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Edge Detection The term edge detection refers to the ability of a robot vision system to locate boundaries It also refers to the robot s knowledge of what to do with respect to those boundaries A robot car, bus, or truck can use edge detection to see the edges of a road and use the data to keep itself on the road But it must stay a certain distance from the right-hand edge of the pavement to avoid crossing into the lane of oncoming traffic (Fig 34-11) It also must stay off the road shoulder It must be able to tell the difference between pavement and other surfaces, such as gravel, grass, sand, and snow The interior of a home or business contains straight-line edge boundaries of all kinds, and each boundary represents a potential point of reference for a mobile robot s edge detection system The controller in a personal home robot must be programmed to know the difference between, say, the line where carpet ends and tile begins, and the line where a flight of stairs begins The vertical line produced by the intersection of two walls would present a different situation than the vertical line produced by the edge of a doorway, even though they might appear identical Thus, edge detection cannot function very well without a certain amount of AI in the robot controller Embedded Path An embedded path is a means of guiding a robot along a specific route This scheme is commonly used by a mobile robot called an automated guided vehicle (AGV) A common embedded path consists of a buried, current-carrying wire The current in the wire produces a magnetic field that the robot can follow This method of guidance has been suggested as a way to keep a car on a highway, even if the driver isn t paying attention The wire needs a constant supply of electricity for this guidance method to work If this current is interrupted for any reason, the robot will lose its way unless some backup navigation method (or human control) is substituted Alternatives to wires, such as colored or reflective paints or tapes, do not need a supply of power, and this gives them an advantage Tape is easy to remove and put somewhere else; this is difficult to do with paint and practically impossible with wires embedded in concrete However, tape is obscured by snowfall; and at night, glare from oncoming headlights might be confused for reflections from the tape.

on adding folder items to myFolder after receiving added_items tell application "Finder" to set fName to name of myFolder try end try end adding folder items to

Then I wrote a stored procedure, load_char_frequency, that loads this table, and inserted the frequency for all characters. In the column rowno, I put the ranking, and I excluded the at (@) and period (.) characters, because they appear in all email addresses. Next I wrote a stored procedure, build_bitmask_sp, that reads the char_ frequency table, and from this table builds the char_bitmask function. Depending on the number of entries in the char_frequency table, the return type is either int or bigint. Because scalar user-defined functions (UDFs) come with some overhead, I opted to inline the bitmask computation in the column definition. The procedure also creates the index on the bitmask column. Build_bitmask_sp is perfectly rerunnable. If the column already exists, the procedure drops the index and the column and then re-adds them with the new definition. Because it is only a computed column, it does not affect how data pages for the table are stored on disk. This makes it possible for you to change the bitmask weights as you get more data in your table. I don t include any of that code here, but you can find these procedures, as well as Sylvain s original function and the procedure bit_search_two, in the file 12_bitmask.sql.

When you have set up the data you can execute tester_sp for bit_search_two to test the performance. You will find that it does not perform as well as the fragment searches:

robot uses visual boundaries to facilitate navigation This is what the controller might see in a robot car driving down the center line of a highway

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