eug_titles/BallBot/Part4

Home » Personal collection » Acorn hard disk » misc » misc3 » eug_titles/BallBot/Part4

This website contains an archive of files for the Acorn Electron, BBC Micro, Acorn Archimedes, Commodore 16 and Commodore 64 computers, which Dominic Ford has rescued from his private collection of floppy disks and cassettes.

Some of these files were originally commercial releases in the 1980s and 1990s, but they are now widely available online. I assume that copyright over them is no longer being asserted. If you own the copyright and would like files to be removed, please contact me.

Tape/disk:	Home » Personal collection » Acorn hard disk » misc » misc3
Filename:	eug_titles/BallBot/Part4
Read OK:	✔
File size:	1803 bytes
Load address:	0000
Exec address:	0000

Duplicates

There is 1 duplicate copy of this file in the archive:

Personal collection » Acorn ADFS disks » Electron » EUG_submission.ADF » BallBot/Part4
Personal collection » Acorn hard disk » misc » misc3 » eug_titles/BallBot/Part4

The electronic circuit which will be used to convert the analogue a.c.
signal from the reciever into a binary signal for the computer to
interpret is still being designed. The easiest way to form a code of 0s
where there are troffs and 1s where there are peaks is to rectify the a.c.
signal into a constant d.c. voltage using an 'Ideal' rectifier (see
diagram), and then set a threshold which is slightly above the average
level of the wave. When the d.c. voltage exceeds this threshold, a 
positive signal is sent to the computer, and when it does not a negative
signal is sent.

The problem with this is that the voltage input decreases with distance,
and so as time progresses the input will become smaller. Therefore a
trigger voltage which is useful over one distance will almost certainly be
completely useless over a different distance. In order for this system to
work, the amplitude of the trigger voltage must decrease with the input
signal in order to ensure that it works over all distances. In the case of
our sonar system, this can be converted to meaning a trigger voltage which
decreses with time, as time and distance are proportional to each other.
The easiest way to produce a voltage which falls with time is using a
capacitor.

Capacitors, however, discharge with exponential decay, and will be of
little use in this situation. This is where the Volt-metre values are
helpful. We have shown that the product of input voltage and a linear
rising value is a constant which is unaffected by distance. Therefore if
we could make a capacitor charge up and produce a voltage which rises in a
linear fashion, and multiply this by the input amplitude, this would solve
our problem. The linear rising voltage can be produced with a simple
'Constant-current source' as shown below. The output from this can then be
multiplied by the input signal voltage using an analogue multiplier:

Clearly this circuit set-up relies upon the capacitor being fully
discharged when the ultrasonic blip is transmitted, and that the capacitor
begins charging simultaneously as the noise is created. This is the
purpose of the NPN transistor which is wired between the positive pole of
the capacitor and the ground line from the power supply. This is used to
discharge the capacitor when a positive signal is sent to its base from a
'discharge' output line. This line is set negative simultaneously as the
'blip' line is set positive to turn on the speaker.

The result of this is a signal which has constant amplitude, and is not
affected by the distance over which the signal has travelled. This can be
compared to our constant trigger voltage using a comparator. The trigger
voltage itself is created using a potential divider:

The output of the comparitor is tied to the positive 5V logic rail from
the computer by means of a resistor to make it TTL compatible before being
passed to the computer input circuitry. The rest of the processing is
purely pattern recognition, and is performed by software, not hardware.

For an ultrasonic scanning system to be of use in BallBot, it most have a
known range of vision, so that we know what areas of the court are covered
by which sensors, and the AI can be programmed accordingly. In this
particular experiment, I set up an echo system, with a reciever and
transmitter together and facing in the same direction, and placed an
object in front of the pair to create echoes. Using a protractor, I moved
the object around different angles relative to the sensors, and measured
the response. The results I obtained were as follows:

This indicates a good range of vision. The sensors are supposed to have a
range of roughly 30 degrees, and these results suggest that the final
system will probably have a range roughly equal to this. When the input
signal falls below around 50% of the maximum signal amplitude, it will not
rise above the trigger voltage sufficiently for it to be recognised.
Therefore the useful view of the sensors is +/- 15 degrees.

The BallBot Computer Controller

At the moment plans are a little unclear as to exactly what form the
BallBot computer will take. Original plans were to have a 6502
microprocessor connected to a 6522VIA to maximise compatibility with the
BBC (this connection is identical to that made in the BBC's hardware).
Such a computer would also require a small static RAM chip in which to
store variables, and an EPROM in which to store the program code. A static
RAM is chosen as opposed to a dynamic RAM, because it is simpler for the
beginner to use, as it does not need refreshing on a regular basis. A
diagram of such a computer design is shown below:

An address decoder is required to control the transfer the information
between the chips. The 6502 outputs the address of the memory location it
wants to access as a 16 bit binary number, and the decoder must use this
number to work out which chip the address is controlled by. The request
must then be directed to that chip.

Alternatively, a 7070 control board may be used. This has the immediate
advantage that it is already built, and is designed to operate projects
such as BallBot. The board may be connected to the back of a PC and
programmed by the user to perform whatever task is required, either in
FORTH, or in machine code itself.

Depending upon what hardware is used in the control board, however, it may
be easier to stick to the old 6502 design for BallBot, and revert to the
ready-built control board for any later projects. It may be the case that
all of the work done so far would have to be drastically altered to work
with a 7070 board. The main area which could cause problems would be the
input and output circuitry.

Computer Run-Time Allocation

The amount of time required by the sonar system per each scan of the court
can be calculated by the time taken for sound to travel the length of a
tennis court (roughly 10m) and come back. This is the time after which the
last echoes from objects on the other side of the court are recieved. It
is independent of the speed of the processor being used. In this case it
can be calculated as follows:

