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23.19 (a) (0, + ) (b) x = 0, rel. min.; (c) concave upward for |x| < 1, I( 1, 0); (d) see Fig. A-13, horizontal asymptote y = 3. 23.20 (a) 1 < x < 0 or 0 < x < 2 or 2 < x < 3; (b) 0 < x < 2 or x > 4.

During any one pass the PTT is in contact with the satellite for 10 min on average The messages received at the satellite are retransmitted in real time to one of a number of regional ground receiving stations whenever the satellite is within range The messages are also stored aboard the satellites on tape recorders, and are dumped to one of three main ground receiving stations These are located at Wallops Island, VA, USA, Fairbanks, Alaska, USA, and Lannion, France The Doppler shift in the frequency received at the satellite is used to determine the location of the PTT This is discussed further in connection with the Cospas-Sarsat search and rescue satellites..

12.1.5 MOVING TOWARD THE BEACON The subroutine ForwardTillBlocked, shown in Fig. 12.5, moves the robot forward until it encounters an object or it reaches the beacon. The expression in the while-loop checks for an obstacle with the three front infrared sensors and the front and side bumpers. The subroutine CheckFound determines if the robot has reached the beacon and sets the variable BeaconFound to true or false to indicate the current status. If the beacon has been found the while-loop is exited with a Break statement.

Platform Transmitter Terminals (PTT) Characteristics 401.75 MHz Up to 32 bytes 45 200 s Varies depending on latitude and type of service 360 920 ms Varies Battery, solar, external

ForwardTillBlocked: while not (rFeel() & 14) AND not (rBumper() & 14) rForward 1 gosub CheckFound if BeaconFound Then break wend Return

SOURCE:

ANS.]

1.7 Cospas-Sarsat* COSPAS is an acronym from the Russian Cosmicheskaya Sistyema Poiska Avariynich Sudov, meaning space system for the search of vessels in distress and SARSAT stands for Search and Rescue Satellite-Aided Tracking (see http:/ /www.equipped.com/ cospas-sarsat_overview.htm). The initial Memorandum of Understanding that led to the development of the system was signed in 1979 by agencies from Canada, France, the USA, and the former USSR. There are (as of November 2004) 37 countries and organizations associated with the program. Canada, France, Russia and the USA provide and operate the satellites and ground-segment equipment, and other countries provide ground-segment support. A full list of participating countries will be found in Cospas-Sarsat (2004). The system has now been developed to the stage where both low earth orbiting (LEO) satellites and geostationary earth orbiting (GEO) satellites are used, as shown in Fig. 1.8. The basic system requires users to carry distress radio beacons, which transmit a carrier signal when activated. A number of different beacons are available: emergency locator transmitter (ELT) for aviation use; emergency position indicating radio beacon (EPIRB) for maritime use; and personal locator beacon (PLB) for personal use. The beacons can be activated manually or automatically (e.g., by a crash sensor). The transmitted signal is picked up by a LEO satellite, and because this satellite is moving relative to the radio beacon, a Doppler shift in frequency is observed. In effect, if the line of sight distance between transmitter and satellite is shortened as a result of the relative motion, the wavelength of the emitted signal is also shortened. This in turn means the received frequency is increased. If the line of sight distance is lengthened as a result of the

1216 GOING AROUND AN OBSTACLE If the robot encounters an object, it needs to go around it It is certainly possible to develop many different ways to go around an object, but we already have one from Chap 8 All our robot needs to do is follow the edge of the object as if it were a wall However, if the code from Chap 8 is used as it was written the robot would just continue to follow around the object forever We need a way to tell it to stop when it has reached the other side The robot has no easy way to determine when it has reached the other side of the object In fact, if there are other objects close by, the robot might not even be able to get to the other side without causing a collision.

http://www.cospas-sarsat.org/

24.4 (a) No maximum; (b) 10 m by 10 m. 24.7 Height = 7 ft, side of base = 6 ft. 24.9 10 cm. 24.5 (0, 0). 24.6