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In a set of synchronous signals, the digital transitions in the signals occur at the same rate There may be a phase difference between the transitions in the two signals, but this would be in specified ranges and limits The phase differences can be the result of delay in systems, jitter across the link, or other transmission impairments In a synchronous environment, all the clocks are traceable back to a common reference clock (the Primary Reference Clock) If two signals are almost the same, they are said to be plesiochronous Their transitions are close (or almost the same) and variations are contained within strict limits The clocking between the two different sources, although accurate, may be operating at a different rate Finally, if two signals are randomly generated and do not occur at the same rate, they are said to be asynchronous The difference between two clocks is much greater, possibly running from a free running clock source Any one of these signals, synchronous, plesiochronous, or asynchronous, may arrive at a SONET multiplexer to be formulated and transmitted across the network SONET defines the means of synchronizing the traffic for transmission

Summary

Certain metal oxide semiconductors are used on many robots, and these can be easily damaged by static from handling Even large, high-power Metal Oxide Semiconductor Field Effect Transistor (MOSFETs) used to make power H-bridges can be zapped by static from hands Many of the newer ICs and discrete semiconductors have input protection diodes to carry static charges One way to determine which products can be damaged by static is to see what material it was packaged in when you bought it If the leads are stuck in a black foam, or the part was stored in a pink plastic package or tube, it s probably static sensitive One way to prevent this is to use a static band to ground you to the equipment This is a band you strap around your wrist; it has a wire and clip you attach to the circuit to be worked on The use of an anti-static board, such as one of the pink plastic sheets on top of your work bench, works well to eliminate static Dry and cold days, artificial fiber clothing, and most carpeting cause a lot of static build-up Use common sense in your robot-building area

SONET defines a technique to carry many signals from different sources and at different capacities through a synchronous, optical hierarchy The flexibility and robustness of SONET are some of its strongest selling points Additionally, in the past many of the high-speed, multiplexing arrangements (DS-2 and DS-3) used bit interleaving to multiplex the data streams through the multiplexers SONET uses a byte-interleaved multiplexing format This is a strong point because it keeps the basic DS-0 intact throughout the network, making it easier to perform diagnostics and troubleshooting Byte interleaving simplifies the process and provides better end-to-end management The base level of a SONET signal is called the Synchronous Transport Signal Level1 (STS-1), operating at 5184 Mbps The first step in using the SONET architecture is to create the STS-1 Other levels exist in multiples of the STS-n to create a full family of transmission speeds The SONET hierarchy is shown in Table 27-2 Table 27-2: Summary of electrical and optical rates for SONET The SONET hierarchy Electrical Signal STS-1 STS-3 STS-12 STS-24 STS-48 STS-192 Optical Value OC-1 OC-3 OC-12 OC-24 OC-48 OC-192 Speed 5184 Mbps 155520 Mbps 62208 Mbps 1244 Gbps 2488 Gbps 995Gbps Capacity 28 DS-1 or 1 DS-3 84 DS-1 or 3 DS-3 336 DS-1 or 12 DS-3 672 DS-1 or 24 DS-3 1344 DS-1 or 48 DS3 5376 DS-1 or 192 DS-3

This can t be stated any more clearly: If you want to compete in a contest that is six months away, you ve got to start building, now Bots always takes longer to build than you think they will or allow time for, and other, less important time commitments like school or work easily get in the way There s always something that doesn t work and needs to be redesigned Things break and have to be fixed Things don t fit together like you planned and need to be modified Murphy s Law always comes into play when building bots, especially when you are in a time crunch There are some people who have successfully built a bot in as little as two weeks, and others who ve spent over a year on their projects Plan to spend at least six months to build your machine It can be done in less time, but you ll have to work a lot harder to do it