Lv1 & Lv2 Requirements Change Document
By Piyush Jain ( Missions, Systems, & Testing)
Introduction
As the semester progressed, Sojourner’s Lv1 & Lv2 requirements were changed and added on to. This blog post will address these changes. Please note that the Lv1 & Lv2 requirements will be renumbered to flow in a consistent manner for the final blog post.
Legend: BLUE (keep as is), RED (changes made), PURPLE (new changes)
L1-1: The Sojourner shall be completed by Wednesday, December 13, 2017.
L1-2: The Sojourner will be controlled by a 3DoT Board.
L1-3: The Sojourner will use 6 wheels with a Rocker Boogie suspension system utilizing a differential gearbox.
New changes:
L1-3: Sojourner will use 6 wheels with a Rocker Boogie suspension system
L1-3a: Project Sojourner will utilize a slip differential.
L1-4: The Sojourner shall navigate the maze with “video support” from the Arxterra Control panel with the ArxRobot Android or iPhone application
New Changes:
L1-4: The Sojourner shall incorporate live video feed using a smartphone and periscope placed on top of Sojourner.
L1-4a: The Sojourner will be controlled by the ArxRobot Android or iPhone Application.
L1-5: Sojourner will use a solar panel as part of its power system.
L1-6: The Sojourner should be modular, able to be assembled and disassembled within 20 minutes.
L1-7: Project Sojourner shall be able to navigate a multi-colored maze autonomously.
New Changes:
L1-7: Project Sojourner shall be able to navigate a multi-colored maze with user-defined inputs.
L1-7a: Sojourner shall be able to navigate said user-defined maze path autonomously.
L1-8: Sojourner is to be a scaled-down version of the Pathfinder Rover.
L1-9: All 3D printed components must be able to be printed in a total of 6 hours, with no part taking more than 2 hours to print.
L1-10: The Sojourner shall cost less than $250.00
L1-11: The Sojourner should be able to travel on a Mars-like environment.
L1-12: The Sojourner will use the solar panels to recharge the battery.
New Changes:
This requirement has been moved to a Lv2 Requirement — linked to L1-5
L1-13: Sojourner will fit within the halls of the maze.
New Changes:
This requirement has been removed.
L1-14: Sojourner should have a sleep/standby mode for power conservation. // removed
New Changes:
This requirement has been removed.
L1-15: The Sojourner should take action when another bot is detected.
New Changes:
L1-15: The Sojourner will avoid collisions with other robots.
L2-1: The Soujourner shall use the ultrasonic sensors to detect other objects 1.5 feet in front of the Sojourner. (See L1-11)
New Changes:
L2-1: The Soujourner shall use the IR proximity sensors to detect other objects x inches in front of the Sojourner. (See L1-15)
L2-2: The Sojourner shall have an area for a smartphone to be placed on to. The phone shall have a periscope attachment on its camera and will provide live feed video via the Arxterra App. (See L1-4)
L2-3: The Sojourner will use 6 identical wheels for movement, with each wheel having its own motor. (See L1-3)
L2-4: The Sojourner shall navigate a maze autonomously after it has cleared the maze with user input. The autonomous route shall follow the original route without user input. (See L1-7)
New Changes:
This requirement was removed because it changed to a Lv1 requirement.
L2-5: The Sojourner will have a solar panel attached to the chassis. The solar panels will have no other components covering it for full sunlight acquisition. (See L1-5)
L2-6: The Sojourner should have a sleep mode which is activated after 40 minutes of non operation. (See L1-6)
New Changes:
This requirement was removed because it’s Lv1 requirement was removed.
L2-7: The Sojourner should have 2 separate sections incorporating the modular design. The chassis, motor, wheels, 3Dot board, and H-bridge should be in 1 module, while the solar panels and phone holder should make up the 2nd module. Assembling all modules together should take a maximum of 20 minutes. (See L1-6)
L2-8: The Sojourner should have cleated wheels, which assist in traversing terrain with soft sand and rocks. This allows for mobility in an environment similar to Mars. (See L1-8)
New Changes:
Linkage changed to L1-11
L2-9: The Sojourner shall use 2 color sensors to detect the walls within the maze so that it can keep itself within the confines of the hallways. (See L1-7)
New Changes:
L2-9: The Sojourner shall use 2 color sensors to detect and follow the black lines using the line following algorithm. (see L1-7)
L2-10: The Sojourner shall have dimensions of 8.4cm (L) x 3.8cm (W) x 3.4cm (H) so that it can fit within the dimensions of the hallways (7.62cm x 7.62cm). (See L1-13)
New Changes:
Linkage changed to L1-8
L2-11: The Sojourner shall use 2 infrared sensors to detect the black lines indicating intersections in the maze. (See L1-7)
New Changes:
This requirement is removed because Project Sojourner is no longer using infrared sensors to detect the black lines.
L2-12: The Sojourner shall cease all motor functions when another robot is detected and resume normal operations once the other robot has left the detection zone. (See L1-11)
New Changes:
L2-12: The Sojourner shall use the robot avoidance algorithm whenever a robot has entered the IR proximity sensor’s detection zone. (See L1-15)
L2-13: The Sojourner’s solar panel will be used to recharge the 3.6V RCR123A battery on the 3Dot board. (See L1-5).
L2-14: The Sojourner should go into low power mode after hitting sleep mode, conserving its energy for mission critical tasks. (See L1-6)
New Changes:
This requirement was removed because the Lv1 requirement was removed.