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Aside from Asimov s dramatic formulations, common sense says that without such ability the robot simply cannot be used as a, say, astronaut assistant The assistant s function may be to hand the astronaut tools and to take them back for storage, or, say, help the astronaut move and rotate bulky objects In this team the astronaut must share space with the robot, and he or she cannot afford to always be aware of the robot presence No less important is of course the robot s own safety; the skin should protect it from hurting itself by banging into surrounding objects (Recall Asimov s third law: A robot must protect its own existence ) This author and his students, and later people who did not know much about robotics, have spent much time next to the robot, testing its gentleness provided by its sensitive skin and its intelligence.

module power3( output reg [7:0] XPower, input clk, input [7:0] X ); reg [7:0] XPower1, XPower2; reg [7:0] X1, X2; always @(posedge clk) begin // Pipeline stage 1 X1 <= X; XPower1 <= X; // Pipeline stage 2 X2 <= X1; XPower2 <= XPower1 * X1; // Pipeline stage 3 XPower <= XPower2 * X2; end endmodule

Craig stopped talking about his trading at that point He was obviously still upset about his huge mistake in his first month The regular charismatic Craig had turned a bit angry, even, and I could imagine how disappointed in himself he must have been He expressed his determination that I should never make a similar mistake, and I assured him that I absolutely would not I decided that before I traded again, I would request a withdrawal of $500 from my forex trading account, so that I could pay off the iPod purchase for my wife and make sure that I realized some of the profit It felt like the right decision from the moment I made it I told Craig that I planned to do this You will be so happy you did You are doing what it took me a long time to learn to do.

Nothing bad ever happened This, of course, is not surprising: Multiple protective layers often appear in engineering systems If worse comes to worse, the system should stop (we never came to this point in our experiments) The pictures in Figures 89 to 812 show a few frames from videos taken in the laboratory during some of those tests6 The pictures in Figure 89 correspond to the test setting 1 above: The robot was instructed to start from some position on the left side of the scene and nish at some position on the right Along the.

A note to the reader: videos that supplied pictures for Figures 8.9 to 8.11 can be seen in full on the web, http://aaaprod.gsfc.nasa.gov/Project/public html-NASA/LaRue-Lumelsty.htm.

In the above implementation, the value of X is passed to both pipeline stages where independent resources compute the corresponding multiply operation. Note that while X is being used to calculate the nal power of 3 in the second pipeline stage, the next value of X can be sent to the rst pipeline stage as shown in Figure 1.2. Both the nal calculation of X3 (XPower3 resources) and the rst calculation of the next value of X (XPower2 resources) occur simultaneously. The performance of this design is Throughput 8/1, or 8 bits/clock Latency 3 clocks Timing One multiplier delay in the critical path The throughput performance increased by a factor of 3 over the iterative implementation. In general, if an algorithm requiring n iterative loops is unrolled, the pipelined implementation will exhibit a throughput performance increase of a factor of n. There was no penalty in terms of latency as the pipelined implementation still required 3 clocks to propagate the nal computation. Likewise, there was no timing penalty as the critical path still contained only one multiplier.

Figure 8.9 An autonomous operation of the whole-sensitive robot arm. The robot moves from the starting to the nal position while maneuvering around the chess players and other obstacles as it senses them.

You are taking your gains Good for you This got him smiling again He then changed the subject: John Murphy told me that you two are conspiring to get him an appointment with Anderson about some deal I nodded That s part of it My end of the promise Well, if you can work that out, it will be quite a coup By telling me that I was going to have to work it out, Craig let me know that if I wanted to conspire to get John and Anderson together, I was on my own That didn t bother me That would be a sizable legal deal, Craig said before he bit down on his sandwich Might even keep John at the firm.