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We talk about underactuation, in robotics, when dealing with mechanical devices that have a lower number of motors than degrees of freedom. The DOF of a mechanical system is defined as the number of independent parameters needed to characterize its state. In other words, if a motor can drive only a mechanism, a robot must have a motor for each action it can do. For example, in a wheeled robot a motor controls each wheel; in a steering vehicle the motor that drives the wheels cannot also steer; in the official NXT robotic arm, the motor used to grab the balls does not move the arm up and down. However, having an actuator for every DOF can become a problem! In a robotic grasping hand, using an actuator for every phalanx leads to a huge number of actuators: the device s versatility would increase, but its cost, complexity, and weight would become unmanageable. In the Mine Sweeper s case, its arm can both grab and lift objects. The grabbing is an underactuated mechanism, because there is not a specific motor to close the fingers; the actuation is done by the same motor that lifts the whole arm. This solution saves space where to fit another motor , reduces cost simply, we do not have a fourth motor, and lowers the overall weight. For these reasons, underactuated devices can be more efficient, simpler, and more reliable than their fully actuated alternatives. Of course, for a motor to perform more actions, you must devise a clever mechanism.

A similar observation applies when VS is defined inline, using a WITH clause: 10 WITH VS AS ( SELECT * FROM S ) VALIDTIME SELECT DISTINCT T2S#, T1P# FROM ( VALIDTIME SELECT * FROM SP WHERE SPP# = P#('P1') ) AS T1, VS AS T2 WHERE T2S# = T1S# This expression is again invalid However, it can be rescued by placing the VALIDTIME prefix inside the WITH clause:.

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11 WITH VS AS ( VALIDTIME SELECT * FROM S ) VALIDTIME SELECT DISTINCT T2S#, T1P# FROM ( VALIDTIME SELECT * FROM SP WHERE SPP# = P#('P1') ) AS T1, VS AS T2 WHERE T2S# = T1S# In fact, according to reference [13], in a query that includes a WITH clause, the VALIDTIME prefix cannot be placed at the beginning of the entire expression Rather, it can only be placed as shown above, between the WITH clause and the main body of the expression It follows from all of the foregoing that the TSQL2 claim to the effect that a temporal counterpart of a nontemporal query can be easily obtained by just adding a prefix is not entirely valid and needs to be made more precise For example, consider the following nontemporal query: 12.

A complete three-dimensional scene is a complex object, but it ultimately comes down to sets of coordinates. Understanding how the different coordinate systems work together is the key to navigating your 3D scene with ease.

LEGO itself produced some official models that use an underactuated mechanism to grab an object first, and then lift it. Among many others, some examples are the yellow submarine 8250/8299 (released in 1997), the barcode truck 8479 (1997), and the alternative model of bulldozer 8275 (2007). How can a single actuator decide in which order to perform such different tasks to grab and then to lift The submarine has a pneumatic hand that grabs and then lifts a barrel. Talking informally, in the submarine detail shown in Figure 7-2, the grasping is a lighter operation than the lifting. When the pneumatic piston shortens, it runs into the mechanical opponent force of the spring (the LEGO shock absorber) and then closes the grabber. Once the grabber is fully closed, the movement is blocked so the piston can t help but raise the arm. When the piston lengthens, the arm is lowered first and then the grabber is opened. Also at this time, the spring that forces the arm down does the lowering. Something similar happens both in the barcode truck and in the bulldozer alternative model, but this time, the opposing force is gravity.

WITH VS AS ( SELECT * FROM S ) SELECT DISTINCT T2S#, T1P# FROM ( SELECT * FROM SP WHERE SPP# = P#('P1') ) AS T1, VS AS T2 WHERE T2S# = T1S# We cannot obtain a temporal counterpart of this query by just adding a VALIDTIME prefix to the beginning, nor, as we have already seen, can we do so by just adding it in the middle, between the WITH clause and the main body Rather, we have to add it three times, as shown in Example 11 Now, all of the examples we have shown so far have made use just of the VALIDTIME prefix and have dealt just with tables with valid-time support As you would probably expect, however, the whole discussion is applicable in like manner to the TRANSACTIONTIME prefix and tables with transaction-time support.

Here, for instance, is a bitemporal counterpart of Example 11 (and here we must assume that S and SP are bitemporal tables): 13 WITH VS AS ( VALIDTIME AND TRANSACTIONTIME SELECT * FROM S ) VALIDTIME AND TRANSACTIONTIME SELECT DISTINCT T2S#, T1P# FROM ( VALIDTIME AND TRANSACTIONTIME SELECT * FROM SP WHERE SPP# = P#('P1') ) AS T1, VS AS T2 WHERE T2S# = T1S# However, the whole discussion appears not to be applicable in like manner in connection with prefixes that use the NONSEQUENCED modifier! For example, suppose we take Example 5 and replace both of the VALIDTIME prefixes by the prefix NONSEQUENCED VALIDTIME: 14 NONSEQUENCED VALIDTIME SELECT DISTINCT SS#, T1P# FROM S, ( NONSEQUENCED VALIDTIME SELECT * FROM SP WHERE SPP# = P#('P1') ) AS T1 WHERE SS# = T1S#.

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