LPARD-TDF-2012 Lafayette Programmable Autonomous River
Contents
1. 17 Connect an I2C wire from each AZ EL sensor to the USB converter plugged into the laptop s USB hub Connect 100 extension into power strip with 18V adapter to end and plug into the boat s power jack Set up two tripods approximately 10 meters apart from one another directly facing each other and measure the exact distance from ultrasound sensor to ultrasound sensor using the tape measure Enter the actual distance measured into the Baseline Sensor Distance field in the calibration screen of the GUI program first window that pops up Press the Calibrate button Rotate the tripods in their current position so that the sensors face perpendicular to the baseline distance facing out towards river area Place a piece of masking tape at position approximately half way between the two tripods and a distance of approximately two meters from the baseline distance this will represent the origin point of our local coordinate system Place one surveying stand so that it is centered on this origin Place the other surveying stand approximately at the positions marked by the red dots on Figure 1 below Once each position is measured record the actual x and y position and place a piece of tape on the ground to mark the position After each location has been marked turn the power switch on the boat so that the boat is powered on and move the boat to the marked locations place the boat on the ground with the lighting2. 2 Continuously updated estimate of the 2D x y position of the boat relative to an absolute Earth Coordinate system The position estimate shall be in Cartesian coordinates with an uncertainty of less than 10 cm RMS _ System provides continuously updated estimates of the boat heading relative to the same coordinate system used in R000 1 with an uncertainty less than 0 25 degree RMS R001 Operational Swath 1 2 3 Position estimate are accurate to values specified in R000 2 and R000 3 over a 0 to 25 meter range Position estimates are accurate to values specified in R000 2 and R000 3 over a 90 degree in azimuth from the shore station Degraded accuracy shall be possible over a swath out to 200 meters in range R002 System Control and Data Acquisition 1 2 3 SCADA supports all the operating and maintenance modes SCADA serves as the Operational User Interface for both autonomous and manual control SCADA software is fully documented with source code design and end user documentation _ SCADA UI shall allow a trained human technician to easily control and monitor the processes _ SCADA application software written in conformance with the LPARD TDF 2012 API using the delivered SDK Following parameters are monitored and stored by SCADA a Boat position and orientation b Raw LPARD position sensor data c End user hydrology sensor data d Voltage current and power delivered by suppl
3. drawings on Lafayette College drawing format circuit net lists bills of materials artwork assembly drawings and all other files and instructions necessary for CAM or manual manufacturing The source files for fabricating PCBs and editing linked schematics shall be clearly identified and preserved Documentation must be provided both for original designs and for any subcontracted designs For purchased vendor components within the design all vendor manuals and documentation shall be retained with the system Proper mechanical drawings are required for fabricated mechanical parts Manufacturers data sheets and interface drawings are required for all purchased components For software and firmware designs Source code and executable binaries for all applications Verilog constraints and configuration bitstreams for FPGAs and ROM image files in commonly accepted JED or HEX formats for all PLDs A Users manual is required This should be a high level document that explains all operational procedures and techniques needed to operate the system is a safe and effective manner including getting started FAQ detailed explanations of all functions and controls and user level calibration and maintenance A technical Maintenance manual is required This should be a low level document that explains the unique technical principles and details of system operation The maintenance manual includes information on any advanced maintenanc
4. to be attached or written PCB bottom copper should have text indicating the board part number and rev Fuses shall be socketed and at least 5 spares must be included with system delivery breakers shall be resettable All are readily accessible per maintainability requirements Service loops on all cable harnesses Access panels on enclosures 8 9 Software firmware developed must adhere to the principles and practice established in Lafayette College course CS205 Source code must be maintained under configuration control Embedded computer processors shall have reset buttons These buttons must be readily acceptable for maintenance but not so easy to hit that they degrade reliability Current drain analysis must be provided for all power supplies Each supply voltage must have a current rating with a 50 safety factor over the anticipated peak current All resistors or other parts dissipating more than 25 milliwatts shall be identified and analysis shall be provided that shows all such parts are properly rated for peak and average power dissipation and have a proper heat sink and fan if necessary that provides adequate cooling over the ambient temperature range Components must be cooled such that the surface temperature is no greater than 40 70 degrees C above ambient Power dissipation rating of parts shall be 50 overrated over the required temperature range Working voltage of capacitors shall be 2
