{"id":25,"date":"2015-09-16T23:54:11","date_gmt":"2015-09-17T03:54:11","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/?page_id=25"},"modified":"2016-05-06T17:58:21","modified_gmt":"2016-05-06T21:58:21","slug":"project-management","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/project-management\/","title":{"rendered":"Project Management"},"content":{"rendered":"<h1><strong>Schedule<\/strong><\/h1>\n<p><strong>Scrum Timeline:<\/strong><\/p>\n<p>Over the course of the coming year, we will have a total of 11 two-week development sprints.<\/p>\n<p>Detailed planning is broken into two major releases, centered around the two demonstrations in December 2015 and April 2016.\u00a0Each sprint fits into the overall schedule in the following manner.<\/p>\n<p><a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/status.png\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-370\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/status.png\" alt=\"status\" width=\"1413\" height=\"821\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/status.png 1413w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/status-300x174.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/status-768x446.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/status-1024x595.png 1024w\" sizes=\"auto, (max-width: 1413px) 100vw, 1413px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p><strong>Project progress visualization:<\/strong><\/p>\n<p>The burndown chart below shows our trajectory with respect to our first release plan, due for completion in December 2015. The plan (blue line) represents an estimated level of focused, productive effort of 10 hours per week per team member.<\/p>\n<p>This first release includes\u00a0all planned work up until the first Fall demo (see test plan details below).<\/p>\n<p><a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/11\/MRSD_burndown_nov23.png\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-155\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/11\/MRSD_burndown_nov23.png\" alt=\"MRSD_burndown_nov23\" width=\"517\" height=\"336\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/11\/MRSD_burndown_nov23.png 831w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/11\/MRSD_burndown_nov23-300x195.png 300w\" sizes=\"auto, (max-width: 517px) 100vw, 517px\" \/><\/a><\/p>\n<p>NOTE: Burndown chart only shown for Fall semester due to focus on implementation for Spring semester.<\/p>\n<p>Burndown chart annotations:<\/p>\n<ul>\n<li>During the week of 10\/23 remaining work spiked due to the inclusion of several missing work items related to the MRSD Project course deliverables.<\/li>\n<li>Work remaining dropped significantly during the week of 11\/21 due to the postponement of\u00a0work related to autonomous control of the Iris+ quadcopter.<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<p><strong>Work Breakdown Structure Summary as of 4\/1\/2016:<\/strong><\/p>\n<p><a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/april_wbs_a.png\" rel=\"attachment wp-att-316\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-316\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/april_wbs_a.png\" alt=\"april_wbs_a\" width=\"579\" height=\"448\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/april_wbs_a.png 579w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/april_wbs_a-300x232.png 300w\" sizes=\"auto, (max-width: 579px) 100vw, 579px\" \/><\/a><\/p>\n<p><a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/status_wbs.png\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-371\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/status_wbs.png\" alt=\"status_wbs\" width=\"580\" height=\"553\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/status_wbs.png 746w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/status_wbs-300x286.png 300w\" sizes=\"auto, (max-width: 580px) 100vw, 580px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h1><strong>Presenter Schedule:<\/strong><\/h1>\n<h2>Fall:<\/h2>\n<p><strong><em>October 22nd<\/em> &#8211; Progress Review 1 &#8211; Presenter: Erik Sjoberg<\/strong><\/p>\n<p><strong> <em>October 29th<\/em> &#8211; Progress Review 2 &#8211; Presenter: Cole Gulino<\/strong><\/p>\n<p><strong> <em>November 12th<\/em> &#8211; Progress Review 3 &#8211; Presenter: Rohan Thakker<\/strong><\/p>\n<p><strong> <em>November 24th<\/em> &#8211; Progress Review 4 &#8211; Presenter:\u00a0Job Bedford<\/strong><\/p>\n<h2>Spring:<\/h2>\n<p><strong>Progress Review 7 &#8211; January 27th &#8211; Presenter: Rohan Thakker<br \/>\n<\/strong><\/p>\n<p><strong>Progress Review 8 &#8211; February 8th &#8211; Presenter: Erik Sjoberg<\/strong><\/p>\n<p><strong>Progress Review 9 &#8211; February 24th &#8211; Presenter: Cole Gulino<\/strong><\/p>\n<p><strong>Progress Review 10 &#8211; March 16th &#8211; Presenter: Job Bedford<\/strong><\/p>\n<p><strong>Progress Review 11 &#8211; March 30th &#8211; Presenter: Rohan Thakker<\/strong><\/p>\n<p><strong>Progress Review 12 &#8211; April 11th &#8211; Presenter: Erik Sjoberg<\/strong><\/p>\n<p>&nbsp;<\/p>\n<h1><strong>Test Plan<\/strong><\/h1>\n<p style=\"text-align: center\"><a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/Selection_117.png\" rel=\"attachment wp-att-293\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-293\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/Selection_117.png\" alt=\"Selection_117\" width=\"343\" height=\"396\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/Selection_117.png 