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It can take some time before the robot reaches an object because you have to press Step each time the robot moves forward one pixel One solution to this problem is to draw the object you want to test very close to the robot so that it does not have to move far before indicating the sensory information There is a better solution to the problem of having to press the Step button too many times before the robot arrives at the point of interest where we would like to analyze the data in detail If you press the Debug Off button on the Debug Screen, the robot will move around as it would if there were no debug statements in the program This allows you to let the program proceed at normal speed until the robot approaches a situation you want to analyze in more detail.

The human ear has an auditory range from 10 to 15,000 Hz. Sound can be picked up easily using a microphone and amplifier. Microphones typically have an auditory range that surpasses that of human hearing. Sound is a useful tool for robotists. We use hearing primarily for communication (language). Speechrecognition systems are a hot topic in robotics. Because of this, we devote an entire chapter (see Chap. 7) to building a speechrecognition circuit and interfacing. But don t skip over the following information. Robotic sound systems are pretty useful.

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When this happens press the Debug On button on the Terminal Screen This will cause the program to again display the debug window and allow you to step through the code as before This is a powerful feature because it lets the robot move around at normal speed until you decide you want to examine something that is about to happen..

There are many digest algorithms, but three have dominated the market: MD2, MD5, and SHA-1.

3. We designed the project so that the robot could not accept new commands while exe-

Sound may be used for games, range finding, and collision and obstacle avoidance. To play a game of robot tag, robots are fitted with a two-tone oscillator and receiver. Each robot can generate and recognize two tones. Let s say the A tone is 3000 Hz and the B tone is 6000 Hz. Tones are generated for 1 s whenever a robot s bumper switch is activated. The robot that s it generates the B tone whenever its bumper collides with another robot. A not it robot generates the A tone. Upon collision, the it robot generates the B tone. The not it robot hearing the B tone changes states and becomes it. And the it robot hearing the A tone from the not it robot changes states and becomes not it. Two not it robots will both generate the A tone and leave the collision with their states unchanged. Although we are using sound as an example here, be aware that this technique can be applied using infrared light. Ultrasonics are often used for range finding and collision detection. Many robotists have written on the Polaroid Company s ultrasonic modules (see Fig. 5.33). These modules are used in Polaroid cameras to quickly measure the subject s distance from the camera and focus the lens to produce sharp pictures. When interfaced to a microcontroller, the units can accurately measure distance. If one needs or wants distance measurements for the robot, the Polaroid sensor is the way to go. The ping can measure distances up to 30 ft. The sensor may also be rotated (using a servo or stepper motor) like a radar to build a navigation map and find an obstaclefree path.

Ron Rivest created a digest algorithm and named it MD. Then he thought he could do better and so developed the next generation, MD2. Because MD2 produces a 128-bit (16-byte) digest, it has 2128 possible digest values. MD2 has been widely used, but over the years, analysts found flaws with it. Eventually, a few collisions were discovered. Nobody was able to find collisions on demand with any arbitrary message, but certain classes of messages produced collisions. Hence, MD2 isn t used very much anymore except on old certificates created before MD2 lost favor ( 6 describes certificates). Most of those old certificates have probably expired or will expire soon. No good cryptographer would recommend using MD2 in new applications.

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