Robot Self-Test User`s Manual
Contents
1. Find a solid object such as book that be in one place while running this test in order to allow for easier observation of the robot s behavior and display SONAR ACCURACY Test Procedure These steps should be followed when performing this test 1 Place the object at a perpendicular distance of 0 5 meters approximately 2 feet from Sonar 1 as shown in the diagram below 90 Initial position of the robot from the object 1 2 Press PB 2 the value of Sonar 1 is read in If the value is close to 0 5 m a P1 is displayed Otherwise an F1 is displayed 3 Press PB 2 the robot turns so that Sonar 2 now faces the object 4 Press PB 2 the value of Sonar 2 is read in As with Sonar 1 either a P2 or F2 will be displayed depending on the distance to the object 1 This diagram is taken from ActivMedia Robotics LLC s AmigoBot Technical Manual p 13 7 2 SONAR ACCURACY 5 Repeat steps 3 and 4 with the remaining sensors until you see either P8 or F8 indicating that sonar 8 has been tested 8 p3 Example Display indicating that Sensor 3 is functioning correctly E5 Lg ee U FLEX DIGIT Example Display indicating that Sensor 5 is not functioning correctly 6 After a 2 second wait dE will be displayed indicating the end of the routine 4 2 Test Failure If any sensor fails the tes2. MOTION AND ODOMETR Y Section Motion and Odometry Using specific movements in different shapes the user is able to visually confirm that the robots motion is accurate and consistent performing more simple operations such as following a path inconsistencies in stopping and turning can significantly affect its final position By subjecting the robot to several simple movement tests the user can visually determine the inaccuracies in the robot s s the robot moves whether it is avoiding obstacles or motion Routine initialization This section of testing will start with notification from the seven segment display A C4 wil be displayed indicating the testing stage Motion and Odometty about to be executed V Tip The robot will be moving in several directions for the next several tests Place the robot in an open space in order to avoid collisions with objects MOTION AND ODOMETR Y One Meter Movement The robot will move forward and then attempt to return to its initial position 1 As the C4 message is shown on the seven segment display press PB 2 to initiate a position reset e A 00 message will be shown on the seven segment display indicating the position reset has occurred 2 Press PB 2 to initiate robot movement AN Warning Make sure that the there is more than one meter of open space in the positive X direction of the robot front of the robot The robot will be proceeding forward one
3. 5 5 6 Sonar Functionality Test Proedurre 2 m 6 2 7 Sonar Accuracy Test Procedure 5 n 7 2 8 IR Detectors Test Pioced te 8 2 9 IR Emitters E SgonTD Mnt 9 2 10 Frequently Asked Questions 10 1 Appendix Schematics 1 0 se nennen 1 Appendix B Flow 2 0 0 1 enne B 1 Conventions Used In This Manual This manual has several different methods of alerting users to important information w Tip Tips will be marked with light bulbs Tips point out information that will make the self test easier to complete when followed Warning Warnings will be marked with caution symbols Warnings serve as alerts to possible dangerous operations with the robot and point out procedures that should be used to avoid robot damage aie Test Failure Test failure checks will be marked with a confused icon Test failure check boxes explain the meaning of a test s failure and what effects a failure might have on the rest of the testing regimen Be sure to use the flow charts in Appendix B The flow charts provide concise summaties of the inputs and outputs required and can be helpful for quick lookups Using the flow charts make the tests easier to follow on repeated trials IN
4. DIP switches to prevent damage to the switches If a reset of the robot is needed press the red button on the back near the power plug in point The test program can also be reset by pressing DB 1 Downloading the Program The test regimen must first be downloaded to the robot to begin testing 1 Using the MAX plus II environment open the Programmer tool under the MAX plus II menu 2 Select the top scomp sof file and download it to the robot using the parallel cable 3 Place the robot in the appropriate test area Press the red robot reset button Next press the PB 1 button 4 Verify visually that the red and yellow lights on the robot are blinking quickly INTRODUCTION Overall Testing Regimen Flow Chart eight tests will be accessible using a menu system represents which DIP switch to position up in order to activate a test As the program begins a specific selection can be made when SE selection menu is displayed on the LED display Alternatively all DIP switches can be left in the down position to start a full and sequential test Running through the full sequence of tests should take you about 10 minutes to complete Warning As the testing regimen begins remember to set the DIP switch values accordingly Leave all switches down if you wish to run a full test or position only one switch up to go to a specific test More than one selection will be an invalid choice and no