5. 5 overrated above the peak voltage anticipated including all expected glitches spikes and tolerance limits 10 Project activities must adhere to the general Lafayette College safety policy _ _ possibly augmented by any ECE Department or ECE Laboratory safety rules Applicable rules are those in effect on the date of ATP Any project that develops AC RMS or DC potential differences greater than 30 Volts between any two points within the design other than at the unmodified mains input side of a UL listed commercial power supply must develop and implement an electrical safety plan before any circuits are powered The safety plan must document the processes design constraints and equipment that will be used to ensure the safety of all participants The ECE Director of Laboratories must approve the electrical safety plan A project team member must be designated project safety officer It shall be the project safety officer s responsibility to insure that all activities adhere to the project safety plan 12 All equipment developed must comply with applicable national standards Specifically all electric supply communications lines and equipment must be designed constructed operated and maintained in accordance to The National Electrical Safety Code NESC ANSI C 2 Installations of electric conductors and equipment that connect to a building main supply of electricity must be designed constructed operated and mai
6. BF of the demonstration must meet or exceed the project level Maintainability and Reliability requirements given herein Visitor interaction with the demonstration and possible failures caused by such interaction shall be considered in the MTBF analysis GPR012 Final Disposal of Projects 1 2 Projects may be stored for future work placed on display or discarded Time must be included in project schedules for final disposal If a project is to be stored all its materials must be collected together in a single location If possible these materials should be enclosed in a sealed container locked cabinet or secure room that contains only these materials from one project and no other If certain parts are impractical to store with the bulk of the project materials these separate parts must be clearly labeled so their association with the stored project is obvious Projects placed on display may have portions not on display The undisplayed portions shall be either stored or discarded as described herein Portions of projects or complete projects that are discarded must be discarded in accordance with Hazmat procedures described herein Test equipment moved from labs shall be replaced in its original location Trash loose wires scattered components and other detritus resulting from frenzied development and testing shall be cleaned up Paper documents that have been scanned per GPR001 shall be placed in a paper
7. C400 18 Enter baseline distance as 1m in prompt and hit OK 19 Turn on boat and hit Calibrate The GUI will open 20 Have one test engineer move position of boat and look for constantly updating boat status data on GUI At the same time have another test engineer change the Power Supply output voltage and look for changes on the terminal display connected to the Boat Hardware 24 Continue step 20 for about one minute 22 Change the control mode from Autonomous Freeze the default to Autonomous Ferry and verify that a Ferry input can be entered and the system logs the command 23 Change the control mode back to Autonomous Freeze and verify that a Ferry input can no longer be entered and the system logs the command 24 Click on the Script button and input a combination of freezes and ferries in the specified input and verify that the script runs the commands are displayed in the system log 25 Set the x axis to x position and the y axis to y position and verify that the graph correctly displays the updating x vs y position and the compass shows the heading 26 Navigate to log file directory on laptop and verify that data from the test session has logged correctly for each sensor initial polar to Cartesian position conversion fused position value and the system commands and faults 27 Power down the boat s micro controller and verify that the boat is no longer connected to the system and both the GUI and the log f
8. LPARD TDF 2012 Lafayette Programmable Autonomous River Droid Tracking and Data Fusion ECE4972 Spring 2012 Acceptance Test Plan Last Revision Date 3 5 2012 by David Salter Table of Contents Table of Contents Purpose Acceptance Testing Acceptance Test T001 Sensor Fusion Acceptance Test T002 SCADA Acceptance Test T003 Demo App Detailed System Requirements R000 Position and Heading Estimates R001 Operational Swath R002 System Control and Data Acquisition R003 Autonomous Mode and Manual Override R004 Control Modes R005 Data Link R006 User Interface R007 Environmental R008 Payload R009 API and SDK R010 Demonstration Application R011 Power Input Independence General Project Requirements GPR001 Documentation GPR002 Environmental GPRO003 EMI EMC GPRO04 Hazmats GPR005 Safety and Good Practice GPRO06 Reliability GPR007 Maintainability GPRO08 Manufacturability GPRO09 Life Cycle Sustainability GPRO10 Ethics GPRO11 Project Demonstration GPRO12 Final Disposal of Projects Confirmation Matrix Acceptance Test Report Purpose To ensure that our designed system meets all the requirements as specified in the LPARD TDF 2012 Statement of Work this document will provide the tests and measurements that will be carried out to prove the system meets requirements Each test will outline a testing scenario that provides the materials needed and location where the test is to be execu
