vb.net read barcode from camera MULTITASKING ERROR MODES FOR OPTIMAL FLEXIBILITY in Software

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38.4.2 MULTITASKING ERROR MODES FOR OPTIMAL FLEXIBILITY
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For a real-world robot, errors are just as important a consideration as tasks. Your robot programming must deal with problems, both anticipated (walls, chairs, cats) and unanticipated (water on the kitchen floor, no sodas in the fridge). The more your robot can recognize error modes, the better it can get itself out of trouble. And once out of an error mode, the robot can be reasonably expected to complete its task.
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INTEGRATING THE BLOCKS
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How you program various tasks in your robot is up to you and the capabilities of your robot software platform. If your software supports multitasking, try to use this feature whenever possible. By dealing with tasks as discrete units, you can better add and subtract functionality simply by including or removing tasks in your program. Equally important, you can make your robot automatically enter an error mode task without specifically waiting for it in code. In non-multitasking procedural programming, your code is required to repeatedly check (poll) sensors and other devices that warn the robot of an error mode. If an error mode is detected, the program temporarily branches to a portion of the code written to handle it. Once the error is cleared, the program can resume execution where it left off. With a multitasking program, each task runs simultaneously. Tasks devoted to error modes can temporarily take over the processing focus to ensure that the error is fixed before continuing. The transfer of execution within the program is all done automatically. To ensure that this transfer occurs in a logical and orderly manner, the program should give priorities to certain tasks. Higher-priority tasks are able to take over (subsume, a word now in common parlance) other running tasks when necessary. Once a highpriority task is completed, control can resume with the lower-priority activities, if that s desired.
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38.5 From Here
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To learn more about . . . Computer capabilities Programming computer systems Connecting computers and other control circuits to the outside world Sensing objects around the robot Read 12, An Overview of Robot Brains 13, Programming Fundamentals 14, Computer Peripherals 30, Object Detection
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CHAPTER
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FAILURE ANALYSIS
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Anything that can go wrong, will go wrong. Murphy s Law
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egend has it that the original Murphy was a U.S. Air Force officer that worked on rocket sleds in the late 1940s and early 1950s. These sleds were used to learn about the effects of high accelerations (g forces) on the human body as well as to design appropriate restraint and safety systems for high-performance aircraft and spaceships. Computer simulations and mechanical models of the human body were not available at the time, so the tests were performed on a living person. The sleds were capable of tremendous speeds (approaching the speed of sound) and there was a very high probability for accidents due to mechanical failure. In readying a sled for a test and working through a myriad of problems, Murphy reportedly muttered the comment for which he was to become immortalized. You probably have already heard of Murphy s Law and it has been referenced so many times in books that it has become trite. It was really put in here to introduce the following comment on it; one that you are sure to relate to as you work on your own robot designs: Murphy was an optimist. Anonymous
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39.1 Types of Failures
Before trying to figure out how to fix a problem, the first thing that you will have to do is determine where the problem is occurring. In the following three sections, the three pri679
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FAILURE ANALYSIS
mary sources of problems are listed and the types of failures that are typically ascribed to them. Once you determine where the problem lies, you can start looking at how to fix it so that it does not reoccur. A process for determining the root cause of a failure and ensuring that the corrective action will allow the robot to run until some other problem surfaces is given in the following sections of this chapter.
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