Page 313 - Anatomy of a Robot

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298 INDEX
displacement (spring constant)
energy and power supplies,
in design of control systems,
peripheral power control
40–41 encryption, 266–269 path checking and, 175
and, 175
147–148, 153–189, 288–290
display systems, 83 algorithms for, 178–179 pipelining for, 179–181
energy and power supplies alternating current (AC) planning for, 160
in, 175 in, 169 position prediction and,
video bus in, 104–106 batteries in, 165–166, 166 183–184
distortion, 262 braking and, 184–186 power failure detect (PFD)
anti-aliasing filters and, 203 calculating requirements for, signals in, 182
pulse distortion in, 230–231, 154–155, 288–290 power failures and, 182–183
230, 231 centralization of energy code premission and, 181
distributed control systems, for, 161–162 prioritizing needs for, 160
22–24 comparisons of requirements processors and, 170–174
dithering (A/D), digital signal for, 156 range of supply in, 168
processing (DSP) and, computer hardware and, rechargeable batteries in, 155
200–201 118, 119 reclaiming/reusing energy and,
documentation of design, 144 conservation of, 160, 162–164 187–189
downloading times and control systems for, 159–189, regulation of, 165, 168–170
memory, 91 167–168 requirements for, 166–168
dynamic mechanics, 288–290 dead man power controllers routing for minimum energy
dynamic random access memory and, 174 consumption, 184
(DRAM), 93–95, 96–97, 98 direct current (DC) in, 169 safeguards and, 181–182
dynamic response (See display systems and, 113 scheduling and, 179–181
also control systems), efficiency of use of, security and, 181–182
29, 50–51, 52 162–164, 169 selection of, constraints
electric motor curves in, on, 157
E 156, 156 sensors, 174, 175
eavesdropping, 267 field effect transistors (FETs) shared motors and, 183
Eb/No curves, 234–236, 235, in, 166–167 software considerations in,
239, 247 filtering, 140 178–183
effective address, 91 hardware considerations and, sources for, 157
efficiency, of energy and power 164–175 spy hopping and, 176–178, 176
supplies, 169 heatsinks in, 165 subsystem power control
Einstein, Albert, 67, 68, 69 high level design and, 147–148 and, 174
electric motor curves, 156, 156 interference and emissions switching regulators for, 170
electrocution hazards, 132 from, 169 technology selection in,
electromagnetic interference interference and, 140–141 160–161
(EMI), display systems interrogation at sensors, drain thrashing in, 182
and, 113 on, 174 torque control and, 186–187
electrostatic and electromagnetic linear regulators for, 169–170 energy evaluation, for control
emissions/interference, linear, 141 systems, 30
138–139 looping and, 189 environmental considerations,
embedded processors, 113–114 mechanical considerations in, 132–135
emissions (See also 183–189 error control (See also
interference), 138–143 memory and, 174, 182–183 communications), 238–257
emotions in robots, 20–22 motors and, requirements for, bandwidth limited,
empowerment of team members, 166–167 254–256, 256
143–144 noise and, 168 bidirectional channels in, 241
encoding/decoding in operating system and, 178 channel tuning in, 246–247
communications, 229 overhead and, 179 channels in, 251–252