9. beacon directly on top of the tape and the ultrasonic sensor facing the center of the two beacons Allow boat to sit at each position so that the SCADA program can log at least 10 x y positions of the boat Use these 10 data points to compute the RMS x y position of the boat Diagram of Test001 Scenario Wall outlet just inside 50 AEC extension 10 1 25 River Area in blue gray Surveying stand Not actually to be placed at water boat locations Figure I RO000 1 Shows that our system can continuously calculate 2D Cartesian coordinates relative to an absolute Earth Coordinate System Criteria for Success The value of x y position of the boat displayed by the GUI changes as the boat is moved from one position to another assuming that the mover does not block the sensors R000 2 Show that the calculated position of the boat is accurate to within the required 10 cm RMS value Position P1 Displayed Actual RMS Position P2 Displayed Actual RMS Position P3 Displayed Actual RMS Position P4 Displayed Actual RMS Position P5 Displayed Actual RMS Criteria for Success The IR sensor successfully detects angles in azimuth and elevation within 0 5 degrees RMS The ultrasound sensors successfully detect range within 14 cm RMS These are based off of the logged raw sensor data from points P1 PS Criteria for Success The total RMS position for P1 through P5 is within the RMS value accepted by R000 20 cm pr
10. d be avoided in designs If use of a hazardous material is essential to the function of the design and there is no non hazardous alternative the use of the hazardous material must comply with the Lafayette College Chemical Hygiene Plan All materials used in electronic circuit fabrication must meet 2002 95 EC RoHS directives NiCd or Lead Acid batteries may not be used in new designs Any portion of the design or prototype that is discarded must be discarded according to the Lafayette College Chemical Hygiene plan Also projects should discard the collected electronic waste in an ecological friendly manner as per the 2002 96 EC WEEE directive either by ecological disposal or by reuse refurbishment of the collected waste GPR005 Safety and Good Practice 1 All work shall comply with good industry practice that enhances reliability and maintainability These practices include such items as o Color coded wiring in accordance with applicable industry standard color codes e g NFPA 79 or UL508 for power wiring EIA TIA 568 for network wiring etc Clear labeling of all controls and indicators An obvious and clearly labeled system wide power shutdown switch Silkscreen on PCBs that includes reference designators noted power supply voltages and other critical signals Silkscreen must show a Lafayette College logo the words Made in USA a RoHS logo assembly number and revision and designated locations for serial numbers
11. e or calibration techniques that could be applied by an expert maintainer A set of schematics pinouts of all connectors the signal assignments of all cables and the semantics of all interfaces hardware and software must be documented within this manual 10 All documentation must be provided and delivered in electronic form Emailing a description of a document along with a URL into the project web site is an acceptable and desirable form of delivery The use of standard and portable document formats e g PDF TXT must be used so that the documentation can be viewed on any computer without the need for proprietary applications The documentation must be arranged in an organized and professional manner on the project web site GPR002 Environmental 1 All projects must demonstrate reliable and normal functional operation in ambient lab temperatures of 15 C to 30 C 10 to 80 RH non condensing The overall system must tolerate a storage environment of 0 C to 60 C 5 to 95 RH non condensing Designs should use electronic components rated for commercial temperature range 0 70 C or better GPR003 EMI EMC 1 Unintentional electromagnetic radiation radiated or conducted from designs must meet US CFR Title 47Part 15 subpart B regulations for Class A digital equipment Intentional radiators must meet subpart C regulations Exemptions from 15 103 are not allowed GPR004 Hazmats 1 Hazardous materials shoul
