{"id":171,"date":"2022-02-18T06:35:13","date_gmt":"2022-02-18T06:35:13","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/?page_id=171"},"modified":"2022-05-07T04:27:50","modified_gmt":"2022-05-07T04:27:50","slug":"system-requirements","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/system-design\/system-requirements\/","title":{"rendered":"System Requirements"},"content":{"rendered":"\n

Functional Requirements<\/h2>\n\n\n\n
Mandatory<\/th><\/th><\/tr><\/thead>
R.F.01<\/td>The system shall have DBW system to control the Zamboni<\/td><\/tr>
R.F.02<\/td>The system shall estimate pose and velocity of the
leader<\/td><\/tr>
R.F.03<\/td>The system shall follow the leader<\/td><\/tr>
R.F.04<\/td>The system shall estimate pose, velocity, and
acceleration of the follower<\/td><\/tr>
R.F.05<\/td>The system shall plan motion of the follower<\/td><\/tr>
R.F.06<\/td>The system shall detect and avoid obstacles<\/td><\/tr><\/tbody><\/table>
Table 1. Mandatory Functional Requirements<\/figcaption><\/figure>\n\n\n\n
\n\n\n\n
Desired<\/th><\/th><\/tr><\/thead>
D.P.01<\/td>The Zamboni will be able to follow a trajectory with a lateral error of at most 5 cm<\/td><\/tr>
D.P.02<\/td>The Zamboni will localize itself in the arena to within 2 cm<\/td><\/tr>
D.P.03<\/td>The Zamboni will maintain a minimum distance of 5 cm from the boards<\/td><\/tr>
D.P.04<\/td>The Zamboni will control the height of the blade to an accuracy of 1 mm<\/td><\/tr>
D.P.05<\/td>The Zamboni will resurface the turn the resurfacing water on and off with a latency of less than 50 m<\/td><\/tr><\/tbody><\/table>
Table 2. Desired Functional Requirements<\/figcaption><\/figure>\n\n\n\n
\n\n\n\n

Performance Requirements<\/h2>\n\n\n\n
Mandatory<\/th><\/th><\/tr><\/thead>
R.P.01<\/td>The system will operate DBW system to steer, accelerate, and break the Zamboni with less than 50 ms latency<\/td><\/tr>
R.P.02<\/td>The system will control the
Zamboni running at a max velocity of 2.5 m\/s<\/td><\/tr>
R.P.03<\/td>The system will estimate the
position of the leader within 0.1 m accuracy<\/td><\/tr>
R.P.04<\/td>The system will estimate the velocity of the leader to an
accuracy of 0.2 m\/s<\/td><\/tr>
R.P.05<\/td>The system will maintain a safe distance from the leader of 2 to 2.5 m<\/td><\/tr>
R.P.06<\/td>The system will maintain an lateral offset with the leader by one body width<\/td><\/tr>
R.P.07<\/td>The system will estimate the yaw rate of the follower within 1 deg\/sec of accuracy<\/td><\/tr>
R.P.08<\/td>The system will retrieve the velocity of the follower to an accuracy of 0.1 m\/s<\/td><\/tr>
R.P.09<\/td>The system will retrieve the acceleration of the follower to an accuracy of 0.1 m\/s2<\/sup><\/td><\/tr>
R.P.10<\/td>The system will retrieve the position of the follower within 0.1 m accuracy<\/td><\/tr>
R.P.11<\/td>The system will plan motion of the follower within 100 ms<\/td><\/tr>
R.P.12<\/td>The system will detect obstacles within a range of 2 m<\/td><\/tr>
R.P.13<\/td>The system will detect positions of obstacles to an accuracy of 0.1 m<\/td><\/tr>
R.P.14<\/td>The system will stop the follower within 0.6 s once detecting the obstacles with max deceleration of 1 m\/s2<\/sup> and velocity of 2.25 m\/s<\/td><\/tr><\/tbody><\/table>
Table 3. Mandatory Performance Requirements<\/figcaption><\/figure>\n\n\n\n
\n\n\n\n

Non-Functional Requirements<\/h2>\n\n\n\n
Mandatory<\/th><\/th><\/tr><\/thead>
N.F.01<\/td>The system will have reasonably sized and placed sensors (so that driver sight-line is not blocked when manually driven)<\/td><\/tr>
N.F.02<\/td>The system will have both hardware and software safety measures<\/td><\/tr>
N.F.03<\/td>The system will be able to be shut down at any time<\/td><\/tr>
N.F.04<\/td>The system will be retrofit with modular components<\/td><\/tr>
N.F.05<\/td>The system will be able to function in colder temperatures<\/td><\/tr><\/tbody><\/table>
Table 4. Mandatory Non-Functional Requirements<\/figcaption><\/figure>\n\n\n\n
\n\n\n\n
Desired<\/th><\/th><\/tr><\/thead>
D.N.01<\/td>The Zamboni will cover the entirety of the rink<\/td><\/tr>
D.N.02<\/td>The system will be reliable and accurate in ice resurfacing<\/td><\/tr><\/tbody><\/table>
Table 5. Desired Non-Functional Requirements<\/figcaption><\/figure>\n","protected":false},"excerpt":{"rendered":"

Functional Requirements Mandatory R.F.01 The system shall have DBW system to control the Zamboni R.F.02 The system shall estimate pose and velocity of theleader R.F.03 The system shall follow the leader R.F.04 The system shall estimate pose, velocity, andacceleration of the follower R.F.05 The system shall plan motion of the follower R.F.06 The system shall
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