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Sonar Sonar is a medium-range method of proximity sensing The acronym derives from the words sonic navigation and ranging The basic principle is simple: Bounce acoustic waves off of objects, and measure the time it takes for the echoes to return An elementary sonar system consists of an ac pulse generator, an acoustic emitter, an acoustic pickup, a receiver, a delay timer, and an indicating device such as a numeric display, CRT, LCD, or pen recorder The transmitter sends out acoustic waves through the medium, usually water or air These waves are reflected by objects, and the echoes are picked up by the receiver The distance to an object is determined on the basis of the echo delay, provided the speed of the acoustic waves in the medium is known A simple sonar system is diagrammed in Fig 30-13A A computer map can be generated on the basis of sounds returned from various directions in two or three dimensions This can help a mobile robot or vessel navigate in its environment However, the system can be fooled if the echo delay is equal to or longer than the time interval between pulses, as shown at B To overcome this, a computer can instruct the generator to send pulses of various frequencies in a defined sequence The computer keeps track of which echo corresponds to which pulse Acoustic waves travel faster in water than in air The amount of salt in water makes a difference in the propagation speed when sonar is used on boats, for example, in depth finding The density of water can vary because of temperature differences as well If the true speed of the acoustic waves is not accurately known, false readings will result In freshwater, the speed of sound is about 1400 meters per second (m/s), or 4600 feet per second (ft/s) In saltwater, it is about 1500 m/s (4900 ft/s) In air, sound travels at approximately 335 m/s (1100 ft/s) In the atmosphere, sonar can make use of audible sound waves, but ultrasound is often used instead Ultrasound has a frequency too high to hear, ranging from about 20 kHz to more than 100 kHz One advantage of ultrasound is that the signals will not be heard by people working around machines equipped with sonar Another advantage is the fact that it is less likely to be fooled by people talking, machinery operating, and other noises At frequencies higher than the range of human hearing, acoustical disturbances do not normally occur as often, or with as much intensity, as they do within the hearing range In its most advanced forms, sonar can rival vision systems (also called machine vision) as a means of mapping the environment for a mobile robot or vessel Sonar has one significant limitation: all acoustic waves, including sound and ultrasound, require a gaseous or liquid medium in order to propagate Therefore, sonar is useless in outer space, which is practically a vacuum Signal Comparison A machine or vessel can find its geographical position by comparing the signals from two fixed stations whose positions are known, as shown in Fig 30-14A By adding 180 to the bearings of the sources X and Y, the machine or vessel (small square block) obtains its bearings as seen from the sources (round dots) The machine or vessel can determine its direction and speed by taking two readings separated by a certain amount of time In the old days, diagrams such as the one in Fig 30-14A were actually plotted on maps by the captains of oceangoing vessels and aircraft Nowadays, computers do that work, with more accurate results Figure 30-14B is a block diagram of an acoustic direction finder such as can be used by a mobile robot The receiver has a signal-strength indicator and a servo that turns a directional ultrasonic.

DelegConfig (Kerberos/delegation configuration reporting tool) Brian Murphy-Booth, Support Escalation Engineer, Microsoft Corporation Essential Tips on Kerberos for SharePoint Developers James World, Microsoft Developer Consultant, Microsoft UK Microsoft BI with Constrained Kerberos Delegation Rob Kerr, MCDBA, MCTS; Principal Consultant, BlueGranite Enterprise Portal Kerberos Delegation for connecting to Reporting/Analysis Services on a different box Microsoft's Enterprise Solutions blog Understanding Kerberos and NTLM authentication in SQL Server Connections Microsoft SQL Server Protocols team

1 In AppleScript Editor, press z-N or choose File | New to create a new script 2 Type the following short script, which tells the Finder to close every Finder window

http://blogs.msdn.com/james_world/archive/2007/08/20/ essential-guide-to-kerberos-in-sharepoint.aspx

transducer There are two signal sources at different frequencies When the transducer is rotated so the signal from one source is maximum, a bearing is obtained by comparing the orientation of the transducer with some known standard such as a magnetic compass The same is done for the other source A computer determines the precise location of the robot, based on this data

tell application "Finder" close every Finder window get the position of the front Finder window end tell

http://blogs.msdn.com/solutions/archive/2008/02/28/ enterprise-portal-kerberos-delegation-for-connecting-to-reportinganalysis-services-on-a-different-box.aspx

http://blogs.msdn.com/sql_protocols/archive/2006/12/02/ understanding-kerberos-and-ntlm-authentication-in-sql-serverconnections.aspx

Error message, as shown in Figure 10-2

Radio Direction Finding (RDF) A radio receiver, equipped with a signal-strength indicator and connected to a rotatable, directional antenna, can be used to determine the direction from which signals are coming Radio direction find-

Table 2 Blog posts (continued) Title and author SQL 2008, Kerberos and SPNs Tomek Onyszko, Warsaw, Poland URL http://blogs.dirteam.com/blogs/tomek/archive/2008/04/09/ sql-2008-kerberos-and-spns.aspx

Figure 10-2 The sample script produces an error message because it tries to return the position of the front Finder window when no Finder window is open

Microsoft TechNet articles Title URL http://technet2.microsoft.com/windowsserver/en/technologies/ featured/kerberos/default.mspx http://technet.microsoft.com/en-us/library/bb742516.aspx http://technet.microsoft.com/en-us/library/cc281253.aspx

direction finder (B)

Kerberos Authentication in Windows Server 2003: Technical Resources for IT Pros Kerberos Explained How to: Configure Windows Authentication in Reporting Services Configure Kerberos authentication (Office SharePoint Server)

(continued)

Microsoft Help and Support articles pertaining to Kerberos delegation Title URL http://support.microsoft.com/default.aspx/kb/299838

ing (RDF) equipment aboard a mobile vehicle facilitates determining the location of a transmitter An RDF receiver can also be used to find one s own position with respect to two or more transmitters operating on different frequencies In an RDF receiver for use at frequencies below about 300 MHz, a small loop or loopstick antenna is used It is shielded against the electric component of radio waves, so it picks up only the magnetic part of the EM field The loop is rotated until a sharp dip, or null, occurs in the received signal strength, indicating that the axis of the loop lies along a line toward the transmitter When readings are taken from two or more locations separated by a sufficient distance, the transmitter can be pinpointed by finding the intersection point of the azimuth bearing lines on a map At frequencies above approximately 300 MHz, a directional transmitting and receiving antenna, such as a Yagi, quad, dish, or helical type, gives better results than a small loop When such an antenna is employed for RDF, the azimuth bearing is indicated by a signal peak rather than by a null

Figure 10-3 Click the Cancel button in the dialog box to produce an error that stops the script from running