5. IR sources like beacons present near the robot while performing these tests IR EMITTERS Test Procedure These steps should be followed when performing this test w Tip Each emitter can be tested as many times as necessary Select the emitter s to be tested by positioning up the FLEX DIP switch corresponding to that number Press PB 2 The program will check every detector at 2 second intervals e If signal was detected the detector number is displayed for 2 seconds e lfasignal was detected is seen rather than the detector number indicating that that particular detector is the one that picked up the signal e If none of the IR detectors received a signal an is displayed Once either a PP or FF is displayed for 2 seconds press PB 2 to repeat the test At this point the selected detector can be changed To exit position up the switches labeled 5 8 and keep switches 1 4 down the same as for the IR detector test Press PB 2 dE is displayed to indicate the end of the test IR EMITTERS aie Test Failure If FF is displayed and at least one detector was active at the time then that particular emitter cannot properly emit infrared signals Frequently Asked Questions This section explains some common questions about the AmigoBot self test program If you still have problems with the performance of the robot the best advice is to c
6. boatd test If the LED display is working correctly the following will be observed e 8 8 should be displayed on the LED display for 2 seconds All segments should light up including decimal points e should be displayed for 2 seconds only the decimal points should be displayed UP2 BOARD e 0 0 should be displayed for 2 seconds as shown below EET TH TH TH T2 Te Te Te IS TT Te e Nothing will be displayed for 2 seconds e should be displayed for 2 seconds as shown below This marks the end of the LED Display test vie EZ Test Failure All future tests depend on the correct functioning of the LED Display Step 1 will identify which specific LED segments are faulty If most of them are faulty it is not advisable to continue with the testing regimen However if the display is still comprehensible or the decimal points are faulty further testing can be performed UP2 BOARD Push Button 2 PB 2 Push Button 2 is displayed in Appendix A Warning Pressing Push button 1 PB 1 will reset the program To test Push Button 2 follow these steps 1 Ensure the dE message shown below appears on the seven segment display 2 Press the PB 2 push button A Pb message will be displayed on the screen This signifies Pushbutton and indicates that the PB 2 button is functioning correctly vie Test Failure All further tests depend on the correct functio
7. meter 3 Ensure that the following steps are observed e The robot drives one meter forward e The robot turns 180 e The robot comes back one meter e The robot then turns 180 This should bring the robot back to its initial position e PP or FF will then be shown on the seven segment display signifying whether the robot reached its initial position or failed to return accurately MOTION AND ODOMETR Y diagrammatic representation of the robot s intended motion is given below Robot 1 meter gt 1 metet 4 dE done message will be displayed after the one meter test is complete ate ge Test Failure If any FF messages are received after movement the robot has problems with path following accuracy Further odometry tests may show significant deviation from the intended path o E T Hep CH CV 911 ye Accuracy test pass If the robot D sd 1 returns to its initial position the pass PP message will be shown on the seven segment display Warning Make sure that the there is at least one meter of clear space in front the robot MOTION AND ODOMETR Y Square Path The robot will move in a square path that requires several direction changes 1 Press PB 2 to initiate robot movement along a square path The following should be observed e The robot moves forward one metet e The robot then turns ninety degrees e This process will be ex
8. test will be executed After a selected test or the entire sequence completes the program will return to the menu INITIAL MENU SE DISPLAYED UP2 BOARD Section UP2 Board Tests assessing tbe correct functioning of tbe LED displays push buttons FLEX DIP switches and internal clock of the UP 2 Board he series of tests in this section will confirm the functionality of the major segments of the UP 2 Board namely e Internal clock and LED Display both seven segment displays and both decimal points e Push Button 2 PB 2 e FLEX DIP Switches 017 ULLUS Routine initialization This section of testing will start with notification from the seven segment display A C1 wil be displayed indicating the testing stage UP 2 IO Rg AG EI om Board about to be executed UP2 BOARD Warning The UP 2 board is used extensively in all tests Refer to the test failure boxes at the end of each section of the UP 2 board test to determine which tests can be performed if that particular segment of the UP 2 board functionality failed LED Display w Tip Bullets 2 through 6 of Step 1 occur within two second intervals Use a stopwatch or similar timing instrument to initially determine the accuracy of the time delays The UP 2 board is shown in Appendix A To test the LED display follow these steps 1 As the C1 message is shown on the seven segment display press the PB 2 pushbutton to start the UP 2
