An analysis must be made of the software requirements for interfacing with the control systems. This phase should be performed concurrently with the Control System Architecture Design phase, and should take 3 weeks.

Once the control systems are in place, and the mechanical platform is complete, the software must be designed and coded to build a cohesive system meeting the objectives outlined above in Section 2.0. The software architecture design consists of: subsumption behavior modeling, assembly language device drivers, and software simulations. This phase should take 3 weeks.

Once the simulations are complete and the behavior-based modeling code is prepared, and the assembly device drivers are complete, the rest of the code and the installation of the code is estimated to take 1 week. Some of this time can be used to further optimize software control of the individual systems.