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Some AM and FM radios have the unfortunate habit of transmitting a few garbled servo pulses when they are switched on or shut off Known as chirp, this behavior can cause the robot to twitch or fire its weapon when the radio is switched on or off When using this kind of radio, the operator should adopt a policy of never switching the radio on or off when the robot is powered up; instead, the radio transmitter should be switched on before the robot is turned on, and it should stay on until after the robot is powered down Many of these problems can be solved with a failsafe board (Figure 8-7) Several manufacturers of radio control equipment sell modules, such as Futaba s FP-FSU1 Fail Safe Unit, which is connected between the radio receiver and the R/C servo or electronic speed controller The failsafe board monitors a signal from the radio receiver; and in the event of a lost or badly garbled signal, the board generates a servo signal output that commands the servo to move to a preset level, or it shuts off the attached electronic speed controller Some failsafe boards will even store enough power to center a servo in the event of battery failure Radio systems with computerized receivers, such as the PCM-type receivers, are smart enough to recognize when the radio signal has been lost and take appropriate action Depending on the controller type and parameter settings, the shutdown behavior might be to return all outputs to a preset level or to keep all outputs at whatever level they were in when radio contact was lost The latter is the default behavior on many model airplane and helicopter radios because it will keep the plane or helicopter in stable flight until radio control is regained But this is not the behavior you want in a combat robot radio; it will cause your robot to keep moving on radio contact loss This behavior is usually programmable For a combat robot, the failsafe units should be programmed to shut down all motors, apply brakes to spinning weapons, and move servos to a safe position.

deployment phase Similar to the design of SSAS Cubes, the Dimensions have to be defined first before a model can be defined in Planning Business Modeler

Nearly all documents describe the layered architecture of every protocol against the OSI model as a reference only The ATM architecture is no different when trying to compare what the protocol is doing Using the OSI model as a base reference, the ATM layers fall typically in the bottom two layers (data link layer and physical layer) of the architecture ATM has been designed to run on a physical medium such as SONET In Figure 11-8 , the ATM layer is shown as the bottom half of Layer 2 in its equivalency There is no real way to draw true one-to-one mapping of the ATM and OSI models, but for purposes of this document, it is done that way Now from the bottom half of the data link layer is ATM, but below the ATM layer is the physical layer such as SONET or some other physical media dependent layer (SDH, DS3, and so on)

FIGURE 8-7

Figure 11-8: Comparing the OSI and ATM layered models Moving up the architectural map, we have the upper portion of Layer 2, the LLC equivalent, called the ATM adaptation layer Within this portion of the Layer 2 protocol stack, several sublayers are seen, depending on the services required For example, using Figure 11-9 as a reference, the uppermost portion of the layer is called the service specific convergence sublayer (SSCS) This portion of the protocol stack is used when mapping Frame Relay, SMDS, or another protocol to the ATM adaptation process Under the SSCS is the common part convergence sublayer (CPCS) The combination of the SSCS and the CPCS make up the convergence sublayer (CS) Convergence, as the name implies, is the changing and melding of the data into a common interface for the ATM networks Following the CS portion of the upper layer is the next sublayer called the segmentation and reassembly (SAR) The SAR is where the data is prepared into a 48byte payload prior to being submitted to the ATM layer below for the header The CS and the SAR combine to form what is known as the ATM Adaptation Layer (AAL) Table 115 shows the combination of the AAL types, the services being provided, and the working relationships between the AAL and the type of service

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A commercially available onechannel failsafe unit (courtesy of Futaba)

Figure 11-9: Upper layer services of ATM Table 11-5: Types of AAL and Services Offered Class of Service A Timing Bit rates Connection Type AAL Synchronous Constant Connection Oriented Type 1 B Synchronous Variable Connection Oriented Type 2 Type of Service C Asynchronous Variable Connection Oriented Type 3-4 D Asynchronous Variable Connectionless Type 3-4-5