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/* Wait for pilot message and then start sampling and localization */ if packet received from pilot then begin read 1 and 2 from pilot message start obtaining periodic samples s[i] /* Begin beam counter window when first signal peak is detected*/ if ((s[i]>s[i-1]+8) AND (win_flag==0)) then begin beam++; win_flag:=1; end timer++; /* Count beams within beam counter window */ if (win_flag==1) then begin win_time++; if ((s[i],s[i-1]-8) AND (s[1-1]<s[i-2])) then begin beacon++ end if end of beam counter window then begin detected[beam]:=beacon; t[beam]:=timer; win_flag:=0; beacon:=0; win_time:=0; end /* At the end of cycle, check for errors and localize */ if ((beam==4) AND (win_flag==0)) then begin if (detected[1]+detected[2]+detected[3]==6) then begin :=2 /(t[4]-t[1]); if (detected[1]==1) then begin := (t[2]-t[1])end if (detected[1]==2) then begin

Whether placing a spread order by phone or online, its order form looks a little different than just a straight buy or sell Start off by telling your broker that you want to place a spread order so he or she can prepare the right ticket or punch up the right computer screen In addition, specify if it is an open order as well Start with the buy side first, giving the quantity, contract month, and the market Then give the same type of information for the sell side, the quantity (which usually should match the quantity as the buy side), the contract month, and the futures contract Then, if it is a limit order, indicate what the price difference should be or say that it is a market order.

1W 9.74 15.34 20.64 22.62

(t[3]-t[2])-

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:= (t[4]-t[3])- 1 ; := (t[2]-t[1])- 2 ; end if (detected[1]==3) then begin := (t[3]-t[2])- 1 ; := (t[4]-t[3])- 2 ; end (x p ,y p ) locate( , ) /* apply equation (5) */ end beam:=0; timer:=0 end end

2W 18.5 30 40.7 44.2

10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 8 9 10

3W 27.6 45.18 60.86 66

If you do not have an equal amount on the buy side and sell side, then it would not be a true spread order and might not qualify for lower margin rates You may have a reason for an imbalance if you are rolling out of one contract month into another and want more or less positions For example, if you are long five December euro contracts and want to have only three when you roll into the March contract, you would buy three March and sell five December all on one ticket and most likely at the market Again, you need to check with your broker to see if the floor filling broker will accept a specialty order such as that in the first place It is better to ask questions than to place the order and find out later that it did not go through.

Figure 12.10. Experimentally obtained locations of sensors that are placed in 8 8 grid at separations of 1 ft. The angular speed of rotation of beacons was xed at 9.5 rpm.

4W 36.72 60.22 80.95 88.25

Experimental evaluation of the performance of the system shows that when used in a 10-ft 10-ft area, errors in localization is less than 4 inches and the maximum time required for any sensor to localize is 45 seconds. Localization results of nodes located 1 ft apart in the area are shown in Figure 12.10. Although this scheme needs special considerations for designing the beacon generators, the attractive feature is that the sensors do not need any special hardware except for being able to detect the beacon signal (i.e., photodetector), which is usually present in most sensor nodes. The primary drawback of this scheme is its requirement for line of sight. Within indoor environments, this can be mostly achieved for most locations by mounting the beacons at the ceiling. For those nodes that do not have line of sight from all three beacons, additional methods may be used, such as atomic or iterative multilateration, to be performed after a suf cient number of nodes in the network have self-localized.

TABLE 12.3. Cost (Normalized) Values for Different Outage Probabilities and Load Powers for City of Yellowknife POut 10 10 2 10 3 10 4

12.6 OTHER LOCALIZATION TECHNIQUES While the previous sections described the key approaches to localization in sensor networks, the list of new ideas keep growing and it is dif cult to capture all the existing work in this rapidly developing topic. Here, samples of some other wellknown approaches are presented.

I have known brokers who have placed orders for clients, only to.

1W 36.54 76.25 104.43 113.21

1261 Range-Free Position Estimation Range-free techniques are those where location estimates are obtained without using concrete distance or angle measurements from speci c nodes The principle here is to determine an unknown location from the proximity to beacon nodes or nodes with known locations This avoids problems arising from errors in range or angle estimation, and it typically requires less costly hardware and simpler calculations However, they generally have lower precision of localization than those using rangebased methods A popular example of range-free localization is the centroid method proposed in reference 6 Here a node counts the number of beacon signals received from a set of pre-positioned beacon nodes and achieves localization by obtaining the centroid of the received beacon generators Precision is dependent on the density and locations of the beacon generators.

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