基于单片机的智能小车 毕业设计(论文)外文文献翻译

毕业设计（论文）外文文献翻译

系部机电工程系

专业车辆工程

学生姓名学号

指导教师职称讲师

2013年2 月

Electric intelligent car based on SCM

Through research and to realize a photoelectric sensor for sensitive components ,with AT89C51 as control core electric tracing of intelligent control carbonylation-the car ,the system is also including dc motor ,L9110 chips and LM324 comparator etc. The design USES AT89C51 as intelligent car core controller.

The system takes microcontroller as control core and realization of electric before Enter ,back ,turn left and right turn function .Through the Angle sensor detection the seesaw Angle change ,use incremental pl algorithm to control the electric car for balance ,and using photoelectric sensor detection black line ,make the electricity Actuation vehicle in the course of driving keep linear motion and don’t skip from atrium .

1. Project Design

Light buy a sensor ,the reality of the electric car is moving quickly degrees ,bit ,buy, transportation line shape when measured quantity of real condition ,and will be measured quantity number according to preach sent to monolithic machine into line processing, but buy single chip machine according to the measured buy root different forms of several inspection according to real now to electric actuation vehicle wisdom can control system .This kind of square case real now to electric actuation vehicle dynamic shape state into the shipment do real possession in system ,control system spirit alive ,can depend ,pure degree is high ,can full foot of each item of the stockings to bed .(1)straight epidemiological speed is tasseled straight epidemiological speed department with pulse width modulation experience .meanwhile gather speed is experience .meanwhile ,its main electrical pulse width modulation by road system type variable change device ,Jane says PWM variable change device .Adjustable speed by in the department of PWM experience .Meanwhile open shut frequency rate is high ,only on electricity barnado electricity sense of filter wave can be use to get to move very small straight pulse electric flow ,electricity flow barnado electric capacity easily even tantras, department of low speed operation flat experience .meanwhile ,adjustable speed stability van is surrounded relatively wide ,can reach 1000 left light .By on electrical flow wave shape than V-M system .be in phase with flat to all electrical flow dynamic machine ,electric heat consumption and hair loss than a small .with the sample buy in open shut frequency rate is high ,and if a fast speed electrical machine ring should match close ,fasten tasseled phase can be to get very wide frequency band ,because of the fast speed ring should be good ,dynamic configuration sexual can perturbation resistance can force is powerful .According to the root ,with more than ensemble close and this set of electrical machine control project by tolerance of the quantity and electrical machine speed straight flow of hair ,the exhibitor to adopt the project with a single

extremely H type can be changed into change device inverse PWM line speed .

1.1 photoelectric detection module design

The intelligent car was stuck on the black line running on white paper “road”, so this module design need to detect shop on the black rubber belt drive area , including Run straight along the arc district and driving district two area .Because f the black and white paper to light reflection coefficient is different ,can according to receive reflected light .

The strength of the judge “road”-the black line .this paper USES is simple and practical detection methods, namely the infrared detection method.

Infrared detection method ,I use infrared ray in different colors of physical surface with different reflection properties characteristics .In the car driving process Continually to the ground to launch the infrared ,when the infrared met white ground occurs when the reflected light ,aimless and launch packed on the car of receiving tube receiving ; if Fruit is met black line is absorbed ,and than the infrared cars receiving tube receiving less than signal .

1.2 signal comparative module design

This part design USES a LM324 comparator ,of sensor signal voltage received compare and amplified ,and will compare the results after Feed to the microcontroller ,used to detect sensor sensitivity ,diagram shown in figure 5 shows .When two sensors simultaneously detect light ,straight forward .When the sensor can’t detect light ,in cut-off state ,double LM324 operational amplifier output low level to microcontroller ,by program processing ,If left not detected light ,then left correct direction; If the right has not been detected light ,then turn correct direction .

