I've found the thread you are thinking of:
http://www.chiefdelphi.com/forums/sh...ad.php?t=97737
EDIT:
I see what you mean; Atomic Robotics' website does seem to have vanished, along with the article in question. I'll check if there is a Wayback Machine cache for their site...
EDIT 2:
I have scoured the Wayback Machine's archive for that website, and there is unfortunately no sign of a cached version of that particular article. It looks like your only hope is that someone (perhaps someone from Atomic Robotics, such as
staplemonx?) might have a copy of it somewhere else.