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To control your robot s drive motors, you need to change not only the direction but the speed of the drive motors In a DC motor, speed is proportional to voltage, so the output speed of the motor can be controlled by controlling the voltage Some small and low-powered R/C cars use a simple resistance method for controlling the drive motor s speed A hobby servo driven by the throttle signal from the radio drives a mechanism to vary the resistance in series with the motors Either a sliding wiper arm on a variable resistance strip or a set of contacts to switch the motor power through fixed resistors is used to give a varying speed This method works for small motors with large amounts of airflow available for cooling, but it should never be considered for combat robot systems.

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A motor used in a combat robot could draw continuous currents in the tens to hundreds of amps a variable resistor or bank of fixed resistors large enough to handle the required power levels would be impractically large and fragile One method for changing the voltage to a motor is to use a bank of batteries tapped at multiple locations within the battery bank to obtain multiple voltage levels, and to use relays to switch by which voltage point the motor is driven For example, if your robot is powered by a 24-volt motor that is broken down into two 12-volt packs, you could use a single Type C relay to switch your motor between running off a single 12-volt battery or both in series This would give you high- and low-speed settings.

Part I:

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3

If you break your battery pack into more segments and add additional relays for each voltage tap, you can approximate the effect of continuous control over your robot s speed This method has been used by several teams, with usually only two or three different speeds It does have the advantage of reliability if done correctly The downside is that each relay must be rated for the full stall current of the robot s drive motors, and the large number of relays needed for good multistep control can make this an expensive approach The wiring and control logic involved can also get pretty complex when combined with an H-bridge setup for direction control In addition, unless the robot is operating at full speed most of the time, the extra batteries are just dead weight that could otherwise be better put to use in weapons or armor..

R2 is the same value as X. Thus, the outcome of a sequence of two XORs using the same value produces the original value. To see this feature of the XOR in action, we will create a simple cipher in which some integer is the key that is used to both encode and decode a message by XORing the characters in that message. To encode, the XOR operation is applied the first time, yielding the ciphertext. To decode, the XOR is applied a second time, yielding the plaintext. Of course, such a cipher has no practical value, being trivially easy to break. It does, however, provide an interesting way to demonstrate the effects of the XOR, as the following program shows:

To connect the radio s internal PCB board to the outside world, an SMA, N, or BNC RF connector is normally adopted. The actual connector chosen will depend on the frequency of operation and the cost, and can be directly connected to the board s 50-ohm microstrip line in one of two ways. The connector can either be launched directly off the edge of the board (Fig. 10.12), or at a 90 degree angle through the ground plane and substrate (Fig. 10.13). SAW filters in wireless design are becoming much more common than in the past, so some considerations for the board s layout must be accommodated. Because of the SAW filter s large insertion losses, high isolation between its input and output must be maintained on the circuit board, since a signal must not be permitted to bypass the SAW. The isolation required is calculated by

The following output is produced:

Table 9.10 Allowable Amperage of No More Than Two Bundled Conductors (Adapted from ABYC Standard E-11, Table VII-A)

References to biometrics, as a concept, date back over a thousand years. In East Asia, potters placed their fingerprints on their wares as an early form of brand identity. In Egypt s Nile Valley, traders were formally identified based on physical characteristics such as height, eye color, and complexion. This information

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