TABLE OF CONTENTS

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A C K N O W L E D G M E N T S ......... ............... ................................................................... iv

LIST OF TABLES ........................... ...... ........ ................... viii

LIST OF FIGURES ......... ......................... ...... ........ ............ ix

ABSTRACT ........ .............. ............. ...... ...................... xi

CHAPTERS

1 INTRODUCTION AND BACKGROUND ...................................... ................

 1 .1 In tro d u ctio n ............. .. ............. ........................................................................... 1
 1.2 Background ............. .............. ............. 1
 1.2.1 A assisted Teleop Control .......................... ...... .. ................................ 1
 1.2.2 Stair Clim bing ........................................ 3
 1.3 The Joint Architecture for Unmanned Systems (JAUS)................ .................... 4
 1.3 .1 O v erv iew ................................................................ ............................. . 4
 1.3.2 System Topology.............................. .............. 6
 1.3.3 The JA U S C om ponent.............................................. ........................... 7
 1.3 .4 T h e JA U S M essag e ......................................................................................... 7

2 TEST PLATFORM DEVELOPMENT .............. ...................... .............. 10

 2.1 R em otec A ndros R obot..................... ...................................... .......................... 10
 2.2 A ndros JA U S C ontroller................................................... .......................... 12
 2.3 Sensor System s ........................................................ ......... 15
 2 .3.1 Stair C ounter A ssem bly ....................................................... ... ................. 15
 2.3.2 Auxiliary Track Positioning System ..................................................... 20
 2.3.3 JA U S Positioning System ........................................ .................. ...... 21
 2.4 O operator C control U nit ........................................................... ... .............. 22

3 INTELLIGENT PRIMITIVE DRIVER DEFINITION AND APPLICATION............24

 3 .1 C om p on ent D definition ............................................................................................ 24
 3.1.1 Com ponent Function ..................................................... .................. 24
 3.1.2 Com ponent I/O ................................................... ... .. ........ .. 24
 3.1.3 C om ponent D description ....................................................... ... ................. 25