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Figure 37 shows some example expressions that can help analyze what the bumper data are indicating All the expressions in Fig 37 can be used as conditions for if and while statements In the chapters that follow, you will learn more about how to write programs that analyze sensor information and how to use the information to control the robot..

It enables remote earth stations in sparsely populated areas to connect into the national telephone network in a reasonably economical way A main earth station is used to make the connection to the telephone network, as illustrated.

Figure 14.6 Thin route message traffic (single channel per carrier, SCPC/FDMA). (Courtesy of Telesat Canada, 1983.)

(a) (2, 6) and (7, 3); (b) (3, 1) and (0, 2); (c) (4, 1 ) and ( 1 , 3). 2 4

Expression rBumper( ) = 0 rBumper( ) =15 rBumper( ) rBumper( ) = 4 rBumper( ) = 12

in Fig. 14.6. The Telesat Canada Thin Route Message Facilities provide up to 360 two-way circuits using PSK/SCPC (PSK phase-shift keying). The remote terminals operate with 4.6-m-diameter antennas with [G/T ] values of 19.5 or 21 dB/K. Transportable terminals are also available, one of these being shown in Fig. 14.7. This is a singlechannel station that uses a 3.6-m antenna and comes complete with a desktop electronics package which can be installed on the customers premises.

if all bumpers are not pressed if all bumpers are pressed if any bumper is pressed if only the front bumper is pressed if both the front and the left are pressed

Transportable message station. (Courtesy of Telesat Canada, 1983.)

2.13 Determine whether the three given points are vertices of an isosceles triangle or of a right triangle (or of both). Find the area of each right triangle. (a) ( 1, 2), (3, 2), (7, 6) (b) (4, 1), (1, 2), (3, 8) (c) (4, 1), (1, 4), ( 4, 1)

144 Demand-Assigned FDMA In the demand-assigned mode of operation, the transponder frequency bandwidth is subdivided into a number of channels A channel is assigned to each carrier in use, giving rise to the single-channel-per-carrier mode of operation discussed in the preceding section As in the preassigned access mode, carriers may be frequency modulated with analog information signals, these being designated FM/SCPC, or they may be phase modulated with digital information signals, these being designated as PSK/SCPC Demand assignment may be carried out in a number of ways In the polling method, a master earth station continuously polls all the earth stations in sequence, and if a call request is encountered, frequency slots are assigned from the pool of available frequencies The polling delay with such a system tends to become excessive as the number of participating earth stations increases.

In the previous examples we used the robot s bumpers to avoid collisions, however, it took a collision (although a very minor one) to activate one of the bumpers Bumpers are very important because they are a reliable means of making sure the robot does not try to push furniture around the room Nevertheless, it would be better if the robot could detect an object in its path before actually touching the object 331 INFRARED SENSORS One method for enabling the robot to detect obstacles without touching them is to use infrared sensors The principle is to use an infrared LED (light emitting diode) to shine light away from the robot A phototransistor circuit detects if that light is re ected back to the robot If the light is re ected back then we can assume that some object is close by.

Instead of using a polling sequence, earth stations may request calls through the master earth station as the need arises This is referred to as centrally controlled random access The requests go over a digital orderwire, which is a narrowband digital radio link or a circuit through a satellite transponder reserved for this purpose Frequencies are assigned, if available, by the master station, and when the call is completed, the frequencies are returned to the pool If no frequencies are available, the blocked call requests may be placed in a queue, or a second call attempt may be initiated by the requesting station As an alternative to centrally controlled random access, control may be exercised at each earth station, this being known as distributed control random access A good illustration of such a system is provided by the Spade system operated by INTELSAT on some of its satellites.