12. egrees Shown in Test 001 by examining RO01 2 with Omnidirectional Proposal accuracy over a range of angles due to azimuth limits of AZ EL y 8 8 o from the base station Positioner Proposed change to define degraded past 25 m o RO001 3 as within an absolute earth By analysis 1 Boat Posion Tracking Independence coordinate system defined by GPS positioning Requirement Proposed Modification Achieved Proposed change to only implement operation in Shown in Test 002 maintenance mode Proposed change to have manual control turned on and off from an Bona RC Controller rather than from pnownan Tesh the GUI for ease of use R002 10 Mont By analysis in Lifetime Capacity Analysis l All tests and documents used for confirmation in bold RO002 11 None By analysis in Expandability Analysis R002 12 None By analysis in Data Storage Format Analysis R002 13 Shown in Test 002 Proposed change to writing R002 14 specifications for the software By memo in Aural Signal and hardware that would be Specification needed proposi Tepla enen in Shown in Test 002 by examining showing that control loop can be RO003 1 f boat hardware outputs in response implemented once actuators are to t i integrated into the system o aasma Commands Proposed replacement with a By analysis in Manual Control R003 2 3 i specification Analysis By inspection the code contains R004 1 None the ability to manipulate motors to handle the t
13. for Success Success will be determined by the successful system logging in ferry mode R004 4 Show script mode can be supported by the existing software Criteria for Success Success will be determined by the successful system logging of the script that is run RO005 1 Show full duplex communication by having real time data appear on both sides of the RF link at the same time Criteria for Success During step 18 real time data appeared on the GUI and the Terminal display R006 1 Show real time display of relevant information Criteria for Success Success will be determined if the GUI implements R006 2 at the rate of data recording which by default will be once per second R006 2 Show both numeric and graphical representations Criteria for Success Success will be determined by the presence of a graphical representation of data in the GUI with changeable axes to display any possible data GUI will also have a field allocated for sensors on the boat and a field for payload sensors Each will contain numerical representations of any sensor listed Confirmation Matrix Confirmation Method R000 1 None Shown in Test 001 by noting the system updates while moving 10 cm RMS to 20 cm RMS ane R000 2 Analysis shown in document Sova Lees by Verifying ne Error Analysis accuracy of position data Shown in Test 001 by verifying the Shown in Test 001 by examining K accuracy at a range of distances Fop pned change B0 d
14. from components and subassemblies that have a sustainable source of supply over the system lifetime To demonstrate that this requirement is met it must be shown that each item in the Bill of Materials BOM for the design is available from a minimum of two independent suppliers In addition industry trends shall be considered when selecting implementation options Designs should choose options most aligned with future industry trends The tolerances of components shall be considered in the design Any component with a value that determines a critical voltage time constant frequency or other parameter shall have a tolerance such that system requirements are met with 99 yield in manufacturing An analysis shall be provided that identifies any tolerance critical components and proves that the tolerances are adequate to meet system requirements at that yield GPR009 Life Cycle Sustainability N A GPR010 Ethics 1 2 As design engineers decide what can be done always there is an implicit requirement for them to justify what ought to be done In acknowledgement of this implicit requirement all ECE projects must be evaluated with respect to explicit ethical principles An ethics report must be produced that analyzes social and political aspects of the design and justifies them with respect to such ethical principles A summary of the ethics report is due at CDR The report must give ethical and or political arguments for and against ful
15. hree modes Proposed replacement with Shown in Test 002 by R004 2 showing that the SCADA demonstration of necessary supports the implementation of commands and data flow within the this feature control loop Proposed replacement with Shown in Test 002 by R004 3 showing that the SCADA demonstration of necessary supports the implementation of commands and data flow within the this feature control loop ROO Shown in Test 002 Shown in Test 002 by showing real time data transferred both ways pos Nome Shown in Test 001 by inspection of R005 2 None simultaneous operation of RF link and positioning responses on necessary data speeds RO06 2 Shown in Test 002 R006 3 By inspection of the GUI Since we are not implementing the final boat packaging this By analysis in Environmental requirement should not be Requirements Analysis applicable By analysis in Environmental R007 2 See proposed change in R007 1 Requirements Analysis RO007 1 R007 3 Nong By analysis in Environmental Requirements Analysis By analysis in Boat Payload R008 1 None Analysis by explaining the necessity of all hardware on boat By analysis in Boat Payload R008 2 Nene Analysis by examining the weight budget and providing an example placement diagram By analysis in Boat Payload RO008 3 None Analysis by comparing to an example payload R010 3 By inspection demo will use a full computer screen R010 4 Shown by Demo App Inspection By analysis in Demo
