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The complete antenna platform and the communications payload are despun as described in Sec 73 to keep the antennas pointing to their correct locations on earth The same feed horn may be used to transmit and receive carriers with the same polarization The transmit and receive signals are separated in a device known as a diplexer, and the separation is further aided by means of frequency filtering Polarization discrimination also may be used to separate the transmit and receive signals using the same feed horn For example, the horn may be used to transmit horizontally polarized waves in the downlink frequency band, while simultaneously receiving vertically polarized waves in the uplink frequency.

algorithms from previous chapters have been modi ed to work together, passing control from one behavior to another, and how the main program acts as a sequencing manager to invoke the appropriate routines in the correct sequence once a behavior terminates. You may want to change the value in MAX_CHARGE to allow for a shorter wait before the battery is depleted. 2. Think of other ways to locate and home in on a charging station. Write a program to demonstrate your ideas. 3. The subroutines FollowWall and FollowLine in Fig. 13.5 do not call the subroutine BatteryMeter. This means that the meter display will not be updated while these routines are running. Change these routines to correct this. 4. What happens if you set LOW_LEVEL to a low number (say 10 precent) If the robot cannot reach the charging station before its battery is fully depleted what happens If the low-level value is set too low and the robot happens to be in a place where it cannot reach the station without having to go around objects, what situation may occur

and Thompson, 1982, with permission.)

Absolute Value and Distance Consider a coordinate system on a line L and let A1 and A2 be points on L with coordinates a1 and a2 . Then |a1 a2 | = A1 A2 = distance between A1 and A2 EXAMPLES

band. The polarization separation takes place in a device known as an orthocoupler, or orthogonal mode transducer (OMT). Separate horns also may be used for the transmit and receive functions, with both horns using the same reflector. 7.9 Morelos and Satmex 5 Figure 7.24 shows the communications subsystem of the Mexican satellite Morelos. Two such satellites were launched, Morelos A in June and Morelos B in November 1985. The satellites are from the Hughes 376

olving mazes is a popular pastime for many people. There are mazes in puzzle books and magazines, and even on placemats in some family restaurants. People love mazes so much that many parks and gardens around the world have hedge mazes. People even build mazes for rats and mice so that they can conduct behavioral experiments. Making our robot solve a maze is an enjoyable challenge. Navigating mazes is also a popular contest in many robotic clubs. All mazes have a common feature. You start at one point in the maze then try to follow a path that leads to a goal point elsewhere in the maze. The challenge is to reach the goal point without encountering too many dead-ends that oblige us to retrace paths already taken. There are many types of mazes:

Figure 7.23 INTELSAT V Atlantic satellite transmit capabilities. (Note: The 14/11-GHz spot beams are steerable and may be moved to meet traffic requirements as they develop.) (Courtesy of Intelsat Document BG-28-72E M/6/77, with permission.)

(1.6)

Line mazes, where you follow a line that has branches that can lead to dead ends. Corridor mazes, where you trace a path in the center of a labyrinth of corridors that can lead to dead ends. Of ces, homes, cities, and highways are also mazes that we negotiate on a regular basis without even realizing it. Every time we travel from one place to another during our daily activities we are actually solving a maze.