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A small prototype robotic all-terrain vehicle features a unique drive and suspension system that affords capabilities for self righting, pose control, and enhanced maneuverability for passing over obstacles. The vehicle is designed for exploration of planets and asteroids, and could just as well be used on Earth to carry scientific instruments to remote, hostile, or otherwise inaccessible locations on the ground. The drive and suspension system enable the vehicle to perform such diverse maneuvers as flipping itself over, traveling normal side up or upside down, orienting the main vehicle body in a specified direction in all three dimensions, or setting the main vehicle body down onto the ground, to name a few. Another maneuver enables the vehicle to overcome a common weakness of traditional all-terrain vehicles a limitation on traction and drive force that makes it difficult or impossible to push wheels over some obstacles: This vehicle can simply lift a wheel onto the top of an obstacle. The basic mode of operation of the vehicle can be characterized as four-wheel drive with skid steering. Each wheel is driven individually by a dedicated gearmotor. Each wheel and its gearmotor are mounted at the free end of a strut that pivots about a lateral axis through the center of

Figure 4-14 Each wheel Is driven by a dedicated gearmotor and is coupled to the idler pulley. The pivot assembly imposes a constant frictional torque T, so that it is possible to (a) turn both wheels in unison while both struts remain locked, (b) pivot one strut, or (c) pivot both struts in opposite directions by energizing the gearmotors to apply various combinations of torques T/2 or T.

Downloaded from Digital Engineering Library @ McGraw-Hill (www.digitalengineeringlibrary.com) Copyright 2004 The McGraw-Hill Companies. All rights reserved. Any use is subject to the Terms of Use as given at the website.

4

Some years ago, a presentation on a repositioning strategy was given to John Schnatter of Papa John s fame. In the room were John s marketing people and senior executives. I finished the presentation, and John looked around the room and asked for opinions. As often happens in meetings like this, a lot of people started to pick the strategy apart. After 15 minutes of this, John said, All right, I ve listened to you all, and I have a question. Does anyone here have a better idea As you can guess, there was nothing but silence. John, not being meek about anything, said to his staff, All right, Better ingredients. Better pizza. it is. Off we go. His people knew where he was going, and they ve been following that strategy for years with great success.

gravity of the vehicle (see figure) Through pulleys or other mechanism attached to their wheels, both gearmotors on each side of the vehicle drive a single idler disk or pulley that turns about the pivot axis The design of the pivot assembly is crucial to the unique capabilities of this system The idler pulley and the pivot disks of the struts are made of suitably chosen materials and spring-loaded together along the pivot axis in such a way as to resist turning with a static frictional torque T; in other words, it is necessary to apply a torque of T to rotate the idler pulley or either strut with respect to each other or the vehicle body During ordinary backward or forward motion along the ground, both wheels are turned in unison by their gearmotors, and the belt couplings make the idler pulley turn along with the wheels.

switch before performance degrades to the point where users start complaining. New York Life is still looking to avoid performance problems by finding modeling tools that can crunch data and determine the correct zoning for applications and servers. We re starting to see products from companies like Veritas and EMC, Polito comments. With SANs only a few years old, it s not surprising that the SAN management market has some growing up to do.