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It has been almost ten years since LEGO MINDSTORMS users like you developed various bipedal walking techniques. The numerous biped robots, created fairly successfully during those years, can be categorized as follows: Interlacing legs bipeds Jerky center of gravity (COG from now on) shifting bipeds Smooth COG shifting bipeds I ll describe these categories in detail, focusing on their level of complexity and the mechanical solutions used, with the help of some visual examples. In the next chapters you ll find the practical examples of this categorization: Quasimodo ( 2) is an interlacing legs biped, Star Wars AT-ST chicken walker ( 4) is a jerky COG shifting biped, while the Omni-Biped ( 5) is a smooth COG shifting biped.

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The Java Micro Edition (Java ME) is the version of the Java platform that s designed for use with small devices such as cell phones, personal digital assistants (PDAs), TV set-top boxes (for web browsing and e-mail without a whole computer), and embedded devices Since these devices vary quite a bit in their capabilities, the Java ME platform has two different configurations, each with its own choice of profiles The Connected Limited Device Configuration (CLDC) is the configuration you ll be working with in this book It s designed for cell phones and lowlevel PDAs More precisely, CLDC is intended for devices with a 16-bit or 32-bit processor, with at least 160KB of nonvolatile memory, at least 32KB of volatile memory, and some network connectivity, possibly wireless and intermittent CLDC s unique profile is the Mobile Information Device Profile (MIDP).

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The rest of the book will then show how the Enterprise Library can help ease the development of these application building blocks..

Robots that fall in the category of interlacing legs bipeds generally use the simplest walking technique. In other words, you must figure out what is the best way to put one foot in front of another. The solution is usually a cam shaft (see Figure 1-4c, d, and f). With the parts provided in the NXT retail set, you can easily build a cam shaft using the holes in the 24-tooth or the 40-tooth gear (see Omni-Biped s legs in 5). You must attach the legs to an off-center

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Successful software development is possible only through proper planning. Without doing so, you may find the application took longer to build, wasn t what you or the user expected, or worse yet was almost impossible to maintain. Proper preparation and design are integral to the creation of any software application regardless of its size and complexity. When creating a new application, you first need to understand the type of business the application is for or in some cases who the audience of the application is if it is not specific to a business. Understanding the needs of the stakeholders and users is critical to the success of any application being built. For instance, a money management company responsible for securities trading would require applications to be very responsive because actions must be taken on

This book covers MIDP versions 1, 2, and 3, although the focus will be on MIDP 2 since that is the current industry standard for cell phones and will continue to be the standard for some time The other configuration possibility associated with Java ME is the Connected Device Configuration (CDC), which isn t specifically covered in this book Starting with MIDP 3, some CDC devices will be able to run MIDP applications; however, from the MIDP application s perspective, the configuration must behave as if it were CLDC, and therefore, no CDC-specific programming is covered here The configuration specifies the type of Java Virtual Machine (JVM) that s used and what will be included in the minimal class libraries (the java* packages and the javaxmicroeditionio package in the case of CLDC).

a timely basis once a buy or sell decision has been made However, if your application is tasked with working with batch processes, performance may not be as important as scalability These two examples indicate that the audience will drive the design of the application indirectly based on what its needs are The end user s purpose will help define the general technical and design needs of an application; however, gathering the specific requirements from the business will determine the application s design requirements From these business requirements, you should create a set of functional requirements detailing the specific functions required of the application This is probably a good place to create use cases to define the actions and tasks that can be performed in the application Finally, you can create the technical requirements for the application.

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