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In the table top situation it would not be acceptable for the robot to have more than a very small fraction of its body protrude over the edge of the table (never any of its wheels) In this section we will explore how to achieve this Obstacle avoidance will also be added to the behavior so the robot can avoid obstacles at the same time that it is avoiding the edge of the table or landing To detect an edge in a real life situation there are many sensors that can detect a change in light intensity or color variation, which indicates that there is a change in the surface that is being sensed This can tell us that the oor is dropping Such sensors require a constant color and re ectivity surface.

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Calculate the semimajor axis for INTELSAT 901. Calculate the apogee and perigee heights for INTELSAT 906.

Inverse Cosecant (Arc Cosecant)

3.24. Calculate the rate of regression of the nodes and the rate of rotation of the line of apsides for INTELSAT 907.

Another method is to have a sonar or infrared sensor that can measure the distance to the oor An increase in the distance indicates that the oor is dropping away The problem with this method is that many of the available sensors do not measure small distances accurately, which is necessary for this application This simulation will make use of specialized ground sensors RobotBASIC has downward-facing color sensors accessed with the function rGroundA() that returns the.

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Bate, R. R., D. D. Mueller, and J. E. White. 1971. Fundamentals of Astrodynamics. Dover, New York. Celestrak, at http://celestrak.com/NORAD/elements/intelsat.txt Mahon, J., and J. Wild. 1984. Commercial Launch Vehicles and Upper Stages. Space Commun. Broadcast., Vol. 2, pp. 339 362. Maral, G., and M. Bousquet. 1998. Satellite Communications Systems. Wiley, New York. Spilker, J. J. 1977. Digital Communications by Satellite. Prentice-Hall, Englewood Cliffs, NJ. Wertz, J. R. (ed.). 1984. Spacecraft Attitude Determination and Control. D. Reidel, Holland.

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color the sensors are sensing. With these sensors you can look at the ground around the robot s perimeter and see what color it is. The function enables you to create almost any combination of sensors you wish around the perimeter of the robot. We are going to create 5. Read about this function in Sec. C.9 before proceeding. We are going to set up a sensor at 90 to the left, another at 45 to the left, one on the front and one on the right at 45 and a nal one at 90 to the right. We will write code to make the sensors return a value of 0 if the sensor is seeing the table and a value of 1 if it is not (i.e., over the edge). It is necessary to be familiar with binary numbers and bitwise operators to appreciate the actions of the program being developed here. Review Chaps. 3, 4, and 5 if you need a refresher in these concepts. As you have seen in Chap. 3, the rFeel() function returns a number where the rst ve bits from the right represent the state of each of the ve infrared sensors on the robot. We are going to set up the special ground sensors to return a number in exactly the same manner. To summarize:

Fig. 37-7

4.1 Introduction A signal traveling between an earth station and a satellite must pass through the earth s atmosphere, including the ionosphere, as shown in Fig. 4.1, and this can introduce certain impairments, which are summarized in Table 4.1. Some of the more important of these impairments will be described in this chapter. 4.2 Atmospheric Losses Losses occur in the earth s atmosphere as a result of energy absorption by the atmospheric gases. These losses are treated quite separately from those which result from adverse weather conditions, which of course are also atmospheric losses. To distinguish between these, the weather-related losses are referred to as atmospheric attenuation and the absorption losses simply as atmospheric absorption. The atmospheric absorption loss varies with frequency, as shown in Fig. 4.2. The figure is based on statistical data (CCIR Report 719-1, 1982). Two absorption peaks will be observed, the first one at a frequency of 22.3 GHz, resulting from resonance absorption in water vapor (H2O), and the second one at 60 GHz, resulting from resonance absorption in oxygen (O2). However, at frequencies well clear of these peaks, the absorption is quite low. The graph in Fig. 4.2 is for vertical incidence, that is, for an elevation angle of 90 at the earth-station antenna. Denoting this value of absorption loss as [AA]90 decibels, then for elevation angles down to 10 , an approximate formula for the absorption loss in decibels is (CCIR Report 719-1, 1982) [AA] [AA]90 cosecEl (4.1)

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