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One of the best shortcuts to explaining what a robot can do is to simply give the darned thing a vacuum cleaner. That way, when you don t feel like repeating the whole litany of capabilities, you can merely say, it cleans the floors. That s almost always guaranteed to elicit a positive response. So this is Basic Requirement #1: RoBuddy must be equipped with a vacuum cleaner. And since RoBuddy is designed to be self-powered from batteries, the vacuum cleaner needs to run under battery power, too. Fortunately, auto parts stores carry a number of 12-V portable vacuum cleaners from which you can choose. Like the family dog that performs tricks for guests, a robot that mimics some activity amusing to humans is a great source of entertainment. A very useful and effective activity is pouring and serving drinks. That takes at least one arm and gripper, preferably two, and the

A display manager refers to a user's login and startup of a window manager and desktop as a session. When the user quits the desktop and logs out, the session ends. When another user logs in, a new session starts. The X Window System never shuts down; only desktop or window manager programs shut down. Session menus on the display manager login window list different kinds of sessions you can start in other words, different kinds of window managers or desktops. For each session, the Xsession script is the startup script used to configure a user's X Window System display and to execute the selected desktop or window manager. Although this script is unnecessary for gdm, it is still used in the gdm Red Hat implementation. Xsession is the display manager session startup script used by the Red Hat implementation of gdm (other display managers such as kdm and xdm also use Xsession). It contains many of the X commands also used with the xinitrc startup script. Xsession usually executes the same xmodmap and xrdb commands using the .Xmodmap and .Xrsources files in the /etc/X11/xinit directory. Shown here is the Xsession script used by gdm on Red Hat systems, which is located in the /etc/X11/xdm directory. Notice that any errors are saved in the user's .xsession-errors file in their home directory. Xsession will also read any shell scripts located in the /etc/X11/xinit/xinitrc.d directory. Currently this holds an input script to detect the kind of language a keyboard uses.

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#!/bin/bash -login # Copyright (c) 1999, 2000 Red Hat, Inc. # redirect errors to a file in user's home directory if we can for errfile in "$HOME/.xsession-errors" "${TMPDIR-/tmp}/xses-$USER" "/tmp/xses-$USER" do if cp /dev/null "$errfile" 2> /dev/null ; then chmod 600 "$errfile" exec > "$errfile" 2>&1 break fi done xsetroot -solid '#356390' userresources=$HOME/.Xresources usermodmap=$HOME/.Xmodmap userxkbmap=$HOME/.Xkbmap sysresources=/etc/X11/Xresources sysmodmap=/etc/X11/Xmodmap sysxkbmap=/etc/X11/Xkbmap # merge in defaults if [ -f "$sysresources" ]; then xrdb -merge "$sysresources" fi if [ -f "$userresources" ]; then xrdb -merge "$userresources" fi # merge in keymaps if [ -f "$sysxkbmap" ]; then setxkbmap `cat "$sysxkbmap"` XKB_IN_USE=yes fi # run all system xinitrc shell scripts. for i in /etc/X11/xinit/xinitrc.d/* ; do if [ -x "$i" ]; then . "$i" fi done # now, we see if xdm/gdm/kdm has asked for a specific environment case $# in 1) case $1 in failsafe) exec xterm -geometry 80x24-0-0 ;; gnome) exec gnome-session ;; kde|kde1|kde2) exec /usr/share/apps/switchdesk/Xclients.kde

arms must be strong and powerful enough to lift at least 12 oz of beverage We now have Basic Requirement #2: RoBuddy must be equipped with at least one appendage that has a gripper designed for drinking glasses and soda cans The RoBuddy must also have some kind of mobility so that at the very least it can move around and vacuum the floor There are a number of ways to provide locomotion to a robot, as described in earlier chapters But for the sake of description, let s assume we use the common two-wheel-drive approach, which consists of two motorized wheels counterbalanced by one or two nonpowered casters That s Basic Requirement #3: RoBuddy must have two drive motors and two wheels for moving across the floor.

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Since RoBuddy flits about your house all on its own accord, it has to be able to detect obstacles so it can avoid them Obviously, then, the robot must be endowed with some kind of obstacle detection devices We re up to Basic Requirement #4: RoBuddy must be equipped with passive and active sensors to detect and avoid objects in its path Serving drinks, vacuuming the floor, and avoiding obstacles requires an extensive degree of intelligence and is beyond the convenient capability of hard-wired discrete circuits consisting of some resistors, a few capacitors, and a handful of transistors A better approach is to use a computer, which is capable of being programmed and reprogrammed at will This computer is connected to the vacuum cleaner, arm and gripper, sensors, and drive motors.

;; # fall back to twm exec /usr/share/apps/switchdesk/Xclients.twm ;;

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