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Step 2 Functional and Physical Architecture

Introduction

Once we have elicited the Autonomous Rover Requirements (Stakeholder and System) and agreed that the team accepts them as a good definition of the Stakeholder's needs, the Team then proceeds to find a solution that will fit the problem.

Activities - Phase 2

The activities below are defined and described in the Functional and Physical Architecture DP.

SR.3.1 - Document or update the Functional System Design

SR.3.2 - Make trade-offs of the System Functional Architecture

Achieving an optimal architecture for the Autonomous Rover requires that a number of trade studies be carried out to find and select a collection of interacting functional components. The studies shown below are by no means an exhaustive list of studies to perform, but provide a good idea of what those studies consist of.

Navigation and Mapping Algorithm

Simultaneous Location and Mapping (SLAM)

Selection Criteria

HectorSLAM

Gmapping

KartoSLAM

CoreSLAM

LagoSLAM

Threat Detection and Assessment

Hazardous/Toxic Substances

Explosive Gasses

Fire

Water

User Interface

Rover Controls and Indications

Tablet Interface

Android Tablet Interface

iOS Tablet Interface

SR.3.3 - Document or update the Physical System Design

SR.3.4 - Make trade-offs of the System Physical Architecture

The development of the Autonomous Rover requires multiple decisions to be made regarding its physical architecture and the selection of components upon which the Autonomous Rover will be articulated. The paragraphs below identify some of the more important trade studies the Systems Engineers and Designers need to consider in order to achieve an optimal solution. As for the Functional Architecture studies, the list below is by no means exhaustive. What other studies can you think of?

Autonomous Rover Cost

Selection Criteria

As stated in the Stakeholder Requirements, the Autonomous Rover price must be kept to $200USD or less. This does not include:

- the Android or iOS (Apple) Tablet

- the transport case;

- the field toolkit; or

- spare parts.

Power Source

Selection Criteria

Power Sources

Power Budget Analysis

Mission Endurance Analysis

Processing Hardware

Selection Criteria

Arduino

Raspberry PI

BeagleBone Black

Operating System

Selection Criteria

FreeRTOS

Robot Operating System

Platform Support

Motor Drivers

Sensor Turret

Wireless Off-board Communications

Battery Charger

Navigation Sensor

Selection Criteria

DAGU5 Motor Encoders

IMU

GPS

Mapping Sensor

Selection Criteria

IR Sensor - fixed

IR Sensor - steerable

Acoustic Sensor - steerable

LIDAR Sensor - steerable

Android Tablet

Selection Criteria

SR.3.5 - Verify and obtain approval of the System Design

SR.3.6 - Establish or update the Integration plan and Integration Procedures for System integration

SR.3.7 - Document the System User Manual (Optional)

SR.3.8 - Verify and obtain approval of the System User Manual (Optional)

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