System Requirements

Functional Requirements

Fall
Mandatory

  1. Robot Patrolling: Mell-E shall accept cleaning boundaries from users and patrol within the received boundaries.
  2. Obstacle Avoidance: Mell-E share be able to avoid obstacles during its patrolling.
  3. Litter Detection: Mell-E shall be able to detect cans on the grass and sidewalk environment.
  4. Angle Estimation: Mell-E shall know the relative angles between cans and camera center.
  5. Feedback Information Frequency: Mell-E shall report its information at a rate of 1 Hz.
  6. Litter Storage: Mell-E’s litter storage shall fit 10 standard beverage cans onboard itself.

Spring

Mandatory

  1. Litter Classification:Mell-E shall classify three classes–cans, bottles or none of them before picking them up.
  2. Litter Pickup: Mell-E shall be able to use its 4-DOF arm to pick-up litters and store them.

 

Performance Requirements

Fall

Mandatory

  1. Robot Patrolling: Mell-E will cover a 1 acre boundary within a 10 feet deviation. Mell-E will not go beyond the boundary by more than 10 feet
  2. Obstacle Avoidance: Mell-E will detect obstacles taller than 1 foot in height.
  3. Litter Detection: Mell-E will detect cans with the detection accuracy at 75%.
  4. Angle Estimation: Mell-E will detect the angle within -30 degrees to +30 degrees, and the tolerance will be +/- 5 degrees.
  5. Feedback Information Frequency: Mell-E will report its information at a rate of 1 Hz.
  6. Litter Storage: Mell-E’s litter storage will fit 10 standard beverage cans onboard itself.

Spring

Mandatory

  1. Litter Classification: Mell-E will be able to classify three classes: cans, bottles, or none of them with accuracy at 90%.
  2. Litter Pickup: Mell-E will be able to pick-up and store litter within 5 attempts.

Desired

  1. Litter Pick Up Diversity: Mell-E will be able to pick up 3 different classes of litter.

Non Functional Requirements

Mandatory

  1. Safety: Doesn’t damage the environment or people.
  2. Life-cycle: Lasts through one demo at a time.
  3. Cost: Below $15,000.
  4. Weather condition: Works in “good” weather.

Desired

  1. User-friendly: Takes less than 15 minutes to set up.