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This is an over-simplified explanation because in several cases, the two categories overlap in one way or another For instance, when the bumper bumps up against an object, the object is in the environment (environmental sensing) but the bumper s motion and location, relative to the robot, is detected by a limit switch mounted inside the robot s body (proprioceptive sensing) In this book, anything that is detected by motion of the robot s parts is considered proprioceptive, whether the thing being sensed is part of the robot or not..



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The security mechanism is encryption, and the communications between entities are necessary to communicate the encryption schemes supported by the various nodes There are three headers defined as extensions specifically to support the SIP security mechanism; SECURITY-CLIENT, SECURITY-SERVER, and SECURITY-VERIFY These are used to communicate to either the UAC, UAS, or upstream proxies the method to be used A UAC can query an upstream node to determine the encryption methods it supports prior to sending a request It does this by sending the OPTIONS header The receiving.

(a) Apply KCL to currents leaving node A to obtain v1 vs v1 v2 v1 0 1 5 Ri From the ampli er we get v2 kv1 or v1 v2 =k. rearranging terms we get Substituting for v1 in the KCL equation and

36





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, c 1=11 which, substituted into (36), gives v2 5k vs 11 k For Ri 1 we get c 1=6 and so v2 5k vs 6 k 38 37

entity then returns a response containing a list of methods it supports. If the responding entity is the UAS, it would return the SECURITY-SERVER header contained in its response. The SECURITY-SERVER header would then list the methods supported. Possible values include TLS, DIGEST, IPSEC-IKE, and IPSEC-MAN. The receiving node then returns a request along with the SECURITY-VERIFY header containing the relevant security keys. A UAC uses the SECURITY-CLIENT header to send a list of support encryption methods to upstream nodes.

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Table 5-6 gives values of v2 =vs in (37) and (38) versus k. Note that (38) is identical with (32).

0:31 2:38 4:51 4:95 5:00 Ri 1 0:71 3:12 4:72 4:97 5:00

Comparing the two columns in Table 5-6 we see that the smaller Ri reduces the overall gain G . However, as the open-loop gain k increases, the e ect of Ri is diminished. As k becomes very large, v2 =v1 approaches 5 unless Ri 0.

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One method of authentication is through the use of certificates This is implemented in many Web sites today When you set your browser to check for certificates, and you access a network resource (such as a Microsoft Web site to purchase software), your browser will ask the Web site for its certificate These are public certificates that are advertised to trusted communities so that they are able to access the sites This works by providing the browsers with the key for the trusted Web site The key is used to determine if the certificate is valid or not Only the key holder and the application accessing the site know the key The key can also be provided when a subscriber signs up for a new service, such as online banking The online banking institution would exchange the key with the subscriber upon signup for the service.

These two categories subject the switch to very different problems Proprioceptive sensors usually live in a fairly controlled environment The things around them and the things they sense are all contained inside the robot, making their shape unchanging, moving generally in the same direction, and with the same forces This makes them easier to implement than environmental sensors that must detect a whole range of objects coming from unpredictable directions with a wide range of forces Environmental sensing switches, especially the mechanical type, are often very difficult to make effective and care must be taken in their design and layout Mechanical limit switches come in an almost infinite variety of shapes, sizes, functions, current carrying capacity, and robustness This chapter will focus on layouts and tripping mechanisms in addition to the switches themselves Some switch layouts have the lever, button, whisker, or slide directly moved by the thing being sensed.

in the circuit of Fig. 5-33. Replace the circuit to the left of node A including vs , R1 , and Ri by its Thevenin equivalent. Then use (5) to derive (36).

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