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Not all robots use electric motors to drive and power the weapons Some robots use internal combustion engines to perform this important task These engines are much smaller than those found in automobiles and are usually obtained from gasoline-powered lawnmowers, rototillers, or even weed whackers The energy density of gasoline is about 100 times greater than that of batteries, and this makes gasoline an attractive source for powering large combat robots Conversely, gasoline is also the main factor in not selecting this method of power it is flammable and dangerous Figure 4-9 shows a 119 cc air-cooled, two-cycle, gasoline-powered cut-off saw by Partner Industrial Products This saw, equipped with a 14-inch diameter saw blade, was used as the primary weapon in Coolrobots super heavyweight champion Minion Because most combat robots use electric motors, this book will not go into details of how to use internal combustion engines in combat robots By reading the rules and regulations of the BattleBots competition, you will get a good understanding of what is allowed and not allowed with gasoline engines The key elements for a gasoline-powered robot is to be able to control the engine if it is upside down, making sure that the fuel does not leak and that fuel flow remains constant in the rough jarring environment, and that you can throttle the speed up and down as you need to A lot of the gasoline safety and performance schematics will be similar to those of high-powered gasoline-powered model aircraft Good candidate gasoline engines for combat robots are chainsaw engines, because they have a carburetor that can operate in all positions Since internal combustion engines operate in one direction only, a transmission that has a reverse gear must be used if the gas-powered engines are used to drive

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K1250 14-inch, 119 cc gasolinepowered engine prior to being used as a weapon system in Minion (courtesy of Christian Carlberg)

The form templates that are available under the Forms workspace within the Planning Business Modeler are created using the PerformancePoint Add-in for Excel This section explains in detail how the business reports are created in Excel and published as Form Templates to the PPS Planning Server The PerformancePoint menu is available in Excel on a computer where the PerformancePoint Add-in for Excel is installed Clicking on the PerformancePoint menu will open the PerformancePoint ribbon within Excel 2007 The first step in using the PerformancePoint Add-in for Excel is to establish a connection with the PPS Planning Server where the model information is stored Clicking on the Connect icon in the PerformancePoint ribbon will open the Configure PerformancePoint Add-in for Excel dialog box In the text box below the title PerformancePoint Server system, enter http://<Server Name>:46787/, which in our case will be http:// PerfPointServer:46787/, as shown in Figure 7-35 The Add to Favorites button can

Two of the major concerns today are the problems experienced with delay and jitter The delay factors can be the most disconcerting In the past, the PSTN has been delivering real-time voice across the network with an average delay of 30 50 msec When we experimented with satellite communications in the early 1980s, the end user community was disgruntled with the potential delays for real-time voice applications The average delay on a satellite-based network in geosynchronous orbit approximated 250 msec, which was intolerable for the end user In the VoIP delivery today, the average response and delay factors must be dealt with On average, if a call is placed across the Internet, the delays are from 800 msec to 2 seconds domestically This is totally unacceptable for the user community It certainly does not lend itself to the conducting of business conversations When placing a call across the Internet overseas, the delay can be as much as 5 seconds! Again, this will never do The delays have been the result of all the processing required throughout the network One problem that results from high end-to-end communications delay is the increase in echo whenever the round trip delay exceeds 50 msec Because echo is viewed as a quality problem, VoIP systems must accommodate echo control in order to be accepted Talkers will overlap themselves when the delay increases if one-way transmission exceeds the 200 250 msec range This was a major problem with satellite transmission Too often talkers were over-talking each other, causing total chaos during the conversations The budgeted delays for VoIP must be within the 200 250 msec range, and that is strictly the worst case The VoIP systems have to strive for better response and delivery Jitter (variable delay) is a variation of the interpacket delivery introduced by the processing of each packet across the network, coupled with transmission delay across the medium To solve the problem for real-time applications, packets must be collected into a buffer and played out as needed By holding the packets just long enough to accommodate the longest delay in packet delivery, the added delay can be devastating This also requires that the VoIP equipment have sufficient buffers to accommodate these interpacket delays on an ongoing basis The bigger the buffers, the longer the potential delays Another major problem that one must contend with is the acceptable levels of packet loss Several studies have been conducted indicating that acceptable packet loss is less than 10 percent Anything greater than 10 percent packet loss will be intolerable The network can drop packets when peak loads are being experienced, causing some degree of loss Moreover, packets can be discarded in case of buffer overrun at the routers and switches across the network These combined problems may move the packet loss levels to an unacceptable level If we combine the various levels of processing delay and the risk of packet loss, we can see where the networks must accommodate the delay, along with the need for VoIP equipment to address the issue Figure 30-7 is a representation of the delays that can be cumulatively added to a packet delivery across the network.

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This is useful as the dashboard under construction is not visible to others The preview is exported as an ASPNET page and is stored in a preview area on PerformancePoint Server, where it remains even after the preview is closed Previewing is the preferred method while the dashboard is under construction and contains all the functionality of a fully-deployed dashboard