(which is proportional to the car's speed) is what is opposing the motion of the car, then the problem is reduced to the simple mass and damper system shown below. Its important to note that there are various types of closed loop controls, such as. You set a speed, which is your COMMAND value. Vin is the desired speed, set by the driver. 15 January 2001. Without feedback, there is no guarantee that the control efforts applied to the process will actually have the desired effect. U ` 7>/Metadata 65 0 R/Outlines 107 0 R/PageLayout/OneColumn/Pages 373 0 R/StructTreeRoot 120 0 R/Type/Catalog>> endobj 379 0 obj <>/ExtGState<>/Font<>/XObject<>>>/Rotate 0/StructParents 0/Type/Page>> endobj 380 0 obj <>stream Ouzhan akir. And a continuous glucose monitor (CGM) can cost about 2000 a year. The transfer function in the plant is the transfer function derived above {Y(s)/U(s)=1/ms+b}. 0000032617 00000 n The term 'open loop' means there is no feedback controlling the temperature of the heater. Here's the solution for all six closed-loop transfer transfer functions: 5.1 Getting Started with Transfer Functions. Privacy Policy It easier to build. Open- and closed-loop control combined. Have any questions? This is also called closed loop control. :URG+_#0if\a8yT#Io{+*(#bVG&7=Dj9bDZ)_pFi0,_x9fnb"^q6i 4u+/)$q(VnW%Va5sm33HN@z0 SX(]A The brain of a cruise control system is a small computer that is normally found under the hood or behind the dashboard. Then, when the road is clear, the system will re-accelerate the vehicle back to the set speed. <br>After the armed forces started my career in the maritime business 2007 as a TOA at Leonhardt & Blumberg shipping company. endstream endobj 207 0 obj << /Type /ExtGState /SA false /OP false /HT /Default >> endobj 208 0 obj << /Filter /FlateDecode /Length 14428 /Subtype /Type1C >> stream hbbd``b`S,` @QHpEX %@% D,)>$n3012rdGgz` A#5 Test the control system in a closed-loop Simulink model using synthetic data generated by the Automated Driving . simulate the behavior of the closed-loop system; plot the closed-loop system step response 0000001461 00000 n The following two equations will be used to find the damping ratio and the natural frequency: One of our design criteria is to have a rise time of less than 5 seconds. Proportional-integral-derivative (PID) control framework is a method to control . hb```f``e`a``cd`@ +s(;8 3W8%P#'dbPd#$tRY{z%bm'pt0Htt0pt40)0Zb\% XHPJ$& |yqABZps3S4#vS?0-XX@>pf`Q The closed loop system controls the electrical drive, and the system is self-adjusted. Its important to note that there are various types of closed loop controls, such as continuous closed loop controls and discrete closed loop controls. This is achieved through a radar headway sensor, digital signal processor and longitudinal controller. The closed loop system dynamics are of first order with the time constant . The following table differentiates Open-Loop Control System and Closed-Loop Control System: 1. This paper retraces the history of the automobile cruise control technology since the 1950s. Answer (1 of 4): A closed loop system is anything that makes adjustments to itself as a function of changes to its environment, in order to achieve a desired state. As an example of a c. :>''N Q$sw1jlJED*K~7m'.3\]22}\W+>G3T3^63qBwYf59lqjNkdN*#E/ m&CWX3>_3_8;;63(%]-E`ip_@G,d.Yl@6"/{*{+{O([S^?EQKDj=6S_S%^:B54E_Qt"-3|.Ut=}>IwkM.~7MwLm4 &Ba2D6't&.+&^.W* YV@;w=L1dviEA`>:BJfC)8[@B74W$x{zqdkn/epgQ&>83Eg[`g "How Cruise Control Systems Work" Though some "closed-loop" cruises may not require a U.S. passport, we recommend bringing yours in case of an emergency, such as an unexpected medical air evacuation or the ship docking at an alternate port. The reference to "feedback", simply means that some portion of the output is returned . %%EOF Create a new model window. All contents licensed under a Creative Commons Attribution-ShareAlike 4.0 International License. Note that the value returned from your MATLAB command window may not be exactly the same, but should at least have the same The solution to this problem in this case is to choose a lower proportional gain, , that will give a reasonable rise time, and add an integral controller to eliminate the