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\begin{figure}[t]
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\begin{center}
\includegraphics[width=4.0in]{rs.pdf}
\end{center}
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\caption{A sample subsumption architecture}
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\label{FigDiagram1}
\end{figure}

Figures can incorporate diagrams in various image formats (see Figures
\ref{FigDiagram1} (PDF) and \ref{FigDiagram2} (JPG)).
Figures need not incorporate diagrams but may instead be based on tables (see
Figure \ref{FigTables}).

\begin{figure}[b]
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\begin{center}
\includegraphics[height=1.0in]{elmo.jpg}
\end{center}
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\caption{A lovable {\em Sesame Street} character.}
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\label{FigDiagram2}
\end{figure}

\begin{figure}[p]
%
\begin{center}
\begin{tabular}{l r r r r c}
Observed    & Very  & Moderately & Sparse &      &       \\
Populations & Hairy & Hairy      & Hair   & Bald & Total \\
Men         & 12    & 54         & 22     & 6    & 94  \\
Women       & 31    & 42         & 7      & 0    & 80  \\
Bears       & 6     & 0          & 0      & 1    & 7   \\
Total       & 43    & 96         & 29     & 7    & 171 \\
\end{tabular}

\vspace*{0.2in}

(a)

\vspace*{0.2in}

\begin{tabular}{l r r r r c}
Observed    & Very  & Moderately & Sparse &      &       \\
Populations & Hairy & Hairy      & Hair   & Bald & Total \\
Men         & 12    & 54         & 22     & 6    & 94  \\
Women       & 31    & 42         & 7      & 0    & 80  \\
Bears       & 6     & 0          & 0      & 1    & 7   \\
Total       & 43    & 96         & 29     & 7    & 171 \\
\end{tabular}

\vspace*{0.2in}

(b)

\vspace*{0.2in}

\begin{tabular}{l r r r r c}
Observed    & Very  & Moderately & Sparse &      &       \\
Populations & Hairy & Hairy      & Hair   & Bald & Total \\
\hline
Men         & 12    & 54         & 22     & 6    & 94  \\
Women       & 31    & 42         & 7      & 0    & 80  \\
Bears       & 6     & 0          & 0      & 1    & 7   \\
\hline
Total       & 43    & 96         & 29     & 7    & 171 \\
\end{tabular}

\vspace*{0.2in}

(c)
\end{center}

\vspace*{0.1in}
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\caption{Results of Study Five. (a) Version 1. (b) Version 2. Version 3.}
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\label{FigTables}
\end{figure}

\end{document}