343w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/Selection_117-260x300.png 260w\" sizes=\"auto, (max-width: 343px) 100vw, 343px\" \/><\/a><\/p>\n<ol>\n<li><strong> Backup Iris+ Drone Hardware<\/strong><\/li>\n<\/ol>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Objective: The purpose of this test is to demonstrate a second complete, working Iris+ drone with all sensors and hardware integrated. <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Elements: This test will feature the following elements:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Hardware Subsystem &#8211; The complete and working hardware of the Iris+ drone<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">ROS Framework &#8211; The high-speed integration of our Linux SBC (ROS) and the flight-control firmware running on the Pixhawk microcontroller<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Location: MRSD Lab<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Equipment:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ Drone<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Laptop PC<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Personnel:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Erik Sjoberg &#8211; Erik will demonstrate the functioning powered-up hardware<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Procedure:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Power up drone from battery and demonstrate blinking lights on SBC and PX4 Flow camera<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Connect to drone from PC via Wifi network<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Connect to ROS master running on Iris+ SBC<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Display high-rate IMU and height sensor readings from Iris+ on PC<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verification Criteria:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ SBC and PX4Flow sensor power up successfully<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Able to connect to Iris+ SBC over wireless from PC<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Able to see IMU data at over 150hz via rostopic hz<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Able to see appropriate depth readings from sonar sensor via rostopic echo<\/span><\/li>\n<\/ol>\n<\/li>\n<\/ul>\n<ol start=\"2\">\n<li><strong> AR.Drone functionality Complete<\/strong><\/li>\n<\/ol>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Objective: Showcase ability to command drone and detect April Tag <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Elements: This test will feature the following elements:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Hardware Subsystem &#8211; AR.Drone<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">ROS Framework &#8211; The high-speed integration of our Linux SBC (ROS) and the flight-control firmware running on the Pixhawk microcontroller<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Location: NSH B-level<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Equipment:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">AR.Drone<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Laptop PC<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">April Tag<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Personnel:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Job Bedford &#8211; Job will demonstrate the AR.Drone functionality<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Procedure:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Initiate drone setup packages drivers communication and physical placement<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Take off with drone, via mover node<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Showcase planar movement with commands to drone.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Showcase April Tag detection pose and orientation estimates<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verification Criteria:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Drone should take off with mover noe command<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Drone should obey all flight commands <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">rosnode should grant accurate estimate of tag locations within a 1m error margin.<\/span><\/li>\n<\/ol>\n<\/li>\n<\/ul>\n<ol start=\"3\">\n<li><strong> Autonomous hovering with Iris+<\/strong><\/li>\n<\/ol>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Objective: The purpose of this test is to demonstrate the ability to autonomously hover with the IRIS+. This will help us in implementing the cone search and docking states.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Elements: This test will feature the following elements:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Local Planning subsystem &#8211; to test the implementation of the \u201cHover In Plane\u201d unit of the subsystem<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">World Modelling subsystem &#8211; to test the implementation of the \u201cPose Estimation\u201d unit of the subsystem<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Location: NSH B-Level Basement<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Equipment:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ Drone<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Laptop <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">RC remote of IRIS+ Drone<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Personnel:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Rohan Thakker &#8211; Rohan will be the operator who is required to run the commands for the drone.