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The situation becomes clearer in the arm s con guration space (C-space, Figure 77) As explained in Section 521, the C-space of this revolute revolute arm is a common torus (see Figure 55) Figure 77 is obtained by attening the torus by cutting it at point T along the axes 1 and 2 This produces four points T in the resulting square, all identi ed, and two pairs of identi ed C-space boundaries, each pair corresponding to the opposite sides of the C-space square For reference, four shortest paths (M-lines) between points S and T are shown (they also appear in Figure 55; see the discussion on this in Section 521) The dark areas in Figure 77 are C-space obstacles that correspond to the four obstacles in Figure 75.

The iterative process begins by identifying the critical path and grouping these components together in a speci ed region. In this example, the critical paths lie between the registers surrounding stage 2. Figure 17.8 shows the worst-case path through stage 2. With the rst iterative method, we can rst try constraining stage 2 and then adding in surrounding registers as required. The new oorplan is shown in Figure 17.9. The advantage of the oorplan of Figure 17.9 is that it is more closely focused on the problem area and provides an even aspect ratio for ease of routing. The oorplan of Figure 17.9 represents stage 2 as well as the source register IR2 and the destination registers X3 and Y3. The performance is shown in Table 17.7. As can be seen from these results, focusing our oorplan will allow us to achieve timing compliance at 125 MHz.

And I know that Anderson can be a great judge of talent So I m not completely shocked that he sees potential in you But to give you space down here Give you a pass to get in the door That s a lot of trust for someone he hardly knows Something seems odd I can t disagree I m not sure what to say Coming here today and yesterday, and hearing all these guys talk about your trades, made me remember when I first started here and that I felt like I was on top of the world after one good trade..

Note that the C-space is quite crowded, much more than one would think when looking at Figure 75 By mentally following in Figure 77 obstacle outlines across the C-space square boundaries, one will note that all four workspace obstacles actually form a single obstacle in C-space This simply means that when touching one obstacle in work space, the arm may also touch some other.

0; 0; 0; 0; 0;

The experimental setup used in Figure 7.6c slightly differs from the other two; this played no visible role in the test outcomes. 4 The term average here has no formal meaning: It signi es only that some subjects did better and some did worse. A more formal analysis of human performance in this task will be given in the next section. A few subjects did not nish the test and gave up, citing tiredness or hopelessness ( There is no solution here , You cannot move from S to T here . . .).

S (a)

Oh, not at all Sorry that I made it sound like this was a job that I didn t want But really, this was the only job I wanted And you knew that from the start He smiled Well, I knew it when I walked onto the trading floor And you didn t worry about your student loan debt Nope I knew I was going to do everything necessary to make it work Failure was not an option in my mind I knew there would be bad days But I was not going to give up Were you a good trader from the start Oh, no Very no I was terrible But, he added, I knew I was going to be a trader And that is all I needed to know That is how I felt, too I knew that I was supposed to be a trader.

4 Example Design: The Advanced Encryption Standard oKeyIter OldKeys <= iKeyIter + 1; <= iNkKeys;

S (b)

S (c)

// update "Key iteration mod Nk" for next iteration if(iKeyIterModNk + 1 == Nk) begin oKeyIterModNk <= 0; oKeyIterDivNk <= iKeyIterDivNk+1; end else begin oKeyIterModNk <= iKeyIterModNk + 1; oKeyIterDivNk <= iKeyIterDivNk; end if(iKeyIterModNk == 0) InterKey <= SubWord ^ Rcon; ifdef Nk8 // an option only for Nk = 8 else if(iKeyIterModNk == 4) InterKey <= SubWordNk8; endif else InterKey <= PrevKey; end endmodule

Figure 7.6 Paths produced by three human subjects with the arm shown in Figure 7.5, given complete information about the scene.