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CAT Technical Specification - ver 2.0
===========================
The catís technical specification has been grouped into the three following sections:
  Physical details, 
  Electrical and control details and 
  Anatomical breakdown. 
These give the overall physical sizes, mechanical, electrical and control equipment 
content, and the anatomical breakdown gives an indication of the location of all of 
the parts related to each other.


Physical details
----------------
  Scale  Approx 1/2 scale to standard Felix domesticus in linear dimensions and 
                1/4 scale volumetric (weight) 

  Height  250 mm

  Width   140 mm

  Depth   260 mm

  Weight  0.95 kg 

  Joints
    6 single axis         Servos  DoF
        Head tilt             1	   1
        Neck rotate           1    1
        Tail up / down        1    1
        Front right knee      1    1
        Front left knee       1	   1
        Back right knee       1	   1
        Back left knee        1	   1
					
    4 dual axis
        Front right shoulder  1.5  2
        Front left shoulder   1.5  2
        Back right shoulder   1.5  2
        Back left shoulder    1.5  2

    Totals                   13   15
   

  Bearings      - 4 sleeve bushes one per shoulder joint.

  Servos        - 12 (1 micro, 12 mini )

  Links         - 6 (1 x head tilt,
                     2 x front legs in / out,
                     2 x back legs in / out,
                     1 x tail up / down )

  Gear drives   - 1 at 1:4 (neck rotate)

  Direct drives - 8

  Dampers - None

Electrical and control details
------------------------------
  Power supply
    1.5 Ah 7.2 volts Lithium Polymer, 12 amp diode, 10 amp relay main supply
    Voltage regulated supply 1 amp 5 volts

  Microprocessors
    One Scenix SX48BD/TQ microprocessor running at 16 MHz
    with a 24LC16BP, 16K EEPROM for memory storage 
    executing the programs at 8.88 MIPS.


  Sensors - Twenty five analogue and digital inputs
    Right eye 9 off analogue input light sensors
    Left eye 9 off analogue input light sensors
    Head pat switch
    Right whiskers contact switch
    Left whiskers contact switch
    Front right foot contact switch
    Front left foot contact switch
    Battery voltage 1 off digital

  Outputs - Twenty  PWM and digital outputs
    2 x LEDís (Power and communications indicators with the pat switch)
    Focused ultra bright LED (nose mounted for vision assistance)
    Servo power relay
    2 x eye switching  transistors
    13 x servos driven by Pulse Width Modulation
    Speaker driven by Pulse Width Modulation

  PCBs - Four custom designed and fabricated PCBs
    1 x Right eye sensor array 
    1 x Left eye sensor array
    1 x Surface mount processor 
    1 x Mother board for power management and battery voltage sensing,
        servo control, amplifiers,
        vision circuit switching and all I/O connections.

Anatomical breakdown
--------------------

  Head	
    2 servos     - head turn, tilt up/down 
                     Head turn
                       1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
                     Head tilt
                       1 x Futaba S3106 Micro Servo - Torque: 1.5 kg/cm, Weight: 10g
    2 cameras    - Each 9 pixel fixed focus with software intensity control
    6 whiskers   - 2 banks of three, left and right. 
                   Each bank being three switches in parallel.
    3 LEDs       - Power, communications and optical targeting
    1 Pat switch - Instrument spring switch under custom lever padle
    2 PCBs       - Custom designed double sided	

  Body
    1 Speaker      - 40 mm diameter 8 ohm	
    3 Servos       - front and back legs in/out
                       2 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
                   - Tail up / down
                       1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16 g
    1 SX48BD/TQ    - System controller covering all functions
                     Vision, input, output servo control and memory
    2 PCBs         - Electronics custom designed double sided
                     Including power management 1 x 12 amp relay, 
                     power sensing, 5 volt 1 amp regulator
    Battery        - 2 cell, 1.5 Ah 7.2 volt Lithium Polymer
    1 Switch       - SPST power
    1 Charge socket

  Front right leg
    2 servos
        Knee forward / back
          1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
        Shoulder forward / back
          1 x Hitec Mighty Mini Servo - Torque: 4.8 kg/cm, Weight: 27g
    1 switch - Foot contact to floor

  Front left leg
    2 servos
        Knee forward / back
          1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
        Shoulder forward / back
          1 x Hitec Mighty Mini Servo - Torque: 4.8 kg/cm, Weight: 27g
    1 switch - Foot contact to floor

  Back right leg
    2 servos
        Knee forward / back
          1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
        Shoulder forward / back
          1 x Hitec Mighty Mini Servo - Torque: 4.8 kg/cm, Weight: 27g

  Back left leg
    2 servos
        Knee forward / back
          1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
        Shoulder forward / back
          1 x Hitec Mighty Mini Servo - Torque: 4.8 kg/cm, Weight: 27g