![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/A1_car_t.jpg)
A1_car
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/A1_sof_arc_t.jpg)
A1_sof_arc
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Boss_t.jpg)
Boss
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Boss_func_arc_t.jpg)
Boss_func_arc
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Communi_inf(1)_t.jpg)
Communi_inf(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Communi_inf_t.jpg)
Communi_inf
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Controller-area-network-CAN-bus-in-an-intelligent-vehicle-Date-information-from(1)_t.jpg)
Controller-area-network-CAN-bus-in-an-intelligent-vehicle-Date-information-from(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Controller-area-network-CAN-bus-in-an-intelligent-vehicle-Date-information-from_t.jpg)
Controller-area-network-CAN-bus-in-an-intelligent-vehicle-Date-information-from
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Flea3-GE(1)_t.jpg)
Flea3-GE(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Flea3-GE_t.jpg)
Flea3-GE
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/LDMRS(1)_t.jpg)
LDMRS(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/LDMRS_t.jpg)
LDMRS
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/LMS151(1)_t.jpg)
LMS151(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/LMS151_t.jpg)
LMS151
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Launch_dia(1)_t.jpg)
Launch_dia(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Launch_dia_t.jpg)
Launch_dia
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/NEXUS_Servidores_P-2308HR4-1(1)_t.jpg)
NEXUS_Servidores_P-2308HR4-1(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/NEXUS_Servidores_P-2308HR4-1_t.jpg)
NEXUS_Servidores_P-2308HR4-1
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Novatel_GPS(1)_t.jpg)
Novatel_GPS(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Novatel_GPS_t.jpg)
Novatel_GPS
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Novatel_IMU(1)_t.jpg)
Novatel_IMU(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Novatel_IMU_t.jpg)
Novatel_IMU
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Odom_types(1)_t.jpg)
Odom_types(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Odom_types_t.jpg)
Odom_types
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/ROS_diagram(1)_t.jpg)
ROS_diagram(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/ROS_diagram_t.jpg)
ROS_diagram
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Sof_vs_func(1)_t.jpg)
Sof_vs_func(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Sof_vs_func_t.jpg)
Sof_vs_func
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Sof_vs_func_sofpart(1)_t.jpg)
Sof_vs_func_sofpart(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Sof_vs_func_sofpart_t.jpg)
Sof_vs_func_sofpart
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Stanley(1)_t.jpg)
Stanley(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Stanley_t.jpg)
Stanley
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Stanley_sof(1)_t.jpg)
Stanley_sof(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Stanley_sof_t.jpg)
Stanley_sof
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/TUM_devbot(1)_t.jpg)
TUM_devbot(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/TUM_devbot_t.jpg)
TUM_devbot
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Typical_architecture(1)_t.jpg)
Typical_architecture(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/Typical_architecture_t.jpg)
Typical_architecture
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/arduino_uno(1)_t.jpg)
arduino_uno(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/arduino_uno_t.jpg)
arduino_uno
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlas2010_MV3_real1_t.jpg)
atlas2010_MV3_real1
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlas_config_1_t.jpg)
atlas_config_1
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlas_config_2_t.jpg)
atlas_config_2
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlas_core_t.jpg)
atlas_core
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlas_launch_t.jpg)
atlas_launch
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlas_remote_t.jpg)
atlas_remote
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlas_test_t.jpg)
atlas_test
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlas_turn_1_t.jpg)
atlas_turn_1
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlas_turn_2_t.jpg)
atlas_turn_2
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlascar1_t.jpg)
atlascar1
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlascar2_castro_t.jpg)
atlascar2_castro
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlascar2_sensors_t.jpg)
atlascar2_sensors
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlascar2_sensors_draw_t.jpg)
atlascar2_sensors_draw
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlascar2b_t.jpg)
atlascar2b
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlascar_dir_t.jpg)
atlascar_dir
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlascar_odom(1)_t.jpg)
atlascar_odom(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/atlascar_odom_t.jpg)
atlascar_odom
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/can-bus-shield-v20_t.jpg)
can-bus-shield-v20
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/can_frames(1)_t.jpg)
can_frames(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/can_frames_t.jpg)
can_frames
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/can_hardware(1)_t.jpg)
can_hardware(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/can_hardware_t.jpg)
can_hardware
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/controller_odom_2(1)_t.jpg)
controller_odom_2(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/controller_odom_2_t.jpg)
controller_odom_2
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/encoder_connect(1)_t.jpg)
encoder_connect(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/encoder_connect_t.jpg)
encoder_connect
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/encoder_ins(1)_t.jpg)
encoder_ins(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/encoder_ins_t.jpg)
encoder_ins
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/encoder_ins_1(1)_t.jpg)
encoder_ins_1(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/encoder_ins_1_t.jpg)
encoder_ins_1
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/encoder_ins_2(1)_t.jpg)
encoder_ins_2(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/encoder_ins_2_t.jpg)
encoder_ins_2
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/encoder_photo(1)_t.jpg)
encoder_photo(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/encoder_photo_t.jpg)
encoder_photo
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/encoder_tube(1)_t.jpg)
encoder_tube(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/encoder_tube_t.jpg)
encoder_tube
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/flycap_app(1)_t.jpg)
flycap_app(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/flycap_app_t.jpg)
flycap_app
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/formula_mit(1)_t.jpg)
formula_mit(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/formula_mit_t.jpg)
formula_mit