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Erik Sjoberg- Manually control the drone using the RC remote<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Procedure:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Cordone off the area in the B-Level basement for safety.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Under manual control, take off with the drone and move into desired initial position and orientation.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Shift to autonomous control and run the command move the IRIS+ drone along a square trajectory.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Observe as the Iris+ autonomously navigates along the predefined trajectory.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Shift to manual control and land the robot<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verification Criteria:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ was able to autonomously navigate the reference trajectory with less that +-2m of tracking error.<\/span><\/li>\n<\/ol>\n<\/li>\n<\/ul>\n<ol start=\"4\">\n<li><strong> AR.Drone Autonomous Docking<\/strong><\/li>\n<\/ol>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Objective: Showcase AR.Drone ability to land and dock with april tag detection.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Elements: This test will feature the following elements:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Hardware Subsystem &#8211; AR.Drone<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">April tags<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Location: NSH B-level<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Equipment:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">AR.Drone<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Laptop PC<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">April Tag<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Personnel:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Job Bedford &#8211; Job will demo the AR.Drone autonomous docking<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Procedure:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Initiate drone setup packages drivers communication and physical placement<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Job will command drone to take off and position it above the april tags with offset<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Job will initiate the sequence<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Drone will track and position itself above tag.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Drone will descend and land within designated marker<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verification Criteria:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Drone should track and position itself above tag<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Drone should descend and land in area of April Tag, with landing gear in markers<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Marker will denote the level of accuracy in in docking.<\/span><\/li>\n<\/ol>\n<\/li>\n<\/ul>\n<ol start=\"5\">\n<li><strong> Autonomous docking with Iris+<\/strong><\/li>\n<\/ol>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Objective: The purpose of this test is to demonstrate the ability to autonomously docking with the IRIS+. <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Elements: This test will feature the following elements:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Local Planning subsystem &#8211; to test the implementation of the \u201cLand\u201d unit of the subsystem<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">World Modelling subsystem &#8211; to test the implementation of the \u201cPose Estimation\u201d unit of the subsystem using the APRIL Tag<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Tactical Planning &#8211; to test the implementation of \u201cAttempt Docking\u201d unit of the subsystem.<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Location: NSH B-Level Basement<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Equipment:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ Drone<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Docking station with APRIL Tag<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Laptop <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">RC remote of IRIS+ Drone<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Personnel:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Rohan Thakker &#8211; Rohan will be the operator who is required to run the commands for the drone.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Erik Sjoberg &#8211; Manually control the drone using the RC remote<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Procedure:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Cordone off the area in the B-Level basement for safety.