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If the robot does not function properly, you will have to repeat steps 2 to 6 until you arrive at a working program Finally, when the robot functions you still need to test the robot in other environments to ensure that the robot will function in all environments it is likely to encounter Devising and building test environments can be time-consuming and costly Additionally, the robot may get damaged if it does not function properly Furthermore, if the robot that is being used is not adequate for the task, you may have to abandon the hardware and start from square one You can see that this cycle is cumbersome If problems are encountered, the debugging process can be unwieldy Due to the awkwardness of the entire process, the programmer may tend to accept the rst-working solution instead of continuing to hone the program until it performs optimally.

This is a very important result. It shows that the noise temperature of the second stage is divided by the power gain of the first stage when referred to the input. Therefore, in order to keep the overall system noise as low as possible, the first stage (usually an LNA) should have high power gain as well as low noise temperature. This result may be generalized to any number of stages in cascade, giving TS

RobotBASIC lets everyone get right to the heart of robotics They don t have to build anything or even assemble anything They can start learning how to program a robot right away There is no need to build environments for testing There is no need to safeguard the robot from damage There is no reason why you cannot keep improving the algorithm to the optimum point There is no reason why you cannot test the robot exhaustively You can experiment with different con gurations and combinations of sensors You can experiment with different algorithms and different situations This is a major paradigm shift in thinking about robotics Most hobbyists who use RobotBASIC to learn how software can give real intelligence to a robot will eventually want to build an actual robot.

Binary phase-shift keying may be achieved by using the binary polar NRZ signal to multiply the carrier, as shown in Fig. 10.12a. For a binary signal p(t), the modulated wave may be written as e(t) p(t) cos

10.1 DEFINITION AND PROPERTIES A function is intuitively thought of as being continuous when its graph has no gaps or jumps. This can be made precise in the following way. De nition: A function f is said to be continuous at a if the following three conditions hold: (i) lim f (x) exists.

(10.14)

After programming simulations, hobbyists will have a much better appreciation of the type and con guration of hardware their robot needs to achieve the target tasks Knowing what type of hardware you need and how to put it together can be a major cost- and time-saving The remainder of this chapter discusses a variety of ways to use the algorithms developed in RobotBASIC with real-world robots..

When p(t) 1, e(t) cos 0t, and when p(t) 1, e(t) cos 0t, which is equivalent to cos( 0t 180 ) Bandpass filtering of the modulated wave may be used instead of baseband filtering to limit the radiated spectrum The bandpass filter also may incorporate the square root of the raised-cosine rolloff, described in Sec 105, required to reduce ISI (see, for example, Pratt and Bostian, 1986) At the receiver (Fig 1012b), the received modulated carrier will undergo further bandpass filtering to complete the raised-cosine response and to limit input noise The filtered modulated wave, er(t) pr(t) cos 0t , is passed into another multiplier circuit, where it is multiplied by a replica of the carrier wave cos 0t The output from the multiplier is therefore equal to pr(t) cos2 0t This can be expanded as pr(t)(05 05 cos 2 0t).

(ii) f (a) is de ned. (iii) lim f (x) = f (a).

locate the robot at position (250, 250). Make the robot move all the way around the red rectangle and back to where it was but facing north-west (315 ).

The low-pass filter is used to remove the second harmonic component of the carrier, leaving the low-frequency output, which is 05p (t), where p (t) is the filtered version of the input binary wave p(t) It will be seen that the modulator is basically the same as that used to produce the DSBSC signal described in Sec 93 In the present instance, the bandpass filter following the modulator is used to select the complete DSBSC signal rather than a single sideband The receiver is shown in more detail in Fig 1013 As shown, a locally generated version of the unmodulated carrier wave is required as one of the inputs to the multiplier The locally generated carrier has to be exactly in phase with the incoming carrier, and hence this type of detection is termed coherent detection.