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(b) The rain attenuation can reduce the [C/N] to the threshold level of 10 dB (i.e., it reduces the margin to zero), which is a (C/N) power ratio of 10:1 or a downlink N/C power ratio of 1/10.

If you save the value Tm in a variable StartTime and then call the subroutine again at a later time and subtract StartTime from the new Tm value you will get the elapsed time in between calls This is the same action as using a stopwatch WaitForCommand does the above and compares the time to a speci ed value TimeOutLimit If the elapsed time exceeds the time out limit the routine invokes DockWithCharger and sets the start time to a value that will not cause a time out again, until the subroutine is called again 1527 EXECUTING THE COMMAND The command process culminates in specifying a GoalNode to go to The node where the robot is situated is speci ed as the charge room node upon starting the program, and is always maintained in the variable RobotNode as the robot moves.

13.2 Prove Rule 6, the quotient rule:

For clear-sky conditions, [C/N]CS 17.4 dB, which gives an N/C ratio of 0.0182. Substituting these values in Eq. (12.60) gives 0.1 5 0.0182 3 aA 1 sA 2 1d 3 272 b 544

These two variables are necessary for the actions of the subroutine FindPath This subroutine is called by the routine MoveToRoom (Fig 1510) to nd a path of nodes to move from the RobotNode to the GoalNode The subroutine MoveToRoom calls FindPath (Fig 1510) to create PathList[ ] and its length PathLength This action is only performed if the destination node and the robot s node are different (ie, the robot is not at the destination) Once PathList[ ] is created and is a valid list (PathLength > 0) the routine iterates through the list to make the robot GotoPoint to the nodes one at a time You have seen the GotoPoint subroutine many times already in various chapters It assumes that the robot has a compass and GPS system.

Solving this equation for A gives A 4, or approximately 6 dB. From the curve of Fig. 12.8, the probability of exceeding the 6-dB value is 2.5 10 4, and there4 0.99975, or 99.975 percent. fore, the availability is 1 2.5 10

If f and g are differentiable at x and if g(x) = 0, then Dx f (x) g(x) = g(x) Dx f (x) f (x) Dx g(x) [g(x)]2

For digital signals, the required [C/N0] ratio is determined by the acceptable BER, which must not be exceeded for more than a specified percentage of the time. Figure 10.17 relates the BER to the [Eb/N0] ratio, and this in turn is related to the [C/N0] by Eq. (10.24), as discussed in Sec. 10.6.4. For the downlink, the user does not have control of the satellite [EIRP], and thus the downlink equivalent of uplink power control, described in Sec. 12.9.1, cannot be used. In order to provide the rain-fade margin needed, the gain of the receiving antenna may be increased by using a larger dish and/or a receiver front end having a lower noise temperature. Both measures increase the receiver [G/T] ratio and thus increase [C/N0] as shown by Eq. (12.53).

In this section it is assumed that the robot has an accurate compass and GPS (global positioning system) or even better an LPS (localized positioning system) Later sections will discuss how to move the robot without the use of these two specialized and sometimes limiting instruments The FindPath subroutine is the same as the one discussed in Chap 14 for nding the shortest path between two nodes The routine is modi ed slightly from the listing in.