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Place the docking station in the center of the area<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Under manual control, take off with the drone and move to a position above the docking station such that the APRIL Tag is in the field of view of the downward facing camera<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Shift to autonomous control and run the command to dock the drone<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Observe the IRIS+ attempt landing<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Repeat from step (iii.), there more times<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verification Criteria:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">IRIS+ was successfully able to land in the center of the funnels located on the docking station &gt;1 out of four times<\/span><\/li>\n<\/ol>\n<\/li>\n<\/ul>\n<ol start=\"6\">\n<li><strong> Integrated AR.Drone Demo<\/strong><\/li>\n<\/ol>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Objective: Demo AR.Drone ability to complete SVE tasks. Merge task into continuous demo of take off, Tornado Search, Wellhead Alignment, Dock Alignment and Docking. This will complete our risk mitigation for the drone back up plan.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Elements: This test will feature the following elements:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Hardware Subsystem &#8211; AR.Drone<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">April tags<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Location: NSH B-level<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Equipment:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">AR.Drone<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Laptop PC<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">April Tag<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Wellhead mock up<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Dock marker<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Personnel:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Job Bedford &#8211; Job will demo the AR.Drone integrated demo<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Procedure:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Initiate drone setup packages drivers communication and physical placement.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Job will command drone to take off and position it in initial starting area.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Job will initiate the sequence.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Drone will proceed to tornado search staying within 7 meter demo area, until it detects wellhead marker.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Drone will identify wellhead and align itself 1 meter in front of wellhead.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Drone will then identify and align with dock.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Drone will then descend and dock on dock.<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verification Criteria:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Drone perform tornado search within 7 meter square area.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Drone identifies and aligns itself 1 meter in front of wellhead.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Drone descends and docks on dock.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Drone landing gear will be within circular markers.<\/span><\/li>\n<\/ol>\n<\/li>\n<\/ul>\n<ol start=\"7\">\n<li><strong> Cone Search with Iris+<\/strong><\/li>\n<\/ol>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Objective: The purpose of this test is to showcase the system integration for two of the major functional elements of the project: \u201cSearch for and Approach Wellhead\u201d and \u201cAlign Self with Wellhead\u201d. The integration of these two functional areas is highly critical for the success of the project. By showcasing the integration of the subsystems involved with these two functional elements, we will showcase that two-thirds of the major system functionality has been fully implemented and integrated.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Elements: This test will feature the following elements:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Vision subsystem &#8211; In order to recognize and lock on dock position, we must showcase that the vision system is able to recognize tages and get position estimates from them.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Control subsystem &#8211; In order to send waypoint information for the predefined cone-search path, we must have accurate position control in order to have waypoint following.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Navigation system &#8211; The entire navigation system will be tested for integration effectiveness. The subsystems involved: vision, sensor fusion, position control, localization, etc.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Autonomous position locking &#8211; The system must be able to lock around a position in order to hover over the dock in preparation for landing. This integration test covers the same subsystems of the navigation system.<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Location: NSH B-Level Basement<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Equipment:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ Drone<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Wellhead infrastructure with identifying tag<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Personnel:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Cole Gulino &#8211; will be the operator who is required to run the commands for the drone.