The following data is based on our functional and performance requirements.<\/p>\n\n\n\n
System Requirements<\/strong><\/p>\n\n\n\n Non-Functional Requirements<\/strong><\/p>\n\n\n\n Spring Validation Demonstration Performance Evaluation<\/strong><\/p>\n\n\n\n The following are the validation criteria we set for the Spring Validation Demonstration to verify that the system performed well against our performance requirements.<\/p>\n\n\n\n Fall Validation Demonstration Performance Evaluation<\/strong><\/p>\n\n\n\n The following are the validation criteria we set for the Fall Validation Demonstration to verify that the system performed well against our performance requirements.<\/p>\n\n\n\n The following data is based on our functional and performance requirements. System Requirements # Functional […]<\/p>\n","protected":false},"author":328,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-273","page","type-page","status-publish","hentry","clearfix"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/pages\/273","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/users\/328"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/comments?post=273"}],"version-history":[{"count":4,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/pages\/273\/revisions"}],"predecessor-version":[{"id":335,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/pages\/273\/revisions\/335"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamg\/wp-json\/wp\/v2\/media?parent=273"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}#<\/strong><\/td> Functional<\/strong><\/td> Performance<\/strong><\/td><\/tr> <\/td> The robot will<\/strong><\/td> The robot shall<\/strong><\/td><\/tr> 1<\/td> Obtain environment information <\/strong>from sensor fusion<\/td> Sense the inside circumference of 12\u201d (30.5 cm) diameter pipes<\/td><\/tr> 2<\/td> Estimate the position and pose <\/strong>of the robot<\/td> Maintain actual position and estimated position error within 5 cm<\/td><\/tr> 3<\/td> Generate the pipeline map<\/strong><\/td> The diameter of the pipe generated by the map should have an error < 5%<\/td><\/tr> 4<\/td> Plan navigation path <\/strong>inside the pipe<\/td> Predict movement for next 5 seconds for every local planning step<\/td><\/tr> 5<\/td> Detect obstacles <\/strong>inside the pipe<\/td> Stop 10-20 cm away from any positive obstacle larger than 10 cm within the pipe<\/td><\/tr> 6<\/td> Traverse inside <\/strong>the pipe autonomously<\/td> Traverse through a straight pipe section
Autonomous exploration with human interrupt < 10% of the time<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n#<\/strong><\/td> Requirement<\/strong><\/td><\/tr> <\/td> The robot will<\/em><\/strong><\/td><\/tr> 1<\/td> Limit weight to prevent undue stress on pipes<\/td><\/tr> 2<\/td> Maintain accessibility for operators of technical expertise<\/td><\/tr> 3<\/td> Allow power\/data cable to extend for over full length of travel without breaking at either end<\/td><\/tr> 4<\/td> Stop inspection robot within 0.5 seconds with hard electrical e-stop<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n #<\/strong><\/td> Validation Criteria<\/strong><\/td> Achieved?<\/strong><\/td><\/tr> <\/td> Hardware Platform<\/em><\/strong><\/strong><\/td> <\/td><\/tr> 1<\/td> 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.<\/td> Yes<\/td><\/tr> 2<\/td> The perception subsystem is able to detect at least 65% of the objects placed inside the pipe successfully. <\/td> Yes<\/td><\/tr> 3<\/td> The robot is able to stop moving at least 65% of the time when it detects obstacles inside the pipe.<\/td> Yes<\/td><\/tr> <\/td> Simulation Environment<\/em><\/strong><\/td> <\/td><\/tr> 4<\/td> The robot in the simulation environment is able to move inside a straight 12″ diameter pipe.<\/td> Yes<\/td><\/tr> 5<\/td> The perception subsystem is able to detect at least 70% of the objects placed inside the pipe. <\/td> Yes<\/td><\/tr> 6<\/td> The simulation environment returns the boundary map of the pipe and obstacles.<\/td> Yes<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n #<\/td> Validation Criteria<\/strong><\/td> Achieved?<\/strong><\/td><\/tr> 1<\/td> The robot is able to move inside a 12\u201d diameter pipe with turns for at least 10 ft.<\/td> Yes<\/td><\/tr> 2<\/td> The robot is able to detect 75% of all the objects placed inside the pipe successfully.<\/td> Yes<\/td><\/tr> 3<\/td> The robot is able to stop moving 100% of the time when it detects an obstacle.<\/td> Yes<\/td><\/tr> 4<\/td> In each forward run, there are 2 or less control interruptions from the user.<\/td> Yes<\/td><\/tr> 5<\/td> The mapping result should measure the diameter of pipe and have an error less than 5%.<\/td> Yes<\/td><\/tr> 6<\/td> The calculated distance traveled by the robot relative to the starting location should have an error of \u00b1 5% when compared to the actual measured distance.<\/td> Yes<\/td><\/tr> 7<\/td> For the simulation environment, the robot is able to successfully traverse the complex pipe network from the starting location to the end location.<\/td> Yes<\/td><\/tr><\/tbody><\/table><\/figure>\n","protected":false},"excerpt":{"rendered":"