16. ies e Temperatures of all subsystems f Operational State 7 Parameters mentioned in R002 6 have adjustable sampling rates of up to 60 samples per minute and are recorded electronically with a time stamp 8 Plots over a specified parameter range can be generated by the user 9 SCADA logs commands events exceptions faults and operational state changes of the LPARD system 10 SCADA has sufficient capacity for retaining data records over the lifetime of the system 11 SCADA system is expandable to allow the incorporation of new boat position control algorithms and new sensors and expandability is possible without altering existing code 12 Data storage is in a portable non proprietary format readily useable by common data analysis tools 13 SCADA can automatically log an event enable an alarm and declare a fault to shutdown the system 14 A loud aural signal shall be provided that SCADA uses for alarm conditions which the SCADA system is able to silence until a subsequent alarm condition occurs R003 Autonomous Mode and Manual Override 4 LPARD includes an autonomous closed loop controller that interfaces with the shore based RC control link for propulsion and maneuvering 2 Itis possible to switch back and forth between autonomous control and manual control with a minimal glitch R004 Control Modes 1 LPARD is capable of freeze ferry and script mode under autonomous control 2 Freeze mode can hold constant p
17. ile for the system log this fault 28 Once finished power down the boat then close the program then power down the laptop R002 1 Show SCADA supports all the operating and maintenance modes Criteria for Success Success will be determined if the system runs properly throughout the test and all of the mode changes R002 2 Show SCADA serves as the Operation User Interface for autonomous control Criteria for Success Success will be determined if the autonomous mode can be changed from Ferry to Freeze and back again and a script combination of ferry and freezes can be run with all of the mode changes logged in the system log R002 4 Show SCADA UI allows a trained human technician to easily control and monitor the processes Criteria for Success Ease of control shall be affirmed by correlating controllable UI fields to a correctly outlined procedure for use in the user manual Success of monitoring the process shall be determined by the numerical and graphical display of all relevant data being logged R002 6 Show the following parameters are monitored and stored by SCADA boat position and orientation raw position sensor data hydrology sensor data voltage current and power delivered by power supplies subsystem temperatures and operational state Criteria for Success Success will be determined if a separate and accurate CSV file with session data has been created for each sensor initial position fusion from polar
18. l development of your technology Team members should divide into two pick a pro or con side and each separately write that argument then read the opposing side s argument and write a rebuttal Your arguments must be objective that is to say they must be based on reason and evidence Arguments are not someone s subjective opinion Arguments must directly reference documented empirical evidence e g research studies generally recognized moral principles e g utilitarianism scientific or mathematical results e g Game Theory government enforced laws or professional ethical codes e g the IEEE Code of Ethics Cite material in support of your arguments Give a bibliography with citations 4 The IEEE Code of Ethics must be explicitly considered in the ethical analysis GPROI1 Project Demonstration 1 2 Completed projects must be demonstrated for review by ECE faculty It is highly encouraged that the entire design or some major functional subsystem of the design is suitable for continuous unattended display as a self contained active demonstration that would excite the interest of students faculty and other ECE Department visitors Such demonstrations must fit in a compact public area and operate safely and without unreasonable disturbance of its neighbors User interaction with the demo is encouraged but if activated by someone the demonstration must deactivate automatically after some short delay The MTTR and MT
19. nstalled on the boat is minimized Equipment on the boat is of a mass and location so as to not reduce the boat s stability and resistance to capsizing Equipment leaves ample room and freeboard for the weight and size of typical end user payload R009 API and SDK 1 LPARD has a fully documented software API and SDK that allows an applications programmer to write software that uses interfaces and functions of SCADA system _ Software support for LPARD TDF 2012 uses API to access SCADA functions _ SDK includes compilers linkers libraries include files utilities as well as developer level documentation _ The complete SDK including API documentation and application source under configuration control shall be delivered to or linked by the project web site R010 Demonstration Application 1 2 3 Demonstration Application has few interactive options and a robust tolerance for Demonstration application is user friendly Allows non technical minimally trained human user to witness an automatic demonstration Includes a large display possible operating user mistakes 5 System damage is not possible via demonstration application 6 This application software must be written in conformance with the LPARD API built with tools provided in the SDK and run on a suitable hardware platform included with and powered by the LPARD TDF 2012 system R011 Power Input Independence 4 LPARD can operate temporarily wi
