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12.10 Combined Uplink and Downlink C/N Ratio The complete satellite circuit includes an uplink and a downlink, as sketched in Fig. 12.9a. Noise will be introduced on the uplink at the satellite receiver input. Denoting the noise power per unit bandwidth by PNU and the average carrier at the same point by PRU, the carrier-tonoise ratio on the uplink is (C/N0)U (PRU/PNU). It is important to note that power levels, and not decibels, are being used here. The carrier power at the end of the space link is shown as PR, which of course is also the received carrier power for the downlink. This is equal to times the carrier power input at the satellite, where is the system power gain from satellite input to earth-station input, as shown in Fig. 12.9a. It includes the satellite transponder and transmit antenna gains, the downlink losses, and the earth-station receive antenna gain and feeder losses. The noise at the satellite input also appears at the earth station input multiplied by , and in addition, the earth station introduces its own noise, denoted by PND. Thus the end-of-link noise is PNU PND. The C/N0 ratio for the downlink alone, not counting the PNU contribution, is PR/PND, and the combined C/N0 ratio at the ground receiver is

It is often important to hold contests with a wide range of dif culty levels. Challenges can be straightforward, such as avoiding obstacles or drop offs, or more complex such as lineor contour-following. If there are advanced participants you may consider more sophisticated contests such as locating hidden objects, solving mazes, or navigating from point-to-point around a cluttered environment. Variations on a theme can make a previously assigned contest a whole new challenge. Consider line-following as an example. If the robot is only allowed to use one line sensor instead of three, the contest will have a totally new avor. Another variation would be to make the line very wide, like a road, and require that the robot stay on the line simulating a car. Further variety may be achieved by varying the width of the line along the track, requiring the robot to change the algorithm it uses for staying on route. You could also make the line intermittent (made up of dots and dashes) forcing the robot to have to reacquire the line as it moves along the path. The number of variations is limited only by the imagination. The goal is to induce the participants to innovate and be enjoyably challenged. The level of dif culty of a contest should be geared to the range of abilities of the expected participants. Contests within the RobotBASIC environment can be as diverse in dif culty and variety as any real physical robotic contest, and the experiences gained in meeting the challenges assigned in a simulated robotic contest are applicable on numerous levels to nonvirtual contests.

If g(x) = 0, then 1/g(x) is de ned. Moreover, since g is continuous at x (by Theorem 13.1), g(x + h) = 0 for all suf ciently small values of h. Hence, 1/g(x + h) is de ned for those same values of h. We may then calculate lim

(a) Combined uplink and downlink; (b) power flow diagram for (a).

PR/( PNU PND). The power flow diagram is shown in Fig. 12.9b. The combined carrier-to-noise ratio can be determined in terms of the individual link values. To show this, it is more convenient to work with the noise-to-carrier ratios rather than the carrier-to-noise ratios, and again, these must be expressed as power ratios, not decibels. Denoting the combined noise-to-carrier ratio value by N0/C, the uplink value by (N0/C)U, and the downlink value by (N0/C)D then, N0 C PN PR PNU PND (12.61)

Determining the criteria for winning a contest is a crucial part of the planning process Using the line-following example again, the winner could be the robot that completes the task in the least amount of time or maybe the one that exits the line the least number of times before completing the course The winner could also be the robot that performs the task with the most ef ciency RobotBASIC provides a variety of methods for comparing the performance of participating robots 1831 SCORING WITH THE POINTS SYSTEM RobotBASIC has an internal point system that can provide a way to score a contest Each time the robot moves forward or turns, an internal counter is incremented by two points and each time the robot interrogates any sensors the counter is incremented by one point (see Sec C9 for more information).

Equation (12.61) shows that to obtain the combined value of C/N0, the reciprocals of the individual values must be added to obtain the N0/C ratio and then the reciprocal of this taken to get C/N0. Looked at in another way, the reason for this reciprocal of the sum of the reciprocals method is that a single signal power is being transferred through the system, while the various noise powers, which are present are additive. Similar reasoning applies to the carrier-to-noise ratio, C/N.

1 1 g(x+h) g(x)

10 9)