The result is minor bits of scattered fault handling code and implicit coupling between the barrier class and the participants although still a great improvement over not using a pattern at all!
结果就是少数零散的故障处理代码，以及屏障类和参与类间暗含的耦合(这已经比不使用模式进步多了！)
2
The essay aims at accomplishing robot's barrier-avoiding capabilities by means of hardware connection and some simplified procedures with the use of coupling language.