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The geocentric-equatorial coordinate system is an inertial system of axes, the reference line being fixed by the fixed stars. The reference line is the line of Aries described in Sec. 2.5. (The phenomenon known as the precession of the equinoxes is ignored here. This is a very slow rotation of this reference frame, amounting to approximately 1.396971 per Julian century, where a Julian century consists of 36,525 mean solar days.) The fundamental plane is the earth s equatorial plane. Figure 2.9 shows the part of the ellipse above the equatorial plane and the orbital angles , w, and i. It should be kept in mind that and w may be slowly varying with time, as shown by Eqs. (2.12) and (2.13). The unit vectors in this system are labeled I, J, and K, and the coordinate system is referred to as the IJK frame, with positive I pointing along the line of Aries. The transformation of vector r from the PQW frame to the IJK frame is most easily expressed by matrix multiplication. If A is an m n matrix and B is an n p matrix, the product AB is an m p matrix (details of matrix multiplication will be found in most good

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These lines read the robot s position and orientation using rGpsX(), rGpsY(), and rCompass() Also the pen state (saved in the variable P) is already known These data are put together in a string, which is printed at the top-left corner of the screen (Line 26) 4332 The GotoPoint Subroutine (Lines 35 48) This subroutine is very important for the action of the program The subroutine causes the robot to turn in the direction of the point indicated by the user, and then calculates the distance from the robot to that point then makes the robot move to that point The robot will move as long as no obstacle causes the bumper to be closed Lines 36 and 37 calculate x and y difference between the selected point and the robot s current position Line 38 exits the subroutine if there is no difference.

Geocentric-equatorial coordinate system (IJK frame).

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(b) Dx (ln (sin x))

In Lines 39 to 42 the angle to turn is calculated and then the robot is turned by that angle This calculation makes use of the function PolarA() discussed previously This is then used to calculate the difference between the robot s heading and the heading to the point (Lines 39 41) Notice the formula on Line 39 We rst convert the angle reported by the PolarA() function to degrees using the conversion discussed above Then we add 90 to it This is (as discussed) to convert from 0 being east and thus 0 90 so we add 90 Then we subtract the robot s heading to get the difference between the heading to the point and the robot s heading The next Lines 40 and 41 convert this to the smallest angle for the robot to turn intelligently to the required heading.

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texts on engineering mathematics. Many programmable calculators and computer programs have a built-in matrix multiplication function). The transformation matrix in this case is 3 2, given by Eq. (2.33b) and the PQW components form a 2 1 matrix. The components of r in the IJK frame appear as a 3 1 matrix given by rI rJ rK

(2.33a)

Comment out these two lines and observe the effect on the way the robot turns toward the target In Line 43 the distance to the point is calculated using the PolarR() function The Round() function is used to make the distance an integer instead of a oat, so that it can be used as the limit for the for-next loop in the next line Lines 44 to 47 cause the robot to go forward one pixel at a time while checking to see that the front bumper is not closed If the bumper ever closes the loop is exited If there are any commands or functions that are not clear to you, refer to Secs C7 and C8 for details on how they are used and what parameters and options are available..

(c) Dx (cos (ln x))

~ where the transformation matrix R is given by (cos ~ 5 (sin R cos sin sin cos i) ( cos cos cos sin cos i) ( sin (sin sin i) sin sin cos cos i) sin cos cos cos i) (cos sin i) (2.33b) It should be noted that the angles and w take into account the rotations resulting from the earth s equatorial bulge, as described in Sec. 2.8.1. The matrix multiplication is most easily carried out by computer.

Also refer to the program in Fig. 4.4 to see how the function or command is used in light of the discussion above and the details in the appendix.

for the orbit specified below. Calculate also the position vector in the IJK frame and its magnitude. Confirm that this remains unchanged from the value obtained in the PQW frame.

CHAP. 34]

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