20. nstration R010 6 None By inspection of code and demo hardware Proposed replacement with analysis though R011 1 AC Maintenance Power Mode By analysis in Power Analysis will still be implemented and tested RO11 2 See RO11 1 By analysis in Power Analysis ROTTA Geros None By inspection on project website Geroa None By inspection on project website ceros None By inspection on project website GPR006 See Reliability Memo in Final s Report Tmaintain shows usefulness of GPR007 None Maintenance Manual and User s Manual See Manufacturability Memo Shown in video posted to project website at http sites lafayette edu CERON pone ece492 sp12 cdr materials ethics report Demonstration will take place after GPRO12 Nane By inspection of Labs and project display Detailed System Requirements The following requirements represent the final project requirements for the LPARD TDF 2012 system If any requirement within the original scope of work is not achievable within or applicable to the 14 week schedule the required documentation will be referenced within that requirement The following are the agreed upon and altered requirements adapted from the LPARD TDF 2012 Statement of Work as on the last revision date of this document noted at the bottom of the title page No requirements can be modified without the explicit agreement of the ECE492 Faculty R000 Position and Heading Estimates 1
21. ntained in accordance to The National Electric Code NEC ANSI NFPA 70 13 Any interconnection with the Lafayette College power grid is subject to the approval of Plant Operations Any interconnection with the Lafayette College campus computer network is subject to the approval of the Information Technology Services department 14 Use and design of lasers shall be in accordance with American National Standards Institute ANSI Z136 1 2000 American National Standard for Safe Use of Lasers Only low power Class I IJ and Class Ia lt 5 mW lasers should be used If project requirements necessitate higher power the project must develop and implement a laser safety plan before any laser work begins The safety plan must document the processes design constraints and equipment that will be used to ensure the safety of all participants 15 All projects that involve RF power of any level must be designed to ensure that participants are not exposed to RF in excess of the recommended exposure limits adopted by the FCC most recently in 1996 but note the proposed rule change in 2003 If project requirements necessitate radiated RF power in excess of 100 mW the project must develop and implement an RF exposure safety plan before any high power RF work begins The safety plan must document the processes design constraints and equipment that will be used to ensure the safety of all participants 16 Projects that contain recognized hazards m
22. oposed Based on the equations below 1 Xrems gt x x J RMS N measured actual N points 1 YRMS 7 N gt E oe N points 2 2 RMSrotat V Xrms Yaus R000 3 Shows the system is capable of providing continuous heading updates by comparing reported values to known values Position P1 Displayed Actual RMS Position P2 Displayed Actual RMS Position P3 Displayed Actual RMS Position P4 Displayed Actual RMS Position P5 Displayed Actual RMS Criteria for Success The heading values provided are accurate to within 0 25 degrees RMS at up to 25 meters R001 1 Position estimates are accurate to values specified in R000 2 and R000 3 over a 0 to 25 meter range Criteria for Success If the positions measured in R000 2 are within the proposed value analysis given in the document Error Analysis and the QA tests for both the IR and Ultrasound sensors pass for range detection out to 25 meters QA Tests are provided in Sound Sensors Specification Document and IR Sensor Specification then it is inferred that the the measurements are successful to within 25 meters Error Analysis document takes the QA requirements for IR and Ultrasound subsystems and generates errors out to 25 meters RO001 2 Position estimates are accurate to values specified in ROOO 2 and R000 3 over a 90 degree in azimuth from the shore station Criteria for Success Points P1 and P5 labeled in Figure 1 if placed at the labeled positions sho
23. osition in river currents of less than 1 m s with position error within 20 cm RMS 3 Ferry mode allows the boat to translate in a straight line within 20 cm RMS to a current position to a designated second position 4 Script mode allows LPARD to perform a sequence of movements consisting of freezes and ferries according to predefined script entered through the user interface R005 Data Link 4 SCADA contains a high speed full duplex with bidirectional communication between the shore station and the boat 2 The data link does not interfere with signals used for positioning 3 Data link bit rate is established so to fulfill end user needs R006 User Interface 1 2 3 Real time display of relevant information is provided Both numeric and graphical representations are shown Simple interface for control modes and parameters is provided R007 Environmental 1 On boat portion of system is designed and packaged so that it may be operated day or night in moderate fog and rain winds less than 20 km h and when splashed with clear or muddy water _ Equipment installed on the boat survives immersion to IEC IP 67 standards and regain operation immediately after it surfaces _ Shore based equipment in the demonstration need only meet GPR002 and does not need to be water resistant but the design shall be such that IP 67 standards can be met by the shore equipment in production R008 Payload 1 2 3 Equipment i
