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3.4.1 COMPASS RobotBASIC has a compass function, rCompass(), that returns the current direction, in degrees, the robot is facing. In the chapters that follow you will see how this function can be used to help our robot make better decisions about where it is and how it should move to get to a desired location. The program in Fig. 3.13 uses the compass to make the robot turn due east. Remember that north is up on the screen, south is down, east is to the right, and west is to the left. The compass in RobotBASIC is accurate to 1 . Inexpensive electronic compasses can rarely be this accurate. If you wish to simulate a compass that is accurate to 3 , for example, you can divide the value returned by rCompass() with the number 3 (forcing an integer divide) and then multiply the result by three as in the formula:

(b) A composite TV signal (video plus audio) has a top baseband frequency of 68 MHz Determine for a 36-MHz transponder the peak frequency deviation limit set by (1) half-transponder and (2) full transponder transmission 1416 Describe the general operating principles of a TDMA network Show how the transmission bit rate is related to the input bit rate 1417 Explain the need for a reference burst in a TDMA system 1418 Explain the function of the preamble in a TDMA traffic burst Describe and compare the channels carried in a preamble with those carried in a reference burst 1419 What is the function of (a) the burst-code word and (b) the carrier and bit-timing recovery channel in a TDMA burst 1420 Explain what is meant by (a) initial acquisition and (b) burst synchronization in a TDMA network.

d 7200 d2C ( 3600y 2 + 4) = 7200y 3 = = , which is positive at y = +30. Thus, by the second-derivative dy dy2 y3 test, C has a relative minimum at y = 30. Since y = 30 is the only positive critical number, there can be no other relative extremum in the interval (0, + ). Therefore, C has an absolute minimum at y = 30, by Theorem 24.1. When y = 30 meters, 1800 1800 x= = = 60 meters y 30 Now

(c) The nominal range to a geostationary satellite is 42,000 km Using the station-keeping tolerances stated in Sec 74 in connection with Fig 710, determine the variation expected in the propagation delay 1421 (a) Define and explain what is meant by frame efficiency in relation to TDMA operation (b) In a TDMA network the reference burst and the preamble each requires 560 bits, and the nominal guard interval between bursts is equivalent to 120 bits Given that there are eight traffic bursts and one reference burst per frame and the total frame length is equivalent to 40,800 bits, calculate the frame efficiency 1422 Given that the frame period is 2 ms and the voice-channel bit rate is 64 kb/s, calculate the equivalent number of voice channels that can be carried by the TDMA network specified in Prob 1421..

3*(rCompass()/3)

14.23. Calculate the frame efficiency for the CSC shown in Fig. 14.19. 14.24. (a) Explain why the frame period in a TDMA system is normally chosen to be an integer multiple of 125 s. (b) Referring to Fig. 14.20 for the INTELSAT preassigned frame format, show that there is no break in the timing interval for sample 18 when this is transferred to a burst. 14.25. Show that, all other factors being equal, the ratio of uplink power to bit rate is the same for FDMA and TDMA. In a TDMA system the preamble consists of the following slots, assigned in terms of number of bits: bit timing recovery 304; unique word 48; station identification channel 8; order wire 64. The guard slot is 120 bits, the frame reference burst is identical to the preamble, and the burst traffic is 8192 bits. Given that the frame accommodates 8 traffic bursts, calculate the frame efficiency. The traffic is preassigned PCM voice channels for which the bit rate is 64 kb/s, and the satellite transmission rate is nominally 60 Mb/s. Calculate the number of voice channels which can be carried. 14.26. In comparing design proposals for multiple access, the two following possibilities were considered: (1) uplink FDMA with downlink TDM and (2) uplink TDMA with downlink TDM. The incoming baseband signal is at 1.544 Mb/s in each case and the following table shows values in decilogs:

24.2 If c1, c2 , . . ., cn are the results of n measurements of an unknown quantity, a method for estimating the value of that quantity is to nd the number x that minimizes the function f (x) = (x c1 )2 + (x c2 )2 + + (x cn )2 This method is called the least-squares principle. Find the value of x determined by the least-squares principle. f (x) = 2(x c1 ) + 2(x c2 ) + + 2(x cn )