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scalar, 15 schematic, 66 69, 81, 85, 91, 94, 109 110, 117, 138, 161, 166, 182, 187, 193, 200, 208, 212 screw, 41, 53, 125, 145, 149 second, 7, 16 20, 23 25, 61, 63, 65, 122, 158 159, 172, 213 second-class lever, 44, 50 second-order lter, 173 secondary, 188 189 self-inductance, 188 189 semantics, 208, 223 semi-autonomous, 243 244, 250 251 semiconductor, 190 206 sequence, 3 4, 99, 107, 119, 121, 123, 201, 207, 213, 217, 253, 284 serial port, 246, 248 249 series, 70, 84, 93, 95, 169 171, 187, 221, 243, 255 servo, 184 185 servomechanism, 184 set screw, 125, 149 shaft collar, 125 shear, 35 Sh ` zh ` , 16 short circuit, 75, 77 SI units, 16, 18, 24, 59 60 simple machines, 32 53 single-pole, 111 single-throw, 111, 301 solder, 11, 68 69, 71 79 solder bridge, 77 soldering, 11, 68 69, 72 79, 94 soldering iron, 11, 73 78, 168 SPDT, 111 spider, 130, 149 split gear, 144 145, 155 spring, 27 30, 134, 140, 144 145



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Tolerance band 200 m Mechanical Electronic Optical Surface finish, Ra m Shaping 125 16 Milling 63 08 Reaming 32 08 Turning 63 04 Drilling 63 08 Boring 63 04 Laser 63 08 ECM 32 02 Grinding 32 01 ELID 06 02 Honing 08 01 ISO IT Tolerance grade IT10 IT9 IT5 IT6 IT9 IT6

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The opposite of serial behavior would be parallel behavior. But you can t really have a bunch of behaviors active all at the same time, at least not if they are driving the same robot. What you need is a way to layer these behaviors, activating the right one at the right time. If you ve been keeping up, you will notice right away that the big challenge is knowing when the right time is to activate a behavior. It could be when

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the battery is low, or when the robot has bumped into a wall, or when a command is given to the robot Maybe the robot needs to seek out some person and deliver a message Some of these conditions are easy to detect, others are harder Assuming that each behavior is able to determine for itself when it should be active, these behaviors could be layered Figure 17-6 shows three possible navigation behaviors for a mobile robotic explorer When there is nothing else happening, the robot is free to explore randomly If it has been directed to go somewhere specific, the path planner takes control from the explore module The robot then travels to the destination If, once it gets there, the path planner releases control, the robot starts to explore again.

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