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An embedded path is a means of guiding a robot along a specific route. This scheme is commonly used by a mobile robot called an automated guided vehicle (AGV). A common embedded path consists of a buried, current-carrying wire. The current in the wire produces a magnetic field that the robot can follow. This method of guidance has been suggested as a way to keep a car on a highway, even if the driver isn t paying attention. The wire needs a constant supply of electricity for this guidance method to work. If this current is interrupted for any reason, the robot will lose its way unless some backup navigation method (or good old human control) is substituted. Alternatives to wires, such as colored or reflective paints or tapes, do not need a supply of power, and this gives them an advantage. Tape is easy to remove and put somewhere else; this is difficult to do with paint and practically impossible with wires embedded in concrete. However, tape will be obscured by even the lightest snowfall, and at night, glare from oncoming headlights might be confused for reflections from the tape.

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Range sensing is the measurement of distances to objects in a robot s environment in a single dimension Range plotting is the creation of a graph of the distance (range) to objects, as a function of the direction in two or three dimensions For one-dimensional (1-D) range sensing, a signal is sent out, and the robot measures the time it takes for the echo to come back This signal can be sound, in which case the device is sonar Or it can be a radio wave; this constitutes radar Laser beams can also be used Close-in, one-dimensional range sensing is known as proximity sensing Two-dimensional (2-D) range plotting involves mapping the distance to various objects, as a function of their direction The echo return time for a sonar signal, for example, might be measured every few degrees around a complete circle, resulting in a set of range points.

A better plot would be obtained if the range were plotted every degree, every tenth of a degree, or even every minute of arc (1/60 degree) But no matter how detailed the direction resolution, a 2-D range plot renders only one plane, such as the floor level in a room, or some horizontal plane above the floor The greater the number of echo samples in a complete circle (that is, the smaller the angle between samples), the more detail can be resolved at a given distance from the robot, and the greater the distance at which a given amount of detail can be resolved Three-dimensional (3-D) range plotting is done in spherical coordinates: azimuth (compass bearing), elevation (degrees above the horizontal), and range (distance) The distance must be measured for a large number of directions preferably at least several thousand at all orientations.

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This book explains the 10 principles of finance and how you can use them to help you to make better investment decisions. The 10 principles and our valuation approach apply to investment decisions for all asset classes real, such as real estate, small business ownership, coins and stamps, art and antiques, and other hard assets; and financial, such as bonds, other debt instruments, and equities. An important aspect of the book is the valuation of common stocks, an area that we focused on originally in Streetsmart Guide to Valuing a Stock (1999). In this book, we dig even deeper into valuation. We show you how to: Value stocks of general market and high-tech companies, such as Microsoft and Cisco Systems;

In a furnished room, a 3D sonar range plot would show ceiling fixtures, things on the floor, objects on top of a desk, and other details not visible with a 2-D plot The greater the number of echo samples in a complete sphere surrounding the robot, the more detail can be resolved at a given distance, and the greater the range at which a given amount of detail can be resolved..

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Epipolar navigation is a means by which a machine can locate objects in three-dimensional space. It can also navigate, and figure out its own position and path. Epipolar navigation works by evaluating the way an image changes as the viewer moves. The human eyes and brain do this without having to think, although they are not very precise. Robot vision systems, along with AI, can do it with extreme precision. Imagine you re piloting an airplane over the ocean. The only land you see is a small island. You have an excellent map that shows the location, size, and shape of this island (Fig. 34-9). For instrumentation, you have only a computer, a video camSighting A Sighting B Sighting C

34-9 Epipolar navigation is a form of electronic spatial perception requiring only one observation point, but that point must be moving.

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