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n Chap. 5 we made the robot move around the screen freely while avoiding objects in the environment. A robot is a device that can be made to do useful work. To be able to achieve its assigned tasks the robot will usually need to move to speci c locations where it will perform the required work. There are various ways we can move the robot around:

Leafnode is a NTTP news server designed for small networks that may have slow connections to the Internet You can obtain the Leafnode software package along with documentation from its Web site at wwwleafnodeorg You can also download it from software repositories like freshmeatnet or linuxappscom Along with the Leafnode NNTP server, the software package includes several utilities such as Fetchnews, Texpire, and Newsq Fetchnews retrieves and sends articles to your upstream news servers Texpire deletes old news, and Newsq shows articles waiting to be sent out Leafnode is tailored to very low usage requirements Only newsgroups that users on your local network have accessed within the last week are actually downloaded Newsgroups not accessed in over a week are no longer downloaded Its usage levels are comparable to a news client, accessing only the news that users on your network want.

For a small network, this means having the advantages of a news service with few of the disadvantages Much less disk space is used and less time is needed to download newsfeeds Note Slrnpull is a simple single-user version of Leafnode that can be used only with the slrn newsreader With it, you can use to automatically download articles in specified newsgroups from your network's news server and view them offline (see 18) Configuring Leafnode is a relatively simple process You need to enter news server information in the Leafnode configuration file and make sure that there is a file for Leafnode in the xinetdd directory so that users on your network can access it The Leafnode configuration file is /etc/leafnode/config You can edit this file directly or use one of several GUI Leafnode configuration utilities such as Keafnode or leafwa.

Move along a prescribed path de ned by a line Freely move along a path that the robot determines for itself Move to a speci c destination while keeping within a speci ed limited boundary

Keafnode is a KDE program that provides a simple dialog box to configure your Leafnode servers, expire messages in selected newsgroups, and control download operations leafwa provides a Webpage-based interface letting you configure Leafnode using any Web browser You can think of Leafnode as more of a news client that provides news server services to a small local network It assumes that you already have a connection to a larger network such as the Internet and to an NNTP news server on that network You then configure Leafnode to download newsgroup articles from that NNTP news server In the Leafnode configuration file, you need to specify the name of that NNTP news server in the server entry, as shown here:.

If you have access to other news servers, you can list them in the supplement entry:

If you need a username and password to access the news server, you can list them in username and password entries following the server entry:

In subsequent chapters we will explore the second and third options. This chapter will explore the rst option. The advantage of having the robot move along a designated path is that we can ensure where the robot will be all the time as it progresses from one location to another. It is also easy to make sure that the robot will have no obstacles along its path or at least avoid having to program it with a sophisticated obstacle avoidance behavior. An example application for a robot of this kind is an automated waiter that carries food items along a continuous loop starting at the kitchen, winding around and between the tables, and returning to the kitchen. It would not be desirable to have a track that protrudes above the ground due to the risk of customers tripping over the exposed tracks. A robot that can follow a line painted on the ground would be preferable. The line does not have to be visible to humans. Only the robot s sensors need to see it.

In the configuration file, you can also specify a default expiration time for unread newsgroup articles:

The Leafnode server does not perform the task of downloading articles. For this task, use Fetchnews. Fetchnews will download articles for specified newsgroups from the NNTP news server and send posted articles to it submitted by users on your local network. Similarly, you use the Texpire application to expire articles that have been previously downloaded. You can further automate these operations by scheduling them in a Leafnode crontab file, leafnode.crontab. To allow users on your network to access the Leafnode server set up for them, you place a file for it in the xinetd.d directory that would call /user/local/sbin/leafnode.