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Erik Sjoberg &#8211; will be the backup operator for manual control of the Iris+ in case of emergency.<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Procedure:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Cordone off the area in the B-Level basement for safety.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Under manual control, take off with the drone and move into desired initial position and orientation.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Run the command to commence the cone-search.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Observe as the Iris+ autonomously navigates the predefined cone-search trajectory until it has located the wellhead and locked on the position of the dock next to it.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verify that the Iris+ has position lock with the dock within the tolerance specified in the Verification Criteria.<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verification Criteria:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ has completed its cone-search maneuver.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ is hovering over around the center of the tag on the wellhead with a tolerance of 0.5m in any direction.<\/span><\/li>\n<\/ol>\n<\/li>\n<\/ul>\n<ol start=\"8\">\n<li><strong> Integrate the subsystems<\/strong><\/li>\n<\/ol>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Objective: By showcasing the integration of the subsystems involved with these three functional elements, we will showcase that the integration for all three functional areas has been completed in the simplest case.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Elements: This test will feature the following elements:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Vision subsystem &#8211; In order to recognize and lock on dock position, we must showcase that the vision system is able to recognize tages and get position estimates from them.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Control subsystem &#8211; In order to send waypoint information for the predefined cone-search path, we must have accurate position control in order to have waypoint following.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Navigation system &#8211; The entire navigation system will be tested for integration effectiveness. The subsystems involved: vision, sensor fusion, position control, localization, etc.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Autonomous position locking &#8211; The system must be able to lock around a position in order to hover over the dock in preparation for landing. This integration test covers the same subsystems of the navigation system.<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Location: NSH B-Level Basement<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Equipment:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ Drone<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Wellhead infrastructure with identifying tag<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Dock infrastructure with identifying tag<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Personnel:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Cole Gulino &#8211; will be the operator who is required to run the commands for the drone.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Erik Sjoberg &#8211; \u00a0will be the backup operator for manual control of the Iris+ in case of emergency.<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Procedure:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Cordone off the area in the B-Level basement for safety.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Under manual control, take off with the drone and move into desired initial position and orientation.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Run the command to commence the cone-search.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Observe as the Iris+ autonomously navigates the predefined cone-search trajectory until it has located the wellhead and locked on the position of the dock next to it.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verify that the Iris+ has position lock with the dock within the tolerance specified in the Verification Criteria.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verify that the Iris+ has successfully landed on the docking infrastructure.<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verification Criteria:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ has completed its cone-search maneuver.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ is hovering over around the center of the tag on the wellhead with a tolerance of 0.5m in any direction.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ has docked with 5 DOF.