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One thing is certain for developed countries and probably for the entire world we face long years of profound changes. An organization must be organized for constant change. It will no longer be possible to consider entrepreneurial innovation as lying outside of management or even as peripheral to management. Entrepreneurial innovation will have to become the very heart and core of management. The organization s function is entrepreneurial, to put knowledge to work on tools, products, and processes; on the design of work; on knowledge itself. Deliberate emphasis on innovation may be needed most where technological changes are least spectacular. Everyone in a pharmaceutical company knows that the company s survival depends on its ability to replace three quarters of its products by entirely new ones every ten years. But how many people in an insurance company realize that the company s growth perhaps even it s survival depends on the development of new forms of insurance The less spectacular or prominent technological change is in a business, the greater the danger that the whole organization will ossify, and the more important, therefore, is the emphasis on innovation.*

One track with a separate method for steering The basic two track side-by-side Two tracks and a separate method for steering Two track fore-and-aft Several designs that use four tracks.

5

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.

A six-tracked layout consisting of two main tracks and two sets of flipper tracks and each end The six-track layout may be overkill because there is a patented track layout that has truly impressive mobility that has four tracks and uses only three actuators Robots are slowly coming into common use in the home and one tough requirement in the otherwise benign indoor environment is climbing stairs It is just plain difficult to climb stairs with any rolling drive system, even one with tracks Tracks simplify the problem somewhat and can climb stairs more smoothly than wheeled drivetrains, allowing higher speeds, but they have difficulty staying aligned with the stairs They can quickly become tilted over, requiring steering corrections that are tricky even for a human operator At the time of this writing there is no known autonomous vehicle that can climb a full flight of stairs without human input.

* Peter F. Drucker with Joseph A. Maciariello, The Daily Drucker (New York, Harper Business, 2004), p. 77.

moving its files to the new Magnitude SAN system from XIOtech Corporation in Eden Prairie, MN. Going forward, StorageCentral SRM is going to help the company keep the cost of this very active file server under control as it pays for only the SAN space the company needs. Until recently, about 1,200 employees in the company s southern Minnesota plant stored their home directories on a Gateway file server running Windows NT. The server which maintained 70 GB of data also houses some shared departmental directories and one directory used by the entire plant. The problem was that the window for a full server backup had grown to about 24 hours. Before the company could even think of moving any files to the SAN, management felt that it was necessary to audit the contents of this server. The company did this by running StorageCentral SRM reports that describe the characteristics of files. These characteristics include duplicate reports, files more than 1 year old, files by media type, and usage by share. This information enabled the company to pinpoint pockets of wasted space. It was discovered that most of the employees had been dumping every file they had to their home directories for possible future use.

This chapter covers all known track layouts that have been or are being used on production vehicles ranging in size from thirty centimeters long (about a foot) to over forty five meters (a city block) Tracks can be used with good effectiveness on small vehicles, but problems can develop due to the stiffness of the track material Toys only ten centimeters long have used tracks, and at least one robotics researcher has constructed tiny robots with tracks about twenty-five millimeters long These fully autonomous robots were about the size of a quarter Inuktun (wwwinuktuncom) makes track units for use in pipe crawling robots that are about twenty-five centimeters long The opposite extreme is large construction equipment and military tanks like the M1A2 Abrams The M1A2 s tracks are 635 meters wide (the width of a comfortable chair) and 4.