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This implies that the if-statement could have only checked for rFeel()=0 Since rFeel()=0 is exactly the same as NOT rFeel(), it becomes apparent that the if-statement and its associated endif (Lines 13 and 21) are not needed and should be eliminated Additionally, since the if-statement is removed there will no longer be a need for the variable SFN, so Lines 4 and 7 can also be removed You should analyze the above discussion carefully because understanding it can help you become a better programmer As the tasks you want a robot to achieve become progressively more complex, situations will arise that are hard to predict Without the debugging capabilities of a simulator many of these situations are nearly impossible to nd Often many programmers randomly change lines of code trying to resolve problems that have no apparent logical reasons for why they occur.

by Problem 35.31. Hence, the negative x-axis is an asymptote. This enables us to sketch the graph in Fig. 36-1.

(3.11)

Applying the sine rule for plane triangles to the triangle of Fig. 3.2b allows the angle of elevation to be found: El

This is surely not a good strategy for problem solving The development cycle using a real robot is extremely unavailing for solving intricate problems Without seeing the environment from the point of view of the robot it becomes very dif cult to understand its behavior and program against problematic situations With a real-world robot it is often hard to test algorithms comprehensively due to the dif culty of constructing various environments that may cause problems A robot that seems to work well in the limited testing environments will often fail when it is faced with an unanticipated situation With a simulator you can construct random environments You can construct numerous varieties of environments You can test the robot inside these environments for many hours or days.

(3.12)

36.6 If y(t) de nes an exponential growth or decay process, nd a formula for the average value of y over the time interval [0, ].

This helps ensure that your algorithms have been well exercised and the possibilities of failure are reduced, but as we have seen above, the debugger cannot substitute for thorough reasoning..

Find the range and antenna elevation angle for the situation specified in Example 3.1. R 6371 km; aGSO Equation (3.11) gives: d 26371

36.23 .

All of the algorithms so far have used the infrared sensors as the primary means of feeling for the wall. While these sensors are very effective and may be the only type of sensors available in a real-robot situation, they are lacking in two ways. First they leave gaps that can cause problems. You can use more sensors, placed closer together, but this can get expensive. The second problem is that the range of the sensors is not easily adjustable and you cannot control how far the robot stays away from the wall. You can adjust the power (or even the frequency in some cases) applied to the infrared emitters to make the detectors sense shorter or longer distances, but this requires more complex electronics.

But (36.1) states that an antiderivative of Ky is y itself. Hence, by the fundamental theorem of calculus, yavg =

Figure 3.4 Azimuth-elevation angles for an earth-station location of 48.42 N, 89.26 W (Thunder Bay, Ontario). Ku-band satellites are shown.

rRange( 45)

The preceding results do not take into account the case when the earth station is on the equator. Obviously, when the earth station is directly under the satellite, the elevation is 90 , and the azimuth is irrelevant. When the subsatellite point is east of the equatorial earth station (B < 0), the azimuth is 90 , and when west (B > 0), the azimuth is 270 . Also, the range as determined by Eq. (3.11) is approximate, and where more accurate values are required, as, for example, where propagation times need to be known accurately, the range is determined by measurement. For a typical home installation, practical adjustments will be made to align the antenna to a known satellite for maximum signal. Thus the look angles need not be determined with great precision but are calculated

Fig. 36-1