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So a robot of 20 pixels radius is 12 in in diameter Which is a reasonable robot size, but you can specify a smaller or larger size If you locate the robot over a color other than the oor color, or if you change the oor color from the default screen color you must issue an rFloorColor command (see below) before you attempt any movement of the robot rInvisible ExprN {,ExprN..} This command sets the list of colors that will not be considered as objects when encountered by the robot while moving and also by many of the sensors as speci ed You must pass at least one color and a maximum of 15 colors is allowed The colors are according to the colors speci ed in the Constants help page within the IDE.

A terminal node, as the name suggests is where terminal equipment such as computers and telephones, connect into the network Communicating nodes are nodes within the network where various switching and routing functions are carried out Nodes in general are complex structures, and in order to ensure the smooth flow of information through the node, the equipment at the node must operate to well defined rules, or what is referred to as a protocol The overall protocol for a node is structured in layers where each layer has its own protocol (ie, a set of rules) that is independent of the protocol in other layers Figure 151 shows how users A and B might communicate through a three-layer protocol Each layer interfaces with the layers immediately adjacent, above and below It is assumed that the information to be sent from A to B is in binary form.

The rst color in the list you specify is special in that it will be used as a default color for the rPen command and rSense() function if you do not specify a color when you issue the command or call the function (see below) The second color in the list is also special in that it will be the default color if you do not specify a color for the rDFeel() and rDBumper() functions Commands or functions that look or sense for colors will not detect the colors on the invisible colors list unless otherwise stated rFloorColor ExprN Sets the color that will be considered as the oor and will not affect sensors or the rForward command *rForward ExprN The robot moves in the direction it is heading ExprN pixels forward if ExprN is positive, or backwards if ExprN is negative.

This may be a bit stream as generated, for example, by pulse code modulation for voice (see Sec 103), or it could be bits stored in a digital file such as an email message Originally digital networks in the context used here were separate from the telephone network and the information to be transferred was called data,.

Fig. 24-3

since it was mostly computer generated. However, as mentioned in the introduction, present day networks carry voice, data, video, and image type signals, all in digital form. Layer 3 interfaces with user A and may, for example, rearrange the bits into packets. There has to be interface control information exchanged between user A and layer 3, but once the message information has been transferred to layer 3, the packet arrangement in layer 3 does not depend on the user A. Layer 3 also interfaces with layer 2. Again, some interface control information is required to ensure a smooth transfer of the message information, now in packets in this example. Layer 2 might, for example, add more bits to the message to provide an address, or perhaps some form of error control, but this can be done without reference to layer 3. Layer 2 interfaces with layer 1, which is always known as the physical layer in network literature. The protocol in the physical layer takes care of such matters as specifying the type of connectors to be used, the type of modulation to be employed, and the nature of the physical link. In the case of satellites the physical link will be the equipment and properties of the uplink and downlink. In Figure 15.1 dotted connections are shown between peer layers, each layer on user A s side is connected to the corresponding layer on user B s side. This is a virtual connection not a physical connection. The only physical connection is that through layer 1. Peer layers have to exchange information to ensure that the layer protocol is being followed, but such information is only of use to the two peer layers.