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This type of robot lives or dies by its power, traction, and durability. Choose the largest drive motors and batteries and motor controllers to handle them, and base your frame around them. You should have as a minimum 1 HP of total drive power per each 50 pounds of your robot s weight. More is always better, as the strongest ramming robots have as much as 1 HP per 10 pounds of total weight. Choose a gear ratio and wheel size that gives your robot a top speed of no more than 20 MPH more than that will be uncontrollable. Low-end acceleration is very important, and you should aim to have your robot reach its top speed in a distance that s no more than three times its body length. Your robot s stall pushing force should be at least twice its own weight, as it not only has to accelerate but also overcome the opponent s mass and drive power. To get as much of that power to the ground as possible, you need large, high-traction wheels. Soft rubber pneumatic go-kart or wheelbarrow wheels are best, but be sure to get them foam-filled if you want your robot to survive. Solid-foam power wheelchair wheels have slightly less traction but more durability. Avoid plastic wheels, solid-rubber castor wheels, or metal wheels with thin rubber treads these wheels not only lack traction, but their lack of compliance will make your robot bounce and skip when it hits bumps or debris. Four or six wheels are better than two for a ramming robot. Four wheels give much better stability than two, allowing you to line up a target and make dramatic cross-arena charges right into your target. Four wheels also make it possible to get all of your robot s weight resting on its tire tread, where you want it, and this design allows you to put wheels all the way at the front and rear of your robot. This is important when fighting wedge or lifting robots. For a four-wheeled ramming robot, you should make the side-to-side spacing of the wheels at least as much as the front-to-back spacing, as having the wheels farther apart front to back than side to side will make the robot turn awkwardly. Your wheels should be large, with a diameter between a quarter and a third of your robot s length for a four-wheeled design. Large wheels are more durable than smaller ones, with more material that needs to be damaged to make the wheel useless. Large wheels, protruding through the top of your robot s armor as much as the bottom, make your robot able to drive upside down as well as rightside up. You should also design in as much ground clearance as possible, both on top and bottom, to make your robot difficult to hang up on wedges, lifting arms, or debris. If possible, make sure your robot can be tilted or have its front or back raised off the ground, and have at least two wheels still touching the ground. Finally, a ramming robot needs to be able to take serious hits. Armor is important, but more than that, your robot needs to have a strong frame and internal impact resistance. Keep it clean and avoid unnecessary external details, and stick with a simple box with ramming points front and rear. Try to design to survive frame deformation build your drive system so it is not dependant on your overall chassis alignment, leave generous clearance around moving parts, and leave a little slack in all your wires so that connectors don t pull free if a component shifts position. Heavy components like batteries and motors should be well secured.
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Rolling-element fatigue can be initiated by hard inclusions in the material; corrosion; surface stress raisers such as dents, grinding imperfections, or geometric stress concentrations; microspalling; and surface interactions dependent on roughness and lubrication lm thickness. Sometimes thin layers of case hardening, surface checks from heat treatment and high sliding velocities, excessive temperature, type of lubricant, or contamination can accelerate the action of fatigue. If the surface is stressed in a corrosive environment, a phenomenon called corrosion fatigue or stress corrosion occurs. Corrosion on either the cam or roller follower will initially roughen the smooth rolling surface and form minute pits from which a fatigue crack will start due to the local stress concentration. The use of a lubricant has another function besides the reduction of friction of the surfaces, which is to prevent corrosion and ensure longer fatigue life. Surface Fatigue Design. As mentioned previously cams, rolling-element bearings, and gearing are machine elements that are similar in their performance, and they fail most frequently by surface fatigue. Unfortunately statistical wear data have been developed for rolling-element bearings and gearing but not for cam-follower systems. The diversity and complexity of cam-follower systems has prevented a complete wear design methodology to evolve. Nevertheless, this section presents a simpli ed design procedure for the cam engineer. The data presented will be of initial value as a guide in selecting compatible material combinations for the cam and follower. Ultimately, the proper materials, wear performance, and lubricant must be con rmed in the eld under actual operating conditions. Test data are presented for the comparison of cam and follower fatigue under pure rolling and rolling with some sliding conditions. Experience has shown that some sliding may occur, even at low speeds, affecting the wear life of the contacting surfaces. Life surface fatigue tests were conducted by Talbourdet (1950), Morrison (1968), and Cram (1956) utilizing radially loaded contacting cylinders with (a) pure rolling and (b) rolling with 9 percent sliding. Three-inch diameter mating rollers were used; one roller had a hardened steel surface (60-62 RC) and the other, softer roller was cast iron, steel (of different hardnesses), bronze, and nonmetallic materials. The weaker roller material wore out under the cyclical loading which established the life of the materials in combination. The stress test data algorithm relates smax to the hertzian compressive stress Eq. (9.11) for dissimilar metals in surface contact. For a Poisson s ratio m = 0.3 and the normal force per cylinder length P = K lb in 1 1 + r1 r2 (9.13)
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from service. The payloads continue to be supported using the bandwidth available in the remaining operational channels. This channel protection feature along with the skew compensation can be used to create robustness in the connection by diversely routing channels. In this scenario, a single cable cut cannot disable the entire link. The processes just described create a single large pipe with all the capacity available to the clients. Priorities assigned to each client dictate the distribution of capacity, and data clients provisioned to burst compete with each other for this bandwidth (statistical multiplexing). The implementation of these basic functions creates a simple platform that is easy to operate, manage, and deploy. The deployment of point-to-point circuit-bonding solutions allows the service provider to create new revenue from data services utilizing existing infrastructure. These deployments are also the first step toward a modern full-featured transport platform. The International Telecommunications Union (ITU) has passed several standards making circuit bonding an industry standard from the bonding of optical circuits (OC3 and OC12s) to DS3 and DS1s. Additional work is being done in standardizing the service management issues for services derived from bonded circuits.
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NAT Traversal, sometimes called NAT Transparency (or NAT-T for short), is an IPSec standard that inserts a UDP header between the outer IP header and the ESP header. The destination port for NAT-T is 4500. Intelligence is used with NAT-T: a discovery phase takes place during Phase 1 to determine if the two peers support NAT-T, and if they do support it, whether inserting a UDP header is necessary for the data connections to be successful in protecting and transmitting data. This is a dynamic process: if inserting a UDP header is needed, then it is done; if it is unneeded, then it is not inserted (inserting a UDP adds an additional 8 bytes of overhead). NAT-T is globally enabled by default. One of its features is that keepalives are sent across the data connections to ensure that address translation or stateful firewall devices don t remove any idle data connections. The default idle period is 20 seconds. To change the keepalive timer interval, use the following command:
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C s general-purpose console input function is scanf( ). It can read all the built-in data types and automatically convert numbers into the proper internal format. It is much like the reverse of printf( ). The general form of scanf( ) is int scanf(const char *fmt_string,...);
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The rate at which a computer or other display system displays new frames on a screen, measured in frames per second. Movies have a fixed frame rate of 24 frames per second. American television displays 29.97 frames per second. Many computer monitors are set to 70, 80, or even 100 frames per second to avoid flicker. Video games update the screen at regular intervals, so they also have a frame rate. If the computer has many tasks to do in each frame, its frame rate may drop to the point where the game has a jerky appearance. A high frame rate is a sign of fast, efficient code (or fast hardware).
If you re accomplishing a task by trial and error, there s nothing better than the Undo command for backing out of a multi-step operation. This little lifesaver provides all kinds of ways for you to reverse your last action.
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