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Degrees of Rotation The term degrees of rotation refers to the extent to which a robot joint, or a set of robot joints, can turn clockwise or counterclockwise with respect to a prescribed linear axis Some reference point is always used, and the angles are given in degrees with respect to that joint Rotation in one direction (usually clockwise) is represented by positive angles; rotation in the opposite direction is specified by negative angles Thus, for example, if angle X = 58 , it refers to a rotation of 58 clockwise with respect to the reference axis If angle Y = 74 , it refers to a rotation of 74 counterclockwise Figure 34-4 shows a robot arm with three joints The reference axes are J1, J2, and J3 for rotation angles X, Y, and Z, respectively The individual angles add together To move this robot arm to a certain position within its work envelope (the region in space that the arm can reach and actually manipulate things), the operator enters data into a computer This data includes the measures of angles X, Y, and Z The operator has specified X = 39 , Y = 75 , and Z = 51

You should be aware that the results of this query are cumulative since SQL Server was started or since the statistics were cleared using this command:

3 Navigate to the Folder Action Scripts folder that contains the script, select the script,

DBCC SQLPERF('sys.dm_os_wait_stats', CLEAR);

Articulated Geometry The word articulated means broken into sections by joints A robot arm with articulated geometry bears some resemblance to the arm of a human The versatility is defined in terms of the number of degrees of freedom For example, an arm might have three degrees of freedom: base rotation (the equivalent of azimuth), elevation angle, and reach (the equivalent of radius) If you re a mathematician, you might recognize this as a system of spherical coordinates There are several different articulated geometries for any given number of degrees of freedom Figure 34-4 is a simplified drawing of a robot arm that uses articulated geometry Cartesian Coordinate Geometry Another mode of robot arm movement is known as Cartesian coordinate geometry or rectangular coordinate geometry This term comes from the Cartesian coordinate system often used for graphing mathematical functions The axes are always perpendicular to each other Variables are assigned the letters x and y in a two-dimensional Cartesian plane, or x, y, and z in Cartesian three-space The dimensions are called reach for the x variable, elevation for the y variable, and depth for the z variable Figure 34-5 is a simplified rendition of a robot arm capable of moving in two dimensions using Cartesian coordinate geometry

The query in listing 4 is another confirmation of CPU pressure. If the runnable_ tasks_count is above single digits, you re likely seeing some CPU pressure (although it could be something else, such as severe blocking).

Figure 11-9 In Leopard, you can quickly attach a folder action script to a folder by using the shortcut menu in the Finder

-- Check SQL Server Schedulers to see if they are waiting on CPU SELECT scheduler_id, current_tasks_count, runnable_tasks_count FROM sys.dm_os_schedulers WHERE scheduler_id < 255

You can use the Choose A File dialog box to select a script stored in a folder other than one of the Folder Action Scripts folders, but it won t run Because of this restriction, it s usually best to use the shortcut menu s Configure Folder Actions command as a handy way to open Folder Actions Setup, and then set up your folder action scripts from there, as discussed in the previous section

Consider how electricity gets to your home Generators produce large voltages and currents at a power plant The problem: getting the electricity from the plant to the homes, businesses, and other facilities that need it This process involves the use of long wire transmission lines Transformers are also required to step the voltages up or down As another example, consider a radio broadcast or communications station The transmitter produces high-frequency ac The problem is getting the power to be radiated by