1.3 motor control and driving module design

Because use is double drive cars ,this part of the circuit must be able to output of two different voltage values ,respectively to controlling trolley right and left two motor drive ,the two of the wheel speed and direction of the same or different ,thus to control its advance and turning .In system design process ,use two L9110 chips to connect SCM and dc motor respectively .L9110 is for control and drive motor design two channels push-pull power amplifier application-specific integrated circuit device ,discrete circuits in monolithic IC integrated such that the peripheral equipments in lower cost and the whole machine can carry on sexual high .The core slice two a TTL/CMOS and let electricity flat lose into ,have good anti-jamming ,two output terminal can pick flooding dynamic electric machine straight to the shipment of positive reverse move and it has had a big electricity flow flooding dynamic can force ,each call way can pass over 800mA continuous current ,peak current capacity of 1.5 ~OA ; At the same time it has lower output saturation pressure drop and the static electricity ,The built-in clamp a diode can release the perceptual load of reverse

current impulse ,making it the drive relays ,dc motors ,stepping motor or switch power tube the use of safe and reliable .

Follow tracing car system to common AT89C51, complementary

with relatively simple components and circuit design ,the smooth completion of follow under the premise of tracing function ,and fully considered appearance ,costs ,so most of the circuit car by manual welding is complete .In the design ,we never in a circuit increase redundant functions ,but retained various hardware interface and software subroutines interface to facilitate the expansion and development after.

2. System hardware design

2.1 motor driver module design

In making intelligent car, right wheel respectively with two speed and Torque basic identical dc motor driven deceleration. bolt-on trunk-lid spoiler Department to install a direction wheel, then through the I/O mouth to control tow dc slowing down Motor speed and steering can be achieved on the car to the left, turn right and straight line.

Motor drive using a integrated electrical machine flooding dynamic core slice L 298 N. L298N is ST the production of the company, the internal containing four channel logical drive circuit, it is a kind of tow phase four phase motor drive, namely the special contains tow H bridge of high voltage large current commander bridge type drive，acceptance criteria TTL logic level signals, be driven 46V, 2A below the motor.

2.2 tracing module design

Tracing module mainly composed by photoelectric sensor reflex, Photoconductive resistance of the resistance of the light with the surrounding environment changes, when the LTT white lines above, light emission strongly; The LTT black line above, light emission are relatively weak. So when photoconductive resistance in white line and black line above the elements will occur significantly changes, the resistance changes value after comparator can output high level. But this way environmental influences big, work is not stable. This article actual use is RPP220 type reflex sensors made tracing module.

RPR220 is an integration of reflective photoelectric detector, transmitter is a gas infrared light emitting diode and the receiver is a high sensitivity silicon photoelectric triode flat. When the light emitting diode reflected back, triode conduction and output low level

2.3 obstacle avoidance module design

Obstacle avoidance module mainly composed by infrared reflection sensor. Infrared reflection sensor by one infrared tubes and photoelectric diode constitute, infrared tubes out to meet the

infrared object reflective sex strong after be turned back, by photoelectric diode receiving, cause photoelectric diode current increases, light born this change into voltage signal, it could be processor receives and processing.

2.4 remote control module design

This module will launch end USES high sensitive HL-5000 type universal television remote control, the receiver using receive frequency for 38kH receiving head 1838, this module and the single chip computer interface is very convenient. In addition, for the red outside meet after harvest of plait code letter number the department tasseled set when shipped with project of AT89C52 single chip microcomputer external interruption. In order to recognize a complete key signal, must for each coding pulse width were measured with discriminate receives the pulse is o still 1. the microcontroller timer/counter to measuring pulse width. Timer/counter except points than can be set, from except 2 to except 2048, measurable pulse width can reach 500m/s. This paper set except point for 12, namely than 12 points frequency, because the external clock is about 12MH, clock cycle for 1s, so the timer/counter for 1 per timing once s.

2.5 alarm module design

Alarm module core chip 110 IC, can choose application in automobile, motorcycle, alarms, personal riot device, door magnetic alarm device and etc.

3. System software design

This system software modular structure, he main program, initial anti-fuzzy procedures, interrupt subroutines, delay subroutines, buttons pronunciation subroutines, buttons scanning subroutines constitutes.

3.1 tracing subroutines design

Tracing module is designed by the left right photoelectric sensor output terminal receiving monolithic respectively, p22 and p23 tube feet, then through the microcontroller programming, produce PWM control signal. Through L 298 control motor speed, let the car to move forward, left turn, turn right and stop driving purpose.

3.2 avoid barrier of programming

Obstacle avoidance module is designed by the infrared reflection sensor module around the output terminal receiving MCU respectively p20 and p21 tube feet, then through the microcontroller programming, produce PWM control signal, through L298 control motor speed, let the car to move forward, left turn, turn right and stop driving purpose.

