Izici
1. Inzwa ye-engeli yokugibela imishini yokugunda utshani iyisisetshenziswa esisetshenziswa ukukala i-engeli yamasondo lapho uphenduka noma uhamba.
2. Iklanyelwe ukuqinisekisa ukusebenza okuphephile nokunembile kwemishini enjalo ngokuqapha ukunyakaza kwayo ngezindlela ezahlukene kanye nokubala i-radius yokujika.
3. Inzwa ye-engeli inezingxenye ezimbili: i-encoder efunda ulwazi oluvela kumasondo, kanye neprosesa yesignali esebenzisa le datha ukubala i-engeli ephakathi kwawo ngokunembile.
4. Iprosesa yesignali ithumela amasignali uma ibona noma yiluphi uhlobo lokungalungi ekuqondiseni noma ekunyakazeni, ngaleyo ndlela ixwayise opharetha uma kudingeka bathathe izinyathelo zokulungisa ukuze kusebenze kahle.
5. Ukufakwa nokusetha lezi zinzwa kulula; vele uyixhume ngezintambo nhlangothi zombili (okungenani uhlangothi olulodwa ludinga ukunikezwa kwamandla) bese ulinganisa izilungiselelo zayo njengemiyalo enikeziwe kanye nayo ngesikhathi sokuthenga/ukufaka.
6 .Lezi zinzwa zama-engeli zingasiza ekwehliseni ubungozi obuhambisana nezishicileli zotshani ezigibelayo ngokunikeza impendulo mayelana nokulawulwa kokuqondisa, ngisho nangaphansi kwezimo eziyinselele ezifana nemithambeka noma izindawo ezingalingani.