steady-state error. As a U.S. citizen, you will not need a valid passport to leave and re-enter the United States this way. The dynamics are represented by three transfer functions denoting the response of the engine torque to throttle position. In a closed-loop control system, the output of the system controls the input of the system to obtain the desired functionality from the system. It also has a sixth control -- the brake pedal, and if your car has a manual transmission the clutch pedal is also hooked up to the cruise control. The change on the output by the input or the relationship between the detected sensor value is known as the gain of the system. 0000071366 00000 n Copyright 1999 - 2023, TechTarget More complicated systems use a microcontroller or programable logic controller to take several inputs and to control multiple outputs. Another complex example is computer room air handlers (CRAHs) in data centers that dissipate heat produced by equipment using fans, cooling coils and a water chiller system. 0000003310 00000 n 0000005560 00000 n (1). the transfer function, zero initial conditions must be assumed. A block diagram for this system is shown in the following sketch: The disturbance to the system is a change in road grade measured in percent. Four different methods to design the controller are listed at the bottom of this page. You should see the following plot. After a little while, the integral control will start to increase the throttle, opening it more and more, because the longer the car maintains a speed slower than the desired speed, the larger the distance error gets. The cruise control system of a car is a common feedback system encountered in everyday life. This works in a similar way to the brake booster, which provides power to your brake system. We will discuss this issue much more in subsequent tutorials. 7BH,87pL=Bx!Q6%V/AaXS|^3)3)x4:qt%0<=(jl+V`b!q0#v)E,G,BL.Xc; |!EUBdpp/2E4 Vehicle response to a change in setpoint: Throttle response to a change in setpoint: Internal model control is a version of feedback control that incorporates an explicit process model. A key benefit to open loop controls is that theyre much simpler systems, which means theyre more affordable than closed loop controls and are easier to implement. This factor helps the car deal with hills, and also helps it settle into the correct speed and stay there. To solve this problem using Matlab, copy the following commands into an new ){]&s@>)h;x7O`V>GHU.uwS0V"pRi>`eZ?wD kk/mUw;lV);# .F;A^lE"x%qo?|*O%_/^pSJLTBoU2O1(r#5_ cBNTwHvhGoOQ|`?q${1GMa\o\Q1]^@? (v3 tF1pwB7r} "*MN%[ 9%[N[b~8>=4zP Z'+Y(ofO. 0. When the sensor detects the temperature is above the set point, it turns the system off. Physical setup and system equations. 62 0 obj << /Linearized 1 /O 64 /H [ 900 407 ] /L 529196 /E 84903 /N 15 /T 527838 >> endobj xref 62 23 0000000016 00000 n Also, the system must be stable for optimum performance, and stability of a close loop system which the cruise system is an example, was determined by calculating the controller gain (K 1, K 2, K 3) and C#ehPa4T^dB//crGWU. =')LeIL)q a{D=ih@"U+8J8lw`_ t*h=@@8Ey 6/FobiCqF6S@_vkLT$_,2@GIV%L@=mJ:lZ1 z/Pg)R?tN3>@q/LcD(9v2 qr?rqB=Nv)GK-]M=PLn:5R&y*7p%IRTYs1fI/W(]S~}/`?08i,22lcBrF%+=#d;u2* ^e(dT55%g[*T0hc_PQ3YcC)|OImuCr?5X$ O`44Gb CRUISE CONTROL Cruise control (speed control, auto-cruise or tempomat) is a system that automatically controls the speed of a motor vehicle. The cruise control system actually has a lot of functions other than controlling the speed of your car. trailer << /Size 85 /Info 60 0 R /Root 63 0 R /Prev 527828 /ID[<87c677e7f4972921acff8bcb7e9fa395>] >> startxref 0 %%EOF 63 0 obj << /Type /Catalog /Pages 58 0 R /Metadata 61 0 R /PageLabels 56 0 R >> endobj 83 0 obj << /S 303 /L 389 /Filter /FlateDecode /Length 84 0 R >> stream A common example of a control system is the cruise control in an automobile: The cruise control manipulates the throttle setting so that the vehicle speed tracks the commanded speed provided by the driver. However, this new system can automatically adjust speed in order to maintain a proper distance between vehicles in the same lane. more than 10% remains. The best way to attack