3.1.4 IPD Input and Output M messages ........... ................................... 27
 3.1.4.1 "Set Auxiliary Actuators" ............. ..... .... ..................27
 3.1.4.2 "Query Auxiliary Actuators" ................................... ............... 28
 3.1.4.3 "Report Auxiliary Actuators" .................................. ...............28
 3.1.4.4 "Set B behavior X .......................................................................... 28
 3.1.4.5 "Query B behavior X ........................ ............................................. 29
 3.1.4.6 "R report Behavior X ........................ ............................................29
 3.2 Intelligent Prim itive D river Application............... ......................... ....... ....... 30
 3.2.1 Fuzzy Logic ............... .... ......... ......... ........ 30
 3.2.2 Functionality.................. ............................. 31
 3.2.3 Program Logic ......... ..... ........ .. .. ........ ..... .............. 32
 3.2.4 A scend Protocol 1 .................... ................. ...................... .............. 39
 3.2.5 A scend Protocol 2 .................... ................. .................... .............. 39
 3.2.6 Descend Protocol 1 ....... ........ .... .................................... .......... .. 41
 3.2.7 D escend P rotocol 2 .............................................................. .............. 42

4 TESTING AND RESULTS ........................................................................ 43

 4.1 Stair-C ounter A ssem bly ....................................................................... 43
 4.1.1 Testing Procedure ............................................. .. .. .. ............ .. 43
 4.1.2 R results ...................... ............ ........ 46
 4.2 Auxiliary Track Positioning System ............................................... ................. 48
 4.2.1 Testing Procedure .......................................... ..... ........... .... ........ 48
 4.2.2 Results ........................... ........ .............. 50
 4.3 H leading A lignm ent Controller ........................................ ......................... 52
 4.3.1 Testing Procedure ............................................. .. .. .. ............ .. 52
 4.3.2 R results ......................................... 52

5 CONCLUSIONS AND FUTURE WORK ...........................................................55

 5.1 C onclu sions........................................... 55
 5 .2 F u tu re W ork ..................................................................... 59

APPENDIX

A. STANDARD JAUS M ESSAGES ........................................ .......................... 61

 A.1 Query Global Pose .. ................. ........................ ................ 61
 A .2 Set W rench E effort .................................................... .................................. 61
 A .3 JA U S C ore M message Set .......................................................................... .... 63

B. STAIR COUNTER MATHEMATICAL DEVELOPMENT ............................... 64

L IST O F R E F E R E N C E S ........................................................................ .....................69

B IO G R A PH IC A L SK E T C H ..................................................................... ..................71