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Computer control is easy. The computer operates an electric three-way air valve. An inexpensive three-way electrically operated solenoid air valve is available (see Fig. 16.15). This air valve operates at 5 volts DC (VDC) and is rated at 90 psi. This air valve has quick connect and disconnect air ports. The 5/32"-diameter stiff tubing is simply inserted into the port hole, and it locks in. To disconnect, hold and secure the port ring with your fingers into the air valve and tug the 5/32"-diameter air tubing out. To operate a single air valve, we only need one pin off the parallel (printer) port, along with a ground (see Fig. 16.16). The output pin is buffered with a gate off of a 4050HCT noninverting hex buffer. The output of the hex buffer turns a TIP 120 NPN Darlington transistor on or off. The transistor controls the current going to the air valve.

Most robots have a layer of purely reflexive control. These reflexes, which are simple actions that occur without thinking, are all that is needed for some robots. They provide a form of homeostasis, literally, resistance to change. Homeostasis is a complex response to stimulus used to keep a system within acceptable limits. Your body s response to heat, sweating, is such a response. Of course, your home thermostat is also practicing a form of homeostasis. Figure 17-1 shows a way at looking at this low-level control. The system we are considering is contained in the dashed box. We receive a command outside of this system that defines a goal state, such as a particular temperature or a position in space. Also outside of the system are the unknown and unknowable disturbances that affect the robot. Inside we have the robot,

The BASIC program is short and simple. After finding the printer port address, the following lines control the valve of pin 2:

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Fig. 17-1.

5 REM Solenoid Air Valve Controller 10 REM John Iovine 15 REM Find Printer Port Address 20 DEF SEG = 0 25 a = (PEEK(1032) + 256 * PEEK(1033)) 30 REM Next line activates the air muscle 35 OUT a,1 40 REM Next line deactivates the air muscle 45 OUT a,0

or other mechanical or chemical system, and its control system. The control system senses the state of the robot and uses this information, in comparison with the goal, to generate output actions. The equation Z f (X,Y) means that the output action Z is a function of the sensed state X and the input goal Y. The function can be as simple as equation (17-1): f X,Y Y X Z Y X 17-1

4 Performance without intelligence offers limited solutions An intelligent SAN gateway sits in the middle of the data path and interconnects with mainframe and open-system storage at interface and data levels The SAN should be vendor-independent, and it should support multiple platforms A shift in the dynamics of open-system and mainframe architectures creates bandwidth deployment issues Open systems use few fat pipes, and mainframes use many thin pipes On an open system, Fibre Channel can move data at a bandwidth of 1 Gb ESCON supports approximately 17 Mb of bandwidth; this creates bottlenecks An intelligent SAN gateway addresses these issues by funneling ESCON channels to create fatter pipes This solution effectively takes ESCON channels to the creation of virtual channels and provides higher bandwidths A SAN gateway is scalable and has the ability to add port and as much bandwidth as necessary Fibre Connection (FICON) is available for mainframe storage.

By bringing the DB25 pin 2 high, the air valve is opened allowing air pressure to the air muscle. Bringing pin 2 low, closes the air valve to the muscle and vents the air from the air muscle.