Title					(1)
Synergy: a field robot design assistant

Table of Contents			(1)

Acknowledgement				(1)

Abstract 				(1)

Executive Summary 			(2)

Body-------------------------------------------- (51)

Thesis Statement: 
"Software with language and knowledge to reconfigure, verify,
optimize, simulate and generate control software for field
robot designs increases effectiveness of the robot and the
designer."

"Software that captures, reconfigures and optimizes design,
simulating and generating control software
is key to rapid creation of integrated and 
effective field robotic machines"


CHAPTER: Introduction 						(8)
	Motivation (2)
		Why design assistant
		Why design language
		Why auto simulate
			Role of Simulation in design process
			Save resource (vs custom simulation)
			Enhance Fidelity (multi-modal simulation)
				Memory of knowledge across simulations and time
				Uniform basis for comparison
			Enable comparison of multiple, variable designs in 
				mission environments
		Why embed knowledge
			Modularity of components, drag and drop ability
			Specificity and detail in components
		Why optimize
		Why generate software
			Role of signals and software in robots
			(robot performance and behavior 
			is indeterminate w.o. software)
		The synergy
	Problem and Thesis Statement
	Problem Dimensions (5)
		Design Process (3)
			Designing Mobile Robots
			Role of Designer, Information, and Computer
			Role of Design Assistant
			Proposed Design process using Synergy
		Capturing Design
			requirements,
			variable resolution - coarse to fine,
		Modeling and Simulation, Software 
		Software Generation, Optimization
	Scope and Objectives

CHAPTER: Background of Related Technology			(8)
	Design tools in Industry
		Cars (1)
		Planes (1)
		Computer Chips (1)
	State of the art
		Language to capture design (0.5)
			Pro E, EDRC tools
		Embedding knowledge
			Viper
		Simulation technology
			TeleGrip, JPL IPDT, auto simulation, 
			custom simulation, static sim (analysis)
		Optimization
			...
		Software Generation
			ControlShell, New Millenium planners, TCA,
			Software Engineering approach.
		Integrated Tools Comparison Chart
			...

CHAPTER: Methodology and Approach 				(15)
	Overall Architecture (3)
		Synergy Overview
		Code Overview	
	Design as resource management
		Knowledge and Information
		Modeling Tradeoff of modeling fidelity, ontology
		Computing tradeoff on realism, comprehension and 
			domain breadth

	Object Oriented Design Spreadsheet 			(4)
		Overview
		Syntax
		Unit casting and conversion
		Nearest neighbour semantics
		Automated Equation ordering and rehashing
		Graphical views
		Automating sizing and optimization
		Illustrative Example?

	Auto Simulation 					(4)
		Overview
		Agent based simulation
		Agents
			Coriolis
			Spice
			Thermal
		Commonality of physical interactions
		Commonality of the linear problem
		Need and limits of accuracy
		Illustrative Example?

	Software Generation Using Synergy 			(4)
		An approach to Mobile Robot Software
		Framework for robot control software
		Learning based software generation
		Illustrative Example?



CHAPTER: Application to the Lunar Rover Problem			(12)
	Lunar Rover problems
		Lunar Environment
		Edutainment Mission
		Lunar Ice Mission
		Millenium Mission
		Flight Experiment
	Lunar Rover Technology
		Launch and Landing
		Power
		Communication
		Imagery and Telepresence
		Locomotion and Tribology
		Sensing and preception
		Thermal
	Lunar Rover Design Approaches

CHAPTER: Results 						(4)
	Design Spreadsheet and optimization results (2)
		Power mode shifts - battery, solar, pointed, RTG
		Thermal mode shifts - battery, RHU
		Comm mode shifts
		Launcher shifts
		Establishing need and rationale for 
			State of the Art Computing for Space -
			total rover mass vs Mips/Watt and state of the art
		Sensitivity and relationship of 
			Comm Power, Compression, Comm bandwidth, pointing.

	Simulation  (1)
		Verify Martin Lander for a lunar mission - 
			Need Lander configuration,
		 	sensor data quality/nature and thruster parameters.
	
	Software Generation (1)
		Autogeneration of Meteorite Farming code and comparison.
	(3D Graphical show of these results if possible)

CHAPTER: Conclsions and Future Work 				(4)
	Contribution of the thesis to design
	What is possible with Synergy
	Immediate improvements
	The vision and possible pathways
		Agents	
			Terrain and soil interaction
			Geometry
			Structural Analysis
		Information
			The Web
			Component providers
		AI
			Speeding up simulations
			Memory
		Visualization

-------------------------------------------- (36)
Bibliography 				(4)

Appendix A Object Headers (6)

Appendix B Lunar Rover Design Spreadsheet (30)

Appendix C CD-ROM?

-----------------------------------------------------------------------

Total : 6 + 54 + 36 = 93



Possible Results------------------------------------------