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C-obst C-obst C-obst C-obst C-obst start goal Disadvantages PRMs don’t work well for some problems: – Unlikely to sample nodes in narrow passages – Hard to connect nodes along constraint surfaces start goal C-obst C-obst C-obst C-obst Rapidly Exploring Random Trees • Robots have – inertia and dynamiccs – limited control authority or. A Computer Science portal for geeks. It contains well written, well thought and well explained computer science and programming articles, quizzes and practice/competitive programming/company interview Questions. So we introduce a cost over the robot configuration space, by marginalizing over the obstacles poses, considering the object to grasp as an obstacle: (9) cost (q) = max obstacle ∫ X obst p (X obst) distance (robot (q), obstacle (X obst)) d X obst where q is a robot configuration, X obst is a pose hypothesis for the obstacle obst and distance. JFIF HH ᭘ExifII* (1 2 i | wSONY DSCSONY DSLR-AH H DSLR-A v PrintIM 4 ' ' ' ' '^ ' ' ' '! @ H " ' } , P p X ` h | s @x dw ?. So we introduce a cost over the robot configuration space, by marginalizing over the obstacles poses, considering the object to grasp as an obstacle: (9) cost (q) = max obstacle ∫ X obst p (X obst) distance (robot (q), obstacle (X obst)) d X obst where q is a robot configuration, X obst is a pose hypothesis for the obstacle obst and distance.

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Hypothyroidism : untreated or undertreated hypothyroidism can result in congenital hypothyroidism with significant neurodevelopmental impact. Epilepsy : seizures during pregnancy pose a risk to both the mother and fetus e.

Previous venous thromboembolism VTE : pregnancy is a pro-thrombotic state, therefore, women who have previously developed a venous thromboembolism are at significantly increased risk of developing further VTEs without prophylactic treatment e.

Genetic disease : it is important to identify any genetic diseases e. It is essential to gain an accurate overview of the medications the patient is currently and has previously taken during the pregnancy.

The first trimester is when the fetus is most at risk of teratogenicity from drugs, as this is when organogenesis occurs. Clarify the prescribed medications the patient has been taking since falling pregnant, noting which they are still taking and which they have now stopped including drug name, dose and route.

Ask if the patient was using contraception prior to becoming pregnant and if so, clarify what method of contraception was being used. Check the patient has stopped their contraception or had their contraceptive device removed e.

If the patient is taking prescribed or over the counter medications, document the medication name , dose , frequency , form and route.

Some medications are commonly used in pregnancy to both reduce the risk of fetal malformations and treat the symptoms of pregnancy. Taking a brief family history can help to further assess the risk of adverse outcomes to the mother and fetus during pregnancy.

This can also help inform discussions with parents about the risk of their child having a specific genetic disease e. Understanding the social context of a patient is absolutely key to building a complete picture of their health.

Offer smoking cessation services see our smoking cessation guide for more details. Record the frequency , type and volume of alcohol consumed on a weekly basis see our alcohol history taking guide for more information.

Offer support services to assist the patient in reducing their alcohol intake. Excess alcohol use during pregnancy can result in conditions such as fetal alcohol syndrome.

It is important to ask about recreational drug use , as these can have significant consequences on the mother and developing fetus e. If recreational drug use is identified, patients can be offered input from drug cessation services.

Ask if the patient what their diet looks like on an average day. It is important to privately ask all pregnant women if they are a victim of domestic abuse to provide an opportunity for them to seek help.

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Weihnachten - Buchstabensalat by CelinaSwiebocka. Weihnachten by boniblue. Sprachen, Länder by eierpilz. La primera persona es la persona misma que enuncia la frase.

La lengua maya es una de estas lenguas ergativas. O sea no se agrega nada. La diferencia entre el verbo transitivo y el verbo intransitivo es si se requiere un objeto o no.

El verbo transitivo requiere un objeto directo y el verbo intransitivo no. La transitividad y la voz del verbo En la lengua maya yucateca un verbo transitivo puede tener sus formas en las siguientes voces: activa, antipasiva, media3 y pasiva.

No todos los verbos tienen esta voz. Manuel J. Salt Lahe City, University of Utah Press, Las formas medias y pasivas de algunos verbos transitivos, al considerarse como un verbo intransitivo, pueden derivar otra forma transitiva causativa.

No obstante en el uso cotidiano y coloquial, no se nota la diferencia. Algunos informaron que hay diferencia del significado con o sin el uso del sufijo -t.

Janal puede ser un verbo antipasivo en su origen, pues su forma en la voz activa requiere el sufijo t jant. En este diccionario consideraremos con el aspecto en el idioma maya yucateco los siguientes cuatro: irreal, incompletivo, completivo y resultativo.

Formas imperativas Las desinencias del modo imperativo para la segunda persona se muestran en el siguiente cuadro. Las desinencias del cuadro son para la segunda persona singular.

Y tampoco es usual el modo imperativo en la voz media. Para el imperativo negativo se utilizan formas incompletivas.

Uso de los sufijos -ik e -il como referencia cruzada Hay uso especial de los sufijos marcadores del aspecto y de la voz -ik e -il.

Indica que la frase termina con tono descendiente. Me parece que es viable. Las abreviaturas adj. Diccionario Maya Popular. Andrade, Manuel.

A Grammar of Modern Yucatec. Microfilm Collection of Man- uscripts on Middle American Cultural Anthropology Series 7, No.

Andrade, Manuel J. Cuentos Mayas Yucatecos. Tomo II. Calepino de Motul. Tomo I. Diccionario Maya.

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