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You do not need gyroscopes or much mathematics if you have a very good encoder system on the robot s wheels that accurately records the amount the robot has moved and turned. This would result in a simpler INS that relies only on encoding the amount of turns on each of the wheels of the robot. We will do this in this section, however, we will not be able to do this simulation if there is any slip. Similarly, in the real world we would need accurate wheel encoders to minimize slip to near zero if we wished to use this method for keeping track of our robot s location. Also there are electronic 3-axis accelerometers that can be used in a similar fashion to the 3-axis gyroscopes mentioned above. See Sec. 15.4 for other ideas on how to counteract slip using this method. Figure 15.13 has two new subroutines ForwardRobot and TurnRobot that do the work of moving the robot and maintaining the simulated INS parameters. The PlaceRobot routine is a replacement for the one in Fig. 15.5. It has a few extra lines to initialize the simulated INS parameters. DockWithCharger and GotoPoint are replacements for the ones in Fig. 15.12. These new routines now use the INS rather than rCompass() and rGPS. Do not forget to set the variable SlipValue to zero. Note that the subroutine CheckObstacles (Fig. 15.12) uses the GPS to nd the distance from the mouse pointer to the robot. This is only to simulate obstacles in the robots way. Using the GPS in this routine can still be done because it does not impact real-life movement or position determination and therefore does not need to be changed.

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The convergence sublayer (CS) where the service requirements for the multimedia (voice, data, video, image) are established, and the segmentation and reassembly sublayer where the incoming information is segmented into cells, and the outgoing information is reassembled into its original format The incoming bit streams for the various media will be quite different in bit rate and burstiness The ATM adaptation layers are: AAl-1 is used for constant bit rate (CBR) applications, and is designed for voice and data that has to be sent over circuit facilities such as T1 (described in Sec 104) As shown below 48 octets in a cell are reserved for the payload, but AAL-1 uses one of these octets for overhead, leaving 47 octets for the information payload AAl-2 is used for variable bit rate (VBR) such as video and voice that use compression techniques.

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Fig. 26-7 EXAMPLE Find angle in the triangle of Fig. 26-8.

Again, part of the payload, from 1 to 3 octets is used for certain overhead functions, leaving 45 to 47 octets for the information payload AAL-3/ 4 Originally there was a separate AAL-3 but it was found that this could be combined with AAL-4 In this way AAL-3/4 was established It is connectionless oriented (see Sec 153) and is used for VBR data An overhead of 4 octets is included in the payload field leaving 44 octets for the information payload It should be noted that all the other AALs are connection oriented (see Sec 153) AAL-5 is used for VBR and is connection oriented The payload does not contain any overhead, so the information payload makes use of the available 48 octets..

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//============================================================= //--- Subroutine PlaceRobot //--- Inputs : BcnClr,LnClr,RobotSize,SlipValue,NodesCount //--- Outputs : RobotNode,RobotX,RobotY,RobotHeading //--- Calls To: none //------------------------------------------------------------PlaceRobot: rLocate 558,565,0,RobotSize rInvisible LnClr rSlip SlipValue rIgnoreCharge false RobotNode = NodesCount-1 RobotX = 558 RobotY = 565 RobotHeading = 0 Return //============================================================= //============================================================= //--- Subroutine GotoPoint //--- Inputs : x,y //--- Outputs : none //--- Calls To: CheckObstacles, ForwardRobot, TurnRobot //--//--- this routine turns the robot towards the location x,y //--- and then moves the robot there. If there is an object //--- in the way it continues to wait until the obstacle moves //--- away then resumes moving towards the point. It also uses //--- the new subroutines ForwardRobot and TurnRobot inplace //--- of rForward and rTurn to maintain an INS position. //------------------------------------------------------------GotoPoint: dx = x-RobotX dy = y-RobotY if dx=0 AND dy = 0 then return Theta = PolarA(dx,dy)*180/pi()+90-RobotHeading if Theta > 180 then Theta = Theta-360 if Theta < -180 Then Theta = Theta+360 TurnAmount = Theta gosub TurnRobot for i=1 to round(PolarR(dx,dy)) gosub CheckObstacles if not Obstructed ForwardAmount = 1 gosub ForwardRobot else i = i-1 endif next Return //============================================================= //============================================================= //--- Subroutine DockWithCharger //--- Inputs : NodesCount,ChargeDelay //--- Outputs : none //--- Calls To: MoveToRoom, ForwardRobot, TurnRobot //--//--- makes the robot move to the charge room. Once there it //--- turns around and docks with the charging station with //--- its back. It keeps looping to ensure a North heading //--- Also it uses ForwardRobot and TurnRobot inplace of //--- rForward and rTurn to maintain an INS position //-------------------------------------------------------------

There is also an ATM adaptation layer known as the null layer, and designated AAL-0 . This is used where the information is already assembled in cell format.

Solving the law of cosines for cos , cos = Then, from Table 26-1, = /3.

NOTE:

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