The point in realizing SSA is to find a good approach which could separate sensing signal from actuatingsignal.
自感知夹钳实现的难点是传感信号与执行信号的解耦，本文采用空分复用法做为解耦方法。
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Controller receiving actuatingsignal and generating corresponded data package according to these actuatingsignal, wherein these data package is received receiving terminal.
A mathematical model of five degrees of freedom is established. And an automatic docking system with CCD auto-collimator, CCD signal receiver, embedded computer, and actuating mechanism is designed.