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A screw is an inclined plane wrapped around a tube. We see the screw shape in bolts, screws of course, and worm gears. The screw puts the inclined plane into a very compact form. The angle of the plane can be low and we can get a lot of force out of it. This force is applied by turning the screw, which is essentially the same thing as moving a block up the ramp or driving a wedge into a gap. Einstein said that all motion is relative, and whether the resistance (the block or tower) moves, or the inclined plane (ramp, wedge, screw) moves, the e ect is the same.

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Proximity sensors care only that some object is within a zone of relevance. That is, if an object is near enough in the physical scene the robot is looking at, the sensor detects it and triggers the appropriate circuit in the robot. Objects beyond the proximal range of a sensor are effectively ignored because they cannot be detected. Distance measurement sensors determine the distance between the sensor and to some object within range. Distance measurement techniques vary; almost all have notable minimum and maximum ranges. Few yield accurate data if an object is very close to the robot. Likewise, objects just outside the sensor s effective range can yield inaccurate results. Large objects far away may appear closer than they really are; very close small objects may appear abnormally larger than they really are, and so on. If there are multiple objects within the sensor s field of view, the robot may have difficulty sorting them out and figuring out which one is closest (and is the most likely danger).

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Sensors have depth and breadth limitations: depth is the maximum distance an object can be from the robot and still be detected by the sensor. Breadth is the maximum height and width of the sensor detection area. Some sensors see in a relatively narrow zone, typ-

A lever is another way to apply mechanical advantage. Though the lever is a more complicated machine, it can be described with simpler math than the inclined plane.

ically in a conical pattern, like the beam of a flashlight. Light sensors are a good example. Adding a lens in front of the sensor narrows the pattern even more. Other sensors have specific breadth patterns. The typical passive infrared sensor (the kind used on motion alarms) uses a Fresnel lens that expands the field of coverage on the top but collapses it on the bottom. This makes the sensor better suited for detecting human motion instead of cats, dogs, and other furry creatures (humans being, on average, taller than furry creatures). The detector uses a pyroelectric element to sense changes in heat patterns in front of it.

Far-object detection focuses on objects that are outside the robot s primary area of interest but still within a detection range. A wall 50 ft away is not of critical importance to a robot (conversely, the same wall when it s 1 ft away is very important). Far-object detection is typically used for area and scene mapping to allow the robot to get a sense of its environment. Most hobby robots don t employ far-object detection because it requires fairly sophisticated sensors, such as narrow-beam radar or pulsed lasers. The difference between near- and far-object detection is relative. As the designer, builder, and master of your robot, you get to decide the threshold between near and far objects. Perhaps your robot is small and travels fairly slowly. In that case, far objects are those 4 to 5 ft away; anything closer is considered near. With such a robot, you can employ ordinary sonar distance systems for far-object detection, including area mapping. This chapter will concentrate on near-object detection methods since traditional farobject detection is beyond the reach and riches of most hobby robot makers (with the exception of sonar systems, which have a maximum range of about 30 ft). You may, if you wish, employ near-object techniques to detect objects that are far away relative to the world your robot lives in.

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