3.3 remote subroutines design

Remote control module is designed by the infrared sensor 1838 an output terminal of the receiving

MZUp32 tube feet, then use all-purpose remote control on the remote control, then let microcontroller decoding, produce PWM control signal, through L298 control motor speed, let the car move forward, left turn, turn right and stop driving purpose.

4. Summar y

Adopts singlechip, using photoelectric senor and infrared reflection senor was designed as a detection system, can realize automatic homing line to walk, automatic obstacle avoidance, alarm and remote control functions such as intelligent car. This design is the obvious advantage of simple circuit, reliability, low cost, and easy to function of further perfecting and expansion.

From https://www.sodocs.net/doc/b710490226.html,

基于单片机的智能小车

通过研发实现了一种一光电传感器为敏感元件，以AT89C51单片机为控制核心的电机循迹小车的智能控，该系统还包括直流电机、L9110芯片和LM324比较器等。

本设计采用AT98C51单片机作为智能小车核心控制器。本系统以单片机为控制核心，实现电动机的前进、退、左转和右转功能。通过角度传感器[1]检测跷跷板角度的变化，利用增量式pi算法[2]控制电动车寻找平衡点，同时运用光电传感器检测黑线，使电动车在行驶过程保持之先切不会脱离跷跷。

一设计方案

电动车的速度、位置、运行状况的实时测量，并将测量数据传送至单片机进行处理，然后又单片机根据所监测的各种数据实现对电动车的智能控制。这种方案能实现对电动车的运动状态进行实时控制，控制，灵活可靠，精度高，可慢猪对系统的各项要求。

直流调速系统采用脉宽调速系统，其主电路采用脉宽调制式变换器，简称PWM变换器。由于PWM调速系统的开关频率较高，仅靠电枢电感的滤波作用就可以获得脉动很小的直流电流，电枢电流容易连续，系统的低速运行平稳，调速范围较宽，可达1：10000左右。由于电流波形比V-M系统好，在相同的平均电流下，电动机的损耗和发热都比较小。同样由于开关频率高，若与快速响应的电机相配合，系统可以获得很宽的频带，因此快速响应性能好，动态抗扰能力强。根据以上综合比较，以及本设计中受控电机的容量和直流电机调速的发展方向，本设计采用了H型单极型可逆PWM变换器进行调速。

1.1光电检测模块设计

该智能小车在贴有黑线的白纸“路面”上行驶，因此本模块设计需要检测铺在行驶区的黑胶带，包括直线行驶区和沿弧线行驶区两个区域。由于黑线和白纸对光线的反射系数不同可根据接收到的反射光的强弱来判断“道路”---黑线。本文采用的是简单实用的检测方法，即红外探测法。

红外探测法，即利用红外线在不同颜色的物理表面具有不同的反射性质的特点。在小车行驶过程中不断地向地面发射红外光，当红外光遇到白色地面时发生

漫发射，反射光被撞在小车上的接收管接收；如果遇到黑线则红外光被吸收，则小车上的接收管接收不到信号

1.2信号比较模块设计

输送给单片机，用于检测传感器的敏感性，电力图如图5所示。当两个传感器同时接收到光时，直线前进。当传感器检测不到光时，处于截止状态，双运算放大器LM324输出低电平给单片机，由程序处理；若左路未检测到光，则向左纠正方向；若右路未检测到光，则向右纠正方向。

1.3电机控制与驱动模块设计

由于采用的是双驱动的小车，这部分电路必须能够输出两个不同的电压值，分别去控制小车的左、右两个驱动电机，使小车的两个车轮的转速和方向相同或不同，从而来控制它的前进和转弯。在系统的设计过程中，用两个L9110芯片来分别连接单片机和直流电机。L9110是为控制和驱动电机设计的两道推挽式功率放大专用集成电路件，将分立电路集成在单片ic之中，使外围器件成本降低，整机可靠性提高。该芯片有两个TTL/CMOS兼容电平的出入，具有良好的抗干扰性；两个输出端能之间驱动电机的正反向运动，它具有较大的电流驱动能力，每通道能通过800mA的持续电流，峰值电流能力可达1.5~2.0A；同时它具有较低的输出饱和压降与静态电流；内置的钳位二极管能释放感性负载的反向冲击电流，使它在驱动继电器、直流电机、步进电机或开关功率管的使用上安全可靠。

