vb.net barcode reader from image Soft Touch and Compliant Collision Detection in Software

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30.4 Soft Touch and Compliant Collision Detection
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The last nickname you d want for your robot is Bull in a China Closet, a not too flattering reference to your automaton s habit of crashing into and breaking everything. Unfortunately, even the best behaved robots occasionally bump into obstacles, including walls, furniture, and the cat (your robot can probably survive a head-on collision with a solid wall, but the family feline . . . maybe not!). Since it s impractical not to mention darn near impossible to always prevent your robot from colliding with objects, the next best thing is to make those collisions as soft as possible. This is done using so-called soft touch or compliant collision detection means. Several such approaches are outlined here. You can try some or all; mixing and matching sensors on one robot is not only encouraged, it s a good idea. As long as the sensor redundancy does not unduly affect the size, weight, or cost of the robot, having backups can make your robot a better behaved houseguest.
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30.4.1 LASER FIBER WHISKERS
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You know about fiber optics: they re used to transmit hundreds of thousands of phone calls through a thin wire. They re also used to connect together high-end home entertainment gear and even to make light sculpture art. On their own, optical fibers offer a wealth of technical solutions, and when combined with a laser, optical fibers can do even more. The unique whiskers project that follows makes use of a relatively underappreciated (and often undesirable) synergy between low-grade optical fibers and lasers. To fully understand what happens to laser light in an optical fiber, you should first consider how fiber optics work and then how the properties of laser light play a key role in making the fiber-optic robowhiskers function.
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30.4 SOFT TOUCH AND COMPLIANT COLLISION DETECTION
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Fiber Optics: An Introduction An optical fiber is to light what PVC pipe is to water. Though the fiber is a solid, it channels light from one end to the other. Even if the fiber is bent, the light follows the path, altering its course at the bend and traveling on. Because light acts as an information carrier, a strand of optical fiber no bigger than a human hair can carry the same amount of data as some 900 copper wires. The idea for optical fibers is over 100 years old. British physicist John Tyndall once demonstrated how a bright beam of light was internally reflected through a stream of water flowing out of a tank. Serious research into light transmission through solid material started in 1934, when Bell Labs was issued a patent for the light pipe. In the 1950s, the American Optical Corporation developed glass fibers that transmitted light over short distances (a few yards). The technology of fiber optics really took off around 1970 when scientists at Corning Glass Works developed long-distance optical fibers. Optical fibers are composed of two basic materials, as illustrated in Fig. 30-25: the core and the cladding. The core is a dense glass or plastic material that the light actually passes through as it travels the length of the fiber. The cladding is a less dense sheath, also of plastic or glass, that serves as a refracting medium. An optical fiber may or may not have an outer jacket, a plastic or rubber insulation used as protection. Optical fibers transmit light by total internal reflection (TIR), as shown in Fig. 30-26. Imagine a ray of light entering the end of an optical fiber strand. If the fiber is perfectly straight, the light will pass through the medium just as it passes through a plate of glass. But if the fiber is bent slightly, the light will eventually strike the outside edge of the fiber. If the angle of incidence is great (more than the so-called critical angle), the light will be reflected internally and will continue its path through the fiber. But if the bend is large and the angle of incidence is small (e.g., less than the critical angle), the light will pass through the fiber and be lost. Note the cone of acceptance, as shown in Fig. 30-26. The cone represents the degree to which the incoming light can be off axis and still make it into the fiber. The cone of acceptance (usually 30 ) of an optical fiber determines how far the light source can be from the optical axis and still manage to make it into the fiber. Though the cone of acceptance may
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