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divert(-1) dnl This is the sendmail macro config file. If you make changes to this file, dnl you need the sendmail-cf rpm installed and then have to generate a dnl new /etc/sendmail.cf by running the following command: dnl dnl m4 /etc/mail/sendmail.mc > /etc/sendmail.cf dnl include(`/usr/share/sendmail-cf/m4/cf.m4') VERSIONID(`linux setup for Red Hat Linux')dnl OSTYPE(`linux') define(`confDEF_USER_ID',``8:12'')dnl undefine(`UUCP_RELAY')dnl undefine(`BITNET_RELAY')dnl define(`confAUTO_REBUILD')dnl define(`confTO_CONNECT', `1m')dnl

The best way to deal with these situations is to plan ahead so you can anticipate the predicaments the robot may face. One way to do this is to use the remote control program from Fig. 4.6 in Chap. 4. Substitute the environmental situations you want to explore and use the remote control features of the program to move the robot into dif cult situations and

define(`confTRY_NULL_MX_LIST',true)dnl define(`confDONT_PROBE_INTERFACES',true)dnl define(`PROCMAIL_MAILER_PATH',`/usr/bin/procmail')dnl define(`ALIAS_FILE', `/etc/aliases')dnl define(`STATUS_FILE', `/var/log/sendmail.st')dnl define(`UUCP_MAILER_MAX', `2000000')dnl define(`confUSERDB_SPEC', `/etc/mail/userdb.db')dnl define(`confPRIVACY_FLAGS', `authwarnings,novrfy,noexpn,restrictqrun')dnl define(`confAUTH_OPTIONS', `A')dnl dnl TRUST_AUTH_MECH(`DIGEST-MD5 CRAM-MD5 LOGIN PLAIN')dnl dnl define(`confAUTH_MECHANISMS', `DIGEST-MD5 CRAM-MD5 LOGIN PLAIN')dnl dnl define(`confTO_QUEUEWARN', `4h')dnl dnl define(`confTO_QUEUERETURN', `5d')dnl dnl define(`confQUEUE_LA', `12')dnl dnl define(`confREFUSE_LA', `18')dnl dnl FEATURE(delay_checks)dnl FEATURE(`no_default_msa',`dnl')dnl FEATURE(`smrsh',`/usr/sbin/smrsh')dnl FEATURE(`mailertable',`hash -o /etc/mail/mailertable')dnl FEATURE(`virtusertable',`hash -o /etc/mail/virtusertable')dnl FEATURE(redirect)dnl FEATURE(always_add_domain)dnl FEATURE(use_cw_file)dnl FEATURE(use_ct_file)dnl FEATURE(local_procmail)dnl FEATURE(`access_db')dnl FEATURE(`blacklist_recipients')dnl EXPOSED_USER(`root')dnl dnl This changes sendmail to only listen on the loopback device 127.0.0.1 dnl and not on any other network devices. Comment this out if you want dnl to accept email over the network. DAEMON_OPTIONS(`Port=smtp,Addr=127.0.0.1, Name=MTA')dnl dnl We strongly recommend to comment this one out if you want to protect dnl yourself from spam. However, the laptop and users on computers that do dnl not have 24x7 DNS do need this. FEATURE(`accept_unresolvable_domains')dnl MAILER(smtp)dnl MAILER(procmail)dnl

For a mail server that is relaying messages from localhosts to the Internet, you may want to masquerade the source of the messages. In large networks that have their own mail servers connected to the Internet, Sendmail masquerading can make messages sent by localhosts appear to be sent by the mail server. Their host address will be replaced by the mail server's address. Returned mail can then be sent to the mail server and held in POP or IMAP server mailboxes that can be later accessed by users on the localhosts. Also, entries in the server's virtualusertable could forward mail to corresponding users in localhosts. Masquerading is often used to masque localhosts with a domain name. Any subdomains can also be masqueraded. This method can be applied to situations where an ISP or your network administrator have assigned your network its own domain name. You can then masque all mail messages as coming from your domain name instead of from particular hosts or from subdomains you may have. For example, if a network's official domain name is mytrek.com, then all messages from the hosts in the mytrek.com network such as rabbit.mytrek.com and

2.4.3 Modified Form of CAPM by Black, Jensen, and Scholes Black, Jensen, and Scholes conducted an empirical examination of the CAPM in 1972. They used a model without a risk-free interest rate, because the existence of a risk-free interest rate was controversial.34 In the model without a risk-free return, the security market line (SML) is no longer defined by the risk-free return and the market portfolio; instead, it is a multitude of combinations, as there is a multitude of zero-beta portfolios.35 The return that they were able to explain was significantly higher than the average risk-free return within the observation period. They concluded that the model is compatible with the standard form of the CAPM, but differentiates between borrowing and lending. The study supports the practical observation that borrowing is more expensive than lending money. Empirical studies support the development of the capital market line with two interest rates, one for borrowing and one for lending money. It is an important improvement, as it excludes the assumption that borrowing and lending are based on the same risk-free rate.36 Figure 2-6 is based on the following equations: E(ri) = rL + i [E(rm) rL] + i E(ri) = rB + i [E(rm) rB] + i (2.7) (2.8)

observe the displayed sensory data. Knowledge of how the robot sees its environment will help you choose the sensors you need and what data patterns to program for. In a complex or changing environment you might miss some critical situations no matter how much you plan. When this happens you need a way to discover exactly why your robot is getting baf ed and what actions it should invoke to deal with these situations when they are encountered.