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Note, however, that this is not a serious drawback, because by the nature of the skin all sensors must be addressed in turn in each cycle of sensor polling The order in which sensors are addressed is immaterial, and so the advantages of serial addressing outweigh its disadvantages The sensor module circuit implemented in Ref 134 is shown in Figure 85 In brief, it operates as follows The Sensor Select signal from the Sensor Interface is rst cleaned up by triggers IC8b and IC8c and is then passed to the Clk input of the 8-bit counter that keeps track of selected sensors The function of the pulse discriminator IC6 (a dual one-shot) is to choose the time of resetting the counter In the pulse discriminator, when the Sensor Select line is low, the oneshots outputs Q are low, and the 8-bit counter is not reset.

As a pulse arrives on the Sensor Select line at time Ta , the output Q of the one-shots IC6a is triggered high If the Sensor Select line stays high longer than 10 s, IC6a will time out, causing its output to go low at time Tb This triggers IC6b, and its output Q goes high, resetting the counter If, on the other hand, Sensor Select signal goes low before IC6a times out, no reset pulse is generated and the counter increments normally The infrared diode (LED) light is amplitude-modulated and then synchronously detected, to increase the system immunity to other light sources This scheme allows operation on several channels : For example, light transmitted by an LED on the robot link X will not be sensed by a detector on a link Y even if directly illuminated by it.

4.1 AES Architectures .oKeyIterModNk(wKeyIter ModNk1), .oNkKeys(wNkKeys1), .oKeyIterDivNk(wKeyIter DivNk1)); KeyExpBlock KeyExpBlock8(

The output byte Out of IC7 controls analog multiplexers that switch optical components in the sensor circuit The least signi cant four bits are connected to the analog multiplexer IC2, which selects signals among the 12 preampli ers on the skin The analog signal is rst high-pass ltered by IC1a to remove noise due to the ambient (room) light, then passed to the synchronous detector ICb, which demodulates the transmitted signal, and then low-pass ltered by a three-pole Butterworth lter composed of IC1c and IC1d The IC1d output is then passed to one of the input channels of the Sensor Interface Board via a resistor, which provides short-circuit protection for the IC1d s output The setting time of the Butterworth lter is about 025 m, which determines the overall scheme s response time A higher bandwidth lter would settle in less.

The next morning I submitted all the necessary documents to open a trading account at a firm suggested by the Amazing Forex people Within 24 hours, I was promised that I could fund my account with a credit card More waiting, and this time it would be even more excruciating Imagine the profits I was missing out on! All night, I had watched as the software called for buys and sells on currency pairs Trade after trade was profitable On a sheet of paper next to my computer, I calculated the point gains I could have made just by following along: over 110 It was going to be difficult to concentrate on my job that day knowing that I was letting more of the same profits go by.

Figure 8.5 Sensor circuit module. Most notations are conventional notations found in electronics literature. Some details on components appear in this section; more detail can be found in Ref. 134.

.iClk(iClk), .iReset(iReset), .iKeyIter(wKeyIter7), .iKeyIterModNk(wKeyIter ModNk7), .iNkKeys(wNkKeys7), .iKeyIterDivNk(wKeyIter DivNk7), .oKeyIter(wKeyIter8), .oKeyIterModNk(wKeyIter ModNk8), .oNkKeys(wNkKeys8), .oKeyIterDivNk(wKeyIter DivNk8));

time, but would also make the circuit more noise prone. Since the skin sensors on the arm links are polled in parallel, the limiting factor in the sensor update rate is the polling of the largest skin sections, which in this skin version happens to be on the robot arm link l3 . The resulting sensor polling rate makes the whole skin polled every sixteenth of a second. A bit faster rate for example, equal to the arm s 25-Hz sampling rate may be desirable, but it would require a more complex design and was deemed unessential.

// round transformation blocks Round R1( .iClk(iClk), .iReset(iReset), .iBlockIn(wBlockOutInit), .iRoundKey(wRoundKey1), .oBlockOut(wBlockOut1), .iReady(wValidInit), .oValid(wValid1)); ... .iClk(iClk), .iReset(iReset), .iBlockIn(wBlockOut8), .iRoundKey(wRoundKey9), .oBlockOut(wBlockOut9), .iReady(wValid8), .oValid(wValid9));

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Figure 8.6 The rst sensitive skin (mid-1980s). Skin sheets have been custom designed to t this speci c General Electric robot arm. The system has over 500 infrared proximity sensors.