TEAM SKYBOT

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• Presented By
• TEAM SKYBOT
• - Bradley Wilson
• Harry Ulrich
• Kumaraswamy MS
• - MalarVizhi Velappan
• - Shivani Pandey
• TEAM HOMEPAGE http//www.andrew.cmu.edu/org/skyb
  ot/

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Agenda

• Race Overview
• Stakeholders
• Requirements Analysis
• Trade Study
• Functional Analysis
• Reliability Analysis
• Systems Integration Plan
• Unit, Systems and Integration Test
• Technical Performance Metrics
• Lessons Learned
• QA

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Race Overview
When September 23rd, 2006 Where Pikes Peak
Highway, Colorado Why To further the science
of robotic vehicles What Ascension of the
twisting 12.4 mile course OUR MISSION ? TO WIN
THE RACE
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Stakeholders (1/2)
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Stakeholders (2/2)
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Race Vehicle Requirements1

• Safety - Requirement 2.1
• Performance - Requirement 2.2
• Schedule - Requirement 2.3
• Cost - Requirement 2.4
• Reliability - Requirement 2.5

1 Race Vehicle Requirements, SkyBot
Requirements Analysis, http//www.andrew.cmu.edu/o
rg/skybot/documents/SkyBot_RaceVehicle_Subsystem_R
equirements_V1.4.doc
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Race Vehicle Requirements Considerations

• Race Administration Rules
• Qualification Information
• Finances
• General Considerations

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Trade Study for Engine Selection

• OBJECTIVE
• To recommend engine type for SkyBot in the Pikes
  Peak Hill Climb
• CANDIDATE ENGINE TYPES
• Gasoline
• Electric
• Gasoline-electric
• Ethanol
• Solar
• Diesel

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Trade Study for Engine Selection

• QUALITY ATTRIBUTES
• Safety
• -Fuel safety
• -Control
• -Environmental impact
• Power
• Reliability
• -Availability in market
• -Reliability
• -Maintainability
• Cost

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Trade Study for Engine Selection
Trade Variables Sub Variables Scale Score Range Weight (Percentage) Total Weight
Safety Fuel safety Linear 1-10 10 30
Safety Control Linear 1-10 15 30
Safety Environmental impact Linear 1-10 5 30
Power   Linear 1-10 25 25
Reliability Availability of engine in market Linear 1-10 15 35
Reliability Reliability of engine Linear 1-10 15 35
Reliability Maintainability of engine Linear 1-10 5 35
Cost   Linear 1-10 10 10
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Trade Study for Engine Selection
Trade Variables  Sub Variables  Weight     Description
Trade Variables  Sub Variables  Weight Gasoline Gasoline Description
      Raw Score Weighted Score  
Safety Fuel safety 0.1 6 0.6 Flammable nature of the fuel
Safety Control 0.15 6 0.9 Ability of the vehicle to stop or pause within a few seconds of activating the control
Safety Environmental impact 0.05 3 0.15 Approval by the United States Department of Transportation
Power   0.25 10 2.5 Sufficient power to propel the vehicle up the peak at 30 mph
Reliability Availability 0.15 10 1.5 Available at least six weeks before the race
Reliability Reliability 0.15 9 1.35 99.9 reliable to operate 2 hours at 30 mph during adverse weather conditions
Reliability Maintainability 0.05 10 0.5 Easy to maintain like an everyday car engine
Cost   0.1 9 0.9 Purchase, cost and maintenance shall not exceed USD 15K
Total Weighted Score       8.4  
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Trade Study for Engine Selection

• GASOLINE ENGINE
• High power
• High reliability
• Low cost
• Less safety

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Race Vehicle Sub System (1/2)
Level 1 - Functional Block Diagram
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Race Vehicle Sub System (2/2)
Level 2 - Functional Block Diagram
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Functions of Race Vehicle
7.4.1
Sense
7.4.2
7.4
Perceive
7.4.7
Start vehicle at start line
Reach the finish line safely
7.4.3
Plan
7.4.4
Navigate
7.4.5
Record
7.4.6
Ensure Safety
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Functions (1/3)

