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n all the chapters so far, we have developed algorithms to make our robot react to its environment while achieving speci c tasks. The approach used was to give the robot speci ed parameters for how to react to speci c sensory inputs. On many occasions the robot was given randomness so it could vary its behavior suf ciently to avoid getting stuck in unanticipated dead-end situations. When the robot became stuck in a situation where it could not continue doing its work, randomness eventually created the right combination of parameters to enable the robot to escape. However, the robot had no way of learning from its experience. If the robot encountered a similar situation at a later time it had no means to recall and reapply the same parameters. If we give the robot a memory and the ability to record the parameters that made it succeed as well as the ones that led to it becoming stuck, the robot should be able to adapt its future behavior so that it can avoid the bad situations and favor the good ones. An example of this kind of behavior was seen in Chap. 14, where the robot learned from the rst pass through the corridor maze, how to negotiate the maze perfectly the second time. To achieve this we used memory (array) to save past behavior in order to in uence future behavior.

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Brussard and Rogers, 1990.

In a normal control algorithm the robot observes the environmental conditions using sensors These values are compared to a set of desired values that have been xed by the programmer Depending on the deviations of the sensory values from the desired ones, the algorithm will determine a course of action that is translated into a set of commands to actuators (eg, motors) that manipulate the robot and/or environment (see Fig 161) The above would result in an environmental change, which then affects the sensory inputs The algorithm continues in a loop, responding to changes due to the actuators of the robot and/or external environmental factors The outcome is that the robot will get progressively closer to the desired state.

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free electrons in the ionosphere are not uniformly distributed but form in layers. Furthermore, clouds of electrons (known as traveling ionospheric disturbances) may travel through the ionosphere and give rise to fluctuations in the signal that can only be determined on a statistical basis. The effects include scintillation, absorption, variation in the direction of arrival, propagation delay, dispersion, frequency change, and polarization rotation (CCIR Report 263-5, 1982). All these effects decrease as frequency increases, most in inverse proportion to the frequency squared, and only the polarization rotation and scintillation effects are of major concern for satellite communications. Polarization rotation is described in Sec. 5.5. Ionospheric scintillations are variations in the amplitude, phase, polarization, or angle of arrival of radio waves. They are caused by irregularities in the ionosphere which change with time. The main effect of scintillations is fading of the signal. The fades can be quite severe, and they may last up to several minutes. As with fading caused by atmospheric scintillations, it may be necessary to include a fade margin in the link power-budget calculations to allow for ionospheric scintillation.

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Interpret csc 1 x as the angle (in the rst or third quadrant) whose cosecant is x. Then, 1 Dx (csc 1 x) = x x2 1 1 dx = csc 1 x + C

Total zenith attenuation at ground level: pressure 1 atm, temperature 20 C, and water vapor 7.5 g/m3 . (Adapted from CCIR Report 719-2, with permission from International Telecommunication Union.)

How quickly and how ef ciently the robot reaches the desired state, and how quickly it responds to a disturbance in the conditions depends on the control algorithms used The eld of control is a specialized and exciting eld of study and can be very mathematical The methods for determining the parameters of the algorithm are the subject of a well-established discipline in engineering that uses complex mathematics and calculus to optimize these parameters The analysis to determine the parameters usually takes into account a certain range of environmental criteria but this range is often xed and limited If, instead of xing the parameters forever, the robot is given another feedback loop mechanism that serves to automatically modify the parameters in memory (and keep the parameters that work best), the robot would be able to adapt to a wider range of changing environmental situations The diagram in Fig 16.

4.4 Rain Attenuation Rain attenuation is a function of rain rate. By rain rate is meant the rate at which rainwater would accumulate in a rain gauge situated at the ground in the region of interest (e.g., at an earth station). In calculations relating to radio wave attenuation, the rain rate is measured in millimeters per hour. Of interest is the percentage of time that specified values are exceeded. The time percentage is usually that of a year; for example, a rain rate of 0.001 percent means that the rain rate would be exceeded for 0.001 percent of a year, or about 5.3 min during any one year. In this case the rain rate would be denoted by R0.001. In general,

(37.6)

the percentage time is denoted by p and the rain rate by Rp. The specific attenuation is aRb dB/km p (4.2)

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