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Because the transducers have a limited bandwidth (resonant at or around 40 kHz), it is unnecessary to add a PLL (LM567) to the circuit. The transducers naturally reject off-frequency sound. The receiver section uses a CMOS op-amp. The op-amp is an 8-pin dip that follows the same pin out as the universal 741 op-amp. (Do not substitute a 741 op-amp.) The op-amp is configured as an inverting amplifier with a gain of approximately 22.

warn that it is being obstructed. The command Sound in RobotBASIC allows you to make a sound of a certain frequency for a certain duration using the speaker of the PC. Implement a siren sound along with the ashing beacon in the subroutine CheckObstacles. See App. C.

Pao-Chi uses SHA-1 to digest the key and message as one chunk of data The result is as follows (The two vertical lines || indicate concatenation; see also Figure 5-8).

HINT:

The ultrasonic transmitter (see Fig. 5.36) is built around a CMOS 555 timer set up in astable mode. R2 is a PC-mounted 4.7K-ohm potentiometer and is used to adjust the frequency output.

Pao-Chi s HMAC result (SHA-1 digest of key || message 1): 60 c4 65 a8 a4 9d 35 6a 68 36 f8 f0 56 3d d2 7f 7e 26 35 b2

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Part 4 explores the exciting elds of arti cial intelligence and adaptive control. We introduce some of the concepts and offer a thought-provoking program that creates a robot mimicking a living creature with biological needs. The program uses an interesting variation on adaptive behavioral control where there is no direct instruction to the robot as to where to seek satisfaction for its biological needs. Nevertheless, due to the use of the concept of learning and adapting through association, the robot soon learns how to seek a quick path to locations where it can satisfy its needs. Part 4 also shows how to translate the algorithms developed through simulation so they can execute on a real-world robot built with affordable parts from Parallax, Inc. and other vendors. We also show how to utilize Bluetooth transceivers to allow RobotBASIC programs running on a PC to communicate directly with and control real-world robots and other computers. One chapter discusses the issues involved in creating and participating in contests and proposes that RobotBASIC can provide an exciting new concept for contest organizers and contestants. Another chapter explores why using RobotBASIC and this book in the classroom can be of value for both the teacher and student during the teaching and learning processes.

NOTE:

NOTE:

Tuning the transmitter Set up the ultrasonic transducers so that they are directly facing one another about 4 to 5 apart (see Fig. 5.37). Connect the VOM to the circuit as shown in the insert in Fig. 5.35. (Leave the comparator section off.) Set the VOM to read volts DC. You will need to read about 2 V; set the range on the VOM accordingly. Turn on both circuits. Adjust R2 of the transmitter so that you obtain the peak voltage output shown on the voltmeter. This should read about 2 VDC. Adjusting the CMOS comparator After tuning the transmitter, we need to set the receiver s comparator circuit. Disconnect the VOM from the receiver section and connect the CMOS comparator. Rearrange the transducers so that they are lying side by side about half an inch apart facing in the same direction. Place a flat-sided solid object about 3 in front

We haven t told you what the key is, so you can t verify that the result we present is the actual result of an HMAC. If you want to know what the key is, you can figure it out. Put together a chunk of data a key candidate followed by the message and then digest it. Is it the same result given here No Try another key, and another, and so on until you find the correct one. It s a 128-bit key. Now Pao-Chi sends Daniel the message and the HMAC result together. Suppose that Satomi intercepts the transmission and tries to get Daniel

If you are familiar with the break-point system used by other language debuggers, you will nd that this method, while unfamiliar at rst, can be a better alternative for debugging a robotic algorithm.

Figure 5-8

7 6 2 1

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