1. CIS Humanoid Hand Team Members: Tom Billings, Mike Stock, Scott Shugh, Ananya Majumder, Kit Buckley

2. ISAC Uses IMA2 (Intelligent Machine Architecture) Uses IMA2 (Intelligent Machine Architecture) Robotic system broken down into components Robotic system broken down into components Each component has own control code and control computer Each component has own control code and control computer IMA allows one computer application to control all component computers simultaneously IMA allows one computer application to control all component computers simultaneously Our class will be implemented using IMA2 Our class will be implemented using IMA2

3. Interfacing Microcontroller Microcontroller High level code to call hand functions High level code to call hand functions Serial communication Serial communication Routines to run/stop motors on microcontroller Routines to run/stop motors on microcontroller Ports provide I/O for actuators and sensors Ports provide I/O for actuators and sensors Circuitry to provide correct voltages/currents Circuitry to provide correct voltages/currents

4. Interfacing Parallel Port Parallel Port High level code to call functions and evaluate High level code to call functions and evaluate Change/Read parallel port Change/Read parallel port Circuitry to provide correct voltages/currents Circuitry to provide correct voltages/currents

5. Parallel Port 8 output pins accessed via the DATA Port 5 input pins (one inverted) accessed via the STATUS Port 4 output pins (three inverted) accessed via the CONTROL Port The remaining 8 pins are grounded