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I didn t like the short-term chart as much, but Roddy and Winnipeg George convinced me that I needed to know if the system I was using would work on the short-term charts It did, and that was enough proof for me I was still determined not to base my trading plan on the short-term charts During this time, we also began to call this trading system the Winnipeg Special, mostly because Roddy forced us to do so, in honor of Winnipeg George s home province and also because it confused people who asked what we were doing Roddy thrived on that Most traders, including Craig, had generally left us alone for the entire week and my trade ideas were no longer the popular flavor I realized that most traders at EW were interested in the hottest ideas, wherever they could be found.

m2 l1 l2 2 2 sin 2 m2 l1 l2 1 2 sin 2 2 m1 m2 l2 cos ( 1 + 2 ) + l1 + m2 2 2 cos 1 g2

Modern FPGAs that are fabricated with extremely small geometries will often have multiple supply voltages and complex power supply requirements. There have been many appnotes and white papers on the topic of power supply design, but as of yet there is no perfect power and decoupling solution for every FPGA application. The problem is that FPGAs themselves are so widely con gurable relative to functionality, I/O, and system clock speeds that the corresponding

(l1 sin 1 + l2 sin( 1 + 2 ))f2,3y + n2,3 There are three types of terms that appear in such equations. Taking as an example the above equation for n1,2 , these are: Dynamic Torques (Terms 1, 2, and 3). These arise from the arm movement, and depend on velocities and accelerations. Gravity Torques (Term 4). These are due to the (vertical) gravity force.

But they didn t focus for very long on any idea in particular Also, they were engaged in a lot of other stuff, like quoting prices for customers, trading options,.

External Torques (Terms 5, 6, and 7) These are due to external forces and torques that come from the arm s interaction with other objects; they appear when the arm physically touches objects, such as in assembly or cleaning During a free arm motion these torques are zeros Then there is another classi cation of dynamic torques, also with three types: Inertial Torques These are proportional to accelerations in the arm joints, and they arise from normal action/reaction forces of an accelerating body Centripetal Torques These torques arise from a constrained rotation about a point, and they are proportional to the squares of joints velocities For example, the arm s forearm must rotate about the arm s shoulder joint, and so the centripetal acceleration is aimed at the shoulder joint along link l1 (Figure 21) Coriolis Torques.

power requirements can be just as variable. Small, low-speed devices that reside in electrically shielded environments will not have a signi cant impact on the power rail, and excessive decoupling will only add unnecessary cost. Applications with high electrical noise or applications that produce excessive transients due to high-speed signals, on the other hand, will have a dramatic impact on the power supply, and a miscalculation of those effects can lead to a failure of the device.

These torques arise from vortical forces, as a result of interaction between two rotating systems (in our case two arm links), and they are proportional to the product of joint velocities of two different links Notice the remarkable growth in the complexity of equations as we proceed from kinematics to statics to dynamics equations Then there is another natural source of complexity the arm complexity, measured by the number of robot degrees of freedom The reader is reminded that in our example, Figure 21, we are dealing with the simplest two-link planar manipulator: In its analysis we started with modest kinematic equations (22) and (23) and arrived at rather complex dynamic equations in (214) Will the equations complexity grow as quickly with the growth in the number of robot DOF Indeed they will.

The power supply requirements for FPGAs can be complex, but ignoring these requirements may lead to failures in the eld that are not repeatable in the lab.

As an example, if we write only the acceleration-related coef cients for an arm with six DOF, they form this 6 6 matrix (note that a great many of today s industrial robot arm manipulators have six or more DOF): D11 D12 D13 D14 D15 D16 D12 D22 D23 D24 D25 D26 D D D D D D D = 13 23 33 34 35 36 (215) D14 D24 D34 D44 D45 D46 D D D D D D 15 25 35 45 55 56 D16 D26 D36 D46 D56 D66 The diagonal terms in this matrix represent uncoupled terms that is, terms caused by a single joint and off-diagonal terms represent pairwise interaction effects for all six joints Each such term is itself a rather complex relationship.