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Issuer Unique Identifier This optional field contains a unique identifier that is used to render unambiguous the X.500 name of the CA in cases when the same name has been reused by different entities over time. This field can be used only in Version 2 and Version 3 certificates, and its use is not recommended according to RFC2459. Subject Unique Identifier This optional field contains a unique identifier that is used to render unambiguous the X.500 name of the certificate owner when the same name has been reused by different entities over time. This field can be used only in Version 2 and Version 3 certificates, and its use is not recommended according to RFC2459.

Figure 6.4 is a picture of the programming screen. Use the Open File option and select wink.hex from the files displayed in the dialog box. The file will load, and numbers will be displayed in the window on the left. Insert the 16F84 into the socket, and then press the program button. The PIC microcontroller is programmed and ready to go to work.

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the main program in Fig. 8.1. This variable acts as a switch. If it is 1 the robot will follow the wall to the left and if it is 1 the robot will follow the wall to the right. We will also have to add some code to allow for this switch. Figure 8.5 shows the algorithm that achieves all this. Notice that we now check to see if the front bumper is closed as well as checking for the infrared sensors. Also notice how we set the variable FN to be used in the rFeel() & FN statement. Remember if you are following the wall to the right then the right 45 and front infrared sensors need to be considered (i.e., 00110 6), and if you follow the wall to the left then the left 45 and front sensors are to be tested (i.e., 01100 12). Run the program and try changing TurnDir to 1 and see how the robot now follows the wall to the right instead of to the left. The program in Fig. 8.5 performs reasonably well. As mentioned earlier though, the robot still arcs far away from the wall when it rounds a sharp corner. The algorithm can still be improved further.

After the release of Version 2, it was apparent that the certificate profile still contained deficiencies. For this reason, a set of extensions was created to append to the Version 3 format of the certificate. These extensions cover key and policy information, subject and issuer attributes, and certification path constraints. The information contained in extension fields can be marked as either critical or noncritical. An extension field has three parts: extension type, extension criticality, and extension value. The extension criticality tells a certificate-using application whether it can ignore an extension type. If this extension is set to critical and the application does not recognize the extension type, the application should reject the certificate. On the other hand, if the extension criticality is set to noncritical and the application does not recognize the extension type, it is safe for the application to ignore the extension and to use the certificate. The following standard certificate extension fields are available only in Version 3 certificates:

The reason the robot arcs too far away from the wall on sharp corners is due to the wall angling away from the robot at a sharp angle, and since the robot only turns 1 as it moves forward 1 pixel, it will not be able to turn fast enough to catch up with the sharply turning wall. 8.3.1 INITIAL ALGORITHM The algorithm in Fig. 8.6 is a rst attempt at solving this problem. The code makes the robot turn more degrees while it is forwarding. This needs to be done only if the wall is turning sharply away. If we do it all the time the robot will go back to moving in arcs. We need a way for determining if the wall is turning away from the robot too sharply. This is exactly what Lines 13 to 21 in Fig. 8.6 do. We test to see if none of the infrared sensors are seeing the wall or if only the 90 sensor in the direction of the turn is sensing

We are ready to write our first program. Enter this program in your word processor exactly as it is written:

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