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ScienceandTechnologyInnovationHeraldScienceandTechnologyInnovationHerald,,,,,,,,,,,,,,,,,,,,,,,,PID,,,,,,,1842,(SamuelEarnshaw),,,,,,,,,,,,,,,,,--,,,,:,,,,,,,,,,PD,:Arduino,,,,,,:PID:TP393:A:1674-098X(2012)07(a)-0038-02)]()(1[ttftftdfdΔ--Δ=)(tpffp=)(tF)(tfScienceandTechnologyInnovationHeraldScienceandTechnologyInnovationHeraldPDPID(--),,,1,,,,p,,,,d,,,,,PID,,,PDArduinoUSB,,,,,2,3,,,,,,,,,,,4,,,,,,,,,,,,4,5,,,,PID,,,,,,[1],,,2010,37(11),20-23.[2],,,2008,N36,3.[3],,,,,2009,N20,10,20.[4],,PID,,2009,N29,229-331,334.[5],,,2008,N2,43-45.[6],DIY,,2011,N2,86.,,,,,,,,2.1.2,2,,2,,,,,,,,,,,,,,,,(3),,,3,,,,,90L,L,,,,,,,,,,,3,,,,,,,,,90,,L,,,,,,,,,,,,,,,,,,,:100kg,1.4m/s,[1]:[M]:,2004[2][M]2:,2000