9. Motion Actuation Subsystem (MAS)

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Functions of Motion Actuation Subsystem	I/O Data of Motion Actuation Subsystem	I/O Data of Motion Actuation Subsystem’s AI Modules
Reference Architecture of Motion Actuation Subsystem	Functions of Motion Actuation Subsystem’s AI Modules

9.1        Functions of Motion Actuation Subsystem

The Motion Actuation Subsystem:

1. Transmits spatial and environmental information gathered from its sensors and its mechanical subsystems to the Environment Sensing Subsystem.
2. Receives AMS-MAS Commands from the Autonomous Motion Subsystem.
3. Translates AMS-MAS Commands into specific Commands to its own mechanical subsystems, e.g., brakes, wheels directions, and wheel motors.
4. Receives Responses from its mechanical subsystems.
5. Packages Responses into high-level information.
6. Sends MAS-AMS Responses to AMS-MAS Command containing the value of Spatial Attitudeat intermediate Poses/Times.

9.2        Reference Architecture of Motion Actuation Subsystem

Figure 8 represents the Motion Actuation Subsystem Reference Model.

Figure 8 – Motion Actuation Subsystem Reference Model

9.3       I/O Data of Motion Actuation Subsystem

Table 12 gives the input/output data of Motion Actuation Subsystem.

 

Table 13 – I/O data of Motion Actuation Subsystem

 

Input	Comments
Odometer	Provides distance data.
Speedometer	Provides instantaneous velocity.
Accelerometer	Provides instantaneous acceleration.
Other Environment data	Other environment data, e.g., humidity, pressure, temperat­ure.
AMS-MAS Command	High-level motion command.
Wheel Motor Response	Forces wheels rotation, gives feedback.
Wheel Direction Response	Moves wheels by an angle, gives feedback.
Brake Response	Acts on brakes, gives feedback.
Output	Comments
MAS-AMS Response	Feedback from Response Analyser during and after Command ex­ecution.
Spatial Attitude	Position-Orientation and their velocities and accelerations.
Other Environment data	Other environment data, e.g., humidity, pressure, temperat­ure.
Wheel Motor Command	Forces wheels rotation, gives feedback.
Wheel Direction Command	Moves wheels by an angle, gives feedback.
Brakes Command	Acts on brakes, gives feedback.

9.4        Functions of Motion Actuation Subsystem’s AI Modules

Table 13 gives the AI Modules of Autonomous Motion Subsystem.

 

Table 14 – Functions of Motion Actuation Subsystem’s AI Modules

 

AIM	Function
Spatial Attitude Generation
AMS Command Interpreter
MAS Response Analyser

9.5       I/O Data of Motion Actuation Subsystem’s AI Modules

Table 14 gives, for each AIM (1^st column), the input data (2^nd column) from which AIM (column) and the output data (3^rd column).

 

Table 15 – I/O Data of Motion Actuation Subsystem’s AI Modules

 

CAV/AIM	Input	Output
AMS Command Interpreter	AMS-MAS Command	Brake Command Wheel Motor Command Wheel Direction Command
AMS Command Interpreter and MAS Response Analyser	Brake Response Wheel Direction Response Wheel Motor Response	MAS-AMS Response
MAS Spatial Attitude Generation	Odometer Speedometer Accelerometer	Spatial Attitude

 

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