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The CCD camera provides the video from the blimp (see Fig. 14.3). Naturally, weight is a consideration. This camera weighs a little 1 1/ 4" 11/8". Light over half an ounce. The overall size is 11/4" sensitivity is 0.03 lux. Resolution is 430 TV lines. Output video is a standard NTSC (1V pp) signal. The camera can be powered from 9 to 12 volts direct current (VDC) maximum. The current draw from the camera is approximately 100 milliamps (mA). A 9V transistor battery can power the camera. The battery weight (1.5 oz) is three times greater than the weight of the camera itself.

Mark Tessin of Reynolds Data Recovery and Dennis Vanatta of 4Sites Internet Services gave me the information and screen shot for the data recovery discussion in 1 Mary Ann Davidson and Kristy Browder of Oracle helped me put together the example in 2 For the Keon example, Peter Rostin and Nino Marino of RSA were my sources The people at Osborne/McGraw Hill said we had complete control over the acknowledgments, so I d like to thank some people who didn t contribute to the book so much as contributed to my career If it hadn t been for Dave Neff at Intergraph, I don t think I would have been much of a programmer and hence never could have been successful enough at RSA to be chosen to write this book.

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It was Victor Chang, then the VP of engineering at RSA, who hired me, let me do all kinds of wonderful things in the field and industry of cryptography, and made RSA engineering a great place to work The geniuses of RSA Labs, especially Burt Kaliski and Matt Robshaw, taught me most of the crypto I know today, and the engineers at RSA, especially Dung Huynh and Pao-Chi Hwang, taught me all about the crypto code Steve Burnett The first person I d like to thank is Steve Burnett I am positive that if he had not agreed to co-author this book with me, I might have given up before I began RSA Press definitely must be thanked for giving Steve Burnett and me a chance to write this book.

You do not need gyroscopes or much mathematics if you have a very good encoder system on the robot s wheels that accurately records the amount the robot has moved and turned. This would result in a simpler INS that relies only on encoding the amount of turns on each of the wheels of the robot. We will do this in this section, however, we will not be able to do this simulation if there is any slip. Similarly, in the real world we would need accurate wheel encoders to minimize slip to near zero if we wished to use this method for keeping track of our robot s location. Also there are electronic 3-axis accelerometers that can be used in a similar fashion to the 3-axis gyroscopes mentioned above. See Sec. 15.4 for other ideas on how to counteract slip using this method. Figure 15.13 has two new subroutines ForwardRobot and TurnRobot that do the work of moving the robot and maintaining the simulated INS parameters. The PlaceRobot routine is a replacement for the one in Fig. 15.5. It has a few extra lines to initialize the simulated INS parameters. DockWithCharger and GotoPoint are replacements for the ones in Fig. 15.12. These new routines now use the INS rather than rCompass() and rGPS. Do not forget to set the variable SlipValue to zero. Note that the subroutine CheckObstacles (Fig. 15.12) uses the GPS to nd the distance from the mouse pointer to the robot. This is only to simulate obstacles in the robots way. Using the GPS in this routine can still be done because it does not impact real-life movement or position determination and therefore does not need to be changed.

There are a number of TV transmitter kits available. There are two basic classes of transmitters. One type transmits the video and audio

Also, I d like to thank Steve Elliot, Alex Corona, Betsy Hardinger, LeeAnn Pickrell, and all of the other employees of Osborne/McGraw Hill who worked to make this book possible..

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