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The new system is currently storing approximately 2 TB of data on Sun StorEdge T3 arrays, with two-thirds of that devoted to data warehousing and one-third devoted to Online Transaction Protocol (OLTP). Each T3 array features a large built-in cache that minimizes input/output (I/O) response times so that requests and verifications of trades can be handled almost instantly. The company rewrote the client side of its proprietary applications in Java so that it could offer multiplatform support to clients based in Microsoft Windows, Macintosh, Linux, and Solaris. The T3 is part of Sun s StorEdge family of network storage arrays that offer scalable high-availability storage solutions for all levels of business environments with systems ranging from 162 GB to 88 TB. The T3 array that A.B. Watley is using includes

has two protruding 3/48 threaded rods that can be used for mounting the solenoid. The solenoid is not as powerful as I would like, but it is strong enough to provide underwater propulsion. Electronics The electronic circuit uses a unijunction transistor Q1 (UJT 2646) to generate a slow stream of pulses (see Fig. 13.5). The timing of the pulses is determined by C1 and R1. The pulses pass through R4 to the base of Q2. Q2 is an NPN transistor 2N2222. The purpose of Q2 is to invert the pulse signal for input to IC1 pin 2. IC1 is a 555 timer configured in monostable mode. IC1 shapes the pulse width. The output of the 555 timers switches Q3 on and off. Q3 controls the current to the rotary solenoid that is used in the robotic fish.

BumperCar program 1 (part 2).

The circuit is powered by a single 9-volt (9V) battery. The circuit is simple enough to hardwire on a prototyping style printed circuit board (PCB). Test the circuit by connecting it to the rotary solenoid before continuing. The time period of the pulse should be approximately 1 second (s). Mechanics To keep weight and mass down, most of the components are made out of aluminum. The first mechanism I used to convert the solenoid movement to a flapping fish tail is shown in Fig. 13.6. This turned out to be more complex than was necessary. Figure 13.7 shows the final tail assembly setup. A 1/8" thick 1/2" wide 51/2" long piece of aluminum bar is secured to the top plate of the rotary solenoid using two 3/48 1 4" screws. First drill two holes in the aluminum bar to match the holes in the top plate. Next, one hex nut is screwed flush to the underside of each screw head to prevent the screws being driven too far down. If the screws are driven too far down, they will prevent the top

Once the variables are set we drop into a Repeat loop. The rst action in this loop is to set the robot to move forward at high power. Next, we make decisions based on input from the outside world (Fig. 13-6). The rst checks if switch 1 has been pressed. If it has, then it stops the

Two controller units in a partner-pair configuration, with two mirror-cache redundant array of independent disks (RAID) controllers linked together in path fail-over fashion Two enclosures Four hot-swappable redundant PCUs and UICs Two unit interconnect cables Eighteen hot-swappable RAID-ready dual-ported bidirectional Fibre Channel drives Two hot-swappable redundant RAID controller cards with 256 MB of mirrored cache External connections that enable the array to be connected to a data host and a management network

plate from turning easily Secure the aluminum bar to the top plate using the screws Fins are made by cutting a square of 11/4" aluminum diagonally The fins to the tail are secured to the 1/2" aluminum bar using a generous amount of hot glue You may want to rough up the aluminum surfaces with sandpaper for a better bite before gluing The solenoid itself is secured to the end of a piece of aluminum 1/8" thick 11/4" wide 2" long, using the two bottom 3/48 threaded studs and a few 3/48 hex nuts The circuit and battery are secured on the front of the aluminum (See Fig 138) Getting wet Obviously we have an exposed circuit and solenoid To prevent water from damaging any components, cover the components using a thin, transparent plastic sandwich bag The bag is secured to the tail using wire.