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S and T are the start and target positions of the arm; also shown are some intermediate positions of link l2 along the way: (1, 1), (2, 2), , (12, 12) The accepted local direction is right The arm proceeds as follows Starting at point S, it moves toward point T along the M-line, until it senses obstacle A The arm then starts passing around A (see, eg, point 1) until it senses obstacle B; it proceeds along obstacle B until it meets the M-line again (point 2); it follows the M-line and very soon meets obstacle D; it moves along D until it meets obstacle C (eg, point 3); while following C, it meets again obstacle D (point 4); it follows D (points 5, 6, 7, 8) until it meets the M-line again; and nally it proceeds along M-line to T ..

Figure 5.15 An example of the RR-Arm Algorithm performance in an emulated industrial work cell. The arm is required to move from the starting position (S, S) to the target position (T , T ), along the M-line (S, T ) (dashed line) that presents the shortest path between S and T in C-space. The arm workspace is crowded with four obstacles A, B, C, D. Shown also are some intermediate positions of link l2 , (1, 1) to (8, 8). No a priori information about the scene is given to the arm, and no preliminary calculations occur; the arm simply senses its surroundings and makes planning decisions on the y, in real time.

module paramreg #(parameter WIDTH = 8) ( output reg [WIDTH-1:0] rout, input clk, input [WIDTH-1:0] rin, input rst); always @(posedge clk) if(!rst) rout <= 0; else rout <= rin; endmodule

Doorecker had a computer program that could predict that the MACD would be topping out or heading for a move downward once it got to their special entry price What if I could also find that at the same time the price was hitting the 200 moving average and that the Stochastic Oscillator (a measure of when a currency pair had moved too far in either direction) was overbought Now I was getting someplace Still not sure that I had enough to justify the trade, I decided that I would add some other indicators The next one that I added was a Fibonacci retracement I drew a line from the highest recent point the pair had reached, all the way to the lowest point it had reached.

Note that although the M-line plays a crucial role in the RR-Arm Algorithm s workings, in this example the arm actually spends very little time moving along the M-line; that is, only a small part of the arm s path coincides with the M-line. Most of the time is spent passing around obstacles.

The above code example illustrates a simple parameterized register with variable width. Although the parameter defaults to 8 bits, every individual instantiation can modify the width for that instantiation only. For instance, a module at a higher level in the hierarchy could instantiate the following 2-bit register:

5.2.5 Motion Planning with Vision and Proximity Sensing Similar to how in Section 3.6 VisBug algorithms were obtained from the Bug family algorithms, we would like to modify the RR-Arm Algorithm to make it compatible with proximal sensing. If that is feasible, a similar process will likely

length, i is the link twist, i is the angle between links Li and Li 1 , and li is the distance between links Li and Li 1 , i = 1, , d [8] Assume that a revolute joint has no joint limit, and a translational (prismatic) joint has its lower and upper limits Let i denote a revolute joint variable, let li be a translational joint variable, and let ji be a (revolute or translational) joint variable when the exact type is not important; i = 1, , d Assume for simplicity, and without loss of generality, that li I 1 and i S 1 (a 1-circle) The con guration space (CS) is de ned as C = C1 Cn , where Ci = I 1 if the ith joint is translational and Ci = S 1 if it is revolute.

This then produced a series of numbers in between the high and the low, where, according to one of the books in front of me, price was expected to encounter resistance, or selling pressure The 50 percent level of the retracement that I drew was right at 12182 Now we were onto something! Perhaps Harvey was watching for price to rise up to this level, where it was more likely to fail and go no further I liked this If I could show that the Stochastic was overbought, that the price was nearly hitting the Fibonacci retracement level I might be able to justify taking the trade I had plotted a lot of stuff on my charts at that point Well, that s an understatement My chart looked as if a book on technical analysis had exploded all over the place (see Figure 143).