degrees relative to the horizontal position. The drive motors are able to propel the

Andros up forty-five degree slopes or stairs and can maintain the vehicle's position upon

a slope through dynamic braking. The physical dimensions of the Andros are seen in

Figure 2-2 [11].













 32" 28"

Figure 2-2: Andros physical dimensions

 Figure 2-3 depicts the native Andros controller. Upon power up of the Andros

system, the native control transmits an initialization string to the Andros' embedded

controller and then begins the continuous output of the control data. The Andros'

embedded controller will only enter the "ready" state and accept platform control data if

the initialization string is properly sent and the control data is received at a maximum 5

Hz frequency. The controller uses a proprietary serial control stream to communicate

with the Andros' embedded controller. The update frequency is the absolute maximum

rate at which any controller may update the control data being sent to the Andros and

therefore alter the Andros' intended motion.

 To use the Andros robot as the test platform for the IPD system, the JAUS control

system implemented on the Andros had to be completely removable from the system so

that the native Andros controller could be reconnected and used to control the Andros.