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Inductive and capacitive elements are an inherent part of the filtering process. These do not dissipate power, but energy is periodically cycled between the magnetic and electric fields and the signal. The time required for this energy exchange results in part of the signal being delayed so that a square pulse entering at the transmitting end may exhibit ringing as it exits at the receiving end. This is illustrated in Fig. 10.9a. Because the information is digitally encoded in the waveform, the distortion apparent in the pulse shape is not important as long as the receiver can distinguish the binary 1 pulse from the binary 0 pulse. This requires the waveform to be sampled at the correct instants in order to determine its polarity. With a continuous waveform, the tails which result from the ringing of all the preceding pulses can combine to interfere with the particular pulse being sampled. This is known as intersymbol interference (ISI), and it can be severe enough to produce an error in the detected signal polarity. The ringing cannot be removed, but the pulses can be shaped such that the sampling of a given pulse occurs when the tails are at zero crossover points. This is illustrated in Fig. 10.9b, where two tails are shown overlapping the pulse being sampled. In practice, perfect pulse shaping cannot be achieved, so some ISI occurs, but it can be reduced to negligible proportions. The pulse shaping is carried out by controlling the spectrum of the received pulse as given by Eq. (10.8). One theoretical model for the

or F (x) = f (x)

Vi(f) HT(f) HCH(f) HR(f) V(f)

However, the charging room is a node that the robot will want to go to by itself whenever it is idle for an extended time or when the battery charge drops below a certain level We could give each node a number, but it would be better to label them with meaningful names such as Of ce 1 or Of ce1_D (for the door) so we can modify and add nodes without having to worry about their positions in the array This effectively creates a database of nodes Each entry in the array of nodes (Nodes[ ]) will hold the name of the node and its x, y coordinate in the of ce (see Fig 158) In a real of ce there would be a reference point and the x, y coordinate would be in reference to that point in inches or centimeters.

Frequency spectrum components of Eq. (10.8).

Du (F(g(u))) = F (g(u))g (u) = f (g(u))g (u) Hence, By the fundamental theorem,

The array Nodes[ ] is created indirectly via the array OF[ ] We use a set of Data statements to specify the data for all the nodes It is a lot easier to use Data statements to do this work than individually assigning the value of each array element in Nodes[ ] We then use the command MCopy to copy the contents of OF[ ] into the previously dimensioned (to the correct dimensions) array Nodes[ ] Remember, the Data command creates a one-dimensional array This is convenient when entering the data but is not convenient for accessing the data later on For this reason we create the two-dimensional array Nodes[ ] and copy the data from the single-dimensional array OF[ ] into it The MCopy command ensures that the correct elements from OF [ ] are copied to the correct position of Nodes[ ].

Sampling instant (b)

spectrum is known as the raised cosine response, which is shown in Fig. 10.10. Although a theoretical model, it can be approached closely with practical designs. The raised cosine spectrum is described by 1 psf 2 f1d b Vs f d 5 0.5 a1 1 cos B 2 f1 0 for f , f1 for f1 , f , B for B , f

So long as the data is in sets of three, MCopy will copy the rst three elements from OF[ ] into the rst row in Nodes[ ] and then the next three elements into the next row, and so on until all the NodesCount rows of Nodes[ ] are filled Notice how the variable NodesCount is calculated As mentioned before in Chap 9, this is a more versatile way to do this than actually counting by hand If we later modify the list of nodes we won t have to worry about the count Two constraints are imposed on the array First, all the nodes at the beginning are nodes that will be on the list of nodes that can be commanded Second, the last two nodes are the nodes for the charging room The reasons for the second constraint will be discussed.

f (g(u))g (u) du = F(g(u))

(10.9)

The frequencies f1 and B are determined by the symbol rate and a design parameter known as the rolloff factor, denoted here by the symbol . The rolloff factor is a specified parameter in the range 0 In terms of 1 (10.10)