Fall Semester (Final Semester)
Our mandatory functional and performance requirements are detailed below.
| ID | Functional Requirements | Performance Requirements |
| M.F.1 | The system shall detect weeds in its environment and path. | M.P.1 Precision > 60 % M.P.2 Recall > 60 % |
| M.F.2 | The system shall localize detected weeds in the world frame. | M.P.3 Localization RMSE < 100 𝑚𝑚 |
| M.F.3 | The system shall position the tool to target the desired location. | M.P.4 Manipulator Positioning RMSE < 50 𝑚𝑚 |
| M.F.4 | The system shall eliminate the weeds within the area of operation. | M.P.5 Targeting RMSE < 50 𝑚𝑚 M.P.6 Efficacy of Elimination > 70 % |
| M.F.5 | System shall maintain throughput and effectiveness | M.P.7 Throughput > 100 m^2/hr M.P.8 Effectiveness > 50 % |
| ID | Performance Requirements | Result |
| M.P.1 (Passed) | Precision > 60 % | >= 98% @ FVD |
| M.P.2 (Passed) | Recall > 60 % | >= 90% @ FVD |
| M.P.3 (Acceptable) | Localization RMSE < 100 𝑚𝑚 | <= 150 mm @ FVD |
| M.P.4 (Passed) | Manipulator Positioning RMSE < 50 𝑚𝑚 | RMSE < 10 mm achieved 90% success rate w/ visual servoing |
| M.P.5 (Passed) | Targeting RMSE < 50 𝑚𝑚 | < 30 mm on avg @ FVD |
| M.P.6 (Passed) | Efficacy of Elimination > 70 % | > 90% of weeds results in visible damage from full-power laser |
| M.P.7 (Passed) | Throughput > 100 m^2/hr | >= 300 m^2 / hr |
| M.P.8 (Passed) | Effectiveness > 50 % | >=70% Hit-ratio |
The Localization RMSE exceeding 100 mm is acceptable for several reasons. First, the testing environment was an indoor setup without access to RTK GPS, differing significantly from the conditions of the final outdoor product. Second, the 50 mm discrepancy is minimal when considering the typical farm size, which averages over 150 acres, making such a deviation negligible in practical applications. Finally, our system compensates for any localization error with visual servoing, ensuring the laser remains precisely targeted on the weed regardless of a 50 mm offset in localization.
Spring Semester
Our spring validation requirements are described below, along with the current status of the system.
We successfully validated all our target 🎉.
Detailed testing results can be view here.