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A well-executed crusher is one of the few designs with the potential to inflict significant internal damage to its opponent. While a powerful spinner might break up a robot s frame and rip off external parts, a crusher that hits the right spot on an opponent can punch holes through radio gear, batteries, or other electronic parts, decisively disabling its opponent. A crusher also has the advantage that once its claw has grasped an opponent, that opponent will find it impossible to escape. A crusher with a high-torque drive system can grasp, and then drag its opponent into arena hazards, or it can pin them against a wall before opening its claw and taking a second bite. A crusher doesn t damage its opponent quickly, but the nature of its weapon is such that once the crushing begins there is no escape.
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Downloaded from Digital Engineering Library @ McGraw-Hill (www.digitalengineeringlibrary.com) Copyright 2004 The McGraw-Hill Companies. All rights reserved. Any use is subject to the Terms of Use as given at the website.
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The use of polynomial functions is probably the most general scheme for interpolating a set of discrete constraints. In its basic form, the functions are applied by using a polynomial equation of a degree that is one less than the number of constraints to be satis ed. One of the polynomial coef cients can be established for each constraint that must be satis ed. If the number of constraints is sizable, then the polynomial will be of high degree. High-degree polynomials often display some undesirable characteristics between constraints. Sometimes the polynomial coef cients become computationally dif cult to determine because of the large systems of ill-conditioned equations that may occur (Forsythe et al., 1977). The polynomial approach can be extended to address nonrigid follower behavior under certain conditions. The classic polydyne method is an example. Early in the advent of computer-aided design (CAD) techniques, especially those used to de ne curves and surfaces, curve tting methods were the subject of intense study. Farin (1988) offers a very readable treatment of the broad area of curves and surfaces, including several that have potential for cam applications. Of likely interest to cam designers are Bezier curves and splines. Both are piecewise continuous functions, and in certain circumstances are equivalent. Both are de ned by control points but differ in the effects of changing these points. A change in a control point for a Bezier curve affects the entire curve, whereas a similar change in a spline function results in a local in uence. Consequently, splines afford the designer greater local control and therefore are more adaptable when design constraints are de ned locally. Such is usually the case with cams when the designer must satisfy discrete kinematic constraints and preserve continuity locally. The methods described here employ splines, in particular piecewise continuous polynomials called basis splines (B-splines), to de ne displacement curves for cams. The basic approach is described and illustrated by example and then is extended to accommodate slightly more advanced forms of splines and is applied to nonrigid followers and to the synthesis of three-dimensional cam surfaces. Spline functions are well known and well understood, and practical procedures for evaluating them have been long known (deBoor, 1972; Cox, 1972). An especially nice characteristic of spline functions for cam motion programs is that a piecewise polynomial constructed of B-splines can be made to have continuous derivatives up to any order. However, since continuity in the second derivative is usually adequate for cams, the Bsplines often need only be cubic functions, regardless of the number of constraints present. There appears to be little practical dif culty in using splines of order ve or six on a routine basis, though. (The order of spline functions will be more clearly de ned later.) The reduction in the degree of the functions involved effectively avoids the numerical dif culties associated with high-degree polynomials mentioned earlier.
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toolbar. For example, to format numeric values to display a currency symbol, use the pop-up menu.
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changes to Page 1, which demonstrates a quick, easy way to navigate pages in your document.
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are dependent on completing the design for the remaining areas. Areas cannot be organized arbitrarily; the boundaries should be determined by system feeds and distribution. Rather than receiving handoffs for all MEP/FP systems in a specific area, handoffs could be phased by system. Major systems, which impact the whole design coordination process, should be finalized first. Waste and vent systems are examples, since they must be designed from the top down and impact all floors and connections below. For example, the Camino MOB project developed a process chart and document (shown in Figs. 5.1.9 and 5.1.10, respectively) to determine the handoff between the design and the construction teams. This handoff is a result of honest negotiation with the A/Es. The GC should come to these talks with a clear understanding of the critical path. That said, it is just as important to listen and understand the real status of design. The subcontractors should be included along with the MEP consultants. Contractors should, e.g., be prepared to learn that the A/Es are struggling with design questions after the owner has accepted design at key milestones, such as 75 percent design development.
