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6 and the storage system itself, due to the dual multipathing and redundancy, is more stable. The biggest and most important asset of this new system is the speed, says Tesch. We deal with huge graphics files some up to 1.2 GB and this new system is three to five times faster than our previous system. Files that used to take half an hour to download now take only about 10 to 12 minutes, says Tesch, adding, With this new system, we are no longer slaves to long transfer times. Because all the storage is shared in a SAN, R&B Group no longer has to purchase individual storage units for each server. Now it just has to buy enough storage to support its capacity needs for the entire server farm. We can also rest assured that our data system is more stable, says Tesch. The dual multipathing data are saved on two separate disks that are connected to separate channels. So when one goes down, retrieval from another is not a problem.

When you open up a robot, what do you see Mostly the big bits the outer layers, like the metal or plastic skin, the framework that holds it together, the motors that make it go. Bits of wire. This is what you would see if you could see past your skin into your muscles and bones. So it seems natural to follow this analogy and compare the robot to your body. As with most analogies, it falls apart if you look too closely. Where do lungs t into the picture The endocrine system, or kidneys What does a robotic liver do Okay, maybe the kidneys would be the oil lter, and lungs could be cooling fans. But I digress. A robot is not just one thing, and the study of robotics does not cover just one area of knowledge. A robot brings together systems from many di erent elds, and to learn robotics is to learn many di erent technologies. A robot can be considered in four parts, its frame, mechanics, electronics, and control logic. The rst visible piece is the robot s structure. An animal is held together by its bones, unless you count some of our creepier cousins, in which case the bones are on the outside as an exoskeleton. A robot will have bones of a sort, the parts that give it shape and form. Sometimes the pieces are held together by the robot s shell, or skin. Other times the robot mimics the skeleton model.

PLATFORMS ARE THE FOUNDATION FOR MOBILE ROBOTS. There are two options: build or buy. If one has good mechanical ability or is willing to learn, building a platform from scratch offers distinct advantages. The platform is designed and built for the specific task and purpose of a robot. One has an almost unlimited choice of drive motors, gearboxes, mechanical linkage, power supplies, etc. Buying a mobile platform relieves one from building a platform. But one is left with the gear ratio and power and speed designed for a different purpose. Here is a case in point: Most electric cars move too fast. If one doesn t have mechanical ability, this is the way to go. Typically one buys a radio-controlled (R/C) electric car. The radio controls are stripped from the unit. The electrical connections (wires) to the steering control and drive motor are retained. Here are some things to keep in mind when purchasing an electric car for conversion. First, don t choose a car that s too small or lies too close to the ground. A small size will make it difficult to fit sensor systems and microcontrollers onto the chassis. If the car lies too close to the ground, it will get stuck easily. Choose a car with a high wheelbase. Figure 10.1 shows an electric car that is a bad choice for turning into a mobile robot. It s too small to carry substantial weight, and notice how low to the ground it lies. This car will get stuck easily. Figure 10.2 shows a better choice. The platform is larger (can fit more components) and has a high wheelbase.