24. port running Arduino software USB to miniUSB cable USB to USB cable 2 18V AC Adapter Arduino Mega 2560 with Dummy Sensor firmware Custom RJ45 to Arduino adapter Cut open CAT6 cable with pins for the appropriate signals e Power Supply with power cable Procedure 1 Bring all required materials to AEC400 2 Read the User Manual 3 Set the laptop LPARD Shore Interface box Arduino and Power Supply on center table 4 Plug in laptop power cable into laptop and into wall power 5 Plug 18v AC converter into LPARD Shore Interface box and into wall power 6 Plug power supply into wall power 7 Plug LPARD Shore Hardware USB cable into laptop 8 Plug Arduino into laptop using USB to USBb cable 9 Connect power and ground on power supply to AO and GND respectively on the Arduino 10 Plug LPARD Interface box into the SDA and SCL ports of the Arduino using the Custom RJ45 to Arduino adapter 11 Place LPARD Boat Hardware on lab desk near whiteboard 12 Open Boat Microcontroller access on LPARD Boat Hardware box 13 Plug Boat Microcontroller into desktop computer using USB to miniUSB cable 14 Open a terminal to view the output of the Boat Hardware serial output one of two ways a Open arduino exe select COM8 and press the Serial Monitor button b Open X CTU select COM8 and click the Terminal tab 15 Turn on laptop 16 Start the LPARD software 17 Enter user name as Test002 and location as AE
25. recycling bin The project web site must be updated with all final documents The documents on the final web site must match the delivered system Obsolete documents on the web site shall be removed Acceptance Test Report Deliverable Due Date Completed Initials Date D001 CDR Materials 3 5 2012 by 1 pm a oe D002 Users Manual Draft at CDR final May 4 a oe oe D003 Final Report and Draft at CDR Maintenance Manual Final May 4 ff D004 Acceptance Test Approved at Plan CDR o7 J D005 Acceptance Test 27 April Report S D006 QA Audit Report 27 April re a e a D007 Project Web Site Updated regularly ee ee ae D008 LPARD TDF 4 May 2012 Integrated System ee ee ae D009 Conference Paper 6 April a a ae St aa D010 Project Poster aay D011 Detailed LPARD Draft at CDR System Requirements Document o
26. ses system requirements to be missed Failures include but are not limited to computer software lock ups shutdowns caused by overheating automatic operations stalled by exceptions or requests for human intervention as well as random component failure GPR007 Maintainability 1 2 The system wide Mean Time To Repair MTTR must be less than 1 week over the system lifetime Maintainability requirements must be demonstrated in the ATP both by analysis and by Inspection The use of MIL HDBK 472 N1 and MIL STD 470B ISO IEC 25000 2005 or other equivalent techniques are encouraged for the analysis 3 In the maintainability analysis you should assume a stock of recommended spare parts The list of these spare parts should be included in the ATP The Users Manual should include a section giving simple troubleshooting procedures The Maintenance Manual should have more elaborate diagnosis and troubleshooting resources _ In addition a maintainability inspection shall be conducted during ATP where a novice using procedures included in the User Manual demonstrates the diagnosis and repair of a likely failure and an expert using resources included in the Maintenance Manual demonstrates the diagnosis and repair of an unlikely failure GPR008 Manufacturability 1 A production design is a project design that could reasonably be manufactured in large quantity e g greater than 1000 units yr All production designs must be built
27. ted Included with each test will also be a procedure and a specific list of requirements that the test will verify Acceptance Testing Acceptance Test T001 Sensor Fusion This test verifies the following requirements e R000 1 2 3 e ROOI1 1 2 3 e R005 2 Required Materials Tripods 2x for mounting sensors Pair of Surveying Tripods Laptop Extension cord 2x 25 1x 50 1x 100 18V AC Adaptor 3x Power Strip 1x with at least 5 slots Surveying Stand Tape Measure length of 50 or greater Fold up table to place laptop on 5m CAT6 cable 2x Sensor Circuitry to be mounted on tripod 2x USB hub and two I2C converters Masking Tape to mark locations on ground Laptop charger precautionary Procedure Take all required equipment out to the Watson Quad Plug in a 50 extension cord to wall outlet inside Acopian doors and plug a power strip to the end Set up table and laptop with USB hub next to power strip Turn on laptop plug laptop charger if laptop battery is low to the power strip and start GUI program by double clicking the icon on the desktop Attach sensor circuitry to tops of tripods following instructions in final User s Manual and set up each tripod at approximately the same height four feet Plug in two 25 extension cords to power strip and attach 18V Adapter to the end of each Plug an 18V adapter to the power jack on each sensor tripod 10 11 12 13 14 15 16
