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If you are familiar with other programming languages, the construct used in this subroutine is similar to a Case statement, which we do not have in RobotBASIC but can be easily emulated with the if-elseif-else-endif construct (see Sec. C.6 for more details on emulating the Case construct). The algorithm implements obstacle avoidance with rBumper(), if there are no obstacles it moves forward and turns in the same manner as described in the previous section. If there is an obstacle it calls the Reverse subroutine (Lines 62 77). This subroutine causes the robot to backup a distance speci ed by a random number between 20 and 10 pixels but only if there is no object behind it. After backing up, the robot turns a random amount in a random direction between 45 and 90 .

4.1. With reference to Table 4.1, identify the propagation impairments which most affect transmission in the C band. 4.2. Repeat Prob. 4.1 for Ku-band transmissions.

4.6 Show that the line y = x makes an angle of 45 with the positive x-axis (that is, POQ in Fig. 4-14 contains 45 ).

Run the program and notice how the robot never protrudes over the table edge. It covers the table quite effectively, roaming around almost everywhere while avoiding obstacles in a well behaved manner. Remember not to type the line numbers.

4.3. Calculate the approximate value of atmospheric attenuation for a satellite transmission at 14 GHz, for which the angle of elevation of the earth-station antenna is 15 . 4.4. Calculate the approximate value of atmospheric attenuation for a satellite transmission at 6 GHz, for which the angle of elevation of the earth-station antenna is 30 . 4.5. Describe the major effects the ionosphere has on the transmission of satellite signals at frequencies of (a) 4 GHz and (b) 12 GHz.

4.6. Explain what is meant by rain rate and how this is related to specific attenuation. 4.7. Compare the specific attenuations for vertical and horizontal polarization at a frequency of 4 GHz and a point rain rate of 8 mm/h which is exceeded for 0.01 percent of the year. 4.8. Repeat Prob. 4.7 for a frequency of 12 GHz.

Let P be the point on the line y = x with coordinates (1, 1). Drop a perpendicular PQ to the positive x-axis. Then PQ = 1 and OQ = 1. Hence, OPQ = QOP, since they are base angles of isosceles triangle QPO. Since OQP contains 90 ,

In this section we will explore a method that uses the GPS feature on the robot to con ne it to a particular area Some algebra will be necessary to develop this algorithm The principles are not complex and all the calculations will be explained in detail The GPS system on the simulated robot is accurate to a pixel Assuming that the robot is 40 pixels in diameter, simulating a real robot of about 1 ft in diameter, then one pixel would be 06 in This means that the simulated GPS system is far more accurate than is possible with a real world GPS The resolution of a GPS affects the accuracy with which an algorithm can control a robot The algorithm developed below is not affected greatly by this fact, however, there are solutions for the problem The US.

4.9. Explain what is meant by effective path length in connection with rain attenuation. 4.10. For a satellite transmission path, the angle of elevation of the earth station antenna is 35 , and the earth station is situated at mean sea level. The signal is vertically polarized at a frequency of 18 GHz. The rain height is 1 km, and a rain rate of 10 mm/h is exceeded for 0.001 percent of the year. Calculate the rain attenuation under these conditions. 4.11. Repeat Prob. 4.10 when the rain rate of 10 mm/h is exceeded (a) 0.01 percent and (b) 0.1 percent of the year. 4.12. Given that for a satellite transmission El 22 , R0.01 15 mm/h, h0 600 m, hR 1500 m, and horizontal polarization is used, calculate the rain attenuation for a signal frequency of 14 GHz. 4.13. Determine the specific attenuation for a circularly polarized satellite signal at a frequency of 4 GHz, where a point rain rate of 8 mm/h is exceeded for 0.01 percent of the year. 4.14. A circularly polarized wave at a frequency of 12 GHz is transmitted from a satellite. The point rain rate for the region is R0.01 13 mm/h. Calculate the specific attenuation. 4.15. Given that for Prob. 4.13 the earth station is situated at altitude 500 m and the rain height is 2 km, calculate the rain attenuation. The angle of elevation of the path is 35 . 4.16. Given that for Prob. 4.14 the earth station is situated at altitude 200 m and the rain height is 2 km, calculate the rain attenuation. The angle of elevation of the path is 25 .