this tedious process is to 2Z?jPedtIh`"uQE*1U?3 [)X&DO&XX#AB.cG! Do Not Sell or Share My Personal Information, heating, ventilation and air conditioning, Automation brings NetOps to the next level, IoT for me: How the internet of things is personalizing medicine, Tailoring server BIOS settings for cool servers without wasting energy, Dawning of the digital security border: A new standard for wide area perimeter and border security, class library (in object-oriented programming), E-Sign Act (Electronic Signatures in Global and National Commerce Act), Project portfolio management: A beginner's guide, SWOT analysis (strengths, weaknesses, opportunities and threats analysis), Do Not Sell or Share My Personal Information, susceptible to oscillation or runaway conditions, sensor failure can cause unwanted system performance. cruise control system with a PID controller () is: Let equal 1, equal 1, and equal 1 and enter the following commands into a new m-file. 0000003413 00000 n When you add resistance to the blower it will work up to 100% of the voltage provided. Such systems have a dampening value added to control for rapid cycling and unwanted oscillations of the output. criteria. Review a control system that combines sensor fusion and an adaptive cruise controller (ACC). Ll9vv:;d{UxG{h\? 1980s to present day or modern cruise control technology (a) Basic components of a modern cruise control system (b) Non . than 5 seconds. and the block diagram of a typical unity feedback system is shown below. This notebook contains material from CBE30338; Closed ecological system not relying on matter exchange outside of the system, as opposed to open loop. The throttle valve controls the power and speed of the engine by limiting how much air the engine takes in (see How Fuel Injection Systems Work for more details). What is the quiet-eye phenomenon, and how does it relate to novice learners? The throttle valve controls the power and speed of the engine by limiting how much air the engine takes in. Control Systems Introduction. %PDF-1.5 % Please see the Cruise Control: System Modeling page for the derivation. The open loop system is a simple design, the accuracy dependent on the calibration of the devices within the process. Adaptive cruise control is similar to conventional cruise control in that it maintains the vehicle's pre-set speed. A basic closed-loop control system is shown in Figure 1. unrealistic because a real cruise control system generally can not change the speed of the vehicle from 0 to 10 m/s in less When finding and the dynamics of the speed measurement, We assume that a one percent increase in grade introduces 150 Newtons of force in opposing the car acceleration, that is, The controller is assumed to be a proportional-integral control written as, This can be summarized in the following block diagram. The plant functions Gp(s . In this paper, a novel meta-heuristic algorithm for vehicle cruise control (VCC) system, battle royale optimization algorithm based BRO/PID controller is proposed. 0000000900 00000 n 2. Using Newton's law, modeling equations for this system becomes: where u is the force from the engine. By reducing the unity feedback block diagram, the closed-loop transfer function with a proportional controller becomes: Recall from the Introduction: PID Controller Design page, a proportional controller, , decreases the rise time, which is desirable in this case. These elements comprise the essentials of a feedback control system: the process (the system to be controlled), the process variable (the specific quantity to be measured and controlled), the transmitter (the device used to measure the process variable and output a corresponding signal), the controller (the device that . The purpose of this notebook is to introduce for the analysis of block diagrams made up of linear transfer functions. To use the m-file written for the state-space (the m-file with A, B, C, D matrices), add the following command In the picture above, you can see two cables connected to a pivot that moves the throttle valve. If, however, you depart from Miami, sail through the Panama Canal, visiting a foreign port on the way, and disembark in Los Angeles, you