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The ROI is simply an interface into the existing microcontroller program running in the Roomba. It doesn t bypass it. You cannot get direct access to the Roomba hardware. In general this isn t a bad thing. Some of the sensor data is constructed or massaged by this program to be easier to use. For example, the infrared detector on the top of the Roomba is a single sensor that responds to the virtual wall unit and remote control, but the ROI provides different sensor values for those functions. Roomba is parsing the infrared bit stream emitted by those devices and presenting the result as multiple binary values. It is not possible to parse custom infrared bit streams, so detecting commands from other remote controls cannot be done. Most disappointingly, it doesn t provide a sensor interface to the charging dock beacon of the home base beyond telling Roomba to go into force-seeking dock mode. Beyond access to those data massaging routines, the ROI doesn t provide any access to the various cleaning algorithms used by the Roomba. But that doesn t mean new ones can t be created and commanded through the ROI.

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26 shows that fat and sugars is each correlated with calories, which perhaps should come as no surprise The correlation between fat and sugars is milder but still enough for the algorithm to assign them to the same component We would expect that the relationship between nutritional rating and principal component 2 shall be negative; that is, as fat/calories/sugars increases, the nutritional rating is expected to decrease Principal component 3 = 0812 vitamins + 0770 sodium We would assume that having more vitamins is a good thing, but that having more sodium may be a bad thing for a cereal to have Thus, it is dif cult for a nonnutritionist to predict what the relationship between this component and nutritional rating will be Principal component 4 = 0834 sugars 0762 carbohydrates 0.

The definition of a business component stresses its autonomy . However, a business component cannot be isolated . It must collaborate with other business components in order to deliver the functionality required by the business . Collaboration together with autonomy means that a strong concept of minimal dependencies is essential . This is true not only at run-time, but also throughout

EP-matrix: An (m x m) matrix A is said to be an EP-matrix if it commutes with its Moore-Penrose inverse A+, that is, AA+ = A+.4.

442 protein Here we have a contrasting component, which opposes sugars to carbohydrates and protein Since sugars has a positive coef cient and protein a negative coef cient, we might expect this component to have a negative relationship with nutritional rating..

The Timeline palette and Layers Video Layers submenu both provide a wealth of tools for managing your video layers while you ve got them on the operating table in Photoshop CS3. You can add layers, add frames, rearrange your layers, delete and duplicate layers just about anything you can imagine doing to administer your video files. Remember these important things: n Connections can be broken, especially on Windows machines. Whenever you move, rename, or, obviously delete a video source file, you break the link between it and its video layer. You ll see an icon in the Layers palette to inform you of this severed connection, at which point you can reconnect the two by clicking the Replace Footage command by choosing Layer Video Layers Replace Footage. After opening the Replace Footage dialog box, select the file to which you want to reconnect your layer and click OK. The connection is restored. On the Mac, the link won t break unless you move the source file to a different volume. n Adding video layers is easy. Just choose File Open, then select a video file, and click Open. Next choose Layer Video Layers Add Video Layer, choose a video or image sequence file, and click Open. n Blank video layers allow you to add new content. To add one, choose Layer Video Layers Add Blank Video Layer. This enables you to keep your frame edits on a separate layer, so that, for example, you can use the Clone Stamp (sampling from all layers) on that blank layer, making your cloned content live on that layer rather than on the layers from which cloned content is being taken. Figure 19.2 shows the creation of a new blank video layer.