Symbol Table Subsystem Descriptions

The symbol table actually is broken down into groups of symbols. Each group represents some functionality typically associated with a subsystem of a project. Very few programs require the entire symbol table, therefore the table is more of a central repository of messages. Computer processes use only the symbol that are pertinent to them. Using define flags within a makefile of a computer project, an application only uses the symbols in needs ignoring the rest. The following tables describes each of the group of symbols. Use these subsystem names in the search page of the database to learn exactly which symbols are within each subsystem.

 Ranger Manipulator Subsystems

These groups of the symbol table describe each of Ranger's manipulators. Each manipulator uses the same symbols. The only difference is a substitution, for instance the CDxl2 flag is used to activate the 7DOF dexterous left actual joint angles message. This substitution allows the symbol table to remain small, since all of the following subsystems are used for each of the 6 arms:

Dxr = 7DOF dexterous right arm
Dxr8 = 8DOF dexterous right arm
Dxl = 7DOF dexterous left arm
Dxl8 = 8DOF dexterous left arm
Grp = 7DOF grapple arm
Vid = 6DOF video arm.

 C{Arm}  local processor and joint information including power, temperature and control gains
 C{Arm}1 overall arm control including: arm control modes, end effector control, null forces, loop rates, joint limits
 C{Arm}2  actual joint angles
 C{Arm}3  actual Cartesian position of the tool tip
 C{Arm}4  local joint enable and reset
 C{Arm}CTP  command a Cartesian position of the tool tip
 C{Arm}FT  force/torque sensor control and feedback
 C{Arm}IC  impedance controller command and feedback
 C{Arm}JJ  command joint angles
 C{Arm}MGI  data tracing messages
 C{Arm}RR  resolved rate controller commands and feedback
 C{Arm}RR1  desired joint angles, angles commanded by the on board processor in response to a resolved rate command
 C{Arm}RR2  desired Cartesian position of tool tip, position of tool tip commanded by the on board processor in response to a resolved rate command

 Ranger NBV Bus Subsystems

Ranger Neutral Buoyancy Vehicle uses several bus systems to move, power, and control the vehicle and its manipulators. The following is the list of these subsystems.

 Bcs  buoyancy compensation subsystem
 Con  vehicle flight control, commanding a Cartesian rate for vehicle movement
 Esu  sensor estimator telemetry including: 3DAPS and magnetometer
 Est  flight controller commands and telemetry
 Imu  inertial measurement unit
 NDms  data management system commands and status
 Pmu  power management unit commands and telemetry
 Thr  thruster telemetry

Command Authority Subsystems

Command authority is used so that only one control station can send commands to the various vehicle systems. Each control station sends requests to a server which determines which control station has authority and broadcasts the result. Each system has is own authority symbol.

Cmd1  vehicle systems authority requests and status
 Cmd6  data management system authority requests and status
 CmdDxl  7DOF dexterous left arm system authority requests and status
 CmdDxl8  8DOF dexterous left arm system authority requests and status
 CmdDxr  7DOF dexterous right arm system authority requests and status
 CmdDxr8  8DOF dexterous right arm system authority requests and status
 CmdGrp  7DOF grapple arm system authority requests and status
 CmdScmp  SCAMP vehicle system authority requests and status
 CmdVid  6DOF video arm system authority requests and status

 Virtual Simulation Subsystems

Several simulation processes are used assist the operator in training and controlling the actual vehicle. The following subsystems are used by those processes.

 BMan  boundary management system line controls
 V{Arm}  arm trajectory simulation commands and telemetry
 VSim  dynamic simulation control and status

 Other Projects and Utility Subsystems

Other robotic projects are controlled using the symbol table. Also utility programs used by control station applications, like hand controller readers, use the communication system to provide operators with hands on interfaces to control the robotic projects.

 Scmp  SCAMP vehicle commands and telemetry
ScmpSim  SCAMP simulation controls and status
 Ior  input device controls and feedback