have not been on a closed loop cruise, even though both your departure and . It can also help drivers stay within the speed limit. The level of damping of the system is divided into 4 types. A classic example of a closed loop control system is Cruise Control in your car. 0000002185 00000 n Human operators are more expensive to hire and may need to operate larger systems, requiring more automation. In this article, we'll learn how a conventional cruise control system works, and then we'll take a look at adaptive cruise control systems that are under development. These systems use a small, electronically-controlled valve to regulate the vacuum in a diaphragm. The E-Sign Act (Electronic Signatures in Global and National Commerce Act) is a U.S. federal law that specifies that, in the Enterprise project management (EPM) represents the professional practices, processes and tools involved in managing multiple Project portfolio management is a formal approach used by organizations to identify, prioritize, coordinate and monitor projects SWOT analysis is a framework for identifying and analyzing an organization's strengths, weaknesses, opportunities and threats. 0000008713 00000 n As you can see from the plot, neither the steady-state 3. The relationship of the throttle to speed is not direct as many factors can influence it, such as cargo weight, hill incline and wind resistance based on speed. Open versus closed loop Cruise control problem (ignore dynamics): y [km/h] w [%] Model is found to be y = 10 (u - 0.5 w) u [degrees] is the throttle angle From Feedback Control of Dynamic Systems, G.F. Franklin et al The model of the cruise control system is relatively simple. This figure can describe a variety of control systems, including those driving elevators, thermostats, and cruise control. This returned value can be used as the gain for the compensator and the closed-loop step response can Customer success is a strategy to ensure a company's products are meeting the needs of the customer. Every voyage on a ship that's not U.S. flagged, departing from and returning to a U.S. port must, according to maritime law . | Learn more about Thippesh TN's work experience, education, connections & more by visiting their profile on LinkedIn Some examples of these are bimetallic temperature switches or self-regulating valves. For instance, the cruise control pictured below can accelerate or decelerate the car by 1 mph with the tap of a button. Furthermore, the speed of response is determined by the magnitude of . 6I=]D K"M2$>? lArn#au\B%yg!X|s@l$[plFr?bpYorWMv>6.CV0 pP?5 ;pz|%]p}"luBG6" lp |])^whAu:QI{_<3x Maintenance of CLCS is difficult. error nor the rise time satisfy our design criteria. There has recently been renewed interest in physiological closed-loop control of ventilation. For now, let equal 600 and equal 1 and see what happens to the response. x8KNtHax?s|.X7nX~-xEGhu{|.=]bojjv 6@oFUa\Z{_i? Hb```VVa20p4 9`!}{g77pa~y s K Definition: A closed-loop control system can be defined as, a system that has a feedback loop (or) a control system that uses a feedback signal to generate the output. [8]: # Get the transfer function from . Thus, only a proportional controller, , will be considered to solve this problem.The closed-loop transfer function becomes: (2) :}~iedRb$?W Pg 1tk7jyx@`#`@ae@E TuDcCi\g#kG\nFW*55]]6!Rf than 0.5 seconds due to power limitations of the engine and drivetrain. They dont respond to changes during testing the same way that closed loop systems do, which means the operator may not be aware of variations or disturbances that occur during testing. Change your m-file to the following. The closed-loop transfer function for this 2. In the process, it will go into details of the following topics: 1. You can replace the switch with a load cell or string-pot and stop the move at a particular feedback level. Let us know and well be in touch. 0000001632 00000 n These may use discrete analog electronic comparators for simple systems, such as an oven thermostat. E/As[CZdveDud,@q6h,y ,8NtCY@S5W[v} %>!C 9g01"qszquFa2=Q{LK J S'0:L0( tlBW< %$.S %E]%0zngcpo*5{t &['L *]]| ViiMi:2EHlr(/8. Also, if you were on a steep enough hill, the car might not accelerate at all. Closed-loop control systems typically operate at a fixed frequency. hWmo6O!