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The question being posed is as follows: Is there a solution to the robot motion planning problem based on topological (rather than geometrical and algebraic) characteristics of the space at hand that is, a solution that does ot require knowing shapes and dimensions of the objects involved, be it the robot itself or obstacles in its environment Such procedures would allow robots to operate in a previously unknown environment lled with arbitrarily shaped obstacles As we saw in the prior sections, a positive answer to this question carries signi cant advantages: It allows, rst, to drop the computationally expensive requirement of algebraic representation and, second, drop the equally expensive requirement of complete information The algorithms developed in earlier sections suggest that at least in some cases of arm kinematics the answer to the said question is yes.

For the topological approach to work correctly, in the prior sections of this chapter it was vital that obstacle boundaries presented appropriate manifolds in the corresponding con guration space In this section we will study the spatial relationships between the robot and obstacles and develop a set of conditions under which the obstacle boundaries present manifolds in the con guration space [107] The analysis makes use of topology of the arm workspace and does not require algebraic representations Recall that kinematically a robot arm manipulator consists of connected rigid bodies, links and joints, which together possess some say, d degrees of freedom (d-DOF), d = 1, 2, The spatial arrangement (position and orientation) of the links and joints in the robot arm s workspace makes its kinematic con guration In all practical cases a robot con guration can be uniquely described by a nite number of parameters.

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Assuming that each DOF of the robot is implemented via the (most popular in practice) translational (prismatic and sliding are other terms used) or rotational (revolute) joint, each joint value represents such a parameter For example, the three-dimensional robot in Figure 532 has nine degrees of freedom (9-DOF), and so its con guration can be described by the nine-tuple (l1 , l2 , 3 , 4 , 5 , 6 , 7 , l8 , l9 ) Here translational variables l1 , l2 describe the Cartesian coordinates of the robot base unit; revolute variables 3 7 [0, 2 ), respectively, parameterize the waist, left and right shoulders, and elbows of the robot arms; and translational variables l8 and l9 relate to the left- and right-hand effectors, respectively Two different sets of the nine-tuple parameters above would describe two distinct robot positions (con gurations would be another term) in space.

The collection of all possible robot con gurations de ne the robot con guration space (C-space) To emphasize the theoretical nature of this section, we will drop the terms W -space and C-space that we used above for the workspace and con guration space and we will use instead abbreviations WS and CS , accordingly Due to the presence of obstacles in WS, some regions in CS are not reachable; these regions collectively form the con guration space obstacle, denoted CSO or OC A reachable con guration is called a free con guration (FC); the subspace that contains all free con gurations is called the free con guration space, FCS Points in CS represent robot con gurations A path in CS represents continuous Generate PDF417 In Visual C# Using Barcode encoder for VS Related: .

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The J2EE solution for serving application logic is nterprise JavaBeans (EJBs) As described earlier, a J2EE Web application can comprise up to four distinct types of container: an application client container, an applet container, a Web container, and an EJB container EJB containers and the objects they manage are our focus here An EJB container consists of one or more EJBs that contain the core business logic for an application Unlike Java servlets, which are fundamentally associated with J2EE Web containers, EJBs represent a more flexible and presentation-neutral location for business logic They can be contacted directly by servlets, by applet containers, or by the Java Message Service (JMS) In contrast, servlets are primarily meant for HTML-based, thin client session management and for delivering queries and results to the application in a format tailored for an interactive user (ie, in HTML) By offloading the Web-based session management and presentation issues to servlets and technologies like JSP, an EJB can focus on the scalable processing of business logic not only for HTML-based interactive users but also for enterprise application integration systems that request batch processing or some other noninteractive form of application access EJBs contain built-in support for many lower-level technologies that enhance the scalability of a server-side application, specifically:.

Object persistence: EJBs can be automatically integrated with persistent storage to make applications robust and distributable As we'll discuss later, they give developers two choices: to assume responsibility for defining the details of object persistence, or to leave the entire task to the container Transaction management: Code written by developers for transaction management is often inconsistent and sometimes leads to suboptimal performance Crafting code to coordinate transactions between distributed objects is often difficult and error-prone One way to avoid the pitfalls of manually specifying transaction management is to provide a platform-level service that automates the process The J2EE specification for EJBs enables built-in support for distributed transaction management Taking advantage of this feature allows developers to write simpler, more focused, error-free EJBs without orrying about when and how to manage transactions in a distributed environment Location transparency: No matter where EJB clients are on the network, it is easy and efficient to find an EJB and remotely execute its functions Such easily distributed and relocatable application functionality is instrumental in achieving good scalability.

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