2.3.2 Specification of requirements for Line I

This task consists on specifying a collection of objectives for Line I:

I.1.1. Target capabilities:

Benchmark tasks and behaviours to be achieved.

I.1.2. Layer 0 specification:

Specification of parameters and low-level functions for the RPP. They are understood to be expressed in technical terms, derived from the platform and engineering criteria.

I.1.3. Physical components:

Parts which will be included as part of the RPP: pioneer platform, ultrasonic sensors, ccd cameras, robotic arm, etc.

I.1.4. Performance targets:

Metrics and procedures to describe performance in absolute terms and against target capabilities: (1) for the total system (2) for system parts.

2.3.3 Construction of a Real Physical Platform (RPP)

This activity is devoted to buying, assembling, configuring, driver programming and testing physical components forming a physical platform.

Layer 0 will be based on automatic control techniques performance-oriented: PID, adaptive control, etc. The construction of this layer will involve identification of the robot and design of controllers.

2.3.4 Construction of a cognitive wrapper

As it may be inferred, the Layer 0 interface is highly platform-dependent. Thus, any change to the physical parts would imply a change in the interface. This activity deals with designing an interface, Layer 1 interface, following cognitive criteria and according to an existing taxonomy of cognitive systems, and building the necessary software to bridge the gap between the cognitive front end of Layer 1 and the Layer 0 interface.

The idea is to consolidate a Layer 1 interface, independent of Layer 0. Naturally, changes in Layer 0 would alter the sw in Layer 1, but the Layer 1 interface should be kept the same.

I.3.1. Investigate state of technology:

Identification, analysis of existing technology of possible application to the construction of the RPP. This includes ARIA and OROCOS libraries for example.

I.3.2. Create taxonomy of Layer 1 functions:

This task refers to identifying and defining the elements forming Layer 1, and to associating them with each other.

I.3.3. Implementing Layer 1:

This task consists in actually mapping the previously defined Layer 1 to the RPP. It is envisaged that this task will mainly consist on programming a code for the conceptual specification of I.3.2., but it may also imply construction of mechanical devices, electronic circuits or other.

2.3.5 Construction of a Virtual Physical Platform (VPP)

This activity refers to programming the necessary sw to simulate the RPP. The simulator will be required to behave similarly to the RPP, and to offer the same interface (Layer 1). The degree of similarity and measuring criteria for performance will have to be specified in this task, according to the criteria established in I.1.2.