9. Chart APPENDIX B Communication Test Flow Chart APPENDIX B Battery Test Flow Chart APPENDIX B Initial Position Confirmation Test Flow Chart APPENDIX B Manual Movement Test Flow Chart APPENDIX B One Meter Movement Test Flow Chart APPENDIX B Square Path Test Flow Chart APPENDIX B Differential Wheel Speed Test Flow Chart APPENDIX B Sonar Functionality Test Flow Chart STEP 1 C5 shown on seven segment display STEP 2 Flex DIP switches used to select sensor to be tested STEP 3 Obstacle placed near sonar Display begins blinking at pace depending on distance to object STEP 4 Position of object changed and PB 2 pressed Rate of blinking changes STEP 5 FLEX DIP switches pushed down and PB 2 pressed to exit dE displayed APPENDIX B Sonar Accuracy Test Flow Chart APPENDIX B IR Detector Test Flow Chart APPENDIX B IR Emitter Test Flow Chart
10. GEORGIA INSTITUTE OF TECHNOLOGY Digital Design Laboratory Robot Self Test UsersManual DIGITAL DESIGN LABORATORY Robot Self Test User s Manual Karan Asnani Matthew Bishop Karan Chopra ECE 2031 Spring 2005 Georgia Institute of Technology College of Engineering School of Hlectrical and Computer Engineering Table of Contents 1 Introduction Before You Begin Testing 2 2 2 0 7 4 1 1 Safety Precautions rene REP ee ran y ura nee ES RET ones 1 2 Downloading the Program 2 0 2 1 1 2 Overall Testing Regiment Flow Chart cesses nenne 1 3 2 UP 2 Board IBS 2 2 2 2 4 FLEX DIP Switches sicisisscsaieciescsnieasssaaiies obavedenaeioboadeansig 2 5 3 Communication and Battery Communication nne 3 2 we cau see Ga EE QUA MO ERA Ee ee 3 3 4 Initial Position and Manual Movement Initial Position Confirmation 4 2 Manual Movement 0 eene temen enne 4 3 5 Motion and Odometry One Meter Movement esise rrie as ninsori se tirones ESEESE E NE 5 2 Square Path teoista EE sae se OEE 5 4 Differential Wheel Speed
11. SONAR FUNCTIONALITY Section Sonar Functionality Ensuring that the sonar sensors work correctly timer based system that varies the blinking speed of the LED display depending on how far an object is from the currently selected sonar sensor T he basic functionality of the sonar sensors is tested by using a Routine initialization This section of testing will start with notification from the seven segment display A C5 will be displayed indicating the testing stage Sonar Functionality about to be executed d Warning When the object is less than 10cm from the sensor the display will blink very slowly because the sensor value changes to a very large number SONAR FUNCTIONALITY Test Procedure These procedures outline the test of sonar functionality 1 Select which sonar you wish to test by positioning up the FLEX DIP switch corresponding to that sensor s number The LED display begins blinking with Sn where stands for the sonar numbet selected 2 Place your hand or another small object in front of the selected sensor The closer the object is to the currently selected sonar the faster Sn will blink repeatedly turn on and off on the display Example Sensor 6 being tested with the object 1 meter away 3 Move the object farther away and press PB 2 The rate of blinking should slow down 4 To exit the routine either position down all the FLEX DIP switches or position up mu
12. TRODUCTION Section Introduction A general overview of the robot self test procedures students in the digital design laboratory While working in the laboratory it is important to know the problems with the robot and its sensors A comprehensive easy to use test routine is provided to help students diagnose problems with robot operation T he AmigoBot robot provides a great deal of functionality to Before You Begin Testing Several steps should be completed to prepare for the robot testing regimen 1 Have a small box like object such as a book ready to place in front of the robot sensors Sonar testing will require an object to be placed a certain distance away from the robot 2 Work in an open area of several meters such as the Van Leer building hallway that provides a lot of moving space for the robot Several tests require manual automatic movement of the robot 3 Have a mechanical pencil or other small object that can be used to flip the DIP switches up and down 4 Have a stopwatch ready to time the delays between the robot s actions INTRODUCTION Safety Precautions The AmigoBot is a fragile device and should be handled appropriately 1 Always make sure that no foreign objects are in the immediate proximity of the robot 2 When pressing the pushbuttons make sure to press firmly each time to minimize false presses Use an object with a small tip such as a mechanical pencil when changing