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transform The process or result of replacing a set of values with another set of values. It can also be a mapping of one information space onto another. trick play Modes in digital video playback other than normal play, such as fast forward, rewind, slow motion, and so on. trim See crop. tristimulus A three-valued signal that can match nearly all the colors of visible light in human vision. This is possible because of the three types of photoreceptors in the eye. RGB, Y CbCr, and similar signals are tristimulus and can be interchanged by using mathematical transformations (subject to a possible loss of information). TVL Television line. See lines of horizontal resolution. TWG Technical Working Group. A general term for an industry working group. Specifically, the predecessor to the CPTWG. It is usually an ad hoc group of representatives working together for a period of time to make recommendations or define standards. UDF Universal Disc Format. A standard developed by the Optical Storage Technology Association designed to create a practical and usable subset of the ISO/IEC 13346 recordable, random-access file system and volume structure format. UDF Bridge A combination of UDF and ISO 9660 file system formats that provides backward-compatibility with ISO 9660 readers while allowing the full use of the UDF standard. USB Universal serial bus. A serial bus interface standard to connect devices such as keyboards, mice, and storage to a host such as a computer or BD player. USB drive A small portable data storage device using flash memory or a hard disk that connects to a computer, BD player, or other device through a USB connection. user The person operating a device such as a BD player or computer. Sometimes referred to as wetware, as in, the operation experienced a wetware breakdown. user data The data recorded on a disc independent of modulation and error-correction overhead. Each disc sector contains 2,048 bytes of user data. user operation (UO or UOP) A user operation (UO in BD, UOP in DVD) is a function that a user can perform, generally with a remote control. If a user operation is not locked or masked, the user can employ it. Examples of user operations include stop, pause, fast forward, menu, and angle change. A title may have all user operations locked during copyright warnings, as studios desire that users fully view them. User operations may also be masked during previews of upcoming attractions that have often come and gone by the time the user views them. This is a function of insensitive, greedy studios that hope it will drive customers to buy more discs rather than drive them berserk. UXGA A video graphics resolution of 1600 1200. VBI Vertical blanking interval. The scan lines in a television signal that do not contain picture information. These lines are present to enable the electron scanning beam to return to the top, and they are used to contain auxiliary information such as closed captions. VBR Variable bitrate. Data compressed into a stream with a fixed data rate. The amount of compression (such as quantization) is varied to match the allocated data rate, but as a result quality may suffer during high compression periods. In other words, data rate is held constant while quality is allowed to vary. Compare to VBR. VBRx Variable bitrate. Data that can be read and processed at a volume that varies over time. A data compression technique that produces a data stream between a fixed minimum and maximum rate. A compression range is generally maintained, with the required bandwidth increasing or decreasing depending on the complexity (the amount of spatial and temporal energy) of the data being encoded. In other words, the data rate fluctuates while quality is maintained. Compare this to CBR. VBV Video buffering verifier. A hypothetical decoder that is conceptually connected to the output
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When working with overloaded constructors, it is sometimes useful for one constructor to invoke another. In C#, this is accomplished by using another form of the this keyword. The general form is shown here: constructor-name(parameter-list1) : this(parameter-list2) { // ... body of constructor, which may be empty }
Figure 2-28 Type 0 routing header
This is the second type of comment supported by C#. A single-line comment begins with a // and ends at the end of the line. Although styles vary, it is not uncommon for programmers to use multiline comments for longer remarks and single-line comments for brief, line-byline descriptions. (The third type of comment supported by C# aids in the creation of documentation and is described in Appendix A.) The next line of code is shown here:
#include <iostream> using namespace std; int main() { int x; for(x=0; x<=100; x++) { if(x%2) continue; cout << x << ' '; } return 0; }
Member access control is achieved through the use of four access modifiers: public, private, protected, and internal. In this chapter, we will be concerned with public and private. The protected modifier applies only when inheritance is involved and is described in 11.
(degrees)
2 C8 11.25
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