Milestones
There are two types of Key Milestones: Customer Milestones, which the MRSD program mandates, and Internal Milestones, which the team has set to assure the delivery in time (Table 1). Throughout the Spring 2022 semester, there will be five Progress Reviews and three checkups for website development. Interim progress review schedules in Fall 2022 will be updated later.
Definitions for Internal Milestones are described below.
- Test Environment Setup: Complete set up of a physical & a simulation test environment
- Internal Milestone I: Design basic functions of each subsystem to meet the functional requirements. Each subsystem should make some progress on its testing.
- Internal Milestone II: Each subsystem should meet 1/2 of Performance Requirements (minimum 1/3). System Integration should satisfy its functional requirements.
- Internal Milestone III: Most of performance requirements are met. Members should be able to start debugging and correcting errors. Depending on the maturity of the development, members can pursue desirable requirements.
- Internal Product Validation: Pre-Final Validation in diverse test conditions.
| Date | Key Milestones |
| 01/20 | Internal Test Environment Setup |
| 03/11 | Internal Milestone I |
| 03/14 | Preliminary Design Review (PDR) |
| 04/15 | Internal Milestone II |
| 04/20 | Spring Validation Demonstration (SVD) |
| 05/02 | Critical Design Review (CDR) |
| 09/15 | Internal Milestone III |
| 10/13 | Internal Product Validation |
| 10/17 | System Development Review (SDR) |
| 11/21 | Final System Demonstration (FVD) |
Master Plan – Spring
Some work packages in the work breakdown structure constitute dependent relationships with others. For example, designing the customized tool gripper must be finished for manipulation to be finished. Moreover, the object of interest detection part of perception must be finished for manipulation to be finished. Some work packages have an independent relationship. For instance, navigation and customized tool do not have any dependency on each other. Carefully understanding the dependency, estimating the duration of each work package, and finally combining key milestones to the project, schedule (master plan) is provided in Fig 1.
High level goals for Fall semester
- Base orientation to reach a 3D point
- No reliance on movebase for navigation
- Improve detection model’s inference time on Jetson
- Tool performs needed action 100% of the time
Progress Review Schedule
Table 2 displays the milestones, tests, and requirements to be accomplished by each progress review in the Spring Semester.
| Date | PR | Milestone(s) | Test(s) | Requirement(s) | Presenter |
| 16/2 | 01 | – Setup model training pipeline for perception subsystem – Begin row detection for navigation. – Integrate cutter and gripper into a single tool – Reach toward the assumed POI (specified XYZ coordinates) without tools attached | Test 2, Test 9 | M.P.1, M.P.2 | Pallavi |
| 2/3 | 02 | – Integrate compute hardware and external camera to the robot and check communication establishment – Complete training of detection models – Test navigation in both single-sided rows and double-sided rows – Complete harvesting tool – Start implementing an electronic controller to the pollinator – Integration of harvesting tool with Hello robot Reaching towards assumed POI with tools | Test 2, Test4, Test 9 | M.P.1., M.P.2., D.P.1., D.P.2. | Steven |
| 23/3 | 03 | – Calibrate camera, localize points from camera frame to world frame – Deploy and test detection models on Hello Robot – Improve Row detection and tracking algorithm – Detect end of row – Complete pollination tool – Harvest tomato cluster | Test 3, Test5, Test 6, Test 10 | M.P.3., M.P.5., M.P.6. | Aditya |
| 6/4 | 04 | – Calibrate camera, localize points from camera frame to world frame – Localize detections in space – Implement row change maneuver – Pollinate tomato flowers | Test 3, Test 7 Test 8, Test 11 | M.P.4, D.P.3, D.P.5 | Bruce |
| 20/4 | SVD | – Integration of Perception, Navigation – Integration of Manipulation with Navigation | Test 12 | M.P.1, M.P.2M.P.3., M.P.4., M.P.5, M.P.6 | Vaidehi |
Table 3 displays the milestones, tests, and requirements to be accomplished by each progress review in the Fall Semester.
| Date | PR | Milestone(s) |
| 9/8 | 07 | Improve existing test setup with fake plants instead of real ones |
| 9/29 | 08 | Train YOLOv 5Final modular tool attachment Extend End of Arm tool ClassComplete Pure-Pursuit controller |
| 10/13 | 09 | Include base alignment with manipulationComplete farm row path-planner with extensive testingConvert model to TensorRT framework |
| 11/3 | 10 | Integrate Pure-Pursuit controller and PlannerIntegrate TensorRT engine with ROS |
| 11/17 | 11 | System Integration and extensive testing |
| 11/21 | FVD | System Integration and extensive testing |