Anatomy of a Robot Part 10 pdf

... to put away all the volatile data that will be lost during the power failure. Flash memory, battery- backed Random Access Memory (RAM), and disks are all good places to put the data. Once a PFD ... coordinated. An alternative is to use a commonly available clock such as one transmitted by GPS satellites that is avail- able all over the world. SOME NOTES ABOUT SPY-HOPPING Spy-hopping is ba...

Ngày tải lên: 10/08/2014, 01:22

... 0-07-141657-9 All trademarks are trademarks of their respective owners. Rather than put a trademark symbol after every occurrence of a trademarked name, we use names in an editorial fashion only, and to ... the selection and design of robotic software. The chapter outlines a coordinated approach to the selection of a processor, a battery, a power supply, operating softwar...

Ngày tải lên: 10/08/2014, 01:22

... 11:23 AM Page 15 10 CHAPTER ONE FIGURE 1-2 A Gantt chart, a standard project management tool Jul'00 Jul'00Jul'00 Jul'00 Aug'00 Aug'00Aug'00 Aug'00 Sep'00 Sep'00Sep'00 Sep'00 ... Connectors and all package breakouts ■ Preliminary layout and plans for the board fabrication. ■ Compliance issues ■ Software considerations: ■ Block d...

Ngày tải lên: 10/08/2014, 01:22

... have already seen that altering v and d can substantially change the performance of the robot. Further, altering these parameters offers a reliable way to change just one type of behavior at a time ... all the parts of the robot. The robot might rip off a vital part if it accelerates too fast. More on this later. ■ Mechanical wracking The robot will change shape as it acc...

Ngày tải lên: 10/08/2014, 01:22

... companies have probably written software that takes advantage of the special features of the computer. We can purchase this software and use it in various ways: ■ Freeware Often an author of software ... tech- nology available for our use. We gain time, dollars, and reliability by sharing and taking advantage of their effort. Because the technology has been made so readily available t...

Ngày tải lên: 10/08/2014, 01:22

... speed). PCI has become an industry standard. Many board manufacturers and many chip manufacturers have adopted it. If the robot s computer supports the PCI bus, many third-party boards will be available ... These hardware structures povide both increased accuracy and faster execution. Arithmetic We’ve seen that one of the central features of a DSP processor is the MAC, a hardware str...

Ngày tải lên: 10/08/2014, 01:22

... recorded are more than sufficient to allow a proper read of the data. ■ Bad disk surface HDs also have a mechanism to avoid bad spots on the disk surface. A separate place exists in the HD surface ... MTTF of a large PCB, for instance, perform the following steps: 1. Obtain the Bill of Material (BOM) for the board, the list of parts, and the quan- tity of each. 2. Make a s...

Ngày tải lên: 10/08/2014, 01:22

... require 0.817 watt-hours of energy and the battery can contain 1.8 watt hours. We have a margin of about 2 to 1. That’s not too bad, hauling a robot the size of a 12-year-old boy up a long ladder with ... always awake and active. ■ Delays The robot is always powered up, so no processing delays take place. ■ Special uses Since the software always runs, no restrictions are mad...

Ngày tải lên: 10/08/2014, 01:22

... the robot s existing motion. ■ Pad brakes Regular friction brakes of all sorts are available too. We’ve already discussed ABS brakes and the various forms of braking actions (manual and auto- matic). ... circuit for anything other than an antialias filter. Given our example of a system with a 40 db S/N ratio, and using this particular cir- cuit as an antialias filter, we can see wh...

Ngày tải lên: 10/08/2014, 01:22

... data is already available, but the data rate does not match the rate needed in a specific application. A specific example might be a digital video signal coming in at a full broadcast rate. At 270 ... http://members.ozemail.com.au/ϳtimhoop/intro.htm D /A Effects: Sinc Compensation At the output of the DSP system, the D /A generates an output stream of analog values. The D /A on...

Ngày tải lên: 10/08/2014, 01:22