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mobile robot doesn t get very far without some means of locomotion The Roomba has its two drive wheels These two wheels form a differential steering system Differential steering is similar to the differential gearing used in a car, but instead of one source of power divided between two wheels with gearing, both wheels are powered independently By having both wheels powered, the Roomba can do things no differentially geared car could ever hope to do, like pivot in place and move in perfect circles A differential steering system also poses some problems The biggest one is driving in exactly a straight line To drive straight, exactly the same power must be applied to both wheel motors, if not, the robot moves in a subtle arc.

, 1997a; Ievleva & Orlick, 1991), use of healing or recovery imagery (Ievleva & Orlick, 1991), and use of imagery or visualization (Gould et al, 1997a) Available research suggests that positive cognitions and use of psychological skills are related to enhanced rehabilitation outcome However, caution is advised in making strong inferences about these findings due to the retrospective nature of some of the studies and inconsistent or nonsignificant results for denial as a coping strategy (Quinn & Fallon, 2000) and psychological skill usage (Tuffey, 1991) Associations between emotional variables and sport injury rehabilitation outcomes have been found in four studies In particular, general well-being (Johnson, 1996, 1997b) and vigor (Quinn & Fallon, 2000) have been positively correlated with rehabilitation outcome, and injury rehabilitation anxiety (Johnson, 1996, 1997b), psychological distress (Brewer, Van Raalte, et al, 2000), anger.

Brain Surgery In 1890, Swiss psychiatrist G Burkhardt, assuming that the causes of speci c kinds of abnormal behavior were located in particular parts of the brain, removed parts of the cortex in patients with hallucinations and other symptoms, hoping to eliminate symptoms He claimed that the treatment improved patients, but he came under criticism from his colleagues and abandoned the technique (Goldstein, 1950) Others performed surgery on mental patients, including an Estonian neurosurgeon who, in 1900, cut the connections between the frontal and parietal lobes, but with no detectable improvement in patient condition (Valenstein, 1986) Not until the 1930s did brain surgery occur to any signi cant extent In 1935, two Portuguese physicians, Egas Moniz and Almeida Lima, performed an operation using a procedure that came to be known as prefrontal lobotomy (Moniz, 1937) Walter Freeman and James Watts (1948) later modi ed the method in the United States.

The ROI command used to drive the motors hides much of these issues by presenting a simple DRIVE command that takes a velocity and radius, and the radius can be set to zero to drive in a straight line Behind the scenes Roomba is actually reading its distance and angle sensors (odometry sensors) and compensating the power to each motor If it did not do this, simply driving the Roomba from the computer would be much more of a hassle because one would have to be continually reading the odometers, calculating errors, and updating the motor outputs to compensate Since drive systems are so important, this chapter shows a taken-apart Roomba motor unit and discusses the gearing and other mechanisms Because the following figures show a taken-apart Roomba, there is no need for you to take a screwdriver to your own Roomba.

By 1950, more than 5,000 lobotomies had been performed in the United States An estimated tens of thousands of such operations were performed worldwide between 1948 and 1952 The surgery was performed initially on patients with chronic schizophrenia, but was later extended to patients with other psychiatric disorders, as well as to criminals (Valenstein, 1986) and to hyperactive children (Masson, 1986) In the course of time other related forms of brain surgery such as transorbital lobotomy, and cingulotomy were developed These procedures, collectively referred to as psychosurgery, became the focus of scienti c and ethical controversy Ethical concerns centered on the irreversible damage done to the psychological functioning of the patient and extended as far as the actual circumstances under which the operations were performed, sometimes in the physician s of ce on an outpatient basis, often by physicians who were not quali ed neurosurgeons.

The whole point of the ROI (and this book) is to allow Roomba hacking without voiding your warranty If, however, you don t mind having a potentially non-working Roomba at the end, I highly recommend taking one apart to see how everything all goes together..