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This is done with the help of the arm s tactile sensing When at least one point of an arm link is in contact with an obstacle, relative coordinates of the point(s) of contact can be identi ed in the link reference system Note that the identi cation is a local operation that does not require any additional information about the environment Assume, for example, that the arm is covered with a skin with densely spaced tactile sensors, so that when a sensor contacts an obstacle, the point of contact on the arm body is known For the third operation, imagine that, while in contact with an obstacle, the arm follows the obstacle boundary as if some weak force pushes it against the obstacle Therefore, at any moment during such motion, there is a variable point or points of contact between the obstacle boundary and the arm body.

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He kept it open remember, if he closed the trades he would lock in a zero gain so far that year, and that would lock in a zero bonus Holding on, to George, was the only way he saw that he could save the profit But he didn t have the profit any longer! Exactly! Harvey yelled Exactly, my boy! You are solidly dead on point He didn t have the darned profit any longer! He was holding onto the trade, hoping it would come back so that he could save something that he had already lost He had several options But for now, let s just say that he and everyone in that office were holding onto the trade when they knew they shouldn t Wasn t he worried about getting fired Harry, he had a lot of autonomy The bank was headquartered in Switzerland.

1 If the arm endpoint follows the obstacle up to the W -space boundary for example, points on the outer circle in Figure 52 it is not clear whether the arm is still in contact with the obstacle on the boundary To avoid an ambiguity, assume that no point of the W -space boundary can be a point of contact between an obstacle and the arm..

In the above design, the power function will be an order of magnitude smaller and will run an order of magnitude faster than the software-like implementation.

A similar ability is considered in works on compliance control of robot wrists (see, e.g., Ref. 104).

5.2.1 Analysis Here we will expand to our RR arm manipulator the theory developed in Section 3.3 for mobile robots. One important part of that theory is making use of distinctive topology of obstacles namely, the fact that any obstacle is a simple closed curve. Exploiting this fact resulted in elegant motion planning algorithms with guaranteed convergence. We now intend to establish a similar characteristic of obstacles faced by our RR arm namely, that the arm s complete passing around an obstacle presents some sort of simple closed curves. As we will soon observe, this is not so in the arm workspace. Simple examples will show that paths produced by the arm endpoint when moving around even simple obstacles are complex and self-intersecting. We will also see, however, that the said property holds for all virtual obstacles in C-space. It will further be shown that the number of such closed curves per obstacle is limited a fact that is important for the algorithm completeness. These facts will become the basis of the algorithm design. We will then study the nonuniqueness of choices for the M-line caused by peculiarities of the arm kinematics, and establish a criterion for choosing appropriate M-lines. Finally, we will address one side effect of the developed motion planning procedure, which can sometimes cause the arm to repeat parts of its path.

He had negotiated a lot of freedom He had locked up the firm s capital for a year, meaning they had an agreement that he would have at least a year to produce returns and then they would review the success of the fund And breakeven wasn t going to get him fired So he wasn t worried about his job He was seriously concerned about his pay That became the first and most important priority Did the trade turn around It did for a little while It came back and they were up by about 10 percent for the year so they had only lost half their profits and could have still been okay But they all decided, under George s lack of leadership, that they wanted to ride it out That they were sure they made the right decision and they weren t going to back down.

In contrast with the previous example, understanding the proper use of for-loops can help to create readable and ef cient HDL code. As mentioned earlier, for-loops are often used as a short form to reduce the length of repetitive but parallel code segments. For instance, the following code generates an output by taking every bit in X and applying the XOR operation with every even bit of Y.