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In subsequent chapters we will explore the second and third options. This chapter will explore the rst option. The advantage of having the robot move along a designated path is that we can ensure where the robot will be all the time as it progresses from one location to another. It is also easy to make sure that the robot will have no obstacles along its path or at least avoid having to program it with a sophisticated obstacle avoidance behavior. An example application for a robot of this kind is an automated waiter that carries food items along a continuous loop starting at the kitchen, winding around and between the tables, and returning to the kitchen. It would not be desirable to have a track that protrudes above the ground due to the risk of customers tripping over the exposed tracks. A robot that can follow a line painted on the ground would be preferable. The line does not have to be visible to humans. Only the robot s sensors need to see it.

The obvious uses for the ultrasonic system are side (left and right), front, and back obstacle detection. Another use that may not be as obvious is ground detection. If the ultrasonic sensor faces forward and is pointed downward, the sensor will read the ground in front of the robot. If the robot approaches a cliff or stair, the normally high signal (LED lit) goes low informing the CPU to stop.

5

Developing a robot that can follow a line on the oor (perhaps black tape on a white oor) is a common activity at many robotics clubs. The project is straightforward enough that it usually can be understood and accomplished by novice robot enthusiasts, yet it is complex enough to introduce them to many aspects of robotics.

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In our example, the HMAC seems to serve as a signature Daniel can know that the data came from Pao-Chi and that no one tampered with it in transit But HMAC has some shortcomings The first is the statement, Daniel can know that the data came from Pao-Chi Maybe he can know it came from Pao-Chi, but can anyone else After all, to verify that the data came from Pao-Chi, the recipient must know what the key is to create the appropriate HMAC Daniel knows what the shared secret key is, but no one else does Daniel could write a bogus message (say, setting the number of presses to eight) and create the correct HMAC So from anyone else s point of view, the message may have come from Pao-Chi or Daniel; no one else can know for sure who signed it.

In this chapter we will develop a few algorithms to perform line following, but before we can do this we need to develop a base program in which we will place the code that implements the various algorithms The base program sets up the robot and the environment and then starts the robot on its way to follow the line using the algorithm that we want to test The rst thing we need to do is to draw a line on the screen for the robot to follow Next we need to create and place the robot on the screen Finally we want the robot to start executing the line-following algorithm we are trying to test The code in Fig 71a contains three subroutines called InitializeRobot, DrawLine, and FollowLine All the MainProgram does is call each of these in turn.

The fidelity of the human sense of touch has not been remotely approached in robotics. However, there are a few simple sensors that can be used to detect touch and pressure. Touch sensors are commonly to detect bumps in the robot s path and to allow the robot to avoid collisions. More sophisticated touch and pressure sensors are used on robotic hands and arms. The sensors allow the robotic hand to grip with enough force to lift an object without crushing it. A simple touch or pressure sensor can be made from electrostatic (also called conductive) foam. This is the same foam ICs are

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