• Sense
• - Interpret using sensors such as GPS, RADAR ,
  LIDAR , contact sensors
• Pose Sensing
• Obstacle Detection
• Perceive
• - Geometry characterization

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Functions (2/3)

• Plan
• Speed
• Path
• Navigate
• Steering
• Road Finding
• Braking
• Speed Control
• Route Following

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Functions (3/3)

• Record
• - Capture path
• Ensure Safety
• Make Sound
• Emit Light
• Suppress fire
• Continuous monitoring

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Reliability Analysis

• Based on the Requirement 2.5.1
• The Reliability of the race vehicle subsystem, R
  0.999.
• The total race time, t 0.4 hrs
• The MTBF of the race vehicle 400hrs
• Reliability Analysis

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Reliability Block Diagram
Input
Output
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Reliability of Individual Subsystems
Sensor Subsystem
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Reliability of Individual Subsystems .contd
Perceiving Subsystem
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Reliability of Individual Subsystems .contd
Planning Subsystem
Navigation Control Subsystem
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Reliability of Individual Subsystems .contd
Safety Control Subsystem
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Reliability of Individual Subsystems .contd
Media Control Subsystem
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Reliability of the Race Vehicle
The Race vehicle has a probability of more than
96 that is will cross the finish line.
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Failure Mode, Effects and Criticality Analysis
FMECA
Ishikawa Cause and Effect Diagram
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Failure Mode, Effects and Criticality Analysis
FMECA
Reference Number 7.4.5
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Race VehicleSubsystems

• Sensor GPS, Radar, Lidar
• Perceiving Object recognition, map of
  environment
• Planning Where to go? How to get there?
• Navigation Go
• Media Control Record progress
• Safety Control Monitor all systems, handle
  failures, emergency stop

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IntegrationStrategy

• Integrate most crucial subsystems first
• Begin low level integration
• Continue on, achieve more sophisticated
  functionality
• Iterative process
• Develop -gt Integrate -gt Test

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IntegrationPlan

• Navigation Control
• Stop, Start, Steer the vehicle
• Safety Control Emergency shutdown,
• System monitor
• Sensing to Perceiving Raw data from Sensing
  transformed into Perceived Truth
• Perceiving to Planning Plan a route based on
  Perception
• Planning to Navigation Follow route, achieve
  goals

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Unit , Integration and Systems Test

• OBJECTIVE
• To verify and validate the Race vehicle subsystem
  based on the Requirements Analysis for the Pikes
  Peak Hill Climb Race
• FUNCTIONAL ELEMENTS
• Sense Sensor Subsystem
• Perceive Perceiving Subsystem
• Plan Planning Subsystem
• Navigate Navigation Control Subsystem
• Record Media Control Subsystem
• Monitor Safety Safety Control Subsystem

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Unit , Integration and Systems Test

• SCOPE
• Analytical Evaluation Design relationships and
  potential issues
• Type 1 Testing Performance models and design
  characteristics
• Type 2 Testing Initial qualification of the
  race vehicle for the race
• Type 3 Testing Operation of the race vehicle
  after integration
• Type 4 Testing True capability and operational
  effectiveness
• SEQUENCE
• Static Testing
• Operational Testing

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Unit , Integration and Systems Test
TYPE 2 TESTING Performance test Environmental
qualification Structural test Technical data
verification Software verification Reliability
qualification Maintainability demonstration TYPE
3 TESTING Compatibility between the prime
equipment and the software Compatibility between
the prime equipment and the support equipment
Operational activities of the Race vehicle
subsystem
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Unit , Integration and Systems Test
PREPARATION FOR TEST AND EVALUATION Test and
evaluation procedures Test site selection Test
personnel Test facilities and resources Test
supply support TEST
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Unit , Integration and Systems Test
RESOURCES
SCHEDULE
QUALITY
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Unit , Integration and Systems Test
SPEED
SAFETY
RELIABILITY
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Unit , Integration and Systems Test
POST TEST AND EVALUATION Test plan
review Reliability test Regression
test Acceptance by Race vehicle
administration KEY NOTES A few tests might not
completely succeed Mission critical tests should
pass
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The SkyBot Team Uses Technical Performance
Measures (TPMs) To Improve Quality

