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If the sensed state is greater than the goal, the action will be to increase the state of the robot so it matches the goal. Hardly rocket science. This only works with numbers, of course. The goal, the sensed state, and the action are all assumed to be represented by numbers. Equation (17-1) makes the assumption that the output action directly affects the input sense, using the same range and scale of values. The real world is rarely so accommodating.

The air muscle, as previously discussed, uses compressed air from a PET plastic air storage bottle and foot pump. One can use compressed air from just about any source that s available. For instance, you can purchase small compressed air canisters used for air brushing. In fact, airbrushing supplies may provide you with a list of suitable tubing and fittings to experiment with. There are a few small electric air compressors available on the market. The more expensive ones, made for airbrush painting, have metal storage containers and air pressure regulators. At the other end of the market are the inexpensive 12-VDC portable air compressors used for tire inflation. These compressors typically do not have an air pressure regulator or air storage. These items may be purchased to make an inexpensive pneumatic system. Never use plastic PET bottles for air storage with any kind of automatic air compressor. The plastic PET bottles are only suitable for air storage with hand (or foot) operated air pumps. Always use an air storage tank with any automatic air compressor. Small air storage tanks are not expensive.

The traditional control example is the thermostat. The goal is a temperature you set and the sense is the actual temperature. The output is not, however, a power setting for the heater but instead a simple on/off switch. Most home heaters operate at full on or full off. At first thought, the control logic might look like:

FICON provides benefits that include increased bandwidth There are some major issues that FICON must resolve before full deployment is possible Existing mainframe systems cannot upgrade to FICON, so companies put bridges in to connect ESCON and FICON New mainframes have FICON channels installed automatically, but at this time there are no control units to support new interconnect technologies, which is unfortunate SAN gateways require existing infrastructure support in adaptation to new technologies as they emerge Responsibility needs to be removed from the host and the storage subsystems It should be put on outboard systems Proposed SAN gateways capable of moving large quantities of data and of acting on them in real time are necessary To achieve this without affecting performance requires a great deal of energy; it can be achieved on a per-port basis with RISC processors SAN placement is a crucial issue.

This is a terrible control system. The heater will be clicking on and o all the time. To fix it, we introduce our old friend hysteresis. By defining a dead band around the desired setting we can reduce the number of on/off transitions (Fig. 17-2). The control logic is only complicated a little bit by this hysteresis. Note we are using a compact notation here, just one of many possible notations: b DeadBand 2

Since this is a new product, not too many people may be familiar with working with pneumatic systems. Therefore, a few safety guidelines should be followed. 1. Always wear goggles when prototyping a new design. 2. Never connect a plastic PET soda bottle to an air compressor. 3. Never use a glass bottle for air storage. 4. Limit PET bottle size to 1 L (or quart) or less. 5. Do not unscrew the bottle top or pull off an air fitting or valve when the system is still pressurized. Bleed the system of air first.

17-2

The construction of a human-type hand, grasping mechanism begins with a trip to a toy store. The toy needed is called an Awesome Arm, made by Zima Company in China (see Fig. 16.17). You will need to purchase two Awesome Arms to get enough fingers. The thumb on the toy is fixed and cannot be used.

The SAN should sit in the middle of the data path to intercept and interpret data as they transverse the open-system and mainframe environments Placing the SAN gateway anywhere else will limit its ability to access and control data, reducing effectiveness The provision of intelligence is essential so that data can be transmitted rapidly between main-.