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An application of this property is shown in Fig. 6.23a of the text which is redrawn in Fig. B.13. By placing the focus of the parabolic reflector at the focus S of the hyperbola and the primary source at the focus S , the total path length S P + PP is equal to 2a + SP + PP or 2a + SP . But, as shown previously in Fig. B.7, the focusing properties of the parabola rely on there being a constant path length SP + P P , and adding the constant 2a to SP does not destroy this property. The double-reflector arrangement can be analyzed in terms of an equivalent parabola. The equivalent parabola has the same diameter as the real parabola and is formed by the locus of points obtained at P which is the intersection of S P produced to P and P P which is parallel to the x axis, as shown in Fig. B.14. The focal distance of the equivalent parabola is shown as f e and of the real parabola as f. Looking from the focus S to the real parabola, one sees that

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In the limit as h goes to zero, X1 and X2 both go to zero, and d1 goes to S A and d2 to AS. Hence,

NOTE:

CHAP. 35]

From Fig. B.12 and Eq. (B. 39),

If you are familiar with the break-point system used by other language debuggers, you will nd that this method, while unfamiliar at rst, can be a better alternative for debugging a robotic algorithm.

From Fig. B.11,

2.

From Fig. B.14,

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6.4.3 VIEWING THE INFRARED BEAMS Because of the blind spots inherently associated with infrared sensors, RobotBASIC has a special feature to aid with their debugging. If you replace each occurrence of rFeel() in a section of code you wish to analyze, with rDFeel(red) you will see a very versatile feature when the program is run. Each time the sensors are read by rDFeel(color) the robot will display the area being observed by the infrared sensors using beams of a color speci ed by the value color. If you do not pass the function a color by saying rDFeel() (notice no color is speci ed) then the second color on the list of colors given to the rInvisible command will be used. This feature allows you to easily see where the blind spots are and helps you make better decisions when you are designing a new algorithm. If you have not speci ed an invisible colors set then you must use rDFeel(color) not rDFeel().

Hence,

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6.4.4 VIEWING BUMPER LEDS If you use rDBumper(color) in place of rBumper() while trying to debug a program, you will see the robot illuminate an LED in the vicinity of where the bumper was touched by an object. This LED will have the color speci ed by the value color. This feature can help in visualizing where crashes are occurring. As in the rDFeel (color) function you need to specify the color. If you do not specify a color the function will use the second color passed to the rInvisible command. If you have not speci ed an invisible colors set then you must use rDBumper (color) not rDBumper().

(B.44)

35.2 Find the derivatives of:

The two-line orbital elements can be found at a number of Web sites. The National Oceanographic and Atmospheric Administration (NOAA) Web site, at http://www.noaa.gov/, is probably the most useful to start with because it contains a great deal of general information on polar orbiting satellites as well as weather satellites in the geostationary orbit. An explanation of the two-line elements can be found in the FAQs section by Dr. T. S. Kelso at http://celestrak.com/. The two-line elements can be downloaded directly from http://celestrak.com/NORAD /elements/, (but see App. D) a typical readout being: 1 22969U 94003A 94284.57233250 .00000051 00000-0 10000-3 0 1147 2 22969 82.5601 334.1434 0015195 339.6133 20.4393 13.16724605 34163 A description of each line follows:

6.5 Summary

LINNO SATNO U IDYR IDLNO EPYR EPOCH NDTO2 or BTERM NDDOT 6 BSTAR or AGOM. Satellite number Not applicable

[by the chain rule]

In the chapters that follow you will see other ways to use the debug features of RobotBASIC. In this chapter you have: Been introduced to the basic principles of debugging. Learned how to use the Debug statement to step through a program while displaying the value of variables and/or sensor data. Learned how to turn the debug feature on and off while the program is executing. Learned how rDFeel (color) and rDBumper (color) can help visualize where objects are causing problems while the robot is moving around its environment. Now, try to do the exercises in the next section.

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