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When the stator voltage is reversed, its poles are reversed so that the north pole is above the PM disk and south pole is below it. Consequently, the opposite poles of the actuator armature are attracted and repelled, causing the armature to reverse its direction of rotation. According to the manufacturer, Ultimag rotary actuators are rated for speeds over 100 Hz and peak torques over 100 oz-in. Typical actuators offer a 45 stroke, but the design permits a maximum stroke of 160 . These actuators can be operated in an on/off mode or proportionally, and they can be operated either open- or closed-loop. Gears, belts, and pulleys can amplify the stroke, but this results in reducing actuator torque.

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During the initial design phase of a robot project, it is tempting to add more features and solve mobility or other problems by adding more degrees of freedom (DOF) by adding actuators. This is not always the best approach. The number of actuators in any mechanical device has a direct impact on debugging, reliability, and cost. This is especially true with mobile robots, whose interactions between sensors and actuators must be carefully integrated, first one set at a time, then in the whole robot. Adding more actuators extends this process considerably and increases the chance that problems will be overlooked.

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Disparity The difference between the number of 1s and 0s in a transmission character. A transmission character with more 1s than 0s is said to have positive-running disparity. A transmission character with more 0s than 1s is said to have negative-running disparity. A transmission character with an equal number of 1s and 0s is said to have neutral disparity. Error detect timeout value (E_D_TOV) A timer used to represent the longest possible time for a frame to make a roundtrip through the fabric. This value is negotiated at N_Port login and typically will be on the order of a few seconds. E_D_TOV is used to decide when some particular error-recovery action must be taken. End-to-end credit value (EE_Credit) Used for end-to-end flow control to determine the maximum number of frames that may remain unacknowledged. End-of-frame delimiter (EOF) This ordered set is always the last transmission word of a frame. It is used to indicate that a frame has ended and indicates whether the frame is valid or invalid. ESCON Mainframe channel devised by IBM to support data rates of 200 Mbps over fiber. Depending on configuration, ESCON can reach distances from about 3 to 10 km over fiber-quality product features. Exchange The highest-level Fibre Channel mechanism used for communication between N_Ports. Exchanges are composed of one or more related sequences. Exchanges may be bidirectional or unidirectional. Fabric One of the three Fibre Channel topologies. In the fabric topology, N_Ports are connected to F_Ports on a switch. Depending on vendor support, fabric switches may be interconnected to support up to 16 million or more N_Ports on a single network. Fabric port busy frame (F_BSY) This frame is issued by the fabric to indicate that a particular message cannot be delivered because the fabric or the destination N_Port is too busy.

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Debugging effort, the process of testing, discovering problems, and working out fixes, is directly related to the number of actuators. The more actuators there are, the more problems there are, and each has to be debugged separately. Frequently the actuators have an affect on each other or act together and this in itself adds to the debugging task. This is good reason to keep the number of actuators to a minimum. Debugging a robot happens in many stages, and is often an iterative process. Each engineering discipline builds (or simulates), tests, and debugs their own piece of the puzzle. The pieces are assembled into larger blocks of the robot and tests and debugging are done on those subassemblies, which may be just breadboard electronics with some control software, or perhaps electronics controlling some test motors. The subassemblies are put together, tested, and debugged in the assembled robot. This is when the number of actuators has a large affect on debug complexity and time. Each actuator must be controlled with some piece of

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