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the media as a method to value common stocks. An apparent reason for this lack of attention may be the difficulty in explaining the DCF technique in simple terms to stock investors. In the DCF approach, a stock s value is the sum of the expected cash flows of the company, discounted at an appropriate interest rate. The most basic DCF approach is the dividend discount model (DDM), under which the value of a stock is the present value of the dividends that an investor expects to receive. Using the DDM approach, the analyst estimates future dividend growth and the required rate of return on the stock, and discounts those expected dividends to arrive at a stock s value. Another DCF approach is the free cash flow to equity (FCFE) model, which measures the cash flow left over after payments for working capital, capital expenditures, the interest and principal on debt, and dividends on preferred stock. These cash flows are then discounted at the company s cost of equity to arrive at the stock s value. The final DCF approach is the free cash flow to the firm (FCFF) approach, and is the approach that we describe herein at length. Analysts who use DCF analysis tend to provide a simple value statement, as opposed to detailed assessments to investors, such as: On a cash flow basis, we estimate that McDonalds fair value is $30 per share. Given the current price of $16.08, we rate MCD as a strong buy. Many market participants use fundamental analytic techniques as the basis for long-term buy/sell decisions. The basic investment rule associated with fundamental analysis is: If a stock price is well below its intrinsic value, buy the stock; if the stock price is well above its value, sell the stock.

A clinometer is a device for measuring the steepness of a sloping surface. Mobile robots use clinometers to avoid inclines that might cause them to tip over or that are too steep for them to ascend while carrying a load. The floor in a building is almost always horizontal. Thus, its incline is zero. But sometimes there are inclines such as ramps. A good example is the kind of ramp used for wheelchairs, in which a very small elevation change occurs. A rolling robot can t climb stairs, but it might use a wheelchair ramp, provided the ramp isn t so steep that it would upset the robot s balance or cause it to lose its payload. In a clinometer, a transducer produces an electrical signal whenever the device is tipped from the horizontal. The greater the angle of incline, the greater the electrical output, as shown in the graph of Fig. 34-7A. A clinometer might also show whether an incline goes down or up. A downward slope might cause a negative voltage at the transducer output, and an upward slope a positive voltage, as shown in the graph at Fig. 34-7B.

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34-7 Two types of clinometer. At A, the output voltage is a simple function of slope. At B, upslope causes positive output voltage; downslope causes negative output voltage.

'irdecode.bs2 'revision 1. Feb 2000 Henry Arnold 'must be used with rev 3.0 SONY.c Decoder IC '************************************************************************** Sony_in Con 10 'ir serial input from sensor delay Con 50 'Pause between pulses and ir timeout in ms mode_r Con 396 'Ir serial port mode 2400 baud ir_data Con byte 'Infrared input character *****************Start of main loop ****************************************** check_ir Serin SONY_in,mode_r,delay,check_ir,[ir_data] 'Read ir port timeout Debug dec Ir_data ' used for debugging only Got check_ir

The term edge detection refers to the ability of a robotic vision system to locate boundaries. It also refers to the robot s knowledge of what to do with respect to those boundaries. A robot car, bus, or truck might use edge detection to see the edges of a road and use the data to keep itself on the road. But it would have to stay a certain distance from the right-hand edge of the pavement to avoid crossing into the lane of oncoming traffic (Fig. 34-8). It would have to stay off the road shoulder. It would have to tell the difference between pavement and other surfaces, such as gravel, grass, sand, and snow. The Sky

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