The artificial intelligence module

00000000  54 68 65 20 65 6c 65 63  74 72 6f 6e 69 63 20 63  |The electronic c|
00000010  69 72 63 75 69 74 20 77  68 69 63 68 20 77 69 6c  |ircuit which wil|
00000020  6c 20 62 65 20 75 73 65  64 20 74 6f 20 63 6f 6e  |l be used to con|
00000030  76 65 72 74 20 74 68 65  20 61 6e 61 6c 6f 67 75  |vert the analogu|
00000040  65 20 61 2e 63 2e 0d 73  69 67 6e 61 6c 20 66 72  |e a.c..signal fr|
00000050  6f 6d 20 74 68 65 20 72  65 63 69 65 76 65 72 20  |om the reciever |
00000060  69 6e 74 6f 20 61 20 62  69 6e 61 72 79 20 73 69  |into a binary si|
00000070  67 6e 61 6c 20 66 6f 72  20 74 68 65 20 63 6f 6d  |gnal for the com|
00000080  70 75 74 65 72 20 74 6f  0d 69 6e 74 65 72 70 72  |puter to.interpr|
00000090  65 74 20 69 73 20 73 74  69 6c 6c 20 62 65 69 6e  |et is still bein|
000000a0  67 20 64 65 73 69 67 6e  65 64 2e 20 54 68 65 20  |g designed. The |
000000b0  65 61 73 69 65 73 74 20  77 61 79 20 74 6f 20 66  |easiest way to f|
000000c0  6f 72 6d 20 61 20 63 6f  64 65 20 6f 66 20 30 73  |orm a code of 0s|
000000d0  0d 77 68 65 72 65 20 74  68 65 72 65 20 61 72 65  |.where there are|
000000e0  20 74 72 6f 66 66 73 20  61 6e 64 20 31 73 20 77  | troffs and 1s w|
000000f0  68 65 72 65 20 74 68 65  72 65 20 61 72 65 20 70  |here there are p|
00000100  65 61 6b 73 20 69 73 20  74 6f 20 72 65 63 74 69  |eaks is to recti|
00000110  66 79 20 74 68 65 20 61  2e 63 2e 0d 73 69 67 6e  |fy the a.c..sign|
00000120  61 6c 20 69 6e 74 6f 20  61 20 63 6f 6e 73 74 61  |al into a consta|
00000130  6e 74 20 64 2e 63 2e 20  76 6f 6c 74 61 67 65 20  |nt d.c. voltage |
00000140  75 73 69 6e 67 20 61 6e  20 27 49 64 65 61 6c 27  |using an 'Ideal'|
00000150  20 72 65 63 74 69 66 69  65 72 20 28 73 65 65 0d  | rectifier (see.|
00000160  64 69 61 67 72 61 6d 29  2c 20 61 6e 64 20 74 68  |diagram), and th|
00000170  65 6e 20 73 65 74 20 61  20 74 68 72 65 73 68 6f  |en set a thresho|
00000180  6c 64 20 77 68 69 63 68  20 69 73 20 73 6c 69 67  |ld which is slig|
00000190  68 74 6c 79 20 61 62 6f  76 65 20 74 68 65 20 61  |htly above the a|
000001a0  76 65 72 61 67 65 0d 6c  65 76 65 6c 20 6f 66 20  |verage.level of |
000001b0  74 68 65 20 77 61 76 65  2e 20 57 68 65 6e 20 74  |the wave. When t|
000001c0  68 65 20 64 2e 63 2e 20  76 6f 6c 74 61 67 65 20  |he d.c. voltage |
000001d0  65 78 63 65 65 64 73 20  74 68 69 73 20 74 68 72  |exceeds this thr|
000001e0  65 73 68 6f 6c 64 2c 20  61 20 0d 70 6f 73 69 74  |eshold, a .posit|
000001f0  69 76 65 20 73 69 67 6e  61 6c 20 69 73 20 73 65  |ive signal is se|
00000200  6e 74 20 74 6f 20 74 68  65 20 63 6f 6d 70 75 74  |nt to the comput|
00000210  65 72 2c 20 61 6e 64 20  77 68 65 6e 20 69 74 20  |er, and when it |
00000220  64 6f 65 73 20 6e 6f 74  20 61 20 6e 65 67 61 74  |does not a negat|
00000230  69 76 65 0d 73 69 67 6e  61 6c 20 69 73 20 73 65  |ive.signal is se|
00000240  6e 74 2e 0d 0d 54 68 65  20 70 72 6f 62 6c 65 6d  |nt...The problem|
00000250  20 77 69 74 68 20 74 68  69 73 20 69 73 20 74 68  | with this is th|
00000260  61 74 20 74 68 65 20 76  6f 6c 74 61 67 65 20 69  |at the voltage i|
00000270  6e 70 75 74 20 64 65 63  72 65 61 73 65 73 20 77  |nput decreases w|
00000280  69 74 68 20 64 69 73 74  61 6e 63 65 2c 0d 61 6e  |ith distance,.an|
00000290  64 20 73 6f 20 61 73 20  74 69 6d 65 20 70 72 6f  |d so as time pro|
000002a0  67 72 65 73 73 65 73 20  74 68 65 20 69 6e 70 75  |gresses the inpu|
000002b0  74 20 77 69 6c 6c 20 62  65 63 6f 6d 65 20 73 6d  |t will become sm|
000002c0  61 6c 6c 65 72 2e 20 54  68 65 72 65 66 6f 72 65  |aller. Therefore|
000002d0  20 61 0d 74 72 69 67 67  65 72 20 76 6f 6c 74 61  | a.trigger volta|
000002e0  67 65 20 77 68 69 63 68  20 69 73 20 75 73 65 66  |ge which is usef|
000002f0  75 6c 20 6f 76 65 72 20  6f 6e 65 20 64 69 73 74  |ul over one dist|
00000300  61 6e 63 65 20 77 69 6c  6c 20 61 6c 6d 6f 73 74  |ance will almost|
00000310  20 63 65 72 74 61 69 6e  6c 79 20 62 65 0d 63 6f  | certainly be.co|
00000320  6d 70 6c 65 74 65 6c 79  20 75 73 65 6c 65 73 73  |mpletely useless|
00000330  20 6f 76 65 72 20 61 20  64 69 66 66 65 72 65 6e  | over a differen|
00000340  74 20 64 69 73 74 61 6e  63 65 2e 20 49 6e 20 6f  |t distance. In o|
00000350  72 64 65 72 20 66 6f 72  20 74 68 69 73 20 73 79  |rder for this sy|
00000360  73 74 65 6d 20 74 6f 0d  77 6f 72 6b 2c 20 74 68  |stem to.work, th|
