Only one servo amplifier and its supporting circuitry is needed instead of 32, with a corresponding decrease in complexity and ... Transistors were used instead of relays because of their higher reliability, and their smaller size which allows all 32 switches to be ... However, in the case of equipment failure, or at any time in the manual mode, the valves can still be driven to their limits. ... Up to 16 channels of analog data can be digitized by an HP 5610A Analog to Digital Converter (ADC) .
|Title||:||UTIAS Technical Note|
|Author||:||University of Toronto. Institute of Aerospace Studies|