循迹小车系统以常见的AT89C51单片机为核心，辅以较简单的元器件和电路设计，在顺利完成循迹功能的前提下，又充分考虑到了成本、外观等问题，因此小车的大部分电路有手工焊接完成。在设计中，我们没有在电路中增加冗余的功能，但是保留了各种硬件接口和软件子程序接口，方便以后的扩展和开发。

二系统硬件设计

2.1电机驱动模块设计

在制作智能小车时，后左、右轮分别用两个转速和力矩基本完全相同的直流减速电机进行驱动，车头前部装一个方向轮，然后通过i/o口控制两个直流减速电机的转速和转向就可以实现小车的转轮、右轮和直行。

电机驱动采用片集成电机驱动芯片L298N。L298N是ST公司的产品，内部包

含4通道逻辑驱动电路，是一种二相和四相电机的专用驱动器，即内含二个H 桥的高电压大电流双全桥式驱动器，接受标准TTL逻辑电平信号，可驱动46v、2A以下的电机。

2.2循迹模块设计

迅即模块主要由广电反射式传感器组成。光敏电阻的阻值随周围

环境光线的变化而变化，当光线照射到白线上面时，光线发射强烈；光线发射到黑线上面时，阻值会发生明显的变化，将阻值的变化只经过比较器就可以输出高低电平。但是这种方式受环境影响大，工作不稳定。本文实际采用的是RPR220型反射式传感器制作的循迹模块。

RPR220是一种一体化反射型光电探测器，其发射器是一个砷化镓红外发光二极管，而接收器是一个高灵敏度硅平面光电三极管。当发光二极管发出的光反射回来时，三级管道通病输出低电平。

2.3避障模块设计

避障模块主要有红外反射式传感器组成。红外反射式传感器由1个红外发射管（发射器）和1个光电二极管（接收器）构成，红外发射管发出的红外光在遇到反光性较强的物体后被折回，被光电二极管接收，引起光电二极管光生电流的增大，将此变化转为电压信号，就可以被处理器接收并处理。

2.4遥控模板设计

本模块发射端采用高灵敏的HL-5000型万能电视遥控器，接收端采用接收频率为38KHZ的万能接收头182，该模块与单片机接口非常方便。另外，对于景红外接收后的编码信号，本系统设计时运用AT89C52单片微机的外部中断来接收，信号的下降沿触发外部中断。为了识别一个完整的键信号，必须对每一个编码脉冲的宽度进行测量，以判别接收到的脉冲是0还是1，利用单片机中的定时器/计数器来测量脉冲宽度。定时器/计数器的除分比是可以设定的，从除2到除2048，可测量的脉冲宽度可达500ms。时钟周期为1s，所以定时器/计数器每计时一次为1s。

2.5报警模块的设计

报警模块的核心芯片选择110报警IC，可应用于汽车、摩托车、防盗器、

个人防暴器、门磁报警器等场所。

三统软件设计

本系统软件采用模块化结构，由主程序、初始化子程序、中断子程序、延时子程序、按键发音子程序、按键扫描子程序构成。

3.1循迹子程序设计

循迹模块设计是通过把左右光电传感器的输出端分别接到单片机的P22和P23管脚上，然后通过单片机编程，产生PWM控制信号，通过L298控制电机的转速，让校车达到前进、左转、右转即停止行驶的目的。

3.2避障子程序设计

避障模块设计是通过把左右红外线反射式传感器模块的输出端分别接到单片机的P20和P21管脚上，然后通过单片机编程，产生PWM控制信号，通过L298控制电机的转速，让小车达到前进、左转、右转及停止行驶的目的。

3.3遥控子程序设计

遥控模块设计师通过吧红外接收头1838的输出端接到单片机的p32管脚上，然后用万能遥控器对其进行遥控，接着让单片机解码，产生PWM控制信号，通过L298控制电机的转速，让小车达到前进、左转、右转及停止行驶的目的。

四总结

采用单片机为核心，利用光电传感器和红外反射式传感器作为探测系统，设计了可以实现自动寻线行走、自动避障、报警以及遥控等功能的智能小车。该设计的显著优点是电路简单、可靠性强、成本低，并且非常易于功能进一步完善和扩展。

