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The absolute minimum capability that an autonomous mini sumo needs is the ability to detect the edge of the sumo ring so that it doesn t run out of the ring on its own There are many different ways to detect the edge of the sumo ring The two more common ways are to use either mechanical contact switches or optical color-detection switches If the switches and software work correctly, there really is no advantage to using one or the other Some mini sumos use a combination of both mechanical and optical switches This section will talk about how to implement an optical-edge-detection switch One method that can be used to detect the edge of a sumo ring is to use an infrared detector pair This consists of using an infrared phototransistor and an infrared light emitting diode (LED) Because the edge of the sumo ring has a white band around the perimeter, the infrared detector pair can be used to detect the color change as the sensor passes over from the black surface to the white surface The basic theory behind this approach is that the amount of current that flows through an infrared phototransistor is a function of how much infrared light it

Figure 19-3: SMR base station and radio service When a mobile set is powered on, it automatically registers using the CC Once the subscriber receives a positive acknowledgement from the network, the mobile is registered on the Trunked Radio System and can be used The mobile is constantly in contact with the CC If there is a call request, the Trunked Radio System checks whether the addressed subscriber is available If he is not available, not registered, or engaged, this information is given to the caller If the requested subscriber is available, the call is set up by the Trunked Radio Exchange, using a free traffic channel Status messages and short data are submitted on the CC Trunked radio systems are those which share a small number of radio channels among a larger number of users The physical channels are allocated as needed to the users who are assigned logical channels The users only hear units on the same logical channel This uses the available resources more efficiently since most users do not need the channel 100 percent of the time

ProClarity provides rich graphical capabilities while allowing users virtually unlimited power to analyze data in cubes

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What are the applications that will take advantage of the mobility of the user Well, the first one is going to follow our example for mail But e-mail is only one of many applications that users will want to use Other areas will include transaction processing (orders online), fax capabilities, FTP, and TELNET, Telemetry applications and multimedia are all prime candidates This is shown in Figure 23-6 where the applications will be paramount to the ability to move around

receives, at least until it is fully saturated Because different colors absorb different amounts of infrared light, different colors will reflect different amounts of infrared light (surface texture will affect the amount of reflected light, and some materials allow infrared light to pass through) By placing an infrared detector pair near a surface, the infrared light from the infrared LED will reflect off the surface toward the infrared phototransistor Because the amount of current that flows through the phototransistor is a function of the amount of infrared light it receives (reflected infrared light from the surface), this type of arrangement can be used to detect surface color changes Figure 13-8 shows you a simple schematic of this type of sensor This circuit was first demonstrated in a mini sumo by Bill Harrison of SineRobotics When the detector pair is over the black portion of the sumo ring, the signal out from the sensor is high This is due to the 10 k pull-up resistor and that the transistor is not conducting any current When the sensor passes over the white sumo ring edge, the output signal from the detector pair will go low because the transistor is not conducting the current straight to ground The potentiometer is used to adjust the intensity of the infrared LED, adjusting the sensitivity of the detector pair The relative distances between the infrared LED, the phototransistor, and the surface will have an effect on the sensitivity of this circuit The reflective sensors from Optek P/N OPB706A and QT Optoelectronics P/N QRD-1114 have both the infrared LED and infrared phototransistor built into a single small package Both of these sensors operate well at distances from 004 to 020 inches from the surface