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Equation (3-7) is essentially the same as equation (3-4) for the wedge. Though we look at several di erent simple machines, each with their own approach to increasing force, the principles behind each one are the same. Force is force, and the rules governing force are not going to change. If we seem to be getting more force at the output of a mechanism, somewhere inside it we are spending velocity or distance to get it. A second-class lever is shown in Fig. 3-12, and a third-class lever in Fig. 3-13. These have the same pieces as a rst-class lever, just in di erent positions. Note that the third-class lever has you pushing harder to get greater distance, backward from the rst and second-class levers. Your arm is a third-class lever with your elbow at one end, your wrist at the other, and the muscle attached in between.

4 In a SVC, cells travel paths that are set up spontaneously and torn down again after designated periods The advantage of this approach is that SVCs occupy switching capacity only when they are set up, increasing switch efficiency and payback on investments In either case, when a network device, such as a router, wants to send cells to an ATM network, it requests a virtual circuit That request is passed from initial ATM switches to other ATM switches in the network, with each switch determining whether it can handle the request If all switches along the path can accommodate the request, the virtual circuit is established If not, the request must be repeated This virtual circuit will support a certain QoS that has been preset in the ATM network switches based on user requirements.

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.

A pulley is essentially a wheel. Where a wheel wears a skirt of rubber so it has a lot of friction, the pulley has a groove for a rope around its edge. Pulleys are designed so they don t add much friction to the machine they are a part of. Methods for removing friction are explored in a later chapter.

As the name implies, a single-chip computer is an entire computer system that lies within the confines of an integrated circuit (IC) chip. The microcontroller existing on the encapsulated sliver of silicon has features and similarities to our standard personal computer (PC). Primarily the microcontroller is capable of storing and running a program (most important feature). The microcontroller contains a central processing unit (CPU), random access memory (RAM), read only memory (ROM), input/output (I/O) lines, serial and parallel ports, timers, and sometimes other built-in peripherals like analog-to-digital (A/D) and digital-to-analog (D/A) converters.

The most common ATM QoSs are known as constant bit rate (CBR), variable bit rate (VBR), available bit rate (ABR), and unspecified bit rate (UBR) CBR guarantees low delay and the ability to handle a specified cell rate all the time As long as the traffic falls within the cell rate, the network will handle it It is intended for voice and high-quality video traffic VBR is intended for bursty traffic It allows traffic to burst up to specified rates for specified periods of time before discarding cells VBR comes in two instances: real time and nonreal time Real-time VBR limits delay that would hamper certain applications, such as some types of enterprise resource planning systems that require low network delay, plus some forms of video Nonrealtime VBR is for bursty traffic that is unaffected by delay, such as more traditional LAN traffic or e-mail UBR is a best-effort QoS.

Fig. 3-14.

The microcontroller s ability to store and run unique programs makes it extremely versatile. For instance, one can program a microcontroller to make decisions (perform functions) based on predetermined situations (I/O line logic) and sensor readings. Its ability to perform math and logic functions allows it to mimic sophisticated logic and electronic circuits. Still other programs can make the microcontroller behave like a neural or fuzzy logic controller.