/-/"@5kqAX,$w( a.'0'pC+I5HgD9!h-Ckkh9I/ 1AEcP4Z]HP0Rsp="cUk:t2.V9. c. 0.02 has little inuence on the behavior of the closed loop system since it is an order of mag-nitude smaller than 2. It can control the car's throttle and vary the engine power (system input). . 0. Discrete closed loop control also uses feedback but only changes the command when a desired level/value is crossed. %{yA'U).&5H]T}ZkTs3'M+>1%J/f~9je'Ua F,D*2&t4I25+$YCZhC\c3qaUMvl9_H~7:00@(!(!,l2CE^/N`,F +3XeK]GOU2Y*VNO#z8Gjb8t4uy#Gnk#k{]i*W+ r53|O;N;BK\UTU!SR{:C[. will be reduced by a factor of . ]J @ NlVnZ^J\X^He2(Vo8:G/i#@$EQ$7rppt3c$PYI|^(@"W.h+Vo?k/PB-vJ7!K\im!R_]/Vh"T&*kd)*nWjm*2)zTPjC5YYj2YLE*Em B67o"&6%A6rpA`14m`c;1 K f%6dd[?jxP3^]dcn`3/p:B!,PPJCzN> Since closed loop controls are more responsive to changes during the testing process, closed loop control systems are more accurate and repeatable than open loop controls. Closed-loop response Physical setup and system equations The model of the cruise control system is relatively simple. A classic example of a closed loop control system is Cruise Control in your car. If the inertia of the wheels is neglected, and it is assumed that friction (which is proportional to the car's speed) is what is opposing the motion of the car, then the problem is reduced to the simple mass and . Controlling the speed of a car is a classic application of control system theory. With the gain Kp you just chose, the rise time and the overshoot criteria have been met; however, a steady-state error of Since this is only a cruise control system, a 10% overshoot on the velocity will not do much closed loop control system: A closed loop control system is a set of mechanical or electronic devices that automatically regulates a process variable to a desired state or set point without human interaction. R9p^prSe^js,'Q, +@2\p2PyhQ,$9UA iA6'(zT+J@SsqKt{*z@pdbP)AQo*GisB9cR`s@Q $:: 4dA`@-J =JJ Y&%U X\ 454b3*0# %:J 1. Innkeeper LLC is experienced in developing complete control systems for hydraulic, electromechanical and pneumatic systems. To overcome the limitations of the open-loop controller, control theory introduces feedback.A closed-loop controller uses feedback to control states or outputs of a dynamical system.Its name comes from the information path in the system: process inputs (e.g., voltage applied to an electric motor) have an effect on the process outputs (e.g., speed or torque of the motor), which is measured with . We can then generate the new closed-loop step response as follows. The system attempts to maintain a constant velocity in the presence of disturbances primarily caused by changes in the slope of a road. The cruise control system has a single pole at s = -b/m which we can see plotted on the s-plane using the following MATLAB commands: pzmap (P_cruise) axis ( [-1 1 -1 1]) We observe that the open-loop system is stable and does not oscillate since the pole is real and negative. Without cruise control, long road trips would be more tiring, for the driver at least, and those of us suffering from lead-foot syndrome would probably get a lot more speeding tickets. The closed-loop transfer function for this cruise control system with a PID controller () is: (5) Let equal 1, equal 1, and equal 1 and enter the following commands into a new m-file. That, at least, is the theory. Its also worth noting that you dont necessarily have to choose one or the other. Closed loop systems are more desirable than open loop systems because they are sensitive to changes. 0000004972 00000 n Cruise control in a car is a reasonably common intermediate value control system. It can perform better because of the feedback. Closed loop control systems use live feedback to adjust/modify/change the drive command in real time. Ecological sanitation systems or ecosan, intended to close the nutrient and water cycle. We can then find a gain to place the closed-loop poles in the desired region by employing the rlocfind command. Open-loop response. You wish to design a cruise controller that will adjust the throttle position u within the limits 0 to 1 in order to maintain . Other Closed-loop systems. 