Connect to the database and run this command: "VACUUM". This leads to a run in "lazy mode", which can be used during normal use. It is recommended that you actually call it as a "vacuum analysis", which will also update statistics.
If you want to see a lot of details, you can in the console type "vacuum detail"
The more extreme the form is "filled with vacuum", which causes a strong blocking of the table and cannot be really used in the production system.
Source: http://www.postgresql.org/docs/8.1/static/maintenance.html
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