毕业设计外文翻译资料

外文出处： 《Exploiting Software How to Break Code》By Greg Hoglund, Gary McGraw Publisher : Addison Wesley Pub Date : February 17, 2004 ISBN : 0-201-78695-8 译文标题： JDBC接口技术 译文： JDBC是一种可用于执行SQL语句的JavaAPI（ApplicationProgrammingInterface应用程序设计接口）。它由一些Java语言编写的类和界面组成。JDBC为数据库应用开发人员、数据库前台工具开发人员提供了一种标准的应用程序设计接口，使开发人员可以用纯Java语言编写完整的数据库应用程序。 一、ODBC到JDBC的发展历程 说到JDBC，很容易让人联想到另一个十分熟悉的字眼“ODBC”。它们之间有没有联系呢？如果有，那么它们之间又是怎样的关系呢？ ODBC是OpenDatabaseConnectivity的英文简写。它是一种用来在相关或不相关的数据库管理系统（DBMS）中存取数据的，用C语言实现的，标准应用程序数据接口。通过ODBCAPI，应用程序可以存取保存在多种不同数据库管理系统（DBMS）中的数据，而不论每个DBMS使用了何种数据存储格式和编程接口。 1．ODBC的结构模型 ODBC的结构包括四个主要部分：应用程序接口、驱动器管理器、数据库驱动器和数据源。应用程序接口：屏蔽不同的ODBC数据库驱动器之间函数调用的差别，为用户提供统一的SQL编程接口。 驱动器管理器：为应用程序装载数据库驱动器。 数据库驱动器：实现ODBC的函数调用，提供对特定数据源的SQL请求。如果需要，数据库驱动器将修改应用程序的请求，使得请求符合相关的DBMS所支持的文法。 数据源：由用户想要存取的数据以及与它相关的操作系统、DBMS和用于访问DBMS的网络平台组成。 虽然ODBC驱动器管理器的主要目的是加载数据库驱动器，以便ODBC函数调用，但是数据库驱动器本身也执行ODBC函数调用，并与数据库相互配合。因此当应用系统发出调用与数据源进行连接时，数据库驱动器能管理通信协议。当建立起与数据源的连接时，数据库驱动器便能处理应用系统向DBMS发出的请求，对分析或发自数据源的设计进行必要的翻译，并将结果返回给应用系统。 2．JDBC的诞生 自从Java语言于1995年5月正式公布以来，Java风靡全球。出现大量的用java语言编写的程序，其中也包括数据库应用程序。由于没有一个Java语言的API，编程人员不得不在Java程序中加入C语言的ODBC函数调用。这就使很多Java的优秀特性无法充分发挥，比如平台无关性、面向对象特性等。随着越来越多的编程人员对Java语言的日益喜爱，越来越多的公司在Java程序开发上投入的精力日益增加，对java语言接口的访问数据库的API 的要求越来越强烈。也由于ODBC的有其不足之处，比如它并不容易使用，没有面向对象的特性等等，SUN公司决定开发一Java语言为接口的数据库应用程序开发接口。在JDK1．x 版本中，JDBC只是一个可选部件，到了JDK1．1公布时，SQL类包（也就是JDBCAPI）

汽车后市场 外文文献翻译

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汽车保险中英文对照外文翻译文献

汽车保险中英文对照外文翻译文献(文档含英文原文和中文翻译)

汽车保险 汽车保险是在事故后保证自己的财产安全合同。尽管联邦法律没有强制要求，但是在大多数州（新罕布什和威斯康星州除外）都要求必须购买汽车保险；在各个州都有最低的保险要求。在鼻腔只购买汽车保险的两个州，如果没有足够的证据表明车主财力满足财务责任法的要求，那么他就必须买一份汽车保险。就算没有法律规定，买一份合适的汽车保险对司机避免惹上官和承担过多维修费用来说都是非常实用的。 依据美国保险咨询中心的资料显示，一份基本的保险单应由6个险种组成。这其中有些是有州法律规定，有些是可以选择的，具体如下： 1.身体伤害责任险 2.财产损失责任险 3.医疗险或个人伤害保护险 4.车辆碰撞险 5.综合损失险 6.无保险驾驶人或保额不足驾驶人险 责任保险 责任险的投保险额一般用三个数字表示。不如，你的保险经纪人说你的保险单责任限额是20/40/10，这就代表每个人的人身伤害责任险赔偿限额是2万美元，每起事故的热身上海责任险赔偿限额是4万美元，每起事故的财产损失责任险的赔偿限额是1万美元。 人身伤害和财产损失责任险是大多数汽车保险单的基础。要求汽车保险的每个州都强令必须投保财产损失责任险，佛罗里达是唯一要求汽车保险但不要求投保人身伤害责任险的州。如果由于你的过错造成了事故，你的责任险会承担人身伤害、财产损失和法律规定的其他费用。人身伤害责任险将赔偿医疗费和误工工资；财产损失责任险将支付车辆的维修及零件更换费用。财产损失责任险通常承担对其他车辆的维修费用，但是也可以对你的车撞坏的灯杆、护栏、建筑物等其他物品的损坏进行赔偿。另一方当事人也可以决定起诉你赔偿精神损失。

