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cuting a current one. In real life this can be achieved by giving the user a message when trying to command the robot. However, it would be a lot more versatile if the robot could accept multiple commands. These commands can be placed in a queue and the robot can execute them one at a time. Modify the system to allow for this. 4. In Fig. 15.12 we developed a simulated transient obstacle and made the robot ash a warning beacon while waiting forever for the obstacle to go away. This is actually quite a satisfactory behavior in this type of application, but it would not be acceptable in other scenarios (e.g., mobile laboratory). Develop other ways the robot can be made to behave when obstacles are encountered and implement this new behavior.

Rivest wanted a faster digest, and when MD2 began to show weaknesses, he also wanted one that was stronger. He started creating new digests. MD3 was a bust, and when he showed MD4 to the world it was quickly shown to be weak. (Despite that weakness, at least one application used it. See Crypto Blunders on the accompanying CD for that story.) MD5 was more successful. MD5, a lot faster and much stronger than MD2, became the dominant algorithm and is still in common use. Like MD2, MD5 is a 16-byte digest. Over the years, research has led to potential weaknesses. MD5 isn t broken, and no one has found collisions; rather, some of the internals of the algorithm are vulnerable. If a component or two were missing from the algorithm, it would be broken. But because those components are there, the algorithm survives. Some people say that it doesn t matter that the algorithm would be weak if certain pieces were missing; the pieces are there, so it s not weak. Others say that you don t break an algorithm all at once; you break it piece by piece. Now that there are only a few pieces (maybe one or two) preventing a total collapse, they argue, it would be better to move on to another algorithm.

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4" 5"

HINT:

SHA-1

north, then we reversed the robot until it docked with the station. However, we did not allow for slip while doing so. We assumed that the distance was short by ensuring the charge room node is close enough to the station. Develop other ways to make the docking procedure more slip resilient.

Every time the Polaroid transducer is energized, there is an audible click from the Transducer. I find the constant clicking from the sensor annoying. Although the module is ultrasonic, when the electronics pump the ultrasonic signal to the transducer, some audible sound is also generated. It is relatively easy to build a basic ultrasonic collision avoidance system that, being completely ultrasonic, is silent. The basic operation follows the same scheme used for infrared collision avoidance, except we are using sound instead of light. Figure 5.34 shows the overview schematic. The transmitter sends a 40-kHz signal to an ultrasonic transducer. Another transducer (receiver) is positioned alongside the transmitter transducer. When the robot approaches a wall or obstacle, the 40-kHz sound is reflected back to the receiver, whose output increases in amplitude. When the output increases beyond the preset point, the comparator trips, relaying that there is an obstacle detected.

HINT:

The SHA-1 algorithm looks a lot like MD5 (Ron Rivest played a role in the design of SHA-1). SHA-1 contains stronger internals than MD5, and it produces a longer digest (160 bits compared with 128 bits). Size alone makes it stronger. SHA-1 has survived cryptanalysis and comes highly recommended by the crypto community. In development are SHA-1 variants that produce 192-bit and 256-bit digests.

6. In the subroutine GetTimeInSecs (Fig. 15.9) we start a stopwatch by saving the cur-

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