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Before turning to a SAN, a content company relied on combinations of direct-attached storage (DAS) and network-attached storage (NAS) to house databases that served as their lifeblood. This content company outfitted servers with dedicated storage devices connected via SCSI cables (Figure 4-8). On the surface, this appears to be an appropriate and scalable solution; if project management had more data to add, it simply would add a new server and a new storage device. As content databases grew by 300 percent, the company ran up against limitations of SCSI-based DAS, including single points of failure, limited numbers of devices on the SCSI bus, and cluttered physical configurations that became difficult to manage. Provisioning new storage took an average of a week and a half . . . far too long to match the company s growth spurts. As you can imagine, this business model demanded instant access to huge pools of data that had to be correlated and served in real time. Without access, this content database provider would have no business. Its problem was running up against the limitations of the storage platform it had chosen originally as its solution. Further limitations could be the length of the SCSI chain and how many devices could be maintained on the single SCSI bus. This company turned to a SAN to boost availability and performance of content databases (Figure 4-9). The SAN included a 1.8 TB 4500 array and two 16-port 2800 Fibre Channel switches that easily handled millions of daily I/O transactions. Data became available from any server and provided improved reliability and redundancy.

The thumb is the most important finger on the hand. It makes grasping, holding, and using tools much easier. Don t think so Try picking up a coin off a table or floor without using your thumb. Now try using a few tools, like pliers, wire cutter, hammer, or drill. To make the thumb, cut off the small finger assembly from the second hand unit purchased. Assemble this finger section lower and at a 45 degree angle to the other fingers (see Fig. 16.27).

adjust how quickly the mechanism moves toward the goal. Figure 17-3 shows this formula in action. The square pulse is the target value, while the wiggly trace is the actual value of the system under control. The top trace has a proportional gain of 0.75 and shows a fair amount of overshoot. The oscillation that follows is called ringing. After this, it settles down into a steady line a little bit under the set point. The bottom trace has a smaller gain of 0.25 and avoids the overshoot, but it s settling point is a bit lower than the set point. Larger proportional gains settle closer to the set point but have more overshoot and more ringing. Smaller gains don t overshoot, but then they never really reach the goal either. If there were only a way to get rid of that offset. . . . Instead of using just the current error in position, we could accumulate, or add up, the error over time. This way, even a small offset would add up over time and could move our mechanism closer to its goal. This is shown in equation (17-4): e Y X eI eI e Z KP e KI eI This describes proportional-integral control. We broke the (Y X ) error term out into its own symbol e. Then we keep adding our instantaneous error e to the accumulated, or integral, error eI. Adding the new integral gain KI lets us control how important this integral error is to the control. KI needs to be kept small to avoid massive ringing 17-4

The thumb in this prototype is articulated (moves) but is not opposable. To improve this design, make the thumb opposable. This will increase the effectiveness of the hand. To make the thumb opposable, the thumb-containing portion of the hand must be cut off and reattached using a spring-loaded hinge (see Fig. 16.28). The spring-loaded hinge would be located on the rectangular box shown in Fig. 16.28. An air muscle connects to this section; when activated, it pulls the thumb into the palm section of the hand. This makes the thumb opposable as well as articulated.

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Fig. 17-4.

The robotic hand can be interfaced to an IBM-compatible computer using five electric solenoid valves, similar to the single-valve design shown earlier. An outer covering like a rubber hand can be fitted over the robotic hand to make an android hand (see Fig. 16.29). Some other applications for the air muscle are interesting. Here are a few: Six-legged robotic walker Easy-open jar clamp (for people with arthritis) Robotic hands Robotic arms