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the human brain, of which more than half is devoted to processing just what the eyes see The rest of the brain does everything else The human eye-brain combination can easily spot a robot in a combat arena and know where it is, what direction it is going, how fast it is going, its motion relative to another robot s motion, where the hazards are, and where the perimeter of the arena is The human eye-brain can do human intuitive things, such as calculate how heavy an opponent is and how dangerous it might be, and determine the weak points to attack and when to retreat and regroup The human brain can do this all at once plus throw out any information that is not needed for the task at hand The eyes of a robot break the image it sees into picture elements, or pixels A robotic vision systems has to interpret everything it sees, pixel by pixel, on the vision camera and then make decisions on it Teaching a robot how to distinguish the difference between a steel box and an enemy robot is a challenging task Research scientists around the world are still getting PhD s trying to figure out how to implement a reliable vision system in robots Though vision systems are rather complex to implement, autonomous robots are still possible For example, longtime combat robot builder Bob Gross built a beacon system that can be placed on a robot allowing it to see where the opponent is in the arena (See the sidebar Bob Gross and Thumper, later in this chapter, for more information) Because every robot design and function is different, this chapter cannot provide the exact details on how to implement a sensor into your robot What this chapter will cover, however, is the basic functionality of how various sensors work Because a specific sensor may have performance characteristics based on how it is implemented and the environment in which it is being operated, the robot builder should build a prototype sensor system and fully test it before implementing it into the robot When using semiautonomous to full-autonomous components in your robot, testing is critical It is best to build small-scale prototype models to test the various components and all of the failsafe features before implementing them in the final robot All the bugs need to be worked out prior to a combat event When at an event, you will have to demonstrate these features and the corresponding safety features to the safety inspectors; and you ll need to convince them that these features are reliable, or you won t be allowed to compete Because of this, more time before the contest is required to test the robot and the advanced controls.

7: Signaling System 7 (SS7)

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6-10

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Now that we ve covered gear assemblies and methods of gear reduction, we should mention the relative difficulty of constructing a gear reduction power transmission using off-the-shelf gears The most difficult part of the process is the extreme precision required in the placement of two adjacent gears If they are placed too close together, the gears will bind and not turn freely If the two gears are too far apart, gear slop will occur and actual gear slippage might occur To place the gears at a proper spacing, you must calculate the center distances and make the exact distance measurements of the two shaft s centers on the gearbox, and then carefully drill and bore the holes using a milling machine It is best to bolt the two sides of your gearbox together before drilling to ensure that all holes on one side align with those on the other side You must use ball bearings or bronze bushings to support the gear shafts, and they need to have accurate holes bored to allow the bearings to be pressed in firmly Remember that when you drill those first holes and later bore them out for your bearing assemblies, any mistakes in placement will mean that you will have to start from scratch, which will mean two new sides for your gearbox Plan accordingly and measure carefully

Analysis with PerformancePoint Server Analytic Charts Analytic Grids Analysis with ProClarity The ProClarity Professional Client The ProClarity Standard Client Summary 138 140 159 168 169 207 214