本科毕业设计外文翻译

Section 3 Design philosophy, design method and earth pressures 3.1 Design philosophy 3.1.1 General The design of earth retaining structures requires consideration of the interaction between the ground and the structure. It requires the performance of two sets of calculations: 1）a set of equilibrium calculations to determine the overall proportions and the geometry of the structure necessary to achieve equilibrium under the relevant earth pressures and forces; 2）structural design calculations to determine the size and properties of thestructural sections necessary to resist the bending moments and shear forces determined from the equilibrium calculations. Both sets of calculations are carried out for specific design situations (see 3.2.2) in accordance with the principles of limit state design. The selected design situations should be sufficiently Severe and varied so as to encompass all reasonable conditions which can be foreseen during the period of construction and the life of the retaining wall. 3.1.2 Limit state design This code of practice adopts the philosophy of limit state design. This philosophy does not impose upon the designer any special requirements as to the manner in which the safety and stability of the retaining wall may be achieved, whether by overall factors of safety, or partial factors of safety, or by other measures. Limit states (see 1.3.13) are classified into: a) ultimate limit states (see 3.1.3); b) serviceability limit states (see 3.1.4). Typical ultimate limit states are depicted in figure 3. Rupture states which are reached before collapse occurs are, for simplicity, also classified and

毕业设计外文翻译原文

编号： 毕业设计(论文)外文翻译 （原文） 院（系）：应用科技学院 专业：机械设计制造及其自动化 学生姓名：邓瑜 学号：0501120501 指导教师单位：应用科技学院 姓名：黄小能 职称： 2009年 5 月20 日

The Injection Molding The Introduction of Molds The mold is at the core of a plastic manufacturing process because its cavity gives a part its shape. This makes the mold at least as critical-and many cases more so-for the quality of the end product as, for example, the plasticiting unit or other components of the processing equipment. Mold Material Depending on the processing parameters for the various processing methods as well as the length of the production run, the number of finished products to be produced, molds for plastics processing must satisfy a great variety of requirements. It is therefore not surprising that molds can be made from a very broad spectrum of materials, including-from a technical standpoint-such exotic materials as paper matched and plaster. However, because most processes require high pressures, often combined with high temperatures, metals still represent by far the most important material group, with steel being the predominant metal. It is interesting in this regard that, in many cases, the selection of the mold material is not only a question of material properties and an optimum price-to-performance ratio but also that the methods used to produce the mold, and thus the entire design, can be influenced. A typical example can be seen in the choice between cast metal molds, with their very different cooling systems, compared to machined molds. In addition, the production technique can also have an effect; for instance, it is often reported that, for the sake of simplicity, a prototype mold is frequently machined from solid stock with the aid of the latest technology such as computer-aided (CAD) and computer-integrated manufacturing (CIM). In contrast to the previously used methods based on the use of patterns, the use of CAD and CAM often represents the more economical solution today, not only because this production capability is available pin-house but also because with any other technique an order would have to be placed with an outside supplier. Overall, although high-grade materials are often used, as a rule standard materials are used in mold making. New, state-of-the art (high-performance) materials, such as ceramics, for instance, are almost completely absent. This may be related to the fact that their desirable characteristics, such as constant properties up to very high temperatures, are not required on molds, whereas their negative characteristics, e. g. low tensile strength and poor thermal conductivity, have a clearly related to ceramics, such as sintered material, is found in mild making only to a limited degree. This refers less to the modern materials and components