P.A.A.M.I.
Priority Arbitration Architecture Machine Intelligence
Basic Concept
Mechanical Properties
> 14 inches in diamter, with a roughly circular outline for turning maneuverability.
> Construction of clear Lexan, aluminum bar and angle stock, and some plexiglass internal supports.
> Drive Mechanism: Two 12vdc gear motors, approximately 200 RPM.
> 6 to 10 inches tall with full bumper coverage.
> Higher ground clearance with larger tires for better traction and obstacle avoidance.
> Flat top plate for a solar panel.
> Frontal tactile grasper for collection experiments.
> Rear free wheeling ball caster.
> Center of gravity toward rear to use a 3 wheel system.
Electronic Properties
> Power is 12v lead acid type battery, 1 - 4 Ah
> Motors driven independently with PWM PID type drive.
> optical Shaft encoders on each wheel.
> Center Stasis sensor wheel
> LCD display on top, with additional colored LEDs for system status.
> Audio outputs for each level of subsumption
Sensors:
> IR Proximity detectors around periphery
> IR Ranging sensors on front center and on both sides for wall tracking and frontal homing on targets.
>CdS photocells on top for day, night, and sunlight detection.
> CdS photocells on front at angles for light attraction.
> IR homing beacon recivers on front.
> Wheel Odometry sensors
> Frontal sonar sensor for explore, and can seeking mode.
> Gripper aquisition and proximity
> Frontal, and rear full body outline bumpers
PCB Modules
> Prioritised Subsumption paralell architecture, with separate uP for all functions and layers.
> All 5v system, with filter chokes on 12v to motors for isolation.
> Multiple PCBs will be needed for a hardware implemented subsumption, interconnected with ribbon cables or equivelent.
> Power chargeing docking adapter and interface electroics on rear of body.
>LCD display in housing on top, with an LED display module for indicating current subsumption level.
Programming Architecture
> Up to 8 layer Priority Arbitration type subsumption with asynchronous separate modules
> All PIC Processors, ranging from the 12F629 and 12F675 for sensor data aquisition, to 16F628 and 16F72 for the arbitration modules.
> Arbitration modules for the motors, gripper, LCD display, LED display and Audio outputs.
> As is standard for this type of architecture, up to 8 simultaneous parallel processing operations will go on continuously, with a priority
arbitration decoding to drive the actuators.