00000370  65 20 61 6d 70 6c 69 74  75 64 65 20 6f 66 20 74  |e amplitude of t|
00000380  68 65 20 74 72 69 67 67  65 72 20 76 6f 6c 74 61  |he trigger volta|
00000390  67 65 20 6d 75 73 74 20  64 65 63 72 65 61 73 65  |ge must decrease|
000003a0  20 77 69 74 68 20 74 68  65 20 69 6e 70 75 74 0d  | with the input.|
000003b0  73 69 67 6e 61 6c 20 69  6e 20 6f 72 64 65 72 20  |signal in order |
000003c0  74 6f 20 65 6e 73 75 72  65 20 74 68 61 74 20 69  |to ensure that i|
000003d0  74 20 77 6f 72 6b 73 20  6f 76 65 72 20 61 6c 6c  |t works over all|
000003e0  20 64 69 73 74 61 6e 63  65 73 2e 20 49 6e 20 74  | distances. In t|
000003f0  68 65 20 63 61 73 65 20  6f 66 0d 6f 75 72 20 73  |he case of.our s|
00000400  6f 6e 61 72 20 73 79 73  74 65 6d 2c 20 74 68 69  |onar system, thi|
00000410  73 20 63 61 6e 20 62 65  20 63 6f 6e 76 65 72 74  |s can be convert|
00000420  65 64 20 74 6f 20 6d 65  61 6e 69 6e 67 20 61 20  |ed to meaning a |
00000430  74 72 69 67 67 65 72 20  76 6f 6c 74 61 67 65 20  |trigger voltage |
00000440  77 68 69 63 68 0d 64 65  63 72 65 73 65 73 20 77  |which.decreses w|
00000450  69 74 68 20 74 69 6d 65  2c 20 61 73 20 74 69 6d  |ith time, as tim|
00000460  65 20 61 6e 64 20 64 69  73 74 61 6e 63 65 20 61  |e and distance a|
00000470  72 65 20 70 72 6f 70 6f  72 74 69 6f 6e 61 6c 20  |re proportional |
00000480  74 6f 20 65 61 63 68 20  6f 74 68 65 72 2e 0d 54  |to each other..T|
00000490  68 65 20 65 61 73 69 65  73 74 20 77 61 79 20 74  |he easiest way t|
000004a0  6f 20 70 72 6f 64 75 63  65 20 61 20 76 6f 6c 74  |o produce a volt|
000004b0  61 67 65 20 77 68 69 63  68 20 66 61 6c 6c 73 20  |age which falls |
000004c0  77 69 74 68 20 74 69 6d  65 20 69 73 20 75 73 69  |with time is usi|
000004d0  6e 67 20 61 0d 63 61 70  61 63 69 74 6f 72 2e 0d  |ng a.capacitor..|
000004e0  0d 43 61 70 61 63 69 74  6f 72 73 2c 20 68 6f 77  |.Capacitors, how|
000004f0  65 76 65 72 2c 20 64 69  73 63 68 61 72 67 65 20  |ever, discharge |
00000500  77 69 74 68 20 65 78 70  6f 6e 65 6e 74 69 61 6c  |with exponential|
00000510  20 64 65 63 61 79 2c 20  61 6e 64 20 77 69 6c 6c  | decay, and will|
00000520  20 62 65 20 6f 66 0d 6c  69 74 74 6c 65 20 75 73  | be of.little us|
00000530  65 20 69 6e 20 74 68 69  73 20 73 69 74 75 61 74  |e in this situat|
00000540  69 6f 6e 2e 20 54 68 69  73 20 69 73 20 77 68 65  |ion. This is whe|
00000550  72 65 20 74 68 65 20 56  6f 6c 74 2d 6d 65 74 72  |re the Volt-metr|
00000560  65 20 76 61 6c 75 65 73  20 61 72 65 0d 68 65 6c  |e values are.hel|
00000570  70 66 75 6c 2e 20 57 65  20 68 61 76 65 20 73 68  |pful. We have sh|
00000580  6f 77 6e 20 74 68 61 74  20 74 68 65 20 70 72 6f  |own that the pro|
00000590  64 75 63 74 20 6f 66 20  69 6e 70 75 74 20 76 6f  |duct of input vo|
000005a0  6c 74 61 67 65 20 61 6e  64 20 61 20 6c 69 6e 65  |ltage and a line|
000005b0  61 72 0d 72 69 73 69 6e  67 20 76 61 6c 75 65 20  |ar.rising value |
000005c0  69 73 20 61 20 63 6f 6e  73 74 61 6e 74 20 77 68  |is a constant wh|
000005d0  69 63 68 20 69 73 20 75  6e 61 66 66 65 63 74 65  |ich is unaffecte|
000005e0  64 20 62 79 20 64 69 73  74 61 6e 63 65 2e 20 54  |d by distance. T|
000005f0  68 65 72 65 66 6f 72 65  20 69 66 0d 77 65 20 63  |herefore if.we c|
00000600  6f 75 6c 64 20 6d 61 6b  65 20 61 20 63 61 70 61  |ould make a capa|
00000610  63 69 74 6f 72 20 63 68  61 72 67 65 20 75 70 20  |citor charge up |
00000620  61 6e 64 20 70 72 6f 64  75 63 65 20 61 20 76 6f  |and produce a vo|
00000630  6c 74 61 67 65 20 77 68  69 63 68 20 72 69 73 65  |ltage which rise|
00000640  73 20 69 6e 20 61 0d 6c  69 6e 65 61 72 20 66 61  |s in a.linear fa|
00000650  73 68 69 6f 6e 2c 20 61  6e 64 20 6d 75 6c 74 69  |shion, and multi|
00000660  70 6c 79 20 74 68 69 73  20 62 79 20 74 68 65 20  |ply this by the |
00000670  69 6e 70 75 74 20 61 6d  70 6c 69 74 75 64 65 2c  |input amplitude,|
00000680  20 74 68 69 73 20 77 6f  75 6c 64 20 73 6f 6c 76  | this would solv|
00000690  65 0d 6f 75 72 20 70 72  6f 62 6c 65 6d 2e 20 54  |e.our problem. T|
000006a0  68 65 20 6c 69 6e 65 61  72 20 72 69 73 69 6e 67  |he linear rising|
000006b0  20 76 6f 6c 74 61 67 65  20 63 61 6e 20 62 65 20  | voltage can be |
000006c0  70 72 6f 64 75 63 65 64  20 77 69 74 68 20 61 20  |produced with a |
000006d0  73 69 6d 70 6c 65 0d 27  43 6f 6e 73 74 61 6e 74  |simple.'Constant|