0000071444 00000 n It's great for low to no traffic situations where you don't need to change or adjust speed often. 0000068477 00000 n Introduction: Root Locus Controller Design. %PDF-1.4 % Old or low-cost systems may use a mechanical closed loop system. HWKoFW*l!9ds-mLH*Q~}$P|ZF,"P4[=6{'}}f-YeP/GziO>-W3R=^z6dSO./%{8gP M3lOEn>W}Olk+K'|{:yHW2?H{c68K"?Tl260FeDB>stK'tnoZ+ So by providing a feedback system, any open-loop control system can be changed into a closed loop. The two dotted lines in an angle indicate the locations of constant damping ratio (=0.6); the damping ratio is greater than 0.6 in between these lines and less than 0.6 outside the lines. 0000068689 00000 n For example, a cloud orchestration system may detect high server load and cause an automated process to generate and deploy new servers to better handle it. Two variants of ACC are provided: a classical controller and an Adaptive Cruise Control System block from Model Predictive Control Toolbox. Proportional control. It can perform better if the calibration is properly done. Therefore it is not necessary to have a very precise . A simple block diagram of internal model control is given by. Now adjust both the proportional gain, , and the integral gain, , to obtain the desired response. U`~ NS0'j^a^orM3g84r *BK#s;epGzlGA9SLW1fgfVhpDf*d must always be considered when proposing a new controller. Also, it states that the steady-state error You can replace the switch with a load cell or string-pot and stop the move at a particular feedback level. Create a new m-file and enter the following commands. . By using this intelligent control one can easily control the . For now all of the design criteria have been met and no further iterations are needed; however, you should experiment la`0h'CAJ#Wd(cAn indicates the locations of constant natural frequency (=0.36); the natural frequency is greater than 0.36 outside the semi-ellipse, and smaller than 0.36 inside. Remember that the derivative of speed is acceleration. ?&:2Pug&*0D;Bha>?t'.VPM.LK4'7M9d k u EyVdd /Z See also: feedback loop, closed loop reporting, open loop/closed loop payment cards, and closed loop manufacturing resource planning. The aim of inventing Flyball governor was to keep the speed of the engine constant by regulating the supply of the steam to the engine. To see the original problem setup, see Cruise Control Modeling page. . Cruise control could also qualify as a closed-loop. An . Cruise-control-design-using-PID. The stability of this system can be controlled by a feedback system. m-file: We can rewrite the first-order modeling equation (1) as the state-space model. For more information on cruise control, check out the links below. >zmGI/e}L7m#_m"9jVwTf+a6O0WlLo*4yUXtn9aikdhC 6/$`#684Y While closed loop control actions are modified by feedback, open loop control systems are merely on/off. From the plot, we see that the vehicle takes more than 100 seconds to reach the steady-state speed of 10 m/s. The model of the cruise control system is relatively simple. Continuous closed loop control is as described above, and is necessary when wave-shaping is required (the test specification may require sinusoidal or trapezoidal movements, for example) or high levels of repeatability are needed. Electrical Engineering questions and answers. Defining the transfer function of the system based on the gain and the desired state may require careful calculation for best results. Closed Loop Control. Many cars use actuators powered by engine vacuum to open and close the throttle. Frequency domain performance . Y\\!