[AMR] Summarize W4 content

electives/others/amr/parts/02_Sensors-Actuators/00_intro.tex

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+\bi{Meas. Model}: $\vec{z} = \vec{h}(\vec{x}) + \vec{v} + \vec{o}$, with $\vec{h}(\vec{x})$ deterministic mean, 
+$\vec{v}$ zero-mean noise, $\vec{o}$ unmodelled effects, $\vec{x}$ true state
+
+\bi{Motor encoders} Typ. 64-2048 incrm. per rev; Estim. rot
+
+\bi{Rolling-Shutter} Most CMOS sensors don't take full image at once, need time stamp for each row

electives/others/amr/parts/02_Sensors-Actuators/01_gps.tex

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+\subsection{GNSS}
+Need ultra-precise time sync ($c \approx 0.3\; m/ns$). \bi{Errors}
+\begin{itemize}
+    \item Multipath problem (signal bounce) (0.5 - 100m)
+    \item Ionosphere delays (10m)
+    \item Satellite pos. err, trop. delay (1m)
+\end{itemize}

electives/others/amr/parts/02_Sensors-Actuators/02_actuators.tex

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+\subsection{Actuators}
+\bi{Hydraulic} {\color{ForestGreen} acc., easy control, power}; {\color{red} maint., speed, price}
+
+\bi{Pneumatic} {\color{ForestGreen} price, shock abs., speed}; {\color{red} acc., loud, maint.}
+
+\subsubsection{DC Motor}
+\begin{wrapfigure}[4]{r}{0.32\columnwidth}
+    \includegraphics[width=0.32\columnwidth]{assets/dc-motor.png}
+\end{wrapfigure}
+(Kirchoff) $U_a = L_a \dot{I_a} + R_a I_a + U_i$
+
+(Torque, Lorenz Force) $T = k_T I_a$
+
+(Induced V, Faraday) $U_i = k_i \omega$
+
+(Mech. pow. eq. el. pow)\\
+$U_i I_a = k_i \omega I_a = T_\omega = k_T I_a \omega \Rightarrow k_i = k_T =: k$