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Implement a forgetting procedure to occasionally delete the last entry (or perhaps a random entry) in the memory arrays on a random basis A more complicated, but more realistic simulation would be to have a long-term memory and a short-term memory and have the robot transfer some (not all) the short-term memory into long-term memory while sleeping Also you may want some mechanism for enforcing short-term memory the more times a situation is encountered, and give preference to these reinforced items when transferring to longterm memory In the algorithm discussed in this chapter, the robot was only motivated by a single need based on biological priorities and thresholds In other words, the robot does not develop complex value judgments This can be observed when the robot fails to play when it enters the play area if hunger is the current motivator.

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It will be noted that the matrix has 7 columns and 4 rows corresponding to the (7, 4) code, and furthermore, the first four columns form an identity submatrix. The identity submatrix results in the dataword appearing as the first four bits of the codeword, in this example. In general, a systematic code contains a sequence that is the dataword, and the most common arrangement is to have the dataword at the start of the codeword as shown in the example. It can be shown that any linear block code can be put into systematic form. The remaining bits in any row of G are responsible for generating the parity bits from the data bits. As an example, suppose it is required to generate a codeword for a dataword [1010]. This is done by multiplying d by G 1 0 0] 0 0 0 1 0 0 0 0 1 0 0 0 0 1 1 1 1 0 1 1 0 1 1 0 1 1

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1 1 1 ( x 2 + 1)3 = (( 12 + 1)3 ( 02 + 1)3 ) 3 3 0 3 1 3 1 = (( 2) ( 1) ) = (2 2 1) 3 3

[1 0 1 0 0 1 0] The dataword is seen to appear as the first four bits in the codeword, and the end three bits are the parity bits. The parity bits are generated from the data bits by means of the last three columns in the generator matrix. This submatrix is denoted by P:

Imagine how this behavior could be altered so as to be more opportunistic The robot could decide to take advantage of being in the area and play now even though it is hungry Some internal mechanism (perhaps opportunity thresholds) must control this behavior The robot should not play if there is not a reasonable need to do so Likewise, the robot should forego play and head for food if the hunger need is very large Modify the algorithm in this chapter to implement such an adaptation..

1 1 P5 1 0

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uilding a robot is an enjoyable challenge and programming it is a rewarding task. Traditionally, you could not uncouple these two activities. In order to program a robot you had to build one. Nowadays, many people are able to easily build a very capable robot thanks to the plethora of kits and powerful components available at affordable prices. However, despite being easier, building a robot can still be an obstacle for many due to various factors. If you are interested in programming a robot but not building one, or you want to defer building one until after you acquire more skills but want to experiment with programming a robot, RobotBASIC and this book have shown you many projects and algorithms that demonstrate the power and utility of a simulator. You may nd that the simulator satis es your curiosity about controlling a robot enough that you do not need to control a real robot. However, if you do decide to control a real robot, the role of RobotBASIC is not over. In fact, RobotBASIC can be a powerful tool in controlling a real robot, and all the knowledge and experience you have gained from reading this book, is very much transferable to the real-world. RobotBASIC can help you in moving from the simulated realm to the real one. RobotBASIC s simulated robot is a great prototyping tool for doing research and development for robotic algorithms and ideas. You can use the simulations to demonstrate the principles of an idea without the expense of actually creating the hardware to test out

1 1 0 1

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