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Nanotechnology is the control and manipulation of matter at the atomic and molecular level. It is the ability to create electronic and mechanical components using individual atoms. These tiny (nano) components can be assembled to make machines and equipment the size of bacteria. IBM has already created transistors, wires, gears, and levers out of atoms. How does one go about manipulating atoms Two physicists, Gerd Binnig and Heinrich Rohrer, invented the scanning tunneling microscope (STM). The tip of the STM is very sharp and its positioning exact. In 1990 IBM researchers used an STM to move 35 xenon atoms on a nickel crystal to spell the company s name, IBM. The picture of IBM written in atoms made worldwide news and was shown in many magazines and newspapers. This marked the beginning of atomic manipulation. As IBM continues to improve its nanotechnology, nanotechrobotics will find many uses in manufacturing, exploration, and medicine. Nanotech medical bots Nanotechnology can also be used to create small and microscopic robots. Imagine robots so small they can be injected into a patient s bloodstream. The robots travel to the heart and begin

Figure 5-13

In this chapter you will learn various strategies for enabling the robot to follow the perimeter of an object while staying close to it but not crashing into it or moving too far away.

5

Adding intelligence in the form of a computer to a small robot or robotic system has never been easier. There are numerous singlechip computers (commonly know as microcontrollers) available that can do the job.

Before we can examine the algorithms we will need a relatively complex contour with which to test our strategies. Also we will need a base program, which we will use throughout with only a few changes to accommodate the various algorithms. The robot will start by moving forward until it encounters an obstacle. When it encounters an obstacle the robot will abandon the forward-moving behavior and start the wall-following behavior.

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message and signs that message using its private key. Gwen now has a certificate and distributes it. So when Pao-Chi collects Gwen s public key, what he s really collecting is her certificate. Now suppose Satomi tries to replace Gwen s public key with her own. She finds the file on Pao-Chi s laptop holding Gwen s public key and substitutes the keys. But when Pao-Chi loads the key, he s not loading just the key, he s loading the certificate. He can extract the public key from the certificate if he wants, but before he does that, he verifies that the certificate is valid using the CA s public key. Because the message has been altered, the signature does not verify and Pao-Chi does not trust that public key. Therefore, he will not create a digital envelope using that public key, and Satomi will not be able to read any private communications. Of course, that scenario assumes that Pao-Chi has the CA s public key and that he can trust no one has replaced it with an imposter s. Because he can extract it from the CA s certificate, Pao-Chi knows he has the true CA public key. Just as Gwen s public key can be wrapped in a certificate, so can the CA s. Who signed the CA s certificate Probably another CA. This could go on forever.

Figure 8.1 shows a template with a main program and three subroutines. The main program calls the subroutines in order as they become needed and locates the robot on the screen. The line that sets the variable TurnDir will be needed in later sections and will be discussed there. We set the list of invisible colors and put the pen down. We put the pen down in order to leave a trail behind the robot while it is following the wall. This helps in observing the robot s behavior and gauging the algorithms effectiveness (or lack thereof), as you will notice later. You have seen the pen feature in Chap. 4 and will learn more about it in Chaps. 10 and 11 (see Sec. C.9 for more details). The rst color on the list of invisible colors will be used by the pen to draw when it is lowered since no color was speci ed when the rPen command was issued. Similarly the second color will be the default color used by the rDFeel() function. We will use rDFeel() later in the chapter. The subroutine DrawWall does exactly that using mPolygon and the array Wall created by the series of Data statements, as in Chap. 7. The subroutine RoamAround makes the robot move forward until it encounters an obstacle. When the robot encounters an obstacle the routine is terminated, which causes the program ow to go back to the main program, which then starts FollowWall. This subroutine is left empty for now. We will develop various wall following algorithms that will be substitutions for this routine.

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