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Similarly, for an electrical problem, do you understand what the actual currents flowing through the circuitry are Starting and stopping robot drive motors when they are under load will require greater currents than on a bench being tested out Have you calculated the temperatures of different components during operation as well as their effect on components close to them If the robot seems to miss detecting objects in front of it, have you put in some consideration for switch bouncing or changing fields of view during operation Electrical problems can be especially vexing when you are using third-party designs or circuitry To predict what should be happening, you should review the basic electrical laws and make sure you fully understand the basic electrical formulas and conventions.

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Finally, for software, can you trace through the source code to understand what should be happening at any one particular time How is the operation of the robot controller documented for different situations with varying inputs A very important tool in understanding the operation of software is the simulator and how much time has been spent at understanding how the application should work Many robot software applications are written quickly and debugged continuously to get the robot working as desired this makes documenting the software a difficult and confusing chore unless you are very careful to keep track of different versions of software and the changes made to them You will often find it easier to go back over the source code and try to map out how it is supposed to work and respond to different inputs.

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You can then reference different netgroups in various configuration files by prefixing the netgroup name with an @ sign, as shown here:

The packets are lined up and transported in a serial approach Historically, Fibre Channel technology emerged from network attribute extractions that combined with channeled connection characteristics A channel is a hardware-intensive high-speed data pipe that maintains a high degree of reliability A channel, more accurately, SCSI III Fibre Channel, is designed to support speed and reliability of channeling protocols; SCSI and/or High-Performance Parallel Interfaces (HIPPIs) achieve this with network flexibility through the addition and removal of devices in an accelerated manner Additionally, the Fibre Channel specification supports the local area network (LAN) and wide area network (WAN) protocols of Internet Protocol (IP), Fiber Distributed Data Interface (FDDI), and Asynchronous Transfer Mode (ATM) Primary devices used in SAN environments are initiating devices, target devices, switches, bridges, and hubs They are classified as interconnecting SAN devices because they tie all the components together.

For a host to use NIS on your network, you first need to specify your NIS domain name on that host. In addition, your NIS clients need to know the name of your NIS server. If you

Documenting the expected operation of the robot at the time of failure is a timeconsuming task, but one that is critical to finding and ultimately fixing the problem In many cases when you start understanding the operation of the robot at the level of detail needed to find and fix the problem, the reason for the problem will become apparent but you should refrain from implementing the apparent fix until you have worked through the following five steps..

installed Linux on a network already running NIS, you may have already entered this information during the installation process. Otherwise, on Red Hat, you can specify your NIS domain name and server with the Text Mode Setup Tool (setuptool), which you can access from the Gnome system menu or by entering the command setup at the shell prompt. From the menu, select Authentication. This opens the authconfig window shown in Figure 37-1. For NIS, you can enter the name of the NIS domain as well as the NIS server. Setuptool will save the NIS domain in the /etc/sysconfig/ network file, and the NIS server in the /etc/yp.conf file.

Only a few electronics manufacturers are willing to send samples of their products to qualified customers A qualified customer is typically an engineer in the industry and will have potential business for the manufacturer all others will be given the contact information for a recommended distributor Ten years ago, this was not the case, and many chip manufacturers were willing to send samples based on simple requests from individuals Over the years, the cost of providing this service, along with contracts with wholesalers and distributors that prohibit manufacturers from dealing directly with individuals, has made this service obsolete If you belong to a school or a robotics club, you may still be able to get some sample parts, development tools, and part documentation from chip manufacturers.

Figure 37-1: Setuptool NIS domain name and server Each NIS client host on your network then has to run the ypbind NIS client to access the server. In the client's /etc/yp.conf file, you need to specify the NIS server it will use. The following entry would reference the NIS server at 192.168.1.1:

Alternatively, you can specify the NIS domain name and the server it uses:

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