<\/span><\/li>\n<\/ol>\n<\/li>\n<\/ul>\n<ol start=\"9\">\n<li><strong> Preliminary full system integration<\/strong><\/li>\n<\/ol>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Objective: The purpose of this test is to prepare a simplified version of our complete SVE. This will force us to complete the integration of our various sub-systems in preparation for the final demonstration. This demonstration will not have the polish of our final SVE, however it should contain each of the major required elements in more-or-less working order. Some minor intervention or restarts may be required, but will be allowed. <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Elements: This test will feature the following elements:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Vision subsystem &#8211; In order to recognize and lock on dock position, we must showcase that the vision system is able to recognize tages and get position estimates from them.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Control subsystem &#8211; In order to send waypoint information for the predefined cone-search path, we must have accurate position control in order to have waypoint following.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Navigation system &#8211; The entire navigation system will be tested for integration effectiveness.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Autonomous position locking &#8211; The system must be able to lock around a position in order to hover over the dock in preparation for landing. <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Autonomous docking &#8211; The system will complete the full docking procedure.<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Location: NSH B-Level Basement<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Equipment:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ Drone<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Wellhead infrastructure with identifying tag<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Dock infrastructure with identifying tag<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Warning tape<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Personnel:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Erik Sjoberg &#8211; Erik will be the operator who is required to run the commands for the drone.<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Procedure:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Cordon off section of hallway<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Place wellhead at one corner of search area and dock 1m in front of the wellhead<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Place Iris+ on ground at opposite corner of search area facing wellhead within +\/- 5 degrees<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Hit START button on PC to initiate sequence<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Confirm Iris+ lifts off and begins searching for wellhead (marker)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Confirm Iris+ arrives within 3 meter radius of wellhead<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Confirm Iris+ orients above dock in pre-docking position (within 1 meter of dock)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Confirm Iris+ successfully lands in dock, constrained in 5 DOF <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Restart \u00a0from procedure iii. if unsuccessful<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verification Criteria:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ autonomously takes off from ground<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ arrives within 3 meter radius of wellhead<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Dock with docking station, constrained in 5 DOF<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Multiple attempts along with some manual intervention will be allowed<\/span><\/li>\n<\/ol>\n<\/li>\n<\/ul>\n<ol start=\"10\">\n<li><strong> SVE Preview Demonstration<\/strong><\/li>\n<\/ol>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Objective: The purpose of this test is to prepare a more-or-less complete version of our SVE. This will be the first demonstration which requires a fully working system without manual intervention. Multiple restarts may be required, but the system must work autonomously. <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Elements: This test will feature the following elements:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Vision subsystem &#8211; In order to recognize and lock on dock position, we must showcase that the vision system is able to recognize tages and get position estimates from them.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Control subsystem &#8211; In order to send waypoint information for the predefined cone-search path, we must have accurate position control in order to have waypoint following.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Navigation system &#8211; The entire navigation system will be tested for integration effectiveness.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Autonomous position locking &#8211; The system must be able to lock around a position in order to hover over the dock in preparation for landing. <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Autonomous docking &#8211; The system will complete the full docking procedure.<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Location: NSH B-Level Basement<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Equipment:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ Drone<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Wellhead infrastructure with identifying tag<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Dock infrastructure with identifying tag<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Warning tape<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Personnel:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Cole Gulino &#8211; who will be the operator who is required to run the commands for the drone.