CHAPTER 1
 INTRODUCTION AND BACKGROUND

 1.1 Introduction

 The purpose of this research was to design and develop an experimental intelligence

component based on the Joint Architecture for Unmanned Systems (JAUS), currently

being developed in concert with the Department of Defense. This component will be

designated the Intelligent Primitive Driver (IPD) and will allow for assisted tele-

operational (teleop) control of a platform. Teleop control can be defined as the control of

a vehicle or robot by the direct input of a human operator. Assisted teleop is based upon

this concept, but includes additional computer control to supplement the operator's

control; intensive control procedures were automated to ease the burden on the operator.

The IPD accomplished this task by having direct control of any and all actuators that

directly affect the motion of the platform. A Remotec Andros robot, outfitted with a

JAUS-compliant controller, was used to test the viability of the IPD. In the case of the

Andros, the IPD automated the complicated stair ascending and descending operations.

 1.2 Background

1.2.1 Assisted Teleop Control

 The human-machine relationship has always been clearly defined: machines are

controlled by humans and are constructed to ease the burdens of human life. However,

two recently developing factors have begun to dramatically change this relationship.