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The protocol sends 2 bytes 03 and ExprN1 It will expect to receive 5 bytes where the rst three are as described above The last two are not used rForward ExprN (code 6 or 7) This command will send 2 bytes 6 (or 7) and Abs(ExprN) The code 6 is for going forward and 7 is for going backward ExprN is the distance required if it is positive then code 6 is sent and if it is negative then it is made positive and code 7 is sent The received data contains 5 bytes but only the rst 3 are used They are in the order described above for the status of the sensors rTurn ExprN (code 12 or 13) This command will send 2 bytes 12 (or 13) and Abs(ExprN) The code 12 is for turning right and 13 is for turning left.

Media access required. UNI between user and satellite. No mobility support. Mobility support provided by the mobility enhanced switching at terrestrial ATM and at satellite.

ExprN is the required degrees, if positive then code 12 is sent and if negative then the number is made positive and code 13 is sent If you specify a number greater than 180 then the turn is.

5 2 2 4 =1 = 3 9 9 Then, since sin is negative for in the fourth quadrant, sin = 5/3. sin2 = 1 cos2 = 1 (c) By Theorem 26.9, 1 + cos 1 + (2/3) 3+2 5 = = = = 2 2 2 6 6 Since is in the fourth quadrant, 3 /2 < < 2 ; therefore, cos2 3 < < 4 2 Thus, /2 is in the second quadrant, and cos ( /2) is negative. Hence, cos (d) By Theorem 26.9, 1 1 cos 3 = 3 2 = 1 = sin2 = 2 2 2 6 2 5 = 2 6

ATM switch on board satellite acts as intermediate node. Supports NNI signaling, cell switching, and multiplexing. No mobility support if GEOs used. High speed interconnections between mobile and fixed ATM networks, and between two mobile ATM networks. Mobility enhanced NNI between GESs and networks.

NOTES: ATM Asynchronous Transfer Mode; B-ICI Broadband Inter-Carrier Interface; GES Gateway Earth Station; NNI Network Node Interface; PNNI Private Network Node Interface; SATM Satellite ATM (network); UNI User Network Interface.

made into ExprN 360 and if it is less than 180 (ie, more negative than 180, eg, 190) then it is made into 360 ExprN So if your simulator command says rTurn 190 then the value sent to the real robot will be 170 with code 13 (ie, left turn of 170) The received data contains 5 bytes but only the rst 3 are used They are in the order described above for the status of the sensors rCompass () (code 24) This function will send 2 bytes 24 and 0 The code 24 is for the compass The received data contains 5 bytes The rst 3 used are in the order described above for the status of the sensors The last 2 bytes are the value returned by the compass on the real robot representing the heading (MSB rst).

From part (c), /2 is in the second quadrant. Hence, sin ( /2) is positive. Thus, sin /2 = 1/ 6 = 6/6.

of LEO satellites with on-board processing are employed. However, because the LEO satellites are not geostationary, antenna beam switching is required as the spot beam pattern sweeps across a given earth location. This is referred to as intra-satellite switching. Switching between inter-satellite links (ISLs) is also required as any given satellite moves out of the range of a particular earth location. This all adds to the complexity of the on-board requirements. Figure 15.8a is a block schematic of a typical ATM LEO satellite network (Todorova, 2002). User terminals may access the LEO satellite system directly, or they may require an adaptation unit (similar to the modem shown in Fig. 15.6). The public ATM network accesses the LEO satellite system through gateways

This means that this function will return a number formed as a 16-bit number from the fourth byte of the received 5 bytes as the MSB of the number and the fth byte as the LSB rLook ({ExprN}) (code 48 or 49) Will send 2 bytes 48 (or 49) and Abs(ExprN) The code 48 is for the camera sensors reading ExprN degrees to the right and code 49 is to the left If ExprN is negative it will be made positive and code 49 will be sent The received data contains 5 bytes The rst 3 used are in the order described above for the status of the sensors The last 2 bytes are the value returned representing the color seen by the sensor (MSB rst).

User terminal (a)

Terminal 2 (b)

27.8 Find the period, frequency, and amplitude of each function, and sketch its graph. 1 4x (b) sin 3x (a) cos 3 2