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robot without sensors is merely a fancy machine. Some robots use humans as their sensors (and brain). If you ve ever watched Battle Bots or similar programs, you ve seen what are really telepresence robots and not robots in the purer sense of the term. Human senses have a huge range of fidelity. The ear and eye can detect information through a wide range of the electromagnetic spectrum. The sense of touch can detect heat and cold, variations in pressure, and damage. The vestibular system provides a high-resolution sense of balance and orientation. By comparison, a robot s sensors are typically very simple. They detect a single, very specific kind of information: a touch sensor that triggers a switch, an eye that detects only a single color of light and only one pixel, or an ear that can only hear on frequency of sound. Currently, creating sensors that mimic the dynamic range of human senses is expensive and computationally complex. As we have learned from the simpler life forms, sensors don t need to be complex or high-fidelity to be useful. And as the subsumption architecture style of AI has shown, any interaction with the environment is better than none. The Roomba has a wide variety of sensors for a robot that is so inexpensive and so single purpose. Roomba has touch sensors, rudimentary vision, and an internal sense of orientation, just like the people it works for, but you ll find its version of those senses are both unique to it and much simplified. And unlike people, you ll see it has a sense for dirt that could be best described as licking the carpet.

clude maximum operation distance and maximum allowable message delay, since factory operations might require real-time messages 2854 The Trading Floor Case Typical trading floors would need an enormous number of cells packed close to each other and the users in each cell can be assumed to be connected to a backbone wired network This makes the interference problem more challenging since other-cell interference has a stronger possibility of occurring in this case 286 CHALLENGES FOR THE FUTURE: NOMADIC COMPUTING Another point that needs to be kept in mind while designing protocols for indoor environments is that most of the applications and devices that are used will also be used to connect to wide area or wired networks Nomadic computing is a newly emerging technology that has led to predictions of a paradigm shift in the way computing is performed.

Exercise 8.1 What is the positioning technique that is used with GNSS Answer the same question for a landmark triangulation-based technique. Exercise 8.2 Among the positioning systems described in 4, make the distinction between those using a sphere intersection approach and those using a hyperboloid intersection approach. In addition specify those systems that require additional calculations. Also specify the calculations. Exercise 8.3 Consider the con guration of Fig. 8.15. Calculate the position given by the receiver with respect to the one obtained at the receiving antenna (note that the transmitter just transmits the signals received by the receiving antenna). Justify your answer with calculations. Exercise 8.4 Extract from Exercise 8.3 the real physical signi cance of tr, the fourth component of the navigation solution vector. Refer to 10 (repeater part) to see how to take advantage of this feature. Exercise 8.5 When is the least-square method applied What is its principle Can it be used to select the right satellites (Give comments on the reliability of the determination of these right satellites.) Exercise 8.6 Make a comparison between the systems of equations used for positioning and for velocity calculations (see Sections Sphere Intersection Approach and Calculation of Velocity ). Give an explanation of both the so-called clock bias (tr) and clock drift (dtr/dt). Considering Exercise 8.4, give another physical meaning of the clock drift. Exercise 8.7 Explain the difference between distance and velocity measurements in a radar system and in GNSS. Describe the difference in the way each system deals with synchronization (consider only the case of a mono-static radar). Exercise 8.8 In the classical sphere intersection (linearization) method for GPS, classify those variables that are

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