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FIGURE 11.3 Result of running the program in Figs. 11.1 and 11.2 combined. Notice the Robot under the desk. It has managed to enter between the chair legs to clean under the desk.

Main reflector (paraboloid)

This example illustrates the following general rule: If x = a tan with ( /2) < < ( /2).

Main reflector (paraboloid)

the ForwardRobot subroutine to use the TestSensors subroutine. The idea is to test to see if the robot is over an area painted by the pen (using color LnClr). When the sensors give an indication of where there is color, we make the robot turn a percentage of the time away from a painted area and toward a nonpainted area. This percentage of time will be increased the more time the robot spends over a partially or fully painted area but only up to some maximum amount. The turn quantity will be increased every time the robot is totally surrounded by a painted area up to some maximum value. If the robot is totally surrounded by a nonpainted area the turn direction will be set to 0. Also, the turn amount will be set back to 1. Additionally the percent of time to do a turn will be reset back to 0. If the robot is partially surrounded by a painted area the turn direction is set to turn away from the painted area. If the painted area is straight ahead of the robot, or the robot is totally surrounded by a painted area, the turn direction is randomized. For additional randomness and effectiveness, the percent of time to turn is reset to 0 at a certain percentage of time. This avoids turning in circles forever if the area becomes almost fully covered.

Subreflector (ellipsoid)

Fig. 39-1

Figure 6.23 Ray paths for (a) Cassegrain antenna. (b) Gregorian antenna. (b)

To summarize:

where eh is the eccentricity of the hyperboloid (see App. B) and f is the focal length of the main reflector. The eccentricity of the hyperboloid is always greater than unity and typically ranges from about 1.4 to 3. The equivalent focal length, therefore, is greater than the focal length of the main reflector. The diameter of the equivalent paraboloid is the same as that of the main reflector, and hence the f/D ratio is increased. As shown in Fig. 6.18, a large f/D ratio leads to more uniform illumination, and in the case of the Cassegrain, this is achieved without the spillover associated with the single-reflector system. The larger f/D ratio also results in lower cross-polarization (Miya, 1981). The Cassegrain system is widely used in large earth-station installations.

The robot will test to see if and how it is surrounded by a previously vacuumed area. The robot will turn in a direction away from the painted area or in a random direction if it is fully surrounded or the area is straight ahead. Turning will only occur a certain percentage of the time. This percentage will increase the more time the robot spends over painted areas, but only to a maximum amount. This value will be reset to 0 on occasion and when the robot is fully surrounded by an unvacuumed area. The turn amount will increase every time the robot is completely surrounded by a vacuumed area, but only to a maximum amount. Also this value will be reset to 1 every time the robot is surrounded by an unvacuumed area. No turning will occur if an unvacuumed area surrounds the robot.

Fig. 39-2

The basic Gregorian form consists of a main paraboloid and a subreflector, which is an ellipsoid (see App. B). As with the hyperboloid, the subreflector has two focal points, one of which is made to coincide with that of the main reflector and the other with the phase center of the feed horn, as shown in Fig. 6.23b. The performance of the Gregorian system is similar in many respects to the Cassegrain. An offset Gregorian antenna is illustrated in Fig. 6.24.