000006e0  2d 63 75 72 72 65 6e 74  20 73 6f 75 72 63 65 27  |-current source'|
000006f0  20 61 73 20 73 68 6f 77  6e 20 62 65 6c 6f 77 2e  | as shown below.|
00000700  20 54 68 65 20 6f 75 74  70 75 74 20 66 72 6f 6d  | The output from|
00000710  20 74 68 69 73 20 63 61  6e 20 74 68 65 6e 20 62  | this can then b|
00000720  65 0d 6d 75 6c 74 69 70  6c 69 65 64 20 62 79 20  |e.multiplied by |
00000730  74 68 65 20 69 6e 70 75  74 20 73 69 67 6e 61 6c  |the input signal|
00000740  20 76 6f 6c 74 61 67 65  20 75 73 69 6e 67 20 61  | voltage using a|
00000750  6e 20 61 6e 61 6c 6f 67  75 65 20 6d 75 6c 74 69  |n analogue multi|
00000760  70 6c 69 65 72 3a 0d 0d  43 6c 65 61 72 6c 79 20  |plier:..Clearly |
00000770  74 68 69 73 20 63 69 72  63 75 69 74 20 73 65 74  |this circuit set|
00000780  2d 75 70 20 72 65 6c 69  65 73 20 75 70 6f 6e 20  |-up relies upon |
00000790  74 68 65 20 63 61 70 61  63 69 74 6f 72 20 62 65  |the capacitor be|
000007a0  69 6e 67 20 66 75 6c 6c  79 0d 64 69 73 63 68 61  |ing fully.discha|
000007b0  72 67 65 64 20 77 68 65  6e 20 74 68 65 20 75 6c  |rged when the ul|
000007c0  74 72 61 73 6f 6e 69 63  20 62 6c 69 70 20 69 73  |trasonic blip is|
000007d0  20 74 72 61 6e 73 6d 69  74 74 65 64 2c 20 61 6e  | transmitted, an|
000007e0  64 20 74 68 61 74 20 74  68 65 20 63 61 70 61 63  |d that the capac|
000007f0  69 74 6f 72 0d 62 65 67  69 6e 73 20 63 68 61 72  |itor.begins char|
00000800  67 69 6e 67 20 73 69 6d  75 6c 74 61 6e 65 6f 75  |ging simultaneou|
00000810  73 6c 79 20 61 73 20 74  68 65 20 6e 6f 69 73 65  |sly as the noise|
00000820  20 69 73 20 63 72 65 61  74 65 64 2e 20 54 68 69  | is created. Thi|
00000830  73 20 69 73 20 74 68 65  0d 70 75 72 70 6f 73 65  |s is the.purpose|
00000840  20 6f 66 20 74 68 65 20  4e 50 4e 20 74 72 61 6e  | of the NPN tran|
00000850  73 69 73 74 6f 72 20 77  68 69 63 68 20 69 73 20  |sistor which is |
00000860  77 69 72 65 64 20 62 65  74 77 65 65 6e 20 74 68  |wired between th|
00000870  65 20 70 6f 73 69 74 69  76 65 20 70 6f 6c 65 20  |e positive pole |
00000880  6f 66 0d 74 68 65 20 63  61 70 61 63 69 74 6f 72  |of.the capacitor|
00000890  20 61 6e 64 20 74 68 65  20 67 72 6f 75 6e 64 20  | and the ground |
000008a0  6c 69 6e 65 20 66 72 6f  6d 20 74 68 65 20 70 6f  |line from the po|
000008b0  77 65 72 20 73 75 70 70  6c 79 2e 20 54 68 69 73  |wer supply. This|
000008c0  20 69 73 20 75 73 65 64  20 74 6f 0d 64 69 73 63  | is used to.disc|
000008d0  68 61 72 67 65 20 74 68  65 20 63 61 70 61 63 69  |harge the capaci|
000008e0  74 6f 72 20 77 68 65 6e  20 61 20 70 6f 73 69 74  |tor when a posit|
000008f0  69 76 65 20 73 69 67 6e  61 6c 20 69 73 20 73 65  |ive signal is se|
00000900  6e 74 20 74 6f 20 69 74  73 20 62 61 73 65 20 66  |nt to its base f|
00000910  72 6f 6d 20 61 0d 27 64  69 73 63 68 61 72 67 65  |rom a.'discharge|
00000920  27 20 6f 75 74 70 75 74  20 6c 69 6e 65 2e 20 54  |' output line. T|
00000930  68 69 73 20 6c 69 6e 65  20 69 73 20 73 65 74 20  |his line is set |
00000940  6e 65 67 61 74 69 76 65  20 73 69 6d 75 6c 74 61  |negative simulta|
00000950  6e 65 6f 75 73 6c 79 20  61 73 20 74 68 65 0d 27  |neously as the.'|
00000960  62 6c 69 70 27 20 6c 69  6e 65 20 69 73 20 73 65  |blip' line is se|
00000970  74 20 70 6f 73 69 74 69  76 65 20 74 6f 20 74 75  |t positive to tu|
00000980  72 6e 20 6f 6e 20 74 68  65 20 73 70 65 61 6b 65  |rn on the speake|
00000990  72 2e 0d 0d 54 68 65 20  72 65 73 75 6c 74 20 6f  |r...The result o|
000009a0  66 20 74 68 69 73 20 69  73 20 61 20 73 69 67 6e  |f this is a sign|
000009b0  61 6c 20 77 68 69 63 68  20 68 61 73 20 63 6f 6e  |al which has con|
000009c0  73 74 61 6e 74 20 61 6d  70 6c 69 74 75 64 65 2c  |stant amplitude,|
000009d0  20 61 6e 64 20 69 73 20  6e 6f 74 0d 61 66 66 65  | and is not.affe|
000009e0  63 74 65 64 20 62 79 20  74 68 65 20 64 69 73 74  |cted by the dist|
000009f0  61 6e 63 65 20 6f 76 65  72 20 77 68 69 63 68 20  |ance over which |
00000a00  74 68 65 20 73 69 67 6e  61 6c 20 68 61 73 20 74  |the signal has t|
00000a10  72 61 76 65 6c 6c 65 64  2e 20 54 68 69 73 20 63  |ravelled. This c|
00000a20  61 6e 20 62 65 0d 63 6f  6d 70 61 72 65 64 20 74  |an be.compared t|
00000a30  6f 20 6f 75 72 20 63 6f  6e 73 74 61 6e 74 20 74  |o our constant t|
00000a40  72 69 67 67 65 72 20 76  6f 6c 74 61 67 65 20 75  |rigger voltage u|
