Notes- Data flows from left to right along communications layers. The framework loops back on itself; the right edge folding back around to mate the left edge.
High Level Sensing includes complex sensory systems such as video and laser scanning, as well as sound sampling for speech recognition. Raw data is conditioned into high level abstractions. High level pattern recognition and sensor fusion happens here.
Mid Level Sensing is comprised of simpler, cruder, yet still somewhat complex sensor systems such as sonar and joint position encoders. Mid level sensor fusion.
Low Level Sensing covers the most basic sensors such as safety and power sensors, plus low level sensor fusion.
High Level Deliberation is proposed to occur as a remotely accessed resource such as Cyc running on a massively parallel supercomputer.
Mission Control humors the notion that a federal agency overlaid on the highly distributed architecture can be useful, although the architecture starts as a confederation. Also serves as the telepresence server for the entire platform.
Reactive Decision Making based on simple rule firing, or black boxes such as neural nets, as in simple robots.
High Level Actuation is the executive of complex planned behavior including high level symbolic communication.
Mid Level Actuation handles (lame) ape level of physical behavior.
Low Level Actuation runs all the simple little things, like the compressor.
Internet Layer gloms the Net for wide area integration of high level resources.
Local Area Network is a seething mass of Base Station resources talking to on board and wide area resources.
On Board Data Bus interconnects all on board processors such as microcontrollers and user interface.
Hard Wired Harnesses is the discrete electronics wiring conducting power and low level sensor data.
Sensor/Environment Interface is the physical line between the robot's sensors and surroundings.
Actuator/Environment Interface is the physical line between the robot's actuators and surroundings.
The General Specification is organized by system/component categories.
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