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It is a complex cascade of chemical reactions and electrical impulses

Worked Example: Mobile Platform Design Heres a typical breakdown for a mobile robot: System Specifications: Battery: 12V, 85Ah deep-cycle marine battery Drive motors: 2 5A continuous draw Linear actuators: 3 2A intermittent (20% duty cycle) Control electronics: 0.5A continuous Current Calculation: Total continuous current = (2 5A) + (3 2A 0.20) + 0.5A = 10 + 1.2 + 0.5 = 11.7A Runtime Calculation: So, t = 85Ah 11.7A = 7.26 hours Practical Runtime: With an 80% discharge factor for longer battery life: 7.26 0.80 = 5.8 hours before recharge

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CrossRef Stern JH, Rutkowski JM, Scherer PE