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We talk about underactuation, in robotics, when dealing with mechanical devices that have a lower number of motors than degrees of freedom. The DOF of a mechanical system is defined as the number of independent parameters needed to characterize its state. In other words, if a motor can drive only a mechanism, a robot must have a motor for each action it can do. For example, in a wheeled robot a motor controls each wheel; in a steering vehicle the motor that drives the wheels cannot also steer; in the official NXT robotic arm, the motor used to grab the balls does not move the arm up and down. However, having an actuator for every DOF can become a problem! In a robotic grasping hand, using an actuator for every phalanx leads to a huge number of actuators: the device s versatility would increase, but its cost, complexity, and weight would become unmanageable. In the Mine Sweeper s case, its arm can both grab and lift objects. The grabbing is an underactuated mechanism, because there is not a specific motor to close the fingers; the actuation is done by the same motor that lifts the whole arm. This solution saves space where to fit another motor , reduces cost simply, we do not have a fourth motor, and lowers the overall weight. For these reasons, underactuated devices can be more efficient, simpler, and more reliable than their fully actuated alternatives. Of course, for a motor to perform more actions, you must devise a clever mechanism.



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Install the UwpDesktop Nuget package in your WPF application. You should then be able to use the classes in the Windows . Media . Ocr  ...

Finally, we can look at the <exec> task to see the particular behaviors it has. This task is quite complex because it is used to execute and capture many different command-line outputs. In general, though, the main point to notice is that the <exec> task actually inherits from ExternalProgramBase, which in itself inherits from Task, as shown in Figure 7-3.

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Figure 7-3. <exec> task hierarchy The important features of the implementation of the <exec> task and the override of the <ExternalProgramBase> task are the implementations of the ProgramArguments and ProgramFileName properties. We can use the ExternalProgramBase class in the same way that the <exec> task does. This base class provides all of the process capture and environmental configuration information that is commensurate with running external programs from within .NET so that we do not have to worry about this implementation. In fact, the ExecuteTask method can generally just execute the base method on ExternalProgramBase, as can be seen in the <exec> task itself: protected override void ExecuteTask() { base.ExecuteTask(); if (ResultProperty != null) { Properties[ResultProperty] = base.ExitCode.ToString( CultureInfo.InvariantCulture); } }

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LEGO itself produced some official models that use an underactuated mechanism to grab an object first, and then lift it. Among many others, some examples are the yellow submarine 8250/8299 (released in 1997), the barcode truck 8479 (1997), and the alternative model of bulldozer 8275 (2007). How can a single actuator decide in which order to perform such different tasks to grab and then to lift The submarine has a pneumatic hand that grabs and then lifts a barrel. Talking informally, in the submarine detail shown in Figure 7-2, the grasping is a lighter operation than the lifting. When the pneumatic piston shortens, it runs into the mechanical opponent force of the spring (the LEGO shock absorber) and then closes the grabber. Once the grabber is fully closed, the movement is blocked so the piston can t help but raise the arm. When the piston lengthens, the arm is lowered first and then the grabber is opened. Also at this time, the spring that forces the arm down does the lowering. Something similar happens both in the barcode truck and in the bulldozer alternative model, but this time, the opposing force is gravity.

Myth 5: Commercial Proprietary Software Vendors Are More Responsive Because They Have a Dedicated Staff

The argument goes: when a software system is purchased, the software comes with the assurances that the company that produced the software is available for assistance or to help solve problems Open source systems, by the very nature that no one owns it, means that it is far more difficult to contact anyone for assistance Most open source software is built by the global community of developers However, the growing trend is to base a business model on the open source philosophy and build a company around it selling support and services for the software that they oversee In fact, most of the major open source products are supported in this manner For instance, MySQL AB owns the source code for their MySQL product (For a complete description of MySQL s open source license, see wwwmysqlcom/company/legal/licensing/opensource-licensehtm.

We have looked at the core features that we need to consider when constructing a task by assessing the general structures of the NAnt model, and by looking at examples in existing code, mainly tasks. With this knowledge, we should be able to create a new task to perform the FxCop analysis without using the <exec> task.

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