Robotics

I started off in the computer industry doing machine control. My first project was a multiple-processing system leveraging COTS 486 motherboards linked together with a proprietary shared memory system. The system was designed to process mail that others could not, because of address quality.

This small robotic project keeps me in touch with the idea that computers can make things move an control things. It is kind of fun.

The robotics area focuses on how a group of robots can work together to perform a task. The architecture that captures this ability is being manage in the project called SAREC, which stands for Search and Rescue. The robots will leverage the open-pce framework for distributed communications over wireless e.g. zigbee, and the I2C bus.

Sarec is a project whose goals is to build a set of robotic components through which a bot can be assembled. The component is comprised of both hardware and software. Each component is thought to be independent of other components. Components are also task driven. There is one central task management system I am calling the "Autonomatron". This component will eventually have some type of rule base system, but essentially will be in charge of managing and coordinating all of task, and subtasks within a system, or possible, distributed system.

The next two prototypes of this project will be called "Lewis and Clark". Lewis are Clark are two robots that will be roaming my back yard in search of things, or maybe mapping out the area depending on the task at hand. The robots will work together to reach their goals. In the future, I hope to allow registered users to give tasks to the robots, tasks do not include escape from yard, to work on some "remote prescience" concepts over the Internet.

This section of the cave is devoted to the construction of a robotic platform that leverages a component-based architecture. The platform will eventually resemble a multi-agent platform that defines tasks to be carried out by a group of robots. But first we have to make baby Sarec move a little.

On the workbench you see below sits a 4WD1 kit from lynxmotions, some assorted parts from gumstix and an STK500 from Atmel AVR. I will use a Atmega128 to drive the motors and sensors. Then use the gumstix connex 400xm for "higher" level logic. Small steps first.