00000a50  73 69 6e 67 20 61 20 63  6f 6d 70 61 72 61 74 6f  |sing a comparato|
00000a60  72 2e 20 54 68 65 20 74  72 69 67 67 65 72 0d 76  |r. The trigger.v|
00000a70  6f 6c 74 61 67 65 20 69  74 73 65 6c 66 20 69 73  |oltage itself is|
00000a80  20 63 72 65 61 74 65 64  20 75 73 69 6e 67 20 61  | created using a|
00000a90  20 70 6f 74 65 6e 74 69  61 6c 20 64 69 76 69 64  | potential divid|
00000aa0  65 72 3a 0d 0d 54 68 65  20 6f 75 74 70 75 74 20  |er:..The output |
00000ab0  6f 66 20 74 68 65 20 63  6f 6d 70 61 72 69 74 6f  |of the comparito|
00000ac0  72 20 69 73 20 74 69 65  64 20 74 6f 20 74 68 65  |r is tied to the|
00000ad0  20 70 6f 73 69 74 69 76  65 20 35 56 20 6c 6f 67  | positive 5V log|
00000ae0  69 63 20 72 61 69 6c 20  66 72 6f 6d 0d 74 68 65  |ic rail from.the|
00000af0  20 63 6f 6d 70 75 74 65  72 20 62 79 20 6d 65 61  | computer by mea|
00000b00  6e 73 20 6f 66 20 61 20  72 65 73 69 73 74 6f 72  |ns of a resistor|
00000b10  20 74 6f 20 6d 61 6b 65  20 69 74 20 54 54 4c 20  | to make it TTL |
00000b20  63 6f 6d 70 61 74 69 62  6c 65 20 62 65 66 6f 72  |compatible befor|
00000b30  65 20 62 65 69 6e 67 0d  70 61 73 73 65 64 20 74  |e being.passed t|
00000b40  6f 20 74 68 65 20 63 6f  6d 70 75 74 65 72 20 69  |o the computer i|
00000b50  6e 70 75 74 20 63 69 72  63 75 69 74 72 79 2e 20  |nput circuitry. |
00000b60  54 68 65 20 72 65 73 74  20 6f 66 20 74 68 65 20  |The rest of the |
00000b70  70 72 6f 63 65 73 73 69  6e 67 20 69 73 0d 70 75  |processing is.pu|
00000b80  72 65 6c 79 20 70 61 74  74 65 72 6e 20 72 65 63  |rely pattern rec|
00000b90  6f 67 6e 69 74 69 6f 6e  2c 20 61 6e 64 20 69 73  |ognition, and is|
00000ba0  20 70 65 72 66 6f 72 6d  65 64 20 62 79 20 73 6f  | performed by so|
00000bb0  66 74 77 61 72 65 2c 20  6e 6f 74 20 68 61 72 64  |ftware, not hard|
00000bc0  77 61 72 65 2e 0d 0d 46  6f 72 20 61 6e 20 75 6c  |ware...For an ul|
00000bd0  74 72 61 73 6f 6e 69 63  20 73 63 61 6e 6e 69 6e  |trasonic scannin|
00000be0  67 20 73 79 73 74 65 6d  20 74 6f 20 62 65 20 6f  |g system to be o|
00000bf0  66 20 75 73 65 20 69 6e  20 42 61 6c 6c 42 6f 74  |f use in BallBot|
00000c00  2c 20 69 74 20 6d 6f 73  74 20 68 61 76 65 20 61  |, it most have a|
00000c10  0d 6b 6e 6f 77 6e 20 72  61 6e 67 65 20 6f 66 20  |.known range of |
00000c20  76 69 73 69 6f 6e 2c 20  73 6f 20 74 68 61 74 20  |vision, so that |
00000c30  77 65 20 6b 6e 6f 77 20  77 68 61 74 20 61 72 65  |we know what are|
00000c40  61 73 20 6f 66 20 74 68  65 20 63 6f 75 72 74 20  |as of the court |
00000c50  61 72 65 20 63 6f 76 65  72 65 64 0d 62 79 20 77  |are covered.by w|
00000c60  68 69 63 68 20 73 65 6e  73 6f 72 73 2c 20 61 6e  |hich sensors, an|
00000c70  64 20 74 68 65 20 41 49  20 63 61 6e 20 62 65 20  |d the AI can be |
00000c80  70 72 6f 67 72 61 6d 6d  65 64 20 61 63 63 6f 72  |programmed accor|
00000c90  64 69 6e 67 6c 79 2e 20  49 6e 20 74 68 69 73 0d  |dingly. In this.|
00000ca0  70 61 72 74 69 63 75 6c  61 72 20 65 78 70 65 72  |particular exper|
00000cb0  69 6d 65 6e 74 2c 20 49  20 73 65 74 20 75 70 20  |iment, I set up |
00000cc0  61 6e 20 65 63 68 6f 20  73 79 73 74 65 6d 2c 20  |an echo system, |
00000cd0  77 69 74 68 20 61 20 72  65 63 69 65 76 65 72 20  |with a reciever |
00000ce0  61 6e 64 0d 74 72 61 6e  73 6d 69 74 74 65 72 20  |and.transmitter |
00000cf0  74 6f 67 65 74 68 65 72  20 61 6e 64 20 66 61 63  |together and fac|
00000d00  69 6e 67 20 69 6e 20 74  68 65 20 73 61 6d 65 20  |ing in the same |
00000d10  64 69 72 65 63 74 69 6f  6e 2c 20 61 6e 64 20 70  |direction, and p|
00000d20  6c 61 63 65 64 20 61 6e  0d 6f 62 6a 65 63 74 20  |laced an.object |
00000d30  69 6e 20 66 72 6f 6e 74  20 6f 66 20 74 68 65 20  |in front of the |
00000d40  70 61 69 72 20 74 6f 20  63 72 65 61 74 65 20 65  |pair to create e|
00000d50  63 68 6f 65 73 2e 20 55  73 69 6e 67 20 61 20 70  |choes. Using a p|
00000d60  72 6f 74 72 61 63 74 6f  72 2c 20 49 20 6d 6f 76  |rotractor, I mov|
00000d70  65 64 0d 74 68 65 20 6f  62 6a 65 63 74 20 61 72  |ed.the object ar|
00000d80  6f 75 6e 64 20 64 69 66  66 65 72 65 6e 74 20 61  |ound different a|
00000d90  6e 67 6c 65 73 20 72 65  6c 61 74 69 76 65 20 74  |ngles relative t|
00000da0  6f 20 74 68 65 20 73 65  6e 73 6f 72 73 2c 20 61  |o the sensors, a|
00000db0  6e 64 20 6d 65 61 73 75  72 65 64 0d 74 68 65 20  |nd measured.the |
