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The advantage to this type of topology is that the reset presented to all functional ip- ops is fully synchronous to the clock and will always meet the reset recovery time conditions assuming the proper buffering is provided for the high fan-out of the synchronized reset signal. The interesting thing about this reset topology is actually not the deassertion of reset for recovery time compliance as discussed in the previous section but rather the assertion (or more speci cally the duration of reset). In the previous section, it was noted that the assertion of reset is not of interest, but that is true only for asynchronous resets and not necessarily with synchronous resets. Consider the scenario illustrated in Figure 10.5.

As the principles of design of motion planning algorithms have become clearer, in the last 10 15 years the level of sophistication has gone up signi cantly. Today the homework in a graduate course on motion planning can include an assignment to design a new provable sensor-based algorithm, or to decide if some published algorithm is or is not convergent.

Accordingly, objectives of works in this area are usually toward complete exploration of objects One such application is visual exploration of objects (see, eg, Refs 63 and 76): One attempts, for example, to come up with an economical way of automatically manipulating an object on the supermarket counter in order to locate on it the bar code Extending our go-from-A-to-B problem to the mobile robot navigation in three-dimensional space will likely necessitate arti cial constraints on the robot environment (which we were lucky not to need in the two-dimensional case), such as constraints on the shapes of objects, the robot s shape, some recognizable properties of objects surfaces, and so on One area where constraints appear naturally, as part of the system kinematic design, is motion planning for threedimensional arm manipulators.

Here, a single reset is synchronized to a fast clock domain and a relatively slow clock domain. For purposes of illustration, this could also be a non-periodicenabled clock. What happens to the circuit s ability to capture the reset under conditions where the clock is not running Consider the waveforms shown in Figure 10.6. In the scenario where the clock is running suf ciently slow (or when the clock is gated off ), the reset is not captured due to the absence of a rising clock edge during the assertion of the reset signal. The result is that the ip- ops within this domain are never reset.

He can only lose so much and then the firm closes his trades He s allowed a certain amount of leeway They used to call it a Daylight Limit, although around here it s called a Net Asset Value Calculation, and for short it s called Net NAV But shouldn t someone step in and get him out of the trade before it gets worse Talking about this guy made me think about my FOMC trade, and how I wished that someone would have stepped in and ended the trade before it got as bad as it did Imagine if I still had $1,000 instead of $500! I really wanted that money back It hurt to think about how stupid I had been Good point, Banes Yes, it would be good if someone could step in and help him But he s not the kind of person to accept help.

The very fact that the arm links are tied into some kinematic structure and that the arm s base is bolted to its base provide additional constraints that can be exploited in three-dimensional sensor-based motion planning algorithms This is an exciting area, with much theoretical insight and much importance to practice We will consider such schemes in 6 39 WHICH ALGORITHM TO CHOOSE With the variety of existing sensor-based approaches and algorithms, one is entitled to ask a question: How do I choose the right sensor-based planning algorithm for my job When addressing this question, we can safely exclude the Class 1 algorithms: For the reasons mentioned above, except in very special cases, they are of little use in practice As to Class 2, while usually different algorithms from this group produce different paths, one would be hard-pressed to recommend one of them over the others.

As we have seen above, if in a given scene algorithm A performs better than algorithm B, their luck may reverse in the next scene For example, in the scene shown in Figures 315 and 321, algorithm VisBug-21 outperforms algorithm VisBug-22, and then the opposite happens in the scene shown in Figure 323 One is left with an impression that when used with more advanced sensing, like vision and range nders, in terms of their motion planning skills just about any algorithm will do, as long as it guarantees convergence Some people like the concept of a benchmark example for comparing different algorithms In our case this would be, say, a xed benchmark scene with a xed pair of start and target points Today there is no such benchmark scene, and it is doubtful that a meaningful benchmark could be established.

Fully synchronous resets may fail to capture the reset signal itself (failure of assertion) depending on the nature of the clock.