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This ability to recover small chunks of data quickly rather than performing a lengthy database restoration is particularly important to Orchid, which at any given time has 8 to 12 GB of data on its Exchange mail server. A full restoration of this much data would take 10 to 12 hours, Magee says. However, restoring the e-mail box of a single user, including calendar and other nonmail items, takes only about 10 minutes with CommVault s Galaxy, he says. System administrators handle the recoveries because individual users are not authorized to do so. The software also saved time in other ways. Unlike some backup and recovery products, Galaxy restored corrupted messages not only to the right e-mail box, but also to the right portion of the e-mail box, such as the inbox, outbox, drafts, or deleted items folders, Magee says. It also correctly restored items to the calendar and the contact list. Most of the other products I tried for restoration didn t work satisfactorily because they either put the data in the wrong location or recovered the data incompletely, Magee says. In addition, the software is easy to use. The server-based package uses a web browser interface that makes it practical for IT people to recover data from any user s workstation. Recovery products from other firms did not have such a full-featured interface, he says. At the moment, Orchid is still rolling out Galaxy software to several company locations and is able to use it to restore e-mail for about 350 of the firm s 500 employees. The firm s main locations are in Princeton, Dallas, Dayton, Sacramento, and the United Kingdom.

7

when crossing streams or difficult terrain. They stand on three legs while the forth leg is moved around until it finds, by feel, a suitable place to set down. These examples demonstrate that four-legged walkers can have geometries that are either dynamically or statically stable or both. Animals have highly developed sensors, a highly evolved brain, and fantastically high power-density muscles, that allow this variety of motion control. Practical walking robots, because of the limitations of sensors, processors, and fast acting powerful actuators, usually end up being statically stable with two to eight legs. The design of dynamically-stable, walking mobile robots requires an extensive knowledge of fairly complicated sensors, balance, high-level math, fast-acting actuators, kinematics, and dynamics. This is all beyond the scope of this book. The rest of this chapter will focus on the second major category, statically-stable walkers.

The firm s determination to extend Galaxy to all employees is based on its second experience with a computer virus. When the Anna Kournikova virus struck Orchid s Exchange servers earlier this year, just weeks after Galaxy was installed, it highlighted the ease with which the package handled data restoration, Magee says. This was in sharp contrast to the much greater difficulty Orchid had in restoring a second Exchange server that, while it contained a much smaller amount of data, was not using Galaxy.

First, let s look and leg geometries and actuation methods. There are three major techniques for moving legs on a mobile robot. Linear actuators (hydraulic, pneumatic, or electric) Direct-drive rotary Cable driven Hydraulics is not covered in this book, but linear motion can be done effectively using two other methods, pneumatic and electric. Pneumatic cylinders come in practically any imaginable size and have been used in many walking robot research projects. They have higher power density than electric linear actuators, but the problem with pneumatics is that the compressed air tank takes up a large volume. Linear actuators have the advantage that they can be used directly as the leg itself. The body of the actuator is mounted to the robot s chassis or another actuator, and the end of the extending segment has a foot attached to it. This concept has been used to make robots that use Cartesian and cylindrical coordinate walkers. These layouts are not covered in this book, but the reader is urged to investigate them since they can simplify the development of the control code of the robot.

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