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An air muscle is a simple pneumatic device developed in the 1950s by J. L. McKibben. Like biological muscles, air muscles contract when activated. An interesting fact about air muscles is that they provide a reasonable working copy of biological muscles, so much so that researchers can use air muscles attached to a skeleton at primary biological muscle locations to study biomechanics and low-level neural properties of biological muscles. In published papers, air muscles are also referred to as McKibben air muscles, McKibben pneumatic artificial muscles, and Rubbertuator. I will refer to them simply as air muscles.

RC circuits are characterized by a time constant. This time constant is represented by the Greek letter (tau): R C 10-8

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Air muscles have applications in robotics, biomechanics, artificial limb replacement, and industry. The principal reasons why experimenters and hobbyists will like air muscles are their ease of use (as compared to standard pneumatic cylinders) and their simple

Fig. 10-19.

construction. Air muscles are soft, lightweight, and compliant; they have a high power-to-weight ratio (400:1); and they can be twisted axially and used on unaligned mountings and provide contractive force around bends.

Resistance R is in ohms and capacitance C is in farads, with time in seconds. A circuit with a 1 k resistor and a 1 mf capacitor has a time constant of 1 second. The time constant represents the amount of time it takes for the RC circuit to charge or discharge. If the capacitor is full, it takes (2 ) seconds to charge or discharge (Fig. 10-19). The cuto frequency of an RC circuit is described by equation (10-9). The cuto frequency is the frequency where the RC circuit stops being e ective. What this means depends on the type of circuit. 1 10-9 2 R C This relationship of time to frequency was rst seen at the top of this chapter in equation (10-1). A charged capacitor discharges its voltage V0 over time according to equation (10-10), which is re ected in the falling curve of Fig. 10-19: fc 10-10 e The voltage over time of an RC circuit being charged with a voltage Vin is that same equation turned upside-down: Vt Vin e Vin t= R C 10-11 Vt V0 t= R C

6 Within a month, this freed up about 20 GB of wasted space. Overall, for every employee whose files was archived, there were six employees who found that they did not need to keep extra files.

The two primary components to the air muscle are a soft, stretchable inner rubber tube and a braided polyester mesh sleeve (see Fig. 4.1). The rubber tube is called an internal bladder and is positioned inside the braided mesh sleeve. Additional components of the air muscle are an air fitting located on one end and two mechanical fittings (loops), each located on one end of the air muscle, that allow one to attach the air muscle to devices.

RC networks can make simple lters. A lter is a circuit that lets through some AC signals but not others. Filters vary in their e ectiveness. Simple

Soft rubber tube 4"

Reducing this amount of space enabled the company to chop 8 hours off its backup window As a result, the company can now do a full backup on Friday night rather than waiting for the weekend During the week, the company backs up only the changes since the most recent backup Next, the company used StorageCentral SRM s ability to monitor the amount of space everyone used Now, as employees reach 90 percent of their space allocation, StorageCentral SRM sends them a message saying how much space they have left and how they can free up space If employees hit their space limit, they are allowed to save what they are working on, but they must either free up space or call the help desk Employees understand the reason they need to stay within their limit and take the appropriate measures to do so.