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contents/safety-report.tex

@@ -34,7 +34,7 @@ \section{Hazardous Material List}
 
     LiPo batteries feature a nominal voltage of around 3.7V per cell, depending on the exact type of internal chemistry. Higher output voltages are achieved by connecting several individual cells in series with each other, still being housed in the same battery enclosure. Therefore, the (series) cell count of a LiPo battery is a fundamental property of any LiPo battery and a direct measure for the expected output voltage. Usually, this property is indicated in the following way: "3S LiPo Battery", whereas "3S" is referring to a total series cell count of three. This results in a nominal voltage of around 11.1V. For this exact reason, LiPo batteries can't be manufactured for an arbitrary output voltage and certain compromises must be made. The rover is built upon the idea of having a 24V battery supply as the main voltage for high power applications and another 12V battery supply for all logic and controlling components. This results in a 6S and 3S configuration of battery cells to closely match those voltages. Detailed information about the two batteries used in the rover can be found in their datasheet \ref{prim-battery} and \ref{sec-battery} respectively.
 
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 \section{Power Architecture}
 
     The rover's power architecture is divided into two separate power systems. This approach ensures galvanic isolation between the power and logic components, which is necessary to eliminate any possible wiring configuration in which a so-called "ground loop" could form. The underlying problem is based on the fact that there exists an interface and thus an electrical connection between the individual components. While the communication between power and logic components is implemented by establishing a physical connection between their corresponding GPIO pins and reading different voltage levels, there must be a precise reference voltage available. Generally speaking, this is done by using a common ground. Hence, the most basic form to utilize that common ground connection is to form a "star ground." If there are multiple paths to ground, a "ground loop" is present. These ground loops, in combination with wire inductance, can cause issues for high-current electronics like our motor controllers (in this particular case utilizing ODrives). This is further illustrated in figure \ref{ground_loop_bad}.