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Economists do touch on the difficulties of organizing big companies, but to me, the best analysis of managing size came from a British anthropologist named Robin Dunbar. In an excellent book entitled The Tipping Point (Little, Brown & Co., 2000), Malcolm Gladwell introduces us to Dunbar, whose work revolved around what he called social capacity, or how big a group we can run with and feel comfortable. His observation is that hu81

This is in contrast to servo motors and solenoids that must be supplied electric energy continuously to maintain their push or pull If the muscle doesn t appear to contract, then it probably wasn t stretched far enough Remember the muscle must be stretched in order for it to contract (operate)..

1 ms Pulse Train Servo Motor Position Left 1.5 ms Pulse Train Servo Motor Position Midrange 2 ms Pulse Train Servo Motor Position Right

.1 F

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mans socialize in the largest group of primates because we are the only animals with brains large enough to handle the complexities of that social arrangement. His observation was that the figure of 150 seems to represent the maximum number of individuals with whom we can have a genuine social relationship that goes with knowing who they are and how they relate to us. Gladwell extracted from Dunbar s work the following observation that gets to the heart of being too big:

The monostable timer outputs a positive pulse from pin 5, each time it receives a negative pulse from timer 1. The positive pulse from timer 2 can be varied from 1 to 2 ms using the 10K-ohm potentiometer. You may need to fiddle with the resistance values of R1 and R2 in Fig. 4.11, depending upon the servo motor being used. As always, take caution that the servo motor isn t stalled (pushing against its own internal rotational stops). When working with servo motors, I have found that to achieve full rotational movement from the shaft I needed to use pulses shorter than 1 ms and greater than 2 ms. As you work with and gain experience using servo motors, you can also run outside the standard pulse widths (shorter and longer pulses) to achieve greater (180 degree) shaft rotation. The standard pulse widths sometimes do not rotate the shaft to each end stop. However, before you do so you need to understand that if a pulse signal falls outside of the range where the servo motor shaft can rotate, the servo motor will fight against its own internal rotational stop in an effort to rotate the shaft to the position called for by the pulse.

10 F

For example, suppose you have a servo motor and you are providing a 2.8-ms pulse to rotate the shaft all the way to the right. As long as the shaft can rotate to that position, you re fine. But suppose a different servo motor reaches its maximum right rotation with a 2.5-ms pulse. If you start sending a 2.8-ms pulse width, you are ordering the servo motor to turn further than it physically can. Because the servo motor is fighting against the internal stop, current drain goes up, you increase wear on the gearing, and you may burn out the servo motor. This problem usually occurs when the original servo motor tested is changed and the replacement motor doesn t need the modified pulse widths. As a rule of thumb, if using a pulse outside of the recommended 1- to 2-ms pulse, always check to make sure the servo motor isn t stalled in position. Servo motors are used to make the walker robot in Chap. 11. The walker robot uses a PIC microcontroller to control the servo motors. The PIC microcontrollers and servo motor application are covered in Chap. 6.

At a bigger size you have to impose complicated hierarchies and rules and regulations and formal measures to try to command loyalty and cohesion. But below 150, Dunbar argues, it is possible to achieve these same goals informally: At this size orders can be implemented and unruly behavior controlled on the basis of personal loyalties and direct man-to-man contacts with larger groups. This becomes impossible. *

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