To meet this interoperability constraint, the JAUS control system mimicked the serial

control stream of the native controller. To achieve this, the control stream and

initialization string were reversed engineered from the output of the native controller;

however, the specific information pertaining to the Andros control data bytes may not be

disseminated because of a nondisclosure agreement entered into between the Center for

Intelligent Machines and Robotics (CIMAR) laboratory, located at the University of

Florida, and Remotec, the manufacturer of the Andros platform.












 .... .. .. .






Figure 2-3: Native Andros controller

 2.2 Andros JAUS Controller

 The Andros JAUS controller operates on a RabbitCore RCM3200 microcontroller,

which utilizes a Rabbit 3000 microprocessor running at 44.2 MHz. The RCM3200 has

an integrated 10/100Base-T Ethernet port and six available serial ports for

communications, as well as 44 configurable, 5 volt tolerant, I/O lines. The RCM3200

runs the Dynamic C Premier Version 7.33P3 real time operating system, in which the

four basic JAUS components that comprise the Andros control system were coded.