Chapter 11 contains a detailed description of each of the world's most popular analog and digital cellular telephone standards, as well as the most popular digital cordless telephone standards. Treatment includes the first analog mobile telephone standards that were implemented in the United States and Europe, and all of the second-generation (2G) cellphone standards deployed around the world. The most popular digital cordless telephone standards are also presented, as it is useful to see how the concepts taught in all of the earlier chapters of this textbook were implemented in very successful, large-scale commmercial deployments. The evolution of the cellular industry is clearly seen by studying the various standardspresented in this chapter, allowing the reader to understand the design decisions and approaches that are adapted to increase the capacity and reliability of wireless communications. Standards covered in this chapter include AMPS, NAMPS, ETACS, USDC, PDC, GSM,Qualcomm's CDMA IS-95, IS-54, IS-136, DECT, CT2, PACS, PHS, and wireless television.

Chapter 7 provides fundamental treatment of channel equalization, antenna diversity combining methodologies, and error correction/control codes used in modern wireless communication systems. Both linear and non-linear equalizers are presented, along with the most popular feedback algorithms for equalizer training and practical operation, such as zero-forcing (ZF), least mean squares (LMS), and recursive least squares (RLS). These algorithms are applied to the Decision Feedback Equalizer (DFE) and the Maximum Likelihood Sequence Estimation (MLSE) equalizer structure.Antenna diversity combining methodsfor Rayleigh small-scale fading channels show the theoretical increase in signal-to-noise ratio (SNR) for a wide range of antenna combining and diversity methods used in today's wireless systems. The RAKE receiver for Code Division Multiple Access and spread spectrum is also studied. Finally, practical error control codes, such as block codes and convolutional codes, used in today's cellphone and wi-fi standards are presented and analyzed, along with interleaving methods and popular decoding algorithms such as the Viterbi algorithm. Trellis codes and turbo codes are presented, as well.

Sensing is a key requirement for any but the simplest mobile behavior. In order for Robot to be able to warn the crew of Lost in Space that there is danger ahead, it must be able to sense and reason about its sensor responses. Sensing is a critical component of the fundamental tasks of pose estimation – determining where the robot is in its environment; pose maintenance – maintaining an ongoing estimate of the robot’s pose; and map construction – building a representation of the robot’s environment.

Robotic systems, and in particular mobile robotic systems, are the embodiment of a set of complex computational processes, mechanical systems, sensors, user interface, and communications infrastructure. The problems inherent in integrating these components into a working robot can be very challenging. Overall system control requires an approach that can properly handle the complexity of the system goals while dealing with poorly defined tasks and the existence of unplanned and unexpected events. This task is complicated by the non-standard nature of much robotic equipment. Often the hardware seems to have been built following a philosophy of “ease of design” rather that with an eye toward assisting with later system integration.

The fundamentals of analog and digital modulation techniques are presented in Chapter 6. The theoretical underpinnings of the world's most popular amplitude modulations, frequency modulations, and phase modulations are presented. The impact of pulse shape and filtering on bit error rate of a mobile communication system is demonstrated, where Doppler spread creates an irreducible bit error rate no matter how good the signal-to-noise ratio, yet is below the noise created by other aspects of the radio system. This led Europe to select GMSK for the pan-European 2G digital cellular standard, whereas the US selected a pi/4 PSK modulation method originated in Japan that allows both coherent and non-coherent demodulation and a graceful upgrade path for existing operators to adopt the new digital modulation with gradual base station changeouts over time.Capacity and Shannon's limit are defined and explained through numerous examples.

The ability to navigate purposefully through its environment is fundamental to most animals and to every intelligent organism. In this book we examine the computational issues specific to the creation of machines that move intelligently in their environment. From the earliest modern speculation regarding the creation of autonomous robots, it was recognized that regardless of the mechanisms used to move the robot around or the methods used to sense the environment, the computational principles that govern the robot are of paramount importance. As Powell and Donovan discovered in Isaac Asimov’s story “Runaround,” subtle definitions within the programs that control a robot can lead to significant changes in the robot’s overall behavior or action. Moreover, interactions among multiple complex components can lead to large-scale emergent behaviors that may be hard to predict.

Later chapters consider the algorithms and representations that make these capabilities possible, while this chapter concentrates on the underlying hardware, with special emphasis on locomotion for wheeled robots.

Chapter 9 covers the fundamentals of all multiple access methods used in modern wireless communication networks. FDMA, TDMA, CDMA, SDMA, and hybrid multiple access methods are presented, as well as asynchronous methods such as ALOHA, slotted-ALOHA, carrier sense multiple access (CSMA) and packet reservation multiple access (PRMA). The applications and usage of various multiple access methods are demonstrated, and examples of capacity for different multiple access techniques are presented throughout the chapter.