A robot arm is moving in a defined space. Using ultrasonic sensors calculate the
coordinate of the robot end effector position. A transmitter T1 is attached at the end
effector of the robot arm and two receivers R1 and R2 are placed 2m away from each
other as shown in Figure. The speed of sound is 340m/s in the air. R1 detects signal
from the transmitter T1 after 5ms and, R2 detects signal from the transmitter T1 after
3ms. Using a triangulation method calculate the end effector x and y coordinate of the
robot arm.

Determine the time of the day and month of the year at which the peak sensible cooling load occurs for a top floor, north-eastern corner room of an office building in durban for the following conditions: floor area: 8 x 8 x 3 m east and north walls: 115 mm face brick (outside), 20 mm air space, 115 mm ordinary brick (inside) with 15 mm plaster roof construction: suspended plasterboard ceiling, 450 mm air space, 150 mm concrete, 75mm screed, waterproofing no heat transfer across other surfaces window area 3x 1,5 m high in north wall only. ordinary glass with venetian blinds. lights and occupants : from 07: 00 to 18: 00 average light density: 25 w/m2 number of occupants : 5 seated, light office work room temperature 24°c