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Unfortunately, these robots have had thousands of hours of engineering effort and many millions of dollars invested in them to get to the point where they are, and yet they are still unable to perform the most basic task that the public at large expects from a robot fetching a beverage from the kitchen refrigerator for them while they are watching TV This chapter examines some of the more immediate problems of implementing a robot that runs around the house There are a number of different issues, such as how the robot will find its recharging station automatically and how it will work with objects on surfaces of tables or counters, all of which are at different heights.

You can ensure this by simply using a copy of the system's xinitrc script as your own xinitrc file, and then modifying that copy as you want See the Man pages on xrdb for more details on resources Also, you can find a more detailed discussion of Xresources, as well as other X commands, in the Man pages for X..

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An entry in the .Xresources file consists of a value assigned to a resource, a class, or a group of resources for an application. Usually, resources are used for widgets or classes of widgets in an application. The resource designation typically consists of three elements separated by periods: the application, an object in the application, and the resource. The entire designation is terminated by a colon, and the value follows. For example, suppose you want to change the color of the hour hand to blue in the oclock application. The application is oclock, the object is clock, and the resource is hour: oclock.clock.hour. This entry looks like this:

While it is unlikely that you will come up with a robot that will rival the functionality of the Asimo or Qiro, you can definitely come up with a robot that can reproduce the capabilities of the Roomba and maybe find a new niche application that is perfect for home robotics,.

The object element is actually a list of objects denoting the hierarchy leading to a particular object. In the oclock example, only one object exists, but in many applications, the object hierarchy can be complex. This requires a lengthy set of objects listed to specify the one you want. To avoid this complexity, you can use the asterisk notation to reference the object you want directly, using an asterisk in place of the period. You only need to know the name of the resource you want to change. The following example sets the oclock minute and hour hands to green:

using today s technology. Who knows you might find your fortune coming up with a unique and practical way of having a robot retrieve a cold beverage from your refrigerator.

You can also use the asterisk to apply a value to whole classes of objects. Many individual resources are grouped into classes. You can reference all the resources in a class by their class name. Class names begin with an uppercase character. In the Xterm application, for example, the background and pointer color resources are both part of the Background class. The reference XTerm*Background would change all these resources in an Xterm window. However, any specific references always override the more general ones. You can also use the asterisk to change the values of a resource in objects for all your applications. In this case, you place an asterisk before the resource. For example, to change the foreground color to red for all the objects in every application, you enter

Then issue the rpm command with the Uvh options. You should install any libraries or kernel updates first, paying attention to any dependency warnings. The * is a special operator that will match on filenames. For example, *rpm will match on all files ending with "rpm." You can use this to install selected groups of packages. The following example installs all KDE packages:

It will take a leap of faith to allow a robot to move about your home without supervision. Chances are, it won t be your leap of faith, but of others responsible for the upkeep of the house. You must think about what goes through their minds when you say you want to let a robot loose and it will save them a lot of work chances are they are thinking about cleaning up all the mess and repairing the damage the robot causes. A number of things you can do to make the robot safe for operating in a room are shown in the cross-sectional view of a home robot in Fig. 36-1. The robot will have a soft, flexible bumper that will not mar or scratch objects that it runs into or rubs against. Inside the bumper will be contact switches all the way around the robot that are fairly sensitive and will close when the robot encounters an object with more than a few ounces of resistance.

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