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ForwardRobot: rForward 1 //now see if we need to turn too gosub TestSensors if Sensors = 0 //fully new area TurnPercentTime = 0 //recent %time TurnDirection = 0 //no turn TurnAmount = 1 //reset amount else //increment %time but to a maximum TurnPercentTime = TurnPercentTime+1 if TurnPercentTime > MaxTurnPercentTime TurnPercentTime = MaxTurnPercentTime endif //turn right unless we need to turn left TurnDirection = 1 if Sensors = 31 //fully old area //increment turn amount but to a maximum TurnAmount = TurnAmount+1 if TurnAmount > MaxTurnAmount TurnAmount = MaxTurnAmount endif //random turn direction if random(10000) < 5000 then TurnDirection = -1 elseif Sensors&3 and not(Sensors&24) //if painted area on right turn left //no need to check for left since turndir is set to //right by default TurnDirection = -1 elseif Sensors = 4 //if painted area is only straight ahead //randomize the direction if random(10000) < 5000 then TurnDirection = -1 endif endif //if not correct percent of time //turn off turning if random(100000) > 100000%TurnPercentTime TurnDirection = 0 endif //reset the %time for turning on occasion if random(100000) < 100000%ResetPercentTime TurnPercentTime = 0 endif //make the turn if required if TurnDirection <> 0 rTurn sign(TurnDirection)*TurnAmount endif Return //=========================================================== //-- Creates 5 ground sensors //-- at +/-90, +/-45 and 0 degrees TestSensors: Sensors = 0 for TS_i = 0 to 4 if rGroundA(90-TS_i*45) = LnClr Sensors = Sensors | (2^TS_i) endif next Return //===========================================================

CHAP. 39]

until the model produces the desired coverage. On a first pass the computer analyzes the perturbations and translates these into surface ripples. The beam footprint computed for the rippled surface is compared with the coverage area. The perturbation analysis is refined and the passes are repeated until a satisfactory match is obtained. As

Many people may feel discouraged by the previous discussion because it means they have to do a lot of programming. Some may say: I just want to build a robot I don t want to sit and program all day . Without software and sensors a robot is nothing more than a motorized toy. An autonomous mobile robot needs to be able to make its own decisions about how to react to its environment. Autonomous robots are more challenging to design, but are much more versatile and useful. Imagine if the Mars Rover was not autonomous. Controllers on Earth trying to manipulate it would be very frustrated due to the fact that signals from Earth take nearly 10 minutes (depending on orbital positions) to reach Mars and vice versa. So a human trying to remote control the robot would have to wait a considerable time to see the results of the most recent control input and a considerable time to be able to command a correction. The robot can fall off a ledge, or collide with a rock by the time a corrective command reaches it. The only way to have an effective Mars Rover is to build it with a collection of intelligent algorithms to autonomously achieve the desired tasks. An algorithm that controls a robot s behavior is basically a set of rules that tell it how to respond to various situations as de ned by the state of its sensors. As these rules become more numerous and more complex you will start to see the robot behave in ways you never expected. The robot may appear to deal intelligently with situations you never

an example of the improvements obtained, the conventional approach to producing a CONUS beam requires 56 feed horns, and the feed weighs 84 pounds and has a 1-dB loss With a shaped reflector, a single-feed horn is used, and it weighs 14 pounds and has 03-dB loss (see Vectors, 1993) Shaped reflectors also have been used to compensate for rainfall attenuation, and this has particular application in direct broadcast satellite (DBS) systems (see Chap 16) In this case, the reflector design is based on a map similar to that shown in Fig 168, which gives the rainfall intensity as a function of latitude and longitude The attenuation resulting from the rainfall is calculated as shown in Sec 44, and the reflector is shaped to redistribute the radiated power to match, within practical limits, the attenuation 6.

cos2 = |cos | = cos , since cos 0 when /2 /2. Thus, (cot )(2 cos ) d = 2 cos2 d = 2 sin 2 x cos sin (cos ) d csc d sin d

17 Arrays Beam shaping can be achieved by using an array of basic elements The elements are arranged so that their radiation patterns provide mutual reinforcement in certain directions and cancellation in others Although most arrays used in satellite communications are two-dimensional horn arrays, the principle is most easily explained with reference to an in-line array of dipoles (Fig 626a and b) As shown previously (Fig 68), the radiation pattern for a single dipole in the xy plane is circular, and it is this aspect of the radiation pattern that is altered by the array configuration Two factors contribute to this: the difference in distance from each element to some point in the far field and the difference in the current feed to each element For the coordinate system shown in Fig 626b, the xy plane, the difference in distance is given by s cos .