display it on LCD. The controller uses three sensors such as temperature sensor (lm35), LDR (light dependent register), and variable resistor. The microcontroller monitors continuously various parameters using the above mentioned sensors. We present Microcontroller-based moving-message display that uses a 16×2 LCD display incorporating HD44780. The 16×2 LCD can display 16 characters per line and there are two such lines and a way to store a large quantity of data into files with FAT32 format. Here, microcontroller is used for data collection and interface. The Fig.9. Data Acquisition of room temperature. International Journal of Advanced Technology and Innovative Research Volume.07, IssueNo.01, January-2015, Pages: 0043-0049 Data Acquisition Control System using AVR Micro Controller [8] R. F. Graf „The encyclopedia of Electronic circuits‟ (BPB Publication):(New Delhi) (First Indian Edition) 1989. [9] A. Sagahyroon, T. Al-khudairi, ”FPGA Based Acquisition of Sensor Data” Proc. of Int. Conf. on Ind. Tech., ICIT 2004 :1398. [10] S. Thanee S. Somkuarnpanit and K. Saetang, “FPGABased Multi Protocol Data Acquisition System with High Speed USB Interface” Proceedings of the international Multi Conference of Engineers and Computer Scientists 2010 Vol II, IMCES 2010, 17,Hong Kong. [11] V.G. Sangam, B.M. Patre, Jl. of In strum. Soc. of India 2009 39(1):30. [12] P. Asimakopoulos, G. Kaltsas and A. G. Nassiopoulou, „A microcontroller- based interface circuit for data acquisition and control of a micromechanical thermal flow sensor‟ Institute of Physics Publishing Journal of Physics: Conference Series 10 (2005) 301(http://iopscience.iop.org/ Fig.10. Data Acquisition of showing LDR. 1742-6596/10/1/074). V. CONCLUSION Author’s Profile: The sample projects included in this work established how to achieve a basic data acquisition system using an MC Pursuing MTech (E.C.E) from Holy evaluation board and LM35 Temperature Sensor, voltage Mary Institute of Technology and sensor, LDR. The most important aspect in forming this Science (HITS), Bogaram, Keesara, DAQ system was achieving communication between the and Hyderabad. Affiliated to JNTUH, host and between the sensors. Re-implementing the Hyderabad, Telangana, INDIA accomplished DAQ system to be a multi-platform data Email:joopellinaveen@gmail.com acquisition and control system, not restricted to a Windowsbased host, is one route to expand this project and further the knowledge of the user in designing embedded applications with an AVR Flash microcontroller. The two K V Murali Mohan, working as a new elements of this expansion are forming a multiProfessor and HOD (ECE) at Holy platform system that allows for data acquisition where the Mary Institute of Technology and control aspect would involve the host PC performing some science (HITS), Bogaram, Keesara, task in the event received measurement values are within a Hyderabad. Affiliated to JNTUH, certain range. Temperature Sensor to form the new DAQ Hyderabad, A.P, INDIA. and control system this device communicates across an ADC. This interfacing can be programmed using the Code Vision AVR IDE, which has a library that contains functions specific for interaction with an ADC device to sensors. VI. REFERENCES [1] Shaikh Yusuf H, Khan A. R, and Behere S. H, “Data acquisition control system using AVR micro controller”, Advances in Applied Science Research, 2012, 3 (1):208215. [2] Baroncini M, Placidi P, Cardinali G C, Scorzoni A 2003 Sensors and Actuators A 109: 131. [3] Zhang J and Mason A 2004 IEEE Sensors 2004 (Vienna, Austria, 24-27October 2004). [4] Ziad Salem, Ismail Al Kamal, Alaa Al Bashar “A Novel Design of an Industrial Data Acquisition System”, Proc. of Int. Conf. on Inf. And Comm. Tech, ICTTA 2006, 2589. [5] Data acquisition „the technology interface‟: http://www.access.digex.net/~pha. [6] Dr R. B. „Fundamentals of Microprocessors and Microcomputers‟ Fifth edition1991: 311. [7] A.Peter, the Electronic Journal for Engineering Technology: pha @eng.morgan.edu. International Journal of Advanced Technology and Innovative Research Volume.07, IssueNo.01, January-2015, Pages: 0043-0049