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As already mentioned, satellite communications have three general characteristics that lead to interoperability problems with systems that have not been designed to accommodate them: 1 Delay (or latency) 2 Noise 3 Limited bandwidth It is important to understand each of these in general terms and in more detail Since the invention and installation of fiber optics, communications systems have been treated as ideal with very low latency, no noise, and nearly infinite bandwidth (the capacities are rapidly moving to Terabit bandwidth from current fiber systems) These characteristics still have room for doubt and development, but for satellite communications, the characteristics of fiber can make it very difficult to provide cost-effective interoperability with land-based systems The latency problem is foremost among the three Noise can be handled by the application of error control coding Bandwidth efficiency is an important goal for satellite systems today, but will become increasingly important as the number of users increases as well as the data requirements

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We have seen that there is an inherent delay in the delivery of a message over a satellite link, due to the finite speed of light and the altitude of communications satellites As we stated, there is approximately a 250- millisecond propagation delay in a GEO These delays are for one ground station-to-satellite-to-ground station route (or hop ) The round-trip propagation delay for a message and its reply would be a maximum of 500 milliseconds The delay will be proportionately longer if the link includes multiple hops or if intersatellite links are used As satellites become more complex and include onboard processing of signals, additional delay may be added Other orbits are possible including Low Earth Orbit (LEO) and Medium Earth Orbit (MEO) The advantage of GEO is that the satellite remains stationary over one point of the earth, allowing simple pointing of large antennas The lower orbits require the use of constellations of satellites for constant coverage, and they are more likely to use intersatellite links, which result in variable path delay depending on routing through the network

it is outside the maximum diameter of the sumo ring Ultrasonic sensors have a wide field of view, so it is difficult to obtain the opponent s direction with a stationary sensor Because of this, multiple ultrasonic sensors are normally used One of the drawbacks to these sensors is that they have a minimum effective range For example, the Polaroid 6500 sensor has a minimum distance of 6 inches (or nearly the width of the sumo robot) This can be dangerous because your bot may not see the opponent standing directly in front of it! Combining an infrared object detector with an ultrasonic sensor will give a good range of detection capabilities A new ultrasonic sensor made by Devantech Ltd (wwwrobot-electronicscouk) has a minimum sensing distance down to about 1 inch The model number for this sensor is SRF04 It is small and compact, and has been successfully implemented on several sumo bots