The partitioning of the work for the major subsystems is depicted in the second level of the work breakdown structure (WBS). These consist of the base, manipulator, detection,estimation, localization, navigation, error checking, logging, management, and deliverables. The third levels for most of these packages consist of design, build, unit test, system integration and testing, and reliability testing and improvements. The exceptions to this are the base and localization, which do not have a design package since they will be purchased. Additionally, the breakdown of management is into work, budget,schedule, risk, and resources; deliverables is broken into presentations, reports, demonstrations, and website.