00000dc0  72 65 73 70 6f 6e 73 65  2e 20 54 68 65 20 72 65  |response. The re|
00000dd0  73 75 6c 74 73 20 49 20  6f 62 74 61 69 6e 65 64  |sults I obtained|
00000de0  20 77 65 72 65 20 61 73  20 66 6f 6c 6c 6f 77 73  | were as follows|
00000df0  3a 0d 0d 54 68 69 73 20  69 6e 64 69 63 61 74 65  |:..This indicate|
00000e00  73 20 61 20 67 6f 6f 64  20 72 61 6e 67 65 20 6f  |s a good range o|
00000e10  66 20 76 69 73 69 6f 6e  2e 20 54 68 65 20 73 65  |f vision. The se|
00000e20  6e 73 6f 72 73 20 61 72  65 20 73 75 70 70 6f 73  |nsors are suppos|
00000e30  65 64 20 74 6f 20 68 61  76 65 20 61 0d 72 61 6e  |ed to have a.ran|
00000e40  67 65 20 6f 66 20 72 6f  75 67 68 6c 79 20 33 30  |ge of roughly 30|
00000e50  20 64 65 67 72 65 65 73  2c 20 61 6e 64 20 74 68  | degrees, and th|
00000e60  65 73 65 20 72 65 73 75  6c 74 73 20 73 75 67 67  |ese results sugg|
00000e70  65 73 74 20 74 68 61 74  20 74 68 65 20 66 69 6e  |est that the fin|
00000e80  61 6c 0d 73 79 73 74 65  6d 20 77 69 6c 6c 20 70  |al.system will p|
00000e90  72 6f 62 61 62 6c 79 20  68 61 76 65 20 61 20 72  |robably have a r|
00000ea0  61 6e 67 65 20 72 6f 75  67 68 6c 79 20 65 71 75  |ange roughly equ|
00000eb0  61 6c 20 74 6f 20 74 68  69 73 2e 20 57 68 65 6e  |al to this. When|
00000ec0  20 74 68 65 20 69 6e 70  75 74 0d 73 69 67 6e 61  | the input.signa|
00000ed0  6c 20 66 61 6c 6c 73 20  62 65 6c 6f 77 20 61 72  |l falls below ar|
00000ee0  6f 75 6e 64 20 35 30 25  20 6f 66 20 74 68 65 20  |ound 50% of the |
00000ef0  6d 61 78 69 6d 75 6d 20  73 69 67 6e 61 6c 20 61  |maximum signal a|
00000f00  6d 70 6c 69 74 75 64 65  2c 20 69 74 20 77 69 6c  |mplitude, it wil|
00000f10  6c 20 6e 6f 74 0d 72 69  73 65 20 61 62 6f 76 65  |l not.rise above|
00000f20  20 74 68 65 20 74 72 69  67 67 65 72 20 76 6f 6c  | the trigger vol|
00000f30  74 61 67 65 20 73 75 66  66 69 63 69 65 6e 74 6c  |tage sufficientl|
00000f40  79 20 66 6f 72 20 69 74  20 74 6f 20 62 65 20 72  |y for it to be r|
00000f50  65 63 6f 67 6e 69 73 65  64 2e 0d 54 68 65 72 65  |ecognised..There|
00000f60  66 6f 72 65 20 74 68 65  20 75 73 65 66 75 6c 20  |fore the useful |
00000f70  76 69 65 77 20 6f 66 20  74 68 65 20 73 65 6e 73  |view of the sens|
00000f80  6f 72 73 20 69 73 20 2b  2f 2d 20 31 35 20 64 65  |ors is +/- 15 de|
00000f90  67 72 65 65 73 2e 0d 0d  54 68 65 20 42 61 6c 6c  |grees...The Ball|
00000fa0  42 6f 74 20 43 6f 6d 70  75 74 65 72 20 43 6f 6e  |Bot Computer Con|
00000fb0  74 72 6f 6c 6c 65 72 0d  0d 41 74 20 74 68 65 20  |troller..At the |
00000fc0  6d 6f 6d 65 6e 74 20 70  6c 61 6e 73 20 61 72 65  |moment plans are|
00000fd0  20 61 20 6c 69 74 74 6c  65 20 75 6e 63 6c 65 61  | a little unclea|
00000fe0  72 20 61 73 20 74 6f 20  65 78 61 63 74 6c 79 20  |r as to exactly |
00000ff0  77 68 61 74 20 66 6f 72  6d 20 74 68 65 0d 42 61  |what form the.Ba|
00001000  6c 6c 42 6f 74 20 63 6f  6d 70 75 74 65 72 20 77  |llBot computer w|
00001010  69 6c 6c 20 74 61 6b 65  2e 20 4f 72 69 67 69 6e  |ill take. Origin|
00001020  61 6c 20 70 6c 61 6e 73  20 77 65 72 65 20 74 6f  |al plans were to|
00001030  20 68 61 76 65 20 61 20  36 35 30 32 0d 6d 69 63  | have a 6502.mic|
00001040  72 6f 70 72 6f 63 65 73  73 6f 72 20 63 6f 6e 6e  |roprocessor conn|
00001050  65 63 74 65 64 20 74 6f  20 61 20 36 35 32 32 56  |ected to a 6522V|
00001060  49 41 20 74 6f 20 6d 61  78 69 6d 69 73 65 20 63  |IA to maximise c|
00001070  6f 6d 70 61 74 69 62 69  6c 69 74 79 20 77 69 74  |ompatibility wit|
00001080  68 20 74 68 65 0d 42 42  43 20 28 74 68 69 73 20  |h the.BBC (this |
00001090  63 6f 6e 6e 65 63 74 69  6f 6e 20 69 73 20 69 64  |connection is id|
000010a0  65 6e 74 69 63 61 6c 20  74 6f 20 74 68 61 74 20  |entical to that |
000010b0  6d 61 64 65 20 69 6e 20  74 68 65 20 42 42 43 27  |made in the BBC'|
000010c0  73 20 68 61 72 64 77 61  72 65 29 2e 0d 53 75 63  |s hardware)..Suc|
000010d0  68 20 61 20 63 6f 6d 70  75 74 65 72 20 77 6f 75  |h a computer wou|
000010e0  6c 64 20 61 6c 73 6f 20  72 65 71 75 69 72 65 20  |ld also require |
000010f0  61 20 73 6d 61 6c 6c 20  73 74 61 74 69 63 20 52  |a small static R|
00001100  41 4d 20 63 68 69 70 20  69 6e 20 77 68 69 63 68  |AM chip in which|
00001110  20 74 6f 0d 73 74 6f 72  65 20 76 61 72 69 61 62  | to.store variab|
00001120  6c 65 73 2c 20 61 6e 64  20 61 6e 20 45 50 52 4f  |les, and an EPRO|
00001130  4d 20 69 6e 20 77 68 69  63 68 20 74 6f 20 73 74  |M in which to st|