13. ecuted four times and the robot should return to its initial position once mote 2 Confirm visually that the robot has reached close to its original starting position 3 A dE message will be displayed after the square test has completed d Warning Make sure that the robot is still clear of any obstacles MOTION AND ODOMETR Y Differential Wheel Speed The robot will spin in the clockwise and counterclockwise directions 1 N Press PB 2 to initiate differential wheel speed testing The seven segment display should turn off The following should be observed e The robot first moves its right wheel faster than its left This will make the robot spin in a counter clockwise direction e The robot spins for two seconds and then stops Press PB 2 to start the next section of the differential wheel speed test The following should be observed e The robot now moves its left wheel faster than its right This will make the robot spin in a clockwise direction e The robot again spins for two seconds and then stops A dE message will be displayed after all tests have completed and the program will either return to the main menu displayed SE or continue with sequential testing displayed C5 aie Test Failure If the turns do not occur or if the robot turns in the wrong direction there are problems with differential wheel speed The robot may have trouble in making turns in other tests
14. heck your code once again Q The robot does not respond when I try to run a test A Ensure that the robot is switched on and that the test program has been correctly downloaded to the robot If necessary re download the program Q What is the PB 1 button used for A Pressing the PB 1 button will cause the test program to return to the first test C1 Q Why do all tests have to be stopped if the battery test Section C2 fails A This is done because a battery level below 10 V means the robot cannot perform its usual functions with an acceptable level of accuracy and in the case of movement may not function at all Q Can I jump directly to different tests in the program rather than follow the sequence A Yes When SE 15 displayed at the end of any test just set the DIP switch for the test you wish to perform next and then press the PB 2 button to jump to that test Q Can I use a piece of paper instead of a book for the sonar tests A While a piece of paper may wotk in certain cases you ideally want a solid object that can be easily detected by a sonar sensor However a piece of paper would work well for the IR tests If you cannot find a book ot other solid object just ask a teammate to place his her hand in front of the sonar sensor being tested Q The IR tests return inconsistent results when repeated A Check that there are no other infrared sources like beacons or cell phones in the proximity of the rob
15. in motion the robot is not communicating with the UP 2 board If such a failure is encountered only the IR tests may be performed If the IR tests are successful then the connection between the daughterboard and the UP 2 board is faulty Otherwise the serial connection between the daughterboard and UP2 board is faulty COMMUNICATION AND BATTERY Battery 1 Ensure the dE message form the Communication test appeats on the seven segment display 2 Press PB 2 to start the battery test e bP shown below will be displayed for 2 seconds to confirm that the battery voltage is above 10V and is sufficient for robot operation 3 dE will be displayed to signify end of the battery test vie Test Failure A OF is shown on the seven segment display if the battery voltage is below 10V Testing will halt here and the battery will have to be charged before any operation or any segment of the testing regimen can be performed Having the minimum operation voltage level is essential for the correct functioning of the robot INITIAL POSITION AND MANUAL MOVEMENT Section Initial Position and Manual Movement Several tests confirming the robot s internal ability to track changes in position D uring motion tests the robot s tracking of position changes is key to proper movement as desired by the user Testing is done to confirm that the robot is able to determine its initial position and sense position change i
