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    Characteristics
                        Low Energy Density: Significantly heavier and bulkier than Lithium-ion batteries for the same amount of stored energy.
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                        High Current Delivery: Capable of providing very high surge currents for short periods, which is good for starting
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                        large motors.
                        Robust and Reliable: Known for their durability and ability to withstand rough handling.
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                        Relatively Inexpensive: One of the most cost-effective battery technologies per unit of energy stored.
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                        Voltage Stability: Maintain a relatively stable voltage during discharge until they are nearly depleted.
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                     Applications in Robotics
                        Heavy-Duty Industrial Robots: Used in large industrial Automated Guided Vehicles, forklifts, and older, stationary
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                        industrial robots where weight is less of a concern and robust, inexpensive power is needed.
                        Large Outdoor Autonomous Vehicles: Sometimes  found in larger,  slower-moving outdoor  robots  or research
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                        platforms where budget is a primary constraint and space/weight are not as critical.
                        Backup  Power Systems: Often used  as backup  power for robotic  systems  or charging stations,  similar  to
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                        Uninterruptible Power Supplies (UPS).
                        Solar-Powered Robots: Used in conjunction with solar panels for energy storage due to their durability and cost-
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                        effectiveness.
                     Advantages
                        Low Cost: The  most  economical  rechargeable battery  option,  making  them  attractive  for  budget-constrained
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                        projects or larger applications.
                        High Current Delivery: Excellent for applications requiring a burst of power (high cranking amps).
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                        Robust and Tolerant: Less sensitive to overcharging/over-discharging compared to Lithium-ion, within reasonable
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                        limits. More tolerant to a wider range of operating temperatures.
                        Mature Technology: Well-understood and proven technology with established recycling infrastructure.
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                        Safe: Less prone to thermal runaway and fire compared to Lithium-ion, generally considered safer if properly handled.
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                     Disadvantages
                        Heavy and Bulky: Their low energy density means they are significantly heavier and larger than Lithium-ion batteries
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                        for the same energy capacity, limiting their use in mobile or aerial robots.
                        Lower Cycle Life: Typically have a shorter lifespan in terms of charge-discharge cycles compared to Lithium-ion.
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                        Sensitive to Deep Discharge: Repeated deep discharges (draining the battery completely) can significantly reduce
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                        their lifespan.
                        Slower Charging: Generally take longer to charge than Lithium-ion batteries.
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                        Maintenance (for flooded types): Flooded Lead-acid batteries require periodic topping up of distilled water and
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                        ventilation due to gas emission during charging. Sealed types reduce this.
                        Memory Effect (for some types/usages): Can exhibit a form of “memory effect” or reduced capacity if not fully
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                        charged or if left discharged for long periods.
                     Summary of Comparison

                            Feature                  Lithium-ion Batteries                     Lead-Acid Batteries
                      Energy Density       High (Lightweight, compact)              Low (Heavy, bulky)
                      Cost                 Higher                                   Lower

                      Cycle Life           High (Many charge/discharge cycles)      Lower (Fewer cycles)
                      Power Density        High (Good for rapid acceleration)       High (Good for surge currents)

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                                                                                                     Electrical and Control Systems

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