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Intermix is an option of class 1 whereby class 2 and 3 frames may be transmitted at times when class 1 frames are not being transmitted. The class 2 and 3 frames may or may not be destined to the same N_Port as the class 1 frames. Both N_Ports and the fabric must support intermix for it to be used.

Fig. 1-1.

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What is fascinating about this robot is that it used just two electronic neurons but exhibited interesting and complex behaviors The first two robots were affectionately named Elmer and Elsie (ELectroMEchanical Robot, Light Sensitive) Walter later renamed the style of robots Machina Speculatrix after observing the complex behavior they exhibited Remember, in the 1940s the transistor had not yet been invented, so the electronic neurons for the robot were made using vacuum tubes Vacuum tubes consume considerably more power than semiconductors, and so the original robot was fitted with a rather large rechargeable battery The robot s reflex or nervous system consisted of two sensors connected to two neurons One sensor was a light-sensitive resistor and the other sensor was a bump switch connected to the robot s outer housing The three wheels of the robot were in a triangular configuration.

Welding robot (photo courtesy Motoman).

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The front wheel had a motorized steering assembly that could rotate a full 360 degrees in one direction In addition, the front wheel also contained a drive motor for propulsion Since the steering could continually rotate a full 360 degrees, the drive motor s electric power came through slip rings mounted on the wheel s shaft The photosensitive resistor was mounted onto the shaft of the front wheel steering-drive assembly This ensured that the photosensitive resistor was always facing in the direction that the robot was moving..

Fibre Channel defines three topologies: point to point, arbitrated loop, and fabric. Their descriptions follow.

Every time you think up a complicated solution to a robotic problem, take a moment and see if you can nd a simpler way of doing it. How would someone from the steam-powered age handle it Finally, we looked at how delays in a controller can be important. Fast response is not always useful, so we added hysteresis, or delays, to our bag of tricks.

%%%%%%%% ############# Team LRN Behavioral-based robotics, neural networks, nervous nets, and subsumption architecture @@@@@@@ &&&&&&&&&

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1. According to the author, what makes a robot interesting 2. What kind of control systems did the nineteenth-century automata use 3. Fancier robots need fancier control systems. What is another, more capable, type of control

Point-to-point topology is the simplest of the three. It consists of two (and only two) Fibre Channel devices connected directly together. The transmit fiber of one device goes to the receive fiber of the other device, and vice versa. There is no sharing of media that enables

While primarily of a photovore (light-seeking) type, the robot exhibited four modes of operation. It should be mentioned that the robot s steering motor and drive motor were usually active. Search. Ambient environment is at a low light level or darkness. Robot s response: steering motor on full speed, drive motor on one-half speed. Move. Found light. Robot s response: steering motor off, drive motor full speed. Dazzle. Bright light. Robot s response: steering one-half speed, drive motor reversed. Touch. Hit obstacle. Robot s response: steering full speed, reverse drive motor.

While basic feedback control holds a valuable place in the spectrum of control systems, most robotic systems need more complex control solutions. Many robot tasks require the machine to perform a preprogrammed sequence of behaviors, one thing after another and so on until the pattern is complete. A sequence of behavior can be de ned by a program, which is a list of instructions telling the machine what to do. We shall turn to the computer, the ultimate in reprogrammable controllers, to develop these control programs. There are also simple, mechanical ways to create a sequential program, so we look at these rst.

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