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Once the core structure was built and the new motor shaft adapters were fabricated, we had only two days left until we had to ship the robot to the TLC studios, and we still didn t have a weapon We decided to go with a reconfigurable front-end attachment approach with the robot We went with two types of front ends The first is an articulated scoop/wedge and a reinforced pointed ram The ram front end was made out of 1/8-inch steel angle irons They were welded to form a T-cross section with the pointed end facing outwards and a V shape to pierce through opponents The ram front end was designed for the maze event The geometry was designed to protect the front tires and allow clearance for going over ramps and speed bumps The scoop/wedge was made out of 0090-inch steel, and it was hinged to the robot body with 1/4-inch-thick steel flanges The wedge front end articulated up and down by gravity The geometry was designed so that there would be at least a 1/4-inch clearance from the bottom of the scoop and the ground If Live Wires gets flipped on its back, the wedge will rotate to the new position, so the robot will look identical whether it is upside down or right side up Figure 14-14 shows a photograph of the robot with the front scoop, side walls, and the aluminum battery boxes next to the motors In this photo, the back side is removed so that we could drill a hole to allow a finger to get inside the robot to flip a manual power disconnect switch Figure 14-15 shows a photograph of the inside of the final robot Note the symmetry of all of the components inside the robot At the rear of the robot, you will notice the manual disconnect switches The Victor 883s were mounted to the sides.

Figure 26-10: A DS-2 M frame The first bit in each block is an overhead bit A DS-2 frame has 24 overhead bits The remaining 48 bits in each block are DS-1 information bits Carrying this out then there is: 48 DS1 bits/block 6 blocks/subframe 4 subframes/ DS-2 frame = 1,152 DS-1 information bits The four subframes do not represent each of the separate DS-1 signals; instead a bit interleaving of the four DS-1 signals forms the DS-2 frame The overhead bits precede the data bits in each of the blocks The data bits are interleaved, where 0i designates the time slot devoted to DS-1 input i After 48 information bits, 12 from each of the DS-1s, a new DS-2 overhead bit is inserted The total number of DS-1 bits transmitted per second in a DS-2 frame is therefore: DS-1 rate 4 DS-1 signals/DS2 = information bits 1,544 Mbps 4 DS-1 signals = 6176 Mbps

Whether you re in a manufacturing, services, or public sector organization, managing human capital is important Many companies find that hiring employees is extremely expensive both in time and money, and it is therefore advantageous to work to retain employees once hired Some KPIs that might be used by a Human Resources department might include: Headcount Salary

FIGURE 14-14

The rate chosen for the DS-2 is 6312 Mbps This allows extra overhead for bit stuffing to synchronize the signals

Live Wires showing its aluminum C-channel sidewalls, aluminum battery box next to the batteries, and the steel front scoop (photo by Kristina Lobb Miles)

Hours Overtime Hours and Salary Sick Days Vacation Days Length of Service Employee Turnover Continuing Education Some of the dimensions that might be used to examine human resources KPIs might include: Time Employee Department Education Gender Race

The four DS-1 signals are synchronous to themselves, but asynchronous to each other This means they may be operating at different rates To synchronize the signal, the multiplexers use a bit stuffing technique (this was referred to as pulse stuffing in the DS1 discussion) Bit stuffing is used to adjust the incoming rates because they all differ

14:

Framing Bits for the DS-2

The sales and marketing department are often closely aligned with financial KPIs, but there are additional metrics that may be of interest to the sales and marketing organization, but which are not of interest to other organizations Some of the sales and marketing KPIs might include: Sales Both in dollars and units Gross Margin Click-through Percentage Web Visits Survey Response Percentage Marketing Expense

FIGURE 14-15

Framing bits (F-bits) form the frame alignment much the same as the DS-1 framing bit There are a total of 8 framing bits in a DS-2 frame (two in each subframe) F bits are located in the first bit position in blocks 3 and 6 of each subframe The frame alignment pattern is 01, which repeats every subframe The framing bits are shown in Figure 2611 Other overhead bits are also shown in the framing pattern These include the following:

Internal view of Live Wires showing the symmetry of all of its internal components (photo by Clare Miles)