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Requirement No.Requirement TitleRequirement StatementVerification Success CriteriaVerification Method ResultsPass / Fail
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L1-0TeensyThe Stabilizer will use the Teensy 4.0 or later series of boards to achieve the mission objective.Utilizing a teensy 4.0 when the mission is accomplishedDemonstrationacquiredPass
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L1 -1MissionTo properly teleoperate the communications bot the Interframe Transformation Fidelity (ITF) shall be above 20 dB. The metric was obtained from Guilluy[1] and the adequate levels were determined through a tradeoff study which shall be discussed later in presentation .One minute test video should have an ITF greater than 20dBTestWaiver Sent waiting on approval.
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L1-2Mission
To maneuver the communications bot remotely the camera shall provide a first-person-view (FPV).
According to Balestrieri[2], this is the best view for unmanned-ground-vehicles (UGV).
The view provided by the camera shall be similar to a first person view if a human was in place of the camera
this would be focused on an area infront of the commbot with a 100° FOV.		Test
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L1-3ProjectThe stabilizers shall be mounted to the communications bot Using Screws, Facing Forward and to the side.Stabilizers being mounted on the commbot and not falling off.Demonstration.
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L1-4OperationThe stabilizer shall be able to operate in the outdoor environment of the mission profilewithstand the elements outdoor and operate fully within a temperature range of 7.22°-18.3°Celsius.Demonstration
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L1-5ProjectTo demonstrate end product by the end of the semester the stabilizers will be completed by December 14th.The success criteria is such have the Gimbal fully operational and ready by the managment.Demonstration
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L1 - 6PCBThree custom PCBs shall be designed and created to meet learning objective set by management.
Each engineer shall provide a functional custom PCB.		Demonstration
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L1-7StandardThe camera shall conform to NTSC standards 720p at 30fps[9].Live Feed resoultion doesnt dip below NTSC standard.Test
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L1 - 8MissionThe stabilizer shall be able to maintain a line of sight with Robodog.80% of the robodog will be visible during the mission.Demonstration
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L1-9Assembly/DissasemblyThe Stabilizer Shall be able to be dissasembled and assembled in less than 20 minutes.Assembly and dissasembly should take 20 minutesTestPass
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L1-10ProjectThe stabilizer shall utilize a 3-axis form to support the yaw,pitch and roll.showcase the ability in where the stabilizer can cancel vibration and jitter from the x,y and zDemonstration
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L1-11SoftwareThe Stabilizer shall utilize a C++ Code to be able run the StabilizerThe Stabilizer will use certain lines and commands to run written in the C++ coding Language.Analysis
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L2-1MissionThe linear motion blur shall be below 8 pixels. Keeping the linear motion blur below 8 pixels
ensures that the ITF shall be above 23 dB.		Provide a recorded video of the live feed with an ITF above
23dB		Test
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L2-2MissionThe radial motion blur shall be below 2 pixels. Keeping the radial motion blur below
2 pixels ensures that the ITF shall be above 20 dB		Provide a recorded video of the live feed with an ITF above
20dB		Test
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L2-3MissionThe camera shall be able to stream wirelessly at a distance of 2 meters to
provide a first-person view		A user can access the live feed anywhere upto 2 meter radius from the commbot.Demonstration
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L2-4QualityThe camera shall have FHD (1920x1080p) resolution capabilities. According to Balestrieri[2] UGVs require a minimum resolution of 1340x1024p for reliable perception and obstacle detection with visual cameras. To meet North American video standards the minimum resolution is FHD.The camera should have a FHD option.Inspection
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L2-5MissionThe stabilizers shall be able to control yaw, pitch, and roll movements to maintain proper LOS with Robodog
The camera shall maintain proper Line of Sight with the robodog.(80% of the robodog will be visible during the mission.)Demonstration
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L2-6Field of viewThe camera shall have a minimum diagonal field-of-view (FOV) of 100°. Balestrieri[2] states that a horizontal FOV of 68.2° and vertical FOV of 53.8° is optimal for teleoperation of a UGV. To comply with North American video standards a horizontal FOV of 92.2° and vertical FOV of 60.6° was chosen which equates to a diagonal FOV of 100°.
The cameral diagonal Field of view should be greater than 100°. Analysis
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L2-7 TempraturesThe stabilizers shall be able to operate within a temperature range of 7.22°-18.3°Celsius. The mission shall outdoors and the National Weather Service[3] shows a mean max and min temperatures in this range for December.
The Gimbal shall be able to be operational in the outside weather conditions.Analysis
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L2-8DimensionsThe stabilizers height shall not exceed 20 cm as to not interfere with the solar panel movements which shall also be mounted to the communications bot. The height restriction was obtained from Solar Panel team.
Stabilizer height is less than 20 cmTestMax height= 15.24 cmPass
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L2-9MassThe stabilizers shall not exceed 680g each. The weight is restricted by the payload capacity of the communications bot. The mass allocation was obtained from the Communications Bot team.Each stabilizer should weigh less than 680 grams.TestTotal weight= 455.17 gramsPass
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L2-10Power consumptionThe stabilizers shall have a power consumption of Less than 15 watts at 24 volts. The power produced by the solar panel team shall be shared with the communications bot therefore the power consumption must be allocated accordingly. The power consumption was discussed and negotiated with Solar and Com. Bot teams.
total power consumned by the stabilizers should be less than 15 watts at 24VTest
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L2-11pcb AndrewAndrew Shall Provide a custom PCB that function as a discreet implementation of the motor drivers.Acquire Approved PCB With the function of discreet motor drivers. and able to Move Motors.Demonstration
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L2-12pcb DanielDaniel Shall Provice a custom PCB that function as the motherboard housing an integrated
IMU and Pinouts for all of the teensy microcontroller , the Buck Converter ,Motor drivers
and fits both The discrete and non discreteMotor dirver PCB		Acquire Approved PCB the the Functions
mentioned in the statement.		Demonstration
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L2-13pcb DanielDaniel shall provide a custom PCB that function as the 3 MotorDrivers.Acquire Approved PCB with the
function of 3 Motor drivers.		Demonstration
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L2-14MaterialsThe structure shall be 3D printed. The stabilizers must be demonstrated by the December 14th, therefore the manufacturing method must be accessible to team. 3D models of the structure are provided and the parts are made from PETG.Inspection
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L2-15FunctionThe Pitch motor shall be able to rotate the Camera 180 degrees on its axis.Demonstration
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L2-16FunctionThe Roll motor shall be able to rotate the camera 160 degrees on its axis,Demonstration
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L2-17FunctionThe Yaw motor shall be able to rotate the camea 180 degress on its axis.Demonstration
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L2-18SoftwareThe Stabilizer shall utilize a PID controller set of commands to control the parameters it should function within to achieve a stability of 20DB or less
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L2-19SoftwareThe MPU-6050 shall utilize a Libraries to be able to provide x,y,z Readings
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