Gilbert Architecture

Full system

  1. Skeleton / frame definition. Should geometry definitions live in the design software (like freecad) or should definitions come from another file and included / imported into the parameter workflow.

  2. Simulations - Should use the same runtime as virtual consciousness, capable of dynamically adjusting computation fidelity to match test case goal (real time vs slower for accuracy)

  3. Test cases - tied to DDD, but executed in GitHub? How to configure / setup virtual interfaces? All part of ROS2?

Mechanical design

Traversal

  • Any components / assemblies whose function is primarily for traversal. Such as wheels / legs / skids.

Task Completion

  • Any components / assemblies whose function is primarily for task completion. Primarily just arms, but there might be other assemblies that are unique but still serve a tasking function.

Framing and Mounting

Electrical design

Power delivery / recovery

Network / Communication

Sensors

Software design

Power Management

Sensors and Diagnostic States

Offboard communication (Wifi / Bluetooth)

Traversal

Task Completion

Virtual consciousness

Sensing method breakdown

  1. Environment detection

    1. Electromagnetic Spectrum

      1. stereo vision

      2. radar

      3. structured light

      4. infrared

    2. Sonic

      1. Ultrasonic

      2. Subsonic

      3. Echolocation

    3. Tactile / Motion

      1. Force on controlling members (strain)

      2. Pressure / touch sensors on contacting bodies

      3. Accelerometer

    4. Atmospheric / Composition Measurement

      1. Temperature

      2. Humidity

      3. Smell (for volatile compounds and other hazardous material)

Sensing function breakdown:

  1. Virtual Visual Cortex

  1. World Construct

    1. Object definition / extensibility definition.

    2. Assembly definition

User Interface

  1. Visual

    1. Kinesics

  2. Audio

    1. Command / Request interpretation

  3. Offboard

    1. Mobile / web app task setup / designation.

Infrastructure

  1. Programming and compiling considerations.

    1. ROS2

    2. Rust vs C++, robustness vs speed

    3. Multithreaded expectations.

    4. Programming failures and A/B image considerations.

  2. Hardware interfacing

    1. Graphics chipsets for various functions

Design segments / sets

Transversal base and frame support (reference )