Functional Architecture
The architecture outlined below shows the functions that the system must execute to fulfill the previously mentioned requirements. The functions are derived assuming that the robot is already in the vicinity of the pit.
(Fig 1. Functional Architecture)
Cyberphysical Architecture
Our cyber-physical architecture has a direct correspondence to our functional architecture. It highlights the technology options which will be potentially used to execute the individual functions. The inputs and outputs of individual functions are also included.
(Fig 2. Cyberphysical Architecture)