• Influence the system design process to
  incorporate the right attributes to produce a
  system that will ultimately meet customer
  requirements effectively. (Blanchard and
  Fabrycky, 2006)
• Technical performance measures are used to
  mitigate risk during design and manufacturing.
  Measures (or metrics) are used to help manage a
  company's processes. (Moody, et al., 1997)
• Measurement is the key. If you cannot measure it,
  you cannot control it. If you cannot control it,
  you cannot improve it. (Dean and Bahill, Sandia
  National Labs, 2006)

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SkyBot TPMs Bear In Mind Three Keys To Quality
Three Key SkyBot Performance Parameters Selected

• Development Cost is a TPM
• Only five TPMs were selected

• Schedule is a TPM
• Simulation Testbed

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The Five TPMs Are Derived From Requirements
Specifications

• 1.) Remote Shutdown
• -Requirement 2.1.2.4
• 2.) Schedule
• -Requirement 2.3.1
• 3.) Velocity
• -Requirement 2.2.1
• 4.) Endurance
• -Requirement 2.5.1
• 5.) Development Cost
• -Requirement 2.4.1

Key Performance Parameters
Business Metrics
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TPM Monitoring Is Closely Integrated With System
Testing
Subsystem Integration Tests
Unit Tests
Subsystem Tests
System Tests
Remote Shutdown
Velocity
Endurance
Milestone 1
Milestone 2
Milestone 3
Milestone 4
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The Highest Priority TPM Was Remote Shutdown

• The metric is the time (in seconds) it takes for
  the race vehicle to come to a complete stop
• Isolation of problem areas such as software
  processing time or actuation errors will be
  important
• The vehicle must come to a controlled stop,
  extremely low times could be misleading

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Constrained Development Time Makes Schedule An
Important Measure

• Requirement 2.3.1 stipulates that integration
  should take place at least four weeks before the
  race
• This leaves less than a month for the development
  phase
• Testing milestones will be on a weekly basis, but
  schedule will monitor daily looking for areas
  that can be accelerated

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Race Vehicle Velocity Will Be Critical In
SkyBots Success

• A marginal positive trend from the first two
  milestones is expected, but Subsystem Integration
  Testing will prove most valuable
• The measure will be the maximum speed reached
  during testing

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The Race Vehicles Endurance Will Help Win The
Race

• The endurance measure is the Mean Time Between
  Failure for two hour runs
• Failure could be caused by any subsystem,
  examples include poor garbage collection and poor
  startup routines

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The Cost of Development Must Be Monitored

• The project management plan provides a budget,
  but ultimately, spending will vary

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Milestones Will Be Closely Coordinated With The
Testing Schedule
August 2006
1 2 3 4
7 8 9 Milestone 1 10 11
14 15 16 Milestone 2 17 18
21 22 23 Milestone 3 24 25
28 29 30 Milestone 4 31
Milestones
Unit Testing
System Testing
Subsystem Integration Testing
System Testing
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Simulation Benefits And Utilization

• A difficulty in performance metrics is getting
  good metrics during development
• Through the use of simulation we can get informed
  data about the race vehicle during its
  development, instead of waiting for all
  subsystems to be available
• We intend to do some exploratory work to help
  define where we should be early on

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Lessons Learned

• Change of perspective from Object Oriented to
  Systems approach.
• Learned Decision Making Tools and Techniques
• of Systems Engineering .
• 3. Developed better understanding of Stakeholders
  perspective.
• 4. Understood importance of Version controlling
  of documents.
• 5. Realized importance of good communication
  within Team.

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QA
???