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time, but would also make the circuit more noise prone. Since the skin sensors on the arm links are polled in parallel, the limiting factor in the sensor update rate is the polling of the largest skin sections, which in this skin version happens to be on the robot arm link l3 . The resulting sensor polling rate makes the whole skin polled every sixteenth of a second. A bit faster rate for example, equal to the arm s 25-Hz sampling rate may be desirable, but it would require a more complex design and was deemed unessential.

Figure 8.6 The rst sensitive skin (mid-1980s). Skin sheets have been custom designed to t this speci c General Electric robot arm. The system has over 500 infrared proximity sensors.

Switch S1 selects the operating frequency of a particular sensor module. By selecting the output of IC5b, the circuit operates at 67.5 kHz, or one-half the frequency of the signal (modulation frequency) from the sensor interface circuit. The lower frequency (67.5 kHz) is used for the link l2 skin section, and the higher frequency (135 kHz) is used on the skin of link l3 . Note that from the standpoint of motion planning these two links comprise practically the whole arm (Figure 8.6).

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Step Benchmark current investment performance and fiduciary review Description Benchmark current plans including: Competitive performance analysis of the investment funds Analysis of the participant elections among investment funds Summary profile of investment funds, including administrative fees and expenses While you have decision makers in a room to review vendor selection, it is often worthwhile to confirm any outside plan design issues. Initial search Identify and prioritize selection criteria for potential 401(k) service providers. Then, using these criteria, contact providers that could meet your needs. Contact these providers for preliminary information requests regarding their services. Prepare a written summary for management s review and selection of finalists. Finalists Interviews After selecting finalists, schedule face-to-face meetings to choose the provider that best meets the needs of the participants. Trustees/board approval Prepare reports for trustees and/or board meetings as necessary to review the selection process and receive approval of management s decision.

The Skin. The skin base is manufactured from a plastic material called Kapton, by Dupont Corporation, and is 0.26 mm (0.0085 in.) thick. (See Section 8.2 for considerations affecting the choice of base material for the skin.) Both sides of the material are copper-clad, resembling the (much thicker) in exible material commonly used for regular printed circuits. After processing, the board provides both the necessary structural support and electrical interconnection for electronic components. Once the skin design concept has been nalized based on preliminary experiments, skin sections have been designed using common CAD-CAM software. The actual production was done in a shop that had expertise in producing complete circuit boards on exible materials like Kapton; a number of such shops have appeared in the United States in recent years.

8.4 EXAMPLES The skin that covers the industrial robot arm shown in Figure 8.6 was built in 1985 1987. It is the rst robot sensitive skin system ever built, and the robot

3 Oversight For those processes that HR owns and are deemed material (eg, pension plan), HR will play a lead role in complying with SOX internal control requirements Critical to this is the oversight of third parties and experts (actuaries, investment managers, plan administrators, etc) who all play a part in the operation of benefit programs OVERSIGHT Expanding further on this third role, HR typically plays a critical role in the management of outside vendors who perform critical processes that impact a company s financial statement For example, if the pension plan is determined to be material, controls must be put in place to comply with SOX This will mean coordinating with outside vendors to satisfy your auditors that work performed is also controlled For thirdparty administrators, like 401(k) vendors, they will typically provide you with a Statement on Auditing Standards (SAS) 70 audit.

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