28. thout any power derived from AC mains 2 All voltages needed are generated by LPARD TDF 2012 circuitry and energy storage devices per GPROOS 3 LPARD can operate in a maintenance mode for long periods of time without draining batteries where power is derived entirely from building mains 4 Itis easy to switch in and out of maintenance power mode General Project Requirements GPRO001 Documentation 1 Complete and accurate documentation must be provided with all projects These documents shall include documents for mechanical and electrical fabrication test results software development kits maintenance manual user manual and specification compliance matrices and technical papers All documentation shall be accumulated in electronic form centralized in a project web site and thoroughly indexed The web site represents the primary point of delivery for document data items Text documents shall be written in a professional style commensurate with quality standards established by Lafayette College ECE writing courses e g ES225 and ECE211 All original paper documents should be scanned and stored electronically The original should be disposed of per GPR012 Test reports for hardware and software must show the date time of testing name and signature of the tester and name signature of any witnesses For all electronic PCB designs the following fabrication documents are required dated and numbered schematics or mechanical
29. to Cartesian and completely fused position displayed in the GUI R002 8 Show plots over specified parameter ranges can be generated by the user Criteria for Success Success will be determined if throughout the test the plot continuously updates dependant on the axis selections R002 9 Show the SCADA logs commands events exceptions faults and operation state changes Criteria for Success Success will be determined if the system log has been generated for the test session The program will log all data displayed in the GUI under system output which will contain all the parameters listed above Additional information may be logged and should not preclude success of this requirement being demonstrated R002 13 Show the SCADA can automatically log an event enable an alarm and declare a fault to shutdown the system Criteria for Success Success will be determined if the fault tested is affirmed in the system log and displayed on the GUL RO003 1 Show the LPARD includes an autonomous closed loop controller that interfaces with the shore based RC link for propulsion and maneuvering Criteria for Success Simulate ability to close loop without implementation on the micro controller R004 2 Show freeze mode can be supported by the existing software Criteria for Success Success will be determined by the successful system logging of freeze mode R004 3 Show ferry mode can be supported by the existing software Criteria
30. ust develop a project safety plan Such hazards include but are not limited to high altitude operation at sea on lakes or in rivers or mines exposure to electrical chemical biological radiological or psychological hazards All projects that involve machinery that create hazards such as those created by point of operation ingoing nip points rotating parts flying chips and sparks etc must develop and implement a machinery safety plan before any machinery work begins At a minimum the plan must address US Title 29 CFR Part 1910 Occupational Safety and Health Standards Sub Part O Machinery and Machine Guarding GPR006 Reliability 1 The system wide Mean Time Between Failures MTBF must be greater than 1000 hours over the system lifetime Reliability requirements must be demonstrated in the ATP both by analysis and by Inspection The use of MIL HDBK 217 Bellcore TR 332 or other equivalent techniques are encouraged for the analysis Every part and subsystem in the full BOM must be explicitly considered in the MTBF analysis Parts with power dissipation over 25 milliwatts shall be identified and the reliability analysis shall include reliability derating of these components based on the expected dissipation In addition to the analysis a reliability inspection shall be conducted during ATP where the system is shown to operate for 24 hours without any obvious failure Failures are defined as anything that cau
31. ws a 83 degree operational swath If points P1 and P5 are measured successfully in ROOO 2 then these points therefore meet the operational swath requirements R001 3 Degraded accuracy shall be possible over a swath out to 200 meters in range Criteria for Success As long as the GPS is sending data to the GUI program over the laptop via the RF link we will have degraded accuracy by means on the GPS position The requirement is therefore successful if the GUI program on the laptop displays the GPS value and the provided analysis shown in document RF Distance Analysis shows that our RF link is capable of communicating over 200 meters 200m QA test for RF is impractical GPS value displayed on GUI yes no RO005 2 Data link does not interfere with signals used for positioning Criteria for Success Success criteria for R000 2 and R000 3 have been met as there is position data being transmitted to the boat shore sensors and to the shore fused position meeting those requirements implies the data link does not interfere Acceptance Test T002 SCADA Requirements Verified R002 1 2 4 6 7 8 9 13 R003 1 R004 2 3 4 R005 1 R006 1 2 Required Materials AEC Room 400 At least two test engineers Laptop with USB port running LPARD software Laptop AC power cable LPARD Shore Interface box complete with antenna and USB cable LPARD Boat Hardware complete with sensors and antenna Desktop Computer with USB
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