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But I was angry that I had not made as much money as I wanted! I was upset and greedy and wanted more So I started trying to learn short-term trade, so that I didn t have to wait so long to get my lost profits back And then I met my mentor The greatest trader in the world taught me that the fear of missing out was the second greatest mistake that I could ever make ME: And the first CRAIG: Believing my own BS Believing that I actually knew how to trade I didn t know anything then I proved it when I lost more than I had gained in just a few weeks ME: Did you get it all back Could you climb out of that hole CRAIG: Oh, yes The year 2003 was great by the end But it was my most difficult year.

1 (0) = 1 1d 1 (0) = 1 1d and constant 1d and 2d for t > 0. Then, assuming that stability can be achieved via feedback, linearized equations in terms of 1 (t) and 2 (t) are written. Stability of those equations can be assessed by applying to them the Laplace transform and studying the characteristic polynomial [7]. Tests for stability are in general dif cult to apply, so simpler necessary conditions are used, followed by a detail experimental veri cation.

wire [3:0]

2.5 COMPLIANT MOTION When the robot is expected to physically interact with other objects, additional care has to be taken to ensure a smooth operation. Imagine, for example, that the robot has to move its hand along a straight line, on a at surface, say a table. It is easy to program such motion, but what if the table has a tiny bump right along the robot s path The robot will attempt to produce a straight line, effectively trying to cut through the bump. Serious forces will develop, with a likely unfortunate outcome. What is needed is some mechanism for the robot to comply with deviations of the table s surface from the expected surface. Two types of motion are considered in such cases:

Guarded motion, when the arm is still moving in free space, before it contacts an object. Position control similar to the one above is used. Compliant motion, when the arm is in continuous contact with the object s surface. Position control and force control are then used simultaneously.

wire [3:0]

ME: Can you tell me about that CRAIG: Some other time, yes There were some awesome trades that year..

Consider an example: Let us say that our task requires the robot to grasp an object A (see Figure 2.9) that is initially positioned on top of object B1 , move it rst into contact with the surface of table T , then slide it along T until it contacts an object B2 , and stop there. Let us assume that the grasping operation itself presents no dif culty and that the grasp is a rigid grasp; that is, for all

shape, formed by a tiny lens on the top of the LED (Figure 8.2a). The beam cones of neighboring LEDs must overlap, forming a continuous detection cushion in the space around the robot. To increase the skin reliability, it is desirable to decrease the amount of wiring running within sensor modules, between modules, and especially between modules attached to different robot links (because these wires will have to run over robot joints). This requirement is in con ict with a desire to control every sensor independently. The latter requires parallel addressing of sensors, hence many wires, whereas a serial addressing scheme allows one to minimize the number of interconnecting wires. Another advantage of a parallel scheme is that sensing information it produces in each cycle is known to correspond to the same time moment, hence the same position of all robot links. With the serial polling scheme, the sensing information obtained from polling sensors corresponds to the robot links being in slightly different positions. The motion within one serial polling cycle is usually insigni cant: The actual uncertainty depends on the serial scheme implementation and the robot speed. A fully parallel scheme with n sensors requires roughly logn wires. In a fully serial addressing scheme, only one wire will be suf cient to do the job. In the system described here, this con ict is resolved via a compromise parallel serial system: The system is divided into modules that are run in parallel, whereas sensors in each module are divided into rows and columns and addressed serially.

// registered inputs wire [32* Nk-1:0] wire wire [127:0]