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cating that no object was sensed and 1 indicating that an object is present These values will be stored in the variable object_detect When the program execution is returned back to the main program, certain decisions can easily be made, based on this information The infrared subroutine takes 40 samples from the module and counts the number of positive hits received The number of samples taken can also be configured by changing the variable num_samples Because of stray infrared and signals from the environment, the module is constantly producing false positive signals that are referred to as noise The average acceptable amount of noise picked up by the sensor module is called the noise floor The routine needs to set a threshold point above the typical amount of noise and report a sensed object only if the number of positive signals received throughout the number of samples taken exceeds the noise floor With the PNA4602M sensor modules, I found that the typical false positive was actually very low five for every 40 samples taken To be on the safe side, the threshold is set at 25 for every 40 samples, to ensure that an object is present By changing the threshold value, you can change the sensitivity and distance detection response of the module If you want a more accurate reading, the num_samples value can be increased, but will take more time for the routine to execute The last option is using the mode select push button to invoke the infrared sensor calibration routine This will enable the user to simply push the button on the robot s head to calibrate the sensor, as described earlier The experimenter can also develop a software routine to use the push button to choose different modes of behavior when the robot starts up When the main software routine senses that the button has been pushed, it goes into a tight loop until it senses that the switch has been let up before going to the.

Other track-related positions include medic, track photographer, communications and electrical crews, concession operators, and push- and tow-truck drivers to clear the track of disabled cars Last, but far from least, someone with an alert mind and flying fingers must keep the electronic message board glowing throughout the races with the latest scheduling information, sponsor names, and other news for fans There are auto race courses of all kinds throughout the United States For specific information, consult a motorsports publication such as National Speed Sport News or the sports pages of your area newspaper

Carleton University (BArch) School of Architecture 1125 Colonel By Dr Ottawa, ON K1S 6B6 carletonca Dalhousie University (MArch) DalTech, Faculty of Architecture PO Box 1000 Halifax, NS B3J 2X4 http://architectureandplanningdalca/indexshtml McGill University (BArch) School of Architecture Macdonald-Harrington Building 815 Sherbrooke St W Montreal, QC H3A 2K6 wwwmcgillca/architecture/ cole d Architecture Facult d Am Universit de Montr al (BArch) Facult de L Am nagement 2940, Chemin de la C te Sainte-Catherine Bureau 2076 Montreal, QC H3T 1T2 wwwarcumontrealca/ Universit Laval (BArch) cole d Architecture Facult d Architecture et d Am nagement 1 C te de la Fabrique Quebec, QC G1K 7P2 ulavalca

infrared calibration routine This is so that when the program execution jumps to the calibration routine, it does not immediately jump back to the main routine because the operator still has the button pushed The main robot snake control program is called serpentronicbas and is listed in Program 55 The program operates by constantly moving the snake in a forward direction, monitoring the infrared sensor and then responding by turning either left or right if an obstacle was sensed Compile serpentronicbas and then program the PIC 16F84 with the serpentronichex file listed in Program 56 The program can be put into the infrared calibration mode by holding down the push button

'-----------------------------------------------------------------------------------------------------------------------------' Name : Serpentronicbas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : Complete control Program for the robot ' : snake Mode select push-button switch ' : allows the infrared sensor to be easily ' : calibrated The robot will stop and turn ' : if an obstacle is encountered '-----------------------------------------------------------------------------------------------------------------------------' PortA set as outputs trisa = %00000000 ' PortB set as outputs pins 0-1 inputs trisb = %00000011 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables led_left led_right piezo cal_switch VAR PORTA2 VAR PORTA3 VAR PORTA4 VAR PORTB0 179 PROGRAM 55

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The antenna needs to be of sufficient size to supply the APM with enough RF current to cause conduction in the germanium diodes and charge the ground coupling capacitors It has been found that a long horizontal antenna wire works best A fifty foot monopole, or long-wire antenna will work well, but a small antenna should work, and of course you can experiment with your own antenna ideas The antenna will work best when elevated to 20 30 feet Lower elevations will work, but a longer wire may be necessary for best results In most locations, possible supporting structures already exist The wire may be stretched between the top of a building and some nearby tree or telephone pole, see Figure 17-3 If live wires are present on the building or pole, care should be taken to keep your antenna and body well clear of these hazards To mount the wire, standard commercial insulators may be used as well as homemade devices Plastic pipe makes an excellent antenna insulator Synthetic rope also works very well, and has the advantage of being secured simply by tying a knot It is convenient to mount a pulley at some elevated point so the antenna wire may be pulled up to it using the rope which doubles as an insulator