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Note that along its way the robot will see only one of the two simple closed curves that form our virtual obstacle and even this one only partially The robot will never know that the other closed curve even exists It will not know that it has dealt with a Type II obstacle As we will see, this is not always so: Some.

The stochastic was rising and nearing the top Could it be as simple as that That I could sell the pair every time the oscillator reached the top And buy every time it reached the bottom Perhaps But there was no way that Harvey was basing his entire trading system on something that simple The MACD, or moving average convergence-divergence, was an indicator of momentum It was basically a way to follow a trend, built from moving averages Perhaps that would provide an extra clue One of the books talked about adding a second or third indicator to confirm what I was seeing on the first That seemed reasonable getting some backup Actually, it sounded more than reasonable It was perfectly clear to me that any successful trader wasn t going to base his entire strategy off one indicator No wonder that I had felt uncomfortable with the stochastic alone.

sensor-based motion planning, one cannot avoid it; after all, a path is built from individual steps The robot control system is guided by a computer; that is, it is a discrete control system Accordingly, motors that realize the motion of robot joints usually receive computer commands at some xed sampling rate, say 20 or 50 times per second For example, the rate of 50 commands per second translates into 20 ms per each motion cycle Within each cycle the control computer(s) receives and processes the sensor data, calculates the next step in space based on guidance from the motion planning algorithm, translates the step into commands to individual robot joints, and sends those increments to the corresponding motors; the latter execute the step motion Then the next 20-ms cycle starts, and so on.

To ensure that de nitions are applied in a global sense and do not contradict one another, it is recommended that a global de nitions le be created that can be included in all design modules. Thus, any global parameters that change can be modi ed in one central location. 12.3.2.2 Parameters

Special software makes sure that the robot passes each step on the y, without stopping, resulting in continuous motion Recall that the arm motion consists of either moving along an M-line or moving ( sliding ) along obstacles When moving along an M-line, the step calculation is easy: Each step is a linear function of arm coordinates on the previous step and increments d i for joint values The function s coef cients depend on the decided speed When moving along an obstacle boundary, a step is computed along the line tangent to the corresponding C-obstacle at the point of local contact Because this tangent has two possible directions, the direction chosen is the one that corresponds to the current local direction (see details above).

Or with just the moving average So I added the MACD, with the standard settings of 26, 12, and 9 I didn t really know what those meant, but who cared I was trying to justify a trade, not write a book report on Gerald Appel, the creator of the indicator It told me nothing at all I could hardly understand what it meant in the first place Now I had a hill-and-valley shaped thingy in the middle of the MACD and some lines crossing above and below The lines were underneath and the hilly shape was sort of flat Ho-hum This was worthless I d really rather see the indicator with the hills going down or the lines going down as soon as the EUR/USD price hit 12200 Maybe Harvey and Hank.

Whether at the current moment the arm is in contact with one or a few physical obstacles, in C-space this corresponds to one point of contact, and so the solution for a step is unique We reiterate that the fact of computing each step based on the C-space representation does not mean that any beforehand C-space calculations take place Each step is solely a function of entities in W -space, namely, the prior step i coordinates and sensing data More detail on the step calculation procedure can be found in Ref 106 524 Example The workspace in this example contains four obstacles, A, B, C, D (Figure 515) Obstacles are convex and concave, with straight-line and curved boundaries The dashed line (S, T ) is the shortest M-line [as in (51) and (52)].

Unlike global de nitions, parameters are typically localized to speci c modules and can vary from instantiation to instantiation. A very common parameter is that of size or bus width as shown in the following example of a register.