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/iCab-Autonomous-Vehicles(1)_t.jpg)
iCab-Autonomous-Vehicles(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/iCab-Autonomous-Vehicles_t.jpg)
iCab-Autonomous-Vehicles
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/iCab_architecture(1)_t.jpg)
iCab_architecture(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/iCab_architecture_t.jpg)
iCab_architecture
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/incl(1)_t.jpg)
incl(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/incl_t.jpg)
incl
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/jo3-2410258-large(1)_t.jpg)
jo3-2410258-large(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/jo3-2410258-large_t.jpg)
jo3-2410258-large
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/jo8-2410258-large(1)_t.jpg)
jo8-2410258-large(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/jo8-2410258-large_t.jpg)
jo8-2410258-large
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/layered_architecture(1)_t.jpg)
layered_architecture(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/layered_architecture_t.jpg)
layered_architecture
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/levels-of-driving-automation(1)_t.jpg)
levels-of-driving-automation(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/levels-of-driving-automation_t.jpg)
levels-of-driving-automation
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/mapviz(1)_t.jpg)
mapviz(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/mapviz_t.jpg)
mapviz
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/my_odom_2(1)_t.jpg)
my_odom_2(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/my_odom_2_t.jpg)
my_odom_2
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/obd_to_can(1)_t.jpg)
obd_to_can(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/obd_to_can_t.jpg)
obd_to_can
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_1lap(1)_t.jpg)
odom_1lap(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_1lap_t.jpg)
odom_1lap
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_2lap(1)_t.jpg)
odom_2lap(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_2lap_t.jpg)
odom_2lap
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_100(1)_t.jpg)
odom_sim_100(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_100_t.jpg)
odom_sim_100
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_100_difx(1)_t.jpg)
odom_sim_100_difx(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_100_difx_t.jpg)
odom_sim_100_difx
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_100_dify(1)_t.jpg)
odom_sim_100_dify(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_100_dify_t.jpg)
odom_sim_100_dify
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_200(1)_t.jpg)
odom_sim_200(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_200_t.jpg)
odom_sim_200
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_200_difx(1)_t.jpg)
odom_sim_200_difx(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_200_difx_t.jpg)
odom_sim_200_difx
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_200_dify(1)_t.jpg)
odom_sim_200_dify(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_200_dify_t.jpg)
odom_sim_200_dify
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_30(1)_t.jpg)
odom_sim_30(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_30_t.jpg)
odom_sim_30
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_30_difx(1)_t.jpg)
odom_sim_30_difx(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_30_difx_t.jpg)
odom_sim_30_difx
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_30_dify(1)_t.jpg)
odom_sim_30_dify(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_30_dify_t.jpg)
odom_sim_30_dify
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_a20(1)_t.jpg)
odom_sim_a20(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_a20_t.jpg)
odom_sim_a20
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_a20_difx(1)_t.jpg)
odom_sim_a20_difx(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_a20_difx_t.jpg)
odom_sim_a20_difx
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_a20_dify(1)_t.jpg)
odom_sim_a20_dify(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_a20_dify_t.jpg)
odom_sim_a20_dify
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_a75(1)_t.jpg)
odom_sim_a75(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_a75_t.jpg)
odom_sim_a75
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_a75_difx(1)_t.jpg)
odom_sim_a75_difx(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_a75_difx_t.jpg)
odom_sim_a75_difx
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_a75_dify(1)_t.jpg)
odom_sim_a75_dify(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_a75_dify_t.jpg)
odom_sim_a75_dify
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_r(1)_t.jpg)
odom_sim_r(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_r_t.jpg)
odom_sim_r
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_r_difx(1)_t.jpg)
odom_sim_r_difx(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_r_difx_t.jpg)
odom_sim_r_difx
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_r_dify(1)_t.jpg)
odom_sim_r_dify(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/odom_sim_r_dify_t.jpg)
odom_sim_r_dify
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/robo_exp(1)_t.jpg)
robo_exp(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/robo_exp_t.jpg)
robo_exp
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/rqt_graph_ackermann(1)_t.jpg)
rqt_graph_ackermann(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/rqt_graph_ackermann_t.jpg)
rqt_graph_ackermann
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/rqt_graph_system(1)_t.jpg)
rqt_graph_system(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/rqt_graph_system_t.jpg)
rqt_graph_system
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/rviz_sensors(1)_t.jpg)
rviz_sensors(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/rviz_sensors_t.jpg)
rviz_sensors
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/simu_diagram(1)_t.jpg)
simu_diagram(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/simu_diagram_t.jpg)
simu_diagram
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/simulation_controller(1)_t.jpg)
simulation_controller(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/simulation_controller_t.jpg)
simulation_controller
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/simulation_controller_2(1)_t.jpg)
simulation_controller_2(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/simulation_controller_2_t.jpg)
simulation_controller_2
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/sopas_sof(1)_t.jpg)
sopas_sof(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/sopas_sof_t.jpg)
sopas_sof
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/system_global(1)_t.jpg)
system_global(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/system_global_t.jpg)
system_global
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/table_to_change(1)_t.jpg)
table_to_change(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/table_to_change_t.jpg)
table_to_change
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/velocity_comp(1)_t.jpg)
velocity_comp(1)
![](/public/LAR Projects/SystemDevelopment/2022_SaraPombinho/imagens/velocity_comp_t.jpg)
velocity_comp