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11b (for practical reasons it is not feasible to have exact compensation over the complete frequency range) Thus, after deemphasis, the noise-frequency characteristic is flat, as shown in Fig 913d Of course, the deemphasis network also will attenuate the signal, and to correct for this, a complementary preemphasis characteristic is introduced prior to the modulator at the transmitter The overall effect is to leave the postdetection signal levels unchanged while the high-frequency noise is attenuated The preemphasis, deemphasis sequence is illustrated in Fig 913 The resulting improvement in the signal-to-noise ratio is referred to variously as preemphasis improvement, deemphasis improvement, or simply as emphasis improvement It is usually denoted by P, or [P] decibels, and gives the reduction in the total postdetection noise power Preemphasis curves for FDM/FM telephony are given in CCIR Recommendation 275-2 (1978) and for TV/FM in CCIR Recommendation 405-1 (1982).

without bound. Hence,

HINT:

CCIR values for [P] are 4 dB for the top channel in multichannel telephony, 131 dB for 525-line TV, and 130 dB for 625-line TV Taking into account the emphasis improvement, Eq (912) becomes c S d N c C d N [GP] [P] (913).

Another factor that generally improves the postdetection signal-to-noise ratio is referred to as noise weighting. This is the way in which the flatnoise spectrum has to be modified to take into account the frequency response of the output device and the subjective effect of noise as perceived by the observer. For example, human hearing is less sensitive to a given noise power density at low and high audio frequencies than at the middle frequency range.

= +

n previous chapters you learned about RobotBASIC s programming environment and its internal commands and functions, which we used to give our robot a repertoire of useful behaviors. Later chapters combined many behaviors to achieve more complex compound behaviors. We now have enough tools and experience to be able to design a large project. We will show the necessary steps for designing a useful robot. Many of the skills we have developed so far, along with the toolbox of routines and behaviors we have implemented will be used. We will also show how to organize code so that other programmers can understand and modify it if we wish to share it with others. Here are a few examples of how an autonomous mobile robot can be used to convey a load from point to point: Mail, documents, or other articles (e.g., a coffee machine) can be carried from one room to another in an of ce or home environment. Food items and trays can be carted back and forth between the kitchen and customer tables in a restaurant. Boxes or crates in a warehouse or depot can be transferred to and from trucks.

Figure 9.13 (a and b) Effect of preemphasis on the modulating signal frequency response at the transmitter. (c and d) Effect of deemphasis on the modulating signal and noise at the receiver output. The deemphasis cancels out the preemphasis for the signal while attenuating the noise at the receiver.

Weighting curves have been established for various telephone handsets in use by different telephone administrations. One of these, the CCIR curve, is referred to as the psophometric weighting curve. When this is applied to the flat-noise density spectrum, the noise power is reduced by 2.5 dB for a 3.1-kHz bandwidth (300 3400 Hz) compared with flat noise over the same bandwidth. The weighting improvement factor is denoted by [W], and hence for the CCIR curve [W] 2.5 dB. (Do not confuse the symbol W used here with that used for bandwidth earlier.) For a bandwidth of b kHz, a simple adjustment gives [W] 2.5 2.41 10 log [b] b 3.1

A robotic arm or other form of manipulator can be transported to where it can perform useful work. A laboratory of instruments and analyzers can be moved around hostile or inaccessible environments.

The notation lim f (x) = shall mean that f (x) gets smaller without bound as x approaches a; that is,

(9.14)

All of these examples have one thing in common: the robot must move from point A to point B (perhaps via point C) and wait for further commands. In this chapter we will design a robot to simulate an of ce messenger that navigates between rooms on the of ce oor according to user requests.

Here, b is the numerical value of kHz (a dimensionless number). A noise weighting factor also can be applied to TV viewing. The CCIR weighting factors are 11.7 dB for 525-line TV and 11.2 dB for 625-line TV. Taking weighting into account, Eq. (9.13) becomes c S d N c C d N [GP] [P] [W] (9.15)

1 2 x