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Authentication tokens come in a variety of physical forms. The size, shape, and materials from which a token is manufactured are referred to collectively as the token s form factor. These parameters affect the durability, portability, security, and convenience of a given type of token. For example, some tokens have electrical contacts mounted on the outer surface of the token s casing. The electrical contacts are connected to an integrated circuit embedded in the token. When an electrostatic discharge of sufficient potential is applied to the contacts, the integrated circuit may be damaged. Because the human body can accumulate a significant static charge in dry weather, care must be taken in the design of such tokens to minimize the risk of damage from static discharges. To compensate for this, some types of tokens have contacts that are recessed in a conductive plastic casing. This type of token is less susceptible to damage from stray static discharges because the casing absorbs the charge before it reaches the contacts. A token s form factor involves trade-offs that must be evaluated for a specific application. Tokens that have recessed contacts usually require a thicker casing than those that have surface-mounted contacts, and that can make it harder to carry the token in a pocket. Customers can sometimes select from a number of different form factors with the same functionality, making it possible to choose the form factor that is best suited to a particular application. Figure 9-2 shows three form factors.

rCharge ExprN Sets the batteries to percentage charge. ExprN is a percentage value 1 to 100 percent rIgnoreCharge ExprN If ExprN is true (not zero) then the battery charge level will be ignored and the robot will continue to operate regardless of the battery charge level. This is the default state. If ExprN is false (zero) then the battery charge level will be taken into account. The robot will not operate when the battery is depleted and in some cases an error will occur as speci ed in the commands. rSensor ExprN1,ExprN2,Var1,Var2,Var3 The robot has a default set of sensors located at 90 and 45 to the left and right of the front and at the front. These sensors can look and return the color of the rst object encountered and the distance to that object. ExprN1 speci es the sensor number to use: 1 = 90 to the right 2 = 45 to the right

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Noncontact tokens, as their name implies, require no electrical or physical contact with a token reader device. Instead, noncontact tokens usually operate by transmitting data to and receiving data from a terminal, or they require that the user enter data that is then generated by the token.

ExprN2 speci es the limit of the sensor range (pixels). Var1 is set to the rst color found directly in front of the sensor that is not on the list of invisible colors. If the range of the sensor or the walls of the room are reached (screen extent) without sensing an object then this color value will be 1, otherwise it will be the color of the object. Var2 is set to the distance to the object found. If no object is found then the distance will be the maximum range of the sensor, or the distance to the wall if that was within the sensor range.

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Figure 9-2 Cryptographic tokens from (a) Rainbow Technologies, (b) Datakey, and (c) RSA Security (a)

Var3 will be set to 1 (true) if an object is found or a wall is sensed within the sensor range. If the sensor range is reached without sensing a wall or an object then it is set to 0 (false). Colors on the invisible colors list will be ignored in the process.

This command will not cause an error if the battery is depleted and an IgnoreCharge False has been issued, but the values will be nonsense rSensorA ExprN1,ExprN2,Var1,Var2,Var3 This is the same as the rSensor command, except ExprN1 is not a sensor number but rather an angle (0 359) clockwise relative to the robot heading A value of 90 is 90 to the right, 270 is 90 to the left So this command can be used to do the same as above but instead of a limit of 5 sensors you have 360 of them This command will not cause an error if the battery is depleted and an IgnoreCharge False has been issued, but the values will be nonsense rSlip {ExprN} This command de nes a percentage for the slipping feature of the robot.

Noncontact tokens include proximity cards, one-time password generators, and handheld challenge/response calculators.

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Real robot motors tend to slip in a random way where going forward/backward can go less than expected If the motors do not turn exactly the same amount while going forward a slight turning tendency may occur Also, during turning if the motors do not turn as expected, less or more turning than commanded may occur Issuing this command will cause the robot to behave in this manner If you do not pass ExprN the slip will occur 2 percent of the time If you want to simulate a different percentage then issue the command with ExprN ExprN resulting in 0 will turn the slipping off which is the default state If ExprN is less than 0 then it will be made 0 If ExprN is greater than 100 it will be made 100 If ExprN does not result in a number an error will occur C9.

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