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human joints have three degrees of freedom (DOF), in that they can move fore and aft, move side to side, and rotate Bipedal robots have been constructed, and a few Japanese companies are demonstrating these in science news shows Most robotics experimenters, however, soon learn the complexities of two-legged robots, and quickly move to quadrupeds (four legs) and then just as quickly to hexapods (six legs) for their inherent stability Sony has sold many of its popular AIBO dogs and cats with four legs, and the same for the much cheaper i-Cybie; but these machines have many motors for each leg and are not being attacked by killer robots, as are combat robots Hexapods are a popular robot style for robotics experimenters because, with six legs, the robot can keep three feet on the floor at all times thus presenting a stable platform that won t tip over Compare this with a quadruped, which can lift one leg and easily tip over, depending upon the location of its center of gravity The six-legged hex-walkers, as they are sometimes called, can be programmed to have their fore and aft legs on one side of the body and the center leg on the opposite side all raise and take a step forward, while the other three feet are on the floor In the next step, the other three legs raise and move forward, and so on More complex walking motions needed for turning use different leg combinations selected by an on-board microcontroller Each leg can use as few as two axes of motion or two DOF, and some builders have used two model airplane R/C servos to control all six legs These types of robots are excellent platforms for experimentation and for carrying basic sensors, but they are difficult to control and might present an added complexity for a combat robot s operator Although many of the robot organizations you ll find on the Internet focus a lot of attention on the construction of legged robots, the basic fragile nature of legs makes them an extra challenge for builders of combat robots Don t get us wrong walking combat robots have been built, and some have done very well in competition If you want to build a legged combat robot, go for it Many popular robot competitions, including BattleBots and BotBash, even allow an extra weight advantage for walking bots Figure 3-1 shows a photo of Mechadon built by Mark Setrakian Mechadon weighs in at 480 pounds This robot is the largest and most impressive walking robot ever built for any combat robot event The robot can roll over, and it can crush its opponents between its legs If you re a beginning-level robot builder, you ll probably find it easiest to work with one of the more battle-proven methods of locomotion when designing and constructing your combat robot Since we re assuming that a lot of our readers are still at the beginner level, we ll be focusing on other, less complicated forms of locomotion for competition robots If you re interested in learning more about walking robots, many Web sites and reference books can provide helpful information Some of our recommended books and sites are listed in the appendixes in this book.

This is a simple scorecard with a single KPI showing the actual value, the target, and a graphical indicator of the KPI s status

Now, back to the wave division-multiplexing concept There is no mistake that the demands and needs for telecommunications services are growing The combination of voice, data, and multimedia applications that are constantly putting pressure on the infrastructure add to the growing problem Where normal digital transmission systems use Time Division Multiplex ing (TDM) and cable TV analog technologies use Frequency Division Multiplexing (FDM), Wave Division Multiplexing (WDM) is a combination of the two schemes combined The use of TDM in a multiplexer breaks the bandwidth down to specific timeslots such as those found in SONET based networks However, by using the combination of Frequency (different wavelengths) and Time (timeslots), the fiber can be used to carry orders of magnitude more than traditional fiber-based systems Figure 28-6 shows the combination of the two multiplexing arrangements in a single format Furthermore, there are several different wavelengths and colors of light that can be used to produce far more capacity

Mechadon, the largest walking combat robot ever built (courtesy of Peter Abrahamson)

Figure 28-6: Combinations of Frequency and Time Multiplexing produce the results in WDM No one can mistake the fact that telecommunications capacity needs are rapidly growing DWDM was developed to produce even better results on a single fiber pair than the original techniques deployed on the backbone networks Expanding capacity with DWDM can produce some significant improvements for today s technology An example of this is the fact that some DWDM multiplexers can produce up to 240 Gbps on each pair of fibers This equates to a call carrying capacity of up to 31 million simultaneous calls on a single pair of fiber Now many of the carriers have installed at least 12 pairs of fiber in their backbone networks Performing the math yields a total of 372 million calls simultaneously on the fiber, using current technology before more fibers are required This is obviously very attractive to the carriers who would prefer to get more service on their existing infrastructure rather than installing more glass in the ground Wave Division Multiplexing is particularly useful when congestion begins to build up on the existing carrier-based networks Surely the equipment is expensive, but the cost of adding multiplexing equipment or changing it out, is far less expensive than digging up the ground to lay more fibers The electronics for the DWDM multiplexers are rapidly becoming very cost efficient