16. ltiple switches A dE indicating exit from the routine will be displayed aie Test Failure If you do not notice changes in the blinking speed the sonar sensors are not correctly detecting a change in distance Do not perform any tasks that require the sonar sensors SONAR FUNCTIONALITY w Tip The following table is a useful guide describing the blinking rate corresponding to various obstacle sonar distances Distance from Object to Sonar Rate of Blinking lt Olin 0 2 s 0 1 m to 0 2 m 0 4 s 0 2 m to 0 3 m 0 6 s 0 3 m to 0 4 m 0 8 s 0 4 m to 0 5 m 1 0 0 5 m to 0 75 m 1 2 s 0 75 m to 1 0 m 1 46 1 0 m to 1 5 m 1 6 s 1 5 m to 2 0 m 1 8 s 2 0 m to 3 0 m 2 0 s 3 0 m to 4 0 m 2 2 s 4 0 m to 5 0 m 2 4 5 gt 5 0 3 0 SONAR ACCURACY Chapter Sonar Accuracy A test to ensure that the sonar sensors precisely measure the distance to the nearest obstacle involving detection of nearby obstacles that may hinder the motion of the robot The following test involves automatic rotation of the robot so that all sensors are sequentially tested against a fixed obstacle roper functioning of the sonar sensors is vital for tasks Routine initialization This section of testing will start with notification from the seven segment display A C6 wil be displayed indicating the testing stage Sonar Accuracy about to be executed
17. n three directions Routine initialization This section of testing will start with notification from the seven segment display A C3 will be displayed indicating the testing stage Initial Position and Manual Movement about to be executed V Tip Someone will need to move the robot in several directions for testing so place the robot in an area that it can move around freely in INITIAL POSITION AND MANUAL MOVEMENT Initial Position Confirmation Initial position will be confirmed by reading in the X Y and 0 values of the robot 1 As the C3 message is shown on the seven segment display press PB 2 to initiate the position checks AN Warning Be sure not to touch or move the robot during this timed testing process Any slight movements may change the robot s position sensors and cause test failure Confirm that the following is observed e The seven segment will display a P1 or F1 to signify the pass or fail of reading the initial X position at zero e After two seconds the Y position check will be displayed with either a P2 or F2 e After two more seconds the 0 position check will be performed and either a P3 or F3 will be displayed 2 A dE message will be displayed after all tests have completed for two seconds and the display will then be cleared aie Test Failure If you any F messages are seen during initial position testing the robot has problems defaulting to ze
18. nfirm communication with the daughterboard since the AmigoBot communicates with the UP 2 board via the daughterboard T he communication and battery tests are critical to ensuring Routine initialization This section of testing will start with notification from the seven segment display A C2 wil be displayed indicating the testing stage Communication and Battery about to be executed Tip If the robot behaves unexpectedly during the other testing routines it is advisable to perform the battery and communication test again The robot may not perform as intended if the communication fails or if the battery voltage is low In particular perform the communication and battery test if the red and yellow lights on the robot are not blinking as expected COMMUNICATION AND BATTERY Communication 1 As the C2 message is shown on the seven segment display ptess the PB 2 pushbutton to start the communication test 2 Confirm that SS is shown on the seven segment display if the wheels of the robot ate not moving 3 Move the robot manually and confirm that PP is displayed while the wheels moving 4 Press PB 2 to exit communication test dE is displayed Robot stationary Robotin motion Robot stationary Example Testing communication by moving the robot and keeping it stationary again sie Test Failure If the message shown on the LED display is the same while the robot is stationary or
19. ning of the PB 2 Further tests cannot be performed with a faulty PB 2 3 End of the PB 2 test UP2 BOARD FLEX DIP Switches To test the DIP switches follow these steps 1 Ensure the Pb message form the PB 2 test appears on the seven segment display Press PB 2 The hexadecimal value corresponding to the FLEX DIP combination will be displayed on the seven segment display Position all the DIP switches down A 00 should be displayed Position all the DIP switches up An FF should be displayed Example Display if DIP switches labeled 4 through 7 are up and the rest are down w Tip The DIP switch labeled 8 represents the least significant digit and the switch labeled 1 represents the most significant digit aie Test Failure FLEX DIP switches can be individually tested by lifting each one up at a time Menu options selection of sonar sensors Infra Red emitters options for exiting the sonar and IR tests and selection of particular tests in the menu depend on certain DIP switch values Faulty DIP switches will inhibit full functionality of these sections COMMUNICATION AND BATTERY Section Communication and Battery A pair of tests that confirms the communication between the AmigoBot and the UP2 board daughterboard satisfactory performance of the robot This pair of tests will confirm the communication between the AmigoBot device and the UP 2 board This will also co
