Compliance Mandatory. At all times during the delivery or performance of Products and Services at the Portland International Airport ("PDX"), Supplier will comply with all applicable rules and regulations governing airport security (collectively, "Airport Security Rules and Regulations"), including but not limited to the security badging, access control, and keys/locks requirements set forth in the PDX Rules (available at xxxxx://xxx.xxxxxxxxxxxxxx.xxx or from the Port Project Manager upon request), and all applicable regulations promulgated by the Transportation Security Administration ("TSA") and the Federal Aviation Administration ("FAA"). Supplier will further ensure that its partners, directors, officers, managers, members, employees, subcontractors, invitees, agents, and suppliers comply with all Airport Security Rules and Regulations when providing Services at PDX. Supplier will obtain and thoroughly review the PDX Rules and other Airport Security Rules and Regulations before commencing Services.
Compliance Mandatory. At all times during the performance of Services, Supplier will comply with all applicable security requirements for the premises, including but not limited to the Port’s Marine Terminal Security Guidelines and any other security rules maintained by the Port, its tenant in possession of the premises, or other governing authorities. Supplier will further ensure that its partners, directors, officers, managers, members, employees, subcontractors, invitees, agents, and suppliers comply with such security requirements. Supplier must obtain and review copies of applicable security requirements from the Port before commencing Services. Supplier will ensure that any security badges, access control devices, or keys provided by the Port are returned promptly to the Port Security Badging Office when badgeholders leave Supplier’s employment or no longer provide Services and will obtain a receipt for the return of such items. Supplier will submit a copy of the receipt to the Port Project Manager. Any unreturned badge or access device fees due in accordance with applicable Port rules may be deducted from any payment due under this Master Agreement.
Compliance Mandatory. Verification Design Review PULSAR-REQ-dPAMT-dRAS-F-070 Deterministic real time operating system Requirement The operating system for the RCU should provide deterministic and real- time capabilities. Rationale The stability criteria of the force/torque controllers require Compliance Mandatory. Verification Design Review PULSAR-REQ-dPAMT-dRAS-F-080 Robot Arm Joint Control Modes Requirement The joints of the manipulator should provide the following modes: • Position • Force/torque Rationale / Compliance Mandatory. Verification Design Review PULSAR-REQ-dPAMT-dRAS-F-090 RAS Control Modes Requirement The manipulator should provide the following modes: • Cartesian position • Cartesian Force/torque Rationale / Compliance Mandatory. Verification Design Review PULSAR-REQ-dPAMT-dSMT-F-010 Actuated Degrees of Freedom Rationale dPAMT reduced capabilities within the frame of PULSAR, tip-tilt and piston are the most critical axes Compliance Mandatory Verification Test PULSAR-REQ-dPAMT-dSMT-F-030 End-stops position Rationale (Implemented at motor level) Compliance Mandatory Verification Review PULSAR-REQ-dPAMT-dSMT-F-040 Irreversible motion when current OFF Rationale To avoid the need for powered static mode and for locking Compliance Mandatory Verification Test PULSAR-REQ-dPAMT-dSMT-P-070 tip-tilt Stroke Rationale dPAMT reduced capabilities within the frame of PULSAR Compliance Mandatory Verification Test PULSAR-REQ-dPAMT-dSMT-P-080 tip-tilt Resolution Rationale dPAMT reduced capabilities within the frame of PULSAR Compliance Goal Verification Test PULSAR-REQ-dPAMT-dSMT-P-090 tip-tilt Repeatability Rationale dPAMT reduced capabilities within the frame of PULSAR Compliance Goal Verification Test PULSAR-REQ-dPAMT-dSMT-P-100 Mechanism speed Rationale dPAMT reduced capabilities within the frame of PULSAR Compliance Goal Verification Test PULSAR-REQ-dPAMT-dSMT-P-110 Piston Stroke Rationale dPAMT reduced capabilities within the frame of PULSAR Compliance Goal Verification Test PULSAR-REQ-dPAMT-dSMT-P-120 Piston resolution Rationale dPAMT reduced capabilities within the frame of PULSAR Compliance Goal Verification Test PULSAR-REQ-dPAMT-dSMT-P-130 Piston repeatability Rationale dPAMT reduced capabilities within the frame of PULSAR Compliance Goal Verification Test PULSAR-REQ-dPAMT-dSMT-D-240 Shape Rationale Optimal paving geometry with respect to surface/diameter ratio Compliance Mandatory Verification Review PULSAR-REQ-dPAMT-dSMT-D-250 Width Rationale to fit within the mass req...
