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1 22969 94 3 94 0.00000051 00000-0 10000-3

International designator (last two digits of launch year) International designator (launch number of the year) Epoch year (last two digits of the year) Epoch (Julian day and fractional portion of the day) First time derivative of the mean motion or ballistic coefficient (depending on the ephemeris type) Second time derivative of mean motion (field will be blank if NDDOT6 is not applicable) BSTAR drag term if GP4 general perturbations theory was used. Otherwise it will be the radiation pressure coefficient

discussed in Chap. 5. It is not necessary that you nd any real faults. The goal is to understand how to use the features. Later chapters will help you develop your debugging skills. 2. In the programs of Exercise 1, try to draw objects that will cause collisions or other problems and use the debug system to nd out exactly why the errors occur. Make corrections if you can. Later chapters will offer more opportunities for more intricate debugging.

[by the chain rule and Theorem 35.4]

Line Number 1 (Continued)

In Part 2 we develop a toolbox of utility programs. The programs impart the robot with a collection of behaviors that enable it to handle speci c tasks. Each chapter focuses on a single behavior, evolving algorithms that can work in a variety of situations of increasing complexity. In Part 3 we will utilize combinations of these behaviors to create solutions to real-world problems. We build on the programming skills developed in Part 1 by utilizing new commands and functions from the language as well as show how to use arrays to manipulate data more ef ciently. Additional robot commands and functions are introduced along with more sophisticated interrogation and manipulation of the standard sensors on the robot. We also utilize customizable sensors to handle more demanding situations and show how to use advanced features of the standard sensors. Upon completing Part 2 you will be able to: Create complicated programs and employ advanced programming techniques. Utilize all the sensors on the robot and analyze their data more intricately. Utilize arrays and array commands and functions along with looping constructs to manipulate large amounts of data. Improve on the behaviors introduced in this part as well as create new ones of your own. Appreciate the advantages of using RobotBASIC as a research and development tool so as to minimize abortive efforts in a real-world project.

0 1147

= ln 3 32x 2 = 2 ln 3 32x (c) Dx xex = xDx ex + Dx (x)ex [by the product rule] = xex + 1 ex = ex x + 1

If NDOT2 is greater than unity, a positive value is assumed without a sign. Decimal point assumed after the signs.

n Chap. 5 we made the robot move around the screen freely while avoiding objects in the environment. A robot is a device that can be made to do useful work. To be able to achieve its assigned tasks the robot will usually need to move to speci c locations where it will perform the required work. There are various ways we can move the robot around:

2 22969 82.5601 334.1434 00151950 339.6133 20.4393 13.16724605 34163

Move along a prescribed path de ned by a line Freely move along a path that the robot determines for itself Move to a speci c destination while keeping within a speci ed limited boundary

Right ascension of the ascending node Eccentricity (decimal point assumed) Argument of perigee Mean anomaly Mean motion Revolution number at epoch

2 2 2

The best source by far has been that provided by Dr. T. S. Kelso at Celestrak, at http://celestrak.com/. The source of CelesTrak s data was the NASA orbital information group (OIG), but it appears that this site will be closed when the Air Force Space Command (AFSC) has in operation its program to provide space surveillance data including NORAD two-line element sets (TLEs) to non-US government entities (NUGE). A new site is available at http://www.space-track.org/, but only approved registered users can access this site. Registration is quite straightforward. Other useful sites are: http://www.amsat.org/amsat/keps/formats.html http://web.austin.utexas.edu/ http://www.lyngsat.com/ In general, a web search by satellite name or by entering a search for two-line elements, for example, will provide a list of useful web sites.