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system equipped with it was the rst whole-body motion planning system. It is a custom-built skin, designed speci cally for the robot shown. The skin consists of three large sections covering the second and third link of the robot arm which are by far the robot s biggest links, so covering them effectively takes care of all robot parts that are subject to collision. (Motion planning still has to be done for the whole robot major linkage, in three-dimensional space.) Common components and simple soldering was used to produce the skin; its most protruding parts, LEDs, make the skin rather thick, about 6 mm. The robot arm under the skin is a General Electric industrial arm manipulator. The skin resolution (distance between neighboring sensors on the skin) is about 5 cm, resulting in slightly more than 500 sensors total on the skin. The cuts in the front part of the skin were necessary to cover the robot s roundish endpoint. Note also that no hand or other end effector appears in the gure. As discussed in prior chapters, motion planning for the end effector (that is, the robot s minor linkage) is treated as a separate task, which is usually much easier due to the hand s small size. A more advanced version of the sensitive skin system (built in 1993 1996) is shown in Figure 8.7. The skin consists of standardized sensor modules (they can be seen in the gure), each about 20 by 20 cm in size and including 8 8 = 64 sensors and necessary local control electronics. Module dimensions are chosen so that the distance between border sensors of two neighboring modules is equal to the normal between-sensor distance within a single module. This, along with

Relational databases have been around now for over 20 years, and that s precisely how long performance problems have been around too and yet here is another book on the subject It s true that this book focuses on the index design aspects of performance; however, some of the other books consider this area to a greater or lesser extent But then a lot of these books have been around for over 20 years, and the problems still keep on coming So perhaps there is a need for a book that goes beyond the usual boundaries and starts to think about why so many people are still having so many problems It s certainly true that the world of relational database systems is a very complex one it has to be if one re ects on what really has to be done to satisfy SQL statements.

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Figure 8.7 This robot is equipped with the 1993 1996 skin version. The skin is made of standardized sensor modules, each 23 by 23 cm in size and includes about 1200 infrared proximity sensors.

What Is an SAS 70 Audit An SAS 70 audit is a single audit report, performed on the service organization s operation that can then be used by its clients auditors For example, if T Rowe Price administers your 401(k) plan, they can hire a firm to audit their internal procedures Then your auditors can ask to see T Rowe Price s SAS 70 audit The main benefit of an SAS 70 audit is that your auditors do not have to go on site at T Rowe Price to examine their controls They can rely on the SAS 70 audit In addition to administrators, HR also spearheads other outside providers like actuaries These types of professionals are considered specialists and are not covered by SAS 70 requirements A specialist is a professional who provides expertise and a specialized service (eg, actuarial valuations).

the fact that each module includes all the control electronics its own operation requires, makes for a universal module design. Covering the whole arm amounts to tiling it with such modules, perhaps with some modules cut to size for better coverage. The skin resolution (distance between neighboring sensors on a module) is 2.5 cm, twice as good as that of the earlier skin shown in Figure 8.6. Consequently, the skin has about 1200 sensors. Modules are electrically connected with each other by special connectors built into all four sides of each module. The skin s material base is again Kapton, but it is slightly different from the type used in Figure 8.6. The arm used in this system is a Hitachi P60 industrial arm manipulator. One such sensor module is shown in Figure 8.8. Unlike the skin shown in Figure 8.6, surface mounting technology was used for the skin component installation. Combined with smaller components available at the time, the skin has about 2-mm maximum thickness, three times less than in the skin of Figure 8.6. Black dots in the gure are sensor detectors. Both of the described systems went through a variety of tests using the software packages based on motion planning algorithms discussed in prior chapters. A good number of tests covered these three settings: 1. Tests with a Fully Autonomous Operation of the Robot Arm Manipulator. Typically the arm would be requested to go from some position A to a position B, while automatically avoiding collisions with previously unknown obstacles that it encounters on its way. 2. Tests with Teleoperation. In real time the operator shows the arm a rough idea of the desired trajectory, moving a master arm quickly and without any account for possible obstacles, and the main (slave) arm is expected to

Figure 8.8 A single sensor module, one of those used in the skin on Figure 8.7. The module is 23 by 23 cm in size and includes 8 by 8 = 64 infrared sensor pairs, spaced at 2.5 cm between neighboring sensors.

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