Andros platform; an Operator Control Unit (OCU), Primitive Driver, Node Manager,

Position System and Communicator components were coded for both the Rabbit

RCM3200 microcontroller with the Dynamic C operating system and the Gateway Solo

3350 laptop with the Linux Redhat 8.0 operating system. The Rabbit was used as the

Andros' JAUS controller, while the Solo 3350 was used as the OCU. The Intelligent

Primitive Driver was applied to the Andros platform: the IPD's capability to control

indirect motion actuators were mapped to the auxiliary tracks of the Andros and the

behavioral control commands were mapped to the stair ascending and descending

procedures. The proprietary Andros control stream was reverse engineered from the

native Andros controller and then applied to the Primitive Driver and Intelligent Primitive

Driver. As such, the Andros' JAUS controller was able to accept and interpret JAUS

commands and incite the Andros to act upon these commands accordingly. The

controller, as mounted on the Andros platform, can be seen in Figure 5-1.


Figure 5-1: Controller mounted on Andros platform