The domains and boundaries in

relative coordinates are defined as

Thus, the incremental control comes forward to eliminate for accumulate errors, that is to say the control of

relative coordinates is adopted to online control cursor based on

relative coordinates.

The normal centrifugal forces depend on the

relative coordinates and Coriolis forces depend on the relative velocity of the swaying load.

Relative swaying paths of payload M in the plane of the introduced

relative coordinates x and y are shown in Figure 3 for successive increasing swaying times [t.sub.1] = 1.25 s (Figure 3(a)), [t.sub.2] = 3 s (Figure 3(b)), [t.sub.3] = 10 s (Figure 3(c)), and [t.sub.4] = 25 s (Figure 3(d)).

In actual testing, a laser triangulation sensor with a telecentric lens can be used to acquire the

relative coordinates of all the points from the two arcs.

The subdomains and boundaries in the

relative coordinates are illustrated in Figure 3.

To enable better gaming on the web when using Flash Player, support has been added for mouse lock,

relative coordinates, and right and middle-click events.

In addition, as seen from the physical background of ESM, an ESM is only related to the

relative coordinates of every element node, material properties, and shape function.

The relationship between points in absolute and

relative coordinates is linear and straightforward.

where [r.sub.xki], [r.sub.yki] are

relative coordinates of point [p.sub.ki] to the centre C = ([c.sub.dx], [c.sub.dy]) of radial distortion in undistorted image, [r.sub.dki] is the distance of [p.sub.ki] to the centre of radial distortion in distorted image, [[beta].sub.xi], [[beta].sub.yj], are coefficients of the inverse radial distortion along axes x, y, [q.sub.dki] = [r.sub.dki]/D is normalized distance with suitable chosen constant D.

Two-dimensional

relative coordinates, .p(i, j), for two vertices, p(i) and p(j), are defined as a difference between the vertices: .p(i, j)=p(j)-p(i).

The test results showed that the robot could record the

relative coordinates of each plant and the harvesting time and take five high quality images of each fruit--four side views and one top view.