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and so the natural logarithm is the desired antiderivative of x 1 , but only on (0, ). An antiderivative for all x = 0 will be constructed in the following section.

The rst two styles discussed in the beginning of the chapter will be implemented below. The advantage of the rst style is that you can easily control the robot accurately, but it is slow. The advantage of the second style is that the robot will move quickly and you do not have to keep the button pressed, but it is hard to control the robot with accuracy. 4.2.1 FIRST STYLE OF REMOTE CONTROL In this style the user will press

This shows that increasing n by 1 bit increases the signal-to-quantization noise ratio by 6 dB Another way of looking at this is to say that a 1-bit decrease in n increases the quantization noise by 6 dB In the example above where 12 dB is an adequate signal-to-noise ratio, Eq (165) shows that only 2 bits are needed to encode the 1100-Hz tone (ie, the levels would be quantized in steps represented by 00, 01, 10, 11) By way of contrast, the CD samples taken at a sampling frequency of 441 kHz are quantized using 16 bits to give a signal-to-quantization noise ratio of 96 dB Returning to the example of two tones, in reality, the audio signal will not consist of two single tones but will be a complex signal covering a wide spectrum of frequencies.

The robot will move as required as long as the key is pressed. If the key is released the robot will stop moving. The robot will use data from its sensors and not go forward or backward if there are obstacles blocking the direction of travel even if you try to make it do so. In order to display the robot s current position and heading we will use the GPS and compass instruments described in Chap. 3. See Sec. C.9 if you need more details on the rGpsX(), rGpsY(), and rCompass() functions. The algorithm is in Fig. 4.1 (don t type the line numbers; they are only there for the discussion that follows). As you have seen from the previous section the WaitKey command is ideal here. We use the XYString command to display the data. We also use the drawing commands you saw in Chap. 2 to place some obstacles in the robot s environment. The function Char() used on Line 10 converts the key code to a character so that we can compare it to the characters used to control the robot. Notice how the values returned by the functions Char() and rBumper() are stored and then used in the ifstatements. This is more ef cient than if we were to call the function in each if-statement by saying:

In MPEG-1, two processes take place in parallel, as illustrated in Fig 164 The filter bank divides the spectrum of the incoming signal into subbands In parallel with this the spectrum is analyzed to permit identification of the masking levels The masking information is passed to the quantizer, which then quantizes the subbands according to the noise floor The masking discussed so far is referred to as frequency masking for the reasons given earlier It is also an observed phenomenon that the masking effect lasts for a short period after the masking signal is removed This is termed temporal masking, and it allows further compression in that it extends the time for which the reduction in quantization applies There are many more technical details to MPEG-1 than can be covered here, and the reader is referred to Mead (2000), which contains a detailed analysis of MPEG-1.

This is apparent from the area interpretation (Fig. 34-1) or, more rigorously, from Problem 30.11. PROPERTY 3. In fact, and, for 0 < x < 1, If 0 < x < 1, ln x < 0. ln x =

The MPEG Web page at http://wwwmpegorg/MPEG/audiohtml also provides a number of articles on the subject The compressed bit rate for MPEG-1 audio used in DBS systems is 192 kb/s MPEG-4 (part 10) was developed jointly by the Video Coding Experts Group (VCEG) of the International Telecommunication Union (ITU), Telecommunication Standardization Sector (ITU-T) which uses the designation H264, and the MPEG of the ISO/IEC As noted in Sullivan et al (2004), this version of MPEG is known by at least six different.