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The first entry, which even predated my scheme, was not designed for the PC, but rather for PDAs. SapBench, sometimes called Robosapien Bench, is a program that runs on the Palm OS. The program essentially replaces the Robosapien remote, and gives the user the ability to script, edit, and download programming routines. But wait, don t Palm Pilots have IRDA Yes, and that is the beauty, and the curse, of SapBench. It is based on the OrLib library, part of the OmniRemote program, which tricks the PDA s IRDA blaster into sending out signals that can be read by consumer IR devices. That is really cool, but unfortunately IRDA s limited range really comes into play. The range depends on the strength of the IR LED in the device, but at most you are going to get maybe a 7-foot range. Using my older Palm III, I get a range of maybe 3 to 4 feet. That is just long enough to control a Robosapien on the floor while sitting in a chair, and just short enough that I constantly have to get up because the robot walks out of range.

The following commands will download and compile OpenCV with the correct settings for the iPhone OS 3.0+ and then build universal static libraries that run on both the Intel-based simulator and the ARM-based device.

SALGRADES GRADE LOWERLIMIT UPPERLIMIT BONUS ----- ---------- ---------- -----1 700 1200 0 2 1201 1400 50 3 1401 2000 100 4 2001 3000 200 5 3001 9999 500

Use CURL to fetch the OpenCV 1.1 package SourceForge. The following command should be in a single line, but the URL was too long for this book. The L flag performs the request upon redirect (SourceForge first needs to give us a mirror). The O is so the response is written to a file rather than blurting out binary data all over the terminal, which would be most rude.

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COURSES CODE -----JAV PLS XML ERM GEN PMT PRO RSD OAU SQL DESCRIPTION ---------------------------Java for Oracle developers Introduction to PL/SQL XML for Oracle developers Data modeling with ERM System generation Process modeling techniques Prototyping Relational system design Oracle for application users Introduction to SQL CATEGORY DURATION -------- -------BLD 4 BLD 1 BLD 2 DSG 3 DSG 4 DSG 1 DSG 5 DSG 2 GEN 1 GEN 4

A new entry onto the PC control scheme is the Robosapien Dance Machine, an open source project developed by Robert Oschler and hosted on SourceForge.net. It has gotten quite a bit of attention and even won the May 2005 SourceForge Project of the Month award. It is a very cool little program that is self-contained, meaning that you don t need Girder or any other software installed on your PC to run it although like all of the homebrew PC control programs, you do need a USB-UIRT.

OFFERINGS COURSE -----SQL OAU SQL SQL JAV JAV XML PLS XML OAU ERM PRO RSD BEGINDATE TRAINER LOCATION ---------- ------- -------12-04-1999 7902 DALLAS 10-08-1999 7566 CHICAGO 04-10-1999 7369 SEATTLE 13-12-1999 7369 DALLAS 13-12-1999 7566 SEATTLE 01-02-2000 7876 DALLAS 03-02-2000 7369 DALLAS 11-09-2000 7788 DALLAS 18-09-2000 SEATTLE 27-09-2000 7902 DALLAS 15-01-2001 19-02-2001 DALLAS 24-02-2001 7788 CHICAGO

$ curl -LO http://downloads.sourceforge.net/project/opencvlibrary/opencvunix/1.1pre1/opencv-1.1pre1.tar.gz The downloaded file is compressed, so we extract it with tar. $ tar xvfz opencv-1.1pre1.tar.gz

Robosapien Dance Machine allows you to easily script and play back complicated routines, and save them to your computer. Only a month after it was released, Version 2, which supports integrated speech recognition, was released. Very cool stuff, and highly recommended! In my opinion this is the gold standard that all other PC-based control programs should seek to emulate.

REGISTRATIONS ATTENDEE COURSE BEGINDATE EVALUATION -------- ------ ---------- ---------7499 SQL 12-04-1999 4 JAV 13-12-1999 2 XML 03-02-2000 5 PLS 11-09-2000 7521 OAU 10-08-1999 4 7566 JAV 01-02-2000 3

NOTE: This is not the latest version of OpenCV, but it is far easier to compile for the iPhone than v2.0. Once you re feeling more confident, check the web for instructions and scripts for compiling OpenCV 2.0+ on the device. Any good programmer likes to avoid repeated work, so let s set some variables to save some typing further on. First, let s set some compiler flags to remove features incompatible with the iPhone OS such as video windows and webcam support.

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