<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Erik Sjoberg &#8211; will be a standby operator to manually control drone in an emergency situation<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Procedure:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Cordon off section of hallway<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Place wellhead at one corner of search area and dock 1m in front of the wellhead<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Place Iris+ on ground at opposite corner of search area facing wellhead within +\/- 5 degrees<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Hit START button on PC to initiate sequence<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Confirm Iris+ lifts off and begins searching for wellhead (marker)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Confirm Iris+ arrives within 3 meter radius of wellhead<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Confirm Iris+ orients above dock in pre-docking position (within 1 meter of dock)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Confirm Iris+ successfully lands in dock, constrained in 5 DOF <\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Restart \u00a0from procedure iii. if unsuccessful<\/span><\/li>\n<\/ol>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verification Criteria:<\/span>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ autonomously takes off from ground<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ arrives within 3 meter radius of wellhead<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Dock with docking station, constrained in 5 DOF<\/span><\/li>\n<\/ol>\n<\/li>\n<\/ul>\n<p><strong>Spring Validation Experiment<\/strong><\/p>\n<p><span style=\"font-weight: 400\"><strong>Needed Equipment<\/strong>: Iris+ with hardware, wellhead, dock, caution tape, blast shields<\/span><\/p>\n<p><span style=\"font-weight: 400\"><strong>Operational Area<\/strong>: 25m<\/span><span style=\"font-weight: 400\">2 <\/span><span style=\"font-weight: 400\">in B &#8211; Level Basement<\/span><\/p>\n<p><span style=\"font-weight: 400\"><strong>Test Process<\/strong>: <\/span><\/p>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Cordon off section of hallway and place blast shields to protect spectators<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Place wellhead at one corner of search area and dock 1m in front of the wellhead<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Place Iris+ on ground at opposite corner of search area facing wellhead within +\/- 5 degrees<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Hit START button on PC to initiate sequence<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Confirm Iris+ lifts off and begins searching for wellhead (marker)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Confirm Iris+ arrives within 3 meter radius of wellhead<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Confirm Iris+ orients above dock in pre-docking position (within 1 meter of dock)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Confirm Iris+ successfully lands in dock, constrained in 5 DOF <\/span><\/li>\n<\/ol>\n<p><span style=\"font-weight: 400\"><strong>Success Conditions<\/strong>:<\/span><\/p>\n<p><span style=\"font-weight: 400\"><strong>Mandatory<\/strong>: <\/span><\/p>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ autonomously takes off from ground<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Iris+ arrives within 3 meter radius of wellhead<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Dock with docking station, constrained in 5 DOF<\/span><\/li>\n<\/ol>\n<p><span style=\"font-weight: 400\"><strong>Desired<\/strong>: <\/span><\/p>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Dock constraints 6 DOF<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Successfully avoid obstacles<\/span><\/li>\n<\/ol>\n<p style=\"text-align: center\"><a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/Selection_118.png\" rel=\"attachment wp-att-294\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-294\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/Selection_118.png\" alt=\"Selection_118\" width=\"654\" height=\"282\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/Selection_118.png 654w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-content\/uploads\/sites\/4\/2015\/09\/Selection_118-300x129.png 300w\" sizes=\"auto, (max-width: 654px) 100vw, 654px\" \/><\/a><\/p>\n<p><b><\/b><strong>Parts List<\/strong><\/p>\n\n<table id=\"tablepress-1\" class=\"tablepress tablepress-id-1\">\n<thead>\n<tr class=\"row-1\">\n\t<th class=\"column-1\">Date Requested<\/th><th class=\"column-2\">Part No.