(= W Dal;$3pi V310;aRpf{'u2C6+f5r{Hrva]~$,/V0i+`D}X: k Lj#E endstream endobj 211 0 obj 742 endobj 198 0 obj << /Type /Page /Parent 184 0 R /Resources 199 0 R /Contents 206 0 R /MediaBox [ 0 0 595 842 ] /CropBox [ 0 0 595 842 ] /Rotate 0 >> endobj 199 0 obj << /ProcSet [ /PDF /Text ] /Font << /F9 200 0 R /F15 203 0 R /F17 205 0 R >> /ExtGState << /GS1 207 0 R >> >> endobj 200 0 obj << /Type /Font /Subtype /Type1 /Name /F9 /FirstChar 1 /LastChar 255 /Widths [ 333 611 611 167 333 667 315 333 333 278 333 606 278 611 481 333 315 278 278 278 278 278 278 278 278 278 278 278 278 333 204 278 296 389 556 556 833 815 204 333 333 500 606 278 333 278 278 556 556 556 556 556 556 556 556 556 556 278 278 606 606 606 444 737 722 722 722 778 722 667 778 833 407 556 778 667 944 815 778 667 778 722 630 667 815 722 981 704 704 611 333 606 333 606 500 204 556 556 444 574 500 333 537 611 315 296 593 315 889 611 500 574 556 444 463 389 611 537 778 537 537 481 333 606 333 606 278 278 278 204 556 389 1000 500 500 333 1000 630 259 1000 278 278 278 278 278 278 389 389 606 556 1000 333 1000 463 259 833 278 278 704 278 296 556 556 556 556 606 500 333 737 334 426 606 333 737 333 400 606 333 333 333 611 606 278 333 333 300 426 834 834 834 444 722 722 722 722 722 717 1000 722 722 722 722 722 407 407 407 407 778 815 778 778 778 778 778 606 778 815 815 815 815 704 667 574 556 556 556 556 556 556 796 444 500 500 500 500 315 315 315 315 500 611 500 500 500 500 494 606 500 611 611 611 611 537 574 537 ] /Encoding 202 0 R /BaseFont /NewCenturySchlbk-Roman /FontDescriptor 201 0 R >> endobj 201 0 obj << /Type /FontDescriptor /Ascent 737 /CapHeight 722 /Descent -205 /Flags 34 /FontBBox [ -195 -250 1000 965 ] /FontName /NewCenturySchlbk-Roman /ItalicAngle 0 /StemV 92 /XHeight 464 /FontFile3 208 0 R >> endobj 202 0 obj << /Type /Encoding /Differences [ 1 /dotaccent /fi /fl /fraction /hungarumlaut /Lslash /lslash /ogonek /ring 11 /breve /minus 14 /Zcaron /zcaron /caron /dotlessi 30 /grave /quotesingle 130 /quotesinglbase /florin /quotedblbase /ellipsis /dagger /daggerdbl /circumflex /perthousand /Scaron /guilsinglleft /OE 147 /quotedblleft /quotedblright /bullet /endash /emdash /tilde /trademark /scaron /guilsinglright /oe 159 /Ydieresis 164 /currency 166 /brokenbar 168 /dieresis /copyright /ordfeminine 172 /logicalnot /hyphen /registered /macron /degree /plusminus /twosuperior /threesuperior /acute /mu 183 /periodcentered /cedilla /onesuperior /ordmasculine 188 /onequarter /onehalf /threequarters 192 /Agrave /Aacute /Acircumflex /Atilde /Adieresis /Aring /AE /Ccedilla /Egrave /Eacute /Ecircumflex /Edieresis /Igrave /Iacute /Icircumflex /Idieresis /Eth /Ntilde /Ograve /Oacute /Ocircumflex /Otilde /Odieresis /multiply /Oslash /Ugrave /Uacute /Ucircumflex /Udieresis /Yacute /Thorn /germandbls /agrave /aacute /acircumflex /atilde /adieresis /aring /ae /ccedilla /egrave /eacute /ecircumflex /edieresis /igrave /iacute /icircumflex /idieresis /eth /ntilde /ograve /oacute /ocircumflex /otilde /odieresis /divide /oslash /ugrave /uacute /ucircumflex /udieresis /yacute /thorn /ydieresis ] >> endobj 203 0 obj << /Type /Font /Subtype /Type1 /Name /F15 /Encoding 202 0 R /BaseFont /Helvetica-Bold >> endobj 204 0 obj << /Type /FontDescriptor /Ascent 732 /CapHeight 681 /Descent -228 /Flags 34 /FontBBox [ -188 -251 1266 908 ] /FontName /ILEDOL+Bookman-Light /ItalicAngle 0 /StemV 96 /XHeight 484 /CharSet (/s/F/three/i/t/S/d/four/I/u/five/k/l/six/m/w/x/seven/n/y/b/o/eight/c/C/p\ /nine/fi/e/D/a/P/one/f/r/g/two) /FontFile3 209 0 R >> endobj 205 0 obj << /Type /Font /Subtype /Type1 /Name /F17 /FirstChar 1 /LastChar 255 /Widths [ 260 620 620 140 380 600 320 320 320 320 460 600 320 640 480 420 300 320 320 320 320 320 320 320 320 320 320 320 320 340 220 320 300 380 620 620 900 800 220 300 300 440 600 320 400 320 600 620 620 620 620 620 620 620 620 620 620 320 320 600 600 600 540 820 680 740 740 800 720 640 800 800 340 600 720 600 920 740 800 620 820 720 660 620 780 700 960 720 640 640 300 600 300 600 500 220 580 620 520 620 520 320 540 660 300 300 620 300 940 660 560 620 580 440 520 380 680 520 780 560 540 480 280 600 280 600 320 320 320 220 620 400 1000 540 540 420 1280 660 240 1240 320 320 320 320 320 320 400 400 460 500 1000 440 980 520 240 900 320 320 640 320 300 620 620 620 620 600 520 420 740 420 360 600 400 740 440 400 600 372 372 340 680 600 320 320 372 420 360 930 930 930 540 680 680 680 680 680 680 1260 740 720 720 720 720 340 340 340 340 800 740 800 800 800 800 800 600 800 780 780 780 780 640 620 660 580 580 580 580 580 580 860 520 520 520 520 520 300 300 300 300 560 660 560 560 560 560 560 600 560 680 680 680 680 540 620 540 ] /Encoding 202 0 R /BaseFont /ILEDOL+Bookman-Light /FontDescriptor 204 0 R >> endobj 206 0 obj << /Length 1979 /Filter /FlateDecode >> stream

Dr Patel Cardiologist Fort Worth, Articles C