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SwerveInverseKinematicsDerivation Swerve Inverse Kinematics Inverse Kinematics The goal of inverse kinematics is to determine the appropriate inputs to a system (in our case, commands to the turning and driving motors) in order to produce a desired output (a velocity vector and a rotational speed and direction for the robot). For swerve, we don’t need to determine what to send the motors directly, since we’re using control loops for that, but we do need to tell those control loops what direction and speed we want for the wheels. Determining the outputs The outputs we want are determined by user input. I decided to keep it simple and set the x component of the desired velocity vector based on the xinput of the left joystick, the y component of the velocity vector based on the yinput of the left joystick, and the desired rotation based on the xinput of the right joystick. I’m considering joystick inputs to be on a range from 1 to 1. Some definitions: V The maximum speed one of our wheel pods can move max V The desired velocity vector of the frame (componentized into V and V ) f f, x f, y ⍵ The desired rotation of the frame; I’m defining counterclockwise as positive f L The vertical length of the robot (measured between contact points of wheels) W The width of the robot (measured between contact points of wheels) √ 2 R = L
PROSPER Examination Protocol Annexure Ophthalmic Examination Procedures Key Points Inclusion Step 1 • Subject is 40yrs or older Distance Acuity Test • Chart at 4m distance, 1m above ground • Consistent lighting (as possible) across trial period • Pinhole if unaided distance visual acuity is 0.5 LogMAR or worse Inclusion Step 2 • Unaided Acuity better than 0.5 LogMAR in both eye OR acuity improves through pinhole Near Acuity Test • Chart at 40cm distance, at the level of subject’s chin • Chart held by examiner, subject occludes own eyes using palm of hand • Maintain 40 cm working distance Inclusion Step 3 • Unaided near visual acuity is at <= 0.8M on the near chart for either eye • Subject does not already own or use reading glasses Distance refraction • Retinoscopy end-point is neutrality or fastest ‘with’ motion (least myopic correction) • Trial frame refraction end-point is maximum sphere for best corrected acuity Inclusion Step 4 • Best corrected distance visual acuity is 0.1 LogMAR or better for both eyes Near Refraction • Use a ‘standardized’ tea bush as target • Let subject determine ‘ideal/desired’ working distance without trial frame and prior to performing the near refraction • Measure and record the ‘ideal/desired’ working distance • Maintain ‘ideal/desired’ working distance throughout testing • Near refraction end-point is the highest plus sphere value (near-point addition) that enables the subject to identify 2-3 leaves and a bud that are appropriate for picking at the ‘ideal/desired’ working distance.
- The name of your desired location with a map that displays the location - A summary of the natural hazards that effect your desired location, and the level of threat that they pose to the location (include a photo that depicts the natural hazard - A summary of the human activities in place to increase/decrease the potential risks associated with the natural hazards in your desired location (include a photo that depicts these human activities e.g., early warning system) - An explanation/justification of why you have chosen this location in relation to natural hazards (e.g., what natural hazards are you avoiding by choosing this location?
Looking Awry Bisexual Representation Talk Looking Awry:
It manifested to me the other day when I had been chatting with my wonderful spouse, she asked what I desired in relation to a particular issue and I started off with the same old spiel....