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I ve started to worry that maybe trading is a bit more risky than I first thought Why Had she talked to someone Seen something on television Well, she started You did lose over a thousand dollars in one day Oh She had seen me That was the source of her doubt Hearing this was mildly depressing, but I determined to face it head on I am not going to do that again I learned my lesson It wasn t really even my fault I left the account only because Herbie wanted to chew me out But it s not just that I do believe you can do better But my father s best friend lost everything day-trading the stock market.

3 is the rst endpoint of the rst open curve of the obstacle virtual boundary that the arm encounters. According to our algorithm, the arm will then attempt to complete the exploration of this curve, by returning to the hit point 1 and then trying to pass around the obstacle using the local direction right. Along this path segment, point 4 will be reached, which is the other endpoint of the same open curve. The difference between this example and, say, that of obstacle B in Figure 5.27 is that if in the latter both endpoints of the virtual boundary B correspond to the same (namely, upper) limit of the joint value l1 , the endpoints of the virtual boundary A in Figure 5.28 correspond to both limits of l1 . One consequence of this difference is that in the former case it is possible to pass around the obstacle, whereas in the latter case this is not possible. The fact that both endpoints of the open curve are located at the opposite base circles of the C-space cylinder

Figure 9.1 32-bit oating point representation. Table 9.1 Normal and Subnormal Regions Region Normal Subnormal Condition 0 , exponent , 255 exponent 0 Representation (21)s 2e2127 1.m (21)s 22126 0.m

(Figure 528b) indicates that the arm is dealing with a Type II obstacle (see Section 521 for the de nition of Type I and Type II obstacles) As we know from the RR arm study, having explored one curve of a Type II obstacle virtual boundary brings in additional global knowledge: It tells the arm that somewhere there is another, second curve of the virtual boundary It also tells the arm in which direction it can nd this unknown curve Now the arm knows it has to nd and start exploring the second curve in order to draw conclusions about the target reachability.

You know Emilio Gonzales, right The guy who carried mail with your dad She nodded, and continued: He took out something like fifty thousand dollars of their retirement money and bet it on the stock market Then when he lost that, he mortgaged their home Then he lost everything after just two months or something They lost the home; they had to sell their car; they even sold their furniture on eBay, just to survive We were both quiet and uncomfortable for a few moments I could hear the traffic outside Some boys were yelling and playing basketball on the court down below the apartment building A pigeon settled down outside our living room window and cooed Something tugged at my emotions; I could sense that whatever Emilio Gonzales had done wrong, I could do wrong as well I took a deep breath I won t do that.

Because of the topology of a common cylinder, if one simple curve of an obstacle boundary connects to both base circles of C-space, in order for the virtual obstacle to be separated from the rest of the C-space cylinder, the two endpoints of the second curve of the boundary must lie at the two base circles as well This means that the only way to reach the second curve is to go in the direction opposite to the current M-line For that, a complementary M-line will be used If, after reaching and following the second curve of the virtual boundary neither the M-line nor the target is met, this means the target T cannot be reached If an obstacle happen to interfere with the rst link, as in the example in Figure 529a, the resulting virtual boundary forms a band around the C-space cylinder (Figure 529b).