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7, and derivation of the equations from this is left as Prob 99 At the receiver, the three color signals can be synthesized from the luminance and chrominance components Again, this is mathematically equivalent to rearranging the three equations into their original form The three color signals then modulate the electron beams which excite the corresponding color phosphors in the TV tube The complete video signal is therefore a multiplexed baseband signal which extends from dc up to 42 MHz and which contains all the visual information plus synchronization signals In conventional TV broadcasting, the aural signal is transmitted by a separate transmitter, as shown in Fig 98a The aural information is received by stereo microphones, split into (L R) and (L R) signals, where L stands for left and R for right The (L R) signal is used to DSBSC modulate a subcarrier at 2fh (31.

The data pulled will indicate which choices are left in the variable dir The rst choice indicated is the last choice the robot made for this cell, and consequently must be the correct choice The subroutine SolveMaze in Fig 145 accomplishes all the above logic The code is well documented and follows the algorithm described above The subroutine CheckBefore in Fig 145, determines if the current cell has been previously visited This is accomplished by saving the robot s GPS coordinates the rst time a cell with multiple exits is visited Later when the robot wishes to see if it has been here previously, it uses this subroutine to compare its current GPS coordinates with the ones saved.

If f and g are functions,

468 kHz) This DSBSC signal is then added to the (L R) signal and used to frequency modulate a separate transmitter whose rf carrier frequency is 45 MHz above the rf carrier frequency of the video transmitter The outputs of these two transmitters may go to separate antennas or may be combined and fed into a single antenna, as is shown in Fig 98a The signal format for satellite analog TV differs from that of conventional TV, as shown in Fig 98 To generate the uplink microwave TV signal to a communications satellite transponder channel, the composite video signal (going from 0 Hz to about 42 MHz for the North American NTSC standard) is added to two or three frequency modulation (FM) carriers at frequencies of 62, 68, and/or 74 MHz, which carry audio information.

This composite FDM signal is then, in turn, used to frequency modulate the uplink microwave carrier signal, producing a signal with an rf bandwidth of about 36 MHz The availability of three possible audio signal carriers permits the transmission of stereo and/or multilingual audio over the satellite link Figure 98b shows a block diagram of this system..

Since the robot may not be in exactly the same place as it was previously, the distance between the two points is calculated using the pythagorean theorem [using the PolarR() function] If this distance is less than 10 pixels, we assume that the cell has been visited before 1435 RENEGOTIATING THE MAZE As mentioned earlier, once the robot solves the maze, the program uses the subroutine RetraceMaze to place the robot back at its original starting position so it can try again On the second attempt, the robot uses the saved data to make the correct turn each time it encounters a cell with multiple exits Also, on the second run through the maze, the robot uses its pen to highlight the path it takes 1436 EMBEDDED DEBUG COMMANDS If you examine the code in Fig 14.

Figure 9.8 (a) Conventional analog TV broadcasting of the video and aural signals; (b) generation of a satellite uplink signal for analog TV.

lim [ f (x) g(x)] = lim f (x) lim g(x)

5 you will see that there are numerous Debug commands inside the code None of these commands will execute unless you remove the comment symbols from the rst line in the program Do this and then execute the program As the robot progresses through the maze the debug window will pop-up at appropriate situations and tell you what the robot is doing When this happens analyze the displayed information and click Step to proceed Hopefully you will nd this debugging exercise helpful in understanding the algorithm discussed in this section..

As mentioned previously, three color TV systems NTSC, PAL, and SECAM are in widespread use. In addition, different countries use different line frequencies (determined by the frequency of the domestic power supply) and different numbers of lines per scan. Broadcasting between countries utilizing different standards requires the use of a converter. Transmission takes place using the standards of the country originating the broadcast, and conversion to the standards of the receiving country takes place at the receiving station. The conversion may take place through optical image processing or by conversion of the electronic signal format. The latter can be further subdivided into analog and digital techniques. The digital converter, referred to as