00001140  6f 72 65 20 74 68 65 20  70 72 6f 67 72 61 6d 20  |ore the program |
00001150  63 6f 64 65 2e 20 41 20  73 74 61 74 69 63 0d 52  |code. A static.R|
00001160  41 4d 20 69 73 20 63 68  6f 73 65 6e 20 61 73 20  |AM is chosen as |
00001170  6f 70 70 6f 73 65 64 20  74 6f 20 61 20 64 79 6e  |opposed to a dyn|
00001180  61 6d 69 63 20 52 41 4d  2c 20 62 65 63 61 75 73  |amic RAM, becaus|
00001190  65 20 69 74 20 69 73 20  73 69 6d 70 6c 65 72 20  |e it is simpler |
000011a0  66 6f 72 20 74 68 65 0d  62 65 67 69 6e 6e 65 72  |for the.beginner|
000011b0  20 74 6f 20 75 73 65 2c  20 61 73 20 69 74 20 64  | to use, as it d|
000011c0  6f 65 73 20 6e 6f 74 20  6e 65 65 64 20 72 65 66  |oes not need ref|
000011d0  72 65 73 68 69 6e 67 20  6f 6e 20 61 20 72 65 67  |reshing on a reg|
000011e0  75 6c 61 72 20 62 61 73  69 73 2e 20 41 0d 64 69  |ular basis. A.di|
000011f0  61 67 72 61 6d 20 6f 66  20 73 75 63 68 20 61 20  |agram of such a |
00001200  63 6f 6d 70 75 74 65 72  20 64 65 73 69 67 6e 20  |computer design |
00001210  69 73 20 73 68 6f 77 6e  20 62 65 6c 6f 77 3a 0d  |is shown below:.|
00001220  0d 41 6e 20 61 64 64 72  65 73 73 20 64 65 63 6f  |.An address deco|
00001230  64 65 72 20 69 73 20 72  65 71 75 69 72 65 64 20  |der is required |
00001240  74 6f 20 63 6f 6e 74 72  6f 6c 20 74 68 65 20 74  |to control the t|
00001250  72 61 6e 73 66 65 72 20  74 68 65 20 69 6e 66 6f  |ransfer the info|
00001260  72 6d 61 74 69 6f 6e 0d  62 65 74 77 65 65 6e 20  |rmation.between |
00001270  74 68 65 20 63 68 69 70  73 2e 20 54 68 65 20 36  |the chips. The 6|
00001280  35 30 32 20 6f 75 74 70  75 74 73 20 74 68 65 20  |502 outputs the |
00001290  61 64 64 72 65 73 73 20  6f 66 20 74 68 65 20 6d  |address of the m|
000012a0  65 6d 6f 72 79 20 6c 6f  63 61 74 69 6f 6e 20 69  |emory location i|
000012b0  74 0d 77 61 6e 74 73 20  74 6f 20 61 63 63 65 73  |t.wants to acces|
000012c0  73 20 61 73 20 61 20 31  36 20 62 69 74 20 62 69  |s as a 16 bit bi|
000012d0  6e 61 72 79 20 6e 75 6d  62 65 72 2c 20 61 6e 64  |nary number, and|
000012e0  20 74 68 65 20 64 65 63  6f 64 65 72 20 6d 75 73  | the decoder mus|
000012f0  74 20 75 73 65 20 74 68  69 73 0d 6e 75 6d 62 65  |t use this.numbe|
00001300  72 20 74 6f 20 77 6f 72  6b 20 6f 75 74 20 77 68  |r to work out wh|
00001310  69 63 68 20 63 68 69 70  20 74 68 65 20 61 64 64  |ich chip the add|
00001320  72 65 73 73 20 69 73 20  63 6f 6e 74 72 6f 6c 6c  |ress is controll|
00001330  65 64 20 62 79 2e 20 54  68 65 20 72 65 71 75 65  |ed by. The reque|
00001340  73 74 0d 6d 75 73 74 20  74 68 65 6e 20 62 65 20  |st.must then be |
00001350  64 69 72 65 63 74 65 64  20 74 6f 20 74 68 61 74  |directed to that|
00001360  20 63 68 69 70 2e 0d 0d  41 6c 74 65 72 6e 61 74  | chip...Alternat|
00001370  69 76 65 6c 79 2c 20 61  20 37 30 37 30 20 63 6f  |ively, a 7070 co|
00001380  6e 74 72 6f 6c 20 62 6f  61 72 64 20 6d 61 79 20  |ntrol board may |
00001390  62 65 20 75 73 65 64 2e  20 54 68 69 73 20 68 61  |be used. This ha|
000013a0  73 20 74 68 65 20 69 6d  6d 65 64 69 61 74 65 0d  |s the immediate.|
000013b0  61 64 76 61 6e 74 61 67  65 20 74 68 61 74 20 69  |advantage that i|
000013c0  74 20 69 73 20 61 6c 72  65 61 64 79 20 62 75 69  |t is already bui|
000013d0  6c 74 2c 20 61 6e 64 20  69 73 20 64 65 73 69 67  |lt, and is desig|
000013e0  6e 65 64 20 74 6f 20 6f  70 65 72 61 74 65 20 70  |ned to operate p|
000013f0  72 6f 6a 65 63 74 73 0d  73 75 63 68 20 61 73 20  |rojects.such as |
00001400  42 61 6c 6c 42 6f 74 2e  20 54 68 65 20 62 6f 61  |BallBot. The boa|
00001410  72 64 20 6d 61 79 20 62  65 20 63 6f 6e 6e 65 63  |rd may be connec|
00001420  74 65 64 20 74 6f 20 74  68 65 20 62 61 63 6b 20  |ted to the back |
00001430  6f 66 20 61 20 50 43 20  61 6e 64 0d 70 72 6f 67  |of a PC and.prog|
00001440  72 61 6d 6d 65 64 20 62  79 20 74 68 65 20 75 73  |rammed by the us|
00001450  65 72 20 74 6f 20 70 65  72 66 6f 72 6d 20 77 68  |er to perform wh|
00001460  61 74 65 76 65 72 20 74  61 73 6b 20 69 73 20 72  |atever task is r|
00001470  65 71 75 69 72 65 64 2c  20 65 69 74 68 65 72 20  |equired, either |
00001480  69 6e 0d 46 4f 52 54 48  2c 20 6f 72 20 69 6e 20  |in.FORTH, or in |
00001490  6d 61 63 68 69 6e 65 20  63 6f 64 65 20 69 74 73  |machine code its|
000014a0  65 6c 66 2e 0d 0d 44 65  70 65 6e 64 69 6e 67 20  |elf...Depending |