<\/th><th class=\"column-3\">Part Name<\/th><th class=\"column-4\">Quantity<\/th><th class=\"column-5\">Total Price<\/th><th class=\"column-6\">Website Link<\/th><td class=\"column-7\"><\/td>\n<\/tr>\n<\/thead>\n<tbody class=\"row-striping row-hover\">\n<tr class=\"row-2\">\n\t<td class=\"column-1\">10\/15\/2015<\/td><td class=\"column-2\"><\/td><td class=\"column-3\">3DR IRIS+ Quadcopter<\/td><td class=\"column-4\">1<\/td><td class=\"column-5\">$599.99<\/td><td class=\"column-6\">http:\/\/store.3drobotics.com\/products\/iris<\/td><td class=\"column-7\"><\/td>\n<\/tr>\n<tr class=\"row-3\">\n\t<td class=\"column-1\">10\/15\/2015<\/td><td class=\"column-2\"><\/td><td class=\"column-3\">3DR IRIS+ Propellers<\/td><td class=\"column-4\">4<\/td><td class=\"column-5\">$39.96<\/td><td class=\"column-6\">http:\/\/store.3drobotics.com\/products\/iris-plus-propellers<\/td><td class=\"column-7\"><\/td>\n<\/tr>\n<tr class=\"row-4\">\n\t<td class=\"column-1\">10\/10\/2015<\/td><td class=\"column-2\">595-MINNOWMAX-DUAL<\/td><td class=\"column-3\">MINNOWBOARD-MAX-DUAL<\/td><td class=\"column-4\">1<\/td><td class=\"column-5\">$145.95<\/td><td class=\"column-6\">http:\/\/www.mouser.com\/ProductDetail\/CircuitCo\/MINNOWBOARD-MAX-DUAL\/?qs=sGAEpiMZZMs9lZI8ah3py%2f9KKP2eiFfZsbAbf7dOFFRyaqaqEqmd8g%3d%3d<\/td><td class=\"column-7\"><\/td>\n<\/tr>\n<tr class=\"row-5\">\n\t<td class=\"column-1\">10\/25\/2015<\/td><td class=\"column-2\"><\/td><td class=\"column-3\">Odroid XU-4 Board<\/td><td class=\"column-4\">1<\/td><td class=\"column-5\">$83.00<\/td><td class=\"column-6\">http:\/\/ameridroid.com\/products\/odroid-xu4<\/td><td class=\"column-7\"><\/td>\n<\/tr>\n<tr class=\"row-6\">\n\t<td class=\"column-1\">11\/5\/2015<\/td><td class=\"column-2\"><\/td><td class=\"column-3\">PX4Flow<\/td><td class=\"column-4\">1<\/td><td class=\"column-5\">$149.00<\/td><td class=\"column-6\">http:\/\/store.3drobotics.com\/products\/px4flow<\/td><td class=\"column-7\"><\/td>\n<\/tr>\n<tr class=\"row-7\">\n\t<td class=\"column-1\">11\/5\/2015<\/td><td class=\"column-2\"><\/td><td class=\"column-3\">Iris+ Battery<\/td><td class=\"column-4\">2<\/td><td class=\"column-5\">$80.00<\/td><td class=\"column-6\">https:\/\/store.3drobotics.com\/products\/iris-plus-battery<\/td><td class=\"column-7\"><\/td>\n<\/tr>\n<tr class=\"row-8\">\n\t<td class=\"column-1\">11\/18\/2015<\/td><td class=\"column-2\"><\/td><td class=\"column-3\">NicaDrone Perment Magnet<\/td><td class=\"column-4\">2<\/td><td class=\"column-5\">$90.00<\/td><td class=\"column-6\">http:\/\/nicadrone.com\/index.php?id_product=59&amp;controller=product<\/td><td class=\"column-7\"><\/td>\n<\/tr>\n<tr class=\"row-9\">\n\t<td class=\"column-1\">12\/14\/2015<\/td><td class=\"column-2\"><\/td><td class=\"column-3\">3DR IRIS+ #2<\/td><td class=\"column-4\">1<\/td><td class=\"column-5\">$599.99<\/td><td class=\"column-6\">http:\/\/store.3drobotics.com\/products\/iris<\/td><td class=\"column-7\"><\/td>\n<\/tr>\n<tr class=\"row-10\">\n\t<td class=\"column-1\">12\/14\/2015<\/td><td class=\"column-2\"><\/td><td class=\"column-3\">PX4Flow #2<\/td><td class=\"column-4\">1<\/td><td class=\"column-5\">$149.00<\/td><td class=\"column-6\">http:\/\/store.3drobotics.com\/products\/px4flow<\/td><td class=\"column-7\"><\/td>\n<\/tr>\n<tr class=\"row-11\">\n\t<td class=\"column-1\">12\/14\/2015<\/td><td class=\"column-2\"><\/td><td class=\"column-3\">Asus Xtion Pro Live<\/td><td class=\"column-4\">1<\/td><td class=\"column-5\">$329.99<\/td><td class=\"column-6\">http:\/\/www.ebay.com\/itm\/NEW-ASUS-Xtion-PRO-LIVE-B-U-RGB-and-Depth-Sensor-\/291637793920?hash=item43e6f79480:g:fJwAAOSwxN5WbQnp<\/td><td class=\"column-7\"><\/td>\n<\/tr>\n<tr class=\"row-12\">\n\t<td class=\"column-1\">10\/25\/2015<\/td><td class=\"column-2\"><\/td><td class=\"column-3\">Odroid XU-4 Board<\/td><td class=\"column-4\">1<\/td><td class=\"column-5\">$83.00<\/td><td class=\"column-6\">http:\/\/ameridroid.com\/products\/odroid-xu4<\/td><td class=\"column-7\"><\/td>\n<\/tr>\n<tr class=\"row-13\">\n\t<td class=\"column-1\">1\/19\/2016<\/td><td class=\"column-2\"><\/td><td class=\"column-3\">Intel RealSense Camera<\/td><td class=\"column-4\">1<\/td><td class=\"column-5\">$99.00<\/td><td class=\"column-6\">http:\/\/click.intel.com\/intel-realsense-developer-kit-r200.html<\/td><td class=\"column-7\"><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<!-- #tablepress-1 from cache -->\n<p>Total estimated cost: $3170.52<\/p>\n<p>Remaining budget: $829.48<\/p>\n<h1><strong>Issues Log<\/strong><\/h1>\n<p>Issues are maintained on the github page:<br \/>\nColumn Repository:\u00a0<a href=\"https:\/\/github.com\/ColumnRobotics\/column\/issues\">Column Repository Issues<\/a><\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Schedule Scrum Timeline: Over the course of the coming year, we will have a total of 11 two-week development sprints. Detailed planning is broken into two major releases, centered around the two demonstrations in December 2015 and April 2016.\u00a0Each sprint fits into the overall schedule in the following manner. &nbsp; Project progress visualization: The burndown<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/project-management\/\">+ Read More<\/a><\/p>\n","protected":false},"author":34,"featured_media":0,"parent":0,"menu_order":4,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-25","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-json\/wp\/v2\/pages\/25","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-json\/wp\/v2\/users\/34"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-json\/wp\/v2\/comments?post=25"}],"version-history":[{"count":27,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-json\/wp\/v2\/pages\/25\/revisions"}],"predecessor-version":[{"id":374,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-json\/wp\/v2\/pages\/25\/revisions\/374"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamc\/wp-json\/wp\/v2\/media?parent=25"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}