System Requirements

Functional Requirements

Mandatory
F.M.1Shall detect intended object in 3D space.
F.M.2Shall move end effector to intended object in 3D space.
F.M.3Shall maintain object position in 3D space.
F.M.4Shall respond appropriately to preconfigured voice commands.
F.M.5Shall release control of object at current position.
F.M.6Shall compact the arm to “home” position.
Desirable
F.D.1Shall re-orient intended object based on the voice command by user.
F.D.2Shall communicate state to user.
Table 1. Functional Requirements

Performance Requirements

Mandatory
P.M.1.1Will have 60% accuracy of detecting indicated goal location within 6 in in 3D space, always within 12 in of error.
P.M.1.2Will detect intended object within 5 seconds of “move” command being issued.
P.M.1.3Will predict surface normal vector of part surface relative to camera (x,y,z,\varphi ,\theta ,\psi ) with error no greater than 45°.
P.M.2Will reach within 6 in of target goal position 60% of the time, always within 12 in of error.
P.M.3.1Will maintain global target spatial position with less than 12 in of error margin.
P.M.3.2Will be able to hold representative part overhead.
P.M.4.1Will understand preconfigured voice commands 60% of the time.
P.M.4.2Will be able to understand at least 2 unique voice commands, up to 8.
P.M.4.3Will understand voice commands of at least 2 words in length, up to 8.
P.M.5Will release object control within 5 seconds of “release” command being issued.
P.M.6Will bring entire robot arm to within 20 in of point of attachment to frame.
Desirable
P.D.1.2Detection must be invariant to part texture, specifically matte finish and gloss finish.
Table 2. Performance Requirements

Non-functional Requirements

Mandatory
N.M.1Will be ergonomic for spinal comfort. Will be comfortable to wear for 30 consecutive minutes.
N.M.2Will weigh less than 40 lbs.
N.M.3Will be aesthetically pleasing.
N.M.4Will operate safely.
N.M.5Will be simple to operate.
N.M.6Will be able to perform untethered for 20 minutes.
N.M.7Will require minimal part modification to assist in assigned tasks.
N.M.8Will be operable on a portable computer.
N.M.9Audio feedback will be clearly audible in representative work environment.
Desirable
N.D.1Will be able to operate standalone (no WiFi)
Table 3. Non-Functional Requirements
Functional Acrhitecture >