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extra IP addresses can be used for virtual servers, not independent machines. You can use such an extra IP address to set up a virtual FTP server, giving you another FTP site on the same system. This added server would use the extra IP address as its own. Remote users could access it using that IP address, instead of the system's main IP address. Because such an FTP server is not running independently on a separate machine but is, instead, on the same machine, it is known as a virtual FTP server or virtual host. This feature lets you run what appears to others as several different FTP servers on one machine. When a remote user uses the virtual FTP server's IP address to access it, the ProFTPD daemon detects that request and operates as the FTP service for that site. ProFTPD can handle a great many virtual FTP sites at the same time on a single machine. Note Given its configuration capabilities, you can also tailor any of the virtual FTP sites to specific roles, such as a guest site, an anonymous site for a particular group, or an anonymous site for a particular user. You configure a virtual FTP server by entering a <VirtualHost> directive for it in your proftpd.conf file. Such an entry begins with the VirtualHost directive and the IP address, and ends with a terminating VirtualHost directive, </VirtualHost>. Any directives placed within these are applied to the virtual host. For anonymous or guest sites, add Anonymous and Guest directives. You can even add Directory directives for specific directories. With the Port directive on a standalone configuration, you can create a virtual host that operates on the same system but connects on a different port.

Xinetd and standalone configurations handle virtual hosts differently. Xinetd detects a request for a virtual host, and then hands it off to an FTP daemon. The FTP daemon then examines the address and port specified in the request and processes the request for the appropriate virtual host. In the standalone configuration, the FTP daemon continually listens for requests on all specified ports and generates child processes to handle ones for different virtual hosts as they come in. In the standalone configuration, ProFTPD can support a great many virtual hosts at the same time. The following example shows a sample configuration of a virtual FTP host. The VirtualHost directives use domain name addresses for their arguments. When a domain name address is used, it must be associated with an IP address in the network's domain name server. The IP address, in turn, has to reference the machine on which the ProFTPD daemon is running. On the ftp.mypics.com virtual FTP server, an anonymous guest account named robpics is configured that requires a password to log in. An anonymous FTP account is also configured that uses the home directory /var/ftp/virtual/pics.

n Chap. 3 we learned about some of the sensors the robot can use to become aware of its environment. You saw some programs that utilized the sensors to make the robot stop before it crashed into walls. However, we often do not want the robot to just stop when it encounters an obstacle. We want it to be able to avoid the obstacle in some manner and continue moving. In Chap. 4 we manually controlled the robot so when the obstacles stopped the robot we were able to decide on how to circumvent them and commanded the robot on what to do to go around the object (by remote control). The aim of this book is to create an autonomous mobile robot. To be autonomous the robot has to be able to decide for itself how to circumvent obstacles. The robot has to be able to avoid or go around obstacles and continue along its route accomplishing the tasks it is supposed to complete all by itself. This chapter is the rst one where we will start giving the robot the ability to make decisions. Subsequent chapters will greatly enhance the robot s arti cial intelligence (AI) capabilities. There are various approaches to making the robot avoid obstacles: Turn around and travel in a direction away from the obstacle. Turn suf ciently to avoid the obstacle but not completely around. Negotiate around the obstacle until it clears it and then continue traveling in the same direction as before. Wait for the obstacle to move away; assuming the obstacle is a mobile object itself. A combination of all or some of the above.

<VirtualHost ftp.mypics.com> ServerName "Mypics FTP Server" MaxClients 10 MaxLoginAttempts 1 DeferWelcome on <Anonymous ~robpics> User robpics Group robpics

<Anonymous /var/ftp/virtual/pics> User ftp Group ftp UserAlias anonymous ftp </Anonymous> </VirtualHost>

Utility maximization. Investors try to maximize their own utilities; they are risk-averse. Decision basis. Investors make their decisions only on the basis of risk and return. Expectations. Investors have homogeneous expectations regarding return and risk (variance and covariance) of the assets. One-period time horizon. Investors have identical time horizons of one period. Information efficiency. Information is free and simultaneously available to all market participants. Risk-free asset. Investors can borrow or invest in an unlimited amount of risk-free assets. Markets without friction. No taxes, transaction fees, restrictions on short positions or other market restrictions exist. Capital market equilibrium. The sum of all instruments is given and in possession of the investors. All instruments are marketable, and the assets are divisible to any degree. Supply and demand are not influenced by anything other than price. Distribution. The CAPM, like the Markowitz approach, is based on the normal distribution of returns or a quadratic utility function.