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7 because the robot is placed squarely over the center of the line Since the lines are straight and the robot moves only horizontally or vertically there is no need to check if the robot is coming off the line The only consideration is to see if the robot is sensing a junction or a dead end This simpli es the program so we can concentrate on how to solve the maze Once we understand how to solve mazes the robot can be programmed for a more complicated line-following behavior if you wish The algorithm in this initial attempt is simple because the robot simply makes random turns when it encounters a fork in the road 14119 MakeATurn At the beginning of this routine the robot is moved forward so that its center is over the junction (Lines 22 29).

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Huck and Day (1979) have shown that satisfactory reception can be achieved with reflector diameters in the range 06 to 16 m (197 525 ft), and the two nominal sizes often quoted are 09 m (295 ft) and 12 m (394 ft) By contrast, the reflector diameter for 4-GHz reception can range from 183 m (6 ft) to 3 m (10 ft) As noted in Sec 2 613, the gain of a parabolic dish is proportional to (D/l) Comparing the gain of a 3-m dish at 4 GHz with a 1-m dish at 12 GHz, the ratio D/l equals 40 in each case, so the gains will be about equal Although the free-space losses are much higher at 12 GHz compared with 4 GHz, as described in Chap.

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By (1.9), 2 < 5 3x < 2. Subtracting 5, 7 < 3x < 3. Dividing by 3, 7 > x > 1. 3 algebra review Multiplying or dividing both sides of an inequality by a negative number reverses the inequality: if a < b and c < 0, then ac > bc. To see this, notice that a < b implies b a > 0. Hence, (b a)c < 0, since the product of a positive number and a negative number is negative. So bc ac < 0, or bc < ac.

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12, a higher-gain receiving antenna is not needed because the DBS operate at a much higher EIRP, as shown in Table 14 The downlink frequency band of 122 to 127 GHz spans a range of 500 MHz, which accommodates 32 TV/FM channels, each of which is 24-MHz wide Obviously, some overlap occurs between channels, but these are alternately polarized left-hand circular (LHC) and right-hand circular (RHC) or vertical/horizontal, to reduce interference to acceptable levels This is referred to as polarization interleaving A polarizer that may be switched to the desired polarization from the indoor control unit is required at the receiving horn The receiving horn feeds into a low-noise converter (LNC) or possibly a combination unit consisting of a low-noise amplifier (LNA) followed by a converter The combination is referred to as an LNB, for low-noise block.

If, while moving forward, the goal is encountered then the routine terminates and returns to SolveMaze, which then returns to the main program Once over the junction we have to decide what kind of junction it is The possible types are shown in Fig 142 If it is type (2), (4), or (6) then the center line sensor will still detect the line after moving over the junction (Lines 31 36) and rSense() will return a nonzero value In this case we decide whether to continue going forward or turn by random chance (50 percent) If no turn is to be made then the variable m is set to 0 and the routine is terminated If a turn is to be made instead of going forward, or if it is a junction of type (1), (3), or (5) [ie.

The LNB provides gain for the broadband 12-GHz signal and then converts the signal to a lower frequency range so that a low-cost coaxial cable can be used as feeder to the indoor unit The standard frequency range of this downconverted signal is 950 to 1450 MHz, as shown in Fig 81 The coaxial cable, or an auxiliary wire pair, is used to carry dc power to the outdoor unit Polarization-switching control wires are also required The low-noise amplification must be provided at the cable input in order to maintain a satisfactory signal-to-noise ratio An LNA at the indoor end of the cable would be of little use, because it would also amplify the cable thermal noise Single-to-noise ratio is discussed in more detail in Sec 125.

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