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The shell is the first component for consideration. It must be transparent and large enough to hold the gearbox and electronics. The shell used in my prototype has a diameter of 51/2". Snap-together transparent spheres are available in many hobby and craft stores. Hobbyists use them to enclose holiday ornaments, If you cannot find a suitable shell locally, you can purchase one from Images SI (see the parts list at the end of this chapter). The plastic shell is fragile. Do not have your robot try to climb or fall down stairs; it is sure to crack and break. Separate the two halves of the shell. The first job is to locate the center of each half sphere.This is where the shafts of the gearbox will be connected. Locating the center at first appears much easier than it actually is. To find the center, I was forced to trace the diameter of the shell on white paper, then draw a box around the drawn circle that touched the circle on four sides (see Fig. 12.4). Drawing

If attackers can figure out what your key is, they can decrypt your data. One approach, the brute-force attack, is to try every possible key until the right one is identified. It works this way. Let s say your key is a number between 0 and 100,000,000,000 (one hundred billion). The attacker takes your ciphertext (perhaps only 8 or 16 bytes worth) and feeds it to the decryption algorithm along with the alleged key of 0. The algorithm does its job and produces a result. If the resulting data appears reasonable, 0 is probably the correct key. If it s gibberish, 0 is not the true key. In that case, you try 1, and then 2, 3, 4, and so on (see Figure 2-7). Remember, an algorithm simply performs its steps, regardless of the input. It has no way of knowing whether the result it produces is the correct one. Even if the value is close to the key, maybe off by only 1, the result is gibberish. So it s necessary to look at the result to tell whether it might be the key. Smart attackers write programs to examine the result. Is it a series of letters of the alphabet Yes Pass this key to the attacker. No Try the next key.

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This can be counteracted by using the Delay command to delay between successive reads of the key (150 to 200 milliseconds might be suf cient) Or you can use looping to wait until the key is released (Var will be zero) GetKeyE Var Does not cause the program to pause and wait for a key, but if a key is pressed then a code value corresponding to the key is assigned to Var, otherwise a 0 is stored This is useful in loops that need to be exited if a key is pressed but without halting the loop until a key is pressed and also for detecting key presses of keys like up and down arrows and so on..

Figure 2-7 The brute force attack. If you know that the key is a number between 1 and 100,000,000,000, you try each number in turn until a number produces something that s not gibberish

the diagonal lines from the corners of the box, I was able to locate the circle center. The half sphere is then positioned over the drawn circle. If you hold your head directly over the half sphere, you may be able to eyeball the center and mark it on the sphere with a magic marker. I tried this once or twice with less than ideal results. Finally, I taped the paper on a 1/2" piece of wood and drilled a small hole at dead center. Then I placed a small dowel, about 2.5" long, in the hole, making sure it was perpendicular to the wood. Place the half sphere over the fixture, lining up its diameter with the drawn circle; the dowel locates the center of the sphere fairly accurately. Mark the center of one half sphere, and then the other. The next step is to make a drive-locking fixture in the sphere that prevents the gearbox shaft from rotating freely inside. With the shaft locked, it forces the gearbox itself to rotate inside the sphere, changing the center of gravity and moving the robot along. The drive fixture must at the same time allow the sphere to be assembled or unassembled at will. The system I devised is illustrated in Figs. 12.5 and 12.6. Although I built all the drive components out of transparent plastic on the prototype, you can fabricate the parts out of other materials like brass and wood.

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