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This type of coding style eliminates the need for a default case and also ensures that the register is assigned to the default value if no other assignment is de ned. A synthesis directive similar to the parallel_case statement is the full_case directive. This directive informs the synthesis tool that all cases have been covered and that an implied default condition is not required. In general, the full_case directive is dangerous and can create a number of traps leading to incorrect or inef cient synthesis as well as mismatches with simulation.

In a typical industrial system, the cost of the robot is a fraction perhaps 20% or so of the total cost of the work cell Much of the rest are means to compensate for the robot s inability to avoid collisions with its surroundings on its own Motion planning systems would also allow robot manufacturers to move their products into new domains agriculture (to pick op fruits and berries and other crops), nursing homes (to help move and feed patients), homes of the elderly (to help them handle various home chores), outer space (to assemble large structures, such as telescopes and space stations) in short, to a whole slew of applications that are good candidates for automation but could not be automated so far because of the high level of uncertainly characteristic of such tasks.

She nodded I m not saying that it s impossible I am just saying that the fees would be outrageous Let s do an example She found a piece of paper and started doing some math Let s say that you are going for 20 pips on every trade, when you trade from home And that you trade twice a day, and that you trade two hundred times per year To make it simple All right And every time you trade, you are trading with one standard size lot How much is that A standard lot is one hundred thousand dollars in currency Right And that s ten dollars every time it moves 1 pip So how much are you paying the dealer every time you trade Forty bucks Now multiply that times two trades every day, two hundred times per year That s four hundred trades Times forty dollars.

Full conditions can be designed with proper coding styles that completely avoid this directive as shown in the following example.

There are two major reasons as to why commercial robots intended for a high level of uncertainty are not here yet First, appropriate theory and algorithms are just beginning to appear Second, the sensing technology that is required for such algorithms to operate is also at the development stage (The issues of sensing hardware is addressed in 8) Whatever research has been done on motion planning for arm manipulators, its lion share relates to motion planning for arm hands and grippers Collision avoidance for the rest of the robot body has been largely left out Again, this is not because of the lack of need A quick glance at a layout of a typical robot cell with a robot arm manipulator will show how crowded those cells are The problem of handling potential collisions for the whole body of an arm manipulator is acute.

Works that focus on robot hands collision avoidance do of course advance the general progress in robotics One can imagine applications where the designer makes sure that potential collisions can occur only near the arm hand On a robot welding line in an automotive plant, the operation can be designed and scheduled so that no objects would endanger (or would be endangered by) the robot body Because the robot tool must be close to the parts to be welded, this cannot be avoided, and so the robot hand will be the only part of the robot body that can come close to other objects This way, unpredictable events can happen only at the tool: Parts to be welded may be positioned slightly off, their dimensions may deviate slightly, one part may be slightly bent, and so on.

The full_case directive can be added in a similar way to the parallel_case directive as shown in the following example.

Hence the designer of such a system will seek collision avoidance procedures that will take care of the arm s hand only In our example, such algorithms would lead the gun of a welding robot arm clear of the parts being welded Providing the.