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hole to achieve what s called eccentric motion. As an alternative, you can use the black 3-long liftarms (as in Quasimodo, 2). The particular shape of the feet stabilize a robot of this category (see Figure 1-1a) feet interlace each other (hence the name of this category). Usually, in this kind of robot, the center of gravity is not shifted from side to side. So, you must pay close attention to designing the structure in such a way that the COG projection on the ground always falls inside the area that supports the feet, during each phase of walking. This condition must hold when the feet are on the ground together, but also when one of them is lifted from the ground. Figure 1-1 shows the various walking phases. In a, both feet are on the ground; in b and c, the right foot begins to step forward and is lifted from the ground, leaving all the weight loaded on the left foot and reducing the support area to only the left foot; in d both feet are on the ground again. Next, the process starts again with the left foot leaving the ground and stepping forward.

This is where you get to create all the fun UML class diagrams and sequence diagrams as well as the data modeling However, before you get to the technical specifications, you should consider some issues first The first elements to understand are the growth and current direction of the business Is the business looking to expand its product line Has the company been trending toward a 30 percent growth rate over the past five years, or is growth more along the lines of 300 percent These types of questions are important to ask and understand, because it will help determine to what degree the application should scale Although I m aware that some professionals think you should never design an application beyond meeting the business and functional requirements, I think you should consider exposing certain interfaces so that future expansion can be done with less effort.

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CDC specifies a complete JVM, but the JVM of CLDC has some limitations compared to the standard JVM A profile is added on top of the configuration to define a standard set of libraries (the other javaxmicroedition* packages in this case) MIDP.

Figure 1-1. Interlacing legs biped footprints in the various phases of walking The preceding approach suffers from the slackness of the LEGO joints: the legs tend to bend inside and the feet do not lift completely from the ground. To solve this problem, you can place a wedge in the inner side of the feet as shown in Figure 1-2c, or you can provide your biped with a sort of hip tendon made with rubber bands or LEGO parts, as shown in Figure 1-2d. All bipeds in nature have similar muscles to keep their equilibrium, so that they can walk steadily.

However, such considerations should be balanced with the understanding that an application will not be able to account for every possible expansion scenario During the application design phase, you ll soon discover that you will be repeatedly implementing many of the same features and functions The following are common examples of this recurring code: Retrieving, inserting, updating and deleting database data Logging application events Handling application exceptions to ensure that they are properly escalated Retrieving and updating application settings Improving performance by providing a caching mechanism to reuse static data performance You can implement these common functions in a few ways, discussed in the next sections..

contains packages for application lifecycle, a user interface, media control, input/output, data storage, and security. In addition to its configuration and profile, a Java ME capable device may also have a set of optional application programming interfaces (APIs) available. Some are proprietary, but many are standard. Standard optional APIs are defined in Java Specification Requests (JSRs), which are submitted, reviewed, and published through the Java Community Process (JCP). You can download the precise specifications for any JSR (free) from the JCP web site (http://jcp.org/). CLDC, CDC, and MIDP are all defined as JSRs through the Java Community Process.

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