Red's comments:
	No tangential stuff,
	Need consistent, simple clean story
	Distinguish accomplishment (consequence/ impact) further
	Don't introduce any surprises, especially in titles
	Make sure lunar chapter is hort, does not get lost and
		has synergy context
	
	
Title					(1)
Synergy: a language and framework for robot design

Table of Contents			(1)

Acknowledgement				(1)

Abstract 				(1)

Executive Summary 			(2)

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

Thesis Statement: 

"Language with framework to optimize and simulate robots, and
generate control software increases the effectiveness of design"


CHAPTER: Introduction 						(8)
	Motivation (2)
		The need for Synergy
		Why design language
			Need for capturing design knowledge, generalization, 
			consistency and maintainance of design
			Attributes of concept to design (coarse to fine). 
			Advantages of representing well known physical 
			relationships in abstract, need to abstract away 
			common functionality (the need to build on).
		The need for a framework for optimize, simulate and gen ctrl sw
			Where can the computer help? What aspects of design
			currently take up a lot of resource that can be
			generalised and packaged. Advantage of framework in
			uniformity of design comparison, software testing,
			calibration and troubleshooting.
			
		Why 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 optimize design
			Need to Establish a satisficing design
			Advantage of design by search rather than formula. 
				Use Consistency and Constraint satisfaction
			Need to manage complex relationships quantitatively
			Need for Parameter sizing and component selection 
			
		Why generate control software
			Role of signals and software in robots
			(robot performance and behavior 
			is indeterminate w.o. software), the nature of
			software is robot-specific and a generation aid
			is vital for short robot simulation, comparison and
			development cycles.

	Problem and Thesis Statement

	Problem Dimensions (5)
		Design of Robots (3)
			Overview and major issues
			Role of Designer, Information, and Computer
			Proposed approach to Design using Synergy framework
		Design Language
			requirements and conflicts (specific vs generic)
		Simulation: using model generation and 
				numerical analysis algorithms, 
				reliance on state-of-the-art
		Unifying Optimization and Software Generation
			Design and control software generation as a search.
			The model being searched and the domain of search.
			Applying universal search approaches of population
			and memory
	Scope and Objectives
		What is essential, the dependency chart
		Purpose of this development and what is needed for that

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

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

	Design language 					(4)
		Overview
			Design as a collection of components (OOriented nature)
			, as relationships, as constraints and as objectives
		Syntax
		Unit casting and conversion
		Nearest neighbour semantics
		Automated Equation ordering and rehashing
		Graphical views
		Illustrative Example?

	Design Framework
		Interface definitions
		Internal clocks to manage design

	Optimization
		Genetic Search, operators, algorithm control
		Defining the genetic search parameters (chromosome)
		Evolution of design parameters and structure

	Simulation thru model generation and numercial analysis	(4)
		Overview
		Agent based simulation
		Agents
			Coriolis
			Spice
			Thermal
		Commonality of physical interactions
		Need and limits of accuracy
		Illustrative Example?

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


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

CHAPTER: Results 						(5)

	Design Language Results 
		No of designs generated, time & fidelity chart

	Role of Framework

	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 Results (1)
		Verify Martin Lander for a lunar mission - 
			Need Lander configuration,
		 	sensor data quality/nature and thruster parameters.
	
	Software Generation Results (1)
		Autogeneration of Pattern Search code and comparison?

	(3D Graphical show of these results if possible)

CHAPTER: Conclsions and Future Work 				(4)
	Contribution of the thesis to design and uses of Synergy
		A first comprehensive design approach which has a
			way to take design from concept to detail,
			providing the support needed to the design team
		ITS USES--------
		Managing design with Synergy
		Increasing life and spread of design knowledge, expertise
		Design Templates for classes of robots
	An evolution path for Synergy
		Immediate improvements
		Agents	
			Terrain and soil interaction
			Geometry
			Structural Analysis
			Programmatics
		Information
			The Web
			Component providers
		Speeding up computation, Memory
		Visualization and embedding in user interfaces

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

Appendix A Object Headers (6)

Appendix B Lunar Rover Design Spreadsheet (30)

Appendix C CD-ROM?

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Total : 6 + 55 + 36 = 94