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motors, sensors, and other parts have to be ordered After delivery, the robot must be constructed, programmed, physically modi ed to account for unanticipated problems, and then programmed again and again before it meets the standards for an acceptable entry into the competition This time-consuming process limits the frequency of events RobotBASIC alleviates all the above obstacles In a RobotBASIC-based contest participants can begin programming immediately which is really the core of robot design A contest can easily be held at every club meeting, and since you can hold more contests, you can have a greater variety of types and dif culty levels This can encourage greater attendance at meetings and as members learn how to program simulations they will gain experience that will make them more likely to spend the time, effort, and expense needed to build more sophisticated physical robots.

Here, Ta, which takes the place of Tx in Eq. (12.29), is known as the apparent absorber temperature. It is a measured parameter which is a function of many factors including the physical temperature of the rain and the scattering effect of the rain cell on the thermal noise incident upon it (Hogg and Chu, 1975). The value of the apparent absorber temperature lies between 270 and 290 K, with measured values for North America lying close to or just below freezing (273 K). For example, the measured value given by Webber et al. (1986) is 272 K. The total sky-noise temperature is the clear-sky temperature TCS plus the rain temperature: Tsky TCS Train (12.59)

Rainfall therefore degrades the received [C/N0] in two ways: by attenuating the carrier wave and by increasing the sky-noise temperature.

Competitions can even be held over a web site where the contest s rules and parameters are posted and the participants can post their entries Members can participate without ever attending a physical venue, which opens the contest to more participants The audience and judges can watch the various entries performing by downloading the programs and running them on their version of RobotBASIC When it is time to hold real-world contests, RobotBASIC can help because it makes designing and programming a real robot easier and faster After developing ideas with the simulation software, you will have better insight into what sensors a real robot needs and how these sensors should be situated and con gured As you have seen in preceding chapters, the type, quantity, and placement of sensors greatly in uence the algorithms needed to develop robots that successfully solve the imposed challenges.

13.1 Prove Rule 3, the product rule: If f and g are differentiable at x, then Dx (f (x) g(x)) = f (x) Dx g(x) + g(x) Dx f (x)

Under clear-sky conditions, the downlink [C/N] is 20 dB, the effective noise temperature of the receiving system being 400 K. If rain attenuation exceeds 1.9 dB for 0.1 percent of the time, calculate the value below which [C/N] falls for 0.1 percent of the time. Assume Ta 280 K.

Also, as you have seen, the simulator s debugging tools allow algorithms to be developed much faster than with a real robot..

1.9 dB attenuation is equivalent to a 1.55:1 power loss. The equivalent noise temperature of the rain is therefore Train 280 (1 1/1.55) 99.2 K

CHAP. 13]

The new system noise temperature is 400 99.2 499.2 K. The decibel increase in noise power is therefore [499.2] [400] 0.96 dB. At the same time, the carrier is reduced by 1.9 dB, and therefore, the [C/N] with 1.9-dB rain attenuation drops to 20 1.9 0.96 17.14 dB. This is the value below which [C/N] drops for 0.1 percent of the time.

15.2.6 WAITING FOR A COMMAND As we have speci ed, the robot will wait until a user commands it to a particular room. The subroutine WaitForCommand (Fig. 15.9) will wait until the user presses the right mouse button anywhere on the screen or the m or M button on the keyboard. This indicates to the routine that the user desires to command the robot. The routine will then

It is left as an exercise for the student to show that where the rain power attenuation A (not dB) is entirely absorptive, the downlink C/N power ratios (not dBs) are related to the clear-sky value by a N b C rain a N b aA C CS (A 1) Ta TS,CS b (12.60)