20. ot 10 1 APPENDIX A Appendix Appendix A UP2 Daughterboard and Sonar schematics APPENDIX A UP 2 Board LED Seven Segment and Decimal Point Display TM o m b S 9 SS X z gi e Pete Lr 5 ae Serial connection to daughterboard FLEX DIP Switches PB2 PB1 APPENDIX A Daughterboard Detector 4 Detector 5 Detector 6 Detector 7 Emitter 8 Detector 3 Detector 2 Detector 1 Detector 8 Emitter 2 Emitter 1 Note Emitters 3 7 are hidden from view in this photo However they are placed at 45 angles around the board APPENDIX A Sonar Sensors Photo of the sonar sensors front view 1 This diagram is taken from ActivMedia Robotics LLC s AmigoBot Technical Manual 13 APPENDIX B Appendix Appendix B Flow Charts APPENDIX B LED Display Test Flow Chart STEP 1 C1 shown on seven segment display PB2 pressed STEP 2 8 8 displayed for 2 seconds STEP 3 displayed for 2 seconds STEP 4 0 0 displayed for 2 seconds STEP 5 Seven segment display turned off for 2 seconds STEP 6 PP displayed for 2 seconds STEP 7 dE displayed APPENDIX B Push Button 2 Test Flow Chart APPENDIX B FLEX DIP Switches Test Flow
21. ro position Testing can continue but the robot may have problems in certain sections like odometry INITIAL POSITION AND MANUAL MOVEMENT Manual Movement Manual movement will require the user to move the robot in several directions to confirm that the robot can detect desired changes in robot motion 1 Move the robot forward one robot length in the X direction 2 Press PB 2 Either a P1 or F1 will be shown on the seven segment display 3 Turn the robot in the 0 direction at least ninety degrees 4 Press PB 2 Either a P2 or F2 will be shown on the seven segment display 5 Move the robot one robot length in the Y direction 6 Press 2 Either a P2 or F2 will be shown on the seven segment display Orientation Diagram 1 7 dE message will be displayed after all tests have completed 1 This diagram is taken from ActivMedia Robotics LLC s AmigoBot Technical Manual p 13 INITIAL POSITION AND MANUAL MOVEMENT aie Test Failure If any F messages are received during manual movement testing the robot has problems recognizing change in position Testing can continue but the robot may have problems in certain sections like odometry I 01 g Movement test failure This is an a example of the message that will be displayed j if the X position check Step 2 failed It can i then be inferred that a change in X position did not register
22. t then it is not accurately measuring distance Do not make the robot perform any tasks that require use of that particular sensor IR DETECTORS Section IR Detectors A test to check that all infrared detectors the daughterboard are functioning correctly he IR detectors and emitters are crucial to many potential applications of the robot The following routine tests the IR detectors A selection of which emitter s to emit from can be made Routine initialization This section of testing will start with notification from the seven segment display A will be displayed indicating the testing stage IR Detectors about to be executed You can find a photo of the daughterboard with the labeled emitters and detectors in Appendix A IR DETECTORS Test Procedure gt Tip You can test each detector as many times as you wish AN Warning Make sure that there are no other similar IR sources like beacons present near the robot while performing these tests To test the IR detectors complete the steps below 1 Using the FLEX DIP switches select which emitters you wish to emit from w Tip Flick up all of the DIP switches to use all eight emitters This improves accuracy of the detector test by eliminating the possibility of a faulty emitter giving a false positive 2 Press PB 2 detector 1 is tested If an IR beam is detected a P1 is displayed Otherwise an F1 is displa
23. yed 3 Press PB 2 detector 2 is now tested similarly 4 Repeat step 2 for the remaining detectors until you see either P8 or F8 indicating that detector 8 has been tested IR DETECTORS 5 Once all 8 detectors have been tested press PB 2 to return to the start of the test 6 To exit position the dip switches labeled 5 8 up and position the switches 1 4 down and press PB 2 Example Photo showing exit combination of FLEX DIP switches 4 Test Failure If you see an Fn and you have already verified that an emitter was active at the time then that particular detector cannot properly detect infrared signals IR EMITTERS Section IR Emitters A test fo check that all infrared emitters on the daughterboard are functioning correctly emitters A selection of which emitter s to emit from can be made and the program automatically cycles through every detector until one receives the IR signal being transmitted Te following routine tests the correct functioning of the IR p U ne ee NIIT Routine initialization This section of testing will start with notification from the L L seven segment display A C8 will be Pci displayed indicating the testing stage IR Emitters about to be executed w Tip A photo of the daughterboard with the IR detector and emitter pairs is shown in Appendix A Warning Make sure that there are no other similar active
Download Pdf Manuals
Related Search