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The winner of a contest could be the robot that accomplishes the task using the least amount of points The ef ciency of an algorithm is dependent upon a variety of design considerations Choosing the type and combination of sensors can be just as important as the frequency and method of interrogating these sensors Also the number of times the robot makes the wheels turn and stop can be an indication of the effectiveness of the robot In general, it is better to analyze sensory data using mathematics and logic in order to minimize super uous movements since movement generates more points than reading the sensors Algorithms can be made more powerful and more ef cient with movement and sensory acquisitions in many ways Proper planning with mathematics and logic can minimize the trial and error approach to tackling challenges.

Example 12.18 illustrates the point that when one of the link C/N0 ratios is much less than the other, the combined C/N0 ratio is approximately equal to the lower (worst) one. The downlink C/N is usually (but not always) less than the uplink C/N0, and in many cases it is much less. This is true primarily because of the limited EIRP available from the satellite. Example 12.19 illustrates how BO is taken into account in the linkbudget calculations and how it affects the C/N0 ratio.

g(x) g(x + h)

This is a really important concept when the robot is used as a teaching tool (see Chap 19) because it helps students see real-life relevance and application for many of the topics they study Another way of decreasing the points used by an algorithm is to utilize more ef cient code Example 1 in Fig 181 uses rFeel() to avoid a collision If the value of the sensors happens to be two then the sensors will be read three times Example 2 makes the robot do exactly the same thing, but much more ef ciently The value of the sensors is read only once and is stored in a variable The value of that variable is used in the if-statements to make the required decisions, thus avoiding reading the sensors more than one time..

Example 12.19 A multiple carrier satellite circuit operates in the 6/4-GHz band with the following characteristics.

Uplink: Saturation flux density 1 dBK . Downlink: Satellite saturation EIRP 26.6 dBW; output BO 6 dB; free-space loss 196.7 dB; earth station G/T 40.7 dBK 1. For this example, the other losses may be ignored. Calculate the carrier-to-noise density ratios for both links and the combined value.

1832 SCORING WITH THE BATTERY If you recall from Chap 13, RobotBASIC has a simulated battery The robot has the ability to determine the amount of charge left on the battery and to recharge the battery If the battery option is enabled by issuing an rIgnoreCharge false statement the robot will cease to operate if the battery becomes depleted This provides another method for scoring contests The winner could be the robot that accomplishes the most of whatever the robot is supposed to achieve before the battery runs out Just like in car racing you could allow the contestants robots to pull into a pit to recharge their batteries by docking with recharging stations This would cause the robot to abandon its tasks to seek a station, but that just adds more variety to the contest.

h 0 hg(x)g(x + h)

As in the previous examples, the data are best presented in tabular form, and values are shown in decilogs. The minus signs in Eqs. (12.50) and (12.55) are attached to the tabulated numbers:

Robots that can nd the charging station quicker have an advantage, and ef cient algorithms are rewarded because they allow the robot to work longer before having to charge the battery 1833 SCORING WITH THE QUALITY OF CODE Another way of judging the entries would be on the programmers coding style and ef ciency With physical robots, contestants use a variety of microprocessors and programming languages like C, BASIC, assembly, and so on This makes it hard to have a standard for judging the code since there is no homogeneity between programming languages In RobotBASIC-based contests all the contestants are using the same programming language Since the code to achieve the simulations can be made readily available to judges, the style and readability of code can be an element in the scoring standards This would encourage contestants to code more professionally.