Compliance Mandatory. Verification Analysis. PULSAR-REQ-User-030 Assembly of mirror tiles by XXX Rationale The robot must be able to execute the assembly plan. This includes the reachability of all planned positions. It has also to be guaranteed sufficient free space for the moved tiles in case of assembly or disassembly. Compliance Mandatory. Verification Analysis. PULSAR-REQ-User-040 Use of standard connectors Rationale This use of a standard interface between components ensure interoperability and simplification of the design process. Compliance Mandatory. Verification Analysis. PULSAR-REQ-User-050 RAS extended mobility Rationale RAS may be a walking robotic arm, a monorail system, etc… Additional SIROM may facilitate the traverse of the robot. Compliance Mandatory. Verification Analysis. PULSAR-REQ-User-060 Reuse of building blocks Rationale The ESROCOS framework, the ERGO framework, sensors based on I3DS, perception functions from InFuse, and the SIROM interface must be reused whenever possible to implement the demonstrator.
Compliance Mandatory. Verification Test to verify that the RAS is able to correctly plan and execute a trajectories to reach all working positions. PULSAR-REQ-Core-F-040 Sensor-based assembly monitoring Rationale 3D structure of the primary mirror shall be reconstructed using various sensors to verify the correctness and the accuracy of the assembly process. Compliance Optional. Verification Analysis to extract some metrics between the 3D reconstruction of the assembled mirror and the theoretical model of the assembled mirror. PULSAR-REQ-Core-F-050 Vision-based compliant RAS control Rationale In a degraded scenario, uncertainties coming from the flexibility of the large primary mirror and from possible imprecision of the various actors shall be taken into account. Control of the RAS using vision and compliant control shall be possible to perform the SMTs assembly.
Compliance Mandatory. Verification Test and analysis. Some metrics can be directly analysed, e.g. reprojection error. Test and comparison with ground truth from an external localisation system could also be adopted. PULSAR-REQ-Core-F-100 Autonomy Rationale An autonomy component must trigger, monitor and control the various assembly steps of a demonstrated scenario from a pre-set plan, with minimal operator interaction. Compliance Mandatory. Verification Test and review. PULSAR-REQ-Core-F-110 On-board Computer Rationale The chosen on-board computer must provide sufficient computational resources to simultaneously run the autonomy framework, perception functions, robotic arm control, standard interface control and other operational tasks. Depending on the specific demonstrator constraints, the OBC may be proposed in 2 different configurations, while maintaining a common base. Compliance Mandatory. Verification Test and analysis. PULSAR-REQ-Core-F-120 OBC Data Exchange Rationale The chosen on-board computer must provide all necessary communication interfaces, e.g. USB, Ethernet, CAN, SpaceWire, in order to exchange data and control the other system components.
Compliance Mandatory. Verification Test and analysis.
Compliance Mandatory. Verification Test and review. PULSAR-REQ-dPAMT-HL-V-020 Verification of Assembly Rationale Verification in three stages: 1. Two active individual tiles. 2. Manual assembly of the entire primary mirror (consisting of all mirror tiles and their SIROM interfaces) 3. Automated assembly of the entire primary mirror by means of an optical CMM Compliance Mandatory. Verification Test and review. PULSAR-REQ-dPAMT-Perception-F-010 SMT pose estimation for grasping task Rationale Assembly of the SMTs to construct the full mirror requires precise grasping of the SMT using vision. Either fiducial markers, model-based tracking or a combination of both methods for redundancy and better robustness are possible approaches.
Compliance Mandatory. Verification Analysis. PULSAR-REQ-dPAMT-Sensors-F-020 Stereo cameras images synchronisation Rationale For best stereo reconstruction performance, the stereo images pair must be captured at the same time. This required the use of an external triggering signal.
Compliance Mandatory. Verification Test and review. PULSAR-REQ-dPAMT-Sensors-F-030 High resolution camera exposure settings Rationale Manual setting of various parameters such as the shutter speed, the ISO speed or the image gain shall be possible to accurately control the camera exposure. Automatic exposure mode shall be available to automatically cope with various illumination conditions.
