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C.6.6 Break STATEMENT Used inside a for/next, repeat/until, and while/wend loops to break the loop immediately. The lines beyond the Break statement will not execute and the current level of the for/repeat/while loop will be abandoned to the line following next/repeat/wend line associated with the current level. This is useful if a loop needs to be abandoned before reaching the end of the loop. C.6.7 Continue STATEMENT Used inside a for/next, repeat/until, and while/wend loop to reloop the loop immediately. The lines beyond the Continue statement will not execute. The program ow will go to the end of the loop (next/until/wend). Execution will continue on that statement. The loop will be executed as per normal. This is useful if a loop needs to be repeated before reaching the end of the loop. C.6.8 Case CONSTRUCT The case construct is not implemented in the language. However, you can emulate a case construct using the structured-if.

Figure 14.14 (a) Intelsat 2-ms frame; (b) composition of the reference burst R; (c) composition of the preamble P. (QPSK modulation is used, giving 2 bits per symbol. Approximate time intervals are shown.)

The preamble is the initial portion of a traffic burst that carries information similar to that carried in the reference burst. In some systems the channel allocations in the reference bursts and the preambles are identical. No traffic is carried in the preamble. In Fig. 14.13, the only difference between the preamble and the reference burst is that the preamble provides an orderwire (OW) channel. For the INTELSAT format shown in Fig. 14.14, the preamble differs from the reference burst in that it does not provide a CDC. Otherwise, the two are identical. As with the reference bursts, the preamble provides a carrier and bit-timing recovery channel and also a burst-code-word channel for burst-timing purposes. The burst code word in the preamble of a traffic burst is different from the burst code word in the reference bursts, which enables the two types of bursts to be identified. In certain phase detection systems, the phase detector must be allowed time to recover from one burst before the next burst is received by it. This is termed decoder quenching, and a time slot, referred to as a postamble, is allowed for this function. The postamble is shown as Q in Fig. 14.13. Many systems are designed to operate without a postamble.

When you combine Figs. 15.1, 15.3, and 15.5 with 15.8 to 15.11 and run the program you will see the system working perfectly well. The robot goes from room to room as commanded and the recharge docking procedure works as expected. However, this is not a real situation. The simulation in Sec. 15.2 is unrealistic in two ways:

CHAP. 19]

A factor, which must be taken into account with TDMA is that the various bursts in a frame lack coherence so that carrier recovery must be repeated for each burst This applies to the traffic as well as the reference bursts Where the carrier recovery circuit employs a phase-locked loop such as shown in Fig 1020, a problem known as hangup can occur This arises when the loop moves to an unstable region of its operating characteristic The loop operation is such that it eventually returns to a stable operating point, but the time required to do this may be unacceptably long for burst-type signals One alternative method utilizes a narrowband tuned circuit filter to recover the carrier An example of such a circuit for quadrature phaseshift keying (QPSK), taken from Miya (1981), is shown in Fig 1415.

Most robots use gears that have play due to manufacturing tolerances and wear and tear. Also wheels tend to slip and motors tend to behave differently, all resulting in inaccurate movement of the robot. So the movement you expect is not what you get. 2. Compasses and GPSs are relatively expensive and generally not as accurate as desired. Affordable electronic compasses are often only accurate to 5 not 1 as we would