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cuit constantly compares the potentiometer signal to the input control signal provided by the microcontroller The internal comparator moves the motor shaft and potentiometer either forward or in reverse, until the two signals are the same Because of the feedback control circuit, the rotor can be accurately positioned and will maintain the position as long as the input control signal is applied The shaft of the motor can be positioned through 180 degrees of rotation, depending on the width of the input signal The PicBasic Pro language makes servo control with a PIC microcontroller easy, using a command called Pulsout The syntax is Pulsout Pin, Period A pulse is generated on Pin of specified Period Toggling the pin twice generates the pulse; thus, the initial state of the pin determines the polarity of the pulse Pin is automatically made an output Pin may be a constant, 0 15, or a variable that contains a number between 0 and 15 (eg, B0) or a pin name (eg, PORTA0) The resolution of Pulsout is dependent on the oscillator frequency Since we are using a 4-MHz oscillator, the Period of the generated pulse will be in 10 microsecond increments To send a pulse to port B on pin 7 that is 14 ms long (at 4 MHz, 10 s 140 1400 s or 14 ms), the command would be: Pulsout PortB7,140 To illustrate the kind of signal being produced by the microcontroller, see Figure 45 The oscilloscope trace for channel 1 was generated with the Pulsout command configured to produce a 14ms pulse at 5568 Hz, and the trace for channel 2 was configured for a 6-ms pulse, also at 5568 Hz

The American Institute of Constructors (AIC) and the Construction Management Association of America (CMAA) have established voluntary certi cation programs for construction professionals Requirements combine written examinations with veri cation of professional experience AIC awards the designations Associate Constructor (AC) and Certi ed Professional Constructor (CPC) to candidates who meet set requirements and

The robot frog will use two standard R/C servos, modified for continuous rotation This is because servos are inexpensive, can be controlled directly from a microcontroller, and will provide the torque needed to load the spring-driven jumping leg mechanisms

An unmodified servo has a rotational radius limited to approximately 180 degrees For our application, we will need a full 360 degrees of continuous rotation This is accomplished by taking the servo apart, removing a mechanical stop as well as removing the potentiometer, and replacing it with a fixed resistor network Note that there may be differences between servos built by different manufacturers The concept for modifying servos is basically the same for all servo types Depending on the make, you may have to improvise and stray from the procedure a little The servo in this example is a JR NES-527 The parts needed for this procedure are listed in Table 41

pass appropriate construction examinations CMAA awards the designation Certi ed Construction Manager (CCM) to practitioners who meet the requirements in a construction management rm, complete a professional construction management capstone course, and pass a technical examination Though certi cation is not required to work in the construction industry, voluntary certi cation can be valuable because it provides evidence of competence and experience There is a growing movement toward certi cation in this industry to serve as evidence of competence and experience

The instructions for modifying a standard servo are as follows: 1 Place the servo on a table and remove the servo horn and screw, as shown in Figure 46, if there is one attached

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2 Flip the servo over so that the bottom is facing upward, and remove the four screws that hold the cover on See Figure 47 for details

3 Next, turn the servo back over so that it is upright Remove the top cover and the gears, as shown in Figure 48 You may need to use a small screwdriver to carefully break the seal and pry the cover off When the cover has been removed, remove each of the gears in order, and place them somewhere safe Leave the gear that connects to the motor in place

Earnings of salaried construction managers and self-employed independent construction contractors vary depending upon the size and nature of the construction project, its geographic location, and economic conditions In addition to typical bene ts, many salaried construction managers receive bonuses and the use of company motor vehicles Median annual earnings of construction managers (except those who were self-employed) in 2006 were $73,700 The middle 50 percent earned between $56,090 and $98,350 The lowest 10 percent earned less than $43,210, and the highest 10 percent earned more than $135,780 annually Median annual earnings in the industries employing the largest numbers of managers were as follows:

4 Now that the top cover is removed, open the bottom cover Again, you may have to use a small screwdriver to get it open Locate the small potentiometer and pry back the plastic clips that hold it in place, as shown in Figure 49 You may have to actually break them off If you do break them off, make sure that they are removed from inside the servo and discarded If glue is holding the potentiometer in place, scrape it off with a small screwdriver

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