The following data is based on our functional and performance requirements.
System Requirements
| # | Functional | Performance |
| The robot will | The robot shall | |
| 1 | Obtain environment information from sensor fusion | Sense the inside circumference of 12” (30.5 cm) diameter pipes |
| 2 | Estimate the position and pose of the robot | Maintain actual position and estimated position error within 5 cm |
| 3 | Generate the pipeline map | The diameter of the pipe generated by the map should have an error < 5% |
| 4 | Plan navigation path inside the pipe | Predict movement for next 5 seconds for every local planning step |
| 5 | Detect obstacles inside the pipe | Stop 10-20 cm away from any positive obstacle larger than 10 cm within the pipe |
| 6 | Traverse inside the pipe autonomously | Traverse through a straight pipe section Autonomous exploration with human interrupt < 10% of the time |
Non-Functional Requirements
| # | Requirement |
| The robot will | |
| 1 | Limit weight to prevent undue stress on pipes |
| 2 | Maintain accessibility for operators of technical expertise |
| 3 | Allow power/data cable to extend for over full length of travel without breaking at either end |
| 4 | Stop inspection robot within 0.5 seconds with hard electrical e-stop |
Spring Validation Demonstration Performance Evaluation
The following are the validation criteria we set for the Spring Validation Demonstration to verify that the system performed well against our performance requirements.
| # | Validation Criteria | Achieved? |
| Hardware Platform | ||
| 1 | The robot is able to move inside a straight 12″ diameter pipe for at least 3 meters without interruptions/collisions for at least two runs. | Yes |
| 2 | The perception subsystem is able to detect at least 65% of the objects placed inside the pipe successfully. | Yes |
| 3 | The robot is able to stop moving at least 65% of the time when it detects obstacles inside the pipe. | Yes |
| Simulation Environment | ||
| 4 | The robot in the simulation environment is able to move inside a straight 12″ diameter pipe. | Yes |
| 5 | The perception subsystem is able to detect at least 70% of the objects placed inside the pipe. | Yes |
| 6 | The simulation environment returns the boundary map of the pipe and obstacles. | Yes |
Fall Validation Demonstration Performance Evaluation
The following are the validation criteria we set for the Fall Validation Demonstration to verify that the system performed well against our performance requirements.
| # | Validation Criteria | Achieved? |
| 1 | The robot is able to move inside a 12” diameter pipe with turns for at least 10 ft. | Yes |
| 2 | The robot is able to detect 75% of all the objects placed inside the pipe successfully. | Yes |
| 3 | The robot is able to stop moving 100% of the time when it detects an obstacle. | Yes |
| 4 | In each forward run, there are 2 or less control interruptions from the user. | Yes |
| 5 | The mapping result should measure the diameter of pipe and have an error less than 5%. | Yes |
| 6 | The calculated distance traveled by the robot relative to the starting location should have an error of ± 5% when compared to the actual measured distance. | Yes |
| 7 | For the simulation environment, the robot is able to successfully traverse the complex pipe network from the starting location to the end location. | Yes |