000014b0  75 70 6f 6e 20 77 68 61  74 20 68 61 72 64 77 61  |upon what hardwa|
000014c0  72 65 20 69 73 20 75 73  65 64 20 69 6e 20 74 68  |re is used in th|
000014d0  65 20 63 6f 6e 74 72 6f  6c 20 62 6f 61 72 64 2c  |e control board,|
000014e0  20 68 6f 77 65 76 65 72  2c 20 69 74 20 6d 61 79  | however, it may|
000014f0  0d 62 65 20 65 61 73 69  65 72 20 74 6f 20 73 74  |.be easier to st|
00001500  69 63 6b 20 74 6f 20 74  68 65 20 6f 6c 64 20 36  |ick to the old 6|
00001510  35 30 32 20 64 65 73 69  67 6e 20 66 6f 72 20 42  |502 design for B|
00001520  61 6c 6c 42 6f 74 2c 20  61 6e 64 20 72 65 76 65  |allBot, and reve|
00001530  72 74 20 74 6f 20 74 68  65 0d 72 65 61 64 79 2d  |rt to the.ready-|
00001540  62 75 69 6c 74 20 63 6f  6e 74 72 6f 6c 20 62 6f  |built control bo|
00001550  61 72 64 20 66 6f 72 20  61 6e 79 20 6c 61 74 65  |ard for any late|
00001560  72 20 70 72 6f 6a 65 63  74 73 2e 20 49 74 20 6d  |r projects. It m|
00001570  61 79 20 62 65 20 74 68  65 20 63 61 73 65 20 74  |ay be the case t|
00001580  68 61 74 0d 61 6c 6c 20  6f 66 20 74 68 65 20 77  |hat.all of the w|
00001590  6f 72 6b 20 64 6f 6e 65  20 73 6f 20 66 61 72 20  |ork done so far |
000015a0  77 6f 75 6c 64 20 68 61  76 65 20 74 6f 20 62 65  |would have to be|
000015b0  20 64 72 61 73 74 69 63  61 6c 6c 79 20 61 6c 74  | drastically alt|
000015c0  65 72 65 64 20 74 6f 20  77 6f 72 6b 0d 77 69 74  |ered to work.wit|
000015d0  68 20 61 20 37 30 37 30  20 62 6f 61 72 64 2e 20  |h a 7070 board. |
000015e0  54 68 65 20 6d 61 69 6e  20 61 72 65 61 20 77 68  |The main area wh|
000015f0  69 63 68 20 63 6f 75 6c  64 20 63 61 75 73 65 20  |ich could cause |
00001600  70 72 6f 62 6c 65 6d 73  20 77 6f 75 6c 64 20 62  |problems would b|
00001610  65 20 74 68 65 0d 69 6e  70 75 74 20 61 6e 64 20  |e the.input and |
00001620  6f 75 74 70 75 74 20 63  69 72 63 75 69 74 72 79  |output circuitry|
00001630  2e 0d 0d 43 6f 6d 70 75  74 65 72 20 52 75 6e 2d  |...Computer Run-|
00001640  54 69 6d 65 20 41 6c 6c  6f 63 61 74 69 6f 6e 0d  |Time Allocation.|
00001650  0d 54 68 65 20 61 6d 6f  75 6e 74 20 6f 66 20 74  |.The amount of t|
00001660  69 6d 65 20 72 65 71 75  69 72 65 64 20 62 79 20  |ime required by |
00001670  74 68 65 20 73 6f 6e 61  72 20 73 79 73 74 65 6d  |the sonar system|
00001680  20 70 65 72 20 65 61 63  68 20 73 63 61 6e 20 6f  | per each scan o|
00001690  66 20 74 68 65 20 63 6f  75 72 74 0d 63 61 6e 20  |f the court.can |
000016a0  62 65 20 63 61 6c 63 75  6c 61 74 65 64 20 62 79  |be calculated by|
000016b0  20 74 68 65 20 74 69 6d  65 20 74 61 6b 65 6e 20  | the time taken |
000016c0  66 6f 72 20 73 6f 75 6e  64 20 74 6f 20 74 72 61  |for sound to tra|
000016d0  76 65 6c 20 74 68 65 20  6c 65 6e 67 74 68 20 6f  |vel the length o|
000016e0  66 20 61 0d 74 65 6e 6e  69 73 20 63 6f 75 72 74  |f a.tennis court|
000016f0  20 28 72 6f 75 67 68 6c  79 20 31 30 6d 29 20 61  | (roughly 10m) a|
00001700  6e 64 20 63 6f 6d 65 20  62 61 63 6b 2e 20 54 68  |nd come back. Th|
00001710  69 73 20 69 73 20 74 68  65 20 74 69 6d 65 20 61  |is is the time a|
00001720  66 74 65 72 20 77 68 69  63 68 20 74 68 65 0d 6c  |fter which the.l|
00001730  61 73 74 20 65 63 68 6f  65 73 20 66 72 6f 6d 20  |ast echoes from |
00001740  6f 62 6a 65 63 74 73 20  6f 6e 20 74 68 65 20 6f  |objects on the o|
00001750  74 68 65 72 20 73 69 64  65 20 6f 66 20 74 68 65  |ther side of the|
00001760  20 63 6f 75 72 74 20 61  72 65 20 72 65 63 69 65  | court are recie|
00001770  76 65 64 2e 20 49 74 0d  69 73 20 69 6e 64 65 70  |ved. It.is indep|
00001780  65 6e 64 65 6e 74 20 6f  66 20 74 68 65 20 73 70  |endent of the sp|
00001790  65 65 64 20 6f 66 20 74  68 65 20 70 72 6f 63 65  |eed of the proce|
000017a0  73 73 6f 72 20 62 65 69  6e 67 20 75 73 65 64 2e  |ssor being used.|
000017b0  20 49 6e 20 74 68 69 73  20 63 61 73 65 20 69 74  | In this case it|
000017c0  0d 63 61 6e 20 62 65 20  63 61 6c 63 75 6c 61 74  |.can be calculat|
000017d0  65 64 20 61 73 20 66 6f  6c 6c 6f 77 73 3a 0d 0d  |ed as follows:..|
000017e0  54 68 65 20 61 72 74 69  66 69 63 69 61 6c 20 69  |The artificial i|
000017f0  6e 74 65 6c 6c 69 67 65  6e 63 65 20 6d 6f 64 75  |ntelligence modu|
00001800  6c 65 0d                                          |le.|
00001803

Our privacy policy is here.
Last updated: 28 Jul 2024, 23:31 UTC
Website designed by .