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The design is invertable and the machine using the legs as manipulators can even perform basic pick and place functions.
Give basic pick patterns names and let the point guard run them on offense.
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In this section, we call the pick-l algorithms introduced in Section 2 and 3 as simply the (basic) pick-l and the optimized pick-l algorithms respectively.
The optimized pick-l algorithm provides a tighter, or at least the same, upper bound of α k than the basic pick-l algorithm introduced in (11).
Therefore, the optimized pick-l algorithm, which is (15), provides a tighter or at least the same upper bound than the basic pick-l algorithm.
In summary, the optimized pick-l algorithm provides better or at least equal upper bound on α k to the basic pick-l algorithm, with additional complexity.
Table 4 demonstrates that when l=3 and k=4,5,…,8, the optimized pick-l algorithm provided tighter upper bounds on α k than the basic pick-l algorithm.
Additionally, we provided the exact α k values obtained from TSA in order to check how tight the bounds obtained from the basic pick-l and the optimized pick-l are.
We compared the basic pick-l algorithm introduced in Section 2 to the optimized pick-l algorithm in Section 3 on Gaussian sensing matrices 28×40 and 40×50 for l=3 and k=4,5,…,8.
In terms of the execution time, the optimized pick-l algorithm, which computes (15), was around 1.7 and 4.4 times slower than the basic pick-l on 28×40 and 40×50 Gaussian matrix respectively.
Hence, the optimal value of (15), which is the result from the optimized pick-l, can be smaller than or equal to that of (11), which is the basic pick-l.
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