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echanical limit switches are devices that sense objects by being either directly or indirectly touched by the object Most use a button, lever, whisker, or slide as their local sensor Two other types that warrant their own categories are the magnetic reed switch and the membrane switch, which is much like a long button actuated switch On a robot, the switch alone can be the whole sensor, but in most cases the switch makes up only a part of a sensor package The limit switch can be thought of as a device that has at least one input and one output The input is the button, lever, whisker, or slide (or for the magnetic type, anything ferrous nearby) The output is almost always closing or opening an electric circuit.

Richard Rumelt: Well, my first research on corporate strategy showed that somewhat diversified but relatively focused companies tend to outperform highly diversified companies. And that finding has held up fairly consistently over the decades. Financial theory would say that companies diversify to reduce risk, but in the business world diversification is done not to hedge risk but to sustain top-line growth. The riskiest companies the startups and early-stage companies are intensely focused. Companies begin thinking about diversification only when their growth has plateaued and opportunities for expansion in the original business have been depleted. Suddenly, they have more cash flow than they know what to do with.

There are several other types of limit switches whose inputs and outputs are different than those discussed above, but only those that sense by direct contact or use magnets will be included here Other types are not strictly mechanical and are more complex and beyond the scope of this book In a robot, there are two general categories of things that the robot s microprocessor needs to know about, many of which can be sensed by mechanical limit switches The categories are proprioceptive and environmental Proprioceptive things are part of the robot itself like the position of the various segments of its manipulator, the temperature of its motors or transistors, the current going to its motors, the position of its wheels, etc Environmental things are generally outside the robot like nearby objects, ambient temperature, the slope of the surface the robot is driving on, bumps, or drop-offs, etc.

Downloaded from Digital Engineering Library @ McGraw-Hill (www.digitalengineeringlibrary.com) Copyright 2004 The McGraw-Hill Companies. All rights reserved. Any use is subject to the Terms of Use as given at the website.

This is an over-simplified explanation because in several cases, the two categories overlap in one way or another For instance, when the bumper bumps up against an object, the object is in the environment (environmental sensing) but the bumper s motion and location, relative to the robot, is detected by a limit switch mounted inside the robot s body (proprioceptive sensing) In this book, anything that is detected by motion of the robot s parts is considered proprioceptive, whether the thing being sensed is part of the robot or not..

4 Internal rate of return (as a percentage) Payback period (in months) Net present value (NPV). A method to evaluate investments in which net present value of all cash flow is calculated using a given discount rate. Internal rate of return (IRR). A discount rate where the present value of the future cash flow of investment equals the cost of investment.

11

Richard Rumelt: It seem that the more complex an organization gets, the more likely it is that inefficient and unproductive businesses accumulate in the nooks and crannies and back alleys and sometimes right up there in center aisle. These businesses are subsidized by their cousin, brother, and sister businesses that are doing well, and they stick around for too long because there s a bias against shutting things down. Often we ll find that these are pet projects of senior management and cutting them would cause a huge ego blow. It s extremely unrewarding to a person s career to weed the garden inside a company. It is much easier and more popular politically to grow the company than it is to go around and disrupt everybody s neighborhood.*