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As with all control systems, there is some delay between making an action de- cision and http://www.fifa15sale.com perceiving the consequences of that action in the environment. All stages of the control loop contribute to the control delay that is also known as dead time. Although image capture, computer vision, and behavior control run at a rate of 30 Hz, motion control runs at 80 Hz, and the entire system is opti- mized to minimize delay, all the small delays caused by the individual stages add up to about 100 to 150 ms. For the purposes of control, all delays can be aggre- gated to a single dead time. This is illustrated in Fig. 2(a). If a robot moves at 2 m/s and the dead time is 100 ms, the robot will travel a distance of 20 cm before we perceive the consequences of an action decision. This causes problems when robots move fast, producing overshooting or oscillations in movement control.

In order to measure the system delay, we use the following simple technique. We let the robot drive along the field with a speed that is determined by a sinusoidal function. This means, the robot moves back and forth with maximum speed in the middle of the path, slowing down and changing direction at both turning points. We then measure the time between sending the command to change the direction of motion and perceiving a direction change of the robot’s movement.

There are many possibilities to counter the adverse effects of the control delay. The easiest way would be to move slower, but this is frequently not desirable,since fast movement is a decisive advantage in play. Another possibility would be to reduce precision requirements, but this would lead to unnecessary collisions with other players and uncontrolled ball handling.


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The new look and Feel of Fursuit.org!

Some new Features:

Added profiles, so you can advertise or see what interests other fursuiters are into.

Classified ads, to sell fursuit stuffs.

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A list of upcoming Birthdays

Taking suggestions for new features..  See the forums, and make a suggestion if there is something you would like to see!



Yes!  Timduru has been putting on Fursuit TV for 5 years!  March 5, 2011 will be his Anniversary show!