Hi,

A pre-print of the following paper and example simulations and 
animations are available by anonymous ftp from the Indiana 
University Stiquito archive:

     Lukasiewicz' Insect: The Role of Continuous-Valued Logic
     in a Mobile Robot's Sensors, Control, and Locomotion

Abstract
--------
The ability to physically realize a colony of insect-like robots 
presents numerous problems to robotics researchers.  A hexapod 
robot controlled by a computational sensor is proposed as a 
solution to some of these problems.  Stiquito is a small nitinol-
propelled robot.  It is controlled by a computational sensor 
implemented with Lukasiewicz logic arrays (LLAs).  The 
computational sensor includes an electronic retina, an implicit 
controller, and a gait generator. Measured and simulated results 
illustrate the unifying effect of Lukasiewicz logic on the design 
of the robotic system.

Keywords:  analog VLSI
           Lukasiewicz logic array
           robotics
           subsumption architecture
           Stiquito



My students and I hope to make CIF files from a fabricated and 
tested MOSIS Tiny Chip prototype available by the end of the year.  
Meanwhile, I encourage anyone interested to try the simulators and 
suggest improvements, features, or variations you would like us to 
include on the chip.



----------------------------APOLOGIES-----------------------------

Because there is no chance of porting the complete package to any 
system other than a Macintosh, and because the PostScript file for 
TR378 (a six-page paper) is larger than one megabyte, I must 
apologize in advance for restricting the electronic version of 
this report to the Macintosh alone.  But Macs are out there, and 
can usually be found at a Kinko's (at least in the USA).

------------------------THE BRIGHT SIDE---------------------------

Paper copies of TR378 are available free-of-charge by writing or 
sending an e-mail request to:

     Ms. Nancy Garrett
     Computer Science Department
     215 Lindley Hall
     Indiana University
     Bloomington, Indiana 47405

     nlg@cs.indiana.edu

------------------------------------------------------------------



To obtain the files, ftp to cs.indiana.edu (129.79.254.191) and 
look in the directory:

/pub/stiquito/TR378.Lukasiewicz.Insect

It contains the three files:

     TR378.hqx
     TR378.retina.files.hqx
     TR378.gait.files.hqx

The .hqx files must be decoded (Stuffit 1.5.1 can do it) to 
produce three StuffIt 1.5.1 archives:

     IUCS TR378 Lukasiewicz' Insect
     IUCS TR378 LLA Retina Files
     IUCS TR378 LLA Gait Gen Files

The following files are in each archive:

     IUCS TR378 Lukasiewicz' Insect
     ------------------------------
     TR378/ISMVL'93 LLA Stiqui             Word 4 tech report


     IUCS TR378 LLA Retina Files
     ---------------------------
     LLA Retina - Maze Edge De             WingZ LLA retina sim
     Retina Maze Animation v1              LLA retina operation
     CinePlayer                            use to view animations
     LLA Edge Detector Data v3             analysis of retina data


     IUCS TR378 LLA Gait Gen Files
     -----------------------------
     GAIT SIMULATIONS:                     all WingZ simulations
	     3-Leg Gait & Noise ( M-LWv14)      3-leg simulation
	     6-Leg Turning Gait (v2d2b)         6-leg simulation
	     6-Leg Vary Gait w/Noise (v1d2b)       "
	     AnimatedTrajectories (MWRv14)      1-leg trajectory
	     ScrapbkTrajectoryGen (MWRv15b)        "
	     Trajectory w/Points (MWRv15c)         "
     Gait Animation v2                     121 trajectories 1-by-1
     Gait Animation v3                     superimposes 121 traj's
     CinePlayer                            use to view animations



Use StuffIt to extract the files you want.

You will also need either the application software listed below, 
or its equivalent, to view the report, manipulate extracted 
figures, and run the simulations.  However, CinePlayer is provided 
to view the animation files.

     Microsoft Word 4.00D was used to write TR378.

     Canvas 3.0.5 was used to produce final copies of all figures
     in TR378, and can be used to manipulate extracted figures.

     CineMation was used to create the animations.


     WingZ 1.1 was used to create the spreadsheet simulations and 
     visualize the output using line, contour, 3-D step and gray-
     scale quilt graphs.  Some simulations have control buttons 
     and scripts to automate the simulation, and make it easy to 
     explore variations.  The gray-scale quilt graph is not a 
     standard WingZ graph, but is produced using a short script 
     found in the file: LLA Edge Detector Data v3.



I'm presenting this paper at ISMVL'93 in Sacramento during May 27-
30, and also conducting a Stiquito tutorial.  I'd enjoy meeting 
anyone who is using Stiquitos or doing robotics research while I'm 
on the west coast.  Send me e-mail if you want to plan a meeting.

Sincerely,
Jonathan